+ python -m lidar_slam --no-model /working/d2f1b824-01dd-4192-a31a-6a1841b36dfb Lidar SLAM 0.0.13 ===================================================== The recording path: /working/d2f1b824-01dd-4192-a31a-6a1841b36dfb 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 0.004012739 Adjusted end_distance from 9.223372036854776e+18 to 480.864012739 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004012739 meters Centerline goodness [0,1] 0.44260939525320697 Centerline is valid? [0, False] SLAMing on 0.034012739 meters Centerline goodness [0,1] 0.44260939525320697 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 1.00000000e+00 -1.33739663e-18 -4.98396546e-17 3.61710716e-13] [-1.80776757e-17 1.00000000e+00 2.81888367e-17 -4.19178581e-14] [-1.74235221e-16 -1.38751955e-16 1.00000000e+00 1.21014361e-12] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.064012739 meters Centerline goodness [0,1] 0.48576781562492943 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999966e-01 -2.57873603e-04 -4.26486295e-05 2.68719121e-03] [ 2.57867682e-04 9.99999957e-01 -1.38777836e-04 1.71482409e-04] [ 4.26844148e-05 1.38766834e-04 9.99999989e-01 -1.32599392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.094012739 meters Centerline goodness [0,1] 0.4338681650982782 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999916e-01 -3.23426237e-04 -2.51905726e-04 4.77541390e-03] [ 3.23399667e-04 9.99999942e-01 -1.05511571e-04 -1.01505074e-05] [ 2.51939836e-04 1.05430096e-04 9.99999963e-01 -3.12255406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.124012739 meters Centerline goodness [0,1] 0.515100254866139 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99999841e-01 -5.17888827e-04 -2.24294055e-04 7.63503172e-03] [ 5.17800503e-04 9.99999788e-01 -3.93669464e-04 2.62000523e-03] [ 2.24497885e-04 3.93553262e-04 9.99999897e-01 -4.62889320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15401273899999998 meters Centerline goodness [0,1] 0.3753512827486175 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999798e-01 -5.43210405e-04 -3.29323444e-04 8.93021908e-03] [ 5.43054443e-04 9.99999740e-01 -4.73488492e-04 3.22282982e-03] [ 3.29580563e-04 4.73309556e-04 9.99999834e-01 -5.75902392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18401273899999998 meters Centerline goodness [0,1] 0.43748015783028704 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999772e-01 -5.12546854e-04 -4.40142028e-04 1.03220231e-02] [ 5.12361917e-04 9.99999780e-01 -4.20186162e-04 2.83312629e-03] [ 4.40357297e-04 4.19960555e-04 9.99999815e-01 -6.89791800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21401273899999998 meters Centerline goodness [0,1] 0.3658748939590124 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999813e-01 -5.76662877e-04 -2.01487138e-04 1.24526092e-02] [ 5.76587353e-04 9.99999764e-01 -3.74689460e-04 2.03610656e-03] [ 2.01703160e-04 3.74573216e-04 9.99999910e-01 -7.98470364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24401273899999998 meters Centerline goodness [0,1] 0.4352652149637074 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999757e-01 -5.47201526e-04 -4.31703735e-04 1.46526823e-02] [ 5.47093234e-04 9.99999819e-01 -2.50927400e-04 1.53070897e-03] [ 4.31840965e-04 2.50691157e-04 9.99999875e-01 -9.75647107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.274012739 meters Centerline goodness [0,1] 0.4114394921848338 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 9.99999693e-01 -4.35667955e-04 -6.51873722e-04 1.81462134e-02] [ 4.35639329e-04 9.99999904e-01 -4.40552280e-05 4.27463066e-04] [ 6.51892853e-04 4.37712327e-05 9.99999787e-01 -1.17160282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.304012739 meters Centerline goodness [0,1] 0.41068342498036137 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99999610e-01 -2.74653129e-04 -8.38927124e-04 2.00677782e-02] [ 2.74845023e-04 9.99999936e-01 2.28630205e-04 -1.25506477e-03] [ 8.38864276e-04 -2.28860691e-04 9.99999622e-01 -1.31947430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33401273899999995 meters Centerline goodness [0,1] 0.4044193912063134 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99999516e-01 -1.50055373e-04 -9.72146614e-04 2.16239905e-02] [ 1.50484139e-04 9.99999891e-01 4.40993176e-04 -2.87807240e-03] [ 9.72080335e-04 -4.41139256e-04 9.99999430e-01 -1.45166149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.364012739 meters Centerline goodness [0,1] 0.4123865022360753 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.02 [[ 9.99999664e-01 3.71061172e-05 -8.19175517e-04 2.35347487e-02] [-3.65384941e-05 9.99999759e-01 6.92924083e-04 -4.90413420e-03] [ 8.19201032e-04 -6.92893919e-04 9.99999424e-01 -1.50600906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.394012739 meters Centerline goodness [0,1] 0.4086254342039969 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99999416e-01 1.46306249e-04 -1.07117607e-03 2.56369102e-02] [-1.45547688e-04 9.99999739e-01 7.08201283e-04 -4.56954710e-03] [ 1.07127940e-03 -7.08044962e-04 9.99999176e-01 -1.63675984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42401273899999997 meters Centerline goodness [0,1] 0.40504007607662007 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99999125e-01 5.91111391e-04 -1.18348373e-03 2.88817799e-02] [-5.90793489e-04 9.99999789e-01 2.68947142e-04 -6.38145828e-04] [ 1.18364245e-03 -2.68247712e-04 9.99999264e-01 -1.76250229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45401273899999994 meters Centerline goodness [0,1] 0.4353864045789342 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.02 [[ 9.99998721e-01 7.27654141e-04 -1.42439491e-03 3.06979009e-02] [-7.27829108e-04 9.99999728e-01 -1.22321402e-04 2.46223474e-03] [ 1.42430551e-03 1.23357961e-04 9.99998978e-01 -1.84181057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48401273899999997 meters Centerline goodness [0,1] 0.38145106091718006 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 9.99998194e-01 9.39280068e-04 -1.65228157e-03 3.26754512e-02] [-9.40148136e-04 9.99999420e-01 -5.24677439e-04 5.49742855e-03] [ 1.65178779e-03 5.26229880e-04 9.99998497e-01 -1.94618918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.514012739 meters Centerline goodness [0,1] 0.34706160816933795 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 9.99993019e-01 3.16652132e-03 -1.98386605e-03 3.92997501e-02] [-3.16726825e-03 9.99994914e-01 -3.73469507e-04 1.20915229e-02] [ 1.98267337e-03 3.79750336e-04 9.99997962e-01 -2.34782015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.544012739 meters Centerline goodness [0,1] 0.3302648797436939 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.03 [[ 0.99999133 0.00336477 -0.00245335 0.04267777] [-0.00336742 0.99999375 -0.00107432 0.0186024 ] [ 0.00244972 0.00108257 0.99999641 -0.02513254] [ 0. 0. 0. 1. ]] SLAMing on 0.5740127389999999 meters Centerline goodness [0,1] 0.3530202565680042 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.03 [[ 0.99998308 0.00472799 -0.00338865 0.05279425] [-0.00473262 0.99998788 -0.00135981 0.02671636] [ 0.00338218 0.00137582 0.99999333 -0.03186724] [ 0. 0. 0. 1. ]] SLAMing on 0.604012739 meters Centerline goodness [0,1] 0.34540516070620186 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.03 [[ 0.99998283 0.00458943 -0.00364471 0.055029 ] [-0.00459606 0.99998779 -0.00181286 0.02985462] [ 0.00363634 0.00182958 0.99999171 -0.03318057] [ 0. 0. 0. 1. ]] SLAMing on 0.634012739 meters Centerline goodness [0,1] 0.3665097048351901 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.03 [[ 0.99998328 0.00433115 -0.00383069 0.05640891] [-0.00433964 0.99998814 -0.00221185 0.03250964] [ 0.00382106 0.00222844 0.99999022 -0.03368945] [ 0. 0. 0. 1. ]] SLAMing on 0.6640127389999999 meters Centerline goodness [0,1] 0.35058962801074534 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.03 [[ 0.9999866 0.00345959 -0.00385016 0.05932622] [-0.00346958 0.99999063 -0.00258986 0.03397628] [ 0.00384116 0.00260318 0.99998923 -0.03392099] [ 0. 0. 0. 1. ]] SLAMing on 0.6940127389999999 meters Centerline goodness [0,1] 0.3674919761577258 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.03 [[ 0.99998621 0.00318867 -0.0041737 0.06154879] [-0.00319921 0.9999917 -0.00252114 0.0327494 ] [ 0.00416562 0.00253446 0.99998811 -0.03474726] [ 0. 0. 0. 1. ]] SLAMing on 0.724012739 meters Centerline goodness [0,1] 0.3674919761577258 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.03 [[ 0.99998621 0.00318867 -0.0041737 0.06154879] [-0.00319921 0.9999917 -0.00252114 0.0327494 ] [ 0.00416562 0.00253446 0.99998811 -0.03474726] [ 0. 0. 0. 1. ]] SLAMing on 0.754012739 meters Centerline goodness [0,1] 0.3712155650513683 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.04 [[ 0.99998541 0.0018916 -0.00505888 0.06859065] [-0.00190814 0.99999284 -0.00326767 0.03377178] [ 0.00505267 0.00327728 0.99998186 -0.03864523] [ 0. 0. 0. 1. ]] SLAMing on 0.784012739 meters Centerline goodness [0,1] 0.3887607081667619 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.04 [[ 9.99984803e-01 7.55521638e-04 -5.46096751e-03 7.32997874e-02] [-7.73619687e-04 9.99994214e-01 -3.31272153e-03 3.22787456e-02] [ 5.45843308e-03 3.31689590e-03 9.99979602e-01 -4.04098092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8140127389999999 meters Centerline goodness [0,1] 0.37878753438046964 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.05 [[ 9.99979059e-01 -7.46699814e-04 -6.42838470e-03 8.32618584e-02] [ 7.23258235e-04 9.99993084e-01 -3.64812650e-03 3.05426140e-02] [ 6.43106430e-03 3.64340072e-03 9.99972683e-01 -4.59223761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.844012739 meters Centerline goodness [0,1] 0.37791436088179264 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.05 [[ 9.99975960e-01 -8.09569052e-04 -6.88651771e-03 8.67112362e-02] [ 7.86828910e-04 9.99994232e-01 -3.30419353e-03 2.76744879e-02] [ 6.88915296e-03 3.29869558e-03 9.99970829e-01 -4.76042102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.874012739 meters Centerline goodness [0,1] 0.38828195829555756 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.05 [[ 9.99972541e-01 -8.93261990e-04 -7.35657155e-03 9.02238232e-02] [ 8.72800490e-04 9.99995743e-01 -2.78413170e-03 2.32961133e-02] [ 7.35902720e-03 2.77763443e-03 9.99969064e-01 -4.93818156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9040127389999999 meters Centerline goodness [0,1] 0.3941076100557388 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.05 [[ 0.99995563 -0.00529959 -0.00778861 0.0950549 ] [ 0.00525069 0.99996646 -0.00628535 0.01942752] [ 0.00782166 0.00624418 0.99994991 -0.05122864] [ 0. 0. 0. 1. ]] SLAMing on 0.9340127389999999 meters Centerline goodness [0,1] 0.3888344105192779 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.06 [[ 9.99956046e-01 -9.36174280e-03 5.13932898e-04 1.18872939e-01] [ 9.36257101e-03 9.99954836e-01 -1.63349147e-03 1.07670585e-02] [-4.98617360e-04 1.63823140e-03 9.99998534e-01 -6.28772274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.964012739 meters Centerline goodness [0,1] 0.40606295090921507 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.06 [[ 9.99911151e-01 -1.33123243e-02 6.87385845e-04 1.20797471e-01] [ 1.33157131e-02 9.99897892e-01 -5.18623075e-03 6.34873069e-03] [-6.18274872e-04 5.19492299e-03 9.99986315e-01 -6.28497969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.994012739 meters Centerline goodness [0,1] 0.4083636363636364 Centerline is valid? [False, False] Translation: X:0.12, Y:0.00, Z:-0.06 [[ 9.99914672e-01 -1.30542463e-02 4.84786740e-04 1.22770591e-01] [ 1.30562761e-02 9.99904856e-01 -4.45106361e-03 4.55410326e-04] [-4.26635335e-04 4.45701332e-03 9.99989976e-01 -6.37243852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.024012739 meters Centerline goodness [0,1] 0.421443931006085 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:-0.06 [[ 9.99918858e-01 -1.27353102e-02 2.97682295e-04 1.24440083e-01] [ 1.27363460e-02 9.99911728e-01 -3.78435371e-03 -4.33998156e-03] [-2.49461100e-04 3.78783803e-03 9.99992795e-01 -6.42334330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.054012739 meters Centerline goodness [0,1] 0.4132114608739258 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.06 [[ 9.99922455e-01 -1.24531396e-02 5.23127922e-05 1.26461887e-01] [ 1.24532437e-02 9.99917190e-01 -3.24499187e-03 -8.15525830e-03] [-1.18981236e-05 3.24539170e-03 9.99994734e-01 -6.46722936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.084012739 meters Centerline goodness [0,1] 0.4203071829301941 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.07 [[ 9.99931322e-01 -1.17193494e-02 -8.66811917e-05 1.29886322e-01] [ 1.17191404e-02 9.99929101e-01 -2.11074171e-03 -1.64420305e-02] [ 1.11411566e-04 2.10958093e-03 9.99997769e-01 -6.59707608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1140127389999999 meters Centerline goodness [0,1] 0.3895641049072467 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:-0.07 [[ 9.99941760e-01 -1.07816779e-02 -4.81636994e-04 1.35992700e-01] [ 1.07812758e-02 9.99941536e-01 -8.29880051e-04 -2.56810933e-02] [ 4.90556335e-04 8.24639057e-04 9.99999540e-01 -6.95244366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.144012739 meters Centerline goodness [0,1] 0.39352303953852796 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:-0.07 [[ 9.99946170e-01 -1.03515067e-02 -7.09027575e-04 1.38375902e-01] [ 1.03513875e-02 9.99946408e-01 -1.71560300e-04 -3.02859543e-02] [ 7.10765485e-04 1.64211646e-04 9.99999734e-01 -7.08625862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.174012739 meters Centerline goodness [0,1] 0.3687886603820958 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.07 [[ 9.99949896e-01 -9.96325423e-03 -9.68577310e-04 1.40651438e-01] [ 9.96374940e-03 9.99950232e-01 5.07766719e-04 -3.51309578e-02] [ 9.63470096e-04 -5.17391940e-04 9.99999402e-01 -7.18696765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.204012739 meters Centerline goodness [0,1] 0.39949880396400506 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.08 [[ 0.9999497 -0.00981002 -0.00208989 0.15243218] [ 0.00981255 0.99995113 0.00120298 -0.0424886 ] [ 0.00207798 -0.00122343 0.99999709 -0.07914646] [ 0. 0. 0. 1. ]] SLAMing on 1.234012739 meters Centerline goodness [0,1] 0.37618601248313865 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.08 [[ 0.99995159 -0.0095497 -0.00236888 0.154826 ] [ 0.00955329 0.99995323 0.00150757 -0.04428395] [ 0.00235438 -0.00153012 0.99999606 -0.08021073] [ 0. 0. 0. 1. ]] SLAMing on 1.264012739 meters Centerline goodness [0,1] 0.38490825688073393 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.08 [[ 9.99975090e-01 -3.91909001e-03 -5.87025327e-03 1.79349397e-01] [ 3.92267831e-03 9.99992126e-01 5.99879166e-04 -4.60384121e-02] [ 5.86785607e-03 -6.22891338e-04 9.99982590e-01 -7.59316827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.294012739 meters Centerline goodness [0,1] 0.26931218161940873 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.08 [[ 9.99974322e-01 -3.49143296e-03 -6.25813986e-03 1.82325964e-01] [ 3.49469324e-03 9.99993763e-01 5.10107245e-04 -4.43379995e-02] [ 6.25631983e-03 -5.31964426e-04 9.99980288e-01 -7.69450466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3240127389999998 meters Centerline goodness [0,1] 0.354069287874622 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.08 [[ 0.99997307 -0.0017625 -0.00712403 0.1903511 ] [ 0.00177238 0.99999748 0.00137991 -0.04481283] [ 0.00712158 -0.00139249 0.99997367 -0.08130607] [ 0. 0. 0. 1. ]] SLAMing on 1.3540127389999999 meters Centerline goodness [0,1] 0.06826243163459123 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.08 [[ 0.99996786 0.00316912 -0.00736432 0.19487989] [-0.0031289 0.99998016 0.00546715 -0.04502849] [ 0.0073815 -0.00544393 0.99995794 -0.08265793] [ 0. 0. 0. 1. ]] SLAMing on 1.3840127389999999 meters Centerline goodness [0,1] 0.06797824696097254 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:-0.08 [[ 0.99996459 0.00334195 -0.00772352 0.19774767] [-0.00330323 0.99998194 0.00502031 -0.04102529] [ 0.00774016 -0.00499462 0.99995757 -0.08358687] [ 0. 0. 0. 1. ]] SLAMing on 1.414012739 meters Centerline goodness [0,1] 0.06520196818857993 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:-0.09 [[ 0.99995123 0.00446303 -0.00881045 0.20883123] [-0.00441821 0.99997723 0.00510014 -0.03732785] [ 0.00883301 -0.00506097 0.99994818 -0.08974148] [ 0. 0. 0. 1. ]] SLAMing on 1.444012739 meters Centerline goodness [0,1] 0.06721760548790312 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:-0.09 [[ 0.99994964 0.00432261 -0.00905709 0.21113816] [-0.00427921 0.9999793 0.00480574 -0.03525064] [ 0.00907767 -0.00476674 0.99994744 -0.09089421] [ 0. 0. 0. 1. ]] SLAMing on 1.474012739 meters Centerline goodness [0,1] 0.23390081421169506 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:-0.09 [[ 0.99994801 0.00421045 -0.0092874 0.21323816] [-0.00416709 0.99998035 0.00468278 -0.03453276] [ 0.00930693 -0.00464383 0.99994591 -0.09180343] [ 0. 0. 0. 1. ]] SLAMing on 1.504012739 meters Centerline goodness [0,1] 0.09615471817893262 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:-0.10 [[ 9.99999385e-01 3.70840836e-04 -1.04493653e-03 2.40395402e-01] [-3.62445927e-04 9.99967752e-01 8.02266201e-03 -3.54873736e-02] [ 1.04787797e-03 -8.02227835e-03 9.99967272e-01 -1.04018048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.534012739 meters Centerline goodness [0,1] 0.06819382855042166 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:-0.10 [[ 9.99999184e-01 2.14587382e-04 -1.25919276e-03 2.42284114e-01] [-2.04617077e-04 9.99968672e-01 7.91280695e-03 -3.51081148e-02] [ 1.26085130e-03 -7.91254284e-03 9.99967900e-01 -1.04626501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.564012739 meters Centerline goodness [0,1] 0.22251652578483083 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.11 [[ 9.99998915e-01 -3.07958031e-04 -1.44024456e-03 2.45934337e-01] [ 3.18755968e-04 9.99971801e-01 7.50308360e-03 -3.27161120e-02] [ 1.43789331e-03 -7.50353455e-03 9.99970814e-01 -1.05511469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5940127389999998 meters Centerline goodness [0,1] 0.06581814012154574 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.11 [[ 9.99998437e-01 -5.17294619e-04 -1.69055282e-03 2.48240612e-01] [ 5.29360799e-04 9.99974336e-01 7.14478072e-03 -3.01655213e-02] [ 1.68681347e-03 -7.14566446e-03 9.99973047e-01 -1.06209570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6240127389999999 meters Centerline goodness [0,1] 0.06653629356953872 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.11 [[ 9.99998070e-01 -6.59033869e-04 -1.85081793e-03 2.49894469e-01] [ 6.71767754e-04 9.99976052e-01 6.88796608e-03 -2.84902947e-02] [ 1.84623420e-03 -6.88919611e-03 9.99974565e-01 -1.06697412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.654012739 meters Centerline goodness [0,1] 0.2159308799408598 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.03, Z:-0.11 [[ 0.99999501 -0.00158532 -0.00273192 0.2589782 ] [ 0.00160157 0.99998099 0.00595482 -0.02533362] [ 0.00272243 -0.00595917 0.99997854 -0.11177464] [ 0. 0. 0. 1. ]] SLAMing on 1.684012739 meters Centerline goodness [0,1] 0.06637312459230271 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.11 [[ 0.99999385 -0.00176056 -0.0030346 0.26155068] [ 0.00177808 0.99998172 0.00577881 -0.02442015] [ 0.00302437 -0.00578417 0.9999787 -0.11296805] [ 0. 0. 0. 1. ]] SLAMing on 1.714012739 meters Centerline goodness [0,1] 0.22936873724519047 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.11 [[ 0.99999231 -0.0020329 -0.00335386 0.26425944] [ 0.00205155 0.9999824 0.0055663 -0.02326377] [ 0.00334249 -0.00557314 0.99997888 -0.11389225] [ 0. 0. 0. 1. ]] SLAMing on 1.744012739 meters SLAMing on 1.774012739 meters Centerline goodness [0,1] 0.3288952363401825 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.02, Z:-0.11 [[ 9.99969600e-01 -7.07990748e-03 -3.26704348e-03 2.70271090e-01] [ 7.08301353e-03 9.99974473e-01 9.40131570e-04 -2.01138167e-02] [ 3.26030403e-03 -9.63243503e-04 9.99994221e-01 -1.14627628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8040127389999998 meters Centerline goodness [0,1] 0.20175499525364082 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.02, Z:-0.12 [[ 0.99996866 -0.00709924 -0.00350328 0.27234974] [ 0.00710328 0.99997412 0.00114116 -0.02182122] [ 0.00349509 -0.00116601 0.99999321 -0.11553242] [ 0. 0. 0. 1. ]] SLAMing on 1.8340127389999998 meters Centerline goodness [0,1] 0.0660277624563339 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.02, Z:-0.12 [[ 0.99996659 -0.00724769 -0.00378034 0.27465383] [ 0.00725189 0.9999731 0.00109938 -0.0217476 ] [ 0.00377227 -0.00112676 0.99999225 -0.11637316] [ 0. 0. 0. 1. ]] SLAMing on 1.8640127389999999 meters SLAMing on 1.894012739 meters SLAMing on 1.924012739 meters SLAMing on 1.954012739 meters SLAMing on 1.984012739 meters Centerline goodness [0,1] 0.09679218967921899 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.12 [[ 0.99991456 -0.01203089 -0.00511191 0.29496122] [ 0.01201828 0.99992468 -0.00248982 -0.02660396] [ 0.00514148 0.00242818 0.99998383 -0.12453467] [ 0. 0. 0. 1. ]] SLAMing on 2.014012739 meters SLAMing on 2.0440127390000002 meters Centerline goodness [0,1] 0.06426974664679586 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.03, Z:-0.13 [[ 0.99986699 -0.01544983 -0.00522615 0.30187787] [ 0.01542083 0.99986572 -0.00554521 -0.03236197] [ 0.00531112 0.00546388 0.99997097 -0.12756799] [ 0. 0. 0. 1. ]] SLAMing on 2.074012739 meters Centerline goodness [0,1] 0.3195517684136804 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.04, Z:-0.13 [[ 0.99986978 -0.01508443 -0.00573457 0.30644381] [ 0.01505808 0.99987599 -0.00461119 -0.03958894] [ 0.00580342 0.00452424 0.99997293 -0.12892535] [ 0. 0. 0. 1. ]] SLAMing on 2.1040127390000003 meters SLAMing on 2.134012739 meters Centerline goodness [0,1] 0.24578952265748577 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.05, Z:-0.13 [[ 0.99987693 -0.01447013 -0.00606064 0.3136342 ] [ 0.01445144 0.99989072 -0.00311642 -0.05050666] [ 0.00610507 0.00302845 0.99997678 -0.131771 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1640127390000004 meters Centerline goodness [0,1] 0.5001509416436384 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.05, Z:-0.13 [[ 0.99987929 -0.01419091 -0.00632675 0.31565684] [ 0.01417503 0.99989628 -0.00254725 -0.05454263] [ 0.00636225 0.00245726 0.99997674 -0.13230091] [ 0. 0. 0. 1. ]] SLAMing on 2.194012739 meters Centerline goodness [0,1] 0.2060190049263384 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.06, Z:-0.13 [[ 0.99988231 -0.01386732 -0.00656256 0.31746746] [ 0.01385501 0.99990218 -0.00191707 -0.0591355 ] [ 0.0065885 0.00182592 0.99997663 -0.13285584] [ 0. 0. 0. 1. ]] SLAMing on 2.224012739 meters Centerline goodness [0,1] 0.18663087993706473 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.07, Z:-0.13 [[ 0.99988966 -0.0103587 -0.01064687 0.34536593] [ 0.01033753 0.99994448 -0.0020415 -0.07017923] [ 0.01066743 0.00193121 0.99994124 -0.13404406] [ 0. 0. 0. 1. ]] SLAMing on 2.254012739 meters Centerline goodness [0,1] 0.18490181076256063 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.07, Z:-0.13 [[ 0.99989028 -0.01003581 -0.01089546 0.34724761] [ 0.01001906 0.99994854 -0.00159012 -0.07306881] [ 0.01091086 0.00148079 0.99993938 -0.13459962] [ 0. 0. 0. 1. ]] SLAMing on 2.284012739 meters Centerline goodness [0,1] 0.19267601676461632 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.08, Z:-0.13 [[ 9.99894170e-01 -9.08541459e-03 -1.13623704e-02 3.51063521e-01] [ 9.07540636e-03 9.99958383e-01 -9.32073754e-04 -7.66991539e-02] [ 1.13703658e-02 8.28856984e-04 9.99935012e-01 -1.34942908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3140127390000003 meters Centerline goodness [0,1] 0.18898467881741088 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.08, Z:-0.13 [[ 9.99894199e-01 -8.64422822e-03 -1.16990609e-02 3.53130081e-01] [ 8.63634784e-03 9.99962444e-01 -7.23943987e-04 -7.77560183e-02] [ 1.17048794e-02 6.22830234e-04 9.99931302e-01 -1.34907353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.344012739 meters Centerline goodness [0,1] 0.19524686113471157 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.08, Z:-0.14 [[ 9.99894163e-01 -8.17951653e-03 -1.20315454e-02 3.55249540e-01] [ 8.17210640e-03 9.99966387e-01 -6.64926880e-04 -7.73280488e-02] [ 1.20365798e-02 5.66533437e-04 9.99927397e-01 -1.35096552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3740127390000003 meters Centerline goodness [0,1] 0.19202567526413195 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.14 [[ 9.99991680e-01 2.71595402e-04 -4.07008652e-03 3.75637158e-01] [-2.79792298e-04 9.99997934e-01 -2.01350244e-03 -7.74126248e-02] [ 4.06953125e-03 2.01462446e-03 9.99989690e-01 -1.44203286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.404012739 meters Centerline goodness [0,1] 0.19063065604212204 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.14 [[ 9.99989865e-01 7.47899148e-04 -4.43959933e-03 3.78103900e-01] [-7.56944859e-04 9.99997641e-01 -2.03617565e-03 -7.60200382e-02] [ 4.43806600e-03 2.03951554e-03 9.99988072e-01 -1.44867078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.434012739 meters Centerline goodness [0,1] 0.19193799180134763 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.15 [[ 0.99998603 0.00161272 -0.00503381 0.38226227] [-0.00162177 0.99999708 -0.00179424 -0.07635627] [ 0.0050309 0.00180238 0.99998572 -0.14558759] [ 0. 0. 0. 1. ]] SLAMing on 2.464012739 meters Centerline goodness [0,1] 0.18953942597833973 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.15 [[ 0.99998441 0.00170094 -0.00531935 0.38417431] [-0.00171018 0.99999704 -0.00173213 -0.07652025] [ 0.00531639 0.0017412 0.99998435 -0.14591597] [ 0. 0. 0. 1. ]] SLAMing on 2.494012739 meters Centerline goodness [0,1] 0.10485044841996527 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.15 [[ 0.99998334 0.00168127 -0.00552155 0.38552699] [-0.00169095 0.99999704 -0.00174953 -0.07640166] [ 0.00551859 0.00175884 0.99998323 -0.14612008] [ 0. 0. 0. 1. ]] SLAMing on 2.5240127390000002 meters Centerline goodness [0,1] 0.19182890303257205 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.15 [[ 0.99998077 0.00164681 -0.00597841 0.38891622] [-0.00165632 0.99999737 -0.00158612 -0.07785436] [ 0.00597578 0.00159599 0.99998087 -0.14698809] [ 0. 0. 0. 1. ]] SLAMing on 2.554012739 meters Centerline goodness [0,1] 0.1923446771583367 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.15 [[ 0.9999796 0.00161563 -0.00617977 0.39043208] [-0.00162476 0.99999759 -0.00147336 -0.07887819] [ 0.00617737 0.00148337 0.99997982 -0.14756418] [ 0. 0. 0. 1. ]] SLAMing on 2.5840127390000003 meters Centerline goodness [0,1] 0.19326882427544745 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.15 [[ 0.99997676 0.00143614 -0.00666425 0.39373899] [-0.00144694 0.99999765 -0.0016164 -0.07802005] [ 0.00666191 0.001626 0.99997649 -0.14792811] [ 0. 0. 0. 1. ]] SLAMing on 2.614012739 meters Centerline goodness [0,1] 0.19651776458392234 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.15 [[ 0.99997492 0.00131812 -0.00695884 0.39529432] [-0.001331 0.99999741 -0.00184666 -0.07645318] [ 0.00695639 0.00185588 0.99997408 -0.14769186] [ 0. 0. 0. 1. ]] SLAMing on 2.644012739 meters Centerline goodness [0,1] 0.19651776458392234 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.15 [[ 0.99997492 0.00131812 -0.00695884 0.39529432] [-0.001331 0.99999741 -0.00184666 -0.07645318] [ 0.00695639 0.00185588 0.99997408 -0.14769186] [ 0. 0. 0. 1. ]] SLAMing on 2.674012739 meters Centerline goodness [0,1] 0.20015616866215513 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.15 [[ 0.99997315 0.00126644 -0.00721766 0.39666364] [-0.00128031 0.99999734 -0.00191732 -0.07591461] [ 0.00721522 0.00192651 0.99997211 -0.1473997 ] [ 0. 0. 0. 1. ]] SLAMing on 2.704012739 meters Centerline goodness [0,1] 0.1997885338345865 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.15 [[ 0.99996974 0.00117184 -0.00769125 0.40006017] [-0.00118575 0.99999767 -0.00180433 -0.07720628] [ 0.00768912 0.0018134 0.99996879 -0.14723 ] [ 0. 0. 0. 1. ]] SLAMing on 2.734012739 meters Centerline goodness [0,1] 0.19771827706635625 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:-0.15 [[ 9.99963306e-01 7.78757034e-04 -8.53110966e-03 4.10125020e-01] [-7.95370343e-04 9.99997794e-01 -1.94416004e-03 -7.73109533e-02] [ 8.52957681e-03 1.95087409e-03 9.99961719e-01 -1.53280656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.764012739 meters Centerline goodness [0,1] 0.06963313609467459 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:-0.15 [[ 9.99961574e-01 7.15955429e-04 -8.73718814e-03 4.11437504e-01] [-7.33783467e-04 9.99997655e-01 -2.03744269e-03 -7.67820592e-02] [ 8.73570893e-03 2.04377560e-03 9.99959754e-01 -1.53750885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7940127390000002 meters Centerline goodness [0,1] 0.2162751042061387 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:-0.15 [[ 9.99959540e-01 6.75087023e-04 -8.97007020e-03 4.12880236e-01] [-6.93530604e-04 9.99997652e-01 -2.05317308e-03 -7.67194154e-02] [ 8.96866307e-03 2.05931102e-03 9.99957660e-01 -1.54189690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.824012739 meters Centerline goodness [0,1] 0.06857746975214374 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.17 [[ 9.99999944e-01 3.33120516e-04 -4.43799471e-05 4.20370253e-01] [-3.33211205e-04 9.99997824e-01 -2.05938805e-03 -7.61634058e-02] [ 4.36938261e-05 2.05940272e-03 9.99997878e-01 -1.74828687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8540127390000003 meters Centerline goodness [0,1] 0.06853736688342282 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.17 [[ 9.99999875e-01 8.74503784e-05 -4.92179893e-04 4.23084777e-01] [-8.84973450e-05 9.99997733e-01 -2.12758347e-03 -7.59050942e-02] [ 4.91992720e-04 2.12762676e-03 9.99997616e-01 -1.74788048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.884012739 meters Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:-0.17 [[ 9.99999607e-01 -6.67083368e-05 -8.84028143e-04 4.25454933e-01] [ 6.50111070e-05 9.99998155e-01 -1.91977176e-03 -7.80227294e-02] [ 8.84154577e-04 1.91971353e-03 9.99997766e-01 -1.74603509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.914012739 meters Centerline goodness [0,1] 0.06771534519001399 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:-0.17 [[ 9.99999298e-01 -3.57316206e-05 -1.18446747e-03 4.27043100e-01] [ 3.36225543e-05 9.99998414e-01 -1.78057507e-03 -7.90796328e-02] [ 1.18452921e-03 1.78053399e-03 9.99997713e-01 -1.74649190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.944012739 meters Centerline goodness [0,1] 0.06928138610111723 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:-0.17 [[ 9.99999008e-01 -4.34932391e-05 -1.40769325e-03 4.28286608e-01] [ 4.08399141e-05 9.99998223e-01 -1.88484829e-03 -7.83383429e-02] [ 1.40777273e-03 1.88478893e-03 9.99997233e-01 -1.74858675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.974012739 meters Centerline goodness [0,1] 0.067894972752365 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.18 [[ 9.99998117e-01 1.76986630e-04 -1.93239921e-03 4.31462308e-01] [-1.81855359e-04 9.99996809e-01 -2.51964059e-03 -7.26049291e-02] [ 1.93194710e-03 2.51998727e-03 9.99994959e-01 -1.75461482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.004012739 meters Centerline goodness [0,1] 0.06749627386500745 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.18 [[ 9.99997609e-01 1.19955552e-04 -2.18371096e-03 4.32708795e-01] [-1.26553623e-04 9.99995427e-01 -3.02160750e-03 -6.89953430e-02] [ 2.18333852e-03 3.02187663e-03 9.99993051e-01 -1.75424375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.034012739 meters Centerline goodness [0,1] 0.06731356609181904 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.07, Z:-0.18 [[ 0.99999442 0.00132955 -0.00306468 0.43993343] [-0.00133683 0.99999629 -0.00237496 -0.06745299] [ 0.00306151 0.00237904 0.99999248 -0.17829263] [ 0. 0. 0. 1. ]] SLAMing on 3.0640127390000003 meters Centerline goodness [0,1] 0.06774779878667703 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.07, Z:-0.18 [[ 0.99999379 0.00128096 -0.00328261 0.4411034 ] [-0.00128954 0.99999575 -0.0026138 -0.06581213] [ 0.00327925 0.00261802 0.9999912 -0.17847082] [ 0. 0. 0. 1. ]] SLAMing on 3.094012739 meters Centerline goodness [0,1] 0.06718285255653655 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.18 [[ 0.99999311 0.0011996 -0.00351218 0.44232898] [-0.00120981 0.99999505 -0.00290525 -0.0638965 ] [ 0.00350868 0.00290948 0.99998961 -0.17865279] [ 0. 0. 0. 1. ]] SLAMing on 3.1240127390000003 meters Centerline goodness [0,1] 0.0681694409584922 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.18 [[ 9.99992038e-01 9.54317777e-04 -3.87479208e-03 4.44323316e-01] [-9.67483902e-04 9.99993761e-01 -3.39744059e-03 -6.06496423e-02] [ 3.87152567e-03 3.40116234e-03 9.99986722e-01 -1.78646952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.154012739 meters Centerline goodness [0,1] 0.2031750551719228 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.06, Z:-0.18 [[ 9.99991192e-01 8.81838753e-04 -4.10334629e-03 4.45299308e-01] [-8.96038027e-04 9.99993613e-01 -3.45986268e-03 -6.03222649e-02] [ 4.10026904e-03 3.46350896e-03 9.99985596e-01 -1.78426513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.184012739 meters Centerline goodness [0,1] 0.06843641155982305 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.06, Z:-0.18 [[ 9.99989194e-01 6.58162362e-04 -4.60196219e-03 4.48021831e-01] [-6.73171561e-04 9.99994457e-01 -3.26069002e-03 -6.24059072e-02] [ 4.59979062e-03 3.26375270e-03 9.99984095e-01 -1.78239479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.214012739 meters Centerline goodness [0,1] 0.21307013183743995 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.06, Z:-0.18 [[ 9.99988266e-01 6.68583782e-04 -4.79803589e-03 4.49013837e-01] [-6.83176210e-04 9.99995145e-01 -3.04033955e-03 -6.39734333e-02] [ 4.79597987e-03 3.04358178e-03 9.99983867e-01 -1.78286707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.244012739 meters Centerline goodness [0,1] 0.20551184789734944 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.06, Z:-0.18 [[ 9.99986941e-01 6.53287470e-04 -5.06854306e-03 4.50585814e-01] [-6.68409135e-04 9.99995330e-01 -2.98231407e-03 -6.43989870e-02] [ 5.06657108e-03 2.98566299e-03 9.99982708e-01 -1.78743451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2740127390000002 meters Centerline goodness [0,1] 0.21887194040439872 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.06, Z:-0.18 [[ 9.99985052e-01 8.26943832e-04 -5.40473102e-03 4.52609356e-01] [-8.44469587e-04 9.99994391e-01 -3.24119191e-03 -6.19840899e-02] [ 5.40202042e-03 3.24570760e-03 9.99980142e-01 -1.79271568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.304012739 meters Centerline goodness [0,1] 0.22035467559290645 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.06, Z:-0.18 [[ 9.99983563e-01 9.23692737e-04 -5.65871700e-03 4.53727519e-01] [-9.43282754e-04 9.99993568e-01 -3.46022835e-03 -6.01868529e-02] [ 5.65548442e-03 3.46550925e-03 9.99978003e-01 -1.79279474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3340127390000003 meters Centerline goodness [0,1] 0.2173201839647243 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.06, Z:-0.18 [[ 0.99997969 0.00304588 -0.00559863 0.45110279] [-0.00305852 0.99999279 -0.00224981 -0.05927636] [ 0.00559174 0.00226688 0.9999818 -0.17588819] [ 0. 0. 0. 1. ]] SLAMing on 3.364012739 meters Centerline goodness [0,1] 0.2150324014947259 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.06, Z:-0.18 [[ 0.99997804 0.00313145 -0.00584049 0.45223395] [-0.00314682 0.9999916 -0.00262445 -0.05644428] [ 0.00583222 0.00264277 0.9999795 -0.17596569] [ 0. 0. 0. 1. ]] SLAMing on 3.394012739 meters Centerline goodness [0,1] 0.21363442085767204 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.05, Z:-0.18 [[ 0.99997551 0.00335256 -0.00614402 0.45391292] [-0.00337203 0.99998932 -0.00316039 -0.0517722 ] [ 0.00613336 0.00318103 0.99997613 -0.17616874] [ 0. 0. 0. 1. ]] SLAMing on 3.424012739 meters Centerline goodness [0,1] 0.21228494241433238 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.05, Z:-0.18 [[ 0.99997434 0.00330239 -0.00635689 0.45488016] [-0.0033234 0.99998904 -0.00329658 -0.05088574] [ 0.00634593 0.00331763 0.99997436 -0.17625238] [ 0. 0. 0. 1. ]] SLAMing on 3.454012739 meters Centerline goodness [0,1] 0.20966865833785986 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:-0.18 [[ 0.99997334 0.00324712 -0.00653975 0.45584955] [-0.00326927 0.99998895 -0.00337855 -0.05042276] [ 0.0065287 0.00339984 0.99997291 -0.1764847 ] [ 0. 0. 0. 1. ]] SLAMing on 3.484012739 meters Centerline goodness [0,1] 0.206903042138202 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:-0.18 [[ 0.99997195 0.00312083 -0.0068095 0.45751267] [-0.00314607 0.99998821 -0.00369948 -0.04847849] [ 0.00679787 0.00372079 0.99996997 -0.1768701 ] [ 0. 0. 0. 1. ]] SLAMing on 3.514012739 meters Centerline goodness [0,1] 0.20505558309141114 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:-0.18 [[ 0.99997097 0.00297491 -0.00701504 0.45829385] [-0.00300355 0.99998718 -0.0040757 -0.04627173] [ 0.00700282 0.00409665 0.99996709 -0.17671186] [ 0. 0. 0. 1. ]] SLAMing on 3.5440127390000002 meters Centerline goodness [0,1] 0.20358575135645196 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.18 [[ 0.99996943 0.00281855 -0.00729287 0.45975183] [-0.00285395 0.99998417 -0.00484856 -0.04125592] [ 0.00727909 0.00486923 0.99996165 -0.17651285] [ 0. 0. 0. 1. ]] SLAMing on 3.574012739 meters Centerline goodness [0,1] 0.2014249770733887 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.18 [[ 0.9999682 0.00267441 -0.00751348 0.46067541] [-0.00271443 0.99998216 -0.00532151 -0.03834439] [ 0.00749912 0.00534174 0.99995761 -0.17644463] [ 0. 0. 0. 1. ]] SLAMing on 3.604012739 meters Centerline goodness [0,1] 0.20113186995335175 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.18 [[ 0.9999512 0.00609199 -0.00777782 0.46209949] [-0.0061036 0.99998029 -0.00146962 -0.03822262] [ 0.00776871 0.00151702 0.99996867 -0.17645564] [ 0. 0. 0. 1. ]] SLAMing on 3.634012739 meters Centerline goodness [0,1] 0.19820815501105205 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.18 [[ 0.99995068 0.00590383 -0.00798661 0.46303121] [-0.00591954 0.99998059 -0.00194503 -0.03539187] [ 0.00797498 0.00199222 0.99996621 -0.17656082] [ 0. 0. 0. 1. ]] SLAMing on 3.664012739 meters Centerline goodness [0,1] 0.19763171524083056 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.18 [[ 0.99994985 0.00573357 -0.00821087 0.4643247 ] [-0.00575436 0.99998029 -0.00251084 -0.03212327] [ 0.00819631 0.00255796 0.99996314 -0.17691457] [ 0. 0. 0. 1. ]] SLAMing on 3.694012739 meters Centerline goodness [0,1] 0.19611896819057462 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.18 [[ 0.99994936 0.00565783 -0.00832293 0.4648946 ] [-0.00567995 0.99998039 -0.00263627 -0.03149614] [ 0.00830785 0.00268341 0.99996189 -0.17709061] [ 0. 0. 0. 1. ]] SLAMing on 3.724012739 meters Centerline goodness [0,1] 0.19492440604751615 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.03, Z:-0.18 [[ 0.99994878 0.00554028 -0.00847021 0.46551774] [-0.00556414 0.99998061 -0.00279578 -0.03075319] [ 0.00845455 0.00284276 0.99996022 -0.17712903] [ 0. 0. 0. 1. ]] SLAMing on 3.754012739 meters Centerline goodness [0,1] 0.19505488048511055 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.03, Z:-0.18 [[ 0.99994809 0.00515868 -0.00878718 0.46692773] [-0.00518752 0.99998122 -0.00326238 -0.02852539] [ 0.00877019 0.00330779 0.99995607 -0.17725644] [ 0. 0. 0. 1. ]] SLAMing on 3.784012739 meters Centerline goodness [0,1] 0.19552757681104949 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.03, Z:-0.18 [[ 0.99994754 0.00500344 -0.00893733 0.46750553] [-0.00503378 0.99998163 -0.00337566 -0.02820146] [ 0.00892028 0.00342047 0.99995436 -0.17718383] [ 0. 0. 0. 1. ]] SLAMing on 3.8140127390000003 meters Centerline goodness [0,1] 0.205118355980218 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.03, Z:-0.18 [[ 0.9999887 0.0038137 -0.00283987 0.41391532] [-0.00382576 0.99998364 -0.00425259 -0.02794038] [ 0.00282361 0.00426341 0.99998693 -0.17686771] [ 0. 0. 0. 1. ]] SLAMing on 3.844012739 meters Centerline goodness [0,1] 0.1906866317199878 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.18 [[ 0.99996763 0.00397413 -0.00699539 0.46176053] [-0.0040024 0.99998386 -0.0040318 -0.02687532] [ 0.00697925 0.00405967 0.9999674 -0.17513106] [ 0. 0. 0. 1. ]] SLAMing on 3.874012739 meters Centerline goodness [0,1] 0.18902525371725276 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.18 [[ 0.99996726 0.00382485 -0.00713044 0.46224349] [-0.00385649 0.99998276 -0.00442834 -0.02462566] [ 0.00711338 0.0044557 0.99996477 -0.175071 ] [ 0. 0. 0. 1. ]] SLAMing on 3.904012739 meters Centerline goodness [0,1] 0.20521164956962623 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.18 [[ 0.99996674 0.00361088 -0.00731274 0.46341707] [-0.00364844 0.99998018 -0.0051306 -0.02057339] [ 0.00729407 0.00515711 0.9999601 -0.17580957] [ 0. 0. 0. 1. ]] SLAMing on 3.934012739 meters Centerline goodness [0,1] 0.20616074589873712 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.18 [[ 0.99996645 0.00353299 -0.00739086 0.46384002] [-0.0035726 0.99997929 -0.00535308 -0.01921516] [ 0.0073718 0.0053793 0.99995836 -0.17603682] [ 0. 0. 0. 1. ]] SLAMing on 3.964012739 meters Centerline goodness [0,1] 0.2094647753009894 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.18 [[ 0.99996738 0.00328934 -0.00737697 0.46371972] [-0.00333345 0.99997659 -0.0059757 -0.01567432] [ 0.00735714 0.0060001 0.99995493 -0.17513562] [ 0. 0. 0. 1. ]] SLAMing on 3.994012739 meters Centerline goodness [0,1] 0.2043116119549241 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:-0.18 [[ 9.99995454e-01 2.25220847e-04 -3.00673079e-03 4.83160577e-01] [-2.19660024e-04 9.99998265e-01 1.84966053e-03 -1.89122043e-02] [ 3.00714216e-03 -1.84899166e-03 9.99993769e-01 -1.78025522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.024012739 meters Centerline goodness [0,1] 0.2097291686326319 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.02, Z:-0.18 [[ 0.99999336 -0.00328117 0.00158329 0.4334644 ] [ 0.00328437 0.99999256 -0.0020214 -0.0157506 ] [-0.00157665 0.00202658 0.9999967 -0.17939328] [ 0. 0. 0. 1. ]] SLAMing on 4.054012739 meters Centerline goodness [0,1] 0.2110942465493526 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.02, Z:-0.18 [[ 0.99998437 -0.00517216 0.00212294 0.42865593] [ 0.00518004 0.99997966 -0.00372182 -0.01501591] [-0.00210365 0.00373276 0.99999082 -0.1759819 ] [ 0. 0. 0. 1. ]] SLAMing on 4.084012739 meters Centerline goodness [0,1] 0.21327115193409407 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.02, Z:-0.18 [[ 0.99998412 -0.0053219 0.00185397 0.42975284] [ 0.00532804 0.99998028 -0.00332456 -0.01795488] [-0.00183624 0.00333438 0.99999276 -0.17635776] [ 0. 0. 0. 1. ]] SLAMing on 4.114012739 meters Centerline goodness [0,1] 0.21635199161924712 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.02, Z:-0.18 [[ 0.99995105 -0.00970732 0.00191376 0.42969059] [ 0.00972222 0.99992127 -0.00793236 -0.01622324] [-0.00183661 0.00795058 0.99996671 -0.17609254] [ 0. 0. 0. 1. ]] SLAMing on 4.144012739 meters Centerline goodness [0,1] 0.2205706923700912 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.02, Z:-0.18 [[ 0.99995158 -0.00967394 0.00180476 0.42992582] [ 0.0096874 0.99992416 -0.00760448 -0.01817415] [-0.00173106 0.00762159 0.99996946 -0.17585038] [ 0. 0. 0. 1. ]] SLAMing on 4.174012739 meters Centerline goodness [0,1] 0.21983478966719194 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.02, Z:-0.18 [[ 0.99995178 -0.0096611 0.00176064 0.43014923] [ 0.00967308 0.99992922 -0.00692765 -0.02245828] [-0.00169358 0.00694434 0.99997445 -0.17603524] [ 0. 0. 0. 1. ]] SLAMing on 4.204012739 meters Centerline goodness [0,1] 0.220859043000168 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.03, Z:-0.18 [[ 0.99995312 -0.00953317 0.00169474 0.43056926] [ 0.00954373 0.99993441 -0.0063316 -0.0257628 ] [-0.00163427 0.00634747 0.99997852 -0.17653957] [ 0. 0. 0. 1. ]] SLAMing on 4.234012739 meters Centerline goodness [0,1] 0.2179533042379147 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.03, Z:-0.18 [[ 0.99995153 -0.00975465 0.00133638 0.43193068] [ 0.00976186 0.99993724 -0.00549729 -0.03174168] [-0.00128267 0.00551007 0.999984 -0.17718695] [ 0. 0. 0. 1. ]] SLAMing on 4.264012739 meters Centerline goodness [0,1] 0.21789651641783936 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.04, Z:-0.18 [[ 0.99995341 -0.0095795 0.00119168 0.43234954] [ 0.00958511 0.99994258 -0.00479195 -0.03565926] [-0.00114571 0.00480315 0.99998781 -0.17715978] [ 0. 0. 0. 1. ]] SLAMing on 4.294012739 meters Centerline goodness [0,1] 0.9540336594539265 Centerline is valid? [False, True] Translation: X:0.43, Y:-0.04, Z:-0.18 [[ 0.9999561 -0.00930468 0.00110477 0.43252642] [ 0.00930893 0.99994904 -0.00390675 -0.04042248] [-0.00106836 0.00391686 0.99999176 -0.17698245] [ 0. 0. 0. 1. ]] SLAMing on 4.3240127390000005 meters Centerline goodness [0,1] 0.956747897962092 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.05, Z:-0.17 [[ 9.99925447e-01 -9.75121750e-03 7.34943246e-03 4.62842913e-01] [ 9.75201860e-03 9.99952445e-01 -7.31715541e-05 -5.23858046e-02] [-7.34836945e-03 1.44837901e-04 9.99972990e-01 -1.67943006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.354012739 meters Centerline goodness [0,1] 0.9641151752459173 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.05, Z:-0.17 [[ 9.99925383e-01 -9.30275575e-03 7.91756803e-03 4.94726367e-01] [ 9.30366485e-03 9.99956717e-01 -7.79961324e-05 -5.44988843e-02] [-7.91649975e-03 1.51652712e-04 9.99968653e-01 -1.70489218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384012739 meters Centerline goodness [0,1] 0.967471719726982 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.06, Z:-0.16 [[ 9.99879158e-01 -7.45106468e-03 1.36437090e-02 5.25736914e-01] [ 7.45361811e-03 9.99972212e-01 -1.36310011e-04 -5.67924899e-02] [-1.36423143e-02 2.37988536e-04 9.99906911e-01 -1.63932561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.414012739 meters Centerline goodness [0,1] 0.9719841401742682 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.06, Z:-0.17 [[ 9.99926294e-01 -5.13934630e-03 1.09996960e-02 5.57918425e-01] [ 5.14086052e-03 9.99986780e-01 -1.09389034e-04 -5.66904551e-02] [-1.09989884e-02 1.65928874e-04 9.99939496e-01 -1.70569361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.444012739 meters Centerline goodness [0,1] 0.9732986767485823 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.06, Z:-0.17 [[ 9.99938399e-01 -3.09878941e-03 1.06581437e-02 5.90402151e-01] [ 3.10009942e-03 9.99995189e-01 -1.06393475e-04 -5.68633314e-02] [-1.06577627e-02 1.39428226e-04 9.99943195e-01 -1.73621723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.474012739 meters Centerline goodness [0,1] 0.9799877138266705 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.04, Z:-0.16 [[ 9.99897280e-01 8.09340509e-04 1.43099355e-02 6.21204323e-01] [-8.07355998e-04 9.99999664e-01 -1.44456993e-04 -4.43820537e-02] [-1.43100476e-02 1.32888943e-04 9.99897597e-01 -1.60057346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504012739 meters Centerline goodness [0,1] 0.9797942001870907 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.04, Z:-0.16 [[ 9.99869772e-01 4.49516649e-03 1.54994238e-02 6.52032171e-01] [-4.49328807e-03 9.99989893e-01 -1.56014821e-04 -4.31501817e-02] [-1.54999684e-02 8.63511276e-05 9.99879865e-01 -1.60861924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5340127390000005 meters Centerline goodness [0,1] 0.9825207639247338 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.04, Z:-0.16 [[ 9.99830962e-01 6.78043252e-03 1.70901426e-02 6.83840607e-01] [-6.77849567e-03 9.99977011e-01 -1.71256197e-04 -4.13802995e-02] [-1.70909109e-02 5.53817909e-05 9.99853938e-01 -1.60156226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564012739 meters Centerline goodness [0,1] 0.9825207639247338 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.04, Z:-0.16 [[ 9.99829737e-01 6.95882926e-03 1.70901183e-02 7.16341800e-01] [-6.95687769e-03 9.99975786e-01 -1.73642536e-04 -4.19117380e-02] [-1.70909128e-02 5.47191084e-05 9.99853938e-01 -1.61096800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594012739 meters Centerline goodness [0,1] 0.9844846607046452 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.04, Z:-0.16 [[ 9.99794593e-01 9.59651237e-03 1.78515840e-02 7.48847803e-01] [-9.59473847e-03 9.99953952e-01 -1.85015887e-04 -3.81850734e-02] [-1.78525375e-02 1.36966041e-05 9.99840631e-01 -1.61703374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624012739 meters Centerline goodness [0,1] 0.9848980736861792 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.03, Z:-0.16 [[ 9.99706788e-01 1.56539944e-02 1.84740352e-02 7.80846946e-01] [-1.56530737e-02 9.99877464e-01 -1.94446249e-04 -2.50787934e-02] [-1.84748153e-02 -9.47861986e-05 9.99829322e-01 -1.64488454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.654012739 meters Centerline goodness [0,1] 0.9830078443239217 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.02, Z:-0.16 [[ 9.99650237e-01 1.83938026e-02 1.90018814e-02 8.13407566e-01] [-1.83932576e-02 9.99830809e-01 -2.03465014e-04 -2.07960755e-02] [-1.90024090e-02 -1.46112651e-04 9.99819427e-01 -1.63825714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684012739 meters Centerline goodness [0,1] 0.985403502226782 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.01, Z:-0.17 [[ 9.99554875e-01 2.03843377e-02 2.17837415e-02 8.44205189e-01] [-2.03840033e-02 9.99792196e-01 -2.37421151e-04 -1.46986549e-02] [-2.17840544e-02 -2.06724389e-04 9.99762678e-01 -1.65462183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714012739 meters Centerline goodness [0,1] 0.9865038110999743 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.02, Z:-0.16 [[ 9.99531239e-01 2.08202924e-02 2.24459002e-02 8.77551181e-01] [-2.08199761e-02 9.99783210e-01 -2.47806851e-04 -1.70472354e-02] [-2.24461936e-02 -2.19632417e-04 9.99748028e-01 -1.64341577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744012739 meters Centerline goodness [0,1] 0.985380795470367 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.02, Z:-0.16 [[ 9.99534367e-01 2.08799192e-02 2.22503583e-02 9.10104183e-01] [-2.08795355e-02 9.99781968e-01 -2.49586190e-04 -1.61464664e-02] [-2.22507183e-02 -2.15107172e-04 9.99752399e-01 -1.64566816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.774012739 meters Centerline goodness [0,1] 0.9890772742093251 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.01, Z:-0.17 [[ 9.99499361e-01 2.11873093e-02 2.34973451e-02 9.41298665e-01] [-2.11868496e-02 9.99775497e-01 -2.68542589e-04 -1.41925688e-02] [-2.34977596e-02 -2.29426572e-04 9.99723863e-01 -1.71441069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804012739 meters Centerline goodness [0,1] 0.9895028395866307 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.01, Z:-0.17 [[ 9.99468789e-01 2.20052164e-02 2.40397813e-02 9.74107368e-01] [-2.20049304e-02 9.99757824e-01 -2.76466553e-04 -1.39916594e-02] [-2.40400431e-02 -2.52674023e-04 9.99710964e-01 -1.73394645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.834012739 meters Centerline goodness [0,1] 0.9890087004813032 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.01, Z:-0.17 [[ 9.99431951e-01 2.31749073e-02 2.44683346e-02 1.00532418e+00] [-2.31748422e-02 9.99731386e-01 -2.86265593e-04 -8.89496360e-03] [-2.44683962e-02 -2.80946814e-04 9.99700564e-01 -1.72601166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864012739 meters Centerline goodness [0,1] 0.9886091127098321 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.01, Z:-0.17 [[ 9.99419227e-01 2.45854312e-02 2.35958779e-02 1.03668769e+00] [-2.45857254e-02 9.99697687e-01 -2.77674391e-04 -5.39174000e-03] [-2.35955713e-02 -3.02608650e-04 9.99721540e-01 -1.73477926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.894012739 meters Centerline goodness [0,1] 0.9898334713405097 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.00, Z:-0.18 [[ 9.99365313e-01 2.67650433e-02 2.35075410e-02 1.06729922e+00] [-2.67658514e-02 9.99641691e-01 -2.80322108e-04 -2.27195664e-04] [-2.35066209e-02 -3.49055159e-04 9.99723620e-01 -1.78569744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924012739 meters Centerline goodness [0,1] 0.9885566206485346 Centerline is valid? [True, True] Translation: X:1.10, Y:0.00, Z:-0.18 [[ 9.99336837e-01 2.75842317e-02 2.37696707e-02 1.09932797e+00] [-2.75852554e-02 9.99619414e-01 -2.84887026e-04 9.42638330e-04] [-2.37684827e-02 -3.70994338e-04 9.99717421e-01 -1.78135956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954012739 meters Centerline goodness [0,1] 0.9886902172668788 Centerline is valid? [True, True] Translation: X:1.13, Y:0.00, Z:-0.18 [[ 9.99321700e-01 2.80078217e-02 2.39102848e-02 1.13117218e+00] [-2.80088922e-02 9.99607632e-01 -2.90191568e-04 2.73436597e-03] [-2.39090308e-02 -3.79705859e-04 9.99714066e-01 -1.79615424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.984012739 meters Centerline goodness [0,1] 0.9920966778477232 Centerline is valid? [True, True] Translation: X:1.16, Y:0.00, Z:-0.18 [[ 9.99299029e-01 2.77389476e-02 2.51396414e-02 1.16343360e+00] [-2.77399356e-02 9.99615126e-01 -3.09506421e-04 4.70612376e-03] [-2.51385512e-02 -3.88082569e-04 9.99683901e-01 -1.84844229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014012739 meters Centerline goodness [0,1] 0.9929270197033022 Centerline is valid? [True, True] Translation: X:1.20, Y:0.01, Z:-0.19 [[ 9.99271975e-01 2.81557497e-02 2.57443750e-02 1.19658160e+00] [-2.81568233e-02 9.99603467e-01 -3.20865483e-04 5.04578594e-03] [-2.57432007e-02 -4.04247935e-04 9.99668507e-01 -1.86707209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044012739 meters Centerline goodness [0,1] 0.9923559612093554 Centerline is valid? [True, True] Translation: X:1.23, Y:0.01, Z:-0.19 [[ 9.99228307e-01 2.96317529e-02 2.57827562e-02 1.22847055e+00] [-2.96332050e-02 9.99560787e-01 -3.25835874e-04 7.33716700e-03] [-2.57810872e-02 -4.38441273e-04 9.99667516e-01 -1.85941700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.074012739 meters Centerline goodness [0,1] 0.9931796855331517 Centerline is valid? [True, True] Translation: X:1.26, Y:0.01, Z:-0.19 [[ 9.99184608e-01 3.02484140e-02 2.67423294e-02 1.26114068e+00] [-3.02500795e-02 9.99542303e-01 -3.42361892e-04 1.03649168e-02] [-2.67404454e-02 -4.66874857e-04 9.99642301e-01 -1.88855152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104012739 meters Centerline goodness [0,1] 0.9933610147837196 Centerline is valid? [True, True] Translation: X:1.29, Y:0.02, Z:-0.19 [[ 9.99143566e-01 3.09031535e-02 2.75159757e-02 1.29317970e+00] [-3.09050209e-02 9.99522262e-01 -3.57504081e-04 1.90535717e-02] [-2.75138782e-02 -4.93183901e-04 9.99621300e-01 -1.89968640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134012739 meters Centerline goodness [0,1] 0.993484006197029 Centerline is valid? [True, True] Translation: X:1.33, Y:0.02, Z:-0.19 [[ 9.99112875e-01 3.06503856e-02 2.88793586e-02 1.32522427e+00] [-3.06521868e-02 9.99530039e-01 -3.80432938e-04 1.57278980e-02] [-2.88774469e-02 -5.05120050e-04 9.99582832e-01 -1.88573516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164012739 meters Centerline goodness [0,1] 0.9940684514340258 Centerline is valid? [True, True] Translation: X:1.36, Y:0.02, Z:-0.18 [[ 9.99073012e-01 2.89724771e-02 3.18388422e-02 1.35683655e+00] [-2.89736401e-02 9.99580086e-01 -4.24930358e-04 1.75227956e-02] [-3.18377839e-02 -4.97950703e-04 9.99492925e-01 -1.84971607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.194012739 meters Centerline goodness [0,1] 0.9944075893766839 Centerline is valid? [True, True] Translation: X:1.39, Y:0.02, Z:-0.18 [[ 9.99086616e-01 2.75221185e-02 3.26874193e-02 1.38943095e+00] [-2.75224056e-02 9.99621089e-01 -4.41239582e-04 1.62380031e-02] [-3.26871776e-02 -4.58799853e-04 9.99465526e-01 -1.83668766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224012739 meters Centerline goodness [0,1] 0.9945931271633147 Centerline is valid? [True, True] Translation: X:1.42, Y:0.02, Z:-0.19 [[ 9.99117454e-01 2.61768880e-02 3.28494206e-02 1.42030028e+00] [-2.61762796e-02 9.99657242e-01 -4.48649951e-04 1.55236621e-02] [-3.28499055e-02 -4.11621623e-04 9.99460211e-01 -1.85177444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254012739 meters Centerline goodness [0,1] 0.9957605023918021 Centerline is valid? [True, True] Translation: X:1.45, Y:0.01, Z:-0.19 [[ 9.99222140e-01 2.34362935e-02 3.17152091e-02 1.45254357e+00] [-2.34342017e-02 9.99725286e-01 -4.37710758e-04 1.15500550e-02] [-3.17167548e-02 -3.05850324e-04 9.99496850e-01 -1.89854422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284012739 meters Centerline goodness [0,1] 0.9952865293971719 Centerline is valid? [True, True] Translation: X:1.48, Y:0.01, Z:-0.19 [[ 9.99280983e-01 2.23092937e-02 3.06563448e-02 1.48375672e+00] [-2.23066647e-02 9.99751084e-01 -4.27799730e-04 1.05238546e-02] [-3.06582578e-02 -2.56348668e-04 9.99529892e-01 -1.91480154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.314012739 meters Centerline goodness [0,1] 0.9966592930341746 Centerline is valid? [True, True] Translation: X:1.52, Y:0.01, Z:-0.19 [[ 9.99343098e-01 1.93620107e-02 3.06347069e-02 1.51619243e+00] [-1.93578620e-02 9.99812526e-01 -4.32025641e-04 5.39937774e-03] [-3.06373285e-02 -1.61280587e-04 9.99530554e-01 -1.94577891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344012739 meters Centerline goodness [0,1] 0.9968965051949804 Centerline is valid? [True, True] Translation: X:1.55, Y:0.00, Z:-0.20 [[ 9.99377812e-01 1.79120683e-02 3.03833379e-02 1.54777021e+00] [-1.79071664e-02 9.99839560e-01 -4.33451831e-04 2.97951943e-03] [-3.03862272e-02 -1.10897346e-04 9.99538226e-01 -1.95460136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374012739 meters Centerline goodness [0,1] 0.9973256023013305 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.00, Z:-0.20 [[ 9.99402780e-01 1.60833648e-02 3.05844520e-02 1.58101831e+00] [-1.60773964e-02 9.99870653e-01 -4.41066867e-04 -1.03052874e-03] [-3.05875898e-02 -5.09149049e-05 9.99532089e-01 -1.96543557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.404012739 meters Centerline goodness [0,1] 0.9970209429947362 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.01, Z:-0.20 [[ 9.99452549e-01 1.12047360e-02 3.11296644e-02 1.61277729e+00] [-1.11960105e-02 9.99937219e-01 -4.54592779e-04 -9.38605914e-03] [-3.11328037e-02 1.05815862e-04 9.99515251e-01 -1.96140867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434012739 meters Centerline goodness [0,1] 0.9973643653257689 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.01, Z:-0.20 [[ 9.99483646e-01 8.88917348e-03 3.08775681e-02 1.64496277e+00] [-8.87932599e-03 9.99960474e-01 -4.56027361e-04 -1.35768807e-02] [-3.08804014e-02 1.81619897e-04 9.99523070e-01 -1.97505474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464012739 meters Centerline goodness [0,1] 0.9966309683177154 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.02, Z:-0.20 [[ 9.99521244e-01 4.38067646e-03 3.06282962e-02 1.67724057e+00] [-4.36872022e-03 9.99990353e-01 -4.57274068e-04 -2.33135960e-02] [-3.06300039e-02 3.23248688e-04 9.99530739e-01 -1.99009746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494012739 meters Centerline goodness [0,1] 0.9963172930988304 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.03, Z:-0.20 [[ 9.99525690e-01 2.77811401e-03 3.06704705e-02 1.70951641e+00] [-2.76521437e-03 9.99996070e-01 -4.62995472e-04 -2.86363284e-02] [-3.06716362e-02 3.77965443e-04 9.99529443e-01 -1.99869152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.524012739 meters Centerline goodness [0,1] 0.9943841424163725 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.04, Z:-0.20 [[ 9.99531930e-01 2.13941709e-04 3.05920690e-02 1.74007434e+00] [-1.99757260e-04 9.99999871e-01 -4.66719732e-04 -3.99086154e-02] [-3.05921649e-02 4.60390287e-04 9.99531844e-01 -2.00260251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554012739 meters Centerline goodness [0,1] 0.9881678020795984 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.04, Z:-0.19 [[ 9.99494601e-01 -3.25995774e-04 3.17873586e-02 1.77272816e+00] [ 3.41678014e-04 9.99999823e-01 -4.87917677e-04 -3.81084645e-02] [-3.17871939e-02 4.98532125e-04 9.99494535e-01 -1.90443623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584012739 meters Centerline goodness [0,1] 0.9950329290196687 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.04, Z:-0.20 [[ 9.99512962e-01 6.27028472e-05 3.12063225e-02 1.80440110e+00] [-4.76126475e-05 9.99999882e-01 -4.84305111e-04 -4.17739313e-02] [-3.12063491e-02 4.82583420e-04 9.99512847e-01 -2.02019142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614012739 meters Centerline goodness [0,1] 0.994528348050446 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.04, Z:-0.20 [[ 9.99503423e-01 5.22597983e-04 3.15061110e-02 1.83713318e+00] [-5.07261020e-04 9.99999749e-01 -4.94784202e-04 -4.35694009e-02] [-3.15063617e-02 4.78556681e-04 9.99503437e-01 -2.02930175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644012739 meters Centerline goodness [0,1] 0.9957279146468335 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.05, Z:-0.21 [[ 9.99518352e-01 1.81138277e-03 3.09803522e-02 1.86882531e+00] [-1.79699599e-03 9.99998264e-01 -4.92220183e-04 -4.56262882e-02] [-3.09811900e-02 4.36311538e-04 9.99519872e-01 -2.05375160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674012739 meters Centerline goodness [0,1] 0.9963044921442797 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.05, Z:-0.21 [[ 9.99529977e-01 1.41118464e-03 3.06240644e-02 1.90209350e+00] [-1.39678155e-03 9.99998904e-01 -4.91706840e-04 -5.05777694e-02] [-3.06247247e-02 4.48700598e-04 9.99530852e-01 -2.06374766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704012739 meters Centerline goodness [0,1] 0.9960468163546317 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.05, Z:-0.21 [[ 9.99530375e-01 6.99741951e-04 3.06355856e-02 1.93436928e+00] [-6.84811791e-04 9.99999642e-01 -4.97836524e-04 -5.38888318e-02] [-3.06359230e-02 4.76623118e-04 9.99530496e-01 -2.07168469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.734012739 meters Centerline goodness [0,1] 0.9853085210577864 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.06, Z:-0.19 [[ 9.99515079e-01 1.16696641e-04 3.11382836e-02 1.96709675e+00] [-1.00819389e-04 9.99999864e-01 -5.11464466e-04 -5.80752962e-02] [-3.11383391e-02 5.08077104e-04 9.99514955e-01 -1.93459876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764012739 meters Centerline goodness [0,1] 0.9937296434981056 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.06, Z:-0.21 [[ 9.99488324e-01 -1.15137013e-03 3.19650459e-02 1.99766080e+00] [ 1.16893170e-03 9.99999176e-01 -5.30717383e-04 -6.49109265e-02] [-3.19644086e-02 5.67810783e-04 9.99488846e-01 -2.06689068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794012739 meters Centerline goodness [0,1] 0.9942484238469196 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.07, Z:-0.21 [[ 9.99471490e-01 -1.17879418e-03 3.24861687e-02 2.03042032e+00] [ 1.19712448e-03 9.99999135e-01 -5.44804850e-04 -6.82429097e-02] [-3.24854984e-02 5.83406903e-04 9.99472037e-01 -2.07020177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824012739 meters Centerline goodness [0,1] 0.9939645746774546 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.07, Z:-0.21 [[ 9.99479922e-01 -1.22037470e-03 3.22241484e-02 2.06275882e+00] [ 1.23863144e-03 9.99999084e-01 -5.46598434e-04 -7.35035997e-02] [-3.22234518e-02 5.86228004e-04 9.99480518e-01 -2.07542496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854012739 meters Centerline goodness [0,1] 0.9944182992229397 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.07, Z:-0.21 [[ 9.99514816e-01 -8.56166649e-05 3.11468330e-02 2.09512248e+00] [ 1.02291770e-04 9.99999852e-01 -5.33777778e-04 -7.41945535e-02] [-3.11467827e-02 5.36704862e-04 9.99514677e-01 -2.09842419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884012739 meters Centerline goodness [0,1] 0.9857681310111776 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.08, Z:-0.20 [[ 9.99573866e-01 1.58165605e-03 2.91476486e-02 2.12666306e+00] [-1.56762890e-03 9.99998644e-01 -5.04089537e-04 -7.76710022e-02] [-2.91484064e-02 4.58182031e-04 9.99574990e-01 -1.99600851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914012739 meters Centerline goodness [0,1] 0.9967754501385041 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.08, Z:-0.22 [[ 9.99603974e-01 4.83252949e-03 2.77225859e-02 2.15727690e+00] [-4.82097714e-03 9.99988262e-01 -4.83535756e-04 -7.89007537e-02] [-2.77245972e-02 3.49694311e-04 9.99615538e-01 -2.18147327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944012739 meters Centerline goodness [0,1] 0.9972914051661492 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.08, Z:-0.22 [[ 9.99520637e-01 6.59071015e-03 3.02499345e-02 2.18952377e+00] [-6.57761250e-03 9.99978226e-01 -5.32470913e-04 -7.53004150e-02] [-3.02527851e-02 3.33243319e-04 9.99542224e-01 -2.15547963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974012739 meters Centerline goodness [0,1] 0.9972642633367163 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.07, Z:-0.21 [[ 9.99434664e-01 1.06796716e-02 3.18794150e-02 2.22168180e+00] [-1.06670248e-02 9.99942945e-01 -5.66758548e-04 -7.05609639e-02] [-3.18836489e-02 2.26379630e-04 9.99491562e-01 -2.14438701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004012739 meters Centerline goodness [0,1] 0.9983296703296703 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.07, Z:-0.22 [[ 9.99447568e-01 1.33156780e-02 3.04507983e-02 2.25272253e+00] [-1.33052112e-02 9.99911333e-01 -5.46336038e-04 -6.91065233e-02] [-3.04553731e-02 1.40879924e-04 9.99536118e-01 -2.16520806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034012739 meters Centerline goodness [0,1] 0.9990297684674752 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.06, Z:-0.22 [[ 9.99449823e-01 1.82080003e-02 2.77221977e-02 2.28498282e+00] [-1.82010882e-02 9.99834221e-01 -5.01670148e-04 -6.35022700e-02] [-2.77267364e-02 -3.18002503e-06 9.99615540e-01 -2.22286252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064012739 meters Centerline goodness [0,1] 0.9988798594333407 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.06, Z:-0.22 [[ 9.99388279e-01 2.12136423e-02 2.78037735e-02 2.31822034e+00] [-2.12077246e-02 9.99774962e-01 -5.07735867e-04 -5.95734904e-02] [-2.78082875e-02 -8.22294984e-05 9.99613271e-01 -2.22551563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094012739 meters Centerline goodness [0,1] 0.9979744605900485 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.06, Z:-0.21 [[ 9.99290294e-01 2.39760006e-02 2.90527207e-02 2.35023562e+00] [-2.39705332e-02 9.99712522e-01 -5.36504211e-04 -5.57227172e-02] [-2.90572319e-02 -1.60285754e-04 9.99577737e-01 -2.14361793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124012739 meters Centerline goodness [0,1] 0.9982352032825219 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.05, Z:-0.22 [[ 9.99077082e-01 2.95469606e-02 3.11763005e-02 2.38210617e+00] [-2.95432099e-02 9.99563335e-01 -5.81035923e-04 -4.76165820e-02] [-3.11798547e-02 -3.40548314e-04 9.99513732e-01 -2.19136354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.154012739 meters Centerline goodness [0,1] 0.9983234061328039 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.05, Z:-0.22 [[ 9.98994451e-01 3.17318822e-02 3.16729302e-02 2.41416188e+00] [-3.17289345e-02 9.99496333e-01 -5.95789859e-04 -4.53973377e-02] [-3.16758832e-02 -4.09757565e-04 9.99498109e-01 -2.18531670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184012739 meters Centerline goodness [0,1] 0.9977893538784801 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.04, Z:-0.22 [[ 9.98923238e-01 3.45705098e-02 3.09393510e-02 2.44554052e+00] [-3.45688995e-02 9.99402145e-01 -5.87102626e-04 -3.68670722e-02] [-3.09411502e-02 -4.83068860e-04 9.99521091e-01 -2.20010343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214012739 meters Centerline goodness [0,1] 0.9983454300778751 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.04, Z:-0.22 [[ 9.98922716e-01 3.50508190e-02 3.04112937e-02 2.47814231e+00] [-3.50493980e-02 9.99385413e-01 -5.79959386e-04 -3.72674185e-02] [-3.04129313e-02 -4.86562930e-04 9.99537301e-01 -2.22022352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244012739 meters Centerline goodness [0,1] 0.9980826868829337 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.04, Z:-0.22 [[ 9.98953998e-01 3.46120138e-02 2.98817344e-02 2.50895304e+00] [-3.46102713e-02 9.99400719e-01 -5.75688244e-04 -3.69817207e-02] [-2.98837526e-02 -4.59128863e-04 9.99553275e-01 -2.23570021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.274012739 meters Centerline goodness [0,1] 0.9981766876492294 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.04, Z:-0.22 [[ 9.99047224e-01 3.24789907e-02 2.91506237e-02 2.54012819e+00] [-3.24762903e-02 9.99472346e-01 -5.66207725e-04 -3.63126782e-02] [-2.91536322e-02 -3.81035864e-04 9.99574870e-01 -2.24082812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304012739 meters Centerline goodness [0,1] 0.9983998947876025 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.04, Z:-0.22 [[ 9.99085842e-01 3.11312741e-02 2.92971794e-02 2.57269363e+00] [-3.11278304e-02 9.99515247e-01 -5.73723170e-04 -3.79035752e-02] [-2.93008382e-02 -3.38758935e-04 9.99570581e-01 -2.24509217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334012739 meters Centerline goodness [0,1] 0.9990971151728694 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.04, Z:-0.23 [[ 9.99189198e-01 2.76592794e-02 2.92559459e-02 2.60475658e+00] [-2.76542170e-02 9.99617382e-01 -5.77712143e-04 -4.20745045e-02] [-2.92607311e-02 -2.31806543e-04 9.99571786e-01 -2.25558400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364012739 meters Centerline goodness [0,1] 0.9989253207588551 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.04, Z:-0.22 [[ 9.99219203e-01 2.59814899e-02 2.97648641e-02 2.63569507e+00] [-2.59753497e-02 9.99662408e-01 -5.92999068e-04 -4.34742948e-02] [-2.97702227e-02 -1.80616698e-04 9.99556752e-01 -2.24960623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394012739 meters Centerline goodness [0,1] 0.9989378075480696 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.05, Z:-0.22 [[ 9.99224354e-01 2.41962686e-02 3.10681731e-02 2.66678486e+00] [-2.41886133e-02 9.99707219e-01 -6.22272795e-04 -4.68495044e-02] [-3.10741336e-02 -1.29705894e-04 9.99517074e-01 -2.23484502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424012739 meters Centerline goodness [0,1] 0.9982289799356385 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.05, Z:-0.22 [[ 9.99188446e-01 2.11565354e-02 3.42760892e-02 2.69898124e+00] [-2.11452325e-02 9.99776175e-01 -6.92261465e-04 -5.27393136e-02] [-3.42830632e-02 -3.30762173e-05 9.99412162e-01 -2.17947590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454012739 meters Centerline goodness [0,1] 0.9989978431842443 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.06, Z:-0.22 [[ 9.99296780e-01 1.89456389e-02 3.23574959e-02 2.73112746e+00] [-1.89342392e-02 9.99820514e-01 -6.58711292e-04 -5.83969606e-02] [-3.23641679e-02 4.55835082e-05 9.99476142e-01 -2.22840588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.484012739 meters Centerline goodness [0,1] 0.9989978431842443 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.06, Z:-0.22 [[ 9.99293327e-01 1.91270990e-02 3.23573886e-02 2.76362375e+00] [-1.91156250e-02 9.99817059e-01 -6.63939702e-04 -5.92496220e-02] [-3.23641684e-02 4.49388058e-05 9.99476142e-01 -2.23781112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514012739 meters Centerline goodness [0,1] 0.9989472760768489 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.06, Z:-0.23 [[ 9.99373422e-01 1.77875853e-02 3.06000883e-02 2.79653652e+00] [-1.77765343e-02 9.99841784e-01 -6.33169902e-04 -6.34758647e-02] [-3.06065095e-02 8.88096511e-05 9.99531507e-01 -2.28385570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544012739 meters Centerline goodness [0,1] 0.9991787632618635 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.07, Z:-0.23 [[ 9.99445417e-01 1.66725667e-02 2.88250524e-02 2.82894404e+00] [-1.66621473e-02 9.99860996e-01 -6.01640435e-04 -6.73968939e-02] [-2.88310765e-02 1.21019505e-04 9.99584291e-01 -2.31752290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574012739 meters Centerline goodness [0,1] 0.9989088687150838 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.07, Z:-0.23 [[ 9.99482396e-01 1.53360454e-02 2.82797882e-02 2.86194594e+00] [-1.53253313e-02 9.99882383e-01 -5.95579492e-04 -7.10594158e-02] [-2.82855959e-02 1.61874095e-04 9.99599869e-01 -2.34027434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604012739 meters Centerline goodness [0,1] 0.9985215462886463 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.08, Z:-0.23 [[ 9.99482278e-01 1.43097877e-02 2.88167667e-02 2.89361762e+00] [-1.42980734e-02 9.99897590e-01 -6.12534474e-04 -7.76811955e-02] [-2.88225808e-02 2.00193104e-04 9.99584523e-01 -2.33743478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634012739 meters Centerline goodness [0,1] 0.9990702204905694 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.08, Z:-0.23 [[ 9.99471504e-01 1.46057898e-02 2.90410517e-02 2.92653244e+00] [-1.45938646e-02 9.99893310e-01 -6.22557666e-04 -7.87873384e-02] [-2.90470462e-02 1.98407472e-04 9.99578026e-01 -2.33283372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664012739 meters Centerline goodness [0,1] 0.9993409924653471 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.08, Z:-0.23 [[ 9.99454522e-01 1.55207129e-02 2.91507348e-02 2.95964744e+00] [-1.55089208e-02 9.99879531e-01 -6.30590543e-04 -7.89673045e-02] [-2.91570102e-02 1.78150134e-04 9.99574828e-01 -2.33934086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.694012739 meters Centerline goodness [0,1] 0.9988429715982273 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.08, Z:-0.24 [[ 9.99432097e-01 1.67169797e-02 2.92579398e-02 2.99095436e+00] [-1.67054437e-02 9.99860250e-01 -6.38693447e-04 -7.97085786e-02] [-2.92645280e-02 1.49563866e-04 9.99571691e-01 -2.35340829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724012739 meters Centerline goodness [0,1] 0.9995003258744297 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.08, Z:-0.24 [[ 9.99372366e-01 1.96040066e-02 2.95051871e-02 3.02243338e+00] [-1.95933926e-02 9.99807821e-01 -6.48833934e-04 -7.90519680e-02] [-2.95122365e-02 7.03199897e-05 9.99564417e-01 -2.36203841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754012739 meters Centerline goodness [0,1] 0.9994332054412277 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.08, Z:-0.24 [[ 9.99345543e-01 2.16172775e-02 2.90030699e-02 3.05590956e+00] [-2.16077424e-02 9.99766319e-01 -6.42168257e-04 -7.68018289e-02] [-2.90101744e-02 1.50571225e-05 9.99579116e-01 -2.37994532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784012739 meters Centerline goodness [0,1] 0.999691024254596 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.07, Z:-0.24 [[ 9.99299822e-01 2.54112891e-02 2.74614714e-02 3.08693808e+00] [-2.54040395e-02 9.99677077e-01 -6.12895813e-04 -7.08464034e-02] [-2.74681779e-02 -8.51656269e-05 9.99622675e-01 -2.41246642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.814012739 meters Centerline goodness [0,1] 0.9997158469945355 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.07, Z:-0.24 [[ 9.99282044e-01 2.67141828e-02 2.68653882e-02 3.11959691e+00] [-2.67076596e-02 9.99643106e-01 -6.01664529e-04 -7.06199077e-02] [-2.68718730e-02 -1.16279083e-04 9.99638879e-01 -2.42747379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844012739 meters Centerline goodness [0,1] 0.9996653503781541 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.07, Z:-0.24 [[ 9.99266854e-01 2.79601226e-02 2.61531111e-02 3.15125625e+00] [-2.79542372e-02 9.99609029e-01 -5.90688028e-04 -7.01755680e-02] [-2.61594017e-02 -1.40835304e-04 9.99657774e-01 -2.44848464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874012739 meters Centerline goodness [0,1] 0.9996255341645006 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.07, Z:-0.25 [[ 9.99227837e-01 3.00278124e-02 2.53389013e-02 3.18362024e+00] [-3.00228386e-02 9.99549047e-01 -5.76787816e-04 -6.86281751e-02] [-2.53447943e-02 -1.84403301e-04 9.99678752e-01 -2.47490818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904012739 meters Centerline goodness [0,1] 0.9996745780361869 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.07, Z:-0.25 [[ 9.99173741e-01 3.17226622e-02 2.54068371e-02 3.21435610e+00] [-3.17180972e-02 9.99496685e-01 -5.82750783e-04 -6.59006889e-02] [-2.54125358e-02 -2.23587248e-04 9.99677024e-01 -2.48655586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934012739 meters Centerline goodness [0,1] 0.9994104417319912 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.06, Z:-0.25 [[ 9.99068522e-01 3.51329516e-02 2.50552202e-02 3.24686731e+00] [-3.51295054e-02 9.99382601e-01 -5.77825184e-04 -6.13102680e-02] [-2.50600518e-02 -3.02890539e-04 9.99685902e-01 -2.48643949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964012739 meters Centerline goodness [0,1] 0.9993028626203652 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.06, Z:-0.25 [[ 9.98984809e-01 3.69825273e-02 2.57224401e-02 3.27802079e+00] [-3.69793891e-02 9.99315850e-01 -5.97831747e-04 -5.56689650e-02] [-2.57269514e-02 -3.53975289e-04 9.99668945e-01 -2.48452347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9940127389999995 meters Centerline goodness [0,1] 0.9993893129770992 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.05, Z:-0.25 [[ 9.98887736e-01 3.88264788e-02 2.67543366e-02 3.31007239e+00] [-3.88236828e-02 9.99245882e-01 -6.24137810e-04 -5.45033070e-02] [-2.67583937e-02 -4.15258274e-04 9.99641844e-01 -2.46621694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024012739 meters Centerline goodness [0,1] 0.9984860785045089 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.05, Z:-0.24 [[ 9.98684315e-01 4.30041724e-02 2.79335083e-02 3.34280594e+00] [-4.30026206e-02 9.99074744e-01 -6.56554114e-04 -4.57002715e-02] [-2.79358972e-02 -5.45523762e-04 9.99609568e-01 -2.44219103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054012739 meters Centerline goodness [0,1] 0.9981563339923144 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.04, Z:-0.25 [[ 9.98577534e-01 4.57613632e-02 2.73643136e-02 3.37430700e+00] [-4.57608784e-02 9.98952215e-01 -6.44269066e-04 -3.95396758e-02] [-2.73651243e-02 -6.08862416e-04 9.99625319e-01 -2.45181871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084012739 meters Centerline goodness [0,1] 0.9951836243226971 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.02, Z:-0.25 [[ 9.98366729e-01 4.99525319e-02 2.77239709e-02 3.40526502e+00] [-4.99535270e-02 9.98751327e-01 -6.57124977e-04 -2.22973039e-02] [-2.77221778e-02 -7.28858415e-04 9.99615401e-01 -2.46176980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114012739 meters Centerline goodness [0,1] 0.9971837750513033 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.03, Z:-0.25 [[ 9.98306553e-01 5.14081161e-02 2.72255572e-02 3.43688419e+00] [-5.14096148e-02 9.98677443e-01 -6.45372974e-04 -2.63583472e-02] [-2.72227272e-02 -7.55375337e-04 9.99629107e-01 -2.46430707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144012739 meters Centerline goodness [0,1] 0.99732170525477 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.02, Z:-0.25 [[ 9.98344755e-01 5.10036972e-02 2.65776722e-02 3.46854210e+00] [-5.10048744e-02 9.98698203e-01 -6.34062251e-04 -2.13235400e-02] [-2.65754130e-02 -7.22578111e-04 9.99646550e-01 -2.47974508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174012739 meters Centerline goodness [0,1] 0.996671702905691 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.02, Z:-0.25 [[ 9.98404256e-01 4.95716006e-02 2.70480636e-02 3.49957117e+00] [-4.95721754e-02 9.98770333e-01 -6.49698835e-04 -1.75710890e-02] [-2.70470101e-02 -6.92169270e-04 9.99633923e-01 -2.48515775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2040127389999995 meters Centerline goodness [0,1] 0.9968005840544545 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.02, Z:-0.25 [[ 9.98483997e-01 4.74237042e-02 2.79409924e-02 3.53127128e+00] [-4.74233988e-02 9.98874650e-01 -6.73960304e-04 -1.84712211e-02] [-2.79415107e-02 -6.52118248e-04 9.99609347e-01 -2.48286983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.234012739 meters Centerline goodness [0,1] 0.9979711646378313 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.02, Z:-0.25 [[ 9.98730854e-01 4.22652893e-02 2.73920791e-02 3.56050068e+00] [-4.22630208e-02 9.99106300e-01 -6.62014053e-04 -2.24328355e-02] [-2.73955790e-02 -4.96498148e-04 9.99624547e-01 -2.50416076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264012739 meters Centerline goodness [0,1] 0.998529348155197 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.03, Z:-0.25 [[ 9.98821629e-01 4.01624097e-02 2.72458242e-02 3.59239789e+00] [-4.01593994e-02 9.99193069e-01 -6.57887426e-04 -2.60315794e-02] [-2.72502611e-02 -4.37063749e-04 9.99628547e-01 -2.51320726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294012739 meters Centerline goodness [0,1] 0.9988131607288072 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.03, Z:-0.25 [[ 9.98953058e-01 3.74607285e-02 2.62579713e-02 3.62364429e+00] [-3.74568920e-02 9.99298041e-01 -6.38122440e-04 -2.65883743e-02] [-2.62634438e-02 -3.46087629e-04 9.99654996e-01 -2.52850379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324012739 meters Centerline goodness [0,1] 0.9991033939818055 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.03, Z:-0.25 [[ 9.98993441e-01 3.61434400e-02 2.65660717e-02 3.65613930e+00] [-3.61389416e-02 9.99346564e-01 -6.49586783e-04 -2.98975988e-02] [-2.65721908e-02 -3.11136779e-04 9.99646849e-01 -2.52607020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354012739 meters Centerline goodness [0,1] 0.9994145833785044 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.03, Z:-0.25 [[ 9.99065074e-01 3.34507942e-02 2.73865445e-02 3.68829457e+00] [-3.34448757e-02 9.99440336e-01 -6.74262270e-04 -3.36439114e-02] [-2.73937719e-02 -2.42307694e-04 9.99624691e-01 -2.52704970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384012739 meters Centerline goodness [0,1] 0.9993955616958812 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.04, Z:-0.25 [[ 9.99114357e-01 3.21637365e-02 2.71292255e-02 3.71897859e+00] [-3.21573315e-02 9.99482593e-01 -6.72455831e-04 -3.56077666e-02] [-2.71368173e-02 -2.00543221e-04 9.99631709e-01 -2.54128979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414012739 meters Centerline goodness [0,1] 0.999847114838597 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.04, Z:-0.26 [[ 9.99232779e-01 2.96705209e-02 2.55639240e-02 3.75101684e+00] [-2.96639243e-02 9.99559726e-01 -6.37313687e-04 -4.44064323e-02] [-2.55715783e-02 -1.21501582e-04 9.99672986e-01 -2.57308175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444012739 meters Centerline goodness [0,1] 0.9998469778117827 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.05, Z:-0.26 [[ 9.99280770e-01 2.86340004e-02 2.48603510e-02 3.78247159e+00] [-2.86273423e-02 9.99589959e-01 -6.23749144e-04 -4.72910592e-02] [-2.48680177e-02 -8.83852539e-05 9.99690739e-01 -2.59227836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474012739 meters Centerline goodness [0,1] 0.9999129564346956 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.05, Z:-0.26 [[ 9.99311844e-01 2.75542987e-02 2.48314010e-02 3.81457500e+00] [-2.75472127e-02 9.99620307e-01 -6.27451809e-04 -5.02311636e-02] [-2.48392617e-02 -5.70158616e-05 9.99691456e-01 -2.60192629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504012739 meters Centerline goodness [0,1] 0.9999128881919944 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.05, Z:-0.26 [[ 9.99337325e-01 2.70214653e-02 2.43875379e-02 3.84633354e+00] [-2.70143695e-02 9.99634853e-01 -6.20429631e-04 -5.17324685e-02] [-2.43953978e-02 -3.87954726e-05 9.99702387e-01 -2.61620659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534012739 meters Centerline goodness [0,1] 0.9999561912689199 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.05, Z:-0.26 [[ 9.99334040e-01 2.73287043e-02 2.41788921e-02 3.87934986e+00] [-2.73217205e-02 9.99626500e-01 -6.19209448e-04 -5.21449161e-02] [-2.41867834e-02 -4.18118501e-05 9.99707456e-01 -2.61765633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564012739 meters Centerline goodness [0,1] 0.9999124074804012 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.05, Z:-0.26 [[ 9.99301125e-01 2.79850808e-02 2.47809885e-02 3.91245368e+00] [-2.79778247e-02 9.99608339e-01 -6.39543103e-04 -5.03596400e-02] [-2.47891804e-02 -5.42220091e-05 9.99692700e-01 -2.61685273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.594012739 meters Centerline goodness [0,1] 0.9999137931034483 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.05, Z:-0.26 [[ 9.99305513e-01 2.79401613e-02 2.46543767e-02 3.94412562e+00] [-2.79328457e-02 9.99609596e-01 -6.41130871e-04 -4.98450367e-02] [-2.46626649e-02 -4.79812873e-05 9.99695829e-01 -2.63965508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624012739 meters Centerline goodness [0,1] 0.9998921041841997 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.05, Z:-0.27 [[ 9.99363519e-01 2.69091542e-02 2.34191044e-02 3.97723236e+00] [-2.69021771e-02 9.99637883e-01 -6.12983437e-04 -4.92907571e-02] [-2.34271188e-02 -1.74316099e-05 9.99725547e-01 -2.66865665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.654012739 meters Centerline goodness [0,1] 0.9998923689592079 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.05, Z:-0.27 [[ 9.99398223e-01 2.56705090e-02 2.33284437e-02 4.01068838e+00] [-2.56631454e-02 9.99670458e-01 -6.15021390e-04 -4.99666996e-02] [-2.33365439e-02 1.59700410e-05 9.99727666e-01 -2.67646067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684012739 meters Centerline goodness [0,1] 0.9998044413541349 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.05, Z:-0.27 [[ 9.99467212e-01 2.21754189e-02 2.39487437e-02 4.04338123e+00] [-2.21665420e-02 9.99754090e-01 -6.36101187e-04 -5.16408244e-02] [-2.39569603e-02 1.04901447e-04 9.99712985e-01 -2.66204691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714012739 meters Centerline goodness [0,1] 0.9997413793103448 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.05, Z:-0.27 [[ 9.99498653e-01 1.99423162e-02 2.45915977e-02 4.07483859e+00] [-1.99321493e-02 9.99801118e-01 -6.58505330e-04 -5.40598465e-02] [-2.45998390e-02 1.68011793e-04 9.99697364e-01 -2.65815910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7440127389999995 meters Centerline goodness [0,1] 0.9997205563079039 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.06, Z:-0.27 [[ 9.99545162e-01 1.70922459e-02 2.48459946e-02 4.10736422e+00] [-1.70809364e-02 9.99853887e-01 -6.67355291e-04 -5.75544613e-02] [-2.48537709e-02 2.42658899e-04 9.99691068e-01 -2.66480743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.774012739 meters Centerline goodness [0,1] 0.9993490854650784 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.06, Z:-0.27 [[ 9.99664710e-01 1.08347523e-02 2.35175670e-02 4.13848037e+00] [-1.08227885e-02 9.99941230e-01 -6.35939814e-04 -6.37974545e-02] [-2.35230751e-02 3.81200936e-04 9.99723222e-01 -2.69358637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804012739 meters Centerline goodness [0,1] 0.9989455647818637 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.07, Z:-0.27 [[ 9.99722768e-01 4.83522664e-03 2.30436247e-02 4.16945739e+00] [-4.82213502e-03 9.99988179e-01 -6.23656941e-04 -7.23493148e-02] [-2.30463679e-02 5.12364573e-04 9.99734266e-01 -2.70773718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834012739 meters Centerline goodness [0,1] 0.9951541373715522 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.08, Z:-0.26 [[ 9.99720673e-01 2.70720851e-03 2.34786338e-02 4.20107687e+00] [-2.69303443e-03 9.99996172e-01 -6.35298950e-04 -7.73525354e-02] [-2.34802638e-02 5.71892725e-04 9.99724137e-01 -2.62767566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864012739 meters Centerline goodness [0,1] 0.9970868931933303 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.08, Z:-0.27 [[ 9.99702833e-01 4.19591403e-04 2.43735504e-02 4.23196313e+00] [-4.03542647e-04 9.99999699e-01 -6.63364556e-04 -8.27782454e-02] [-2.43738214e-02 6.53331659e-04 9.99702701e-01 -2.70383887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894012739 meters Centerline goodness [0,1] 0.9958013202034411 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.09, Z:-0.27 [[ 9.99712231e-01 -3.73638558e-03 2.36958813e-02 4.26325399e+00] [ 3.75281729e-03 9.99992748e-01 -6.49009770e-04 -9.15154453e-02] [-2.36932845e-02 7.37749318e-04 9.99719003e-01 -2.71268350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924012739 meters Centerline goodness [0,1] 0.9962279693901884 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.09, Z:-0.27 [[ 9.99721869e-01 -4.75110797e-03 2.31000274e-02 4.29517586e+00] [ 4.76698725e-03 9.99988438e-01 -6.32395939e-04 -9.49832297e-02] [-2.30967558e-02 7.42337586e-04 9.99732959e-01 -2.72961626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9540127389999995 meters Centerline goodness [0,1] 0.9943609022556391 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.10, Z:-0.27 [[ 9.99738451e-01 -4.54555955e-03 2.24135489e-02 4.32801192e+00] [ 4.56054055e-03 9.99989410e-01 -6.17319846e-04 -9.97012696e-02] [-2.24105055e-02 7.19376285e-04 9.99748594e-01 -2.70440451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984012739 meters Centerline goodness [0,1] 0.9966340863486309 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.10, Z:-0.27 [[ 9.99727602e-01 -3.26829043e-03 2.31092898e-02 4.35993868e+00] [ 3.28394107e-03 9.99994403e-01 -6.39327090e-04 -1.00693073e-01] [-2.31070710e-02 7.15042485e-04 9.99732740e-01 -2.74482940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014012739 meters Centerline goodness [0,1] 0.9976641577991175 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.10, Z:-0.27 [[ 9.99724337e-01 -8.69887527e-05 2.34785598e-02 4.39170469e+00] [ 1.02374333e-04 9.99999781e-01 -6.54102226e-04 -1.00448719e-01] [-2.34784977e-02 6.56325516e-04 9.99724127e-01 -2.74002832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044012739 meters Centerline goodness [0,1] 0.9890628397477712 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.10, Z:-0.26 [[ 9.99759265e-01 1.74315151e-03 2.18717455e-02 4.42482575e+00] [-1.73022604e-03 9.99998317e-01 -6.09876254e-04 -1.01450500e-01] [-2.18727718e-02 5.71886372e-04 9.99760599e-01 -2.57457265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074012739 meters Centerline goodness [0,1] 0.9984654620904296 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.10, Z:-0.27 [[ 9.99718149e-01 3.84733793e-03 2.34269284e-02 4.45468707e+00] [-3.83304444e-03 9.99992439e-01 -6.55004917e-04 -1.02645670e-01] [-2.34292713e-02 5.65023845e-04 9.99725337e-01 -2.74945729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104012739 meters Centerline goodness [0,1] 0.9993283355722148 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.10, Z:-0.27 [[ 9.99654402e-01 9.48013685e-03 2.45194673e-02 4.48617815e+00] [-9.46616580e-03 9.99954960e-01 -6.85804061e-04 -9.72545820e-02] [-2.45248644e-02 4.53461705e-04 9.99699117e-01 -2.74155024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134012739 meters Centerline goodness [0,1] 0.9936502451350943 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.10, Z:-0.26 [[ 9.99644684e-01 1.30752791e-02 2.32280755e-02 4.51760002e+00] [-1.30637166e-02 9.99914455e-01 -6.49459779e-04 -9.67764918e-02] [-2.32345803e-02 3.45784019e-04 9.99729981e-01 -2.57722480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164012739 meters Centerline goodness [0,1] 0.9997343428305772 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.09, Z:-0.28 [[ 9.99528313e-01 1.89864408e-02 2.41384793e-02 4.54883240e+00] [-1.89755692e-02 9.99819717e-01 -6.79379685e-04 -8.94915051e-02] [-2.41470265e-02 2.21017847e-04 9.99708394e-01 -2.77450516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.194012739 meters Centerline goodness [0,1] 0.9998483699772555 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.09, Z:-0.28 [[ 9.99465973e-01 2.21211573e-02 2.40504405e-02 4.57988073e+00] [-2.21112737e-02 9.99755287e-01 -6.76840521e-04 -8.70245297e-02] [-2.40595275e-02 1.44693198e-04 9.99710517e-01 -2.78191048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224012738999999 meters Centerline goodness [0,1] 0.999827258593885 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.08, Z:-0.28 [[ 9.99407751e-01 2.48533134e-02 2.38004193e-02 4.61244718e+00] [-2.48443253e-02 9.99691105e-01 -6.73307346e-04 -8.48784198e-02] [-2.38098014e-02 8.16032195e-05 9.99716503e-01 -2.79016017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.254012739 meters Centerline goodness [0,1] 0.9999347570788569 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.08, Z:-0.28 [[ 9.99278044e-01 3.00702885e-02 2.32200075e-02 4.64503864e+00] [-3.00630587e-02 9.99547786e-01 -6.60456238e-04 -7.88347673e-02] [-2.32293672e-02 -3.80850313e-05 9.99730161e-01 -2.81356251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284012739 meters Centerline goodness [0,1] 0.9998911481691122 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.08, Z:-0.28 [[ 9.99214443e-01 3.23217113e-02 2.29303954e-02 4.67832525e+00] [-3.23151657e-02 9.99477513e-01 -6.56041915e-04 -7.67566130e-02] [-2.29396189e-02 -8.54729700e-05 9.99736849e-01 -2.82276811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.314012739 meters Centerline goodness [0,1] 0.9997642924487872 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.07, Z:-0.29 [[ 9.99065520e-01 3.70880489e-02 2.21937773e-02 4.70928979e+00] [-3.70829996e-02 9.99311985e-01 -6.39163729e-04 -6.83235824e-02] [-2.22022130e-02 -1.84445393e-04 9.99753483e-01 -2.85664444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344012739 meters Centerline goodness [0,1] 0.9997642924487872 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.07, Z:-0.29 [[ 9.99058903e-01 3.72659081e-02 2.21936865e-02 4.74178746e+00] [-3.72608330e-02 9.99305368e-01 -6.42301452e-04 -6.94675336e-02] [-2.22022060e-02 -1.85258260e-04 9.99753483e-01 -2.86605061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374012739 meters Centerline goodness [0,1] 0.9994846246349425 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.07, Z:-0.29 [[ 9.98932302e-01 4.00656379e-02 2.29999953e-02 4.77358090e+00] [-4.00608267e-02 9.99197018e-01 -6.70089853e-04 -6.65826663e-02] [-2.30083743e-02 -2.52024426e-04 9.99735241e-01 -2.85287674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404012739 meters Centerline goodness [0,1] 0.9991737154536955 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.06, Z:-0.28 [[ 9.98794012e-01 4.29696414e-02 2.37514623e-02 4.80621162e+00] [-4.29652452e-02 9.99076325e-01 -6.95610833e-04 -6.29378834e-02] [-2.37594138e-02 -3.25715469e-04 9.99717652e-01 -2.83493925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434012739 meters Centerline goodness [0,1] 0.9982745233370719 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.05, Z:-0.28 [[ 9.98495096e-01 4.87194223e-02 2.51785694e-02 4.83740791e+00] [-4.87161862e-02 9.98812386e-01 -7.42273390e-04 -5.21960157e-02] [-2.51848301e-02 -4.85447535e-04 9.99682694e-01 -2.81352443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464012739 meters Centerline goodness [0,1] 0.9966947504860661 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.04, Z:-0.28 [[ 9.98213779e-01 5.40134519e-02 2.55303388e-02 4.86837260e+00] [-5.40118309e-02 9.98540011e-01 -7.53575895e-04 -4.03931716e-02] [-2.55337680e-02 -6.26710498e-04 9.99673764e-01 -2.82578894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494012739 meters Centerline goodness [0,1] 0.9964581386758219 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.04, Z:-0.28 [[ 9.98084672e-01 5.66611522e-02 2.48294486e-02 4.90020268e+00] [-5.66604447e-02 9.98393238e-01 -7.32591066e-04 -3.52232978e-02] [-2.48310630e-02 -6.75659683e-04 9.99691433e-01 -2.84522525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524012739 meters Centerline goodness [0,1] 0.9921856550954252 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.02, Z:-0.29 [[ 9.97945956e-01 5.91738879e-02 2.45421906e-02 4.93176183e+00] [-5.91738641e-02 9.98247426e-01 -7.27845742e-04 -2.49547466e-02] [-2.45422481e-02 -7.25905536e-04 9.99698530e-01 -2.86111319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554012739 meters Centerline goodness [0,1] 0.9917312437767869 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.02, Z:-0.29 [[ 9.97832989e-01 6.13214994e-02 2.38537155e-02 4.96395002e+00] [-6.13219922e-02 9.98117782e-01 -7.11510598e-04 -2.01360741e-02] [-2.38524485e-02 -7.52788610e-04 9.99715206e-01 -2.86993907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584012739 meters Centerline goodness [0,1] 0.9860372196043516 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.02, Z:-0.29 [[ 9.97840876e-01 6.12222216e-02 2.37787031e-02 4.99541208e+00] [-6.12226697e-02 9.98123881e-01 -7.09838543e-04 -1.56730079e-02] [-2.37775493e-02 -7.47489775e-04 9.99716995e-01 -2.88747083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.614012739 meters Centerline goodness [0,1] 0.9922994192299419 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.02, Z:-0.29 [[ 9.97967320e-01 5.92262489e-02 2.35261332e-02 5.02722118e+00] [-5.92260375e-02 9.98244348e-01 -7.06373590e-04 -1.54627803e-02] [-2.35266653e-02 -6.88421887e-04 9.99722973e-01 -2.90063616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644012739 meters Centerline goodness [0,1] 0.9959738190586919 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.02, Z:-0.29 [[ 9.98033702e-01 5.79029409e-02 2.39995667e-02 5.05894379e+00] [-5.79023344e-02 9.98321992e-01 -7.20770835e-04 -2.06997180e-02] [-2.40010300e-02 -6.70277351e-04 9.99711709e-01 -2.90390905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674012739 meters Centerline goodness [0,1] 0.9944038617625699 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.02, Z:-0.29 [[ 9.98093596e-01 5.66621104e-02 2.44658880e-02 5.09078888e+00] [-5.66610077e-02 9.98393201e-01 -7.38859788e-04 -1.60923356e-02] [-2.44684416e-02 -6.48810643e-04 9.99700392e-01 -2.91483164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704012739 meters Centerline goodness [0,1] 0.9965649186885817 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.02, Z:-0.29 [[ 9.98293126e-01 5.28887515e-02 2.47712582e-02 5.12232213e+00] [-5.28863458e-02 9.98600254e-01 -7.52694452e-04 -1.94058169e-02] [-2.47763938e-02 -5.58651630e-04 9.99692862e-01 -2.91818863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734012739 meters Centerline goodness [0,1] 0.9977243452125376 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.03, Z:-0.29 [[ 9.98413848e-01 5.07690500e-02 2.43370252e-02 5.15462711e+00] [-5.07660859e-02 9.98710297e-01 -7.40016459e-04 -2.71262519e-02] [-2.43432076e-02 -4.96652833e-04 9.99703537e-01 -2.92940978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764012739 meters Centerline goodness [0,1] 0.999031716658777 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.03, Z:-0.30 [[ 9.98693073e-01 4.61063240e-02 2.20533914e-02 5.18457789e+00] [-4.61027026e-02 9.98936478e-01 -6.72874082e-04 -3.23695759e-02] [-2.20609609e-02 -3.44726261e-04 9.99756568e-01 -2.98198708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794012739 meters Centerline goodness [0,1] 0.9993541442411195 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.04, Z:-0.30 [[ 9.98810154e-01 4.39076593e-02 2.12224652e-02 5.21644048e+00] [-4.39038288e-02 9.99035553e-01 -6.46609451e-04 -3.71549828e-02] [-2.12303883e-02 -2.85907392e-04 9.99774569e-01 -3.00329452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824012739 meters Centerline goodness [0,1] 0.9989154483536506 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.04, Z:-0.29 [[ 9.98924572e-01 4.17618678e-02 2.01406524e-02 5.24852409e+00] [-4.17579214e-02 9.99127567e-01 -6.16640737e-04 -4.21332953e-02] [-2.01488331e-02 -2.25054198e-04 9.99796966e-01 -2.91092986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.854012739 meters Centerline goodness [0,1] 0.9999139488856381 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.05, Z:-0.30 [[ 9.99022178e-01 3.79879912e-02 2.26185826e-02 5.27922833e+00] [-3.79819483e-02 9.99278182e-01 -6.96863707e-04 -4.80560954e-02] [-2.26287285e-02 -1.62915534e-04 9.99743924e-01 -3.00039056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884012739 meters Centerline goodness [0,1] 0.9999131133653366 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.05, Z:-0.30 [[ 9.99063682e-01 3.62406776e-02 2.36298930e-02 5.31163018e+00] [-3.62335065e-02 9.99343083e-01 -7.31700866e-04 -5.37196256e-02] [-2.36408875e-02 -1.25178120e-04 9.99720507e-01 -2.98375047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.914012739 meters Centerline goodness [0,1] 0.9998069291000751 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.06, Z:-0.30 [[ 9.99174934e-01 3.24556049e-02 2.44148680e-02 5.34238995e+00] [-3.24467147e-02 9.99473178e-01 -7.60299669e-04 -6.39897425e-02] [-2.44266817e-02 -3.25098836e-05 9.99701624e-01 -2.98495109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944012739 meters Centerline goodness [0,1] 0.9998705557473249 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.07, Z:-0.30 [[ 9.99242506e-01 3.04496102e-02 2.42329380e-02 5.37451374e+00] [-3.04401752e-02 9.99536303e-01 -7.58219417e-04 -7.04399677e-02] [-2.42447888e-02 1.99901925e-05 9.99706052e-01 -3.00302918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974012738999999 meters Centerline goodness [0,1] 0.9997425445183437 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.08, Z:-0.30 [[ 9.99328345e-01 2.75119700e-02 2.42064268e-02 5.40618303e+00] [-2.75015898e-02 9.99621470e-01 -7.61685631e-04 -8.08989539e-02] [-2.42182194e-02 9.54588221e-05 9.99706691e-01 -3.00746093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004012739 meters Centerline goodness [0,1] 0.9996322018130287 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.09, Z:-0.30 [[ 9.99351978e-01 2.65359381e-02 2.43201196e-02 5.43876573e+00] [-2.65250751e-02 9.99647852e-01 -7.69210402e-04 -8.60850229e-02] [-2.43319670e-02 1.23618939e-04 9.99703926e-01 -3.01490199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.034012739 meters Centerline goodness [0,1] 0.9996964901250894 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.09, Z:-0.30 [[ 9.99365529e-01 2.64332541e-02 2.38709694e-02 5.47082206e+00] [-2.64226518e-02 9.99650572e-01 -7.59508260e-04 -8.99339861e-02] [-2.38827044e-02 1.28292063e-04 9.99714759e-01 -3.02831204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064012739 meters Centerline goodness [0,1] 0.9999347542409743 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.09, Z:-0.31 [[ 9.99389144e-01 2.77655131e-02 2.12229853e-02 5.50307224e+00] [-2.77573638e-02 9.99614460e-01 -6.78528718e-04 -9.15098122e-02] [-2.12336427e-02 8.90201108e-05 9.99774537e-01 -3.06938031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.094012739 meters Centerline goodness [0,1] 0.9998464306085736 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.09, Z:-0.31 [[ 9.99363497e-01 2.90104137e-02 2.07604835e-02 5.53543509e+00] [-2.90028162e-02 9.99579107e-01 -6.67018100e-04 -9.30140445e-02] [-2.07710961e-02 6.44810526e-05 9.99784255e-01 -3.09823794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124012739 meters Centerline goodness [0,1] 0.9999572402882004 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.09, Z:-0.31 [[ 9.99199663e-01 3.34849736e-02 2.18812629e-02 5.56822689e+00] [-3.34775123e-02 9.99439221e-01 -7.07312987e-04 -9.06131218e-02] [-2.18926767e-02 -2.57833512e-05 9.99760326e-01 -3.07031849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154012739 meters Centerline goodness [0,1] 0.9999139433316839 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.09, Z:-0.31 [[ 9.99087332e-01 3.62953986e-02 2.25199266e-02 5.59992057e+00] [-3.62881251e-02 9.99341101e-01 -7.31687385e-04 -8.76826270e-02] [-2.25316451e-02 -8.61863145e-05 9.99746127e-01 -3.06202431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184012739 meters Centerline goodness [0,1] 0.9998271354177921 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.08, Z:-0.31 [[ 9.98983353e-01 3.91047687e-02 2.24293710e-02 5.63238829e+00] [-3.90981728e-02 9.99235105e-01 -7.32694104e-04 -8.40121255e-02] [-2.24408668e-02 -1.44998212e-04 9.99748162e-01 -3.07087840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214012739 meters Centerline goodness [0,1] 0.9995443202777476 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.08, Z:-0.31 [[ 9.98803987e-01 4.37284143e-02 2.18728408e-02 5.66408491e+00] [-4.37231716e-02 9.99043427e-01 -7.18093165e-04 -7.61299085e-02] [-2.18833189e-02 -2.39115654e-04 9.99760503e-01 -3.10454643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244012739 meters Centerline goodness [0,1] 0.9994606838528746 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.08, Z:-0.31 [[ 9.98703177e-01 4.54319623e-02 2.29761066e-02 5.69645707e+00] [-4.54265446e-02 9.98967394e-01 -7.57942659e-04 -7.58525176e-02] [-2.29868161e-02 -2.86765390e-04 9.99735727e-01 -3.08998412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274012739 meters Centerline goodness [0,1] 0.9988942130482861 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.08, Z:-0.31 [[ 9.98683328e-01 4.54014591e-02 2.38813337e-02 5.72888683e+00] [-4.53954976e-02 9.98968779e-01 -7.91979265e-04 -7.66320155e-02] [-2.38926638e-02 -2.93168540e-04 9.99714487e-01 -3.07576702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304012739 meters Centerline goodness [0,1] 0.9988536822753326 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.08, Z:-0.31 [[ 9.98669924e-01 4.52479959e-02 2.47184558e-02 5.76048304e+00] [-4.52414542e-02 9.98975741e-01 -8.24104654e-04 -7.60939661e-02] [-2.47304268e-02 -2.95290357e-04 9.99694113e-01 -3.07010812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334012739 meters Centerline goodness [0,1] 0.9987411282095805 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.08, Z:-0.31 [[ 9.98643404e-01 4.55816383e-02 2.51727024e-02 5.79389837e+00] [-4.55748623e-02 9.98960570e-01 -8.43127814e-04 -7.63608584e-02] [-2.51849683e-02 -3.05258414e-04 9.99682762e-01 -3.08029195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364012739 meters Centerline goodness [0,1] 0.9990504553498208 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.08, Z:-0.31 [[ 9.98646342e-01 4.60405081e-02 2.42023707e-02 5.82653611e+00] [-4.60342752e-02 9.98939528e-01 -8.14914448e-04 -7.64504526e-02] [-2.42142239e-02 -3.00327263e-04 9.99706748e-01 -3.11003706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394012738999999 meters Centerline goodness [0,1] 0.9993795995207941 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.08, Z:-0.32 [[ 9.98700265e-01 4.62774681e-02 2.13582907e-02 5.85725934e+00] [-4.62725915e-02 9.98928589e-01 -7.22742188e-04 -7.52539009e-02] [-2.13688539e-02 -2.66500647e-04 9.99771624e-01 -3.16526856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424012739 meters Centerline goodness [0,1] 0.9994980138810075 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.08, Z:-0.32 [[ 9.98710625e-01 4.61331424e-02 2.11853654e-02 5.89020885e+00] [-4.61282511e-02 9.98935266e-01 -7.19762022e-04 -7.71367472e-02] [-2.11960135e-02 -2.58409874e-04 9.99775306e-01 -3.18233942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454012739 meters Centerline goodness [0,1] 0.9993542276562769 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.08, Z:-0.32 [[ 9.98710446e-01 4.57552409e-02 2.19978121e-02 5.92202746e+00] [-4.57497796e-02 9.98952648e-01 -7.51721213e-04 -8.09351256e-02] [-2.20091678e-02 -2.55643228e-04 9.99757736e-01 -3.17283391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484012739 meters Centerline goodness [0,1] 0.9990752489300845 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.09, Z:-0.31 [[ 9.98733294e-01 4.41443892e-02 2.41470511e-02 5.95282334e+00] [-4.41372289e-02 9.99025133e-01 -8.29676539e-04 -8.53684445e-02] [-2.41601365e-02 -2.37158338e-04 9.99708073e-01 -3.14069014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514012739 meters Centerline goodness [0,1] 0.999371940919132 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.09, Z:-0.31 [[ 9.98695946e-01 4.44396333e-02 2.51302010e-02 5.98625416e+00] [-4.44318740e-02 9.99012040e-01 -8.67337017e-04 -8.72223718e-02] [-2.51439175e-02 -2.50375963e-04 9.99683810e-01 -3.13969627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544012739 meters Centerline goodness [0,1] 0.99900529787004 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.09, Z:-0.32 [[ 9.98671726e-01 4.58747751e-02 2.34582394e-02 6.01787312e+00] [-4.58683085e-02 9.98947164e-01 -8.13940108e-04 -8.54171694e-02] [-2.34708810e-02 -2.63130788e-04 9.99724486e-01 -3.17165501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574012739 meters Centerline goodness [0,1] 0.9990346455003755 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.08, Z:-0.32 [[ 9.98635148e-01 4.70838021e-02 2.26043521e-02 6.04899278e+00] [-4.70780316e-02 9.98890904e-01 -7.87661645e-04 -8.44488117e-02] [-2.26163678e-02 -2.77581798e-04 9.99744179e-01 -3.19551955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604012739 meters Centerline goodness [0,1] 0.9989165294270608 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.09, Z:-0.32 [[ 9.98588585e-01 4.81725543e-02 2.23661001e-02 6.08152512e+00] [-4.81671056e-02 9.98838985e-01 -7.82584531e-04 -8.54826260e-02] [-2.23778318e-02 -2.95830326e-04 9.99749541e-01 -3.20065539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634012739 meters Centerline goodness [0,1] 0.9985927880386983 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.09, Z:-0.32 [[ 9.98565819e-01 4.79836116e-02 2.37461351e-02 6.11365745e+00] [-4.79773141e-02 9.98848076e-01 -8.35174702e-04 -8.64773267e-02] [-2.37588561e-02 -3.05298874e-04 9.99717672e-01 -3.19237233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664012739 meters Centerline goodness [0,1] 0.9955260655312527 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.09, Z:-0.31 [[ 9.98629753e-01 4.70547226e-02 2.29013066e-02 6.14514930e+00] [-4.70485351e-02 9.98892277e-01 -8.09210644e-04 -8.84213073e-02] [-2.29140155e-02 -2.69371102e-04 9.99737403e-01 -3.05368131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694012739 meters Centerline goodness [0,1] 0.999435616914127 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.10, Z:-0.32 [[ 9.98751445e-01 4.41941641e-02 2.32900755e-02 6.17619274e+00] [-4.41869023e-02 9.99022940e-01 -8.26584120e-04 -9.78234696e-02] [-2.33038499e-02 -2.03564207e-04 9.99728408e-01 -3.21330899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724012738999999 meters Centerline goodness [0,1] 0.99978369024443 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.10, Z:-0.32 [[ 9.98858233e-01 4.19132831e-02 2.29239460e-02 6.20864487e+00] [-4.19055470e-02 9.99121242e-01 -8.17960116e-04 -1.02969693e-01] [-2.29380848e-02 -1.43614302e-04 9.99736877e-01 -3.23316084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754012739 meters Centerline goodness [0,1] 0.9999567108937036 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.11, Z:-0.32 [[ 9.99017842e-01 3.70665684e-02 2.42780055e-02 6.24045752e+00] [-3.70564348e-02 9.99312798e-01 -8.67315520e-04 -1.13630565e-01] [-2.42934700e-02 -3.31926489e-05 9.99704870e-01 -3.22722524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784012739 meters Centerline goodness [0,1] 0.9999133167190378 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.12, Z:-0.32 [[ 9.99075658e-01 3.49616260e-02 2.50102754e-02 6.27281438e+00] [-3.49501080e-02 9.99388655e-01 -8.97640178e-04 -1.20813373e-01] [-2.50263685e-02 2.26986238e-05 9.99686791e-01 -3.21829141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814012739 meters Centerline goodness [0,1] 0.9999136404853405 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.13, Z:-0.32 [[ 9.99208500e-01 3.12685630e-02 2.45896403e-02 6.30424109e+00] [-3.12561946e-02 9.99511012e-01 -8.87274807e-04 -1.34033095e-01] [-2.46053601e-02 1.17993947e-04 9.99697235e-01 -3.22253479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844012739 meters Centerline goodness [0,1] 0.9999781066643314 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.14, Z:-0.32 [[ 9.99265022e-01 3.03372311e-02 2.34322184e-02 6.33625114e+00] [-3.03256576e-02 9.99539711e-01 -8.49185652e-04 -1.39092417e-01] [-2.34471948e-02 1.37964087e-04 9.99725067e-01 -3.24750368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874012739 meters Centerline goodness [0,1] 0.9998699638065929 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.14, Z:-0.33 [[ 9.99282312e-01 3.06290150e-02 2.22873075e-02 6.36688217e+00] [-3.06185280e-02 9.99530813e-01 -8.11708624e-04 -1.42974320e-01] [-2.23017124e-02 1.28721522e-04 9.99751278e-01 -3.27134272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904012739 meters Centerline goodness [0,1] 0.9999562190797251 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.15, Z:-0.33 [[ 9.99203947e-01 3.23710118e-02 2.33150278e-02 6.39939501e+00] [-3.23599523e-02 9.99475917e-01 -8.51583070e-04 -1.49006188e-01] [-2.33303754e-02 9.64319778e-05 9.99727805e-01 -3.26991720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934012739 meters Centerline goodness [0,1] 0.9999567931906068 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.15, Z:-0.33 [[ 9.99105550e-01 3.44992190e-02 2.44520550e-02 6.43060619e+00] [-3.44876639e-02 9.99404724e-01 -8.94240973e-04 -1.51447957e-01] [-2.44683499e-02 5.01468632e-05 9.99700604e-01 -3.25557927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964012739 meters Centerline goodness [0,1] 0.999891287804666 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.15, Z:-0.32 [[ 9.98885134e-01 3.97274721e-02 2.54993711e-02 6.46339179e+00] [-3.97165057e-02 9.99210549e-01 -9.36576020e-04 -1.48286531e-01] [-2.55164484e-02 -7.72140537e-05 9.99674399e-01 -3.24700480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994012739 meters Centerline goodness [0,1] 0.9996780977724365 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.15, Z:-0.33 [[ 9.98771516e-01 4.29008905e-02 2.47986438e-02 6.49441142e+00] [-4.28913792e-02 9.99079322e-01 -9.15565507e-04 -1.45635914e-01] [-2.48150908e-02 -1.49207286e-04 9.99692047e-01 -3.27447710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024012739 meters Centerline goodness [0,1] 0.9992075051405072 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.14, Z:-0.33 [[ 9.98547703e-01 4.86902366e-02 2.30596163e-02 6.52558184e+00] [-4.86834801e-02 9.98813891e-01 -8.54628412e-04 -1.39977314e-01] [-2.30738771e-02 -2.69235134e-04 9.99733726e-01 -3.32435587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054012739 meters Centerline goodness [0,1] 0.9987996741972821 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.14, Z:-0.33 [[ 9.98421339e-01 5.11080249e-02 2.32980672e-02 6.55734051e+00] [-5.11017037e-02 9.98693078e-01 -8.66997145e-04 -1.40151642e-01] [-2.33119290e-02 -3.24942478e-04 9.99728187e-01 -3.31913592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084012739 meters Centerline goodness [0,1] 0.9986592275420614 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.14, Z:-0.33 [[ 9.98340092e-01 5.23989460e-02 2.39041976e-02 6.58932863e+00] [-5.23925729e-02 9.98626166e-01 -8.93254068e-04 -1.39012139e-01] [-2.39181628e-02 -3.60631068e-04 9.99713855e-01 -3.31562660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114012739 meters Centerline goodness [0,1] 0.998320558091465 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.14, Z:-0.33 [[ 9.98371648e-01 5.14418247e-02 2.46534220e-02 6.62067614e+00] [-5.14346501e-02 9.98675934e-01 -9.25469540e-04 -1.39513056e-01] [-2.46683871e-02 -3.44077584e-04 9.99695630e-01 -3.31558092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144012738999999 meters Centerline goodness [0,1] 0.998579698293486 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.15, Z:-0.33 [[ 9.98454340e-01 4.97878588e-02 2.47001885e-02 6.65286787e+00] [-4.97800597e-02 9.98759770e-01 -9.30915451e-04 -1.45291667e-01] [-2.47159029e-02 -3.00100286e-04 9.99694470e-01 -3.31728943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174012739 meters Centerline goodness [0,1] 0.9990765001503372 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.15, Z:-0.33 [[ 9.98644024e-01 4.58147557e-02 2.47208873e-02 6.68374720e+00] [-4.58056247e-02 9.98949933e-01 -9.35800918e-04 -1.51199654e-01] [-2.47378022e-02 -1.97823690e-04 9.99693954e-01 -3.33468205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204012739 meters Centerline goodness [0,1] 0.9994815966822188 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.16, Z:-0.33 [[ 9.98709350e-01 4.43748229e-02 2.47084892e-02 6.71542494e+00] [-4.43651693e-02 9.99014940e-01 -9.39018171e-04 -1.55423709e-01] [-2.47258186e-02 -1.58390079e-04 9.99694258e-01 -3.33498483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234012739 meters Centerline goodness [0,1] 0.9997815735441876 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.16, Z:-0.34 [[ 9.98799614e-01 4.27458212e-02 2.39191620e-02 6.74850201e+00] [-4.27362220e-02 9.99085974e-01 -9.12588765e-04 -1.59592493e-01] [-2.39363086e-02 -1.10721310e-04 9.99713479e-01 -3.35367744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264012739 meters Centerline goodness [0,1] 0.9997815735441876 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.16, Z:-0.34 [[ 9.98791219e-01 4.29416302e-02 2.39189827e-02 6.78098569e+00] [-4.29319753e-02 9.99077577e-01 -9.17260354e-04 -1.61016313e-01] [-2.39363080e-02 -1.10737589e-04 9.99713479e-01 -3.36308283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294012739 meters Centerline goodness [0,1] 0.9998259015037758 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.16, Z:-0.34 [[ 9.98796574e-01 4.30831950e-02 2.34359203e-02 6.81330804e+00] [-4.30738582e-02 9.99071482e-01 -9.03293234e-04 -1.63487682e-01] [-2.34530764e-02 -1.07269320e-04 9.99724933e-01 -3.37463279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324012739 meters Centerline goodness [0,1] 0.999763445947399 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.16, Z:-0.34 [[ 9.98765257e-01 4.39512863e-02 2.31569816e-02 6.84574335e+00] [-4.39423065e-02 9.99033668e-01 -8.96735693e-04 -1.64241479e-01] [-2.31740170e-02 -1.21942729e-04 9.99731439e-01 -3.39863985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354012739 meters Centerline goodness [0,1] 0.9997188520512987 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.16, Z:-0.34 [[ 9.98664881e-01 4.63020855e-02 2.29035255e-02 6.87799270e+00] [-4.62938245e-02 9.98927469e-01 -8.91058149e-04 -1.64144874e-01] [-2.29202186e-02 -1.70423309e-04 9.99737283e-01 -3.40534633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384012739 meters Centerline goodness [0,1] 0.9993313345268653 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.16, Z:-0.34 [[ 9.98589061e-01 4.78754443e-02 2.29745296e-02 6.90881701e+00] [-4.78674572e-02 9.98853293e-01 -8.97778330e-04 -1.62691246e-01] [-2.29911661e-02 -2.03220693e-04 9.99735648e-01 -3.41436713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414012739 meters Centerline goodness [0,1] 0.9992062640780864 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.16, Z:-0.34 [[ 9.98511345e-01 4.97500413e-02 2.23612758e-02 6.93952837e+00] [-4.97428498e-02 9.98761672e-01 -8.78058675e-04 -1.61714585e-01] [-2.23772687e-02 -2.35562036e-04 9.99749570e-01 -3.44268832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444012739 meters Centerline goodness [0,1] 0.9991958794253798 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.17, Z:-0.34 [[ 9.98477843e-01 5.03952322e-02 2.24124399e-02 6.97238903e+00] [-5.03881821e-02 9.98729321e-01 -8.79542150e-04 -1.65021004e-01] [-2.24282856e-02 -2.51118753e-04 9.99748423e-01 -3.44862116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474012738999999 meters Centerline goodness [0,1] 0.998679796558814 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.17, Z:-0.34 [[ 9.98421914e-01 5.10478092e-02 2.34051844e-02 7.00547272e+00] [-5.10401928e-02 9.98696173e-01 -9.23073742e-04 -1.68009614e-01] [-2.34217890e-02 -2.72988073e-04 9.99725635e-01 -3.43807441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504012739 meters Centerline goodness [0,1] 0.9989173974234059 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.17, Z:-0.34 [[ 9.98398723e-01 5.12228106e-02 2.40044519e-02 7.03807884e+00] [-5.12147388e-02 9.98687211e-01 -9.51326020e-04 -1.69646277e-01] [-2.40216687e-02 -2.79579048e-04 9.99711399e-01 -3.44277699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534012739 meters Centerline goodness [0,1] 0.9984582980479013 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.17, Z:-0.34 [[ 9.98380074e-01 5.13139960e-02 2.45784780e-02 7.07155754e+00] [-5.13054459e-02 9.98682529e-01 -9.78758681e-04 -1.71542767e-01] [-2.45963206e-02 -2.83836609e-04 9.99697424e-01 -3.44100186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564012738999999 meters Centerline goodness [0,1] 0.9985686712498102 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.17, Z:-0.35 [[ 9.98369524e-01 5.16707485e-02 2.42575142e-02 7.10414273e+00] [-5.16624182e-02 9.98664134e-01 -9.70400587e-04 -1.74149729e-01] [-2.42752507e-02 -2.84383468e-04 9.99705272e-01 -3.45247060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594012739 meters Centerline goodness [0,1] 0.9985890803369105 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.17, Z:-0.35 [[ 9.98349612e-01 5.22145028e-02 2.39101883e-02 7.13584284e+00] [-5.22064574e-02 9.98635851e-01 -9.61007326e-04 -1.73451100e-01] [-2.39277497e-02 -2.88844934e-04 9.99713649e-01 -3.47245472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624012739 meters Centerline goodness [0,1] 0.9977014485211206 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.17, Z:-0.35 [[ 9.98254197e-01 5.37011093e-02 2.45916551e-02 7.16824753e+00] [-5.36929379e-02 9.98557000e-01 -9.92937656e-04 -1.70317344e-01] [-2.46094912e-02 -3.29194029e-04 9.99697086e-01 -3.45985225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654012739 meters Centerline goodness [0,1] 0.9977948103108675 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.17, Z:-0.35 [[ 9.98203870e-01 5.43247632e-02 2.52557800e-02 7.20059584e+00] [-5.43162376e-02 9.98523259e-01 -1.02396355e-03 -1.69908057e-01] [-2.52741103e-02 -3.49674568e-04 9.99680497e-01 -3.45742506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684012739 meters Centerline goodness [0,1] 0.9974588133950684 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.17, Z:-0.34 [[ 9.98185995e-01 5.42506069e-02 2.61072980e-02 7.23278249e+00] [-5.42413471e-02 9.98527288e-01 -1.06324190e-03 -1.71437386e-01] [-2.61265310e-02 -3.54781838e-04 9.99658581e-01 -3.44863316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714012739 meters Centerline goodness [0,1] 0.9969040917947608 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.17, Z:-0.35 [[ 9.98253128e-01 5.31091507e-02 2.58864935e-02 7.26439521e+00] [-5.30995550e-02 9.98588663e-01 -1.05842414e-03 -1.71979171e-01] [-2.59061709e-02 -3.17986080e-04 9.99664328e-01 -3.45641822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744012739 meters Centerline goodness [0,1] 0.9972033989458965 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.17, Z:-0.35 [[ 9.98294348e-01 5.24860901e-02 2.55656829e-02 7.29585398e+00] [-5.24764301e-02 9.98621612e-01 -1.04907433e-03 -1.72129530e-01] [-2.55855052e-02 -2.94310794e-04 9.99672594e-01 -3.48894270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774012739 meters Centerline goodness [0,1] 0.9975053688800191 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.18, Z:-0.35 [[ 9.98295492e-01 5.24031502e-02 2.56908586e-02 7.32918884e+00] [-5.23932730e-02 9.98625969e-01 -1.05789888e-03 -1.75002024e-01] [-2.57109958e-02 -2.89932480e-04 9.99669376e-01 -3.49845131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804012739 meters Centerline goodness [0,1] 0.9978164522754297 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.18, Z:-0.35 [[ 9.98325573e-01 5.18494384e-02 2.56453832e-02 7.36109260e+00] [-5.18392932e-02 9.98654877e-01 -1.06071388e-03 -1.77379300e-01] [-2.56658844e-02 -2.70500744e-04 9.99670540e-01 -3.51503861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834012739 meters Centerline goodness [0,1] 0.9975510204081632 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.18, Z:-0.35 [[ 9.98348326e-01 5.16641887e-02 2.51282974e-02 7.39274195e+00] [-5.16542936e-02 9.98664481e-01 -1.04315549e-03 -1.78581435e-01] [-2.51486318e-02 -2.56551906e-04 9.99683690e-01 -3.53417251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864012739 meters Centerline goodness [0,1] 0.9979940901149623 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.18, Z:-0.36 [[ 9.98361001e-01 5.21251250e-02 2.36280193e-02 7.42452288e+00] [-5.21164170e-02 9.98640531e-01 -9.84603064e-04 -1.78667657e-01] [-2.36472203e-02 -2.48418406e-04 9.99720335e-01 -3.56302203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894012738999999 meters Centerline goodness [0,1] 0.9983774064816033 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.18, Z:-0.36 [[ 9.98343433e-01 5.28511775e-02 2.27407537e-02 7.45682830e+00] [-5.28432238e-02 9.98602368e-01 -9.50960311e-04 -1.81102538e-01] [-2.27592299e-02 -2.52309755e-04 9.99740943e-01 -3.56819043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924012739 meters Centerline goodness [0,1] 0.9985721703011423 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.18, Z:-0.36 [[ 9.98344993e-01 5.29470897e-02 2.24472778e-02 7.48919937e+00] [-5.29392750e-02 9.98597288e-01 -9.42656404e-04 -1.83038037e-01] [-2.24657017e-02 -2.47246311e-04 9.99747584e-01 -3.58214702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954012739 meters Centerline goodness [0,1] 0.9987179487179487 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.18, Z:-0.36 [[ 9.98348128e-01 5.31598344e-02 2.17956024e-02 7.52119949e+00] [-5.31524721e-02 9.98585987e-01 -9.17371670e-04 -1.83255570e-01] [-2.18135504e-02 -2.42633858e-04 9.99762027e-01 -3.61907317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984012739 meters Centerline goodness [0,1] 0.9990852064819655 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.19, Z:-0.36 [[ 9.98322869e-01 5.42875397e-02 2.01075286e-02 7.55318546e+00] [-5.42814388e-02 9.98525315e-01 -8.49481490e-04 -1.87648320e-01] [-2.01239926e-02 -2.43408783e-04 9.99797462e-01 -3.63451415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014012739 meters Centerline goodness [0,1] 0.9969578631685689 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.18, Z:-0.36 [[ 9.98302623e-01 5.47917318e-02 1.97418329e-02 7.58580081e+00] [-5.47858862e-02 9.98497775e-01 -8.37228904e-04 -1.83993247e-01] [-1.97580494e-02 -2.45766000e-04 9.99804760e-01 -3.58831909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044012739 meters Centerline goodness [0,1] 0.9987612465771287 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.19, Z:-0.36 [[ 9.98227719e-01 5.58232711e-02 2.06199964e-02 7.61837715e+00] [-5.58170324e-02 9.98440628e-01 -8.78414011e-04 -1.86304918e-01] [-2.06368781e-02 -2.74089794e-04 9.99786999e-01 -3.64999842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074012739 meters Centerline goodness [0,1] 0.9982796068901744 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.19, Z:-0.36 [[ 9.98163659e-01 5.68417622e-02 2.09361994e-02 7.65081271e+00] [-5.68354653e-02 9.98383156e-01 -8.96151183e-04 -1.86283645e-01] [-2.09532877e-02 -2.95413092e-04 9.99780412e-01 -3.64827993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104012739 meters Centerline goodness [0,1] 0.9980256020828813 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.19, Z:-0.36 [[ 9.98111987e-01 5.74797126e-02 2.16458609e-02 7.68409638e+00] [-5.74730533e-02 9.98346625e-01 -9.30136946e-04 -1.87610744e-01] [-2.16635362e-02 -3.15672881e-04 9.99765268e-01 -3.64714010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134012739 meters Centerline goodness [0,1] 0.9971403812824957 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.19, Z:-0.36 [[ 9.98097514e-01 5.70446961e-02 2.33934785e-02 7.71485200e+00] [-5.70366780e-02 9.98371572e-01 -1.01038577e-03 -1.89456081e-01] [-2.34130211e-02 -3.25822777e-04 9.99725825e-01 -3.62870855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164012739 meters Centerline goodness [0,1] 0.997213040378508 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.19, Z:-0.36 [[ 9.98109020e-01 5.66682028e-02 2.38138290e-02 7.74720098e+00] [-5.66596981e-02 9.98393015e-01 -1.03226452e-03 -1.92563074e-01] [-2.38340571e-02 -3.18971835e-04 9.99715878e-01 -3.62016967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194012739 meters Centerline goodness [0,1] 0.9963687452718037 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.20, Z:-0.36 [[ 9.98147342e-01 5.56786848e-02 2.45309636e-02 7.77966604e+00] [-5.56692567e-02 9.98448694e-01 -1.06760865e-03 -1.96170528e-01] [-2.45523516e-02 -2.99989771e-04 9.99698501e-01 -3.60742512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224012738999999 meters Centerline goodness [0,1] 0.9962745224713052 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.19, Z:-0.36 [[ 9.98144678e-01 5.56263807e-02 2.47569839e-02 7.81176073e+00] [-5.56166600e-02 9.98451610e-01 -1.08156121e-03 -1.93665144e-01] [-2.47788138e-02 -2.97346191e-04 9.99692914e-01 -3.63017388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254012739 meters Centerline goodness [0,1] 0.9968064305887465 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.20, Z:-0.36 [[ 9.98138436e-01 5.61036705e-02 2.39173538e-02 7.84465584e+00] [-5.60946391e-02 9.98424905e-01 -1.04888709e-03 -2.00164163e-01] [-2.39385281e-02 -2.94700810e-04 9.99713389e-01 -3.63621605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284012739 meters Centerline goodness [0,1] 0.9966794490027635 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.20, Z:-0.36 [[ 9.98105320e-01 5.67707564e-02 2.37244770e-02 7.87711636e+00] [-5.67619523e-02 9.98387194e-01 -1.04489429e-03 -2.01854498e-01] [-2.37455335e-02 -3.03733080e-04 9.99717989e-01 -3.64352425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314012738999999 meters Centerline goodness [0,1] 0.9966200215285252 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.20, Z:-0.37 [[ 9.98058820e-01 5.74986386e-02 2.39269508e-02 7.91037336e+00] [-5.74897928e-02 9.98345534e-01 -1.05798379e-03 -2.03805041e-01] [-2.39481971e-02 -3.19625388e-04 9.99713150e-01 -3.65344230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344012739 meters Centerline goodness [0,1] 0.9922595556330811 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.21, Z:-0.36 [[ 9.98037986e-01 5.81672079e-02 2.31679607e-02 7.94310366e+00] [-5.81589956e-02 9.98306803e-01 -1.02868555e-03 -2.07726223e-01] [-2.31885686e-02 -3.20758074e-04 9.99731058e-01 -3.55131595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374012739 meters Centerline goodness [0,1] 0.9972781474120799 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.21, Z:-0.37 [[ 9.98037042e-01 5.83030401e-02 2.28652347e-02 7.97484519e+00] [-5.82949828e-02 9.98298881e-01 -1.01934225e-03 -2.09533010e-01] [-2.28857690e-02 -3.15587141e-04 9.99738037e-01 -3.69352213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404012739 meters Centerline goodness [0,1] 0.9968778261056802 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.22, Z:-0.37 [[ 9.98046877e-01 5.78374275e-02 2.36064085e-02 8.00679813e+00] [-5.78286452e-02 9.98325966e-01 -1.05509155e-03 -2.17165294e-01] [-2.36279144e-02 -3.12095801e-04 9.99720773e-01 -3.67851788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434012739 meters Centerline goodness [0,1] 0.9962431840625134 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.22, Z:-0.37 [[ 9.98041196e-01 5.74592325e-02 2.47428201e-02 8.03758718e+00] [-5.74493560e-02 9.98347804e-01 -1.11040880e-03 -2.18516872e-01] [-2.47657433e-02 -3.13225356e-04 9.99693233e-01 -3.67227599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464012739 meters Centerline goodness [0,1] 0.996033029342647 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.22, Z:-0.37 [[ 9.98038696e-01 5.69540197e-02 2.59807943e-02 8.07002651e+00] [-5.69428470e-02 9.98376754e-01 -1.17027101e-03 -2.22604226e-01] [-2.60052727e-02 -3.11444639e-04 9.99661757e-01 -3.65421100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494012739 meters Centerline goodness [0,1] 0.9959715639810427 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.23, Z:-0.37 [[ 9.98105449e-01 5.57544800e-02 2.60182760e-02 8.10173839e+00] [-5.57427567e-02 9.98444471e-01 -1.17621174e-03 -2.28395714e-01] [-2.60433829e-02 -2.76347083e-04 9.99660775e-01 -3.65786155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524012739 meters Centerline goodness [0,1] 0.9908654054288064 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.23, Z:-0.35 [[ 9.98234677e-01 5.42880688e-02 2.40901416e-02 8.13305011e+00] [-5.42775026e-02 9.98525292e-01 -1.09274739e-03 -2.33497190e-01] [-2.41139388e-02 -2.16734383e-04 9.99709193e-01 -3.54422828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554012739 meters Centerline goodness [0,1] 0.9981573413687702 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.24, Z:-0.37 [[ 9.98271276e-01 5.35390393e-02 2.42493531e-02 8.16500131e+00] [-5.35280225e-02 9.98565738e-01 -1.10365478e-03 -2.38024598e-01] [-2.42736618e-02 -1.96273059e-04 9.99705332e-01 -3.71278386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584012739 meters Centerline goodness [0,1] 0.9985665689651484 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.24, Z:-0.37 [[ 9.98321283e-01 5.28930719e-02 2.35995665e-02 8.19761705e+00] [-5.28823711e-02 9.98600167e-01 -1.07772751e-03 -2.42365586e-01] [-2.36235353e-02 -1.72082720e-04 9.99720911e-01 -3.72887964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614012739 meters Centerline goodness [0,1] 0.9986585603323309 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.25, Z:-0.38 [[ 9.98396400e-01 5.16331390e-02 2.32087761e-02 8.22884280e+00] [-5.16223453e-02 9.98666111e-01 -1.06435756e-03 -2.49735485e-01] [-2.32327743e-02 -1.35440695e-04 9.99730073e-01 -3.75314634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644012738999999 meters Centerline goodness [0,1] 0.9990877695966638 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.26, Z:-0.37 [[ 9.98442548e-01 5.05898016e-02 2.35191551e-02 8.26126508e+00] [-5.05783344e-02 9.98719510e-01 -1.08255452e-03 -2.56497704e-01] [-2.35438052e-02 -1.08691195e-04 9.99722800e-01 -3.74342229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674012739 meters Centerline goodness [0,1] 0.9990942224330911 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.26, Z:-0.37 [[ 9.98504493e-01 4.88403558e-02 2.45641439e-02 8.29232219e+00] [-4.88272660e-02 9.98806595e-01 -1.13275188e-03 -2.64644235e-01] [-2.45901530e-02 -6.83421450e-05 9.99697614e-01 -3.72804516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704012739 meters Centerline goodness [0,1] 0.9992277992277993 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.27, Z:-0.37 [[ 9.98523278e-01 4.81011463e-02 2.52496081e-02 8.32307339e+00] [-4.80869699e-02 9.98842469e-01 -1.16868653e-03 -2.68917687e-01] [-2.52765961e-02 -4.72164418e-05 9.99680495e-01 -3.73188069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734012739 meters Centerline goodness [0,1] 0.999260596307331 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.27, Z:-0.37 [[ 9.98514322e-01 4.81060228e-02 2.55921766e-02 8.35606944e+00] [-4.80914092e-02 9.98842234e-01 -1.18654778e-03 -2.73491188e-01] [-2.56196269e-02 -4.59788807e-05 9.99671762e-01 -3.72531670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764012739 meters Centerline goodness [0,1] 0.9977154187680504 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.27, Z:-0.37 [[ 9.98425835e-01 5.05776149e-02 2.42436823e-02 8.38728751e+00] [-5.05651182e-02 9.98720128e-01 -1.12860857e-03 -2.74229046e-01] [-2.42697358e-02 -9.90527105e-05 9.99705442e-01 -3.70188837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794012739 meters Centerline goodness [0,1] 0.9983335858203303 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.27, Z:-0.38 [[ 9.98249578e-01 5.44710444e-02 2.30366016e-02 8.41837810e+00] [-5.44607190e-02 9.98515334e-01 -1.07582546e-03 -2.69927544e-01] [-2.30610013e-02 -1.80647572e-04 9.99734043e-01 -3.80199579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824012739 meters Centerline goodness [0,1] 0.9977680966585831 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.27, Z:-0.38 [[ 9.98138668e-01 5.66077090e-02 2.26884891e-02 8.45032678e+00] [-5.65981708e-02 9.98396473e-01 -1.06283624e-03 -2.68638798e-01] [-2.27122722e-02 -2.23269029e-04 9.99742018e-01 -3.80961564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854012739 meters Centerline goodness [0,1] 0.9978466375244945 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.27, Z:-0.38 [[ 9.98045928e-01 5.83005406e-02 2.24805080e-02 8.48203327e+00] [-5.82915210e-02 9.98299044e-01 -1.05686479e-03 -2.66528908e-01] [-2.25038854e-02 -2.55623402e-04 9.99746723e-01 -3.82358428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884012739 meters Centerline goodness [0,1] 0.9963659961064244 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.26, Z:-0.38 [[ 9.97906665e-01 6.06002013e-02 2.25810649e-02 8.51435047e+00] [-6.05916124e-02 9.98162072e-01 -1.06499260e-03 -2.63823649e-01] [-2.26041013e-02 -3.05459917e-04 9.99744448e-01 -3.82265322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914012739 meters Centerline goodness [0,1] 0.9960076825136495 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.27, Z:-0.38 [[ 9.97864700e-01 6.10800709e-02 2.31357961e-02 8.54738465e+00] [-6.10710957e-02 9.98132818e-01 -1.09496007e-03 -2.65016518e-01] [-2.31594776e-02 -3.20306415e-04 9.99731732e-01 -3.81960758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944012739 meters Centerline goodness [0,1] 0.9953109203931944 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.27, Z:-0.38 [[ 9.97858746e-01 6.09356966e-02 2.37647664e-02 8.57925289e+00] [-6.09260726e-02 9.98141642e-01 -1.12948495e-03 -2.66469375e-01] [-2.37894289e-02 -3.20827448e-04 9.99716940e-01 -3.81375395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974012738999999 meters Centerline goodness [0,1] 0.9954228515207255 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.27, Z:-0.38 [[ 9.97888788e-01 6.01235183e-02 2.45586981e-02 8.61006254e+00] [-6.01128901e-02 9.98190898e-01 -1.17146488e-03 -2.68251003e-01] [-2.45847015e-02 -3.07302652e-04 9.99697703e-01 -3.80917235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004012739 meters Centerline goodness [0,1] 0.995829822173246 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.27, Z:-0.38 [[ 9.97875619e-01 6.03297526e-02 2.45879878e-02 8.64319552e+00] [-6.03190735e-02 9.98178454e-01 -1.17643792e-03 -2.69139085e-01] [-2.46141738e-02 -3.09185926e-04 9.99696978e-01 -3.82328661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034012739 meters Centerline goodness [0,1] 0.9959486101783045 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.26, Z:-0.39 [[ 9.97822748e-01 6.17921397e-02 2.30541820e-02 8.67561714e+00] [-6.17830470e-02 9.98088989e-01 -1.10714952e-03 -2.64766337e-01] [-2.30785384e-02 -3.19618632e-04 9.99733604e-01 -3.86461940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064012738999999 meters Centerline goodness [0,1] 0.9903512575888985 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.26, Z:-0.37 [[ 9.97740676e-01 6.34944879e-02 2.19543377e-02 8.70828062e+00] [-6.34865805e-02 9.97982132e-01 -1.05767607e-03 -2.62902665e-01] [-2.19771933e-02 -3.38519390e-04 9.99758415e-01 -3.73716773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094012739 meters Centerline goodness [0,1] 0.9957744960655385 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.26, Z:-0.39 [[ 9.97650243e-01 6.48123454e-02 2.22115266e-02 8.73906843e+00] [-6.48044934e-02 9.97897402e-01 -1.07387673e-03 -2.60027113e-01] [-2.22344251e-02 -3.68053345e-04 9.99752717e-01 -3.89444052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124012739 meters Centerline goodness [0,1] 0.9946511273944902 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.26, Z:-0.39 [[ 9.97536238e-01 6.64031062e-02 2.26292278e-02 8.77101802e+00] [-6.63952853e-02 9.97792795e-01 -1.09759862e-03 -2.56388862e-01] [-2.26521644e-02 -4.07579636e-04 9.99743324e-01 -3.89121937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154012739 meters Centerline goodness [0,1] 0.9947674671066916 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.26, Z:-0.39 [[ 9.97507525e-01 6.66903364e-02 2.30464032e-02 8.80375709e+00] [-6.66822243e-02 9.97773634e-01 -1.12116333e-03 -2.58110153e-01] [-2.30698642e-02 -4.18416566e-04 9.99733768e-01 -3.87630340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184012739 meters Centerline goodness [0,1] 0.9947674671066916 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.26, Z:-0.39 [[ 9.97494489e-01 6.68851107e-02 2.30461838e-02 8.83622891e+00] [-6.68769468e-02 9.97760596e-01 -1.12565309e-03 -2.59875858e-01] [-2.30698635e-02 -4.18425656e-04 9.99733768e-01 -3.88571015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214012739 meters Centerline goodness [0,1] 0.9942232530172229 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.26, Z:-0.39 [[ 9.97524130e-01 6.60947400e-02 2.40227982e-02 8.86757587e+00] [-6.60855102e-02 9.97813267e-01 -1.17877208e-03 -2.55240576e-01] [-2.40481774e-02 -4.11705286e-04 9.99710716e-01 -3.89180637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244012739 meters Centerline goodness [0,1] 0.9950036929226224 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.26, Z:-0.39 [[ 9.97596700e-01 6.51346934e-02 2.36282975e-02 8.89928696e+00] [-6.51254505e-02 9.97876409e-01 -1.16129492e-03 -2.60006621e-01] [-2.36537612e-02 -3.80299541e-04 9.99720138e-01 -3.90564171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274012739 meters Centerline goodness [0,1] 0.9954686690833765 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.26, Z:-0.39 [[ 9.97705608e-01 6.38117602e-02 2.26181191e-02 8.93089635e+00] [-6.38028688e-02 9.97961898e-01 -1.11526980e-03 -2.61295444e-01] [-2.26431884e-02 -3.30389956e-04 9.99743556e-01 -3.93452893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304012739 meters Centerline goodness [0,1] 0.9966437866747504 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.27, Z:-0.39 [[ 9.97894615e-01 6.10888117e-02 2.17828708e-02 8.96273888e+00] [-6.10798403e-02 9.98132302e-01 -1.07756713e-03 -2.66502156e-01] [-2.18080142e-02 -2.55195834e-04 9.99762144e-01 -3.94808761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334012739 meters Centerline goodness [0,1] 0.9972476077841093 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.27, Z:-0.40 [[ 9.97943662e-01 6.00666499e-02 2.23706330e-02 8.99356564e+00] [-6.00568407e-02 9.98194341e-01 -1.11067251e-03 -2.66904118e-01] [-2.23969536e-02 -2.35120948e-04 9.99749129e-01 -3.96255437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364012739 meters Centerline goodness [0,1] 0.9971122739214452 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.27, Z:-0.39 [[ 9.97951275e-01 5.94743118e-02 2.35809028e-02 9.02576008e+00] [-5.94631557e-02 9.98229810e-01 -1.17463075e-03 -2.70093057e-01] [-2.36090205e-02 -2.29970646e-04 9.99721242e-01 -3.92900074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394012738999999 meters Centerline goodness [0,1] 0.9970431568648767 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.27, Z:-0.39 [[ 9.97937924e-01 5.96606336e-02 2.36750703e-02 9.05759882e+00] [-5.96493455e-02 9.98218691e-01 -1.18333821e-03 -2.70952645e-01] [-2.37034964e-02 -2.31304375e-04 9.99719006e-01 -3.93296385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424012739 meters Centerline goodness [0,1] 0.9971285461375707 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.27, Z:-0.40 [[ 9.97950604e-01 5.95537875e-02 2.34080686e-02 9.08993927e+00] [-5.95426242e-02 9.98225073e-01 -1.17421631e-03 -2.71597018e-01] [-2.34364501e-02 -2.21967953e-04 9.99725304e-01 -3.95103665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454012739 meters Centerline goodness [0,1] 0.9975577313068318 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.28, Z:-0.39 [[ 9.97963559e-01 5.91990632e-02 2.37530352e-02 9.12220668e+00] [-5.91873641e-02 9.98246175e-01 -1.19588412e-03 -2.76493387e-01] [-2.37821718e-02 -2.12430776e-04 9.99717142e-01 -3.94421605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484012739 meters Centerline goodness [0,1] 0.9977050812964126 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.28, Z:-0.39 [[ 9.98012819e-01 5.79185210e-02 2.48164690e-02 9.15316293e+00] [-5.79052396e-02 9.98321296e-01 -1.25406742e-03 -2.79339692e-01] [-2.48474433e-02 -1.85428225e-04 9.99691237e-01 -3.94520053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514012739 meters Centerline goodness [0,1] 0.9982536705258392 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.29, Z:-0.39 [[ 9.98209989e-01 5.37649814e-02 2.61943728e-02 9.18389186e+00] [-5.37486356e-02 9.98553614e-01 -1.32820698e-03 -2.89380118e-01] [-2.62278966e-02 -8.20823226e-05 9.99655986e-01 -3.93303503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544012739 meters Centerline goodness [0,1] 0.9990089837774954 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.30, Z:-0.39 [[ 9.98335376e-01 5.15330989e-02 2.59001189e-02 9.21577315e+00] [-5.15162663e-02 9.98671287e-01 -1.31718034e-03 -2.96173008e-01] [-2.59335834e-02 -1.92896944e-05 9.99663668e-01 -3.94603820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574012739 meters Centerline goodness [0,1] 0.9996323688421781 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.31, Z:-0.40 [[ 9.98535076e-01 4.76182212e-02 2.56944854e-02 9.24810537e+00] [-4.76002436e-02 9.98865605e-01 -1.31119660e-03 -3.06127044e-01] [-2.57277746e-02 8.62120344e-05 9.99668982e-01 -3.95903245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604012739 meters Centerline goodness [0,1] 0.9974539883919131 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.31, Z:-0.38 [[ 9.98595303e-01 4.68133740e-02 2.48178974e-02 9.28116267e+00] [-4.67962425e-02 9.98903647e-01 -1.27093889e-03 -3.10994072e-01] [-2.48501852e-02 1.07769259e-04 9.99691181e-01 -3.82845990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634012739 meters Centerline goodness [0,1] 0.9996751418547234 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.32, Z:-0.40 [[ 9.98645456e-01 4.54878106e-02 2.52608655e-02 9.31324776e+00] [-4.54695142e-02 9.98964883e-01 -1.29851295e-03 -3.15499407e-01] [-2.52937841e-02 1.48154770e-04 9.99680050e-01 -3.97702403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664012739 meters Centerline goodness [0,1] 0.9982497839239413 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.32, Z:-0.39 [[ 9.98635847e-01 4.58012124e-02 2.50737559e-02 9.34654390e+00] [-4.57831647e-02 9.98950563e-01 -1.29368004e-03 -3.22956252e-01] [-2.51066947e-02 1.43959372e-04 9.99684767e-01 -3.86344095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694012739 meters Centerline goodness [0,1] 0.9996772805507745 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.33, Z:-0.40 [[ 9.98562987e-01 4.71200084e-02 2.55277606e-02 9.37707876e+00] [-4.71016007e-02 9.98889229e-01 -1.32223637e-03 -3.27696981e-01] [-2.55617089e-02 1.17937916e-04 9.99673239e-01 -3.98925517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724012738999999 meters Centerline goodness [0,1] 0.999526188835286 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.33, Z:-0.40 [[ 9.98514090e-01 4.82271564e-02 2.53723089e-02 9.41044188e+00] [-4.82092325e-02 9.98836389e-01 -1.31800617e-03 -3.30369371e-01] [-2.54063491e-02 9.28681956e-05 9.99677202e-01 -4.00225170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754012739 meters Centerline goodness [0,1] 0.9994342414483419 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.33, Z:-0.40 [[ 9.98485922e-01 4.89966666e-02 2.50037944e-02 9.44318254e+00] [-4.89793861e-02 9.98798939e-01 -1.30344681e-03 -3.33348601e-01] [-2.50376279e-02 7.68027875e-05 9.99686507e-01 -4.01439816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784012739 meters Centerline goodness [0,1] 0.9997616313086441 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.34, Z:-0.41 [[ 9.98521548e-01 4.89625551e-02 2.36090191e-02 9.47343462e+00] [-4.89470236e-02 9.98800612e-01 -1.23563631e-03 -3.40137546e-01] [-2.36412026e-02 7.82182663e-05 9.99720505e-01 -4.05337110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814012738999999 meters Centerline goodness [0,1] 0.9997832307292118 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.34, Z:-0.41 [[ 9.98522588e-01 4.92406762e-02 2.29782042e-02 9.50539072e+00] [-4.92260061e-02 9.98786940e-01 -1.20398089e-03 -3.43019095e-01] [-2.30096151e-02 7.10768884e-05 9.99735241e-01 -4.07975353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844012739 meters Centerline goodness [0,1] 0.9987257294658862 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.34, Z:-0.40 [[ 9.98443190e-01 5.08698571e-02 2.28791090e-02 9.53885429e+00] [-5.08556512e-02 9.98705290e-01 -1.20270256e-03 -3.44115862e-01] [-2.29106685e-02 3.72981968e-05 9.99737515e-01 -3.97632417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874012739 meters Centerline goodness [0,1] 0.9996130530117374 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.35, Z:-0.41 [[ 9.98397748e-01 5.15358015e-02 2.33665899e-02 9.57058377e+00] [-5.15210559e-02 9.98671147e-01 -1.23303351e-03 -3.46055371e-01] [-2.33990845e-02 2.71865005e-05 9.99726204e-01 -4.07254201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904012739 meters Centerline goodness [0,1] 0.9996967793636699 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.35, Z:-0.41 [[ 9.98383811e-01 5.18563111e-02 2.32527196e-02 9.60396838e+00] [-5.18417004e-02 9.98654556e-01 -1.23112255e-03 -3.48527271e-01] [-2.32852758e-02 2.36723023e-05 9.99728861e-01 -4.08113765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934012739 meters Centerline goodness [0,1] 0.9997187608168917 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.35, Z:-0.41 [[ 9.98467734e-01 5.06701851e-02 2.22422305e-02 9.63533006e+00] [-5.06564175e-02 9.98715440e-01 -1.18233659e-03 -3.50796309e-01] [-2.22735682e-02 5.38132249e-05 9.99751912e-01 -4.11574903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964012739 meters Centerline goodness [0,1] 0.999869915878935 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.35, Z:-0.41 [[ 9.98549521e-01 4.93612324e-02 2.15016963e-02 9.66738495e+00] [-4.93480341e-02 9.98780988e-01 -1.14430912e-03 -3.54134322e-01] [-2.15319700e-02 8.15828803e-05 9.99768157e-01 -4.12944870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994012739 meters Centerline goodness [0,1] 0.9999354241556708 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.36, Z:-0.42 [[ 9.98707709e-01 4.67455345e-02 1.99441153e-02 9.69776203e+00] [-4.67335955e-02 9.98906821e-01 -1.06453130e-03 -3.62339450e-01] [-1.99720749e-02 1.31095398e-04 9.99800530e-01 -4.17074314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024012739 meters Centerline goodness [0,1] 0.999978466838932 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.37, Z:-0.42 [[ 9.98762565e-01 4.52371361e-02 2.06625363e-02 9.72829494e+00] [-4.52239179e-02 9.98976262e-01 -1.10678301e-03 -3.67494200e-01] [-2.06914509e-02 1.70972594e-04 9.99785894e-01 -4.17573585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054012739 meters Centerline goodness [0,1] 0.9998710481635109 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.37, Z:-0.42 [[ 9.98777683e-01 4.43377356e-02 2.18472945e-02 9.76175075e+00] [-4.43227105e-02 9.99016579e-01 -1.17171542e-03 -3.70891110e-01] [-2.18777606e-02 2.01951904e-04 9.99760633e-01 -4.15414443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084012739 meters Centerline goodness [0,1] 0.9997418077758892 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.37, Z:-0.41 [[ 9.98733356e-01 4.41406954e-02 2.41512446e-02 9.79422757e+00] [-4.41221501e-02 9.99025297e-01 -1.30048519e-03 -3.72771825e-01] [-2.41851087e-02 2.33233098e-04 9.99707470e-01 -4.12045283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114012739 meters Centerline goodness [0,1] 0.9998055987558321 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.38, Z:-0.41 [[ 9.98688215e-01 4.50396405e-02 2.43573232e-02 9.82671606e+00] [-4.50209475e-02 9.98985177e-01 -1.31555750e-03 -3.75076905e-01] [-2.43918571e-02 2.17242004e-04 9.99702451e-01 -4.12853104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144012738999999 meters Centerline goodness [0,1] 0.9997396906657411 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.38, Z:-0.41 [[ 9.98600138e-01 4.67427669e-02 2.47563890e-02 9.85921206e+00] [-4.67238780e-02 9.98906943e-01 -1.34120525e-03 -3.77447059e-01] [-2.47920205e-02 1.82613252e-04 9.99692614e-01 -4.12652927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174012739 meters Centerline goodness [0,1] 0.9997852095281053 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.38, Z:-0.41 [[ 9.98537827e-01 4.77928956e-02 2.52595901e-02 9.89085330e+00] [-4.77734583e-02 9.98857253e-01 -1.37275099e-03 -3.79326333e-01] [-2.52963325e-02 1.64005815e-04 9.99679983e-01 -4.12225619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204012739 meters Centerline goodness [0,1] 0.9995926767568495 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.38, Z:-0.41 [[ 9.98457219e-01 4.87982630e-02 2.64936181e-02 9.92179422e+00] [-4.87771103e-02 9.98808644e-01 -1.44446092e-03 -3.80404237e-01] [-2.65325419e-02 1.49950304e-04 9.99647939e-01 -4.10957875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234012738999999 meters Centerline goodness [0,1] 0.9992443053006586 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.38, Z:-0.41 [[ 9.98393060e-01 4.95702850e-02 2.74606092e-02 9.95438662e+00] [-4.95477381e-02 9.98770628e-01 -1.50131044e-03 -3.82730273e-01] [-2.75012703e-02 1.38286849e-04 9.99621759e-01 -4.09587974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264012739 meters Centerline goodness [0,1] 0.9994166576644701 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.39, Z:-0.41 [[ 9.98407715e-01 4.94854027e-02 2.70782151e-02 9.98602815e+00] [-4.94633166e-02 9.98774837e-01 -1.48525442e-03 -3.86293900e-01] [-2.71185383e-02 1.43511140e-04 9.99632215e-01 -4.11655720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294012739 meters Centerline goodness [0,1] 0.9981907469630396 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.39, Z:-0.41 [[ 9.98534713e-01 4.89935662e-02 2.29795071e-02 1.00177040e+01] [-4.89774484e-02 9.98799085e-01 -1.26402841e-03 -3.91088591e-01] [-2.30138399e-02 1.36698625e-04 9.99735137e-01 -4.06587569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324012739 meters Centerline goodness [0,1] 0.9999138617912441 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.39, Z:-0.42 [[ 9.98561062e-01 4.86429946e-02 2.25757707e-02 1.00494571e+01] [-4.86273159e-02 9.98816219e-01 -1.24326725e-03 -3.94712196e-01] [-2.26095222e-02 1.43679126e-04 9.99744362e-01 -4.22578983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354012739 meters Centerline goodness [0,1] 0.9997170468396308 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.40, Z:-0.42 [[ 9.98491479e-01 4.96339763e-02 2.34784007e-02 1.00818484e+01] [-4.96171868e-02 9.98767466e-01 -1.29747109e-03 -3.98290694e-01] [-2.35138615e-02 1.30581633e-04 9.99723502e-01 -4.20561104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384012739 meters Centerline goodness [0,1] 0.9997644842204427 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.40, Z:-0.42 [[ 9.98435510e-01 5.05007734e-02 2.40042566e-02 1.01138186e+01] [-5.04833758e-02 9.98724015e-01 -1.33060180e-03 -4.00121152e-01] [-2.40408240e-02 1.16704180e-04 9.99710971e-01 -4.20036704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414012739 meters Centerline goodness [0,1] 0.9996532819034823 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.40, Z:-0.42 [[ 9.98383039e-01 5.13958419e-02 2.42852815e-02 1.01461605e+01] [-5.13782014e-02 9.98678355e-01 -1.35020134e-03 -4.01499372e-01] [-2.43225797e-02 1.00284032e-04 9.99704157e-01 -4.20693178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444012739 meters Centerline goodness [0,1] 0.9998068172061475 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.41, Z:-0.42 [[ 9.98390920e-01 5.16040785e-02 2.35072411e-02 1.01778573e+01] [-5.15875134e-02 9.98667617e-01 -1.31096319e-03 -4.05120012e-01] [-2.35435715e-02 9.61736280e-05 9.99722807e-01 -4.24079869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474012738999999 meters Centerline goodness [0,1] 0.9998705697089976 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.41, Z:-0.43 [[ 9.98424328e-01 5.13447946e-02 2.26400776e-02 1.02105865e+01] [-5.13292789e-02 9.98680981e-01 -1.26629703e-03 -4.09041115e-01] [-2.26752327e-02 1.02202904e-04 9.99742879e-01 -4.26833022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504012739 meters Centerline goodness [0,1] 0.9998918614962043 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.41, Z:-0.43 [[ 9.98408485e-01 5.21418735e-02 2.14877253e-02 1.02424930e+01] [-5.21279983e-02 9.98639684e-01 -1.20572462e-03 -4.12007590e-01] [-2.15213639e-02 8.36935891e-05 9.99768385e-01 -4.29499435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534012739 meters Centerline goodness [0,1] 0.9999136460784526 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.41, Z:-0.43 [[ 9.98365039e-01 5.29386545e-02 2.15580009e-02 1.02739643e+01] [-5.29247909e-02 9.98597764e-01 -1.21351709e-03 -4.13968686e-01] [-2.15920134e-02 7.05803442e-05 9.99766863e-01 -4.30065031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564012738999999 meters Centerline goodness [0,1] 0.9994808341265035 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.42, Z:-0.43 [[ 9.98245056e-01 5.46229310e-02 2.28723149e-02 1.03065912e+01] [-5.46076675e-02 9.98507052e-01 -1.29185509e-03 -4.15856371e-01] [-2.29087326e-02 4.05841887e-05 9.99737560e-01 -4.28464854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594012739 meters Centerline goodness [0,1] 0.9995620469923577 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.42, Z:-0.43 [[ 9.98182732e-01 5.56260181e-02 2.31728301e-02 1.03392085e+01] [-5.56105179e-02 9.98451674e-01 -1.31327455e-03 -4.17629892e-01] [-2.32100032e-02 2.22348947e-05 9.99730611e-01 -4.28870510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624012739 meters Centerline goodness [0,1] 0.9994609513131226 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.42, Z:-0.43 [[ 9.98116442e-01 5.68929412e-02 2.29513012e-02 1.03707372e+01] [-5.68780561e-02 9.98380285e-01 -1.30135560e-03 -4.19077283e-01] [-2.29881645e-02 -6.52097516e-06 9.99735737e-01 -4.30510982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654012739 meters Centerline goodness [0,1] 0.9968278630154722 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.42, Z:-0.42 [[ 9.97959491e-01 6.01755915e-02 2.13483571e-02 1.04031384e+01] [-6.01633896e-02 9.98187804e-01 -1.21395013e-03 -4.20273217e-01] [-2.13827199e-02 -7.29164745e-05 9.99771361e-01 -4.18762805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684012739 meters Centerline goodness [0,1] 0.9988493519463321 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.42, Z:-0.43 [[ 9.97849709e-01 6.14726823e-02 2.27391025e-02 1.04353667e+01] [-6.14590877e-02 9.98108761e-01 -1.29688739e-03 -4.20730555e-01] [-2.27758206e-02 -1.03425792e-04 9.99740592e-01 -4.31819239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714012739 meters Centerline goodness [0,1] 0.9978124323153563 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.42, Z:-0.43 [[ 9.97623282e-01 6.48100599e-02 2.33974883e-02 1.04680410e+01] [-6.47964736e-02 9.97897602e-01 -1.33914805e-03 -4.20744281e-01] [-2.34350878e-02 -1.80109458e-04 9.99725344e-01 -4.30576094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744012739 meters Centerline goodness [0,1] 0.9971527178602243 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.42, Z:-0.43 [[ 9.97503695e-01 6.65455603e-02 2.36234455e-02 1.04995117e+01] [-6.65320993e-02 9.97783364e-01 -1.35619984e-03 -4.20580766e-01] [-2.36613300e-02 -2.18903075e-04 9.99720008e-01 -4.30950345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774012739 meters Centerline goodness [0,1] 0.9966496976025758 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.42, Z:-0.43 [[ 9.97384903e-01 6.81234998e-02 2.41359401e-02 1.05318650e+01] [-6.81098177e-02 9.97676863e-01 -1.38944718e-03 -4.21537522e-01] [-2.41745230e-02 -2.58080839e-04 9.99707720e-01 -4.31334124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804012739 meters Centerline goodness [0,1] 0.9966078990579899 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.42, Z:-0.43 [[ 9.97237041e-01 7.02134929e-02 2.42559316e-02 1.05626907e+01] [-7.02001829e-02 9.97531940e-01 -1.40086074e-03 -4.19622013e-01] [-2.42944258e-02 -3.05780610e-04 9.99704800e-01 -4.32158469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834012739 meters Centerline goodness [0,1] 0.9960185085548262 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.42, Z:-0.43 [[ 9.97165737e-01 7.11416753e-02 2.44817389e-02 1.05942054e+01] [-7.11283527e-02 9.97466167e-01 -1.41566591e-03 -4.20382389e-01] [-2.45204191e-02 -3.29692219e-04 9.99699275e-01 -4.32850924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864012739 meters Centerline goodness [0,1] 0.9955140509414023 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.42, Z:-0.43 [[ 9.97104313e-01 7.18901969e-02 2.47949115e-02 1.06258727e+01] [-7.18766687e-02 9.97412491e-01 -1.43755323e-03 -4.21901279e-01] [-2.48341004e-02 -3.48785109e-04 9.99691525e-01 -4.32520960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894012738999999 meters Centerline goodness [0,1] 0.9949164225400655 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.42, Z:-0.43 [[ 9.97004639e-01 7.27844768e-02 2.61566502e-02 1.06589261e+01] [-7.27696026e-02 9.97347618e-01 -1.52134022e-03 -4.24067544e-01] [-2.61980027e-02 -3.86625785e-04 9.99656699e-01 -4.30420050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924012739 meters Centerline goodness [0,1] 0.9942897776245475 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.42, Z:-0.43 [[ 9.97013145e-01 7.26509878e-02 2.62035032e-02 1.06907891e+01] [-7.26358836e-02 9.97357353e-01 -1.52904026e-03 -4.24898316e-01] [-2.62453429e-02 -3.78841368e-04 9.99655460e-01 -4.31857607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954012739 meters Centerline goodness [0,1] 0.9954395852603953 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.43, Z:-0.43 [[ 9.97106409e-01 7.15820605e-02 2.55894013e-02 1.07229458e+01] [-7.15671908e-02 9.97434657e-01 -1.49762403e-03 -4.30868634e-01] [-2.56309588e-02 -3.38071051e-04 9.99671416e-01 -4.34185856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984012738999999 meters Centerline goodness [0,1] 0.9953036472134256 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.43, Z:-0.43 [[ 9.97140260e-01 7.08844896e-02 2.62048038e-02 1.07540819e+01] [-7.08685374e-02 9.97484478e-01 -1.53812748e-03 -4.31753752e-01] [-2.62479145e-02 -3.23367286e-04 9.99655412e-01 -4.34531903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014012739 meters Centerline goodness [0,1] 0.9952950317261622 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.44, Z:-0.43 [[ 9.97179622e-01 7.01321773e-02 2.67259973e-02 1.07862096e+01] [-7.01152026e-02 9.97537661e-01 -1.57288056e-03 -4.38707789e-01] [-2.67704984e-02 -3.05454269e-04 9.99641559e-01 -4.33723384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044012739 meters Centerline goodness [0,1] 0.9966945696501395 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.44, Z:-0.44 [[ 9.97275620e-01 6.94129368e-02 2.49636255e-02 1.08180632e+01] [-6.93978060e-02 9.97587978e-01 -1.47299562e-03 -4.42654479e-01] [-2.50056577e-02 -2.63438223e-04 9.99687275e-01 -4.37454832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074012739 meters Centerline goodness [0,1] 0.996564910233975 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.44, Z:-0.44 [[ 9.97272944e-01 6.98163823e-02 2.39237939e-02 1.08504535e+01] [-6.98025041e-02 9.97559826e-01 -1.41572251e-03 -4.42376844e-01] [-2.39642563e-02 -2.58078960e-04 9.99712783e-01 -4.41931297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104012739 meters Centerline goodness [0,1] 0.996564910233975 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.44, Z:-0.44 [[ 9.97260817e-01 6.99894766e-02 2.39235432e-02 1.08828879e+01] [-6.99755469e-02 9.97547696e-01 -1.41994390e-03 -4.44508711e-01] [-2.39642566e-02 -2.58008607e-04 9.99712783e-01 -4.42871869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134012739 meters Centerline goodness [0,1] 0.9965831927684788 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.45, Z:-0.44 [[ 9.97149350e-01 7.13526619e-02 2.45350890e-02 1.09153067e+01] [-7.13383143e-02 9.97451107e-01 -1.46067874e-03 -4.48373683e-01] [-2.45767750e-02 -2.93777032e-04 9.99697902e-01 -4.41189328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164012739 meters Centerline goodness [0,1] 0.9952455400167048 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.45, Z:-0.44 [[ 9.97027792e-01 7.25510154e-02 2.59216562e-02 1.09467219e+01] [-7.25352854e-02 9.97364646e-01 -1.54782926e-03 -4.47488200e-01] [-2.59656401e-02 -3.37005949e-04 9.99662779e-01 -4.39227884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194012739 meters Centerline goodness [0,1] 0.9951198445260203 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.45, Z:-0.44 [[ 9.96876989e-01 7.42034932e-02 2.70205598e-02 1.09790737e+01] [-7.41868915e-02 9.97243044e-01 -1.61774733e-03 -4.46851043e-01] [-2.70661078e-02 -3.91876256e-04 9.99633569e-01 -4.37961742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224012738999999 meters Centerline goodness [0,1] 0.9942961687473095 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.44, Z:-0.44 [[ 9.96664249e-01 7.74170783e-02 2.58257798e-02 1.10104871e+01] [-7.74028847e-02 9.96998691e-01 -1.55030537e-03 -4.40535221e-01] [-2.58682888e-02 -4.53855916e-04 9.99665257e-01 -4.41009097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254012739 meters Centerline goodness [0,1] 0.9942207708503416 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.44, Z:-0.44 [[ 9.96586933e-01 7.87293109e-02 2.48229849e-02 1.10422010e+01] [-7.87165150e-02 9.96895922e-01 -1.49372793e-03 -4.40244351e-01] [-2.48635326e-02 -4.65349126e-04 9.99690746e-01 -4.43615219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284012739 meters Centerline goodness [0,1] 0.9939313812609722 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.44, Z:-0.44 [[ 9.96471631e-01 8.03170908e-02 2.43608849e-02 1.10744611e+01] [-8.03051546e-02 9.96769243e-01 -1.46946275e-03 -4.37439813e-01] [-2.44002038e-02 -4.92026688e-04 9.99702150e-01 -4.44593561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314012738999999 meters Centerline goodness [0,1] 0.9887956384554294 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.44, Z:-0.43 [[ 9.96447625e-01 8.11804006e-02 2.24025122e-02 1.11063523e+01] [-8.11704493e-02 9.96699314e-01 -1.35467477e-03 -4.37373091e-01] [-2.24385416e-02 -4.68559525e-04 9.99748114e-01 -4.33050801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344012739 meters Centerline goodness [0,1] 0.9934895275624277 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.43, Z:-0.45 [[ 9.96355337e-01 8.19785170e-02 2.35704171e-02 1.11388605e+01] [-8.19676383e-02 9.96633967e-01 -1.42894000e-03 -4.31255198e-01] [-2.36082207e-02 -5.08279426e-04 9.99721158e-01 -4.48402891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374012739 meters Centerline goodness [0,1] 0.9937607573149742 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.43, Z:-0.45 [[ 9.96288856e-01 8.25736297e-02 2.42921861e-02 1.11720730e+01] [-8.25621475e-02 9.96584823e-01 -1.47696084e-03 -4.30019037e-01] [-2.43311821e-02 -5.34135427e-04 9.99703810e-01 -4.48535468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404012738999999 meters Centerline goodness [0,1] 0.9932741226179185 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.43, Z:-0.45 [[ 9.96225251e-01 8.31793548e-02 2.48283038e-02 1.12053031e+01] [-8.31674304e-02 9.96534438e-01 -1.51429320e-03 -4.28652136e-01] [-2.48682177e-02 -5.56329108e-04 9.99690583e-01 -4.47987893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434012739 meters Centerline goodness [0,1] 0.9932825410451765 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.43, Z:-0.45 [[ 9.96234970e-01 8.29160380e-02 2.53143293e-02 1.12371291e+01] [-8.29034327e-02 9.96556382e-01 -1.54884744e-03 -4.28916489e-01] [-2.53555808e-02 -5.55628818e-04 9.99678341e-01 -4.46910584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464012739 meters Centerline goodness [0,1] 0.993237422467264 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.43, Z:-0.45 [[ 9.96335325e-01 8.18095380e-02 2.49623662e-02 1.12688516e+01] [-8.17968302e-02 9.96647848e-01 -1.53144955e-03 -4.28513477e-01] [-2.50039757e-02 -5.16005150e-04 9.99687219e-01 -4.48421019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494012739 meters Centerline goodness [0,1] 0.9946785775346213 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.43, Z:-0.45 [[ 9.96677566e-01 7.76930580e-02 2.44462471e-02 1.12988864e+01] [-7.76795171e-02 9.96977246e-01 -1.50448326e-03 -4.34482974e-01] [-2.44892400e-02 -3.99487959e-04 9.99700014e-01 -4.49774735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524012739 meters Centerline goodness [0,1] 0.9929589707927677 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.44, Z:-0.44 [[ 9.96779334e-01 7.64435877e-02 2.42350279e-02 1.13306085e+01] [-7.64299216e-02 9.97073841e-01 -1.49103111e-03 -4.41917540e-01] [-2.42780921e-02 -3.66052286e-04 9.99705177e-01 -4.41696621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554012739 meters Centerline goodness [0,1] 0.9955331974500196 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.44, Z:-0.45 [[ 9.96845602e-01 7.51389856e-02 2.55534311e-02 1.13626443e+01] [-7.51232466e-02 9.97173010e-01 -1.57671382e-03 -4.44493151e-01] [-2.55996645e-02 -3.47916467e-04 9.99672214e-01 -4.49720315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584012739 meters Centerline goodness [0,1] 0.9925162292147433 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.45, Z:-0.44 [[ 9.96977892e-01 7.40352630e-02 2.35342818e-02 1.13938687e+01] [-7.40215194e-02 9.97255582e-01 -1.45578273e-03 -4.49504043e-01] [-2.35774731e-02 -2.90660100e-04 9.99721970e-01 -4.40399293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614012739 meters Centerline goodness [0,1] 0.9965971835808758 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.45, Z:-0.45 [[ 9.96959746e-01 7.38034050e-02 2.49864403e-02 1.14243316e+01] [-7.37877356e-02 9.97272765e-01 -1.54978776e-03 -4.49968837e-01] [-2.50326760e-02 -2.98616832e-04 9.99686589e-01 -4.52719334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644012738999999 meters Centerline goodness [0,1] 0.9962463267626177 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.45, Z:-0.45 [[ 9.96929271e-01 7.42376631e-02 2.49158359e-02 1.14560782e+01] [-7.42221184e-02 9.97240531e-01 -1.54938583e-03 -4.52081082e-01] [-2.49621042e-02 -3.04678038e-04 9.99688352e-01 -4.53736437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674012739 meters Centerline goodness [0,1] 0.9962780490953292 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.45, Z:-0.46 [[ 9.96901375e-01 7.47614554e-02 2.44616626e-02 1.14875558e+01] [-7.47465671e-02 9.97201398e-01 -1.52370504e-03 -4.54585853e-01] [-2.45071185e-02 -3.09441648e-04 9.99699608e-01 -4.55537201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704012739 meters Centerline goodness [0,1] 0.9960793606341958 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.46, Z:-0.45 [[ 9.96829321e-01 7.56355429e-02 2.47097036e-02 1.15207406e+01] [-7.56205138e-02 9.97135475e-01 -1.54342189e-03 -4.60261110e-01] [-2.47556596e-02 -3.30032289e-04 9.99693477e-01 -4.54627360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734012738999999 meters Centerline goodness [0,1] 0.9939852877542189 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.46, Z:-0.45 [[ 9.96816584e-01 7.60777528e-02 2.38510606e-02 1.15515490e+01] [-7.60637672e-02 9.97101835e-01 -1.49437406e-03 -4.62898822e-01] [-2.38956249e-02 -3.24584672e-04 9.99714406e-01 -4.47166842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764012739 meters Centerline goodness [0,1] 0.9952255908331344 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.47, Z:-0.45 [[ 9.96846648e-01 7.48692756e-02 2.62935896e-02 1.15835639e+01] [-7.48517619e-02 9.97193305e-01 -1.65106604e-03 -4.68441601e-01] [-2.63434056e-02 -3.22261861e-04 9.99652900e-01 -4.53732373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794012739 meters Centerline goodness [0,1] 0.9953608247422681 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.47, Z:-0.45 [[ 9.96865987e-01 7.43869867e-02 2.69217430e-02 1.16150816e+01] [-7.43683244e-02 9.97229401e-01 -1.69517743e-03 -4.71842010e-01] [-2.69732528e-02 -3.12260190e-04 9.99636107e-01 -4.53286908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824012739 meters Centerline goodness [0,1] 0.9957521668239938 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.48, Z:-0.45 [[ 9.96919741e-01 7.37411515e-02 2.67071486e-02 1.16469084e+01] [-7.37224443e-02 9.97277373e-01 -1.68575687e-03 -4.76974069e-01] [-2.67587447e-02 -2.88351973e-04 9.99641879e-01 -4.53911892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854012739 meters Centerline goodness [0,1] 0.9961154991583582 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.49, Z:-0.46 [[ 9.96994176e-01 7.29895793e-02 2.59833447e-02 1.16789660e+01] [-7.29715124e-02 9.97332670e-01 -1.64409745e-03 -4.85646306e-01] [-2.60340406e-02 -2.56888376e-04 9.99661024e-01 -4.56167624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884012739 meters Centerline goodness [0,1] 0.996420979567047 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.49, Z:-0.46 [[ 9.97002038e-01 7.30148930e-02 2.56078462e-02 1.17119863e+01] [-7.29972471e-02 9.97330819e-01 -1.62445770e-03 -4.90219629e-01] [-2.56581039e-02 -2.49714646e-04 9.99670745e-01 -4.57693700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914012739 meters Centerline goodness [0,1] 0.996640609858518 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.49, Z:-0.46 [[ 9.96932148e-01 7.39799003e-02 2.55590639e-02 1.17427885e+01] [-7.39625112e-02 9.97259696e-01 -1.62634199e-03 -4.94678442e-01] [-2.56093409e-02 -2.69059933e-04 9.99671991e-01 -4.58933564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944012739 meters Centerline goodness [0,1] 0.9924659456425534 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.50, Z:-0.45 [[ 9.96819261e-01 7.58712328e-02 2.43909079e-02 1.17752080e+01] [-7.58558773e-02 9.97117579e-01 -1.55551302e-03 -4.96828724e-01] [-2.44386217e-02 -2.99628373e-04 9.99701287e-01 -4.49208742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974012738999999 meters Centerline goodness [0,1] 0.9957417670596794 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.50, Z:-0.46 [[ 9.96687392e-01 7.72417977e-02 2.54547946e-02 1.18057635e+01] [-7.72254016e-02 9.97012330e-01 -1.62800578e-03 -4.96228948e-01] [-2.55044942e-02 -3.43143903e-04 9.99674649e-01 -4.61158457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004012739 meters Centerline goodness [0,1] 0.9945435331162249 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.49, Z:-0.46 [[ 9.96370600e-01 8.13870827e-02 2.49353190e-02 1.18369290e+01] [-8.13725976e-02 9.96682472e-01 -1.59672773e-03 -4.92362674e-01] [-2.49825484e-02 -4.38119113e-04 9.99687791e-01 -4.63206871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034012739 meters Centerline goodness [0,1] 0.9941647964091055 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.49, Z:-0.46 [[ 9.96147347e-01 8.41385885e-02 2.47216766e-02 1.18693669e+01] [-8.41251067e-02 9.96453937e-01 -1.58670079e-03 -4.94642773e-01] [-2.47675148e-02 -4.99125898e-04 9.99693113e-01 -4.63775222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064012738999999 meters Centerline goodness [0,1] 0.9918011675824175 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.49, Z:-0.46 [[ 9.95724009e-01 8.85461181e-02 2.63302588e-02 1.19006134e+01] [-8.85322347e-02 9.96071870e-01 -1.69484786e-03 -4.89232691e-01] [-2.63769024e-02 -6.43475945e-04 9.99651862e-01 -4.61272985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094012739 meters Centerline goodness [0,1] 0.9888311520300136 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.48, Z:-0.46 [[ 9.95474037e-01 9.05830521e-02 2.87428754e-02 1.19320536e+01] [-9.05673462e-02 9.95888614e-01 -1.85049439e-03 -4.82379334e-01] [-2.87923258e-02 -7.61046821e-04 9.99585125e-01 -4.58990443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124012739 meters Centerline goodness [0,1] 0.9887798036465638 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.49, Z:-0.46 [[ 9.95262534e-01 9.23001535e-02 3.05478203e-02 1.19641102e+01] [-9.22830715e-02 9.95730861e-01 -1.97158993e-03 -4.85625897e-01] [-3.05993854e-02 -8.56797088e-04 9.99531362e-01 -4.56549729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154012738999999 meters Centerline goodness [0,1] 0.987588767294783 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.49, Z:-0.46 [[ 9.95142080e-01 9.33865368e-02 3.11640195e-02 1.19958167e+01] [-9.33691329e-02 9.95629519e-01 -2.01641484e-03 -4.87193254e-01] [-3.12161237e-02 -9.03138217e-04 9.99512250e-01 -4.56787748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184012739 meters Centerline goodness [0,1] 0.9874119264478433 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.49, Z:-0.46 [[ 9.95143553e-01 9.35441633e-02 3.06398097e-02 1.20278265e+01] [-9.35272759e-02 9.95614735e-01 -1.98701276e-03 -4.88011506e-01] [-3.06913195e-02 -8.88294998e-04 9.99528516e-01 -4.58912142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214012739 meters Centerline goodness [0,1] 0.9859995261378077 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.48, Z:-0.46 [[ 9.94992224e-01 9.56374015e-02 2.90510340e-02 1.20594576e+01] [-9.56229742e-02 9.95415833e-01 -1.88867145e-03 -4.83586950e-01] [-2.90984868e-02 -8.98732864e-04 9.99576145e-01 -4.62413901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244012739 meters Centerline goodness [0,1] 0.9880540914196837 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.49, Z:-0.46 [[ 9.94864234e-01 9.70942563e-02 2.85982911e-02 1.20914028e+01] [-9.70807603e-02 9.95274763e-01 -1.86328255e-03 -4.86516906e-01] [-2.86440714e-02 -9.22630676e-04 9.99589249e-01 -4.64603415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274012739 meters Centerline goodness [0,1] 0.9886968948941146 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.49, Z:-0.47 [[ 9.94734114e-01 9.87238565e-02 2.75253093e-02 1.21232687e+01] [-9.87118591e-02 9.95114434e-01 -1.79765266e-03 -4.87019978e-01] [-2.75683038e-02 -9.28888027e-04 9.99619491e-01 -4.67877671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304012739 meters Centerline goodness [0,1] 0.9860133822577164 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.48, Z:-0.47 [[ 9.94700565e-01 9.89634889e-02 2.78749579e-02 1.21554799e+01] [-9.89511464e-02 9.95090619e-01 -1.82522483e-03 -4.84655425e-01] [-2.79187397e-02 -9.42706870e-04 9.99609751e-01 -4.68279989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334012739 meters Centerline goodness [0,1] 0.9849690349217272 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.49, Z:-0.47 [[ 9.94737336e-01 9.83174181e-02 2.88325723e-02 1.21867651e+01] [-9.83037860e-02 9.95154652e-01 -1.89333672e-03 -4.85250812e-01] [-2.88790165e-02 -9.50978300e-04 9.99582462e-01 -4.67144152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364012739 meters Centerline goodness [0,1] 0.9878871182509342 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.49, Z:-0.46 [[ 9.94925560e-01 9.59610887e-02 3.02423422e-02 1.22176476e+01] [-9.59449171e-02 9.95384658e-01 -1.98877138e-03 -4.92986497e-01] [-3.02936081e-02 -9.22919539e-04 9.99540617e-01 -4.64849300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394012738999999 meters Centerline goodness [0,1] 0.9877838211171545 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.49, Z:-0.47 [[ 9.95014127e-01 9.49936808e-02 3.03823615e-02 1.22486651e+01] [-9.49768706e-02 9.95477472e-01 -1.99922624e-03 -4.92794548e-01] [-3.04348703e-02 -8.96363265e-04 9.99536350e-01 -4.66225427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424012739 meters Centerline goodness [0,1] 0.9893985287754219 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.50, Z:-0.47 [[ 9.95146219e-01 9.34844441e-02 3.07353590e-02 1.22806664e+01] [-9.34663761e-02 9.95620373e-01 -2.02718708e-03 -4.99992734e-01] [-3.07902600e-02 -8.55375066e-04 9.99525502e-01 -4.67558117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454012739 meters Centerline goodness [0,1] 0.9879652952700811 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.50, Z:-0.47 [[ 9.95198857e-01 9.28555398e-02 3.09367798e-02 1.23122056e+01] [-9.28367726e-02 9.95679240e-01 -2.04556935e-03 -4.96189999e-01] [-3.09930519e-02 -8.36322515e-04 9.99519250e-01 -4.67947758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484012738999999 meters Centerline goodness [0,1] 0.9905149051490515 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.51, Z:-0.47 [[ 9.95321468e-01 9.15464151e-02 3.08938390e-02 1.23440442e+01] [-9.15269238e-02 9.95800497e-01 -2.04744758e-03 -5.05831007e-01] [-3.09515367e-02 -7.89749515e-04 9.99520574e-01 -4.69277225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514012739 meters Centerline goodness [0,1] 0.9907257977750522 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.51, Z:-0.47 [[ 9.95383331e-01 9.10358553e-02 3.04055451e-02 1.23749949e+01] [-9.10165874e-02 9.95847328e-01 -2.02000211e-03 -5.08433051e-01] [-3.04631735e-02 -7.56732531e-04 9.99535603e-01 -4.71099549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544012739 meters Centerline goodness [0,1] 0.9916299939597895 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.51, Z:-0.47 [[ 9.95460659e-01 9.05211911e-02 2.93937181e-02 1.24070544e+01] [-9.05028323e-02 9.95894275e-01 -1.95711358e-03 -5.10970529e-01] [-2.94501958e-02 -7.11985166e-04 9.99565995e-01 -4.73888067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574012739 meters Centerline goodness [0,1] 0.993421052631579 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.52, Z:-0.48 [[ 9.95581025e-01 8.95617893e-02 2.82331124e-02 1.24385249e+01] [-8.95443408e-02 9.95981054e-01 -1.88426848e-03 -5.15558808e-01] [-2.82884036e-02 -6.52173495e-04 9.99599590e-01 -4.77599010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604012739 meters Centerline goodness [0,1] 0.9928479103834554 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.52, Z:-0.48 [[ 9.95581000e-01 8.91424025e-02 2.95314096e-02 1.24703513e+01] [-8.91229779e-02 9.96018670e-01 -1.97598723e-03 -5.20324885e-01] [-2.95899796e-02 -6.64671824e-04 9.99561900e-01 -4.77356298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634012739 meters Centerline goodness [0,1] 0.9921525862253299 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.52, Z:-0.47 [[ 9.95680360e-01 8.74992162e-02 3.10565177e-02 1.25014812e+01] [-8.74767678e-02 9.96164381e-01 -2.08339022e-03 -5.24500950e-01] [-3.11196918e-02 -6.42333061e-04 9.99515459e-01 -4.74775505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664012739 meters Centerline goodness [0,1] 0.992349167785521 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.53, Z:-0.48 [[ 9.95698340e-01 8.71785334e-02 3.13802318e-02 1.25329619e+01] [-8.71553037e-02 9.96192502e-01 -2.10993113e-03 -5.26517305e-01] [-3.14446923e-02 -6.34098709e-04 9.99505292e-01 -4.75086887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694012739 meters Centerline goodness [0,1] 0.9924902116005905 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.53, Z:-0.48 [[ 9.95700677e-01 8.71677364e-02 3.13360509e-02 1.25655876e+01] [-8.71444162e-02 9.96193451e-01 -2.11175047e-03 -5.29638335e-01] [-3.14008452e-02 -6.28090486e-04 9.99506675e-01 -4.76438681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724012738999999 meters Centerline goodness [0,1] 0.9925260618592229 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.53, Z:-0.48 [[ 9.95649944e-01 8.80394836e-02 3.04998153e-02 1.25976930e+01] [-8.80176334e-02 9.96116785e-01 -2.06085057e-03 -5.33676279e-01] [-3.05628142e-02 -6.32635812e-04 9.99532648e-01 -4.79413700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754012739 meters Centerline goodness [0,1] 0.992954267179344 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.53, Z:-0.48 [[ 9.95593823e-01 8.88908320e-02 2.98556353e-02 1.26287081e+01] [-8.88701340e-02 9.96041169e-01 -2.02212112e-03 -5.33977551e-01] [-2.99171899e-02 -6.40063011e-04 9.99552176e-01 -4.81079804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784012739 meters Centerline goodness [0,1] 0.9928330886797341 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.54, Z:-0.48 [[ 9.95473415e-01 9.01561954e-02 3.00755851e-02 1.26612006e+01] [-9.01356287e-02 9.95927407e-01 -2.04165157e-03 -5.35584990e-01] [-3.01371671e-02 -6.78471913e-04 9.99545542e-01 -4.81805267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814012738999999 meters Centerline goodness [0,1] 0.9931613237261078 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.54, Z:-0.48 [[ 9.95441765e-01 9.04050010e-02 3.03747902e-02 1.26942388e+01] [-9.03839842e-02 9.95904846e-01 -2.06703697e-03 -5.39466357e-01] [-3.04372712e-02 -6.87779627e-04 9.99536442e-01 -4.81973400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844012739 meters Centerline goodness [0,1] 0.9927719237133154 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.55, Z:-0.48 [[ 9.95390784e-01 9.06521056e-02 3.12950920e-02 1.27264905e+01] [-9.06297259e-02 9.95882368e-01 -2.13578950e-03 -5.45767166e-01] [-3.13598441e-02 -7.10320416e-04 9.99507907e-01 -4.81799291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874012739 meters Centerline goodness [0,1] 0.9879637833048814 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.54, Z:-0.47 [[ 9.95156975e-01 9.32116316e-02 3.12119772e-02 1.27581505e+01] [-9.31904367e-02 9.95646011e-01 -2.13623654e-03 -5.42127496e-01] [-3.12752027e-02 -7.82767093e-04 9.99510505e-01 -4.70535435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904012738999999 meters Centerline goodness [0,1] 0.9891091453046641 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.53, Z:-0.48 [[ 9.94659590e-01 9.76880301e-02 3.33068954e-02 1.27899140e+01] [-9.76662310e-02 9.95216603e-01 -2.28469912e-03 -5.32845293e-01] [-3.33707631e-02 -9.80461050e-04 9.99442560e-01 -4.79252468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934012739 meters Centerline goodness [0,1] 0.9883388811338989 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.53, Z:-0.48 [[ 9.94423059e-01 1.00109764e-01 3.31785241e-02 1.28222827e+01] [-1.00089449e-01 9.94975838e-01 -2.27676790e-03 -5.30558819e-01] [-3.32397565e-02 -1.05674970e-03 9.99446848e-01 -4.80400409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964012739 meters Centerline goodness [0,1] 0.9883388811338989 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.53, Z:-0.48 [[ 9.94404365e-01 1.00295334e-01 3.31783760e-02 1.28547207e+01] [-1.00275051e-01 9.94957145e-01 -2.27892431e-03 -5.32965936e-01] [-3.32396277e-02 -1.06079105e-03 9.99446848e-01 -4.81341523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994012739 meters Centerline goodness [0,1] 0.9857823995167311 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.53, Z:-0.48 [[ 9.94147820e-01 1.03010717e-01 3.25407975e-02 1.28856896e+01] [-1.02992483e-01 9.94679611e-01 -2.24048154e-03 -5.32737032e-01] [-3.25984614e-02 -1.12408770e-03 9.99467897e-01 -4.77403711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024012739 meters Centerline goodness [0,1] 0.9796987133897976 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.52, Z:-0.48 [[ 9.93899554e-01 1.05278824e-01 3.28640433e-02 1.29175071e+01] [-1.05261432e-01 9.94442008e-01 -2.26370701e-03 -5.23046602e-01] [-3.29197056e-02 -1.20941888e-03 9.99457268e-01 -4.83493578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054012739 meters Centerline goodness [0,1] 0.9808416677490583 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.52, Z:-0.49 [[ 9.93592038e-01 1.08248855e-01 3.25122737e-02 1.29484870e+01] [-1.08233275e-01 9.94122992e-01 -2.24393969e-03 -5.21173976e-01] [-3.25641027e-02 -1.28934925e-03 9.99468817e-01 -4.87019519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084012739 meters Centerline goodness [0,1] 0.9798068669527897 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.52, Z:-0.49 [[ 9.93560660e-01 1.08749762e-01 3.17915866e-02 1.29810793e+01] [-1.08735094e-01 9.94068338e-01 -2.19501838e-03 -5.17907898e-01] [-3.18417174e-02 -1.27597725e-03 9.99492109e-01 -4.88973683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114012739 meters Centerline goodness [0,1] 0.9795321008113983 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.52, Z:-0.49 [[ 9.93580598e-01 1.08442105e-01 3.22165515e-02 1.30128775e+01] [-1.08426707e-01 9.94101945e-01 -2.22973853e-03 -5.16961946e-01] [-3.22683340e-02 -1.27770965e-03 9.99478425e-01 -4.89344746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144012739 meters Centerline goodness [0,1] 0.9741539645552302 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.51, Z:-0.49 [[ 9.93671878e-01 1.07520112e-01 3.24903863e-02 1.30445196e+01] [-1.07503787e-01 9.94202120e-01 -2.25401408e-03 -5.14265551e-01] [-3.25443628e-02 -1.25308915e-03 9.99469506e-01 -4.89258711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174012739 meters Centerline goodness [0,1] 0.9851520302984658 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.52, Z:-0.49 [[ 9.93876582e-01 1.05516365e-01 3.27969113e-02 1.30757148e+01] [-1.05498493e-01 9.94416849e-01 -2.27976417e-03 -5.20226299e-01] [-3.28543537e-02 -1.19422052e-03 9.99459437e-01 -4.90691049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204012739 meters Centerline goodness [0,1] 0.9859522679211082 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.52, Z:-0.49 [[ 9.93998140e-01 1.04616267e-01 3.19864589e-02 1.31075232e+01] [-1.04598765e-01 9.94512016e-01 -2.22460149e-03 -5.22189666e-01] [-3.20436472e-02 -1.13449436e-03 9.99485827e-01 -4.93447298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234012739 meters Centerline goodness [0,1] 0.9898577933147753 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.52, Z:-0.50 [[ 9.94367607e-01 1.01694059e-01 2.98560022e-02 1.31391303e+01] [-1.01677361e-01 9.94815251e-01 -2.08086462e-03 -5.24133820e-01] [-2.99128179e-02 -9.66535149e-04 9.99552044e-01 -4.97564904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264012738999998 meters Centerline goodness [0,1] 0.9927433589749177 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.53, Z:-0.50 [[ 9.94542147e-01 1.00043411e-01 2.96181480e-02 1.31712316e+01] [-1.00026216e-01 9.94982658e-01 -2.06533113e-03 -5.31305012e-01] [-2.96761664e-02 -9.08532420e-04 9.99559153e-01 -4.99453429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294012739 meters Centerline goodness [0,1] 0.9915774172171273 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.53, Z:-0.50 [[ 9.94659114e-01 9.90611225e-02 2.89851705e-02 1.32025677e+01] [-9.90441871e-02 9.95080980e-01 -2.02294637e-03 -5.30176883e-01] [-2.90429872e-02 -8.58670602e-04 9.99577795e-01 -5.01298578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324012739 meters Centerline goodness [0,1] 0.9924265179146106 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.54, Z:-0.50 [[ 9.94712583e-01 9.85486745e-02 2.88969951e-02 1.32340768e+01] [-9.85314934e-02 9.95131880e-01 -2.02136620e-03 -5.35822901e-01] [-2.89555240e-02 -8.36585686e-04 9.99580351e-01 -5.02468208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354012738999998 meters Centerline goodness [0,1] 0.9909465547797494 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.53, Z:-0.50 [[ 9.94601870e-01 9.93668772e-02 2.98888430e-02 1.32652908e+01] [-9.93487145e-02 9.95050471e-01 -2.09578728e-03 -5.30308713e-01] [-2.99491591e-02 -8.84944183e-04 9.99551032e-01 -5.01713151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384012739 meters Centerline goodness [0,1] 0.9909169363538296 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.53, Z:-0.50 [[ 9.94514215e-01 9.99571591e-02 3.08227744e-02 1.32974228e+01] [-9.99380407e-02 9.94991309e-01 -2.16406608e-03 -5.33710058e-01] [-3.08847065e-02 -9.28173204e-04 9.99522523e-01 -5.00385063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414012739 meters Centerline goodness [0,1] 0.9897262459319762 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.53, Z:-0.50 [[ 9.94421882e-01 1.00782416e-01 3.11131207e-02 1.33291413e+01] [-1.00763178e-01 9.94908030e-01 -2.18959658e-03 -5.32380811e-01] [-3.11753664e-02 -9.57674175e-04 9.99513471e-01 -5.00734367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444012738999998 meters Centerline goodness [0,1] 0.9887422855926793 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.53, Z:-0.50 [[ 9.94427027e-01 1.00633974e-01 3.14275689e-02 1.33601831e+01] [-1.00614120e-01 9.94923055e-01 -2.21654079e-03 -5.30235801e-01] [-3.14910721e-02 -9.57869131e-04 9.99503574e-01 -5.02332298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.474012739 meters Centerline goodness [0,1] 0.992048704393795 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.54, Z:-0.50 [[ 9.94530769e-01 9.96478100e-02 3.12867815e-02 1.33917161e+01] [-9.96274989e-02 9.95022347e-01 -2.21130737e-03 -5.38249409e-01] [-3.13513987e-02 -9.17810573e-04 9.99508003e-01 -5.03920795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504012739 meters Centerline goodness [0,1] 0.9920972383283941 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.54, Z:-0.50 [[ 9.94792131e-01 9.68943698e-02 3.16243059e-02 1.34222984e+01] [-9.68720722e-02 9.95294320e-01 -2.24007298e-03 -5.39604884e-01] [-3.16925425e-02 -8.35105070e-04 9.99497316e-01 -5.02937487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534012739 meters Centerline goodness [0,1] 0.993354464968849 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.55, Z:-0.50 [[ 9.94883154e-01 9.56190836e-02 3.26266887e-02 1.34545501e+01] [-9.55946455e-02 9.95417661e-01 -2.31166857e-03 -5.46797249e-01] [-3.26982218e-02 -8.19096627e-04 9.99464935e-01 -5.02153695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564012739 meters Centerline goodness [0,1] 0.992932027154765 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.55, Z:-0.50 [[ 9.94991983e-01 9.44079619e-02 3.28343003e-02 1.34858811e+01] [-9.43824722e-02 9.95533287e-01 -2.32882958e-03 -5.45707072e-01] [-3.29074990e-02 -7.81815680e-04 9.99458096e-01 -5.01197711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594012739 meters Centerline goodness [0,1] 0.9927690798174139 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.55, Z:-0.50 [[ 9.95133712e-01 9.24429501e-02 3.41056662e-02 1.35178569e+01] [-9.24141001e-02 9.95717708e-01 -2.42469976e-03 -5.47497903e-01] [-3.41837622e-02 -7.38943975e-04 9.99415291e-01 -5.00512296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624012739 meters Centerline goodness [0,1] 0.9932674949559308 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.55, Z:-0.50 [[ 9.95201109e-01 9.17993015e-02 3.38768624e-02 1.35491412e+01] [-9.17702788e-02 9.95777279e-01 -2.41390211e-03 -5.48563000e-01] [-3.39554043e-02 -7.06571050e-04 9.99423099e-01 -5.01656914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654012739 meters Centerline goodness [0,1] 0.9942668184063044 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.55, Z:-0.50 [[ 9.95288252e-01 9.10274247e-02 3.33961657e-02 1.35811931e+01] [-9.09986153e-02 9.95848164e-01 -2.38473593e-03 -5.51915603e-01] [-3.34745867e-02 -6.65505179e-04 9.99439347e-01 -5.03688375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684012739 meters Centerline goodness [0,1] 0.9948866210705732 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.55, Z:-0.50 [[ 9.95283376e-01 9.12709756e-02 3.28726296e-02 1.36142888e+01] [-9.12430134e-02 9.95825877e-01 -2.35286565e-03 -5.53729214e-01] [-3.29501635e-02 -6.57629709e-04 9.99456780e-01 -5.04907696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714012739 meters Centerline goodness [0,1] 0.9945716562910626 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.55, Z:-0.51 [[ 9.95239096e-01 9.19284553e-02 3.23774897e-02 1.36459796e+01] [-9.19014787e-02 9.95765394e-01 -2.32352601e-03 -5.53828203e-01] [-3.24539819e-02 -6.63075253e-04 9.99473011e-01 -5.06439487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744012739 meters Centerline goodness [0,1] 0.9952015148580896 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.55, Z:-0.51 [[ 9.95233241e-01 9.24022355e-02 3.11868889e-02 1.36786578e+01] [-9.23772694e-02 9.95721551e-01 -2.24350644e-03 -5.53916364e-01] [-3.12607624e-02 -6.48147457e-04 9.99511053e-01 -5.10426725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774012739 meters Centerline goodness [0,1] 0.9954082608788078 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.56, Z:-0.51 [[ 9.95253638e-01 9.24075303e-02 3.05130229e-02 1.37119884e+01] [-9.23834592e-02 9.95721072e-01 -2.20074067e-03 -5.56085097e-01] [-3.05858248e-02 -6.28603441e-04 9.99531947e-01 -5.12680893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804012739 meters Centerline goodness [0,1] 0.9958123953098827 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.56, Z:-0.51 [[ 9.95374345e-01 9.11319976e-02 3.04117245e-02 1.37428332e+01] [-9.11073171e-02 9.95838652e-01 -2.19914033e-03 -5.57581930e-01] [-3.04855827e-02 -5.81762758e-04 9.99535037e-01 -5.13280236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834012739 meters Centerline goodness [0,1] 0.9917868891230032 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.56, Z:-0.50 [[ 9.95378133e-01 9.11075032e-02 3.03610779e-02 1.37759940e+01] [-9.10827498e-02 9.95840897e-01 -2.20019576e-03 -5.62304526e-01] [-3.04352574e-02 -5.75343719e-04 9.99536575e-01 -5.00849832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864012739 meters Centerline goodness [0,1] 0.9954680823514178 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.56, Z:-0.51 [[ 9.95433966e-01 9.01222726e-02 3.14514763e-02 1.38074227e+01] [-9.00950253e-02 9.95930552e-01 -2.28530725e-03 -5.63752354e-01] [-3.15294432e-02 -5.58749098e-04 9.99502667e-01 -5.13537551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894012739 meters Centerline goodness [0,1] 0.9956097143101897 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.57, Z:-0.51 [[ 9.95499472e-01 8.89262650e-02 3.27554530e-02 1.38384782e+01] [-8.88958820e-02 9.96038067e-01 -2.38560296e-03 -5.68216767e-01] [-3.28378209e-02 -5.36958398e-04 9.99460549e-01 -5.10983461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924012739 meters Centerline goodness [0,1] 0.9953443467067153 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.57, Z:-0.51 [[ 9.95512399e-01 8.86128259e-02 3.32088915e-02 1.38701445e+01] [-8.85812491e-02 9.96066006e-01 -2.42380015e-03 -5.70116953e-01] [-3.32930277e-02 -5.28761991e-04 9.99445494e-01 -5.10785371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954012739 meters Centerline goodness [0,1] 0.9961972257032972 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.57, Z:-0.51 [[ 9.95565106e-01 8.83772674e-02 3.22424921e-02 1.39025163e+01] [-8.83472132e-02 9.96086948e-01 -2.35837478e-03 -5.71700734e-01] [-3.23247523e-02 -5.00618688e-04 9.99477293e-01 -5.14095376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984012739 meters Centerline goodness [0,1] 0.996990477009394 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.57, Z:-0.52 [[ 9.95636146e-01 8.80727839e-02 3.08520712e-02 1.39331241e+01] [-8.80449745e-02 9.96113934e-01 -2.26137739e-03 -5.74082788e-01] [-3.09313438e-02 -4.64860754e-04 9.99521403e-01 -5.17616738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014012738999998 meters Centerline goodness [0,1] 0.9970099451823283 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.58, Z:-0.52 [[ 9.95680987e-01 8.78758334e-02 2.99534743e-02 1.39655371e+01] [-8.78494480e-02 9.96131338e-01 -2.19828948e-03 -5.77322055e-01] [-3.00307710e-02 -4.42601148e-04 9.99548877e-01 -5.19448271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044012739 meters Centerline goodness [0,1] 0.9976977042201516 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.58, Z:-0.52 [[ 9.95678840e-01 8.79513810e-02 2.98027236e-02 1.39987507e+01] [-8.79251494e-02 9.96124672e-01 -2.19207622e-03 -5.78554767e-01] [-2.98800244e-02 -4.37805024e-04 9.99553397e-01 -5.19573880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074012739 meters Centerline goodness [0,1] 0.997128392750787 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.58, Z:-0.52 [[ 9.95593744e-01 8.87750803e-02 3.02007103e-02 1.40303450e+01] [-8.87483502e-02 9.96051590e-01 -2.22702377e-03 -5.77572217e-01] [-3.02791697e-02 -4.63052278e-04 9.99541374e-01 -5.19394731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104012738999998 meters Centerline goodness [0,1] 0.9967661959685243 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.58, Z:-0.52 [[ 9.95544816e-01 8.92104213e-02 3.05289890e-02 1.40624499e+01] [-8.91831674e-02 9.96012687e-01 -2.25593439e-03 -5.76737183e-01] [-3.06085132e-02 -4.76788145e-04 9.99531336e-01 -5.20228972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.134012739 meters Centerline goodness [0,1] 0.9969202073437873 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.58, Z:-0.52 [[ 9.95677973e-01 8.78000905e-02 3.02740605e-02 1.40944210e+01] [-8.77724825e-02 9.96138024e-01 -2.24222592e-03 -5.81580438e-01] [-3.03540105e-02 -4.24694487e-04 9.99539121e-01 -5.21918250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164012739 meters Centerline goodness [0,1] 0.9975943467147798 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.59, Z:-0.52 [[ 9.95866091e-01 8.55427586e-02 3.05477433e-02 1.41264792e+01] [-8.55134378e-02 9.96334437e-01 -2.26737549e-03 -5.88117638e-01] [-3.06297262e-02 -3.54240182e-04 9.99530737e-01 -5.22479801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194012738999998 meters Centerline goodness [0,1] 0.9972871137905049 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.60, Z:-0.52 [[ 9.96322140e-01 7.93362378e-02 3.23721193e-02 1.41574767e+01] [-7.92998570e-02 9.96847899e-01 -2.40820515e-03 -6.00529319e-01] [-3.24611371e-02 -1.67756320e-04 9.99472984e-01 -5.18222662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224012739 meters Centerline goodness [0,1] 0.9941831332650705 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.62, Z:-0.52 [[ 9.96879167e-01 7.20632361e-02 3.22306832e-02 1.41881936e+01] [-7.20232054e-02 9.97400062e-01 -2.40277933e-03 -6.17065238e-01] [-3.23200375e-02 7.39235398e-05 9.99477568e-01 -5.20190732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254012739 meters Centerline goodness [0,1] 0.9912957510369876 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.63, Z:-0.52 [[ 9.97150181e-01 6.84208110e-02 3.17822083e-02 1.42184679e+01] [-6.83798821e-02 9.97656532e-01 -2.37419513e-03 -6.27234011e-01] [-3.18701720e-02 1.94165450e-04 9.99491998e-01 -5.21683971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284012739 meters Centerline goodness [0,1] 0.9905529802051981 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.63, Z:-0.52 [[ 9.97386139e-01 6.51078842e-02 3.13345505e-02 1.42499645e+01] [-6.50663743e-02 9.97878186e-01 -2.34365898e-03 -6.33973514e-01] [-3.14206551e-02 2.98707382e-04 9.99506205e-01 -5.24077688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.314012739 meters Centerline goodness [0,1] 0.9882448229061774 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.64, Z:-0.53 [[ 9.97533813e-01 6.30716565e-02 3.07938060e-02 1.42809528e+01] [-6.30304398e-02 9.98008936e-01 -2.30831335e-03 -6.42086521e-01] [-3.08780827e-02 3.61673477e-04 9.99523093e-01 -5.25284084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344012739 meters Centerline goodness [0,1] 0.9862684888850446 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.65, Z:-0.53 [[ 9.97657727e-01 6.12931672e-02 3.03678654e-02 1.43114591e+01] [-6.12521169e-02 9.98119720e-01 -2.28106702e-03 -6.49996501e-01] [-3.04505791e-02 4.15628098e-04 9.99536187e-01 -5.26549178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374012739 meters Centerline goodness [0,1] 0.9866409349201244 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.65, Z:-0.53 [[ 9.97586562e-01 6.24309934e-02 3.03878739e-02 1.43434517e+01] [-6.23902834e-02 9.98049208e-01 -2.28693949e-03 -6.52910626e-01] [-3.04713694e-02 3.85512036e-04 9.99535566e-01 -5.27354135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404012739 meters Centerline goodness [0,1] 0.9898104837824186 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.65, Z:-0.53 [[ 9.97527077e-01 6.36710895e-02 2.97610984e-02 1.43756219e+01] [-6.36325402e-02 9.97970879e-01 -2.24156340e-03 -6.53644921e-01] [-2.98434324e-02 3.42245897e-04 9.99554527e-01 -5.29039436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434012739 meters Centerline goodness [0,1] 0.9907020294399442 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.66, Z:-0.53 [[ 9.97434312e-01 6.52571945e-02 2.94328243e-02 1.44066089e+01] [-6.52200357e-02 9.97868434e-01 -2.22177318e-03 -6.57076861e-01] [-2.95150730e-02 2.96462951e-04 9.99564291e-01 -5.29961349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464012739 meters Centerline goodness [0,1] 0.9934140224621089 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.66, Z:-0.53 [[ 9.97276137e-01 6.78215350e-02 2.89921654e-02 1.44388272e+01] [-6.77864342e-02 9.97697444e-01 -2.19296935e-03 -6.56939178e-01] [-2.90741399e-02 2.21720486e-04 9.99577233e-01 -5.31385937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494012739 meters Centerline goodness [0,1] 0.9948094999236691 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.66, Z:-0.53 [[ 9.97204971e-01 6.88159327e-02 2.90966122e-02 1.44697344e+01] [-6.87808608e-02 9.97629354e-01 -2.20569249e-03 -6.58376572e-01] [-2.91794212e-02 1.98237479e-04 9.99574170e-01 -5.32503395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524012739 meters Centerline goodness [0,1] 0.9931807323111671 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.66, Z:-0.53 [[ 9.97064423e-01 7.02178914e-02 3.05284310e-02 1.45022099e+01] [-7.01797887e-02 9.97531663e-01 -2.31913555e-03 -6.60621152e-01] [-3.06159213e-02 1.69848716e-04 9.99531208e-01 -5.30654170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554012739 meters Centerline goodness [0,1] 0.9924009525871401 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.66, Z:-0.53 [[ 9.97044993e-01 7.03030399e-02 3.09639364e-02 1.45340799e+01] [-7.02637217e-02 9.97525665e-01 -2.35741323e-03 -6.64018627e-01] [-3.10530546e-02 1.74805642e-04 9.99517722e-01 -5.30289345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584012739 meters Centerline goodness [0,1] 0.9825352112676057 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.67, Z:-0.52 [[ 9.97059047e-01 7.00352581e-02 3.11178342e-02 1.45663628e+01] [-6.99952460e-02 9.97544499e-01 -2.37462659e-03 -6.68819021e-01] [-3.12077319e-02 1.89542468e-04 9.99512902e-01 -5.21491939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614012739 meters Centerline goodness [0,1] 0.9934961478862481 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.67, Z:-0.53 [[ 9.97075276e-01 7.01646289e-02 3.02955136e-02 1.45989381e+01] [-7.01266061e-02 9.97535408e-01 -2.31706137e-03 -6.71078989e-01] [-3.03834232e-02 1.85763058e-04 9.99538300e-01 -5.32852390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644012739 meters Centerline goodness [0,1] 0.9950602172630106 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.67, Z:-0.54 [[ 9.97056649e-01 7.09556194e-02 2.90403055e-02 1.46317838e+01] [-7.09208587e-02 9.97479461e-01 -2.22653537e-03 -6.74613336e-01] [-2.91250934e-02 1.60418489e-04 9.99575762e-01 -5.36486811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674012739 meters Centerline goodness [0,1] 0.9850040857792796 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.68, Z:-0.53 [[ 9.96945931e-01 7.30826656e-02 2.75269978e-02 1.46643769e+01] [-7.30521033e-02 9.97325882e-01 -2.11562359e-03 -6.77504132e-01] [-2.76080028e-02 9.82572414e-05 9.99618822e-01 -5.25615032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704012739 meters Centerline goodness [0,1] 0.9963404273858018 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.68, Z:-0.54 [[ 9.96831597e-01 7.43301897e-02 2.83158898e-02 1.46964059e+01] [-7.42982105e-02 9.97233683e-01 -2.18128621e-03 -6.76630755e-01] [-2.83996945e-02 7.05550717e-05 9.99596645e-01 -5.38775342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734012739 meters Centerline goodness [0,1] 0.9966342395552853 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.68, Z:-0.54 [[ 9.96665328e-01 7.62773148e-02 2.89826643e-02 1.47296241e+01] [-7.62444744e-02 9.97086642e-01 -2.23814945e-03 -6.76149341e-01] [-2.90689475e-02 2.09179510e-05 9.99577409e-01 -5.38476209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764012738999998 meters Centerline goodness [0,1] 0.9892019497693939 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.68, Z:-0.53 [[ 9.96493926e-01 7.84249914e-02 2.91440595e-02 1.47632435e+01] [-7.83925332e-02 9.96920017e-01 -2.25639727e-03 -6.77286365e-01] [-2.92312542e-02 -3.61904801e-05 9.99572675e-01 -5.26336432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794012739 meters Centerline goodness [0,1] 0.9969489765006275 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.67, Z:-0.54 [[ 9.96062820e-01 8.33145130e-02 3.02911053e-02 1.47948683e+01] [-8.32815215e-02 9.96523286e-01 -2.35135601e-03 -6.69175463e-01] [-3.03816939e-02 -1.80591041e-04 9.99538353e-01 -5.36952917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824012739 meters Centerline goodness [0,1] 0.9967985713352353 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.66, Z:-0.54 [[ 9.95841919e-01 8.54610059e-02 3.15481877e-02 1.48273735e+01] [-8.54261297e-02 9.96341484e-01 -2.45416694e-03 -6.63727177e-01] [-3.16425038e-02 -2.51077260e-04 9.99499219e-01 -5.36512020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854012738999998 meters Centerline goodness [0,1] 0.9959991302457056 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.67, Z:-0.53 [[ 9.95860453e-01 8.51579961e-02 3.17816710e-02 1.48599225e+01] [-8.51222762e-02 9.96367432e-01 -2.47769637e-03 -6.65578033e-01] [-3.18772176e-02 -2.37888350e-04 9.99491764e-01 -5.33684069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884012739 meters Centerline goodness [0,1] 0.9959991302457056 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.67, Z:-0.53 [[ 9.95844478e-01 8.53447665e-02 3.17812277e-02 1.48923248e+01] [-8.53089607e-02 9.96351451e-01 -2.48336968e-03 -6.68293286e-01] [-3.18772150e-02 -2.38173521e-04 9.99491764e-01 -5.34624622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914012739 meters Centerline goodness [0,1] 0.9969675661422167 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.67, Z:-0.54 [[ 9.95946389e-01 8.45512772e-02 3.06899391e-02 1.49241862e+01] [-8.45173403e-02 9.96419109e-01 -2.40366887e-03 -6.71039105e-01] [-3.07832751e-02 -1.99906697e-04 9.99526063e-01 -5.41773554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944012738999998 meters Centerline goodness [0,1] 0.9976539079810575 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.67, Z:-0.55 [[ 9.96075476e-01 8.36860180e-02 2.88148637e-02 1.49547257e+01] [-8.36556050e-02 9.96492160e-01 -2.26148013e-03 -6.74014180e-01] [-2.89030400e-02 -1.57919964e-04 9.99582207e-01 -5.45799464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.974012739 meters Centerline goodness [0,1] 0.9982985871812543 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.68, Z:-0.55 [[ 9.96399251e-01 8.07235760e-02 2.59275179e-02 1.49858742e+01] [-8.06978501e-02 9.96736525e-01 -2.03872914e-03 -6.76619735e-01] [-2.60074776e-02 -6.09067633e-05 9.99661746e-01 -5.50925847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004012739 meters Centerline goodness [0,1] 0.9970249002910424 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.68, Z:-0.55 [[ 9.96553330e-01 7.85461252e-02 2.66827125e-02 1.50189166e+01] [-7.85180327e-02 9.96910481e-01 -2.10055610e-03 -6.78421926e-01] [-2.67652663e-02 -1.75791705e-06 9.99641746e-01 -5.50291131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034012738999998 meters Centerline goodness [0,1] 0.9970421922575032 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.68, Z:-0.55 [[ 9.96591712e-01 7.79356979e-02 2.70367472e-02 1.50514930e+01] [-7.79064878e-02 9.96958388e-01 -2.13367528e-03 -6.81727337e-01] [-2.71208014e-02 2.00650891e-05 9.99632163e-01 -5.50686726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064012739 meters Centerline goodness [0,1] 0.9857971203335723 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.69, Z:-0.54 [[ 9.96590596e-01 7.80338613e-02 2.67936497e-02 1.50836435e+01] [-7.80050681e-02 9.96950709e-01 -2.11975647e-03 -6.86774705e-01] [-2.68773608e-02 2.24888938e-05 9.99638738e-01 -5.37163109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094012739 meters Centerline goodness [0,1] 0.9963656147986942 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.68, Z:-0.55 [[ 9.96609111e-01 7.78669405e-02 2.65898238e-02 1.51168872e+01] [-7.78383953e-02 9.96963760e-01 -2.10846636e-03 -6.84899408e-01] [-2.66732705e-02 3.16075682e-05 9.99644205e-01 -5.52552708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124012739 meters Centerline goodness [0,1] 0.997088383729457 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.69, Z:-0.55 [[ 9.96560860e-01 7.84958432e-02 2.65491140e-02 1.51485472e+01] [-7.84674709e-02 9.96914441e-01 -2.11040476e-03 -6.85619216e-01] [-2.66328531e-02 1.99049511e-05 9.99645282e-01 -5.53919197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.154012739 meters Centerline goodness [0,1] 0.9977283053157655 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.69, Z:-0.56 [[ 9.96520851e-01 7.89877771e-02 2.65918290e-02 1.51808418e+01] [-7.89593564e-02 9.96875584e-01 -2.11875010e-03 -6.89404983e-01] [-2.66761004e-02 1.17049476e-05 9.99644129e-01 -5.55104306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184012739 meters Centerline goodness [0,1] 0.9965816804197783 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.69, Z:-0.55 [[ 9.96527968e-01 7.87221638e-02 2.71077385e-02 1.52136256e+01] [-7.86924464e-02 9.96896595e-01 -2.16297257e-03 -6.92932234e-01] [-2.71938861e-02 2.22883993e-05 9.99630178e-01 -5.54435346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214012739 meters Centerline goodness [0,1] 0.9963104408052301 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.70, Z:-0.55 [[ 9.96561843e-01 7.81440633e-02 2.75317674e-02 1.52457013e+01] [-7.81130346e-02 9.96942076e-01 -2.20236441e-03 -6.95408701e-01] [-2.76196790e-02 4.42024362e-05 9.99618503e-01 -5.54576196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244012739 meters Centerline goodness [0,1] 0.9953303505494983 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.70, Z:-0.56 [[ 9.96714027e-01 7.60522925e-02 2.78782557e-02 1.52778308e+01] [-7.60195653e-02 9.97103825e-01 -2.23345017e-03 -6.99760383e-01] [-2.79673744e-02 1.06818235e-04 9.99608831e-01 -5.55553813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274012739 meters Centerline goodness [0,1] 0.9930708934216794 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.70, Z:-0.55 [[ 9.96748497e-01 7.53492768e-02 2.85467984e-02 1.53103364e+01] [-7.53145218e-02 9.97157193e-01 -2.29226895e-03 -7.04484371e-01] [-2.86383662e-02 1.34827161e-04 9.99589829e-01 -5.54776523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304012739 meters Centerline goodness [0,1] 0.9912265499761709 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.71, Z:-0.55 [[ 9.96767855e-01 7.48919032e-02 2.90696794e-02 1.53423445e+01] [-7.48554997e-02 9.97191646e-01 -2.34004560e-03 -7.08213579e-01] [-2.91632920e-02 1.56456849e-04 9.99574648e-01 -5.53489336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334012739 meters Centerline goodness [0,1] 0.9925595238095238 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.71, Z:-0.56 [[ 9.96760763e-01 7.51556620e-02 2.86288089e-02 1.53752022e+01] [-7.51203170e-02 9.97171802e-01 -2.30964884e-03 -7.09439732e-01] [-2.87214241e-02 1.51562141e-04 9.99587443e-01 -5.55358225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364012739 meters Centerline goodness [0,1] 0.9939592084181353 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.71, Z:-0.56 [[ 9.96756209e-01 7.55136146e-02 2.78344120e-02 1.54071437e+01] [-7.54802000e-02 9.97144761e-01 -2.25070804e-03 -7.11088396e-01] [-2.79248972e-02 1.42460231e-04 9.99610014e-01 -5.58538346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394012739 meters Centerline goodness [0,1] 0.9940482655255556 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.71, Z:-0.56 [[ 9.96681186e-01 7.65950726e-02 2.75646032e-02 1.54404844e+01] [-7.65626302e-02 9.97062276e-01 -2.23200209e-03 -7.12764438e-01] [-2.76545863e-02 1.14175967e-04 9.99617532e-01 -5.60422959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424012739 meters Centerline goodness [0,1] 0.9943110261866505 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.71, Z:-0.56 [[ 9.96589134e-01 7.75760377e-02 2.81434985e-02 1.54739184e+01] [-7.75424584e-02 9.96986434e-01 -2.28421140e-03 -7.12737826e-01] [-2.82358863e-02 9.41041984e-05 9.99601283e-01 -5.60271540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454012739 meters Centerline goodness [0,1] 0.9957128700073248 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.71, Z:-0.56 [[ 9.96447785e-01 7.94362315e-02 2.79588330e-02 1.55059929e+01] [-7.94036721e-02 9.96839949e-01 -2.27461820e-03 -7.09111531e-01] [-2.80511687e-02 4.65042558e-05 9.99606487e-01 -5.61922048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484012739 meters Centerline goodness [0,1] 0.9969592408885055 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.71, Z:-0.56 [[ 9.96429597e-01 7.99652753e-02 2.70853038e-02 1.55378358e+01] [-7.99347859e-02 9.96797649e-01 -2.20828229e-03 -7.10485942e-01] [-2.71751530e-02 3.53398702e-05 9.99630687e-01 -5.64766171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514012738999998 meters Centerline goodness [0,1] 0.9966603464621219 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.71, Z:-0.57 [[ 9.96459465e-01 7.97475930e-02 2.66243387e-02 1.55711091e+01] [-7.97179358e-02 9.96815088e-01 -2.17516270e-03 -7.13667598e-01] [-2.67130065e-02 4.50241402e-05 9.99643143e-01 -5.66255292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544012739 meters Centerline goodness [0,1] 0.9950101965548661 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.72, Z:-0.57 [[ 9.96626078e-01 7.76742039e-02 2.65175090e-02 1.56041667e+01] [-7.76439159e-02 9.96978790e-01 -2.17148598e-03 -7.20009055e-01] [-2.66060625e-02 1.05236318e-04 9.99645991e-01 -5.67284350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574012739 meters Centerline goodness [0,1] 0.9930988231221876 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.73, Z:-0.57 [[ 9.96699194e-01 7.63597965e-02 2.75662477e-02 1.56367291e+01] [-7.63264085e-02 9.97080317e-01 -2.26292157e-03 -7.25221170e-01] [-2.76585592e-02 1.51419425e-04 9.99617417e-01 -5.66778648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604012738999998 meters Centerline goodness [0,1] 0.9898280403452042 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.73, Z:-0.57 [[ 9.96873042e-01 7.37942113e-02 2.82586583e-02 1.56669578e+01] [-7.37579346e-02 9.97273463e-01 -2.32537362e-03 -7.34396136e-01] [-2.83532091e-02 2.33802003e-04 9.99597940e-01 -5.65971535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634012739 meters Centerline goodness [0,1] 0.9903523128607116 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.74, Z:-0.57 [[ 9.96955310e-01 7.27878479e-02 2.79649543e-02 1.56987060e+01] [-7.27518050e-02 9.97347412e-01 -2.30550771e-03 -7.37538166e-01] [-2.80585877e-02 2.63987251e-04 9.99606245e-01 -5.67358642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664012739 meters Centerline goodness [0,1] 0.9908101623752196 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.74, Z:-0.57 [[ 9.97012375e-01 7.21933366e-02 2.74671807e-02 1.57293284e+01] [-7.21582145e-02 9.97390617e-01 -2.26902707e-03 -7.44456433e-01] [-2.75593169e-02 2.80265357e-04 9.99620131e-01 -5.69082805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694012738999998 meters Centerline goodness [0,1] 0.9913969244004732 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.75, Z:-0.57 [[ 9.96983359e-01 7.26991417e-02 2.71848790e-02 1.57626016e+01] [-7.26648139e-02 9.97353881e-01 -2.24981471e-03 -7.47653929e-01] [-2.72765041e-02 2.67643650e-04 9.99627891e-01 -5.70270655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724012739 meters Centerline goodness [0,1] 0.9917101561325516 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.75, Z:-0.57 [[ 9.96904650e-01 7.37127875e-02 2.73412303e-02 1.57947643e+01] [-7.36783009e-02 9.97279481e-01 -2.26798888e-03 -7.49949566e-01] [-2.74340277e-02 2.46513267e-04 9.99623586e-01 -5.70452831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754012739 meters Centerline goodness [0,1] 0.9935639058639969 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.75, Z:-0.57 [[ 9.96755964e-01 7.58469790e-02 2.69218053e-02 1.58262411e+01] [-7.58142013e-02 9.97119451e-01 -2.23761763e-03 -7.52009789e-01] [-2.70139723e-02 1.89303551e-04 9.99635038e-01 -5.71389618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784012738999998 meters Centerline goodness [0,1] 0.9930581165802547 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.75, Z:-0.57 [[ 9.96687474e-01 7.66943422e-02 2.70565653e-02 1.58586396e+01] [-7.66614355e-02 9.97054637e-01 -2.25294880e-03 -7.54462067e-01] [-2.71496624e-02 1.71290709e-04 9.99631365e-01 -5.71602787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.814012739 meters Centerline goodness [0,1] 0.9922335994446373 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.76, Z:-0.57 [[ 9.96609443e-01 7.73187554e-02 2.81323334e-02 1.58915731e+01] [-7.72832823e-02 9.97006411e-01 -2.34768439e-03 -7.56803604e-01] [-2.82296368e-02 1.65565367e-04 9.99601451e-01 -5.71181882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844012739 meters Centerline goodness [0,1] 0.9915418388429752 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.76, Z:-0.57 [[ 9.96573508e-01 7.75065090e-02 2.88787963e-02 1.59231243e+01] [-7.74690421e-02 9.96991832e-01 -2.41565940e-03 -7.60396966e-01] [-2.89791533e-02 1.70169478e-04 9.99580002e-01 -5.70799995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874012739 meters Centerline goodness [0,1] 0.9915316962730756 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.76, Z:-0.57 [[ 9.96553533e-01 7.77204914e-02 2.89927916e-02 1.59563945e+01] [-7.76826671e-02 9.96975173e-01 -2.43040085e-03 -7.63560932e-01] [-2.90939853e-02 1.69787176e-04 9.99576666e-01 -5.71629356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904012739 meters Centerline goodness [0,1] 0.9908308464166775 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.77, Z:-0.57 [[ 9.96505066e-01 7.82439563e-02 2.92495707e-02 1.59878093e+01] [-7.82055192e-02 9.96934229e-01 -2.45754705e-03 -7.67245531e-01] [-2.93521864e-02 1.61480219e-04 9.99569119e-01 -5.71192619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934012739 meters Centerline goodness [0,1] 0.9925374734629983 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.77, Z:-0.57 [[ 9.96471095e-01 7.87762784e-02 2.89767984e-02 1.60203633e+01] [-7.87386319e-02 9.96892309e-01 -2.43972424e-03 -7.69820442e-01] [-2.90789399e-02 1.49521220e-04 9.99577107e-01 -5.72091287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964012739 meters Centerline goodness [0,1] 0.993856075295758 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.77, Z:-0.58 [[ 9.96376055e-01 8.03373448e-02 2.79404229e-02 1.60529067e+01] [-8.03029171e-02 9.96767727e-01 -2.35389104e-03 -7.68581449e-01] [-2.80392172e-02 1.01663205e-04 9.99606819e-01 -5.75741714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994012739 meters Centerline goodness [0,1] 0.9956645528665717 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.77, Z:-0.58 [[ 9.96261423e-01 8.19126733e-02 2.74497927e-02 1.60851641e+01] [-8.18799184e-02 9.96639509e-01 -2.31704838e-03 -7.68277957e-01] [-2.75473436e-02 6.07991329e-05 9.99620498e-01 -5.78055774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024012739 meters Centerline goodness [0,1] 0.9967451986291035 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.77, Z:-0.58 [[ 9.96138066e-01 8.33852890e-02 2.74926771e-02 1.61171653e+01] [-8.33528565e-02 9.96517382e-01 -2.32558935e-03 -7.68027552e-01] [-2.75908505e-02 2.50149113e-05 9.99619300e-01 -5.79069940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054012739 meters Centerline goodness [0,1] 0.9892438281604354 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.77, Z:-0.57 [[ 9.95990207e-01 8.49283540e-02 2.81190632e-02 1.61492800e+01] [-8.48948975e-02 9.96387061e-01 -2.38366691e-03 -7.69230201e-01] [-2.82199116e-02 -1.30560805e-05 9.99601739e-01 -5.69079141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084012739 meters Centerline goodness [0,1] 0.9957825881137841 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.77, Z:-0.58 [[ 9.95925838e-01 8.52901753e-02 2.92798732e-02 1.61826009e+01] [-8.52538975e-02 9.96356154e-01 -2.48743255e-03 -7.69528801e-01] [-2.93853354e-02 -1.89249618e-05 9.99568158e-01 -5.77058356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114012739 meters Centerline goodness [0,1] 0.9958849509856728 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.77, Z:-0.58 [[ 9.95919659e-01 8.52526626e-02 2.95975865e-02 1.62148475e+01] [-8.52154079e-02 9.96359365e-01 -2.52009759e-03 -7.72268338e-01] [-2.97046775e-02 -1.23556739e-05 9.99558719e-01 -5.77637578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144012739 meters Centerline goodness [0,1] 0.995842128830039 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.78, Z:-0.58 [[ 9.96028046e-01 8.42485569e-02 2.88151370e-02 1.62463224e+01] [-8.42126824e-02 9.96444770e-01 -2.45844466e-03 -7.75495695e-01] [-2.89198130e-02 2.20798520e-05 9.99581734e-01 -5.80254949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174012739 meters Centerline goodness [0,1] 0.9948445857409834 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.78, Z:-0.58 [[ 9.96102358e-01 8.34686478e-02 2.85144922e-02 1.62780479e+01] [-8.34330578e-02 9.96510403e-01 -2.43771243e-03 -7.79125993e-01] [-2.86184607e-02 4.91598262e-05 9.99590407e-01 -5.82417596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204012739 meters Centerline goodness [0,1] 0.9954504677688069 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.78, Z:-0.59 [[ 9.96246592e-01 8.20251576e-02 2.76514443e-02 1.63112532e+01] [-8.19910061e-02 9.96630255e-01 -2.36853326e-03 -7.81455385e-01] [-2.77525453e-02 9.24734488e-05 9.99614820e-01 -5.85275526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234012739 meters Centerline goodness [0,1] 0.9954222538921639 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.78, Z:-0.59 [[ 9.96290094e-01 8.15682865e-02 2.74347161e-02 1.63442735e+01] [-8.15343553e-02 9.96667749e-01 -2.35504695e-03 -7.84525716e-01] [-2.75353938e-02 1.09438056e-04 9.99620823e-01 -5.86664133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264012738999998 meters Centerline goodness [0,1] 0.9945163225087824 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.79, Z:-0.59 [[ 9.96326330e-01 8.11257577e-02 2.74309086e-02 1.63762006e+01] [-8.10915260e-02 9.96703865e-01 -2.35988088e-03 -7.88472890e-01] [-2.75319398e-02 1.26797220e-04 9.99620916e-01 -5.87265080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294012739 meters Centerline goodness [0,1] 0.9933679601648352 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.79, Z:-0.59 [[ 9.96380651e-01 8.03461920e-02 2.77504419e-02 1.64092538e+01] [-8.03107192e-02 9.96767007e-01 -2.39227280e-03 -7.92491362e-01] [-2.78529349e-02 1.54956388e-04 9.99612020e-01 -5.87837188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324012739 meters Centerline goodness [0,1] 0.993881801614163 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.80, Z:-0.59 [[ 9.96533510e-01 7.86626808e-02 2.70766843e-02 1.64412762e+01] [-7.86281513e-02 9.96901270e-01 -2.33923802e-03 -7.98911793e-01] [-2.71767917e-02 2.02139444e-04 9.99630622e-01 -5.90226064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354012738999998 meters Centerline goodness [0,1] 0.9939659663135961 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.81, Z:-0.59 [[ 9.96650873e-01 7.75575513e-02 2.59203309e-02 1.64723138e+01] [-7.75254250e-02 9.96987851e-01 -2.24356318e-03 -8.05022503e-01] [-2.60162603e-02 2.26564532e-04 9.99661494e-01 -5.94336453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384012739 meters Centerline goodness [0,1] 0.9924836250402663 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.82, Z:-0.60 [[ 9.96894968e-01 7.46178525e-02 2.51515033e-02 1.65023169e+01] [-7.45865727e-02 9.97212158e-01 -2.18080725e-03 -8.16746645e-01] [-2.52441120e-02 2.98071340e-04 9.99681272e-01 -5.96864046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414012739 meters Centerline goodness [0,1] 0.9905271199388846 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.82, Z:-0.60 [[ 9.96970745e-01 7.33930839e-02 2.57447004e-02 1.65340532e+01] [-7.33597937e-02 9.97303033e-01 -2.23646089e-03 -8.23569528e-01] [-2.58394086e-02 3.41060163e-04 9.99666049e-01 -5.95478142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444012738999998 meters Centerline goodness [0,1] 0.9890581837016574 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.83, Z:-0.59 [[ 9.97068755e-01 7.20018914e-02 2.58771185e-02 1.65640274e+01] [-7.19676739e-02 9.97404422e-01 -2.25241097e-03 -8.33325635e-01] [-2.59721303e-02 3.83492571e-04 9.99662594e-01 -5.94887744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474012739 meters Centerline goodness [0,1] 0.9874818616940636 Centerline is valid? [True, True] Translation: X:16.60, Y:-0.84, Z:-0.59 [[ 9.97149354e-01 7.06247650e-02 2.65576264e-02 1.65952779e+01] [-7.05881425e-02 9.97502859e-01 -2.31512818e-03 -8.42239731e-01] [-2.66548136e-02 4.33875054e-04 9.99644603e-01 -5.94673425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504012739 meters Centerline goodness [0,1] 0.9875773718377294 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.85, Z:-0.60 [[ 9.97123589e-01 7.07946571e-02 2.70677674e-02 1.66281034e+01] [-7.07565558e-02 9.97490813e-01 -2.36403662e-03 -8.47139209e-01] [-2.71672104e-02 4.42014687e-04 9.99630805e-01 -5.95097511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534012738999998 meters Centerline goodness [0,1] 0.9856258820974921 Centerline is valid? [True, True] Translation: X:16.66, Y:-0.85, Z:-0.60 [[ 9.97088081e-01 7.09826942e-02 2.78713986e-02 1.66603004e+01] [-7.09422182e-02 9.97477443e-01 -2.43963758e-03 -8.53832266e-01] [-2.79742635e-02 4.55274710e-04 9.99608540e-01 -5.95144996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564012739 meters Centerline goodness [0,1] 0.985311958405546 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.87, Z:-0.59 [[ 9.97089421e-01 7.06825306e-02 2.85773620e-02 1.66911453e+01] [-7.06396965e-02 9.97498746e-01 -2.50693004e-03 -8.65326313e-01] [-2.86830789e-02 4.80937240e-04 9.99588440e-01 -5.94979681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594012739 meters Centerline goodness [0,1] 0.9852396936053016 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.87, Z:-0.60 [[ 9.97090917e-01 7.07702554e-02 2.83067832e-02 1.67231195e+01] [-7.07281251e-02 9.97492527e-01 -2.48808939e-03 -8.71930815e-01] [-2.84118874e-02 4.78765632e-04 9.99596186e-01 -5.95411491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624012739 meters Centerline goodness [0,1] 0.9879265205443885 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.88, Z:-0.60 [[ 9.97080599e-01 7.15473956e-02 2.66692698e-02 1.67543563e+01] [-7.15101604e-02 9.97437106e-01 -2.34853126e-03 -8.77094976e-01] [-2.67689506e-02 4.34551193e-04 9.99641553e-01 -6.00824155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.654012739 meters Centerline goodness [0,1] 0.9892571130933003 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.88, Z:-0.60 [[ 9.97052506e-01 7.21103012e-02 2.61993225e-02 1.67872960e+01] [-7.20744540e-02 9.97396577e-01 -2.31122540e-03 -8.82073223e-01] [-2.62977778e-02 4.16111206e-04 9.99654067e-01 -6.03540269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684012739 meters Centerline goodness [0,1] 0.98938171752341 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.89, Z:-0.60 [[ 9.97011359e-01 7.26279021e-02 2.63350914e-02 1.68202078e+01] [-7.25917332e-02 9.97359023e-01 -2.32810458e-03 -8.87167039e-01] [-2.64346264e-02 4.09436783e-04 9.99650460e-01 -6.03951460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714012739 meters Centerline goodness [0,1] 0.9865594855305466 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.90, Z:-0.60 [[ 9.96987853e-01 7.21422015e-02 2.84732008e-02 1.68512698e+01] [-7.20995554e-02 9.97394249e-01 -2.52293209e-03 -8.96867375e-01] [-2.85810166e-02 4.62427530e-04 9.99591372e-01 -6.01061539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744012739 meters Centerline goodness [0,1] 0.985275384847896 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.90, Z:-0.60 [[ 9.96999785e-01 7.16272792e-02 2.93421375e-02 1.68827195e+01] [-7.15816102e-02 9.97431344e-01 -2.60524083e-03 -9.01290207e-01] [-2.94533740e-02 4.97067098e-04 9.99566032e-01 -6.01063170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774012739 meters Centerline goodness [0,1] 0.985275384847896 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.90, Z:-0.60 [[ 9.96986136e-01 7.18171880e-02 2.93417043e-02 1.69150845e+01] [-7.17714580e-02 9.97417688e-01 -2.61011124e-03 -9.04342993e-01] [-2.94533857e-02 4.96347827e-04 9.99566032e-01 -6.02003808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804012739 meters Centerline goodness [0,1] 0.9850077546096846 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.91, Z:-0.60 [[ 9.96984752e-01 7.18195348e-02 2.93829749e-02 1.69463321e+01] [-7.17735116e-02 9.97417516e-01 -2.61938821e-03 -9.14081135e-01] [-2.94952171e-02 5.02570819e-04 9.99564795e-01 -6.03612438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834012739 meters Centerline goodness [0,1] 0.9857812768886595 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.92, Z:-0.61 [[ 9.96935550e-01 7.26144017e-02 2.90973873e-02 1.69781624e+01] [-7.25695065e-02 9.97359975e-01 -2.59738409e-03 -9.19709258e-01] [-2.92091770e-02 4.77841502e-04 9.99573207e-01 -6.05520174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864012739 meters Centerline goodness [0,1] 0.9862742992159811 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.93, Z:-0.61 [[ 9.96903231e-01 7.33056707e-02 2.84644720e-02 1.70088338e+01] [-7.32628614e-02 9.97309418e-01 -2.54536352e-03 -9.26374488e-01] [-2.85744756e-02 4.52092450e-04 9.99591564e-01 -6.07776392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894012739 meters Centerline goodness [0,1] 0.9897537454795936 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.93, Z:-0.61 [[ 9.96861077e-01 7.45968425e-02 2.65198963e-02 1.70402846e+01] [-7.45600436e-02 9.97213698e-01 -2.37511748e-03 -9.31740668e-01] [-2.66231802e-02 3.90337540e-04 9.99645464e-01 -6.11707976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924012739 meters Centerline goodness [0,1] 0.9918497210599722 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.93, Z:-0.61 [[ 9.96820641e-01 7.54796253e-02 2.55232594e-02 1.70725394e+01] [-7.54457333e-02 9.97147280e-01 -2.28963372e-03 -9.32305424e-01] [-2.56232694e-02 3.56733123e-04 9.99671606e-01 -6.13409230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954012739 meters Centerline goodness [0,1] 0.9928536065609058 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.94, Z:-0.62 [[ 9.96760227e-01 7.64202087e-02 2.50798880e-02 1.71036033e+01] [-7.63876748e-02 9.97075645e-01 -2.25410684e-03 -9.37884072e-01] [-2.51788049e-02 3.31009709e-04 9.99682909e-01 -6.15529608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984012739 meters Centerline goodness [0,1] 0.9939943832361201 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.94, Z:-0.62 [[ 9.96669761e-01 7.75052504e-02 2.53440972e-02 1.71356032e+01] [-7.74722758e-02 9.96991895e-01 -2.28187027e-03 -9.38854780e-01] [-2.54447164e-02 3.10806211e-04 9.99676182e-01 -6.15593518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014012738999998 meters Centerline goodness [0,1] 0.992408690445642 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.95, Z:-0.61 [[ 9.96519882e-01 7.89026177e-02 2.68793828e-02 1.71666271e+01] [-7.88658979e-02 9.96882284e-01 -2.42514777e-03 -9.46603701e-01] [-2.69869310e-02 2.96841317e-04 9.99635742e-01 -6.14912242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044012739 meters Centerline goodness [0,1] 0.97983149820078 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.95, Z:-0.60 [[ 9.96534909e-01 7.82539243e-02 2.81868375e-02 1.71993514e+01] [-7.82132050e-02 9.96933404e-01 -2.54593957e-03 -9.51604618e-01] [-2.82996297e-02 3.32534758e-04 9.99599430e-01 -5.96973562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074012739 meters Centerline goodness [0,1] 0.9888454982847527 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.96, Z:-0.61 [[ 9.96435547e-01 7.90184937e-02 2.95343550e-02 1.72295081e+01] [-7.89739574e-02 9.96873095e-01 -2.67322418e-03 -9.55382572e-01] [-2.96532381e-02 3.31250707e-04 9.99560191e-01 -6.09925737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104012738999998 meters Centerline goodness [0,1] 0.9890913034049014 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.96, Z:-0.61 [[ 9.96438800e-01 7.88402898e-02 2.98985937e-02 1.72623631e+01] [-7.87944248e-02 9.96887200e-01 -2.71095120e-03 -9.58360562e-01] [-3.00192575e-02 3.45454469e-04 9.99549261e-01 -6.10684967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134012739 meters Centerline goodness [0,1] 0.9886243898243124 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.96, Z:-0.61 [[ 9.96479503e-01 7.84645880e-02 2.95280973e-02 1.72940632e+01] [-7.84195221e-02 9.96916837e-01 -2.68295431e-03 -9.63824517e-01] [-2.96475743e-02 3.57929703e-04 9.99560350e-01 -6.11993537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164012739 meters Centerline goodness [0,1] 0.9859758306869285 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.97, Z:-0.61 [[ 9.96502053e-01 7.78938432e-02 3.02689188e-02 1.73249662e+01] [-7.78460557e-02 9.96961583e-01 -2.75579164e-03 -9.72722222e-01] [-3.03916084e-02 3.89836083e-04 9.99537992e-01 -6.10538759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194012738999998 meters Centerline goodness [0,1] 0.9868406906487196 Centerline is valid? [True, True] Translation: X:17.36, Y:-0.97, Z:-0.61 [[ 9.96497090e-01 7.77960006e-02 3.06811211e-02 1.73580268e+01] [-7.77467075e-02 9.96969217e-01 -2.79813687e-03 -9.73963049e-01] [-3.08058172e-02 4.02979094e-04 9.99525307e-01 -6.10652676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224012739 meters Centerline goodness [0,1] 0.9888888888888889 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.98, Z:-0.61 [[ 9.96443896e-01 7.87541701e-02 2.99556932e-02 1.73895118e+01] [-7.87074477e-02 9.96893998e-01 -2.73749971e-03 -9.77741855e-01] [-3.00782403e-02 3.70028714e-04 9.99547479e-01 -6.13203872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254012739 meters Centerline goodness [0,1] 0.9890551517742625 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.98, Z:-0.62 [[ 9.96428427e-01 7.92434515e-02 2.91695924e-02 1.74212566e+01] [-7.91992217e-02 9.96855231e-01 -2.67036073e-03 -9.82683336e-01] [-2.92894694e-02 3.50614324e-04 9.99570910e-01 -6.15855084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284012738999998 meters Centerline goodness [0,1] 0.9909053947058698 Centerline is valid? [True, True] Translation: X:17.45, Y:-0.99, Z:-0.62 [[ 9.96397045e-01 7.97930660e-02 2.87401416e-02 1.74534837e+01] [-7.97502140e-02 9.96811394e-01 -2.63602424e-03 -9.87354453e-01] [-2.88588371e-02 3.34494316e-04 9.99583441e-01 -6.17336944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314012739 meters Centerline goodness [0,1] 0.9900398835830548 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.99, Z:-0.62 [[ 9.96395590e-01 7.96009471e-02 2.93175252e-02 1.74865254e+01] [-7.95561073e-02 9.96826748e-01 -2.69459064e-03 -9.91651081e-01] [-2.94389852e-02 3.52490056e-04 9.99566517e-01 -6.17349680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344012739 meters Centerline goodness [0,1] 0.988530007461891 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.00, Z:-0.62 [[ 9.96415317e-01 7.90887643e-02 3.00246974e-02 1.75171750e+01] [-7.90413283e-02 9.96867504e-01 -2.76535431e-03 -9.96887375e-01] [-3.01493536e-02 3.82249424e-04 9.99545332e-01 -6.16551353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374012739 meters Centerline goodness [0,1] 0.987064698032801 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.00, Z:-0.62 [[ 9.96495391e-01 7.79282811e-02 3.03993229e-02 1.75486860e+01] [-7.78789703e-02 9.96958876e-01 -2.80455266e-03 -1.00193813e+00] [-3.05254287e-02 4.27255835e-04 9.99533899e-01 -6.17435333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404012739 meters Centerline goodness [0,1] 0.9867735125587006 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.01, Z:-0.62 [[ 9.96752613e-01 7.50486171e-02 2.91879083e-02 1.75793627e+01] [-7.50017886e-02 9.97179751e-01 -2.69743640e-03 -1.01336776e+00] [-2.93080300e-02 4.99531453e-04 9.99570303e-01 -6.20882569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434012739 meters Centerline goodness [0,1] 0.9872667920530946 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.02, Z:-0.62 [[ 9.96899312e-01 7.34356324e-02 2.82660668e-02 1.76109232e+01] [-7.33909483e-02 9.97299816e-01 -2.61645180e-03 -1.02167723e+00] [-2.83818840e-02 5.33865550e-04 9.99597011e-01 -6.23306004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464012739 meters Centerline goodness [0,1] 0.9855957346175345 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.03, Z:-0.62 [[ 9.97043860e-01 7.16272240e-02 2.78043575e-02 1.76424965e+01] [-7.15831580e-02 9.97431303e-01 -2.57826943e-03 -1.03288814e+00] [-2.79176108e-02 5.80323982e-04 9.99610059e-01 -6.23705130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494012739 meters Centerline goodness [0,1] 0.9851140044186096 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.04, Z:-0.62 [[ 9.97031737e-01 7.18119368e-02 2.77626011e-02 1.76742173e+01] [-7.17679464e-02 9.97418022e-01 -2.57899669e-03 -1.03811731e+00] [-2.78761214e-02 5.78876677e-04 9.99611218e-01 -6.24321187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524012739 meters Centerline goodness [0,1] 0.98627280625543 Centerline is valid? [True, True] Translation: X:17.71, Y:-1.04, Z:-0.63 [[ 9.96985072e-01 7.23462363e-02 2.80497525e-02 1.77060775e+01] [-7.23014003e-02 9.97379412e-01 -2.61071253e-03 -1.04170443e+00] [-2.81651208e-02 5.74805039e-04 9.99603119e-01 -6.25769171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554012739 meters Centerline goodness [0,1] 0.9868873742291464 Centerline is valid? [True, True] Translation: X:17.74, Y:-1.05, Z:-0.63 [[ 9.96844030e-01 7.42135643e-02 2.81838138e-02 1.77379420e+01] [-7.41689120e-02 9.97242231e-01 -2.62786583e-03 -1.04753236e+00] [-2.83011126e-02 5.29209560e-04 9.99599303e-01 -6.26954320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584012739 meters Centerline goodness [0,1] 0.9859851253170543 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.06, Z:-0.63 [[ 9.96793154e-01 7.49648054e-02 2.79944024e-02 1.77687935e+01] [-7.49209165e-02 9.97186050e-01 -2.61486542e-03 -1.05544816e+00] [-2.81116504e-02 5.09113669e-04 9.99604660e-01 -6.27087984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614012739 meters Centerline goodness [0,1] 0.9876422552341239 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.06, Z:-0.63 [[ 9.96708102e-01 7.62259628e-02 2.76145397e-02 1.78012653e+01] [-7.61836242e-02 9.97090458e-01 -2.58359065e-03 -1.05617791e+00] [-2.77311307e-02 4.71310022e-04 9.99615307e-01 -6.27341067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644012739 meters Centerline goodness [0,1] 0.9889705882352942 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.06, Z:-0.63 [[ 9.96644176e-01 7.70661262e-02 2.75898340e-02 1.78332233e+01] [-7.70240552e-02 9.97025881e-01 -2.58596705e-03 -1.05949989e+00] [-2.77070690e-02 4.52208105e-04 9.99615983e-01 -6.29122919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674012739 meters Centerline goodness [0,1] 0.9893052796996747 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.06, Z:-0.63 [[ 9.96606683e-01 7.76027935e-02 2.74395007e-02 1.78661365e+01] [-7.75612539e-02 9.96984259e-01 -2.57656293e-03 -1.06470413e+00] [-2.75566988e-02 4.39577754e-04 9.99620145e-01 -6.31270956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704012739 meters Centerline goodness [0,1] 0.9890257702243952 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.07, Z:-0.63 [[ 9.96504457e-01 7.89035960e-02 2.74424892e-02 1.78969733e+01] [-7.88623892e-02 9.96882167e-01 -2.58232745e-03 -1.07385703e+00] [-2.75606830e-02 4.09120550e-04 9.99620049e-01 -6.32420604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734012739 meters Centerline goodness [0,1] 0.9889293329600034 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.08, Z:-0.63 [[ 9.96418249e-01 7.99818664e-02 2.74513067e-02 1.79294343e+01] [-7.99409215e-02 9.96796245e-01 -2.58753088e-03 -1.07561905e+00] [-2.75703150e-02 3.83780237e-04 9.99619793e-01 -6.32810889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764012738999998 meters Centerline goodness [0,1] 0.9911977908180877 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.07, Z:-0.63 [[ 9.96195970e-01 8.25433851e-02 2.79316688e-02 1.79619303e+01] [-8.25018717e-02 9.96587420e-01 -2.63740327e-03 -1.07399341e+00] [-2.80540499e-02 3.22955559e-04 9.99606356e-01 -6.33685284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794012739 meters Centerline goodness [0,1] 0.9908716781226742 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.08, Z:-0.63 [[ 9.96138272e-01 8.31400140e-02 2.82184699e-02 1.79947725e+01] [-8.30977511e-02 9.96537826e-01 -2.66912717e-03 -1.07674027e+00] [-2.83426839e-02 3.13928341e-04 9.99598216e-01 -6.33829515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824012739 meters Centerline goodness [0,1] 0.9908082200774736 Centerline is valid? [True, True] Translation: X:18.03, Y:-1.08, Z:-0.63 [[ 9.96091969e-01 8.36121899e-02 2.84568377e-02 1.80276794e+01] [-8.35692423e-02 9.96498322e-01 -2.69727347e-03 -1.08138935e+00] [-2.85827160e-02 3.08616072e-04 9.99591383e-01 -6.34660665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854012738999998 meters Centerline goodness [0,1] 0.99044551566114 Centerline is valid? [True, True] Translation: X:18.06, Y:-1.09, Z:-0.64 [[ 9.96089942e-01 8.36541185e-02 2.84045019e-02 1.80596535e+01] [-8.36111873e-02 9.96494802e-01 -2.69786529e-03 -1.08692021e+00] [-2.85306261e-02 3.12382349e-04 9.99592870e-01 -6.35202368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884012739 meters Centerline goodness [0,1] 0.9910119695321001 Centerline is valid? [True, True] Translation: X:18.09, Y:-1.09, Z:-0.64 [[ 9.96006569e-01 8.46953469e-02 2.82420246e-02 1.80920904e+01] [-8.46531784e-02 9.96406853e-01 -2.68756381e-03 -1.08728797e+00] [-2.83681710e-02 2.86054068e-04 9.99597502e-01 -6.36650603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914012739 meters Centerline goodness [0,1] 0.992119745604831 Centerline is valid? [True, True] Translation: X:18.12, Y:-1.09, Z:-0.64 [[ 9.95955575e-01 8.53654815e-02 2.80219211e-02 1.81228747e+01] [-8.53241000e-02 9.96349668e-01 -2.67134107e-03 -1.08990704e+00] [-2.81476721e-02 2.69591832e-04 9.99603739e-01 -6.37862624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944012738999998 meters Centerline goodness [0,1] 0.9923795049934867 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.10, Z:-0.64 [[ 9.95956198e-01 8.55636246e-02 2.73882905e-02 1.81546839e+01] [-8.55241028e-02 9.96332675e-01 -2.61333522e-03 -1.09591203e+00] [-2.75114552e-02 2.60408436e-04 9.99621454e-01 -6.38919448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974012739 meters Centerline goodness [0,1] 0.9925067677314564 Centerline is valid? [True, True] Translation: X:18.19, Y:-1.10, Z:-0.64 [[ 9.95936030e-01 8.57631919e-02 2.74972495e-02 1.81873091e+01] [-8.57232970e-02 9.96315516e-01 -2.62857916e-03 -1.09931198e+00] [-2.76213717e-02 2.60741805e-04 9.99618423e-01 -6.40104949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004012739 meters Centerline goodness [0,1] 0.9928649953654803 Centerline is valid? [True, True] Translation: X:18.22, Y:-1.10, Z:-0.64 [[ 9.95902670e-01 8.60464193e-02 2.78188005e-02 1.82201175e+01] [-8.60055525e-02 9.96291095e-01 -2.66445441e-03 -1.10013339e+00] [-2.79448899e-02 2.60965961e-04 9.99609431e-01 -6.39898053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034012738999998 meters Centerline goodness [0,1] 0.9939734133977329 Centerline is valid? [True, True] Translation: X:18.25, Y:-1.10, Z:-0.64 [[ 9.95813634e-01 8.71453883e-02 2.75841920e-02 1.82525101e+01] [-8.71054800e-02 9.96195577e-01 -2.64737604e-03 -1.10259597e+00] [-2.77099566e-02 2.33558875e-04 9.99615978e-01 -6.41937555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064012739 meters Centerline goodness [0,1] 0.995233370718661 Centerline is valid? [True, True] Translation: X:18.28, Y:-1.11, Z:-0.64 [[ 9.95781650e-01 8.78643904e-02 2.64339458e-02 1.82836462e+01] [-8.78278767e-02 9.96132424e-01 -2.54143328e-03 -1.10862399e+00] [-2.65550120e-02 2.09075287e-04 9.99647332e-01 -6.44825553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094012739 meters Centerline goodness [0,1] 0.9968501542338272 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.11, Z:-0.65 [[ 9.95721239e-01 8.88680478e-02 2.53314897e-02 1.83166432e+01] [-8.88347724e-02 9.96043392e-01 -2.43815440e-03 -1.10932905e+00] [-2.54479370e-02 1.77404990e-04 9.99676133e-01 -6.46584009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124012738999998 meters Centerline goodness [0,1] 0.9967395059595785 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.11, Z:-0.65 [[ 9.95591239e-01 9.01371698e-02 2.59494792e-02 1.83476279e+01] [-9.01025439e-02 9.95929348e-01 -2.50292078e-03 -1.11007981e+00] [-2.60694541e-02 1.53771914e-04 9.99660122e-01 -6.46518860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154012739 meters Centerline goodness [0,1] 0.9969992171870923 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.11, Z:-0.65 [[ 9.95487404e-01 9.11264420e-02 2.64726458e-02 1.83808776e+01] [-9.10906444e-02 9.95839321e-01 -2.55754839e-03 -1.11132440e+00] [-2.65955620e-02 1.34596839e-04 9.99646266e-01 -6.46569943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184012739 meters Centerline goodness [0,1] 0.9964446348254444 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.11, Z:-0.65 [[ 9.95373929e-01 9.22310973e-02 2.69103428e-02 1.84130686e+01] [-9.21943628e-02 9.95737622e-01 -2.60525871e-03 -1.11475513e+00] [-2.70359266e-02 1.12224690e-04 9.99634456e-01 -6.47430061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214012739 meters Centerline goodness [0,1] 0.9971732516237619 Centerline is valid? [True, True] Translation: X:18.45, Y:-1.12, Z:-0.65 [[ 9.95338311e-01 9.27697257e-02 2.63709102e-02 1.84462716e+01] [-9.27345132e-02 9.95687586e-01 -2.55775875e-03 -1.11581481e+00] [-2.64944705e-02 1.00341756e-04 9.99648955e-01 -6.48103316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244012739 meters Centerline goodness [0,1] 0.9975441722991328 Centerline is valid? [True, True] Translation: X:18.48, Y:-1.12, Z:-0.65 [[ 9.95412091e-01 9.22157192e-02 2.55152827e-02 1.84794523e+01] [-9.21824508e-02 9.95739046e-01 -2.47953801e-03 -1.11902025e+00] [-2.56352156e-02 1.16100826e-04 9.99671357e-01 -6.51281087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274012739 meters Centerline goodness [0,1] 0.9974129268136238 Centerline is valid? [True, True] Translation: X:18.51, Y:-1.12, Z:-0.65 [[ 9.95450687e-01 9.17183482e-02 2.58006592e-02 1.85105382e+01] [-9.16840311e-02 9.95784980e-01 -2.51240924e-03 -1.12461444e+00] [-2.59223430e-02 1.35471064e-04 9.99663950e-01 -6.52778389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304012739 meters Centerline goodness [0,1] 0.996687459668746 Centerline is valid? [True, True] Translation: X:18.54, Y:-1.13, Z:-0.65 [[ 9.95512956e-01 9.08206960e-02 2.65623134e-02 1.85431210e+01] [-9.07838810e-02 9.95867247e-01 -2.59114420e-03 -1.13073456e+00] [-2.66878674e-02 1.68087728e-04 9.99643801e-01 -6.52214173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334012739 meters Centerline goodness [0,1] 0.9960766462912386 Centerline is valid? [True, True] Translation: X:18.58, Y:-1.14, Z:-0.65 [[ 9.95569388e-01 9.00213643e-02 2.71615211e-02 1.85757422e+01] [-8.99824272e-02 9.95939815e-01 -2.65489433e-03 -1.13604059e+00] [-2.72902375e-02 1.99071924e-04 9.99627532e-01 -6.51517928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364012739 meters Centerline goodness [0,1] 0.9951050465670349 Centerline is valid? [True, True] Translation: X:18.61, Y:-1.14, Z:-0.65 [[ 9.95598672e-01 8.96811015e-02 2.72136725e-02 1.86082116e+01] [-8.96417446e-02 9.95970509e-01 -2.66521941e-03 -1.14066252e+00] [-2.73430351e-02 2.14007825e-04 9.99626086e-01 -6.52395695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394012739 meters Centerline goodness [0,1] 0.995939524838013 Centerline is valid? [True, True] Translation: X:18.64, Y:-1.14, Z:-0.65 [[ 9.95537234e-01 9.05503535e-02 2.65753322e-02 1.86388729e+01] [-9.05129930e-02 9.95891860e-01 -2.60787800e-03 -1.14407282e+00] [-2.67023013e-02 1.90826793e-04 9.99643412e-01 -6.54612175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424012739 meters Centerline goodness [0,1] 0.9970776690622565 Centerline is valid? [True, True] Translation: X:18.67, Y:-1.15, Z:-0.65 [[ 9.95330371e-01 9.27062664e-02 2.68886550e-02 1.86708288e+01] [-9.26687406e-02 9.95693492e-01 -2.64104286e-03 -1.14754054e+00] [-2.70177000e-02 1.36972371e-04 9.99634946e-01 -6.54969977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454012739 meters Centerline goodness [0,1] 0.9970774792717512 Centerline is valid? [True, True] Translation: X:18.70, Y:-1.15, Z:-0.65 [[ 9.95176981e-01 9.40366040e-02 2.79265902e-02 1.87029715e+01] [-9.39965137e-02 9.95568734e-01 -2.74778219e-03 -1.14965032e+00] [-2.80612321e-02 1.09527462e-04 9.99606200e-01 -6.54377097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484012739 meters Centerline goodness [0,1] 0.9909837490223342 Centerline is valid? [True, True] Translation: X:18.73, Y:-1.15, Z:-0.64 [[ 9.94914090e-01 9.65113744e-02 2.88358917e-02 1.87339060e+01] [-9.64695214e-02 9.95331881e-01 -2.84235043e-03 -1.15340365e+00] [-2.89756014e-02 4.61098269e-05 9.99580118e-01 -6.43665085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514012738999998 meters Centerline goodness [0,1] 0.9970990379898039 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.15, Z:-0.65 [[ 9.94676087e-01 9.88956509e-02 2.89677617e-02 1.87660374e+01] [-9.88542913e-02 9.95097809e-01 -2.85993179e-03 -1.15465890e+00] [-2.91085910e-02 -1.88817910e-05 9.99576255e-01 -6.54596810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544012739 meters Centerline goodness [0,1] 0.997569369756937 Centerline is valid? [True, True] Translation: X:18.80, Y:-1.16, Z:-0.66 [[ 9.94527614e-01 1.00604270e-01 2.81709960e-02 1.87993184e+01] [-1.00565749e-01 9.94926518e-01 -2.78448717e-03 -1.15667995e+00] [-2.83082023e-02 -6.37879305e-05 9.99599241e-01 -6.56532741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574012739 meters Centerline goodness [0,1] 0.9982279724161489 Centerline is valid? [True, True] Translation: X:18.83, Y:-1.15, Z:-0.66 [[ 9.94167255e-01 1.04376245e-01 2.71490165e-02 1.88311740e+01] [-1.04341736e-01 9.94537870e-01 -2.68851423e-03 -1.15310760e+00] [-2.72813420e-02 -1.59942701e-04 9.99627782e-01 -6.59982828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604012738999998 meters Centerline goodness [0,1] 0.9979416809605489 Centerline is valid? [True, True] Translation: X:18.86, Y:-1.15, Z:-0.66 [[ 9.93943643e-01 1.06427764e-01 2.73709039e-02 1.88631410e+01] [-1.06393350e-01 9.94320414e-01 -2.71472365e-03 -1.15369174e+00] [-2.75043705e-02 -2.13799847e-04 9.99621660e-01 -6.61090476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634012739 meters Centerline goodness [0,1] 0.9968406121045392 Centerline is valid? [True, True] Translation: X:18.89, Y:-1.15, Z:-0.66 [[ 9.93591440e-01 1.09528139e-01 2.79219668e-02 1.88947779e+01] [-1.09493417e-01 9.93983650e-01 -2.77408480e-03 -1.15247099e+00] [-2.80578188e-02 -3.00964629e-04 9.99606257e-01 -6.60857552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664012739 meters Centerline goodness [0,1] 0.9969658496696865 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.15, Z:-0.66 [[ 9.93426452e-01 1.11000635e-01 2.79775414e-02 1.89267959e+01] [-1.10966238e-01 9.93820278e-01 -2.78384937e-03 -1.15313538e+00] [-2.81136570e-02 -3.39012925e-04 9.99604676e-01 -6.61704316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694012738999998 meters Centerline goodness [0,1] 0.9969658496696865 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.16, Z:-0.66 [[ 9.93405921e-01 1.11184346e-01 2.79770929e-02 1.89591137e+01] [-1.11149896e-01 9.93799741e-01 -2.78834967e-03 -1.15654568e+00] [-2.81136485e-02 -3.39687883e-04 9.99604676e-01 -6.62644850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724012739 meters Centerline goodness [0,1] 0.9960042333527722 Centerline is valid? [True, True] Translation: X:18.99, Y:-1.16, Z:-0.66 [[ 9.93310080e-01 1.11967824e-01 2.82540337e-02 1.89900133e+01] [-1.11932852e-01 9.93711767e-01 -2.82133525e-03 -1.15588126e+00] [-2.83922646e-02 -3.60093845e-04 9.99596794e-01 -6.63417588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754012739 meters Centerline goodness [0,1] 0.9953094881130863 Centerline is valid? [True, True] Translation: X:19.02, Y:-1.15, Z:-0.66 [[ 9.93136546e-01 1.13528119e-01 2.81276781e-02 1.90214311e+01] [-1.13494022e-01 9.93534703e-01 -2.81094919e-03 -1.15138970e+00] [-2.82649461e-02 -4.00666940e-04 9.99600386e-01 -6.64625575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784012738999998 meters Centerline goodness [0,1] 0.9956995721074247 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.15, Z:-0.67 [[ 9.93055841e-01 1.14309554e-01 2.78104631e-02 1.90537229e+01] [-1.14276412e-01 9.93445094e-01 -2.78335384e-03 -1.15432504e+00] [-2.79463321e-02 -4.14054164e-04 9.99609339e-01 -6.65437801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814012739 meters Centerline goodness [0,1] 0.9958082661859566 Centerline is valid? [True, True] Translation: X:19.09, Y:-1.15, Z:-0.67 [[ 9.92732825e-01 1.17335276e-01 2.67202262e-02 1.90852388e+01] [-1.17305657e-01 9.93092245e-01 -2.67872395e-03 -1.14739644e+00] [-2.68499583e-02 -4.75176492e-04 9.99639362e-01 -6.67228439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844012739 meters Centerline goodness [0,1] 0.9948155447962638 Centerline is valid? [True, True] Translation: X:19.12, Y:-1.14, Z:-0.67 [[ 9.92455029e-01 1.19722213e-01 2.64500809e-02 1.91170380e+01] [-1.19694029e-01 9.92807286e-01 -2.65195855e-03 -1.14232327e+00] [-2.65773313e-02 -5.33967138e-04 9.99646618e-01 -6.69128926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874012738999998 meters Centerline goodness [0,1] 0.9945852238678196 Centerline is valid? [True, True] Translation: X:19.15, Y:-1.14, Z:-0.67 [[ 9.92208608e-01 1.21786596e-01 2.62698172e-02 1.91494783e+01] [-1.21759415e-01 9.92556138e-01 -2.63778010e-03 -1.14006375e+00] [-2.63955146e-02 -5.81369445e-04 9.99651409e-01 -6.70580453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904012739 meters Centerline goodness [0,1] 0.993325701449338 Centerline is valid? [True, True] Translation: X:19.18, Y:-1.14, Z:-0.67 [[ 9.91856445e-01 1.24470183e-01 2.69808371e-02 1.91817086e+01] [-1.24442382e-01 9.92223125e-01 -2.71360952e-03 -1.13546210e+00] [-2.71087740e-02 -6.66048540e-04 9.99632268e-01 -6.70193567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934012739 meters Centerline goodness [0,1] 0.9927137926626614 Centerline is valid? [True, True] Translation: X:19.21, Y:-1.13, Z:-0.67 [[ 9.91702601e-01 1.25618608e-01 2.73114798e-02 1.92131467e+01] [-1.25590441e-01 9.92078360e-01 -2.75109187e-03 -1.13208507e+00] [-2.74407164e-02 -7.01795815e-04 9.99623186e-01 -6.70501208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964012739 meters Centerline goodness [0,1] 0.9924226069686111 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.13, Z:-0.67 [[ 9.91578882e-01 1.26615692e-01 2.71990453e-02 1.92455358e+01] [-1.26588070e-01 9.91951583e-01 -2.74196397e-03 -1.13107617e+00] [-2.73273117e-02 -7.24201090e-04 9.99626277e-01 -6.71465395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994012739 meters Centerline goodness [0,1] 0.9886982716260388 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.12, Z:-0.67 [[ 9.91237772e-01 1.29010817e-01 2.83529106e-02 1.92780315e+01] [-1.28981647e-01 9.91642848e-01 -2.86297997e-03 -1.12125505e+00] [-2.84853164e-02 -8.19111218e-04 9.99593875e-01 -6.70569577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024012739 meters Centerline goodness [0,1] 0.9866531326263956 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.12, Z:-0.67 [[ 9.90969218e-01 1.30853583e-01 2.92805246e-02 1.93102302e+01] [-1.30823145e-01 9.91401299e-01 -2.96108035e-03 -1.11782161e+00] [-2.94162181e-02 -8.96230847e-04 9.99566848e-01 -6.69890988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054012739 meters Centerline goodness [0,1] 0.9708487955554602 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.10, Z:-0.67 [[ 9.90417795e-01 1.34925354e-01 2.94574275e-02 1.93424413e+01] [-1.34896220e-01 9.90855242e-01 -2.98319494e-03 -1.10383391e+00] [-2.95905551e-02 -1.01908625e-03 9.99561584e-01 -6.69700288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084012739 meters Centerline goodness [0,1] 0.9677744858087509 Centerline is valid? [True, True] Translation: X:19.37, Y:-1.10, Z:-0.67 [[ 9.90188376e-01 1.36727249e-01 2.88554767e-02 1.93744761e+01] [-1.36700048e-01 9.90608175e-01 -2.92256137e-03 -1.10127854e+00] [-2.89840649e-02 -1.05065875e-03 9.99579322e-01 -6.71677663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114012739 meters Centerline goodness [0,1] 0.9628456283269757 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.10, Z:-0.67 [[ 9.90012562e-01 1.38025925e-01 2.87049003e-02 1.94072131e+01] [-1.37999430e-01 9.90428029e-01 -2.91153338e-03 -1.09826521e+00] [-2.88320049e-02 -1.07880527e-03 9.99583689e-01 -6.73359348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144012739 meters Centerline goodness [0,1] 0.9640341998147869 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.09, Z:-0.67 [[ 9.90012134e-01 1.37707187e-01 3.02110203e-02 1.94383920e+01] [-1.37677543e-01 9.90472349e-01 -3.06915717e-03 -1.09017159e+00] [-3.03458252e-02 -1.12087621e-03 9.99538831e-01 -6.71494107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174012739 meters Centerline goodness [0,1] 0.9834150748580279 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.09, Z:-0.67 [[ 9.90112781e-01 1.36717869e-01 3.13831842e-02 1.94702598e+01] [-1.36685360e-01 9.90609379e-01 -3.18901338e-03 -1.09499715e+00] [-3.15244717e-02 -1.13213893e-03 9.99502339e-01 -6.70617680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204012739 meters Centerline goodness [0,1] 0.9863679164526622 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.09, Z:-0.67 [[ 9.90264431e-01 1.35512467e-01 3.18233969e-02 1.95024972e+01] [-1.35478246e-01 9.90775026e-01 -3.23912336e-03 -1.09442510e+00] [-3.19687685e-02 -1.10378934e-03 9.99488259e-01 -6.71196108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234012739 meters Centerline goodness [0,1] 0.9892998622115053 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.09, Z:-0.68 [[ 9.90869586e-01 1.31521875e-01 2.96556967e-02 1.95321286e+01] [-1.31490238e-01 9.91312856e-01 -3.02295740e-03 -1.09418878e+00] [-2.97956585e-02 -9.04078067e-04 9.99555602e-01 -6.76574991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264012738999998 meters Centerline goodness [0,1] 0.9907943356329695 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.10, Z:-0.68 [[ 9.91201360e-01 1.29377063e-01 2.79542228e-02 1.95627624e+01] [-1.29348101e-01 9.91595154e-01 -2.84949804e-03 -1.09701084e+00] [-2.80879316e-02 -7.91399292e-04 9.99605143e-01 -6.80006243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294012739 meters Centerline goodness [0,1] 0.993934255152622 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.10, Z:-0.68 [[ 9.91886723e-01 1.24426492e-01 2.60533353e-02 1.95932120e+01] [-1.24399611e-01 9.92228643e-01 -2.65633411e-03 -1.10334531e+00] [-2.61813839e-02 -6.06242251e-04 9.99657025e-01 -6.83676338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324012739 meters Centerline goodness [0,1] 0.9940816982952718 Centerline is valid? [True, True] Translation: X:19.62, Y:-1.10, Z:-0.69 [[ 9.92199685e-01 1.21868601e-01 2.62264859e-02 1.96244158e+01] [-1.21840461e-01 9.92546095e-01 -2.67427595e-03 -1.10050745e+00] [-2.63569064e-02 -5.42031378e-04 9.99652449e-01 -6.85692087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354012738999998 meters Centerline goodness [0,1] 0.991520461495088 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.11, Z:-0.67 [[ 9.92459073e-01 1.19635704e-01 2.66886846e-02 1.96558384e+01] [-1.19605747e-01 9.92817736e-01 -2.72175355e-03 -1.11302557e+00] [-2.68226183e-02 -4.90891046e-04 9.99640088e-01 -6.71499464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384012739 meters Centerline goodness [0,1] 0.9942829711093655 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.11, Z:-0.68 [[ 9.92581644e-01 1.18174184e-01 2.85751920e-02 1.96870233e+01] [-1.18139084e-01 9.92992766e-01 -2.91943453e-03 -1.10958540e+00] [-2.87199608e-02 -4.78069897e-04 9.99587383e-01 -6.83191423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414012739 meters Centerline goodness [0,1] 0.9956980414198625 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.12, Z:-0.69 [[ 9.92790780e-01 1.16648968e-01 2.75587688e-02 1.97186542e+01] [-1.16615616e-01 9.93173120e-01 -2.81981263e-03 -1.11695429e+00] [-2.76995566e-02 -4.14298823e-04 9.99616208e-01 -6.85311956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444012738999998 meters Centerline goodness [0,1] 0.9964908526800043 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.12, Z:-0.69 [[ 9.92838502e-01 1.16506833e-01 2.64171672e-02 1.97507634e+01] [-1.16476025e-01 9.93189814e-01 -2.70721831e-03 -1.11915258e+00] [-2.65526708e-02 -3.89136063e-04 9.99647340e-01 -6.88481121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474012739 meters Centerline goodness [0,1] 0.9967438572438465 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.12, Z:-0.69 [[ 9.93031485e-01 1.15030414e-01 2.56217416e-02 1.97821790e+01] [-1.15000826e-01 9.93361914e-01 -2.63022347e-03 -1.12153767e+00] [-2.57542180e-02 -3.34626725e-04 9.99668249e-01 -6.91690476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504012739 meters Centerline goodness [0,1] 0.9975107830304071 Centerline is valid? [True, True] Translation: X:19.81, Y:-1.13, Z:-0.69 [[ 9.93215635e-01 1.13305785e-01 2.61629787e-02 1.98138203e+01] [-1.13274229e-01 9.93560121e-01 -2.68986323e-03 -1.12702144e+00] [-2.62992693e-02 -2.91977013e-04 9.99654072e-01 -6.91997100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534012738999998 meters Centerline goodness [0,1] 0.9983436585785579 Centerline is valid? [True, True] Translation: X:19.85, Y:-1.13, Z:-0.69 [[ 9.93421350e-01 1.11419131e-01 2.64536972e-02 1.98451264e+01] [-1.11386082e-01 9.93773475e-01 -2.72419301e-03 -1.13264686e+00] [-2.65925098e-02 -2.40302181e-04 9.99646328e-01 -6.93147688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564012739 meters Centerline goodness [0,1] 0.999073934486249 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.14, Z:-0.69 [[ 9.93915188e-01 1.06973420e-01 2.62542480e-02 1.98766224e+01] [-1.06939203e-01 9.94261874e-01 -2.70794914e-03 -1.14230541e+00] [-2.63932764e-02 -1.16136582e-04 9.99651630e-01 -6.94436531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594012739 meters Centerline goodness [0,1] 0.9994408481902837 Centerline is valid? [True, True] Translation: X:19.91, Y:-1.15, Z:-0.70 [[ 9.94106826e-01 1.05321453e-01 2.56711843e-02 1.99095382e+01] [-1.05288085e-01 9.94438227e-01 -2.65181814e-03 -1.14759952e+00] [-2.58077003e-02 -6.66793136e-05 9.99666924e-01 -6.96202686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624012738999998 meters Centerline goodness [0,1] 0.9989377384668748 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.15, Z:-0.69 [[ 9.94183651e-01 1.04292260e-01 2.68699266e-02 1.99424572e+01] [-1.04255182e-01 9.94546692e-01 -2.78097590e-03 -1.14986582e+00] [-2.70134309e-02 -3.65283155e-05 9.99635070e-01 -6.94679172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654012739 meters Centerline goodness [0,1] 0.9988372093023256 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.15, Z:-0.69 [[ 9.94118748e-01 1.04647866e-01 2.78700361e-02 1.99746979e+01] [-1.04607963e-01 9.94509338e-01 -2.88993126e-03 -1.15046194e+00] [-2.80194363e-02 -4.24928546e-05 9.99607378e-01 -6.93058126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684012739 meters Centerline goodness [0,1] 0.9985631567660305 Centerline is valid? [True, True] Translation: X:20.01, Y:-1.15, Z:-0.69 [[ 9.94038928e-01 1.05183531e-01 2.86885686e-02 2.00076910e+01] [-1.05141323e-01 9.94452825e-01 -2.97998035e-03 -1.15059582e+00] [-2.88428730e-02 -5.41375803e-05 9.99583956e-01 -6.93029982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714012739 meters Centerline goodness [0,1] 0.9989849031338416 Centerline is valid? [True, True] Translation: X:20.04, Y:-1.15, Z:-0.70 [[ 9.93962244e-01 1.06045897e-01 2.81660384e-02 2.00399180e+01] [-1.06005414e-01 9.94361233e-01 -2.93083327e-03 -1.15020459e+00] [-2.83180195e-02 -7.26149523e-05 9.99598962e-01 -6.95365302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744012739 meters Centerline goodness [0,1] 0.9988331892826274 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.15, Z:-0.70 [[ 9.93947173e-01 1.06351672e-01 2.75379769e-02 2.00724621e+01] [-1.06312963e-01 9.94328576e-01 -2.87011807e-03 -1.15313351e+00] [-2.76870392e-02 -7.48981820e-05 9.99616638e-01 -6.97304592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774012739 meters Centerline goodness [0,1] 0.998942369954673 Centerline is valid? [True, True] Translation: X:20.10, Y:-1.16, Z:-0.70 [[ 9.93979743e-01 1.06119156e-01 2.72579549e-02 2.01047675e+01] [-1.06081004e-01 9.94353419e-01 -2.84600625e-03 -1.15559622e+00] [-2.74060564e-02 -6.26786590e-05 9.99624382e-01 -6.98402084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804012739 meters Centerline goodness [0,1] 0.9986905375236133 Centerline is valid? [True, True] Translation: X:20.14, Y:-1.16, Z:-0.70 [[ 9.94122501e-01 1.04588784e-01 2.79578141e-02 2.01380638e+01] [-1.04547951e-01 9.94515553e-01 -2.92232265e-03 -1.15589615e+00] [-2.81101231e-02 -1.77854853e-05 9.99604832e-01 -6.96764702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834012739 meters Centerline goodness [0,1] 0.9977253032928943 Centerline is valid? [True, True] Translation: X:20.17, Y:-1.16, Z:-0.70 [[ 9.94420053e-01 1.01614224e-01 2.83426854e-02 2.01697021e+01] [-1.01570901e-01 9.94823876e-01 -2.96779269e-03 -1.16325721e+00] [-2.84975501e-02 7.24404621e-05 9.99593860e-01 -6.97904908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864012739 meters Centerline goodness [0,1] 0.9979437530790156 Centerline is valid? [True, True] Translation: X:20.20, Y:-1.17, Z:-0.70 [[ 9.94649310e-01 9.94537659e-02 2.79588846e-02 2.02000509e+01] [-9.94106217e-02 9.95042175e-01 -2.93235003e-03 -1.17143136e+00] [-2.81119026e-02 1.37249827e-04 9.99604773e-01 -6.99664626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894012739 meters Centerline goodness [0,1] 0.9960585828128365 Centerline is valid? [True, True] Translation: X:20.23, Y:-1.18, Z:-0.70 [[ 9.94883268e-01 9.70700706e-02 2.80122271e-02 2.02318974e+01] [-9.70257497e-02 9.95277528e-01 -2.94032400e-03 -1.17914567e+00] [-2.81653576e-02 2.07371813e-04 9.99603256e-01 -7.00283707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924012739 meters Centerline goodness [0,1] 0.99388110011379 Centerline is valid? [True, True] Translation: X:20.26, Y:-1.19, Z:-0.70 [[ 9.95303822e-01 9.26789743e-02 2.79447558e-02 2.02626834e+01] [-9.26330101e-02 9.95695985e-01 -2.93771226e-03 -1.18780380e+00] [-2.80967453e-02 3.35309399e-04 9.99605152e-01 -7.00594557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954012739 meters Centerline goodness [0,1] 0.9936546834999891 Centerline is valid? [True, True] Translation: X:20.30, Y:-1.19, Z:-0.70 [[ 9.95357705e-01 9.20521542e-02 2.80969673e-02 2.02950817e+01] [-9.20053741e-02 9.95754123e-01 -2.95597724e-03 -1.19076807e+00] [-2.82497751e-02 3.57182735e-04 9.99600832e-01 -7.01535038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984012739 meters Centerline goodness [0,1] 0.9935385540099605 Centerline is valid? [True, True] Translation: X:20.33, Y:-1.20, Z:-0.70 [[ 9.95341905e-01 9.23851992e-02 2.75584228e-02 2.03263265e+01] [-9.23402030e-02 9.95723283e-01 -2.90365551e-03 -1.19890810e+00] [-2.77088180e-02 3.45379654e-04 9.99615977e-01 -7.01988846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014012738999998 meters Centerline goodness [0,1] 0.995062314028203 Centerline is valid? [True, True] Translation: X:20.36, Y:-1.20, Z:-0.70 [[ 9.95261836e-01 9.31347425e-02 2.79248729e-02 2.03588534e+01] [-9.30886992e-02 9.95653458e-01 -2.94715097e-03 -1.19860705e+00] [-2.80779784e-02 3.33696794e-04 9.99605680e-01 -7.01881957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044012739 meters Centerline goodness [0,1] 0.9847037562927585 Centerline is valid? [True, True] Translation: X:20.39, Y:-1.20, Z:-0.69 [[ 9.95209385e-01 9.36311525e-02 2.81333787e-02 2.03904929e+01] [-9.35844834e-02 9.95606901e-01 -2.97388093e-03 -1.20343068e+00] [-2.82882339e-02 3.26786502e-04 9.99599754e-01 -6.89233371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074012739 meters Centerline goodness [0,1] 0.9896024729253583 Centerline is valid? [True, True] Translation: X:20.42, Y:-1.21, Z:-0.70 [[ 9.95303135e-01 9.21036326e-02 2.98092413e-02 2.04206544e+01] [-9.20504623e-02 9.95749348e-01 -3.15400082e-03 -1.20980103e+00] [-2.99730275e-02 3.95232467e-04 9.99550630e-01 -7.00460701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104012738999998 meters Centerline goodness [0,1] 0.9895682910533009 Centerline is valid? [True, True] Translation: X:20.45, Y:-1.22, Z:-0.70 [[ 9.95505375e-01 9.00675359e-02 2.92726486e-02 2.04524681e+01] [-9.00152613e-02 9.95935557e-01 -3.10136423e-03 -1.21789866e+00] [-2.94330038e-02 4.52439642e-04 9.99566653e-01 -7.03254764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134012739 meters Centerline goodness [0,1] 0.9885242730965121 Centerline is valid? [True, True] Translation: X:20.48, Y:-1.23, Z:-0.71 [[ 9.95759833e-01 8.75582613e-02 2.82118093e-02 2.04823386e+01] [-8.75085834e-02 9.96159269e-01 -2.99311473e-03 -1.22938240e+00] [-2.83655273e-02 5.11647958e-04 9.99597487e-01 -7.06250595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164012739 meters Centerline goodness [0,1] 0.9863655913978495 Centerline is valid? [True, True] Translation: X:20.51, Y:-1.24, Z:-0.71 [[ 9.96290936e-01 8.10816985e-02 2.88119531e-02 2.05128248e+01] [-8.10270565e-02 9.96707202e-01 -3.06091140e-03 -1.24060951e+00] [-2.89652650e-02 7.15010535e-04 9.99580163e-01 -7.05708632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194012738999998 meters Centerline goodness [0,1] 0.983172407887131 Centerline is valid? [True, True] Translation: X:20.54, Y:-1.25, Z:-0.70 [[ 9.96519390e-01 7.78175750e-02 2.98919783e-02 2.05416872e+01] [-7.77572678e-02 9.96967260e-01 -3.17642049e-03 -1.25397122e+00] [-3.00485051e-02 8.41046044e-04 9.99548088e-01 -7.04632590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224012739 meters Centerline goodness [0,1] 0.9827076816127911 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.27, Z:-0.70 [[ 9.96828600e-01 7.33754402e-02 3.08023876e-02 2.05716889e+01] [-7.33092288e-02 9.97303881e-01 -3.27492067e-03 -1.26633071e+00] [-3.09596394e-02 1.00643531e-03 9.99520129e-01 -7.03373855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254012739 meters Centerline goodness [0,1] 0.9825164928476562 Centerline is valid? [True, True] Translation: X:20.60, Y:-1.27, Z:-0.70 [[ 9.96895937e-01 7.27176653e-02 3.01766635e-02 2.06018041e+01] [-7.26537882e-02 9.97352058e-01 -3.20932976e-03 -1.27475998e+00] [-3.03301324e-02 1.00691889e-03 9.99539429e-01 -7.04939698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284012738999998 meters Centerline goodness [0,1] 0.9743911678753112 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.28, Z:-0.69 [[ 9.96959641e-01 7.27841793e-02 2.78197193e-02 2.06334509e+01] [-7.27298081e-02 9.97347280e-01 -2.96264248e-03 -1.28232159e+00] [-2.79615549e-02 9.30312132e-04 9.99608566e-01 -6.90304755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314012739 meters Centerline goodness [0,1] 0.9831311355939469 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.29, Z:-0.71 [[ 9.96843979e-01 7.42384339e-02 2.81200537e-02 2.06640532e+01] [-7.41833158e-02 9.97240110e-01 -2.99972181e-03 -1.28582902e+00] [-2.82651401e-02 9.04215801e-04 9.99600052e-01 -7.09688303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344012739 meters Centerline goodness [0,1] 0.9829499032466136 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.29, Z:-0.71 [[ 9.96485434e-01 7.82710706e-02 2.98398892e-02 2.06933745e+01] [-7.82106668e-02 9.96931757e-01 -3.18787231e-03 -1.29040351e+00] [-2.99978513e-02 8.42870698e-04 9.99549608e-01 -7.08974113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374012738999998 meters Centerline goodness [0,1] 0.985351583819067 Centerline is valid? [True, True] Translation: X:20.72, Y:-1.29, Z:-0.71 [[ 9.96254974e-01 8.06201349e-02 3.12477225e-02 2.07249150e+01] [-8.05550345e-02 9.96744571e-01 -3.33873690e-03 -1.29006675e+00] [-3.14151672e-02 8.09071875e-04 9.99506094e-01 -7.07749073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404012739 meters Centerline goodness [0,1] 0.9856421278882321 Centerline is valid? [True, True] Translation: X:20.76, Y:-1.30, Z:-0.71 [[ 9.96093489e-01 8.29872158e-02 3.01808498e-02 2.07554840e+01] [-8.29275443e-02 9.96550359e-01 -3.22564488e-03 -1.29786502e+00] [-3.03444240e-02 7.10220102e-04 9.99539250e-01 -7.09965639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434012739 meters Centerline goodness [0,1] 0.9870219761204361 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.30, Z:-0.71 [[ 9.96098292e-01 8.35668084e-02 2.83686521e-02 2.07871756e+01] [-8.35142056e-02 9.96501962e-01 -3.03613005e-03 -1.30288135e+00] [-2.85231372e-02 6.55098521e-04 9.99592918e-01 -7.14756426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464012739 meters Centerline goodness [0,1] 0.9906030096351629 Centerline is valid? [True, True] Translation: X:20.82, Y:-1.31, Z:-0.72 [[ 9.96139364e-01 8.38574891e-02 2.59670835e-02 2.08192902e+01] [-8.38134187e-02 9.96477580e-01 -2.78283756e-03 -1.30938522e+00] [-2.61089783e-02 5.95704001e-04 9.99658925e-01 -7.20097802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494012739 meters Centerline goodness [0,1] 0.990818885617708 Centerline is valid? [True, True] Translation: X:20.85, Y:-1.31, Z:-0.72 [[ 9.96084091e-01 8.42670929e-02 2.67495786e-02 2.08515741e+01] [-8.42203320e-02 9.96443018e-01 -2.87195121e-03 -1.31194876e+00] [-2.68964418e-02 6.07846516e-04 9.99638040e-01 -7.19194213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524012739 meters Centerline goodness [0,1] 0.9884007790521532 Centerline is valid? [True, True] Translation: X:20.88, Y:-1.32, Z:-0.72 [[ 9.95968201e-01 8.53170032e-02 2.77191639e-02 2.08825962e+01] [-8.52670586e-02 9.96353673e-01 -2.98098939e-03 -1.31893797e+00] [-2.78724199e-02 6.05439068e-04 9.99611305e-01 -7.17937385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554012739 meters Centerline goodness [0,1] 0.9902536629445556 Centerline is valid? [True, True] Translation: X:20.91, Y:-1.32, Z:-0.72 [[ 9.95547521e-01 8.96488139e-02 2.91242810e-02 2.09148101e+01] [-8.95953873e-02 9.95973306e-01 -3.13689703e-03 -1.31514598e+00] [-2.92882255e-02 5.13528830e-04 9.99570876e-01 -7.16633501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584012739 meters Centerline goodness [0,1] 0.9902536629445556 Centerline is valid? [True, True] Translation: X:20.95, Y:-1.32, Z:-0.72 [[ 9.95530834e-01 8.98339618e-02 2.91241655e-02 2.09471127e+01] [-8.97805830e-02 9.95956626e-01 -3.13796892e-03 -1.31880653e+00] [-2.92883018e-02 5.09160258e-04 9.99570876e-01 -7.17574139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614012739 meters Centerline goodness [0,1] 0.9921671018276762 Centerline is valid? [True, True] Translation: X:20.98, Y:-1.32, Z:-0.72 [[ 9.95228604e-01 9.31474951e-02 2.90442688e-02 2.09784476e+01] [-9.30956603e-02 9.95652234e-01 -3.13478427e-03 -1.31834146e+00] [-2.92099884e-02 4.15931592e-04 9.99573211e-01 -7.18122348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644012739 meters Centerline goodness [0,1] 0.997196688180455 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.31, Z:-0.72 [[ 9.94575297e-01 1.00143231e-01 2.81302673e-02 2.10108543e+01] [-1.00097330e-01 9.94973010e-01 -3.03873274e-03 -1.31142630e+00] [-2.82931653e-02 2.06483863e-04 9.99599647e-01 -7.20520294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674012739 meters Centerline goodness [0,1] 0.9984805070764956 Centerline is valid? [True, True] Translation: X:21.04, Y:-1.31, Z:-0.72 [[ 9.94282153e-01 1.03027280e-01 2.80781122e-02 2.10437912e+01] [-1.02982683e-01 9.94678523e-01 -3.03365687e-03 -1.30920398e+00] [-2.82412446e-02 1.24751561e-04 9.99601129e-01 -7.21834520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704012739 meters Centerline goodness [0,1] 0.9985668449197861 Centerline is valid? [True, True] Translation: X:21.08, Y:-1.31, Z:-0.72 [[ 9.94026383e-01 1.05424427e-01 2.82354441e-02 2.10753807e+01] [-1.05380160e-01 9.94427316e-01 -3.05540707e-03 -1.30791676e+00] [-2.84002115e-02 6.16996163e-05 9.99596631e-01 -7.22366086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734012739 meters Centerline goodness [0,1] 0.9988916657611648 Centerline is valid? [True, True] Translation: X:21.11, Y:-1.31, Z:-0.72 [[ 9.93786460e-01 1.07420858e-01 2.91415831e-02 2.11075436e+01] [-1.07374424e-01 9.94213639e-01 -3.15811943e-03 -1.30704022e+00] [-2.93122073e-02 9.43561181e-06 9.99570305e-01 -7.21599306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764012738999998 meters Centerline goodness [0,1] 0.9986292861579319 Centerline is valid? [True, True] Translation: X:21.14, Y:-1.31, Z:-0.72 [[ 9.93639986e-01 1.08817900e-01 2.89524221e-02 2.11413016e+01] [-1.08772514e-01 9.94061700e-01 -3.14263175e-03 -1.30566227e+00] [-2.91224685e-02 -2.65831775e-05 9.99575851e-01 -7.22740925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794012739 meters Centerline goodness [0,1] 0.9981945578816146 Centerline is valid? [True, True] Translation: X:21.17, Y:-1.31, Z:-0.72 [[ 9.93852302e-01 1.06844824e-01 2.90135285e-02 2.11738908e+01] [-1.06798248e-01 9.94275707e-01 -3.15468384e-03 -1.30916844e+00] [-2.91845082e-02 3.66957929e-05 9.99574041e-01 -7.22874361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824012739 meters Centerline goodness [0,1] 0.9972888066445754 Centerline is valid? [True, True] Translation: X:21.21, Y:-1.31, Z:-0.72 [[ 9.93985735e-01 1.05439069e-01 2.95797500e-02 2.12058792e+01] [-1.05389865e-01 9.94425762e-01 -3.22193557e-03 -1.31360698e+00] [-2.97545833e-02 8.51521238e-05 9.99557231e-01 -7.22794202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854012738999998 meters Centerline goodness [0,1] 0.9972237765247708 Centerline is valid? [True, True] Translation: X:21.24, Y:-1.32, Z:-0.72 [[ 9.94140193e-01 1.03867821e-01 2.99458242e-02 2.12383506e+01] [-1.03816517e-01 9.94591100e-01 -3.26717359e-03 -1.31820958e+00] [-3.01232045e-02 1.39157421e-04 9.99546184e-01 -7.23417894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884012739 meters Centerline goodness [0,1] 0.9959164374140302 Centerline is valid? [True, True] Translation: X:21.27, Y:-1.32, Z:-0.72 [[ 9.94304804e-01 1.02245749e-01 3.00626714e-02 2.12687438e+01] [-1.02193133e-01 9.94759151e-01 -3.28551953e-03 -1.32293482e+00] [-3.02410479e-02 1.94609294e-04 9.99542616e-01 -7.24107770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914012739 meters Centerline goodness [0,1] 0.994482458998588 Centerline is valid? [True, True] Translation: X:21.30, Y:-1.33, Z:-0.73 [[ 9.94550523e-01 9.98377399e-02 3.00280219e-02 2.13004504e+01] [-9.97840621e-02 9.95003695e-01 -3.28455942e-03 -1.32703383e+00] [-3.02059157e-02 2.70342286e-04 9.99543661e-01 -7.25467218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944012738999998 meters Centerline goodness [0,1] 0.9918069608744946 Centerline is valid? [True, True] Translation: X:21.33, Y:-1.33, Z:-0.72 [[ 9.94608220e-01 9.91690840e-02 3.03311820e-02 2.13307456e+01] [-9.91138461e-02 9.95070552e-01 -3.32294997e-03 -1.33372961e+00] [-3.05111999e-02 2.98793245e-04 9.99534380e-01 -7.24837172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974012739 meters Centerline goodness [0,1] 0.991942934490686 Centerline is valid? [True, True] Translation: X:21.36, Y:-1.34, Z:-0.73 [[ 9.94672409e-01 9.83467638e-02 3.08984169e-02 2.13630828e+01] [-9.82888890e-02 9.95152150e-01 -3.39005766e-03 -1.33584122e+00] [-3.10820272e-02 3.35025756e-04 9.99516781e-01 -7.25641478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004012739 meters Centerline goodness [0,1] 0.9920514268340356 Centerline is valid? [True, True] Translation: X:21.40, Y:-1.34, Z:-0.73 [[ 9.94610094e-01 9.88751313e-02 3.12164977e-02 2.13960331e+01] [-9.88161585e-02 9.95099795e-01 -3.43004862e-03 -1.33618297e+00] [-3.14026770e-02 3.26866588e-04 9.99506761e-01 -7.27074483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034012738999998 meters Centerline goodness [0,1] 0.9928698752228164 Centerline is valid? [True, True] Translation: X:21.43, Y:-1.34, Z:-0.73 [[ 9.94543304e-01 9.97752467e-02 3.04715761e-02 2.14288898e+01] [-9.97193034e-02 9.95009956e-01 -3.35388930e-03 -1.33507765e+00] [-3.06541568e-02 2.96983794e-04 9.99530007e-01 -7.28238236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064012739 meters Centerline goodness [0,1] 0.9931542573999218 Centerline is valid? [True, True] Translation: X:21.46, Y:-1.34, Z:-0.73 [[ 9.94529818e-01 1.00035716e-01 3.00548833e-02 2.14614910e+01] [-9.99812601e-02 9.94983805e-01 -3.31304282e-03 -1.33727839e+00] [-3.02355447e-02 2.89994772e-04 9.99542759e-01 -7.29772353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094012739 meters Centerline goodness [0,1] 0.9917038377830931 Centerline is valid? [True, True] Translation: X:21.49, Y:-1.34, Z:-0.73 [[ 9.94553354e-01 9.98158418e-02 3.00070478e-02 2.14928345e+01] [-9.97612875e-02 9.95005883e-01 -3.31344317e-03 -1.34176786e+00] [-3.01879232e-02 3.01854301e-04 9.99544195e-01 -7.30852423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124012738999998 meters Centerline goodness [0,1] 0.9923341206785484 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.35, Z:-0.73 [[ 9.94526821e-01 1.00090810e-01 2.99705222e-02 2.15256028e+01] [-1.00036402e-01 9.94978262e-01 -3.31309130e-03 -1.34523343e+00] [-3.01516281e-02 2.96814956e-04 9.99545292e-01 -7.32266433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154012739 meters Centerline goodness [0,1] 0.9919998288733449 Centerline is valid? [True, True] Translation: X:21.56, Y:-1.35, Z:-0.73 [[ 9.94481907e-01 1.00385238e-01 3.04719645e-02 2.15569677e+01] [-1.00328958e-01 9.94948599e-01 -3.37422327e-03 -1.34883825e+00] [-3.06567606e-02 2.98383562e-04 9.99529927e-01 -7.31831179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184012739 meters Centerline goodness [0,1] 0.9914909279868358 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.35, Z:-0.73 [[ 9.94478209e-01 1.00366567e-01 3.06536133e-02 2.15893964e+01] [-1.00309489e-01 9.94950481e-01 -3.39806826e-03 -1.35173464e+00] [-3.08398797e-02 3.04456550e-04 9.99524291e-01 -7.32376385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214012739 meters Centerline goodness [0,1] 0.9919009977970714 Centerline is valid? [True, True] Translation: X:21.62, Y:-1.36, Z:-0.73 [[ 9.94540294e-01 1.00021190e-01 2.97551015e-02 2.16209872e+01] [-9.99670927e-02 9.94985259e-01 -3.30388612e-03 -1.35641391e+00] [-2.99363460e-02 3.11316877e-04 9.99551759e-01 -7.34721434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244012739 meters Centerline goodness [0,1] 0.9925486618004866 Centerline is valid? [True, True] Translation: X:21.65, Y:-1.36, Z:-0.74 [[ 9.94593338e-01 9.97515084e-02 2.88743613e-02 2.16535396e+01] [-9.97003111e-02 9.95012330e-01 -3.21100218e-03 -1.36057512e+00] [-2.90506478e-02 3.14858572e-04 9.99577891e-01 -7.37871096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274012739 meters Centerline goodness [0,1] 0.987108096981778 Centerline is valid? [True, True] Translation: X:21.69, Y:-1.37, Z:-0.73 [[ 9.94614659e-01 9.96370711e-02 2.85330275e-02 2.16854093e+01] [-9.95868773e-02 9.95023795e-01 -3.17837231e-03 -1.36698614e+00] [-2.87077250e-02 3.19740591e-04 9.99587797e-01 -7.31311847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304012739 meters Centerline goodness [0,1] 0.9925197877707228 Centerline is valid? [True, True] Translation: X:21.72, Y:-1.37, Z:-0.74 [[ 9.94523621e-01 1.00277011e-01 2.94497638e-02 2.17177231e+01] [-1.00223712e-01 9.94959508e-01 -3.28411897e-03 -1.36997338e+00] [-2.96306441e-02 3.14569254e-04 9.99560867e-01 -7.36969643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334012739 meters Centerline goodness [0,1] 0.9922543999311502 Centerline is valid? [True, True] Translation: X:21.75, Y:-1.37, Z:-0.74 [[ 9.94296505e-01 1.02303945e-01 3.01390606e-02 2.17488404e+01] [-1.02248879e-01 9.94753151e-01 -3.36669213e-03 -1.37192309e+00] [-3.03253514e-02 2.65805065e-04 9.99540045e-01 -7.36827975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364012739 meters Centerline goodness [0,1] 0.9932472989195679 Centerline is valid? [True, True] Translation: X:21.78, Y:-1.37, Z:-0.74 [[ 9.94188136e-01 1.03398231e-01 2.99792563e-02 2.17812108e+01] [-1.03344109e-01 9.94640010e-01 -3.35333982e-03 -1.37359553e+00] [-3.01652972e-02 2.35671132e-04 9.99544896e-01 -7.37934971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394012739 meters Centerline goodness [0,1] 0.9945971957914999 Centerline is valid? [True, True] Translation: X:21.81, Y:-1.37, Z:-0.74 [[ 9.94033396e-01 1.04798606e-01 3.02466567e-02 2.18133902e+01] [-1.04744013e-01 9.94493445e-01 -3.38812847e-03 -1.37492466e+00] [-3.04351730e-02 1.99756628e-04 9.99536723e-01 -7.39246806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424012739 meters Centerline goodness [0,1] 0.9926841900815745 Centerline is valid? [True, True] Translation: X:21.84, Y:-1.38, Z:-0.73 [[ 9.93764895e-01 1.07110709e-01 3.09617516e-02 2.18447341e+01] [-1.07054466e-01 9.94247091e-01 -3.47334820e-03 -1.37506088e+00] [-3.11556642e-02 1.37097738e-04 9.99514535e-01 -7.34010335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454012739 meters Centerline goodness [0,1] 0.9945952929523482 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.38, Z:-0.74 [[ 9.93540991e-01 1.09002111e-01 3.15410792e-02 2.18780349e+01] [-1.08944539e-01 9.94041515e-01 -3.54325755e-03 -1.37563320e+00] [-3.17393647e-02 8.41432704e-05 9.99496176e-01 -7.36794073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484012739 meters Centerline goodness [0,1] 0.9964175496903123 Centerline is valid? [True, True] Translation: X:21.91, Y:-1.37, Z:-0.74 [[ 9.93028523e-01 1.13502484e-01 3.18047019e-02 2.19113596e+01] [-1.13446068e-01 9.93537711e-01 -3.57863338e-03 -1.37003205e+00] [-3.20053545e-02 -5.44333558e-05 9.99487696e-01 -7.37101710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514012738999998 meters Centerline goodness [0,1] 0.9951417528555697 Centerline is valid? [True, True] Translation: X:21.94, Y:-1.37, Z:-0.74 [[ 9.92728727e-01 1.16105952e-01 3.17660454e-02 2.19445031e+01] [-1.16050831e-01 9.93236825e-01 -3.57969650e-03 -1.36917372e+00] [-3.19668301e-02 -1.32808415e-04 9.99488921e-01 -7.37481630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544012739 meters Centerline goodness [0,1] 0.99377705045111 Centerline is valid? [True, True] Translation: X:21.98, Y:-1.37, Z:-0.74 [[ 9.92412782e-01 1.18654216e-01 3.22187327e-02 2.19774509e+01] [-1.18598665e-01 9.92935613e-01 -3.63655173e-03 -1.36841516e+00] [-3.24226194e-02 -2.12138289e-04 9.99474226e-01 -7.37581045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574012739 meters Centerline goodness [0,1] 0.9923312883435583 Centerline is valid? [True, True] Translation: X:22.01, Y:-1.36, Z:-0.74 [[ 9.92027760e-01 1.21681990e-01 3.27782971e-02 2.20093264e+01] [-1.21625972e-01 9.92569089e-01 -3.70494351e-03 -1.36490123e+00] [-3.29855494e-02 -3.11285425e-04 9.99455780e-01 -7.37418904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604012738999998 meters Centerline goodness [0,1] 0.9922168201978847 Centerline is valid? [True, True] Translation: X:22.04, Y:-1.37, Z:-0.74 [[ 9.92049102e-01 1.21437370e-01 3.30385301e-02 2.20419414e+01] [-1.21380157e-01 9.92599050e-01 -3.73934700e-03 -1.36858498e+00] [-3.32481100e-02 -3.00606146e-04 9.99447084e-01 -7.38327606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634012739 meters Centerline goodness [0,1] 0.9938022732146686 Centerline is valid? [True, True] Translation: X:22.07, Y:-1.38, Z:-0.74 [[ 9.92329555e-01 1.19258904e-01 3.25479474e-02 2.20728282e+01] [-1.19202020e-01 9.92863166e-01 -3.68947223e-03 -1.37866527e+00] [-3.27556605e-02 -2.18608750e-04 9.99463365e-01 -7.41905468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664012739 meters Centerline goodness [0,1] 0.9945753955440749 Centerline is valid? [True, True] Translation: X:22.10, Y:-1.38, Z:-0.74 [[ 9.92499987e-01 1.18059003e-01 3.17150911e-02 2.21034986e+01] [-1.18004219e-01 9.93006568e-01 -3.60014414e-03 -1.38386912e+00] [-3.19183232e-02 -1.69371547e-04 9.99490466e-01 -7.43725123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694012738999998 meters Centerline goodness [0,1] 0.9954118559365845 Centerline is valid? [True, True] Translation: X:22.14, Y:-1.39, Z:-0.75 [[ 9.92599193e-01 1.17491565e-01 3.07013664e-02 2.21351078e+01] [-1.17439817e-01 9.93073870e-01 -3.48961012e-03 -1.38924904e+00] [-3.08987245e-02 -1.41778656e-04 9.99522510e-01 -7.46277681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724012739 meters Centerline goodness [0,1] 0.9961834516177448 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.39, Z:-0.75 [[ 9.92661096e-01 1.17139471e-01 3.00381817e-02 2.21664976e+01] [-1.17089638e-01 9.93115466e-01 -3.41870596e-03 -1.39307068e+00] [-3.02318482e-02 -1.23543419e-04 9.99542906e-01 -7.48861689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754012739 meters Centerline goodness [0,1] 0.9957302195887069 Centerline is valid? [True, True] Translation: X:22.20, Y:-1.40, Z:-0.75 [[ 9.92550200e-01 1.18029717e-01 3.02173030e-02 2.21988424e+01] [-1.17979596e-01 9.93010052e-01 -3.44254366e-03 -1.39734502e+00] [-3.04124081e-02 -1.48127787e-04 9.99537425e-01 -7.50117065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784012738999998 meters Centerline goodness [0,1] 0.9944634005021566 Centerline is valid? [True, True] Translation: X:22.23, Y:-1.40, Z:-0.75 [[ 9.92249920e-01 1.20370503e-01 3.08389179e-02 2.22302584e+01] [-1.20319248e-01 9.92729013e-01 -3.51915778e-03 -1.39690565e+00] [-3.10382913e-02 -2.18631371e-04 9.99518172e-01 -7.50048413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814012739 meters Centerline goodness [0,1] 0.9946956465489359 Centerline is valid? [True, True] Translation: X:22.26, Y:-1.40, Z:-0.75 [[ 9.92050146e-01 1.21939391e-01 3.11013391e-02 2.22622388e+01] [-1.21887880e-01 9.92537513e-01 -3.55389667e-03 -1.40084071e+00] [-3.13026057e-02 -2.65232580e-04 9.99509918e-01 -7.51117670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844012739 meters Centerline goodness [0,1] 0.992507353099036 Centerline is valid? [True, True] Translation: X:22.29, Y:-1.40, Z:-0.75 [[ 9.91909051e-01 1.23104668e-01 3.10109009e-02 2.22936068e+01] [-1.23053867e-01 9.92393648e-01 -3.54861248e-03 -1.39934262e+00] [-3.12118718e-02 -2.96110443e-04 9.99512747e-01 -7.51320476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874012738999998 meters Centerline goodness [0,1] 0.9923647750182302 Centerline is valid? [True, True] Translation: X:22.33, Y:-1.40, Z:-0.75 [[ 9.91752210e-01 1.24385457e-01 3.09162137e-02 2.23254394e+01] [-1.24335496e-01 9.92233918e-01 -3.54075926e-03 -1.40070146e+00] [-3.11165348e-02 -3.32426939e-04 9.99515708e-01 -7.53520761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904012739 meters Centerline goodness [0,1] 0.9896998488447419 Centerline is valid? [True, True] Translation: X:22.36, Y:-1.41, Z:-0.75 [[ 9.91601479e-01 1.26065461e-01 2.88791754e-02 2.23573225e+01] [-1.26022462e-01 9.92021861e-01 -3.31152761e-03 -1.40510884e+00] [-2.90662426e-02 -3.55709110e-04 9.99577424e-01 -7.48716588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934012739 meters Centerline goodness [0,1] 0.993727309832227 Centerline is valid? [True, True] Translation: X:22.39, Y:-1.41, Z:-0.76 [[ 9.91503632e-01 1.26924789e-01 2.84718458e-02 2.23881074e+01] [-1.26883216e-01 9.91912274e-01 -3.26944098e-03 -1.40559209e+00] [-2.86565464e-02 -3.70936749e-04 9.99589248e-01 -7.59744614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964012739 meters Centerline goodness [0,1] 0.9933003015941405 Centerline is valid? [True, True] Translation: X:22.42, Y:-1.40, Z:-0.76 [[ 9.91220341e-01 1.29175680e-01 2.82113163e-02 2.24183139e+01] [-1.29135757e-01 9.91621630e-01 -3.24018938e-03 -1.40079663e+00] [-2.83935051e-02 -4.31348047e-04 9.99596730e-01 -7.60150486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994012739 meters Centerline goodness [0,1] 0.987875388332758 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.40, Z:-0.75 [[ 9.91057328e-01 1.30341401e-01 2.85743357e-02 2.24485490e+01] [-1.30300927e-01 9.91469060e-01 -3.28188370e-03 -1.40370847e+00] [-2.87583350e-02 -4.70727533e-04 9.99586283e-01 -7.50327245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024012739 meters Centerline goodness [0,1] 0.9917045527999827 Centerline is valid? [True, True] Translation: X:22.48, Y:-1.40, Z:-0.76 [[ 9.90835480e-01 1.31763282e-01 2.97235317e-02 2.24793849e+01] [-1.31720127e-01 9.91281067e-01 -3.41387374e-03 -1.40330079e+00] [-2.99141974e-02 -5.32600129e-04 9.99552328e-01 -7.59420317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054012739 meters Centerline goodness [0,1] 0.9911002192699601 Centerline is valid? [True, True] Translation: X:22.51, Y:-1.40, Z:-0.76 [[ 9.90580549e-01 1.33623864e-01 2.99138477e-02 2.25094331e+01] [-1.33581002e-01 9.91031943e-01 -3.43570417e-03 -1.39659263e+00] [-3.01046707e-02 -5.92580021e-04 9.99546576e-01 -7.59535733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084012739 meters Centerline goodness [0,1] 0.9901087819426266 Centerline is valid? [True, True] Translation: X:22.54, Y:-1.39, Z:-0.76 [[ 9.90580882e-01 1.33661167e-01 2.97356598e-02 2.25380272e+01] [-1.33618853e-01 9.91026913e-01 -3.41452154e-03 -1.39447161e+00] [-2.99252281e-02 -5.90884993e-04 9.99551965e-01 -7.61304042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114012739 meters Centerline goodness [0,1] 0.9895102644957848 Centerline is valid? [True, True] Translation: X:22.57, Y:-1.40, Z:-0.76 [[ 9.90772845e-01 1.32044110e-01 3.05536051e-02 2.25676091e+01] [-1.31998700e-01 9.91243684e-01 -3.50736481e-03 -1.39911234e+00] [-3.07491949e-02 -5.58034334e-04 9.99526976e-01 -7.61157631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144012739 meters Centerline goodness [0,1] 0.9898636392735963 Centerline is valid? [True, True] Translation: X:22.60, Y:-1.40, Z:-0.76 [[ 9.90875299e-01 1.31139355e-01 3.11225285e-02 2.25959544e+01] [-1.31091815e-01 9.91363797e-01 -3.57193675e-03 -1.40036930e+00] [-3.13221695e-02 -5.40564851e-04 9.99509194e-01 -7.60615121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174012739 meters Centerline goodness [0,1] 0.9891205802357208 Centerline is valid? [True, True] Translation: X:22.63, Y:-1.40, Z:-0.76 [[ 9.90914040e-01 1.30672659e-01 3.18436937e-02 2.26254803e+01] [-1.30622673e-01 9.91425421e-01 -3.65395326e-03 -1.40124806e+00] [-3.20481192e-02 -5.38754809e-04 9.99486182e-01 -7.60153543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204012739 meters Centerline goodness [0,1] 0.989565404475043 Centerline is valid? [True, True] Translation: X:22.66, Y:-1.40, Z:-0.76 [[ 9.91020583e-01 1.29814194e-01 3.20387255e-02 2.26558620e+01] [-1.29763167e-01 9.91538204e-01 -3.67566046e-03 -1.40226054e+00] [-3.22447733e-02 -5.14791322e-04 9.99479870e-01 -7.60260267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234012739 meters Centerline goodness [0,1] 0.9890135577372604 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.40, Z:-0.76 [[ 9.91126027e-01 1.29244195e-01 3.10666575e-02 2.26849230e+01] [-1.29195939e-01 9.91612680e-01 -3.56411227e-03 -1.40438258e+00] [-3.12667323e-02 -4.81201536e-04 9.99510960e-01 -7.63651840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264012738999998 meters Centerline goodness [0,1] 0.9927094408401501 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.41, Z:-0.77 [[ 9.91498560e-01 1.26925280e-01 2.86457409e-02 2.27147511e+01] [-1.26883294e-01 9.91912210e-01 -3.28606507e-03 -1.41025149e+00] [-2.88311449e-02 -3.76537172e-04 9.99584225e-01 -7.69421665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294012739 meters Centerline goodness [0,1] 0.9938324665835733 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.41, Z:-0.77 [[ 9.91718324e-01 1.25286077e-01 2.82518093e-02 2.27435539e+01] [-1.25244572e-01 9.92120604e-01 -3.24088125e-03 -1.41421554e+00] [-2.84352394e-02 -3.24344459e-04 9.99595584e-01 -7.71202547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324012739 meters Centerline goodness [0,1] 0.9947978757992847 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.42, Z:-0.77 [[ 9.91985527e-01 1.22990747e-01 2.89480698e-02 2.27730961e+01] [-1.22946204e-01 9.92407782e-01 -3.32040952e-03 -1.42157472e+00] [-2.91366694e-02 -2.65257119e-04 9.99575402e-01 -7.70005630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354012738999998 meters Centerline goodness [0,1] 0.9937857374042507 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.42, Z:-0.77 [[ 9.92052856e-01 1.22296949e-01 2.95734337e-02 2.28027466e+01] [-1.22250152e-01 9.92493523e-01 -3.39213030e-03 -1.42449483e+00] [-2.97662886e-02 -2.50184222e-04 9.99556855e-01 -7.69922017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384012739 meters Centerline goodness [0,1] 0.9935723590083069 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.43, Z:-0.77 [[ 9.92145586e-01 1.21423644e-01 3.00572082e-02 2.28329467e+01] [-1.21374913e-01 9.92600749e-01 -3.44727620e-03 -1.42866381e+00] [-3.02533882e-02 -2.27991174e-04 9.99542235e-01 -7.69091552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414012739 meters Centerline goodness [0,1] 0.9932300056598024 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.43, Z:-0.77 [[ 9.92259254e-01 1.20283592e-01 3.08776527e-02 2.28631906e+01] [-1.20231613e-01 9.92739552e-01 -3.54137340e-03 -1.43241648e+00] [-3.10794363e-02 -1.98509455e-04 9.99516898e-01 -7.68916429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444012738999998 meters Centerline goodness [0,1] 0.9946723952738991 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.44, Z:-0.77 [[ 9.92356381e-01 1.19628214e-01 3.02969362e-02 2.28934439e+01] [-1.19577865e-01 9.92818745e-01 -3.47478885e-03 -1.43613606e+00] [-3.04950489e-02 -1.74614066e-04 9.99534903e-01 -7.71251923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474012739 meters Centerline goodness [0,1] 0.9963126843657817 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.44, Z:-0.78 [[ 9.92701483e-01 1.17231775e-01 2.82927025e-02 2.29243522e+01] [-1.17186887e-01 9.93104578e-01 -3.24522191e-03 -1.44226596e+00] [-2.84780555e-02 -9.39971175e-05 9.99594414e-01 -7.76270005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504012739 meters Centerline goodness [0,1] 0.9963126843657817 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.45, Z:-0.78 [[ 9.92698784e-01 1.17254642e-01 2.82926278e-02 2.29549714e+01] [-1.17209745e-01 9.93101878e-01 -3.24587339e-03 -1.44582274e+00] [-2.84780555e-02 -9.39971175e-05 9.99594414e-01 -7.77161850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534012738999998 meters Centerline goodness [0,1] 0.9968788341907571 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.45, Z:-0.78 [[ 9.92881830e-01 1.15964885e-01 2.71627990e-02 2.29848780e+01] [-1.15923002e-01 9.93253312e-01 -3.11687906e-03 -1.45001999e+00] [-2.73409886e-02 -5.41006276e-05 9.99626164e-01 -7.80283872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564012739 meters Centerline goodness [0,1] 0.9970715531534635 Centerline is valid? [True, True] Translation: X:23.02, Y:-1.45, Z:-0.78 [[ 9.93048903e-01 1.14594762e-01 2.68685244e-02 2.30153654e+01] [-1.14553274e-01 9.93412321e-01 -3.08333311e-03 -1.45398292e+00] [-2.70448570e-02 -1.59768847e-05 9.99634221e-01 -7.82033894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594012739 meters Centerline goodness [0,1] 0.9958500010695873 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.46, Z:-0.78 [[ 9.93324672e-01 1.11861366e-01 2.81625934e-02 2.30458658e+01] [-1.11814638e-01 9.93723820e-01 -3.23357372e-03 -1.46025799e+00] [-2.83475519e-02 6.29983802e-05 9.99598125e-01 -7.79365072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624012738999998 meters Centerline goodness [0,1] 0.9953224693912743 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.47, Z:-0.78 [[ 9.93420586e-01 1.10933207e-01 2.84492863e-02 2.30776755e+01] [-1.10885124e-01 9.93827860e-01 -3.26710535e-03 -1.46626544e+00] [-2.86361238e-02 9.10070736e-05 9.99589898e-01 -7.79925948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654012739 meters Centerline goodness [0,1] 0.9956649268860803 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.47, Z:-0.78 [[ 9.93729256e-01 1.08588431e-01 2.66593070e-02 2.31089824e+01] [-1.08545260e-01 9.94086782e-01 -3.06548603e-03 -1.47441723e+00] [-2.68345410e-02 1.52521746e-04 9.99639877e-01 -7.84560385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684012739 meters Centerline goodness [0,1] 0.994277970185213 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.48, Z:-0.79 [[ 9.93877202e-01 1.07286238e-01 2.64153642e-02 2.31404225e+01] [-1.07243283e-01 9.94228156e-01 -3.04156852e-03 -1.48081812e+00] [-2.65892173e-02 1.90075216e-04 9.99646426e-01 -7.85613346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714012738999998 meters Centerline goodness [0,1] 0.993738339802286 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.49, Z:-0.79 [[ 9.93989092e-01 1.06177708e-01 2.66829354e-02 2.31719367e+01] [-1.06133365e-01 9.94347144e-01 -3.07661243e-03 -1.48754954e+00] [-2.68587683e-02 2.26169463e-04 9.99639213e-01 -7.85761961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744012739 meters Centerline goodness [0,1] 0.9904623902417925 Centerline is valid? [True, True] Translation: X:23.20, Y:-1.49, Z:-0.78 [[ 9.93963664e-01 1.05793480e-01 2.90512213e-02 2.32047504e+01] [-1.05740606e-01 9.94388089e-01 -3.35462879e-03 -1.49478927e+00] [-2.92430862e-02 2.62485394e-04 9.99572295e-01 -7.81346213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774012739 meters Centerline goodness [0,1] 0.9865368772492737 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.50, Z:-0.78 [[ 9.93928335e-01 1.05261522e-01 3.20386877e-02 2.32366843e+01] [-1.05196734e-01 9.94444525e-01 -3.70580233e-03 -1.49932967e+00] [-3.22507759e-02 3.12936623e-04 9.99479759e-01 -7.76129339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804012739 meters Centerline goodness [0,1] 0.9862359791078004 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.51, Z:-0.78 [[ 9.94027667e-01 1.04204609e-01 3.24098106e-02 2.32670837e+01] [-1.04137577e-01 9.94555817e-01 -3.75404253e-03 -1.50657031e+00] [-3.26245542e-02 3.56542991e-04 9.99467614e-01 -7.76822011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834012739 meters Centerline goodness [0,1] 0.9858439593689216 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.51, Z:-0.78 [[ 9.94203928e-01 1.02754111e-01 3.16250110e-02 2.32984000e+01] [-1.02689403e-01 9.94706707e-01 -3.66784012e-03 -1.51423110e+00] [-3.18344962e-02 3.99027543e-04 9.99493074e-01 -7.78649570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864012739 meters Centerline goodness [0,1] 0.9855245996279587 Centerline is valid? [True, True] Translation: X:23.33, Y:-1.53, Z:-0.78 [[ 9.94594148e-01 9.94989068e-02 2.97060411e-02 2.33283978e+01] [-9.94402287e-02 9.95037557e-01 -3.44979127e-03 -1.52817003e+00] [-2.99018770e-02 4.77166686e-04 9.99552725e-01 -7.82943635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894012739 meters Centerline goodness [0,1] 0.9860308285163777 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.53, Z:-0.78 [[ 9.94722355e-01 9.81544043e-02 2.98855976e-02 2.33600548e+01] [-9.80942716e-02 9.95171059e-01 -3.47517206e-03 -1.53368739e+00] [-3.00823853e-02 5.25225403e-04 9.99547285e-01 -7.83269835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924012739 meters Centerline goodness [0,1] 0.9847900553676455 Centerline is valid? [True, True] Translation: X:23.39, Y:-1.55, Z:-0.78 [[ 9.94838215e-01 9.67777149e-02 3.05122901e-02 2.33899190e+01] [-9.67142235e-02 9.95305849e-01 -3.55332782e-03 -1.54556180e+00] [-3.07129438e-02 5.84013864e-04 9.99528076e-01 -7.82525114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954012739 meters Centerline goodness [0,1] 0.9845750128008193 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.55, Z:-0.78 [[ 9.94821746e-01 9.70823207e-02 3.00784992e-02 2.34213000e+01] [-9.70206193e-02 9.95276191e-01 -3.50750404e-03 -1.55147185e+00] [-3.02769308e-02 5.71106673e-04 9.99541385e-01 -7.83811740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984012739 meters Centerline goodness [0,1] 0.9844506097167559 Centerline is valid? [True, True] Translation: X:23.45, Y:-1.56, Z:-0.79 [[ 9.94786403e-01 9.77432289e-02 2.90907863e-02 2.34516148e+01] [-9.76856516e-02 9.95211521e-01 -3.39727888e-03 -1.56073896e+00] [-2.92835467e-02 5.37814416e-04 9.99571000e-01 -7.86514062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014012738999998 meters Centerline goodness [0,1] 0.9897322589030413 Centerline is valid? [True, True] Translation: X:23.48, Y:-1.56, Z:-0.79 [[ 9.94666397e-01 9.96501960e-02 2.66194952e-02 2.34835989e+01] [-9.96025735e-02 9.95022432e-01 -3.11228763e-03 -1.56205856e+00] [-2.67971349e-02 4.44317690e-04 9.99640794e-01 -7.93007316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044012739 meters Centerline goodness [0,1] 0.9911259851020188 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.57, Z:-0.80 [[ 9.94595502e-01 1.00556104e-01 2.58506839e-02 2.35153983e+01] [-1.00511392e-01 9.94931304e-01 -3.02650361e-03 -1.56702920e+00] [-2.60239881e-02 4.11858651e-04 9.99661234e-01 -7.95721625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074012739 meters Centerline goodness [0,1] 0.9923377469068808 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.57, Z:-0.80 [[ 9.94412609e-01 1.02386681e-01 2.57007876e-02 2.35472645e+01] [-1.02342988e-01 9.94744607e-01 -3.01314955e-03 -1.57169020e+00] [-2.58742263e-02 3.66018492e-04 9.99665139e-01 -7.96727536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104012738999998 meters Centerline goodness [0,1] 0.9918115151903876 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.58, Z:-0.80 [[ 9.94367335e-01 1.02854695e-01 2.55835028e-02 2.35780026e+01] [-1.02811441e-01 9.94696328e-01 -3.00385889e-03 -1.57922231e+00] [-2.57567773e-02 3.56662368e-04 9.99668176e-01 -7.98290731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134012739 meters Centerline goodness [0,1] 0.9936081539225636 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.58, Z:-0.80 [[ 9.94316516e-01 1.03272815e-01 2.58725977e-02 2.36113668e+01] [-1.03228662e-01 9.94653006e-01 -3.03995949e-03 -1.58182981e+00] [-2.60482023e-02 3.51888280e-04 9.99660626e-01 -7.98559329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164012739 meters Centerline goodness [0,1] 0.9922021411800185 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.59, Z:-0.80 [[ 9.94288998e-01 1.03336051e-01 2.66654990e-02 2.36422936e+01] [-1.03289032e-01 9.94646433e-01 -3.13836746e-03 -1.59016069e+00] [-2.68470500e-02 3.66190645e-04 9.99639486e-01 -7.97944410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194012738999998 meters Centerline goodness [0,1] 0.9917640750670241 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.60, Z:-0.80 [[ 9.94303098e-01 1.03060178e-01 2.72020165e-02 2.36734954e+01] [-1.03011010e-01 9.94675048e-01 -3.20642707e-03 -1.59850789e+00] [-2.73876220e-02 3.86053168e-04 9.99624814e-01 -7.98176856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224012739 meters Centerline goodness [0,1] 0.9897974397750751 Centerline is valid? [True, True] Translation: X:23.70, Y:-1.61, Z:-0.80 [[ 9.94194060e-01 1.03762378e-01 2.84875324e-02 2.37037566e+01] [-1.03708589e-01 9.94602040e-01 -3.36321412e-03 -1.61075005e+00] [-2.86827329e-02 3.89285698e-04 9.99588490e-01 -7.97161050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254012739 meters Centerline goodness [0,1] 0.991825204904877 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.61, Z:-0.80 [[ 9.94070644e-01 1.05012968e-01 2.82104695e-02 2.37365917e+01] [-1.04960605e-01 9.94470790e-01 -3.33468634e-03 -1.61111705e+00] [-2.84046732e-02 3.53925865e-04 9.99596443e-01 -7.98248352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284012738999998 meters Centerline goodness [0,1] 0.9947938133148224 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.61, Z:-0.80 [[ 9.93913505e-01 1.06779066e-01 2.70956797e-02 2.37681264e+01] [-1.06731380e-01 9.94282729e-01 -3.20423027e-03 -1.61443894e+00] [-2.72829111e-02 2.92768442e-04 9.99627709e-01 -8.01738954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314012739 meters Centerline goodness [0,1] 0.9965714285714286 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.62, Z:-0.81 [[ 9.93615559e-01 1.09934779e-01 2.53468982e-02 2.37991328e+01] [-1.09893976e-01 9.93938784e-01 -3.00142333e-03 -1.62052862e+00] [-2.55232260e-02 1.96789501e-04 9.99674210e-01 -8.05609465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344012739 meters Centerline goodness [0,1] 0.9913146296893475 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.63, Z:-0.80 [[ 9.93525538e-01 1.10730490e-01 2.54118741e-02 2.38318359e+01] [-1.10689638e-01 9.93850455e-01 -3.01297794e-03 -1.62590916e+00] [-2.55892311e-02 1.80639392e-04 9.99672526e-01 -7.95342861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374012738999998 meters Centerline goodness [0,1] 0.9956490835074417 Centerline is valid? [True, True] Translation: X:23.86, Y:-1.63, Z:-0.80 [[ 9.93400209e-01 1.11063181e-01 2.86530023e-02 2.38636349e+01] [-1.11011210e-01 9.93813327e-01 -3.40315016e-03 -1.63283175e+00] [-2.88537003e-02 1.99885617e-04 9.99583625e-01 -8.02169632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404012739 meters Centerline goodness [0,1] 0.9945298703536202 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.64, Z:-0.80 [[ 9.93360272e-01 1.11123867e-01 2.97801372e-02 2.38964374e+01] [-1.11067596e-01 9.93806541e-01 -3.54225215e-03 -1.63995191e+00] [-2.99893239e-02 2.11124323e-04 9.99550197e-01 -8.01598381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434012739 meters Centerline goodness [0,1] 0.9943316720497958 Centerline is valid? [True, True] Translation: X:23.93, Y:-1.65, Z:-0.80 [[ 9.93368367e-01 1.11094613e-01 2.96188262e-02 2.39278978e+01] [-1.11038769e-01 9.93809811e-01 -3.52869728e-03 -1.64654023e+00] [-2.98274993e-02 2.16458253e-04 9.99555038e-01 -8.02258004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464012738999998 meters Centerline goodness [0,1] 0.9953988062940857 Centerline is valid? [True, True] Translation: X:23.96, Y:-1.65, Z:-0.81 [[ 9.93420787e-01 1.11001935e-01 2.81728767e-02 2.39601474e+01] [-1.10951239e-01 9.93820167e-01 -3.36121778e-03 -1.65390174e+00] [-2.83718748e-02 2.13288042e-04 9.99597415e-01 -8.05712276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494012739 meters Centerline goodness [0,1] 0.9954138317113083 Centerline is valid? [True, True] Translation: X:23.99, Y:-1.66, Z:-0.81 [[ 9.93416578e-01 1.10991796e-01 2.83605952e-02 2.39929569e+01] [-1.10940264e-01 9.93821298e-01 -3.38899727e-03 -1.65964422e+00] [-2.85615144e-02 2.20354152e-04 9.99592012e-01 -8.06520697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524012739 meters Centerline goodness [0,1] 0.9945504087193461 Centerline is valid? [True, True] Translation: X:24.03, Y:-1.67, Z:-0.80 [[ 9.93413710e-01 1.10779911e-01 2.92747838e-02 2.40253680e+01] [-1.10724741e-01 9.93844935e-01 -3.50396260e-03 -1.66843507e+00] [-2.94827643e-02 2.39441631e-04 9.99565260e-01 -8.04887681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554012739 meters Centerline goodness [0,1] 0.994114847029296 Centerline is valid? [True, True] Translation: X:24.06, Y:-1.68, Z:-0.81 [[ 9.93480953e-01 1.10211421e-01 2.91382619e-02 2.40556861e+01] [-1.10156357e-01 9.93908132e-01 -3.49316405e-03 -1.67591281e+00] [-2.93457420e-02 2.60627156e-04 9.99569287e-01 -8.06059868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584012739 meters Centerline goodness [0,1] 0.9931125598319291 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.68, Z:-0.81 [[ 9.93597860e-01 1.09320455e-01 2.85014176e-02 2.40872820e+01] [-1.09267333e-01 9.94006518e-01 -3.41936953e-03 -1.68347138e+00] [-2.87044019e-02 2.83204365e-04 9.99587904e-01 -8.08298701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614012739 meters Centerline goodness [0,1] 0.9873592774260463 Centerline is valid? [True, True] Translation: X:24.12, Y:-1.69, Z:-0.80 [[ 9.93750312e-01 1.07665801e-01 2.94684927e-02 2.41181514e+01] [-1.07608137e-01 9.94187082e-01 -3.54033688e-03 -1.69407714e+00] [-2.96783680e-02 3.47161279e-04 9.99559440e-01 -8.00565188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644012739 meters Centerline goodness [0,1] 0.9908437169326452 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.70, Z:-0.81 [[ 9.93665529e-01 1.08037539e-01 3.09306765e-02 2.41505295e+01] [-1.07974034e-01 9.94146751e-01 -3.72098145e-03 -1.69949490e+00] [-3.11516372e-02 3.57701083e-04 9.99514606e-01 -8.05931735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674012739 meters Centerline goodness [0,1] 0.9917215347330945 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.70, Z:-0.81 [[ 9.93508709e-01 1.09717293e-01 3.00426311e-02 2.41812375e+01] [-1.09657986e-01 9.93962788e-01 -3.61961457e-03 -1.70441469e+00] [-3.02583917e-02 3.01704183e-04 9.99542065e-01 -8.07234485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704012739 meters Centerline goodness [0,1] 0.9957459673065711 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.70, Z:-0.81 [[ 9.93280709e-01 1.12143870e-01 2.85864404e-02 2.42130577e+01] [-1.12091059e-01 9.93691956e-01 -3.44832226e-03 -1.70477413e+00] [-2.87928241e-02 2.20867611e-04 9.99585376e-01 -8.11468005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734012739 meters Centerline goodness [0,1] 0.9981755741575445 Centerline is valid? [True, True] Translation: X:24.25, Y:-1.70, Z:-0.82 [[ 9.92660479e-01 1.17903359e-01 2.69067308e-02 2.42452082e+01] [-1.17858573e-01 9.93025073e-01 -3.24988359e-03 -1.70017966e+00] [-2.71022305e-02 5.48420929e-05 9.99632666e-01 -8.15642375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764012738999998 meters Centerline goodness [0,1] 0.9979777118024181 Centerline is valid? [True, True] Translation: X:24.28, Y:-1.70, Z:-0.82 [[ 9.92373407e-01 1.20295682e-01 2.69066910e-02 2.42781880e+01] [-1.20251666e-01 9.92738107e-01 -3.25390971e-03 -1.70039550e+00] [-2.71027288e-02 -6.48095472e-06 9.99632654e-01 -8.16282972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794012739 meters Centerline goodness [0,1] 0.9977117683539702 Centerline is valid? [True, True] Translation: X:24.31, Y:-1.70, Z:-0.82 [[ 9.92164164e-01 1.21949018e-01 2.71792048e-02 2.43099407e+01] [-1.21904585e-01 9.92536364e-01 -3.29200774e-03 -1.70109577e+00] [-2.73778062e-02 -4.70575863e-05 9.99625157e-01 -8.17017436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824012739 meters Centerline goodness [0,1] 0.9975424678796241 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.70, Z:-0.82 [[ 9.92188164e-01 1.21851365e-01 2.67374493e-02 2.43429478e+01] [-1.21808207e-01 9.92548358e-01 -3.24307463e-03 -1.70416455e+00] [-2.69333845e-02 -3.91004815e-05 9.99637230e-01 -8.19406284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854012738999998 meters Centerline goodness [0,1] 0.9977034684065934 Centerline is valid? [True, True] Translation: X:24.38, Y:-1.71, Z:-0.82 [[ 9.92418589e-01 1.19927744e-01 2.68827268e-02 2.43751741e+01] [-1.19883273e-01 9.92782623e-01 -3.26572185e-03 -1.71098984e+00] [-2.70803547e-02 1.81737942e-05 9.99633260e-01 -8.20126272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884012739 meters Centerline goodness [0,1] 0.9962299108104614 Centerline is valid? [True, True] Translation: X:24.40, Y:-1.73, Z:-0.82 [[ 9.93215871e-01 1.13029331e-01 2.73240454e-02 2.44048698e+01] [-1.12980632e-01 9.93591628e-01 -3.32454624e-03 -1.72699918e+00] [-2.75247140e-02 2.14904163e-04 9.99621100e-01 -8.20952379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914012739 meters Centerline goodness [0,1] 0.9886252843678908 Centerline is valid? [True, True] Translation: X:24.44, Y:-1.74, Z:-0.81 [[ 9.93682130e-01 1.08898131e-01 2.71481385e-02 2.44361230e+01] [-1.08848405e-01 9.94052859e-01 -3.30715394e-03 -1.73682734e+00] [-2.73468276e-02 3.31228187e-04 9.99625951e-01 -8.12837211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944012738999998 meters Centerline goodness [0,1] 0.982778440516213 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.75, Z:-0.81 [[ 9.94355579e-01 1.02565768e-01 2.71522572e-02 2.44662300e+01] [-1.02513535e-01 9.94726094e-01 -3.31242493e-03 -1.75255305e+00] [-2.73488002e-02 5.10254330e-04 9.99625821e-01 -8.05233312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974012739 meters Centerline goodness [0,1] 0.9891523821798341 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.76, Z:-0.82 [[ 9.94482568e-01 1.00965075e-01 2.84688609e-02 2.44967810e+01] [-1.00906977e-01 9.94889801e-01 -3.47372821e-03 -1.76025944e+00] [-2.86741046e-02 5.81855445e-04 9.99588644e-01 -8.21210233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004012739 meters Centerline goodness [0,1] 0.987970632933068 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.77, Z:-0.82 [[ 9.94637924e-01 9.93249484e-02 2.88089299e-02 2.45270598e+01] [-9.92646355e-02 9.95054844e-01 -3.51974311e-03 -1.76885875e+00] [-2.90160636e-02 6.41162054e-04 9.99578740e-01 -8.21381952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034012738999998 meters Centerline goodness [0,1] 0.9837758746826183 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.78, Z:-0.82 [[ 9.94820161e-01 9.75729374e-02 2.85020829e-02 2.45586541e+01] [-9.75131145e-02 9.95228139e-01 -3.48468039e-03 -1.77835792e+00] [-2.87060854e-02 6.87303435e-04 9.99587659e-01 -8.16161368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064012739 meters Centerline goodness [0,1] 0.9881349326635777 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.78, Z:-0.82 [[ 9.94823402e-01 9.75999772e-02 2.82956300e-02 2.45912730e+01] [-9.75408980e-02 9.95225489e-01 -3.46403253e-03 -1.78480256e+00] [-2.84986217e-02 6.86119468e-04 9.99593596e-01 -8.23979161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094012739 meters Centerline goodness [0,1] 0.98890088533794 Centerline is valid? [True, True] Translation: X:24.62, Y:-1.79, Z:-0.83 [[ 9.94819387e-01 9.81179334e-02 2.65943346e-02 2.46228462e+01] [-9.80658055e-02 9.95174591e-01 -3.26045925e-03 -1.79170461e+00] [-2.67859156e-02 6.35573225e-04 9.99640991e-01 -8.25888946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124012738999998 meters Centerline goodness [0,1] 0.9882048517520216 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.80, Z:-0.83 [[ 9.94735016e-01 9.88829440e-02 2.69148839e-02 2.46532461e+01] [-9.88297080e-02 9.95098875e-01 -3.30431246e-03 -1.79945000e+00] [-2.71097108e-02 6.26925194e-04 9.99632268e-01 -8.26218511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154012739 meters Centerline goodness [0,1] 0.9900122121423587 Centerline is valid? [True, True] Translation: X:24.69, Y:-1.80, Z:-0.82 [[ 9.94543400e-01 1.00387997e-01 2.83844380e-02 2.46856156e+01] [-1.00329268e-01 9.94948171e-01 -3.48935342e-03 -1.80449215e+00] [-2.85913339e-02 6.22523540e-04 9.99590990e-01 -8.23937640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184012739 meters Centerline goodness [0,1] 0.9833570473849869 Centerline is valid? [True, True] Translation: X:24.72, Y:-1.81, Z:-0.81 [[ 9.94464839e-01 1.01200685e-01 2.82507602e-02 2.47162025e+01] [-1.01142761e-01 9.94865852e-01 -3.47552048e-03 -1.81488692e+00] [-2.84574416e-02 5.98923024e-04 9.99594826e-01 -8.14074350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214012738999998 meters Centerline goodness [0,1] 0.9892937804030577 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.82, Z:-0.82 [[ 9.94310011e-01 1.02440764e-01 2.92145666e-02 2.47482334e+01] [-1.02379213e-01 9.94738933e-01 -3.59890479e-03 -1.81750401e+00] [-2.94295414e-02 5.87462729e-04 9.99566685e-01 -8.24598367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244012739 meters Centerline goodness [0,1] 0.9888552261415278 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.83, Z:-0.83 [[ 9.94105467e-01 1.04471384e-01 2.89836333e-02 2.47783249e+01] [-1.04411521e-01 9.94527753e-01 -3.57535213e-03 -1.82811142e+00] [-2.91985497e-02 5.28051848e-04 9.99573492e-01 -8.26250358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274012739 meters Centerline goodness [0,1] 0.9842446105702365 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.83, Z:-0.82 [[ 9.94014144e-01 1.05602099e-01 2.80013983e-02 2.48105014e+01] [-1.05546554e-01 9.94408349e-01 -3.45845056e-03 -1.83262566e+00] [-2.82100439e-02 4.82297680e-04 9.99601901e-01 -8.15051353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304012739 meters Centerline goodness [0,1] 0.9841348430705644 Centerline is valid? [True, True] Translation: X:24.84, Y:-1.84, Z:-0.81 [[ 9.93563063e-01 1.09675109e-01 2.83515625e-02 2.48416588e+01] [-1.09619680e-01 9.93967419e-01 -3.50666254e-03 -1.83897697e+00] [-2.85651230e-02 3.76201165e-04 9.99591863e-01 -8.13995993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334012739 meters Centerline goodness [0,1] 0.9933161401246507 Centerline is valid? [True, True] Translation: X:24.87, Y:-1.84, Z:-0.83 [[ 9.93153245e-01 1.13105757e-01 2.92184883e-02 2.48735674e+01] [-1.13048218e-01 9.93582912e-01 -3.61905137e-03 -1.83791954e+00] [-2.94403262e-02 2.91174590e-04 9.99566497e-01 -8.28019765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364012739 meters Centerline goodness [0,1] 0.9965568862275449 Centerline is valid? [True, True] Translation: X:24.91, Y:-1.83, Z:-0.83 [[ 9.92391389e-01 1.19600863e-01 2.92397688e-02 2.49054492e+01] [-1.19545913e-01 9.92822050e-01 -3.62654775e-03 -1.83367014e+00] [-2.94636255e-02 1.03459900e-04 9.99565848e-01 -8.29799853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394012739 meters Centerline goodness [0,1] 0.9965568862275449 Centerline is valid? [True, True] Translation: X:24.94, Y:-1.84, Z:-0.83 [[ 9.92369305e-01 1.19784110e-01 2.92391776e-02 2.49376747e+01] [-1.19729099e-01 9.92799958e-01 -3.63130838e-03 -1.83786503e+00] [-2.94636274e-02 1.02818566e-04 9.99565848e-01 -8.30740341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424012739 meters Centerline goodness [0,1] 0.995189611286078 Centerline is valid? [True, True] Translation: X:24.97, Y:-1.84, Z:-0.83 [[ 9.92021731e-01 1.22438236e-01 3.00293668e-02 2.49712675e+01] [-1.22381252e-01 9.92476134e-01 -3.73521946e-03 -1.83854009e+00] [-3.02607636e-02 3.03873692e-05 9.99542038e-01 -8.30290474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454012739 meters Centerline goodness [0,1] 0.9917664670658682 Centerline is valid? [True, True] Translation: X:25.00, Y:-1.83, Z:-0.83 [[ 9.91280779e-01 1.27873559e-01 3.17926100e-02 2.50039536e+01] [-1.27812279e-01 9.91790469e-01 -3.96072028e-03 -1.83146720e+00] [-3.20380790e-02 -1.37300048e-04 9.99486640e-01 -8.27522416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484012739 meters Centerline goodness [0,1] 0.9914080422455958 Centerline is valid? [True, True] Translation: X:25.04, Y:-1.83, Z:-0.83 [[ 9.90915453e-01 1.30614146e-01 3.20391956e-02 2.50365760e+01] [-1.30553183e-01 9.91433253e-01 -3.99639960e-03 -1.83046767e+00] [-3.22867102e-02 -2.22724838e-04 9.99478623e-01 -8.29279469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514012738999998 meters Centerline goodness [0,1] 0.9902334907185822 Centerline is valid? [True, True] Translation: X:25.07, Y:-1.83, Z:-0.83 [[ 9.90632260e-01 1.32844989e-01 3.16217423e-02 2.50680143e+01] [-1.32786580e-01 9.91136785e-01 -3.94937845e-03 -1.82856147e+00] [-3.18661272e-02 -2.86561305e-04 9.99492105e-01 -8.31428507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544012739 meters Centerline goodness [0,1] 0.9901122336873398 Centerline is valid? [True, True] Translation: X:25.10, Y:-1.83, Z:-0.83 [[ 9.90388786e-01 1.34807932e-01 3.09333957e-02 2.51007677e+01] [-1.34752903e-01 9.90871690e-01 -3.86634930e-03 -1.82650496e+00] [-3.11722407e-02 -3.39175881e-04 9.99513970e-01 -8.34461720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574012739 meters Centerline goodness [0,1] 0.9912064644369545 Centerline is valid? [True, True] Translation: X:25.13, Y:-1.83, Z:-0.84 [[ 9.90417050e-01 1.34585039e-01 3.09989493e-02 2.51337442e+01] [-1.34529508e-01 9.90901993e-01 -3.87966941e-03 -1.82908994e+00] [-3.12390661e-02 -3.27782664e-04 9.99511888e-01 -8.35679840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604012738999998 meters Centerline goodness [0,1] 0.9920680858361738 Centerline is valid? [True, True] Translation: X:25.17, Y:-1.83, Z:-0.84 [[ 9.90595152e-01 1.33671962e-01 2.92070370e-02 2.51652015e+01] [-1.33622115e-01 9.91025595e-01 -3.66061377e-03 -1.82805821e+00] [-2.94342427e-02 -2.76519805e-04 9.99566681e-01 -8.40326787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634012739 meters Centerline goodness [0,1] 0.9880929269397528 Centerline is valid? [True, True] Translation: X:25.20, Y:-1.83, Z:-0.83 [[ 9.90798404e-01 1.32689237e-01 2.66849846e-02 2.51976452e+01] [-1.32647174e-01 9.91157665e-01 -3.34819622e-03 -1.83323598e+00] [-2.68932967e-02 -2.22300320e-04 9.99638285e-01 -8.33498405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664012739 meters Centerline goodness [0,1] 0.9957676029242016 Centerline is valid? [True, True] Translation: X:25.23, Y:-1.84, Z:-0.85 [[ 9.90955286e-01 1.31536313e-01 2.65672763e-02 2.52280597e+01] [-1.31494082e-01 9.91311336e-01 -3.33801877e-03 -1.83710520e+00] [-2.67755128e-02 -1.85612265e-04 9.99641454e-01 -8.47506606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694012738999998 meters Centerline goodness [0,1] 0.9966253976442266 Centerline is valid? [True, True] Translation: X:25.26, Y:-1.85, Z:-0.85 [[ 9.91592344e-01 1.26338174e-01 2.79872975e-02 2.52580745e+01] [-1.26289158e-01 9.91987230e-01 -3.51919259e-03 -1.84656090e+00] [-2.82076501e-02 -4.48878247e-05 9.99602084e-01 -8.45696782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724012739 meters Centerline goodness [0,1] 0.9957186943104273 Centerline is valid? [True, True] Translation: X:25.29, Y:-1.86, Z:-0.85 [[ 9.91960034e-01 1.23233326e-01 2.87895609e-02 2.52900647e+01] [-1.23180022e-01 9.92377723e-01 -3.62455809e-03 -1.85507189e+00] [-2.90167852e-02 4.91180267e-05 9.99578923e-01 -8.45015625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754012739 meters Centerline goodness [0,1] 0.9954335932451643 Centerline is valid? [True, True] Translation: X:25.32, Y:-1.86, Z:-0.84 [[ 9.92280437e-01 1.20367456e-01 2.98531412e-02 2.53201653e+01] [-1.20308664e-01 9.92729397e-01 -3.76436622e-03 -1.86280975e+00] [-3.00891981e-02 1.43715405e-04 9.99547207e-01 -8.44417562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784012738999998 meters Centerline goodness [0,1] 0.9944313232649347 Centerline is valid? [True, True] Translation: X:25.35, Y:-1.87, Z:-0.84 [[ 9.92703281e-01 1.16760695e-01 3.01186861e-02 2.53513766e+01] [-1.16699050e-01 9.93160044e-01 -3.80254638e-03 -1.86820458e+00] [-3.03566636e-02 2.59978217e-04 9.99539096e-01 -8.44522595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814012739 meters Centerline goodness [0,1] 0.994007830921323 Centerline is valid? [True, True] Translation: X:25.38, Y:-1.87, Z:-0.85 [[ 9.92741773e-01 1.16396579e-01 3.02590178e-02 2.53827331e+01] [-1.16334041e-01 9.93202779e-01 -3.82507926e-03 -1.87172725e+00] [-3.04985667e-02 2.77162142e-04 9.99534772e-01 -8.45948834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844012739 meters Centerline goodness [0,1] 0.9930834496831704 Centerline is valid? [True, True] Translation: X:25.41, Y:-1.88, Z:-0.85 [[ 9.92855373e-01 1.15625910e-01 2.94763747e-02 2.54128670e+01] [-1.15566073e-01 9.93292787e-01 -3.73130305e-03 -1.87808331e+00] [-2.97101057e-02 2.98175405e-04 9.99558513e-01 -8.47816616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874012738999998 meters Centerline goodness [0,1] 0.9933272672126175 Centerline is valid? [True, True] Translation: X:25.44, Y:-1.88, Z:-0.85 [[ 9.92954899e-01 1.14846296e-01 2.91701413e-02 2.54442025e+01] [-1.14787228e-01 9.93383221e-01 -3.69701203e-03 -1.88445649e+00] [-2.94017170e-02 3.22606541e-04 9.99567624e-01 -8.49387422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904012739 meters Centerline goodness [0,1] 0.9928476993432888 Centerline is valid? [True, True] Translation: X:25.48, Y:-1.89, Z:-0.85 [[ 9.93024667e-01 1.14234998e-01 2.91954699e-02 2.54762215e+01] [-1.14175423e-01 9.93453696e-01 -3.70500092e-03 -1.89013066e+00] [-2.94275882e-02 3.45752187e-04 9.99566855e-01 -8.49867645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934012739 meters Centerline goodness [0,1] 0.9908346832637054 Centerline is valid? [True, True] Translation: X:25.51, Y:-1.89, Z:-0.85 [[ 9.92991671e-01 1.13861104e-01 3.16731725e-02 2.55072627e+01] [-1.13790618e-01 9.93496600e-01 -4.02499716e-03 -1.89415288e+00] [-3.19254798e-02 3.92678803e-04 9.99490175e-01 -8.45322479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964012738999998 meters Centerline goodness [0,1] 0.9881163303228037 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.90, Z:-0.84 [[ 9.92867912e-01 1.14379598e-01 3.36246478e-02 2.55404607e+01] [-1.14300264e-01 9.93437036e-01 -4.27852029e-03 -1.89810540e+00] [-3.38933459e-02 4.04699375e-04 9.99425374e-01 -8.42597691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994012739 meters Centerline goodness [0,1] 0.9871728871728872 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.90, Z:-0.84 [[ 9.92582326e-01 1.16026480e-01 3.63067716e-02 2.55735539e+01] [-1.15934819e-01 9.93246047e-01 -4.62697690e-03 -1.90017077e+00] [-3.65984091e-02 3.83436527e-04 9.99329980e-01 -8.39940220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024012739 meters Centerline goodness [0,1] 0.9869934429753843 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.90, Z:-0.84 [[ 9.92526204e-01 1.16651153e-01 3.58363322e-02 2.56043620e+01] [-1.16562028e-01 9.93172884e-01 -4.57342359e-03 -1.90344914e+00] [-3.61251685e-02 3.62087206e-04 9.99347207e-01 -8.41496352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054012739 meters Centerline goodness [0,1] 0.9877575523680882 Centerline is valid? [True, True] Translation: X:25.64, Y:-1.91, Z:-0.84 [[ 9.92475027e-01 1.17431218e-01 3.46875947e-02 2.56352792e+01] [-1.17348015e-01 9.93080964e-01 -4.43192652e-03 -1.90697977e+00] [-3.49680365e-02 3.28056005e-04 9.99388377e-01 -8.43604956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084012739 meters Centerline goodness [0,1] 0.9912363402614099 Centerline is valid? [True, True] Translation: X:25.67, Y:-1.91, Z:-0.85 [[ 9.92377345e-01 1.18817451e-01 3.27050265e-02 2.56676864e+01] [-1.18744101e-01 9.92916080e-01 -4.18290692e-03 -1.91023120e+00] [-3.29703490e-02 2.67493102e-04 9.99456294e-01 -8.48655482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114012739 meters Centerline goodness [0,1] 0.9923847009497733 Centerline is valid? [True, True] Translation: X:25.70, Y:-1.91, Z:-0.85 [[ 9.92297418e-01 1.19633858e-01 3.21492429e-02 2.56986735e+01] [-1.19563339e-01 9.92818051e-01 -4.11399156e-03 -1.91383598e+00] [-3.24105214e-02 2.38432386e-04 9.99474613e-01 -8.50581261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144012739 meters Centerline goodness [0,1] 0.9932523042210349 Centerline is valid? [True, True] Translation: X:25.73, Y:-1.91, Z:-0.85 [[ 9.92138163e-01 1.21209640e-01 3.11462466e-02 2.57297945e+01] [-1.21144078e-01 9.92626913e-01 -3.99044179e-03 -1.91496699e+00] [-3.14002826e-02 1.85886261e-04 9.99506872e-01 -8.53460697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174012739 meters Centerline goodness [0,1] 0.9919575113808802 Centerline is valid? [True, True] Translation: X:25.76, Y:-1.92, Z:-0.85 [[ 9.92085457e-01 1.21860088e-01 3.02748345e-02 2.57621761e+01] [-1.21798312e-01 9.92547274e-01 -3.88321771e-03 -1.91864338e+00] [-3.05224137e-02 1.65060068e-04 9.99534069e-01 -8.52639847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204012739 meters Centerline goodness [0,1] 0.9950197046468321 Centerline is valid? [True, True] Translation: X:25.79, Y:-1.92, Z:-0.86 [[ 9.92035117e-01 1.22396966e-01 2.97541362e-02 2.57937688e+01] [-1.22337377e-01 9.92481214e-01 -3.82184290e-03 -1.92364524e+00] [-2.99982031e-02 1.51359406e-04 9.99549941e-01 -8.59407386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234012739 meters Centerline goodness [0,1] 0.995572666025024 Centerline is valid? [True, True] Translation: X:25.83, Y:-1.93, Z:-0.86 [[ 9.91767217e-01 1.24678707e-01 2.92062913e-02 2.58262126e+01] [-1.24622134e-01 9.92197164e-01 -3.75644895e-03 -1.92547514e+00] [-2.94467486e-02 8.57725667e-05 9.99566347e-01 -8.60906220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264012738999998 meters Centerline goodness [0,1] 0.9948475926567371 Centerline is valid? [True, True] Translation: X:25.86, Y:-1.93, Z:-0.86 [[ 9.91456534e-01 1.26921340e-01 3.00817985e-02 2.58597704e+01] [-1.26862207e-01 9.91912785e-01 -3.87399129e-03 -1.92601820e+00] [-3.03302127e-02 2.46506375e-05 9.99539933e-01 -8.60535219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294012739 meters Centerline goodness [0,1] 0.9911326426887558 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.92, Z:-0.86 [[ 9.90792046e-01 1.31392482e-01 3.26670634e-02 2.58928153e+01] [-1.31324949e-01 9.91330420e-01 -4.21372216e-03 -1.92311539e+00] [-3.29375051e-02 -1.15078029e-04 9.99457407e-01 -8.57242474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324012739 meters Centerline goodness [0,1] 0.9907163789599778 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.92, Z:-0.86 [[ 9.90557480e-01 1.32959516e-01 3.34311979e-02 2.59243805e+01] [-1.32889482e-01 9.91121456e-01 -4.31807508e-03 -1.92452820e+00] [-3.37085067e-02 -1.65353009e-04 9.99431693e-01 -8.56304867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354012738999998 meters Centerline goodness [0,1] 0.990924181343911 Centerline is valid? [True, True] Translation: X:25.96, Y:-1.93, Z:-0.86 [[ 9.90438314e-01 1.34226018e-01 3.18641231e-02 2.59576151e+01] [-1.34162893e-01 9.90950725e-01 -4.12061800e-03 -1.92561603e+00] [-3.21288700e-02 -1.93764994e-04 9.99483716e-01 -8.60034542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384012739 meters Centerline goodness [0,1] 0.9913549676354316 Centerline is valid? [True, True] Translation: X:25.99, Y:-1.93, Z:-0.86 [[ 9.90331234e-01 1.35205082e-01 3.10424398e-02 2.59902582e+01] [-1.35145469e-01 9.90817612e-01 -4.02022809e-03 -1.92829694e+00] [-3.13009513e-02 -2.13887637e-04 9.99509982e-01 -8.63279260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414012739 meters Centerline goodness [0,1] 0.9897673233695652 Centerline is valid? [True, True] Translation: X:26.02, Y:-1.93, Z:-0.86 [[ 9.90175328e-01 1.36441505e-01 3.06028543e-02 2.60226541e+01] [-1.36383975e-01 9.90648099e-01 -3.96922863e-03 -1.92957234e+00] [-3.08582270e-02 -2.43506669e-04 9.99523742e-01 -8.63901565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444012738999998 meters Centerline goodness [0,1] 0.988995756115246 Centerline is valid? [True, True] Translation: X:26.06, Y:-1.94, Z:-0.86 [[ 9.90077490e-01 1.36954657e-01 3.14640519e-02 2.60552552e+01] [-1.36893914e-01 9.90577283e-01 -4.08685367e-03 -1.93535337e+00] [-3.17272887e-02 -2.60935407e-04 9.99496529e-01 -8.62663844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474012739 meters Centerline goodness [0,1] 0.9894283561201421 Centerline is valid? [True, True] Translation: X:26.09, Y:-1.94, Z:-0.86 [[ 9.90043602e-01 1.36988052e-01 3.23718888e-02 2.60879980e+01] [-1.36923569e-01 9.90572665e-01 -4.21095205e-03 -1.94097051e+00] [-3.26435583e-02 -2.63448400e-04 9.99467022e-01 -8.62530676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504012739 meters Centerline goodness [0,1] 0.9881755671229355 Centerline is valid? [True, True] Translation: X:26.12, Y:-1.94, Z:-0.86 [[ 9.89879726e-01 1.37910013e-01 3.34508014e-02 2.61205614e+01] [-1.37841460e-01 9.90444718e-01 -4.35797339e-03 -1.94193243e+00] [-3.37321777e-02 -2.97037779e-04 9.99430864e-01 -8.60953315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534012738999998 meters Centerline goodness [0,1] 0.9875672904383491 Centerline is valid? [True, True] Translation: X:26.15, Y:-1.95, Z:-0.86 [[ 9.89740599e-01 1.38908810e-01 3.34348505e-02 2.61525498e+01] [-1.38840696e-01 9.90305123e-01 -4.36170062e-03 -1.94526639e+00] [-3.37165824e-02 -3.25165734e-04 9.99431382e-01 -8.62266443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564012739 meters Centerline goodness [0,1] 0.9875777730100836 Centerline is valid? [True, True] Translation: X:26.18, Y:-1.95, Z:-0.86 [[ 9.89581504e-01 1.40148926e-01 3.29655060e-02 2.61838698e+01] [-1.40083204e-01 9.90130371e-01 -4.30634139e-03 -1.94829732e+00] [-3.32436778e-02 -3.56437910e-04 9.99447213e-01 -8.63485467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594012739 meters Centerline goodness [0,1] 0.987714088992168 Centerline is valid? [True, True] Translation: X:26.22, Y:-1.95, Z:-0.87 [[ 9.89484549e-01 1.40849721e-01 3.28889651e-02 2.62165127e+01] [-1.40784515e-01 9.90030917e-01 -4.30163701e-03 -1.95096518e+00] [-3.31669766e-02 -3.73853635e-04 9.99449755e-01 -8.65148579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624012738999998 meters Centerline goodness [0,1] 0.9875785757340911 Centerline is valid? [True, True] Translation: X:26.25, Y:-1.95, Z:-0.87 [[ 9.89527482e-01 1.40484673e-01 3.31574847e-02 2.62485754e+01] [-1.40417980e-01 9.90082789e-01 -4.34311877e-03 -1.95431321e+00] [-3.34387966e-02 -3.58271632e-04 9.99440703e-01 -8.65099227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654012739 meters Centerline goodness [0,1] 0.9876561990655222 Centerline is valid? [True, True] Translation: X:26.28, Y:-1.96, Z:-0.87 [[ 9.89657149e-01 1.39463903e-01 3.35938539e-02 2.62801028e+01] [-1.39394649e-01 9.90227103e-01 -4.40632033e-03 -1.96034680e+00] [-3.38800673e-02 -3.22057057e-04 9.99425854e-01 -8.65992198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684012739 meters Centerline goodness [0,1] 0.9875804375804376 Centerline is valid? [True, True] Translation: X:26.31, Y:-1.96, Z:-0.87 [[ 9.89689932e-01 1.39341295e-01 3.31337073e-02 2.63129633e+01] [-1.39273669e-01 9.90244368e-01 -4.35160683e-03 -1.96470509e+00] [-3.34168255e-02 -3.07911511e-04 9.99441454e-01 -8.67781515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714012738999998 meters Centerline goodness [0,1] 0.9881180446434337 Centerline is valid? [True, True] Translation: X:26.34, Y:-1.97, Z:-0.87 [[ 9.89743908e-01 1.39083956e-01 3.25983019e-02 2.63443046e+01] [-1.39018167e-01 9.90280551e-01 -4.28712265e-03 -1.96810626e+00] [-3.28777344e-02 -2.88602650e-04 9.99459339e-01 -8.68931379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744012739 meters Centerline goodness [0,1] 0.9894651539708266 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.97, Z:-0.87 [[ 9.89762780e-01 1.39075150e-01 3.20584319e-02 2.63759184e+01] [-1.39011411e-01 9.90281790e-01 -4.21939948e-03 -1.96947299e+00] [-3.23336949e-02 -2.80283299e-04 9.99477090e-01 -8.71530771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774012739 meters Centerline goodness [0,1] 0.9896096057254953 Centerline is valid? [True, True] Translation: X:26.41, Y:-1.97, Z:-0.87 [[ 9.89729253e-01 1.39174999e-01 3.26546493e-02 2.64087779e+01] [-1.39108725e-01 9.90267762e-01 -4.30384499e-03 -1.97360811e+00] [-3.29358341e-02 -2.82905344e-04 9.99457428e-01 -8.72187391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804012738999997 meters Centerline goodness [0,1] 0.9883901932805811 Centerline is valid? [True, True] Translation: X:26.44, Y:-1.98, Z:-0.87 [[ 9.89665951e-01 1.39481261e-01 3.32608420e-02 2.64420241e+01] [-1.39412461e-01 9.90224668e-01 -4.39013159e-03 -1.97742336e+00] [-3.35480473e-02 -2.92212066e-04 9.99437063e-01 -8.72496015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834012739 meters Centerline goodness [0,1] 0.9876287324308569 Centerline is valid? [True, True] Translation: X:26.48, Y:-1.98, Z:-0.88 [[ 9.89557157e-01 1.40306935e-01 3.30241813e-02 2.64752314e+01] [-1.40239363e-01 9.90108008e-01 -4.36510931e-03 -1.98102740e+00] [-3.33099615e-02 -3.11764987e-04 9.99445021e-01 -8.75052310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864012739 meters Centerline goodness [0,1] 0.9881522724329923 Centerline is valid? [True, True] Translation: X:26.51, Y:-1.98, Z:-0.88 [[ 9.89600749e-01 1.40243642e-01 3.19699680e-02 2.65059029e+01] [-1.40180091e-01 9.90116980e-01 -4.23170842e-03 -1.98325494e+00] [-3.22474784e-02 -2.93851216e-04 9.99479872e-01 -8.77640533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894012739 meters Centerline goodness [0,1] 0.989830435438347 Centerline is valid? [True, True] Translation: X:26.54, Y:-1.99, Z:-0.88 [[ 9.89663398e-01 1.40036888e-01 3.09196977e-02 2.65378416e+01] [-1.39977197e-01 9.90146249e-01 -4.09744430e-03 -1.98564318e+00] [-3.11888161e-02 -2.72961954e-04 9.99513473e-01 -8.80806729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924012739 meters Centerline goodness [0,1] 0.9893525489352549 Centerline is valid? [True, True] Translation: X:26.57, Y:-1.99, Z:-0.88 [[ 9.89663368e-01 1.39832843e-01 3.18307169e-02 2.65703533e+01] [-1.39769297e-01 9.90175087e-01 -4.22371040e-03 -1.98806884e+00] [-3.21085963e-02 -2.68905471e-04 9.99484350e-01 -8.80170479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954012739 meters Centerline goodness [0,1] 0.9896550240880936 Centerline is valid? [True, True] Translation: X:26.60, Y:-2.00, Z:-0.88 [[ 9.89736259e-01 1.39083259e-01 3.28326638e-02 2.66028791e+01] [-1.39015035e-01 9.90280660e-01 -4.36276469e-03 -1.99501411e+00] [-3.31203395e-02 -2.46247489e-04 9.99451341e-01 -8.79703791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984012739 meters Centerline goodness [0,1] 0.9887435747283493 Centerline is valid? [True, True] Translation: X:26.63, Y:-2.01, Z:-0.88 [[ 9.90141574e-01 1.35855826e-01 3.41006974e-02 2.66337233e+01] [-1.35780087e-01 9.90728609e-01 -4.53786726e-03 -2.00562097e+00] [-3.44010322e-02 -1.37064637e-04 9.99408100e-01 -8.77909011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014012738999998 meters Centerline goodness [0,1] 0.9884314612550895 Centerline is valid? [True, True] Translation: X:26.66, Y:-2.01, Z:-0.88 [[ 9.90324811e-01 1.34482432e-01 3.42234338e-02 2.66649926e+01] [-1.34405127e-01 9.90915975e-01 -4.55996470e-03 -2.01252676e+00] [-3.45257824e-02 -8.39587918e-05 9.99403804e-01 -8.77825669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044012739 meters Centerline goodness [0,1] 0.990815996550609 Centerline is valid? [True, True] Translation: X:26.70, Y:-2.02, Z:-0.88 [[ 9.90497203e-01 1.33561557e-01 3.28116012e-02 2.66967052e+01] [-1.33489812e-01 9.91040518e-01 -4.37739560e-03 -2.01918356e+00] [-3.31022781e-02 -4.42163769e-05 9.99451968e-01 -8.82554066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074012739 meters Centerline goodness [0,1] 0.9922520661157025 Centerline is valid? [True, True] Translation: X:26.73, Y:-2.02, Z:-0.89 [[ 9.90518139e-01 1.33598356e-01 3.20202376e-02 2.67288383e+01] [-1.33529883e-01 9.91035558e-01 -4.27700371e-03 -2.02468807e+00] [-3.23045947e-02 -3.92088214e-05 9.99478070e-01 -8.85303090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104012738999998 meters Centerline goodness [0,1] 0.9927248535313432 Centerline is valid? [True, True] Translation: X:26.76, Y:-2.03, Z:-0.89 [[ 9.90554605e-01 1.33410993e-01 3.16714698e-02 2.67608275e+01] [-1.33343722e-01 9.91060798e-01 -4.23622949e-03 -2.03028029e+00] [-3.19535117e-02 -2.69750301e-05 9.99489356e-01 -8.86491929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134012739 meters Centerline goodness [0,1] 0.9931655994653213 Centerline is valid? [True, True] Translation: X:26.79, Y:-2.04, Z:-0.89 [[ 9.90620902e-01 1.32935117e-01 3.15987796e-02 2.67930750e+01] [-1.32867736e-01 9.91124742e-01 -4.23203256e-03 -2.03663022e+00] [-3.18809180e-02 -6.11839132e-06 9.99491674e-01 -8.86472106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164012739 meters Centerline goodness [0,1] 0.9929499794554616 Centerline is valid? [True, True] Translation: X:26.82, Y:-2.04, Z:-0.89 [[ 9.90588138e-01 1.33169958e-01 3.16370566e-02 2.68247948e+01] [-1.33102352e-01 9.91093216e-01 -4.24285543e-03 -2.04145237e+00] [-3.19202931e-02 -8.04438143e-06 9.99490418e-01 -8.87197543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194012738999998 meters Centerline goodness [0,1] 0.9931475854935677 Centerline is valid? [True, True] Translation: X:26.86, Y:-2.05, Z:-0.89 [[ 9.90384606e-01 1.34781828e-01 3.11799749e-02 2.68576516e+01] [-1.34716842e-01 9.90875298e-01 -4.18531704e-03 -2.04556390e+00] [-3.14595716e-02 -5.53941775e-05 9.99505024e-01 -8.89427977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224012739 meters Centerline goodness [0,1] 0.9917059296089628 Centerline is valid? [True, True] Translation: X:26.89, Y:-2.05, Z:-0.89 [[ 9.90165890e-01 1.36107073e-01 3.23477207e-02 2.68909369e+01] [-1.36037624e-01 9.90694128e-01 -4.34848846e-03 -2.04889845e+00] [-3.26385570e-02 -9.47821145e-05 9.99467216e-01 -8.89008846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254012739 meters Centerline goodness [0,1] 0.9902649494818091 Centerline is valid? [True, True] Translation: X:26.92, Y:-2.05, Z:-0.89 [[ 9.89938696e-01 1.37485569e-01 3.34529104e-02 2.69225119e+01] [-1.37411857e-01 9.90503760e-01 -4.50358849e-03 -2.05120619e+00] [-3.37544120e-02 -1.38550040e-04 9.99430148e-01 -8.88063409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284012738999998 meters Centerline goodness [0,1] 0.9899969622011023 Centerline is valid? [True, True] Translation: X:26.95, Y:-2.05, Z:-0.89 [[ 9.89893620e-01 1.37716884e-01 3.38331233e-02 2.69549152e+01] [-1.37641435e-01 9.90471625e-01 -4.56025498e-03 -2.05355104e+00] [-3.41387727e-02 -1.42672338e-04 9.99417092e-01 -8.89488912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314012739 meters Centerline goodness [0,1] 0.9899969622011023 Centerline is valid? [True, True] Translation: X:26.99, Y:-2.06, Z:-0.89 [[ 9.89867897e-01 1.37901855e-01 3.38323170e-02 2.69871055e+01] [-1.37826309e-01 9.90445888e-01 -4.56622936e-03 -2.05808468e+00] [-3.41387708e-02 -1.43019529e-04 9.99417092e-01 -8.90429443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344012739 meters Centerline goodness [0,1] 0.9909363603012581 Centerline is valid? [True, True] Translation: X:27.02, Y:-2.06, Z:-0.89 [[ 9.89995145e-01 1.37205801e-01 3.29268920e-02 2.70186324e+01] [-1.37133661e-01 9.90542556e-01 -4.45005169e-03 -2.06262693e+00] [-3.32260607e-02 -1.09855676e-04 9.99447856e-01 -8.93148093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374012738999998 meters Centerline goodness [0,1] 0.9924185477116041 Centerline is valid? [True, True] Translation: X:27.05, Y:-2.07, Z:-0.90 [[ 9.90301471e-01 1.35132042e-01 3.22850925e-02 2.70490171e+01] [-1.35061413e-01 9.90827599e-01 -4.36861792e-03 -2.06844187e+00] [-3.25793009e-02 -3.42214450e-05 9.99469153e-01 -8.95350919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404012739 meters Centerline goodness [0,1] 0.9926046253152653 Centerline is valid? [True, True] Translation: X:27.08, Y:-2.08, Z:-0.90 [[ 9.90464069e-01 1.33877079e-01 3.25246858e-02 2.70811642e+01] [-1.33804549e-01 9.90997945e-01 -4.40626081e-03 -2.07513334e+00] [-3.28217942e-02 1.22920851e-05 9.99461220e-01 -8.96118725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434012739 meters Centerline goodness [0,1] 0.9923240206693968 Centerline is valid? [True, True] Translation: X:27.11, Y:-2.08, Z:-0.90 [[ 9.90655479e-01 1.32368274e-01 3.28688463e-02 2.71127781e+01] [-1.32293163e-01 9.91200603e-01 -4.45911251e-03 -2.08195813e+00] [-3.31698653e-02 6.91205824e-05 9.99449726e-01 -8.96383449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464012738999998 meters Centerline goodness [0,1] 0.992181779022184 Centerline is valid? [True, True] Translation: X:27.14, Y:-2.09, Z:-0.90 [[ 9.91248992e-01 1.27987616e-01 3.23203697e-02 2.71438862e+01] [-1.27912481e-01 9.91775742e-01 -4.39027063e-03 -2.09138667e+00] [-3.26164589e-02 2.17672676e-04 9.99467918e-01 -8.98450413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494012739 meters Centerline goodness [0,1] 0.9930534646651469 Centerline is valid? [True, True] Translation: X:27.18, Y:-2.10, Z:-0.90 [[ 9.91530644e-01 1.26036900e-01 3.13318054e-02 2.71752118e+01] [-1.25965160e-01 9.92025515e-01 -4.26098656e-03 -2.09865384e+00] [-3.16189919e-02 2.78182871e-04 9.99499956e-01 -9.01509896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524012739 meters Centerline goodness [0,1] 0.9923692415026053 Centerline is valid? [True, True] Translation: X:27.21, Y:-2.11, Z:-0.90 [[ 9.91908766e-01 1.23211032e-01 3.05947781e-02 2.72065483e+01] [-1.23141133e-01 9.92380425e-01 -4.16565210e-03 -2.10773396e+00] [-3.08749132e-02 3.64471195e-04 9.99523190e-01 -9.04498706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554012738999997 meters Centerline goodness [0,1] 0.992299614980749 Centerline is valid? [True, True] Translation: X:27.24, Y:-2.11, Z:-0.90 [[ 9.91966841e-01 1.22569417e-01 3.12813684e-02 2.72378736e+01] [-1.22495862e-01 9.92459863e-01 -4.26430982e-03 -2.11275680e+00] [-3.15681765e-02 3.98215767e-04 9.99501522e-01 -9.04166241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584012739 meters Centerline goodness [0,1] 0.9900366046481406 Centerline is valid? [True, True] Translation: X:27.27, Y:-2.12, Z:-0.90 [[ 9.91957933e-01 1.22411735e-01 3.21687117e-02 2.72687567e+01] [-1.22333762e-01 9.92479316e-01 -4.38839383e-03 -2.11917450e+00] [-3.24639718e-02 4.17782562e-04 9.99472819e-01 -9.02545957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614012739 meters Centerline goodness [0,1] 0.9885346215780998 Centerline is valid? [True, True] Translation: X:27.30, Y:-2.12, Z:-0.90 [[ 9.91823195e-01 1.23356166e-01 3.27109649e-02 2.72998081e+01] [-1.23275943e-01 9.92362383e-01 -4.46574014e-03 -2.12455247e+00] [-3.30120076e-02 3.96749605e-04 9.99454876e-01 -9.02266046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644012739 meters Centerline goodness [0,1] 0.9921493786732016 Centerline is valid? [True, True] Translation: X:27.33, Y:-2.12, Z:-0.91 [[ 9.91697431e-01 1.24588046e-01 3.18437317e-02 2.73325013e+01] [-1.24512505e-01 9.92208494e-01 -4.35207881e-03 -2.12466296e+00] [-3.21378380e-02 3.51002578e-04 9.99483385e-01 -9.05462458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674012739 meters Centerline goodness [0,1] 0.9936482645766945 Centerline is valid? [True, True] Translation: X:27.36, Y:-2.12, Z:-0.91 [[ 9.91402447e-01 1.27300464e-01 3.02618554e-02 2.73640311e+01] [-1.27233357e-01 9.91864168e-01 -4.14075259e-03 -2.12471414e+00] [-3.05427698e-02 2.54834792e-04 9.99533428e-01 -9.08354434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704012739 meters Centerline goodness [0,1] 0.994711269725244 Centerline is valid? [True, True] Translation: X:27.40, Y:-2.13, Z:-0.91 [[ 9.91162740e-01 1.29134340e-01 3.03437829e-02 2.73968315e+01] [-1.29067587e-01 9.91627088e-01 -4.15658409e-03 -2.12602614e+00] [-3.06264748e-02 2.03452441e-04 9.99530879e-01 -9.08907947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734012739 meters Centerline goodness [0,1] 0.994745832342321 Centerline is valid? [True, True] Translation: X:27.43, Y:-2.13, Z:-0.91 [[ 9.90896622e-01 1.30920359e-01 3.13646832e-02 2.74290454e+01] [-1.30849861e-01 9.91392876e-01 -4.29866322e-03 -2.12765167e+00] [-3.16575060e-02 1.55466436e-04 9.99498763e-01 -9.08862123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764012738999998 meters Centerline goodness [0,1] 0.9930043941149466 Centerline is valid? [True, True] Translation: X:27.46, Y:-2.13, Z:-0.91 [[ 9.90634951e-01 1.32410731e-01 3.33135355e-02 2.74625353e+01] [-1.32331836e-01 9.91194927e-01 -4.57181369e-03 -2.12833524e+00] [-3.36255646e-02 1.20557127e-04 9.99434494e-01 -9.06924205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794012739 meters Centerline goodness [0,1] 0.9922173148664294 Centerline is valid? [True, True] Translation: X:27.49, Y:-2.13, Z:-0.91 [[ 9.90665923e-01 1.32006427e-01 3.39901749e-02 2.74930541e+01] [-1.31923843e-01 9.91248850e-01 -4.67087244e-03 -2.13197822e+00] [-3.43093070e-02 1.43159670e-04 9.99411252e-01 -9.05850391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824012739 meters Centerline goodness [0,1] 0.9917470227277586 Centerline is valid? [True, True] Translation: X:27.52, Y:-2.14, Z:-0.91 [[ 9.90914573e-01 1.29968313e-01 3.45911435e-02 2.75240809e+01] [-1.29881434e-01 9.91518123e-01 -4.75649346e-03 -2.13843809e+00] [-3.49159391e-02 2.20531368e-04 9.99390228e-01 -9.05905994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854012738999998 meters Centerline goodness [0,1] 0.9906771869052965 Centerline is valid? [True, True] Translation: X:27.56, Y:-2.15, Z:-0.91 [[ 9.91039187e-01 1.29030489e-01 3.45320671e-02 2.75555639e+01] [-1.28943210e-01 9.91640594e-01 -4.75200484e-03 -2.14544396e+00] [-3.48565531e-02 2.56747431e-04 9.99392293e-01 -9.06821999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884012739 meters Centerline goodness [0,1] 0.9912074779119894 Centerline is valid? [True, True] Translation: X:27.59, Y:-2.15, Z:-0.91 [[ 9.90904703e-01 1.30043751e-01 3.45903553e-02 2.75877685e+01] [-1.29956582e-01 9.91508231e-01 -4.76608763e-03 -2.14891756e+00] [-3.49164219e-02 2.27494305e-04 9.99390210e-01 -9.07382926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914012739 meters Centerline goodness [0,1] 0.9920646998717307 Centerline is valid? [True, True] Translation: X:27.62, Y:-2.15, Z:-0.91 [[ 9.90692009e-01 1.31748153e-01 3.42310792e-02 2.76198114e+01] [-1.31663609e-01 9.91283206e-01 -4.72221125e-03 -2.15047460e+00] [-3.45548366e-02 1.71269523e-04 9.99402789e-01 -9.08990112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944012738999998 meters Centerline goodness [0,1] 0.9921475568978535 Centerline is valid? [True, True] Translation: X:27.65, Y:-2.15, Z:-0.91 [[ 9.90412719e-01 1.33886847e-01 3.40140892e-02 2.76521623e+01] [-1.33804436e-01 9.90996621e-01 -4.69798534e-03 -2.15208470e+00] [-3.43368459e-02 1.01708417e-04 9.99410311e-01 -9.11031800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974012739 meters Centerline goodness [0,1] 0.993050475493782 Centerline is valid? [True, True] Translation: X:27.68, Y:-2.15, Z:-0.91 [[ 9.89944401e-01 1.37561336e-01 3.29691049e-02 2.76832853e+01] [-1.37485767e-01 9.90493250e-01 -4.55909174e-03 -2.15182425e+00] [-3.32828307e-02 -1.95353550e-05 9.99445973e-01 -9.13301009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004012739 meters Centerline goodness [0,1] 0.9923965806091327 Centerline is valid? [True, True] Translation: X:27.72, Y:-2.15, Z:-0.91 [[ 9.89646945e-01 1.39697599e-01 3.29166382e-02 2.77165625e+01] [-1.39623275e-01 9.90194210e-01 -4.55716476e-03 -2.15286940e+00] [-3.32304895e-02 -8.59446489e-05 9.99447711e-01 -9.14784765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034012738999998 meters Centerline goodness [0,1] 0.9909033944815367 Centerline is valid? [True, True] Translation: X:27.75, Y:-2.15, Z:-0.92 [[ 9.89313583e-01 1.42018609e-01 3.30053031e-02 2.77496409e+01] [-1.41944965e-01 9.89863975e-01 -4.57571600e-03 -2.15331573e+00] [-3.33205974e-02 -1.58118616e-04 9.99444702e-01 -9.17081413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064012739 meters Centerline goodness [0,1] 0.9914141954822824 Centerline is valid? [True, True] Translation: X:27.78, Y:-2.16, Z:-0.92 [[ 9.89323162e-01 1.41953077e-01 3.30000802e-02 2.77811033e+01] [-1.41879218e-01 9.89873376e-01 -4.58106643e-03 -2.15878473e+00] [-3.33161973e-02 -1.49870440e-04 9.99444850e-01 -9.17922021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094012739 meters Centerline goodness [0,1] 0.9907838052167949 Centerline is valid? [True, True] Translation: X:27.81, Y:-2.17, Z:-0.92 [[ 9.89470041e-01 1.40768546e-01 3.36638519e-02 2.78131289e+01] [-1.40690847e-01 9.90042527e-01 -4.67768387e-03 -2.16745757e+00] [-3.39871158e-02 -1.07767767e-04 9.99422265e-01 -9.18062084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124012738999998 meters Centerline goodness [0,1] 0.9897028853373377 Centerline is valid? [True, True] Translation: X:27.85, Y:-2.18, Z:-0.91 [[ 9.89896251e-01 1.37265181e-01 3.55482985e-02 2.78450848e+01] [-1.37176026e-01 9.90534335e-01 -4.94655897e-03 -2.17859684e+00] [-3.58908006e-02 2.02058832e-05 9.99355717e-01 -9.14402329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154012739 meters Centerline goodness [0,1] 0.990242741551642 Centerline is valid? [True, True] Translation: X:27.88, Y:-2.19, Z:-0.91 [[ 9.90066456e-01 1.35890958e-01 3.60840717e-02 2.78773758e+01] [-1.35797928e-01 9.90723797e-01 -5.02805298e-03 -2.18524868e+00] [-3.64326155e-02 7.79644193e-05 9.99336109e-01 -9.14350975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184012739 meters Centerline goodness [0,1] 0.9902653916407006 Centerline is valid? [True, True] Translation: X:27.91, Y:-2.19, Z:-0.92 [[ 9.90347898e-01 1.33789062e-01 3.62150209e-02 2.79072846e+01] [-1.33693705e-01 9.91009819e-01 -5.05300325e-03 -2.19404052e+00] [-3.65654779e-02 1.62510822e-04 9.99331246e-01 -9.16139350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214012738999998 meters Centerline goodness [0,1] 0.9916070805720265 Centerline is valid? [True, True] Translation: X:27.94, Y:-2.20, Z:-0.92 [[ 9.90410306e-01 1.33359069e-01 3.60941029e-02 2.79400137e+01] [-1.33263848e-01 9.91067770e-01 -5.04201483e-03 -2.20051014e+00] [-3.64441005e-02 1.83624400e-04 9.99335676e-01 -9.18337195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244012739 meters Centerline goodness [0,1] 0.9901134800550206 Centerline is valid? [True, True] Translation: X:27.97, Y:-2.21, Z:-0.92 [[ 9.90443356e-01 1.33120091e-01 3.60693824e-02 2.79718701e+01] [-1.33024589e-01 9.91099895e-01 -5.04549321e-03 -2.20709718e+00] [-3.64200177e-02 1.99160458e-04 9.99336551e-01 -9.17916739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274012739 meters Centerline goodness [0,1] 0.992409376145602 Centerline is valid? [True, True] Translation: X:28.00, Y:-2.21, Z:-0.92 [[ 9.90225327e-01 1.34969277e-01 3.51723653e-02 2.80041336e+01] [-1.34879415e-01 9.90849775e-01 -4.92618332e-03 -2.20859738e+00] [-3.55154136e-02 1.34003449e-04 9.99369120e-01 -9.21128158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304012738999997 meters Centerline goodness [0,1] 0.9925300841710977 Centerline is valid? [True, True] Translation: X:28.03, Y:-2.21, Z:-0.92 [[ 9.89964559e-01 1.36983190e-01 3.47243166e-02 2.80348811e+01] [-1.36896642e-01 9.90573370e-01 -4.86910769e-03 -2.21136133e+00] [-3.50639692e-02 6.66017040e-05 9.99385068e-01 -9.22941266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334012739 meters Centerline goodness [0,1] 0.9914203194019707 Centerline is valid? [True, True] Translation: X:28.07, Y:-2.21, Z:-0.92 [[ 9.89469414e-01 1.40648195e-01 3.41813486e-02 2.80669869e+01] [-1.40566333e-01 9.90059636e-01 -4.79832961e-03 -2.21343755e+00] [-3.45164499e-02 -5.69464523e-05 9.99404128e-01 -9.24334110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364012739 meters Centerline goodness [0,1] 0.9911734164070612 Centerline is valid? [True, True] Translation: X:28.10, Y:-2.22, Z:-0.93 [[ 9.89165029e-01 1.42871222e-01 3.37691978e-02 2.81003440e+01] [-1.42792412e-01 9.89741278e-01 -4.74649696e-03 -2.21570087e+00] [-3.41009069e-02 -1.26916411e-04 9.99418387e-01 -9.26697754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394012739 meters Centerline goodness [0,1] 0.9894183287372539 Centerline is valid? [True, True] Translation: X:28.13, Y:-2.22, Z:-0.93 [[ 9.88860258e-01 1.45087720e-01 3.32406807e-02 2.81318756e+01] [-1.45012414e-01 9.89418777e-01 -4.67803448e-03 -2.21634649e+00] [-3.35676790e-02 -1.94388965e-04 9.99436428e-01 -9.27848583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424012739 meters Centerline goodness [0,1] 0.9876060573515197 Centerline is valid? [True, True] Translation: X:28.16, Y:-2.21, Z:-0.93 [[ 9.88157347e-01 1.49935705e-01 3.26242607e-02 2.81646764e+01] [-1.49865699e-01 9.88695687e-01 -4.59454598e-03 -2.21309400e+00] [-3.29443523e-02 -3.49123264e-04 9.99457127e-01 -9.30487138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454012739 meters Centerline goodness [0,1] 0.9875483223339955 Centerline is valid? [True, True] Translation: X:28.20, Y:-2.21, Z:-0.93 [[ 9.87733138e-01 1.52694151e-01 3.26763587e-02 2.81962359e+01] [-1.52625251e-01 9.88273396e-01 -4.60728789e-03 -2.21301426e+00] [-3.29966819e-02 -4.36466502e-04 9.99455366e-01 -9.31018026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484012739 meters Centerline goodness [0,1] 0.9858373580472524 Centerline is valid? [True, True] Translation: X:28.23, Y:-2.21, Z:-0.93 [[ 9.86860408e-01 1.58063329e-01 3.35040109e-02 2.82283673e+01] [-1.57993826e-01 9.87428778e-01 -4.72863584e-03 -2.20801466e+00] [-3.38302484e-02 -6.26923385e-04 9.99427397e-01 -9.31782354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514012738999998 meters Centerline goodness [0,1] 0.9854867794989898 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.21, Z:-0.93 [[ 9.86456098e-01 1.60551545e-01 3.35792935e-02 2.82600279e+01] [-1.60483141e-01 9.87027200e-01 -4.74007730e-03 -2.20673237e+00] [-3.39047027e-02 -7.13032325e-04 9.99424816e-01 -9.32955802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544012739 meters Centerline goodness [0,1] 0.9846861960683099 Centerline is valid? [True, True] Translation: X:28.29, Y:-2.21, Z:-0.93 [[ 9.86193718e-01 1.62244701e-01 3.31452529e-02 2.82905065e+01] [-1.62178985e-01 9.86750262e-01 -4.67954657e-03 -2.20543458e+00] [-3.34653186e-02 -7.60524045e-04 9.99439590e-01 -9.34969294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574012739 meters Centerline goodness [0,1] 0.983567271482369 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.20, Z:-0.94 [[ 9.86022318e-01 1.63344343e-01 3.28422523e-02 2.83203515e+01] [-1.63280423e-01 9.86568802e-01 -4.63705953e-03 -2.20359598e+00] [-3.31585790e-02 -7.90252661e-04 9.99449791e-01 -9.35852150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604012738999998 meters Centerline goodness [0,1] 0.984057785186135 Centerline is valid? [True, True] Translation: X:28.35, Y:-2.20, Z:-0.93 [[ 9.86026207e-01 1.63131870e-01 3.37684980e-02 2.83500835e+01] [-1.63064185e-01 9.86603945e-01 -4.76737004e-03 -2.20284135e+00] [-3.40938433e-02 -8.05680787e-04 9.99418311e-01 -9.33909364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634012739 meters Centerline goodness [0,1] 0.9845931735907603 Centerline is valid? [True, True] Translation: X:28.38, Y:-2.21, Z:-0.93 [[ 9.86689254e-01 1.58787347e-01 3.50840949e-02 2.83804495e+01] [-1.58711559e-01 9.87312571e-01 -4.95249055e-03 -2.21033801e+00] [-3.54253608e-02 -6.81682186e-04 9.99372092e-01 -9.33552705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664012739 meters Centerline goodness [0,1] 0.9861084396571991 Centerline is valid? [True, True] Translation: X:28.41, Y:-2.22, Z:-0.94 [[ 9.87306281e-01 1.55057437e-01 3.44020064e-02 2.84108312e+01] [-1.54982283e-01 9.87905311e-01 -4.85683271e-03 -2.22080913e+00] [-3.47390128e-02 -5.36520032e-04 9.99396274e-01 -9.36406397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694012738999998 meters Centerline goodness [0,1] 0.9869350435498548 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.23, Z:-0.94 [[ 9.87990785e-01 1.50691627e-01 3.41502896e-02 2.84401091e+01] [-1.50614906e-01 9.88580745e-01 -4.82284980e-03 -2.23129727e+00] [-3.44870818e-02 -3.78611510e-04 9.99405072e-01 -9.39179248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724012739 meters Centerline goodness [0,1] 0.9887296834901625 Centerline is valid? [True, True] Translation: X:28.47, Y:-2.24, Z:-0.94 [[ 9.88638900e-01 1.46463369e-01 3.37876634e-02 2.84705537e+01] [-1.46385759e-01 9.89216068e-01 -4.77281098e-03 -2.24407157e+00] [-3.41223415e-02 -2.27446153e-04 9.99417637e-01 -9.40842120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754012739 meters Centerline goodness [0,1] 0.9912877178070548 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.26, Z:-0.94 [[ 9.89282280e-01 1.42001491e-01 3.40021632e-02 2.85006188e+01] [-1.41920065e-01 9.89866441e-01 -4.80868945e-03 -2.25829441e+00] [-3.43404414e-02 -6.84379376e-05 9.99410191e-01 -9.39782746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784012738999998 meters Centerline goodness [0,1] 0.9912873666816885 Centerline is valid? [True, True] Translation: X:28.53, Y:-2.27, Z:-0.94 [[ 9.89291131e-01 1.41861004e-01 3.43294908e-02 2.85330213e+01] [-1.41777717e-01 9.89886586e-01 -4.86072320e-03 -2.26507004e+00] [-3.46718495e-02 -5.84864843e-05 9.99398749e-01 -9.39999377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814012739 meters Centerline goodness [0,1] 0.9892355760999829 Centerline is valid? [True, True] Translation: X:28.56, Y:-2.27, Z:-0.94 [[ 9.88818880e-01 1.44836085e-01 3.54926783e-02 2.85647387e+01] [-1.44748738e-01 9.89455650e-01 -5.03192951e-03 -2.26694784e+00] [-3.58472360e-02 -1.61853503e-04 9.99357268e-01 -9.38789130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844012739 meters Centerline goodness [0,1] 0.9868188496837802 Centerline is valid? [True, True] Translation: X:28.60, Y:-2.27, Z:-0.94 [[ 9.88399702e-01 1.47535608e-01 3.60454417e-02 2.85972500e+01] [-1.47447111e-01 9.89056711e-01 -5.11582657e-03 -2.26834513e+00] [-3.64057526e-02 -2.58314796e-04 9.99337057e-01 -9.38739507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874012738999998 meters Centerline goodness [0,1] 0.9860565044580514 Centerline is valid? [True, True] Translation: X:28.63, Y:-2.27, Z:-0.94 [[ 9.87971017e-01 1.50343446e-01 3.61955630e-02 2.86298566e+01] [-1.50255881e-01 9.88633765e-01 -5.14293633e-03 -2.26936585e+00] [-3.65573624e-02 -3.57524151e-04 9.99331492e-01 -9.39491514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904012739 meters Centerline goodness [0,1] 0.9847419341090227 Centerline is valid? [True, True] Translation: X:28.66, Y:-2.27, Z:-0.94 [[ 9.87237301e-01 1.54801521e-01 3.74032193e-02 2.86622811e+01] [-1.54711015e-01 9.87945445e-01 -5.31966911e-03 -2.27094363e+00] [-3.77758330e-02 -5.34914247e-04 9.99286095e-01 -9.39001395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934012739 meters Centerline goodness [0,1] 0.9839820874956942 Centerline is valid? [True, True] Translation: X:28.69, Y:-2.27, Z:-0.94 [[ 9.86936001e-01 1.56595958e-01 3.78818712e-02 2.86943465e+01] [-1.56504329e-01 9.87662562e-01 -5.39067289e-03 -2.27438058e+00] [-3.82586636e-02 -6.08427679e-04 9.99267684e-01 -9.40107834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964012738999998 meters Centerline goodness [0,1] 0.984004625168626 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.28, Z:-0.94 [[ 9.86859343e-01 1.57279847e-01 3.70362807e-02 2.87273596e+01] [-1.57192509e-01 9.87553883e-01 -5.27664522e-03 -2.27911261e+00] [-3.74052328e-02 -6.14519257e-04 9.99299990e-01 -9.44493818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994012739 meters Centerline goodness [0,1] 0.9834643650658007 Centerline is valid? [True, True] Translation: X:28.76, Y:-2.28, Z:-0.95 [[ 9.87047200e-01 1.56351196e-01 3.59461890e-02 2.87587159e+01] [-1.56268091e-01 9.87701369e-01 -5.12735517e-03 -2.28205700e+00] [-3.63057682e-02 -5.56300744e-04 9.99340573e-01 -9.46010325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024012739 meters Centerline goodness [0,1] 0.985326470022854 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.29, Z:-0.95 [[ 9.87231245e-01 1.55359769e-01 3.51825378e-02 2.87894749e+01] [-1.55279394e-01 9.87857827e-01 -5.02220548e-03 -2.29115207e+00] [-3.55355940e-02 -5.05044978e-04 9.99368284e-01 -9.50422963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054012738999997 meters Centerline goodness [0,1] 0.9860532084067564 Centerline is valid? [True, True] Translation: X:28.82, Y:-2.29, Z:-0.95 [[ 9.87312150e-01 1.55142321e-01 3.38464104e-02 2.88213436e+01] [-1.55067619e-01 9.87892017e-01 -4.83702918e-03 -2.29499261e+00] [-3.41870265e-02 -4.72824576e-04 9.99415341e-01 -9.53799879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084012739 meters Centerline goodness [0,1] 0.9855883677539728 Centerline is valid? [True, True] Translation: X:28.85, Y:-2.30, Z:-0.96 [[ 9.87217977e-01 1.55787042e-01 3.36312990e-02 2.88546588e+01] [-1.55713461e-01 9.87790545e-01 -4.81216297e-03 -2.29723778e+00] [-3.39703518e-02 -4.86192163e-04 9.99422723e-01 -9.55210874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114012739 meters Centerline goodness [0,1] 0.9852881254155139 Centerline is valid? [True, True] Translation: X:28.89, Y:-2.29, Z:-0.96 [[ 9.86988122e-01 1.57136687e-01 3.40955660e-02 2.88861754e+01] [-1.57061663e-01 9.87576719e-01 -4.88444156e-03 -2.29371159e+00] [-3.44395122e-02 -5.34220507e-04 9.99406641e-01 -9.55836708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144012739 meters Centerline goodness [0,1] 0.9854545454545455 Centerline is valid? [True, True] Translation: X:28.92, Y:-2.30, Z:-0.96 [[ 9.86897490e-01 1.57543956e-01 3.48316957e-02 2.89180246e+01] [-1.57465847e-01 9.87511818e-01 -4.99169328e-03 -2.29701864e+00] [-3.51831223e-02 -5.58512915e-04 9.99380726e-01 -9.56473868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174012739 meters Centerline goodness [0,1] 0.9848783413296779 Centerline is valid? [True, True] Translation: X:28.95, Y:-2.30, Z:-0.95 [[ 9.86981927e-01 1.56811692e-01 3.57319121e-02 2.89491987e+01] [-1.56728787e-01 9.87628372e-01 -5.12695042e-03 -2.29768635e+00] [-3.60938159e-02 -5.40011831e-04 9.99348260e-01 -9.53921681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204012739 meters Centerline goodness [0,1] 0.9848783413296779 Centerline is valid? [True, True] Translation: X:28.98, Y:-2.30, Z:-0.95 [[ 9.86956327e-01 1.56972918e-01 3.57310978e-02 2.89805387e+01] [-1.56889914e-01 9.87602760e-01 -5.13261941e-03 -2.30233145e+00] [-3.60938131e-02 -5.40177652e-04 9.99348260e-01 -9.54838144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234012739 meters Centerline goodness [0,1] 0.9850450987066032 Centerline is valid? [True, True] Translation: X:29.01, Y:-2.31, Z:-0.96 [[ 9.87073587e-01 1.56280092e-01 3.55283916e-02 2.90110155e+01] [-1.56197369e-01 9.87712649e-01 -5.10930706e-03 -2.30697734e+00] [-3.58903248e-02 -5.06179265e-04 9.99355607e-01 -9.55918168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264012738999998 meters Centerline goodness [0,1] 0.9853585869333901 Centerline is valid? [True, True] Translation: X:29.04, Y:-2.31, Z:-0.96 [[ 9.87332798e-01 1.54843431e-01 3.46042978e-02 2.90414185e+01] [-1.54763893e-01 9.87938926e-01 -4.98161740e-03 -2.31230135e+00] [-3.49583035e-02 -4.36981585e-04 9.99388676e-01 -9.59023308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294012739 meters Centerline goodness [0,1] 0.9880680101842662 Centerline is valid? [True, True] Translation: X:29.07, Y:-2.32, Z:-0.96 [[ 9.87871598e-01 1.51655638e-01 3.33207742e-02 2.90729104e+01] [-1.51579928e-01 9.88433343e-01 -4.80132042e-03 -2.32153384e+00] [-3.36635116e-02 -3.07672479e-04 9.99433176e-01 -9.63713260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324012739 meters Centerline goodness [0,1] 0.9880558539205155 Centerline is valid? [True, True] Translation: X:29.10, Y:-2.33, Z:-0.96 [[ 9.88080352e-01 1.50294935e-01 3.32963982e-02 2.91034061e+01] [-1.50218482e-01 9.88641171e-01 -4.80022439e-03 -2.32750989e+00] [-3.36396395e-02 -2.58726991e-04 9.99433994e-01 -9.63915905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354012738999998 meters Centerline goodness [0,1] 0.9887640449438202 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.34, Z:-0.96 [[ 9.88544749e-01 1.46849587e-01 3.48493746e-02 2.91342744e+01] [-1.46763494e-01 9.89158824e-01 -5.02973108e-03 -2.33771401e+00] [-3.52101803e-02 -1.42501751e-04 9.99379919e-01 -9.61422877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384012739 meters Centerline goodness [0,1] 0.9899099559358835 Centerline is valid? [True, True] Translation: X:29.17, Y:-2.34, Z:-0.96 [[ 9.88703292e-01 1.45692086e-01 3.52081780e-02 2.91670378e+01] [-1.45603264e-01 9.89329979e-01 -5.08750932e-03 -2.34461087e+00] [-3.55737159e-02 -9.63884341e-05 9.99367050e-01 -9.61403813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414012739 meters Centerline goodness [0,1] 0.9904308255007868 Centerline is valid? [True, True] Translation: X:29.20, Y:-2.35, Z:-0.96 [[ 9.88807485e-01 1.45092327e-01 3.47559182e-02 2.91991130e+01] [-1.45005175e-01 9.89418118e-01 -5.02863655e-03 -2.35020420e+00] [-3.51177518e-02 -6.74345407e-05 9.99383179e-01 -9.63605470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444012738999998 meters Centerline goodness [0,1] 0.9944084628670121 Centerline is valid? [True, True] Translation: X:29.23, Y:-2.36, Z:-0.97 [[ 9.88974951e-01 1.44520007e-01 3.22879856e-02 2.92301540e+01] [-1.44444306e-01 9.89501878e-01 -4.67721705e-03 -2.35662728e+00] [-3.26249738e-02 -3.81651581e-05 9.99467663e-01 -9.70886143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474012739 meters Centerline goodness [0,1] 0.9947850148999574 Centerline is valid? [True, True] Translation: X:29.26, Y:-2.36, Z:-0.97 [[ 9.88984040e-01 1.44606675e-01 3.16145201e-02 2.92616638e+01] [-1.44533975e-01 9.89489216e-01 -4.58493549e-03 -2.36271648e+00] [-3.19452390e-02 -3.49442466e-05 9.99489620e-01 -9.72706570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504012739 meters Centerline goodness [0,1] 0.992555297357776 Centerline is valid? [True, True] Translation: X:29.29, Y:-2.37, Z:-0.97 [[ 9.88907490e-01 1.44638618e-01 3.37882581e-02 2.92933989e+01] [-1.44555375e-01 9.89484547e-01 -4.90656603e-03 -2.37004734e+00] [-3.41426382e-02 -3.21344379e-05 9.99416970e-01 -9.69355808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534012738999998 meters Centerline goodness [0,1] 0.9924323629035716 Centerline is valid? [True, True] Translation: X:29.33, Y:-2.38, Z:-0.97 [[ 9.88942121e-01 1.44238205e-01 3.44792943e-02 2.93256965e+01] [-1.44151070e-01 9.89542996e-01 -5.01288483e-03 -2.37595595e+00] [-3.48417937e-02 -1.27742152e-05 9.99392840e-01 -9.68800847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564012739 meters Centerline goodness [0,1] 0.993660584254262 Centerline is valid? [True, True] Translation: X:29.36, Y:-2.38, Z:-0.97 [[ 9.89038540e-01 1.43589117e-01 3.44228413e-02 2.93569125e+01] [-1.43501649e-01 9.89637391e-01 -5.01113142e-03 -2.38225543e+00] [-3.47856748e-02 1.64675964e-05 9.99394795e-01 -9.69230484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594012739 meters Centerline goodness [0,1] 0.9934616467124207 Centerline is valid? [True, True] Translation: X:29.39, Y:-2.39, Z:-0.97 [[ 9.89115132e-01 1.42776153e-01 3.55840792e-02 2.93882080e+01] [-1.42681926e-01 9.89755004e-01 -5.18658543e-03 -2.39000764e+00] [-3.59600411e-02 5.29251721e-05 9.99353227e-01 -9.69936259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624012738999998 meters Centerline goodness [0,1] 0.9915286624203822 Centerline is valid? [True, True] Translation: X:29.42, Y:-2.39, Z:-0.97 [[ 9.89054026e-01 1.43108198e-01 3.59468787e-02 2.94197710e+01] [-1.43012034e-01 9.89707048e-01 -5.24563195e-03 -2.39495625e+00] [-3.63275722e-02 4.73771520e-05 9.99339935e-01 -9.68902674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654012739 meters Centerline goodness [0,1] 0.9900017127686905 Centerline is valid? [True, True] Translation: X:29.45, Y:-2.40, Z:-0.97 [[ 9.88857210e-01 1.44037598e-01 3.76110169e-02 2.94523713e+01] [-1.43932733e-01 9.89572216e-01 -5.49531888e-03 -2.39646879e+00] [-3.80103498e-02 2.06292647e-05 9.99277345e-01 -9.66185689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684012739 meters Centerline goodness [0,1] 0.9887203506359574 Centerline is valid? [True, True] Translation: X:29.49, Y:-2.40, Z:-0.97 [[ 9.88668605e-01 1.45162985e-01 3.82373859e-02 2.94852807e+01] [-1.45055183e-01 9.89407756e-01 -5.59341682e-03 -2.39907714e+00] [-3.86443232e-02 -1.64954040e-05 9.99253029e-01 -9.66462600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714012738999998 meters Centerline goodness [0,1] 0.9883678031207275 Centerline is valid? [True, True] Translation: X:29.52, Y:-2.40, Z:-0.97 [[ 9.88521883e-01 1.46027282e-01 3.87365324e-02 2.95178642e+01] [-1.45917018e-01 9.89280562e-01 -5.67387246e-03 -2.40234896e+00] [-3.91498387e-02 -4.35722170e-05 9.99233350e-01 -9.67974338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744012739 meters Centerline goodness [0,1] 0.9881071634092798 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.40, Z:-0.97 [[ 9.88432943e-01 1.46946719e-01 3.75097232e-02 2.95493570e+01] [-1.46843756e-01 9.89144406e-01 -5.50041907e-03 -2.40412594e+00] [-3.79108014e-02 -7.12732301e-05 9.99281125e-01 -9.69799540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774012739 meters Centerline goodness [0,1] 0.9887289603695704 Centerline is valid? [True, True] Translation: X:29.58, Y:-2.41, Z:-0.97 [[ 9.88439559e-01 1.47113544e-01 3.66721117e-02 2.95809811e+01] [-1.47015095e-01 9.89119609e-01 -5.38162193e-03 -2.40748505e+00] [-3.70648142e-02 -7.19459568e-05 9.99312861e-01 -9.72418430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804012738999997 meters Centerline goodness [0,1] 0.9902316790894226 Centerline is valid? [True, True] Translation: X:29.61, Y:-2.41, Z:-0.98 [[ 9.88424271e-01 1.47441634e-01 3.57550764e-02 2.96126799e+01] [-1.47348056e-01 9.89070755e-01 -5.25278192e-03 -2.40871011e+00] [-3.61387792e-02 -7.64638710e-05 9.99346778e-01 -9.75350235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834012739 meters Centerline goodness [0,1] 0.9900213827512473 Centerline is valid? [True, True] Translation: X:29.64, Y:-2.41, Z:-0.98 [[ 9.88337733e-01 1.48038690e-01 3.56801387e-02 2.96449925e+01] [-1.47945686e-01 9.88981566e-01 -5.24750050e-03 -2.41262663e+00] [-3.60638325e-02 -9.24198456e-05 9.99349484e-01 -9.77745818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864012739 meters Centerline goodness [0,1] 0.989898126988873 Centerline is valid? [True, True] Translation: X:29.68, Y:-2.42, Z:-0.98 [[ 9.88264797e-01 1.48629466e-01 3.52416283e-02 2.96771678e+01] [-1.48538877e-01 9.88892952e-01 -5.18955772e-03 -2.41612628e+00] [-3.56215191e-02 -1.06094696e-04 9.99365347e-01 -9.78392912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894012739 meters Centerline goodness [0,1] 0.9901631581213138 Centerline is valid? [True, True] Translation: X:29.71, Y:-2.42, Z:-0.98 [[ 9.88119098e-01 1.49761361e-01 3.45279957e-02 2.97106155e+01] [-1.49674883e-01 9.88722163e-01 -5.09054888e-03 -2.41658886e+00] [-3.49009622e-02 -1.37905140e-04 9.99390766e-01 -9.80872934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924012739 meters Centerline goodness [0,1] 0.9903341263207527 Centerline is valid? [True, True] Translation: X:29.74, Y:-2.42, Z:-0.98 [[ 9.87980354e-01 1.50750577e-01 3.41918748e-02 2.97433097e+01] [-1.50666146e-01 9.88571816e-01 -5.04739718e-03 -2.41817351e+00] [-3.45620219e-02 -1.64828751e-04 9.99402541e-01 -9.83011514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954012739 meters Centerline goodness [0,1] 0.9866575873002362 Centerline is valid? [True, True] Translation: X:29.78, Y:-2.42, Z:-0.98 [[ 9.87614249e-01 1.52850595e-01 3.54230157e-02 2.97754141e+01] [-1.52761091e-01 9.88249279e-01 -5.23556627e-03 -2.41604846e+00] [-3.58070292e-02 -2.40538697e-04 9.99358694e-01 -9.81505014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984012739 meters Centerline goodness [0,1] 0.9868921866313134 Centerline is valid? [True, True] Translation: X:29.81, Y:-2.42, Z:-0.98 [[ 9.87506483e-01 1.53528285e-01 3.54966370e-02 2.98068479e+01] [-1.53438745e-01 9.88144219e-01 -5.24926310e-03 -2.41851660e+00] [-3.58817070e-02 -2.62878094e-04 9.99356010e-01 -9.82051670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.014012738999995 meters Centerline goodness [0,1] 0.9867113200661214 Centerline is valid? [True, True] Translation: X:29.84, Y:-2.42, Z:-0.98 [[ 9.87494632e-01 1.53775771e-01 3.47471411e-02 2.98382975e+01] [-1.53690100e-01 9.88105734e-01 -5.13921959e-03 -2.42046127e+00] [-3.51241368e-02 -2.65339818e-04 9.99382922e-01 -9.84834126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044012738999996 meters Centerline goodness [0,1] 0.988786449399657 Centerline is valid? [True, True] Translation: X:29.87, Y:-2.42, Z:-0.99 [[ 9.87513487e-01 1.54153331e-01 3.24632630e-02 2.98703111e+01] [-1.54078734e-01 9.88046903e-01 -4.80214303e-03 -2.41902803e+00] [-3.28154928e-02 -2.59717450e-04 9.99461393e-01 -9.91543798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.074012739 meters Centerline goodness [0,1] 0.9893408134642356 Centerline is valid? [True, True] Translation: X:29.90, Y:-2.42, Z:-0.99 [[ 9.87582232e-01 1.53889990e-01 3.16102292e-02 2.98995548e+01] [-1.53819108e-01 9.88087957e-01 -4.67658563e-03 -2.42070661e+00] [-3.19533665e-02 -2.43744404e-04 9.99489331e-01 -9.94255065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104012739 meters Centerline goodness [0,1] 0.9902937695039277 Centerline is valid? [True, True] Translation: X:29.93, Y:-2.42, Z:-1.00 [[ 9.87704178e-01 1.53302057e-01 3.06420821e-02 2.99285250e+01] [-1.53235180e-01 9.88179352e-01 -4.53297509e-03 -2.42430320e+00] [-3.09747873e-02 -2.18206533e-04 9.99520142e-01 -9.96760169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13401273899999 meters Centerline goodness [0,1] 0.9933539045810587 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.43, Z:-1.00 [[ 9.88095328e-01 1.50872870e-01 3.00832303e-02 2.99587155e+01] [-1.50807305e-01 9.88553164e-01 -4.44964349e-03 -2.42791221e+00] [-3.04102029e-02 -1.40098937e-04 9.99537493e-01 -9.98386785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16401273899999 meters Centerline goodness [0,1] 0.9939994387964342 Centerline is valid? [True, True] Translation: X:29.99, Y:-2.43, Z:-1.00 [[ 9.88314137e-01 1.49316911e-01 3.06533184e-02 2.99877228e+01] [-1.49248089e-01 9.88789387e-01 -4.53394103e-03 -2.43163884e+00] [-3.09866699e-02 -9.39911560e-05 9.99519793e-01 -9.98395784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.194012738999994 meters Centerline goodness [0,1] 0.996085142796021 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.44, Z:-1.00 [[ 9.88919208e-01 1.44986307e-01 3.19025096e-02 3.00174198e+01] [-1.44909516e-01 9.89433661e-01 -4.71838687e-03 -2.43830181e+00] [-3.22495183e-02 4.31261908e-05 9.99479848e-01 -9.96950700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224012738999996 meters Centerline goodness [0,1] 0.9971768329198392 Centerline is valid? [True, True] Translation: X:30.05, Y:-2.44, Z:-1.00 [[ 9.89208582e-01 1.42871425e-01 3.24674801e-02 3.00493412e+01] [-1.42790717e-01 9.89741250e-01 -4.80294643e-03 -2.44459889e+00] [-3.28206081e-02 1.15061058e-04 9.99461252e-01 -9.97787725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.254012739 meters Centerline goodness [0,1] 0.9971384926525958 Centerline is valid? [True, True] Translation: X:30.08, Y:-2.45, Z:-1.00 [[ 9.89474408e-01 1.40940475e-01 3.28051661e-02 3.00812913e+01] [-1.40856833e-01 9.90018054e-01 -4.85849798e-03 -2.45053052e+00] [-3.31624658e-02 1.86527604e-04 9.99449957e-01 -9.98582019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284012739 meters Centerline goodness [0,1] 0.9978944654520454 Centerline is valid? [True, True] Translation: X:30.11, Y:-2.46, Z:-1.00 [[ 9.89947072e-01 1.37835192e-01 3.17215242e-02 3.01119303e+01] [-1.37755225e-01 9.90455137e-01 -4.70317659e-03 -2.45681259e+00] [-3.20670098e-02 2.86090185e-04 9.99485680e-01 -1.00148613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314012739 meters Centerline goodness [0,1] 0.9970128872578305 Centerline is valid? [True, True] Translation: X:30.14, Y:-2.46, Z:-1.00 [[ 9.90187617e-01 1.36114352e-01 3.16443749e-02 3.01422880e+01] [-1.36033745e-01 9.90693072e-01 -4.69646416e-03 -2.46439629e+00] [-3.19891192e-02 3.45677845e-04 9.99488157e-01 -1.00201944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34401273899999 meters Centerline goodness [0,1] 0.995449106913939 Centerline is valid? [True, True] Translation: X:30.17, Y:-2.47, Z:-1.00 [[ 9.90382840e-01 1.34199804e-01 3.36488274e-02 3.01742189e+01] [-1.34107431e-01 9.90954198e-01 -4.99753007e-03 -2.47058679e+00] [-3.40151143e-02 4.36910226e-04 9.99421223e-01 -9.98048693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.374012738999994 meters Centerline goodness [0,1] 0.9941052450410912 Centerline is valid? [True, True] Translation: X:30.21, Y:-2.48, Z:-1.00 [[ 9.90298109e-01 1.34558268e-01 3.46947845e-02 3.02063570e+01] [-1.34460072e-01 9.90905584e-01 -5.15881488e-03 -2.47551652e+00] [-3.50734169e-02 4.43701397e-04 9.99384640e-01 -9.96117284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404012738999995 meters Centerline goodness [0,1] 0.9942213980766743 Centerline is valid? [True, True] Translation: X:30.24, Y:-2.48, Z:-0.99 [[ 9.90192871e-01 1.35043126e-01 3.57971092e-02 3.02391505e+01] [-1.34938668e-01 9.90839621e-01 -5.32925901e-03 -2.47707127e+00] [-3.61888739e-02 4.46580030e-04 9.99344868e-01 -9.94755851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.434012738999996 meters Centerline goodness [0,1] 0.9924933321861825 Centerline is valid? [True, True] Translation: X:30.27, Y:-2.48, Z:-0.99 [[ 9.90067234e-01 1.35550167e-01 3.73232478e-02 3.02707970e+01] [-1.35436708e-01 9.90770380e-01 -5.56339757e-03 -2.47680297e+00] [-3.77328879e-02 4.53199832e-04 9.99287758e-01 -9.93459498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464012739 meters Centerline goodness [0,1] 0.9906958796038245 Centerline is valid? [True, True] Translation: X:30.30, Y:-2.48, Z:-0.99 [[ 9.90017347e-01 1.35766983e-01 3.78547030e-02 3.03037338e+01] [-1.35650192e-01 9.90740691e-01 -5.64873028e-03 -2.48013885e+00] [-3.82711057e-02 4.57343238e-04 9.99267288e-01 -9.93331099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494012739 meters Centerline goodness [0,1] 0.9894593602177247 Centerline is valid? [True, True] Translation: X:30.33, Y:-2.48, Z:-0.99 [[ 9.90051592e-01 1.35244526e-01 3.88170439e-02 3.03349184e+01] [-1.35121044e-01 9.90812127e-01 -5.79929845e-03 -2.48420623e+00] [-3.92447212e-02 4.96605160e-04 9.99229506e-01 -9.92787503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52401273899999 meters Centerline goodness [0,1] 0.9891351026367775 Centerline is valid? [True, True] Translation: X:30.37, Y:-2.49, Z:-0.99 [[ 9.90209680e-01 1.34223126e-01 3.83267818e-02 3.03661920e+01] [-1.34101755e-01 9.90950990e-01 -5.73185304e-03 -2.48954992e+00] [-3.87493096e-02 5.36047653e-04 9.99248820e-01 -9.94052198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.554012738999994 meters Centerline goodness [0,1] 0.99011983681795 Centerline is valid? [True, True] Translation: X:30.40, Y:-2.50, Z:-1.00 [[ 9.90479546e-01 1.32624228e-01 3.68928681e-02 3.03971869e+01] [-1.32510453e-01 9.91166220e-01 -5.52305741e-03 -2.49534676e+00] [-3.72994559e-02 5.81784731e-04 9.99303964e-01 -9.97722554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584012738999995 meters Centerline goodness [0,1] 0.989937215102778 Centerline is valid? [True, True] Translation: X:30.43, Y:-2.50, Z:-1.00 [[ 9.91046568e-01 1.28913748e-01 3.47555050e-02 3.04278758e+01] [-1.28810325e-01 9.91655574e-01 -5.20798395e-03 -2.50382616e+00] [-3.51368710e-02 6.84486718e-04 9.99382275e-01 -1.00336768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.614012738999996 meters Centerline goodness [0,1] 0.9898108026942383 Centerline is valid? [True, True] Translation: X:30.46, Y:-2.51, Z:-1.00 [[ 9.91300159e-01 1.26927521e-01 3.48338915e-02 3.04590461e+01] [-1.26822222e-01 9.91911702e-01 -5.22493182e-03 -2.51099476e+00] [-3.52153322e-02 7.61764228e-04 9.99379458e-01 -1.00421435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644012739 meters Centerline goodness [0,1] 0.9849252678170505 Centerline is valid? [True, True] Translation: X:30.49, Y:-2.52, Z:-1.00 [[ 9.91676980e-01 1.23735997e-01 3.55832925e-02 3.04877838e+01] [-1.23623896e-01 9.92314766e-01 -5.34197365e-03 -2.52113619e+00] [-3.59708210e-02 8.98567040e-04 9.99352437e-01 -1.00175404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674012739 meters Centerline goodness [0,1] 0.9849518884320292 Centerline is valid? [True, True] Translation: X:30.52, Y:-2.53, Z:-1.00 [[ 9.91675304e-01 1.23778524e-01 3.54819375e-02 3.05208060e+01] [-1.23667044e-01 9.92309465e-01 -5.32798524e-03 -2.52562590e+00] [-3.58685526e-02 8.95685055e-04 9.99356115e-01 -1.00361945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70401273899999 meters Centerline goodness [0,1] 0.990017426475334 Centerline is valid? [True, True] Translation: X:30.55, Y:-2.53, Z:-1.01 [[ 9.91542898e-01 1.25559420e-01 3.28255050e-02 3.05505528e+01] [-1.25464823e-01 9.92085799e-01 -4.93409126e-03 -2.52846348e+00] [-3.31852390e-02 7.73916987e-04 9.99448919e-01 -1.01081380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73401273899999 meters Centerline goodness [0,1] 0.9916215519463779 Centerline is valid? [True, True] Translation: X:30.58, Y:-2.53, Z:-1.01 [[ 9.91396023e-01 1.26927865e-01 3.19881527e-02 3.05827866e+01] [-1.26838669e-01 9.91911695e-01 -4.81057323e-03 -2.53260080e+00] [-3.23400186e-02 7.11848445e-04 9.99476671e-01 -1.01431598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764012738999995 meters Centerline goodness [0,1] 0.9935823385958157 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.54, Z:-1.02 [[ 9.91266047e-01 1.28197348e-01 3.09364477e-02 3.06146650e+01] [-1.28114396e-01 9.91748463e-01 -4.65704283e-03 -2.53539332e+00] [-3.12781950e-02 6.52964131e-04 9.99510504e-01 -1.01644658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794012738999996 meters Centerline goodness [0,1] 0.9929260450160772 Centerline is valid? [True, True] Translation: X:30.65, Y:-2.54, Z:-1.02 [[ 9.91013032e-01 1.30079824e-01 3.11834780e-02 3.06458337e+01] [-1.29996319e-01 9.91503341e-01 -4.69907485e-03 -2.53584788e+00] [-3.15297775e-02 6.03107046e-04 9.99502631e-01 -1.01662404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824012739 meters Centerline goodness [0,1] 0.9936440677966102 Centerline is valid? [True, True] Translation: X:30.68, Y:-2.54, Z:-1.02 [[ 9.90842253e-01 1.31229570e-01 3.17872640e-02 3.06773126e+01] [-1.31143241e-01 9.91351835e-01 -4.79469079e-03 -2.53902899e+00] [-3.21415677e-02 5.82097385e-04 9.99483157e-01 -1.01669442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854012739 meters Centerline goodness [0,1] 0.9955249569707401 Centerline is valid? [True, True] Translation: X:30.71, Y:-2.54, Z:-1.02 [[ 9.90525293e-01 1.33449464e-01 3.24173439e-02 3.07096819e+01] [-1.33360709e-01 9.91055480e-01 -4.89450132e-03 -2.54042702e+00] [-3.27805549e-02 5.24927374e-04 9.99462435e-01 -1.01669426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88401273899999 meters Centerline goodness [0,1] 0.994554572652332 Centerline is valid? [True, True] Translation: X:30.74, Y:-2.55, Z:-1.02 [[ 9.90527556e-01 1.33436943e-01 3.23997400e-02 3.07410262e+01] [-1.33348109e-01 9.91057163e-01 -4.89698997e-03 -2.54630876e+00] [-3.27634338e-02 5.30159439e-04 9.99462994e-01 -1.01752331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91401273899999 meters Centerline goodness [0,1] 0.991280700997108 Centerline is valid? [True, True] Translation: X:30.77, Y:-2.56, Z:-1.02 [[ 9.90829333e-01 1.31138907e-01 3.25548636e-02 3.07703739e+01] [-1.31047820e-01 9.91363813e-01 -4.92531112e-03 -2.55796005e+00] [-3.29196137e-02 6.13898816e-04 9.99457814e-01 -1.01673253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944012738999994 meters Centerline goodness [0,1] 0.9935862711533878 Centerline is valid? [True, True] Translation: X:30.80, Y:-2.56, Z:-1.02 [[ 9.90943151e-01 1.30219072e-01 3.27820913e-02 3.08024845e+01] [-1.30126108e-01 9.91485032e-01 -4.96264109e-03 -2.55968500e+00] [-3.31491833e-02 6.51889255e-04 9.99450202e-01 -1.01841966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.974012738999996 meters Centerline goodness [0,1] 0.9918936934224956 Centerline is valid? [True, True] Translation: X:30.83, Y:-2.57, Z:-1.02 [[ 9.90999316e-01 1.29822952e-01 3.26551178e-02 3.08323024e+01] [-1.29730327e-01 9.91536966e-01 -4.94841668e-03 -2.56867043e+00] [-3.30211745e-02 6.67518435e-04 9.99454429e-01 -1.01904060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004012739 meters Centerline goodness [0,1] 0.991782459285821 Centerline is valid? [True, True] Translation: X:30.86, Y:-2.57, Z:-1.02 [[ 9.90782388e-01 1.31215081e-01 3.36580149e-02 3.08633681e+01] [-1.31117366e-01 9.91353715e-01 -5.10372789e-03 -2.57405600e+00] [-3.40366842e-02 6.43533464e-04 9.99420377e-01 -1.01747834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034012739 meters Centerline goodness [0,1] 0.9926145070662353 Centerline is valid? [True, True] Translation: X:30.90, Y:-2.58, Z:-1.02 [[ 9.90651698e-01 1.32227307e-01 3.35432817e-02 3.08951395e+01] [-1.32130673e-01 9.91219232e-01 -5.09115781e-03 -2.57849164e+00] [-3.39219360e-02 6.11467737e-04 9.99424298e-01 -1.01779341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064012739 meters Centerline goodness [0,1] 0.9946475978419115 Centerline is valid? [True, True] Translation: X:30.93, Y:-2.58, Z:-1.02 [[ 9.90454136e-01 1.33767416e-01 3.32698634e-02 3.09275220e+01] [-1.33673049e-01 9.91012596e-01 -5.05472916e-03 -2.58030318e+00] [-3.36470118e-02 5.59193314e-04 9.99433623e-01 -1.01949863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09401273899999 meters Centerline goodness [0,1] 0.9946883701006639 Centerline is valid? [True, True] Translation: X:30.96, Y:-2.59, Z:-1.02 [[ 9.90388176e-01 1.34382233e-01 3.27517296e-02 3.09582477e+01] [-1.34290959e-01 9.90929427e-01 -4.98084696e-03 -2.58519502e+00] [-3.31239900e-02 5.34710764e-04 9.99451107e-01 -1.02161428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124012738999994 meters Centerline goodness [0,1] 0.9946883701006639 Centerline is valid? [True, True] Translation: X:30.99, Y:-2.59, Z:-1.02 [[ 9.90367471e-01 1.34534861e-01 3.27512494e-02 3.09895507e+01] [-1.34443566e-01 9.90908718e-01 -4.98400228e-03 -2.59009744e+00] [-3.31240206e-02 5.32798954e-04 9.99451107e-01 -1.02253087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.154012738999995 meters Centerline goodness [0,1] 0.99644128113879 Centerline is valid? [True, True] Translation: X:31.02, Y:-2.59, Z:-1.03 [[ 9.90252703e-01 1.35500285e-01 3.22374989e-02 3.10213401e+01] [-1.35412179e-01 9.90777182e-01 -4.91086646e-03 -2.59303875e+00] [-3.26056022e-02 4.97648792e-04 9.99468172e-01 -1.02576948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184012738999996 meters Centerline goodness [0,1] 0.995931582422732 Centerline is valid? [True, True] Translation: X:31.05, Y:-2.60, Z:-1.03 [[ 9.90188020e-01 1.35960830e-01 3.22852564e-02 3.10517029e+01] [-1.35872540e-01 9.90714093e-01 -4.92326680e-03 -2.60174829e+00] [-3.26548300e-02 4.88280008e-04 9.99466570e-01 -1.02562408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214012739 meters Centerline goodness [0,1] 0.9970328999040056 Centerline is valid? [True, True] Translation: X:31.08, Y:-2.60, Z:-1.03 [[ 9.90144689e-01 1.36233519e-01 3.24641961e-02 3.10844958e+01] [-1.36144280e-01 9.90676634e-01 -4.95400233e-03 -2.60451563e+00] [-3.28364217e-02 4.85364484e-04 9.99460621e-01 -1.02678856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244012739 meters Centerline goodness [0,1] 0.9959472053054766 Centerline is valid? [True, True] Translation: X:31.12, Y:-2.61, Z:-1.03 [[ 9.90048090e-01 1.36820470e-01 3.29384082e-02 3.11166113e+01] [-1.36728713e-01 9.90595745e-01 -5.03285648e-03 -2.61112718e+00] [-3.33172448e-02 4.79143776e-04 9.99444712e-01 -1.02662578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27401273899999 meters Centerline goodness [0,1] 0.9962121212121212 Centerline is valid? [True, True] Translation: X:31.15, Y:-2.62, Z:-1.03 [[ 9.89930214e-01 1.37518189e-01 3.35696214e-02 3.11493571e+01] [-1.37423056e-01 9.90499130e-01 -5.13593555e-03 -2.61727818e+00] [-3.39569653e-02 4.70977806e-04 9.99423185e-01 -1.02622525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304012738999994 meters Centerline goodness [0,1] 0.9955253885562353 Centerline is valid? [True, True] Translation: X:31.18, Y:-2.63, Z:-1.02 [[ 9.89686332e-01 1.38896782e-01 3.50520849e-02 3.11805055e+01] [-1.38793677e-01 9.90306762e-01 -5.36963774e-03 -2.62629177e+00] [-3.54581420e-02 4.49249330e-04 9.99371061e-01 -1.02462239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.334012738999995 meters Centerline goodness [0,1] 0.9954511156623909 Centerline is valid? [True, True] Translation: X:31.21, Y:-2.63, Z:-1.02 [[ 9.89593674e-01 1.39544109e-01 3.50970326e-02 3.12108176e+01] [-1.39440953e-01 9.90215762e-01 -5.38197767e-03 -2.63307090e+00] [-3.55046581e-02 4.32007387e-04 9.99369417e-01 -1.02484474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364012738999996 meters Centerline goodness [0,1] 0.9963815219275438 Centerline is valid? [True, True] Translation: X:31.24, Y:-2.64, Z:-1.03 [[ 9.89407059e-01 1.41009943e-01 3.44944485e-02 3.12426260e+01] [-1.40911062e-01 9.90008108e-01 -5.29323242e-03 -2.63896487e+00] [-3.48961821e-02 3.76512141e-04 9.99390872e-01 -1.02687064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.394012739 meters Centerline goodness [0,1] 0.9960134599309857 Centerline is valid? [True, True] Translation: X:31.27, Y:-2.64, Z:-1.03 [[ 9.89253815e-01 1.42011451e-01 3.47798559e-02 3.12744366e+01] [-1.41911340e-01 9.89864953e-01 -5.34285662e-03 -2.64393455e+00] [-3.51861072e-02 3.49785348e-04 9.99380716e-01 -1.02775140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424012739 meters Centerline goodness [0,1] 0.9943498006439095 Centerline is valid? [True, True] Translation: X:31.30, Y:-2.65, Z:-1.03 [[ 9.89077616e-01 1.43226576e-01 3.48082868e-02 3.13045237e+01] [-1.43126852e-01 9.89689876e-01 -5.35294794e-03 -2.65252499e+00] [-3.52160934e-02 3.12480480e-04 9.99379672e-01 -1.02616090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45401273899999 meters Centerline goodness [0,1] 0.9961994428728757 Centerline is valid? [True, True] Translation: X:31.34, Y:-2.65, Z:-1.03 [[ 9.88865562e-01 1.44696567e-01 3.47534832e-02 3.13363527e+01] [-1.44597873e-01 9.89476040e-01 -5.34994367e-03 -2.65456352e+00] [-3.51618574e-02 2.65095308e-04 9.99381596e-01 -1.02945025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48401273899999 meters Centerline goodness [0,1] 0.9956055850200238 Centerline is valid? [True, True] Translation: X:31.37, Y:-2.66, Z:-1.03 [[ 9.88420900e-01 1.47961586e-01 3.36376802e-02 3.13671888e+01] [-1.47870835e-01 9.88993097e-01 -5.18354657e-03 -2.65926948e+00] [-3.40343993e-02 1.49493897e-04 9.99420651e-01 -1.03229526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.514012738999995 meters Centerline goodness [0,1] 0.9928546831955923 Centerline is valid? [True, True] Translation: X:31.40, Y:-2.66, Z:-1.03 [[ 9.88000514e-01 1.50590575e-01 3.43141786e-02 3.13990030e+01] [-1.50497533e-01 9.88596214e-01 -5.29321876e-03 -2.66315761e+00] [-3.47199759e-02 6.55036351e-05 9.99397078e-01 -1.03266856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544012738999996 meters Centerline goodness [0,1] 0.9922554613098467 Centerline is valid? [True, True] Translation: X:31.43, Y:-2.67, Z:-1.03 [[ 9.87742931e-01 1.52272342e-01 3.43079483e-02 3.14310393e+01] [-1.52180148e-01 9.88338572e-01 -5.29800625e-03 -2.66733642e+00] [-3.47146084e-02 1.20795909e-05 9.99397266e-01 -1.03427062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.574012739 meters Centerline goodness [0,1] 0.9904747505291805 Centerline is valid? [True, True] Translation: X:31.46, Y:-2.67, Z:-1.04 [[ 9.87468219e-01 1.54148772e-01 3.38330081e-02 3.14617785e+01] [-1.54060033e-01 9.88047648e-01 -5.22997014e-03 -2.67117967e+00] [-3.42348176e-02 -4.78850328e-05 9.99413816e-01 -1.03580792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604012739 meters Centerline goodness [0,1] 0.990466557631058 Centerline is valid? [True, True] Translation: X:31.49, Y:-2.67, Z:-1.04 [[ 9.87207763e-01 1.55943297e-01 3.32042231e-02 3.14921105e+01] [-1.55858751e-01 9.87766003e-01 -5.13544346e-03 -2.67464736e+00] [-3.35988407e-02 -1.05419066e-04 9.99435394e-01 -1.03879346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63401273899999 meters Centerline goodness [0,1] 0.9876948846798093 Centerline is valid? [True, True] Translation: X:31.52, Y:-2.67, Z:-1.04 [[ 9.86566651e-01 1.60235620e-01 3.17928977e-02 3.15219861e+01] [-1.60160340e-01 9.87078765e-01 -4.91705269e-03 -2.67117531e+00] [-3.21699811e-02 -2.40961097e-04 9.99482383e-01 -1.04275570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66401273899999 meters Centerline goodness [0,1] 0.987776797434849 Centerline is valid? [True, True] Translation: X:31.55, Y:-2.67, Z:-1.04 [[ 9.86201828e-01 1.62497870e-01 3.16290348e-02 3.15515499e+01] [-1.62424561e-01 9.86708844e-01 -4.89064456e-03 -2.67192456e+00] [-3.20033677e-02 -3.14169480e-04 9.99487712e-01 -1.04438532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694012738999994 meters Centerline goodness [0,1] 0.9859621213749812 Centerline is valid? [True, True] Translation: X:31.58, Y:-2.67, Z:-1.04 [[ 9.85696506e-01 1.65370747e-01 3.24794481e-02 3.15804251e+01] [-1.65295028e-01 9.86231383e-01 -5.02129476e-03 -2.67050560e+00] [-3.28626263e-02 -4.19218589e-04 9.99459790e-01 -1.04363122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724012738999996 meters Centerline goodness [0,1] 0.9852572481625131 Centerline is valid? [True, True] Translation: X:31.61, Y:-2.67, Z:-1.04 [[ 9.85733934e-01 1.65000137e-01 3.32199723e-02 3.16080975e+01] [-1.64920756e-01 9.86293456e-01 -5.13454695e-03 -2.67456686e+00] [-3.36118422e-02 -4.17365784e-04 9.99434875e-01 -1.04241661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.754012739 meters Centerline goodness [0,1] 0.9845142220699109 Centerline is valid? [True, True] Translation: X:31.64, Y:-2.68, Z:-1.04 [[ 9.86008331e-01 1.63226220e-01 3.38344718e-02 3.16354440e+01] [-1.63142900e-01 9.86588601e-01 -5.22747315e-03 -2.68213262e+00] [-3.42339649e-02 -3.65521788e-04 9.99413779e-01 -1.04147082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784012739 meters Centerline goodness [0,1] 0.9871756444292198 Centerline is valid? [True, True] Translation: X:31.66, Y:-2.69, Z:-1.04 [[ 9.86771139e-01 1.58352078e-01 3.47467720e-02 3.16624079e+01] [-1.58261249e-01 9.87382691e-01 -5.36648405e-03 -2.69404856e+00] [-3.51581552e-02 -2.03575951e-04 9.99381740e-01 -1.04113953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814012739 meters Centerline goodness [0,1] 0.9836132468536575 Centerline is valid? [True, True] Translation: X:31.69, Y:-2.70, Z:-1.03 [[ 9.87142954e-01 1.56331713e-01 3.33044163e-02 3.16928953e+01] [-1.56247147e-01 9.87704601e-01 -5.14290083e-03 -2.70298852e+00] [-3.36989237e-02 -1.26941717e-04 9.99432022e-01 -1.03044136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84401273899999 meters Centerline goodness [0,1] 0.9913720584111646 Centerline is valid? [True, True] Translation: X:31.72, Y:-2.72, Z:-1.05 [[ 9.87517735e-01 1.53751390e-01 3.41940478e-02 3.17222725e+01] [-1.53660640e-01 9.88109563e-01 -5.28194378e-03 -2.71891845e+00] [-3.45995718e-02 -3.82661142e-05 9.99401255e-01 -1.04632511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.874012738999994 meters Centerline goodness [0,1] 0.9915730337078652 Centerline is valid? [True, True] Translation: X:31.75, Y:-2.73, Z:-1.05 [[ 9.87693384e-01 1.52626417e-01 3.41607470e-02 3.17531940e+01] [-1.52534969e-01 9.88283956e-01 -5.28265847e-03 -2.72806279e+00] [-3.45667914e-02 6.93834107e-06 9.99402390e-01 -1.04601593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.904012738999995 meters Centerline goodness [0,1] 0.9940408075137644 Centerline is valid? [True, True] Translation: X:31.78, Y:-2.74, Z:-1.05 [[ 9.87880444e-01 1.51472869e-01 3.38850908e-02 3.17843447e+01] [-1.51382008e-01 9.88461414e-01 -5.24599260e-03 -2.74015260e+00] [-3.42887303e-02 5.28204226e-05 9.99411967e-01 -1.04716164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.934012738999996 meters Centerline goodness [0,1] 0.9945305378304466 Centerline is valid? [True, True] Translation: X:31.82, Y:-2.75, Z:-1.05 [[ 9.87825097e-01 1.51843431e-01 3.38400747e-02 3.18163211e+01] [-1.51752842e-01 9.88404558e-01 -5.24449761e-03 -2.74813399e+00] [-3.42440266e-02 4.53188517e-05 9.99413500e-01 -1.05090103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964012739 meters Centerline goodness [0,1] 0.9928977272727273 Centerline is valid? [True, True] Translation: X:31.85, Y:-2.76, Z:-1.05 [[ 9.87649705e-01 1.52912512e-01 3.41441596e-02 3.18475658e+01] [-1.52820689e-01 9.88239730e-01 -5.29845489e-03 -2.75574719e+00] [-3.45528151e-02 1.50834242e-05 9.99402873e-01 -1.05027396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994012739 meters Centerline goodness [0,1] 0.9897131766228164 Centerline is valid? [True, True] Translation: X:31.88, Y:-2.76, Z:-1.05 [[ 9.87012103e-01 1.56833294e-01 3.47911765e-02 3.18795887e+01] [-1.56740185e-01 9.87625083e-01 -5.40468581e-03 -2.75919998e+00] [-3.52082733e-02 -1.18685126e-04 9.99379989e-01 -1.04969787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02401273899999 meters Centerline goodness [0,1] 0.9840063716204581 Centerline is valid? [True, True] Translation: X:31.91, Y:-2.76, Z:-1.04 [[ 9.86574736e-01 1.59875424e-01 3.33187486e-02 3.19108518e+01] [-1.59791685e-01 9.87137175e-01 -5.17831173e-03 -2.75982611e+00] [-3.37180602e-02 -2.15267449e-04 9.99431361e-01 -1.04197960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.054012738999994 meters Centerline goodness [0,1] 0.9858649653068677 Centerline is valid? [True, True] Translation: X:31.94, Y:-2.76, Z:-1.05 [[ 9.85776557e-01 1.64749045e-01 3.32013774e-02 3.19400046e+01] [-1.64668508e-01 9.86335445e-01 -5.16448887e-03 -2.75972518e+00] [-3.35985399e-02 -3.76189205e-04 9.99435339e-01 -1.05479696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084012738999995 meters Centerline goodness [0,1] 0.9850854391272851 Centerline is valid? [True, True] Translation: X:31.97, Y:-2.76, Z:-1.06 [[ 9.85460907e-01 1.66640363e-01 3.31329224e-02 3.19690617e+01] [-1.66561227e-01 9.86017645e-01 -5.15382479e-03 -2.76173528e+00] [-3.35284813e-02 -4.39767338e-04 9.99437666e-01 -1.05693461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.114012738999996 meters Centerline goodness [0,1] 0.9833953070906527 Centerline is valid? [True, True] Translation: X:32.00, Y:-2.76, Z:-1.06 [[ 9.84946260e-01 1.69627672e-01 3.32763906e-02 3.19986875e+01] [-1.69549579e-01 9.85508070e-01 -5.17530749e-03 -2.75908017e+00] [-3.36720268e-02 -5.44598261e-04 9.99432788e-01 -1.05717290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144012739 meters Centerline goodness [0,1] 0.9829633121892679 Centerline is valid? [True, True] Translation: X:32.03, Y:-2.76, Z:-1.06 [[ 9.84750736e-01 1.70757814e-01 3.32829733e-02 3.20277915e+01] [-1.70680373e-01 9.85312858e-01 -5.17522852e-03 -2.76209608e+00] [-3.36778523e-02 -5.84440210e-04 9.99432569e-01 -1.05928362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174012739 meters Centerline goodness [0,1] 0.9836999593034463 Centerline is valid? [True, True] Translation: X:32.06, Y:-2.76, Z:-1.06 [[ 9.84649368e-01 1.71380654e-01 3.30801046e-02 3.20566786e+01] [-1.71304534e-01 9.85204704e-01 -5.14281254e-03 -2.76454407e+00] [-3.34720532e-02 -6.02904777e-04 9.99439472e-01 -1.06017081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20401273899999 meters Centerline goodness [0,1] 0.9825754812128495 Centerline is valid? [True, True] Translation: X:32.08, Y:-2.77, Z:-1.06 [[ 9.84756245e-01 1.70935310e-01 3.21909673e-02 3.20845877e+01] [-1.70863040e-01 9.85282087e-01 -5.00307120e-03 -2.76698363e+00] [-3.25723849e-02 -5.73440919e-04 9.99469215e-01 -1.06295094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23401273899999 meters Centerline goodness [0,1] 0.9828241828669088 Centerline is valid? [True, True] Translation: X:32.11, Y:-2.77, Z:-1.06 [[ 9.84882704e-01 1.70283753e-01 3.17726809e-02 3.21127242e+01] [-1.70213071e-01 9.85394918e-01 -4.93616791e-03 -2.76980272e+00] [-3.21491875e-02 -5.46579184e-04 9.99482932e-01 -1.06462251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264012738999995 meters Centerline goodness [0,1] 0.9842524732377513 Centerline is valid? [True, True] Translation: X:32.14, Y:-2.78, Z:-1.07 [[ 9.85291607e-01 1.67841335e-01 3.20895049e-02 3.21411992e+01] [-1.67767998e-01 9.85813909e-01 -4.98363006e-03 -2.77773738e+00] [-3.24707394e-02 -4.73263131e-04 9.99472574e-01 -1.06597708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294012738999996 meters Centerline goodness [0,1] 0.9847467054595243 Centerline is valid? [True, True] Translation: X:32.17, Y:-2.78, Z:-1.06 [[ 9.85650921e-01 1.65504371e-01 3.31747539e-02 3.21695233e+01] [-1.65424705e-01 9.86208971e-01 -5.15099329e-03 -2.78470014e+00] [-3.35697519e-02 -4.10842590e-04 9.99436293e-01 -1.06433153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324012739 meters Centerline goodness [0,1] 0.9862406063607588 Centerline is valid? [True, True] Translation: X:32.20, Y:-2.80, Z:-1.06 [[ 9.86586957e-01 1.59338920e-01 3.54582228e-02 3.21975649e+01] [-1.59243962e-01 9.87223917e-01 -5.50441495e-03 -2.79882326e+00] [-3.58822731e-02 -2.15923880e-04 9.99356001e-01 -1.06109363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354012739 meters Centerline goodness [0,1] 0.9894666980667537 Centerline is valid? [True, True] Translation: X:32.23, Y:-2.81, Z:-1.06 [[ 9.86996038e-01 1.56834945e-01 3.52366517e-02 3.22286358e+01] [-1.56739548e-01 9.87624820e-01 -5.47078244e-03 -2.80891484e+00] [-3.56586017e-02 -1.23336263e-04 9.99364022e-01 -1.06356041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38401273899999 meters Centerline goodness [0,1] 0.9921692804724106 Centerline is valid? [True, True] Translation: X:32.26, Y:-2.82, Z:-1.07 [[ 9.87339303e-01 1.54879005e-01 3.42577601e-02 3.22596303e+01] [-1.54787469e-01 9.87933445e-01 -5.32427479e-03 -2.81776284e+00] [-3.46690054e-02 -4.58062167e-05 9.99398848e-01 -1.06706116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41401273899999 meters Centerline goodness [0,1] 0.994136268032038 Centerline is valid? [True, True] Translation: X:32.29, Y:-2.83, Z:-1.07 [[ 9.87524509e-01 1.54099973e-01 3.23811886e-02 3.22899169e+01] [-1.54017608e-01 9.88055261e-01 -5.03770030e-03 -2.82589688e+00] [-3.27707132e-02 -1.24206856e-05 9.99462896e-01 -1.07019637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444012738999994 meters Centerline goodness [0,1] 0.9949810726893794 Centerline is valid? [True, True] Translation: X:32.32, Y:-2.83, Z:-1.07 [[ 9.87486649e-01 1.54573448e-01 3.12596580e-02 3.23212200e+01] [-1.54496780e-01 9.87981300e-01 -4.86788778e-03 -2.83074362e+00] [-3.16364038e-02 -2.25423115e-05 9.99499443e-01 -1.07364702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.474012738999996 meters Centerline goodness [0,1] 0.9949459407587486 Centerline is valid? [True, True] Translation: X:32.35, Y:-2.83, Z:-1.08 [[ 9.87225025e-01 1.56439383e-01 3.02236519e-02 3.23522635e+01] [-1.56368451e-01 9.87687559e-01 -4.71103036e-03 -2.83116197e+00] [-3.05885157e-02 -7.51785613e-05 9.99532059e-01 -1.07689791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504012739 meters Centerline goodness [0,1] 0.9943409218057409 Centerline is valid? [True, True] Translation: X:32.38, Y:-2.83, Z:-1.08 [[ 9.87030279e-01 1.57526944e-01 3.09271757e-02 3.23832921e+01] [-1.57453191e-01 9.87514683e-01 -4.82108173e-03 -2.83346694e+00] [-3.13004903e-02 -1.11028865e-04 9.99510013e-01 -1.07660897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534012739 meters Centerline goodness [0,1] 0.9915672913117547 Centerline is valid? [True, True] Translation: X:32.41, Y:-2.83, Z:-1.07 [[ 9.86724161e-01 1.59174885e-01 3.22301975e-02 3.24136461e+01] [-1.59095641e-01 9.87250387e-01 -5.02491360e-03 -2.83437227e+00] [-3.26191150e-02 -1.69480287e-04 9.99467841e-01 -1.07477348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564012739 meters Centerline goodness [0,1] 0.9905231478517 Centerline is valid? [True, True] Translation: X:32.44, Y:-2.84, Z:-1.07 [[ 9.86639389e-01 1.59623682e-01 3.26036340e-02 3.24434559e+01] [-1.59542828e-01 9.87177920e-01 -5.08335473e-03 -2.83777584e+00] [-3.29970114e-02 -1.86237965e-04 9.99455433e-01 -1.07486098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59401273899999 meters Centerline goodness [0,1] 0.9916048751384983 Centerline is valid? [True, True] Translation: X:32.47, Y:-2.84, Z:-1.08 [[ 9.86637136e-01 1.59665928e-01 3.24646339e-02 3.24743770e+01] [-1.59585732e-01 9.87171088e-01 -5.06332874e-03 -2.84278721e+00] [-3.28565891e-02 -1.85224182e-04 9.99460059e-01 -1.07700960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624012738999994 meters Centerline goodness [0,1] 0.994002804443965 Centerline is valid? [True, True] Translation: X:32.50, Y:-2.85, Z:-1.08 [[ 9.86972072e-01 1.57710786e-01 3.18345144e-02 3.25048743e+01] [-1.57632630e-01 9.87485339e-01 -4.96584038e-03 -2.85316217e+00] [-3.22192828e-02 -1.17012454e-04 9.99480817e-01 -1.08085745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.654012738999995 meters Centerline goodness [0,1] 0.9945866034741396 Centerline is valid? [True, True] Translation: X:32.54, Y:-2.86, Z:-1.08 [[ 9.87201956e-01 1.56169791e-01 3.23000593e-02 3.25356913e+01] [-1.56088453e-01 9.87730222e-01 -5.04013051e-03 -2.86248748e+00] [-3.26908608e-02 -6.60395893e-05 9.99465509e-01 -1.08115508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684012738999996 meters Centerline goodness [0,1] 0.9956933864265928 Centerline is valid? [True, True] Translation: X:32.57, Y:-2.88, Z:-1.08 [[ 9.87737959e-01 1.52388076e-01 3.39352076e-02 3.25653479e+01] [-1.52295858e-01 9.88320732e-01 -5.30114541e-03 -2.87697765e+00] [-3.43467006e-02 6.79509995e-05 9.99409976e-01 -1.07751569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714012739 meters Centerline goodness [0,1] 0.9961311954606027 Centerline is valid? [True, True] Translation: X:32.60, Y:-2.89, Z:-1.08 [[ 9.87953400e-01 1.50930960e-01 3.41749244e-02 3.25976988e+01] [-1.50836370e-01 9.88544298e-01 -5.34413428e-03 -2.88628989e+00] [-3.45900220e-02 1.24934093e-04 9.99401578e-01 -1.07918661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744012739 meters Centerline goodness [0,1] 0.9965089631834829 Centerline is valid? [True, True] Translation: X:32.63, Y:-2.90, Z:-1.08 [[ 9.88087637e-01 1.50108105e-01 3.39172284e-02 3.26286645e+01] [-1.50014231e-01 9.88669577e-01 -5.31025655e-03 -2.89608092e+00] [-3.43300444e-02 1.58931896e-04 9.99410538e-01 -1.08109126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77401273899999 meters Centerline goodness [0,1] 0.9982837037672703 Centerline is valid? [True, True] Translation: X:32.66, Y:-2.91, Z:-1.09 [[ 9.88139897e-01 1.50404040e-01 3.09543128e-02 3.26591282e+01] [-1.50325841e-01 9.88624603e-01 -4.85144583e-03 -2.90758382e+00] [-3.13318722e-02 1.40674077e-04 9.99509026e-01 -1.08867616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804012738999994 meters Centerline goodness [0,1] 0.9984228492416714 Centerline is valid? [True, True] Translation: X:32.69, Y:-2.91, Z:-1.09 [[ 9.88081874e-01 1.51075546e-01 2.95023766e-02 3.26913498e+01] [-1.51004673e-01 9.88522213e-01 -4.62853653e-03 -2.91468693e+00] [-2.98630133e-02 1.18376327e-04 9.99553994e-01 -1.09269692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.834012738999995 meters Centerline goodness [0,1] 0.9986494887350211 Centerline is valid? [True, True] Translation: X:32.72, Y:-2.92, Z:-1.10 [[ 9.87884843e-01 1.52616894e-01 2.81357581e-02 3.27223288e+01] [-1.52552914e-01 9.88285424e-01 -4.41929155e-03 -2.92273881e+00] [-2.84806182e-02 7.35592477e-05 9.99594342e-01 -1.09595702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864012738999996 meters Centerline goodness [0,1] 0.9985786277296809 Centerline is valid? [True, True] Translation: X:32.75, Y:-2.93, Z:-1.10 [[ 9.87741962e-01 1.53479928e-01 2.84557290e-02 3.27549115e+01] [-1.53414693e-01 9.88151764e-01 -4.47472835e-03 -2.92930792e+00] [-2.88053598e-02 5.43500305e-05 9.99585038e-01 -1.09661846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.894012739 meters Centerline goodness [0,1] 0.9982290946786455 Centerline is valid? [True, True] Translation: X:32.79, Y:-2.94, Z:-1.10 [[ 9.87610993e-01 1.54277868e-01 2.86856427e-02 3.27859896e+01] [-1.54211842e-01 9.88027499e-01 -4.51327667e-03 -2.93597000e+00] [-2.90385025e-02 3.36958546e-05 9.99578293e-01 -1.09635744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924012739 meters Centerline goodness [0,1] 0.9973197821518933 Centerline is valid? [True, True] Translation: X:32.82, Y:-2.94, Z:-1.10 [[ 9.87226875e-01 1.56741055e-01 2.85541377e-02 3.28188966e+01] [-1.56676518e-01 9.87639732e-01 -4.49759779e-03 -2.94053583e+00] [-2.89061592e-02 -3.36134519e-05 9.99582129e-01 -1.09830750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95401273899999 meters Centerline goodness [0,1] 0.9968825919635371 Centerline is valid? [True, True] Translation: X:32.85, Y:-2.94, Z:-1.10 [[ 9.86919698e-01 1.58697869e-01 2.83636442e-02 3.28504408e+01] [-1.58634933e-01 9.87327189e-01 -4.46985197e-03 -2.94359624e+00] [-2.87135531e-02 -8.80798313e-05 9.99587677e-01 -1.09945413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98401273899999 meters Centerline goodness [0,1] 0.9959452826564801 Centerline is valid? [True, True] Translation: X:32.88, Y:-2.95, Z:-1.10 [[ 9.86571534e-01 1.60862701e-01 2.82807294e-02 3.28819307e+01] [-1.60800881e-01 9.86976783e-01 -4.46166891e-03 -2.94730058e+00] [-2.86301394e-02 -1.45810653e-04 9.99590063e-01 -1.10024499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.014012738999995 meters Centerline goodness [0,1] 0.9959452826564801 Centerline is valid? [True, True] Translation: X:32.91, Y:-2.95, Z:-1.10 [[ 9.86546497e-01 1.61016294e-01 2.82800809e-02 3.29131908e+01] [-1.60954419e-01 9.86951737e-01 -4.46577563e-03 -2.95238966e+00] [-2.86301376e-02 -1.46108685e-04 9.99590063e-01 -1.10116134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.044012738999996 meters Centerline goodness [0,1] 0.9953118979320974 Centerline is valid? [True, True] Translation: X:32.95, Y:-2.96, Z:-1.10 [[ 9.86357251e-01 1.62168042e-01 2.83001636e-02 3.29452911e+01] [-1.62106424e-01 9.86763141e-01 -4.47346469e-03 -2.95718216e+00] [-2.86510113e-02 -1.75203977e-04 9.99589460e-01 -1.10203398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.074012739 meters Centerline goodness [0,1] 0.9942595459236326 Centerline is valid? [True, True] Translation: X:32.98, Y:-2.96, Z:-1.10 [[ 9.86157961e-01 1.63360147e-01 2.83890436e-02 3.29766712e+01] [-1.63298505e-01 9.86566480e-01 -4.49204725e-03 -2.96236430e+00] [-2.87415003e-02 -2.06020209e-04 9.99586857e-01 -1.10217208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104012739 meters Centerline goodness [0,1] 0.9919677845374439 Centerline is valid? [True, True] Translation: X:33.01, Y:-2.97, Z:-1.10 [[ 9.85840993e-01 1.65130122e-01 2.91475278e-02 3.30074751e+01] [-1.65065774e-01 9.86271755e-01 -4.61680900e-03 -2.96670632e+00] [-2.95097577e-02 -2.59819672e-04 9.99564458e-01 -1.10200242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13401273899999 meters Centerline goodness [0,1] 0.9891954172916803 Centerline is valid? [True, True] Translation: X:33.04, Y:-2.97, Z:-1.10 [[ 9.85546528e-01 1.66488408e-01 3.12993827e-02 3.30377439e+01] [-1.66414867e-01 9.86043359e-01 -4.95839538e-03 -2.96924914e+00] [-3.16880638e-02 -3.21953266e-04 9.99497755e-01 -1.09938186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16401273899999 meters Centerline goodness [0,1] 0.9874826444515646 Centerline is valid? [True, True] Translation: X:33.07, Y:-2.97, Z:-1.10 [[ 9.85496318e-01 1.66616282e-01 3.21872799e-02 3.30682342e+01] [-1.66538555e-01 9.86021756e-01 -5.09971526e-03 -2.97410244e+00] [-3.25870538e-02 -3.34672480e-04 9.99468845e-01 -1.09870815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194012738999994 meters Centerline goodness [0,1] 0.9855025773195877 Centerline is valid? [True, True] Translation: X:33.10, Y:-2.98, Z:-1.10 [[ 9.85356616e-01 1.67267362e-01 3.30751864e-02 3.31000408e+01] [-1.67185542e-01 9.85911506e-01 -5.24371325e-03 -2.97926335e+00] [-3.34863089e-02 -3.62765429e-04 9.99439110e-01 -1.09850946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.224012738999996 meters Centerline goodness [0,1] 0.9855793137742417 Centerline is valid? [True, True] Translation: X:33.13, Y:-2.98, Z:-1.10 [[ 9.85097527e-01 1.69096716e-01 3.14509516e-02 3.31305112e+01] [-1.69023520e-01 9.85599382e-01 -4.99085074e-03 -2.98263829e+00] [-3.18419749e-02 -3.99475814e-04 9.99492836e-01 -1.10228040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.254012739 meters Centerline goodness [0,1] 0.9876298435412266 Centerline is valid? [True, True] Translation: X:33.16, Y:-2.99, Z:-1.11 [[ 9.85029494e-01 1.69781154e-01 2.98538905e-02 3.31618653e+01] [-1.69715416e-01 9.85481711e-01 -4.74081429e-03 -2.98663517e+00] [-3.02253640e-02 -3.96823549e-04 9.99543031e-01 -1.10733805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284012739 meters Centerline goodness [0,1] 0.9913697528314602 Centerline is valid? [True, True] Translation: X:33.19, Y:-2.99, Z:-1.11 [[ 9.85110144e-01 1.69768913e-01 2.71389052e-02 3.31913846e+01] [-1.69714569e-01 9.85483834e-01 -4.31025380e-03 -2.99114002e+00] [-2.74766994e-02 -3.59792843e-04 9.99622379e-01 -1.11423843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31401273899999 meters Centerline goodness [0,1] 0.9923376623376623 Centerline is valid? [True, True] Translation: X:33.22, Y:-3.00, Z:-1.12 [[ 9.85249384e-01 1.69048352e-01 2.65764244e-02 3.32201694e+01] [-1.68995975e-01 9.85607703e-01 -4.22094175e-03 -2.99689392e+00] [-2.69074719e-02 -3.32628507e-04 9.99637873e-01 -1.11560682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34401273899999 meters Centerline goodness [0,1] 0.9952372742554201 Centerline is valid? [True, True] Translation: X:33.25, Y:-3.01, Z:-1.12 [[ 9.85567298e-01 1.67371983e-01 2.53716366e-02 3.32499320e+01] [-1.67323701e-01 9.85893779e-01 -4.02925347e-03 -3.00679423e+00] [-2.56881228e-02 -2.74175683e-04 9.99669968e-01 -1.11839182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.374012738999994 meters Centerline goodness [0,1] 0.9953494408513768 Centerline is valid? [True, True] Translation: X:33.28, Y:-3.01, Z:-1.12 [[ 9.85620280e-01 1.67137089e-01 2.48567323e-02 3.32795879e+01] [-1.67090663e-01 9.85933631e-01 -3.94787574e-03 -3.01156468e+00] [-2.51669248e-02 -2.62221483e-04 9.99683228e-01 -1.12022520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404012738999995 meters Centerline goodness [0,1] 0.9953789279112755 Centerline is valid? [True, True] Translation: X:33.31, Y:-3.01, Z:-1.12 [[ 9.85666552e-01 1.66966835e-01 2.41562485e-02 3.33087091e+01] [-1.66922951e-01 9.85962480e-01 -3.83610257e-03 -3.01478565e+00] [-2.44576566e-02 -2.51114276e-04 9.99700835e-01 -1.12253972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434012738999996 meters Centerline goodness [0,1] 0.995634225939614 Centerline is valid? [True, True] Translation: X:33.34, Y:-3.02, Z:-1.12 [[ 9.85584951e-01 1.67426298e-01 2.43051295e-02 3.33382234e+01] [-1.67382024e-01 9.85884560e-01 -3.85920303e-03 -3.01607477e+00] [-2.46081840e-02 -2.64669336e-04 9.99697138e-01 -1.12366283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464012739 meters Centerline goodness [0,1] 0.9824406047516199 Centerline is valid? [True, True] Translation: X:33.37, Y:-3.02, Z:-1.10 [[ 9.85380933e-01 1.68603942e-01 2.44362134e-02 3.33683814e+01] [-1.68559566e-01 9.85683835e-01 -3.87938490e-03 -3.02172376e+00] [-2.47404601e-02 -2.96285614e-04 9.99693864e-01 -1.10439142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494012739 meters Centerline goodness [0,1] 0.9946032423208191 Centerline is valid? [True, True] Translation: X:33.40, Y:-3.03, Z:-1.12 [[ 9.85461082e-01 1.67977930e-01 2.54925489e-02 3.33967622e+01] [-1.67929424e-01 9.85790713e-01 -4.04712106e-03 -3.02589290e+00] [-2.58101450e-02 -2.92668766e-04 9.99666820e-01 -1.12014436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52401273899999 meters Centerline goodness [0,1] 0.9945640496755619 Centerline is valid? [True, True] Translation: X:33.43, Y:-3.03, Z:-1.12 [[ 9.85473020e-01 1.67877384e-01 2.56926373e-02 3.34274036e+01] [-1.67828088e-01 9.85807840e-01 -4.07853959e-03 -3.03044157e+00] [-2.60126978e-02 -2.92655466e-04 9.99661570e-01 -1.12050541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.554012738999994 meters Centerline goodness [0,1] 0.9948926167325569 Centerline is valid? [True, True] Translation: X:33.46, Y:-3.03, Z:-1.12 [[ 9.85417651e-01 1.68200112e-01 2.57055506e-02 3.34580622e+01] [-1.68150877e-01 9.85752825e-01 -4.08058951e-03 -3.03209170e+00] [-2.60256748e-02 -3.01325952e-04 9.99661229e-01 -1.12234009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584012738999995 meters Centerline goodness [0,1] 0.9948293020639523 Centerline is valid? [True, True] Translation: X:33.49, Y:-3.04, Z:-1.12 [[ 9.85404806e-01 1.68228685e-01 2.60091946e-02 3.34878620e+01] [-1.68178289e-01 9.85747948e-01 -4.12879101e-03 -3.03640579e+00] [-2.63330912e-02 -3.05651346e-04 9.99653177e-01 -1.12350315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614012738999996 meters Centerline goodness [0,1] 0.9958187242753544 Centerline is valid? [True, True] Translation: X:33.52, Y:-3.04, Z:-1.12 [[ 9.85782182e-01 1.66032478e-01 2.58206381e-02 3.35181834e+01] [-1.65982058e-01 9.86120254e-01 -4.09879132e-03 -3.04463425e+00] [-2.61427866e-02 -2.45247198e-04 9.99658189e-01 -1.12407851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644012739 meters Centerline goodness [0,1] 0.9966964207578543 Centerline is valid? [True, True] Translation: X:33.55, Y:-3.05, Z:-1.12 [[ 9.86057839e-01 1.64304913e-01 2.63407284e-02 3.35484299e+01] [-1.64251807e-01 9.86409577e-01 -4.18204121e-03 -3.05020210e+00] [-2.66698767e-02 -2.02777716e-04 9.99644275e-01 -1.12444076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674012739 meters Centerline goodness [0,1] 0.9966159052453468 Centerline is valid? [True, True] Translation: X:33.58, Y:-3.06, Z:-1.12 [[ 9.86235671e-01 1.63147360e-01 2.68726534e-02 3.35790263e+01] [-1.63091655e-01 9.86601697e-01 -4.26658300e-03 -3.05559161e+00] [-2.72086872e-02 -1.74849159e-04 9.99629760e-01 -1.12408377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70401273899999 meters Centerline goodness [0,1] 0.9963401919271443 Centerline is valid? [True, True] Translation: X:33.61, Y:-3.06, Z:-1.12 [[ 9.86274900e-01 1.62713138e-01 2.80402436e-02 3.36093538e+01] [-1.62652180e-01 9.86673405e-01 -4.45658736e-03 -3.06292252e+00] [-2.83917080e-02 -1.65386497e-04 9.99596861e-01 -1.12347453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73401273899999 meters Centerline goodness [0,1] 0.9967132822066122 Centerline is valid? [True, True] Translation: X:33.64, Y:-3.07, Z:-1.12 [[ 9.86203943e-01 1.63229761e-01 2.75286847e-02 3.36405403e+01] [-1.63171092e-01 9.86588068e-01 -4.37944968e-03 -3.07074834e+00] [-2.78743284e-02 -1.72855004e-04 9.99611420e-01 -1.12468559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764012738999995 meters Centerline goodness [0,1] 0.9971670775485489 Centerline is valid? [True, True] Translation: X:33.67, Y:-3.08, Z:-1.13 [[ 9.86208394e-01 1.63279415e-01 2.70709507e-02 3.36723018e+01] [-1.63222581e-01 9.86579852e-01 -4.31097365e-03 -3.07598099e+00] [-2.74115478e-02 -1.67072022e-04 9.99624219e-01 -1.12595374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.794012738999996 meters Centerline goodness [0,1] 0.997430194139115 Centerline is valid? [True, True] Translation: X:33.70, Y:-3.08, Z:-1.13 [[ 9.86200845e-01 1.63421712e-01 2.64809016e-02 3.37040883e+01] [-1.63367264e-01 9.86556292e-01 -4.22132873e-03 -3.08150059e+00] [-2.68147568e-02 -1.63034491e-04 9.99640406e-01 -1.12798541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824012739 meters Centerline goodness [0,1] 0.9982480804585271 Centerline is valid? [True, True] Translation: X:33.73, Y:-3.09, Z:-1.13 [[ 9.86453266e-01 1.62088147e-01 2.52465069e-02 3.37345405e+01] [-1.62038119e-01 9.86776276e-01 -4.02853017e-03 -3.09171775e+00] [-2.55656310e-02 -1.16939736e-04 9.99673139e-01 -1.13239713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854012739 meters Centerline goodness [0,1] 0.9987100380538774 Centerline is valid? [True, True] Translation: X:33.77, Y:-3.10, Z:-1.13 [[ 9.86697123e-01 1.60685957e-01 2.46740751e-02 3.37664860e+01] [-1.60637627e-01 9.87005581e-01 -3.94146070e-03 -3.10223624e+00] [-2.49867873e-02 -7.45569463e-05 9.99687779e-01 -1.13458594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88401273899999 meters Centerline goodness [0,1] 0.9990309868860225 Centerline is valid? [True, True] Translation: X:33.80, Y:-3.11, Z:-1.14 [[ 9.86938680e-01 1.59269012e-01 2.41955345e-02 3.37969791e+01] [-1.59222001e-01 9.87235221e-01 -3.86955683e-03 -3.11163355e+00] [-2.45029844e-02 -3.34461260e-05 9.99699756e-01 -1.13684533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91401273899999 meters Centerline goodness [0,1] 0.9993984187005844 Centerline is valid? [True, True] Translation: X:33.83, Y:-3.13, Z:-1.13 [[ 9.87341427e-01 1.56562284e-01 2.53999745e-02 3.38277484e+01] [-1.56509459e-01 9.87668087e-01 -4.06688251e-03 -3.12583709e+00] [-2.57234647e-02 4.00653019e-05 9.99669096e-01 -1.13414183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944012738999994 meters Centerline goodness [0,1] 0.9990273635066788 Centerline is valid? [True, True] Translation: X:33.86, Y:-3.14, Z:-1.13 [[ 9.87380117e-01 1.56013345e-01 2.72091969e-02 3.38594057e+01] [-1.55952366e-01 9.87754945e-01 -4.36203360e-03 -3.13508057e+00] [-2.75565543e-02 6.36466079e-05 9.99620244e-01 -1.13138829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.974012738999996 meters Centerline goodness [0,1] 0.9990312580728494 Centerline is valid? [True, True] Translation: X:33.89, Y:-3.15, Z:-1.13 [[ 9.87347493e-01 1.56075045e-01 2.80269190e-02 3.38899765e+01] [-1.56010209e-01 9.87745198e-01 -4.49879749e-03 -3.14570280e+00] [-2.83856046e-02 6.93909320e-05 9.99597045e-01 -1.13091174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004012739 meters Centerline goodness [0,1] 0.9993314931424135 Centerline is valid? [True, True] Translation: X:33.92, Y:-3.15, Z:-1.13 [[ 9.87229482e-01 1.56908356e-01 2.75266785e-02 3.39218176e+01] [-1.56846001e-01 9.87613166e-01 -4.42343762e-03 -3.15284508e+00] [-2.78797845e-02 4.94985931e-05 9.99611282e-01 -1.13363788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034012739 meters Centerline goodness [0,1] 0.9987302817052962 Centerline is valid? [True, True] Translation: X:33.95, Y:-3.16, Z:-1.14 [[ 9.86729837e-01 1.60087092e-01 2.71358132e-02 3.39526796e+01] [-1.60027560e-01 9.87102893e-01 -4.36555832e-03 -3.15962401e+00] [-2.74847092e-02 -3.48513343e-05 9.99622223e-01 -1.13573597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06401273899999 meters Centerline goodness [0,1] 0.9981532779316713 Centerline is valid? [True, True] Translation: X:33.99, Y:-3.16, Z:-1.14 [[ 9.86332188e-01 1.62480462e-01 2.73663193e-02 3.39853194e+01] [-1.62420704e-01 9.86711756e-01 -4.40737731e-03 -3.16377566e+00] [-2.77187817e-02 -9.77187388e-05 9.99615756e-01 -1.13525407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09401273899999 meters Centerline goodness [0,1] 0.9965392717424014 Centerline is valid? [True, True] Translation: X:34.02, Y:-3.17, Z:-1.13 [[ 9.85848672e-01 1.65327002e-01 2.77376554e-02 3.40162363e+01] [-1.65266586e-01 9.86238791e-01 -4.47252456e-03 -3.16520184e+00] [-2.80953808e-02 -1.74875209e-04 9.99605232e-01 -1.13431208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124012738999994 meters Centerline goodness [0,1] 0.9921409039037099 Centerline is valid? [True, True] Translation: X:34.05, Y:-3.16, Z:-1.14 [[ 9.84704109e-01 1.72131752e-01 2.69903107e-02 3.40489945e+01] [-1.72077042e-01 9.85073872e-01 -4.35421221e-03 -3.16331273e+00] [-2.73369480e-02 -3.56802164e-04 9.99626212e-01 -1.13629134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.154012738999995 meters Centerline goodness [0,1] 0.9904741425653155 Centerline is valid? [True, True] Translation: X:34.08, Y:-3.16, Z:-1.14 [[ 9.84048196e-01 1.76048844e-01 2.56115650e-02 3.40804484e+01] [-1.76000880e-01 9.84381334e-01 -4.13282681e-03 -3.16235728e+00] [-2.59391259e-02 -4.40757207e-04 9.99663427e-01 -1.14076626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184012738999996 meters Centerline goodness [0,1] 0.9883628385209404 Centerline is valid? [True, True] Translation: X:34.11, Y:-3.16, Z:-1.15 [[ 9.82842239e-01 1.83006080e-01 2.30197268e-02 3.41117763e+01] [-1.82969187e-01 9.83111623e-01 -3.71677319e-03 -3.15689679e+00] [-2.33111530e-02 -5.58899007e-04 9.99728102e-01 -1.14770853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214012739 meters Centerline goodness [0,1] 0.9854742361081267 Centerline is valid? [True, True] Translation: X:34.14, Y:-3.16, Z:-1.15 [[ 9.82248858e-01 1.86156487e-01 2.30855817e-02 3.41415932e+01] [-1.86120252e-01 9.82519902e-01 -3.72739403e-03 -3.15567585e+00] [-2.33759221e-02 -6.35465754e-04 9.99726544e-01 -1.14822117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244012739 meters Centerline goodness [0,1] 0.9714549594054728 Centerline is valid? [True, True] Translation: X:34.17, Y:-3.15, Z:-1.14 [[ 9.81048717e-01 1.92128117e-01 2.51038043e-02 3.41723933e+01] [-1.92087246e-01 9.81369487e-01 -4.05221212e-03 -3.14818544e+00] [-2.54146514e-02 -8.46703108e-04 9.99676637e-01 -1.14382182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27401273899999 meters Centerline goodness [0,1] 0.9663313443767099 Centerline is valid? [True, True] Translation: X:34.20, Y:-3.15, Z:-1.14 [[ 9.80669237e-01 1.93975867e-01 2.57140293e-02 3.42017299e+01] [-1.93933626e-01 9.81005873e-01 -4.15040448e-03 -3.14880764e+00] [-2.60306921e-02 -9.16640952e-04 9.99660724e-01 -1.14291260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304012738999994 meters Centerline goodness [0,1] 0.970507883924538 Centerline is valid? [True, True] Translation: X:34.23, Y:-3.15, Z:-1.14 [[ 9.80537531e-01 1.94673521e-01 2.54631113e-02 3.42298464e+01] [-1.94632356e-01 9.80867657e-01 -4.10911907e-03 -3.15191316e+00] [-2.57758790e-02 -9.26799855e-04 9.99667317e-01 -1.14393315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334012738999995 meters Centerline goodness [0,1] 0.9671365562570268 Centerline is valid? [True, True] Translation: X:34.26, Y:-3.15, Z:-1.15 [[ 9.80860502e-01 1.93301950e-01 2.33887292e-02 3.42585306e+01] [-1.93266865e-01 9.81138973e-01 -3.77287937e-03 -3.14960486e+00] [-2.36768987e-02 -8.19598009e-04 9.99719327e-01 -1.14905645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364012738999996 meters Centerline goodness [0,1] 0.97425541564977 Centerline is valid? [True, True] Translation: X:34.29, Y:-3.15, Z:-1.15 [[ 9.81093859e-01 1.92259880e-01 2.21580489e-02 3.42868841e+01] [-1.92228154e-01 9.81343757e-01 -3.57304321e-03 -3.15303980e+00] [-2.24316158e-02 -7.53910080e-04 9.99748095e-01 -1.15294722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394012739 meters Centerline goodness [0,1] 0.9713773825199128 Centerline is valid? [True, True] Translation: X:34.32, Y:-3.15, Z:-1.15 [[ 9.81303445e-01 1.91199332e-01 2.20536592e-02 3.43154977e+01] [-1.91167659e-01 9.81550960e-01 -3.55524630e-03 -3.15053551e+00] [-2.23265511e-02 -7.27170949e-04 9.99750467e-01 -1.15419503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424012739 meters Centerline goodness [0,1] 0.9809985015961259 Centerline is valid? [True, True] Translation: X:34.34, Y:-3.16, Z:-1.15 [[ 9.81310836e-01 1.91069742e-01 2.28341008e-02 3.43437386e+01] [-1.91035785e-01 9.81576176e-01 -3.67958834e-03 -3.15586807e+00] [-2.31164673e-02 -7.51310463e-04 9.99732496e-01 -1.15255234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45401273899999 meters Centerline goodness [0,1] 0.977309078501205 Centerline is valid? [True, True] Translation: X:34.37, Y:-3.15, Z:-1.15 [[ 9.81402328e-01 1.90538093e-01 2.33389389e-02 3.43728354e+01] [-1.90502494e-01 9.81679512e-01 -3.75985152e-03 -3.15157143e+00] [-2.36277531e-02 -7.56199026e-04 9.99720540e-01 -1.15318626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48401273899999 meters Centerline goodness [0,1] 0.9813130549374581 Centerline is valid? [True, True] Translation: X:34.40, Y:-3.15, Z:-1.16 [[ 9.81441779e-01 1.90365726e-01 2.30851464e-02 3.44006068e+01] [-1.90330879e-01 9.81712960e-01 -3.71766883e-03 -3.15474281e+00] [-2.33707041e-02 -7.45140712e-04 9.99726590e-01 -1.15542920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514012738999995 meters Centerline goodness [0,1] 0.9842971626597358 Centerline is valid? [True, True] Translation: X:34.43, Y:-3.16, Z:-1.16 [[ 9.81715147e-01 1.88970516e-01 2.29241143e-02 3.44298623e+01] [-1.88935815e-01 9.81982506e-01 -3.68998497e-03 -3.15530137e+00] [-2.32083776e-02 -7.08672083e-04 9.99730398e-01 -1.15697883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544012738999996 meters Centerline goodness [0,1] 0.9835789655395637 Centerline is valid? [True, True] Translation: X:34.46, Y:-3.16, Z:-1.16 [[ 9.81827144e-01 1.88402810e-01 2.27999932e-02 3.44574813e+01] [-1.88368354e-01 9.82091595e-01 -3.66899333e-03 -3.15634415e+00] [-2.30829303e-02 -6.92479946e-04 9.99733314e-01 -1.15765193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.574012739 meters Centerline goodness [0,1] 0.980804940190871 Centerline is valid? [True, True] Translation: X:34.49, Y:-3.16, Z:-1.16 [[ 9.81922805e-01 1.88010270e-01 2.19030410e-02 3.44860686e+01] [-1.87978399e-01 9.82166842e-01 -3.52356160e-03 -3.15500247e+00] [-2.21749064e-02 -6.57433094e-04 9.99753890e-01 -1.16004993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604012739 meters Centerline goodness [0,1] 0.9880185129114581 Centerline is valid? [True, True] Translation: X:34.51, Y:-3.16, Z:-1.16 [[ 9.82211732e-01 1.86602866e-01 2.09638833e-02 3.45138812e+01] [-1.86573388e-01 9.82435245e-01 -3.37064603e-03 -3.16110951e+00] [-2.12246301e-02 -6.00614659e-04 9.99774552e-01 -1.16110607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63401273899999 meters Centerline goodness [0,1] 0.9869487626050872 Centerline is valid? [True, True] Translation: X:34.54, Y:-3.16, Z:-1.16 [[ 9.82539512e-01 1.84812253e-01 2.14601489e-02 3.45423665e+01] [-1.84780958e-01 9.82773676e-01 -3.44943703e-03 -3.16075454e+00] [-2.17279677e-02 -5.76218692e-04 9.99763754e-01 -1.16314367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66401273899999 meters Centerline goodness [0,1] 0.9916925145869032 Centerline is valid? [True, True] Translation: X:34.57, Y:-3.17, Z:-1.16 [[ 9.83452150e-01 1.79763132e-01 2.25185637e-02 3.45711363e+01] [-1.79727389e-01 9.83709803e-01 -3.61781552e-03 -3.17268331e+00] [-2.28020817e-02 -4.89254210e-04 9.99739879e-01 -1.16076570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.694012738999994 meters Centerline goodness [0,1] 0.9918008026582661 Centerline is valid? [True, True] Translation: X:34.60, Y:-3.18, Z:-1.16 [[ 9.84009247e-01 1.76618787e-01 2.30565665e-02 3.45988753e+01] [-1.76580453e-01 9.84279240e-01 -3.70422807e-03 -3.17629826e+00] [-2.33483360e-02 -4.26344283e-04 9.99727300e-01 -1.16120169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724012738999996 meters Centerline goodness [0,1] 0.9950906507041041 Centerline is valid? [True, True] Translation: X:34.63, Y:-3.18, Z:-1.16 [[ 9.84771473e-01 1.72321862e-01 2.30287061e-02 3.46258439e+01] [-1.72282479e-01 9.85040644e-01 -3.69829597e-03 -3.18485169e+00] [-2.33215087e-02 -3.25466192e-04 9.99727964e-01 -1.16117048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754012739 meters Centerline goodness [0,1] 0.9959590284380673 Centerline is valid? [True, True] Translation: X:34.65, Y:-3.19, Z:-1.16 [[ 9.84985946e-01 1.71090660e-01 2.30363407e-02 3.46544525e+01] [-1.71050947e-01 9.85255245e-01 -3.69810047e-03 -3.19100177e+00] [-2.33293859e-02 -2.97810917e-04 9.99727788e-01 -1.16170460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784012739 meters Centerline goodness [0,1] 0.9966264128239288 Centerline is valid? [True, True] Translation: X:34.68, Y:-3.19, Z:-1.16 [[ 9.85149462e-01 1.70202008e-01 2.26232882e-02 3.46815695e+01] [-1.70163496e-01 9.85409155e-01 -3.63081045e-03 -3.19447910e+00] [-2.29111666e-02 -2.72766850e-04 9.99737468e-01 -1.16305715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81401273899999 meters Centerline goodness [0,1] 0.9969040247678018 Centerline is valid? [True, True] Translation: X:34.71, Y:-3.20, Z:-1.16 [[ 9.85223338e-01 1.69787584e-01 2.25199965e-02 3.47101854e+01] [-1.69749345e-01 9.85480648e-01 -3.61284938e-03 -3.19946072e+00] [-2.28064377e-02 -2.63291133e-04 9.99739865e-01 -1.16219362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84401273899999 meters Centerline goodness [0,1] 0.9954255734293024 Centerline is valid? [True, True] Translation: X:34.74, Y:-3.20, Z:-1.16 [[ 9.85187929e-01 1.69661431e-01 2.48946404e-02 3.47384723e+01] [-1.69614697e-01 9.85502367e-01 -3.99243771e-03 -3.20267785e+00] [-2.52110897e-02 -2.89195444e-04 9.99682108e-01 -1.15872534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874012738999994 meters Centerline goodness [0,1] 0.9931266294628429 Centerline is valid? [True, True] Translation: X:34.77, Y:-3.20, Z:-1.16 [[ 9.85074533e-01 1.70128083e-01 2.61648537e-02 3.47668893e+01] [-1.70076657e-01 9.85421907e-01 -4.19482462e-03 -3.20369817e+00] [-2.64970775e-02 -3.17815947e-04 9.99648840e-01 -1.15785471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904012738999995 meters Centerline goodness [0,1] 0.9939264645057361 Centerline is valid? [True, True] Translation: X:34.80, Y:-3.21, Z:-1.16 [[ 9.84894921e-01 1.71013320e-01 2.71373994e-02 3.47953403e+01] [-1.70958382e-01 9.85268652e-01 -4.34903599e-03 -3.20966389e+00] [-2.74813720e-02 -3.56022423e-04 9.99622252e-01 -1.15709205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934012738999996 meters Centerline goodness [0,1] 0.9939264645057361 Centerline is valid? [True, True] Translation: X:34.82, Y:-3.21, Z:-1.16 [[ 9.84903332e-01 1.70964838e-01 2.71376135e-02 3.48233143e+01] [-1.70909918e-01 9.85277066e-01 -4.34769931e-03 -3.21406002e+00] [-2.74813720e-02 -3.56023760e-04 9.99622252e-01 -1.15791148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964012739 meters Centerline goodness [0,1] 0.9925218293420939 Centerline is valid? [True, True] Translation: X:34.85, Y:-3.21, Z:-1.16 [[ 9.84706730e-01 1.72181259e-01 2.65757548e-02 3.48513639e+01] [-1.72129067e-01 9.85065210e-01 -4.25639722e-03 -3.21478655e+00] [-2.69117233e-02 -3.83156897e-04 9.99637741e-01 -1.16005477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994012739 meters Centerline goodness [0,1] 0.9937617501281832 Centerline is valid? [True, True] Translation: X:34.88, Y:-3.22, Z:-1.17 [[ 9.84758225e-01 1.72241033e-01 2.41715616e-02 3.48788544e+01] [-1.72197910e-01 9.85054772e-01 -3.86997187e-03 -3.21852485e+00] [-2.44768800e-02 -3.51305753e-04 9.99700335e-01 -1.16543986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02401273899999 meters Centerline goodness [0,1] 0.9979846137176293 Centerline is valid? [True, True] Translation: X:34.91, Y:-3.23, Z:-1.18 [[ 9.84911475e-01 1.72082244e-01 1.83599429e-02 3.49069309e+01] [-1.72057353e-01 9.85082550e-01 -2.93871247e-03 -3.22582893e+00] [-1.85917597e-02 -2.64591552e-04 9.99827123e-01 -1.17679612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054012738999994 meters Centerline goodness [0,1] 0.9985764817530843 Centerline is valid? [True, True] Translation: X:34.93, Y:-3.23, Z:-1.18 [[ 9.85012754e-01 1.71644928e-01 1.69674228e-02 3.49340764e+01] [-1.71623615e-01 9.85158851e-01 -2.71523483e-03 -3.22971560e+00] [-1.71816631e-02 -2.37469498e-04 9.99852356e-01 -1.18188313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084012738999995 meters Centerline goodness [0,1] 0.9990521939555823 Centerline is valid? [True, True] Translation: X:34.96, Y:-3.24, Z:-1.18 [[ 9.85412774e-01 1.69232535e-01 1.79447249e-02 3.49611442e+01] [-1.69208320e-01 9.85576129e-01 -2.87028210e-03 -3.24239144e+00] [-1.81716376e-02 -2.07984098e-04 9.99834861e-01 -1.18072903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114012738999996 meters Centerline goodness [0,1] 0.998303264604811 Centerline is valid? [True, True] Translation: X:34.99, Y:-3.25, Z:-1.18 [[ 9.85623224e-01 1.67764246e-01 2.00503899e-02 3.49879382e+01] [-1.67733731e-01 9.85827123e-01 -3.20604901e-03 -3.24977817e+00] [-2.03040785e-02 -2.03170342e-04 9.99793830e-01 -1.17796982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144012739 meters Centerline goodness [0,1] 0.9984623714131023 Centerline is valid? [True, True] Translation: X:35.02, Y:-3.26, Z:-1.17 [[ 9.85832867e-01 1.66355638e-01 2.14326888e-02 3.50160616e+01] [-1.66320470e-01 9.86065802e-01 -3.42560175e-03 -3.25889497e+00] [-2.17039097e-02 -1.87624097e-04 9.99764425e-01 -1.17414834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174012739 meters Centerline goodness [0,1] 0.9987395047749268 Centerline is valid? [True, True] Translation: X:35.04, Y:-3.27, Z:-1.18 [[ 9.86114725e-01 1.64630619e-01 2.17831950e-02 3.50426723e+01] [-1.64593894e-01 9.86355279e-01 -3.48059218e-03 -3.26600881e+00] [-2.20589814e-02 -1.53117673e-04 9.99756659e-01 -1.17548316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20401273899999 meters Centerline goodness [0,1] 0.9991822857265822 Centerline is valid? [True, True] Translation: X:35.07, Y:-3.27, Z:-1.18 [[ 9.86207998e-01 1.64222037e-01 2.06132609e-02 3.50709196e+01] [-1.64189088e-01 9.86423390e-01 -3.29235348e-03 -3.27202867e+00] [-2.08740797e-02 -1.37527177e-04 9.99782103e-01 -1.17830670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23401273899999 meters Centerline goodness [0,1] 0.9993281172110362 Centerline is valid? [True, True] Translation: X:35.10, Y:-3.28, Z:-1.18 [[ 9.86311153e-01 1.63851429e-01 1.85207424e-02 3.50975469e+01] [-1.63824778e-01 9.86485020e-01 -2.95751198e-03 -3.27896545e+00] [-1.87550275e-02 -1.17129454e-04 9.99824102e-01 -1.18394321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264012738999995 meters Centerline goodness [0,1] 0.999330973756906 Centerline is valid? [True, True] Translation: X:35.13, Y:-3.28, Z:-1.18 [[ 9.86233701e-01 1.64372260e-01 1.80235024e-02 3.51256628e+01] [-1.64347128e-01 9.86398370e-01 -2.87699110e-03 -3.28400840e+00] [-1.82512509e-02 -1.24725268e-04 9.99833424e-01 -1.18452906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.294012738999996 meters Centerline goodness [0,1] 0.9991213407054991 Centerline is valid? [True, True] Translation: X:35.15, Y:-3.28, Z:-1.19 [[ 9.85978241e-01 1.65919390e-01 1.78231292e-02 3.51533843e+01] [-1.65895078e-01 9.86139307e-01 -2.84435494e-03 -3.28450967e+00] [-1.80480219e-02 -1.52297318e-04 9.99837110e-01 -1.18546598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324012739 meters Centerline goodness [0,1] 0.99909308803524 Centerline is valid? [True, True] Translation: X:35.18, Y:-3.29, Z:-1.19 [[ 9.85874254e-01 1.66507802e-01 1.80861260e-02 3.51813432e+01] [-1.66482890e-01 9.86040123e-01 -2.88499424e-03 -3.28695425e+00] [-1.83140199e-02 -1.66788976e-04 9.99832270e-01 -1.18583633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354012739 meters Centerline goodness [0,1] 0.9986888769478774 Centerline is valid? [True, True] Translation: X:35.21, Y:-3.29, Z:-1.18 [[ 9.85824556e-01 1.66553492e-01 2.02454769e-02 3.52096649e+01] [-1.66522317e-01 9.86032402e-01 -3.22792507e-03 -3.28947739e+00] [-2.05003185e-02 -1.89155933e-04 9.99789828e-01 -1.18318575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38401273899999 meters Centerline goodness [0,1] 0.9986500385703265 Centerline is valid? [True, True] Translation: X:35.24, Y:-3.29, Z:-1.18 [[ 9.85765809e-01 1.66812171e-01 2.09635449e-02 3.52379599e+01] [-1.66778825e-01 9.85988671e-01 -3.34138146e-03 -3.29450946e+00] [-2.12272009e-02 -2.02455792e-04 9.99774657e-01 -1.18147667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41401273899999 meters Centerline goodness [0,1] 0.9984941731046222 Centerline is valid? [True, True] Translation: X:35.27, Y:-3.30, Z:-1.18 [[ 9.85700900e-01 1.67173591e-01 2.11358959e-02 3.52660146e+01] [-1.67139798e-01 9.85927454e-01 -3.36790986e-03 -3.29761522e+00] [-2.14014856e-02 -2.12897589e-04 9.99770939e-01 -1.18295173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444012738999994 meters Centerline goodness [0,1] 0.9981867633726201 Centerline is valid? [True, True] Translation: X:35.30, Y:-3.30, Z:-1.18 [[ 9.85518740e-01 1.68278326e-01 2.08619004e-02 3.52951804e+01] [-1.68245679e-01 9.85739494e-01 -3.32292653e-03 -3.29929950e+00] [-2.11235756e-02 -2.35118212e-04 9.99776845e-01 -1.18394489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.474012738999996 meters Centerline goodness [0,1] 0.9977474578452825 Centerline is valid? [True, True] Translation: X:35.32, Y:-3.30, Z:-1.18 [[ 9.85402400e-01 1.68979105e-01 2.06923148e-02 3.53245115e+01] [-1.68947164e-01 9.85619602e-01 -3.29484363e-03 -3.30152073e+00] [-2.09515108e-02 -2.49161068e-04 9.99780462e-01 -1.18395734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504012739 meters Centerline goodness [0,1] 0.9969396708541101 Centerline is valid? [True, True] Translation: X:35.35, Y:-3.30, Z:-1.18 [[ 9.85353248e-01 1.69192763e-01 2.12787679e-02 3.53528914e+01] [-1.69159048e-01 9.85582944e-01 -3.38761399e-03 -3.30173538e+00] [-2.15451505e-02 -2.61499687e-04 9.99767842e-01 -1.18332669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534012739 meters Centerline goodness [0,1] 0.9973844438727382 Centerline is valid? [True, True] Translation: X:35.38, Y:-3.31, Z:-1.18 [[ 9.85400381e-01 1.68945031e-01 2.10633525e-02 3.53812755e+01] [-1.68911967e-01 9.85625442e-01 -3.35200414e-03 -3.30533485e+00] [-2.13268806e-02 -2.54786159e-04 9.99772524e-01 -1.18446280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56401273899999 meters Centerline goodness [0,1] 0.9975794251134644 Centerline is valid? [True, True] Translation: X:35.41, Y:-3.31, Z:-1.19 [[ 9.85429606e-01 1.68829077e-01 2.06212193e-02 3.54085219e+01] [-1.68797379e-01 9.85645312e-01 -3.28078646e-03 -3.30774259e+00] [-2.08791003e-02 -2.47823651e-04 9.99781977e-01 -1.18650816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59401273899999 meters Centerline goodness [0,1] 0.9982851064753511 Centerline is valid? [True, True] Translation: X:35.44, Y:-3.31, Z:-1.19 [[ 9.85543382e-01 1.68226736e-01 2.00999592e-02 3.54371707e+01] [-1.68196521e-01 9.85748301e-01 -3.19661417e-03 -3.31047433e+00] [-2.03512565e-02 -2.30341253e-04 9.99792865e-01 -1.18711320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624012738999994 meters Centerline goodness [0,1] 0.9980998445327345 Centerline is valid? [True, True] Translation: X:35.46, Y:-3.31, Z:-1.19 [[ 9.85558194e-01 1.68215352e-01 1.94587110e-02 3.54648469e+01] [-1.68187046e-01 9.85750245e-01 -3.09391247e-03 -3.31205172e+00] [-1.97018727e-02 -2.23472322e-04 9.99805874e-01 -1.18876731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.654012738999995 meters Centerline goodness [0,1] 0.9916175706116791 Centerline is valid? [True, True] Translation: X:35.49, Y:-3.31, Z:-1.18 [[ 9.85545357e-01 1.68435092e-01 1.81650415e-02 3.54936871e+01] [-1.68410483e-01 9.85712724e-01 -2.88704392e-03 -3.31212943e+00] [-1.83917920e-02 -2.13870680e-04 9.99830834e-01 -1.17563143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684012738999996 meters Centerline goodness [0,1] 0.9984649796061577 Centerline is valid? [True, True] Translation: X:35.52, Y:-3.32, Z:-1.19 [[ 9.85665407e-01 1.67585123e-01 1.94661731e-02 3.55221112e+01] [-1.67556723e-01 9.85857587e-01 -3.09251304e-03 -3.31699746e+00] [-1.97091336e-02 -2.13505060e-04 9.99805733e-01 -1.18977238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714012739 meters Centerline goodness [0,1] 0.9987396394086986 Centerline is valid? [True, True] Translation: X:35.55, Y:-3.32, Z:-1.19 [[ 9.85739783e-01 1.67086825e-01 1.99768322e-02 3.55498243e+01] [-1.67056832e-01 9.85942163e-01 -3.17271310e-03 -3.31740572e+00] [-2.02261197e-02 -2.09796775e-04 9.99795409e-01 -1.19074638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744012739 meters Centerline goodness [0,1] 0.9983566501610915 Centerline is valid? [True, True] Translation: X:35.58, Y:-3.32, Z:-1.19 [[ 9.85993040e-01 1.65384305e-01 2.15814123e-02 3.55782530e+01] [-1.65348925e-01 9.86229180e-01 -3.42599213e-03 -3.32241989e+00] [-2.18508238e-02 -1.90458927e-04 9.99761224e-01 -1.18822668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77401273899999 meters Centerline goodness [0,1] 0.9992606445439917 Centerline is valid? [True, True] Translation: X:35.60, Y:-3.33, Z:-1.19 [[ 9.86646996e-01 1.61350572e-01 2.22193243e-02 3.56048464e+01] [-1.61312071e-01 9.86897149e-01 -3.52620644e-03 -3.33237118e+00] [-2.24971433e-02 -1.05124227e-04 9.99746902e-01 -1.18904244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804012738999994 meters Centerline goodness [0,1] 0.9992889310263096 Centerline is valid? [True, True] Translation: X:35.63, Y:-3.34, Z:-1.19 [[ 9.86944445e-01 1.59536348e-01 2.21091705e-02 3.56328462e+01] [-1.59497804e-01 9.87192053e-01 -3.50728373e-03 -3.34074145e+00] [-2.23855367e-02 -6.48699467e-05 9.99749410e-01 -1.18956078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.834012738999995 meters Centerline goodness [0,1] 0.999544567338972 Centerline is valid? [True, True] Translation: X:35.66, Y:-3.35, Z:-1.19 [[ 9.87208162e-01 1.57907801e-01 2.20266210e-02 3.56605478e+01] [-1.57869161e-01 9.87453860e-01 -3.49318651e-03 -3.34864636e+00] [-2.23018733e-02 -2.88219474e-05 9.99751282e-01 -1.19027366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864012738999996 meters Centerline goodness [0,1] 0.9996556992532978 Centerline is valid? [True, True] Translation: X:35.69, Y:-3.36, Z:-1.19 [[ 9.87487162e-01 1.56178632e-01 2.18481217e-02 3.56875946e+01] [-1.56140214e-01 9.87728826e-01 -3.46393497e-03 -3.35768155e+00] [-2.21210122e-02 9.22091531e-06 9.99755300e-01 -1.19159953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.894012739 meters Centerline goodness [0,1] 0.9996778973136636 Centerline is valid? [True, True] Translation: X:35.71, Y:-3.36, Z:-1.19 [[ 9.87455414e-01 1.56383322e-01 2.18188527e-02 3.57146321e+01] [-1.56345084e-01 9.87696440e-01 -3.45801522e-03 -3.36257690e+00] [-2.20911791e-02 3.36547877e-06 9.99755960e-01 -1.19273947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924012739 meters Centerline goodness [0,1] 0.9995044705375418 Centerline is valid? [True, True] Translation: X:35.74, Y:-3.36, Z:-1.19 [[ 9.86985504e-01 1.59346612e-01 2.16396024e-02 3.57437326e+01] [-1.59309741e-01 9.87222697e-01 -3.42829682e-03 -3.36376733e+00] [-2.19093941e-02 -6.37201811e-05 9.99759958e-01 -1.19237722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95401273899999 meters Centerline goodness [0,1] 0.9992652937744452 Centerline is valid? [True, True] Translation: X:35.77, Y:-3.36, Z:-1.19 [[ 9.86576876e-01 1.61890678e-01 2.13886694e-02 3.57731163e+01] [-1.61855277e-01 9.86808692e-01 -3.38753355e-03 -3.36490024e+00] [-2.16549350e-02 -1.19806732e-04 9.99765497e-01 -1.19441798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98401273899999 meters Centerline goodness [0,1] 0.9994807892004154 Centerline is valid? [True, True] Translation: X:35.80, Y:-3.37, Z:-1.20 [[ 9.86196966e-01 1.64284202e-01 2.06456874e-02 3.58021977e+01] [-1.64251761e-01 9.86413034e-01 -3.26892378e-03 -3.36708357e+00] [-2.09022077e-02 -1.67287800e-04 9.99781511e-01 -1.19637279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.014012738999995 meters Centerline goodness [0,1] 0.999035411129212 Centerline is valid? [True, True] Translation: X:35.83, Y:-3.37, Z:-1.20 [[ 9.85575519e-01 1.68189893e-01 1.87897670e-02 3.58309174e+01] [-1.68163747e-01 9.85754588e-01 -2.97426987e-03 -3.36525062e+00] [-1.90223411e-02 -2.28390062e-04 9.99819033e-01 -1.20115146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044012738999996 meters Centerline goodness [0,1] 0.9985955663108768 Centerline is valid? [True, True] Translation: X:35.86, Y:-3.36, Z:-1.21 [[ 9.85239749e-01 1.70189464e-01 1.83897665e-02 3.58585541e+01] [-1.70164780e-01 9.85411324e-01 -2.91031317e-03 -3.36481482e+00] [-1.86167888e-02 -2.61934364e-04 9.99826658e-01 -1.20586991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.074012739 meters Centerline goodness [0,1] 0.998744697428794 Centerline is valid? [True, True] Translation: X:35.89, Y:-3.37, Z:-1.21 [[ 9.85299340e-01 1.69862829e-01 1.82161718e-02 3.58862860e+01] [-1.69838577e-01 9.85467683e-01 -2.88156434e-03 -3.37028261e+00] [-1.84409193e-02 -2.54605243e-04 9.99829919e-01 -1.20742139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104012739 meters Centerline goodness [0,1] 0.9988201222782366 Centerline is valid? [True, True] Translation: X:35.91, Y:-3.38, Z:-1.21 [[ 9.85494348e-01 1.68759374e-01 1.79210383e-02 3.59148553e+01] [-1.68735739e-01 9.85657253e-01 -2.83375465e-03 -3.37729310e+00] [-1.81422240e-02 -2.31270451e-04 9.99835390e-01 -1.20837055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13401273899999 meters Centerline goodness [0,1] 0.9992916022668727 Centerline is valid? [True, True] Translation: X:35.94, Y:-3.39, Z:-1.21 [[ 9.85929859e-01 1.66361622e-01 1.63132814e-02 3.59416662e+01] [-1.66341732e-01 9.86064796e-01 -2.57814119e-03 -3.38607012e+00] [-1.65148562e-02 -1.71713102e-04 9.99863606e-01 -1.21046300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16401273899999 meters Centerline goodness [0,1] 0.9993483643946305 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.39, Z:-1.21 [[ 9.86000890e-01 1.65921476e-01 1.65017895e-02 3.59691310e+01] [-1.65901079e-01 9.86138954e-01 -2.60694117e-03 -3.39044099e+00] [-1.67056050e-02 -1.67218374e-04 9.99860438e-01 -1.21119170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.194012738999994 meters Centerline goodness [0,1] 0.9993512952471565 Centerline is valid? [True, True] Translation: X:36.00, Y:-3.40, Z:-1.21 [[ 9.86159596e-01 1.64839784e-01 1.78072351e-02 3.59976542e+01] [-1.64815881e-01 9.86320343e-01 -2.81177569e-03 -3.39856744e+00] [-1.80271308e-02 -1.62055567e-04 9.99837485e-01 -1.20918661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224012738999996 meters Centerline goodness [0,1] 0.9996117510029766 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.41, Z:-1.21 [[ 9.86341698e-01 1.63655330e-01 1.86276254e-02 3.60260926e+01] [-1.63628973e-01 9.86517568e-01 -2.94073356e-03 -3.40543654e+00] [-1.88577464e-02 -1.47451079e-04 9.99822166e-01 -1.20827567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.254012739 meters Centerline goodness [0,1] 0.9995697814489761 Centerline is valid? [True, True] Translation: X:36.05, Y:-3.42, Z:-1.20 [[ 9.86888285e-01 1.60076303e-01 2.06661653e-02 3.60537103e+01] [-1.60043100e-01 9.87104639e-01 -3.26140437e-03 -3.41551715e+00] [-2.09217412e-02 -8.88354013e-05 9.99781112e-01 -1.20487820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284012739 meters Centerline goodness [0,1] 0.9994652863926081 Centerline is valid? [True, True] Translation: X:36.08, Y:-3.42, Z:-1.20 [[ 9.87183876e-01 1.58076935e-01 2.19015229e-02 3.60811700e+01] [-1.58039175e-01 9.87426797e-01 -3.45530210e-03 -3.42255848e+00] [-2.21723542e-02 -5.02800843e-05 9.99754162e-01 -1.20344662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31401273899999 meters Centerline goodness [0,1] 0.9993945945945946 Centerline is valid? [True, True] Translation: X:36.11, Y:-3.43, Z:-1.20 [[ 9.87423860e-01 1.56448444e-01 2.27597380e-02 3.61103433e+01] [-1.56407271e-01 9.87686126e-01 -3.58906469e-03 -3.43009861e+00] [-2.30409810e-02 -1.58604051e-05 9.99734521e-01 -1.20087490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34401273899999 meters Centerline goodness [0,1] 0.9997826417719042 Centerline is valid? [True, True] Translation: X:36.14, Y:-3.44, Z:-1.20 [[ 9.87776602e-01 1.54246607e-01 2.24804241e-02 3.61398292e+01] [-1.54205883e-01 9.88032380e-01 -3.54434693e-03 -3.44022653e+00] [-2.27580904e-02 3.44093037e-05 9.99741001e-01 -1.20236448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.374012738999994 meters Centerline goodness [0,1] 0.9998709954848419 Centerline is valid? [True, True] Translation: X:36.17, Y:-3.45, Z:-1.21 [[ 9.87868948e-01 1.53731499e-01 2.19446533e-02 3.61688300e+01] [-1.53692565e-01 9.88112658e-01 -3.45995504e-03 -3.44711211e+00] [-2.22156938e-02 4.52520831e-05 9.99753200e-01 -1.20507818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404012738999995 meters Centerline goodness [0,1] 0.9998478988309939 Centerline is valid? [True, True] Translation: X:36.20, Y:-3.45, Z:-1.21 [[ 9.87899716e-01 1.53552665e-01 2.18112227e-02 3.61989772e+01] [-1.53514167e-01 9.88140464e-01 -3.43857564e-03 -3.45387701e+00] [-2.20805542e-02 4.86362223e-05 9.99756194e-01 -1.20620978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.434012738999996 meters Centerline goodness [0,1] 0.9998047891723061 Centerline is valid? [True, True] Translation: X:36.23, Y:-3.46, Z:-1.21 [[ 9.87896742e-01 1.53526541e-01 2.21275659e-02 3.62280400e+01] [-1.53486910e-01 9.88144523e-01 -3.48852433e-03 -3.45952217e+00] [-2.24008141e-02 5.00100979e-05 9.99749069e-01 -1.20633191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464012739 meters Centerline goodness [0,1] 0.9998063433317554 Centerline is valid? [True, True] Translation: X:36.26, Y:-3.47, Z:-1.21 [[ 9.87858510e-01 1.53717433e-01 2.25058817e-02 3.62567981e+01] [-1.53676490e-01 9.88114846e-01 -3.54789325e-03 -3.46507522e+00] [-2.27837688e-02 4.61916294e-05 9.99740415e-01 -1.20576810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494012739 meters Centerline goodness [0,1] 0.999498397051447 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.47, Z:-1.20 [[ 9.87338923e-01 1.56916195e-01 2.32198103e-02 3.62878623e+01] [-1.56873506e-01 9.87611921e-01 -3.66009251e-03 -3.46723186e+00] [-2.35064893e-02 -2.88212645e-05 9.99723684e-01 -1.20331226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52401273899999 meters Centerline goodness [0,1] 0.9995022399203584 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.47, Z:-1.21 [[ 9.86854839e-01 1.60070208e-01 2.22498581e-02 3.63179326e+01] [-1.60031811e-01 9.87105627e-01 -3.50727880e-03 -3.46617523e+00] [-2.25243710e-02 -9.95100194e-05 9.99746289e-01 -1.20693231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.554012738999994 meters Centerline goodness [0,1] 0.9989150718222454 Centerline is valid? [True, True] Translation: X:36.35, Y:-3.46, Z:-1.21 [[ 9.85685479e-01 1.67267685e-01 2.11106045e-02 3.63488447e+01] [-1.67234769e-01 9.85911486e-01 -3.32763853e-03 -3.45795424e+00] [-2.13697938e-02 -2.50422085e-04 9.99771609e-01 -1.20858290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584012738999995 meters Centerline goodness [0,1] 0.9979575163398693 Centerline is valid? [True, True] Translation: X:36.38, Y:-3.46, Z:-1.21 [[ 9.85169651e-01 1.70311045e-01 2.08544270e-02 3.63777190e+01] [-1.70279614e-01 9.85390303e-01 -3.28677655e-03 -3.45504505e+00] [-2.11095245e-02 -3.13051278e-04 9.99777120e-01 -1.21022853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.614012738999996 meters Centerline goodness [0,1] 0.9944940316163028 Centerline is valid? [True, True] Translation: X:36.41, Y:-3.45, Z:-1.21 [[ 9.84286503e-01 1.75140599e-01 2.24911378e-02 3.64074269e+01] [-1.75105345e-01 9.84543329e-01 -3.54277060e-03 -3.44695402e+00] [-2.27639826e-02 -4.51217154e-04 9.99740765e-01 -1.20838766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644012739 meters Centerline goodness [0,1] 0.993789086845329 Centerline is valid? [True, True] Translation: X:36.44, Y:-3.45, Z:-1.21 [[ 9.83959898e-01 1.76930100e-01 2.27740804e-02 3.64360312e+01] [-1.76894456e-01 9.84223293e-01 -3.58629637e-03 -3.44790128e+00] [-2.30493041e-02 -4.99836751e-04 9.99734205e-01 -1.20813947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674012739 meters Centerline goodness [0,1] 0.9926581120237032 Centerline is valid? [True, True] Translation: X:36.47, Y:-3.44, Z:-1.21 [[ 9.83506772e-01 1.79548974e-01 2.18310681e-02 3.64656001e+01] [-1.79516895e-01 9.83748888e-01 -3.43644881e-03 -3.44107735e+00] [-2.20932998e-02 -5.39274882e-04 9.99755768e-01 -1.21092495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70401273899999 meters Centerline goodness [0,1] 0.9938413315085427 Centerline is valid? [True, True] Translation: X:36.49, Y:-3.45, Z:-1.21 [[ 9.83433846e-01 1.79969951e-01 2.16491773e-02 3.64934333e+01] [-1.79938527e-01 9.83671957e-01 -3.40689251e-03 -3.44650388e+00] [-2.19088269e-02 -5.45067677e-04 9.99759824e-01 -1.21071622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73401273899999 meters Centerline goodness [0,1] 0.9925451468477539 Centerline is valid? [True, True] Translation: X:36.52, Y:-3.44, Z:-1.21 [[ 9.83517147e-01 1.79558639e-01 2.12771564e-02 3.65217982e+01] [-1.79528215e-01 9.83747130e-01 -3.34717625e-03 -3.44294884e+00] [-2.15323560e-02 -5.27844674e-04 9.99768013e-01 -1.21351097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764012738999995 meters Centerline goodness [0,1] 0.9941712909192584 Centerline is valid? [True, True] Translation: X:36.55, Y:-3.45, Z:-1.22 [[ 9.84113620e-01 1.76234060e-01 2.14927859e-02 3.65507010e+01] [-1.76202276e-01 9.84348182e-01 -3.37866834e-03 -3.44617768e+00] [-2.17518211e-02 -4.62084268e-04 9.99763294e-01 -1.21513473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.794012738999996 meters Centerline goodness [0,1] 0.996136649737379 Centerline is valid? [True, True] Translation: X:36.58, Y:-3.46, Z:-1.22 [[ 9.84713996e-01 1.72879619e-01 2.12363541e-02 3.65784043e+01] [-1.72847816e-01 9.84942887e-01 -3.33803697e-03 -3.45601546e+00] [-2.14936744e-02 -3.83645687e-04 9.99768911e-01 -1.21580781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824012739 meters Centerline goodness [0,1] 0.996136649737379 Centerline is valid? [True, True] Translation: X:36.61, Y:-3.46, Z:-1.22 [[ 9.84726092e-01 1.72810693e-01 2.12364825e-02 3.66055739e+01] [-1.72778891e-01 9.84954983e-01 -3.33721941e-03 -3.46014778e+00] [-2.14936865e-02 -3.82968882e-04 9.99768911e-01 -1.21660310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854012739 meters Centerline goodness [0,1] 0.9992495872730002 Centerline is valid? [True, True] Translation: X:36.63, Y:-3.48, Z:-1.22 [[ 9.86304663e-01 1.63685852e-01 2.02497748e-02 3.66318262e+01] [-1.63655045e-01 9.86512499e-01 -3.18050550e-03 -3.47595044e+00] [-2.04972597e-02 -1.77030411e-04 9.99789893e-01 -1.22105959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88401273899999 meters Centerline goodness [0,1] 0.9996559583709629 Centerline is valid? [True, True] Translation: X:36.66, Y:-3.49, Z:-1.22 [[ 9.87079036e-01 1.58934784e-01 2.03644728e-02 3.66584719e+01] [-1.58902629e-01 9.87289080e-01 -3.19788184e-03 -3.49012908e+00] [-2.06138763e-02 -7.94061379e-05 9.99787508e-01 -1.22039655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91401273899999 meters Centerline goodness [0,1] 0.999715902882493 Centerline is valid? [True, True] Translation: X:36.69, Y:-3.50, Z:-1.22 [[ 9.87745588e-01 1.54649694e-01 2.10267855e-02 3.66857489e+01] [-1.54614463e-01 9.87969368e-01 -3.30086639e-03 -3.50237863e+00] [-2.12842980e-02 9.37104983e-06 9.99773464e-01 -1.21898042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944012738999994 meters Centerline goodness [0,1] 0.9998061598104674 Centerline is valid? [True, True] Translation: X:36.71, Y:-3.52, Z:-1.22 [[ 9.88462216e-01 1.50010866e-01 2.09568012e-02 3.67120658e+01] [-1.49974857e-01 9.88684342e-01 -3.28842788e-03 -3.51618152e+00] [-2.12129612e-02 1.07493441e-04 9.99774974e-01 -1.21937213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.974012738999996 meters Centerline goodness [0,1] 0.9999349593495935 Centerline is valid? [True, True] Translation: X:36.74, Y:-3.52, Z:-1.22 [[ 9.88488423e-01 1.49835337e-01 2.09764224e-02 3.67399992e+01] [-1.49799210e-01 9.88710958e-01 -3.29198889e-03 -3.52244248e+00] [-2.12328749e-02 1.11841400e-04 9.99774551e-01 -1.22048860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004012739 meters Centerline goodness [0,1] 0.9998700820648291 Centerline is valid? [True, True] Translation: X:36.77, Y:-3.53, Z:-1.22 [[ 9.88354741e-01 1.50780688e-01 2.04960767e-02 3.67679714e+01] [-1.50746415e-01 9.88567234e-01 -3.21588817e-03 -3.53000990e+00] [-2.07466437e-02 8.87282278e-05 9.99784761e-01 -1.22305799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034012739 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.80, Y:-3.54, Z:-1.22 [[ 9.88334112e-01 1.50967730e-01 2.01103776e-02 3.67960823e+01] [-1.50934791e-01 9.88538688e-01 -3.15457254e-03 -3.53682828e+00] [-2.03561250e-02 8.24160092e-05 9.99792789e-01 -1.22491427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06401273899999 meters Centerline goodness [0,1] 0.9998271055304618 Centerline is valid? [True, True] Translation: X:36.83, Y:-3.54, Z:-1.22 [[ 9.88178092e-01 1.52027168e-01 1.97939125e-02 3.68256283e+01] [-1.51995478e-01 9.88376313e-01 -3.10448348e-03 -3.54204528e+00] [-2.00358001e-02 5.91973651e-05 9.99799261e-01 -1.22404580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09401273899999 meters Centerline goodness [0,1] 0.9998267498267498 Centerline is valid? [True, True] Translation: X:36.85, Y:-3.55, Z:-1.22 [[ 9.88039652e-01 1.52932661e-01 1.97293656e-02 3.68544963e+01] [-1.52901364e-01 9.88236611e-01 -3.09410091e-03 -3.54565015e+00] [-1.99704705e-02 4.04474749e-05 9.99800569e-01 -1.22498689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124012738999994 meters Centerline goodness [0,1] 0.9998703823720025 Centerline is valid? [True, True] Translation: X:36.88, Y:-3.55, Z:-1.23 [[ 9.87919077e-01 1.53766842e-01 1.92783541e-02 3.68829295e+01] [-1.53737136e-01 9.88107159e-01 -3.02246889e-03 -3.54982821e+00] [-1.95138352e-02 2.21557380e-05 9.99809587e-01 -1.22687528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.154012738999995 meters Centerline goodness [0,1] 0.9999139229610502 Centerline is valid? [True, True] Translation: X:36.91, Y:-3.56, Z:-1.23 [[ 9.87901882e-01 1.53872876e-01 1.93134340e-02 3.69105715e+01] [-1.53843102e-01 9.88090653e-01 -3.02692181e-03 -3.55888653e+00] [-1.95491848e-02 1.90631469e-05 9.99808896e-01 -1.22759826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184012738999996 meters Centerline goodness [0,1] 0.9998926624017861 Centerline is valid? [True, True] Translation: X:36.94, Y:-3.57, Z:-1.23 [[ 9.88042747e-01 1.52727368e-01 2.11159221e-02 3.69385959e+01] [-1.52691533e-01 9.88268359e-01 -3.30855633e-03 -3.56816394e+00] [-2.13735048e-02 4.47725613e-05 9.99771560e-01 -1.22580893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214012739 meters Centerline goodness [0,1] 0.999891936285634 Centerline is valid? [True, True] Translation: X:36.97, Y:-3.57, Z:-1.23 [[ 9.88084151e-01 1.52459205e-01 2.11163575e-02 3.69677930e+01] [-1.52423326e-01 9.88309763e-01 -3.30778348e-03 -3.57336920e+00] [-2.13738043e-02 4.97429909e-05 9.99771553e-01 -1.22598852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244012739 meters Centerline goodness [0,1] 0.9999569587018744 Centerline is valid? [True, True] Translation: X:37.00, Y:-3.58, Z:-1.23 [[ 9.88125939e-01 1.52224036e-01 2.08559563e-02 3.69965699e+01] [-1.52188997e-01 9.88346012e-01 -3.26641562e-03 -3.57911689e+00] [-2.11101282e-02 5.35829416e-05 9.99777155e-01 -1.22767847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27401273899999 meters Centerline goodness [0,1] 0.9998711506249195 Centerline is valid? [True, True] Translation: X:37.03, Y:-3.59, Z:-1.23 [[ 9.88092460e-01 1.52337505e-01 2.16003400e-02 3.70256586e+01] [-1.52299950e-01 9.88328529e-01 -3.38281340e-03 -3.58688774e+00] [-2.18635616e-02 5.28017067e-05 9.99760962e-01 -1.22668859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304012738999994 meters Centerline goodness [0,1] 0.999805367530979 Centerline is valid? [True, True] Translation: X:37.06, Y:-3.59, Z:-1.22 [[ 9.87928863e-01 1.53068867e-01 2.38008981e-02 3.70552108e+01] [-1.53023496e-01 9.88215523e-01 -3.72681602e-03 -3.59113898e+00] [-2.40908765e-02 3.97324816e-05 9.99709772e-01 -1.22239346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334012738999995 meters Centerline goodness [0,1] 0.999718267126108 Centerline is valid? [True, True] Translation: X:37.09, Y:-3.59, Z:-1.22 [[ 9.87700458e-01 1.54383171e-01 2.47717882e-02 3.70855127e+01] [-1.54334454e-01 9.88011051e-01 -3.87814631e-03 -3.59286396e+00] [-2.50735210e-02 7.30649019e-06 9.99685610e-01 -1.22095889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364012738999996 meters Centerline goodness [0,1] 0.999486345347145 Centerline is valid? [True, True] Translation: X:37.11, Y:-3.59, Z:-1.22 [[ 9.87314202e-01 1.56717431e-01 2.55012450e-02 3.71148812e+01] [-1.56666578e-01 9.87643480e-01 -3.99238338e-03 -3.59335706e+00] [-2.58118144e-02 -5.34559960e-05 9.99666818e-01 -1.22106773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394012739 meters Centerline goodness [0,1] 0.998411471749957 Centerline is valid? [True, True] Translation: X:37.14, Y:-3.59, Z:-1.22 [[ 9.86519871e-01 1.61736797e-01 2.48948473e-02 3.71443083e+01] [-1.61689936e-01 9.86833915e-01 -3.89724135e-03 -3.58799684e+00] [-2.51974069e-02 -1.80540244e-04 9.99682479e-01 -1.22411933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424012739 meters Centerline goodness [0,1] 0.9979538650412457 Centerline is valid? [True, True] Translation: X:37.17, Y:-3.59, Z:-1.23 [[ 9.86149925e-01 1.64149638e-01 2.37322894e-02 3.71738563e+01] [-1.64107771e-01 9.86435422e-01 -3.71440929e-03 -3.58969879e+00] [-2.40200899e-02 -2.31688692e-04 9.99711449e-01 -1.22563843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45401273899999 meters Centerline goodness [0,1] 0.9958953531076498 Centerline is valid? [True, True] Translation: X:37.20, Y:-3.58, Z:-1.23 [[ 9.85398718e-01 1.68666016e-01 2.32624605e-02 3.72038541e+01] [-1.68627058e-01 9.85673203e-01 -3.64044140e-03 -3.58004035e+00] [-2.35432027e-02 -3.35393981e-04 9.99722764e-01 -1.22779507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48401273899999 meters Centerline goodness [0,1] 0.9952990619787266 Centerline is valid? [True, True] Translation: X:37.23, Y:-3.58, Z:-1.23 [[ 9.85235708e-01 1.69491833e-01 2.41478256e-02 3.72322663e+01] [-1.69450131e-01 9.85531522e-01 -3.77775603e-03 -3.58332027e+00] [-2.44387421e-02 -3.69872064e-04 9.99701261e-01 -1.22616121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.514012738999995 meters Centerline goodness [0,1] 0.9928514864199645 Centerline is valid? [True, True] Translation: X:37.26, Y:-3.58, Z:-1.22 [[ 9.85163852e-01 1.69628734e-01 2.60437542e-02 3.72615317e+01] [-1.69580310e-01 9.85507955e-01 -4.07297538e-03 -3.57983169e+00] [-2.63572206e-02 -4.03959807e-04 9.99652506e-01 -1.22384058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544012738999996 meters Centerline goodness [0,1] 0.9935259716437558 Centerline is valid? [True, True] Translation: X:37.29, Y:-3.58, Z:-1.22 [[ 9.85206547e-01 1.69450430e-01 2.55853932e-02 3.72898265e+01] [-1.69403677e-01 9.85538633e-01 -3.99969589e-03 -3.58374631e+00] [-2.58931436e-02 -3.93733104e-04 9.99664639e-01 -1.22481694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.574012739 meters Centerline goodness [0,1] 0.9951308061932729 Centerline is valid? [True, True] Translation: X:37.32, Y:-3.58, Z:-1.23 [[ 9.85306625e-01 1.69120010e-01 2.38595177e-02 3.73183577e+01] [-1.69079279e-01 9.85595400e-01 -3.72889929e-03 -3.58261225e+00] [-2.41464624e-02 -3.60040880e-04 9.99708367e-01 -1.22853323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604012739 meters Centerline goodness [0,1] 0.9967915839099024 Centerline is valid? [True, True] Translation: X:37.35, Y:-3.58, Z:-1.23 [[ 9.85323764e-01 1.69252642e-01 2.21500029e-02 3.73474058e+01] [-1.69217605e-01 9.85572640e-01 -3.46027626e-03 -3.57971880e+00] [-2.24160977e-02 -3.38678006e-04 9.99748670e-01 -1.23328849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63401273899999 meters Centerline goodness [0,1] 0.9945524114226421 Centerline is valid? [True, True] Translation: X:37.38, Y:-3.58, Z:-1.23 [[ 9.85358092e-01 1.68627518e-01 2.51831335e-02 3.73765476e+01] [-1.68582059e-01 9.85679777e-01 -3.93271254e-03 -3.57900304e+00] [-2.54856689e-02 -3.70294361e-04 9.99675119e-01 -1.22823092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66401273899999 meters Centerline goodness [0,1] 0.9923037345109977 Centerline is valid? [True, True] Translation: X:37.41, Y:-3.58, Z:-1.23 [[ 9.85440902e-01 1.67917861e-01 2.66424751e-02 3.74051852e+01] [-1.67866758e-01 9.85800919e-01 -4.15924150e-03 -3.57771228e+00] [-2.69625874e-02 -3.73699239e-04 9.99636374e-01 -1.22691271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.694012738999994 meters Centerline goodness [0,1] 0.9938282336578581 Centerline is valid? [True, True] Translation: X:37.43, Y:-3.59, Z:-1.23 [[ 9.85636489e-01 1.66703450e-01 2.70309323e-02 3.74333931e+01] [-1.66650435e-01 9.86007018e-01 -4.21819548e-03 -3.58537574e+00] [-2.73558767e-02 -3.47109233e-04 9.99625698e-01 -1.22608952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724012738999996 meters Centerline goodness [0,1] 0.9966089980345147 Centerline is valid? [True, True] Translation: X:37.46, Y:-3.59, Z:-1.23 [[ 9.86246175e-01 1.63429041e-01 2.46866451e-02 3.74609530e+01] [-1.63383824e-01 9.86555064e-01 -3.85132856e-03 -3.58888872e+00] [-2.49841536e-02 -2.35040404e-04 9.99687820e-01 -1.23211841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.754012739 meters Centerline goodness [0,1] 0.9988192357234865 Centerline is valid? [True, True] Translation: X:37.49, Y:-3.60, Z:-1.24 [[ 9.86618654e-01 1.61417347e-01 2.29798215e-02 3.74892012e+01] [-1.61377654e-01 9.86886219e-01 -3.58368596e-03 -3.59510023e+00] [-2.32569382e-02 -1.72698257e-04 9.99729506e-01 -1.23702710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784012739 meters Centerline goodness [0,1] 0.9996725534283656 Centerline is valid? [True, True] Translation: X:37.52, Y:-3.60, Z:-1.24 [[ 9.87118291e-01 1.58504745e-01 2.17652271e-02 3.75170134e+01] [-1.58468450e-01 9.87358211e-01 -3.39329527e-03 -3.60322319e+00] [-2.20279291e-02 -9.95179738e-05 9.99757351e-01 -1.24006073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81401273899999 meters Centerline goodness [0,1] 0.9994227932530945 Centerline is valid? [True, True] Translation: X:37.54, Y:-3.61, Z:-1.24 [[ 9.87280458e-01 1.57436265e-01 2.21612190e-02 3.75444970e+01] [-1.57398391e-01 9.87529147e-01 -3.45398966e-03 -3.60730908e+00] [-2.24286329e-02 -7.80837181e-05 9.99748444e-01 -1.24016462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84401273899999 meters Centerline goodness [0,1] 0.9995681091819988 Centerline is valid? [True, True] Translation: X:37.57, Y:-3.61, Z:-1.24 [[ 9.87531503e-01 1.55702432e-01 2.32009533e-02 3.75731634e+01] [-1.55660479e-01 9.87804004e-01 -3.61448059e-03 -3.61172015e+00] [-2.34807780e-02 -4.20580469e-05 9.99724288e-01 -1.23778199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.874012738999994 meters Centerline goodness [0,1] 0.9995273797503705 Centerline is valid? [True, True] Translation: X:37.60, Y:-3.62, Z:-1.24 [[ 9.87547654e-01 1.55623684e-01 2.30412859e-02 3.76005824e+01] [-1.55582309e-01 9.87816414e-01 -3.58853543e-03 -3.61530645e+00] [-2.33190215e-02 -4.09667303e-05 9.99728074e-01 -1.23917426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904012738999995 meters Centerline goodness [0,1] 0.9994340197657713 Centerline is valid? [True, True] Translation: X:37.63, Y:-3.62, Z:-1.24 [[ 9.87527810e-01 1.55808536e-01 2.26390210e-02 3.76291790e+01] [-1.55768676e-01 9.87787274e-01 -3.52444284e-03 -3.61893757e+00] [-2.29116751e-02 -4.59650083e-05 9.99737492e-01 -1.24108556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.934012738999996 meters Centerline goodness [0,1] 0.9996523326307555 Centerline is valid? [True, True] Translation: X:37.66, Y:-3.62, Z:-1.24 [[ 9.87631841e-01 1.55128108e-01 2.27731719e-02 3.76583540e+01] [-1.55087618e-01 9.87894361e-01 -3.54423133e-03 -3.62201332e+00] [-2.30472980e-02 -3.14412639e-05 9.99734375e-01 -1.24087865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964012739 meters Centerline goodness [0,1] 0.9994645534375669 Centerline is valid? [True, True] Translation: X:37.69, Y:-3.63, Z:-1.24 [[ 9.87850837e-01 1.53445510e-01 2.46007892e-02 3.76863182e+01] [-1.53397769e-01 9.88157111e-01 -3.82737447e-03 -3.62799375e+00] [-2.48967382e-02 7.16888629e-06 9.99690028e-01 -1.23850892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994012739 meters Centerline goodness [0,1] 0.9983603374252983 Centerline is valid? [True, True] Translation: X:37.71, Y:-3.64, Z:-1.24 [[ 9.88659225e-01 1.47661284e-01 2.73693470e-02 3.77128901e+01] [-1.47600015e-01 9.89037975e-01 -4.25664592e-03 -3.64301059e+00] [-2.76978653e-02 1.68656247e-04 9.99616326e-01 -1.23576260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02401273899999 meters Centerline goodness [0,1] 0.9967378094283704 Centerline is valid? [True, True] Translation: X:37.74, Y:-3.66, Z:-1.24 [[ 9.89262067e-01 1.43689080e-01 2.67210003e-02 3.77410886e+01] [-1.43629265e-01 9.89622845e-01 -4.15448704e-03 -3.65613549e+00] [-2.70406668e-02 2.71958793e-04 9.99634297e-01 -1.23755118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.054012738999994 meters Centerline goodness [0,1] 0.9939586100518446 Centerline is valid? [True, True] Translation: X:37.77, Y:-3.68, Z:-1.24 [[ 9.90422981e-01 1.35762988e-01 2.51143331e-02 3.77690977e+01] [-1.35707610e-01 9.90741238e-01 -3.90432596e-03 -3.67642498e+00] [-2.54118684e-02 4.58728033e-04 9.99676961e-01 -1.24052415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084012738999995 meters Centerline goodness [0,1] 0.9920444311017712 Centerline is valid? [True, True] Translation: X:37.80, Y:-3.69, Z:-1.24 [[ 9.90922025e-01 1.32131643e-01 2.47945287e-02 3.77998396e+01] [-1.32076527e-01 9.91232027e-01 -3.85476333e-03 -3.68870877e+00] [-2.50864671e-02 5.44994652e-04 9.99685137e-01 -1.24189219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.114012738999996 meters Centerline goodness [0,1] 0.9901856935947599 Centerline is valid? [True, True] Translation: X:37.83, Y:-3.70, Z:-1.24 [[ 9.91320516e-01 1.29072379e-01 2.49791044e-02 3.78300320e+01] [-1.29015442e-01 9.91634976e-01 -3.88450635e-03 -3.70078864e+00] [-2.52715361e-02 6.28100642e-04 9.99680426e-01 -1.24240398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144012739 meters Centerline goodness [0,1] 0.9842327241267438 Centerline is valid? [True, True] Translation: X:37.86, Y:-3.72, Z:-1.24 [[ 9.91836537e-01 1.24631984e-01 2.69657731e-02 3.78586246e+01] [-1.24563919e-01 9.92202713e-01 -4.19596464e-03 -3.71830224e+00] [-2.72784646e-02 8.02748670e-04 9.99627551e-01 -1.23847625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174012739 meters Centerline goodness [0,1] 0.9778374892519347 Centerline is valid? [True, True] Translation: X:37.89, Y:-3.73, Z:-1.24 [[ 9.92141127e-01 1.21943973e-01 2.80294921e-02 3.78868099e+01] [-1.21869348e-01 9.92536567e-01 -4.36182710e-03 -3.73493443e+00] [-2.83521944e-02 9.11612122e-04 9.99597580e-01 -1.23825505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20401273899999 meters Centerline goodness [0,1] 0.9780689625832252 Centerline is valid? [True, True] Translation: X:37.92, Y:-3.75, Z:-1.24 [[ 9.92184827e-01 1.21646688e-01 2.77732245e-02 3.79171380e+01] [-1.21573300e-01 9.92573046e-01 -4.32214937e-03 -3.74640566e+00] [-2.80927292e-02 9.11888464e-04 9.99604905e-01 -1.23996738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23401273899999 meters Centerline goodness [0,1] 0.9765772000778598 Centerline is valid? [True, True] Translation: X:37.95, Y:-3.76, Z:-1.24 [[ 9.92219440e-01 1.21320863e-01 2.79612528e-02 3.79472521e+01] [-1.21246219e-01 9.92612905e-01 -4.35598763e-03 -3.75948774e+00] [-2.82831725e-02 9.31899422e-04 9.99599517e-01 -1.24226268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264012738999995 meters Centerline goodness [0,1] 0.9785203373545426 Centerline is valid? [True, True] Translation: X:37.98, Y:-3.78, Z:-1.24 [[ 9.92143547e-01 1.22242305e-01 2.66082791e-02 3.79766808e+01] [-1.22174933e-01 9.92499909e-01 -4.14931584e-03 -3.77621370e+00] [-2.69159365e-02 8.65852240e-04 9.99637326e-01 -1.24497651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.294012738999996 meters Centerline goodness [0,1] 0.976308337476492 Centerline is valid? [True, True] Translation: X:38.01, Y:-3.78, Z:-1.23 [[ 9.91963086e-01 1.24138581e-01 2.44713816e-02 3.80091618e+01] [-1.24082074e-01 9.92264605e-01 -3.82009864e-03 -3.78130870e+00] [-2.47563074e-02 7.52937050e-04 9.99693232e-01 -1.23412509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324012739 meters Centerline goodness [0,1] 0.9921097770154373 Centerline is valid? [True, True] Translation: X:38.04, Y:-3.79, Z:-1.25 [[ 9.91396823e-01 1.28894143e-01 2.27736427e-02 3.80378763e+01] [-1.28846422e-01 9.91658182e-01 -3.55665337e-03 -3.78847860e+00] [-2.30421009e-02 5.91752475e-04 9.99734320e-01 -1.25281113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354012739 meters Centerline goodness [0,1] 0.9937584744850742 Centerline is valid? [True, True] Translation: X:38.07, Y:-3.80, Z:-1.25 [[ 9.90978404e-01 1.32123598e-01 2.24757215e-02 3.80680932e+01] [-1.32077951e-01 9.91233118e-01 -3.50998386e-03 -3.79562756e+00] [-2.27424312e-02 5.09770953e-04 9.99741227e-01 -1.25475920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38401273899999 meters Centerline goodness [0,1] 0.9951395254641966 Centerline is valid? [True, True] Translation: X:38.10, Y:-3.80, Z:-1.25 [[ 9.90455957e-01 1.35824606e-01 2.34237744e-02 3.80998631e+01] [-1.35776046e-01 9.90732799e-01 -3.65861296e-03 -3.79690763e+00] [-2.37036312e-02 4.43307535e-04 9.99718931e-01 -1.25349509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41401273899999 meters Centerline goodness [0,1] 0.9966387278877852 Centerline is valid? [True, True] Translation: X:38.13, Y:-3.79, Z:-1.25 [[ 9.89393129e-01 1.42838312e-01 2.64282568e-02 3.81321954e+01] [-1.42778972e-01 9.89745987e-01 -4.12861034e-03 -3.79306513e+00] [-2.67469848e-02 3.11419360e-04 9.99642187e-01 -1.24874557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444012738999994 meters Centerline goodness [0,1] 0.9973650385604114 Centerline is valid? [True, True] Translation: X:38.16, Y:-3.80, Z:-1.25 [[ 9.88990160e-01 1.45550409e-01 2.67122201e-02 3.81622983e+01] [-1.45490774e-01 9.89350808e-01 -4.17302880e-03 -3.80262100e+00] [-2.70351425e-02 2.40702841e-04 9.99634455e-01 -1.24992669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.474012738999996 meters Centerline goodness [0,1] 0.998495238504697 Centerline is valid? [True, True] Translation: X:38.19, Y:-3.81, Z:-1.25 [[ 9.89064918e-01 1.45279828e-01 2.53842528e-02 3.81933644e+01] [-1.45225793e-01 9.89390577e-01 -3.96922345e-03 -3.81312243e+00] [-2.56915887e-02 2.39371408e-04 9.99669888e-01 -1.25301219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504012739 meters Centerline goodness [0,1] 0.9982980171900264 Centerline is valid? [True, True] Translation: X:38.22, Y:-3.83, Z:-1.26 [[ 9.89659921e-01 1.41605078e-01 2.28307559e-02 3.82222835e+01] [-1.41560307e-01 9.89923183e-01 -3.57358393e-03 -3.83148065e+00] [-2.31067322e-02 3.04703976e-04 9.99732957e-01 -1.25866883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534012739 meters Centerline goodness [0,1] 0.9969241433089286 Centerline is valid? [True, True] Translation: X:38.25, Y:-3.84, Z:-1.26 [[ 9.89978765e-01 1.39274454e-01 2.33381792e-02 3.82530101e+01] [-1.39226939e-01 9.90253750e-01 -3.65657853e-03 -3.84357756e+00] [-2.36199875e-02 3.70631847e-04 9.99720940e-01 -1.25927703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56401273899999 meters Centerline goodness [0,1] 0.9905173525996646 Centerline is valid? [True, True] Translation: X:38.28, Y:-3.86, Z:-1.25 [[ 9.90349002e-01 1.35996754e-01 2.67158409e-02 3.82813862e+01] [-1.35933155e-01 9.90709147e-01 -4.19093633e-03 -3.86477297e+00] [-2.70375817e-02 5.18921084e-04 9.99634283e-01 -1.25322061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59401273899999 meters Centerline goodness [0,1] 0.9880227848649585 Centerline is valid? [True, True] Translation: X:38.31, Y:-3.87, Z:-1.25 [[ 9.90392313e-01 1.35420487e-01 2.80063904e-02 3.83127108e+01] [-1.35350235e-01 9.90788056e-01 -4.39788164e-03 -3.87382055e+00] [-2.83439603e-02 5.64956645e-04 9.99598070e-01 -1.25163906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624012738999994 meters Centerline goodness [0,1] 0.9879401936423614 Centerline is valid? [True, True] Translation: X:38.34, Y:-3.88, Z:-1.25 [[ 9.90269249e-01 1.36310676e-01 2.80395131e-02 3.83431992e+01] [-1.36240482e-01 9.90665990e-01 -4.40773425e-03 -3.88141398e+00] [-2.83786132e-02 5.44726890e-04 9.99597098e-01 -1.25229285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.654012738999995 meters Centerline goodness [0,1] 0.9909627483622684 Centerline is valid? [True, True] Translation: X:38.37, Y:-3.89, Z:-1.25 [[ 9.89870632e-01 1.39250007e-01 2.76688800e-02 3.83745742e+01] [-1.39182685e-01 9.90257151e-01 -4.35372859e-03 -3.89028447e+00] [-2.80055630e-02 4.58599069e-04 9.99607662e-01 -1.25440326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684012738999996 meters Centerline goodness [0,1] 0.9915986401922785 Centerline is valid? [True, True] Translation: X:38.41, Y:-3.90, Z:-1.26 [[ 9.89603302e-01 1.41179843e-01 2.74509861e-02 3.84054479e+01] [-1.41114279e-01 9.89983884e-01 -4.32091328e-03 -3.89780871e+00] [-2.77860597e-02 4.02263953e-04 9.99613812e-01 -1.25514689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714012739 meters Centerline goodness [0,1] 0.9955558460231357 Centerline is valid? [True, True] Translation: X:38.44, Y:-3.90, Z:-1.26 [[ 9.88921033e-01 1.46006570e-01 2.67819320e-02 3.84375794e+01] [-1.45945816e-01 9.89283585e-01 -4.21985903e-03 -3.90219932e+00] [-2.71110529e-02 2.64396436e-04 9.99632393e-01 -1.25710247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744012739 meters Centerline goodness [0,1] 0.9955558460231357 Centerline is valid? [True, True] Translation: X:38.47, Y:-3.91, Z:-1.26 [[ 9.88893807e-01 1.46190979e-01 2.67812552e-02 3.84696473e+01] [-1.46130176e-01 9.89256351e-01 -4.22415031e-03 -3.90744692e+00] [-2.71110594e-02 2.63686551e-04 9.99632393e-01 -1.25804297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77401273899999 meters Centerline goodness [0,1] 0.9969068843303619 Centerline is valid? [True, True] Translation: X:38.50, Y:-3.91, Z:-1.26 [[ 9.88462706e-01 1.49095769e-01 2.66820286e-02 3.85003295e+01] [-1.49036335e-01 9.88822743e-01 -4.21364700e-03 -3.91187047e+00] [-2.70120336e-02 1.88441177e-04 9.99635091e-01 -1.25961924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804012738999994 meters Centerline goodness [0,1] 0.9985757444971947 Centerline is valid? [True, True] Translation: X:38.53, Y:-3.91, Z:-1.26 [[ 9.87630145e-01 1.54379513e-01 2.74529173e-02 3.85311417e+01] [-1.54318512e-01 9.88011621e-01 -4.33974405e-03 -3.91445147e+00] [-2.77937689e-02 4.95687006e-05 9.99613677e-01 -1.25830741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834012738999995 meters Centerline goodness [0,1] 0.9985924642702468 Centerline is valid? [True, True] Translation: X:38.56, Y:-3.92, Z:-1.26 [[ 9.87290417e-01 1.56439017e-01 2.80083138e-02 3.85642102e+01] [-1.56376221e-01 9.87687620e-01 -4.43210024e-03 -3.91912962e+00] [-2.83568182e-02 -4.06417662e-06 9.99597865e-01 -1.25746457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864012738999996 meters Centerline goodness [0,1] 0.9987999314246528 Centerline is valid? [True, True] Translation: X:38.60, Y:-3.93, Z:-1.26 [[ 9.86891763e-01 1.58984845e-01 2.77212560e-02 3.85952321e+01] [-1.58924180e-01 9.87281021e-01 -4.39217828e-03 -3.92531441e+00] [-2.80669597e-02 -7.09733082e-05 9.99606043e-01 -1.26007268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894012739 meters Centerline goodness [0,1] 0.9988094722715269 Centerline is valid? [True, True] Translation: X:38.63, Y:-3.93, Z:-1.26 [[ 9.86710944e-01 1.60150812e-01 2.74450273e-02 3.86267508e+01] [-1.60091659e-01 9.87092553e-01 -4.35348927e-03 -3.93163850e+00] [-2.77879969e-02 -9.80844549e-05 9.99613834e-01 -1.26220087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924012739 meters Centerline goodness [0,1] 0.9984919968116504 Centerline is valid? [True, True] Translation: X:38.66, Y:-3.94, Z:-1.26 [[ 9.86398476e-01 1.62116871e-01 2.71323950e-02 3.86593571e+01] [-1.62059674e-01 9.86771553e-01 -4.30851636e-03 -3.93939541e+00] [-2.74719587e-02 -1.47153120e-04 9.99622564e-01 -1.26356938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95401273899999 meters Centerline goodness [0,1] 0.9981998199819982 Centerline is valid? [True, True] Translation: X:38.69, Y:-3.94, Z:-1.27 [[ 9.86201373e-01 1.63373119e-01 2.67596060e-02 3.86914687e+01] [-1.63317806e-01 9.86564338e-01 -4.25448846e-03 -3.94240003e+00] [-2.70951420e-02 -1.74537779e-04 9.99632844e-01 -1.26570139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98401273899999 meters Centerline goodness [0,1] 0.997148187061775 Centerline is valid? [True, True] Translation: X:38.72, Y:-3.94, Z:-1.27 [[ 9.85795132e-01 1.65860605e-01 2.64238146e-02 3.87234223e+01] [-1.65807437e-01 9.86149180e-01 -4.20588518e-03 -3.94457932e+00] [-2.67554138e-02 -2.35123840e-04 9.99641982e-01 -1.26753003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014012738999995 meters Centerline goodness [0,1] 0.9960755720443482 Centerline is valid? [True, True] Translation: X:38.76, Y:-3.95, Z:-1.27 [[ 9.85539970e-01 1.67383190e-01 2.63407598e-02 3.87553717e+01] [-1.67330790e-01 9.85891877e-01 -4.19675930e-03 -3.94765982e+00] [-2.66716081e-02 -2.71546111e-04 9.99644213e-01 -1.26859048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044012738999996 meters Centerline goodness [0,1] 0.9961444544403033 Centerline is valid? [True, True] Translation: X:38.79, Y:-3.95, Z:-1.27 [[ 9.85239996e-01 1.69192713e-01 2.59995269e-02 3.87863229e+01] [-1.69142177e-01 9.85582938e-01 -4.14671918e-03 -3.94814717e+00] [-2.63262848e-02 -3.12102999e-04 9.99653355e-01 -1.27048486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074012739 meters Centerline goodness [0,1] 0.9964451380760394 Centerline is valid? [True, True] Translation: X:38.82, Y:-3.96, Z:-1.27 [[ 9.85231142e-01 1.69287077e-01 2.57193152e-02 3.88182578e+01] [-1.69237655e-01 9.85566735e-01 -4.10210088e-03 -3.95631427e+00] [-2.60425342e-02 -3.11159064e-04 9.99660787e-01 -1.27141697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104012739 meters Centerline goodness [0,1] 0.9968855990955439 Centerline is valid? [True, True] Translation: X:38.85, Y:-3.96, Z:-1.27 [[ 9.85420683e-01 1.68181650e-01 2.57101039e-02 3.88489957e+01] [-1.68131755e-01 9.85755982e-01 -4.10572355e-03 -3.96177459e+00] [-2.60343961e-02 -2.76819986e-04 9.99661009e-01 -1.27244123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13401273899999 meters Centerline goodness [0,1] 0.9969718445976419 Centerline is valid? [True, True] Translation: X:38.88, Y:-3.97, Z:-1.27 [[ 9.85561186e-01 1.67209959e-01 2.66454196e-02 3.88800721e+01] [-1.67155895e-01 9.85921277e-01 -4.25941701e-03 -3.97033895e+00] [-2.69825030e-02 -2.56022873e-04 9.99635873e-01 -1.27086788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16401273899999 meters Centerline goodness [0,1] 0.9962469346412197 Centerline is valid? [True, True] Translation: X:38.91, Y:-3.98, Z:-1.27 [[ 9.85913820e-01 1.64769460e-01 2.87222079e-02 3.89106014e+01] [-1.64705451e-01 9.86332087e-01 -4.59663092e-03 -3.97583603e+00] [-2.90870197e-02 -1.98822250e-04 9.99576863e-01 -1.26802002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194012738999994 meters Centerline goodness [0,1] 0.9974351849872828 Centerline is valid? [True, True] Translation: X:38.94, Y:-3.99, Z:-1.27 [[ 9.86323987e-01 1.62282981e-01 2.87963067e-02 3.89413334e+01] [-1.62217449e-01 9.86744252e-01 -4.61301233e-03 -3.98544553e+00] [-2.91632035e-02 -1.21338709e-04 9.99574656e-01 -1.26942414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224012738999996 meters Centerline goodness [0,1] 0.998851723478002 Centerline is valid? [True, True] Translation: X:38.97, Y:-3.99, Z:-1.27 [[ 9.86524887e-01 1.61326850e-01 2.72451004e-02 3.89730243e+01] [-1.61267703e-01 9.86901029e-01 -4.36893684e-03 -3.99237425e+00] [-2.75930444e-02 -8.36898317e-05 9.99619236e-01 -1.27303865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254012739 meters Centerline goodness [0,1] 0.999311517029196 Centerline is valid? [True, True] Translation: X:39.00, Y:-4.00, Z:-1.28 [[ 9.86791637e-01 1.60027019e-01 2.51717705e-02 3.90042386e+01] [-1.59976045e-01 9.87112634e-01 -4.03900272e-03 -4.00339548e+00] [-2.54937222e-02 -4.12261746e-05 9.99674981e-01 -1.27748824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284012739 meters Centerline goodness [0,1] 0.9993550606243014 Centerline is valid? [True, True] Translation: X:39.04, Y:-4.01, Z:-1.28 [[ 9.86762967e-01 1.60208466e-01 2.51414892e-02 3.90363856e+01] [-1.60157550e-01 9.87083201e-01 -4.03897846e-03 -4.00999300e+00] [-2.54638202e-02 -4.10849571e-05 9.99675744e-01 -1.27876770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31401273899999 meters Centerline goodness [0,1] 0.9993833067517278 Centerline is valid? [True, True] Translation: X:39.07, Y:-4.02, Z:-1.28 [[ 9.86742312e-01 1.60317849e-01 2.52546539e-02 3.90677687e+01] [-1.60266382e-01 9.87065442e-01 -4.06211299e-03 -4.01649551e+00] [-2.55792254e-02 -3.92132615e-05 9.99672797e-01 -1.28000164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34401273899999 meters Centerline goodness [0,1] 0.9989186617357642 Centerline is valid? [True, True] Translation: X:39.10, Y:-4.03, Z:-1.28 [[ 9.86815414e-01 1.59837217e-01 2.54441086e-02 3.91000042e+01] [-1.59784698e-01 9.87143385e-01 -4.09718973e-03 -4.02658626e+00] [-2.57718669e-02 -2.24092177e-05 9.99667850e-01 -1.27954946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.374012738999994 meters Centerline goodness [0,1] 0.9994200532691812 Centerline is valid? [True, True] Translation: X:39.13, Y:-4.03, Z:-1.28 [[ 9.86883004e-01 1.59432697e-01 2.53604379e-02 3.91316101e+01] [-1.59380257e-01 9.87208800e-01 -4.08884716e-03 -4.03342727e+00] [-2.56879434e-02 -6.73933091e-06 9.99670010e-01 -1.28087397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.404012738999995 meters Centerline goodness [0,1] 0.9928157188609019 Centerline is valid? [True, True] Translation: X:39.16, Y:-4.04, Z:-1.27 [[ 9.86722779e-01 1.60274965e-01 2.62696341e-02 3.91641331e+01] [-1.60218912e-01 9.87072406e-01 -4.23855063e-03 -4.04262712e+00] [-2.66093645e-02 -2.66177344e-05 9.99645908e-01 -1.26798076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.434012738999996 meters Centerline goodness [0,1] 0.9985791479193128 Centerline is valid? [True, True] Translation: X:39.20, Y:-4.05, Z:-1.28 [[ 9.86694719e-01 1.60224892e-01 2.75955622e-02 3.91964151e+01] [-1.60162862e-01 9.87080535e-01 -4.45805487e-03 -4.04852754e+00] [-2.79533337e-02 -2.10450099e-05 9.99609229e-01 -1.27905398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464012739 meters Centerline goodness [0,1] 0.9989744466284933 Centerline is valid? [True, True] Translation: X:39.23, Y:-4.05, Z:-1.28 [[ 9.86438161e-01 1.61861986e-01 2.72112439e-02 3.92277513e+01] [-1.61802150e-01 9.86813404e-01 -4.40116912e-03 -4.05392302e+00] [-2.75648021e-02 -6.13566028e-05 9.99620017e-01 -1.27964869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494012739 meters Centerline goodness [0,1] 0.9987292698686194 Centerline is valid? [True, True] Translation: X:39.26, Y:-4.06, Z:-1.28 [[ 9.86138751e-01 1.63655892e-01 2.73333584e-02 3.92607176e+01] [-1.63596119e-01 9.86517479e-01 -4.42410017e-03 -4.05723054e+00] [-2.76888659e-02 -1.08854733e-04 9.99616584e-01 -1.28126466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52401273899999 meters Centerline goodness [0,1] 0.9978848208639526 Centerline is valid? [True, True] Translation: X:39.29, Y:-4.06, Z:-1.28 [[ 9.85855551e-01 1.65338869e-01 2.74206263e-02 3.92934562e+01] [-1.65279221e-01 9.86236805e-01 -4.44338176e-03 -4.06049565e+00] [-2.77778946e-02 -1.51527172e-04 9.99614108e-01 -1.28292036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.554012738999994 meters Centerline goodness [0,1] 0.9975198412698413 Centerline is valid? [True, True] Translation: X:39.33, Y:-4.06, Z:-1.29 [[ 9.85380087e-01 1.68191702e-01 2.71594415e-02 3.93255822e+01] [-1.68134129e-01 9.85754280e-01 -4.40611680e-03 -4.06232128e+00] [-2.75136080e-02 -2.24729288e-04 9.99621404e-01 -1.28539481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584012738999995 meters Centerline goodness [0,1] 0.9959113775018731 Centerline is valid? [True, True] Translation: X:39.36, Y:-4.06, Z:-1.28 [[ 9.84979341e-01 1.70418908e-01 2.78045466e-02 3.93573180e+01] [-1.70359322e-01 9.85371662e-01 -4.51544105e-03 -4.06320008e+00] [-2.81673288e-02 -2.89147557e-04 9.99603180e-01 -1.28321581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.614012738999996 meters Centerline goodness [0,1] 0.9960005988408153 Centerline is valid? [True, True] Translation: X:39.39, Y:-4.07, Z:-1.28 [[ 9.84713016e-01 1.71967505e-01 2.77029355e-02 3.93897771e+01] [-1.71908850e-01 9.85102568e-01 -4.50309149e-03 -4.06676557e+00] [-2.80646183e-02 -3.28126972e-04 9.99606057e-01 -1.28356274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644012739 meters Centerline goodness [0,1] 0.9957846742800611 Centerline is valid? [True, True] Translation: X:39.42, Y:-4.07, Z:-1.28 [[ 9.84461988e-01 1.73430968e-01 2.75008088e-02 3.94219095e+01] [-1.73373612e-01 9.84845962e-01 -4.47467783e-03 -4.07232391e+00] [-2.78601082e-02 -3.62764324e-04 9.99611766e-01 -1.28456434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674012739 meters Centerline goodness [0,1] 0.9932754694280926 Centerline is valid? [True, True] Translation: X:39.45, Y:-4.08, Z:-1.29 [[ 9.83992495e-01 1.76037572e-01 2.77406269e-02 3.94526125e+01] [-1.75980112e-01 9.84383352e-01 -4.51849304e-03 -4.07562391e+00] [-2.81028358e-02 -4.35635370e-04 9.99604942e-01 -1.28641883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70401273899999 meters Centerline goodness [0,1] 0.991847531493246 Centerline is valid? [True, True] Translation: X:39.48, Y:-4.08, Z:-1.29 [[ 9.83656629e-01 1.77645567e-01 2.93545381e-02 3.94840639e+01] [-1.77581859e-01 9.84094404e-01 -4.78414449e-03 -4.08086686e+00] [-2.97375188e-02 -5.06877992e-04 9.99557614e-01 -1.28516001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73401273899999 meters Centerline goodness [0,1] 0.9915472252848218 Centerline is valid? [True, True] Translation: X:39.51, Y:-4.09, Z:-1.29 [[ 9.83507831e-01 1.78486421e-01 2.92394344e-02 3.95148215e+01] [-1.78423441e-01 9.83942235e-01 -4.77015669e-03 -4.08535703e+00] [-2.96213226e-02 -5.25514023e-04 9.99561054e-01 -1.28632981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764012738999995 meters Centerline goodness [0,1] 0.9920233164595796 Centerline is valid? [True, True] Translation: X:39.55, Y:-4.09, Z:-1.29 [[ 9.83341107e-01 1.79611458e-01 2.79283323e-02 3.95463316e+01] [-1.79554339e-01 9.83737487e-01 -4.56029621e-03 -4.08933247e+00] [-2.82932289e-02 -5.30326523e-04 9.99599526e-01 -1.28988485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.794012738999996 meters Centerline goodness [0,1] 0.9925637774291303 Centerline is valid? [True, True] Translation: X:39.58, Y:-4.09, Z:-1.30 [[ 9.82754374e-01 1.83172791e-01 2.53292087e-02 3.95778539e+01] [-1.83126885e-01 9.83080568e-01 -4.14002280e-03 -4.09011830e+00] [-2.56589924e-02 -5.69833574e-04 9.99670591e-01 -1.29568839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824012739 meters Centerline goodness [0,1] 0.9913616240146852 Centerline is valid? [True, True] Translation: X:39.61, Y:-4.09, Z:-1.30 [[ 9.82279031e-01 1.85723398e-01 2.51937381e-02 3.96091539e+01] [-1.85678817e-01 9.82601862e-01 -4.11803822e-03 -4.09174908e+00] [-2.55202300e-02 -6.32880889e-04 9.99674106e-01 -1.29701061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854012739 meters Centerline goodness [0,1] 0.9883626232318903 Centerline is valid? [True, True] Translation: X:39.64, Y:-4.09, Z:-1.30 [[ 9.81104648e-01 1.91690469e-01 2.62380271e-02 3.96403189e+01] [-1.91644126e-01 9.81455092e-01 -4.29316213e-03 -4.09003800e+00] [-2.65744035e-02 -8.16322446e-04 9.99646505e-01 -1.29604780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88401273899999 meters Centerline goodness [0,1] 0.976442974501227 Centerline is valid? [True, True] Translation: X:39.67, Y:-4.09, Z:-1.30 [[ 9.80588349e-01 1.94223644e-01 2.69010368e-02 3.96715966e+01] [-1.94175880e-01 9.80956856e-01 -4.40166263e-03 -4.08662278e+00] [-2.72436634e-02 -9.07313406e-04 9.99628411e-01 -1.29568281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91401273899999 meters Centerline goodness [0,1] 0.9603588521880969 Centerline is valid? [True, True] Translation: X:39.70, Y:-4.09, Z:-1.29 [[ 9.79502394e-01 1.99488400e-01 2.79184113e-02 3.97022982e+01] [-1.99439060e-01 9.79899579e-01 -4.56912709e-03 -4.08577060e+00] [-2.82687273e-02 -1.09255078e-03 9.99599763e-01 -1.29468823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944012738999994 meters Centerline goodness [0,1] 0.9472479517402186 Centerline is valid? [True, False] Translation: X:39.66, Y:-4.07, Z:-1.29 [[ 9.79718599e-01 1.98694449e-01 2.59226392e-02 3.96612879e+01] [-1.98603287e-01 9.80061160e-01 -6.07109089e-03 -4.07390171e+00] [-2.66120638e-02 7.99639321e-04 9.99645516e-01 -1.29440375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.974012738999996 meters Centerline goodness [0,1] 0.8583679114799447 Centerline is valid? [False, False] Translation: X:39.66, Y:-4.07, Z:-1.30 [[ 9.79760380e-01 1.98529082e-01 2.56086228e-02 3.96628829e+01] [-1.98415813e-01 9.80093531e-01 -6.91628559e-03 -4.06942293e+00] [-2.64719294e-02 1.69514687e-03 9.99648120e-01 -1.29503124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004012739 meters Centerline goodness [0,1] 0.9101564173987572 Centerline is valid? [False, False] Translation: X:39.60, Y:-4.06, Z:-1.29 [[ 9.80394856e-01 1.95283998e-01 2.62695136e-02 3.95956109e+01] [-1.95368596e-01 9.80729660e-01 6.68360621e-04 -4.06000737e+00] [-2.56327710e-02 -5.78749529e-03 9.99654673e-01 -1.29120135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034012739 meters Centerline goodness [0,1] 0.8859127832407011 Centerline is valid? [False, False] Translation: X:39.60, Y:-4.05, Z:-1.29 [[ 9.81167354e-01 1.91460763e-01 2.55617029e-02 3.95957726e+01] [-1.91402611e-01 9.81500235e-01 -4.72544704e-03 -4.05217300e+00] [-2.59935551e-02 -2.56122319e-04 9.99662078e-01 -1.29102674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06401273899999 meters Centerline goodness [0,1] 0.9002037533512064 Centerline is valid? [False, False] Translation: X:39.55, Y:-4.03, Z:-1.29 [[ 9.81579056e-01 1.89449668e-01 2.47260999e-02 3.95506696e+01] [-1.89276467e-01 9.81880847e-01 -9.18806671e-03 -4.03362947e+00] [-2.60187602e-02 4.33874500e-03 9.99652039e-01 -1.28759769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09401273899999 meters Centerline goodness [0,1] 0.9154045543154603 Centerline is valid? [False, False] Translation: X:39.55, Y:-4.03, Z:-1.29 [[ 9.81686581e-01 1.88885556e-01 2.47730356e-02 3.95501052e+01] [-1.88677976e-01 9.81983026e-01 -1.04860886e-02 -4.02715968e+00] [-2.63073711e-02 5.61992627e-03 9.99638104e-01 -1.28627707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124012738999994 meters Centerline goodness [0,1] 0.9447212438793918 Centerline is valid? [False, False] Translation: X:39.53, Y:-4.03, Z:-1.28 [[ 9.82189376e-01 1.86379431e-01 2.38062528e-02 3.95279768e+01] [-1.86414377e-01 9.82470915e-01 -7.62368226e-04 -4.02682632e+00] [-2.35310407e-02 -3.68903782e-03 9.99716300e-01 -1.28328416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.154012738999995 meters Centerline goodness [0,1] 0.9332716275265299 Centerline is valid? [False, False] Translation: X:39.49, Y:-4.01, Z:-1.28 [[ 9.82987350e-01 1.82453673e-01 2.11312008e-02 3.94867011e+01] [-1.82370940e-01 9.83212725e-01 -5.79455450e-03 -4.01344280e+00] [-2.18337033e-02 1.84225680e-03 9.99759919e-01 -1.28269743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.184012738999996 meters Centerline goodness [0,1] 0.957520756902877 Centerline is valid? [False, True] Translation: X:39.49, Y:-4.01, Z:-1.28 [[ 9.83857718e-01 1.77849524e-01 1.98377851e-02 3.94893863e+01] [-1.77653941e-01 9.84028893e-01 -1.12345595e-02 -4.00739128e+00] [-2.15190148e-02 7.52894733e-03 9.99740090e-01 -1.28394679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214012739 meters Centerline goodness [0,1] 0.9839181598786921 Centerline is valid? [True, True] Translation: X:39.52, Y:-4.02, Z:-1.28 [[ 9.84679816e-01 1.73004130e-01 2.17997680e-02 3.95182049e+01] [-1.72978215e-01 9.84920825e-01 -3.08323279e-03 -4.02203334e+00] [-2.20044575e-02 -7.34887859e-04 9.99757603e-01 -1.28258530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24401273899999 meters Centerline goodness [0,1] 0.987229051735372 Centerline is valid? [True, True] Translation: X:39.55, Y:-4.03, Z:-1.28 [[ 9.85087587e-01 1.70549275e-01 2.27022140e-02 3.95487716e+01] [-1.70520516e-01 9.85348894e-01 -3.21096152e-03 -4.02915885e+00] [-2.29172286e-02 -7.08114902e-04 9.99737115e-01 -1.28124601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27401273899999 meters Centerline goodness [0,1] 0.9875947174713141 Centerline is valid? [True, True] Translation: X:39.58, Y:-4.04, Z:-1.28 [[ 9.85996675e-01 1.65151348e-01 2.31427800e-02 3.95776238e+01] [-1.65119964e-01 9.86268057e-01 -3.27374911e-03 -4.04073774e+00] [-2.33656487e-02 -5.93429261e-04 9.99726810e-01 -1.28136372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304012738999994 meters Centerline goodness [0,1] 0.9908413435576197 Centerline is valid? [True, True] Translation: X:39.61, Y:-4.05, Z:-1.28 [[ 9.86474046e-01 1.62316625e-01 2.28532202e-02 3.96079456e+01] [-1.62285261e-01 9.86738589e-01 -3.23277045e-03 -4.05170192e+00] [-2.30748866e-02 -5.19696671e-04 9.99733604e-01 -1.28273063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.334012738999995 meters Centerline goodness [0,1] 0.9921285383733754 Centerline is valid? [True, True] Translation: X:39.64, Y:-4.06, Z:-1.28 [[ 9.86799504e-01 1.60361313e-01 2.26050396e-02 3.96386310e+01] [-1.60330097e-01 9.87058271e-01 -3.19842919e-03 -4.05847124e+00] [-2.28253956e-02 -4.68059848e-04 9.99739357e-01 -1.28405688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364012738999996 meters Centerline goodness [0,1] 0.994111601216222 Centerline is valid? [True, True] Translation: X:39.67, Y:-4.07, Z:-1.29 [[ 9.87140822e-01 1.58507791e-01 2.06948510e-02 3.96702487e+01] [-1.58481160e-01 9.87357651e-01 -2.93103605e-03 -4.06694625e+00] [-2.08978115e-02 -3.86398664e-04 9.99781542e-01 -1.28755209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.394012739 meters Centerline goodness [0,1] 0.9944671999313761 Centerline is valid? [True, True] Translation: X:39.70, Y:-4.07, Z:-1.29 [[ 9.87177839e-01 1.58452853e-01 1.93030262e-02 3.97018978e+01] [-1.58429654e-01 9.87366480e-01 -2.73488725e-03 -4.07011660e+00] [-1.94925117e-02 -3.58351679e-04 9.99809939e-01 -1.29103420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424012739 meters Centerline goodness [0,1] 0.9959897061977268 Centerline is valid? [True, True] Translation: X:39.73, Y:-4.07, Z:-1.30 [[ 9.87205634e-01 1.58561483e-01 1.68312816e-02 3.97335731e+01] [-1.58543837e-01 9.87349056e-01 -2.38615291e-03 -4.07467381e+00] [-1.69967019e-02 -3.12872363e-04 9.99855497e-01 -1.29738230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45401273899999 meters Centerline goodness [0,1] 0.9958824909862821 Centerline is valid? [True, True] Translation: X:39.76, Y:-4.08, Z:-1.30 [[ 9.87395618e-01 1.57310900e-01 1.74119121e-02 3.97642145e+01] [-1.57291764e-01 9.87549083e-01 -2.47167887e-03 -4.07954337e+00] [-1.75839399e-02 -2.98225491e-04 9.99845346e-01 -1.29775392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48401273899999 meters Centerline goodness [0,1] 0.9962212079397091 Centerline is valid? [True, True] Translation: X:39.80, Y:-4.09, Z:-1.30 [[ 9.87593251e-01 1.55998639e-01 1.79998446e-02 3.97952416e+01] [-1.55977921e-01 9.87757230e-01 -2.55789240e-03 -4.08703221e+00] [-1.81785044e-02 -2.81421075e-04 9.99834718e-01 -1.29651078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.514012738999995 meters Centerline goodness [0,1] 0.9963634789384822 Centerline is valid? [True, True] Translation: X:39.83, Y:-4.10, Z:-1.30 [[ 9.87885055e-01 1.54058467e-01 1.86843785e-02 3.98269362e+01] [-1.54035739e-01 9.88061701e-01 -2.65817964e-03 -4.09524473e+00] [-1.88708339e-02 -2.52086098e-04 9.99821898e-01 -1.29560719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.544012738999996 meters Centerline goodness [0,1] 0.9980970707718623 Centerline is valid? [True, True] Translation: X:39.86, Y:-4.11, Z:-1.29 [[ 9.88551821e-01 1.49708364e-01 1.87803909e-02 3.98578309e+01] [-1.49684557e-01 9.88730185e-01 -2.67493279e-03 -4.10948603e+00] [-1.89691991e-02 -1.66824816e-04 9.99820055e-01 -1.29460658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.574012739 meters Centerline goodness [0,1] 0.9984001383664115 Centerline is valid? [True, True] Translation: X:39.89, Y:-4.11, Z:-1.30 [[ 9.88794472e-01 1.48064731e-01 1.90349033e-02 3.98888056e+01] [-1.48039951e-01 9.88977662e-01 -2.71218109e-03 -4.11445851e+00] [-1.92266725e-02 -1.36136478e-04 9.99815141e-01 -1.29568923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604012739 meters Centerline goodness [0,1] 0.9987126121100287 Centerline is valid? [True, True] Translation: X:39.92, Y:-4.13, Z:-1.29 [[ 9.89369859e-01 1.44057302e-01 1.98689665e-02 3.99198937e+01] [-1.44029429e-01 9.89569346e-01 -2.83424961e-03 -4.12572643e+00] [-2.00700145e-02 -5.75947593e-05 9.99798575e-01 -1.29460021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63401273899999 meters Centerline goodness [0,1] 0.9987126121100287 Centerline is valid? [True, True] Translation: X:39.95, Y:-4.13, Z:-1.30 [[ 9.89345087e-01 1.44227387e-01 1.98685423e-02 3.99520383e+01] [-1.44199490e-01 9.89544571e-01 -2.83721970e-03 -4.13052517e+00] [-2.00700130e-02 -5.80442936e-05 9.99798575e-01 -1.29528141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66401273899999 meters Centerline goodness [0,1] 0.9981454325886311 Centerline is valid? [True, True] Translation: X:39.98, Y:-4.14, Z:-1.29 [[ 9.89597246e-01 1.42377090e-01 2.06410947e-02 3.99844013e+01] [-1.42346499e-01 9.89812489e-01 -2.95130033e-03 -4.13812587e+00] [-2.08510108e-02 -1.75888906e-05 9.99782594e-01 -1.29385029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.694012738999994 meters Centerline goodness [0,1] 0.9964354734807817 Centerline is valid? [True, True] Translation: X:40.02, Y:-4.15, Z:-1.29 [[ 9.90169231e-01 1.38303455e-01 2.09057227e-02 4.00164028e+01] [-1.38271081e-01 9.90389897e-01 -2.99317893e-03 -4.14902669e+00] [-2.11187836e-02 7.30967938e-05 9.99776971e-01 -1.29473922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724012738999996 meters Centerline goodness [0,1] 0.9949367634068041 Centerline is valid? [True, True] Translation: X:40.05, Y:-4.16, Z:-1.30 [[ 9.90398679e-01 1.36701068e-01 2.05736501e-02 4.00468821e+01] [-1.36669288e-01 9.90612339e-01 -2.94951826e-03 -4.15732630e+00] [-2.07837140e-02 1.09412864e-04 9.99783989e-01 -1.29588436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.754012739 meters Centerline goodness [0,1] 0.9940122339967261 Centerline is valid? [True, True] Translation: X:40.08, Y:-4.17, Z:-1.30 [[ 9.90852365e-01 1.33486637e-01 1.98219176e-02 4.00781543e+01] [-1.33456435e-01 9.91050598e-01 -2.84469493e-03 -4.16752357e+00] [-2.00242521e-02 1.73310240e-04 9.99799480e-01 -1.29763276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784012739 meters Centerline goodness [0,1] 0.9931865374632289 Centerline is valid? [True, True] Translation: X:40.11, Y:-4.17, Z:-1.30 [[ 9.91050283e-01 1.32019528e-01 1.97530100e-02 4.01093897e+01] [-1.31989179e-01 9.91247094e-01 -2.83809063e-03 -4.17394653e+00] [-1.99547972e-02 2.05506959e-04 9.99800862e-01 -1.29818393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81401273899999 meters Centerline goodness [0,1] 0.9891205409388409 Centerline is valid? [True, True] Translation: X:40.14, Y:-4.18, Z:-1.30 [[ 9.91391309e-01 1.29371951e-01 2.01536801e-02 4.01397346e+01] [-1.29339740e-01 9.91596101e-01 -2.89910356e-03 -4.18403887e+00] [-2.03593733e-02 2.67474319e-04 9.99792691e-01 -1.29877707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84401273899999 meters Centerline goodness [0,1] 0.9899851307618298 Centerline is valid? [True, True] Translation: X:40.17, Y:-4.19, Z:-1.30 [[ 9.91497086e-01 1.28525991e-01 2.03616869e-02 4.01713721e+01] [-1.28492869e-01 9.91706098e-01 -2.93220082e-03 -4.19098446e+00] [-2.05696731e-02 2.90937007e-04 9.99788380e-01 -1.29960915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.874012738999994 meters Centerline goodness [0,1] 0.9858531317494601 Centerline is valid? [True, True] Translation: X:40.20, Y:-4.20, Z:-1.30 [[ 9.91904665e-01 1.25255528e-01 2.08851071e-02 4.02009452e+01] [-1.25219878e-01 9.92124445e-01 -3.01125095e-03 -4.20369589e+00] [-2.10978011e-02 3.71643297e-04 9.99777348e-01 -1.29872378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.904012738999995 meters Centerline goodness [0,1] 0.9839588312555175 Centerline is valid? [True, True] Translation: X:40.23, Y:-4.21, Z:-1.30 [[ 9.92132845e-01 1.23346545e-01 2.14020453e-02 4.02307471e+01] [-1.23308591e-01 9.92363567e-01 -3.08916413e-03 -4.21246734e+00] [-2.16196477e-02 4.25805148e-04 9.99766177e-01 -1.29906461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.934012738999996 meters Centerline goodness [0,1] 0.9851448646773074 Centerline is valid? [True, True] Translation: X:40.26, Y:-4.22, Z:-1.30 [[ 9.92257500e-01 1.22574865e-01 2.00113871e-02 4.02620429e+01] [-1.22541520e-01 9.92459183e-01 -2.88878369e-03 -4.22256655e+00] [-2.02145771e-02 4.14191496e-04 9.99795579e-01 -1.30128831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964012739 meters Centerline goodness [0,1] 0.9872277291590513 Centerline is valid? [True, True] Translation: X:40.29, Y:-4.23, Z:-1.30 [[ 9.92097238e-01 1.24038323e-01 1.89093678e-02 4.02927254e+01] [-1.24008757e-01 9.92277361e-01 -2.73275956e-03 -4.23020370e+00] [-1.91023045e-02 3.66236021e-04 9.99817467e-01 -1.30444061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99401273899999 meters Centerline goodness [0,1] 0.9891768358414902 Centerline is valid? [True, True] Translation: X:40.32, Y:-4.23, Z:-1.31 [[ 9.91874586e-01 1.25967971e-01 1.78010197e-02 4.03233223e+01] [-1.25942032e-01 9.92034260e-01 -2.57521730e-03 -4.23426319e+00] [-1.79836163e-02 3.12395997e-04 9.99838233e-01 -1.30699016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02401273899999 meters Centerline goodness [0,1] 0.9903821437751692 Centerline is valid? [True, True] Translation: X:40.36, Y:-4.23, Z:-1.31 [[ 9.91395299e-01 1.29587853e-01 1.85026818e-02 4.03557435e+01] [-1.29560404e-01 9.91567911e-01 -2.67964050e-03 -4.23366453e+00] [-1.86939144e-02 2.59368070e-04 9.99825220e-01 -1.30708194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.054012738999994 meters Centerline goodness [0,1] 0.9899946207638516 Centerline is valid? [True, True] Translation: X:40.39, Y:-4.24, Z:-1.31 [[ 9.91139933e-01 1.31345015e-01 1.97514406e-02 4.03876673e+01] [-1.31314016e-01 9.91336687e-01 -2.86396927e-03 -4.23676765e+00] [-1.99564958e-02 2.44953328e-04 9.99800819e-01 -1.30534012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084012738999995 meters Centerline goodness [0,1] 0.9904496704157331 Centerline is valid? [True, True] Translation: X:40.42, Y:-4.24, Z:-1.30 [[ 9.90781621e-01 1.33738851e-01 2.15800732e-02 4.04197508e+01] [-1.33702328e-01 9.91016585e-01 -3.13301201e-03 -4.23858141e+00] [-2.18052159e-02 2.18824685e-04 9.99762214e-01 -1.30270574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.114012738999996 meters Centerline goodness [0,1] 0.9897904696811124 Centerline is valid? [True, True] Translation: X:40.45, Y:-4.25, Z:-1.30 [[ 9.90680749e-01 1.34459672e-01 2.17313340e-02 4.04513459e+01] [-1.34422724e-01 9.90919045e-01 -3.15879456e-03 -4.24616679e+00] [-2.19587232e-02 2.08171839e-04 9.99758856e-01 -1.30356753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144012739 meters Centerline goodness [0,1] 0.9848736236505851 Centerline is valid? [True, True] Translation: X:40.48, Y:-4.25, Z:-1.30 [[ 9.90628117e-01 1.35051617e-01 2.04204250e-02 4.04835967e+01] [-1.35019045e-01 9.90838547e-01 -2.97180737e-03 -4.25342328e+00] [-2.06346916e-02 1.86809657e-04 9.99787065e-01 -1.29948225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174012739 meters Centerline goodness [0,1] 0.9907632578181663 Centerline is valid? [True, True] Translation: X:40.52, Y:-4.26, Z:-1.31 [[ 9.90555858e-01 1.35473934e-01 2.11164586e-02 4.05169382e+01] [-1.35439111e-01 9.90780893e-01 -3.07720909e-03 -4.25563311e+00] [-2.13386653e-02 1.88153107e-04 9.99772287e-01 -1.30607107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20401273899999 meters Centerline goodness [0,1] 0.9914542891226548 Centerline is valid? [True, True] Translation: X:40.55, Y:-4.25, Z:-1.31 [[ 9.90344092e-01 1.36883540e-01 2.19425471e-02 4.05486382e+01] [-1.36846190e-01 9.90587133e-01 -3.20190486e-03 -4.25496413e+00] [-2.21742929e-02 1.68233590e-04 9.99754106e-01 -1.30502781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23401273899999 meters Centerline goodness [0,1] 0.9913138827374169 Centerline is valid? [True, True] Translation: X:40.58, Y:-4.26, Z:-1.31 [[ 9.90178041e-01 1.38090234e-01 2.18754432e-02 4.05795800e+01] [-1.38053331e-01 9.90419642e-01 -3.19549146e-03 -4.25845248e+00] [-2.21071347e-02 1.44127681e-04 9.99755597e-01 -1.30642518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264012738999995 meters Centerline goodness [0,1] 0.9938369695928535 Centerline is valid? [True, True] Translation: X:40.61, Y:-4.26, Z:-1.31 [[ 9.90041521e-01 1.39121523e-01 2.15171654e-02 4.06114865e+01] [-1.39085992e-01 9.90275309e-01 -3.14640674e-03 -4.26042268e+00] [-2.17456505e-02 1.22337017e-04 9.99763528e-01 -1.30729586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.294012738999996 meters Centerline goodness [0,1] 0.9932123262420576 Centerline is valid? [True, True] Translation: X:40.64, Y:-4.26, Z:-1.31 [[ 9.90136546e-01 1.38445936e-01 2.15021530e-02 4.06441410e+01] [-1.38410219e-01 9.90369983e-01 -3.14770359e-03 -4.26387832e+00] [-2.17308737e-02 1.40538646e-04 9.99763847e-01 -1.30749575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324012739 meters Centerline goodness [0,1] 0.9920633218215749 Centerline is valid? [True, True] Translation: X:40.68, Y:-4.27, Z:-1.31 [[ 9.90275068e-01 1.37484288e-01 2.12922376e-02 4.06762015e+01] [-1.37448957e-01 9.90503934e-01 -3.12099181e-03 -4.26814791e+00] [-2.15191324e-02 1.64044522e-04 9.99768423e-01 -1.30840341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354012739 meters Centerline goodness [0,1] 0.988364060273736 Centerline is valid? [True, True] Translation: X:40.71, Y:-4.28, Z:-1.31 [[ 9.90666512e-01 1.34607195e-01 2.14654617e-02 4.07078370e+01] [-1.34570532e-01 9.90899011e-01 -3.15000728e-03 -4.27628621e+00] [-2.16941184e-02 2.31988116e-04 9.99764628e-01 -1.30798021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38401273899999 meters Centerline goodness [0,1] 0.9869393366557828 Centerline is valid? [True, True] Translation: X:40.74, Y:-4.28, Z:-1.31 [[ 9.90858936e-01 1.33174012e-01 2.15232774e-02 4.07390936e+01] [-1.33136734e-01 9.91092635e-01 -3.16212465e-03 -4.28401874e+00] [-2.17526745e-02 2.67680601e-04 9.99763347e-01 -1.30812262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41401273899999 meters Centerline goodness [0,1] 0.9855420643681146 Centerline is valid? [True, True] Translation: X:40.77, Y:-4.29, Z:-1.31 [[ 9.91227035e-01 1.30513153e-01 2.08634346e-02 4.07697479e+01] [-1.30477465e-01 9.91446527e-01 -3.06856923e-03 -4.29173965e+00] [-2.10854684e-02 3.19440710e-04 9.99777626e-01 -1.30997808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444012738999994 meters Centerline goodness [0,1] 0.9856620086027948 Centerline is valid? [True, True] Translation: X:40.80, Y:-4.30, Z:-1.31 [[ 9.91372565e-01 1.29523180e-01 2.01043281e-02 4.07998859e+01] [-1.29489779e-01 9.91576339e-01 -2.95991405e-03 -4.29782462e+00] [-2.03183536e-02 3.31072582e-04 9.99793506e-01 -1.31165060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.474012738999996 meters Centerline goodness [0,1] 0.984996540989277 Centerline is valid? [True, True] Translation: X:40.83, Y:-4.30, Z:-1.31 [[ 9.91493509e-01 1.28631751e-01 1.98618886e-02 4.08317637e+01] [-1.28598911e-01 9.91692367e-01 -2.92721415e-03 -4.30494364e+00] [-2.00734160e-02 3.48096587e-04 9.99798448e-01 -1.31288930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504012739 meters Centerline goodness [0,1] 0.9858751629377952 Centerline is valid? [True, True] Translation: X:40.86, Y:-4.31, Z:-1.31 [[ 9.91187604e-01 1.30895008e-01 2.03379180e-02 4.08632444e+01] [-1.30860979e-01 9.91396187e-01 -3.00086411e-03 -4.30848173e+00] [-2.05557324e-02 3.12979451e-04 9.99788660e-01 -1.31234320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534012739 meters Centerline goodness [0,1] 0.9873957685794517 Centerline is valid? [True, True] Translation: X:40.89, Y:-4.31, Z:-1.31 [[ 9.90956228e-01 1.32672717e-01 2.00923762e-02 4.08940449e+01] [-1.32639802e-01 9.91159863e-01 -2.96796262e-03 -4.31052190e+00] [-2.03085246e-02 2.76072237e-04 9.99793723e-01 -1.31433917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56401273899999 meters Centerline goodness [0,1] 0.9888246628131021 Centerline is valid? [True, True] Translation: X:40.92, Y:-4.31, Z:-1.32 [[ 9.90736637e-01 1.34423646e-01 1.92665155e-02 4.09246530e+01] [-1.34393658e-01 9.90923927e-01 -2.84877220e-03 -4.31334122e+00] [-1.94745935e-02 2.33085499e-04 9.99810325e-01 -1.31691637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59401273899999 meters Centerline goodness [0,1] 0.9939356409216118 Centerline is valid? [True, True] Translation: X:40.96, Y:-4.31, Z:-1.32 [[ 9.90309119e-01 1.37720468e-01 1.79143003e-02 4.09563936e+01] [-1.37695037e-01 9.90471124e-01 -2.65129781e-03 -4.31485850e+00] [-1.81087351e-02 1.58894156e-04 9.99836011e-01 -1.32005105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624012738999994 meters Centerline goodness [0,1] 0.9952729851099031 Centerline is valid? [True, True] Translation: X:40.99, Y:-4.31, Z:-1.32 [[ 9.89988399e-01 1.39989476e-01 1.80531747e-02 4.09890459e+01] [-1.39963972e-01 9.90152984e-01 -2.67478396e-03 -4.31476791e+00] [-1.82498464e-02 1.21211046e-04 9.99833450e-01 -1.31952620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.654012738999995 meters Centerline goodness [0,1] 0.997327481314097 Centerline is valid? [True, True] Translation: X:41.02, Y:-4.31, Z:-1.32 [[ 9.89230312e-01 1.44987749e-01 2.00485176e-02 4.10217744e+01] [-1.44957248e-01 9.89433450e-01 -2.97403446e-03 -4.31122144e+00] [-2.02678725e-02 3.58271003e-05 9.99794585e-01 -1.31713963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.684012738999996 meters Centerline goodness [0,1] 0.996953312736011 Centerline is valid? [True, True] Translation: X:41.05, Y:-4.32, Z:-1.32 [[ 9.88844922e-01 1.47413941e-01 2.13272350e-02 4.10534544e+01] [-1.47379904e-01 9.89074886e-01 -3.16764058e-03 -4.31739690e+00] [-2.15611869e-02 -1.09005377e-05 9.99767531e-01 -1.31608031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714012739 meters Centerline goodness [0,1] 0.9972804556842759 Centerline is valid? [True, True] Translation: X:41.09, Y:-4.32, Z:-1.32 [[ 9.88779639e-01 1.47873578e-01 2.11714608e-02 4.10861374e+01] [-1.47840059e-01 9.89006271e-01 -3.14837945e-03 -4.32451367e+00] [-2.14042696e-02 -1.69365198e-05 9.99770902e-01 -1.31702980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74401273899999 meters Centerline goodness [0,1] 0.9983342347214711 Centerline is valid? [True, True] Translation: X:41.12, Y:-4.33, Z:-1.32 [[ 9.88528701e-01 1.49676571e-01 2.01972949e-02 4.11176293e+01] [-1.49646367e-01 9.88735011e-01 -3.00721265e-03 -4.32823028e+00] [-2.04198819e-02 -4.97357967e-05 9.99791491e-01 -1.31916509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77401273899999 meters Centerline goodness [0,1] 0.9989382908649679 Centerline is valid? [True, True] Translation: X:41.15, Y:-4.33, Z:-1.32 [[ 9.88200472e-01 1.51901991e-01 1.96369904e-02 4.11486189e+01] [-1.51873834e-01 9.88395557e-01 -2.92601516e-03 -4.32902418e+00] [-1.98535816e-02 -9.08554560e-05 9.99802894e-01 -1.32086432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804012738999994 meters Centerline goodness [0,1] 0.9973643045406818 Centerline is valid? [True, True] Translation: X:41.18, Y:-4.32, Z:-1.32 [[ 9.87245496e-01 1.58030680e-01 1.93037683e-02 4.11812427e+01] [-1.58004586e-01 9.87434181e-01 -2.87922359e-03 -4.32248876e+00] [-1.95162063e-02 -2.07583395e-04 9.99809519e-01 -1.32260479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.834012738999995 meters Centerline goodness [0,1] 0.9953858257670799 Centerline is valid? [True, True] Translation: X:41.21, Y:-4.32, Z:-1.32 [[ 9.86578491e-01 1.62068188e-01 1.99194123e-02 4.12140402e+01] [-1.62041160e-01 9.86779518e-01 -2.97421566e-03 -4.32108149e+00] [-2.01380938e-02 -2.93467485e-04 9.99797165e-01 -1.32188883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.864012738999996 meters Centerline goodness [0,1] 0.9904457921055432 Centerline is valid? [True, True] Translation: X:41.25, Y:-4.30, Z:-1.32 [[ 9.85010051e-01 1.71228680e-01 2.08791290e-02 4.12470101e+01] [-1.71201018e-01 9.85231184e-01 -3.11849864e-03 -4.30345048e+00] [-2.11047454e-02 -5.02775622e-04 9.99777144e-01 -1.32112195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.894012739 meters Centerline goodness [0,1] 0.9896951025177946 Centerline is valid? [True, True] Translation: X:41.28, Y:-4.30, Z:-1.32 [[ 9.84181998e-01 1.75921778e-01 2.09122639e-02 4.12790221e+01] [-1.75895090e-01 9.84403963e-01 -3.12326131e-03 -4.30111331e+00] [-2.11355651e-02 -6.04506978e-04 9.99776436e-01 -1.32279485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924012739 meters Centerline goodness [0,1] 0.9802669762042948 Centerline is valid? [True, True] Translation: X:41.31, Y:-4.29, Z:-1.33 [[ 9.83113586e-01 1.81873496e-01 2.02412778e-02 4.13110705e+01] [-1.81849743e-01 9.83321682e-01 -3.02350556e-03 -4.29297411e+00] [-2.04535828e-02 -7.08421764e-04 9.99790553e-01 -1.32556994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95401273899999 meters Centerline goodness [0,1] 0.9818092533680637 Centerline is valid? [True, True] Translation: X:41.34, Y:-4.29, Z:-1.33 [[ 9.82937664e-01 1.82900647e-01 1.95167124e-02 4.13413257e+01] [-1.82878765e-01 9.83131150e-01 -2.91531753e-03 -4.29438490e+00] [-1.97207013e-02 -7.03616857e-04 9.99805280e-01 -1.32691404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98401273899999 meters Centerline goodness [0,1] 0.9717494748574613 Centerline is valid? [True, True] Translation: X:41.37, Y:-4.29, Z:-1.33 [[ 9.82889438e-01 1.83200791e-01 1.91264879e-02 4.13709150e+01] [-1.83179831e-01 9.83075270e-01 -2.85706483e-03 -4.29234858e+00] [-1.93261938e-02 -6.95407982e-04 9.99812990e-01 -1.32832223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.014012738999995 meters Centerline goodness [0,1] 0.9828098608111864 Centerline is valid? [True, True] Translation: X:41.40, Y:-4.29, Z:-1.33 [[ 9.83100047e-01 1.82085057e-01 1.89559760e-02 4.14009391e+01] [-1.82064271e-01 9.83282557e-01 -2.83115529e-03 -4.29037736e+00] [-1.91545916e-02 -6.67897033e-04 9.99816311e-01 -1.32980953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.044012738999996 meters Centerline goodness [0,1] 0.9863177442421397 Centerline is valid? [True, True] Translation: X:41.43, Y:-4.29, Z:-1.33 [[ 9.83430988e-01 1.80156465e-01 2.01776948e-02 4.14315949e+01] [-1.80132517e-01 9.83637737e-01 -3.01311274e-03 -4.28737652e+00] [-2.03903738e-02 -6.71470529e-04 9.99791869e-01 -1.32728654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.074012739 meters Centerline goodness [0,1] 0.988886039155339 Centerline is valid? [True, True] Translation: X:41.46, Y:-4.29, Z:-1.33 [[ 9.83695552e-01 1.78638847e-01 2.07659187e-02 4.14612156e+01] [-1.78613151e-01 9.83914492e-01 -3.10070092e-03 -4.28993403e+00] [-2.09857940e-02 -6.58920471e-04 9.99779557e-01 -1.32720235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104012739 meters Centerline goodness [0,1] 0.9908215467950647 Centerline is valid? [True, True] Translation: X:41.49, Y:-4.29, Z:-1.33 [[ 9.84187941e-01 1.75828122e-01 2.14142016e-02 4.14906223e+01] [-1.75800142e-01 9.84420687e-01 -3.19697569e-03 -4.29337908e+00] [-2.16427013e-02 -6.18194773e-04 9.99765578e-01 -1.32688578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13401273899999 meters Centerline goodness [0,1] 0.9943201601671309 Centerline is valid? [True, True] Translation: X:41.52, Y:-4.30, Z:-1.33 [[ 9.85638983e-01 1.67409369e-01 2.21336585e-02 4.15199239e+01] [-1.67377364e-01 9.85887368e-01 -3.30387815e-03 -4.30018859e+00] [-2.23743945e-02 -4.48242330e-04 9.99749561e-01 -1.32713093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16401273899999 meters Centerline goodness [0,1] 0.997714944688848 Centerline is valid? [True, True] Translation: X:41.55, Y:-4.31, Z:-1.33 [[ 9.87196026e-01 1.58099832e-01 2.11766085e-02 4.15493101e+01] [-1.58068390e-01 9.87423107e-01 -3.16108027e-03 -4.31307841e+00] [-2.14100388e-02 -2.26746520e-04 9.99770753e-01 -1.32979014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.194012738999994 meters Centerline goodness [0,1] 0.9991424222284159 Centerline is valid? [True, True] Translation: X:41.58, Y:-4.32, Z:-1.33 [[ 9.87967975e-01 1.53341063e-01 2.01444700e-02 4.15793110e+01] [-1.53311619e-01 9.88173317e-01 -3.00715813e-03 -4.32325008e+00] [-2.03673485e-02 -1.17405372e-04 9.99792557e-01 -1.33171426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.224012738999996 meters Centerline goodness [0,1] 0.9986900032213035 Centerline is valid? [True, True] Translation: X:41.61, Y:-4.33, Z:-1.33 [[ 9.88721321e-01 1.48517809e-01 1.93031121e-02 4.16096327e+01] [-1.48489797e-01 9.88909733e-01 -2.88443107e-03 -4.33485016e+00] [-1.95174249e-02 -1.44166949e-05 9.99809517e-01 -1.33304901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.254012739 meters Centerline goodness [0,1] 0.9920122292554795 Centerline is valid? [True, True] Translation: X:41.64, Y:-4.35, Z:-1.33 [[ 9.90053994e-01 1.39359246e-01 1.92896207e-02 4.16391550e+01] [-1.39329469e-01 9.90241875e-01 -2.88569881e-03 -4.35186095e+00] [-1.95035390e-02 1.69385027e-04 9.99809774e-01 -1.33359428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284012739 meters Centerline goodness [0,1] 0.9869869442785221 Centerline is valid? [True, True] Translation: X:41.67, Y:-4.37, Z:-1.33 [[ 9.90867472e-01 1.33445028e-01 1.93410625e-02 4.16677942e+01] [-1.33413902e-01 9.91056174e-01 -2.89657788e-03 -4.36712951e+00] [-1.95546133e-02 2.89758186e-04 9.99808748e-01 -1.33342411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31401273899999 meters Centerline goodness [0,1] 0.9852875232217976 Centerline is valid? [True, True] Translation: X:41.70, Y:-4.38, Z:-1.33 [[ 9.91074465e-01 1.31861115e-01 1.95972192e-02 4.16977549e+01] [-1.31828818e-01 9.91268147e-01 -2.93654689e-03 -4.37838954e+00] [-1.98133155e-02 3.26858404e-04 9.99803644e-01 -1.33477788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34401273899999 meters Centerline goodness [0,1] 0.9774902248817264 Centerline is valid? [True, True] Translation: X:41.73, Y:-4.38, Z:-1.32 [[ 9.91200698e-01 1.31111241e-01 1.81939268e-02 4.17297034e+01] [-1.31083232e-01 9.91367611e-01 -2.72877334e-03 -4.38379293e+00] [-1.83946427e-02 3.19843309e-04 9.99830753e-01 -1.32227157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.374012738999994 meters Centerline goodness [0,1] 0.9891582043410121 Centerline is valid? [True, True] Translation: X:41.76, Y:-4.39, Z:-1.34 [[ 9.91026510e-01 1.32622455e-01 1.66655457e-02 4.17603604e+01] [-1.32599124e-01 9.91166591e-01 -2.50213896e-03 -4.38875709e+00] [-1.68501719e-02 2.69849275e-04 9.99857989e-01 -1.34112341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404012738999995 meters Centerline goodness [0,1] 0.9916114980699976 Centerline is valid? [True, True] Translation: X:41.79, Y:-4.39, Z:-1.34 [[ 9.90647752e-01 1.35407666e-01 1.67867523e-02 4.17917107e+01] [-1.35384349e-01 9.90789944e-01 -2.52296826e-03 -4.39322660e+00] [-1.69737746e-02 2.26709302e-04 9.99855909e-01 -1.34098305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.434012738999996 meters Centerline goodness [0,1] 0.9968862171863513 Centerline is valid? [True, True] Translation: X:41.82, Y:-4.39, Z:-1.34 [[ 9.89549743e-01 1.43123138e-01 1.75235367e-02 4.18242846e+01] [-1.43098876e-01 9.89704884e-01 -2.63721769e-03 -4.38889304e+00] [-1.77205767e-02 1.02059688e-04 9.99842973e-01 -1.33896685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464012739 meters Centerline goodness [0,1] 0.9981158737635422 Centerline is valid? [True, True] Translation: X:41.86, Y:-4.39, Z:-1.34 [[ 9.88920843e-01 1.47379768e-01 1.77417663e-02 4.18559558e+01] [-1.47355581e-01 9.89079978e-01 -2.67010500e-03 -4.38879212e+00] [-1.79415453e-02 2.61741992e-05 9.99839037e-01 -1.33997983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49401273899999 meters Centerline goodness [0,1] 0.9995704836354266 Centerline is valid? [True, True] Translation: X:41.89, Y:-4.39, Z:-1.34 [[ 9.88093795e-01 1.52733829e-01 1.85210846e-02 4.18888263e+01] [-1.52708352e-01 9.88267359e-01 -2.79046522e-03 -4.38813008e+00] [-1.87299817e-02 -7.10829324e-05 9.99824576e-01 -1.34074252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52401273899999 meters Centerline goodness [0,1] 0.9994870479610156 Centerline is valid? [True, True] Translation: X:41.92, Y:-4.39, Z:-1.34 [[ 9.87849493e-01 1.54313565e-01 1.84581405e-02 4.19211154e+01] [-1.54288476e-01 9.88021920e-01 -2.78423679e-03 -4.39217896e+00] [-1.86666930e-02 -9.74714643e-05 9.99825757e-01 -1.34143292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.554012738999994 meters Centerline goodness [0,1] 0.9994870479610156 Centerline is valid? [True, True] Translation: X:41.95, Y:-4.40, Z:-1.34 [[ 9.87821051e-01 1.54495586e-01 1.84576283e-02 4.19532283e+01] [-1.54470466e-01 9.87993474e-01 -2.78762844e-03 -4.39722516e+00] [-1.86666926e-02 -9.74803778e-05 9.99825757e-01 -1.34211416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584012738999995 meters Centerline goodness [0,1] 0.9993168669811925 Centerline is valid? [True, True] Translation: X:41.99, Y:-4.40, Z:-1.34 [[ 9.87602598e-01 1.55935095e-01 1.80375786e-02 4.19850191e+01] [-1.55911284e-01 9.87767297e-01 -2.72756132e-03 -4.40086173e+00] [-1.82422527e-02 -1.18515380e-04 9.99833589e-01 -1.34293232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.614012738999996 meters Centerline goodness [0,1] 0.999009581225105 Centerline is valid? [True, True] Translation: X:42.02, Y:-4.40, Z:-1.34 [[ 9.87015368e-01 1.59585362e-01 1.82530846e-02 4.20170938e+01] [-1.59561538e-01 9.87184116e-01 -2.76355506e-03 -4.39940951e+00] [-1.84601781e-02 -1.84818942e-04 9.99829579e-01 -1.34306164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644012739 meters Centerline goodness [0,1] 0.9986139385801533 Centerline is valid? [True, True] Translation: X:42.05, Y:-4.40, Z:-1.34 [[ 9.86667838e-01 1.61690728e-01 1.85117584e-02 4.20486302e+01] [-1.61666593e-01 9.86841455e-01 -2.80285363e-03 -4.40265523e+00] [-1.87213660e-02 -2.27247368e-04 9.99824714e-01 -1.34245855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674012739 meters Centerline goodness [0,1] 0.9982662216635603 Centerline is valid? [True, True] Translation: X:42.08, Y:-4.40, Z:-1.34 [[ 9.86198245e-01 1.64598406e-01 1.78993266e-02 4.20797430e+01] [-1.64576261e-01 9.86360630e-01 -2.71338539e-03 -4.39904955e+00] [-1.81018100e-02 -2.69868338e-04 9.99836112e-01 -1.34404512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70401273899999 meters Centerline goodness [0,1] 0.9986085243936378 Centerline is valid? [True, True] Translation: X:42.11, Y:-4.40, Z:-1.35 [[ 9.86082184e-01 1.65292370e-01 1.78985708e-02 4.21096456e+01] [-1.65270341e-01 9.86244570e-01 -2.71324263e-03 -4.39806925e+00] [-1.81008466e-02 -2.82622689e-04 9.99836126e-01 -1.34589966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73401273899999 meters Centerline goodness [0,1] 0.997923561092726 Centerline is valid? [True, True] Translation: X:42.14, Y:-4.40, Z:-1.34 [[ 9.86586048e-01 1.61912125e-01 2.07950499e-02 4.21400958e+01] [-1.61881633e-01 9.86805147e-01 -3.15256170e-03 -4.40401600e+00] [-2.10311002e-02 -2.56063257e-04 9.99778789e-01 -1.34270591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764012738999995 meters Centerline goodness [0,1] 0.9982578022498011 Centerline is valid? [True, True] Translation: X:42.17, Y:-4.41, Z:-1.34 [[ 9.87083227e-01 1.58666162e-01 2.21754640e-02 4.21711836e+01] [-1.58630656e-01 9.87332269e-01 -3.36234792e-03 -4.41395710e+00] [-2.24280420e-02 -1.98791172e-04 9.99748440e-01 -1.34093192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.794012738999996 meters Centerline goodness [0,1] 0.9964677249133085 Centerline is valid? [True, True] Translation: X:42.20, Y:-4.43, Z:-1.34 [[ 9.88406466e-01 1.50258997e-01 2.17920229e-02 4.22007555e+01] [-1.50222583e-01 9.88646668e-01 -3.30786658e-03 -4.43404919e+00] [-2.20416476e-02 -4.13725487e-06 9.99757053e-01 -1.34165030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824012739 meters Centerline goodness [0,1] 0.9950458208415726 Centerline is valid? [True, True] Translation: X:42.23, Y:-4.45, Z:-1.35 [[ 9.89007328e-01 1.46490963e-01 2.01222163e-02 4.22307403e+01] [-1.46459069e-01 9.89212006e-01 -3.05762244e-03 -4.44715651e+00] [-2.03530520e-02 7.69299214e-05 9.99792852e-01 -1.34536185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854012739 meters Centerline goodness [0,1] 0.9911370560538594 Centerline is valid? [True, True] Translation: X:42.26, Y:-4.46, Z:-1.35 [[ 9.89931883e-01 1.40184249e-01 1.95766131e-02 4.22606153e+01] [-1.40152758e-01 9.90125413e-01 -2.97827211e-03 -4.46419680e+00] [-1.98008090e-02 2.04570211e-04 9.99803924e-01 -1.34704347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88401273899999 meters Centerline goodness [0,1] 0.9883312367153949 Centerline is valid? [True, True] Translation: X:42.29, Y:-4.47, Z:-1.35 [[ 9.90189183e-01 1.38221573e-01 2.04982773e-02 4.22912335e+01] [-1.38186552e-01 9.90401297e-01 -3.12201682e-03 -4.47396995e+00] [-2.07330505e-02 2.58801027e-04 9.99785014e-01 -1.34619583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91401273899999 meters Centerline goodness [0,1] 0.9885539046302695 Centerline is valid? [True, True] Translation: X:42.32, Y:-4.49, Z:-1.35 [[ 9.90363763e-01 1.37067855e-01 1.97994971e-02 4.23214757e+01] [-1.37034892e-01 9.90561622e-01 -3.01857446e-03 -4.48702659e+00] [-2.00263715e-02 2.76264819e-04 9.99799414e-01 -1.34825050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944012738999994 meters Centerline goodness [0,1] 0.9916194446253718 Centerline is valid? [True, True] Translation: X:42.35, Y:-4.49, Z:-1.35 [[ 9.90106346e-01 1.39203863e-01 1.76552352e-02 4.23515581e+01] [-1.39177946e-01 9.90263723e-01 -2.69430472e-03 -4.49485688e+00] [-1.78583965e-02 2.10428838e-04 9.99840504e-01 -1.35298443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.974012738999996 meters Centerline goodness [0,1] 0.9923720890702022 Centerline is valid? [True, True] Translation: X:42.38, Y:-4.50, Z:-1.35 [[ 9.89836452e-01 1.41121194e-01 1.75672255e-02 4.23821140e+01] [-1.41095789e-01 9.89992312e-01 -2.68355888e-03 -4.50075880e+00] [-1.77701253e-02 1.77622854e-04 9.99842083e-01 -1.35300648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004012739 meters Centerline goodness [0,1] 0.994412927625924 Centerline is valid? [True, True] Translation: X:42.41, Y:-4.50, Z:-1.35 [[ 9.89102637e-01 1.45949480e-01 1.93577462e-02 4.24149597e+01] [-1.45919483e-01 9.89292039e-01 -2.96073849e-03 -4.50289997e+00] [-1.95825824e-02 1.03801923e-04 9.99808237e-01 -1.34991014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034012739 meters Centerline goodness [0,1] 0.9963641057636453 Centerline is valid? [True, True] Translation: X:42.45, Y:-4.51, Z:-1.35 [[ 9.88804824e-01 1.47984178e-01 1.91233623e-02 4.24462042e+01] [-1.47955252e-01 9.88989726e-01 -2.92652178e-03 -4.50562537e+00] [-1.93458878e-02 6.43569643e-05 9.99812849e-01 -1.35128283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06401273899999 meters Centerline goodness [0,1] 0.9979508196721312 Centerline is valid? [True, True] Translation: X:42.48, Y:-4.51, Z:-1.35 [[ 9.88195543e-01 1.52102611e-01 1.82856612e-02 4.24790520e+01] [-1.52076820e-01 9.88364708e-01 -2.80092171e-03 -4.50586181e+00] [-1.84989297e-02 -1.29668631e-05 9.99828880e-01 -1.35427190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09401273899999 meters Centerline goodness [0,1] 0.9986092398626625 Centerline is valid? [True, True] Translation: X:42.51, Y:-4.51, Z:-1.36 [[ 9.87990949e-01 1.53445695e-01 1.81191670e-02 4.25118009e+01] [-1.53420534e-01 9.88157081e-01 -2.77890190e-03 -4.51083764e+00] [-1.83309937e-02 -3.43223405e-05 9.99831973e-01 -1.35534904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124012738999994 meters Centerline goodness [0,1] 0.9990852620830497 Centerline is valid? [True, True] Translation: X:42.54, Y:-4.52, Z:-1.36 [[ 9.87823696e-01 1.54645415e-01 1.70041628e-02 4.25426206e+01] [-1.54623373e-01 9.87970037e-01 -2.61135132e-03 -4.51562912e+00] [-1.72034368e-02 -4.96863001e-05 9.99852009e-01 -1.35740038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.154012738999995 meters Centerline goodness [0,1] 0.9994203769696449 Centerline is valid? [True, True] Translation: X:42.58, Y:-4.52, Z:-1.36 [[ 9.87339170e-01 1.57792641e-01 1.62125466e-02 4.25752461e+01] [-1.57773010e-01 9.87472264e-01 -2.49088444e-03 -4.51572492e+00] [-1.64024833e-02 -9.85544996e-05 9.99865465e-01 -1.35891920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.184012738999996 meters Centerline goodness [0,1] 0.9982080400708148 Centerline is valid? [True, True] Translation: X:42.61, Y:-4.51, Z:-1.36 [[ 9.86418104e-01 1.63301163e-01 1.76650813e-02 4.26075190e+01] [-1.63278673e-01 9.86576246e-01 -2.71777627e-03 -4.50867731e+00] [-1.78717657e-02 -2.03467323e-04 9.99840267e-01 -1.35817749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214012739 meters Centerline goodness [0,1] 0.9974562386824178 Centerline is valid? [True, True] Translation: X:42.64, Y:-4.51, Z:-1.36 [[ 9.85788041e-01 1.67053245e-01 1.77524916e-02 4.26388064e+01] [-1.67031131e-01 9.85947838e-01 -2.73168812e-03 -4.50753078e+00] [-1.79593681e-02 -2.72353264e-04 9.99838680e-01 -1.35756368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24401273899999 meters Centerline goodness [0,1] 0.9948352242031334 Centerline is valid? [True, True] Translation: X:42.67, Y:-4.50, Z:-1.36 [[ 9.84382016e-01 1.75132619e-01 1.79056524e-02 4.26711852e+01] [-1.75111451e-01 9.84544761e-01 -2.75552923e-03 -4.49706463e+00] [-1.81114993e-02 -4.22991353e-04 9.99835884e-01 -1.35699754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27401273899999 meters Centerline goodness [0,1] 0.9916927832395999 Centerline is valid? [True, True] Translation: X:42.70, Y:-4.49, Z:-1.36 [[ 9.83621403e-01 1.79323820e-01 1.82182231e-02 4.27018701e+01] [-1.79302628e-01 9.83789972e-01 -2.80342942e-03 -4.48882180e+00] [-1.84256269e-02 -5.09062101e-04 9.99830104e-01 -1.35652828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304012738999994 meters Centerline goodness [0,1] 0.9837664448731008 Centerline is valid? [True, True] Translation: X:42.73, Y:-4.48, Z:-1.36 [[ 9.82268273e-01 1.86550772e-01 1.86507023e-02 4.27338248e+01] [-1.86529862e-01 9.82445100e-01 -2.86996964e-03 -4.48068089e+00] [-1.88586861e-02 -6.59832802e-04 9.99821941e-01 -1.35687434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.334012738999995 meters Centerline goodness [0,1] 0.9700641176849012 Centerline is valid? [True, True] Translation: X:42.76, Y:-4.48, Z:-1.36 [[ 9.81847224e-01 1.88703900e-01 1.91537922e-02 4.27636193e+01] [-1.88682254e-01 9.82033767e-01 -2.94745130e-03 -4.47809379e+00] [-1.93658662e-02 -7.20033794e-04 9.99812205e-01 -1.35668582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364012738999996 meters Centerline goodness [0,1] 0.9205580438463022 Centerline is valid? [True, False] Translation: X:42.76, Y:-4.47, Z:-1.36 [[ 9.81914339e-01 1.88368824e-01 1.90109663e-02 4.27640972e+01] [-1.88329319e-01 9.82098336e-01 -3.86349762e-03 -4.47334735e+00] [-1.93984008e-02 2.13301369e-04 9.99811811e-01 -1.35623310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394012739 meters Centerline goodness [0,1] 0.9757567956061873 Centerline is valid? [False, True] Translation: X:42.76, Y:-4.47, Z:-1.36 [[ 9.82048647e-01 1.87681700e-01 1.88688800e-02 4.27645527e+01] [-1.87614566e-01 9.82228519e-01 -5.28318610e-03 -4.46640294e+00] [-1.95251094e-02 1.64826902e-03 9.99808008e-01 -1.35560450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424012739 meters Centerline goodness [0,1] 0.9899050905953408 Centerline is valid? [True, True] Translation: X:42.79, Y:-4.47, Z:-1.36 [[ 9.82898262e-01 1.83148286e-01 1.91757946e-02 4.27940042e+01] [-1.83125651e-01 9.83085105e-01 -2.94478905e-03 -4.47304404e+00] [-1.93907711e-02 -6.17151826e-04 9.99811791e-01 -1.35677809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45401273899999 meters Centerline goodness [0,1] 0.9924459888200634 Centerline is valid? [True, True] Translation: X:42.82, Y:-4.48, Z:-1.36 [[ 9.83424200e-01 1.80333633e-01 1.88844767e-02 4.28229667e+01] [-1.80311158e-01 9.83605345e-01 -2.90021216e-03 -4.48016244e+00] [-1.90978780e-02 -5.52943035e-04 9.99817466e-01 -1.35819378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48401273899999 meters Centerline goodness [0,1] 0.9933105364394101 Centerline is valid? [True, True] Translation: X:42.85, Y:-4.48, Z:-1.36 [[ 9.83943312e-01 1.77524615e-01 1.84545606e-02 4.28522071e+01] [-1.77502666e-01 9.84116240e-01 -2.83374825e-03 -4.48275881e+00] [-1.86644928e-02 -4.87486057e-04 9.99825684e-01 -1.35940551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514012738999995 meters Centerline goodness [0,1] 0.9941650935301184 Centerline is valid? [True, True] Translation: X:42.88, Y:-4.49, Z:-1.36 [[ 9.84739465e-01 1.72969179e-01 1.92314824e-02 4.28805580e+01] [-1.72944484e-01 9.84927149e-01 -2.95256288e-03 -4.48765648e+00] [-1.94523115e-02 -4.18473603e-04 9.99810698e-01 -1.35775424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544012738999996 meters Centerline goodness [0,1] 0.9943479667781253 Centerline is valid? [True, True] Translation: X:42.91, Y:-4.50, Z:-1.36 [[ 9.85326971e-01 1.69366624e-01 2.11117756e-02 4.29087938e+01] [-1.69336049e-01 9.85553043e-01 -3.24062859e-03 -4.49643711e+00] [-2.13556291e-02 -3.81905922e-04 9.99771870e-01 -1.35558876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.574012739 meters Centerline goodness [0,1] 0.9945975032285838 Centerline is valid? [True, True] Translation: X:42.94, Y:-4.50, Z:-1.36 [[ 9.85639710e-01 1.67467860e-01 2.16535700e-02 4.29367029e+01] [-1.67435265e-01 9.85877474e-01 -3.32252259e-03 -4.50254916e+00] [-2.19041827e-02 -3.50761029e-04 9.99760013e-01 -1.35518249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604012739 meters Centerline goodness [0,1] 0.9969765197812801 Centerline is valid? [True, True] Translation: X:42.97, Y:-4.51, Z:-1.36 [[ 9.86372791e-01 1.63228403e-01 2.06205188e-02 4.29655669e+01] [-1.63197932e-01 9.86588277e-01 -3.16334721e-03 -4.51270922e+00] [-2.08603102e-02 -2.44986402e-04 9.99782370e-01 -1.35836875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63401273899999 meters Centerline goodness [0,1] 0.997561810248952 Centerline is valid? [True, True] Translation: X:42.99, Y:-4.52, Z:-1.36 [[ 9.86609671e-01 1.61926106e-01 1.95267060e-02 4.29946049e+01] [-1.61898531e-01 9.86802865e-01 -2.99532555e-03 -4.51849729e+00] [-1.97540308e-02 -2.06127867e-04 9.99804849e-01 -1.36077622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66401273899999 meters Centerline goodness [0,1] 0.9948686018550327 Centerline is valid? [True, True] Translation: X:43.02, Y:-4.53, Z:-1.35 [[ 9.86783671e-01 1.61002250e-01 1.83374660e-02 4.30239660e+01] [-1.60977776e-01 9.86954023e-01 -2.81270207e-03 -4.52670559e+00] [-1.85510872e-02 -1.76396016e-04 9.99827898e-01 -1.35187101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.694012738999994 meters Centerline goodness [0,1] 0.9979986657771848 Centerline is valid? [True, True] Translation: X:43.05, Y:-4.53, Z:-1.36 [[ 9.86554821e-01 1.62358375e-01 1.86907246e-02 4.30531154e+01] [-1.62333201e-01 9.86731836e-01 -2.86642977e-03 -4.52752790e+00] [-1.89081218e-02 -2.06235037e-04 9.99821204e-01 -1.36457610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724012738999996 meters Centerline goodness [0,1] 0.9973526183250468 Centerline is valid? [True, True] Translation: X:43.08, Y:-4.53, Z:-1.37 [[ 9.86530090e-01 1.62497294e-01 1.87885962e-02 4.30821661e+01] [-1.62471890e-01 9.86708967e-01 -2.88093367e-03 -4.52932758e+00] [-1.90070203e-02 -2.10490979e-04 9.99819328e-01 -1.36530517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.754012739 meters Centerline goodness [0,1] 0.9983289414486792 Centerline is valid? [True, True] Translation: X:43.11, Y:-4.54, Z:-1.37 [[ 9.86700798e-01 1.61548843e-01 1.79862752e-02 4.31109760e+01] [-1.61525417e-01 9.86864701e-01 -2.75728365e-03 -4.53779817e+00] [-1.81954560e-02 -1.84626612e-04 9.99834432e-01 -1.36824774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784012739 meters Centerline goodness [0,1] 0.9990182687382619 Centerline is valid? [True, True] Translation: X:43.14, Y:-4.54, Z:-1.37 [[ 9.86933662e-01 1.60224789e-01 1.70283141e-02 4.31392731e+01] [-1.60203601e-01 9.87080541e-01 -2.61007231e-03 -4.54361936e+00] [-1.72265158e-02 -1.52029007e-04 9.99851601e-01 -1.37027976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81401273899999 meters Centerline goodness [0,1] 0.9997609838772761 Centerline is valid? [True, True] Translation: X:43.17, Y:-4.56, Z:-1.37 [[ 9.87631904e-01 1.56079190e-01 1.49167338e-02 4.31684647e+01] [-1.56062467e-01 9.87744543e-01 -2.28582719e-03 -4.55522498e+00] [-1.50906924e-02 -7.03864158e-05 9.99886127e-01 -1.37469640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84401273899999 meters Centerline goodness [0,1] 0.9994656977986749 Centerline is valid? [True, True] Translation: X:43.20, Y:-4.56, Z:-1.38 [[ 9.87962124e-01 1.53988718e-01 1.47755271e-02 4.31966003e+01] [-1.53972075e-01 9.88072605e-01 -2.26423947e-03 -4.56369717e+00] [-1.49479608e-02 -3.80357188e-05 9.99888272e-01 -1.37578083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.874012738999994 meters Centerline goodness [0,1] 0.9982106670115983 Centerline is valid? [True, True] Translation: X:43.22, Y:-4.58, Z:-1.37 [[ 9.88450483e-01 1.50508506e-01 1.76870635e-02 4.32245046e+01] [-1.50484105e-01 9.88608714e-01 -2.71015075e-03 -4.57812953e+00] [-1.78934858e-02 1.72279066e-05 9.99839899e-01 -1.37088038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904012738999995 meters Centerline goodness [0,1] 0.9970521638825992 Centerline is valid? [True, True] Translation: X:43.25, Y:-4.59, Z:-1.37 [[ 9.88651832e-01 1.49084246e-01 1.84781491e-02 4.32548383e+01] [-1.49057369e-01 9.88824497e-01 -2.83106024e-03 -4.58703447e+00] [-1.86937129e-02 4.46286024e-05 9.99825256e-01 -1.36981795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.934012738999996 meters Centerline goodness [0,1] 0.9963484835466965 Centerline is valid? [True, True] Translation: X:43.28, Y:-4.60, Z:-1.37 [[ 9.88979299e-01 1.46991956e-01 1.77006163e-02 4.32849928e+01] [-1.46966912e-01 9.89137684e-01 -2.71450872e-03 -4.59631486e+00] [-1.79073575e-02 8.31880030e-05 9.99839647e-01 -1.37243651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964012739 meters Centerline goodness [0,1] 0.9965397923875432 Centerline is valid? [True, True] Translation: X:43.32, Y:-4.60, Z:-1.38 [[ 9.89044027e-01 1.46687127e-01 1.65770838e-02 4.33174293e+01] [-1.46665083e-01 9.89182935e-01 -2.54443056e-03 -4.60316137e+00] [-1.67710036e-02 8.52744876e-05 9.99859353e-01 -1.37564396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99401273899999 meters Centerline goodness [0,1] 0.9986276990372451 Centerline is valid? [True, True] Translation: X:43.35, Y:-4.61, Z:-1.38 [[ 9.88866620e-01 1.48130810e-01 1.41446630e-02 4.33487582e+01] [-1.48114877e-01 9.88967775e-01 -2.17326372e-03 -4.60779983e+00] [-1.43105432e-02 5.40329333e-05 9.99897597e-01 -1.38027149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02401273899999 meters Centerline goodness [0,1] 0.999096657633243 Centerline is valid? [True, True] Translation: X:43.38, Y:-4.61, Z:-1.38 [[ 9.88593622e-01 1.49976895e-01 1.37688881e-02 4.33803865e+01] [-1.49961936e-01 9.88689501e-01 -2.11835173e-03 -4.60956508e+00] [-1.39308589e-02 2.93798796e-05 9.99902960e-01 -1.38084669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.054012738999994 meters Centerline goodness [0,1] 0.9992430304734303 Centerline is valid? [True, True] Translation: X:43.41, Y:-4.61, Z:-1.38 [[ 9.87799935e-01 1.54972092e-01 1.53277299e-02 4.34120543e+01] [-1.54954148e-01 9.87918847e-01 -2.35867357e-03 -4.60513805e+00] [-1.55080818e-02 -4.51977334e-05 9.99879741e-01 -1.37737732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084012738999995 meters Centerline goodness [0,1] 0.999260499815125 Centerline is valid? [True, True] Translation: X:43.44, Y:-4.60, Z:-1.38 [[ 9.87348918e-01 1.57687856e-01 1.66328976e-02 4.34434060e+01] [-1.57667111e-01 9.87489003e-01 -2.55951640e-03 -4.60494876e+00] [-1.68284082e-02 -9.53251792e-05 9.99858388e-01 -1.37579619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.114012738999996 meters Centerline goodness [0,1] 0.9988247360998334 Centerline is valid? [True, True] Translation: X:43.47, Y:-4.60, Z:-1.38 [[ 9.86616805e-01 1.62205613e-01 1.66318659e-02 4.34732950e+01] [-1.62185510e-01 9.86756966e-01 -2.55943141e-03 -4.59765553e+00] [-1.68267637e-02 -1.72269619e-04 9.99858405e-01 -1.37675272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144012739 meters Centerline goodness [0,1] 0.9985653719326796 Centerline is valid? [True, True] Translation: X:43.50, Y:-4.60, Z:-1.38 [[ 9.86453098e-01 1.63245190e-01 1.61645660e-02 4.35016906e+01] [-1.63226348e-01 9.86585513e-01 -2.48709530e-03 -4.59644148e+00] [-1.63537330e-02 -1.85080223e-04 9.99866252e-01 -1.37923503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174012739 meters Centerline goodness [0,1] 0.9987708099715346 Centerline is valid? [True, True] Translation: X:43.53, Y:-4.60, Z:-1.38 [[ 9.86519715e-01 1.62874295e-01 1.58371582e-02 4.35307336e+01] [-1.62856175e-01 9.86646813e-01 -2.43580418e-03 -4.60022875e+00] [-1.60224115e-02 -1.76210158e-04 9.99871617e-01 -1.38052406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20401273899999 meters Centerline goodness [0,1] 0.9984563600111485 Centerline is valid? [True, True] Translation: X:43.56, Y:-4.60, Z:-1.38 [[ 9.86722071e-01 1.61520107e-01 1.70531638e-02 4.35587739e+01] [-1.61498911e-01 9.86869407e-01 -2.62196591e-03 -4.60334866e+00] [-1.72527459e-02 -1.66915743e-04 9.99851146e-01 -1.37952317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23401273899999 meters Centerline goodness [0,1] 0.9990779062037612 Centerline is valid? [True, True] Translation: X:43.59, Y:-4.62, Z:-1.38 [[ 9.87428375e-01 1.56981531e-01 1.84933055e-02 4.35866385e+01] [-1.56955830e-01 9.87601534e-01 -2.84218072e-03 -4.61659266e+00] [-1.87101867e-02 -9.61822089e-05 9.99824945e-01 -1.37662963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264012738999995 meters Centerline goodness [0,1] 0.9989912864317294 Centerline is valid? [True, True] Translation: X:43.62, Y:-4.62, Z:-1.38 [[ 9.87812550e-01 1.54603725e-01 1.80015324e-02 4.36162443e+01] [-1.54578985e-01 9.87976561e-01 -2.76616551e-03 -4.62478760e+00] [-1.82127516e-02 -5.02056066e-05 9.99834133e-01 -1.37807098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.294012738999996 meters Centerline goodness [0,1] 0.9987031793719066 Centerline is valid? [True, True] Translation: X:43.65, Y:-4.63, Z:-1.38 [[ 9.88316686e-01 1.51503603e-01 1.66368888e-02 4.36466886e+01] [-1.51482034e-01 9.88456705e-01 -2.55641614e-03 -4.63461983e+00] [-1.68321505e-02 6.35897808e-06 9.99858329e-01 -1.38116302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324012739 meters Centerline goodness [0,1] 0.998817534882721 Centerline is valid? [True, True] Translation: X:43.68, Y:-4.64, Z:-1.38 [[ 9.88314317e-01 1.51472546e-01 1.70551479e-02 4.36752763e+01] [-1.51449865e-01 9.88461465e-01 -2.62116377e-03 -4.64115049e+00] [-1.72553908e-02 7.53382852e-06 9.99851115e-01 -1.37986702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354012739 meters Centerline goodness [0,1] 0.9991160363934285 Centerline is valid? [True, True] Translation: X:43.70, Y:-4.65, Z:-1.38 [[ 9.88173836e-01 1.52247188e-01 1.82555298e-02 4.37049936e+01] [-1.52221339e-01 9.88342448e-01 -2.80541066e-03 -4.64558399e+00] [-1.84698309e-02 -6.64777152e-06 9.99829418e-01 -1.37912059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38401273899999 meters Centerline goodness [0,1] 0.9985757137616262 Centerline is valid? [True, True] Translation: X:43.73, Y:-4.65, Z:-1.38 [[ 9.87720251e-01 1.55033092e-01 1.93247456e-02 4.37344887e+01] [-1.55004659e-01 9.87909275e-01 -2.96971767e-03 -4.64666633e+00] [-1.95514999e-02 -6.21753185e-05 9.99808849e-01 -1.37667252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41401273899999 meters Centerline goodness [0,1] 0.9986419674496573 Centerline is valid? [True, True] Translation: X:43.77, Y:-4.65, Z:-1.38 [[ 9.87405464e-01 1.56992760e-01 1.95888503e-02 4.37652064e+01] [-1.56963935e-01 9.87599748e-01 -3.01008104e-03 -4.64947366e+00] [-1.98185045e-02 -1.02572553e-04 9.99803589e-01 -1.37667398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444012738999994 meters Centerline goodness [0,1] 0.9986419674496573 Centerline is valid? [True, True] Translation: X:43.79, Y:-4.65, Z:-1.38 [[ 9.87405464e-01 1.56992760e-01 1.95888503e-02 4.37948533e+01] [-1.56963935e-01 9.87599748e-01 -3.01008104e-03 -4.65402929e+00] [-1.98185045e-02 -1.02572553e-04 9.99803589e-01 -1.37724937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.474012738999996 meters Centerline goodness [0,1] 0.9985164480756826 Centerline is valid? [True, True] Translation: X:43.83, Y:-4.66, Z:-1.38 [[ 9.87134370e-01 1.58668106e-01 1.97526428e-02 4.38253969e+01] [-1.58639132e-01 9.87331967e-01 -3.03524988e-03 -4.65705942e+00] [-1.99840130e-02 -1.37342622e-04 9.99800290e-01 -1.37815891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504012739 meters Centerline goodness [0,1] 0.9981313284950676 Centerline is valid? [True, True] Translation: X:43.86, Y:-4.66, Z:-1.38 [[ 9.86641837e-01 1.61889454e-01 1.81573727e-02 4.38553491e+01] [-1.61865516e-01 9.86808882e-01 -2.79012504e-03 -4.65673738e+00] [-1.83695484e-02 -1.86198396e-04 9.99831248e-01 -1.38271036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534012739 meters Centerline goodness [0,1] 0.998283224961909 Centerline is valid? [True, True] Translation: X:43.88, Y:-4.65, Z:-1.39 [[ 9.86113563e-01 1.65295892e-01 1.60408561e-02 4.38842481e+01] [-1.65277660e-01 9.86243996e-01 -2.46483588e-03 -4.65453579e+00] [-1.62276253e-02 -2.20587076e-04 9.99868299e-01 -1.38753168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56401273899999 meters Centerline goodness [0,1] 0.9981662855417008 Centerline is valid? [True, True] Translation: X:43.91, Y:-4.66, Z:-1.39 [[ 9.85836164e-01 1.66981224e-01 1.56309968e-02 4.39130785e+01] [-1.66964135e-01 9.85960046e-01 -2.40116324e-03 -4.65635330e+00] [-1.58124875e-02 -2.42662308e-04 9.99874945e-01 -1.38951462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59401273899999 meters Centerline goodness [0,1] 0.9970095564175353 Centerline is valid? [True, True] Translation: X:43.94, Y:-4.66, Z:-1.39 [[ 9.85613295e-01 1.68225432e-01 1.63290221e-02 4.39420172e+01] [-1.68206966e-01 9.85748512e-01 -2.50761782e-03 -4.65960702e+00] [-1.65181543e-02 -2.75113803e-04 9.99863528e-01 -1.38905886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624012738999994 meters Centerline goodness [0,1] 0.9967668029891014 Centerline is valid? [True, True] Translation: X:43.97, Y:-4.66, Z:-1.39 [[ 9.85652992e-01 1.67946023e-01 1.68021392e-02 4.39691603e+01] [-1.67926444e-01 9.85796153e-01 -2.57951734e-03 -4.66373589e+00] [-1.69967038e-02 -2.79014500e-04 9.99855507e-01 -1.38836333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.654012738999995 meters Centerline goodness [0,1] 0.9970766519066249 Centerline is valid? [True, True] Translation: X:44.00, Y:-4.67, Z:-1.39 [[ 9.85949472e-01 1.66138435e-01 1.73683491e-02 4.39974851e+01] [-1.66117252e-01 9.86102405e-01 -2.66542146e-03 -4.67174803e+00] [-1.75697998e-02 -2.57211555e-04 9.99845606e-01 -1.38774150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.684012738999996 meters Centerline goodness [0,1] 0.9982528041415013 Centerline is valid? [True, True] Translation: X:44.03, Y:-4.68, Z:-1.39 [[ 9.86156972e-01 1.64908526e-01 1.73090706e-02 4.40256194e+01] [-1.64887311e-01 9.86308837e-01 -2.65552776e-03 -4.68307094e+00] [-1.75100084e-02 -2.35278882e-04 9.99846660e-01 -1.38849112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714012739 meters Centerline goodness [0,1] 0.9984282823063343 Centerline is valid? [True, True] Translation: X:44.05, Y:-4.69, Z:-1.39 [[ 9.86744690e-01 1.61399841e-01 1.68821582e-02 4.40537501e+01] [-1.61379155e-01 9.86889083e-01 -2.58953907e-03 -4.69240685e+00] [-1.70787688e-02 -1.69214493e-04 9.99854133e-01 -1.39054763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74401273899999 meters Centerline goodness [0,1] 0.9984777015437393 Centerline is valid? [True, True] Translation: X:44.08, Y:-4.70, Z:-1.39 [[ 9.87012211e-01 1.59803305e-01 1.64255642e-02 4.40830940e+01] [-1.59783494e-01 9.87148867e-01 -2.51996575e-03 -4.69947385e+00] [-1.66171760e-02 -1.37297072e-04 9.99861916e-01 -1.39259665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77401273899999 meters Centerline goodness [0,1] 0.9992879183479706 Centerline is valid? [True, True] Translation: X:44.11, Y:-4.71, Z:-1.39 [[ 9.87429770e-01 1.57265215e-01 1.58146081e-02 4.41105599e+01] [-1.57246530e-01 9.87556400e-01 -2.42593878e-03 -4.70942922e+00] [-1.59993333e-02 -9.13480739e-05 9.99871998e-01 -1.39468502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804012738999994 meters Centerline goodness [0,1] 0.99955104222341 Centerline is valid? [True, True] Translation: X:44.14, Y:-4.72, Z:-1.39 [[ 9.87464749e-01 1.57021808e-01 1.60474524e-02 4.41399361e+01] [-1.57002546e-01 9.87595132e-01 -2.46102762e-03 -4.71757099e+00] [-1.62348209e-02 -8.93128631e-05 9.99868203e-01 -1.39323644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.834012738999995 meters Centerline goodness [0,1] 0.9990407980560174 Centerline is valid? [True, True] Translation: X:44.17, Y:-4.72, Z:-1.39 [[ 9.87161534e-01 1.58859550e-01 1.66056914e-02 4.41692224e+01] [-1.58839184e-01 9.87301184e-01 -2.54666638e-03 -4.71878661e+00] [-1.67993810e-02 -1.23663376e-04 9.99858873e-01 -1.39105461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.864012738999996 meters Centerline goodness [0,1] 0.9987310190562223 Centerline is valid? [True, True] Translation: X:44.20, Y:-4.72, Z:-1.39 [[ 9.86949510e-01 1.60174488e-01 1.65770159e-02 4.41984087e+01] [-1.60154380e-01 9.87088705e-01 -2.54213020e-03 -4.71659867e+00] [-1.67701695e-02 -1.45927541e-04 9.99859360e-01 -1.39246248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.894012739 meters Centerline goodness [0,1] 0.9983217505432794 Centerline is valid? [True, True] Translation: X:44.23, Y:-4.72, Z:-1.39 [[ 9.86731973e-01 1.61520958e-01 1.64618569e-02 4.42268261e+01] [-1.61501325e-01 9.86869268e-01 -2.52394625e-03 -4.71538530e+00] [-1.66533709e-02 -1.68153225e-04 9.99861309e-01 -1.39344684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924012739 meters Centerline goodness [0,1] 0.9977867465173805 Centerline is valid? [True, True] Translation: X:44.26, Y:-4.72, Z:-1.39 [[ 9.86403909e-01 1.63350063e-01 1.80023423e-02 4.42554687e+01] [-1.63326907e-01 9.86568147e-01 -2.75905973e-03 -4.71612843e+00] [-1.82112301e-02 -2.18719593e-04 9.99834138e-01 -1.39199629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95401273899999 meters Centerline goodness [0,1] 0.9968673561344032 Centerline is valid? [True, True] Translation: X:44.28, Y:-4.72, Z:-1.39 [[ 9.86443940e-01 1.62990842e-01 1.90351815e-02 4.42841120e+01] [-1.62964904e-01 9.86627556e-01 -2.91642000e-03 -4.71751693e+00] [-1.92559843e-02 -2.25181682e-04 9.99814561e-01 -1.39136351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98401273899999 meters Centerline goodness [0,1] 0.9982075756921349 Centerline is valid? [True, True] Translation: X:44.31, Y:-4.73, Z:-1.39 [[ 9.86940963e-01 1.59914582e-01 1.93613345e-02 4.43127138e+01] [-1.59887168e-01 9.87130841e-01 -2.96571581e-03 -4.72870083e+00] [-1.95864316e-02 -1.68642514e-04 9.99808153e-01 -1.39147242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.014012738999995 meters Centerline goodness [0,1] 0.9987042715846759 Centerline is valid? [True, True] Translation: X:44.34, Y:-4.74, Z:-1.39 [[ 9.87362705e-01 1.57341523e-01 1.89350188e-02 4.43421254e+01] [-1.57314838e-01 9.87544243e-01 -2.89998677e-03 -4.73705778e+00] [-1.91554571e-02 -1.15420631e-04 9.99816511e-01 -1.39177529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044012738999996 meters Centerline goodness [0,1] 0.9980099715404532 Centerline is valid? [True, True] Translation: X:44.37, Y:-4.75, Z:-1.39 [[ 9.88295724e-01 1.51366441e-01 1.89673851e-02 4.43715519e+01] [-1.51338563e-01 9.88477719e-01 -2.90494466e-03 -4.74797824e+00] [-1.91885487e-02 4.47578921e-07 9.99815883e-01 -1.39294460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.074012739 meters Centerline goodness [0,1] 0.9939179571237545 Centerline is valid? [True, True] Translation: X:44.40, Y:-4.76, Z:-1.39 [[ 9.89141488e-01 1.45819664e-01 1.83232836e-02 4.44011586e+01] [-1.45792665e-01 9.89311182e-01 -2.80796246e-03 -4.76148815e+00] [-1.85368855e-02 1.06071829e-04 9.99828172e-01 -1.39224284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104012739 meters Centerline goodness [0,1] 0.9956458010001724 Centerline is valid? [True, True] Translation: X:44.43, Y:-4.77, Z:-1.40 [[ 9.89534354e-01 1.43291663e-01 1.70076951e-02 4.44317851e+01] [-1.43268006e-01 9.89680493e-01 -2.60767438e-03 -4.77128445e+00] [-1.72058421e-02 1.43724820e-04 9.99851958e-01 -1.39941352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13401273899999 meters Centerline goodness [0,1] 0.9956653290701917 Centerline is valid? [True, True] Translation: X:44.46, Y:-4.78, Z:-1.40 [[ 9.89913129e-01 1.40806736e-01 1.56671798e-02 4.44628886e+01] [-1.40786314e-01 9.90037087e-01 -2.40440597e-03 -4.78237624e+00] [-1.58496456e-02 1.74428540e-04 9.99874371e-01 -1.40264173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16401273899999 meters Centerline goodness [0,1] 0.9927011972597477 Centerline is valid? [True, True] Translation: X:44.49, Y:-4.79, Z:-1.40 [[ 9.90436043e-01 1.37129729e-01 1.52276816e-02 4.44937129e+01] [-1.37109959e-01 9.90553070e-01 -2.33971346e-03 -4.79496845e+00] [-1.54046710e-02 2.29469736e-04 9.99881315e-01 -1.40184539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194012738999994 meters Centerline goodness [0,1] 0.9909782794595519 Centerline is valid? [True, True] Translation: X:44.53, Y:-4.80, Z:-1.40 [[ 9.90426876e-01 1.37032638e-01 1.66330682e-02 4.45257693e+01] [-1.37009028e-01 9.90566501e-01 -2.55616429e-03 -4.80100620e+00] [-1.68264381e-02 2.52813306e-04 9.99858394e-01 -1.39978821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224012738999996 meters Centerline goodness [0,1] 0.9880812525364718 Centerline is valid? [True, True] Translation: X:44.56, Y:-4.81, Z:-1.40 [[ 9.90023935e-01 1.39661850e-01 1.86326469e-02 4.45557861e+01] [-1.39632616e-01 9.90199228e-01 -2.86724627e-03 -4.80942757e+00] [-1.88504775e-02 2.36917216e-04 9.99822286e-01 -1.39740609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.254012739 meters Centerline goodness [0,1] 0.9951831880474861 Centerline is valid? [True, True] Translation: X:44.59, Y:-4.80, Z:-1.40 [[ 9.89379860e-01 1.44179240e-01 1.84347608e-02 4.45897435e+01] [-1.44151356e-01 9.89551577e-01 -2.83949095e-03 -4.80413521e+00] [-1.86515422e-02 1.51939391e-04 9.99826033e-01 -1.39853362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284012739 meters Centerline goodness [0,1] 0.9970562511998976 Centerline is valid? [True, True] Translation: X:44.62, Y:-4.80, Z:-1.40 [[ 9.89010550e-01 1.46797607e-01 1.75668713e-02 4.46218595e+01] [-1.46772683e-01 9.89166545e-01 -2.70680153e-03 -4.80458401e+00] [-1.77739134e-02 9.87184431e-05 9.99842027e-01 -1.40084857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31401273899999 meters Centerline goodness [0,1] 0.9984377006377606 Centerline is valid? [True, True] Translation: X:44.65, Y:-4.81, Z:-1.40 [[ 9.88705504e-01 1.48942839e-01 1.66570630e-02 4.46530784e+01] [-1.48920688e-01 9.88845806e-01 -2.56936678e-03 -4.80556704e+00] [-1.68539557e-02 5.97657980e-05 9.99857960e-01 -1.40313969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34401273899999 meters Centerline goodness [0,1] 0.9989120738049131 Centerline is valid? [True, True] Translation: X:44.68, Y:-4.81, Z:-1.40 [[ 9.88410408e-01 1.50884301e-01 1.66971034e-02 4.46829774e+01] [-1.50862313e-01 9.88551429e-01 -2.57594122e-03 -4.80841721e+00] [-1.68946145e-02 2.71234645e-05 9.99857275e-01 -1.40394873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374012738999994 meters Centerline goodness [0,1] 0.9985317297519055 Centerline is valid? [True, True] Translation: X:44.71, Y:-4.81, Z:-1.40 [[ 9.88463236e-01 1.50451089e-01 1.74614323e-02 4.47131831e+01] [-1.50426971e-01 9.88617453e-01 -2.69406145e-03 -4.81421696e+00] [-1.76680012e-02 3.63103344e-05 9.99843908e-01 -1.40311049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404012738999995 meters Centerline goodness [0,1] 0.9964395360736824 Centerline is valid? [True, True] Translation: X:44.74, Y:-4.82, Z:-1.40 [[ 9.88756507e-01 1.48327123e-01 1.89640481e-02 4.47433119e+01] [-1.48298280e-01 9.88938349e-01 -2.92612274e-03 -4.82255976e+00] [-1.91882978e-02 8.08871938e-05 9.99815884e-01 -1.40044049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.434012738999996 meters Centerline goodness [0,1] 0.9918144321129396 Centerline is valid? [True, True] Translation: X:44.77, Y:-4.83, Z:-1.40 [[ 9.89154807e-01 1.45461975e-01 2.03367141e-02 4.47725953e+01] [-1.45428160e-01 9.89363832e-01 -3.13983841e-03 -4.83473581e+00] [-2.05771365e-02 1.48255343e-04 9.99788257e-01 -1.39812269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464012739 meters Centerline goodness [0,1] 0.9788471936844382 Centerline is valid? [True, True] Translation: X:44.80, Y:-4.85, Z:-1.38 [[ 9.89301386e-01 1.44407636e-01 2.07171866e-02 4.48041191e+01] [-1.44372250e-01 9.89518268e-01 -3.20156911e-03 -4.84543285e+00] [-2.09623656e-02 1.76329924e-04 9.99780250e-01 -1.38303582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49401273899999 meters Centerline goodness [0,1] 0.9901826632783823 Centerline is valid? [True, True] Translation: X:44.84, Y:-4.85, Z:-1.40 [[ 9.89743810e-01 1.41415480e-01 2.02201303e-02 4.48358404e+01] [-1.41381084e-01 9.89950305e-01 -3.12777996e-03 -4.84860947e+00] [-2.04592407e-02 2.36956908e-04 9.99790660e-01 -1.40046819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52401273899999 meters Centerline goodness [0,1] 0.9904058250348003 Centerline is valid? [True, True] Translation: X:44.87, Y:-4.86, Z:-1.41 [[ 9.89849279e-01 1.40920702e-01 1.84325781e-02 4.48659007e+01] [-1.40891981e-01 9.90020860e-01 -2.85412580e-03 -4.85815356e+00] [-1.86508423e-02 2.28151915e-04 9.99826032e-01 -1.40517501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.554012738999994 meters Centerline goodness [0,1] 0.9913377192982457 Centerline is valid? [True, True] Translation: X:44.90, Y:-4.86, Z:-1.41 [[ 9.89857928e-01 1.41005117e-01 1.72869705e-02 4.48983383e+01] [-1.40979844e-01 9.90008844e-01 -2.67809398e-03 -4.86359629e+00] [-1.74918787e-02 2.13818150e-04 9.99846983e-01 -1.40871504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584012738999995 meters Centerline goodness [0,1] 0.9936676254668785 Centerline is valid? [True, True] Translation: X:44.93, Y:-4.87, Z:-1.41 [[ 9.89738655e-01 1.41895207e-01 1.68269374e-02 4.49302535e+01] [-1.41871343e-01 9.89881666e-01 -2.60963240e-03 -4.86596704e+00] [-1.70269712e-02 1.95593845e-04 9.99855011e-01 -1.40760152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.614012738999996 meters Centerline goodness [0,1] 0.9919534326313987 Centerline is valid? [True, True] Translation: X:44.96, Y:-4.88, Z:-1.41 [[ 9.89803298e-01 1.41516288e-01 1.62040710e-02 4.49598149e+01] [-1.41494062e-01 9.89935908e-01 -2.51580302e-03 -4.87687036e+00] [-1.63970188e-02 1.97370296e-04 9.99865540e-01 -1.40997132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644012739 meters Centerline goodness [0,1] 0.993804025217184 Centerline is valid? [True, True] Translation: X:44.99, Y:-4.88, Z:-1.41 [[ 9.89890448e-01 1.40864499e-01 1.65558096e-02 4.49919253e+01] [-1.40841183e-01 9.90028862e-01 -2.57177074e-03 -4.88005925e+00] [-1.67530005e-02 2.14031480e-04 9.99859636e-01 -1.40961409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674012739 meters Centerline goodness [0,1] 0.991773328489925 Centerline is valid? [True, True] Translation: X:45.02, Y:-4.89, Z:-1.41 [[ 9.90249513e-01 1.38346751e-01 1.63118945e-02 4.50209768e+01] [-1.38323725e-01 9.90383820e-01 -2.53693771e-03 -4.89311638e+00] [-1.65060135e-02 2.55879318e-04 9.99863734e-01 -1.41235219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70401273899999 meters Centerline goodness [0,1] 0.9878401103876504 Centerline is valid? [True, True] Translation: X:45.05, Y:-4.91, Z:-1.41 [[ 9.90445450e-01 1.36885578e-01 1.67376782e-02 4.50500396e+01] [-1.36861121e-01 9.90586824e-01 -2.60344614e-03 -4.90553981e+00] [-1.69364977e-02 2.87833986e-04 9.99856526e-01 -1.41321218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73401273899999 meters Centerline goodness [0,1] 0.9880655009714127 Centerline is valid? [True, True] Translation: X:45.08, Y:-4.91, Z:-1.41 [[ 9.90728459e-01 1.34815817e-01 1.67873658e-02 4.50814427e+01] [-1.34790898e-01 9.90870622e-01 -2.61233149e-03 -4.91243708e+00] [-1.69862912e-02 3.25327047e-04 9.99855670e-01 -1.41180348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764012738999995 meters Centerline goodness [0,1] 0.9878286166549017 Centerline is valid? [True, True] Translation: X:45.11, Y:-4.92, Z:-1.41 [[ 9.90847142e-01 1.33933640e-01 1.68440315e-02 4.51130919e+01] [-1.33908378e-01 9.90990243e-01 -2.62387185e-03 -4.91894771e+00] [-1.70436956e-02 3.44298985e-04 9.99854686e-01 -1.41187867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.794012738999996 meters Centerline goodness [0,1] 0.9864289230900957 Centerline is valid? [True, True] Translation: X:45.14, Y:-4.93, Z:-1.41 [[ 9.91027974e-01 1.32621887e-01 1.65828344e-02 4.51428010e+01] [-1.32597173e-01 9.91166637e-01 -2.58594574e-03 -4.93002838e+00] [-1.67793052e-02 3.63907597e-04 9.99859151e-01 -1.41252430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824012739 meters Centerline goodness [0,1] 0.9768840076402153 Centerline is valid? [True, True] Translation: X:45.17, Y:-4.95, Z:-1.41 [[ 9.91588109e-01 1.28498627e-01 1.55281884e-02 4.51716535e+01] [-1.28476409e-01 9.91709603e-01 -2.42412221e-03 -4.94606042e+00] [-1.57109499e-02 4.08724870e-04 9.99876492e-01 -1.40676622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854012739 meters Centerline goodness [0,1] 0.9778172328227945 Centerline is valid? [True, True] Translation: X:45.20, Y:-4.96, Z:-1.42 [[ 9.92260031e-01 1.23246691e-01 1.51751219e-02 4.51995337e+01] [-1.23224850e-01 9.92375948e-01 -2.36955250e-03 -4.96230501e+00] [-1.53514654e-02 4.81260124e-04 9.99882043e-01 -1.41709964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88401273899999 meters Centerline goodness [0,1] 0.9714659971618819 Centerline is valid? [True, True] Translation: X:45.23, Y:-4.97, Z:-1.42 [[ 9.92480795e-01 1.21313367e-01 1.62769424e-02 4.52297758e+01] [-1.21287985e-01 9.92614108e-01 -2.54130782e-03 -4.97322934e+00] [-1.64650173e-02 5.48001660e-04 9.99864292e-01 -1.41599901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91401273899999 meters Centerline goodness [0,1] 0.9602979804504155 Centerline is valid? [True, True] Translation: X:45.26, Y:-4.98, Z:-1.42 [[ 9.92615193e-01 1.20166116e-01 1.65886705e-02 4.52595650e+01] [-1.20139548e-01 9.92753629e-01 -2.59255912e-03 -4.98404557e+00] [-1.67800006e-02 5.80458192e-04 9.99859037e-01 -1.41540712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944012738999994 meters Centerline goodness [0,1] 0.9711986077876876 Centerline is valid? [True, True] Translation: X:45.29, Y:-4.99, Z:-1.42 [[ 9.92678714e-01 1.19689978e-01 1.62258925e-02 4.52906746e+01] [-1.19664452e-01 9.92811148e-01 -2.53851237e-03 -4.99344902e+00] [-1.64130814e-02 5.78264656e-04 9.99865129e-01 -1.41803142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.974012738999996 meters Centerline goodness [0,1] 0.9555229611095533 Centerline is valid? [True, True] Translation: X:45.32, Y:-5.01, Z:-1.42 [[ 9.92635766e-01 1.20138811e-01 1.55210239e-02 4.53199334e+01] [-1.20115501e-01 9.92756953e-01 -2.42879820e-03 -5.00641073e+00] [-1.57003973e-02 5.46596404e-04 9.99876592e-01 -1.42097350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004012739 meters Centerline goodness [0,1] 0.974957472922633 Centerline is valid? [True, True] Translation: X:45.35, Y:-5.01, Z:-1.42 [[ 9.92157551e-01 1.23979515e-01 1.58894033e-02 4.53489842e+01] [-1.23955530e-01 9.92284651e-01 -2.48936741e-03 -5.01236195e+00] [-1.60754415e-02 5.00265265e-04 9.99870657e-01 -1.41812343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034012739 meters Centerline goodness [0,1] 0.9800995024875622 Centerline is valid? [True, True] Translation: X:45.38, Y:-5.02, Z:-1.42 [[ 9.91734255e-01 1.27222263e-01 1.66632064e-02 4.53789279e+01] [-1.27196327e-01 9.91874122e-01 -2.61149548e-03 -5.01623707e+00] [-1.68600436e-02 4.70410870e-04 9.99857749e-01 -1.41732166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06401273899999 meters Centerline goodness [0,1] 0.9871276915803499 Centerline is valid? [True, True] Translation: X:45.41, Y:-5.02, Z:-1.42 [[ 9.90783495e-01 1.34546325e-01 1.56637644e-02 4.54092688e+01] [-1.34524317e-01 9.90907251e-01 -2.45506329e-03 -5.01625866e+00] [-1.58516575e-02 3.25278973e-04 9.99874302e-01 -1.41932379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09401273899999 meters Centerline goodness [0,1] 0.9919935775039056 Centerline is valid? [True, True] Translation: X:45.44, Y:-5.01, Z:-1.42 [[ 9.90242706e-01 1.38554712e-01 1.48988404e-02 4.54419200e+01] [-1.38535257e-01 9.90354750e-01 -2.33505197e-03 -5.01401229e+00] [-1.50786698e-02 2.48253499e-04 9.99886280e-01 -1.42096897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124012738999994 meters Centerline goodness [0,1] 0.9952235750687677 Centerline is valid? [True, True] Translation: X:45.47, Y:-5.01, Z:-1.42 [[ 9.89183790e-01 1.45861348e-01 1.54886190e-02 4.54730974e+01] [-1.45841207e-01 9.89305032e-01 -2.42812213e-03 -5.01101781e+00] [-1.56771379e-02 1.42980170e-04 9.99877096e-01 -1.42207944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.154012738999995 meters Centerline goodness [0,1] 0.9963466568667718 Centerline is valid? [True, True] Translation: X:45.51, Y:-5.01, Z:-1.42 [[ 9.88738550e-01 1.48773243e-01 1.62049877e-02 4.55058466e+01] [-1.48751586e-01 9.88871332e-01 -2.54047004e-03 -5.01253283e+00] [-1.64026018e-02 1.01343047e-04 9.99865463e-01 -1.42058024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.184012738999996 meters Centerline goodness [0,1] 0.9978644462660167 Centerline is valid? [True, True] Translation: X:45.54, Y:-5.01, Z:-1.42 [[ 9.88033607e-01 1.53290151e-01 1.70798175e-02 4.55380273e+01] [-1.53266716e-01 9.88181223e-01 -2.68051275e-03 -5.01402461e+00] [-1.72888511e-02 3.06691572e-05 9.99850536e-01 -1.41975404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214012739 meters Centerline goodness [0,1] 0.9987194513174459 Centerline is valid? [True, True] Translation: X:45.57, Y:-5.02, Z:-1.42 [[ 9.87741020e-01 1.55166221e-01 1.70622970e-02 4.55707812e+01] [-1.55143068e-01 9.87888376e-01 -2.68040807e-03 -5.01662996e+00] [-1.72715537e-02 4.51890029e-07 9.99850836e-01 -1.42065714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24401273899999 meters Centerline goodness [0,1] 0.9990158743742245 Centerline is valid? [True, True] Translation: X:45.60, Y:-5.01, Z:-1.42 [[ 9.87209006e-01 1.58521072e-01 1.70131736e-02 4.56034194e+01] [-1.58498493e-01 9.87355593e-01 -2.67600598e-03 -5.01482675e+00] [-1.72222554e-02 -5.47851680e-05 9.99851684e-01 -1.42177148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27401273899999 meters Centerline goodness [0,1] 0.9989183576342319 Centerline is valid? [True, True] Translation: X:45.64, Y:-5.02, Z:-1.42 [[ 9.86949734e-01 1.60069491e-01 1.75493957e-02 4.56362185e+01] [-1.60045653e-01 9.87105745e-01 -2.76360476e-03 -5.01888943e+00] [-1.77654782e-02 -8.11655223e-05 9.99842178e-01 -1.42156108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304012738999994 meters Centerline goodness [0,1] 0.998774746888502 Centerline is valid? [True, True] Translation: X:45.67, Y:-5.02, Z:-1.42 [[ 9.86756345e-01 1.61190624e-01 1.81521067e-02 4.56685486e+01] [-1.61165243e-01 9.86923286e-01 -2.86215457e-03 -5.02262725e+00] [-1.83760893e-02 -1.01239503e-04 9.99831140e-01 -1.42066349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.334012738999995 meters Centerline goodness [0,1] 0.9975821636425881 Centerline is valid? [True, True] Translation: X:45.70, Y:-5.02, Z:-1.42 [[ 9.86385825e-01 1.63299385e-01 1.93988299e-02 4.57012951e+01] [-1.63270733e-01 9.86576550e-01 -3.06240416e-03 -5.02328774e+00] [-1.96385194e-02 -1.46549117e-04 9.99807135e-01 -1.41862715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364012738999996 meters Centerline goodness [0,1] 0.9975821636425881 Centerline is valid? [True, True] Translation: X:45.73, Y:-5.03, Z:-1.42 [[ 9.86356216e-01 1.63478158e-01 1.93986482e-02 4.57333666e+01] [-1.63449518e-01 9.86546942e-01 -3.06355427e-03 -5.02855460e+00] [-1.96385013e-02 -1.48943911e-04 9.99807135e-01 -1.41925069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.394012739 meters Centerline goodness [0,1] 0.9961587431752951 Centerline is valid? [True, True] Translation: X:45.77, Y:-5.03, Z:-1.42 [[ 9.85909542e-01 1.66052335e-01 2.02236535e-02 4.57661532e+01] [-1.66021669e-01 9.86116920e-01 -3.19772129e-03 -5.02676467e+00] [-2.04738760e-02 -2.04900776e-04 9.99790367e-01 -1.41860595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424012739 meters Centerline goodness [0,1] 0.9963883394960874 Centerline is valid? [True, True] Translation: X:45.80, Y:-5.03, Z:-1.42 [[ 9.85707628e-01 1.67175274e-01 2.08062415e-02 4.57984451e+01] [-1.67142993e-01 9.85927165e-01 -3.29331447e-03 -5.03059025e+00] [-2.10639995e-02 -2.31372285e-04 9.99778103e-01 -1.41906070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45401273899999 meters Centerline goodness [0,1] 0.996205386183269 Centerline is valid? [True, True] Translation: X:45.83, Y:-5.03, Z:-1.42 [[ 9.85635502e-01 1.67662204e-01 2.02988203e-02 4.58309378e+01] [-1.67631515e-01 9.85844476e-01 -3.21618015e-03 -5.03414379e+00] [-2.05507118e-02 -2.32740676e-04 9.99788785e-01 -1.42047224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48401273899999 meters Centerline goodness [0,1] 0.9975749840459477 Centerline is valid? [True, True] Translation: X:45.86, Y:-5.04, Z:-1.43 [[ 9.85744083e-01 1.67303698e-01 1.78346723e-02 4.58621801e+01] [-1.67279928e-01 9.85905388e-01 -2.82696783e-03 -5.03682387e+00] [-1.80562617e-02 -1.96715882e-04 9.99836953e-01 -1.42681658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.514012738999995 meters Centerline goodness [0,1] 0.9984955619076274 Centerline is valid? [True, True] Translation: X:45.89, Y:-5.04, Z:-1.43 [[ 9.85778370e-01 1.67361039e-01 1.52081804e-02 4.58937301e+01] [-1.67343727e-01 9.85895661e-01 -2.41290296e-03 -5.04343227e+00] [-1.53975050e-02 -1.66406048e-04 9.99881438e-01 -1.43102026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544012738999996 meters Centerline goodness [0,1] 0.9980033492206621 Centerline is valid? [True, True] Translation: X:45.92, Y:-5.05, Z:-1.43 [[ 9.85589249e-01 1.68441181e-01 1.55370846e-02 4.59248762e+01] [-1.68423236e-01 9.85711689e-01 -2.46571802e-03 -5.04518232e+00] [-1.57304143e-02 -1.86620898e-04 9.99876252e-01 -1.43114362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.574012739 meters Centerline goodness [0,1] 0.9966046712802769 Centerline is valid? [True, True] Translation: X:45.96, Y:-5.04, Z:-1.43 [[ 9.84812600e-01 1.72794557e-01 1.69169909e-02 4.59578756e+01] [-1.72773871e-01 9.84957849e-01 -2.68788313e-03 -5.03952191e+00] [-1.71269746e-02 -2.75752826e-04 9.99853285e-01 -1.42705572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604012739 meters Centerline goodness [0,1] 0.9951761881070323 Centerline is valid? [True, True] Translation: X:45.99, Y:-5.04, Z:-1.43 [[ 9.84250442e-01 1.75916964e-01 1.74439133e-02 4.59901001e+01] [-1.75895451e-01 9.84404950e-01 -2.77202289e-03 -5.03619358e+00] [-1.76595205e-02 -3.39940241e-04 9.99844001e-01 -1.42707695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63401273899999 meters Centerline goodness [0,1] 0.9941921744928908 Centerline is valid? [True, True] Translation: X:46.02, Y:-5.03, Z:-1.43 [[ 9.83586850e-01 1.79596615e-01 1.73771235e-02 4.60212608e+01] [-1.79575832e-01 9.83740257e-01 -2.76186278e-03 -5.03114099e+00] [-1.75905971e-02 -4.03979503e-04 9.99845192e-01 -1.42810431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66401273899999 meters Centerline goodness [0,1] 0.9633906843700636 Centerline is valid? [True, True] Translation: X:46.05, Y:-5.01, Z:-1.43 [[ 9.82106088e-01 1.87556579e-01 1.70341155e-02 4.60544138e+01] [-1.87537807e-01 9.82253655e-01 -2.70713863e-03 -5.01172961e+00] [-1.72395639e-02 -5.35843336e-04 9.99851244e-01 -1.42917851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.694012738999994 meters Centerline goodness [0,1] 0.9543405337264705 Centerline is valid? [True, True] Translation: X:46.08, Y:-5.01, Z:-1.43 [[ 9.81531650e-01 1.90585213e-01 1.65196134e-02 4.60849983e+01] [-1.90567986e-01 9.81670490e-01 -2.62534346e-03 -5.01072035e+00] [-1.67171686e-02 -5.71251753e-04 9.99860095e-01 -1.43092441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.724012738999996 meters Centerline goodness [0,1] 0.9396956002728513 Centerline is valid? [True, False] Translation: X:46.05, Y:-4.99, Z:-1.43 [[ 9.81264476e-01 1.92140473e-01 1.42150179e-02 4.60466962e+01] [-1.92118691e-01 9.81367427e-01 -2.89519830e-03 -4.99266347e+00] [-1.45064403e-02 1.09984609e-04 9.99894770e-01 -1.43118421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.754012739 meters Centerline goodness [0,1] 0.942939394590414 Centerline is valid? [False, False] Translation: X:45.98, Y:-4.98, Z:-1.43 [[ 9.82103308e-01 1.87818660e-01 1.40443133e-02 4.59841820e+01] [-1.87860773e-01 9.82194144e-01 1.73017458e-03 -4.97600097e+00] [-1.34692832e-02 -4.33758573e-03 9.99899877e-01 -1.43063839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784012739 meters Centerline goodness [0,1] 0.9671609029675697 Centerline is valid? [False, True] Translation: X:45.99, Y:-4.97, Z:-1.43 [[ 9.82951935e-01 1.83395046e-01 1.31053891e-02 4.59851092e+01] [-1.83358404e-01 9.83038175e-01 -3.95504417e-03 -4.96793481e+00] [-1.36084333e-02 1.48463509e-03 9.99906299e-01 -1.43054545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81401273899999 meters Centerline goodness [0,1] 0.9920351492327338 Centerline is valid? [True, True] Translation: X:46.01, Y:-4.97, Z:-1.43 [[ 9.83566421e-01 1.79837066e-01 1.59914241e-02 4.60148614e+01] [-1.79821749e-01 9.83696278e-01 -2.40246198e-03 -4.97442703e+00] [-1.61627561e-02 -5.12624915e-04 9.99869243e-01 -1.42625863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84401273899999 meters Centerline goodness [0,1] 0.9887911189518298 Centerline is valid? [True, True] Translation: X:46.04, Y:-4.97, Z:-1.43 [[ 9.83823475e-01 1.78383198e-01 1.64561404e-02 4.60433719e+01] [-1.78366772e-01 9.83960966e-01 -2.47239000e-03 -4.97231863e+00] [-1.66332326e-02 -5.02833315e-04 9.99861532e-01 -1.42540151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.874012738999994 meters Centerline goodness [0,1] 0.9927156742311588 Centerline is valid? [True, True] Translation: X:46.07, Y:-4.98, Z:-1.43 [[ 9.84177618e-01 1.76470823e-01 1.58891362e-02 4.60719719e+01] [-1.76455275e-01 9.84305766e-01 -2.38625401e-03 -4.97550635e+00] [-1.60608726e-02 -4.55224120e-04 9.99870912e-01 -1.42758291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.904012738999995 meters Centerline goodness [0,1] 0.9942007114368869 Centerline is valid? [True, True] Translation: X:46.10, Y:-4.98, Z:-1.43 [[ 9.84338101e-01 1.75662503e-01 1.48723660e-02 4.61001050e+01] [-1.75648799e-01 9.84450361e-01 -2.23291387e-03 -4.97924664e+00] [-1.50333453e-02 -4.14371026e-04 9.99886907e-01 -1.42975118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.934012738999996 meters Centerline goodness [0,1] 0.9942986718496922 Centerline is valid? [True, True] Translation: X:46.13, Y:-4.98, Z:-1.43 [[ 9.84440563e-01 1.75138249e-01 1.42608620e-02 4.61289738e+01] [-1.75125603e-01 9.84543773e-01 -2.14046680e-03 -4.98138035e+00] [-1.44153205e-02 -3.90279717e-04 9.99896018e-01 -1.43114698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964012739 meters Centerline goodness [0,1] 0.9941466154045531 Centerline is valid? [True, True] Translation: X:46.16, Y:-4.98, Z:-1.43 [[ 9.84702125e-01 1.73528400e-01 1.57993247e-02 4.61577937e+01] [-1.73512685e-01 9.84828781e-01 -2.37054544e-03 -4.98209240e+00] [-1.59709867e-02 -4.07102116e-04 9.99872373e-01 -1.42983191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99401273899999 meters Centerline goodness [0,1] 0.9944546346457365 Centerline is valid? [True, True] Translation: X:46.19, Y:-4.99, Z:-1.43 [[ 9.85163507e-01 1.70766113e-01 1.70821144e-02 4.61860389e+01] [-1.70747343e-01 9.85311514e-01 -2.56213537e-03 -4.98550503e+00] [-1.72687300e-02 -3.92603379e-04 9.99850807e-01 -1.42707784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02401273899999 meters Centerline goodness [0,1] 0.995678572200255 Centerline is valid? [True, True] Translation: X:46.21, Y:-4.99, Z:-1.43 [[ 9.85423406e-01 1.69329132e-01 1.63815595e-02 4.62143108e+01] [-1.69311684e-01 9.85559496e-01 -2.45632017e-03 -4.99105464e+00] [-1.65609280e-02 -3.53074030e-04 9.99862796e-01 -1.42863221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.054012738999994 meters Centerline goodness [0,1] 0.9962323122043114 Centerline is valid? [True, True] Translation: X:46.24, Y:-5.00, Z:-1.43 [[ 9.85794564e-01 1.67269942e-01 1.51605855e-02 4.62413191e+01] [-1.67254763e-01 9.85911091e-01 -2.27262794e-03 -4.99643493e+00] [-1.53271317e-02 -2.95335863e-04 9.99882489e-01 -1.43054834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084012738999995 meters Centerline goodness [0,1] 0.9960502460502461 Centerline is valid? [True, True] Translation: X:46.27, Y:-5.00, Z:-1.43 [[ 9.85953643e-01 1.66256846e-01 1.59397330e-02 4.62700551e+01] [-1.66239951e-01 9.86082438e-01 -2.38841207e-03 -5.00152386e+00] [-1.61149806e-02 -2.94956849e-04 9.99870102e-01 -1.42973369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.114012738999996 meters Centerline goodness [0,1] 0.9962114651887772 Centerline is valid? [True, True] Translation: X:46.30, Y:-5.00, Z:-1.43 [[ 9.86176855e-01 1.64910950e-01 1.61117852e-02 4.62974393e+01] [-1.64893521e-01 9.86308421e-01 -2.41345606e-03 -5.00444184e+00] [-1.62891947e-02 -2.76634470e-04 9.99867284e-01 -1.42924915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144012739 meters Centerline goodness [0,1] 0.9967932852684817 Centerline is valid? [True, True] Translation: X:46.33, Y:-5.01, Z:-1.43 [[ 9.86099920e-01 1.65457395e-01 1.51920204e-02 4.63257579e+01] [-1.65441977e-01 9.86216902e-01 -2.27482762e-03 -5.00897842e+00] [-1.53590144e-02 -2.70190558e-04 9.99882007e-01 -1.43103667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.174012739 meters Centerline goodness [0,1] 0.9957692058626719 Centerline is valid? [True, True] Translation: X:46.36, Y:-5.00, Z:-1.43 [[ 9.85620641e-01 1.68357398e-01 1.44131529e-02 4.63557762e+01] [-1.68343839e-01 9.85725974e-01 -2.15753972e-03 -5.00376720e+00] [-1.45706569e-02 -2.99849814e-04 9.99893797e-01 -1.43233710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20401273899999 meters Centerline goodness [0,1] 0.9954529855868223 Centerline is valid? [True, True] Translation: X:46.39, Y:-5.00, Z:-1.43 [[ 9.85366633e-01 1.69799751e-01 1.48540334e-02 4.63851080e+01] [-1.69785526e-01 9.85478531e-01 -2.22279813e-03 -5.00363460e+00] [-1.50157615e-02 -3.31728753e-04 9.99887202e-01 -1.43174511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23401273899999 meters Centerline goodness [0,1] 0.9936058655526664 Centerline is valid? [True, True] Translation: X:46.41, Y:-5.00, Z:-1.43 [[ 9.85134635e-01 1.70882053e-01 1.75805111e-02 4.64145041e+01] [-1.70862314e-01 9.85291405e-01 -2.62983738e-03 -5.00246157e+00] [-1.77713185e-02 -4.13102931e-04 9.99841992e-01 -1.42775135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264012738999995 meters Centerline goodness [0,1] 0.9944968383796966 Centerline is valid? [True, True] Translation: X:46.44, Y:-5.01, Z:-1.43 [[ 9.85374339e-01 1.69480805e-01 1.77107158e-02 4.64419342e+01] [-1.69460563e-01 9.85533411e-01 -2.64848306e-03 -5.01159508e+00] [-1.79033691e-02 -3.91520608e-04 9.99839645e-01 -1.42872872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.294012738999996 meters Centerline goodness [0,1] 0.9974246163751476 Centerline is valid? [True, True] Translation: X:46.47, Y:-5.02, Z:-1.44 [[ 9.86540460e-01 1.62840083e-01 1.48670011e-02 4.64699125e+01] [-1.62825075e-01 9.86652449e-01 -2.22255829e-03 -5.02021221e+00] [-1.50304846e-02 -2.28076888e-04 9.99887010e-01 -1.43541813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324012739 meters Centerline goodness [0,1] 0.9984426708195445 Centerline is valid? [True, True] Translation: X:46.50, Y:-5.03, Z:-1.44 [[ 9.87150088e-01 1.59182225e-01 1.39901100e-02 4.64969994e+01] [-1.59168572e-01 9.87249205e-01 -2.09118942e-03 -5.03160546e+00] [-1.41446052e-02 -1.62468006e-04 9.99899947e-01 -1.43636497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.354012739 meters Centerline goodness [0,1] 0.9991747741487144 Centerline is valid? [True, True] Translation: X:46.52, Y:-5.04, Z:-1.43 [[ 9.87932711e-01 1.54123902e-01 1.53225673e-02 4.65247433e+01] [-1.54106928e-01 9.88051523e-01 -2.28955350e-03 -5.04170904e+00] [-1.54923608e-02 -9.93889643e-05 9.99879981e-01 -1.43305313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38401273899999 meters Centerline goodness [0,1] 0.9990993502455343 Centerline is valid? [True, True] Translation: X:46.55, Y:-5.05, Z:-1.43 [[ 9.88069804e-01 1.53095424e-01 1.67287987e-02 4.65522711e+01] [-1.53075058e-01 9.88211406e-01 -2.49881802e-03 -5.04798932e+00] [-1.69141473e-02 -9.17551924e-05 9.99856941e-01 -1.43105531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41401273899999 meters Centerline goodness [0,1] 0.9985768500948766 Centerline is valid? [True, True] Translation: X:46.58, Y:-5.05, Z:-1.43 [[ 9.88068085e-01 1.52967843e-01 1.79526752e-02 4.65803528e+01] [-1.52944387e-01 9.88231162e-01 -2.68048361e-03 -5.05327518e+00] [-1.81514208e-02 -9.72605979e-05 9.99835245e-01 -1.42910093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444012738999994 meters Centerline goodness [0,1] 0.9984502553804514 Centerline is valid? [True, True] Translation: X:46.61, Y:-5.05, Z:-1.43 [[ 9.87815737e-01 1.54590604e-01 1.79392061e-02 4.66100099e+01] [-1.54567466e-01 9.87978607e-01 -2.67762247e-03 -5.05452964e+00] [-1.81374872e-02 -1.27820021e-04 9.99835494e-01 -1.42864978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.474012738999996 meters Centerline goodness [0,1] 0.998077662437524 Centerline is valid? [True, True] Translation: X:46.64, Y:-5.05, Z:-1.43 [[ 9.87509160e-01 1.56748732e-01 1.59841979e-02 4.66397844e+01] [-1.56730651e-01 9.87638503e-01 -2.38547274e-03 -5.04794477e+00] [-1.61605291e-02 -1.49537556e-04 9.99869399e-01 -1.43357095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504012739 meters Centerline goodness [0,1] 0.9980021715526601 Centerline is valid? [True, True] Translation: X:46.67, Y:-5.05, Z:-1.43 [[ 9.87293570e-01 1.58076221e-01 1.62269826e-02 4.66679457e+01] [-1.58057772e-01 9.87426898e-01 -2.42126572e-03 -5.05097501e+00] [-1.64057036e-02 -1.74300638e-04 9.99865402e-01 -1.43366327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.534012739 meters Centerline goodness [0,1] 0.9978466838931955 Centerline is valid? [True, True] Translation: X:46.70, Y:-5.05, Z:-1.43 [[ 9.87127451e-01 1.59090285e-01 1.64218445e-02 4.66955952e+01] [-1.59071547e-01 9.87264019e-01 -2.44936809e-03 -5.05103960e+00] [-1.66023668e-02 -1.94409728e-04 9.99862152e-01 -1.43342775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56401273899999 meters Centerline goodness [0,1] 0.9973310374515713 Centerline is valid? [True, True] Translation: X:46.73, Y:-5.05, Z:-1.43 [[ 9.86941431e-01 1.60192419e-01 1.68819550e-02 4.67254983e+01] [-1.60172800e-01 9.87085782e-01 -2.51671527e-03 -5.04864708e+00] [-1.70670965e-02 -2.20179437e-04 9.99854322e-01 -1.43239909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59401273899999 meters Centerline goodness [0,1] 0.9973368553241242 Centerline is valid? [True, True] Translation: X:46.75, Y:-5.05, Z:-1.43 [[ 9.86855828e-01 1.60722862e-01 1.68444868e-02 4.67544900e+01] [-1.60703420e-01 9.86999549e-01 -2.51033608e-03 -5.04905182e+00] [-1.70289693e-02 -2.29626854e-04 9.99854970e-01 -1.43269490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624012738999994 meters Centerline goodness [0,1] 0.9963379488179592 Centerline is valid? [True, True] Translation: X:46.78, Y:-5.05, Z:-1.43 [[ 9.86734804e-01 1.61355728e-01 1.78537187e-02 4.67840456e+01] [-1.61334006e-01 9.86896278e-01 -2.65984057e-03 -5.04939713e+00] [-1.80489491e-02 -2.55854708e-04 9.99837072e-01 -1.43170817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.654012738999995 meters Centerline goodness [0,1] 0.9969393253583361 Centerline is valid? [True, True] Translation: X:46.81, Y:-5.05, Z:-1.43 [[ 9.87018330e-01 1.59704549e-01 1.70080169e-02 4.68119727e+01] [-1.59684605e-01 9.87164835e-01 -2.53306351e-03 -5.04974463e+00] [-1.71942580e-02 -2.15738345e-04 9.99852145e-01 -1.43365443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.684012738999996 meters Centerline goodness [0,1] 0.9977983077188741 Centerline is valid? [True, True] Translation: X:46.84, Y:-5.05, Z:-1.44 [[ 9.87239676e-01 1.58430118e-01 1.60536487e-02 4.68405116e+01] [-1.58412197e-01 9.87370176e-01 -2.38996703e-03 -5.05388824e+00] [-1.62295367e-02 -1.83623487e-04 9.99868276e-01 -1.43640777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.714012739 meters Centerline goodness [0,1] 0.9981321653999743 Centerline is valid? [True, True] Translation: X:46.87, Y:-5.06, Z:-1.44 [[ 9.87501831e-01 1.56914484e-01 1.47641233e-02 4.68677013e+01] [-1.56899165e-01 9.87612183e-01 -2.19739433e-03 -5.05872934e+00] [-1.49260310e-02 -1.46547705e-04 9.99888590e-01 -1.43987477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74401273899999 meters Centerline goodness [0,1] 0.9993530997304583 Centerline is valid? [True, True] Translation: X:46.89, Y:-5.07, Z:-1.44 [[ 9.88108250e-01 1.53208604e-01 1.30080951e-02 4.68940824e+01] [-1.53196401e-01 9.88193866e-01 -1.93538405e-03 -5.06733403e+00] [-1.31510373e-02 -8.04244016e-05 9.99913518e-01 -1.44405093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77401273899999 meters Centerline goodness [0,1] 0.9995036578260212 Centerline is valid? [True, True] Translation: X:46.92, Y:-5.07, Z:-1.44 [[ 9.88414728e-01 1.51239584e-01 1.27637511e-02 4.69221397e+01] [-1.51227681e-01 9.88497135e-01 -1.89824610e-03 -5.07389789e+00] [-1.29040214e-02 -5.39780811e-05 9.99916738e-01 -1.44410363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804012738999994 meters Centerline goodness [0,1] 0.9996736434445846 Centerline is valid? [True, True] Translation: X:46.95, Y:-5.08, Z:-1.44 [[ 9.88863834e-01 1.48257353e-01 1.29643931e-02 4.69488673e+01] [-1.48244823e-01 9.88948814e-01 -1.92750552e-03 -5.08153393e+00] [-1.31068881e-02 -1.58636637e-05 9.99914101e-01 -1.44459746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.834012738999995 meters Centerline goodness [0,1] 0.9993901110869091 Centerline is valid? [True, True] Translation: X:46.98, Y:-5.09, Z:-1.44 [[ 9.88964574e-01 1.47564463e-01 1.31833109e-02 4.69766875e+01] [-1.47551457e-01 9.89052440e-01 -1.95917623e-03 -5.08752858e+00] [-1.33280906e-02 -7.66084470e-06 9.99911177e-01 -1.44477395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.864012738999996 meters Centerline goodness [0,1] 0.9992431286897476 Centerline is valid? [True, True] Translation: X:47.00, Y:-5.09, Z:-1.44 [[ 9.88820868e-01 1.48414270e-01 1.43699553e-02 4.70044505e+01] [-1.48398917e-01 9.88925277e-01 -2.13480377e-03 -5.08982475e+00] [-1.45276474e-02 -2.15472855e-05 9.99894468e-01 -1.44202947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.894012739 meters Centerline goodness [0,1] 0.9994155338124513 Centerline is valid? [True, True] Translation: X:47.03, Y:-5.09, Z:-1.44 [[ 9.88628567e-01 1.49720060e-01 1.40520479e-02 4.70333852e+01] [-1.49705523e-01 9.88728427e-01 -2.08671513e-03 -5.09135700e+00] [-1.42060824e-02 -4.06829948e-05 9.99899088e-01 -1.44270753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924012739 meters Centerline goodness [0,1] 0.9996329641384373 Centerline is valid? [True, True] Translation: X:47.06, Y:-5.09, Z:-1.45 [[ 9.88234109e-01 1.52458979e-01 1.22313087e-02 4.70624040e+01] [-1.52448181e-01 9.88309797e-01 -1.81587642e-03 -5.09089810e+00] [-1.23651689e-02 -7.01297424e-05 9.99923546e-01 -1.44775884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95401273899999 meters Centerline goodness [0,1] 0.9995488237189817 Centerline is valid? [True, True] Translation: X:47.09, Y:-5.09, Z:-1.45 [[ 9.88056504e-01 1.53694382e-01 1.10626356e-02 4.70906254e+01] [-1.53685630e-01 9.88118430e-01 -1.64201353e-03 -5.09182643e+00] [-1.11835624e-02 -7.77659684e-05 9.99937459e-01 -1.45032693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98401273899999 meters Centerline goodness [0,1] 0.9995154291755688 Centerline is valid? [True, True] Translation: X:47.12, Y:-5.09, Z:-1.45 [[ 9.87739493e-01 1.55709184e-01 1.11956920e-02 4.71198007e+01] [-1.55700358e-01 9.87802936e-01 -1.66101371e-03 -5.09164377e+00] [-1.13177726e-02 -1.02524419e-04 9.99935947e-01 -1.44953399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.014012738999995 meters Centerline goodness [0,1] 0.9991770438548998 Centerline is valid? [True, True] Translation: X:47.15, Y:-5.09, Z:-1.45 [[ 9.87708755e-01 1.55811195e-01 1.24212173e-02 4.71473077e+01] [-1.55800347e-01 9.87786849e-01 -1.84218929e-03 -5.09426060e+00] [-1.25565488e-02 -1.15683471e-04 9.99921157e-01 -1.44856323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.044012738999996 meters Centerline goodness [0,1] 0.9991336928508002 Centerline is valid? [True, True] Translation: X:47.18, Y:-5.10, Z:-1.45 [[ 9.87867376e-01 1.54631875e-01 1.43885461e-02 4.71758256e+01] [-1.54617210e-01 9.87972150e-01 -2.13283468e-03 -5.10115605e+00] [-1.45452870e-02 -1.17759056e-04 9.99894205e-01 -1.44531957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.074012739 meters Centerline goodness [0,1] 0.9986238038920546 Centerline is valid? [True, True] Translation: X:47.20, Y:-5.11, Z:-1.44 [[ 9.87976531e-01 1.53899707e-01 1.47395853e-02 4.72044322e+01] [-1.53884247e-01 9.88086468e-01 -2.18414685e-03 -5.10508004e+00] [-1.49001243e-02 -1.10304158e-04 9.99888981e-01 -1.44478634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104012739 meters Centerline goodness [0,1] 0.9985957786947223 Centerline is valid? [True, True] Translation: X:47.23, Y:-5.10, Z:-1.44 [[ 9.87889979e-01 1.54348826e-01 1.58060120e-02 4.72326017e+01] [-1.54331118e-01 9.88016409e-01 -2.34141937e-03 -5.10428091e+00] [-1.59779945e-02 -1.26294756e-04 9.99872336e-01 -1.44193812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13401273899999 meters Centerline goodness [0,1] 0.9982243395409268 Centerline is valid? [True, True] Translation: X:47.26, Y:-5.11, Z:-1.44 [[ 9.87774725e-01 1.55042566e-01 1.62140197e-02 4.72607939e+01] [-1.55024045e-01 9.87907780e-01 -2.40062807e-03 -5.10601431e+00] [-1.63901557e-02 -1.42283187e-04 9.99865662e-01 -1.44169001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16401273899999 meters Centerline goodness [0,1] 0.9979532919682867 Centerline is valid? [True, True] Translation: X:47.29, Y:-5.11, Z:-1.44 [[ 9.87577320e-01 1.56302584e-01 1.61412155e-02 4.72897766e+01] [-1.56284414e-01 9.87709206e-01 -2.38886298e-03 -5.10624784e+00] [-1.63162126e-02 -1.63433499e-04 9.99866868e-01 -1.44221372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.194012738999994 meters Centerline goodness [0,1] 0.9981992536665799 Centerline is valid? [True, True] Translation: X:47.32, Y:-5.10, Z:-1.44 [[ 9.87255743e-01 1.58412265e-01 1.52201571e-02 4.73197260e+01] [-1.58396370e-01 9.87373039e-01 -2.25187277e-03 -5.10247444e+00] [-1.53846970e-02 -1.87643309e-04 9.99881631e-01 -1.44404825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.224012738999996 meters Centerline goodness [0,1] 0.9976399914181506 Centerline is valid? [True, True] Translation: X:47.35, Y:-5.10, Z:-1.44 [[ 9.87084625e-01 1.59439158e-01 1.55915795e-02 4.73481460e+01] [-1.59422617e-01 9.87207735e-01 -2.30607475e-03 -5.10322852e+00] [-1.57598065e-02 -2.09359484e-04 9.99875785e-01 -1.44429359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.254012739 meters Centerline goodness [0,1] 0.9976399914181506 Centerline is valid? [True, True] Translation: X:47.38, Y:-5.11, Z:-1.44 [[ 9.87095989e-01 1.59368777e-01 1.55917124e-02 4.73753553e+01] [-1.59352242e-01 9.87219099e-01 -2.30517615e-03 -5.10711947e+00] [-1.57598094e-02 -2.09144196e-04 9.99875785e-01 -1.44480283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284012739 meters Centerline goodness [0,1] 0.9962571791176408 Centerline is valid? [True, True] Translation: X:47.40, Y:-5.11, Z:-1.44 [[ 9.86886744e-01 1.60405748e-01 1.80152850e-02 4.74037429e+01] [-1.60383873e-01 9.87051127e-01 -2.66196852e-03 -5.10560802e+00] [-1.82090024e-02 -2.62299732e-04 9.99834168e-01 -1.44186756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31401273899999 meters Centerline goodness [0,1] 0.9960148951460116 Centerline is valid? [True, True] Translation: X:47.43, Y:-5.11, Z:-1.44 [[ 9.86953284e-01 1.59919517e-01 1.86805318e-02 4.74323649e+01] [-1.59895932e-01 9.87130021e-01 -2.75910153e-03 -5.10945016e+00] [-1.88813479e-02 -2.63836723e-04 9.99821697e-01 -1.44139140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34401273899999 meters Centerline goodness [0,1] 0.9961734693877551 Centerline is valid? [True, True] Translation: X:47.46, Y:-5.11, Z:-1.44 [[ 9.87150914e-01 1.58750514e-01 1.82029424e-02 4.74597891e+01] [-1.58727937e-01 9.87318702e-01 -2.68769864e-03 -5.11401285e+00] [-1.83987790e-02 -2.36151318e-04 9.99830700e-01 -1.44293441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.374012738999994 meters Centerline goodness [0,1] 0.9981225317766892 Centerline is valid? [True, True] Translation: X:47.49, Y:-5.12, Z:-1.45 [[ 9.87558082e-01 1.56623776e-01 1.40721878e-02 4.74874955e+01] [-1.56610077e-01 9.87658326e-01 -2.07713076e-03 -5.12177495e+00] [-1.42238415e-02 -1.52559134e-04 9.99898824e-01 -1.45008054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.404012738999995 meters Centerline goodness [0,1] 0.9980657224526639 Centerline is valid? [True, True] Translation: X:47.52, Y:-5.12, Z:-1.45 [[ 9.87530471e-01 1.56782540e-01 1.42409519e-02 4.75152686e+01] [-1.56768531e-01 9.87633136e-01 -2.10165287e-03 -5.12158554e+00] [-1.43943385e-02 -1.57086874e-04 9.99896384e-01 -1.44983671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.434012738999996 meters Centerline goodness [0,1] 0.997867895677643 Centerline is valid? [True, True] Translation: X:47.54, Y:-5.12, Z:-1.45 [[ 9.87357929e-01 1.57759765e-01 1.53680343e-02 4.75440214e+01] [-1.57743605e-01 9.87477504e-01 -2.26571586e-03 -5.12240921e+00] [-1.55330270e-02 -1.87136619e-04 9.99879338e-01 -1.44809895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464012739 meters Centerline goodness [0,1] 0.9964203307959373 Centerline is valid? [True, True] Translation: X:47.57, Y:-5.12, Z:-1.45 [[ 9.87099286e-01 1.59289956e-01 1.61774691e-02 4.75717516e+01] [-1.59272267e-01 9.87231817e-01 -2.38425818e-03 -5.12233876e+00] [-1.63507006e-02 -2.23122636e-04 9.99866293e-01 -1.44782021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49401273899999 meters Centerline goodness [0,1] 0.9962984483612026 Centerline is valid? [True, True] Translation: X:47.60, Y:-5.12, Z:-1.45 [[ 9.86867470e-01 1.60823957e-01 1.51080258e-02 4.76006141e+01] [-1.60808722e-01 9.86983080e-01 -2.22577853e-03 -5.12219764e+00] [-1.52693243e-02 -2.32953897e-04 9.99883390e-01 -1.45035796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52401273899999 meters Centerline goodness [0,1] 0.9970811066039963 Centerline is valid? [True, True] Translation: X:47.63, Y:-5.12, Z:-1.45 [[ 9.86967318e-01 1.60301991e-01 1.40990982e-02 4.76273181e+01] [-1.60288677e-01 9.87067995e-01 -2.07667462e-03 -5.12347720e+00] [-1.42496637e-02 -2.10315817e-04 9.99898446e-01 -1.45210183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.554012738999994 meters Centerline goodness [0,1] 0.9976425806172545 Centerline is valid? [True, True] Translation: X:47.65, Y:-5.13, Z:-1.45 [[ 9.87330946e-01 1.58038170e-01 1.41964628e-02 4.76543018e+01] [-1.58024454e-01 9.87432987e-01 -2.08984124e-03 -5.12885457e+00] [-1.43483304e-02 -1.80023361e-04 9.99897041e-01 -1.45270133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584012738999995 meters Centerline goodness [0,1] 0.9980352776807545 Centerline is valid? [True, True] Translation: X:47.68, Y:-5.14, Z:-1.45 [[ 9.87585675e-01 1.56402775e-01 1.45844896e-02 4.76817705e+01] [-1.56388142e-01 9.87693346e-01 -2.14553630e-03 -5.13807530e+00] [-1.47405712e-02 -1.61940325e-04 9.99891339e-01 -1.45308395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.614012738999996 meters Centerline goodness [0,1] 0.9990199211675722 Centerline is valid? [True, True] Translation: X:47.71, Y:-5.15, Z:-1.46 [[ 9.88327730e-01 1.51684582e-01 1.41451644e-02 4.77078458e+01] [-1.51670342e-01 9.88428945e-01 -2.08030066e-03 -5.14975829e+00] [-1.42970395e-02 -8.93830994e-05 9.99897788e-01 -1.45501358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644012739 meters Centerline goodness [0,1] 0.9988363322917789 Centerline is valid? [True, True] Translation: X:47.73, Y:-5.16, Z:-1.45 [[ 9.88980588e-01 1.47354726e-01 1.42822348e-02 4.77342099e+01] [-1.47339770e-01 9.89083709e-01 -2.09958622e-03 -5.15981314e+00] [-1.44357098e-02 -2.78911710e-05 9.99895799e-01 -1.45429656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67401273899999 meters Centerline goodness [0,1] 0.9981475831408273 Centerline is valid? [True, True] Translation: X:47.76, Y:-5.17, Z:-1.45 [[ 9.89311658e-01 1.45077770e-01 1.46589273e-02 4.77624174e+01] [-1.45061778e-01 9.89420255e-01 -2.15405518e-03 -5.16914740e+00] [-1.48163451e-02 4.58184524e-06 9.99890232e-01 -1.45333738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70401273899999 meters Centerline goodness [0,1] 0.996743590300241 Centerline is valid? [True, True] Translation: X:47.79, Y:-5.18, Z:-1.45 [[ 9.89659257e-01 1.42661452e-01 1.49085431e-02 4.77905710e+01] [-1.42644647e-01 9.89771543e-01 -2.19004761e-03 -5.17902687e+00] [-1.50684871e-02 4.07770170e-05 9.99886463e-01 -1.45279608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73401273899999 meters Centerline goodness [0,1] 0.9954817332931709 Centerline is valid? [True, True] Translation: X:47.82, Y:-5.19, Z:-1.46 [[ 9.90286910e-01 1.38318684e-01 1.41342586e-02 4.78169783e+01] [-1.38303144e-01 9.90387768e-01 -2.07573260e-03 -5.19308319e+00] [-1.42855095e-02 1.00758407e-04 9.99897952e-01 -1.45520589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764012738999995 meters Centerline goodness [0,1] 0.9954902215862278 Centerline is valid? [True, True] Translation: X:47.84, Y:-5.20, Z:-1.46 [[ 9.90527388e-01 1.36644573e-01 1.35555703e-02 4.78448733e+01] [-1.36630134e-01 9.90620132e-01 -1.98993930e-03 -5.20026562e+00] [-1.37003353e-02 1.18989983e-04 9.99906139e-01 -1.45698126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.794012738999996 meters Centerline goodness [0,1] 0.995031510119803 Centerline is valid? [True, True] Translation: X:47.87, Y:-5.21, Z:-1.46 [[ 9.90887334e-01 1.34109849e-01 1.25235798e-02 4.78711669e+01] [-1.34097328e-01 9.90966462e-01 -1.83804035e-03 -5.21329251e+00] [-1.26569469e-02 1.41912317e-04 9.99919888e-01 -1.45863813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824012739 meters Centerline goodness [0,1] 0.994222145567437 Centerline is valid? [True, True] Translation: X:47.90, Y:-5.22, Z:-1.46 [[ 9.91020613e-01 1.33068955e-01 1.30689822e-02 4.78992748e+01] [-1.33055242e-01 9.91106769e-01 -1.91705881e-03 -5.22220419e+00] [-1.32078577e-02 1.60948206e-04 9.99912759e-01 -1.45832624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.854012739 meters Centerline goodness [0,1] 0.9923245376292795 Centerline is valid? [True, True] Translation: X:47.93, Y:-5.23, Z:-1.46 [[ 9.91229445e-01 1.31362771e-01 1.44225786e-02 4.79275804e+01] [-1.31345902e-01 9.91334344e-01 -2.11478180e-03 -5.23153130e+00] [-1.45754011e-02 2.01887389e-04 9.99893753e-01 -1.45519081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88401273899999 meters Centerline goodness [0,1] 0.9904334372071738 Centerline is valid? [True, True] Translation: X:47.96, Y:-5.24, Z:-1.45 [[ 9.91201987e-01 1.31472913e-01 1.52805138e-02 4.79552953e+01] [-1.31453997e-01 9.91319741e-01 -2.24021786e-03 -5.24151630e+00] [-1.54424029e-02 2.11823793e-04 9.99880737e-01 -1.45450224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91401273899999 meters Centerline goodness [0,1] 0.9901836809053304 Centerline is valid? [True, True] Translation: X:47.98, Y:-5.25, Z:-1.45 [[ 9.90848912e-01 1.34020997e-01 1.60251533e-02 4.79841809e+01] [-1.34000535e-01 9.90978476e-01 -2.34873769e-03 -5.24537603e+00] [-1.61953622e-02 1.79865065e-04 9.99868830e-01 -1.45228318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944012738999994 meters Centerline goodness [0,1] 0.9923311565561093 Centerline is valid? [True, True] Translation: X:48.01, Y:-5.25, Z:-1.45 [[ 9.90549832e-01 1.36197097e-01 1.61672706e-02 4.80135497e+01] [-1.36176566e-01 9.90681750e-01 -2.36923135e-03 -5.24688906e+00] [-1.63393024e-02 1.45238324e-04 9.99866494e-01 -1.45226770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.974012738999996 meters Centerline goodness [0,1] 0.9955947136563876 Centerline is valid? [True, True] Translation: X:48.04, Y:-5.25, Z:-1.45 [[ 9.89943366e-01 1.40538472e-01 1.61576742e-02 4.80428399e+01] [-1.40518552e-01 9.90075216e-01 -2.36731626e-03 -5.24699392e+00] [-1.63300118e-02 7.30560484e-05 9.99866654e-01 -1.45238344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004012739 meters Centerline goodness [0,1] 0.9959548830340518 Centerline is valid? [True, True] Translation: X:48.07, Y:-5.25, Z:-1.45 [[ 9.89696835e-01 1.42226553e-01 1.64858521e-02 4.80707299e+01] [-1.42206061e-01 9.89834130e-01 -2.41466342e-03 -5.24971516e+00] [-1.66616884e-02 4.53966469e-05 9.99861183e-01 -1.45236260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.034012739 meters Centerline goodness [0,1] 0.9956299757701627 Centerline is valid? [True, True] Translation: X:48.10, Y:-5.25, Z:-1.45 [[ 9.89339852e-01 1.44483865e-01 1.81953393e-02 4.80998541e+01] [-1.44459305e-01 9.89507156e-01 -2.66392667e-03 -5.24950577e+00] [-1.83893129e-02 7.04274306e-06 9.99830902e-01 -1.44870793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06401273899999 meters Centerline goodness [0,1] 0.9939063918060418 Centerline is valid? [True, True] Translation: X:48.13, Y:-5.25, Z:-1.45 [[ 9.89336827e-01 1.44365465e-01 1.92680030e-02 4.81270291e+01] [-1.44337921e-01 9.89524438e-01 -2.81997277e-03 -5.25315586e+00] [-1.94732665e-02 8.79942911e-06 9.99810378e-01 -1.44755300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09401273899999 meters Centerline goodness [0,1] 0.9942518874399451 Centerline is valid? [True, True] Translation: X:48.16, Y:-5.26, Z:-1.45 [[ 9.89409951e-01 1.43864564e-01 1.92596972e-02 4.81557258e+01] [-1.43836971e-01 9.89597386e-01 -2.81761379e-03 -5.25804044e+00] [-1.94647008e-02 1.75186225e-05 9.99810545e-01 -1.44800931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124012738999994 meters Centerline goodness [0,1] 0.994790773452238 Centerline is valid? [True, True] Translation: X:48.18, Y:-5.26, Z:-1.45 [[ 9.89575392e-01 1.42923255e-01 1.77055331e-02 4.81849600e+01] [-1.42899796e-01 9.89733773e-01 -2.58965189e-03 -5.26406348e+00] [-1.78938855e-02 3.25387257e-05 9.99839891e-01 -1.45098717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.154012738999995 meters Centerline goodness [0,1] 0.9955276121337827 Centerline is valid? [True, True] Translation: X:48.21, Y:-5.27, Z:-1.45 [[ 9.89818049e-01 1.41449022e-01 1.58872576e-02 4.82137300e+01] [-1.41429949e-01 9.89945540e-01 -2.32337138e-03 -5.26898923e+00] [-1.60561584e-02 5.27808918e-05 9.99871090e-01 -1.45439170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.184012738999996 meters Centerline goodness [0,1] 0.995691894700381 Centerline is valid? [True, True] Translation: X:48.24, Y:-5.27, Z:-1.46 [[ 9.89904136e-01 1.40856522e-01 1.57874003e-02 4.82420363e+01] [-1.40837618e-01 9.90030018e-01 -2.30845615e-03 -5.27327248e+00] [-1.59551613e-02 6.16904352e-05 9.99872706e-01 -1.45504696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.214012739 meters Centerline goodness [0,1] 0.9932901833872708 Centerline is valid? [True, True] Translation: X:48.27, Y:-5.28, Z:-1.45 [[ 9.90148077e-01 1.39010513e-01 1.68185137e-02 4.82695828e+01] [-1.38988807e-01 9.90290901e-01 -2.45838519e-03 -5.28079127e+00] [-1.69969625e-02 9.65802254e-05 9.99855537e-01 -1.45412015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24401273899999 meters Centerline goodness [0,1] 0.991852745926373 Centerline is valid? [True, True] Translation: X:48.30, Y:-5.29, Z:-1.45 [[ 9.90356142e-01 1.37410483e-01 1.76938063e-02 4.82974213e+01] [-1.37386225e-01 9.90514181e-01 -2.58508750e-03 -5.28810302e+00] [-1.78811842e-02 1.29272025e-04 9.99840110e-01 -1.45303351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27401273899999 meters Centerline goodness [0,1] 0.9906045486943562 Centerline is valid? [True, True] Translation: X:48.33, Y:-5.30, Z:-1.45 [[ 9.90613621e-01 1.35516114e-01 1.78895828e-02 4.83269513e+01] [-1.35491020e-01 9.90775129e-01 -2.61302948e-03 -5.29646864e+00] [-1.80786613e-02 1.64624777e-04 9.99836554e-01 -1.45376273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304012738999994 meters Centerline goodness [0,1] 0.9910919849381388 Centerline is valid? [True, True] Translation: X:48.36, Y:-5.31, Z:-1.46 [[ 9.90998267e-01 1.32909291e-01 1.60485414e-02 4.83551922e+01] [-1.32888757e-01 9.91128188e-01 -2.34398421e-03 -5.30951737e+00] [-1.62176990e-02 1.90213583e-04 9.99868466e-01 -1.45784518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.334012738999995 meters Centerline goodness [0,1] 0.9933109653153249 Centerline is valid? [True, True] Translation: X:48.39, Y:-5.31, Z:-1.46 [[ 9.90903121e-01 1.33873405e-01 1.37446787e-02 4.83856479e+01] [-1.33858423e-01 9.90998430e-01 -2.00842058e-03 -5.31478425e+00] [-1.38898291e-02 1.50309205e-04 9.99903520e-01 -1.46143820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.364012738999996 meters Centerline goodness [0,1] 0.994858224689127 Centerline is valid? [True, True] Translation: X:48.41, Y:-5.32, Z:-1.46 [[ 9.90695097e-01 1.35418375e-01 1.36047340e-02 4.84144548e+01] [-1.35403841e-01 9.90788498e-01 -1.98807981e-03 -5.31731022e+00] [-1.37486365e-02 1.27447676e-04 9.99905475e-01 -1.46300180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.394012739 meters Centerline goodness [0,1] 0.9951679408985482 Centerline is valid? [True, True] Translation: X:48.44, Y:-5.32, Z:-1.46 [[ 9.90418836e-01 1.37384946e-01 1.39966059e-02 4.84441331e+01] [-1.37369764e-01 9.90517726e-01 -2.04501499e-03 -5.32029634e+00] [-1.41448405e-02 1.02710924e-04 9.99899951e-01 -1.46262207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42401273899999 meters Centerline goodness [0,1] 0.9959859185162925 Centerline is valid? [True, True] Translation: X:48.47, Y:-5.32, Z:-1.46 [[ 9.89912938e-01 1.40838759e-01 1.53889020e-02 4.84738032e+01] [-1.40820829e-01 9.90032545e-01 -2.24803055e-03 -5.32331683e+00] [-1.55521236e-02 5.82765941e-05 9.99879057e-01 -1.46071846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45401273899999 meters Centerline goodness [0,1] 0.9969257889758363 Centerline is valid? [True, True] Translation: X:48.50, Y:-5.33, Z:-1.46 [[ 9.89633777e-01 1.42945241e-01 1.38435827e-02 4.85015246e+01] [-1.42930939e-01 9.89730598e-01 -2.02218056e-03 -5.32528632e+00] [-1.39904785e-02 2.25419192e-05 9.99902128e-01 -1.46258963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48401273899999 meters Centerline goodness [0,1] 0.9974848665700401 Centerline is valid? [True, True] Translation: X:48.53, Y:-5.33, Z:-1.46 [[ 9.89445596e-01 1.44300036e-01 1.32254560e-02 4.85292104e+01] [-1.44287115e-01 9.89533981e-01 -1.93107599e-03 -5.32772085e+00] [-1.33656924e-02 2.43175065e-06 9.99910675e-01 -1.46486849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.514012738999995 meters Centerline goodness [0,1] 0.9969691758737802 Centerline is valid? [True, True] Translation: X:48.56, Y:-5.33, Z:-1.46 [[ 9.89050982e-01 1.46911755e-01 1.39675202e-02 4.85579912e+01] [-1.46897617e-01 9.89149602e-01 -2.03838958e-03 -5.32943435e+00] [-1.41154304e-02 -3.57242158e-05 9.99900372e-01 -1.46276451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.544012738999996 meters Centerline goodness [0,1] 0.9962921445201345 Centerline is valid? [True, True] Translation: X:48.59, Y:-5.33, Z:-1.46 [[ 9.88908635e-01 1.47764588e-01 1.50112802e-02 4.85871631e+01] [-1.47748368e-01 9.89022560e-01 -2.18993073e-03 -5.33188765e+00] [-1.51700890e-02 -5.22507396e-05 9.99884926e-01 -1.46083384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.574012739 meters Centerline goodness [0,1] 0.9960762331838565 Centerline is valid? [True, True] Translation: X:48.62, Y:-5.33, Z:-1.46 [[ 9.88671862e-01 1.49261236e-01 1.57807624e-02 4.86157271e+01] [-1.49243514e-01 9.88797794e-01 -2.30141568e-03 -5.33108620e+00] [-1.59474952e-02 -7.98315156e-05 9.99872827e-01 -1.46126640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604012739 meters Centerline goodness [0,1] 0.9964959047230045 Centerline is valid? [True, True] Translation: X:48.64, Y:-5.33, Z:-1.46 [[ 9.88538857e-01 1.50190843e-01 1.52852688e-02 4.86441346e+01] [-1.50174344e-01 9.88657019e-01 -2.22813032e-03 -5.33289560e+00] [-1.54465331e-02 -9.28618092e-05 9.99880691e-01 -1.46225373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63401273899999 meters Centerline goodness [0,1] 0.9956314794288322 Centerline is valid? [True, True] Translation: X:48.67, Y:-5.33, Z:-1.46 [[ 9.88422403e-01 1.50920667e-01 1.56238616e-02 4.86728993e+01] [-1.50903531e-01 9.88545872e-01 -2.27671218e-03 -5.33496838e+00] [-1.57885068e-02 -1.07342561e-04 9.99875348e-01 -1.46237187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66401273899999 meters Centerline goodness [0,1] 0.9951594594015721 Centerline is valid? [True, True] Translation: X:48.70, Y:-5.34, Z:-1.46 [[ 9.88381830e-01 1.51115973e-01 1.62886591e-02 4.87008730e+01] [-1.51097387e-01 9.88516034e-01 -2.37280255e-03 -5.33655362e+00] [-1.64601690e-02 -1.15938907e-04 9.99864516e-01 -1.46031430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.694012738999994 meters Centerline goodness [0,1] 0.9944989496025816 Centerline is valid? [True, True] Translation: X:48.73, Y:-5.34, Z:-1.46 [[ 9.88442957e-01 1.50648360e-01 1.68994540e-02 4.87292379e+01] [-1.50628306e-01 9.88587406e-01 -2.46061529e-03 -5.34017525e+00] [-1.70772750e-02 -1.13358269e-04 9.99854166e-01 -1.45992653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.724012738999996 meters Centerline goodness [0,1] 0.9947086546700943 Centerline is valid? [True, True] Translation: X:48.76, Y:-5.35, Z:-1.46 [[ 9.88837007e-01 1.48026435e-01 1.70161279e-02 4.87571626e+01] [-1.48005729e-01 9.88983402e-01 -2.47678159e-03 -5.34656524e+00] [-1.71952973e-02 -6.93511276e-05 9.99852148e-01 -1.45970761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.754012739 meters Centerline goodness [0,1] 0.9954153008976584 Centerline is valid? [True, True] Translation: X:48.78, Y:-5.35, Z:-1.46 [[ 9.89177662e-01 1.45723189e-01 1.70969423e-02 4.87841194e+01] [-1.45701955e-01 9.89325402e-01 -2.48772784e-03 -5.35313952e+00] [-1.72769589e-02 -3.02531157e-05 9.99850742e-01 -1.46071685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784012739 meters Centerline goodness [0,1] 0.9928165540902756 Centerline is valid? [True, True] Translation: X:48.81, Y:-5.36, Z:-1.46 [[ 9.89757530e-01 1.41626515e-01 1.79432888e-02 4.88122187e+01] [-1.41602474e-01 9.89920163e-01 -2.60972804e-03 -5.36371061e+00] [-1.81320300e-02 4.21838966e-05 9.99835600e-01 -1.45944416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81401273899999 meters Centerline goodness [0,1] 0.9913891460185564 Centerline is valid? [True, True] Translation: X:48.84, Y:-5.37, Z:-1.46 [[ 9.89997139e-01 1.39861126e-01 1.85615288e-02 4.88420732e+01] [-1.39835098e-01 9.90171126e-01 -2.69920694e-03 -5.37115318e+00] [-1.87566040e-02 7.66539405e-05 9.99824076e-01 -1.45838380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84401273899999 meters Centerline goodness [0,1] 0.9907379223376962 Centerline is valid? [True, True] Translation: X:48.87, Y:-5.38, Z:-1.46 [[ 9.90268253e-01 1.37858881e-01 1.90713588e-02 4.88718318e+01] [-1.37831032e-01 9.90451874e-01 -2.77334613e-03 -5.37875979e+00] [-1.92715935e-02 1.17731554e-04 9.99814279e-01 -1.45757552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.874012738999994 meters Centerline goodness [0,1] 0.9902580755426423 Centerline is valid? [True, True] Translation: X:48.90, Y:-5.38, Z:-1.46 [[ 9.90263274e-01 1.37954053e-01 1.86367011e-02 4.89011237e+01] [-1.37927476e-01 9.90438623e-01 -2.71013473e-03 -5.38392665e+00] [-1.88323826e-02 1.13233743e-04 9.99822649e-01 -1.45851842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.904012738999995 meters Centerline goodness [0,1] 0.9923714973353962 Centerline is valid? [True, True] Translation: X:48.93, Y:-5.39, Z:-1.46 [[ 9.89980140e-01 1.40038868e-01 1.81228433e-02 4.89312815e+01] [-1.40014090e-01 9.90146005e-01 -2.63519530e-03 -5.38543321e+00] [-1.83132906e-02 7.13376008e-05 9.99832295e-01 -1.45951682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.934012738999996 meters Centerline goodness [0,1] 0.9933840484451436 Centerline is valid? [True, True] Translation: X:48.96, Y:-5.39, Z:-1.46 [[ 9.89735809e-01 1.41774503e-01 1.79727301e-02 4.89606214e+01] [-1.41750419e-01 9.89898979e-01 -2.61337635e-03 -5.38736673e+00] [-1.81616974e-02 3.89101180e-05 9.99835062e-01 -1.45971894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964012739 meters Centerline goodness [0,1] 0.9936965233401928 Centerline is valid? [True, True] Translation: X:48.99, Y:-5.39, Z:-1.46 [[ 9.89368455e-01 1.44294095e-01 1.81459010e-02 4.89892308e+01] [-1.44269977e-01 9.89534847e-01 -2.63812016e-03 -5.38722527e+00] [-1.83366665e-02 -7.83585836e-06 9.99831869e-01 -1.46038335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99401273899999 meters Centerline goodness [0,1] 0.9943537047052461 Centerline is valid? [True, True] Translation: X:49.02, Y:-5.39, Z:-1.46 [[ 9.89257675e-01 1.45136993e-01 1.74500677e-02 4.90181719e+01] [-1.45114840e-01 9.89411569e-01 -2.53585978e-03 -5.38865155e+00] [-1.76333459e-02 -2.36450309e-05 9.99844520e-01 -1.46203301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02401273899999 meters Centerline goodness [0,1] 0.9946985043748114 Centerline is valid? [True, True] Translation: X:49.05, Y:-5.39, Z:-1.46 [[ 9.88962347e-01 1.47263140e-01 1.63414444e-02 4.90462454e+01] [-1.47244015e-01 9.89097348e-01 -2.37403788e-03 -5.38640464e+00] [-1.65128876e-02 -5.83458094e-05 9.99863651e-01 -1.46482271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.054012738999994 meters Centerline goodness [0,1] 0.9951062459755312 Centerline is valid? [True, True] Translation: X:49.07, Y:-5.39, Z:-1.47 [[ 9.88841283e-01 1.48059028e-01 1.64754652e-02 4.90741549e+01] [-1.48039714e-01 9.88978523e-01 -2.39249401e-03 -5.38796574e+00] [-1.66481116e-02 -7.32263144e-05 9.99861408e-01 -1.46528449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084012738999995 meters Centerline goodness [0,1] 0.994205935174891 Centerline is valid? [True, True] Translation: X:49.10, Y:-5.39, Z:-1.47 [[ 9.88508194e-01 1.50289232e-01 1.62695332e-02 4.91038390e+01] [-1.50270716e-01 9.88642066e-01 -2.36162149e-03 -5.38537091e+00] [-1.64396712e-02 -1.10352224e-04 9.99864853e-01 -1.46507148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.114012738999996 meters Centerline goodness [0,1] 0.9939409677140136 Centerline is valid? [True, True] Translation: X:49.13, Y:-5.38, Z:-1.47 [[ 9.88328767e-01 1.51512182e-01 1.58211068e-02 4.91326024e+01] [-1.51494841e-01 9.88455382e-01 -2.29583388e-03 -5.38361041e+00] [-1.59863050e-02 -1.27777401e-04 9.99872203e-01 -1.46645440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144012739 meters Centerline goodness [0,1] 0.9940701159911377 Centerline is valid? [True, True] Translation: X:49.16, Y:-5.38, Z:-1.47 [[ 9.88162685e-01 1.52592757e-01 1.58100896e-02 4.91616429e+01] [-1.52575594e-01 9.88289142e-01 -2.29328129e-03 -5.38427397e+00] [-1.59748780e-02 -1.46098812e-04 9.99872383e-01 -1.46712744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17401273899999 meters Centerline goodness [0,1] 0.9940701159911377 Centerline is valid? [True, True] Translation: X:49.19, Y:-5.39, Z:-1.47 [[ 9.88170113e-01 1.52544635e-01 1.58102013e-02 4.91896845e+01] [-1.52527478e-01 9.88296571e-01 -2.29251120e-03 -5.38825434e+00] [-1.59748780e-02 -1.46099071e-04 9.99872383e-01 -1.46765214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20401273899999 meters Centerline goodness [0,1] 0.992402944395562 Centerline is valid? [True, True] Translation: X:49.22, Y:-5.38, Z:-1.47 [[ 9.87931059e-01 1.54085439e-01 1.58082114e-02 4.92183405e+01] [-1.54068496e-01 9.88057512e-01 -2.29146739e-03 -5.38294124e+00] [-1.59725038e-02 -1.71735540e-04 9.99872417e-01 -1.46873678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23401273899999 meters Centerline goodness [0,1] 0.9907811218100955 Centerline is valid? [True, True] Translation: X:49.25, Y:-5.38, Z:-1.47 [[ 9.87816501e-01 1.54674617e-01 1.71558513e-02 4.92468956e+01] [-1.54654769e-01 9.87965447e-01 -2.48567715e-03 -5.37940716e+00] [-1.73338594e-02 -1.97841314e-04 9.99849738e-01 -1.46730674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264012738999995 meters Centerline goodness [0,1] 0.9912808891766484 Centerline is valid? [True, True] Translation: X:49.28, Y:-5.38, Z:-1.47 [[ 9.87927275e-01 1.53828276e-01 1.83455956e-02 4.92760718e+01] [-1.53805463e-01 9.88097578e-01 -2.65649761e-03 -5.38285147e+00] [-1.85358831e-02 -1.97226381e-04 9.99828176e-01 -1.46595282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.294012738999996 meters Centerline goodness [0,1] 0.9898950641274776 Centerline is valid? [True, True] Translation: X:49.30, Y:-5.38, Z:-1.46 [[ 9.88143972e-01 1.52291441e-01 1.94629629e-02 4.93037791e+01] [-1.52265482e-01 9.88335613e-01 -2.81751233e-03 -5.38274736e+00] [-1.96650224e-02 -1.79429591e-04 9.99806609e-01 -1.46425576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324012739 meters Centerline goodness [0,1] 0.9913297861064592 Centerline is valid? [True, True] Translation: X:49.33, Y:-5.39, Z:-1.47 [[ 9.88668592e-01 1.48876513e-01 1.92405662e-02 4.93320403e+01] [-1.48850519e-01 9.88855789e-01 -2.78417187e-03 -5.38705397e+00] [-1.94406431e-02 -1.11344972e-04 9.99811007e-01 -1.46556554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.354012739 meters Centerline goodness [0,1] 0.9931361049567748 Centerline is valid? [True, True] Translation: X:49.36, Y:-5.39, Z:-1.47 [[ 9.88950435e-01 1.47043953e-01 1.88444558e-02 4.93602319e+01] [-1.47018701e-01 9.89129956e-01 -2.72600284e-03 -5.39258482e+00] [-1.90404580e-02 -7.46057290e-05 9.99818711e-01 -1.46718534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38401273899999 meters Centerline goodness [0,1] 0.9944994735824327 Centerline is valid? [True, True] Translation: X:49.39, Y:-5.40, Z:-1.47 [[ 9.89503798e-01 1.43453132e-01 1.74193411e-02 4.93878122e+01] [-1.43431013e-01 9.89657112e-01 -2.51905337e-03 -5.39842548e+00] [-1.76005409e-02 -5.86085850e-06 9.99845098e-01 -1.47076854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41401273899999 meters Centerline goodness [0,1] 0.9931167341284444 Centerline is valid? [True, True] Translation: X:49.41, Y:-5.41, Z:-1.47 [[ 9.89861619e-01 1.40895759e-01 1.79544047e-02 4.94144111e+01] [-1.40871860e-01 9.90024436e-01 -2.59527395e-03 -5.40586554e+00] [-1.81409625e-02 3.96916867e-05 9.99835438e-01 -1.47075434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444012738999994 meters Centerline goodness [0,1] 0.9886003107017045 Centerline is valid? [True, True] Translation: X:49.44, Y:-5.42, Z:-1.47 [[ 9.90542241e-01 1.35685999e-01 2.03808453e-02 4.94416904e+01] [-1.35654131e-01 9.90751879e-01 -2.94453809e-03 -5.41796196e+00] [-2.05918934e-02 1.51943494e-04 9.99787953e-01 -1.46580885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.474012738999996 meters Centerline goodness [0,1] 0.9858529221479405 Centerline is valid? [True, True] Translation: X:49.47, Y:-5.43, Z:-1.46 [[ 9.90843834e-01 1.33331870e-01 2.12393428e-02 4.94696143e+01] [-1.33296740e-01 9.91071425e-01 -3.06758172e-03 -5.42824370e+00] [-2.14587121e-02 2.08359280e-04 9.99769714e-01 -1.46475984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504012739 meters Centerline goodness [0,1] 0.9827153610259269 Centerline is valid? [True, True] Translation: X:49.50, Y:-5.45, Z:-1.47 [[ 9.91451118e-01 1.28653165e-01 2.17495876e-02 4.94971028e+01] [-1.28615207e-01 9.91689600e-01 -3.14100366e-03 -5.44673685e+00] [-2.19729399e-02 3.16823881e-04 9.99758516e-01 -1.46508120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.534012739 meters Centerline goodness [0,1] 0.9816626179676248 Centerline is valid? [True, True] Translation: X:49.53, Y:-5.46, Z:-1.47 [[ 9.91621232e-01 1.27321505e-01 2.18303996e-02 4.95278098e+01] [-1.27282934e-01 9.91861439e-01 -3.15300364e-03 -5.45608658e+00] [-2.20541767e-02 3.47948048e-04 9.99756717e-01 -1.46619232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56401273899999 meters Centerline goodness [0,1] 0.9827054133984827 Centerline is valid? [True, True] Translation: X:49.56, Y:-5.47, Z:-1.47 [[ 9.91633269e-01 1.27386076e-01 2.08865186e-02 4.95580908e+01] [-1.27350716e-01 9.91853152e-01 -3.01984180e-03 -5.46850293e+00] [-2.11010451e-02 3.34662487e-04 9.99777292e-01 -1.46838788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59401273899999 meters Centerline goodness [0,1] 0.9858957493152752 Centerline is valid? [True, True] Translation: X:49.59, Y:-5.48, Z:-1.47 [[ 9.91522292e-01 1.28450098e-01 1.95988944e-02 4.95883425e+01] [-1.28419114e-01 9.91715930e-01 -2.83658480e-03 -5.47539390e+00] [-1.98008954e-02 2.95664407e-04 9.99803899e-01 -1.47126827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624012738999994 meters Centerline goodness [0,1] 0.9900610627517215 Centerline is valid? [True, True] Translation: X:49.62, Y:-5.49, Z:-1.47 [[ 9.91208010e-01 1.31164419e-01 1.73946958e-02 4.96187923e+01] [-1.31140425e-01 9.91360605e-01 -2.51792492e-03 -5.48559441e+00] [-1.75746784e-02 2.14639551e-04 9.99845530e-01 -1.47493513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.654012738999995 meters Centerline goodness [0,1] 0.9909679361734156 Centerline is valid? [True, True] Translation: X:49.65, Y:-5.49, Z:-1.48 [[ 9.91023690e-01 1.32581781e-01 1.71498364e-02 4.96479814e+01] [-1.32558658e-01 9.91172052e-01 -2.48314923e-03 -5.49184705e+00] [-1.73276589e-02 1.87500410e-04 9.99849847e-01 -1.47578500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.684012738999996 meters Centerline goodness [0,1] 0.9919088937093276 Centerline is valid? [True, True] Translation: X:49.68, Y:-5.50, Z:-1.48 [[ 9.90764940e-01 1.34476759e-01 1.73445828e-02 4.96784987e+01] [-1.34453402e-01 9.90916736e-01 -2.51112370e-03 -5.49625339e+00] [-1.75247251e-02 1.55895165e-04 9.99846418e-01 -1.47522678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.714012739 meters Centerline goodness [0,1] 0.9941770851173146 Centerline is valid? [True, True] Translation: X:49.71, Y:-5.50, Z:-1.48 [[ 9.89949112e-01 1.40321562e-01 1.76242581e-02 4.97079430e+01] [-1.40298371e-01 9.90105982e-01 -2.55163155e-03 -5.49636227e+00] [-1.78079323e-02 5.33306844e-05 9.99841425e-01 -1.47511736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74401273899999 meters Centerline goodness [0,1] 0.9940619378887372 Centerline is valid? [True, True] Translation: X:49.74, Y:-5.50, Z:-1.48 [[ 9.89168358e-01 1.45714930e-01 1.76951491e-02 4.97369044e+01] [-1.45692421e-01 9.89326618e-01 -2.56148499e-03 -5.49635408e+00] [-1.78795286e-02 -4.43092201e-05 9.99840147e-01 -1.47617100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77401273899999 meters Centerline goodness [0,1] 0.9944446800390144 Centerline is valid? [True, True] Translation: X:49.76, Y:-5.50, Z:-1.48 [[ 9.88846318e-01 1.48020386e-01 1.65204230e-02 4.97649789e+01] [-1.48001100e-01 9.88984307e-01 -2.39074280e-03 -5.49777612e+00] [-1.66923178e-02 -8.09635529e-05 9.99860670e-01 -1.47860733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804012738999994 meters Centerline goodness [0,1] 0.9930329970935202 Centerline is valid? [True, True] Translation: X:49.79, Y:-5.50, Z:-1.48 [[ 9.88285182e-01 1.51773707e-01 1.60356023e-02 4.97944976e+01] [-1.51756045e-01 9.88415258e-01 -2.31965893e-03 -5.49722047e+00] [-1.62018972e-02 -1.41015036e-04 9.99868731e-01 -1.48081001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.834012738999995 meters Centerline goodness [0,1] 0.9921704336541581 Centerline is valid? [True, True] Translation: X:49.82, Y:-5.50, Z:-1.48 [[ 9.88096215e-01 1.52933673e-01 1.66481524e-02 4.98235761e+01] [-1.52914814e-01 9.88236441e-01 -2.40745101e-03 -5.50013529e+00] [-1.68204912e-02 -1.66955882e-04 9.99858512e-01 -1.48084555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.864012738999996 meters Centerline goodness [0,1] 0.9921193540029364 Centerline is valid? [True, True] Translation: X:49.85, Y:-5.50, Z:-1.48 [[ 9.88036299e-01 1.53265238e-01 1.71475401e-02 4.98509110e+01] [-1.53245295e-01 9.88185071e-01 -2.47885046e-03 -5.50420261e+00] [-1.73248647e-02 -1.78585600e-04 9.99849897e-01 -1.48029171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.894012739 meters Centerline goodness [0,1] 0.9912716328066216 Centerline is valid? [True, True] Translation: X:49.88, Y:-5.51, Z:-1.48 [[ 9.88007647e-01 1.53387192e-01 1.76991306e-02 4.98793892e+01] [-1.53365985e-01 9.88166147e-01 -2.55741079e-03 -5.50864918e+00] [-1.78819558e-02 -1.87703198e-04 9.99840087e-01 -1.48038580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92401273899999 meters Centerline goodness [0,1] 0.9907642276422765 Centerline is valid? [True, True] Translation: X:49.91, Y:-5.51, Z:-1.48 [[ 9.87952285e-01 1.53588988e-01 1.89922343e-02 4.99082899e+01] [-1.53564626e-01 9.88134799e-01 -2.74329822e-03 -5.51283436e+00] [-1.91882280e-02 -2.06287599e-04 9.99815868e-01 -1.47784756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95401273899999 meters Centerline goodness [0,1] 0.9880236931990142 Centerline is valid? [True, True] Translation: X:49.94, Y:-5.51, Z:-1.47 [[ 9.87665427e-01 1.55028985e-01 2.19776574e-02 4.99374396e+01] [-1.54996743e-01 9.87909884e-01 -3.17332407e-03 -5.51444432e+00] [-2.22039022e-02 -2.72282849e-04 9.99753426e-01 -1.47193951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98401273899999 meters Centerline goodness [0,1] 0.9872980212563726 Centerline is valid? [True, True] Translation: X:49.97, Y:-5.52, Z:-1.47 [[ 9.87454838e-01 1.56191490e-01 2.31767338e-02 4.99652910e+01] [-1.56155982e-01 9.87726743e-01 -3.34524080e-03 -5.51509980e+00] [-2.34147779e-02 -3.15911394e-04 9.99725787e-01 -1.47048665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.014012738999995 meters Centerline goodness [0,1] 0.9873054873054873 Centerline is valid? [True, True] Translation: X:49.99, Y:-5.52, Z:-1.47 [[ 9.87358506e-01 1.56918998e-01 2.23519113e-02 4.99941508e+01] [-1.56886187e-01 9.87611424e-01 -3.22494117e-03 -5.51731811e+00] [-2.25810575e-02 -3.22533042e-04 9.99744963e-01 -1.47294293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.044012738999996 meters Centerline goodness [0,1] 0.9881387253427306 Centerline is valid? [True, True] Translation: X:50.02, Y:-5.52, Z:-1.48 [[ 9.87014140e-01 1.59459799e-01 1.93819618e-02 5.00224679e+01] [-1.59435634e-01 9.87204367e-01 -2.79561981e-03 -5.51544268e+00] [-1.95797463e-02 -3.30859090e-04 9.99808244e-01 -1.47942357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.074012739 meters Centerline goodness [0,1] 0.9869850466493418 Centerline is valid? [True, True] Translation: X:50.05, Y:-5.51, Z:-1.48 [[ 9.86826091e-01 1.60764764e-01 1.81371374e-02 5.00507138e+01] [-1.60743843e-01 9.86992694e-01 -2.61506854e-03 -5.51445933e+00] [-1.83216330e-02 -3.34815295e-04 9.99832089e-01 -1.48228127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104012739 meters Centerline goodness [0,1] 0.9879917362486011 Centerline is valid? [True, True] Translation: X:50.08, Y:-5.52, Z:-1.48 [[ 9.86684791e-01 1.61718794e-01 1.73249486e-02 5.00797073e+01] [-1.61699869e-01 9.86836824e-01 -2.49699448e-03 -5.51741032e+00] [-1.75007082e-02 -3.37695434e-04 9.99846794e-01 -1.48441170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13401273899999 meters Centerline goodness [0,1] 0.9874392394717598 Centerline is valid? [True, True] Translation: X:50.11, Y:-5.52, Z:-1.49 [[ 9.86599534e-01 1.62264861e-01 1.70726160e-02 5.01076476e+01] [-1.62246577e-01 9.86747180e-01 -2.45987218e-03 -5.51661415e+00] [-1.72455065e-02 -3.43064763e-04 9.99851226e-01 -1.48521290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16401273899999 meters Centerline goodness [0,1] 0.9877356249865049 Centerline is valid? [True, True] Translation: X:50.14, Y:-5.52, Z:-1.48 [[ 9.86678814e-01 1.61677158e-01 1.80392662e-02 5.01363265e+01] [-1.61656672e-01 9.86843641e-01 -2.59775056e-03 -5.51812292e+00] [-1.82219320e-02 -3.53022299e-04 9.99833904e-01 -1.48444798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.194012738999994 meters Centerline goodness [0,1] 0.9872961410671242 Centerline is valid? [True, True] Translation: X:50.16, Y:-5.52, Z:-1.48 [[ 9.86691191e-01 1.61525163e-01 1.87113838e-02 5.01635360e+01] [-1.61503112e-01 9.86868527e-01 -2.69362699e-03 -5.51921692e+00] [-1.89007643e-02 -3.64168706e-04 9.99821298e-01 -1.48407406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.224012738999996 meters Centerline goodness [0,1] 0.9861128915096355 Centerline is valid? [True, True] Translation: X:50.19, Y:-5.52, Z:-1.48 [[ 9.86638147e-01 1.61627385e-01 2.05366731e-02 5.01931162e+01] [-1.61600880e-01 9.86851775e-01 -2.95466316e-03 -5.51813702e+00] [-2.07442068e-02 -4.03561057e-04 9.99784734e-01 -1.48186145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.254012739 meters Centerline goodness [0,1] 0.9858940553518983 Centerline is valid? [True, True] Translation: X:50.22, Y:-5.52, Z:-1.48 [[ 9.86606887e-01 1.61826423e-01 2.04709512e-02 5.02213479e+01] [-1.61800150e-01 9.86819154e-01 -2.94424740e-03 -5.51816369e+00] [-2.06775838e-02 -4.07388223e-04 9.99786113e-01 -1.48196910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284012739 meters Centerline goodness [0,1] 0.9859067045356743 Centerline is valid? [True, True] Translation: X:50.25, Y:-5.52, Z:-1.48 [[ 9.86523665e-01 1.62379135e-01 2.01016065e-02 5.02501896e+01] [-1.62353939e-01 9.86728355e-01 -2.89001838e-03 -5.51796973e+00] [-2.03041038e-02 -4.12503479e-04 9.99793765e-01 -1.48263476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31401273899999 meters Centerline goodness [0,1] 0.9865676089918256 Centerline is valid? [True, True] Translation: X:50.28, Y:-5.51, Z:-1.49 [[ 9.86200274e-01 1.64485256e-01 1.88047899e-02 5.02803554e+01] [-1.64463604e-01 9.86379449e-01 -2.70277567e-03 -5.51123033e+00] [-1.89932251e-02 -4.27225407e-04 9.99819521e-01 -1.48615261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34401273899999 meters Centerline goodness [0,1] 0.9851105853753825 Centerline is valid? [True, True] Translation: X:50.31, Y:-5.51, Z:-1.49 [[ 9.85773229e-01 1.66942634e-01 1.95268572e-02 5.03108047e+01] [-1.66919786e-01 9.85966487e-01 -2.80567157e-03 -5.50672980e+00] [-1.97212130e-02 -4.93662902e-04 9.99805396e-01 -1.48642639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374012738999994 meters Centerline goodness [0,1] 0.9845482246666523 Centerline is valid? [True, True] Translation: X:50.34, Y:-5.51, Z:-1.49 [[ 9.85574196e-01 1.68044780e-01 2.01111134e-02 5.03385867e+01] [-1.68020784e-01 9.85779219e-01 -2.88909463e-03 -5.50659233e+00] [-2.03106149e-02 -5.31667915e-04 9.99793577e-01 -1.48634626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.404012738999995 meters Centerline goodness [0,1] 0.9835193355826629 Centerline is valid? [True, True] Translation: X:50.37, Y:-5.51, Z:-1.49 [[ 9.85422807e-01 1.68845264e-01 2.08126774e-02 5.03680339e+01] [-1.68819768e-01 9.85642407e-01 -2.98870692e-03 -5.50646500e+00] [-2.10184865e-02 -5.68451415e-04 9.99778926e-01 -1.48547565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.434012738999996 meters Centerline goodness [0,1] 0.9846734158555356 Centerline is valid? [True, True] Translation: X:50.40, Y:-5.50, Z:-1.49 [[ 9.85480344e-01 1.68655852e-01 1.95881287e-02 5.03980128e+01] [-1.68633247e-01 9.85674855e-01 -2.81203840e-03 -5.50197199e+00] [-1.97817926e-02 -5.32001169e-04 9.99804180e-01 -1.48778744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464012739 meters Centerline goodness [0,1] 0.9860099284378828 Centerline is valid? [True, True] Translation: X:50.43, Y:-5.51, Z:-1.49 [[ 9.85593378e-01 1.68245994e-01 1.72909952e-02 5.04263784e+01] [-1.68228329e-01 9.85744932e-01 -2.48159412e-03 -5.50687473e+00] [-1.74620291e-02 -4.62992490e-04 9.99847420e-01 -1.49207345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49401273899999 meters Centerline goodness [0,1] 0.985967790682613 Centerline is valid? [True, True] Translation: X:50.45, Y:-5.51, Z:-1.49 [[ 9.85660770e-01 1.67871471e-01 1.70884389e-02 5.04537548e+01] [-1.67854175e-01 9.85808787e-01 -2.45172498e-03 -5.50930433e+00] [-1.72575079e-02 -4.51796686e-04 9.99850976e-01 -1.49308552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52401273899999 meters Centerline goodness [0,1] 0.9863935277321104 Centerline is valid? [True, True] Translation: X:50.48, Y:-5.51, Z:-1.49 [[ 9.85726250e-01 1.67425527e-01 1.76763262e-02 5.04826462e+01] [-1.67406968e-01 9.85884619e-01 -2.53496818e-03 -5.51366457e+00] [-1.78512365e-02 -4.60355491e-04 9.99840548e-01 -1.49242896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.554012738999994 meters Centerline goodness [0,1] 0.985979602791197 Centerline is valid? [True, True] Translation: X:50.51, Y:-5.51, Z:-1.49 [[ 9.86148446e-01 1.64839697e-01 1.84151153e-02 5.05112323e+01] [-1.64819121e-01 9.86320277e-01 -2.63998650e-03 -5.50927980e+00] [-1.85983762e-02 -4.31744529e-04 9.99826942e-01 -1.49094000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584012738999995 meters Centerline goodness [0,1] 0.9876146294098608 Centerline is valid? [True, True] Translation: X:50.54, Y:-5.52, Z:-1.49 [[ 9.86435454e-01 1.63144737e-01 1.81353457e-02 5.05383944e+01] [-1.63124515e-01 9.86602067e-01 -2.59880116e-03 -5.52120669e+00] [-1.83163503e-02 -3.94769865e-04 9.99832164e-01 -1.49225797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.614012738999996 meters Centerline goodness [0,1] 0.9879260904249585 Centerline is valid? [True, True] Translation: X:50.57, Y:-5.53, Z:-1.49 [[ 9.87116885e-01 1.58855338e-01 1.91111784e-02 5.05663822e+01] [-1.58832095e-01 9.87301813e-01 -2.73769052e-03 -5.53042106e+00] [-1.93033978e-02 -3.33047951e-04 9.99813617e-01 -1.49144201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644012739 meters Centerline goodness [0,1] 0.9888116702885298 Centerline is valid? [True, True] Translation: X:50.59, Y:-5.54, Z:-1.49 [[ 9.87467654e-01 1.56466408e-01 2.06372296e-02 5.05940704e+01] [-1.56438794e-01 9.87683232e-01 -2.95571508e-03 -5.53859112e+00] [-2.08455158e-02 -3.09790287e-04 9.99782661e-01 -1.48951015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67401273899999 meters Centerline goodness [0,1] 0.9889123320702722 Centerline is valid? [True, True] Translation: X:50.62, Y:-5.55, Z:-1.49 [[ 9.88310649e-01 1.50958307e-01 2.12990994e-02 5.06215024e+01] [-1.50927636e-01 9.88540110e-01 -3.04946571e-03 -5.54790845e+00] [-2.15153563e-02 -2.00803305e-04 9.99768498e-01 -1.48719095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70401273899999 meters Centerline goodness [0,1] 0.9923234501347709 Centerline is valid? [True, True] Translation: X:50.65, Y:-5.56, Z:-1.49 [[ 9.88773245e-01 1.48055381e-01 2.01760737e-02 5.06490951e+01] [-1.48027274e-01 9.88979063e-01 -2.88778903e-03 -5.56109415e+00] [-2.03812671e-02 -1.31240649e-04 9.99792272e-01 -1.49087904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73401273899999 meters Centerline goodness [0,1] 0.9950075739796462 Centerline is valid? [True, True] Translation: X:50.68, Y:-5.58, Z:-1.49 [[ 9.89597492e-01 1.42670553e-01 1.84909818e-02 5.06752657e+01] [-1.42646015e-01 9.89770232e-01 -2.64598420e-03 -5.57650704e+00] [-1.86793273e-02 -1.92055391e-05 9.99825526e-01 -1.49351079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764012738999995 meters Centerline goodness [0,1] 0.9946371965782275 Centerline is valid? [True, True] Translation: X:50.70, Y:-5.59, Z:-1.49 [[ 9.89903165e-01 1.40465942e-01 1.90011491e-02 5.07030213e+01] [-1.40439649e-01 9.90085511e-01 -2.71780098e-03 -5.58594248e+00] [-1.91945209e-02 2.18450836e-05 9.99815768e-01 -1.49311828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.794012738999996 meters Centerline goodness [0,1] 0.991052846138992 Centerline is valid? [True, True] Translation: X:50.73, Y:-5.60, Z:-1.49 [[ 9.90433683e-01 1.36440117e-01 2.06207137e-02 5.07296511e+01] [-1.36408294e-01 9.90648314e-01 -2.94861032e-03 -5.60026902e+00] [-2.08301840e-02 1.07566611e-04 9.99783022e-01 -1.49134653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824012739 meters Centerline goodness [0,1] 0.9890369048377844 Centerline is valid? [True, True] Translation: X:50.76, Y:-5.61, Z:-1.49 [[ 9.90563929e-01 1.35328418e-01 2.16638323e-02 5.07577272e+01] [-1.35293059e-01 9.90800788e-01 -3.09637278e-03 -5.60969047e+00] [-2.18835693e-02 1.36189043e-04 9.99760517e-01 -1.49027432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.854012739 meters Centerline goodness [0,1] 0.9892060756221049 Centerline is valid? [True, True] Translation: X:50.79, Y:-5.62, Z:-1.49 [[ 9.90647783e-01 1.34654823e-01 2.20238118e-02 5.07863754e+01] [-1.34618129e-01 9.90892555e-01 -3.14707907e-03 -5.61932603e+00] [-2.22470005e-02 1.52842567e-04 9.99752493e-01 -1.48981164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88401273899999 meters Centerline goodness [0,1] 0.9905732810100666 Centerline is valid? [True, True] Translation: X:50.82, Y:-5.62, Z:-1.49 [[ 9.90604972e-01 1.35062633e-01 2.14446745e-02 5.08167072e+01] [-1.35027948e-01 9.90837053e-01 -3.06390352e-03 -5.62442121e+00] [-2.16619970e-02 1.39487674e-04 9.99765342e-01 -1.49116539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91401273899999 meters Centerline goodness [0,1] 0.9918735602764269 Centerline is valid? [True, True] Translation: X:50.85, Y:-5.63, Z:-1.49 [[ 9.90550119e-01 1.35630655e-01 2.03663159e-02 5.08457815e+01] [-1.35599492e-01 9.90759462e-01 -2.90980944e-03 -5.62989612e+00] [-2.05727795e-02 1.20649999e-04 9.99788351e-01 -1.49372943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944012738999994 meters Centerline goodness [0,1] 0.9942675702169373 Centerline is valid? [True, True] Translation: X:50.87, Y:-5.64, Z:-1.50 [[ 9.90618377e-01 1.35324675e-01 1.90384980e-02 5.08743089e+01] [-1.35297391e-01 9.90801301e-01 -2.71988176e-03 -5.63761513e+00] [-1.92314357e-02 1.18505747e-04 9.99815052e-01 -1.49803423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.974012738999996 meters Centerline goodness [0,1] 0.9942325901695791 Centerline is valid? [True, True] Translation: X:50.90, Y:-5.65, Z:-1.50 [[ 9.90910833e-01 1.33200242e-01 1.87993536e-02 5.09035427e+01] [-1.33173265e-01 9.91089134e-01 -2.68529067e-03 -5.65137643e+00] [-1.89895164e-02 1.57312328e-04 9.99819671e-01 -1.49863832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004012739 meters Centerline goodness [0,1] 0.9928280928849433 Centerline is valid? [True, True] Translation: X:50.93, Y:-5.66, Z:-1.50 [[ 9.91041199e-01 1.32248357e-01 1.86471111e-02 5.09328253e+01] [-1.32221646e-01 9.91216597e-01 -2.66354443e-03 -5.65958872e+00] [-1.88355754e-02 1.74130543e-04 9.99822580e-01 -1.49848888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.034012739 meters Centerline goodness [0,1] 0.9938151041666666 Centerline is valid? [True, True] Translation: X:50.96, Y:-5.67, Z:-1.50 [[ 9.91040792e-01 1.32277651e-01 1.84600093e-02 5.09626821e+01] [-1.32251479e-01 9.91212688e-01 -2.63681890e-03 -5.66665312e+00] [-1.86465877e-02 1.71831566e-04 9.99826123e-01 -1.49911411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06401273899999 meters Centerline goodness [0,1] 0.9938151041666666 Centerline is valid? [True, True] Translation: X:50.99, Y:-5.67, Z:-1.50 [[ 9.91040792e-01 1.32277651e-01 1.84600093e-02 5.09923768e+01] [-1.32251479e-01 9.91212688e-01 -2.63681890e-03 -5.67089470e+00] [-1.86465877e-02 1.71831566e-04 9.99826123e-01 -1.49966975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09401273899999 meters Centerline goodness [0,1] 0.9952454713652596 Centerline is valid? [True, True] Translation: X:51.02, Y:-5.68, Z:-1.50 [[ 9.90828745e-01 1.33909531e-01 1.80730836e-02 5.10213808e+01] [-1.33884716e-01 9.90993551e-01 -2.58154635e-03 -5.67926443e+00] [-1.82560030e-02 1.38160666e-04 9.99833336e-01 -1.50167613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124012738999994 meters Centerline goodness [0,1] 0.9958515051590257 Centerline is valid? [True, True] Translation: X:51.05, Y:-5.68, Z:-1.50 [[ 9.90580944e-01 1.35664535e-01 1.85614377e-02 5.10511521e+01] [-1.35638663e-01 9.90754824e-01 -2.65160496e-03 -5.68325488e+00] [-1.87495627e-02 1.08980745e-04 9.99824206e-01 -1.50231717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.154012738999995 meters Centerline goodness [0,1] 0.9969105342201244 Centerline is valid? [True, True] Translation: X:51.08, Y:-5.68, Z:-1.50 [[ 9.90066742e-01 1.39286567e-01 1.91598171e-02 5.10805206e+01] [-1.39259686e-01 9.90252115e-01 -2.73663621e-03 -5.68495065e+00] [-1.93542261e-02 4.12623801e-05 9.99812689e-01 -1.50133526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.184012738999996 meters Centerline goodness [0,1] 0.9963812600969305 Centerline is valid? [True, True] Translation: X:51.11, Y:-5.69, Z:-1.50 [[ 9.89774313e-01 1.41288542e-01 1.96050372e-02 5.11091993e+01] [-1.41260799e-01 9.89968458e-01 -2.79974413e-03 -5.68710548e+00] [-1.98039403e-02 1.69159298e-06 9.99803883e-01 -1.50078430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.214012739 meters Centerline goodness [0,1] 0.9944073026484958 Centerline is valid? [True, True] Translation: X:51.14, Y:-5.69, Z:-1.50 [[ 9.89102207e-01 1.45736723e-01 2.09196279e-02 5.11394838e+01] [-1.45706145e-01 9.89323405e-01 -2.98673289e-03 -5.68768100e+00] [-2.11315541e-02 -9.39342362e-05 9.99776699e-01 -1.49881171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24401273899999 meters Centerline goodness [0,1] 0.9929539412540256 Centerline is valid? [True, True] Translation: X:51.17, Y:-5.69, Z:-1.50 [[ 9.88663887e-01 1.48795711e-01 2.00886581e-02 5.11683021e+01] [-1.48768155e-01 9.88867945e-01 -2.86762098e-03 -5.69054285e+00] [-2.02917197e-02 -1.53439292e-04 9.99794090e-01 -1.50065865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27401273899999 meters Centerline goodness [0,1] 0.9928566845606005 Centerline is valid? [True, True] Translation: X:51.20, Y:-5.69, Z:-1.50 [[ 9.88506738e-01 1.49920167e-01 1.94517801e-02 5.11963266e+01] [-1.49894562e-01 9.88698090e-01 -2.77602159e-03 -5.69439355e+00] [-1.96481195e-02 -1.71600014e-04 9.99806942e-01 -1.50297971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304012738999994 meters Centerline goodness [0,1] 0.9924154527093808 Centerline is valid? [True, True] Translation: X:51.23, Y:-5.70, Z:-1.50 [[ 9.88324965e-01 1.51140791e-01 1.92412139e-02 5.12250556e+01] [-1.51115989e-01 9.88512227e-01 -2.74487245e-03 -5.69760972e+00] [-1.94350374e-02 -1.94829110e-04 9.99811103e-01 -1.50374610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.334012738999995 meters Centerline goodness [0,1] 0.9912788833550649 Centerline is valid? [True, True] Translation: X:51.25, Y:-5.70, Z:-1.50 [[ 9.87972584e-01 1.53358908e-01 1.97792255e-02 5.12539867e+01] [-1.53333163e-01 9.88170524e-01 -2.82066886e-03 -5.69928273e+00] [-1.99778223e-02 -2.46067709e-04 9.99800393e-01 -1.50262798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.364012738999996 meters Centerline goodness [0,1] 0.9912987431517886 Centerline is valid? [True, True] Translation: X:51.28, Y:-5.70, Z:-1.50 [[ 9.87851128e-01 1.54068142e-01 2.03262409e-02 5.12826631e+01] [-1.54041124e-01 9.88060188e-01 -2.89769729e-03 -5.70328576e+00] [-2.05299923e-02 -2.68583466e-04 9.99789201e-01 -1.50249186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.394012739 meters Centerline goodness [0,1] 0.9902993171229817 Centerline is valid? [True, True] Translation: X:51.31, Y:-5.71, Z:-1.50 [[ 9.87641573e-01 1.55390496e-01 2.04430074e-02 5.13100132e+01] [-1.55363471e-01 9.87853078e-01 -2.91334814e-03 -5.70584498e+00] [-2.06473944e-02 -2.98752840e-04 9.99786775e-01 -1.50182231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42401273899999 meters Centerline goodness [0,1] 0.9893550943477051 Centerline is valid? [True, True] Translation: X:51.34, Y:-5.70, Z:-1.50 [[ 9.87447014e-01 1.56499959e-01 2.13578601e-02 5.13379500e+01] [-1.56470747e-01 9.87677907e-01 -3.04243644e-03 -5.70401816e+00] [-2.15708278e-02 -3.37635555e-04 9.99767266e-01 -1.50093857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45401273899999 meters Centerline goodness [0,1] 0.98941493456505 Centerline is valid? [True, True] Translation: X:51.37, Y:-5.71, Z:-1.50 [[ 9.87332292e-01 1.57129819e-01 2.20264630e-02 5.13666759e+01] [-1.57098932e-01 9.87577890e-01 -3.13651451e-03 -5.70765698e+00] [-2.22456878e-02 -3.63551749e-04 9.99752468e-01 -1.50077213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48401273899999 meters Centerline goodness [0,1] 0.9893090690070556 Centerline is valid? [True, True] Translation: X:51.40, Y:-5.71, Z:-1.50 [[ 9.87310578e-01 1.57399892e-01 2.10498645e-02 5.13955439e+01] [-1.57371765e-01 9.87534885e-01 -2.99649918e-03 -5.71237905e+00] [-2.12591241e-02 -3.54178985e-04 9.99773937e-01 -1.50261792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.514012738999995 meters Centerline goodness [0,1] 0.9908574145719411 Centerline is valid? [True, True] Translation: X:51.42, Y:-5.72, Z:-1.51 [[ 9.87347919e-01 1.57417934e-01 1.90704181e-02 5.14244638e+01] [-1.57394868e-01 9.87532020e-01 -2.71388331e-03 -5.71583168e+00] [-1.92598625e-02 -3.22038900e-04 9.99814460e-01 -1.50668005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.544012738999996 meters Centerline goodness [0,1] 0.9925758066256609 Centerline is valid? [True, True] Translation: X:51.45, Y:-5.72, Z:-1.51 [[ 9.87368761e-01 1.57539494e-01 1.68593644e-02 5.14525497e+01] [-1.57521497e-01 9.87512646e-01 -2.39852720e-03 -5.71715546e+00] [-1.70266983e-02 -2.87481487e-04 9.99854994e-01 -1.51044207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.574012739 meters Centerline goodness [0,1] 0.9920607746629574 Centerline is valid? [True, True] Translation: X:51.48, Y:-5.72, Z:-1.51 [[ 9.87244966e-01 1.58423134e-01 1.57951772e-02 5.14811414e+01] [-1.58407464e-01 9.87371273e-01 -2.24623168e-03 -5.71527413e+00] [-1.59515592e-02 -2.84493036e-04 9.99872725e-01 -1.51360084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604012739 meters Centerline goodness [0,1] 0.9910704656730582 Centerline is valid? [True, True] Translation: X:51.51, Y:-5.72, Z:-1.51 [[ 9.87178147e-01 1.58813118e-01 1.60530269e-02 5.15088896e+01] [-1.58797000e-01 9.87308617e-01 -2.28191870e-03 -5.71513462e+00] [-1.62116904e-02 -2.96512245e-04 9.99868538e-01 -1.51302813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63401273899999 meters Centerline goodness [0,1] 0.9908843478636541 Centerline is valid? [True, True] Translation: X:51.54, Y:-5.71, Z:-1.51 [[ 9.87096491e-01 1.59196482e-01 1.72336239e-02 5.15377446e+01] [-1.59177983e-01 9.87246866e-01 -2.44864432e-03 -5.71344350e+00] [-1.74036567e-02 -3.26165274e-04 9.99848492e-01 -1.51219659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66401273899999 meters Centerline goodness [0,1] 0.9915074768778632 Centerline is valid? [True, True] Translation: X:51.57, Y:-5.72, Z:-1.51 [[ 9.87100933e-01 1.59155048e-01 1.73614099e-02 5.15655116e+01] [-1.59136284e-01 9.87253545e-01 -2.46582353e-03 -5.71760794e+00] [-1.75325618e-02 -3.28813555e-04 9.99846239e-01 -1.51273416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.694012738999994 meters Centerline goodness [0,1] 0.9913661648160478 Centerline is valid? [True, True] Translation: X:51.59, Y:-5.72, Z:-1.51 [[ 9.87117697e-01 1.59074106e-01 1.71487787e-02 5.15928046e+01] [-1.59055809e-01 9.87266592e-01 -2.43441371e-03 -5.71620369e+00] [-1.73176685e-02 -3.24560008e-04 9.99849985e-01 -1.51411838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.724012738999996 meters Centerline goodness [0,1] 0.9908164575930128 Centerline is valid? [True, True] Translation: X:51.62, Y:-5.71, Z:-1.52 [[ 9.87077853e-01 1.59381292e-01 1.65805593e-02 5.16212818e+01] [-1.59364259e-01 9.87217049e-01 -2.35205882e-03 -5.71347155e+00] [-1.67434850e-02 -3.20683375e-04 9.99859767e-01 -1.51507485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.754012739 meters Centerline goodness [0,1] 0.9906832298136646 Centerline is valid? [True, True] Translation: X:51.65, Y:-5.72, Z:-1.51 [[ 9.87248586e-01 1.58210510e-01 1.75972506e-02 5.16489454e+01] [-1.58191157e-01 9.87405353e-01 -2.49518568e-03 -5.71500112e+00] [-1.77703841e-02 -3.20360896e-04 9.99842043e-01 -1.51381353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784012739 meters Centerline goodness [0,1] 0.9913466505941105 Centerline is valid? [True, True] Translation: X:51.68, Y:-5.72, Z:-1.51 [[ 9.87372531e-01 1.57401783e-01 1.78931078e-02 5.16770631e+01] [-1.57381660e-01 9.87534598e-01 -2.53608601e-03 -5.71913464e+00] [-1.80692475e-02 -3.11985349e-04 9.99836689e-01 -1.51339165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81401273899999 meters Centerline goodness [0,1] 0.990898602743238 Centerline is valid? [True, True] Translation: X:51.70, Y:-5.72, Z:-1.51 [[ 9.87442873e-01 1.56931800e-01 1.81379074e-02 5.17046496e+01] [-1.56911059e-01 9.87609394e-01 -2.56993615e-03 -5.72088887e+00] [-1.83164725e-02 -3.08373125e-04 9.99832192e-01 -1.51281564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84401273899999 meters Centerline goodness [0,1] 0.9920984261267258 Centerline is valid? [True, True] Translation: X:51.73, Y:-5.72, Z:-1.51 [[ 9.87660353e-01 1.55638301e-01 1.74283271e-02 5.17330760e+01] [-1.55618973e-01 9.87814074e-01 -2.46804705e-03 -5.72313204e+00] [-1.76000694e-02 -2.74586144e-04 9.99845069e-01 -1.51450996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.874012738999994 meters Centerline goodness [0,1] 0.9927971709370187 Centerline is valid? [True, True] Translation: X:51.76, Y:-5.73, Z:-1.52 [[ 9.87875218e-01 1.54287528e-01 1.72601190e-02 5.17618607e+01] [-1.54268380e-01 9.88025960e-01 -2.44342823e-03 -5.72767638e+00] [-1.74304361e-02 -2.48888386e-04 9.99848047e-01 -1.51506789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.904012738999995 meters Centerline goodness [0,1] 0.9942019683354728 Centerline is valid? [True, True] Translation: X:51.79, Y:-5.74, Z:-1.51 [[ 9.88438147e-01 1.50520626e-01 1.82638978e-02 5.17903893e+01] [-1.50498559e-01 9.88606850e-01 -2.58462649e-03 -5.73622507e+00] [-1.84448541e-02 -1.93946891e-04 9.99829860e-01 -1.51352432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.934012738999996 meters Centerline goodness [0,1] 0.995184142067809 Centerline is valid? [True, True] Translation: X:51.82, Y:-5.74, Z:-1.51 [[ 9.88895641e-01 1.47460396e-01 1.84619383e-02 5.18175787e+01] [-1.47437326e-01 9.89067951e-01 -2.61198268e-03 -5.74226270e+00] [-1.86452755e-02 -1.39000536e-04 9.99826152e-01 -1.51457810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964012739 meters Centerline goodness [0,1] 0.9977335520635469 Centerline is valid? [True, True] Translation: X:51.84, Y:-5.76, Z:-1.52 [[ 9.90025261e-01 1.39717461e-01 1.81387490e-02 5.18439012e+01] [-1.39693911e-01 9.90191411e-01 -2.56520741e-03 -5.75920139e+00] [-1.83192377e-02 5.74735688e-06 9.99832189e-01 -1.51616989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99401273899999 meters Centerline goodness [0,1] 0.9973190928156012 Centerline is valid? [True, True] Translation: X:51.87, Y:-5.77, Z:-1.52 [[ 9.90669923e-01 1.35145763e-01 1.75705930e-02 5.18714139e+01] [-1.35122960e-01 9.90825724e-01 -2.48408106e-03 -5.77144229e+00] [-1.77451086e-02 8.67138591e-05 9.99842539e-01 -1.51749129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02401273899999 meters Centerline goodness [0,1] 0.996103189289213 Centerline is valid? [True, True] Translation: X:51.90, Y:-5.78, Z:-1.52 [[ 9.91307768e-01 1.30452987e-01 1.70565765e-02 5.18995788e+01] [-1.30430817e-01 9.91454482e-01 -2.41060725e-03 -5.78356615e+00] [-1.72252901e-02 1.64950476e-04 9.99851620e-01 -1.51867445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.054012738999994 meters Centerline goodness [0,1] 0.9898193475718061 Centerline is valid? [True, True] Translation: X:51.93, Y:-5.80, Z:-1.52 [[ 9.92405199e-01 1.21823117e-01 1.70601543e-02 5.19282514e+01] [-1.21799670e-01 9.92551777e-01 -2.41065238e-03 -5.80304321e+00] [-1.72267596e-02 3.14422803e-04 9.99851559e-01 -1.51991944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084012738999995 meters Centerline goodness [0,1] 0.9881831610044313 Centerline is valid? [True, True] Translation: X:51.96, Y:-5.82, Z:-1.52 [[ 9.92987736e-01 1.17248343e-01 1.51056938e-02 5.19559868e+01] [-1.17229428e-01 9.93102565e-01 -2.13464061e-03 -5.82421241e+00] [-1.52517863e-02 3.48840101e-04 9.99883624e-01 -1.52483580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.114012738999996 meters Centerline goodness [0,1] 0.9917490682694586 Centerline is valid? [True, True] Translation: X:51.99, Y:-5.83, Z:-1.53 [[ 9.93018602e-01 1.17182977e-01 1.34983493e-02 5.19871628e+01] [-1.17167866e-01 9.93110292e-01 -1.90758435e-03 -5.82869821e+00] [-1.36288860e-02 3.12693960e-04 9.99907074e-01 -1.52720332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144012739 meters Centerline goodness [0,1] 0.9926732801659859 Centerline is valid? [True, True] Translation: X:52.02, Y:-5.84, Z:-1.53 [[ 9.92927091e-01 1.18000446e-01 1.31029411e-02 5.20182643e+01] [-1.17986275e-01 9.93013499e-01 -1.85200434e-03 -5.83547010e+00] [-1.32299348e-02 2.92938069e-04 9.99912438e-01 -1.52857011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17401273899999 meters Centerline goodness [0,1] 0.9915620094191523 Centerline is valid? [True, True] Translation: X:52.05, Y:-5.84, Z:-1.53 [[ 9.92656820e-01 1.20066152e-01 1.47158796e-02 5.20489091e+01] [-1.20048498e-01 9.92765849e-01 -2.08042733e-03 -5.84033296e+00] [-1.48592116e-02 2.98531143e-04 9.99889551e-01 -1.52541118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20401273899999 meters Centerline goodness [0,1] 0.99049376017363 Centerline is valid? [True, True] Translation: X:52.08, Y:-5.85, Z:-1.53 [[ 9.92410968e-01 1.22019318e-01 1.52235591e-02 5.20783703e+01] [-1.22000658e-01 9.92527687e-01 -2.15193846e-03 -5.85322330e+00] [-1.53723820e-02 2.78323100e-04 9.99881799e-01 -1.52696254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23401273899999 meters Centerline goodness [0,1] 0.9923033804760262 Centerline is valid? [True, True] Translation: X:52.11, Y:-5.86, Z:-1.53 [[ 9.92325566e-01 1.22775532e-01 1.47016786e-02 5.21095136e+01] [-1.22758179e-01 9.92434432e-01 -2.08040424e-03 -5.86050232e+00] [-1.48458748e-02 2.59687010e-04 9.99889760e-01 -1.52887744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264012738999995 meters Centerline goodness [0,1] 0.9938662190082644 Centerline is valid? [True, True] Translation: X:52.14, Y:-5.87, Z:-1.53 [[ 9.92250627e-01 1.23470202e-01 1.39213178e-02 5.21407131e+01] [-1.23454674e-01 9.92348251e-01 -1.97260731e-03 -5.86540522e+00] [-1.40583536e-02 2.38669084e-04 9.99901148e-01 -1.53060282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.294012738999996 meters Centerline goodness [0,1] 0.9946123011939141 Centerline is valid? [True, True] Translation: X:52.17, Y:-5.87, Z:-1.53 [[ 9.91896463e-01 1.26241262e-01 1.43021370e-02 5.21705299e+01] [-1.26225155e-01 9.91999547e-01 -2.02696303e-03 -5.87290314e+00] [-1.44435998e-02 2.05247997e-04 9.99895665e-01 -1.53089141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324012739 meters Centerline goodness [0,1] 0.9962202315927463 Centerline is valid? [True, True] Translation: X:52.20, Y:-5.87, Z:-1.53 [[ 9.91694713e-01 1.27772966e-01 1.46855815e-02 5.22026703e+01] [-1.27756150e-01 9.91803425e-01 -2.08139386e-03 -5.87345368e+00] [-1.48311559e-02 1.87933928e-04 9.99889995e-01 -1.52949202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.354012739 meters Centerline goodness [0,1] 0.9968899470218562 Centerline is valid? [True, True] Translation: X:52.23, Y:-5.88, Z:-1.53 [[ 9.91259610e-01 1.31025919e-01 1.53815894e-02 5.22340629e+01] [-1.31007853e-01 9.91378932e-01 -2.18066320e-03 -5.87586937e+00] [-1.55347071e-02 1.46494356e-04 9.99879318e-01 -1.52899209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38401273899999 meters Centerline goodness [0,1] 0.9973993595116813 Centerline is valid? [True, True] Translation: X:52.26, Y:-5.88, Z:-1.53 [[ 9.91108418e-01 1.32204555e-01 1.50353022e-02 5.22636637e+01] [-1.32187423e-01 9.91222447e-01 -2.13196022e-03 -5.88177054e+00] [-1.51851839e-02 1.25525860e-04 9.99884691e-01 -1.53058132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41401273899999 meters Centerline goodness [0,1] 0.9990478869582152 Centerline is valid? [True, True] Translation: X:52.29, Y:-5.89, Z:-1.53 [[ 9.90882434e-01 1.34019589e-01 1.38112719e-02 5.22947574e+01] [-1.34005308e-01 9.90978679e-01 -1.95848746e-03 -5.88648315e+00] [-1.39491517e-02 8.98470733e-05 9.99902702e-01 -1.53285803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444012738999994 meters Centerline goodness [0,1] 0.9989445341949381 Centerline is valid? [True, True] Translation: X:52.32, Y:-5.89, Z:-1.53 [[ 9.90688165e-01 1.35470124e-01 1.35942772e-02 5.23236375e+01] [-1.35456419e-01 9.90781429e-01 -1.92821518e-03 -5.89032709e+00] [-1.37301730e-02 6.88278497e-05 9.99905734e-01 -1.53440834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.474012738999996 meters Centerline goodness [0,1] 0.9991580856162166 Centerline is valid? [True, True] Translation: X:52.35, Y:-5.89, Z:-1.53 [[ 9.90403502e-01 1.37473398e-01 1.42115625e-02 5.23540751e+01] [-1.37458629e-01 9.90505458e-01 -2.01553832e-03 -5.89444047e+00] [-1.43537131e-02 4.26943228e-05 9.99896979e-01 -1.53444938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504012739 meters Centerline goodness [0,1] 0.9991599715682684 Centerline is valid? [True, True] Translation: X:52.38, Y:-5.90, Z:-1.53 [[ 9.90458383e-01 1.37029077e-01 1.46705032e-02 5.23832260e+01] [-1.37013289e-01 9.90567024e-01 -2.08067104e-03 -5.90190325e+00] [-1.48172291e-02 5.07641909e-05 9.99890218e-01 -1.53443840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.534012739 meters Centerline goodness [0,1] 0.9988161095206319 Centerline is valid? [True, True] Translation: X:52.41, Y:-5.91, Z:-1.53 [[ 9.90720832e-01 1.35170030e-01 1.41879016e-02 5.24130199e+01] [-1.35155077e-01 9.90822415e-01 -2.01191465e-03 -5.91183256e+00] [-1.43296415e-02 7.56788228e-05 9.99897323e-01 -1.53476432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56401273899999 meters Centerline goodness [0,1] 0.9986946566519013 Centerline is valid? [True, True] Translation: X:52.44, Y:-5.92, Z:-1.54 [[ 9.90795863e-01 1.34670848e-01 1.36865388e-02 5.24421361e+01] [-1.34656881e-01 9.90890386e-01 -1.94118139e-03 -5.91935235e+00] [-1.38232802e-02 8.03278721e-05 9.99904451e-01 -1.53627217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59401273899999 meters Centerline goodness [0,1] 0.9987121423511988 Centerline is valid? [True, True] Translation: X:52.47, Y:-5.93, Z:-1.54 [[ 9.90794012e-01 1.34685307e-01 1.36782097e-02 5.24732710e+01] [-1.34671357e-01 9.90888420e-01 -1.94010287e-03 -5.92592012e+00] [-1.38148829e-02 8.01792461e-05 9.99904567e-01 -1.53568798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624012738999994 meters Centerline goodness [0,1] 0.9988990825688073 Centerline is valid? [True, True] Translation: X:52.50, Y:-5.93, Z:-1.53 [[ 9.90568345e-01 1.36218423e-01 1.47950767e-02 5.25030479e+01] [-1.36202269e-01 9.90678826e-01 -2.09876982e-03 -5.93240082e+00] [-1.49430603e-02 6.38519373e-05 9.99888344e-01 -1.53292249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.654012738999995 meters Centerline goodness [0,1] 0.9993352917211656 Centerline is valid? [True, True] Translation: X:52.53, Y:-5.93, Z:-1.53 [[ 9.90102139e-01 1.39506366e-01 1.53534121e-02 5.25336225e+01] [-1.39489347e-01 9.90221174e-01 -2.17913489e-03 -5.93236518e+00] [-1.55072770e-02 1.59286874e-05 9.99879755e-01 -1.53241165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.684012738999996 meters Centerline goodness [0,1] 0.9992531740104555 Centerline is valid? [True, True] Translation: X:52.56, Y:-5.93, Z:-1.53 [[ 9.89772834e-01 1.41859623e-01 1.50194972e-02 5.25629010e+01] [-1.41843603e-01 9.89886785e-01 -2.13199232e-03 -5.93322788e+00] [-1.51700455e-02 -2.02315226e-05 9.99884928e-01 -1.53400642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.714012739 meters Centerline goodness [0,1] 0.9987577639751553 Centerline is valid? [True, True] Translation: X:52.59, Y:-5.93, Z:-1.54 [[ 9.89027500e-01 1.47068711e-01 1.39785276e-02 5.25930740e+01] [-1.47055356e-01 9.89126274e-01 -1.98417830e-03 -5.92752087e+00] [-1.41183395e-02 -9.32104444e-05 9.99900327e-01 -1.53669532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74401273899999 meters Centerline goodness [0,1] 0.9981558519535103 Centerline is valid? [True, True] Translation: X:52.62, Y:-5.93, Z:-1.54 [[ 9.88645250e-01 1.49646129e-01 1.36604052e-02 5.26225201e+01] [-1.49633625e-01 9.88739612e-01 -1.93862439e-03 -5.92523360e+00] [-1.37966914e-02 -1.27444157e-04 9.99904813e-01 -1.53730096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77401273899999 meters Centerline goodness [0,1] 0.9975507047095221 Centerline is valid? [True, True] Translation: X:52.65, Y:-5.92, Z:-1.54 [[ 9.88166109e-01 1.52794647e-01 1.34735660e-02 5.26515790e+01] [-1.52782782e-01 9.88257946e-01 -1.91159389e-03 -5.91850268e+00] [-1.36074400e-02 -1.69556609e-04 9.99907400e-01 -1.53922932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804012738999994 meters Centerline goodness [0,1] 0.9974332099848131 Centerline is valid? [True, True] Translation: X:52.68, Y:-5.92, Z:-1.54 [[ 9.88153035e-01 1.52875119e-01 1.35194874e-02 5.26804013e+01] [-1.52863195e-01 9.88245500e-01 -1.91709367e-03 -5.92136931e+00] [-1.36536485e-02 -1.72250102e-04 9.99906770e-01 -1.53979450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.834012738999995 meters Centerline goodness [0,1] 0.9978841462098149 Centerline is valid? [True, True] Translation: X:52.71, Y:-5.92, Z:-1.54 [[ 9.88445389e-01 1.51004156e-01 1.31703296e-02 5.27091082e+01] [-1.50992681e-01 9.88533118e-01 -1.86699618e-03 -5.92490096e+00] [-1.33012312e-02 -1.43199624e-04 9.99911524e-01 -1.54069130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.864012738999996 meters Centerline goodness [0,1] 0.9981896551724138 Centerline is valid? [True, True] Translation: X:52.74, Y:-5.93, Z:-1.54 [[ 9.88602698e-01 1.49973344e-01 1.31416163e-02 5.27375025e+01] [-1.49961836e-01 9.88690032e-01 -1.86232557e-03 -5.92791191e+00] [-1.32722842e-02 -1.29640829e-04 9.99911911e-01 -1.54162259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.894012739 meters Centerline goodness [0,1] 0.9978777680121761 Centerline is valid? [True, True] Translation: X:52.77, Y:-5.93, Z:-1.54 [[ 9.88721608e-01 1.49122278e-01 1.38610062e-02 5.27661733e+01] [-1.49109401e-01 9.88818755e-01 -1.96364615e-03 -5.92656538e+00] [-1.39988463e-02 -1.25306955e-04 9.99902003e-01 -1.54103140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92401273899999 meters Centerline goodness [0,1] 0.9975395506442493 Centerline is valid? [True, True] Translation: X:52.79, Y:-5.93, Z:-1.54 [[ 9.88789546e-01 1.48603079e-01 1.45725286e-02 5.27948306e+01] [-1.48588805e-01 9.88896915e-01 -2.06344691e-03 -5.92949177e+00] [-1.47173632e-02 -1.24999885e-04 9.99891686e-01 -1.54032866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95401273899999 meters Centerline goodness [0,1] 0.9974766536545387 Centerline is valid? [True, True] Translation: X:52.82, Y:-5.94, Z:-1.54 [[ 9.89169643e-01 1.46001029e-01 1.50703679e-02 5.28227646e+01] [-1.45985471e-01 9.89284434e-01 -2.13322658e-03 -5.93655497e+00] [-1.52203337e-02 -8.99317833e-05 9.99884160e-01 -1.53990189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98401273899999 meters Centerline goodness [0,1] 0.9974766536545387 Centerline is valid? [True, True] Translation: X:52.85, Y:-5.94, Z:-1.54 [[ 9.89176130e-01 1.45957066e-01 1.50704633e-02 5.28508216e+01] [-1.45941514e-01 9.89290921e-01 -2.13255205e-03 -5.94043323e+00] [-1.52203336e-02 -8.99366487e-05 9.99884160e-01 -1.54042658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.014012738999995 meters Centerline goodness [0,1] 0.9976710083671181 Centerline is valid? [True, True] Translation: X:52.88, Y:-5.95, Z:-1.54 [[ 9.89424078e-01 1.44223454e-01 1.54786705e-02 5.28793541e+01] [-1.44206846e-01 9.89545144e-01 -2.18959140e-03 -5.94599858e+00] [-1.56326337e-02 -6.56958092e-05 9.99877801e-01 -1.54014775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.044012738999996 meters Centerline goodness [0,1] 0.9978047993113096 Centerline is valid? [True, True] Translation: X:52.91, Y:-5.95, Z:-1.54 [[ 9.89801453e-01 1.41617180e-01 1.54161822e-02 5.29077487e+01] [-1.41600401e-01 9.89921499e-01 -2.18005629e-03 -5.95053611e+00] [-1.55695436e-02 -2.51146992e-05 9.99878787e-01 -1.53949031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.074012739 meters Centerline goodness [0,1] 0.99771626149873 Centerline is valid? [True, True] Translation: X:52.94, Y:-5.96, Z:-1.54 [[ 9.89909322e-01 1.40824027e-01 1.57520521e-02 5.29357400e+01] [-1.40806422e-01 9.90034642e-01 -2.22676421e-03 -5.95531551e+00] [-1.59086592e-02 -1.36954457e-05 9.99873449e-01 -1.53981593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104012739 meters Centerline goodness [0,1] 0.9978180089872105 Centerline is valid? [True, True] Translation: X:52.96, Y:-5.96, Z:-1.54 [[ 9.90052634e-01 1.39755037e-01 1.62576677e-02 5.29645532e+01] [-1.39736145e-01 9.90186109e-01 -2.29786299e-03 -5.96204930e+00] [-1.64192546e-02 3.22150312e-06 9.99865195e-01 -1.53930880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13401273899999 meters Centerline goodness [0,1] 0.9967628580555852 Centerline is valid? [True, True] Translation: X:52.99, Y:-5.97, Z:-1.54 [[ 9.90338352e-01 1.37572826e-01 1.74259925e-02 5.29933200e+01] [-1.37550791e-01 9.90491654e-01 -2.46256570e-03 -5.97221790e+00] [-1.75990822e-02 4.18142162e-05 9.99845123e-01 -1.53621961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16401273899999 meters Centerline goodness [0,1] 0.9960767499196055 Centerline is valid? [True, True] Translation: X:53.02, Y:-5.98, Z:-1.54 [[ 9.90601755e-01 1.35737644e-01 1.68361004e-02 5.30232510e+01] [-1.35716814e-01 9.90744814e-01 -2.37900769e-03 -5.98096047e+00] [-1.70032001e-02 7.17072863e-05 9.99855433e-01 -1.53794554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194012738999994 meters Centerline goodness [0,1] 0.9959265929165595 Centerline is valid? [True, True] Translation: X:53.05, Y:-5.99, Z:-1.54 [[ 9.90719819e-01 1.34928096e-01 1.63905218e-02 5.30518506e+01] [-1.34908242e-01 9.90855389e-01 -2.31606704e-03 -5.98824089e+00] [-1.65531394e-02 8.33570317e-05 9.99862984e-01 -1.53963463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224012738999996 meters Centerline goodness [0,1] 0.9964091427096996 Centerline is valid? [True, True] Translation: X:53.08, Y:-5.99, Z:-1.54 [[ 9.90781853e-01 1.34560119e-01 1.56491058e-02 5.30821214e+01] [-1.34541979e-01 9.90905428e-01 -2.21110891e-03 -5.99462189e+00] [-1.58043110e-02 8.52649208e-05 9.99875100e-01 -1.54149130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.254012739 meters Centerline goodness [0,1] 0.997591294249215 Centerline is valid? [True, True] Translation: X:53.11, Y:-6.00, Z:-1.54 [[ 9.90651405e-01 1.35688795e-01 1.40835288e-02 5.31115126e+01] [-1.35674215e-01 9.90751506e-01 -1.98995004e-03 -5.99906961e+00] [-1.42232913e-02 6.05750853e-05 9.99898842e-01 -1.54437631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284012739 meters Centerline goodness [0,1] 0.997788750536711 Centerline is valid? [True, True] Translation: X:53.14, Y:-6.00, Z:-1.54 [[ 9.90435926e-01 1.37280674e-01 1.38091811e-02 5.31424484e+01] [-1.37266815e-01 9.90532188e-01 -1.95099055e-03 -6.00047316e+00] [-1.39462717e-02 3.67888171e-05 9.99902745e-01 -1.54454550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31401273899999 meters Centerline goodness [0,1] 0.9977378945346679 Centerline is valid? [True, True] Translation: X:53.17, Y:-6.00, Z:-1.54 [[ 9.89932177e-01 1.40768226e-01 1.47848466e-02 5.31709370e+01] [-1.40752725e-01 9.90042578e-01 -2.08904028e-03 -5.99818179e+00] [-1.49316981e-02 -1.29992506e-05 9.99888516e-01 -1.54375306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34401273899999 meters Centerline goodness [0,1] 0.9977875155733127 Centerline is valid? [True, True] Translation: X:53.20, Y:-6.00, Z:-1.54 [[ 9.89681322e-01 1.42486673e-01 1.51138820e-02 5.32000441e+01] [-1.42470688e-01 9.89796720e-01 -2.13458524e-03 -5.99809815e+00] [-1.52638207e-02 -4.07260237e-05 9.99883500e-01 -1.54390145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374012738999994 meters Centerline goodness [0,1] 0.9972781825975139 Centerline is valid? [True, True] Translation: X:53.23, Y:-5.99, Z:-1.55 [[ 9.89155365e-01 1.46172448e-01 1.43275820e-02 5.32288058e+01] [-1.46158477e-01 9.89259120e-01 -2.02300186e-03 -5.99346224e+00] [-1.44693983e-02 -9.30344254e-05 9.99895308e-01 -1.54741997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404012738999995 meters Centerline goodness [0,1] 0.9973131463908732 Centerline is valid? [True, True] Translation: X:53.26, Y:-5.99, Z:-1.55 [[ 9.88966197e-01 1.47557889e-01 1.31350787e-02 5.32566536e+01] [-1.47546278e-01 9.89053415e-01 -1.85400171e-03 -5.99327874e+00] [-1.32648670e-02 -1.04486957e-04 9.99912012e-01 -1.55055484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.434012738999996 meters Centerline goodness [0,1] 0.9974635111025129 Centerline is valid? [True, True] Translation: X:53.29, Y:-5.99, Z:-1.55 [[ 9.88730756e-01 1.49170753e-01 1.26324473e-02 5.32861235e+01] [-1.49160154e-01 9.88811444e-01 -1.78236212e-03 -5.99278641e+00] [-1.27569848e-02 -1.21981539e-04 9.99918619e-01 -1.55225971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464012739 meters Centerline goodness [0,1] 0.99582530507386 Centerline is valid? [True, True] Translation: X:53.32, Y:-5.99, Z:-1.55 [[ 9.88178240e-01 1.52781127e-01 1.27158670e-02 5.33157772e+01] [-1.52770692e-01 9.88260036e-01 -1.79373218e-03 -5.98528142e+00] [-1.28406316e-02 -1.70084693e-04 9.99917541e-01 -1.55178639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49401273899999 meters Centerline goodness [0,1] 0.9947411176193938 Centerline is valid? [True, True] Translation: X:53.34, Y:-5.98, Z:-1.55 [[ 9.88031675e-01 1.53642734e-01 1.36864604e-02 5.33446261e+01] [-1.53630743e-01 9.88126445e-01 -1.92949230e-03 -5.98447324e+00] [-1.38204059e-02 -1.96261573e-04 9.99904474e-01 -1.55059409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52401273899999 meters Centerline goodness [0,1] 0.994985750101785 Centerline is valid? [True, True] Translation: X:53.37, Y:-5.99, Z:-1.55 [[ 9.88204558e-01 1.52462219e-01 1.43883251e-02 5.33728656e+01] [-1.52448851e-01 9.88309281e-01 -2.02778824e-03 -5.98833339e+00] [-1.45292763e-02 -1.89614055e-04 9.99894427e-01 -1.55022083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.554012738999994 meters Centerline goodness [0,1] 0.9949298055005219 Centerline is valid? [True, True] Translation: X:53.40, Y:-6.00, Z:-1.55 [[ 9.88437606e-01 1.50852884e-01 1.53136316e-02 5.34012532e+01] [-1.50837559e-01 9.88556208e-01 -2.15750331e-03 -5.99631749e+00] [-1.54638512e-02 -1.77313406e-04 9.99880412e-01 -1.54839564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584012738999995 meters Centerline goodness [0,1] 0.9952086287654162 Centerline is valid? [True, True] Translation: X:53.43, Y:-6.00, Z:-1.55 [[ 9.88993943e-01 1.46957785e-01 1.71578242e-02 5.34290804e+01] [-1.46937976e-01 9.89142756e-01 -2.41644486e-03 -6.00420725e+00] [-1.73266529e-02 -1.31286633e-04 9.99849874e-01 -1.54503604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.614012738999996 meters Centerline goodness [0,1] 0.9958551907259893 Centerline is valid? [True, True] Translation: X:53.46, Y:-6.01, Z:-1.54 [[ 9.89252530e-01 1.45127772e-01 1.78146541e-02 5.34579623e+01] [-1.45106135e-01 9.89412916e-01 -2.50809251e-03 -6.00967515e+00] [-1.79900427e-02 -1.03878734e-04 9.99838161e-01 -1.54406360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644012739 meters Centerline goodness [0,1] 0.9968506654587027 Centerline is valid? [True, True] Translation: X:53.49, Y:-6.01, Z:-1.55 [[ 9.89751682e-01 1.41798529e-01 1.68756089e-02 5.34865408e+01] [-1.41778638e-01 9.89895538e-01 -2.37535035e-03 -6.01411351e+00] [-1.70419112e-02 -4.15938526e-05 9.99854775e-01 -1.54555052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67401273899999 meters Centerline goodness [0,1] 0.9975459594437508 Centerline is valid? [True, True] Translation: X:53.51, Y:-6.02, Z:-1.55 [[ 9.90227827e-01 1.38614187e-01 1.53283605e-02 5.35139622e+01] [-1.38597405e-01 9.90346458e-01 -2.15690396e-03 -6.02106147e+00] [-1.54793651e-02 1.13553324e-05 9.99880187e-01 -1.54966565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70401273899999 meters Centerline goodness [0,1] 0.9976099735159227 Centerline is valid? [True, True] Translation: X:53.54, Y:-6.03, Z:-1.55 [[ 9.90395947e-01 1.37454069e-01 1.49079665e-02 5.35419939e+01] [-1.37438071e-01 9.90508141e-01 -2.09729402e-03 -6.02692563e+00] [-1.50547438e-02 2.82293375e-05 9.99886671e-01 -1.55019231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73401273899999 meters Centerline goodness [0,1] 0.997475287774402 Centerline is valid? [True, True] Translation: X:53.57, Y:-6.03, Z:-1.55 [[ 9.90482607e-01 1.36839629e-01 1.48027156e-02 5.35703658e+01] [-1.36823797e-01 9.90593214e-01 -2.08182488e-03 -6.03115978e+00] [-1.49483458e-02 3.66475800e-05 9.99888267e-01 -1.54985993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764012738999995 meters Centerline goodness [0,1] 0.9970724090820376 Centerline is valid? [True, True] Translation: X:53.60, Y:-6.03, Z:-1.55 [[ 9.90496852e-01 1.36540126e-01 1.65160744e-02 5.35992759e+01] [-1.36520389e-01 9.90634540e-01 -2.32195277e-03 -6.03415006e+00] [-1.66784335e-02 4.51059998e-05 9.99860904e-01 -1.54686240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.794012738999996 meters Centerline goodness [0,1] 0.9968238980213743 Centerline is valid? [True, True] Translation: X:53.63, Y:-6.04, Z:-1.55 [[ 9.90398709e-01 1.37133783e-01 1.74563173e-02 5.36275474e+01] [-1.37111842e-01 9.90552535e-01 -2.45328019e-03 -6.03731111e+00] [-1.76278269e-02 3.62577211e-05 9.99844617e-01 -1.54534717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824012739 meters Centerline goodness [0,1] 0.9964094892070955 Centerline is valid? [True, True] Translation: X:53.65, Y:-6.04, Z:-1.54 [[ 9.90213287e-01 1.38319570e-01 1.85834229e-02 5.36549973e+01] [-1.38294930e-01 9.90387649e-01 -2.61074289e-03 -6.04084833e+00] [-1.87659093e-02 1.51991245e-05 9.99823905e-01 -1.54380837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854012739 meters Centerline goodness [0,1] 0.9967977151264686 Centerline is valid? [True, True] Translation: X:53.68, Y:-6.04, Z:-1.55 [[ 9.90128746e-01 1.38983679e-01 1.81273910e-02 5.36835175e+01] [-1.38960364e-01 9.90294672e-01 -2.54563570e-03 -6.04386489e+00] [-1.83052605e-02 1.51823072e-06 9.99832445e-01 -1.54544499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88401273899999 meters Centerline goodness [0,1] 0.9976029962546816 Centerline is valid? [True, True] Translation: X:53.71, Y:-6.05, Z:-1.55 [[ 9.90097023e-01 1.39440989e-01 1.62510401e-02 5.37131000e+01] [-1.39422324e-01 9.90230383e-01 -2.28144701e-03 -6.04776568e+00] [-1.64104009e-02 -6.90388771e-06 9.99865340e-01 -1.54941151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91401273899999 meters Centerline goodness [0,1] 0.9976560335826461 Centerline is valid? [True, True] Translation: X:53.74, Y:-6.05, Z:-1.55 [[ 9.90158278e-01 1.39034454e-01 1.60001540e-02 5.37399896e+01] [-1.39016313e-01 9.90287544e-01 -2.24595238e-03 -6.05292985e+00] [-1.61570180e-02 -4.34074129e-07 9.99869467e-01 -1.55079603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944012738999994 meters Centerline goodness [0,1] 0.9975970821712079 Centerline is valid? [True, True] Translation: X:53.77, Y:-6.06, Z:-1.55 [[ 9.90280885e-01 1.38085939e-01 1.66145270e-02 5.37675518e+01] [-1.38066262e-01 9.90420251e-01 -2.33109678e-03 -6.05944444e+00] [-1.67772557e-02 1.45349436e-05 9.99859252e-01 -1.55032990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.974012738999996 meters Centerline goodness [0,1] 0.997579107483343 Centerline is valid? [True, True] Translation: X:53.80, Y:-6.06, Z:-1.55 [[ 9.90285449e-01 1.38078472e-01 1.64031831e-02 5.37964279e+01] [-1.38059307e-01 9.90421292e-01 -2.30052260e-03 -6.06381471e+00] [-1.65637144e-02 1.35619696e-05 9.99862812e-01 -1.55030222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.004012739 meters Centerline goodness [0,1] 0.9976580796252927 Centerline is valid? [True, True] Translation: X:53.83, Y:-6.07, Z:-1.55 [[ 9.90150014e-01 1.39128229e-01 1.56934915e-02 5.38250867e+01] [-1.39110829e-01 9.90274374e-01 -2.20029116e-03 -6.06754850e+00] [-1.58469851e-02 -4.51628996e-06 9.99874429e-01 -1.55216198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.034012739 meters Centerline goodness [0,1] 0.9978424791875518 Centerline is valid? [True, True] Translation: X:53.85, Y:-6.07, Z:-1.55 [[ 9.90049179e-01 1.39917723e-01 1.50218056e-02 5.38535842e+01] [-1.39901883e-01 9.90163133e-01 -2.10542080e-03 -6.06987600e+00] [-1.51686238e-02 -1.71087472e-05 9.99884950e-01 -1.55379749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06401273899999 meters Centerline goodness [0,1] 0.9978825341147282 Centerline is valid? [True, True] Translation: X:53.88, Y:-6.07, Z:-1.56 [[ 9.89729604e-01 1.42188722e-01 1.47539129e-02 5.38823710e+01] [-1.42173704e-01 9.89839565e-01 -2.06721055e-03 -6.06546307e+00] [-1.48979408e-02 -5.16389666e-05 9.99889018e-01 -1.55558646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09401273899999 meters Centerline goodness [0,1] 0.9975759674487057 Centerline is valid? [True, True] Translation: X:53.91, Y:-6.07, Z:-1.55 [[ 9.89588195e-01 1.43114197e-01 1.52817284e-02 5.39111723e+01] [-1.43098211e-01 9.89706180e-01 -2.14011713e-03 -6.06775261e+00] [-1.54307022e-02 -6.89533467e-05 9.99880937e-01 -1.55414153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124012738999994 meters Centerline goodness [0,1] 0.996750192422817 Centerline is valid? [True, True] Translation: X:53.94, Y:-6.07, Z:-1.55 [[ 9.89311070e-01 1.44911301e-01 1.62579442e-02 5.39392283e+01] [-1.44893460e-01 9.89444644e-01 -2.27625504e-03 -6.06781547e+00] [-1.64161909e-02 -1.03745463e-04 9.99865240e-01 -1.55351926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.154012738999995 meters Centerline goodness [0,1] 0.995401057972579 Centerline is valid? [True, True] Translation: X:53.97, Y:-6.07, Z:-1.55 [[ 9.89202012e-01 1.45539572e-01 1.72514688e-02 5.39680977e+01] [-1.45519598e-01 9.89352424e-01 -2.41424492e-03 -6.07051432e+00] [-1.74191507e-02 -1.22250875e-04 9.99848268e-01 -1.55231696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.184012738999996 meters Centerline goodness [0,1] 0.9942007114368869 Centerline is valid? [True, True] Translation: X:54.00, Y:-6.07, Z:-1.55 [[ 9.88984899e-01 1.47006003e-01 1.72656772e-02 5.39966632e+01] [-1.46986234e-01 9.89135589e-01 -2.41542459e-03 -6.07100466e+00] [-1.74331777e-02 -1.48998421e-04 9.99848020e-01 -1.55204243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.214012739 meters Centerline goodness [0,1] 0.9944466989897264 Centerline is valid? [True, True] Translation: X:54.02, Y:-6.07, Z:-1.55 [[ 9.88914542e-01 1.47576609e-01 1.64065136e-02 5.40243436e+01] [-1.47558852e-01 9.89050616e-01 -2.29430023e-03 -6.07252142e+00] [-1.65654574e-02 -1.52059459e-04 9.99862772e-01 -1.55364754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24401273899999 meters Centerline goodness [0,1] 0.9959744764678172 Centerline is valid? [True, True] Translation: X:54.05, Y:-6.08, Z:-1.56 [[ 9.89048015e-01 1.46823756e-01 1.50601961e-02 5.40523243e+01] [-1.46808720e-01 9.89162660e-01 -2.10511389e-03 -6.07542055e+00] [-1.52060644e-02 -1.28909405e-04 9.99884373e-01 -1.55652987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27401273899999 meters Centerline goodness [0,1] 0.9961160858776567 Centerline is valid? [True, True] Translation: X:54.08, Y:-6.08, Z:-1.56 [[ 9.89257930e-01 1.45351130e-01 1.55498134e-02 5.40801604e+01] [-1.45334934e-01 9.89380128e-01 -2.17258725e-03 -6.08061641e+00] [-1.57004644e-02 -1.10681946e-04 9.99876734e-01 -1.55644262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304012738999994 meters Centerline goodness [0,1] 0.9962428486038767 Centerline is valid? [True, True] Translation: X:54.11, Y:-6.08, Z:-1.56 [[ 9.89448600e-01 1.43983287e-01 1.61332436e-02 5.41080706e+01] [-1.43965687e-01 9.89580115e-01 -2.25311726e-03 -6.08465758e+00] [-1.62895483e-02 -9.32897742e-05 9.99867312e-01 -1.55609852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.334012738999995 meters Centerline goodness [0,1] 0.9965394181896832 Centerline is valid? [True, True] Translation: X:54.14, Y:-6.09, Z:-1.55 [[ 9.89753960e-01 1.41745696e-01 1.71830084e-02 5.41360197e+01] [-1.41725412e-01 9.89903103e-01 -2.39864774e-03 -6.09278076e+00] [-1.73495114e-02 -6.11978545e-05 9.99849484e-01 -1.55425647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.364012738999996 meters Centerline goodness [0,1] 0.9965813445269057 Centerline is valid? [True, True] Translation: X:54.16, Y:-6.10, Z:-1.55 [[ 9.89886724e-01 1.40761178e-01 1.76228233e-02 5.41644138e+01] [-1.40739702e-01 9.90043579e-01 -2.45917502e-03 -6.09847076e+00] [-1.77935194e-02 -4.59262071e-05 9.99841682e-01 -1.55366062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.394012739 meters Centerline goodness [0,1] 0.9966147164026571 Centerline is valid? [True, True] Translation: X:54.19, Y:-6.10, Z:-1.55 [[ 9.90063201e-01 1.39433875e-01 1.82497354e-02 5.41918744e+01] [-1.39410635e-01 9.90231384e-01 -2.54575353e-03 -6.10371703e+00] [-1.84264251e-02 -2.37503182e-05 9.99830219e-01 -1.55236091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42401273899999 meters Centerline goodness [0,1] 0.9968563615614839 Centerline is valid? [True, True] Translation: X:54.22, Y:-6.11, Z:-1.55 [[ 9.90160278e-01 1.38669365e-01 1.87997793e-02 5.42208039e+01] [-1.38644587e-01 9.90338734e-01 -2.62133584e-03 -6.10809308e+00] [-1.89816486e-02 -1.09450170e-05 9.99819832e-01 -1.55206176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45401273899999 meters Centerline goodness [0,1] 0.9968230641222364 Centerline is valid? [True, True] Translation: X:54.25, Y:-6.12, Z:-1.56 [[ 9.90569470e-01 1.35896266e-01 1.74450329e-02 5.42497589e+01] [-1.35874514e-01 9.90723071e-01 -2.43165682e-03 -6.11611643e+00] [-1.76136497e-02 3.83896373e-05 9.99844867e-01 -1.55503542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48401273899999 meters Centerline goodness [0,1] 0.9969977697718305 Centerline is valid? [True, True] Translation: X:54.28, Y:-6.12, Z:-1.56 [[ 9.90838005e-01 1.34031524e-01 1.66011658e-02 5.42774354e+01] [-1.34011571e-01 9.90977066e-01 -2.31365638e-03 -6.12358089e+00] [-1.67614775e-02 6.77103633e-05 9.99859514e-01 -1.55840721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.514012738999995 meters Centerline goodness [0,1] 0.9967610986353429 Centerline is valid? [True, True] Translation: X:54.31, Y:-6.13, Z:-1.56 [[ 9.91094982e-01 1.32192407e-01 1.59969745e-02 5.43066824e+01] [-1.32173647e-01 9.91224071e-01 -2.22903386e-03 -6.13015880e+00] [-1.61512476e-02 9.48058088e-05 9.99869556e-01 -1.55974649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.544012738999996 meters Centerline goodness [0,1] 0.9965469909492558 Centerline is valid? [True, True] Translation: X:54.34, Y:-6.14, Z:-1.56 [[ 9.91288052e-01 1.30808946e-01 1.53953594e-02 5.43352219e+01] [-1.30791409e-01 9.91407589e-01 -2.14481895e-03 -6.13699312e+00] [-1.55436376e-02 1.12552651e-04 9.99879184e-01 -1.56074884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.574012739 meters Centerline goodness [0,1] 0.99588177255373 Centerline is valid? [True, True] Translation: X:54.36, Y:-6.14, Z:-1.56 [[ 9.91335911e-01 1.30292634e-01 1.66415787e-02 5.43630338e+01] [-1.30272073e-01 9.91475573e-01 -2.31826116e-03 -6.14298570e+00] [-1.68017712e-02 1.30242580e-04 9.99858832e-01 -1.55950540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60401273899999 meters Centerline goodness [0,1] 0.9955320348761549 Centerline is valid? [True, True] Translation: X:54.39, Y:-6.15, Z:-1.56 [[ 9.91397893e-01 1.29746923e-01 1.72032791e-02 5.43929743e+01] [-1.29724879e-01 9.91547132e-01 -2.39588316e-03 -6.14640302e+00] [-1.73687206e-02 1.43580206e-04 9.99849142e-01 -1.55820882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63401273899999 meters Centerline goodness [0,1] 0.9953521096731552 Centerline is valid? [True, True] Translation: X:54.42, Y:-6.15, Z:-1.56 [[ 9.91485354e-01 1.29098361e-01 1.70412950e-02 5.44217741e+01] [-1.29076643e-01 9.91631781e-01 -2.37290262e-03 -6.15246410e+00] [-1.72050275e-02 1.53065054e-04 9.99851971e-01 -1.55951923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66401273899999 meters Centerline goodness [0,1] 0.9959206339035903 Centerline is valid? [True, True] Translation: X:54.45, Y:-6.16, Z:-1.56 [[ 9.91732142e-01 1.27424089e-01 1.51808776e-02 5.44515949e+01] [-1.27406661e-01 9.91848313e-01 -2.11365478e-03 -6.15972816e+00] [-1.53264584e-02 1.62034459e-04 9.99882530e-01 -1.56306150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.694012738999994 meters Centerline goodness [0,1] 0.9937316905049113 Centerline is valid? [True, True] Translation: X:54.48, Y:-6.17, Z:-1.56 [[ 9.92100185e-01 1.24442334e-01 1.58533268e-02 5.44805901e+01] [-1.24422946e-01 9.92226818e-01 -2.20728082e-03 -6.17027459e+00] [-1.60047752e-02 2.17326079e-04 9.99871892e-01 -1.56286459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.724012738999996 meters Centerline goodness [0,1] 0.99279857706824 Centerline is valid? [True, True] Translation: X:54.51, Y:-6.18, Z:-1.56 [[ 9.92315384e-01 1.22634286e-01 1.64623980e-02 5.45117391e+01] [-1.22613132e-01 9.92451896e-01 -2.29203685e-03 -6.17678889e+00] [-1.66192204e-02 2.55917248e-04 9.99861858e-01 -1.56220457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.754012739 meters Centerline goodness [0,1] 0.9914867020130178 Centerline is valid? [True, True] Translation: X:54.54, Y:-6.19, Z:-1.56 [[ 9.92490803e-01 1.21206701e-01 1.64602842e-02 5.45419817e+01] [-1.21185354e-01 9.92627250e-01 -2.29189276e-03 -6.18597717e+00] [-1.66167194e-02 2.79937115e-04 9.99861894e-01 -1.56295878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784012739 meters Centerline goodness [0,1] 0.991706415710541 Centerline is valid? [True, True] Translation: X:54.57, Y:-6.20, Z:-1.57 [[ 9.92654201e-01 1.19956359e-01 1.57514798e-02 5.45716626e+01] [-1.19936616e-01 9.92779123e-01 -2.19555881e-03 -6.19960268e+00] [-1.59011115e-02 2.90251487e-04 9.99873527e-01 -1.56512986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81401273899999 meters Centerline goodness [0,1] 0.9918927613941019 Centerline is valid? [True, True] Translation: X:54.60, Y:-6.21, Z:-1.57 [[ 9.92560105e-01 1.20798871e-01 1.52338819e-02 5.46023033e+01] [-1.20780468e-01 9.92676967e-01 -2.12569736e-03 -6.20636986e+00] [-1.53791055e-02 2.69927018e-04 9.99881698e-01 -1.56634410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84401273899999 meters Centerline goodness [0,1] 0.9948013209758176 Centerline is valid? [True, True] Translation: X:54.63, Y:-6.21, Z:-1.57 [[ 9.91904130e-01 1.26092259e-01 1.50645009e-02 5.46328111e+01] [-1.26074831e-01 9.92018501e-01 -2.10480135e-03 -6.20765410e+00] [-1.52096628e-02 1.88506736e-04 9.99884309e-01 -1.56799271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.874012738999994 meters Centerline goodness [0,1] 0.9948013209758176 Centerline is valid? [True, True] Translation: X:54.66, Y:-6.21, Z:-1.57 [[ 9.91904130e-01 1.26092263e-01 1.50644716e-02 5.46625198e+01] [-1.26074832e-01 9.92018501e-01 -2.10501096e-03 -6.21180524e+00] [-1.52096602e-02 1.88718337e-04 9.99884309e-01 -1.56854838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.904012738999995 meters Centerline goodness [0,1] 0.9969560899788438 Centerline is valid? [True, True] Translation: X:54.69, Y:-6.21, Z:-1.57 [[ 9.91421121e-01 1.29868154e-01 1.47791369e-02 5.46937027e+01] [-1.29851797e-01 9.91531263e-01 -2.06514015e-03 -6.20952947e+00] [-1.49221722e-02 1.28326076e-04 9.99888650e-01 -1.56878278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.934012738999996 meters Centerline goodness [0,1] 0.9984216557479838 Centerline is valid? [True, True] Translation: X:54.72, Y:-6.21, Z:-1.57 [[ 9.90389270e-01 1.37543002e-01 1.45264298e-02 5.47240299e+01] [-1.37528023e-01 9.90495796e-01 -2.02991846e-03 -6.20533722e+00] [-1.46675688e-02 1.26182836e-05 9.99892425e-01 -1.56961126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964012739 meters Centerline goodness [0,1] 0.9983649936535938 Centerline is valid? [True, True] Translation: X:54.75, Y:-6.20, Z:-1.57 [[ 9.89992040e-01 1.40371771e-01 1.45439719e-02 5.47531081e+01] [-1.40357064e-01 9.90098866e-01 -2.03211699e-03 -6.20497319e+00] [-1.46852220e-02 -2.95695506e-05 9.99892166e-01 -1.56992477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99401273899999 meters Centerline goodness [0,1] 0.9976490200688196 Centerline is valid? [True, True] Translation: X:54.78, Y:-6.20, Z:-1.57 [[ 9.89717236e-01 1.42198253e-01 1.54741476e-02 5.47813715e+01] [-1.42181839e-01 9.89838195e-01 -2.16132726e-03 -6.20423441e+00] [-1.56242393e-02 -6.10399281e-05 9.99877932e-01 -1.56915904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02401273899999 meters Centerline goodness [0,1] 0.9958026383416139 Centerline is valid? [True, True] Translation: X:54.81, Y:-6.21, Z:-1.57 [[ 9.89423167e-01 1.43989785e-01 1.75709513e-02 5.48105489e+01] [-1.43968926e-01 9.89579169e-01 -2.45299361e-03 -6.20575105e+00] [-1.77410534e-02 -1.02622285e-04 9.99842610e-01 -1.56696599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.054012738999994 meters Centerline goodness [0,1] 0.9962051818895578 Centerline is valid? [True, True] Translation: X:54.84, Y:-6.21, Z:-1.57 [[ 9.89438425e-01 1.43849523e-01 1.78582950e-02 5.48397078e+01] [-1.43827964e-01 9.89599568e-01 -2.49245800e-03 -6.21272904e+00] [-1.80310999e-02 -1.02388495e-04 9.99837421e-01 -1.56711423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084012738999995 meters Centerline goodness [0,1] 0.9953412482019794 Centerline is valid? [True, True] Translation: X:54.87, Y:-6.22, Z:-1.57 [[ 9.89455434e-01 1.43784066e-01 1.74380574e-02 5.48678899e+01] [-1.43763507e-01 9.89609081e-01 -2.43338968e-03 -6.21707979e+00] [-1.76067426e-02 -9.92256542e-05 9.99844984e-01 -1.56672788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.114012738999996 meters Centerline goodness [0,1] 0.9944731103866664 Centerline is valid? [True, True] Translation: X:54.90, Y:-6.22, Z:-1.57 [[ 9.89403422e-01 1.44036982e-01 1.82815642e-02 5.48971230e+01] [-1.44014443e-01 9.89572299e-01 -2.55038098e-03 -6.21926161e+00] [-1.84582787e-02 -1.09453617e-04 9.99829625e-01 -1.56589535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144012739 meters Centerline goodness [0,1] 0.9934512818310646 Centerline is valid? [True, True] Translation: X:54.93, Y:-6.22, Z:-1.56 [[ 9.89198960e-01 1.45265283e-01 1.95809624e-02 5.49258537e+01] [-1.45239686e-01 9.89392731e-01 -2.73065800e-03 -6.21986545e+00] [-1.97699316e-02 -1.42768772e-04 9.99804546e-01 -1.56443339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17401273899999 meters Centerline goodness [0,1] 0.9928907904403821 Centerline is valid? [True, True] Translation: X:54.95, Y:-6.22, Z:-1.57 [[ 9.89138769e-01 1.45740884e-01 1.90811624e-02 5.49547836e+01] [-1.45716679e-01 9.89322785e-01 -2.66029247e-03 -6.22353959e+00] [-1.92651421e-02 -1.49045195e-04 9.99814399e-01 -1.56674294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20401273899999 meters Centerline goodness [0,1] 0.9957474997863065 Centerline is valid? [True, True] Translation: X:54.98, Y:-6.23, Z:-1.57 [[ 9.89109399e-01 1.46404509e-01 1.51101470e-02 5.49836037e+01] [-1.46389411e-01 9.89224799e-01 -2.10642248e-03 -6.22631681e+00] [-1.52557219e-02 -1.28483256e-04 9.99883616e-01 -1.57456375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23401273899999 meters Centerline goodness [0,1] 0.9975208907695925 Centerline is valid? [True, True] Translation: X:55.01, Y:-6.23, Z:-1.58 [[ 9.89186849e-01 1.46049177e-01 1.33796795e-02 5.50120131e+01] [-1.46037312e-01 9.89277325e-01 -1.86484079e-03 -6.23024619e+00] [-1.35085720e-02 -1.09256443e-04 9.99908749e-01 -1.57816512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264012738999995 meters Centerline goodness [0,1] 0.9968005153532317 Centerline is valid? [True, True] Translation: X:55.04, Y:-6.23, Z:-1.58 [[ 9.89239201e-01 1.45686560e-01 1.34621343e-02 5.50407957e+01] [-1.45674523e-01 9.89330792e-01 -1.87569832e-03 -6.23446771e+00] [-1.35917680e-02 -1.05575675e-04 9.99907622e-01 -1.57819193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.294012738999996 meters Centerline goodness [0,1] 0.9948349764252036 Centerline is valid? [True, True] Translation: X:55.07, Y:-6.23, Z:-1.57 [[ 9.89033709e-01 1.46790809e-01 1.62721029e-02 5.50688997e+01] [-1.46773387e-01 9.89167547e-01 -2.26627018e-03 -6.23248320e+00] [-1.64285038e-02 -1.46894062e-04 9.99865032e-01 -1.57364439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324012739 meters Centerline goodness [0,1] 0.9938790128280263 Centerline is valid? [True, True] Translation: X:55.10, Y:-6.23, Z:-1.57 [[ 9.88834499e-01 1.48066757e-01 1.68097636e-02 5.50973977e+01] [-1.48048367e-01 9.88977353e-01 -2.34009164e-03 -6.23472401e+00] [-1.69709653e-02 -1.74694711e-04 9.99855968e-01 -1.57302857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35401273899999 meters Centerline goodness [0,1] 0.9914770906760654 Centerline is valid? [True, True] Translation: X:55.13, Y:-6.23, Z:-1.58 [[ 9.88382356e-01 1.51148965e-01 1.59470422e-02 5.51256375e+01] [-1.51132826e-01 9.88510973e-01 -2.21929738e-03 -6.23047197e+00] [-1.60992707e-02 -2.16607183e-04 9.99870375e-01 -1.57523001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38401273899999 meters Centerline goodness [0,1] 0.9922048757314677 Centerline is valid? [True, True] Translation: X:55.15, Y:-6.23, Z:-1.58 [[ 9.88271941e-01 1.51954238e-01 1.51155326e-02 5.51547739e+01] [-1.51939846e-01 9.88387506e-01 -2.10270554e-03 -6.23189936e+00] [-1.52595185e-02 -2.18606808e-04 9.99883543e-01 -1.57700440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41401273899999 meters Centerline goodness [0,1] 0.9927497487007293 Centerline is valid? [True, True] Translation: X:55.18, Y:-6.24, Z:-1.58 [[ 9.88522955e-01 1.50227484e-01 1.59395863e-02 5.51834437e+01] [-1.50211268e-01 9.88651436e-01 -2.21654410e-03 -6.23734048e+00] [-1.60916807e-02 -2.03200741e-04 9.99870500e-01 -1.57637867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444012738999994 meters Centerline goodness [0,1] 0.9939505239278384 Centerline is valid? [True, True] Translation: X:55.21, Y:-6.25, Z:-1.58 [[ 9.88858630e-01 1.47990258e-01 1.60465955e-02 5.52108880e+01] [-1.47973541e-01 9.88988804e-01 -2.23067139e-03 -6.24656300e+00] [-1.62000209e-02 -1.68652901e-04 9.99868757e-01 -1.57617766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.474012738999996 meters Centerline goodness [0,1] 0.9969193248186894 Centerline is valid? [True, True] Translation: X:55.24, Y:-6.26, Z:-1.58 [[ 9.89670223e-01 1.42465529e-01 1.60132258e-02 5.52382270e+01] [-1.42448171e-01 9.89799761e-01 -2.22527280e-03 -6.26153871e+00] [-1.61669117e-02 -7.87685071e-05 9.99869304e-01 -1.57646847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504012739 meters Centerline goodness [0,1] 0.997692125186032 Centerline is valid? [True, True] Translation: X:55.27, Y:-6.27, Z:-1.58 [[ 9.89945392e-01 1.40536802e-01 1.60477052e-02 5.52676202e+01] [-1.40519128e-01 9.90075454e-01 -2.22924371e-03 -6.26899017e+00] [-1.62017298e-02 -4.81800010e-05 9.99868742e-01 -1.57627556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.534012739 meters Centerline goodness [0,1] 0.9971835257924042 Centerline is valid? [True, True] Translation: X:55.30, Y:-6.28, Z:-1.58 [[ 9.90016640e-01 1.39961094e-01 1.66716594e-02 5.52955164e+01] [-1.39941944e-01 9.90157003e-01 -2.31554620e-03 -6.27510299e+00] [-1.68316466e-02 -4.06351477e-05 9.99858337e-01 -1.57616167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56401273899999 meters Centerline goodness [0,1] 0.9971203850947694 Centerline is valid? [True, True] Translation: X:55.32, Y:-6.28, Z:-1.58 [[ 9.89904125e-01 1.40688859e-01 1.72182729e-02 5.53246349e+01] [-1.40668558e-01 9.90053858e-01 -2.39059209e-03 -6.27887907e+00] [-1.73833472e-02 -5.56126601e-05 9.99848897e-01 -1.57502973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59401273899999 meters Centerline goodness [0,1] 0.9966589286876533 Centerline is valid? [True, True] Translation: X:55.35, Y:-6.28, Z:-1.58 [[ 9.89706362e-01 1.42082620e-01 1.71419681e-02 5.53539055e+01] [-1.42062715e-01 9.89854799e-01 -2.37959750e-03 -6.28205273e+00] [-1.73061589e-02 -8.01317380e-05 9.99850234e-01 -1.57557250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624012738999994 meters Centerline goodness [0,1] 0.9949632423859228 Centerline is valid? [True, True] Translation: X:55.38, Y:-6.28, Z:-1.58 [[ 9.89223814e-01 1.45491360e-01 1.63862955e-02 5.53832124e+01] [-1.45473645e-01 9.89359513e-01 -2.27433595e-03 -6.27943622e+00] [-1.65428336e-02 -1.33946853e-04 9.99863149e-01 -1.57799106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.654012738999995 meters Centerline goodness [0,1] 0.9945934302638665 Centerline is valid? [True, True] Translation: X:55.41, Y:-6.28, Z:-1.58 [[ 9.89065228e-01 1.46599639e-01 1.60785730e-02 5.54121939e+01] [-1.46582738e-01 9.89195897e-01 -2.23106573e-03 -6.28150763e+00] [-1.62319319e-02 -1.50171719e-04 9.99868242e-01 -1.57978047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.684012738999996 meters Centerline goodness [0,1] 0.9951921031357699 Centerline is valid? [True, True] Translation: X:55.44, Y:-6.28, Z:-1.58 [[ 9.89095126e-01 1.46520729e-01 1.49166576e-02 5.54402065e+01] [-1.46506183e-01 9.89207590e-01 -2.06923968e-03 -6.28439297e+00] [-1.50588574e-02 -1.38707671e-04 9.99886599e-01 -1.58287580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.714012739 meters Centerline goodness [0,1] 0.9962543609939856 Centerline is valid? [True, True] Translation: X:55.47, Y:-6.29, Z:-1.58 [[ 9.89247709e-01 1.45533749e-01 1.44533309e-02 5.54676807e+01] [-1.45519998e-01 9.89353280e-01 -2.00416482e-03 -6.28918143e+00] [-1.45911240e-02 -1.20633232e-04 9.99893537e-01 -1.58399348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74401273899999 meters Centerline goodness [0,1] 0.997719939771994 Centerline is valid? [True, True] Translation: X:55.50, Y:-6.30, Z:-1.58 [[ 9.89750952e-01 1.41982797e-01 1.52950587e-02 5.54960568e+01] [-1.41966990e-01 9.89869123e-01 -2.11979376e-03 -6.29796262e+00] [-1.54410805e-02 -7.33255605e-05 9.99880777e-01 -1.58279759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77401273899999 meters Centerline goodness [0,1] 0.99809282989757 Centerline is valid? [True, True] Translation: X:55.52, Y:-6.30, Z:-1.58 [[ 9.90027962e-01 1.39964060e-01 1.59591932e-02 5.55240127e+01] [-1.39946598e-01 9.90156584e-01 -2.21128244e-03 -6.30495053e+00] [-1.61116003e-02 -4.42033473e-05 9.99870199e-01 -1.58205715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804012738999994 meters Centerline goodness [0,1] 0.9979513057730047 Centerline is valid? [True, True] Translation: X:55.55, Y:-6.31, Z:-1.58 [[ 9.90315100e-01 1.37827025e-01 1.67246433e-02 5.55528909e+01] [-1.37807557e-01 9.90456315e-01 -2.31649458e-03 -6.31255601e+00] [-1.68843041e-02 -1.07226625e-05 9.99857450e-01 -1.58173496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.834012738999995 meters Centerline goodness [0,1] 0.9980599685283783 Centerline is valid? [True, True] Translation: X:55.58, Y:-6.32, Z:-1.58 [[ 9.90897221e-01 1.33550184e-01 1.69424150e-02 5.55816962e+01] [-1.33529588e-01 9.91042050e-01 -2.34621336e-03 -6.32442610e+00] [-1.71039829e-02 6.25426082e-05 9.99853714e-01 -1.58186941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.864012738999996 meters Centerline goodness [0,1] 0.9976148523787013 Centerline is valid? [True, True] Translation: X:55.61, Y:-6.33, Z:-1.58 [[ 9.91151271e-01 1.31718349e-01 1.64144782e-02 5.56109624e+01] [-1.31698766e-01 9.91287177e-01 -2.27308059e-03 -6.33415609e+00] [-1.65708682e-02 9.12001899e-05 9.99862690e-01 -1.58381502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.894012739 meters Centerline goodness [0,1] 0.997751798561151 Centerline is valid? [True, True] Translation: X:55.64, Y:-6.35, Z:-1.59 [[ 9.91591360e-01 1.28582110e-01 1.46018809e-02 5.56391671e+01] [-1.28566271e-01 9.91698858e-01 -2.02222522e-03 -6.34844021e+00] [-1.47406906e-02 1.27911694e-04 9.99891342e-01 -1.58863591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92401273899999 meters Centerline goodness [0,1] 0.9979763186221744 Centerline is valid? [True, True] Translation: X:55.67, Y:-6.35, Z:-1.59 [[ 9.91706333e-01 1.27739162e-01 1.41864556e-02 5.56703533e+01] [-1.27724124e-01 9.91807788e-01 -1.96479602e-03 -6.35389452e+00] [-1.43212185e-02 1.36548052e-04 9.99897437e-01 -1.58914683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95401273899999 meters Centerline goodness [0,1] 0.9980359087124527 Centerline is valid? [True, True] Translation: X:55.70, Y:-6.36, Z:-1.59 [[ 9.91734397e-01 1.27570441e-01 1.37356646e-02 5.57009727e+01] [-1.27556331e-01 9.91829504e-01 -1.90207377e-03 -6.36080633e+00] [-1.38660858e-02 1.34281002e-04 9.99903852e-01 -1.59011873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98401273899999 meters Centerline goodness [0,1] 0.9985047134034023 Centerline is valid? [True, True] Translation: X:55.73, Y:-6.37, Z:-1.59 [[ 9.91606713e-01 1.28646373e-01 1.28933414e-02 5.57322567e+01] [-1.28633999e-01 9.91690525e-01 -1.78797672e-03 -6.36599042e+00] [-1.30162212e-02 1.14447660e-04 9.99915279e-01 -1.59212137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.014012738999995 meters Centerline goodness [0,1] 0.9979534242443827 Centerline is valid? [True, True] Translation: X:55.76, Y:-6.37, Z:-1.59 [[ 9.91644888e-01 1.28254363e-01 1.38287550e-02 5.57613734e+01] [-1.28240084e-01 9.91741298e-01 -1.91812502e-03 -6.37435023e+00] [-1.39605554e-02 1.28698171e-04 9.99902538e-01 -1.59106011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.044012738999996 meters Centerline goodness [0,1] 0.9979859013091642 Centerline is valid? [True, True] Translation: X:55.79, Y:-6.38, Z:-1.59 [[ 9.91662322e-01 1.28083715e-01 1.41563310e-02 5.57927395e+01] [-1.28068740e-01 9.91763351e-01 -1.96309954e-03 -6.38036835e+00] [-1.42911713e-02 1.33748381e-04 9.99897867e-01 -1.59067817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.074012739 meters Centerline goodness [0,1] 0.997158907470782 Centerline is valid? [True, True] Translation: X:55.82, Y:-6.39, Z:-1.59 [[ 9.91770948e-01 1.27253390e-01 1.40343055e-02 5.58235159e+01] [-1.27238555e-01 9.91870230e-01 -1.94852893e-03 -6.38780849e+00] [-1.41681667e-02 1.46789632e-04 9.99899616e-01 -1.59144490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10401273899999 meters Centerline goodness [0,1] 0.9975631846804106 Centerline is valid? [True, True] Translation: X:55.85, Y:-6.40, Z:-1.59 [[ 9.92101291e-01 1.24780348e-01 1.28410982e-02 5.58540669e+01] [-1.24767701e-01 9.92184376e-01 -1.78450874e-03 -6.40076331e+00] [-1.29634086e-02 1.68259131e-04 9.99915957e-01 -1.59412681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13401273899999 meters Centerline goodness [0,1] 0.9972788819470144 Centerline is valid? [True, True] Translation: X:55.89, Y:-6.41, Z:-1.60 [[ 9.92305641e-01 1.23180816e-01 1.24900852e-02 5.58854638e+01] [-1.23168699e-01 9.92384226e-01 -1.73772670e-03 -6.41073539e+00] [-1.26090181e-02 1.85968463e-04 9.99920486e-01 -1.59623183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16401273899999 meters Centerline goodness [0,1] 0.9957054171273068 Centerline is valid? [True, True] Translation: X:55.91, Y:-6.43, Z:-1.60 [[ 9.92614991e-01 1.20696968e-01 1.21541111e-02 5.59139575e+01] [-1.20685272e-01 9.92689375e-01 -1.69381099e-03 -6.42749955e+00] [-1.22696948e-02 2.14479968e-04 9.99924701e-01 -1.59837831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.194012738999994 meters Centerline goodness [0,1] 0.9961316520624065 Centerline is valid? [True, True] Translation: X:55.95, Y:-6.43, Z:-1.60 [[ 9.92706229e-01 1.19963137e-01 1.19661538e-02 5.59453591e+01] [-1.19951755e-01 9.92778322e-01 -1.66698747e-03 -6.43299031e+00] [-1.20797151e-02 2.19467701e-04 9.99927013e-01 -1.59819952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.224012738999996 meters Centerline goodness [0,1] 0.9957031503033705 Centerline is valid? [True, True] Translation: X:55.98, Y:-6.44, Z:-1.60 [[ 9.92793707e-01 1.19240580e-01 1.19305979e-02 5.59765125e+01] [-1.19229190e-01 9.92865364e-01 -1.66398660e-03 -6.44003732e+00] [-1.20438922e-02 2.29519899e-04 9.99927443e-01 -1.59790098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.254012739 meters Centerline goodness [0,1] 0.9951278402966413 Centerline is valid? [True, True] Translation: X:56.01, Y:-6.45, Z:-1.60 [[ 9.92851882e-01 1.18698242e-01 1.24846920e-02 5.60067397e+01] [-1.18685698e-01 9.92930343e-01 -1.74353793e-03 -6.45109512e+00] [-1.26033843e-02 2.49320541e-04 9.99920543e-01 -1.59709934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284012739 meters Centerline goodness [0,1] 0.9929090096037138 Centerline is valid? [True, True] Translation: X:56.04, Y:-6.46, Z:-1.59 [[ 9.92745821e-01 1.19346065e-01 1.45688419e-02 5.60369950e+01] [-1.19329009e-01 9.92852676e-01 -2.03759517e-03 -6.46030307e+00] [-1.47078926e-02 2.84328624e-04 9.99891793e-01 -1.59374061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31401273899999 meters Centerline goodness [0,1] 0.9943599273921687 Centerline is valid? [True, True] Translation: X:56.07, Y:-6.46, Z:-1.59 [[ 9.92587620e-01 1.20546402e-01 1.54396172e-02 5.60687962e+01] [-1.20527351e-01 9.92707653e-01 -2.16190580e-03 -6.46231884e+00] [-1.55876362e-02 2.84984760e-04 9.99878465e-01 -1.59194505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34401273899999 meters Centerline goodness [0,1] 0.9936870584698633 Centerline is valid? [True, True] Translation: X:56.10, Y:-6.47, Z:-1.59 [[ 9.92370351e-01 1.22240969e-01 1.60696053e-02 5.61001561e+01] [-1.22220505e-01 9.92500414e-01 -2.25316203e-03 -6.46602886e+00] [-1.62245186e-02 2.71935926e-04 9.99868337e-01 -1.59094940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.374012738999994 meters Centerline goodness [0,1] 0.9957156216698202 Centerline is valid? [True, True] Translation: X:56.13, Y:-6.47, Z:-1.59 [[ 9.91917705e-01 1.25867813e-01 1.60174829e-02 5.61328300e+01] [-1.25847931e-01 9.92046999e-01 -2.24725028e-03 -6.46648962e+00] [-1.61729523e-02 2.13320262e-04 9.99869186e-01 -1.59242173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.404012738999995 meters Centerline goodness [0,1] 0.9966397415185784 Centerline is valid? [True, True] Translation: X:56.16, Y:-6.47, Z:-1.59 [[ 9.91764908e-01 1.27081229e-01 1.58974310e-02 5.61632885e+01] [-1.27061755e-01 9.91892294e-01 -2.23319350e-03 -6.47088085e+00] [-1.60523362e-02 1.94847473e-04 9.99871134e-01 -1.59425925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.434012738999996 meters Centerline goodness [0,1] 0.9961709860251806 Centerline is valid? [True, True] Translation: X:56.20, Y:-6.48, Z:-1.59 [[ 9.91768196e-01 1.27021733e-01 1.61655138e-02 5.61962237e+01] [-1.27001567e-01 9.91899914e-01 -2.27220001e-03 -6.47618389e+00] [-1.63231905e-02 2.00450126e-04 9.99866748e-01 -1.59398645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.464012739 meters Centerline goodness [0,1] 0.9951731601731602 Centerline is valid? [True, True] Translation: X:56.23, Y:-6.48, Z:-1.59 [[ 9.91898933e-01 1.25957435e-01 1.64690963e-02 5.62275856e+01] [-1.25936303e-01 9.92035621e-01 -2.31813420e-03 -6.48221215e+00] [-1.66299164e-02 2.25297737e-04 9.99861688e-01 -1.59387739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49401273899999 meters Centerline goodness [0,1] 0.9942990186478665 Centerline is valid? [True, True] Translation: X:56.26, Y:-6.49, Z:-1.60 [[ 9.92283366e-01 1.22927889e-01 1.62004855e-02 5.62577569e+01] [-1.22906994e-01 9.92415568e-01 -2.28299818e-03 -6.49407809e+00] [-1.63582581e-02 2.74228146e-04 9.99866157e-01 -1.59549652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52401273899999 meters Centerline goodness [0,1] 0.9940332586593141 Centerline is valid? [True, True] Translation: X:56.29, Y:-6.50, Z:-1.60 [[ 9.92433444e-01 1.21768411e-01 1.57579726e-02 5.62893920e+01] [-1.21748459e-01 9.92558498e-01 -2.22295185e-03 -6.50277521e+00] [-1.59113950e-02 2.87622874e-04 9.99873364e-01 -1.59675125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.554012738999994 meters Centerline goodness [0,1] 0.9935014632466862 Centerline is valid? [True, True] Translation: X:56.32, Y:-6.51, Z:-1.60 [[ 9.92477427e-01 1.21410513e-01 1.57494294e-02 5.63196687e+01] [-1.21390492e-01 9.92602337e-01 -2.22453321e-03 -6.51015237e+00] [-1.59030021e-02 2.95968012e-04 9.99873495e-01 -1.59683389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584012738999995 meters Centerline goodness [0,1] 0.9943584023338624 Centerline is valid? [True, True] Translation: X:56.35, Y:-6.51, Z:-1.60 [[ 9.92168420e-01 1.23832658e-01 1.63493033e-02 5.63525560e+01] [-1.23811385e-01 9.92303079e-01 -2.31086924e-03 -6.51108848e+00] [-1.65096251e-02 2.68541595e-04 9.99863671e-01 -1.59586034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.614012738999996 meters Centerline goodness [0,1] 0.9964488636363636 Centerline is valid? [True, True] Translation: X:56.38, Y:-6.51, Z:-1.60 [[ 9.91878157e-01 1.26214460e-01 1.57363400e-02 5.63834983e+01] [-1.26195043e-01 9.92002954e-01 -2.22487943e-03 -6.51298692e+00] [-1.58913078e-02 2.20961209e-04 9.99873701e-01 -1.59773423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644012739 meters Centerline goodness [0,1] 0.9983618218265686 Centerline is valid? [True, True] Translation: X:56.42, Y:-6.51, Z:-1.60 [[ 9.91351438e-01 1.30540996e-01 1.34675125e-02 5.64158933e+01] [-1.30527144e-01 9.91442904e-01 -1.90621713e-03 -6.51313249e+00] [-1.36011092e-02 1.31855147e-04 9.99907492e-01 -1.60229888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67401273899999 meters Centerline goodness [0,1] 0.9986325370710654 Centerline is valid? [True, True] Translation: X:56.45, Y:-6.52, Z:-1.60 [[ 9.91073239e-01 1.32570608e-01 1.41021195e-02 5.64470163e+01] [-1.32555618e-01 9.91173558e-01 -1.99653019e-03 -6.51654249e+00] [-1.42423291e-02 1.09392487e-04 9.99898567e-01 -1.60242713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70401273899999 meters Centerline goodness [0,1] 0.9987121423511988 Centerline is valid? [True, True] Translation: X:56.48, Y:-6.51, Z:-1.60 [[ 9.90441467e-01 1.36928893e-01 1.66186347e-02 5.64797778e+01] [-1.36908638e-01 9.90580877e-01 -2.35587791e-03 -6.51483896e+00] [-1.67846895e-02 5.81245453e-05 9.99859125e-01 -1.59857757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73401273899999 meters Centerline goodness [0,1] 0.9986451321533797 Centerline is valid? [True, True] Translation: X:56.51, Y:-6.52, Z:-1.60 [[ 9.90083963e-01 1.39473747e-01 1.67576723e-02 5.65125602e+01] [-1.39453468e-01 9.90225769e-01 -2.37837417e-03 -6.51626216e+00] [-1.69255997e-02 1.78746045e-05 9.99856752e-01 -1.59875677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764012738999995 meters Centerline goodness [0,1] 0.9981190150478796 Centerline is valid? [True, True] Translation: X:56.54, Y:-6.51, Z:-1.60 [[ 9.89477166e-01 1.43981932e-01 1.42878036e-02 5.65438645e+01] [-1.43967632e-01 9.89580316e-01 -2.02980882e-03 -6.51436365e+00] [-1.44311850e-02 -4.85317617e-05 9.99895864e-01 -1.60422721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.794012738999996 meters Centerline goodness [0,1] 0.9981190150478796 Centerline is valid? [True, True] Translation: X:56.58, Y:-6.52, Z:-1.60 [[ 9.89453915e-01 1.44141660e-01 1.42875028e-02 5.65752009e+01] [-1.44127346e-01 9.89557062e-01 -2.03192363e-03 -6.51896966e+00] [-1.44311841e-02 -4.87250646e-05 9.99895864e-01 -1.60481398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824012739 meters Centerline goodness [0,1] 0.9980795788020024 Centerline is valid? [True, True] Translation: X:56.61, Y:-6.52, Z:-1.61 [[ 9.89295140e-01 1.45323969e-01 1.32691667e-02 5.66068183e+01] [-1.45311693e-01 9.89384122e-01 -1.88978456e-03 -6.52117230e+00] [-1.34029338e-02 -5.86103949e-05 9.99910175e-01 -1.60762300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85401273899999 meters Centerline goodness [0,1] 0.997861216730038 Centerline is valid? [True, True] Translation: X:56.64, Y:-6.52, Z:-1.61 [[ 9.89167429e-01 1.46207431e-01 1.30837580e-02 5.66367925e+01] [-1.46195568e-01 9.89253952e-01 -1.86374185e-03 -6.52393195e+00] [-1.32156522e-02 -6.92346901e-05 9.99912667e-01 -1.60809415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88401273899999 meters Centerline goodness [0,1] 0.9951176305385728 Centerline is valid? [True, True] Translation: X:56.67, Y:-6.53, Z:-1.61 [[ 9.88851502e-01 1.48134629e-01 1.51273889e-02 5.66674842e+01] [-1.48118993e-01 9.88967198e-01 -2.15509904e-03 -6.52634192e+00] [-1.52797362e-02 -1.09580677e-04 9.99883252e-01 -1.60504414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91401273899999 meters Centerline goodness [0,1] 0.9937725476722212 Centerline is valid? [True, True] Translation: X:56.70, Y:-6.53, Z:-1.60 [[ 9.88721920e-01 1.48952860e-01 1.55567020e-02 5.66976355e+01] [-1.48936425e-01 9.88844290e-01 -2.21622811e-03 -6.53003018e+00] [-1.57132695e-02 -1.25726271e-04 9.99876531e-01 -1.60487197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944012738999994 meters Centerline goodness [0,1] 0.9943876571135912 Centerline is valid? [True, True] Translation: X:56.73, Y:-6.53, Z:-1.61 [[ 9.88604240e-01 1.49892359e-01 1.39261314e-02 5.67284967e+01] [-1.49879281e-01 9.88702314e-01 -1.98402409e-03 -6.53430636e+00] [-1.40661884e-02 -1.25823939e-04 9.99901058e-01 -1.60777041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.974012738999996 meters Centerline goodness [0,1] 0.995532741994373 Centerline is valid? [True, True] Translation: X:56.76, Y:-6.54, Z:-1.61 [[ 9.88646771e-01 1.49712533e-01 1.27952911e-02 5.67577635e+01] [-1.49701472e-01 9.88729561e-01 -1.82330481e-03 -6.53914245e+00] [-1.29240541e-02 -1.12869502e-04 9.99916475e-01 -1.61091994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.004012739 meters Centerline goodness [0,1] 0.996081487735706 Centerline is valid? [True, True] Translation: X:56.79, Y:-6.55, Z:-1.61 [[ 9.88683898e-01 1.49485495e-01 1.25791831e-02 5.67870815e+01] [-1.49474787e-01 9.88763913e-01 -1.79250983e-03 -6.54689804e+00] [-1.27057965e-02 -1.08045105e-04 9.99919272e-01 -1.61111214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.034012739 meters Centerline goodness [0,1] 0.9948162111215834 Centerline is valid? [True, True] Translation: X:56.82, Y:-6.55, Z:-1.61 [[ 9.88620477e-01 1.49870990e-01 1.29707287e-02 5.68166048e+01] [-1.49859636e-01 9.88705554e-01 -1.84836708e-03 -6.55031646e+00] [-1.31012481e-02 -1.16455144e-04 9.99914168e-01 -1.61139419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06401273899999 meters Centerline goodness [0,1] 0.9944414287265226 Centerline is valid? [True, True] Translation: X:56.85, Y:-6.56, Z:-1.61 [[ 9.88562736e-01 1.50206753e-01 1.34777139e-02 5.68470305e+01] [-1.50194530e-01 9.88654599e-01 -1.92027385e-03 -6.55580393e+00] [-1.36132419e-02 -1.25967737e-04 9.99907328e-01 -1.60920662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09401273899999 meters Centerline goodness [0,1] 0.9926434316353887 Centerline is valid? [True, True] Translation: X:56.88, Y:-6.56, Z:-1.61 [[ 9.88391371e-01 1.51310636e-01 1.36963386e-02 5.68778951e+01] [-1.51298117e-01 9.88486252e-01 -1.95162242e-03 -6.55716943e+00] [-1.38339436e-02 -1.43263475e-04 9.99904296e-01 -1.60995583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124012738999994 meters Centerline goodness [0,1] 0.9933352026400363 Centerline is valid? [True, True] Translation: X:56.91, Y:-6.56, Z:-1.61 [[ 9.88312902e-01 1.51862417e-01 1.32443906e-02 5.69082568e+01] [-1.51850748e-01 9.88401632e-01 -1.88818059e-03 -6.56031060e+00] [-1.33775209e-02 -1.45057378e-04 9.99910506e-01 -1.61132567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.154012738999995 meters Centerline goodness [0,1] 0.9920631524901592 Centerline is valid? [True, True] Translation: X:56.94, Y:-6.56, Z:-1.61 [[ 9.87998105e-01 1.53856094e-01 1.37130311e-02 5.69384500e+01] [-1.53843776e-01 9.88093250e-01 -1.95504562e-03 -6.55958641e+00] [-1.38505491e-02 -1.78083108e-04 9.99904061e-01 -1.61160103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.184012738999996 meters Centerline goodness [0,1] 0.9898460811884163 Centerline is valid? [True, True] Translation: X:56.97, Y:-6.56, Z:-1.61 [[ 9.87797768e-01 1.55071893e-01 1.44318410e-02 5.69674799e+01] [-1.55058380e-01 9.87903166e-01 -2.05743593e-03 -6.55913239e+00] [-1.45763119e-02 -2.05447257e-04 9.99893739e-01 -1.61034883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.214012739 meters Centerline goodness [0,1] 0.9879310344827587 Centerline is valid? [True, True] Translation: X:57.00, Y:-6.56, Z:-1.61 [[ 9.87555874e-01 1.56512933e-01 1.53979578e-02 5.69976787e+01] [-1.56497735e-01 9.87675879e-01 -2.19456303e-03 -6.55914098e+00] [-1.55516690e-02 -2.42491906e-04 9.99879036e-01 -1.60856417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24401273899999 meters Centerline goodness [0,1] 0.9870685025669667 Centerline is valid? [True, True] Translation: X:57.03, Y:-6.56, Z:-1.61 [[ 9.87132302e-01 1.59193180e-01 1.50781292e-02 5.70268289e+01] [-1.59178923e-01 9.87247413e-01 -2.14866851e-03 -6.55606356e+00] [-1.52278974e-02 -2.79100281e-04 9.99884010e-01 -1.60965769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27401273899999 meters Centerline goodness [0,1] 0.9866403619754252 Centerline is valid? [True, True] Translation: X:57.06, Y:-6.56, Z:-1.61 [[ 9.87099251e-01 1.59441690e-01 1.46087784e-02 5.70550216e+01] [-1.59428339e-01 9.87207310e-01 -2.08144819e-03 -6.55599215e+00] [-1.47537624e-02 -2.74457324e-04 9.99891120e-01 -1.61134959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304012738999994 meters Centerline goodness [0,1] 0.9881806395851339 Centerline is valid? [True, True] Translation: X:57.08, Y:-6.56, Z:-1.61 [[ 9.87336672e-01 1.57945443e-01 1.48166393e-02 5.70835821e+01] [-1.57931555e-01 9.87447807e-01 -2.11017237e-03 -6.55924052e+00] [-1.49639501e-02 -2.56564328e-04 9.99888001e-01 -1.61164321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.334012738999995 meters Centerline goodness [0,1] 0.9884298955868626 Centerline is valid? [True, True] Translation: X:57.11, Y:-6.57, Z:-1.61 [[ 9.87575022e-01 1.56338693e-01 1.59307823e-02 5.71124997e+01] [-1.56322441e-01 9.87703473e-01 -2.26803452e-03 -6.56570028e+00] [-1.60894705e-02 -2.50484537e-04 9.99870525e-01 -1.61023778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.364012738999996 meters Centerline goodness [0,1] 0.9887410660466718 Centerline is valid? [True, True] Translation: X:57.14, Y:-6.57, Z:-1.61 [[ 9.87818776e-01 1.54604082e-01 1.76534520e-02 5.71417517e+01] [-1.54583856e-01 9.87976476e-01 -2.51282735e-03 -6.57438993e+00] [-1.78296886e-02 -2.46720650e-04 9.99841008e-01 -1.60658894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.394012739 meters Centerline goodness [0,1] 0.9885745955278921 Centerline is valid? [True, True] Translation: X:57.17, Y:-6.58, Z:-1.61 [[ 9.87942122e-01 1.53887433e-01 1.70006160e-02 5.71710813e+01] [-1.53868570e-01 9.88088360e-01 -2.41991743e-03 -6.57551560e+00] [-1.71705056e-02 -2.25122102e-04 9.99852551e-01 -1.60817210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42401273899999 meters Centerline goodness [0,1] 0.9899793566144848 Centerline is valid? [True, True] Translation: X:57.20, Y:-6.58, Z:-1.61 [[ 9.88030761e-01 1.53491918e-01 1.53442452e-02 5.72014964e+01] [-1.53476507e-01 9.88149884e-01 -2.18394581e-03 -6.58055780e+00] [-1.54976321e-02 -1.97175505e-04 9.99879885e-01 -1.61159404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45401273899999 meters Centerline goodness [0,1] 0.9921844722904017 Centerline is valid? [True, True] Translation: X:57.23, Y:-6.58, Z:-1.62 [[ 9.88087219e-01 1.53345312e-01 1.29947432e-02 5.72303206e+01] [-1.53334244e-01 9.88172651e-01 -1.84973401e-03 -6.58241751e+00] [-1.31246978e-02 -1.64840581e-04 9.99913854e-01 -1.61744839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48401273899999 meters Centerline goodness [0,1] 0.9931962600825863 Centerline is valid? [True, True] Translation: X:57.26, Y:-6.59, Z:-1.62 [[ 9.88194191e-01 1.52641987e-01 1.31401595e-02 5.72587977e+01] [-1.52630615e-01 9.88281538e-01 -1.86988521e-03 -6.58555653e+00] [-1.32716000e-02 -1.57780909e-04 9.99911916e-01 -1.61819427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.514012738999995 meters Centerline goodness [0,1] 0.9914823670053795 Centerline is valid? [True, True] Translation: X:57.29, Y:-6.59, Z:-1.61 [[ 9.88472806e-01 1.50638378e-01 1.51522480e-02 5.72880865e+01] [-1.50623027e-01 9.88588922e-01 -2.15579266e-03 -6.59237875e+00] [-1.53040896e-02 -1.51335046e-04 9.99882874e-01 -1.61234756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.544012738999996 meters Centerline goodness [0,1] 0.9920041717364854 Centerline is valid? [True, True] Translation: X:57.32, Y:-6.60, Z:-1.61 [[ 9.88628975e-01 1.49524573e-01 1.59734827e-02 5.73171548e+01] [-1.49507374e-01 9.88758000e-01 -2.27224411e-03 -6.59901559e+00] [-1.61336651e-02 -1.41747090e-04 9.99869834e-01 -1.61131627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.574012739 meters Centerline goodness [0,1] 0.9933781976618783 Centerline is valid? [True, True] Translation: X:57.35, Y:-6.61, Z:-1.61 [[ 9.88825552e-01 1.48256834e-01 1.56185168e-02 5.73478194e+01] [-1.48240240e-01 9.88948885e-01 -2.22125992e-03 -6.60724149e+00] [-1.57752317e-02 -1.18854115e-04 9.99875556e-01 -1.61259203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60401273899999 meters Centerline goodness [0,1] 0.9956459258305986 Centerline is valid? [True, True] Translation: X:57.38, Y:-6.62, Z:-1.62 [[ 9.89175279e-01 1.46051506e-01 1.41853671e-02 5.73764861e+01] [-1.46037587e-01 9.89276984e-01 -2.01779024e-03 -6.61722516e+00] [-1.43279585e-02 -7.56485487e-05 9.99897347e-01 -1.61675568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63401273899999 meters Centerline goodness [0,1] 0.9959302954865246 Centerline is valid? [True, True] Translation: X:57.41, Y:-6.62, Z:-1.62 [[ 9.89232664e-01 1.45642277e-01 1.43896911e-02 5.74070006e+01] [-1.45627908e-01 9.89337315e-01 -2.04698442e-03 -6.62245855e+00] [-1.45343858e-02 -7.05967545e-05 9.99894368e-01 -1.61661318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66401273899999 meters Centerline goodness [0,1] 0.9951232087997078 Centerline is valid? [True, True] Translation: X:57.44, Y:-6.62, Z:-1.62 [[ 9.89067795e-01 1.46717763e-01 1.47917498e-02 5.74367371e+01] [-1.46702694e-01 9.89178392e-01 -2.10458835e-03 -6.62360355e+00] [-1.49404597e-02 -8.84089821e-05 9.99888381e-01 -1.61541245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.694012738999994 meters Centerline goodness [0,1] 0.9941390678532182 Centerline is valid? [True, True] Translation: X:57.47, Y:-6.63, Z:-1.61 [[ 9.88971160e-01 1.47291485e-01 1.55326361e-02 5.74655953e+01] [-1.47274936e-01 9.89093124e-01 -2.21024196e-03 -6.62773889e+00] [-1.56887733e-02 -1.01702417e-04 9.99876918e-01 -1.61415273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.724012738999996 meters Centerline goodness [0,1] 0.9934444733871668 Centerline is valid? [True, True] Translation: X:57.50, Y:-6.64, Z:-1.61 [[ 9.88986678e-01 1.47145391e-01 1.59243438e-02 5.74960933e+01] [-1.47127982e-01 9.89114869e-01 -2.26570578e-03 -6.63586607e+00] [-1.60843934e-02 -1.02163741e-04 9.99870633e-01 -1.61212561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.754012739 meters Centerline goodness [0,1] 0.994274890392883 Centerline is valid? [True, True] Translation: X:57.53, Y:-6.64, Z:-1.61 [[ 9.89032562e-01 1.46915968e-01 1.51753061e-02 5.75259774e+01] [-1.46900126e-01 9.89148972e-01 -2.15951524e-03 -6.64007192e+00] [-1.53279057e-02 -9.34234859e-05 9.99882516e-01 -1.61487297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.784012739 meters Centerline goodness [0,1] 0.9956705223799007 Centerline is valid? [True, True] Translation: X:57.56, Y:-6.65, Z:-1.62 [[ 9.89094724e-01 1.46558680e-01 1.45664198e-02 5.75562415e+01] [-1.46544043e-01 9.89201974e-01 -2.07298612e-03 -6.64737926e+00] [-1.47129454e-02 -8.42424219e-05 9.99891755e-01 -1.61760504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81401273899999 meters Centerline goodness [0,1] 0.9946805115220121 Centerline is valid? [True, True] Translation: X:57.59, Y:-6.65, Z:-1.62 [[ 9.89012753e-01 1.47101862e-01 1.46566264e-02 5.75866233e+01] [-1.47087099e-01 9.89121344e-01 -2.08606722e-03 -6.65102598e+00] [-1.48040463e-02 -9.26535575e-05 9.99890410e-01 -1.61832236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84401273899999 meters Centerline goodness [0,1] 0.9944110152251654 Centerline is valid? [True, True] Translation: X:57.62, Y:-6.66, Z:-1.62 [[ 9.88969475e-01 1.47390887e-01 1.46732152e-02 5.76170151e+01] [-1.47376107e-01 9.89078317e-01 -2.08946411e-03 -6.65553820e+00] [-1.48209270e-02 -9.60651197e-05 9.99890159e-01 -1.61830104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.874012738999994 meters Centerline goodness [0,1] 0.9960447266585423 Centerline is valid? [True, True] Translation: X:57.65, Y:-6.66, Z:-1.62 [[ 9.88999611e-01 1.47271339e-01 1.38174623e-02 5.76456980e+01] [-1.47258221e-01 9.89096125e-01 -1.96765596e-03 -6.65975812e+00] [-1.39565778e-02 -8.87239357e-05 9.99902598e-01 -1.62077236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.904012738999995 meters Centerline goodness [0,1] 0.9957776671069442 Centerline is valid? [True, True] Translation: X:57.68, Y:-6.67, Z:-1.62 [[ 9.89079006e-01 1.46772720e-01 1.34346242e-02 5.76762803e+01] [-1.46760276e-01 9.89170239e-01 -1.91282015e-03 -6.66760228e+00] [-1.35698803e-02 -7.97389085e-05 9.99907922e-01 -1.62153930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.934012738999996 meters Centerline goodness [0,1] 0.9967376373626373 Centerline is valid? [True, True] Translation: X:57.71, Y:-6.68, Z:-1.62 [[ 9.89414409e-01 1.44510573e-01 1.32597801e-02 5.77058836e+01] [-1.44498249e-01 9.89503255e-01 -1.88787896e-03 -6.67917146e+00] [-1.33934140e-02 -4.81203613e-05 9.99910303e-01 -1.62236506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.964012739 meters Centerline goodness [0,1] 0.9977433493902703 Centerline is valid? [True, True] Translation: X:57.74, Y:-6.69, Z:-1.62 [[ 9.89628147e-01 1.42985696e-01 1.38282557e-02 5.77362443e+01] [-1.42972119e-01 9.89724755e-01 -1.97051756e-03 -6.68711610e+00] [-1.39679228e-02 -2.69753791e-05 9.99902443e-01 -1.62181244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99401273899999 meters Centerline goodness [0,1] 0.9976968037720271 Centerline is valid? [True, True] Translation: X:57.77, Y:-6.70, Z:-1.62 [[ 9.89956187e-01 1.40554339e-01 1.52061195e-02 5.77670018e+01] [-1.40537636e-01 9.90072966e-01 -2.16682290e-03 -6.70023307e+00] [-1.53597241e-02 8.02766230e-06 9.99882032e-01 -1.61962936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02401273899999 meters Centerline goodness [0,1] 0.9981378832496103 Centerline is valid? [True, True] Translation: X:57.80, Y:-6.71, Z:-1.62 [[ 9.90045992e-01 1.39952014e-01 1.49120012e-02 5.77988871e+01] [-1.39935848e-01 9.90158287e-01 -2.12721950e-03 -6.70891329e+00] [-1.50629503e-02 1.93216052e-05 9.99886547e-01 -1.62070920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.054012738999994 meters Centerline goodness [0,1] 0.9982343568321778 Centerline is valid? [True, True] Translation: X:57.83, Y:-6.71, Z:-1.62 [[ 9.90012153e-01 1.40234959e-01 1.44945634e-02 5.78306909e+01] [-1.40219676e-01 9.90118254e-01 -2.07034768e-03 -6.71488567e+00] [-1.46416669e-02 1.72463747e-05 9.99892805e-01 -1.62173425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084012738999995 meters Centerline goodness [0,1] 0.9984359600634186 Centerline is valid? [True, True] Translation: X:57.86, Y:-6.72, Z:-1.62 [[ 9.89739741e-01 1.42228701e-01 1.36470606e-02 5.78624472e+01] [-1.42215313e-01 9.89833823e-01 -1.95149935e-03 -6.71752377e+00] [-1.37858814e-02 -9.34452822e-06 9.99904970e-01 -1.62423370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.114012738999996 meters Centerline goodness [0,1] 0.9975058622894906 Centerline is valid? [True, True] Translation: X:57.89, Y:-6.72, Z:-1.62 [[ 9.89382389e-01 1.44660421e-01 1.39946889e-02 5.78931564e+01] [-1.44646544e-01 9.89481360e-01 -2.00408849e-03 -6.71975222e+00] [-1.41373961e-02 -4.14735429e-05 9.99900061e-01 -1.62434714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144012739 meters Centerline goodness [0,1] 0.9929421859916336 Centerline is valid? [True, True] Translation: X:57.92, Y:-6.72, Z:-1.62 [[ 9.88487597e-01 1.50539798e-01 1.51670910e-02 5.79242458e+01] [-1.50524162e-01 9.88603941e-01 -2.17376645e-03 -6.71636999e+00] [-1.53214842e-02 -1.34272491e-04 9.99882610e-01 -1.62156535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17401273899999 meters Centerline goodness [0,1] 0.9913556413556414 Centerline is valid? [True, True] Translation: X:57.96, Y:-6.72, Z:-1.62 [[ 9.88052971e-01 1.53402498e-01 1.47986565e-02 5.79550483e+01] [-1.53387934e-01 9.88163773e-01 -2.12096196e-03 -6.71533981e+00] [-1.49488571e-02 -1.74312584e-04 9.99888244e-01 -1.62218103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20401273899999 meters Centerline goodness [0,1] 0.990070647023348 Centerline is valid? [True, True] Translation: X:57.99, Y:-6.71, Z:-1.63 [[ 9.87161771e-01 1.59233805e-01 1.24993185e-02 5.79854973e+01] [-1.59223880e-01 9.87240876e-01 -1.79155009e-03 -6.70767763e+00] [-1.26251135e-02 -2.21640228e-04 9.99920276e-01 -1.62689554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23401273899999 meters Centerline goodness [0,1] 0.9901211515914716 Centerline is valid? [True, True] Translation: X:58.02, Y:-6.71, Z:-1.63 [[ 9.86871298e-01 1.61060317e-01 1.20255928e-02 5.80156647e+01] [-1.61051269e-01 9.86944537e-01 -1.72339220e-03 -6.70854859e+00] [-1.21461632e-02 -2.35970680e-04 9.99926205e-01 -1.62891387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264012738999995 meters Centerline goodness [0,1] 0.9896688911704312 Centerline is valid? [True, True] Translation: X:58.04, Y:-6.71, Z:-1.63 [[ 9.86728414e-01 1.61931371e-01 1.20526887e-02 5.80443415e+01] [-1.61922349e-01 9.86801991e-01 -1.72714412e-03 -6.71101111e+00] [-1.21732960e-02 -2.47377496e-04 9.99925872e-01 -1.62924930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.294012738999996 meters Centerline goodness [0,1] 0.9895466666666667 Centerline is valid? [True, True] Translation: X:58.07, Y:-6.71, Z:-1.63 [[ 9.86682460e-01 1.62198957e-01 1.22156512e-02 5.80723787e+01] [-1.62189716e-01 9.86758042e-01 -1.75000545e-03 -6.71138587e+00] [-1.23377411e-02 -2.54553319e-04 9.99923855e-01 -1.62976441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.324012739 meters Centerline goodness [0,1] 0.989166898143202 Centerline is valid? [True, True] Translation: X:58.10, Y:-6.71, Z:-1.63 [[ 9.86713319e-01 1.61997490e-01 1.23951163e-02 5.81009465e+01] [-1.61987969e-01 9.86791137e-01 -1.77494144e-03 -6.71422750e+00] [-1.25189269e-02 -2.56501354e-04 9.99921602e-01 -1.62923041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35401273899999 meters Centerline goodness [0,1] 0.9877007174581482 Centerline is valid? [True, True] Translation: X:58.13, Y:-6.72, Z:-1.63 [[ 9.86757354e-01 1.61572704e-01 1.42893810e-02 5.81295886e+01] [-1.61560017e-01 9.86860769e-01 -2.04543721e-03 -6.71748359e+00] [-1.44321164e-02 -2.90242431e-04 9.99895809e-01 -1.62620436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38401273899999 meters Centerline goodness [0,1] 0.9878804719562243 Centerline is valid? [True, True] Translation: X:58.16, Y:-6.72, Z:-1.62 [[ 9.86838024e-01 1.61009544e-01 1.50546378e-02 5.81582392e+01] [-1.60995407e-01 9.86952804e-01 -2.15427390e-03 -6.72071166e+00] [-1.52050757e-02 -2.97808144e-04 9.99884352e-01 -1.62472909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41401273899999 meters Centerline goodness [0,1] 0.9876822095303043 Centerline is valid? [True, True] Translation: X:58.19, Y:-6.72, Z:-1.62 [[ 9.87093452e-01 1.59326404e-01 1.61744773e-02 5.81859373e+01] [-1.59309872e-01 9.87225917e-01 -2.31377433e-03 -6.72344423e+00] [-1.63365085e-02 -2.92842410e-04 9.99866507e-01 -1.62297265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444012738999994 meters Centerline goodness [0,1] 0.9884560815168322 Centerline is valid? [True, True] Translation: X:58.22, Y:-6.73, Z:-1.62 [[ 9.87198954e-01 1.58619673e-01 1.66740417e-02 5.82150717e+01] [-1.58602019e-01 9.87339716e-01 -2.38424651e-03 -6.73144900e+00] [-1.68411320e-02 -2.90811035e-04 9.99858136e-01 -1.62192219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.474012738999996 meters Centerline goodness [0,1] 0.9874144830256874 Centerline is valid? [True, True] Translation: X:58.24, Y:-6.73, Z:-1.62 [[ 9.87307832e-01 1.57900077e-01 1.70531828e-02 5.82444307e+01] [-1.57881511e-01 9.87455054e-01 -2.43806490e-03 -6.73131717e+00] [-1.72242222e-02 -2.85261693e-04 9.99851611e-01 -1.62225154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.504012739 meters Centerline goodness [0,1] 0.988382599716019 Centerline is valid? [True, True] Translation: X:58.27, Y:-6.73, Z:-1.62 [[ 9.87504959e-01 1.56678611e-01 1.69047232e-02 5.82733575e+01] [-1.56660198e-01 9.87649606e-01 -2.41624926e-03 -6.73413087e+00] [-1.70745178e-02 -2.62239161e-04 9.99854185e-01 -1.62357646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.534012739 meters Centerline goodness [0,1] 0.9903263224705084 Centerline is valid? [True, True] Translation: X:58.30, Y:-6.74, Z:-1.62 [[ 9.87590300e-01 1.56176308e-01 1.65638158e-02 5.83028641e+01] [-1.56158569e-01 9.87729163e-01 -2.36694351e-03 -6.74431166e+00] [-1.67302244e-02 -2.49011322e-04 9.99860009e-01 -1.62476293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56401273899999 meters Centerline goodness [0,1] 0.9900287343997941 Centerline is valid? [True, True] Translation: X:58.33, Y:-6.75, Z:-1.62 [[ 9.87796981e-01 1.54850616e-01 1.66856811e-02 5.83323191e+01] [-1.54832425e-01 9.87937870e-01 -2.38437792e-03 -6.74624033e+00] [-1.68536386e-02 -2.28203156e-04 9.99857941e-01 -1.62473458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59401273899999 meters Centerline goodness [0,1] 0.989552334667837 Centerline is valid? [True, True] Translation: X:58.36, Y:-6.75, Z:-1.62 [[ 9.87887347e-01 1.54255684e-01 1.68455887e-02 5.83606764e+01] [-1.54237061e-01 9.88030938e-01 -2.40703522e-03 -6.74753147e+00] [-1.70152617e-02 -2.20334457e-04 9.99855206e-01 -1.62460952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624012738999994 meters Centerline goodness [0,1] 0.9916793876717336 Centerline is valid? [True, True] Translation: X:58.39, Y:-6.75, Z:-1.63 [[ 9.87919500e-01 1.54156849e-01 1.58343992e-02 5.83907307e+01] [-1.54140387e-01 9.88046367e-01 -2.26218169e-03 -6.75355525e+00] [-1.59938514e-02 -2.05867024e-04 9.99872069e-01 -1.62712239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.654012738999995 meters Centerline goodness [0,1] 0.9905115247659865 Centerline is valid? [True, True] Translation: X:58.42, Y:-6.75, Z:-1.63 [[ 9.87836683e-01 1.54762464e-01 1.50753795e-02 5.84198945e+01] [-1.54747611e-01 9.87951688e-01 -2.15385905e-03 -6.75145719e+00] [-1.52270831e-02 -2.05217983e-04 9.99884040e-01 -1.63029388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.684012738999996 meters Centerline goodness [0,1] 0.9905115247659865 Centerline is valid? [True, True] Translation: X:58.45, Y:-6.76, Z:-1.63 [[ 9.87843123e-01 1.54721344e-01 1.50754505e-02 5.84479505e+01] [-1.54706494e-01 9.87958129e-01 -2.15336219e-03 -6.75536713e+00] [-1.52270849e-02 -2.05086060e-04 9.99884040e-01 -1.63081860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.714012739 meters Centerline goodness [0,1] 0.9905927227531822 Centerline is valid? [True, True] Translation: X:58.48, Y:-6.76, Z:-1.63 [[ 9.87732596e-01 1.55426571e-01 1.50632187e-02 5.84765755e+01] [-1.55411837e-01 9.87847425e-01 -2.15098335e-03 -6.75940639e+00] [-1.52144817e-02 -2.16406114e-04 9.99884230e-01 -1.63105507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74401273899999 meters Centerline goodness [0,1] 0.9909830420934836 Centerline is valid? [True, True] Translation: X:58.51, Y:-6.76, Z:-1.63 [[ 9.87626326e-01 1.55980881e-01 1.62544086e-02 5.85062110e+01] [-1.55963813e-01 9.87760045e-01 -2.32024627e-03 -6.76355220e+00] [-1.64173694e-02 -2.43563247e-04 9.99865196e-01 -1.62947616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77401273899999 meters Centerline goodness [0,1] 0.9912554112554113 Centerline is valid? [True, True] Translation: X:58.54, Y:-6.77, Z:-1.63 [[ 9.87719535e-01 1.55362619e-01 1.65099142e-02 5.85357931e+01] [-1.55344931e-01 9.87857480e-01 -2.35631452e-03 -6.76904500e+00] [-1.66755255e-02 -2.37353606e-04 9.99860926e-01 -1.63000567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804012738999994 meters Centerline goodness [0,1] 0.9924770250053431 Centerline is valid? [True, True] Translation: X:58.56, Y:-6.78, Z:-1.63 [[ 9.88103574e-01 1.52971244e-01 1.58469501e-02 5.85639550e+01] [-1.52954647e-01 9.88230622e-01 -2.26130141e-03 -6.77946399e+00] [-1.60063554e-02 -1.89464644e-04 9.99871872e-01 -1.63186743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.834012738999995 meters Centerline goodness [0,1] 0.9932813875115376 Centerline is valid? [True, True] Translation: X:58.59, Y:-6.79, Z:-1.63 [[ 9.88340658e-01 1.51511174e-01 1.50701158e-02 5.85940919e+01] [-1.51495997e-01 9.88455532e-01 -2.15024008e-03 -6.78712517e+00] [-1.52219247e-02 -1.57892522e-04 9.99884127e-01 -1.63379191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.864012738999996 meters Centerline goodness [0,1] 0.9946903033806496 Centerline is valid? [True, True] Translation: X:58.62, Y:-6.79, Z:-1.64 [[ 9.88571505e-01 1.50050635e-01 1.45322682e-02 5.86231980e+01] [-1.50036364e-01 9.88678305e-01 -2.07354387e-03 -6.79128597e+00] [-1.46788748e-02 -1.30522292e-04 9.99892251e-01 -1.63695943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.894012739 meters Centerline goodness [0,1] 0.9966491558034459 Centerline is valid? [True, True] Translation: X:58.65, Y:-6.80, Z:-1.64 [[ 9.88889257e-01 1.47974030e-01 1.42029629e-02 5.86533324e+01] [-1.47960189e-01 9.88991242e-01 -2.02624316e-03 -6.80186347e+00] [-1.43464373e-02 -9.77429809e-05 9.99897080e-01 -1.63816518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92401273899999 meters Centerline goodness [0,1] 0.9961232879630222 Centerline is valid? [True, True] Translation: X:58.68, Y:-6.81, Z:-1.64 [[ 9.89049297e-01 1.46858549e-01 1.46305875e-02 5.86835018e+01] [-1.46843734e-01 9.89157500e-01 -2.08762003e-03 -6.80863835e+00] [-1.47785402e-02 -8.36509903e-05 9.99890788e-01 -1.63787357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95401273899999 meters Centerline goodness [0,1] 0.9964013366463885 Centerline is valid? [True, True] Translation: X:58.71, Y:-6.81, Z:-1.64 [[ 9.89161483e-01 1.46067647e-01 1.49600315e-02 5.87136106e+01] [-1.46052061e-01 9.89274601e-01 -2.13504443e-03 -6.81259073e+00] [-1.51114401e-02 -7.30397159e-05 9.99885813e-01 -1.63991643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98401273899999 meters Centerline goodness [0,1] 0.9975159841022982 Centerline is valid? [True, True] Translation: X:58.74, Y:-6.82, Z:-1.64 [[ 9.89341523e-01 1.44830184e-01 1.50853936e-02 5.87449950e+01] [-1.44814196e-01 9.89456525e-01 -2.15260190e-03 -6.82253779e+00] [-1.52381029e-02 -5.49207200e-05 9.99883892e-01 -1.63877864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.014012738999995 meters Centerline goodness [0,1] 0.9985615835462333 Centerline is valid? [True, True] Translation: X:58.77, Y:-6.84, Z:-1.64 [[ 9.89825604e-01 1.41515891e-01 1.47826175e-02 5.87746096e+01] [-1.41500133e-01 9.89935984e-01 -2.11179192e-03 -6.83883239e+00] [-1.49326971e-02 -1.43663035e-06 9.99888501e-01 -1.64061340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.044012738999996 meters Centerline goodness [0,1] 0.9987115062491947 Centerline is valid? [True, True] Translation: X:58.81, Y:-6.85, Z:-1.64 [[ 9.90046543e-01 1.39952058e-01 1.48749232e-02 5.88069200e+01] [-1.39935886e-01 9.90158281e-01 -2.12763890e-03 -6.84949037e+00] [-1.50262959e-02 2.49259709e-05 9.99887099e-01 -1.64104557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.074012739 meters Centerline goodness [0,1] 0.9990288747895896 Centerline is valid? [True, True] Translation: X:58.84, Y:-6.86, Z:-1.64 [[ 9.90302707e-01 1.38064215e-01 1.54538077e-02 5.88382738e+01] [-1.38046482e-01 9.90423278e-01 -2.21354871e-03 -6.86101946e+00] [-1.56114227e-02 5.87394999e-05 9.99878133e-01 -1.64047089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10401273899999 meters Centerline goodness [0,1] 0.9989275909402883 Centerline is valid? [True, True] Translation: X:58.87, Y:-6.87, Z:-1.64 [[ 9.90279384e-01 1.38203729e-01 1.56993970e-02 5.88706669e+01] [-1.38185395e-01 9.90403820e-01 -2.25184526e-03 -6.86851179e+00] [-1.58599562e-02 6.05285547e-05 9.99874221e-01 -1.64082330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13401273899999 meters Centerline goodness [0,1] 0.998935717326522 Centerline is valid? [True, True] Translation: X:58.90, Y:-6.88, Z:-1.64 [[ 9.90126017e-01 1.39185698e-01 1.66676958e-02 5.89016169e+01] [-1.39165114e-01 9.90266297e-01 -2.39421862e-03 -6.88018144e+00] [-1.68386984e-02 5.10163683e-05 9.99858218e-01 -1.63866061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16401273899999 meters Centerline goodness [0,1] 0.9984208616973603 Centerline is valid? [True, True] Translation: X:58.93, Y:-6.89, Z:-1.64 [[ 9.89857832e-01 1.41021378e-01 1.71593439e-02 5.89342061e+01] [-1.40999782e-01 9.90006551e-01 -2.46804947e-03 -6.88522109e+00] [-1.73359106e-02 2.35543632e-05 9.99849722e-01 -1.63798302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.194012738999994 meters Centerline goodness [0,1] 0.9972425084555893 Centerline is valid? [True, True] Translation: X:58.97, Y:-6.89, Z:-1.64 [[ 9.89428083e-01 1.43947508e-01 1.76403744e-02 5.89669156e+01] [-1.43925086e-01 9.89585324e-01 -2.54069091e-03 -6.88829685e+00] [-1.78223818e-02 -2.50614714e-05 9.99841168e-01 -1.63828677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.224012738999996 meters Centerline goodness [0,1] 0.9938687004635861 Centerline is valid? [True, True] Translation: X:59.00, Y:-6.89, Z:-1.64 [[ 9.88629576e-01 1.49297174e-01 1.79419938e-02 5.89980463e+01] [-1.49274796e-01 9.88792364e-01 -2.58765037e-03 -6.88912467e+00] [-1.81272353e-02 -1.20059770e-04 9.99835681e-01 -1.63809857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.254012739 meters Centerline goodness [0,1] 0.9928415277122894 Centerline is valid? [True, True] Translation: X:59.03, Y:-6.89, Z:-1.64 [[ 9.88338280e-01 1.51180275e-01 1.82200046e-02 5.90294440e+01] [-1.51157487e-01 9.88506196e-01 -2.62940033e-03 -6.89255074e+00] [-1.84081009e-02 -1.55353113e-04 9.99830544e-01 -1.63858098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.284012739 meters Centerline goodness [0,1] 0.9907926083317237 Centerline is valid? [True, True] Translation: X:59.06, Y:-6.90, Z:-1.64 [[ 9.87876199e-01 1.54165933e-01 1.82614541e-02 5.90613979e+01] [-1.54143500e-01 9.88044949e-01 -2.63816892e-03 -6.89576580e+00] [-1.84498533e-02 -2.08700166e-04 9.99829765e-01 -1.63856134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31401273899999 meters Centerline goodness [0,1] 0.9911700253512654 Centerline is valid? [True, True] Translation: X:59.09, Y:-6.90, Z:-1.64 [[ 9.87649829e-01 1.55638193e-01 1.80157815e-02 5.90934214e+01] [-1.55616550e-01 9.87814102e-01 -2.60560729e-03 -6.89850023e+00] [-1.82017750e-02 -2.30126173e-04 9.99834307e-01 -1.63999330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34401273899999 meters Centerline goodness [0,1] 0.9904479934302941 Centerline is valid? [True, True] Translation: X:59.13, Y:-6.90, Z:-1.64 [[ 9.87117308e-01 1.59070552e-01 1.72040635e-02 5.91253422e+01] [-1.59051288e-01 9.87267179e-01 -2.49102721e-03 -6.89867327e+00] [-1.73812563e-02 -2.77392384e-04 9.99848896e-01 -1.64233871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.374012738999994 meters Centerline goodness [0,1] 0.988894119661046 Centerline is valid? [True, True] Translation: X:59.16, Y:-6.90, Z:-1.64 [[ 9.86780029e-01 1.61216763e-01 1.65629132e-02 5.91567659e+01] [-1.61199189e-01 9.86918975e-01 -2.39946039e-03 -6.89815141e+00] [-1.67330865e-02 -3.02188582e-04 9.99859946e-01 -1.64392307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.404012738999995 meters Centerline goodness [0,1] 0.9885405405405405 Centerline is valid? [True, True] Translation: X:59.19, Y:-6.90, Z:-1.64 [[ 9.86329567e-01 1.63970351e-01 1.63618453e-02 5.91878523e+01] [-1.63953533e-01 9.86465208e-01 -2.37313748e-03 -6.89738865e+00] [-1.65295153e-02 -3.41886685e-04 9.99863320e-01 -1.64485858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.434012738999996 meters Centerline goodness [0,1] 0.9881088546949522 Centerline is valid? [True, True] Translation: X:59.22, Y:-6.90, Z:-1.64 [[ 9.86085389e-01 1.65388451e-01 1.68007667e-02 5.92172239e+01] [-1.65370925e-01 9.86228432e-01 -2.43674634e-03 -6.89746973e+00] [-1.69724035e-02 -3.75518371e-04 9.99855888e-01 -1.64469194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464012739 meters Centerline goodness [0,1] 0.986837027826609 Centerline is valid? [True, True] Translation: X:59.25, Y:-6.89, Z:-1.64 [[ 9.85471922e-01 1.68830337e-01 1.84772108e-02 5.92477702e+01] [-1.68809731e-01 9.85645012e-01 -2.68058782e-03 -6.89493861e+00] [-1.86645352e-02 -4.77488948e-04 9.99825688e-01 -1.64236505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49401273899999 meters Centerline goodness [0,1] 0.9853258893238358 Centerline is valid? [True, True] Translation: X:59.28, Y:-6.89, Z:-1.64 [[ 9.85108609e-01 1.70896095e-01 1.88561348e-02 5.92775105e+01] [-1.70875017e-01 9.85288915e-01 -2.73533050e-03 -6.89321035e+00] [-1.90461979e-02 -5.27444726e-04 9.99818466e-01 -1.64157653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52401273899999 meters Centerline goodness [0,1] 0.9846850131914803 Centerline is valid? [True, True] Translation: X:59.31, Y:-6.89, Z:-1.64 [[ 9.84716623e-01 1.73100539e-01 1.92191707e-02 5.93079897e+01] [-1.73079069e-01 9.84903988e-01 -2.78756061e-03 -6.89328063e+00] [-1.94115661e-02 -5.81478907e-04 9.99811409e-01 -1.64167996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.554012738999994 meters Centerline goodness [0,1] 0.9772195383789587 Centerline is valid? [True, True] Translation: X:59.34, Y:-6.88, Z:-1.64 [[ 9.83797199e-01 1.78296904e-01 1.87959010e-02 5.93389379e+01] [-1.78277317e-01 9.83976507e-01 -2.72614656e-03 -6.88222240e+00] [-1.89807885e-02 -6.68907450e-04 9.99819625e-01 -1.64240809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584012738999995 meters Centerline goodness [0,1] 0.9589868611248948 Centerline is valid? [True, True] Translation: X:59.37, Y:-6.87, Z:-1.64 [[ 9.82871892e-01 1.83456029e-01 1.75136978e-02 5.93710321e+01] [-1.83439840e-01 9.83027656e-01 -2.54020057e-03 -6.87389515e+00] [-1.76824644e-02 -7.16018168e-04 9.99843397e-01 -1.64494504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.614012738999996 meters Centerline goodness [0,1] 0.9283546360022229 Centerline is valid? [True, False] Translation: X:59.37, Y:-6.87, Z:-1.65 [[ 9.82943355e-01 1.83094591e-01 1.72838240e-02 5.93722733e+01] [-1.83056865e-01 9.83095160e-01 -3.75365703e-03 -6.86763833e+00] [-1.76789180e-02 5.25709605e-04 9.99843578e-01 -1.64520281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644012739 meters Centerline goodness [0,1] 0.9393861619078173 Centerline is valid? [False, False] Translation: X:59.37, Y:-6.86, Z:-1.65 [[ 9.83023473e-01 1.82679978e-01 1.71136691e-02 5.93731289e+01] [-1.82621630e-01 9.83170931e-01 -4.92555988e-03 -6.86163920e+00] [-1.77254632e-02 1.71661482e-03 9.99841418e-01 -1.64519375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67401273899999 meters Centerline goodness [0,1] 0.9287469817178338 Centerline is valid? [False, False] Translation: X:59.31, Y:-6.85, Z:-1.64 [[ 9.83604676e-01 1.79490064e-01 1.74687962e-02 5.93073705e+01] [-1.79533039e-01 9.83751522e-01 9.10935444e-04 -6.84557014e+00] [-1.70214510e-02 -4.03222644e-03 9.99846994e-01 -1.64251201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70401273899999 meters Centerline goodness [0,1] 0.9664878781377387 Centerline is valid? [False, True] Translation: X:59.31, Y:-6.84, Z:-1.64 [[ 9.84402568e-01 1.75139811e-01 1.66622495e-02 5.93079646e+01] [-1.75080452e-01 9.84541595e-01 -4.96828950e-03 -6.83643842e+00] [-1.72748230e-02 1.97356277e-03 9.99848831e-01 -1.64220554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73401273899999 meters Centerline goodness [0,1] 0.9778822822049003 Centerline is valid? [True, True] Translation: X:59.34, Y:-6.84, Z:-1.64 [[ 9.85051979e-01 1.71270932e-01 1.84083067e-02 5.93370800e+01] [-1.71254781e-01 9.85223700e-01 -2.46189862e-03 -6.83827370e+00] [-1.85579517e-02 -7.27412429e-04 9.99827522e-01 -1.64141454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764012738999995 meters Centerline goodness [0,1] 0.9742519583921921 Centerline is valid? [True, True] Translation: X:59.37, Y:-6.84, Z:-1.64 [[ 9.85494983e-01 1.68751587e-01 1.79594214e-02 5.93667696e+01] [-1.68735803e-01 9.85658390e-01 -2.40157109e-03 -6.83722913e+00] [-1.81071233e-02 -6.63661126e-04 9.99835832e-01 -1.64290716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.794012738999996 meters Centerline goodness [0,1] 0.9863057872559979 Centerline is valid? [True, True] Translation: X:59.40, Y:-6.85, Z:-1.65 [[ 9.86492697e-01 1.63070297e-01 1.54996118e-02 5.93962997e+01] [-1.63057844e-01 9.86614335e-01 -2.07230456e-03 -6.84550500e+00] [-1.56300705e-02 -4.83019963e-04 9.99877726e-01 -1.64861803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824012739 meters Centerline goodness [0,1] 0.9885396695461106 Centerline is valid? [True, True] Translation: X:59.43, Y:-6.85, Z:-1.65 [[ 9.87010472e-01 1.59968222e-01 1.48491293e-02 5.94257531e+01] [-1.59956442e-01 9.87122077e-01 -1.98532368e-03 -6.85256913e+00] [-1.49754921e-02 -4.15678625e-04 9.99887775e-01 -1.65042960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85401273899999 meters Centerline goodness [0,1] 0.9886922004076816 Centerline is valid? [True, True] Translation: X:59.45, Y:-6.86, Z:-1.65 [[ 9.87818192e-01 1.54809411e-01 1.57881421e-02 5.94541489e+01] [-1.54795438e-01 9.87944289e-01 -2.11068595e-03 -6.85648606e+00] [-1.59245589e-02 -3.58958399e-04 9.99873132e-01 -1.64925434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88401273899999 meters Centerline goodness [0,1] 0.9887696261581324 Centerline is valid? [True, True] Translation: X:59.48, Y:-6.87, Z:-1.65 [[ 9.88156821e-01 1.52472698e-01 1.72676986e-02 5.94821719e+01] [-1.52455638e-01 9.88307620e-01 -2.30781218e-03 -6.86868994e+00] [-1.74176765e-02 -3.52077663e-04 9.99848239e-01 -1.64704727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91401273899999 meters Centerline goodness [0,1] 0.9894107600341588 Centerline is valid? [True, True] Translation: X:59.51, Y:-6.87, Z:-1.65 [[ 9.88412418e-01 1.50734316e-01 1.78901786e-02 5.95103359e+01] [-1.50715731e-01 9.88574254e-01 -2.39033896e-03 -6.87484286e+00] [-1.80460761e-02 -3.33690642e-04 9.99837101e-01 -1.64579939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944012738999994 meters Centerline goodness [0,1] 0.9894635605898696 Centerline is valid? [True, True] Translation: X:59.54, Y:-6.88, Z:-1.65 [[ 9.88699900e-01 1.48771059e-01 1.84303928e-02 5.95385419e+01] [-1.48751011e-01 9.88871618e-01 -2.46163096e-03 -6.87757450e+00] [-1.85915118e-02 -3.07725267e-04 9.99827116e-01 -1.64638555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.974012738999996 meters Centerline goodness [0,1] 0.9890684715075688 Centerline is valid? [True, True] Translation: X:59.57, Y:-6.88, Z:-1.65 [[ 9.88866328e-01 1.47713714e-01 1.80012087e-02 5.95665262e+01] [-1.47694428e-01 9.89030121e-01 -2.40349168e-03 -6.88150775e+00] [-1.81587662e-02 -2.81946213e-04 9.99835076e-01 -1.64734377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004012739 meters Centerline goodness [0,1] 0.9910693201090574 Centerline is valid? [True, True] Translation: X:59.59, Y:-6.89, Z:-1.65 [[ 9.89189711e-01 1.45696892e-01 1.66171946e-02 5.95946938e+01] [-1.45680185e-01 9.89329250e-01 -2.21803538e-03 -6.89072101e+00] [-1.67630375e-02 -2.26738199e-04 9.99859465e-01 -1.65084626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.034012739 meters Centerline goodness [0,1] 0.9928733889310083 Centerline is valid? [True, True] Translation: X:59.62, Y:-6.90, Z:-1.65 [[ 9.89344064e-01 1.44722515e-01 1.59284707e-02 5.96235662e+01] [-1.44707048e-01 9.89472260e-01 -2.12543980e-03 -6.90067399e+00] [-1.60683789e-02 -2.02170720e-04 9.99870875e-01 -1.65288806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06401273899999 meters Centerline goodness [0,1] 0.9942318453790194 Centerline is valid? [True, True] Translation: X:59.65, Y:-6.91, Z:-1.65 [[ 9.89514622e-01 1.43564689e-01 1.58111701e-02 5.96521570e+01] [-1.43549307e-01 9.89640918e-01 -2.10941216e-03 -6.90827181e+00] [-1.59502180e-02 -1.82388338e-04 9.99872771e-01 -1.65466588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09401273899999 meters Centerline goodness [0,1] 0.9937528080272138 Centerline is valid? [True, True] Translation: X:59.68, Y:-6.91, Z:-1.65 [[ 9.89509436e-01 1.43507895e-01 1.66301173e-02 5.96824763e+01] [-1.43490878e-01 9.89649154e-01 -2.21825330e-03 -6.91401870e+00] [-1.67763184e-02 -1.91287556e-04 9.99859249e-01 -1.65362531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124012738999994 meters Centerline goodness [0,1] 0.9924579677572719 Centerline is valid? [True, True] Translation: X:59.71, Y:-6.92, Z:-1.65 [[ 9.89449500e-01 1.43851289e-01 1.72189788e-02 5.97121719e+01] [-1.43833097e-01 9.89599295e-01 -2.29679204e-03 -6.91806575e+00] [-1.73702858e-02 -2.04099306e-04 9.99849104e-01 -1.65239527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.154012738999995 meters Centerline goodness [0,1] 0.9921819778525072 Centerline is valid? [True, True] Translation: X:59.74, Y:-6.92, Z:-1.65 [[ 9.89195598e-01 1.45792330e-01 1.53839270e-02 5.97410203e+01] [-1.45778045e-01 9.89315193e-01 -2.05187533e-03 -6.91776066e+00] [-1.55187004e-02 -2.12932761e-04 9.99879555e-01 -1.65499635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.184012738999996 meters Centerline goodness [0,1] 0.9927842800386556 Centerline is valid? [True, True] Translation: X:59.77, Y:-6.92, Z:-1.66 [[ 9.88892806e-01 1.47931978e-01 1.43926297e-02 5.97705882e+01] [-1.47919708e-01 9.88997511e-01 -1.91926203e-03 -6.92021420e+00] [-1.45181952e-02 -2.31009171e-04 9.99894579e-01 -1.65776104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.214012739 meters Centerline goodness [0,1] 0.9907114116942043 Centerline is valid? [True, True] Translation: X:59.80, Y:-6.92, Z:-1.66 [[ 9.88259414e-01 1.52082153e-01 1.46406936e-02 5.97999903e+01] [-1.52069916e-01 9.88367811e-01 -1.95200572e-03 -6.91691446e+00] [-1.47672555e-02 -2.97321025e-04 9.99890914e-01 -1.65997406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24401273899999 meters Centerline goodness [0,1] 0.9896880639340037 Centerline is valid? [True, True] Translation: X:59.83, Y:-6.92, Z:-1.66 [[ 9.88085349e-01 1.53052952e-01 1.61906421e-02 5.98289922e+01] [-1.53038127e-01 9.88217929e-01 -2.15802037e-03 -6.92058265e+00] [-1.63301742e-02 -3.45477228e-04 9.99866594e-01 -1.65758245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27401273899999 meters Centerline goodness [0,1] 0.9885595202653851 Centerline is valid? [True, True] Translation: X:59.86, Y:-6.92, Z:-1.66 [[ 9.88031182e-01 1.53311434e-01 1.70290357e-02 5.98566544e+01] [-1.53295087e-01 9.88177853e-01 -2.26891468e-03 -6.92079682e+00] [-1.71755665e-02 -3.68709050e-04 9.99852421e-01 -1.65571839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304012738999994 meters Centerline goodness [0,1] 0.9898796021636712 Centerline is valid? [True, True] Translation: X:59.88, Y:-6.93, Z:-1.66 [[ 9.88240598e-01 1.51998800e-01 1.66398855e-02 5.98840987e+01] [-1.51983021e-01 9.88380620e-01 -2.21610595e-03 -6.93000212e+00] [-1.67833858e-02 -3.38934209e-04 9.99859092e-01 -1.65798439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.334012738999995 meters Centerline goodness [0,1] 0.9908151549942594 Centerline is valid? [True, True] Translation: X:59.91, Y:-6.94, Z:-1.66 [[ 9.88334132e-01 1.51581855e-01 1.47846197e-02 5.99123751e+01] [-1.51569363e-01 9.88444664e-01 -1.96836935e-03 -6.93982118e+00] [-1.49121476e-02 -2.95488775e-04 9.99888764e-01 -1.66224751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.364012738999996 meters Centerline goodness [0,1] 0.9895666303209116 Centerline is valid? [True, True] Translation: X:59.94, Y:-6.94, Z:-1.66 [[ 9.88272956e-01 1.51972756e-01 1.48608888e-02 5.99408515e+01] [-1.51960183e-01 9.88384636e-01 -1.97817699e-03 -6.94251869e+00] [-1.49889031e-02 -3.03284559e-04 9.99887614e-01 -1.66248533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.394012739 meters Centerline goodness [0,1] 0.989396551724138 Centerline is valid? [True, True] Translation: X:59.97, Y:-6.95, Z:-1.66 [[ 9.88162327e-01 1.52640067e-01 1.53696335e-02 5.99696581e+01] [-1.52626708e-01 9.88281794e-01 -2.04532639e-03 -6.94562177e+00] [-1.55017277e-02 -3.24702081e-04 9.99879788e-01 -1.66104042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42401273899999 meters Centerline goodness [0,1] 0.9891194058850198 Centerline is valid? [True, True] Translation: X:60.00, Y:-6.94, Z:-1.66 [[ 9.87686841e-01 1.55633288e-01 1.59054409e-02 6.00004727e+01] [-1.55619382e-01 9.87814826e-01 -2.11582723e-03 -6.94029917e+00] [-1.60409235e-02 -3.85420179e-04 9.99871262e-01 -1.66054168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45401273899999 meters Centerline goodness [0,1] 0.9885623342175066 Centerline is valid? [True, True] Translation: X:60.03, Y:-6.94, Z:-1.66 [[ 9.87287877e-01 1.58164476e-01 1.57050019e-02 6.00294013e+01] [-1.58151244e-01 9.87412690e-01 -2.08879802e-03 -6.93712978e+00] [-1.58376919e-02 -4.21520631e-04 9.99874487e-01 -1.66191104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48401273899999 meters Centerline goodness [0,1] 0.9764289672221985 Centerline is valid? [True, True] Translation: X:60.06, Y:-6.92, Z:-1.66 [[ 9.86274013e-01 1.64358111e-01 1.58108498e-02 6.00610611e+01] [-1.64345502e-01 9.86400596e-01 -2.10241985e-03 -6.92428037e+00] [-1.59413815e-02 -5.24879985e-04 9.99872790e-01 -1.66244018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.514012738999995 meters Centerline goodness [0,1] 0.9578306798945767 Centerline is valid? [True, True] Translation: X:60.09, Y:-6.92, Z:-1.66 [[ 9.85723694e-01 1.67635883e-01 1.57165720e-02 6.00909589e+01] [-1.67623843e-01 9.85848812e-01 -2.08967589e-03 -6.91917909e+00] [-1.58444685e-02 -5.74629160e-04 9.99874303e-01 -1.66329929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.544012738999996 meters Centerline goodness [0,1] 0.9495383293966073 Centerline is valid? [True, False] Translation: X:60.09, Y:-6.91, Z:-1.66 [[ 9.85058339e-01 1.71456946e-01 1.62044770e-02 6.00921334e+01] [-1.71494217e-01 9.85184689e-01 9.28738471e-04 -6.91265232e+00] [-1.58051640e-02 -3.69383566e-03 9.99868268e-01 -1.66338113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.574012739 meters Centerline goodness [0,1] 0.9409287210843631 Centerline is valid? [False, False] Translation: X:60.09, Y:-6.90, Z:-1.66 [[ 9.85733473e-01 1.67596338e-01 1.55238089e-02 6.00926736e+01] [-1.67539906e-01 9.85853235e-01 -4.87630327e-03 -6.90193972e+00] [-1.61214478e-02 2.20587789e-03 9.99867608e-01 -1.66311494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60401273899999 meters Centerline goodness [0,1] 0.9409287210843631 Centerline is valid? [False, False] Translation: X:60.09, Y:-6.90, Z:-1.66 [[ 9.85733473e-01 1.67596338e-01 1.55238089e-02 6.00926736e+01] [-1.67539906e-01 9.85853235e-01 -4.87630327e-03 -6.90193972e+00] [-1.61214478e-02 2.20587789e-03 9.99867608e-01 -1.66311494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63401273899999 meters Centerline goodness [0,1] 0.9405227369315767 Centerline is valid? [False, False] Translation: X:60.09, Y:-6.89, Z:-1.66 [[ 9.86424544e-01 1.63556799e-01 1.46898479e-02 6.00935665e+01] [-1.63412486e-01 9.86501455e-01 -1.05469306e-02 -6.89265039e+00] [-1.62165785e-02 8.00324667e-03 9.99836472e-01 -1.66273274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66401273899999 meters Centerline goodness [0,1] 0.9367327667610954 Centerline is valid? [False, False] Translation: X:60.05, Y:-6.89, Z:-1.66 [[ 9.87297367e-01 1.58272939e-01 1.39135169e-02 6.00492849e+01] [-1.58326677e-01 9.87382693e-01 2.84263435e-03 -6.88785658e+00] [-1.32880537e-02 -5.00940630e-03 9.99899162e-01 -1.66041197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.694012738999994 meters Centerline goodness [0,1] 0.9409992307034789 Centerline is valid? [False, False] Translation: X:60.05, Y:-6.88, Z:-1.66 [[ 9.88071794e-01 1.53469448e-01 1.26987190e-02 6.00519508e+01] [-1.53437297e-01 9.88152278e-01 -3.47430499e-03 -6.87697809e+00] [-1.30814677e-02 1.48440565e-03 9.99913332e-01 -1.66101270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.724012738999996 meters Centerline goodness [0,1] 0.953413224909052 Centerline is valid? [False, True] Translation: X:60.05, Y:-6.87, Z:-1.66 [[ 9.88763136e-01 1.49019723e-01 1.18567630e-02 6.00529624e+01] [-1.48916023e-01 9.88807051e-01 -9.19971453e-03 -6.86876764e+00] [-1.30949897e-02 7.33067661e-03 9.99887385e-01 -1.66084057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.754012739 meters Centerline goodness [0,1] 0.9753105021848161 Centerline is valid? [True, True] Translation: X:60.08, Y:-6.88, Z:-1.66 [[ 9.89057865e-01 1.46911717e-01 1.34716891e-02 6.00820127e+01] [-1.46904956e-01 9.89149482e-01 -1.49550394e-03 -6.88033306e+00] [-1.35452214e-02 -4.99917965e-04 9.99908134e-01 -1.66143879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784012739 meters Centerline goodness [0,1] 0.9837511209804842 Centerline is valid? [True, True] Translation: X:60.11, Y:-6.88, Z:-1.66 [[ 9.89691573e-01 1.42469936e-01 1.45913737e-02 6.01113958e+01] [-1.42461524e-01 9.89799015e-01 -1.61961812e-03 -6.88372581e+00] [-1.46732742e-02 -4.75786917e-04 9.99892229e-01 -1.65971616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81401273899999 meters Centerline goodness [0,1] 0.985711531458195 Centerline is valid? [True, True] Translation: X:60.14, Y:-6.89, Z:-1.66 [[ 9.90051089e-01 1.39938567e-01 1.46982421e-02 6.01405486e+01] [-1.39929756e-01 9.90160089e-01 -1.63126005e-03 -6.88747055e+00] [-1.47818889e-02 -4.41690640e-04 9.99890644e-01 -1.65946992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84401273899999 meters Centerline goodness [0,1] 0.9877394963368007 Centerline is valid? [True, True] Translation: X:60.17, Y:-6.89, Z:-1.66 [[ 9.90590318e-01 1.36120147e-01 1.42171698e-02 6.01692741e+01] [-1.36111515e-01 9.90692267e-01 -1.57755228e-03 -6.88970101e+00] [-1.42995768e-02 -3.72412506e-04 9.99897686e-01 -1.66041141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.874012738999994 meters Centerline goodness [0,1] 0.988279226385771 Centerline is valid? [True, True] Translation: X:60.20, Y:-6.90, Z:-1.66 [[ 9.90795408e-01 1.34555596e-01 1.48071583e-02 6.01970462e+01] [-1.34546063e-01 9.90905979e-01 -1.64268196e-03 -6.89726186e+00] [-1.48935337e-02 -3.64683099e-04 9.99889019e-01 -1.66026452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.904012738999995 meters Centerline goodness [0,1] 0.988008364272607 Centerline is valid? [True, True] Translation: X:60.22, Y:-6.90, Z:-1.66 [[ 9.90953393e-01 1.33293401e-01 1.56282249e-02 6.02247842e+01] [-1.33282637e-01 9.91076554e-01 -1.73299893e-03 -6.90063419e+00] [-1.57197646e-02 -3.65649862e-04 9.99876370e-01 -1.65908626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.934012738999996 meters Centerline goodness [0,1] 0.9880301177681962 Centerline is valid? [True, True] Translation: X:60.25, Y:-6.90, Z:-1.66 [[ 9.91229090e-01 1.31091105e-01 1.67336217e-02 6.02537605e+01] [-1.31078467e-01 9.91370262e-01 -1.85454842e-03 -6.90305479e+00] [-1.68323298e-02 -3.55135142e-04 9.99858263e-01 -1.65758141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964012739 meters Centerline goodness [0,1] 0.98760670797764 Centerline is valid? [True, True] Translation: X:60.28, Y:-6.91, Z:-1.66 [[ 9.91364781e-01 1.30040468e-01 1.68922478e-02 6.02826195e+01] [-1.30027450e-01 9.91508628e-01 -1.87134535e-03 -6.90631894e+00] [-1.69921601e-02 -3.41270037e-04 9.99855565e-01 -1.65841487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99401273899999 meters Centerline goodness [0,1] 0.9892926670992862 Centerline is valid? [True, True] Translation: X:60.31, Y:-6.91, Z:-1.66 [[ 9.91661491e-01 1.27893030e-01 1.58385639e-02 6.03111197e+01] [-1.27881322e-01 9.91787926e-01 -1.75393187e-03 -6.91150667e+00] [-1.59328121e-02 -2.86149803e-04 9.99873024e-01 -1.66087237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024012739 meters Centerline goodness [0,1] 0.9901765223173112 Centerline is valid? [True, True] Translation: X:60.34, Y:-6.91, Z:-1.66 [[ 9.91868775e-01 1.26426702e-01 1.45815528e-02 6.03387083e+01] [-1.26416630e-01 9.91975922e-01 -1.61411683e-03 -6.91378502e+00] [-1.46686167e-02 -2.42358683e-04 9.99892381e-01 -1.66351285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.054012739 meters Centerline goodness [0,1] 0.992492914782684 Centerline is valid? [True, True] Translation: X:60.37, Y:-6.92, Z:-1.67 [[ 9.92232299e-01 1.23696890e-01 1.31963715e-02 6.03672995e+01] [-1.23688409e-01 9.92320032e-01 -1.46006610e-03 -6.92044599e+00] [-1.32756295e-02 -1.83513453e-04 9.99911858e-01 -1.66638991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.084012739 meters Centerline goodness [0,1] 0.9932831001076426 Centerline is valid? [True, True] Translation: X:60.40, Y:-6.93, Z:-1.67 [[ 9.92414431e-01 1.22143995e-01 1.39442360e-02 6.03960558e+01] [-1.22134381e-01 9.92512375e-01 -1.54214064e-03 -6.92597520e+00] [-1.40281900e-02 -1.72628011e-04 9.99901585e-01 -1.66536859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.114012739 meters Centerline goodness [0,1] 0.9925018799011709 Centerline is valid? [True, True] Translation: X:60.42, Y:-6.93, Z:-1.66 [[ 9.92552962e-01 1.20811996e-01 1.55909942e-02 6.04235388e+01] [-1.20799826e-01 9.92675391e-01 -1.72345413e-03 -6.92988991e+00] [-1.56850102e-02 -1.72769883e-04 9.99876968e-01 -1.66216420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144012739 meters Centerline goodness [0,1] 0.9914293732864143 Centerline is valid? [True, True] Translation: X:60.45, Y:-6.93, Z:-1.66 [[ 9.92779534e-01 1.18594219e-01 1.80057581e-02 6.04515965e+01] [-1.18577643e-01 9.92942791e-01 -1.98924018e-03 -6.93449369e+00] [-1.81146000e-02 -1.60203411e-04 9.99835904e-01 -1.65886836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.174012739 meters Centerline goodness [0,1] 0.9927632424099687 Centerline is valid? [True, True] Translation: X:60.48, Y:-6.94, Z:-1.66 [[ 9.92967080e-01 1.17086031e-01 1.75282326e-02 6.04810036e+01] [-1.17070100e-01 9.93121767e-01 -1.93574850e-03 -6.94110757e+00] [-1.76343184e-02 -1.29897410e-04 9.99844495e-01 -1.66019254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204012739 meters Centerline goodness [0,1] 0.9968878109506127 Centerline is valid? [True, True] Translation: X:60.51, Y:-6.95, Z:-1.66 [[ 9.93464979e-01 1.13029412e-01 1.58646694e-02 6.05094319e+01] [-1.13015849e-01 9.93591641e-01 -1.75171356e-03 -6.95203740e+00] [-1.59609981e-02 -5.26930122e-05 9.99872614e-01 -1.66435706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23401273900001 meters Centerline goodness [0,1] 0.9982440737489026 Centerline is valid? [True, True] Translation: X:60.54, Y:-6.96, Z:-1.67 [[ 9.93765872e-01 1.10457713e-01 1.51157349e-02 6.05391844e+01] [-1.10445106e-01 9.93880825e-01 -1.66885397e-03 -6.96066831e+00] [-1.52075768e-02 -1.10088136e-05 9.99884358e-01 -1.66618652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.264012739 meters Centerline goodness [0,1] 0.9986857696865238 Centerline is valid? [True, True] Translation: X:60.57, Y:-6.97, Z:-1.67 [[ 9.94056155e-01 1.07870929e-01 1.47045675e-02 6.05687638e+01] [-1.07858715e-01 9.94164907e-01 -1.62345900e-03 -6.97057464e+00] [-1.47938890e-02 2.77936526e-05 9.99890564e-01 -1.66762143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.294012739 meters Centerline goodness [0,1] 0.9990243056308407 Centerline is valid? [True, True] Translation: X:60.60, Y:-6.99, Z:-1.67 [[ 9.94643733e-01 1.02512433e-01 1.32304928e-02 6.05984040e+01] [-1.02502071e-01 9.94731719e-01 -1.46065972e-03 -6.98798723e+00] [-1.33105266e-02 9.66831170e-05 9.99911406e-01 -1.67047989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.324012739 meters Centerline goodness [0,1] 0.9990290424200579 Centerline is valid? [True, True] Translation: X:60.63, Y:-7.00, Z:-1.67 [[ 9.94889545e-01 1.00131436e-01 1.29803409e-02 6.06281258e+01] [-1.00121256e-01 9.94974211e-01 -1.43335666e-03 -6.99786847e+00] [-1.30586285e-02 1.26423523e-04 9.99914724e-01 -1.67111605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.354012739 meters Centerline goodness [0,1] 0.9977785925334829 Centerline is valid? [True, True] Translation: X:60.66, Y:-7.01, Z:-1.67 [[ 9.95117368e-01 9.74575505e-02 1.56028670e-02 6.06597310e+01] [-9.74425096e-02 9.95239664e-01 -1.72315294e-03 -7.00903309e+00] [-1.56965264e-02 1.94356896e-04 9.99876783e-01 -1.66562247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.384012739 meters Centerline goodness [0,1] 0.9954046298893228 Centerline is valid? [True, True] Translation: X:60.69, Y:-7.02, Z:-1.66 [[ 9.95094163e-01 9.73923989e-02 1.73875398e-02 6.06911506e+01] [-9.73736534e-02 9.95246036e-01 -1.92349235e-03 -7.01917689e+00] [-1.74922136e-02 2.20967744e-04 9.99846975e-01 -1.66265561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.414012739 meters Centerline goodness [0,1] 0.9959645564214796 Centerline is valid? [True, True] Translation: X:60.72, Y:-7.02, Z:-1.66 [[ 9.94977255e-01 9.85326991e-02 1.76513033e-02 6.07235616e+01] [-9.85135037e-02 9.95133792e-01 -1.95583416e-03 -7.02307571e+00] [-1.77581220e-02 2.07118780e-04 9.99842291e-01 -1.66241710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444012739 meters Centerline goodness [0,1] 0.9977314071696094 Centerline is valid? [True, True] Translation: X:60.75, Y:-7.03, Z:-1.67 [[ 9.94755276e-01 1.01043875e-01 1.58768771e-02 6.07540803e+01] [-1.01028629e-01 9.94881959e-01 -1.76148031e-03 -7.02723943e+00] [-1.59736054e-02 1.48222705e-04 9.99872403e-01 -1.66629739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.474012739 meters Centerline goodness [0,1] 0.998462852263023 Centerline is valid? [True, True] Translation: X:60.78, Y:-7.03, Z:-1.67 [[ 9.94670136e-01 1.02023527e-01 1.49171468e-02 6.07846063e+01] [-1.02010145e-01 9.94781978e-01 -1.65721348e-03 -7.03210442e+00] [-1.50083836e-02 1.26680447e-04 9.99887360e-01 -1.66922359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504012739 meters Centerline goodness [0,1] 0.9981909119931893 Centerline is valid? [True, True] Translation: X:60.82, Y:-7.04, Z:-1.67 [[ 9.94610720e-01 1.02504137e-01 1.55697779e-02 6.08161943e+01] [-1.02489582e-01 9.94732570e-01 -1.73200513e-03 -7.04222305e+00] [-1.56653029e-02 1.26930844e-04 9.99877284e-01 -1.66792617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.534012739 meters Centerline goodness [0,1] 0.9966751918158567 Centerline is valid? [True, True] Translation: X:60.85, Y:-7.05, Z:-1.66 [[ 9.94629880e-01 1.02049022e-01 1.72452704e-02 6.08489076e+01] [-1.02031044e-01 9.94779359e-01 -1.92144612e-03 -7.04977747e+00] [-1.73513207e-02 1.51574776e-04 9.99849443e-01 -1.66441855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564012739 meters Centerline goodness [0,1] 0.9957713052858684 Centerline is valid? [True, True] Translation: X:60.88, Y:-7.06, Z:-1.66 [[ 9.94804670e-01 1.00077031e-01 1.86616089e-02 6.08800423e+01] [-1.00055567e-01 9.94979671e-01 -2.08264220e-03 -7.06104113e+00] [-1.87763461e-02 2.04624325e-04 9.99823688e-01 -1.66289033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59401273900001 meters Centerline goodness [0,1] 0.9972756719651629 Centerline is valid? [True, True] Translation: X:60.91, Y:-7.07, Z:-1.67 [[ 9.94886930e-01 9.94622407e-02 1.75288252e-02 6.09124389e+01] [-9.94431602e-02 9.95041316e-01 -1.95897427e-03 -7.06907118e+00] [-1.76367493e-02 2.05836124e-04 9.99844439e-01 -1.66619073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62401273900001 meters Centerline goodness [0,1] 0.9964047252182845 Centerline is valid? [True, True] Translation: X:60.94, Y:-7.09, Z:-1.67 [[ 9.95023995e-01 9.84259832e-02 1.54782317e-02 6.09413924e+01] [-9.84109395e-02 9.95144354e-01 -1.73245870e-03 -7.08679652e+00] [-1.55735938e-02 2.00610658e-04 9.99878704e-01 -1.67004887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.654012739 meters Centerline goodness [0,1] 0.9977248104008667 Centerline is valid? [True, True] Translation: X:60.97, Y:-7.09, Z:-1.67 [[ 9.95000821e-01 9.86763530e-02 1.53734937e-02 6.09748236e+01] [-9.86615053e-02 9.95119560e-01 -1.72310724e-03 -7.08844162e+00] [-1.54684942e-02 1.97721095e-04 9.99880336e-01 -1.67076971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.684012739 meters Centerline goodness [0,1] 0.9975803515984668 Centerline is valid? [True, True] Translation: X:61.01, Y:-7.09, Z:-1.67 [[ 9.94897659e-01 9.96799737e-02 1.55740688e-02 6.10059053e+01] [-9.96648109e-02 9.95019531e-01 -1.74865893e-03 -7.09446615e+00] [-1.56708089e-02 1.87550051e-04 9.99877188e-01 -1.67080319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.714012739 meters Centerline goodness [0,1] 0.9989035559186481 Centerline is valid? [True, True] Translation: X:61.04, Y:-7.10, Z:-1.67 [[ 9.94531894e-01 1.03420720e-01 1.45074378e-02 6.10377913e+01] [-1.03407929e-01 9.94637693e-01 -1.63108413e-03 -7.09831002e+00] [-1.45983323e-02 1.21981092e-04 9.99893431e-01 -1.67302252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.744012739 meters Centerline goodness [0,1] 0.9988641477893744 Centerline is valid? [True, True] Translation: X:61.07, Y:-7.10, Z:-1.67 [[ 9.94245955e-01 1.06210562e-01 1.39390276e-02 6.10686089e+01] [-1.06199011e-01 9.94343658e-01 -1.56840064e-03 -7.10008183e+00] [-1.40267644e-02 7.90650498e-05 9.99901617e-01 -1.67419574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.774012739 meters Centerline goodness [0,1] 0.9986169638033495 Centerline is valid? [True, True] Translation: X:61.10, Y:-7.10, Z:-1.67 [[ 9.93495025e-01 1.12995160e-01 1.41325792e-02 6.11013483e+01] [-1.12983953e-01 9.93595538e-01 -1.59144297e-03 -7.09574305e+00] [-1.42218930e-02 -1.56639950e-05 9.99898864e-01 -1.67460807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804012739 meters Centerline goodness [0,1] 0.997568811322393 Centerline is valid? [True, True] Translation: X:61.14, Y:-7.10, Z:-1.67 [[ 9.93094329e-01 1.16432797e-01 1.43894592e-02 6.11351401e+01] [-1.16421506e-01 9.93198570e-01 -1.62277422e-03 -7.09501068e+00] [-1.44805344e-02 -6.36746313e-05 9.99895150e-01 -1.67431962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.834012739 meters Centerline goodness [0,1] 0.9960090605112717 Centerline is valid? [True, True] Translation: X:61.17, Y:-7.09, Z:-1.68 [[ 9.92742573e-01 1.19355576e-01 1.47115880e-02 6.11674864e+01] [-1.19344051e-01 9.92851568e-01 -1.66198378e-03 -7.09367929e+00] [-1.48047903e-02 -1.05818461e-04 9.99890397e-01 -1.67504696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864012739 meters Centerline goodness [0,1] 0.9937990463360917 Centerline is valid? [True, True] Translation: X:61.20, Y:-7.09, Z:-1.68 [[ 9.92308201e-01 1.22895138e-01 1.48734628e-02 6.11988151e+01] [-1.22883716e-01 9.92419649e-01 -1.68288525e-03 -7.08734393e+00] [-1.49675351e-02 -1.57765547e-04 9.99887968e-01 -1.67574965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.894012739 meters Centerline goodness [0,1] 0.9942426734773386 Centerline is valid? [True, True] Translation: X:61.23, Y:-7.09, Z:-1.68 [[ 9.92321317e-01 1.22735479e-01 1.53102977e-02 6.12302686e+01] [-1.22723354e-01 9.92439407e-01 -1.73249379e-03 -7.08818590e+00] [-1.54071812e-02 -1.59740571e-04 9.99881290e-01 -1.67500275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924012739 meters Centerline goodness [0,1] 0.9948336962554972 Centerline is valid? [True, True] Translation: X:61.26, Y:-7.09, Z:-1.68 [[ 9.92517424e-01 1.21151373e-01 1.52153944e-02 6.12617784e+01] [-1.21139206e-01 9.92634035e-01 -1.72211580e-03 -7.09281134e+00] [-1.53119550e-02 -1.33950863e-04 9.99882756e-01 -1.67534482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.954012739 meters Centerline goodness [0,1] 0.9956654602197612 Centerline is valid? [True, True] Translation: X:61.29, Y:-7.10, Z:-1.68 [[ 9.92766321e-01 1.19117916e-01 1.50317973e-02 6.12923862e+01] [-1.19105800e-01 9.92880110e-01 -1.70188246e-03 -7.09745201e+00] [-1.51274972e-02 -1.00802651e-04 9.99885568e-01 -1.67580509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98401273900001 meters Centerline goodness [0,1] 0.9975499677627337 Centerline is valid? [True, True] Translation: X:61.32, Y:-7.10, Z:-1.68 [[ 9.93153810e-01 1.15857603e-01 1.49172616e-02 6.13244403e+01] [-1.15845299e-01 9.93265832e-01 -1.68916838e-03 -7.10260850e+00] [-1.50125092e-02 -5.04906170e-05 9.99887305e-01 -1.67630296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.014012739 meters Centerline goodness [0,1] 0.9980929524952323 Centerline is valid? [True, True] Translation: X:61.36, Y:-7.11, Z:-1.67 [[ 9.93680893e-01 1.11067525e-01 1.61952811e-02 6.13551690e+01] [-1.11052339e-01 9.93812862e-01 -1.83678982e-03 -7.11336104e+00] [-1.62990864e-02 2.66591038e-05 9.99867161e-01 -1.67430481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.044012739 meters Centerline goodness [0,1] 0.9978751544849418 Centerline is valid? [True, True] Translation: X:61.39, Y:-7.12, Z:-1.67 [[ 9.94009125e-01 1.08006239e-01 1.67485075e-02 6.13864962e+01] [-1.07989528e-01 9.94150213e-01 -1.90163616e-03 -7.12188305e+00] [-1.68559208e-02 8.15802772e-05 9.99857926e-01 -1.67472795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.074012739 meters Centerline goodness [0,1] 0.9978561897053355 Centerline is valid? [True, True] Translation: X:61.42, Y:-7.13, Z:-1.68 [[ 9.94341648e-01 1.04936747e-01 1.65216814e-02 6.14181731e+01] [-1.04920016e-01 9.94478889e-01 -1.87863041e-03 -7.12992254e+00] [-1.66276007e-02 1.34545386e-04 9.99861743e-01 -1.67595484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.104012739 meters Centerline goodness [0,1] 0.9967178424132496 Centerline is valid? [True, True] Translation: X:61.45, Y:-7.14, Z:-1.68 [[ 9.94769867e-01 1.01011563e-01 1.51517696e-02 6.14478651e+01] [-1.00997000e-01 9.94885234e-01 -1.72526691e-03 -7.14278289e+00] [-1.52485438e-02 1.85960255e-04 9.99883717e-01 -1.67927864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.134012739 meters Centerline goodness [0,1] 0.9959864221515339 Centerline is valid? [True, True] Translation: X:61.48, Y:-7.15, Z:-1.68 [[ 9.94908479e-01 9.96631926e-02 1.49788449e-02 6.14782231e+01] [-9.96487711e-02 9.95021208e-01 -1.70794091e-03 -7.15277182e+00] [-1.50744872e-02 2.06621407e-04 9.99886352e-01 -1.67996273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164012739 meters Centerline goodness [0,1] 0.9934468066699829 Centerline is valid? [True, True] Translation: X:61.51, Y:-7.17, Z:-1.68 [[ 9.95259533e-01 9.59643242e-02 1.57895717e-02 6.15080703e+01] [-9.59477929e-02 9.95384735e-01 -1.80295258e-03 -7.16874573e+00] [-1.58897178e-02 2.79431189e-04 9.99873711e-01 -1.67841257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.194012739 meters Centerline goodness [0,1] 0.9935302390998594 Centerline is valid? [True, True] Translation: X:61.54, Y:-7.18, Z:-1.68 [[ 9.95422291e-01 9.42909077e-02 1.56104768e-02 6.15394909e+01] [-9.42745074e-02 9.95544641e-01 -1.78480823e-03 -7.17549527e+00] [-1.57092177e-02 3.04967892e-04 9.99876556e-01 -1.67834552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.224012739 meters Centerline goodness [0,1] 0.9928300023613764 Centerline is valid? [True, True] Translation: X:61.57, Y:-7.19, Z:-1.68 [[ 9.95552215e-01 9.30056047e-02 1.50248302e-02 6.15690984e+01] [-9.29902277e-02 9.95665535e-01 -1.72036147e-03 -7.18652513e+00] [-1.51197088e-02 3.15547297e-04 9.99885641e-01 -1.67987624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.254012739 meters Centerline goodness [0,1] 0.9928371954209213 Centerline is valid? [True, True] Translation: X:61.60, Y:-7.20, Z:-1.68 [[ 9.95633980e-01 9.23468260e-02 1.36030055e-02 6.15990083e+01] [-9.23341581e-02 9.95726859e-01 -1.55772242e-03 -7.20016827e+00] [-1.36887287e-02 2.94899308e-04 9.99906261e-01 -1.68289303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284012739 meters Centerline goodness [0,1] 0.9940951644765095 Centerline is valid? [True, True] Translation: X:61.63, Y:-7.20, Z:-1.68 [[ 9.95579482e-01 9.29413985e-02 1.35422362e-02 6.16313145e+01] [-9.29288846e-02 9.95671539e-01 -1.55178262e-03 -7.20296901e+00] [-1.36278440e-02 2.86458031e-04 9.99907096e-01 -1.68272512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.314012739 meters Centerline goodness [0,1] 0.9937230795870219 Centerline is valid? [True, True] Translation: X:61.66, Y:-7.21, Z:-1.68 [[ 9.95302561e-01 9.58397752e-02 1.36948592e-02 6.16616289e+01] [-9.58272197e-02 9.95396742e-01 -1.57159842e-03 -7.20934867e+00] [-1.37824399e-02 2.51875653e-04 9.99904986e-01 -1.68260482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34401273900001 meters Centerline goodness [0,1] 0.995225909120234 Centerline is valid? [True, True] Translation: X:61.69, Y:-7.21, Z:-1.68 [[ 9.95115100e-01 9.77934310e-02 1.35049034e-02 6.16923051e+01] [-9.77813717e-02 9.95206710e-01 -1.55196922e-03 -7.21283850e+00] [-1.35919429e-02 2.23860022e-04 9.99907600e-01 -1.68328057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37401273900001 meters Centerline goodness [0,1] 0.9966152527849186 Centerline is valid? [True, True] Translation: X:61.72, Y:-7.21, Z:-1.68 [[ 9.94835616e-01 1.00644785e-01 1.31424498e-02 6.17246403e+01] [-1.00633600e-01 9.94922406e-01 -1.51129173e-03 -7.21448564e+00] [-1.32278214e-02 1.80914798e-04 9.99912492e-01 -1.68408722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.404012739 meters Centerline goodness [0,1] 0.9968872941074748 Centerline is valid? [True, True] Translation: X:61.76, Y:-7.22, Z:-1.68 [[ 9.94747124e-01 1.01534947e-01 1.29928743e-02 6.17569534e+01] [-1.01524063e-01 9.94831959e-01 -1.49622858e-03 -7.21785905e+00] [-1.30776461e-02 1.69279689e-04 9.99914470e-01 -1.68425797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.434012739 meters Centerline goodness [0,1] 0.9967769660507091 Centerline is valid? [True, True] Translation: X:61.79, Y:-7.22, Z:-1.68 [[ 9.94683432e-01 1.02135153e-01 1.31635951e-02 6.17889563e+01] [-1.02124005e-01 9.94770518e-01 -1.51812548e-03 -7.22089028e+00] [-1.32498103e-02 1.65735211e-04 9.99912204e-01 -1.68406372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.464012739 meters Centerline goodness [0,1] 0.9945738429202591 Centerline is valid? [True, True] Translation: X:61.82, Y:-7.23, Z:-1.68 [[ 9.94508281e-01 1.03437831e-01 1.59340783e-02 6.18195631e+01] [-1.03421611e-01 9.94635904e-01 -1.84081551e-03 -7.22558778e+00] [-1.60390163e-02 1.82778218e-04 9.99871350e-01 -1.67883454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.494012739 meters Centerline goodness [0,1] 0.9945738429202591 Centerline is valid? [True, True] Translation: X:61.85, Y:-7.23, Z:-1.68 [[ 9.94489948e-01 1.03613964e-01 1.59339035e-02 6.18518317e+01] [-1.03597743e-01 9.94617571e-01 -1.84232711e-03 -7.22951973e+00] [-1.60390312e-02 1.81459352e-04 9.99871350e-01 -1.67934616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524012739 meters Centerline goodness [0,1] 0.9946010150091783 Centerline is valid? [True, True] Translation: X:61.88, Y:-7.23, Z:-1.68 [[ 9.94314466e-01 1.05129155e-01 1.69293644e-02 6.18843539e+01] [-1.05111008e-01 9.94458562e-01 -1.96061821e-03 -7.23086884e+00] [-1.70416695e-02 1.70008489e-04 9.99854766e-01 -1.67782273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.554012739 meters Centerline goodness [0,1] 0.9971876597920573 Centerline is valid? [True, True] Translation: X:61.92, Y:-7.23, Z:-1.68 [[ 9.93958718e-01 1.08646960e-01 1.55532637e-02 6.19174512e+01] [-1.08632038e-01 9.94080393e-01 -1.80358900e-03 -7.22853525e+00] [-1.56571490e-02 1.03110279e-04 9.99877414e-01 -1.68093483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.584012739 meters Centerline goodness [0,1] 0.9983937979183621 Centerline is valid? [True, True] Translation: X:61.95, Y:-7.23, Z:-1.69 [[ 9.93801799e-01 1.10330661e-01 1.36062155e-02 6.19482993e+01] [-1.10319386e-01 9.93894934e-01 -1.57871410e-03 -7.22915018e+00] [-1.36973292e-02 6.78995626e-05 9.99906185e-01 -1.68609822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.614012739 meters Centerline goodness [0,1] 0.9987471107942886 Centerline is valid? [True, True] Translation: X:61.98, Y:-7.23, Z:-1.69 [[ 9.93655610e-01 1.11847144e-01 1.17789918e-02 6.19811271e+01] [-1.11838780e-01 9.93725422e-01 -1.36843037e-03 -7.23054189e+00] [-1.18581386e-02 4.24004385e-05 9.99929689e-01 -1.69053229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644012739 meters Centerline goodness [0,1] 0.9990756663800516 Centerline is valid? [True, True] Translation: X:62.01, Y:-7.23, Z:-1.69 [[ 9.93177489e-01 1.16160376e-01 1.02587820e-02 6.20136746e+01] [-1.16154260e-01 9.93230470e-01 -1.19199312e-03 -7.22902318e+00] [-1.03277972e-02 -7.74050137e-06 9.99946667e-01 -1.69331660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.674012739 meters Centerline goodness [0,1] 0.997209581866575 Centerline is valid? [True, True] Translation: X:62.05, Y:-7.22, Z:-1.69 [[ 9.92482401e-01 1.21760387e-01 1.23729953e-02 6.20456469e+01] [-1.21751884e-01 9.92559521e-01 -1.44091255e-03 -7.21883778e+00] [-1.24563804e-02 -7.63551443e-05 9.99922413e-01 -1.68937974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704012739 meters Centerline goodness [0,1] 0.9951726377313562 Centerline is valid? [True, True] Translation: X:62.08, Y:-7.22, Z:-1.69 [[ 9.92150900e-01 1.24298624e-01 1.36544452e-02 6.20778532e+01] [-1.24288508e-01 9.92244848e-01 -1.59029951e-03 -7.21585387e+00] [-1.37462250e-02 -1.19273529e-04 9.99905509e-01 -1.68694468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73401273900001 meters Centerline goodness [0,1] 0.9940145452985218 Centerline is valid? [True, True] Translation: X:62.11, Y:-7.21, Z:-1.69 [[ 9.91894387e-01 1.26213528e-01 1.46857454e-02 6.21099824e+01] [-1.26202030e-01 9.92003085e-01 -1.71077648e-03 -7.21487983e+00] [-1.47842279e-02 -1.56461293e-04 9.99890695e-01 -1.68549981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.764012739 meters Centerline goodness [0,1] 0.9934900852284895 Centerline is valid? [True, True] Translation: X:62.14, Y:-7.21, Z:-1.69 [[ 9.91630603e-01 1.28441941e-01 1.30925570e-02 6.21403445e+01] [-1.28432992e-01 9.91717016e-01 -1.52547449e-03 -7.21259044e+00] [-1.31800465e-02 -1.68809083e-04 9.99913125e-01 -1.68828128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.794012739 meters Centerline goodness [0,1] 0.994504902488956 Centerline is valid? [True, True] Translation: X:62.17, Y:-7.21, Z:-1.69 [[ 9.91518866e-01 1.29410753e-01 1.19664367e-02 6.21707307e+01] [-1.29403347e-01 9.91591060e-01 -1.39442836e-03 -7.21266654e+00] [-1.20462656e-02 -1.65894928e-04 9.99927427e-01 -1.69135036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.824012739 meters Centerline goodness [0,1] 0.9933975654866876 Centerline is valid? [True, True] Translation: X:62.20, Y:-7.21, Z:-1.69 [[ 9.91279885e-01 1.31170867e-01 1.25854695e-02 6.22007284e+01] [-1.31162815e-01 9.91359756e-01 -1.46666647e-03 -7.20660072e+00] [-1.26691119e-02 -1.96868640e-04 9.99919724e-01 -1.69100996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.854012739 meters Centerline goodness [0,1] 0.992844326264133 Centerline is valid? [True, True] Translation: X:62.23, Y:-7.21, Z:-1.69 [[ 9.91214271e-01 1.31619168e-01 1.30638202e-02 6.22297703e+01] [-1.31610537e-01 9.91300333e-01 -1.52194730e-03 -7.20598002e+00] [-1.31504868e-02 -2.10760518e-04 9.99913506e-01 -1.69082844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.884012739 meters Centerline goodness [0,1] 0.9938105199594557 Centerline is valid? [True, True] Translation: X:62.26, Y:-7.21, Z:-1.69 [[ 9.91212693e-01 1.31667816e-01 1.26878936e-02 6.22586781e+01] [-1.31659685e-01 9.91293874e-01 -1.47771512e-03 -7.21231505e+00] [-1.27719987e-02 -2.05754080e-04 9.99918414e-01 -1.69107445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914012739 meters Centerline goodness [0,1] 0.994122965641953 Centerline is valid? [True, True] Translation: X:62.29, Y:-7.21, Z:-1.69 [[ 9.91308652e-01 1.31092924e-01 1.10363615e-02 6.22889256e+01] [-1.31086739e-01 9.91370070e-01 -1.28503111e-03 -7.21160604e+00] [-1.11095769e-02 -1.72858172e-04 9.99938272e-01 -1.69381456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944012739 meters Centerline goodness [0,1] 0.995763822167875 Centerline is valid? [True, True] Translation: X:62.32, Y:-7.22, Z:-1.70 [[ 9.91592069e-01 1.28972238e-01 1.05513567e-02 6.23184379e+01] [-1.28966464e-01 9.91648194e-01 -1.22868642e-03 -7.21552252e+00] [-1.06217002e-02 -1.42415451e-04 9.99943578e-01 -1.69551125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.974012739 meters Centerline goodness [0,1] 0.9964889606892838 Centerline is valid? [True, True] Translation: X:62.35, Y:-7.22, Z:-1.70 [[ 9.91806916e-01 1.27297221e-01 1.06985853e-02 6.23473178e+01] [-1.27291190e-01 9.91864608e-01 -1.24554639e-03 -7.21874190e+00] [-1.07701027e-02 -1.26494124e-04 9.99941993e-01 -1.69681802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004012739 meters Centerline goodness [0,1] 0.9972731146144014 Centerline is valid? [True, True] Translation: X:62.38, Y:-7.22, Z:-1.70 [[ 9.92030439e-01 1.25483320e-01 1.13817886e-02 6.23763308e+01] [-1.25476379e-01 9.92095723e-01 -1.32475617e-03 -7.22318841e+00] [-1.14580586e-02 -1.13947176e-04 9.99934348e-01 -1.69631995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034012739 meters Centerline goodness [0,1] 0.9969724105581852 Centerline is valid? [True, True] Translation: X:62.41, Y:-7.23, Z:-1.69 [[ 9.92355507e-01 1.22633714e-01 1.38391008e-02 6.24053947e+01] [-1.22623178e-01 9.92451995e-01 -1.61056063e-03 -7.22784945e+00] [-1.39321522e-02 -9.87458066e-05 9.99902938e-01 -1.69177312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064012739 meters Centerline goodness [0,1] 0.9961551679697569 Centerline is valid? [True, True] Translation: X:62.44, Y:-7.23, Z:-1.69 [[ 9.92386349e-01 1.22292812e-01 1.46220091e-02 6.24363444e+01] [-1.22281015e-01 9.92494060e-01 -1.70145558e-03 -7.23129058e+00] [-1.47203329e-02 -9.94928250e-05 9.99891645e-01 -1.69053874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09401273900001 meters Centerline goodness [0,1] 0.9968971819611511 Centerline is valid? [True, True] Translation: X:62.47, Y:-7.23, Z:-1.69 [[ 9.92406138e-01 1.22152568e-01 1.44501559e-02 6.24665355e+01] [-1.22141028e-01 9.92511330e-01 -1.68175795e-03 -7.23237418e+00] [-1.45473745e-02 -9.59699931e-05 9.99894177e-01 -1.69190527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12401273900001 meters Centerline goodness [0,1] 0.9976847385683967 Centerline is valid? [True, True] Translation: X:62.50, Y:-7.24, Z:-1.70 [[ 9.92485538e-01 1.21711703e-01 1.25983375e-02 6.24971682e+01] [-1.21702886e-01 9.92565492e-01 -1.46698682e-03 -7.23833708e+00] [-1.26832245e-02 -7.72908291e-05 9.99919562e-01 -1.69517038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.154012739 meters Centerline goodness [0,1] 0.997926419974775 Centerline is valid? [True, True] Translation: X:62.53, Y:-7.24, Z:-1.70 [[ 9.92695540e-01 1.20055457e-01 1.19269272e-02 6.25277504e+01] [-1.20047431e-01 9.92767185e-01 -1.38915850e-03 -7.24302181e+00] [-1.20074380e-02 -5.27855249e-05 9.99927907e-01 -1.69662639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.184012739 meters Centerline goodness [0,1] 0.9981939756186708 Centerline is valid? [True, True] Translation: X:62.56, Y:-7.25, Z:-1.70 [[ 9.92839860e-01 1.18755735e-01 1.28875076e-02 6.25574874e+01] [-1.18746256e-01 9.92923498e-01 -1.50100727e-03 -7.24893872e+00] [-1.29745624e-02 -4.00834281e-05 9.99915826e-01 -1.69536373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.214012739 meters Centerline goodness [0,1] 0.9981752216568988 Centerline is valid? [True, True] Translation: X:62.59, Y:-7.26, Z:-1.69 [[ 9.93019438e-01 1.17069474e-01 1.43921819e-02 6.25885826e+01] [-1.17057471e-01 9.93123727e-01 -1.67643288e-03 -7.25705481e+00] [-1.44894765e-02 -1.99819880e-05 9.99895022e-01 -1.69265324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.244012739 meters Centerline goodness [0,1] 0.9974443939098607 Centerline is valid? [True, True] Translation: X:62.62, Y:-7.27, Z:-1.69 [[ 9.93576206e-01 1.12134357e-01 1.52383997e-02 6.26204610e+01] [-1.12120316e-01 9.93693053e-01 -1.77532617e-03 -7.27170498e+00] [-1.53413669e-02 5.53876553e-05 9.99882313e-01 -1.69091469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.274012739 meters Centerline goodness [0,1] 0.9965931734910329 Centerline is valid? [True, True] Translation: X:62.65, Y:-7.28, Z:-1.69 [[ 9.93927841e-01 1.08972445e-01 1.52463850e-02 6.26508404e+01] [-1.08957971e-01 9.94044765e-01 -1.77930114e-03 -7.28243084e+00] [-1.53494840e-02 1.07281761e-04 9.99882184e-01 -1.69195621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304012739 meters Centerline goodness [0,1] 0.9928565299467994 Centerline is valid? [True, True] Translation: X:62.68, Y:-7.30, Z:-1.69 [[ 9.94556321e-01 1.02967431e-01 1.59822799e-02 6.26814128e+01] [-1.02950725e-01 9.94684706e-01 -1.86671707e-03 -7.29990244e+00] [-1.60895404e-02 2.11167959e-04 9.99870533e-01 -1.69251524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.334012739 meters Centerline goodness [0,1] 0.9917780504078689 Centerline is valid? [True, True] Translation: X:62.71, Y:-7.31, Z:-1.69 [[ 9.94843067e-01 1.00184643e-01 1.58211987e-02 6.27125780e+01] [-1.00167908e-01 9.94968830e-01 -1.84867307e-03 -7.31059992e+00] [-1.59268082e-02 2.54363206e-04 9.99873128e-01 -1.69310378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364012739 meters Centerline goodness [0,1] 0.990444142453461 Centerline is valid? [True, True] Translation: X:62.74, Y:-7.33, Z:-1.70 [[ 9.95372097e-01 9.52057970e-02 1.30477505e-02 6.27412495e+01] [-9.51939594e-02 9.95457573e-01 -1.52674076e-03 -7.32787385e+00] [-1.31338366e-02 2.77608126e-04 9.99913709e-01 -1.69698370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.394012739 meters Centerline goodness [0,1] 0.992343600034901 Centerline is valid? [True, True] Translation: X:62.77, Y:-7.34, Z:-1.70 [[ 9.95590561e-01 9.31021547e-02 1.14640567e-02 6.27726548e+01] [-9.30928775e-02 9.95656526e-01 -1.34139273e-03 -7.33611840e+00] [-1.15391494e-02 2.68255908e-04 9.99933386e-01 -1.70027467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424012739 meters Centerline goodness [0,1] 0.9890482007758418 Centerline is valid? [True, True] Translation: X:62.80, Y:-7.36, Z:-1.70 [[ 9.95906021e-01 8.96401441e-02 1.16550907e-02 6.28009315e+01] [-8.96303097e-02 9.95974169e-01 -1.36446422e-03 -7.35568515e+00] [-1.17304800e-02 3.14228749e-04 9.99931146e-01 -1.70010793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.454012739 meters Centerline goodness [0,1] 0.9883028268168526 Centerline is valid? [True, True] Translation: X:62.83, Y:-7.37, Z:-1.70 [[ 9.95993601e-01 8.86193679e-02 1.19730754e-02 6.28325961e+01] [-8.86089208e-02 9.96065508e-01 -1.40127012e-03 -7.36561659e+00] [-1.20501471e-02 3.34734778e-04 9.99927338e-01 -1.69957087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48401273900001 meters Centerline goodness [0,1] 0.9894564350244723 Centerline is valid? [True, True] Translation: X:62.86, Y:-7.38, Z:-1.70 [[ 9.96024097e-01 8.84879781e-02 1.02896506e-02 6.28621960e+01] [-8.84802413e-02 9.96077203e-01 -1.20561190e-03 -7.38253907e+00] [-1.03559686e-02 2.90387729e-04 9.99946333e-01 -1.70414237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.514012739 meters Centerline goodness [0,1] 0.9899227482629148 Centerline is valid? [True, True] Translation: X:62.89, Y:-7.39, Z:-1.71 [[ 9.95957017e-01 8.93263709e-02 9.50895589e-03 6.28921400e+01] [-8.93197877e-02 9.96002375e-01 -1.11561641e-03 -7.39229634e+00] [-9.57059661e-03 2.61768067e-04 9.99954167e-01 -1.70601556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.544012739 meters Centerline goodness [0,1] 0.9899725156746543 Centerline is valid? [True, True] Translation: X:62.92, Y:-7.40, Z:-1.70 [[ 9.95807398e-01 9.08622834e-02 1.05674952e-02 6.29233974e+01] [-9.08542198e-02 9.95863429e-01 -1.24163322e-03 -7.40017911e+00] [-1.06365996e-02 2.76326016e-04 9.99943392e-01 -1.70454758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.574012739 meters Centerline goodness [0,1] 0.9900873259381638 Centerline is valid? [True, True] Translation: X:62.95, Y:-7.41, Z:-1.70 [[ 9.95394523e-01 9.49833087e-02 1.29581501e-02 6.29537699e+01] [-9.49714921e-02 9.95478824e-01 -1.52562558e-03 -7.40595672e+00] [-1.30444730e-02 2.87944499e-04 9.99914876e-01 -1.69915915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.604012739 meters Centerline goodness [0,1] 0.9901319340977306 Centerline is valid? [True, True] Translation: X:62.99, Y:-7.41, Z:-1.70 [[ 9.95134853e-01 9.76224298e-02 1.32847544e-02 6.29853657e+01] [-9.76102443e-02 9.95223489e-01 -1.56412942e-03 -7.41041167e+00] [-1.33739937e-02 2.59791584e-04 9.99910530e-01 -1.69917827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.634012739 meters Centerline goodness [0,1] 0.9917885552989479 Centerline is valid? [True, True] Translation: X:63.02, Y:-7.42, Z:-1.70 [[ 9.94556663e-01 1.03374452e-01 1.30677559e-02 6.30154547e+01] [-1.03363146e-01 9.94642494e-01 -1.53943573e-03 -7.41799442e+00] [-1.31568836e-02 1.80331710e-04 9.99913428e-01 -1.70057407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664012739 meters Centerline goodness [0,1] 0.9942490504495611 Centerline is valid? [True, True] Translation: X:63.05, Y:-7.42, Z:-1.70 [[ 9.94258079e-01 1.06252069e-01 1.27031693e-02 6.30476904e+01] [-1.06241622e-01 9.94339217e-01 -1.49636435e-03 -7.42228527e+00] [-1.27902512e-02 1.38167039e-04 9.99918192e-01 -1.70125041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.694012739 meters Centerline goodness [0,1] 0.9967968566486579 Centerline is valid? [True, True] Translation: X:63.08, Y:-7.43, Z:-1.70 [[ 9.93697000e-01 1.11402166e-01 1.24831347e-02 6.30791758e+01] [-1.11392458e-01 9.93775403e-01 -1.47248094e-03 -7.42590173e+00] [-1.25694698e-02 7.26728255e-05 9.99920998e-01 -1.70238598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.724012739 meters Centerline goodness [0,1] 0.9976648648648648 Centerline is valid? [True, True] Translation: X:63.11, Y:-7.43, Z:-1.70 [[ 9.93399655e-01 1.13944926e-01 1.31787733e-02 6.31110106e+01] [-1.13934299e-01 9.93487067e-01 -1.55687416e-03 -7.42910478e+00] [-1.32703387e-02 4.50839615e-05 9.99911944e-01 -1.70152100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.754012739 meters Centerline goodness [0,1] 0.9979120926428172 Centerline is valid? [True, True] Translation: X:63.14, Y:-7.43, Z:-1.70 [[ 9.92802870e-01 1.18920752e-01 1.41533024e-02 6.31435641e+01] [-1.18908961e-01 9.92903749e-01 -1.67468851e-03 -7.43230170e+00] [-1.42520223e-02 -2.03189295e-05 9.99898435e-01 -1.69927664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784012739 meters Centerline goodness [0,1] 0.9983361419825508 Centerline is valid? [True, True] Translation: X:63.18, Y:-7.43, Z:-1.70 [[ 9.92501367e-01 1.21445870e-01 1.38541373e-02 6.31758665e+01] [-1.21434803e-01 9.92598055e-01 -1.64037486e-03 -7.43491417e+00] [-1.39508065e-02 -5.43001397e-05 9.99902681e-01 -1.70088420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.814012739 meters Centerline goodness [0,1] 0.9979231568016614 Centerline is valid? [True, True] Translation: X:63.21, Y:-7.44, Z:-1.70 [[ 9.92222195e-01 1.23830961e-01 1.26889565e-02 6.32081408e+01] [-1.23821846e-01 9.92303324e-01 -1.50450549e-03 -7.43717884e+00] [-1.27775981e-02 -7.83662847e-05 9.99918360e-01 -1.70316563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84401273900001 meters Centerline goodness [0,1] 0.9977236265880415 Centerline is valid? [True, True] Translation: X:63.24, Y:-7.44, Z:-1.71 [[ 9.91767639e-01 1.27533552e-01 1.14953332e-02 6.32402405e+01] [-1.27526300e-01 9.91834250e-01 -1.36465845e-03 -7.43826265e+00] [-1.15755049e-02 -1.12533222e-04 9.99932995e-01 -1.70635847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87401273900001 meters Centerline goodness [0,1] 0.9961629153269025 Centerline is valid? [True, True] Translation: X:63.27, Y:-7.44, Z:-1.71 [[ 9.91485029e-01 1.29674664e-01 1.19129827e-02 6.32724456e+01] [-1.29667005e-01 9.91556585e-01 -1.41634936e-03 -7.44008055e+00] [-1.19960611e-02 -1.40431613e-04 9.99928035e-01 -1.70570779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.904012739 meters Centerline goodness [0,1] 0.9934962470146708 Centerline is valid? [True, True] Translation: X:63.30, Y:-7.43, Z:-1.70 [[ 9.90854557e-01 1.34290786e-01 1.31617637e-02 6.33042301e+01] [-1.34281808e-01 9.90941945e-01 -1.56752235e-03 -7.43432853e+00] [-1.32530476e-02 -2.14198765e-04 9.99912152e-01 -1.70330048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.934012739 meters Centerline goodness [0,1] 0.9924659893232306 Centerline is valid? [True, True] Translation: X:63.34, Y:-7.43, Z:-1.70 [[ 9.90432235e-01 1.37373996e-01 1.31290624e-02 6.33365041e+01] [-1.37365321e-01 9.90519218e-01 -1.56455272e-03 -7.43232393e+00] [-1.32195175e-02 -2.53894419e-04 9.99912586e-01 -1.70408323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.964012739 meters Centerline goodness [0,1] 0.9910812382860467 Centerline is valid? [True, True] Translation: X:63.37, Y:-7.43, Z:-1.71 [[ 9.89728930e-01 1.42509233e-01 1.13032879e-02 6.33682382e+01] [-1.42503114e-01 9.89793434e-01 -1.34897200e-03 -7.42748174e+00] [-1.13801611e-02 -2.75637115e-04 9.99935206e-01 -1.70806599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.994012739 meters Centerline goodness [0,1] 0.9910733537453102 Centerline is valid? [True, True] Translation: X:63.40, Y:-7.43, Z:-1.71 [[ 9.89504918e-01 1.44116712e-01 1.05067321e-02 6.34009590e+01] [-1.44111523e-01 9.89560659e-01 -1.25324054e-03 -7.42703557e+00] [-1.05776616e-02 -2.74053482e-04 9.99944017e-01 -1.70989833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024012739 meters Centerline goodness [0,1] 0.9910502087570924 Centerline is valid? [True, True] Translation: X:63.43, Y:-7.43, Z:-1.71 [[ 9.89246898e-01 1.45866191e-01 1.06596824e-02 6.34332755e+01] [-1.45860933e-01 9.89304284e-01 -1.27327159e-03 -7.42516302e+00] [-1.07313967e-02 -2.95251244e-04 9.99942373e-01 -1.71035852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.054012739 meters Centerline goodness [0,1] 0.9886467524184118 Centerline is valid? [True, True] Translation: X:63.47, Y:-7.42, Z:-1.71 [[ 9.88976475e-01 1.47388687e-01 1.42164541e-02 6.34657868e+01] [-1.47379445e-01 9.89078563e-01 -1.70132402e-03 -7.41844617e+00] [-1.43119459e-02 -4.12643690e-04 9.99897494e-01 -1.70500821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.084012739 meters Centerline goodness [0,1] 0.9891449206826878 Centerline is valid? [True, True] Translation: X:63.50, Y:-7.42, Z:-1.70 [[ 9.88942425e-01 1.47467533e-01 1.56909739e-02 6.34983483e+01] [-1.47456243e-01 9.89066793e-01 -1.88040878e-03 -7.42487615e+00] [-1.57967205e-02 -4.54116048e-04 9.99875121e-01 -1.70272645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.114012739 meters Centerline goodness [0,1] 0.9889394785447361 Centerline is valid? [True, True] Translation: X:63.53, Y:-7.43, Z:-1.71 [[ 9.89045159e-01 1.46962418e-01 1.38463655e-02 6.35292804e+01] [-1.46953544e-01 9.89141999e-01 -1.66171365e-03 -7.42565293e+00] [-1.39402311e-02 -3.91262644e-04 9.99902754e-01 -1.70581250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144012739 meters Centerline goodness [0,1] 0.9883134299763714 Centerline is valid? [True, True] Translation: X:63.56, Y:-7.42, Z:-1.71 [[ 9.89057074e-01 1.47040531e-01 1.20493094e-02 6.35621737e+01] [-1.47033799e-01 9.89130409e-01 -1.44751423e-03 -7.42072716e+00] [-1.21311816e-02 -3.39981540e-04 9.99926357e-01 -1.71000848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.174012739 meters Centerline goodness [0,1] 0.9901828102511224 Centerline is valid? [True, True] Translation: X:63.59, Y:-7.42, Z:-1.71 [[ 9.89012600e-01 1.47424130e-01 1.09636713e-02 6.35932464e+01] [-1.47418553e-01 9.89073318e-01 -1.31949045e-03 -7.42180618e+00] [-1.10383994e-02 -3.11255877e-04 9.99939027e-01 -1.71257959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204012739 meters Centerline goodness [0,1] 0.9905115686690724 Centerline is valid? [True, True] Translation: X:63.62, Y:-7.42, Z:-1.71 [[ 9.89004747e-01 1.47432414e-01 1.15453243e-02 6.36239211e+01] [-1.47426227e-01 9.89072078e-01 -1.38982405e-03 -7.41848485e+00] [-1.16240631e-02 -3.27541020e-04 9.99932385e-01 -1.71208397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23401273900001 meters Centerline goodness [0,1] 0.9906214640090522 Centerline is valid? [True, True] Translation: X:63.66, Y:-7.42, Z:-1.71 [[ 9.89232722e-01 1.45809655e-01 1.25763954e-02 6.36554209e+01] [-1.45802181e-01 9.89312606e-01 -1.51406692e-03 -7.42128686e+00] [-1.26627521e-02 -3.35901334e-04 9.99919768e-01 -1.70906949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.264012739 meters Centerline goodness [0,1] 0.9913560700072745 Centerline is valid? [True, True] Translation: X:63.69, Y:-7.42, Z:-1.71 [[ 9.89435386e-01 1.44422298e-01 1.26418960e-02 6.36857573e+01] [-1.44414628e-01 9.89516093e-01 -1.52228882e-03 -7.42176893e+00] [-1.27292119e-02 -3.19468285e-04 9.99918929e-01 -1.70956556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.294012739 meters Centerline goodness [0,1] 0.993303183162289 Centerline is valid? [True, True] Translation: X:63.72, Y:-7.43, Z:-1.71 [[ 9.89705193e-01 1.42560153e-01 1.26583704e-02 6.37172675e+01] [-1.42552315e-01 9.89786096e-01 -1.52394261e-03 -7.42822704e+00] [-1.27463325e-02 -2.96226091e-04 9.99918718e-01 -1.71042931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.324012739 meters Centerline goodness [0,1] 0.9937391304347826 Centerline is valid? [True, True] Translation: X:63.75, Y:-7.43, Z:-1.71 [[ 9.90050157e-01 1.40180677e-01 1.22500785e-02 6.37485815e+01] [-1.40173129e-01 9.90125908e-01 -1.47686846e-03 -7.42662481e+00] [-1.23361485e-02 -2.54957975e-04 9.99923874e-01 -1.71274040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.354012739 meters Centerline goodness [0,1] 0.9927046569682362 Centerline is valid? [True, True] Translation: X:63.78, Y:-7.43, Z:-1.71 [[ 9.90088287e-01 1.39848832e-01 1.29417081e-02 6.37792905e+01] [-1.39840345e-01 9.90172831e-01 -1.56286773e-03 -7.42592608e+00] [-1.30330930e-02 -2.62395893e-04 9.99915031e-01 -1.71159812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.384012739 meters Centerline goodness [0,1] 0.9923949499049369 Centerline is valid? [True, True] Translation: X:63.81, Y:-7.42, Z:-1.71 [[ 9.89939535e-01 1.40847015e-01 1.34845967e-02 6.38101447e+01] [-1.40837892e-01 9.90031331e-01 -1.62859213e-03 -7.42252218e+00] [-1.35795555e-02 -2.86934428e-04 9.99907752e-01 -1.70982109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.414012739 meters Centerline goodness [0,1] 0.9923949499049369 Centerline is valid? [True, True] Translation: X:63.84, Y:-7.43, Z:-1.71 [[ 9.89939535e-01 1.40847018e-01 1.34845750e-02 6.38399313e+01] [-1.40837892e-01 9.90031330e-01 -1.62877144e-03 -7.42611990e+00] [-1.35795593e-02 -2.86753876e-04 9.99907752e-01 -1.71029323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444012739 meters Centerline goodness [0,1] 0.9929417317428988 Centerline is valid? [True, True] Translation: X:63.87, Y:-7.42, Z:-1.71 [[ 9.89872150e-01 1.41394878e-01 1.26734025e-02 6.38702624e+01] [-1.41386861e-01 9.89953237e-01 -1.53082609e-03 -7.42300801e+00] [-1.27625268e-02 -2.76530487e-04 9.99918517e-01 -1.71338886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.474012739 meters Centerline goodness [0,1] 0.9938230563002681 Centerline is valid? [True, True] Translation: X:63.90, Y:-7.43, Z:-1.72 [[ 9.89879293e-01 1.41454995e-01 1.13784415e-02 6.39008125e+01] [-1.41448539e-01 9.89944656e-01 -1.37424372e-03 -7.42516410e+00] [-1.14584210e-02 -2.49128518e-04 9.99934319e-01 -1.71654278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504012739 meters Centerline goodness [0,1] 0.9946110741353028 Centerline is valid? [True, True] Translation: X:63.93, Y:-7.42, Z:-1.72 [[ 9.90077773e-01 1.40145114e-01 1.02640670e-02 6.39300402e+01] [-1.40139789e-01 9.90130952e-01 -1.23976483e-03 -7.42381408e+00] [-1.03365175e-02 -2.10940599e-04 9.99946555e-01 -1.71939878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.534012739 meters Centerline goodness [0,1] 0.9956270096463022 Centerline is valid? [True, True] Translation: X:63.96, Y:-7.43, Z:-1.72 [[ 9.90200055e-01 1.39257471e-01 1.05455523e-02 6.39601043e+01] [-1.39251802e-01 9.90256186e-01 -1.27355107e-03 -7.42586506e+00] [-1.06201499e-02 -2.07416823e-04 9.99943583e-01 -1.71854850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564012739 meters Centerline goodness [0,1] 0.9956802063185042 Centerline is valid? [True, True] Translation: X:63.99, Y:-7.43, Z:-1.72 [[ 9.90464552e-01 1.37252905e-01 1.19000707e-02 6.39893132e+01] [-1.37245545e-01 9.90536014e-01 -1.43684972e-03 -7.42513694e+00] [-1.19846604e-02 -2.10082974e-04 9.99928159e-01 -1.71722339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59401273900001 meters Centerline goodness [0,1] 0.9957395790961057 Centerline is valid? [True, True] Translation: X:64.02, Y:-7.43, Z:-1.72 [[ 9.90633278e-01 1.36047254e-01 1.16984293e-02 6.40189548e+01] [-1.36040062e-01 9.90702330e-01 -1.41205559e-03 -7.42857616e+00] [-1.17817675e-02 -1.92625800e-04 9.99930574e-01 -1.71859314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62401273900001 meters Centerline goodness [0,1] 0.9966436496568827 Centerline is valid? [True, True] Translation: X:64.05, Y:-7.43, Z:-1.72 [[ 9.90888750e-01 1.34213792e-01 1.12313364e-02 6.40486997e+01] [-1.34207048e-01 9.90952386e-01 -1.35543025e-03 -7.43053354e+00] [-1.13116370e-02 -1.64243924e-04 9.99936008e-01 -1.72000899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.654012739 meters Centerline goodness [0,1] 0.9970881953281712 Centerline is valid? [True, True] Translation: X:64.08, Y:-7.43, Z:-1.72 [[ 9.91030108e-01 1.33167998e-01 1.12075736e-02 6.40780132e+01] [-1.33161219e-01 9.91093467e-01 -1.35230101e-03 -7.43387905e+00] [-1.12878362e-02 -1.52243141e-04 9.99936279e-01 -1.72069560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.684012739 meters Centerline goodness [0,1] 0.9978196276266006 Centerline is valid? [True, True] Translation: X:64.11, Y:-7.44, Z:-1.72 [[ 9.91243053e-01 1.31604964e-01 1.08325139e-02 6.41069990e+01] [-1.31598542e-01 9.91302233e-01 -1.30660848e-03 -7.43696927e+00] [-1.09102514e-02 -1.30376457e-04 9.99940473e-01 -1.72184553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.714012739 meters Centerline goodness [0,1] 0.9988152169230107 Centerline is valid? [True, True] Translation: X:64.14, Y:-7.45, Z:-1.72 [[ 9.91889930e-01 1.26647366e-01 1.07149784e-02 6.41366449e+01] [-1.26640791e-01 9.91947801e-01 -1.29266632e-03 -7.44587269e+00] [-1.07924121e-02 -7.47706284e-05 9.99941757e-01 -1.72217609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.744012739 meters Centerline goodness [0,1] 0.9993827291883953 Centerline is valid? [True, True] Translation: X:64.17, Y:-7.46, Z:-1.72 [[ 9.92543025e-01 1.21401383e-01 1.09566437e-02 6.41653586e+01] [-1.21394188e-01 9.92603498e-01 -1.32182108e-03 -7.45774983e+00] [-1.10360738e-02 -1.81085776e-05 9.99939101e-01 -1.72242742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.774012739 meters Centerline goodness [0,1] 0.999155368822281 Centerline is valid? [True, True] Translation: X:64.20, Y:-7.47, Z:-1.72 [[ 9.92810552e-01 1.19147817e-01 1.14457230e-02 6.41956826e+01] [-1.19139817e-01 9.92876527e-01 -1.38072168e-03 -7.46535778e+00] [-1.15286997e-02 7.15370865e-06 9.99933542e-01 -1.72211397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804012739 meters Centerline goodness [0,1] 0.9986743072186111 Centerline is valid? [True, True] Translation: X:64.23, Y:-7.47, Z:-1.72 [[ 9.93029867e-01 1.17243642e-01 1.20669281e-02 6.42265843e+01] [-1.17234612e-01 9.93103181e-01 -1.45540890e-03 -7.47257834e+00] [-1.21543421e-02 3.06028723e-05 9.99926133e-01 -1.72129885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.834012739 meters Centerline goodness [0,1] 0.9976779855992501 Centerline is valid? [True, True] Translation: X:64.26, Y:-7.48, Z:-1.72 [[ 9.93101798e-01 1.16488510e-01 1.33882759e-02 6.42584129e+01] [-1.16477288e-01 9.93192038e-01 -1.61756718e-03 -7.47809216e+00] [-1.34855571e-02 4.69788089e-05 9.99909065e-01 -1.71834617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864012739 meters Centerline goodness [0,1] 0.9990816861990555 Centerline is valid? [True, True] Translation: X:64.29, Y:-7.47, Z:-1.72 [[ 9.92537304e-01 1.21255043e-01 1.29195642e-02 6.42916294e+01] [-1.21244967e-01 9.92621385e-01 -1.56318465e-03 -7.47359579e+00] [-1.30137797e-02 -1.49130581e-05 9.99915317e-01 -1.71879113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.894012739 meters Centerline goodness [0,1] 0.9988785369220152 Centerline is valid? [True, True] Translation: X:64.32, Y:-7.47, Z:-1.72 [[ 9.92232354e-01 1.23767931e-01 1.25081879e-02 6.43234514e+01] [-1.23758655e-01 9.92311190e-01 -1.51591420e-03 -7.47322678e+00] [-1.25996364e-02 -4.38574042e-05 9.99920620e-01 -1.72064799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924012739 meters Centerline goodness [0,1] 0.9988487613524922 Centerline is valid? [True, True] Translation: X:64.35, Y:-7.47, Z:-1.72 [[ 9.92032313e-01 1.25400021e-01 1.21130404e-02 6.43539708e+01] [-1.25391439e-01 9.92106260e-01 -1.46834968e-03 -7.47418103e+00] [-1.22015543e-02 -6.22212375e-05 9.99925556e-01 -1.72209219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.954012739 meters Centerline goodness [0,1] 0.9989405405405405 Centerline is valid? [True, True] Translation: X:64.38, Y:-7.48, Z:-1.72 [[ 9.91856249e-01 1.26819279e-01 1.17495513e-02 6.43841079e+01] [-1.26811302e-01 9.91925836e-01 -1.42447059e-03 -7.47691336e+00] [-1.18353338e-02 -7.71058407e-05 9.99929957e-01 -1.72270281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98401273900001 meters Centerline goodness [0,1] 0.9986877487361514 Centerline is valid? [True, True] Translation: X:64.41, Y:-7.48, Z:-1.72 [[ 9.91823342e-01 1.26989790e-01 1.26511441e-02 6.44131988e+01] [-1.26980555e-01 9.91904021e-01 -1.53381269e-03 -7.48042927e+00] [-1.27434992e-02 -8.51780656e-05 9.99918795e-01 -1.72182257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.014012739 meters Centerline goodness [0,1] 0.9982440737489026 Centerline is valid? [True, True] Translation: X:64.44, Y:-7.48, Z:-1.72 [[ 9.91795557e-01 1.27095234e-01 1.37249367e-02 6.44427911e+01] [-1.27084378e-01 9.91890514e-01 -1.66376951e-03 -7.48385965e+00] [-1.38250917e-02 -9.41058356e-05 9.99904424e-01 -1.72016785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.044012739 meters Centerline goodness [0,1] 0.9979788759942626 Centerline is valid? [True, True] Translation: X:64.47, Y:-7.49, Z:-1.72 [[ 9.91848584e-01 1.26561008e-01 1.47884222e-02 6.44735252e+01] [-1.26548343e-01 9.91958821e-01 -1.79285242e-03 -7.48894058e+00] [-1.48964110e-02 -9.32121992e-05 9.99889038e-01 -1.71893492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.074012739 meters Centerline goodness [0,1] 0.9986240405908026 Centerline is valid? [True, True] Translation: X:64.50, Y:-7.50, Z:-1.72 [[ 9.92036816e-01 1.25282779e-01 1.29298275e-02 6.45034234e+01] [-1.25272988e-01 9.92121072e-01 -1.56760231e-03 -7.49733733e+00] [-1.30243479e-02 -6.46389218e-05 9.99915177e-01 -1.72286646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.104012739 meters Centerline goodness [0,1] 0.9989878978422844 Centerline is valid? [True, True] Translation: X:64.53, Y:-7.50, Z:-1.73 [[ 9.92163511e-01 1.24445401e-01 1.11762554e-02 6.45343704e+01] [-1.24438020e-01 9.92226456e-01 -1.35615109e-03 -7.50361480e+00] [-1.12581431e-02 -4.52274594e-05 9.99936624e-01 -1.72674508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.134012739 meters Centerline goodness [0,1] 0.9993963956195567 Centerline is valid? [True, True] Translation: X:64.56, Y:-7.51, Z:-1.73 [[ 9.92216700e-01 1.24100682e-01 1.02489365e-02 6.45643695e+01] [-1.24094453e-01 9.92269630e-01 -1.24396189e-03 -7.50831507e+00] [-1.03240849e-02 -3.75564076e-05 9.99946705e-01 -1.72874488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164012739 meters Centerline goodness [0,1] 0.9993772146461934 Centerline is valid? [True, True] Translation: X:64.60, Y:-7.51, Z:-1.73 [[ 9.92141329e-01 1.24706952e-01 1.01862759e-02 6.45950783e+01] [-1.24700831e-01 9.92193617e-01 -1.23635648e-03 -7.51187307e+00] [-1.02609402e-02 -4.35967109e-05 9.99947354e-01 -1.72965079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.194012739 meters Centerline goodness [0,1] 0.9992926803129354 Centerline is valid? [True, True] Translation: X:64.62, Y:-7.52, Z:-1.73 [[ 9.92040980e-01 1.25505953e-01 1.01463925e-02 6.46243529e+01] [-1.25499920e-01 9.92092865e-01 -1.23157862e-03 -7.51612893e+00] [-1.02207341e-02 -5.15949919e-05 9.99947766e-01 -1.73029665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.224012739 meters Centerline goodness [0,1] 0.9990169735893571 Centerline is valid? [True, True] Translation: X:64.65, Y:-7.52, Z:-1.73 [[ 9.92000286e-01 1.25819962e-01 1.02357160e-02 6.46542153e+01] [-1.25813842e-01 9.92053090e-01 -1.24223947e-03 -7.52385917e+00] [-1.03106722e-02 -5.54928417e-05 9.99946842e-01 -1.73058536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254012739 meters Centerline goodness [0,1] 0.9991580492649123 Centerline is valid? [True, True] Translation: X:64.68, Y:-7.53, Z:-1.73 [[ 9.91959796e-01 1.26150212e-01 1.00938780e-02 6.46846901e+01] [-1.26144277e-01 9.92011150e-01 -1.22495914e-03 -7.52672878e+00] [-1.01677684e-02 -5.81747302e-05 9.99948305e-01 -1.73232931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284012739 meters Centerline goodness [0,1] 0.9990502708886443 Centerline is valid? [True, True] Translation: X:64.71, Y:-7.53, Z:-1.73 [[ 9.91878544e-01 1.26789471e-01 1.00689624e-02 6.47145634e+01] [-1.26783598e-01 9.91929648e-01 -1.22212275e-03 -7.53016542e+00] [-1.01426547e-02 -6.43819507e-05 9.99948560e-01 -1.73306514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314012739 meters Centerline goodness [0,1] 0.9991746486826959 Centerline is valid? [True, True] Translation: X:64.74, Y:-7.54, Z:-1.73 [[ 9.91918366e-01 1.26451763e-01 1.03878142e-02 6.47432431e+01] [-1.26445492e-01 9.91972756e-01 -1.26088310e-03 -7.53675079e+00] [-1.04638695e-02 -6.27991667e-05 9.99945250e-01 -1.73356577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34401273900001 meters Centerline goodness [0,1] 0.9989104892117069 Centerline is valid? [True, True] Translation: X:64.77, Y:-7.54, Z:-1.73 [[ 9.92107635e-01 1.24876264e-01 1.13296027e-02 6.47733511e+01] [-1.24868705e-01 9.92172322e-01 -1.37490720e-03 -7.54487391e+00] [-1.14126115e-02 -5.06568844e-05 9.99934873e-01 -1.73152583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37401273900001 meters Centerline goodness [0,1] 0.9992229321360733 Centerline is valid? [True, True] Translation: X:64.80, Y:-7.55, Z:-1.73 [[ 9.92246390e-01 1.23753001e-01 1.15020416e-02 6.48040857e+01] [-1.23745131e-01 9.92313052e-01 -1.39609952e-03 -7.55189618e+00] [-1.15863975e-02 -3.80469441e-05 9.99932875e-01 -1.73225318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404012739 meters Centerline goodness [0,1] 0.9992305719415234 Centerline is valid? [True, True] Translation: X:64.84, Y:-7.56, Z:-1.73 [[ 9.92393913e-01 1.22608846e-01 1.10178255e-02 6.48352520e+01] [-1.22601559e-01 9.92455072e-01 -1.33694460e-03 -7.56076445e+00] [-1.10986180e-02 -2.40268983e-05 9.99938408e-01 -1.73384465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.434012739 meters Centerline goodness [0,1] 0.9987854865644451 Centerline is valid? [True, True] Translation: X:64.87, Y:-7.58, Z:-1.73 [[ 9.92552091e-01 1.21271892e-01 1.15531234e-02 6.48664247e+01] [-1.21263768e-01 9.92619327e-01 -1.40372776e-03 -7.57509836e+00] [-1.16380863e-02 -7.70234885e-06 9.99932275e-01 -1.73273411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.464012739 meters Centerline goodness [0,1] 0.9990714347412974 Centerline is valid? [True, True] Translation: X:64.90, Y:-7.58, Z:-1.73 [[ 9.92465833e-01 1.21928012e-01 1.20469692e-02 6.48982366e+01] [-1.21919198e-01 9.92538946e-01 -1.46607020e-03 -7.58084681e+00] [-1.21358411e-02 -1.37322457e-05 9.99926358e-01 -1.73151288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.494012739 meters Centerline goodness [0,1] 0.9990142927550517 Centerline is valid? [True, True] Translation: X:64.93, Y:-7.58, Z:-1.73 [[ 9.91926166e-01 1.26208030e-01 1.24102239e-02 6.49295754e+01] [-1.26198986e-01 9.92003795e-01 -1.51230809e-03 -7.57820259e+00] [-1.25018546e-02 -6.60597022e-05 9.99921847e-01 -1.73117218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524012739 meters Centerline goodness [0,1] 0.9979182762468881 Centerline is valid? [True, True] Translation: X:64.96, Y:-7.58, Z:-1.73 [[ 9.91506531e-01 1.29494873e-01 1.20779815e-02 6.49611498e+01] [-1.29486525e-01 9.91580086e-01 -1.47391963e-03 -7.57571405e+00] [-1.21671509e-02 -1.02534912e-04 9.99925972e-01 -1.73213397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554012739 meters Centerline goodness [0,1] 0.9969577975317165 Centerline is valid? [True, True] Translation: X:64.99, Y:-7.57, Z:-1.73 [[ 9.91051168e-01 1.32955266e-01 1.18524064e-02 6.49918178e+01] [-1.32947471e-01 9.91122029e-01 -1.44672669e-03 -7.57371899e+00] [-1.19395310e-02 -1.41967280e-04 9.99928711e-01 -1.73304258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.584012739 meters Centerline goodness [0,1] 0.9937753546974608 Centerline is valid? [True, True] Translation: X:65.02, Y:-7.57, Z:-1.73 [[ 9.90207605e-01 1.39086906e-01 1.19888470e-02 6.50219616e+01] [-1.39079377e-01 9.90280155e-01 -1.46345944e-03 -7.56748321e+00] [-1.20758653e-02 -2.18272714e-04 9.99927060e-01 -1.73302402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.614012739 meters Centerline goodness [0,1] 0.99361380798274 Centerline is valid? [True, True] Translation: X:65.05, Y:-7.57, Z:-1.73 [[ 9.89849547e-01 1.41575468e-01 1.24201981e-02 6.50518234e+01] [-1.41567588e-01 9.89927432e-01 -1.51576358e-03 -7.57331079e+00] [-1.25096897e-02 -2.57919588e-04 9.99921718e-01 -1.73186588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644012739 meters Centerline goodness [0,1] 0.9917255122817658 Centerline is valid? [True, True] Translation: X:65.08, Y:-7.57, Z:-1.73 [[ 9.89380793e-01 1.44801213e-01 1.25799128e-02 6.50818039e+01] [-1.44793390e-01 9.89460720e-01 -1.53529139e-03 -7.56955991e+00] [-1.26696416e-02 -3.02500397e-04 9.99919691e-01 -1.73284548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.674012739 meters Centerline goodness [0,1] 0.9899769191314755 Centerline is valid? [True, True] Translation: X:65.11, Y:-7.56, Z:-1.74 [[ 9.89273939e-01 1.45572185e-01 1.20753051e-02 6.51112940e+01] [-1.45565035e-01 9.89347587e-01 -1.47365462e-03 -7.56214458e+00] [-1.21611971e-02 -2.99894103e-04 9.99926005e-01 -1.73546630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704012739 meters Centerline goodness [0,1] 0.9911238797650187 Centerline is valid? [True, True] Translation: X:65.14, Y:-7.57, Z:-1.73 [[ 9.89061258e-01 1.47016282e-01 1.20017315e-02 6.51405198e+01] [-1.47009330e-01 9.89134022e-01 -1.46421021e-03 -7.56934103e+00] [-1.20865836e-02 -3.16172908e-04 9.99926905e-01 -1.73422544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73401273900001 meters Centerline goodness [0,1] 0.9899967800794247 Centerline is valid? [True, True] Translation: X:65.17, Y:-7.57, Z:-1.73 [[ 9.88825640e-01 1.48569262e-01 1.22893208e-02 6.51701690e+01] [-1.48562096e-01 9.88901945e-01 -1.49899960e-03 -7.56946636e+00] [-1.23756385e-02 -3.43478011e-04 9.99923360e-01 -1.73343838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.764012739 meters Centerline goodness [0,1] 0.989463250662587 Centerline is valid? [True, True] Translation: X:65.20, Y:-7.57, Z:-1.73 [[ 9.88511567e-01 1.50602017e-01 1.28029470e-02 6.51991986e+01] [-1.50594414e-01 9.88594398e-01 -1.56136208e-03 -7.56605331e+00] [-1.28920660e-02 -3.84627824e-04 9.99916820e-01 -1.73320584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.794012739 meters Centerline goodness [0,1] 0.9870722599523944 Centerline is valid? [True, True] Translation: X:65.23, Y:-7.56, Z:-1.73 [[ 9.87649677e-01 1.56087638e-01 1.35927936e-02 6.52307732e+01] [-1.56079595e-01 9.87743091e-01 -1.65709845e-03 -7.55601318e+00] [-1.36848406e-02 -4.84924974e-04 9.99906241e-01 -1.73295705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.824012739 meters Centerline goodness [0,1] 0.939851076157164 Centerline is valid? [True, False] Translation: X:65.23, Y:-7.55, Z:-1.73 [[ 9.87678504e-01 1.55952708e-01 1.30355728e-02 6.52334274e+01] [-1.55922676e-01 9.87763767e-01 -3.29549693e-03 -7.54665682e+00] [-1.33900082e-02 1.22235007e-03 9.99909603e-01 -1.73349214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.854012739 meters Centerline goodness [0,1] 0.9556085401538962 Centerline is valid? [False, True] Translation: X:65.19, Y:-7.54, Z:-1.73 [[ 9.87670874e-01 1.56138007e-01 1.12768843e-02 6.51898299e+01] [-1.56103009e-01 9.87732982e-01 -3.92521598e-03 -7.53631106e+00] [-1.17514259e-02 2.11646593e-03 9.99928710e-01 -1.73167428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.884012739 meters Centerline goodness [0,1] 0.9408219529396679 Centerline is valid? [True, False] Translation: X:65.19, Y:-7.53, Z:-1.73 [[ 9.88289852e-01 1.52232802e-01 1.04087429e-02 6.51912860e+01] [-1.52133563e-01 9.88311901e-01 -9.74504738e-03 -7.52585613e+00] [-1.17706004e-02 8.04741229e-03 9.99898341e-01 -1.73176594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.914012739 meters Centerline goodness [0,1] 0.9466241955964961 Centerline is valid? [False, False] Translation: X:65.19, Y:-7.52, Z:-1.73 [[ 9.87720773e-01 1.55844508e-01 1.09619164e-02 6.51915812e+01] [-1.55779487e-01 9.87770076e-01 -6.55960024e-03 -7.52086845e+00] [-1.18501307e-02 4.77141170e-03 9.99918401e-01 -1.73130857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944012739 meters Centerline goodness [0,1] 0.9380698098463142 Centerline is valid? [False, False] Translation: X:65.17, Y:-7.52, Z:-1.73 [[ 9.87813684e-01 1.55409748e-01 8.48145350e-03 6.51696573e+01] [-1.55452045e-01 9.87832846e-01 4.57505025e-03 -7.52020176e+00] [-7.66725093e-03 -5.83775653e-03 9.99953566e-01 -1.72702750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.974012739 meters Centerline goodness [0,1] 0.7812959451109075 Centerline is valid? [False, False] Translation: X:65.17, Y:-7.51, Z:-1.73 [[ 9.87857636e-01 1.55162939e-01 7.85840054e-03 6.51728138e+01] [-1.55184626e-01 9.87882978e-01 2.22583092e-03 -7.50664722e+00] [-7.41781366e-03 -3.41830702e-03 9.99966645e-01 -1.72765666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004012739 meters Centerline goodness [0,1] 0.880623389895463 Centerline is valid? [False, False] Translation: X:65.17, Y:-7.50, Z:-1.73 [[ 9.87936131e-01 1.54676556e-01 7.57396122e-03 6.51741975e+01] [-1.54685328e-01 9.87963618e-01 5.82769376e-04 -7.49801924e+00] [-7.39265737e-03 -1.74731959e-03 9.99971147e-01 -1.72775447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.034012739 meters Centerline goodness [0,1] 0.8725212464589235 Centerline is valid? [False, False] Translation: X:65.18, Y:-7.48, Z:-1.73 [[ 9.88012854e-01 1.54201604e-01 7.24328682e-03 6.51758848e+01] [-1.54191095e-01 9.88039039e-01 -1.99089974e-03 -7.48280981e+00] [-7.46365009e-03 8.50184208e-04 9.99971785e-01 -1.72731598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064012739 meters Centerline goodness [0,1] 0.877152994301688 Centerline is valid? [False, False] Translation: X:65.18, Y:-7.48, Z:-1.73 [[ 9.88094696e-01 1.53687259e-01 7.00696895e-03 6.51768266e+01] [-1.53667005e-01 9.88117025e-01 -3.34601943e-03 -7.47596961e+00] [-7.43794587e-03 2.22944413e-03 9.99969853e-01 -1.72709577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09401273900001 meters Centerline goodness [0,1] 0.8514485791754735 Centerline is valid? [False, False] Translation: X:65.18, Y:-7.47, Z:-1.73 [[ 9.88176621e-01 1.53169409e-01 6.78952544e-03 6.51777868e+01] [-1.53140056e-01 9.88193537e-01 -4.65373881e-03 -7.46946186e+00] [-7.42217557e-03 3.55896759e-03 9.99966122e-01 -1.72708560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12401273900001 meters Centerline goodness [0,1] 0.8543219956597409 Centerline is valid? [False, False] Translation: X:65.18, Y:-7.46, Z:-1.73 [[ 9.88382484e-01 1.51852798e-01 6.38691882e-03 6.51792201e+01] [-1.51804149e-01 9.88382007e-01 -7.51719700e-03 -7.45566762e+00] [-7.45422304e-03 6.46030507e-03 9.99951348e-01 -1.72644489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.154012739 meters Centerline goodness [0,1] 0.8762921828278514 Centerline is valid? [False, False] Translation: X:65.18, Y:-7.45, Z:-1.73 [[ 9.88547929e-01 1.50784142e-01 6.09374527e-03 6.51801173e+01] [-1.50722978e-01 9.88530483e-01 -9.49045726e-03 -7.44647574e+00] [-7.45486341e-03 8.46330444e-03 9.99936397e-01 -1.72580378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.184012739 meters Centerline goodness [0,1] 0.9462992976769314 Centerline is valid? [False, False] Translation: X:65.14, Y:-7.44, Z:-1.73 [[ 9.89600303e-01 1.43676396e-01 6.95219352e-03 6.51377819e+01] [-1.43688856e-01 9.89622028e-01 1.32457451e-03 -7.44189676e+00] [-6.68973376e-03 -2.30975206e-03 9.99974956e-01 -1.72682120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.214012739 meters Centerline goodness [0,1] 0.9516549303357237 Centerline is valid? [False, True] Translation: X:65.14, Y:-7.43, Z:-1.73 [[ 9.90299473e-01 1.38813858e-01 6.13724334e-03 6.51387921e+01] [-1.38787148e-01 9.90311622e-01 -4.58461823e-03 -7.43369379e+00] [-6.71419195e-03 3.68837452e-03 9.99970657e-01 -1.72685511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.244012739 meters Centerline goodness [0,1] 0.9804254769945578 Centerline is valid? [True, True] Translation: X:65.17, Y:-7.44, Z:-1.73 [[ 9.91482811e-01 1.30085077e-01 6.30142933e-03 6.51670274e+01] [-1.30083915e-01 9.91502809e-01 -5.95695822e-04 -7.44206556e+00] [-6.32537602e-03 -2.29092430e-04 9.99979968e-01 -1.72873398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.274012739 meters Centerline goodness [0,1] 0.9874240739156472 Centerline is valid? [True, True] Translation: X:65.20, Y:-7.45, Z:-1.73 [[ 9.91927468e-01 1.26680335e-01 5.65598804e-03 6.51962387e+01] [-1.26679344e-01 9.91943576e-01 -5.34648171e-04 -7.44791999e+00] [-5.67815041e-03 -1.86164647e-04 9.99983862e-01 -1.72944983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304012739 meters Centerline goodness [0,1] 0.9874240739156472 Centerline is valid? [True, True] Translation: X:65.22, Y:-7.45, Z:-1.73 [[ 9.91936345e-01 1.26610807e-01 5.65598257e-03 6.52236275e+01] [-1.26609814e-01 9.91952453e-01 -5.34706123e-04 -7.45037314e+00] [-5.67816536e-03 -1.85708462e-04 9.99983862e-01 -1.72971786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.334012739 meters Centerline goodness [0,1] 0.9907217814179677 Centerline is valid? [True, True] Translation: X:65.25, Y:-7.46, Z:-1.73 [[ 9.92733206e-01 1.20259209e-01 4.30162637e-03 6.52526561e+01] [-1.20258577e-01 9.92742519e-01 -4.06222051e-04 -7.45570218e+00] [-4.31925935e-03 -1.14037349e-04 9.99990665e-01 -1.73179253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364012739 meters Centerline goodness [0,1] 0.9929330135343498 Centerline is valid? [True, True] Translation: X:65.28, Y:-7.46, Z:-1.73 [[ 9.93041452e-01 1.17697142e-01 4.00720936e-03 6.52812643e+01] [-1.17696572e-01 9.93049532e-01 -3.78559791e-04 -7.46020938e+00] [-4.02391279e-03 -9.57092422e-05 9.99991899e-01 -1.73301910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.394012739 meters Centerline goodness [0,1] 0.9931840519635913 Centerline is valid? [True, True] Translation: X:65.31, Y:-7.46, Z:-1.73 [[ 9.93440732e-01 1.14240007e-01 4.97328977e-03 6.53096464e+01] [-1.14239088e-01 9.93453175e-01 -4.69423391e-04 -7.46414529e+00] [-4.99435744e-03 -1.01799771e-04 9.99987523e-01 -1.73265400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424012739 meters Centerline goodness [0,1] 0.9940502135820766 Centerline is valid? [True, True] Translation: X:65.34, Y:-7.47, Z:-1.73 [[ 9.93690171e-01 1.11972503e-01 6.48102264e-03 6.53377970e+01] [-1.11970896e-01 9.93711298e-01 -6.11453948e-04 -7.47405130e+00] [-6.50873145e-03 -1.18090131e-04 9.99978811e-01 -1.72883589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.454012739 meters Centerline goodness [0,1] 0.9934024708393523 Centerline is valid? [True, True] Translation: X:65.37, Y:-7.48, Z:-1.73 [[ 9.93960558e-01 1.09442295e-01 8.04944727e-03 6.53656259e+01] [-1.09439736e-01 9.93993143e-01 -7.58911020e-04 -7.47998117e+00] [-8.08415236e-03 -1.26601767e-04 9.99967315e-01 -1.72584194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48401273900001 meters Centerline goodness [0,1] 0.9961281621821504 Centerline is valid? [True, True] Translation: X:65.39, Y:-7.49, Z:-1.73 [[ 9.94740221e-01 1.02070550e-01 8.57290676e-03 6.53933222e+01] [-1.02067379e-01 9.94777160e-01 -8.07782741e-04 -7.49430608e+00] [-8.61058266e-03 -7.14801380e-05 9.99962926e-01 -1.72539112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.514012739 meters Centerline goodness [0,1] 0.9984579139001928 Centerline is valid? [True, True] Translation: X:65.42, Y:-7.52, Z:-1.73 [[ 9.95524181e-01 9.43604405e-02 5.26428598e-03 6.54191190e+01] [-9.43591362e-02 9.95538099e-01 -4.96148134e-04 -7.51503959e+00] [-5.28761402e-03 -2.80601284e-06 9.99986020e-01 -1.73307040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.544012739 meters Centerline goodness [0,1] 0.998320304929259 Centerline is valid? [True, True] Translation: X:65.45, Y:-7.53, Z:-1.74 [[ 9.95838756e-01 9.10526738e-02 3.81874198e-03 6.54473927e+01] [-9.10519637e-02 9.95846078e-01 -3.59768327e-04 -7.52618987e+00] [-3.83563709e-03 1.05672868e-05 9.99992644e-01 -1.73523048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.574012739 meters Centerline goodness [0,1] 0.9979238902444245 Centerline is valid? [True, True] Translation: X:65.47, Y:-7.54, Z:-1.74 [[ 9.96061621e-01 8.86043531e-02 3.24293732e-03 6.54743524e+01] [-8.86038280e-02 9.96066900e-01 -3.05534639e-04 -7.53603652e+00] [-3.25725422e-03 1.69946678e-05 9.99994695e-01 -1.73664380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.604012739 meters Centerline goodness [0,1] 0.9957205520487857 Centerline is valid? [True, True] Translation: X:65.50, Y:-7.55, Z:-1.73 [[ 9.96306968e-01 8.56931900e-02 5.39475912e-03 6.55015892e+01] [-8.56916984e-02 9.96321572e-01 -5.07449274e-04 -7.55014253e+00] [-5.41839984e-03 4.32891762e-05 9.99985319e-01 -1.73079459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.634012739 meters Centerline goodness [0,1] 0.993841648543313 Centerline is valid? [True, True] Translation: X:65.53, Y:-7.56, Z:-1.73 [[ 9.96318735e-01 8.54068346e-02 7.39256407e-03 6.55299092e+01] [-8.54040295e-02 9.96346159e-01 -6.94878288e-04 -7.55847954e+00] [-7.42490017e-03 6.09654969e-05 9.99972433e-01 -1.72629629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664012739 meters Centerline goodness [0,1] 0.9919696053881357 Centerline is valid? [True, True] Translation: X:65.56, Y:-7.57, Z:-1.72 [[ 9.96200580e-01 8.64711596e-02 1.03509974e-02 6.55577375e+01] [-8.64657240e-02 9.96254352e-01 -9.72328988e-04 -7.56946714e+00] [-1.03963046e-02 7.36282200e-05 9.99945954e-01 -1.72057982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.694012739 meters Centerline goodness [0,1] 0.9924553446682286 Centerline is valid? [True, True] Translation: X:65.59, Y:-7.57, Z:-1.72 [[ 9.96144126e-01 8.70870906e-02 1.06168988e-02 6.55881475e+01] [-8.70814097e-02 9.96200700e-01 -9.97072778e-04 -7.57299783e+00] [-1.06633942e-02 6.86936747e-05 9.99943142e-01 -1.72015803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.724012739 meters Centerline goodness [0,1] 0.9934615302163055 Centerline is valid? [True, True] Translation: X:65.62, Y:-7.58, Z:-1.72 [[ 9.96094545e-01 8.76734481e-02 1.04414653e-02 6.56179963e+01] [-8.76679856e-02 9.96149267e-01 -9.80597157e-04 -7.57755614e+00] [-1.04872303e-02 6.13852498e-05 9.99945006e-01 -1.72130019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.754012739 meters Centerline goodness [0,1] 0.9954154354249957 Centerline is valid? [True, True] Translation: X:65.65, Y:-7.59, Z:-1.72 [[ 9.95963809e-01 8.92751167e-02 9.27597759e-03 6.56483581e+01] [-8.92708751e-02 9.96007004e-01 -8.71136720e-04 -7.58546536e+00] [-9.31670948e-03 3.95460090e-05 9.99956598e-01 -1.72486316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784012739 meters Centerline goodness [0,1] 0.9969381374388167 Centerline is valid? [True, True] Translation: X:65.68, Y:-7.60, Z:-1.73 [[ 9.96001006e-01 8.91068114e-02 6.47855779e-03 6.56768718e+01] [-8.91047381e-02 9.96022076e-01 -6.08541886e-04 -7.59577268e+00] [-6.50701180e-03 2.88381362e-05 9.99978829e-01 -1.72964241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.814012739 meters Centerline goodness [0,1] 0.9970287436753149 Centerline is valid? [True, True] Translation: X:65.71, Y:-7.60, Z:-1.73 [[ 9.96067603e-01 8.84180072e-02 5.62021464e-03 6.57061621e+01] [-8.84164359e-02 9.96083458e-01 -5.27913212e-04 -7.60146710e+00] [-5.64487987e-03 2.89179004e-05 9.99984067e-01 -1.73041790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84401273900001 meters Centerline goodness [0,1] 0.9964850236128782 Centerline is valid? [True, True] Translation: X:65.74, Y:-7.61, Z:-1.73 [[ 9.96125269e-01 8.77564059e-02 5.76728163e-03 6.57352317e+01] [-8.77547410e-02 9.96141964e-01 -5.41583545e-04 -7.60685990e+00] [-5.79255868e-03 3.33787484e-05 9.99983222e-01 -1.72995422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.874012739 meters Centerline goodness [0,1] 0.995905723322213 Centerline is valid? [True, True] Translation: X:65.76, Y:-7.62, Z:-1.73 [[ 9.96261644e-01 8.61295277e-02 6.66641131e-03 6.57649697e+01] [-8.61272686e-02 9.96283946e-01 -6.25748394e-04 -7.61799974e+00] [-6.69553398e-03 4.92493263e-05 9.99977583e-01 -1.72960232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.904012739 meters Centerline goodness [0,1] 0.9946760356942708 Centerline is valid? [True, True] Translation: X:65.79, Y:-7.63, Z:-1.73 [[ 9.96356889e-01 8.49644773e-02 7.34761199e-03 6.57944804e+01] [-8.49617016e-02 9.96383979e-01 -6.89661660e-04 -7.62817630e+00] [-7.37963962e-03 6.28835284e-05 9.99972768e-01 -1.72991224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.934012739 meters Centerline goodness [0,1] 0.9933285680247796 Centerline is valid? [True, True] Translation: X:65.82, Y:-7.64, Z:-1.73 [[ 9.96504671e-01 8.31849339e-02 7.66208991e-03 6.58239095e+01] [-8.31818620e-02 9.96534124e-01 -7.19276685e-04 -7.63860349e+00] [-7.69536704e-03 7.94156704e-05 9.99970387e-01 -1.72941491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.964012739 meters Centerline goodness [0,1] 0.991961449532165 Centerline is valid? [True, True] Translation: X:65.86, Y:-7.65, Z:-1.73 [[ 9.96780382e-01 7.98374502e-02 7.40624476e-03 6.58552186e+01] [-7.98344896e-02 9.96807891e-01 -6.94993866e-04 -7.65366625e+00] [-7.43808975e-03 1.01482481e-04 9.99972332e-01 -1.72948462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.994012739 meters Centerline goodness [0,1] 0.9912780730327447 Centerline is valid? [True, True] Translation: X:65.89, Y:-7.66, Z:-1.73 [[ 9.96862895e-01 7.87999508e-02 7.41194026e-03 6.58866526e+01] [-7.87969480e-02 9.96890443e-01 -6.96738203e-04 -7.66198058e+00] [-7.44379535e-03 1.10514191e-04 9.99972288e-01 -1.72931839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024012739 meters Centerline goodness [0,1] 0.9905516871987146 Centerline is valid? [True, True] Translation: X:65.92, Y:-7.68, Z:-1.73 [[ 9.96918834e-01 7.80707786e-02 7.60206970e-03 6.59176531e+01] [-7.80675888e-02 9.96947812e-01 -7.15890115e-04 -7.67588604e+00] [-7.63475685e-03 1.20209087e-04 9.99970848e-01 -1.72879438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.054012739 meters Centerline goodness [0,1] 0.9907614781634938 Centerline is valid? [True, True] Translation: X:65.95, Y:-7.68, Z:-1.73 [[ 9.96885705e-01 7.85270310e-02 7.23860166e-03 6.59495958e+01] [-7.85241433e-02 9.96911978e-01 -6.82713506e-04 -7.68397803e+00] [-7.26986017e-03 1.12182341e-04 9.99973568e-01 -1.73003270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084012739 meters Centerline goodness [0,1] 0.9918839578656536 Centerline is valid? [True, True] Translation: X:65.98, Y:-7.69, Z:-1.73 [[ 9.96821045e-01 7.93775544e-02 6.85624303e-03 6.59818195e+01] [-7.93749738e-02 9.96844619e-01 -6.48107181e-04 -7.69041360e+00] [-6.88605413e-03 1.01832766e-04 9.99976286e-01 -1.73089705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.114012739 meters Centerline goodness [0,1] 0.9932579475144016 Centerline is valid? [True, True] Translation: X:66.01, Y:-7.70, Z:-1.73 [[ 9.96742157e-01 8.04474733e-02 5.76858999e-03 6.60119930e+01] [-8.04456637e-02 9.96758846e-01 -5.45425525e-04 -7.70193240e+00] [-5.79377121e-03 7.95905640e-05 9.99983213e-01 -1.73245713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144012739 meters Centerline goodness [0,1] 0.993307798244104 Centerline is valid? [True, True] Translation: X:66.04, Y:-7.72, Z:-1.73 [[ 9.96779560e-01 8.00296048e-02 5.07646631e-03 6.60428568e+01] [-8.00281952e-02 9.96792484e-01 -4.80523487e-04 -7.71860985e+00] [-5.09863957e-03 7.27155532e-05 9.99986999e-01 -1.73416497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.174012739 meters Centerline goodness [0,1] 0.9934929724102031 Centerline is valid? [True, True] Translation: X:66.07, Y:-7.73, Z:-1.74 [[ 9.96839467e-01 7.92954040e-02 4.82863101e-03 6.60744380e+01] [-7.92941142e-02 9.96851159e-01 -4.58268446e-04 -7.72971830e+00] [-4.84976500e-03 7.39380545e-05 9.99988237e-01 -1.73517782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204012739 meters Centerline goodness [0,1] 0.9934553283100107 Centerline is valid? [True, True] Translation: X:66.10, Y:-7.74, Z:-1.74 [[ 9.96873954e-01 7.88801335e-02 4.49930429e-03 6.61045538e+01] [-7.88790106e-02 9.96884105e-01 -4.26749950e-04 -7.74167215e+00] [-4.51894702e-03 7.05152387e-05 9.99989787e-01 -1.73660076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23401273900001 meters Centerline goodness [0,1] 0.9952747111130203 Centerline is valid? [True, True] Translation: X:66.13, Y:-7.76, Z:-1.74 [[ 9.96746420e-01 8.05392207e-02 3.16345724e-03 6.61341744e+01] [-8.05386738e-02 9.96751439e-01 -3.00113138e-04 -7.75635389e+00] [-3.17735144e-03 4.43560454e-05 9.99994951e-01 -1.73872765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264012739 meters Centerline goodness [0,1] 0.9968761445160178 Centerline is valid? [True, True] Translation: X:66.16, Y:-7.76, Z:-1.74 [[ 9.96309123e-01 8.57759616e-02 3.25832773e-03 6.61645423e+01] [-8.57754050e-02 9.96314450e-01 -3.10459493e-04 -7.76313068e+00] [-3.27294896e-03 2.98292438e-05 9.99994643e-01 -1.73753906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.294012739 meters Centerline goodness [0,1] 0.9974196877822217 Centerline is valid? [True, True] Translation: X:66.20, Y:-7.77, Z:-1.74 [[ 9.96003885e-01 8.92034222e-02 4.36017947e-03 6.61972331e+01] [-8.92024583e-02 9.96013428e-01 -4.15435766e-04 -7.76513412e+00] [-4.37985559e-03 2.48369093e-05 9.99990408e-01 -1.73511477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324012739 meters Centerline goodness [0,1] 0.9978896138854793 Centerline is valid? [True, True] Translation: X:66.23, Y:-7.77, Z:-1.73 [[ 9.95643391e-01 9.30531810e-02 5.94505915e-03 6.62292555e+01] [-9.30514568e-02 9.95661140e-01 -5.66570086e-04 -7.76638653e+00] [-5.97198552e-03 1.09053470e-05 9.99982167e-01 -1.73188619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.354012739 meters Centerline goodness [0,1] 0.9965393433403988 Centerline is valid? [True, True] Translation: X:66.26, Y:-7.77, Z:-1.73 [[ 9.95025682e-01 9.92579274e-02 8.47092218e-03 6.62624731e+01] [-9.92546338e-02 9.95061738e-01 -8.09365765e-04 -7.76890750e+00] [-8.50942652e-03 -3.54385576e-05 9.99963794e-01 -1.72591002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384012739 meters Centerline goodness [0,1] 0.9954785229841748 Centerline is valid? [True, True] Translation: X:66.29, Y:-7.77, Z:-1.73 [[ 9.94779855e-01 1.01681768e-01 8.59408770e-03 6.62934461e+01] [-1.01678453e-01 9.94816976e-01 -8.22963440e-04 -7.77096315e+00] [-8.63322471e-03 -5.51660911e-05 9.99962731e-01 -1.72614661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414012739 meters Centerline goodness [0,1] 0.9947520732550104 Centerline is valid? [True, True] Translation: X:66.33, Y:-7.77, Z:-1.73 [[ 9.94556243e-01 1.03842466e-01 8.63837801e-03 6.63257268e+01] [-1.03839192e-01 9.94593755e-01 -8.27915503e-04 -7.77498678e+00] [-8.67764961e-03 -7.35936576e-05 9.99962346e-01 -1.72652410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444012739 meters Centerline goodness [0,1] 0.9953128661823295 Centerline is valid? [True, True] Translation: X:66.36, Y:-7.78, Z:-1.73 [[ 9.94592336e-01 1.03485566e-01 8.76484786e-03 6.63577789e+01] [-1.03482168e-01 9.94630953e-01 -8.41549728e-04 -7.77944636e+00] [-8.80487723e-03 -7.00065498e-05 9.99961234e-01 -1.72724251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.474012739 meters Centerline goodness [0,1] 0.9952676344567373 Centerline is valid? [True, True] Translation: X:66.39, Y:-7.79, Z:-1.72 [[ 9.94771229e-01 1.01653251e-01 9.83968174e-03 6.63892071e+01] [-1.01648859e-01 9.94819890e-01 -9.46749000e-04 -7.78832153e+00] [-9.88495122e-03 -5.83937565e-05 9.99951141e-01 -1.72488156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504012739 meters Centerline goodness [0,1] 0.9948449216087253 Centerline is valid? [True, True] Translation: X:66.42, Y:-7.79, Z:-1.72 [[ 9.94837325e-01 1.00888799e-01 1.09611893e-02 6.64208509e+01] [-1.00883293e-01 9.94897707e-01 -1.05552104e-03 -7.79321417e+00] [-1.10117523e-02 -5.57291411e-05 9.99939367e-01 -1.72210926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534012739 meters Centerline goodness [0,1] 0.9937548621315585 Centerline is valid? [True, True] Translation: X:66.45, Y:-7.80, Z:-1.72 [[ 9.94870953e-01 1.00451910e-01 1.18827744e-02 6.64533959e+01] [-1.00445380e-01 9.94941913e-01 -1.14655666e-03 -7.79738373e+00] [-1.19378441e-02 -5.28938738e-05 9.99928740e-01 -1.72031490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564012739 meters Centerline goodness [0,1] 0.9946820009511869 Centerline is valid? [True, True] Translation: X:66.49, Y:-7.80, Z:-1.72 [[ 9.94847864e-01 1.00794230e-01 1.08743191e-02 6.64865423e+01] [-1.00788760e-01 9.94907293e-01 -1.05120510e-03 -7.79884085e+00] [-1.09248947e-02 -5.02199870e-05 9.99940320e-01 -1.72410609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59401273900001 meters Centerline goodness [0,1] 0.9956335653452077 Centerline is valid? [True, True] Translation: X:66.52, Y:-7.80, Z:-1.73 [[ 9.94768784e-01 1.01730330e-01 9.27396735e-03 6.65189661e+01] [-1.01726378e-01 9.94812011e-01 -8.98060195e-04 -7.79957191e+00] [-9.31721408e-03 -5.00448625e-05 9.99956593e-01 -1.72795237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624012739 meters Centerline goodness [0,1] 0.9973420217782731 Centerline is valid? [True, True] Translation: X:66.55, Y:-7.80, Z:-1.73 [[ 9.94627995e-01 1.03343009e-01 5.94759060e-03 6.65505532e+01] [-1.03341409e-01 9.94645777e-01 -5.76510616e-04 -7.79794537e+00] [-5.97532421e-03 -4.12187939e-05 9.99982147e-01 -1.73489582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.654012739 meters Centerline goodness [0,1] 0.9974553075014969 Centerline is valid? [True, True] Translation: X:66.58, Y:-7.80, Z:-1.74 [[ 9.94547576e-01 1.04171753e-01 4.83372648e-03 6.65825690e+01] [-1.04170704e-01 9.94559322e-01 -4.68956414e-04 -7.79919894e+00] [-4.85627974e-03 -3.71332238e-05 9.99988208e-01 -1.73633675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684012739 meters Centerline goodness [0,1] 0.9965209174469547 Centerline is valid? [True, True] Translation: X:66.61, Y:-7.80, Z:-1.74 [[ 9.94315384e-01 1.06385181e-01 4.37159876e-03 6.66149362e+01] [-1.06384342e-01 9.94324993e-01 -4.24689660e-04 -7.79836340e+00] [-4.39197060e-03 -4.27941948e-05 9.99990354e-01 -1.73644812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.714012739 meters Centerline goodness [0,1] 0.9963883394960874 Centerline is valid? [True, True] Translation: X:66.65, Y:-7.80, Z:-1.74 [[ 9.94243435e-01 1.07042235e-01 4.68518961e-03 6.66474084e+01] [-1.07041274e-01 9.94254473e-01 -4.55986405e-04 -7.80043614e+00] [-4.70708053e-03 -4.81471765e-05 9.99988920e-01 -1.73548760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.744012739 meters Centerline goodness [0,1] 0.9968677948405621 Centerline is valid? [True, True] Translation: X:66.68, Y:-7.80, Z:-1.74 [[ 9.94274399e-01 1.06755044e-01 4.66680266e-03 6.66804273e+01] [-1.06754085e-01 9.94285351e-01 -4.54964692e-04 -7.80115365e+00] [-4.68870330e-03 -4.58405016e-05 9.99989007e-01 -1.73777719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.774012739 meters Centerline goodness [0,1] 0.9968944764515646 Centerline is valid? [True, True] Translation: X:66.71, Y:-7.80, Z:-1.74 [[ 9.94305236e-01 1.06480464e-01 4.35980889e-03 6.67124501e+01] [-1.06479620e-01 9.94314794e-01 -4.25823766e-04 -7.80382936e+00] [-4.38036439e-03 -4.08319940e-05 9.99990405e-01 -1.74031642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804012739 meters Centerline goodness [0,1] 0.9974275424455497 Centerline is valid? [True, True] Translation: X:66.75, Y:-7.81, Z:-1.74 [[ 9.94381068e-01 1.05798069e-01 3.61401638e-03 6.67451549e+01] [-1.05797484e-01 9.94387634e-01 -3.53284318e-04 -7.81009177e+00] [-3.63111000e-03 -3.10546031e-05 9.99993407e-01 -1.74118342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.834012739 meters Centerline goodness [0,1] 0.9975939132508183 Centerline is valid? [True, True] Translation: X:66.78, Y:-7.82, Z:-1.74 [[ 9.94544171e-01 1.04282039e-01 2.67353449e-03 6.67772299e+01] [-1.04281713e-01 9.94547765e-01 -2.61513134e-04 -7.81747810e+00] [-2.68622887e-03 -1.87143924e-05 9.99996392e-01 -1.74199580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864012739 meters Centerline goodness [0,1] 0.9974093823535761 Centerline is valid? [True, True] Translation: X:66.81, Y:-7.82, Z:-1.74 [[ 9.94557859e-01 1.04132063e-01 3.34341688e-03 6.68082533e+01] [-1.04131547e-01 9.94563479e-01 -3.28485668e-04 -7.82062122e+00] [-3.35944621e-03 -2.14571695e-05 9.99994357e-01 -1.74121729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.894012739 meters Centerline goodness [0,1] 0.9956234446065391 Centerline is valid? [True, True] Translation: X:66.84, Y:-7.82, Z:-1.74 [[ 9.94444139e-01 1.05080377e-01 6.24244402e-03 6.68400063e+01] [-1.05078590e-01 9.94463731e-01 -6.14463031e-04 -7.82245713e+00] [-6.27245218e-03 -4.48980557e-05 9.99980327e-01 -1.73601337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924012739 meters Centerline goodness [0,1] 0.9941598603538564 Centerline is valid? [True, True] Translation: X:66.87, Y:-7.82, Z:-1.74 [[ 9.94301172e-01 1.06370200e-01 7.11053377e-03 6.68720906e+01] [-1.06367905e-01 9.94326595e-01 -7.01292045e-04 -7.82225977e+00] [-7.14478941e-03 -5.90370771e-05 9.99974474e-01 -1.73522939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.954012739 meters Centerline goodness [0,1] 0.9931792510209402 Centerline is valid? [True, True] Translation: X:66.90, Y:-7.82, Z:-1.74 [[ 9.94103805e-01 1.08210113e-01 6.94234594e-03 6.69046510e+01] [-1.08207961e-01 9.94128043e-01 -6.85924289e-04 -7.82315941e+00] [-6.97580473e-03 -6.93371537e-05 9.99975666e-01 -1.73591731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98401273900001 meters Centerline goodness [0,1] 0.9937988447162759 Centerline is valid? [True, True] Translation: X:66.94, Y:-7.83, Z:-1.74 [[ 9.94107006e-01 1.08211697e-01 6.44115063e-03 6.69360837e+01] [-1.08209839e-01 9.94127871e-01 -6.37322498e-04 -7.82562963e+00] [-6.47229311e-03 -6.34291089e-05 9.99979052e-01 -1.73751516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.014012739 meters Centerline goodness [0,1] 0.993867643301252 Centerline is valid? [True, True] Translation: X:66.97, Y:-7.83, Z:-1.74 [[ 9.94104905e-01 1.08241775e-01 6.25741461e-03 6.69694200e+01] [-1.08240015e-01 9.94124597e-01 -6.20171684e-04 -7.82868328e+00] [-6.28777826e-03 -6.07869377e-05 9.99980230e-01 -1.73823103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.044012739 meters Centerline goodness [0,1] 0.9922186495176849 Centerline is valid? [True, True] Translation: X:67.00, Y:-7.83, Z:-1.73 [[ 9.93895706e-01 1.10049133e-01 7.77900941e-03 6.70018392e+01] [-1.10046454e-01 9.93926144e-01 -7.72876604e-04 -7.82865853e+00] [-7.81681523e-03 -8.78936649e-05 9.99969444e-01 -1.73422564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.074012739 meters Centerline goodness [0,1] 0.9880307232771496 Centerline is valid? [True, True] Translation: X:67.03, Y:-7.82, Z:-1.73 [[ 9.93371547e-01 1.14523805e-01 9.86248083e-03 6.70339245e+01] [-1.14519699e-01 9.93420492e-01 -9.81920704e-04 -7.81752022e+00] [-9.91004386e-03 -1.54036249e-04 9.99950882e-01 -1.72948077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.104012739 meters Centerline goodness [0,1] 0.9882850423939074 Centerline is valid? [True, True] Translation: X:67.07, Y:-7.82, Z:-1.73 [[ 9.93043328e-01 1.17335438e-01 9.86627242e-03 6.70665941e+01] [-1.17331465e-01 9.93092323e-01 -9.82555747e-04 -7.81713643e+00] [-9.91340800e-03 -1.81903771e-04 9.99950844e-01 -1.72988974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.134012739 meters Centerline goodness [0,1] 0.9877643731116206 Centerline is valid? [True, True] Translation: X:67.10, Y:-7.81, Z:-1.73 [[ 9.92691176e-01 1.20310060e-01 9.47201337e-03 6.70988125e+01] [-1.20306519e-01 9.92736344e-01 -9.44799201e-04 -7.81056392e+00] [-9.51688077e-03 -2.01651125e-04 9.99954693e-01 -1.73190473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164012739 meters Centerline goodness [0,1] 0.9873873873873874 Centerline is valid? [True, True] Translation: X:67.13, Y:-7.81, Z:-1.73 [[ 9.92443844e-01 1.22415925e-01 8.34011003e-03 6.71301086e+01] [-1.22413244e-01 9.92478868e-01 -8.33167802e-04 -7.80599585e+00] [-8.37937597e-03 -1.94067664e-04 9.99964874e-01 -1.73489323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.194012739 meters Centerline goodness [0,1] 0.98717261202514 Centerline is valid? [True, True] Translation: X:67.16, Y:-7.80, Z:-1.74 [[ 9.92159009e-01 1.24857590e-01 5.57527025e-03 6.71606654e+01] [-1.24856429e-01 9.92174663e-01 -5.57107021e-04 -7.79987996e+00] [-5.60120092e-03 -1.43369585e-04 9.99984303e-01 -1.74016575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.224012739 meters Centerline goodness [0,1] 0.98717261202514 Centerline is valid? [True, True] Translation: X:67.19, Y:-7.80, Z:-1.74 [[ 9.92159009e-01 1.24857590e-01 5.57526913e-03 6.71905253e+01] [-1.24856429e-01 9.92174663e-01 -5.57118257e-04 -7.80286375e+00] [-5.60120121e-03 -1.43358297e-04 9.99984303e-01 -1.74045821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.254012739 meters Centerline goodness [0,1] 0.9878077474278625 Centerline is valid? [True, True] Translation: X:67.22, Y:-7.80, Z:-1.74 [[ 9.92101450e-01 1.25318156e-01 5.48383461e-03 6.72205995e+01] [-1.25317040e-01 9.92116596e-01 -5.48079800e-04 -7.80262548e+00] [-5.50928768e-03 -1.43467156e-04 9.99984813e-01 -1.74186957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284012739 meters Centerline goodness [0,1] 0.9878982941744447 Centerline is valid? [True, True] Translation: X:67.25, Y:-7.80, Z:-1.74 [[ 9.92318171e-01 1.23533459e-01 6.64312172e-03 6.72509841e+01] [-1.23531782e-01 9.92340394e-01 -6.63752235e-04 -7.80237711e+00] [-6.67423364e-03 -1.61983264e-04 9.99977714e-01 -1.73953519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.314012739 meters Centerline goodness [0,1] 0.9876575121163167 Centerline is valid? [True, True] Translation: X:67.28, Y:-7.80, Z:-1.74 [[ 9.92438448e-01 1.22566834e-01 6.58011783e-03 6.72808796e+01] [-1.22565169e-01 9.92460250e-01 -6.57142673e-04 -7.80272294e+00] [-6.61104929e-03 -1.54319603e-04 9.99978135e-01 -1.73981865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34401273900001 meters Centerline goodness [0,1] 0.9897795548333298 Centerline is valid? [True, True] Translation: X:67.31, Y:-7.80, Z:-1.74 [[ 9.92588538e-01 1.21402459e-01 5.42559686e-03 6.73100147e+01] [-1.21401309e-01 9.92603359e-01 -5.42137815e-04 -7.79788007e+00] [-5.45128253e-03 -1.20554778e-04 9.99985134e-01 -1.74190411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.374012739 meters Centerline goodness [0,1] 0.9895894079785741 Centerline is valid? [True, True] Translation: X:67.34, Y:-7.80, Z:-1.74 [[ 9.92609210e-01 1.21263091e-01 4.71381139e-03 6.73391249e+01] [-1.21262221e-01 9.92620397e-01 -4.70952988e-04 -7.79792983e+00] [-4.73613454e-03 -1.04134963e-04 9.99988779e-01 -1.74373430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.404012739 meters Centerline goodness [0,1] 0.9904235805997526 Centerline is valid? [True, True] Translation: X:67.37, Y:-7.80, Z:-1.75 [[ 9.92585570e-01 1.21486462e-01 3.86340238e-03 6.73682981e+01] [-1.21485880e-01 9.92593085e-01 -3.85889759e-04 -7.79682239e+00] [-3.88166687e-03 -8.63202320e-05 9.99992463e-01 -1.74617563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.434012739 meters Centerline goodness [0,1] 0.9900960384153662 Centerline is valid? [True, True] Translation: X:67.40, Y:-7.80, Z:-1.75 [[ 9.92641453e-01 1.21005408e-01 4.54278294e-03 6.73974708e+01] [-1.21004599e-01 9.92651843e-01 -4.53460581e-04 -7.79576917e+00] [-4.56427304e-03 -9.95738578e-05 9.99989579e-01 -1.74518444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.464012739 meters Centerline goodness [0,1] 0.990646586862316 Centerline is valid? [True, True] Translation: X:67.43, Y:-7.80, Z:-1.74 [[ 9.92714594e-01 1.20368185e-01 5.40691803e-03 6.74264710e+01] [-1.20367032e-01 9.92729312e-01 -5.39376109e-04 -7.79713519e+00] [-5.43252974e-03 -1.15368141e-04 9.99985237e-01 -1.74412080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.494012739 meters Centerline goodness [0,1] 0.9902325878322303 Centerline is valid? [True, True] Translation: X:67.45, Y:-7.80, Z:-1.74 [[ 9.93000315e-01 1.17937904e-01 6.40509387e-03 6.74549196e+01] [-1.17936239e-01 9.93020965e-01 -6.38458349e-04 -7.79845898e+00] [-6.43569093e-03 -1.21403337e-04 9.99979283e-01 -1.74213115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524012739 meters Centerline goodness [0,1] 0.9907555328348989 Centerline is valid? [True, True] Translation: X:67.48, Y:-7.80, Z:-1.74 [[ 9.93146858e-01 1.16690757e-01 6.52579223e-03 6.74834644e+01] [-1.16689002e-01 9.93168291e-01 -6.50453783e-04 -7.80037326e+00] [-6.55711186e-03 -1.15492051e-04 9.99978495e-01 -1.74120874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.554012739 meters Centerline goodness [0,1] 0.9906982753052128 Centerline is valid? [True, True] Translation: X:67.51, Y:-7.80, Z:-1.74 [[ 9.93255710e-01 1.15736047e-01 6.94701065e-03 6.75121105e+01] [-1.15734036e-01 9.93279998e-01 -6.92209558e-04 -7.80297054e+00] [-6.98044032e-03 -1.16464482e-04 9.99975630e-01 -1.73990185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584012739 meters Centerline goodness [0,1] 0.9906734650520501 Centerline is valid? [True, True] Translation: X:67.54, Y:-7.80, Z:-1.74 [[ 9.93315297e-01 1.15174570e-01 7.71619039e-03 6.75410539e+01] [-1.15172074e-01 9.93345259e-01 -7.68455533e-04 -7.79652449e+00] [-7.75334767e-03 -1.25371016e-04 9.99969934e-01 -1.73942848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.614012739 meters Centerline goodness [0,1] 0.9902933197694134 Centerline is valid? [True, True] Translation: X:67.57, Y:-7.79, Z:-1.74 [[ 9.93311637e-01 1.15167607e-01 8.27122967e-03 6.75700719e+01] [-1.15164744e-01 9.93346065e-01 -8.23180885e-04 -7.79469168e+00] [-8.31099721e-03 -1.34878893e-04 9.99965454e-01 -1.73912853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644012739 meters Centerline goodness [0,1] 0.98994640943194 Centerline is valid? [True, True] Translation: X:67.60, Y:-7.79, Z:-1.74 [[ 9.93339610e-01 1.14900040e-01 8.62550105e-03 6.75983135e+01] [-1.14896920e-01 9.93377049e-01 -8.58038551e-04 -7.79144024e+00] [-8.66696345e-03 -1.38719824e-04 9.99962432e-01 -1.73967368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.674012739 meters Centerline goodness [0,1] 0.990827261037291 Centerline is valid? [True, True] Translation: X:67.63, Y:-7.79, Z:-1.74 [[ 9.93443659e-01 1.14029534e-01 8.18295609e-03 6.76276723e+01] [-1.14026701e-01 9.93477352e-01 -8.13504688e-04 -7.79254030e+00] [-8.22234511e-03 -1.24904413e-04 9.99966188e-01 -1.74095383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704012739 meters Centerline goodness [0,1] 0.9921193901653425 Centerline is valid? [True, True] Translation: X:67.66, Y:-7.79, Z:-1.74 [[ 9.93643314e-01 1.12382525e-01 6.56748540e-03 6.76572817e+01] [-1.12380665e-01 9.93665014e-01 -6.52745387e-04 -7.79053230e+00] [-6.59923764e-03 -8.94622834e-05 9.99978221e-01 -1.74367464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73401273900001 meters Centerline goodness [0,1] 0.9937994807869724 Centerline is valid? [True, True] Translation: X:67.69, Y:-7.79, Z:-1.75 [[ 9.93727968e-01 1.11694379e-01 5.39370270e-03 6.76850628e+01] [-1.11693114e-01 9.93742603e-01 -5.36071102e-04 -7.79071252e+00] [-5.41982829e-03 -6.97306038e-05 9.99985310e-01 -1.74610564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.764012739 meters Centerline goodness [0,1] 0.9936214694086526 Centerline is valid? [True, True] Translation: X:67.71, Y:-7.79, Z:-1.75 [[ 9.93872153e-01 1.10409134e-01 5.28825113e-03 6.77144734e+01] [-1.10407903e-01 9.93886220e-01 -5.25160861e-04 -7.79153020e+00] [-5.31390248e-03 -6.19219584e-05 9.99985879e-01 -1.74622525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.794012739 meters Centerline goodness [0,1] 0.9936425559519948 Centerline is valid? [True, True] Translation: X:67.74, Y:-7.79, Z:-1.74 [[ 9.93959939e-01 1.09564355e-01 6.26829683e-03 6.77436571e+01] [-1.09562609e-01 9.93979702e-01 -6.22255659e-04 -7.79363994e+00] [-6.29873685e-03 -6.82737588e-05 9.99980160e-01 -1.74463388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.824012739 meters Centerline goodness [0,1] 0.9931561390293769 Centerline is valid? [True, True] Translation: X:67.77, Y:-7.79, Z:-1.74 [[ 9.94018186e-01 1.08999752e-01 6.84840423e-03 6.77720358e+01] [-1.08997657e-01 9.94041774e-01 -6.79508670e-04 -7.79291069e+00] [-6.88166617e-03 -7.10160409e-05 9.99976319e-01 -1.74416294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.854012739 meters Centerline goodness [0,1] 0.9930134176566106 Centerline is valid? [True, True] Translation: X:67.80, Y:-7.79, Z:-1.74 [[ 9.94058398e-01 1.08589152e-01 7.50313181e-03 6.78015113e+01] [-1.08586629e-01 9.94086712e-01 -7.44009949e-04 -7.79290330e+00] [-7.53955504e-03 -7.51504509e-05 9.99971574e-01 -1.74418671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.884012739 meters Centerline goodness [0,1] 0.9929881337648327 Centerline is valid? [True, True] Translation: X:67.83, Y:-7.79, Z:-1.74 [[ 9.94036599e-01 1.08794068e-01 7.42223691e-03 6.78304817e+01] [-1.08791610e-01 9.94064306e-01 -7.35383662e-04 -7.79492043e+00] [-7.45818616e-03 -7.64788273e-05 9.99972184e-01 -1.74472427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.914012739 meters Centerline goodness [0,1] 0.9937533890033619 Centerline is valid? [True, True] Translation: X:67.86, Y:-7.79, Z:-1.75 [[ 9.93964352e-01 1.09561702e-01 5.57686945e-03 6.78590390e+01] [-1.09560326e-01 9.93979995e-01 -5.52447469e-04 -7.79179762e+00] [-5.60382375e-03 -6.18905462e-05 9.99984297e-01 -1.74833795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944012739 meters Centerline goodness [0,1] 0.9936954832023491 Centerline is valid? [True, True] Translation: X:67.89, Y:-7.79, Z:-1.75 [[ 9.93893756e-01 1.10237469e-01 4.78554671e-03 6.78884868e+01] [-1.10236466e-01 9.93905276e-01 -4.73801316e-04 -7.79099653e+00] [-4.80861078e-03 -5.66335862e-05 9.99988437e-01 -1.75006014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.974012739 meters Centerline goodness [0,1] 0.9926457864682471 Centerline is valid? [True, True] Translation: X:67.92, Y:-7.79, Z:-1.75 [[ 9.93743175e-01 1.11588558e-01 4.74298606e-03 6.79164522e+01] [-1.11587589e-01 9.93754492e-01 -4.69432953e-04 -7.78742194e+00] [-4.76574705e-03 -6.27625853e-05 9.99988642e-01 -1.75137410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004012739 meters Centerline goodness [0,1] 0.9900844656628718 Centerline is valid? [True, True] Translation: X:67.95, Y:-7.79, Z:-1.74 [[ 9.93728707e-01 1.11732183e-01 4.37903577e-03 6.79450357e+01] [-1.11731359e-01 9.93738354e-01 -4.33156917e-04 -7.79216735e+00] [-4.40001337e-03 -5.88351550e-05 9.99990318e-01 -1.74169951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.034012739 meters Centerline goodness [0,1] 0.9927874782009602 Centerline is valid? [True, True] Translation: X:67.97, Y:-7.79, Z:-1.75 [[ 9.93627199e-01 1.12629234e-01 4.43219879e-03 6.79741196e+01] [-1.12628399e-01 9.93637082e-01 -4.38202483e-04 -7.79176387e+00] [-4.45335148e-03 -6.37815489e-05 9.99990082e-01 -1.75073104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064012739 meters Centerline goodness [0,1] 0.9918327974276527 Centerline is valid? [True, True] Translation: X:68.00, Y:-7.78, Z:-1.75 [[ 9.93428468e-01 1.14362028e-01 4.60487011e-03 6.80031864e+01] [-1.14361147e-01 9.93439138e-01 -4.55155088e-04 -7.78386611e+00] [-4.62671065e-03 -7.44542035e-05 9.99989294e-01 -1.75221914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09401273900001 meters Centerline goodness [0,1] 0.9902024678484532 Centerline is valid? [True, True] Translation: X:68.03, Y:-7.78, Z:-1.75 [[ 9.93361324e-01 1.14928668e-01 4.96800279e-03 6.80313140e+01] [-1.14927651e-01 9.93373744e-01 -4.90577515e-04 -7.78370270e+00] [-4.99146494e-03 -8.36401619e-05 9.99987539e-01 -1.75147148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.124012739 meters Centerline goodness [0,1] 0.9904657132379905 Centerline is valid? [True, True] Translation: X:68.06, Y:-7.79, Z:-1.75 [[ 9.93310240e-01 1.15283205e-01 6.67457480e-03 6.80586711e+01] [-1.15281382e-01 9.93332658e-01 -6.58596803e-04 -7.78708421e+00] [-6.70599828e-03 -1.15263257e-04 9.99977508e-01 -1.74668993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.154012739 meters Centerline goodness [0,1] 0.9896809496111506 Centerline is valid? [True, True] Translation: X:68.09, Y:-7.79, Z:-1.75 [[ 9.93385413e-01 1.14646135e-01 6.45632906e-03 6.80865798e+01] [-1.14644419e-01 9.93406388e-01 -6.36587596e-04 -7.78780032e+00] [-6.48674084e-03 -1.07805259e-04 9.99978955e-01 -1.74712821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.184012739 meters Centerline goodness [0,1] 0.9925564134283155 Centerline is valid? [True, True] Translation: X:68.12, Y:-7.79, Z:-1.75 [[ 9.93775894e-01 1.11221549e-01 6.26417354e-03 6.81150855e+01] [-1.11219868e-01 9.93795633e-01 -6.17249089e-04 -7.79261993e+00] [-6.29395970e-03 -8.32932860e-05 9.99980189e-01 -1.74833676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.214012739 meters Centerline goodness [0,1] 0.9924507259742209 Centerline is valid? [True, True] Translation: X:68.14, Y:-7.80, Z:-1.75 [[ 9.94000411e-01 1.09109077e-01 7.64151313e-03 6.81434963e+01] [-1.09106515e-01 9.94029779e-01 -7.52514261e-04 -7.79783907e+00] [-7.67799775e-03 -8.57393852e-05 9.99970520e-01 -1.74605920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.244012739 meters Centerline goodness [0,1] 0.9923055248499035 Centerline is valid? [True, True] Translation: X:68.17, Y:-7.80, Z:-1.74 [[ 9.94199526e-01 1.07140172e-01 9.39611339e-03 6.81721976e+01] [-1.07136217e-01 9.94243922e-01 -9.24745369e-04 -7.80276612e+00] [-9.44110600e-03 -8.72826320e-05 9.99955428e-01 -1.74372515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.274012739 meters Centerline goodness [0,1] 0.9936656145888129 Centerline is valid? [True, True] Translation: X:68.20, Y:-7.81, Z:-1.74 [[ 9.94561357e-01 1.03684302e-01 9.86272211e-03 6.82006737e+01] [-1.03679779e-01 9.94610256e-01 -9.70167512e-04 -7.81167708e+00] [-9.91015571e-03 -5.76737309e-05 9.99950892e-01 -1.74362638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304012739 meters Centerline goodness [0,1] 0.995036052806128 Centerline is valid? [True, True] Translation: X:68.23, Y:-7.82, Z:-1.74 [[ 9.94761323e-01 1.01802598e-01 9.28125258e-03 6.82277334e+01] [-1.01798515e-01 9.94804619e-01 -9.12542096e-04 -7.81630476e+00] [-9.32593209e-03 -3.70561470e-05 9.99956512e-01 -1.74430213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.334012739 meters Centerline goodness [0,1] 0.9971973094170403 Centerline is valid? [True, True] Translation: X:68.26, Y:-7.83, Z:-1.74 [[ 9.95105427e-01 9.84073785e-02 9.00987174e-03 6.82567124e+01] [-9.84033964e-02 9.95146214e-01 -8.85295152e-04 -7.82658843e+00] [-9.05325933e-03 -5.63997012e-06 9.99959018e-01 -1.74458003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364012739 meters Centerline goodness [0,1] 0.997927863757042 Centerline is valid? [True, True] Translation: X:68.29, Y:-7.83, Z:-1.75 [[ 9.95213603e-01 9.73150703e-02 8.92528950e-03 6.82851647e+01] [-9.73111206e-02 9.95253624e-01 -8.76778721e-04 -7.83156582e+00] [-8.96825051e-03 4.05218776e-06 9.99959784e-01 -1.74565354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.394012739 meters Centerline goodness [0,1] 0.9979310790715717 Centerline is valid? [True, True] Translation: X:68.31, Y:-7.84, Z:-1.75 [[ 9.95339285e-01 9.59955957e-02 9.19531530e-03 6.83128026e+01] [-9.59913502e-02 9.95381759e-01 -9.02960497e-04 -7.83986042e+00] [-9.23952935e-03 1.60813244e-05 9.99957315e-01 -1.74565436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424012739 meters Centerline goodness [0,1] 0.9975587819606836 Centerline is valid? [True, True] Translation: X:68.34, Y:-7.85, Z:-1.75 [[ 9.95399342e-01 9.53307761e-02 9.60171657e-03 6.83414808e+01] [-9.53261194e-02 9.95445650e-01 -9.42519092e-04 -7.84638130e+00] [-9.64783808e-03 2.28885027e-05 9.99953458e-01 -1.74592838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.454012739 meters Centerline goodness [0,1] 0.9978111997226075 Centerline is valid? [True, True] Translation: X:68.37, Y:-7.85, Z:-1.75 [[ 9.95463115e-01 9.46312726e-02 9.90498333e-03 6.83704998e+01] [-9.46262848e-02 9.95512391e-01 -9.72053358e-04 -7.85199902e+00] [-9.95252028e-03 3.03714901e-05 9.99950472e-01 -1.74584568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48401273900001 meters Centerline goodness [0,1] 0.997955315115759 Centerline is valid? [True, True] Translation: X:68.40, Y:-7.86, Z:-1.75 [[ 9.95607493e-01 9.31687708e-02 9.23582654e-03 6.83990041e+01] [-9.31643733e-02 9.95650329e-01 -9.06173489e-04 -7.85937417e+00] [-9.28008080e-03 4.17431247e-05 9.99956938e-01 -1.74794588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.514012739 meters Centerline goodness [0,1] 0.9983954552353693 Centerline is valid? [True, True] Translation: X:68.43, Y:-7.86, Z:-1.75 [[ 9.95666331e-01 9.25709045e-02 8.89855564e-03 6.84296900e+01] [-9.25667994e-02 9.95706094e-01 -8.72971291e-04 -7.86371808e+00] [-8.94115782e-03 4.54773086e-05 9.99960026e-01 -1.74923255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.544012739 meters Centerline goodness [0,1] 0.998528 Centerline is valid? [True, True] Translation: X:68.46, Y:-7.87, Z:-1.75 [[ 9.95732754e-01 9.19900573e-02 7.35607810e-03 6.84580675e+01] [-9.19872360e-02 9.95759925e-01 -7.21678596e-04 -7.87164111e+00] [-7.39127503e-03 4.19337245e-05 9.99972683e-01 -1.75186067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.574012739 meters Centerline goodness [0,1] 0.998857610897961 Centerline is valid? [True, True] Translation: X:68.49, Y:-7.88, Z:-1.75 [[ 9.95746479e-01 9.19081821e-02 6.46807251e-03 6.84866064e+01] [-9.19059992e-02 9.95767485e-01 -6.34540780e-04 -7.87658488e+00] [-6.49901578e-03 3.73870812e-05 9.99978880e-01 -1.75393722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.604012739 meters Centerline goodness [0,1] 0.9993156397698839 Centerline is valid? [True, True] Translation: X:68.52, Y:-7.88, Z:-1.76 [[ 9.95786630e-01 9.15466221e-02 5.31077333e-03 6.85162987e+01] [-9.15451460e-02 9.95800791e-01 -5.20898102e-04 -7.88129577e+00] [-5.33615875e-03 3.25278452e-05 9.99985762e-01 -1.75615253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.634012739 meters Centerline goodness [0,1] 0.9991409119219948 Centerline is valid? [True, True] Translation: X:68.55, Y:-7.89, Z:-1.76 [[ 9.95856169e-01 9.08021806e-02 5.04533876e-03 6.85459446e+01] [-9.08008393e-02 9.95868949e-01 -4.94762560e-04 -7.88620331e+00] [-5.06942173e-03 3.45913529e-05 9.99987150e-01 -1.75626216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664012739 meters Centerline goodness [0,1] 0.9985065581576555 Centerline is valid? [True, True] Translation: X:68.57, Y:-7.89, Z:-1.75 [[ 9.95985519e-01 8.92703724e-02 6.60649402e-03 6.85748191e+01] [-8.92680403e-02 9.96007428e-01 -6.47627143e-04 -7.89484352e+00] [-6.63793104e-03 5.52784815e-05 9.99977967e-01 -1.75298622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.694012739 meters Centerline goodness [0,1] 0.9980523510904694 Centerline is valid? [True, True] Translation: X:68.61, Y:-7.90, Z:-1.75 [[ 9.96000220e-01 8.89713849e-02 8.22527647e-03 6.86050508e+01] [-8.89677620e-02 9.96034180e-01 -8.06029354e-04 -7.90295831e+00] [-8.26437005e-03 7.10209739e-05 9.99965847e-01 -1.75067870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.724012739 meters Centerline goodness [0,1] 0.9978515415189602 Centerline is valid? [True, True] Translation: X:68.64, Y:-7.91, Z:-1.75 [[ 9.95938304e-01 8.96216487e-02 8.65180408e-03 6.86350591e+01] [-8.96176651e-02 9.95975881e-01 -8.47814356e-04 -7.90770919e+00] [-8.69297071e-03 6.90163119e-05 9.99962213e-01 -1.75055124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.754012739 meters Centerline goodness [0,1] 0.9981790916880892 Centerline is valid? [True, True] Translation: X:68.67, Y:-7.91, Z:-1.75 [[ 9.95856843e-01 9.05445589e-02 8.41615155e-03 6.86650169e+01] [-9.05408215e-02 9.95892403e-01 -8.24817491e-04 -7.91199669e+00] [-8.45626413e-03 5.93948677e-05 9.99964243e-01 -1.75104446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784012739 meters Centerline goodness [0,1] 0.9988917306052856 Centerline is valid? [True, True] Translation: X:68.70, Y:-7.91, Z:-1.75 [[ 9.95520520e-01 9.42285308e-02 7.73805934e-03 6.86954291e+01] [-9.42254820e-02 9.95550593e-01 -7.58442121e-04 -7.91210549e+00] [-7.77509646e-03 2.59223241e-05 9.99969773e-01 -1.75339563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.814012739 meters Centerline goodness [0,1] 0.9982753045165463 Centerline is valid? [True, True] Translation: X:68.73, Y:-7.91, Z:-1.75 [[ 9.95308972e-01 9.64133295e-02 8.03239133e-03 6.87258446e+01] [-9.64101146e-02 9.95341384e-01 -7.87405291e-04 -7.91300771e+00] [-8.07088786e-03 9.30778346e-06 9.99967430e-01 -1.75312303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84401273900001 meters Centerline goodness [0,1] 0.997092522398346 Centerline is valid? [True, True] Translation: X:68.75, Y:-7.92, Z:-1.75 [[ 9.94999238e-01 9.94866063e-02 8.88433992e-03 6.87546171e+01] [-9.94827956e-02 9.95038901e-01 -8.70930302e-04 -7.91696920e+00] [-8.92690974e-03 -1.72639856e-05 9.99960154e-01 -1.75140764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.874012739 meters Centerline goodness [0,1] 0.9965691393014683 Centerline is valid? [True, True] Translation: X:68.78, Y:-7.92, Z:-1.75 [[ 9.94935212e-01 1.00117235e-01 8.97017069e-03 6.87834537e+01] [-1.00113377e-01 9.94975647e-01 -8.79237676e-04 -7.92078465e+00] [-9.01312824e-03 -2.32495538e-05 9.99959381e-01 -1.75157612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.904012739 meters Centerline goodness [0,1] 0.9958317301526228 Centerline is valid? [True, True] Translation: X:68.81, Y:-7.92, Z:-1.75 [[ 9.94863860e-01 1.00807266e-01 9.15398551e-03 6.88136929e+01] [-1.00803278e-01 9.94905973e-01 -8.97143096e-04 -7.92353303e+00] [-9.19779340e-03 -3.02165031e-05 9.99957699e-01 -1.75134631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.934012739 meters Centerline goodness [0,1] 0.9951862659481565 Centerline is valid? [True, True] Translation: X:68.84, Y:-7.93, Z:-1.75 [[ 9.94657170e-01 1.02788738e-01 9.57019118e-03 6.88441680e+01] [-1.02784471e-01 9.94703208e-01 -9.37933639e-04 -7.92566472e+00] [-9.61590889e-03 -5.07446222e-05 9.99953765e-01 -1.75135679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.964012739 meters Centerline goodness [0,1] 0.9939092390838123 Centerline is valid? [True, True] Translation: X:68.88, Y:-7.93, Z:-1.75 [[ 9.94504833e-01 1.04227371e-01 9.83832717e-03 6.88750063e+01] [-1.04222932e-01 9.94553493e-01 -9.64212504e-04 -7.92821508e+00] [-9.88523999e-03 -6.64653089e-05 9.99951138e-01 -1.75137961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.994012739 meters Centerline goodness [0,1] 0.9897153077954985 Centerline is valid? [True, True] Translation: X:68.90, Y:-7.92, Z:-1.75 [[ 9.93988874e-01 1.08968640e-01 1.05808132e-02 6.89045530e+01] [-1.08963774e-01 9.94045180e-01 -1.03700942e-03 -7.92331537e+00] [-1.06308079e-02 -1.22149522e-04 9.99943484e-01 -1.74912559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024012739 meters Centerline goodness [0,1] 0.9892593710908856 Centerline is valid? [True, True] Translation: X:68.93, Y:-7.92, Z:-1.75 [[ 9.93645880e-01 1.12047500e-01 1.06405749e-02 6.89348398e+01] [-1.12042752e-01 9.93702840e-01 -1.04316524e-03 -7.92236102e+00] [-1.06904535e-02 -1.55662450e-04 9.99942843e-01 -1.74973683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.054012739 meters Centerline goodness [0,1] 0.9886753381220476 Centerline is valid? [True, True] Translation: X:68.97, Y:-7.91, Z:-1.76 [[ 9.92883733e-01 1.18820068e-01 7.98023216e-03 6.89651367e+01] [-1.18817617e-01 9.92915788e-01 -7.82222184e-04 -7.91261063e+00] [-8.01664220e-03 -1.71536484e-04 9.99967851e-01 -1.75544616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084012739 meters Centerline goodness [0,1] 0.9877253384085709 Centerline is valid? [True, True] Translation: X:69.00, Y:-7.91, Z:-1.76 [[ 9.92492163e-01 1.22106214e-01 7.02706194e-03 6.89952228e+01] [-1.22104396e-01 9.92517024e-01 -6.88653943e-04 -7.90936018e+00] [-7.05856752e-03 -1.74551515e-04 9.99975073e-01 -1.75738257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.114012739 meters Centerline goodness [0,1] 0.986311192229972 Centerline is valid? [True, True] Translation: X:69.03, Y:-7.91, Z:-1.76 [[ 9.92136370e-01 1.24963719e-01 7.03510068e-03 6.90251772e+01] [-1.24961971e-01 9.92161293e-01 -6.89277348e-04 -7.90660847e+00] [-7.06608924e-03 -1.95262918e-04 9.99975016e-01 -1.75786129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144012739 meters Centerline goodness [0,1] 0.986311192229972 Centerline is valid? [True, True] Translation: X:69.05, Y:-7.91, Z:-1.76 [[ 9.92142141e-01 1.24917889e-01 7.03511061e-03 6.90533873e+01] [-1.24916140e-01 9.92167064e-01 -6.89175936e-04 -7.90928164e+00] [-7.06609544e-03 -1.95038371e-04 9.99975016e-01 -1.75813747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.174012739 meters Centerline goodness [0,1] 0.983794661015135 Centerline is valid? [True, True] Translation: X:69.08, Y:-7.90, Z:-1.76 [[ 9.91586634e-01 1.29160905e-01 8.56781740e-03 6.90833571e+01] [-1.29158474e-01 9.91623611e-01 -8.38782956e-04 -7.90069315e+00] [-8.60438799e-03 -2.74880250e-04 9.99962944e-01 -1.75523924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204012739 meters Centerline goodness [0,1] 0.9821573745239827 Centerline is valid? [True, True] Translation: X:69.11, Y:-7.90, Z:-1.76 [[ 9.91415502e-01 1.30442679e-01 8.94479170e-03 6.91119116e+01] [-1.30440082e-01 9.91455807e-01 -8.75639192e-04 -7.89868659e+00] [-8.98258640e-03 -2.98637095e-04 9.99959611e-01 -1.75530495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23401273900001 meters Centerline goodness [0,1] 0.9795558233623138 Centerline is valid? [True, True] Translation: X:69.14, Y:-7.90, Z:-1.76 [[ 9.91399275e-01 1.30730366e-01 6.08685211e-03 6.91404691e+01] [-1.30729170e-01 9.91417939e-01 -5.95692060e-04 -7.89685512e+00] [-6.11248942e-03 -2.05160446e-04 9.99981298e-01 -1.76095954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.264012739 meters Centerline goodness [0,1] 0.975773316586124 Centerline is valid? [True, True] Translation: X:69.17, Y:-7.90, Z:-1.76 [[ 9.91531510e-01 1.29788003e-01 4.50994918e-03 6.91684806e+01] [-1.29787337e-01 9.91541755e-01 -4.41251857e-04 -7.89699684e+00] [-4.52907212e-03 -1.47819176e-04 9.99989733e-01 -1.76474551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.294012739 meters Centerline goodness [0,1] 0.980975942671899 Centerline is valid? [True, True] Translation: X:69.20, Y:-7.90, Z:-1.77 [[ 9.91655773e-01 1.28843746e-01 4.25629183e-03 6.91970831e+01] [-1.28843146e-01 9.91664898e-01 -4.16158643e-04 -7.89961495e+00] [-4.27443465e-03 -1.35707908e-04 9.99990855e-01 -1.76569605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.324012739 meters Centerline goodness [0,1] 0.9866773018302541 Centerline is valid? [True, True] Translation: X:69.23, Y:-7.90, Z:-1.76 [[ 9.91999207e-01 1.26046101e-01 7.06779883e-03 6.92270773e+01] [-1.26044379e-01 9.92024364e-01 -6.90350184e-04 -7.90476590e+00] [-7.09844458e-03 -2.06029480e-04 9.99974785e-01 -1.76110412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.354012739 meters Centerline goodness [0,1] 0.9866698099054885 Centerline is valid? [True, True] Translation: X:69.26, Y:-7.91, Z:-1.76 [[ 9.92267444e-01 1.23859156e-01 8.01428701e-03 6.92561918e+01] [-1.23856870e-01 9.92299785e-01 -7.82793689e-04 -7.90924836e+00] [-8.04953144e-03 -2.15883811e-04 9.99967579e-01 -1.75990019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.384012739 meters Centerline goodness [0,1] 0.9889318604303327 Centerline is valid? [True, True] Translation: X:69.28, Y:-7.92, Z:-1.76 [[ 9.92822839e-01 1.19409789e-01 6.64176712e-03 6.92840511e+01] [-1.19408123e-01 9.92845043e-01 -6.48255259e-04 -7.91710455e+00] [-6.67165358e-03 -1.49478319e-04 9.99977733e-01 -1.76384696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.414012739 meters Centerline goodness [0,1] 0.9900393241432954 Centerline is valid? [True, True] Translation: X:69.31, Y:-7.92, Z:-1.77 [[ 9.93069730e-01 1.17401673e-01 5.41842056e-03 6.93116013e+01] [-1.17400535e-01 9.93084505e-01 -5.28825046e-04 -7.92203666e+00] [-5.44303444e-03 -1.10965325e-04 9.99985180e-01 -1.76672497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444012739 meters Centerline goodness [0,1] 0.9913539685284455 Centerline is valid? [True, True] Translation: X:69.34, Y:-7.93, Z:-1.77 [[ 9.93259257e-01 1.15797554e-01 5.19373841e-03 6.93402763e+01] [-1.15796488e-01 9.93272831e-01 -5.06569377e-04 -7.92730501e+00] [-5.21745875e-03 -9.82619427e-05 9.99986384e-01 -1.76731996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.474012739 meters Centerline goodness [0,1] 0.9911124598976849 Centerline is valid? [True, True] Translation: X:69.37, Y:-7.93, Z:-1.76 [[ 9.93535394e-01 1.13331840e-01 6.58133134e-03 6.93678324e+01] [-1.13330077e-01 9.93557186e-01 -6.41503414e-04 -7.93164364e+00] [-6.61163181e-03 -1.08506437e-04 9.99978137e-01 -1.76473647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504012739 meters Centerline goodness [0,1] 0.9928637448143929 Centerline is valid? [True, True] Translation: X:69.40, Y:-7.94, Z:-1.77 [[ 9.93797214e-01 1.11066304e-01 5.60116707e-03 6.93957371e+01] [-1.11064992e-01 9.93812995e-01 -5.45720010e-04 -7.93742384e+00] [-5.62712373e-03 -7.97585506e-05 9.99984164e-01 -1.76701024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.534012739 meters Centerline goodness [0,1] 0.9928086722717767 Centerline is valid? [True, True] Translation: X:69.42, Y:-7.94, Z:-1.77 [[ 9.93939482e-01 1.09779478e-01 5.72469808e-03 6.94246547e+01] [-1.09778088e-01 9.93955965e-01 -5.57482831e-04 -7.94189273e+00] [-5.75129798e-03 -7.43422118e-05 9.99983458e-01 -1.76757652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564012739 meters Centerline goodness [0,1] 0.9942538520473312 Centerline is valid? [True, True] Translation: X:69.45, Y:-7.95, Z:-1.77 [[ 9.94130124e-01 1.08017836e-01 6.11906002e-03 6.94527623e+01] [-1.08016216e-01 9.94148954e-01 -5.95579391e-04 -7.94683399e+00] [-6.14759031e-03 -6.88742923e-05 9.99981101e-01 -1.76647494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59401273900001 meters Centerline goodness [0,1] 0.9949930337861372 Centerline is valid? [True, True] Translation: X:69.48, Y:-7.96, Z:-1.76 [[ 9.94553324e-01 1.03895830e-01 8.32718219e-03 6.94809849e+01] [-1.03892690e-01 9.94588183e-01 -8.09971771e-04 -7.95783810e+00] [-8.36626969e-03 -5.95732388e-05 9.99965000e-01 -1.76123541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.624012739 meters Centerline goodness [0,1] 0.9946535500427716 Centerline is valid? [True, True] Translation: X:69.51, Y:-7.96, Z:-1.76 [[ 9.94725958e-01 1.02112493e-01 9.65956426e-03 6.95092063e+01] [-1.02108189e-01 9.94772856e-01 -9.39033581e-04 -7.96348938e+00] [-9.70495939e-03 -5.22395342e-05 9.99952904e-01 -1.75870318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.654012739 meters Centerline goodness [0,1] 0.9937637485850971 Centerline is valid? [True, True] Translation: X:69.54, Y:-7.97, Z:-1.76 [[ 9.94837703e-01 1.00835338e-01 1.14096297e-02 6.95377600e+01] [-1.00829254e-01 9.94903127e-01 -1.10869367e-03 -7.96898325e+00] [-1.14632718e-02 -4.74541852e-05 9.99934293e-01 -1.75577681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.684012739 meters Centerline goodness [0,1] 0.9941042303223308 Centerline is valid? [True, True] Translation: X:69.57, Y:-7.97, Z:-1.76 [[ 9.94866988e-01 1.00595377e-01 1.09656998e-02 6.95673326e+01] [-1.00589747e-01 9.94927419e-01 -1.06520066e-03 -7.97282519e+00] [-1.10172296e-02 -4.33039906e-05 9.99939308e-01 -1.75781419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.714012739 meters Centerline goodness [0,1] 0.9949289626840123 Centerline is valid? [True, True] Translation: X:69.60, Y:-7.98, Z:-1.76 [[ 9.94921501e-01 1.00176041e-01 9.79630169e-03 6.95957676e+01] [-1.00171529e-01 9.94969728e-01 -9.51407497e-04 -7.97644973e+00] [-9.84233186e-03 -3.47347418e-05 9.99951562e-01 -1.76063459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.744012739 meters Centerline goodness [0,1] 0.9974291393017629 Centerline is valid? [True, True] Translation: X:69.62, Y:-7.98, Z:-1.76 [[ 9.95039824e-01 9.91965883e-02 7.46899433e-03 6.96249184e+01] [-9.91939394e-02 9.95067855e-01 -7.25184104e-04 -7.98360378e+00] [-7.50409196e-03 -1.92919085e-05 9.99971844e-01 -1.76443661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.774012739 meters Centerline goodness [0,1] 0.9977841695962502 Centerline is valid? [True, True] Translation: X:69.65, Y:-7.99, Z:-1.77 [[ 9.95049835e-01 9.91509438e-02 6.70202940e-03 6.96536750e+01] [-9.91488106e-02 9.95072404e-01 -6.50618567e-04 -7.98629577e+00] [-6.73351395e-03 -1.71003465e-05 9.99977329e-01 -1.76547155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804012739 meters Centerline goodness [0,1] 0.9962113915109484 Centerline is valid? [True, True] Translation: X:69.68, Y:-7.99, Z:-1.76 [[ 9.94830515e-01 1.01263750e-01 7.60914168e-03 6.96824360e+01] [-1.01261064e-01 9.94859614e-01 -7.38393324e-04 -7.98558960e+00] [-7.64480024e-03 -3.59335752e-05 9.99970777e-01 -1.76312100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.834012739 meters Centerline goodness [0,1] 0.9953434732467307 Centerline is valid? [True, True] Translation: X:69.71, Y:-7.99, Z:-1.76 [[ 9.94691040e-01 1.02617694e-01 7.70352671e-03 6.97115316e+01] [-1.02614985e-01 9.94720869e-01 -7.47199113e-04 -7.98755590e+00] [-7.73953463e-03 -4.72650161e-05 9.99970048e-01 -1.76322954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864012739 meters Centerline goodness [0,1] 0.9951415611496872 Centerline is valid? [True, True] Translation: X:69.74, Y:-7.99, Z:-1.77 [[ 9.94567049e-01 1.03878745e-01 6.75211995e-03 6.97406065e+01] [-1.03876695e-01 9.94589968e-01 -6.54594889e-04 -7.98815879e+00] [-6.78358926e-03 -5.03493978e-05 9.99976990e-01 -1.76619937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.894012739 meters Centerline goodness [0,1] 0.9950417480521153 Centerline is valid? [True, True] Translation: X:69.77, Y:-7.98, Z:-1.77 [[ 9.94299723e-01 1.06517570e-01 4.69765236e-03 6.97689806e+01] [-1.06516606e-01 9.94310819e-01 -4.55519834e-04 -7.98418879e+00] [-4.71944743e-03 -4.74547410e-05 9.99988862e-01 -1.77061058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924012739 meters Centerline goodness [0,1] 0.9938027199173696 Centerline is valid? [True, True] Translation: X:69.80, Y:-7.98, Z:-1.77 [[ 9.94129691e-01 1.08078037e-01 5.02947252e-03 6.97978212e+01] [-1.08076954e-01 9.94142412e-01 -4.87328083e-04 -7.98451541e+00] [-5.05268141e-03 -5.91027551e-05 9.99987233e-01 -1.76959691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.954012739 meters Centerline goodness [0,1] 0.9903238209159262 Centerline is valid? [True, True] Translation: X:69.83, Y:-7.98, Z:-1.77 [[ 9.93798166e-01 1.10974461e-01 7.06217591e-03 6.98265643e+01] [-1.10972403e-01 9.93823253e-01 -6.83787117e-04 -7.97907270e+00] [-7.09443755e-03 -1.04160251e-04 9.99974829e-01 -1.76540851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98401273900001 meters Centerline goodness [0,1] 0.9892827347209446 Centerline is valid? [True, True] Translation: X:69.86, Y:-7.98, Z:-1.76 [[ 9.93624443e-01 1.12466376e-01 7.85999913e-03 6.98551335e+01] [-1.12463878e-01 9.93655523e-01 -7.60507605e-04 -7.97876363e+00] [-7.89566308e-03 -1.28307037e-04 9.99968821e-01 -1.76340257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.014012739 meters Centerline goodness [0,1] 0.9887173778072749 Centerline is valid? [True, True] Translation: X:69.88, Y:-7.97, Z:-1.77 [[ 9.93378397e-01 1.14670306e-01 7.07686389e-03 6.98838174e+01] [-1.14668340e-01 9.93403596e-01 -6.84313844e-04 -7.97366642e+00] [-7.10865251e-03 -1.31709644e-04 9.99974725e-01 -1.76684524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.044012739 meters Centerline goodness [0,1] 0.9891701461377871 Centerline is valid? [True, True] Translation: X:69.91, Y:-7.97, Z:-1.77 [[ 9.93348828e-01 1.14970527e-01 6.31532976e-03 6.99128207e+01] [-1.14968970e-01 9.93368896e-01 -6.10322808e-04 -7.97486011e+00] [-6.34362128e-03 -1.19803509e-04 9.99979872e-01 -1.76939969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.074012739 meters Centerline goodness [0,1] 0.9894723409685446 Centerline is valid? [True, True] Translation: X:69.94, Y:-7.97, Z:-1.77 [[ 9.93358744e-01 1.14889868e-01 6.22287158e-03 6.99412692e+01] [-1.14888355e-01 9.93378228e-01 -6.01139963e-04 -7.97445450e+00] [-6.25073003e-03 -1.17787843e-04 9.99980457e-01 -1.76961222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.104012739 meters Centerline goodness [0,1] 0.986917134680352 Centerline is valid? [True, True] Translation: X:69.97, Y:-7.97, Z:-1.76 [[ 9.93394234e-01 1.14350691e-01 9.58203277e-03 6.99698742e+01] [-1.14347088e-01 9.93440430e-01 -9.24763725e-04 -7.97465412e+00] [-9.62492613e-03 -1.77022594e-04 9.99953664e-01 -1.76203619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.134012739 meters Centerline goodness [0,1] 0.9868535230822632 Centerline is valid? [True, True] Translation: X:70.00, Y:-7.98, Z:-1.76 [[ 9.93463942e-01 1.13650320e-01 1.06301749e-02 6.99990727e+01] [-1.13645853e-01 9.93520794e-01 -1.02538017e-03 -7.97746687e+00] [-1.06778346e-02 -1.89397068e-04 9.99942972e-01 -1.76069156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164012739 meters Centerline goodness [0,1] 0.9888052499517468 Centerline is valid? [True, True] Translation: X:70.03, Y:-7.98, Z:-1.77 [[ 9.93784824e-01 1.11009977e-01 8.27694590e-03 7.00267159e+01] [-1.11007178e-01 9.93819284e-01 -7.98204970e-04 -7.97987573e+00] [-8.31439716e-03 -1.25556424e-04 9.99965427e-01 -1.76539557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.194012739 meters Centerline goodness [0,1] 0.9905105900959628 Centerline is valid? [True, True] Translation: X:70.05, Y:-7.98, Z:-1.77 [[ 9.93924184e-01 1.09872785e-01 6.53361041e-03 7.00540721e+01] [-1.09871019e-01 9.93945654e-01 -6.29815098e-04 -7.98325618e+00] [-6.56325321e-03 -9.18659750e-05 9.99978457e-01 -1.77018934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.224012739 meters Centerline goodness [0,1] 0.9919297412769997 Centerline is valid? [True, True] Translation: X:70.08, Y:-7.99, Z:-1.77 [[ 9.94096832e-01 1.08349176e-01 5.65198738e-03 7.00820460e+01] [-1.08347831e-01 9.94112896e-01 -5.44534468e-04 -7.98862305e+00] [-5.67771341e-03 -7.10605847e-05 9.99983879e-01 -1.77262986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.254012739 meters Centerline goodness [0,1] 0.9923262208769424 Centerline is valid? [True, True] Translation: X:70.11, Y:-8.00, Z:-1.77 [[ 9.94396338e-01 1.05485519e-01 6.98061963e-03 7.01098336e+01] [-1.05483400e-01 9.94420837e-01 -6.72110273e-04 -7.99681289e+00] [-7.01257151e-03 -6.79954989e-05 9.99975409e-01 -1.76940431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284012739 meters Centerline goodness [0,1] 0.9930619190993586 Centerline is valid? [True, True] Translation: X:70.14, Y:-8.00, Z:-1.77 [[ 9.94525166e-01 1.04166425e-01 8.30961172e-03 7.01386745e+01] [-1.04163380e-01 9.94559878e-01 -7.99601595e-04 -8.00090256e+00] [-8.34769806e-03 -7.03333339e-05 9.99965155e-01 -1.76771572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.314012739 meters Centerline goodness [0,1] 0.9913177696314875 Centerline is valid? [True, True] Translation: X:70.17, Y:-8.00, Z:-1.76 [[ 9.94564163e-01 1.03692902e-01 9.48199077e-03 7.01671539e+01] [-1.03688920e-01 9.94609359e-01 -9.11922645e-04 -8.00267297e+00] [-9.52543667e-03 -7.62118053e-05 9.99954629e-01 -1.76446247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34401273900001 meters Centerline goodness [0,1] 0.9909180693919615 Centerline is valid? [True, True] Translation: X:70.19, Y:-8.00, Z:-1.77 [[ 9.94530253e-01 1.04035807e-01 9.28042348e-03 7.01948748e+01] [-1.04032011e-01 9.94573549e-01 -8.92126640e-04 -8.00460232e+00] [-9.32287683e-03 -7.82141821e-05 9.99956538e-01 -1.76543828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.374012739 meters Centerline goodness [0,1] 0.9916006202618883 Centerline is valid? [True, True] Translation: X:70.22, Y:-8.01, Z:-1.77 [[ 9.94522536e-01 1.04139946e-01 8.93293071e-03 7.02224427e+01] [-1.04136438e-01 9.94562651e-01 -8.58171476e-04 -8.00809351e+00] [-8.97372918e-03 -7.67727122e-05 9.99959732e-01 -1.76668073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.404012739 meters Centerline goodness [0,1] 0.9936944995963607 Centerline is valid? [True, True] Translation: X:70.25, Y:-8.02, Z:-1.77 [[ 9.94652771e-01 1.02944144e-01 8.26853482e-03 7.02509021e+01] [-1.02941102e-01 9.94687136e-01 -7.93858283e-04 -8.01693964e+00] [-8.30632829e-03 -6.15587452e-05 9.99965500e-01 -1.76759128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.434012739 meters Centerline goodness [0,1] 0.9932848588537211 Centerline is valid? [True, True] Translation: X:70.28, Y:-8.02, Z:-1.77 [[ 9.94689696e-01 1.02547414e-01 8.74286170e-03 7.02785706e+01] [-1.02544000e-01 9.94728116e-01 -8.38959452e-04 -8.02013189e+00] [-8.78280347e-03 -6.20236924e-05 9.99961429e-01 -1.76588100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.464012739 meters Centerline goodness [0,1] 0.9914335401593061 Centerline is valid? [True, True] Translation: X:70.31, Y:-8.02, Z:-1.76 [[ 9.94598062e-01 1.03165731e-01 1.14685235e-02 7.03071178e+01] [-1.03159909e-01 9.94664176e-01 -1.09966679e-03 -8.02350880e+00] [-1.15207774e-02 -8.93653735e-05 9.99933630e-01 -1.76162627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.494012739 meters Centerline goodness [0,1] 0.9896680542213684 Centerline is valid? [True, True] Translation: X:70.34, Y:-8.02, Z:-1.76 [[ 9.94507912e-01 1.04022587e-01 1.15462156e-02 7.03362531e+01] [-1.04016749e-01 9.94574930e-01 -1.10659635e-03 -8.02478549e+00] [-1.15986876e-02 -1.00480982e-04 9.99932728e-01 -1.76220715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524012739 meters Centerline goodness [0,1] 0.9904227283440105 Centerline is valid? [True, True] Translation: X:70.37, Y:-8.02, Z:-1.76 [[ 9.94381177e-01 1.05343178e-01 1.04350442e-02 7.03655036e+01] [-1.05338486e-01 9.94435922e-01 -9.99762003e-04 -8.02425400e+00] [-1.04823009e-02 -1.05067238e-04 9.99945054e-01 -1.76481766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.554012739 meters Centerline goodness [0,1] 0.9903929188255614 Centerline is valid? [True, True] Translation: X:70.40, Y:-8.02, Z:-1.77 [[ 9.93933759e-01 1.09795373e-01 6.37642839e-03 7.03958183e+01] [-1.09793714e-01 9.93954208e-01 -6.10715342e-04 -8.01739173e+00] [-6.40493154e-03 -9.30811599e-05 9.99979484e-01 -1.77217066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584012739 meters Centerline goodness [0,1] 0.9897208094594304 Centerline is valid? [True, True] Translation: X:70.42, Y:-8.01, Z:-1.78 [[ 9.93686219e-01 1.12080073e-01 5.07493640e-03 7.04246349e+01] [-1.12079051e-01 9.93699175e-01 -4.86214134e-04 -8.01212075e+00] [-5.09745502e-03 -8.56497710e-05 9.99987004e-01 -1.77517569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.614012739 meters Centerline goodness [0,1] 0.9879616317246411 Centerline is valid? [True, True] Translation: X:70.45, Y:-8.01, Z:-1.77 [[ 9.93332405e-01 1.15140277e-01 5.78353151e-03 7.04542825e+01] [-1.15139006e-01 9.93349235e-01 -5.53443926e-04 -8.00824360e+00] [-5.80879029e-03 -1.16156282e-04 9.99983122e-01 -1.77298008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644012739 meters Centerline goodness [0,1] 0.9869674828013503 Centerline is valid? [True, True] Translation: X:70.48, Y:-8.01, Z:-1.77 [[ 9.93288259e-01 1.15407060e-01 7.72300008e-03 7.04829569e+01] [-1.15404804e-01 9.93318270e-01 -7.38729346e-04 -8.00744058e+00] [-7.75665166e-03 -1.57500121e-04 9.99969904e-01 -1.76997234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.674012739 meters Centerline goodness [0,1] 0.9870132671772193 Centerline is valid? [True, True] Translation: X:70.51, Y:-8.01, Z:-1.77 [[ 9.93335667e-01 1.14825572e-01 9.96700081e-03 7.05120434e+01] [-1.14821792e-01 9.93385650e-01 -9.52501558e-04 -8.00756795e+00] [-1.00104471e-02 -1.98275128e-04 9.99949875e-01 -1.76700025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704012739 meters Centerline goodness [0,1] 0.9863536535960254 Centerline is valid? [True, True] Translation: X:70.54, Y:-8.00, Z:-1.77 [[ 9.93416309e-01 1.14193403e-01 9.15994377e-03 7.05409128e+01] [-1.14190188e-01 9.93458522e-01 -8.74980170e-04 -8.00219529e+00] [-9.19994116e-03 -1.76756128e-04 9.99957664e-01 -1.76878389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73401273900001 meters Centerline goodness [0,1] 0.9870441870441871 Centerline is valid? [True, True] Translation: X:70.57, Y:-8.01, Z:-1.77 [[ 9.93489941e-01 1.13644543e-01 7.91542895e-03 7.05698408e+01] [-1.13642128e-01 9.93521462e-01 -7.55683619e-04 -8.00616122e+00] [-7.95002786e-03 -1.48762113e-04 9.99968387e-01 -1.77177982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.764012739 meters Centerline goodness [0,1] 0.9887355976570044 Centerline is valid? [True, True] Translation: X:70.60, Y:-8.01, Z:-1.77 [[ 9.93773183e-01 1.11141730e-01 7.89792016e-03 7.05993602e+01] [-1.11139249e-01 9.93804558e-01 -7.53632704e-04 -8.00556668e+00] [-7.93274910e-03 -1.28828949e-04 9.99968527e-01 -1.77139707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.794012739 meters Centerline goodness [0,1] 0.9895230982609623 Centerline is valid? [True, True] Translation: X:70.63, Y:-8.01, Z:-1.77 [[ 9.93992471e-01 1.09102082e-01 8.70078104e-03 7.06285539e+01] [-1.09098997e-01 9.94030543e-01 -8.29904680e-04 -8.00859843e+00] [-8.73938643e-03 -1.24327480e-04 9.99961803e-01 -1.77000995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.824012739 meters Centerline goodness [0,1] 0.9920830740844043 Centerline is valid? [True, True] Translation: X:70.66, Y:-8.02, Z:-1.77 [[ 9.94630269e-01 1.03051259e-01 9.54286316e-03 7.06567089e+01] [-1.03047273e-01 9.94676044e-01 -9.09857459e-04 -8.01757008e+00] [-9.58581933e-03 -7.83942517e-05 9.99954052e-01 -1.76984472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.854012739 meters Centerline goodness [0,1] 0.9942553652720573 Centerline is valid? [True, True] Translation: X:70.68, Y:-8.02, Z:-1.77 [[ 9.94984511e-01 9.95992319e-02 9.26371122e-03 7.06840393e+01] [-9.95953292e-02 9.95027633e-01 -8.82810202e-04 -8.02270657e+00] [-9.30557586e-03 -4.42398910e-05 9.99956701e-01 -1.77080921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.884012739 meters Centerline goodness [0,1] 0.9962781291682802 Centerline is valid? [True, True] Translation: X:70.71, Y:-8.03, Z:-1.77 [[ 9.95262056e-01 9.68368020e-02 8.72204771e-03 7.07118563e+01] [-9.68332406e-02 9.95300273e-01 -8.30698222e-04 -8.02672381e+00] [-8.76149862e-03 -1.78217238e-05 9.99961617e-01 -1.77162081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.914012739 meters Centerline goodness [0,1] 0.9973346979679737 Centerline is valid? [True, True] Translation: X:70.74, Y:-8.03, Z:-1.77 [[ 9.95708178e-01 9.20738840e-02 9.36072616e-03 7.07391215e+01] [-9.20695769e-02 9.95752178e-01 -8.90927998e-04 -8.03283597e+00] [-9.40299466e-03 2.52661969e-05 9.99955791e-01 -1.77057893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944012739 meters Centerline goodness [0,1] 0.9971679289407626 Centerline is valid? [True, True] Translation: X:70.77, Y:-8.04, Z:-1.77 [[ 9.95886070e-01 9.00663041e-02 9.94974493e-03 7.07673092e+01] [-9.00613437e-02 9.95935770e-01 -9.46384908e-04 -8.03720294e+00] [-9.99454427e-03 4.64041479e-05 9.99950052e-01 -1.76881991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.974012739 meters Centerline goodness [0,1] 0.996439754643332 Centerline is valid? [True, True] Translation: X:70.80, Y:-8.04, Z:-1.77 [[ 9.96142956e-01 8.71591675e-02 1.01238085e-02 7.07957661e+01] [-8.71538867e-02 9.96194396e-01 -9.62474006e-04 -8.04013000e+00] [-1.01691697e-02 7.64324430e-05 9.99948290e-01 -1.76913473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004012739 meters Centerline goodness [0,1] 0.9960407970047769 Centerline is valid? [True, True] Translation: X:70.82, Y:-8.04, Z:-1.77 [[ 9.96237230e-01 8.61491251e-02 9.47152912e-03 7.08239236e+01] [-8.61444612e-02 9.96282250e-01 -9.00040429e-04 -8.04333157e+00] [-9.51385404e-03 8.07340101e-05 9.99954739e-01 -1.77102693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.034012739 meters Centerline goodness [0,1] 0.9963045888311632 Centerline is valid? [True, True] Translation: X:70.85, Y:-8.05, Z:-1.77 [[ 9.96320431e-01 8.52754210e-02 8.58493733e-03 7.08529621e+01] [-8.52715592e-02 9.96357414e-01 -8.15533514e-04 -8.04728082e+00] [-8.62321092e-03 8.04817113e-05 9.99962816e-01 -1.77292697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064012739 meters Centerline goodness [0,1] 0.9963045888311632 Centerline is valid? [True, True] Translation: X:70.88, Y:-8.05, Z:-1.77 [[ 9.96324361e-01 8.52294882e-02 8.58497483e-03 7.08811686e+01] [-8.52256281e-02 9.96361344e-01 -8.15138528e-04 -8.04987197e+00] [-8.62321090e-03 8.04825009e-05 9.99962816e-01 -1.77320307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09401273900001 meters Centerline goodness [0,1] 0.9959934008955927 Centerline is valid? [True, True] Translation: X:70.91, Y:-8.05, Z:-1.77 [[ 9.96409813e-01 8.42293738e-02 8.53793644e-03 7.09102274e+01] [-8.42255226e-02 9.96446388e-01 -8.10278323e-04 -8.05361006e+00] [-8.57584516e-03 8.82571142e-05 9.99963223e-01 -1.77269055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.124012739 meters Centerline goodness [0,1] 0.9955436912014811 Centerline is valid? [True, True] Translation: X:70.94, Y:-8.06, Z:-1.77 [[ 9.96577194e-01 8.22435730e-02 8.36008983e-03 7.09386554e+01] [-8.22398139e-02 9.96612254e-01 -7.93015440e-04 -8.05888014e+00] [-8.39698839e-03 1.02768870e-04 9.99964739e-01 -1.77257193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.154012739 meters Centerline goodness [0,1] 0.994430466851601 Centerline is valid? [True, True] Translation: X:70.97, Y:-8.07, Z:-1.78 [[ 9.96974547e-01 7.73707517e-02 7.45112553e-03 7.09666820e+01] [-7.73676321e-02 9.97002382e-01 -7.06438606e-04 -8.07092490e+00] [-7.48344760e-03 1.27825370e-04 9.99971990e-01 -1.77558666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.184012739 meters Centerline goodness [0,1] 0.9931242590796422 Centerline is valid? [True, True] Translation: X:71.00, Y:-8.08, Z:-1.78 [[ 9.97097304e-01 7.57661052e-02 7.51425462e-03 7.09956348e+01] [-7.57628884e-02 9.97125608e-01 -7.12245390e-04 -8.07566944e+00] [-7.54661976e-03 1.40876324e-04 9.99971514e-01 -1.77593740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.214012739 meters Centerline goodness [0,1] 0.98910375123821 Centerline is valid? [True, True] Translation: X:71.02, Y:-8.08, Z:-1.77 [[ 9.97195984e-01 7.41890804e-02 9.80558952e-03 7.10246277e+01] [-7.41835292e-02 9.97244173e-01 -9.29135053e-04 -8.08140894e+00] [-9.84749868e-03 1.99116507e-04 9.99951492e-01 -1.77173043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.244012739 meters Centerline goodness [0,1] 0.9881849093961176 Centerline is valid? [True, True] Translation: X:71.05, Y:-8.08, Z:-1.77 [[ 9.97213238e-01 7.38293415e-02 1.07231506e-02 7.10539754e+01] [-7.38226834e-02 9.97270866e-01 -1.01594483e-03 -8.08472533e+00] [-1.07688922e-02 2.21501877e-04 9.99941989e-01 -1.77029302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.274012739 meters Centerline goodness [0,1] 0.988362517337032 Centerline is valid? [True, True] Translation: X:71.08, Y:-8.09, Z:-1.77 [[ 9.97254731e-01 7.32450174e-02 1.08705639e-02 7.10842462e+01] [-7.32381415e-02 9.97313950e-01 -1.02979883e-03 -8.08586344e+00] [-1.09167927e-02 2.30831854e-04 9.99940383e-01 -1.77027894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304012739 meters Centerline goodness [0,1] 0.9887806575056531 Centerline is valid? [True, True] Translation: X:71.11, Y:-8.09, Z:-1.77 [[ 9.97365304e-01 7.18982092e-02 9.64877570e-03 7.11145035e+01] [-7.18927292e-02 9.97411951e-01 -9.14054800e-04 -8.09219953e+00] [-9.68952310e-03 2.17969725e-04 9.99953032e-01 -1.77344657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.334012739 meters Centerline goodness [0,1] 0.9872592402573804 Centerline is valid? [True, True] Translation: X:71.14, Y:-8.10, Z:-1.77 [[ 9.97431053e-01 7.10643795e-02 9.00823372e-03 7.11444751e+01] [-7.10595680e-02 9.97471709e-01 -8.53472244e-04 -8.10196686e+00] [-9.04610976e-03 2.11158522e-04 9.99959061e-01 -1.77474147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364012739 meters Centerline goodness [0,1] 0.9869303525365434 Centerline is valid? [True, True] Translation: X:71.18, Y:-8.11, Z:-1.78 [[ 9.97537776e-01 6.96363152e-02 8.31675899e-03 7.11751134e+01] [-6.96321638e-02 9.97572424e-01 -7.88032371e-04 -8.10882910e+00] [-8.35144509e-03 2.06978135e-04 9.99965105e-01 -1.77568070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.394012739 meters Centerline goodness [0,1] 0.9890126560332871 Centerline is valid? [True, True] Translation: X:71.21, Y:-8.11, Z:-1.77 [[ 9.97569159e-01 6.91249343e-02 8.80428743e-03 7.12056381e+01] [-6.91202601e-02 9.97607986e-01 -8.34454174e-04 -8.10923708e+00] [-8.84090904e-03 2.23871112e-04 9.99960893e-01 -1.77492327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424012739 meters Centerline goodness [0,1] 0.986271303150284 Centerline is valid? [True, True] Translation: X:71.24, Y:-8.12, Z:-1.77 [[ 9.97590554e-01 6.87537699e-02 9.27394826e-03 7.12350467e+01] [-6.87485676e-02 9.97633631e-01 -8.78962714e-04 -8.12021730e+00] [-9.31243468e-03 2.39274242e-04 9.99956610e-01 -1.77466043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.454012739 meters Centerline goodness [0,1] 0.9870825115412124 Centerline is valid? [True, True] Translation: X:71.27, Y:-8.12, Z:-1.77 [[ 9.97598589e-01 6.85066262e-02 1.01930012e-02 7.12665036e+01] [-6.85003274e-02 9.97650626e-01 -9.66205737e-04 -8.12202745e+00] [-1.02352456e-02 2.65661559e-04 9.99947583e-01 -1.77325653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48401273900001 meters Centerline goodness [0,1] 0.9862701213738486 Centerline is valid? [True, True] Translation: X:71.30, Y:-8.13, Z:-1.77 [[ 9.97554349e-01 6.92500082e-02 9.47400927e-03 7.12973333e+01] [-6.92445985e-02 9.97599308e-01 -8.98230101e-04 -8.13093882e+00] [-9.51346753e-03 2.40009376e-04 9.99954717e-01 -1.77436541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.514012739 meters Centerline goodness [0,1] 0.9900934173365197 Centerline is valid? [True, True] Translation: X:71.33, Y:-8.13, Z:-1.78 [[ 9.97446645e-01 7.09899698e-02 7.78558044e-03 7.13285611e+01] [-7.09863603e-02 9.97477012e-01 -7.39325071e-04 -8.13226218e+00] [-7.81842218e-03 1.84767293e-04 9.99969419e-01 -1.77817725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.544012739 meters Centerline goodness [0,1] 0.990280221430717 Centerline is valid? [True, True] Translation: X:71.36, Y:-8.14, Z:-1.78 [[ 9.97396066e-01 7.16722731e-02 8.01084508e-03 7.13583811e+01] [-7.16684719e-02 9.97428219e-01 -7.60942786e-04 -8.13651724e+00] [-8.04478144e-03 1.84836315e-04 9.99967623e-01 -1.77822804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.574012739 meters Centerline goodness [0,1] 0.9913751900934173 Centerline is valid? [True, True] Translation: X:71.39, Y:-8.14, Z:-1.78 [[ 9.97346101e-01 7.23140733e-02 8.45162771e-03 7.13893210e+01] [-7.23098653e-02 9.97381892e-01 -8.02812321e-04 -8.13748464e+00] [-8.48755506e-03 1.89545677e-04 9.99963962e-01 -1.77756033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.604012739 meters Centerline goodness [0,1] 0.9899112963556695 Centerline is valid? [True, True] Translation: X:71.42, Y:-8.14, Z:-1.78 [[ 9.97123565e-01 7.52762826e-02 8.83615453e-03 7.14189058e+01] [-7.52717997e-02 9.97162701e-01 -8.39277533e-04 -8.14488995e+00] [-8.87426141e-03 1.71750152e-04 9.99960608e-01 -1.77686078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.634012739 meters Centerline goodness [0,1] 0.9915772196185992 Centerline is valid? [True, True] Translation: X:71.45, Y:-8.15, Z:-1.78 [[ 9.96951256e-01 7.75259034e-02 8.82766405e-03 7.14495589e+01] [-7.75215112e-02 9.96990326e-01 -8.39149956e-04 -8.14554972e+00] [-8.86615152e-03 1.52257745e-04 9.99960683e-01 -1.77734838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664012739 meters Centerline goodness [0,1] 0.9953143303397111 Centerline is valid? [True, True] Translation: X:71.48, Y:-8.14, Z:-1.78 [[ 9.96636259e-01 8.14090638e-02 9.41976292e-03 7.14804077e+01] [-8.14042360e-02 9.96680766e-01 -8.95437709e-04 -8.13998491e+00] [-9.46139326e-03 1.25617084e-04 9.99955232e-01 -1.77630689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.694012739 meters Centerline goodness [0,1] 0.9939080239418919 Centerline is valid? [True, True] Translation: X:71.51, Y:-8.14, Z:-1.77 [[ 9.96478614e-01 8.32336138e-02 1.01260748e-02 7.15098756e+01] [-8.32281303e-02 9.96530056e-01 -9.62450220e-04 -8.14378391e+00] [-1.01710461e-02 1.16286789e-04 9.99948267e-01 -1.77426534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.724012739 meters Centerline goodness [0,1] 0.9949947997919917 Centerline is valid? [True, True] Translation: X:71.54, Y:-8.14, Z:-1.77 [[ 9.96314622e-01 8.50421961e-02 1.11802743e-02 7.15397364e+01] [-8.50356270e-02 9.96377345e-01 -1.06248654e-03 -8.13933418e+00] [-1.12301282e-02 1.07849246e-04 9.99936934e-01 -1.77332069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.754012739 meters Centerline goodness [0,1] 0.9951097610892091 Centerline is valid? [True, True] Translation: X:71.57, Y:-8.14, Z:-1.77 [[ 9.96062899e-01 8.78325738e-02 1.20058608e-02 7.15697185e+01] [-8.78252047e-02 9.96135248e-01 -1.14066953e-03 -8.13902948e+00] [-1.20596490e-02 8.17614233e-05 9.99927276e-01 -1.77311744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784012739 meters Centerline goodness [0,1] 0.9974948168624741 Centerline is valid? [True, True] Translation: X:71.60, Y:-8.15, Z:-1.78 [[ 9.96117133e-01 8.76062907e-02 8.70605979e-03 7.15983494e+01] [-8.76024078e-02 9.96155176e-01 -8.27086130e-04 -8.14523250e+00] [-8.74504447e-03 6.12028647e-05 9.99961759e-01 -1.78005324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.814012739 meters Centerline goodness [0,1] 0.9978400804088877 Centerline is valid? [True, True] Translation: X:71.63, Y:-8.15, Z:-1.78 [[ 9.96214418e-01 8.65919527e-02 7.65942256e-03 7.16269974e+01] [-8.65889175e-02 9.96243861e-01 -7.27624017e-04 -8.15068121e+00] [-7.69365909e-03 6.16484283e-05 9.99970401e-01 -1.78237277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84401273900001 meters Centerline goodness [0,1] 0.9972316408429547 Centerline is valid? [True, True] Translation: X:71.66, Y:-8.15, Z:-1.78 [[ 9.96297852e-01 8.56032579e-02 7.91655359e-03 7.16561846e+01] [-8.55999867e-02 9.96329302e-01 -7.51749638e-04 -8.15484829e+00] [-7.95184652e-03 7.13096682e-05 9.99968381e-01 -1.78129125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.874012739 meters Centerline goodness [0,1] 0.995199965560291 Centerline is valid? [True, True] Translation: X:71.69, Y:-8.16, Z:-1.78 [[ 9.96376984e-01 8.43627186e-02 1.07627826e-02 7.16857340e+01] [-8.43566036e-02 9.96435106e-01 -1.02169037e-03 -8.16118453e+00] [-1.08106070e-02 1.10076987e-04 9.99941558e-01 -1.77604036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.904012739 meters Centerline goodness [0,1] 0.9955937667920473 Centerline is valid? [True, True] Translation: X:71.72, Y:-8.17, Z:-1.78 [[ 9.96342858e-01 8.48142157e-02 1.03661846e-02 7.17155622e+01] [-8.48085693e-02 9.96396778e-01 -9.83863116e-04 -8.16593044e+00] [-1.04122785e-02 1.01123705e-04 9.99945786e-01 -1.77691570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.934012739 meters Centerline goodness [0,1] 0.9982891915888863 Centerline is valid? [True, True] Translation: X:71.75, Y:-8.17, Z:-1.78 [[ 9.96177923e-01 8.70379779e-02 7.34410209e-03 7.17462899e+01] [-8.70352016e-02 9.96204993e-01 -6.97395097e-04 -8.16937043e+00] [-7.37693102e-03 5.55341937e-05 9.99972789e-01 -1.78396885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.964012739 meters Centerline goodness [0,1] 0.9988428158148506 Centerline is valid? [True, True] Translation: X:71.78, Y:-8.17, Z:-1.79 [[ 9.96093415e-01 8.81249721e-02 5.64789697e-03 7.17758672e+01] [-8.81233461e-02 9.96109426e-01 -5.36590994e-04 -8.17326099e+00] [-5.67321047e-03 3.67831761e-05 9.99983907e-01 -1.78706897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.994012739 meters Centerline goodness [0,1] 0.9992536358595983 Centerline is valid? [True, True] Translation: X:71.80, Y:-8.18, Z:-1.79 [[ 9.96004051e-01 8.91646502e-02 5.05929551e-03 7.18039283e+01] [-8.91633591e-02 9.96016900e-01 -4.80628087e-04 -8.17726718e+00] [-5.08199886e-03 2.76037387e-05 9.99987086e-01 -1.78910971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024012739 meters Centerline goodness [0,1] 0.9991129381220251 Centerline is valid? [True, True] Translation: X:71.83, Y:-8.18, Z:-1.79 [[ 9.95705809e-01 9.24067579e-02 5.56174078e-03 7.18324177e+01] [-9.24052495e-02 9.95721342e-01 -5.28131620e-04 -8.17773866e+00] [-5.58674693e-03 1.19296770e-05 9.99984394e-01 -1.78728022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.054012739 meters Centerline goodness [0,1] 0.9986004048059945 Centerline is valid? [True, True] Translation: X:71.86, Y:-8.18, Z:-1.79 [[ 9.95518023e-01 9.44076791e-02 5.57272281e-03 7.18607460e+01] [-9.44061969e-02 9.95533621e-01 -5.29031535e-04 -8.17964356e+00] [-5.59777755e-03 5.60861664e-07 9.99984332e-01 -1.78818353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084012739 meters Centerline goodness [0,1] 0.9965289608177172 Centerline is valid? [True, True] Translation: X:71.89, Y:-8.18, Z:-1.78 [[ 9.95147858e-01 9.81431175e-02 6.97637312e-03 7.18895631e+01] [-9.81408892e-02 9.95172311e-01 -6.61849370e-04 -8.18136210e+00] [-7.00764932e-03 -2.60294789e-05 9.99975446e-01 -1.78479506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.114012739 meters Centerline goodness [0,1] 0.9943474896836314 Centerline is valid? [True, True] Translation: X:71.92, Y:-8.18, Z:-1.78 [[ 9.94951386e-01 1.00036877e-01 8.02264363e-03 7.19180075e+01] [-1.00033996e-01 9.94983729e-01 -7.60675824e-04 -8.18236059e+00] [-8.05849551e-03 -4.57016327e-05 9.99967529e-01 -1.78256599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144012739 meters Centerline goodness [0,1] 0.9919470061046889 Centerline is valid? [True, True] Translation: X:71.95, Y:-8.18, Z:-1.78 [[ 9.94787567e-01 1.01568171e-01 9.03343937e-03 7.19470225e+01] [-1.01564584e-01 9.94828579e-01 -8.56043267e-04 -8.18307751e+00] [-9.07367041e-03 -6.58963173e-05 9.99958831e-01 -1.78010672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.174012739 meters Centerline goodness [0,1] 0.9907360081778687 Centerline is valid? [True, True] Translation: X:71.98, Y:-8.18, Z:-1.78 [[ 9.94552012e-01 1.03804830e-01 9.53170579e-03 7.19758573e+01] [-1.03800944e-01 9.94597682e-01 -9.02794218e-04 -8.18421889e+00] [-9.57392689e-03 -9.15242535e-05 9.99954165e-01 -1.77992676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204012739 meters Centerline goodness [0,1] 0.9910615240208209 Centerline is valid? [True, True] Translation: X:72.00, Y:-8.19, Z:-1.78 [[ 9.94646281e-01 1.02937678e-01 9.08906127e-03 7.20030339e+01] [-1.02934111e-01 9.94687804e-01 -8.60584559e-04 -8.19037964e+00] [-9.12936497e-03 -7.95972137e-05 9.99958323e-01 -1.78217240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23401273900001 meters Centerline goodness [0,1] 0.9922204074615318 Centerline is valid? [True, True] Translation: X:72.03, Y:-8.19, Z:-1.78 [[ 9.94741311e-01 1.02065884e-01 8.50179524e-03 7.20320505e+01] [-1.02062735e-01 9.94777639e-01 -8.04521038e-04 -8.19445957e+00] [-8.53950994e-03 -6.74261662e-05 9.99963535e-01 -1.78371664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.264012739 meters Centerline goodness [0,1] 0.9934748192204014 Centerline is valid? [True, True] Translation: X:72.06, Y:-8.20, Z:-1.79 [[ 9.94822505e-01 1.01331726e-01 7.75010702e-03 7.20602242e+01] [-1.01329090e-01 9.94852692e-01 -7.33083959e-04 -8.19930925e+00] [-7.78449950e-03 -5.60228715e-05 9.99969699e-01 -1.78535241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.294012739 meters Centerline goodness [0,1] 0.9934768706032829 Centerline is valid? [True, True] Translation: X:72.09, Y:-8.21, Z:-1.78 [[ 9.94974448e-01 9.97451718e-02 8.76066563e-03 7.20896699e+01] [-9.97417460e-02 9.95013014e-01 -8.28181255e-04 -8.20666393e+00] [-8.79958340e-03 -4.97848996e-05 9.99961282e-01 -1.78387568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.324012739 meters Centerline goodness [0,1] 0.9874986551909629 Centerline is valid? [True, True] Translation: X:72.12, Y:-8.21, Z:-1.77 [[ 9.95126858e-01 9.81803551e-02 9.11893967e-03 7.21195285e+01] [-9.81765796e-02 9.95168637e-01 -8.61828368e-04 -8.21232914e+00] [-9.15949738e-03 -3.76377512e-05 9.99958050e-01 -1.76745328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.354012739 meters Centerline goodness [0,1] 0.9949284201065673 Centerline is valid? [True, True] Translation: X:72.15, Y:-8.22, Z:-1.78 [[ 9.95319838e-01 9.60987637e-02 1.01708806e-02 7.21486997e+01] [-9.60939609e-02 9.95371803e-01 -9.60985782e-04 -8.22001714e+00] [-1.02161573e-02 -2.08719916e-05 9.99947813e-01 -1.78083699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.384012739 meters Centerline goodness [0,1] 0.9961499361927627 Centerline is valid? [True, True] Translation: X:72.18, Y:-8.23, Z:-1.78 [[ 9.95429646e-01 9.50967390e-02 8.74242670e-03 7.21785183e+01] [-9.50931529e-02 9.95468036e-01 -8.25910508e-04 -8.22601498e+00] [-8.78134773e-03 -9.20911414e-06 9.99961443e-01 -1.78433288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.414012739 meters Centerline goodness [0,1] 0.9974773285779527 Centerline is valid? [True, True] Translation: X:72.21, Y:-8.23, Z:-1.79 [[ 9.95522950e-01 9.42106883e-02 7.64208952e-03 7.22090120e+01] [-9.42079212e-02 9.95552282e-01 -7.22058193e-04 -8.23247419e+00] [-7.67612526e-03 -1.11986454e-06 9.99970538e-01 -1.78730195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444012739 meters Centerline goodness [0,1] 0.998247804279738 Centerline is valid? [True, True] Translation: X:72.24, Y:-8.24, Z:-1.79 [[ 9.95602274e-01 9.34321219e-02 6.82280147e-03 7.22388198e+01] [-9.34298981e-02 9.95625652e-01 -6.44648259e-04 -8.23833968e+00] [-6.85318702e-03 4.35962627e-06 9.99976517e-01 -1.78898788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.474012739 meters Centerline goodness [0,1] 0.9984368977773971 Centerline is valid? [True, True] Translation: X:72.27, Y:-8.24, Z:-1.79 [[ 9.95687933e-01 9.24762403e-02 7.32696650e-03 7.22678299e+01] [-9.24736495e-02 9.95714891e-01 -6.92313402e-04 -8.24460080e+00] [-7.35959219e-03 1.17767687e-05 9.99972918e-01 -1.78791466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504012739 meters Centerline goodness [0,1] 0.9985031563876174 Centerline is valid? [True, True] Translation: X:72.30, Y:-8.25, Z:-1.79 [[ 9.95894154e-01 9.02155092e-02 7.48298114e-03 7.22984310e+01] [-9.02127444e-02 9.95922267e-01 -7.06881042e-04 -8.25309000e+00] [-7.51623917e-03 2.89184326e-05 9.99971752e-01 -1.78801701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.534012739 meters Centerline goodness [0,1] 0.9988478525251232 Centerline is valid? [True, True] Translation: X:72.33, Y:-8.26, Z:-1.79 [[ 9.95986531e-01 8.92230506e-02 7.07650886e-03 7.23287311e+01] [-8.92205524e-02 9.96011670e-01 -6.68557615e-04 -8.25955530e+00] [-7.10793616e-03 3.45043505e-05 9.99974738e-01 -1.78875167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564012739 meters Centerline goodness [0,1] 0.9987619730240438 Centerline is valid? [True, True] Translation: X:72.36, Y:-8.26, Z:-1.79 [[ 9.96005971e-01 8.90081770e-02 7.04622766e-03 7.23586722e+01] [-8.90056912e-02 9.96030895e-01 -6.66203478e-04 -8.26356848e+00] [-7.07755800e-03 3.63882785e-05 9.99974953e-01 -1.78982572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59401273900001 meters Centerline goodness [0,1] 0.9989074784173433 Centerline is valid? [True, True] Translation: X:72.39, Y:-8.27, Z:-1.79 [[ 9.95970557e-01 8.94350753e-02 6.63452881e-03 7.23890132e+01] [-8.94328812e-02 9.95992654e-01 -6.27242896e-04 -8.26668968e+00] [-6.66403948e-03 3.13704288e-05 9.99977795e-01 -1.79050510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.624012739 meters Centerline goodness [0,1] 0.9990149260123776 Centerline is valid? [True, True] Translation: X:72.42, Y:-8.27, Z:-1.79 [[ 9.95807870e-01 9.12080509e-02 6.91217204e-03 7.24185863e+01] [-9.12057110e-02 9.95831859e-01 -6.53639733e-04 -8.26574760e+00] [-6.94297834e-03 2.04700242e-05 9.99975897e-01 -1.79101727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.654012739 meters Centerline goodness [0,1] 0.9983153495116646 Centerline is valid? [True, True] Translation: X:72.45, Y:-8.26, Z:-1.79 [[ 9.95667903e-01 9.26857940e-02 7.40075889e-03 7.24478908e+01] [-9.26831531e-02 9.95695407e-01 -6.99752319e-04 -8.26472910e+00] [-7.43375873e-03 1.07952546e-05 9.99972369e-01 -1.78897670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.684012739 meters Centerline goodness [0,1] 0.9980049340341092 Centerline is valid? [True, True] Translation: X:72.48, Y:-8.27, Z:-1.79 [[ 9.95654408e-01 9.28402756e-02 7.27889593e-03 7.24771472e+01] [-9.28377255e-02 9.95681015e-01 -6.88179318e-04 -8.26573892e+00] [-7.31134924e-03 9.43262971e-06 9.99973272e-01 -1.78915238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.714012739 meters Centerline goodness [0,1] 0.9984908263803549 Centerline is valid? [True, True] Translation: X:72.51, Y:-8.27, Z:-1.79 [[ 9.95660563e-01 9.27832961e-02 7.16258475e-03 7.25064396e+01] [-9.27808267e-02 9.95686326e-01 -6.76996727e-04 -8.26714962e+00] [-7.19450168e-03 9.50840843e-06 9.99974119e-01 -1.79001150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.744012739 meters Centerline goodness [0,1] 0.9985376658566483 Centerline is valid? [True, True] Translation: X:72.54, Y:-8.27, Z:-1.79 [[ 9.95720530e-01 9.21174213e-02 7.41671894e-03 7.25362524e+01] [-9.21147556e-02 9.95748151e-01 -7.00955768e-04 -8.26963317e+00] [-7.44975441e-03 1.47667964e-05 9.99972250e-01 -1.79019018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.774012739 meters Centerline goodness [0,1] 0.9976594748712712 Centerline is valid? [True, True] Translation: X:72.57, Y:-8.28, Z:-1.79 [[ 9.96055366e-01 8.82186126e-02 9.54907181e-03 7.25658784e+01] [-8.82140170e-02 9.96101136e-01 -9.02204651e-04 -8.27872074e+00] [-9.59143252e-03 5.62838009e-05 9.99954000e-01 -1.78638779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804012739 meters Centerline goodness [0,1] 0.995441644448267 Centerline is valid? [True, True] Translation: X:72.60, Y:-8.29, Z:-1.79 [[ 9.96584209e-01 8.19798656e-02 9.96075908e-03 7.25961694e+01] [-8.19745520e-02 9.96633978e-01 -9.41250604e-04 -8.29383341e+00] [-1.00043946e-02 1.21506726e-04 9.99949947e-01 -1.78585807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.834012739 meters Centerline goodness [0,1] 0.9956769545112377 Centerline is valid? [True, True] Translation: X:72.63, Y:-8.30, Z:-1.79 [[ 9.96804509e-01 7.94410548e-02 8.35996300e-03 7.26275918e+01] [-7.94372145e-02 9.96839557e-01 -7.90938284e-04 -8.30232561e+00] [-8.39637479e-03 1.24318674e-04 9.99964742e-01 -1.78932108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864012739 meters Centerline goodness [0,1] 0.9963855421686747 Centerline is valid? [True, True] Translation: X:72.66, Y:-8.31, Z:-1.79 [[ 9.96948078e-01 7.77675875e-02 6.83606198e-03 7.26592061e+01] [-7.77649751e-02 9.96971509e-01 -6.47532090e-04 -8.30837398e+00] [-6.86571604e-03 1.13949683e-04 9.99976424e-01 -1.79254910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.894012739 meters Centerline goodness [0,1] 0.9963366039676078 Centerline is valid? [True, True] Translation: X:72.69, Y:-8.32, Z:-1.79 [[ 9.96946732e-01 7.77850604e-02 6.83362616e-03 7.26896989e+01] [-7.77824427e-02 9.96970146e-01 -6.48404712e-04 -8.31635947e+00] [-6.86335747e-03 1.14888824e-04 9.99976440e-01 -1.79286165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924012739 meters Centerline goodness [0,1] 0.9949374118853335 Centerline is valid? [True, True] Translation: X:72.72, Y:-8.32, Z:-1.79 [[ 9.96884830e-01 7.84857424e-02 7.78616588e-03 7.27208119e+01] [-7.84823550e-02 9.96915228e-01 -7.40119758e-04 -8.32110307e+00] [-7.82023619e-03 1.26737525e-04 9.99969413e-01 -1.79052308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.954012739 meters Centerline goodness [0,1] 0.9949374118853335 Centerline is valid? [True, True] Translation: X:72.75, Y:-8.32, Z:-1.79 [[ 9.96873151e-01 7.86339546e-02 7.78606536e-03 7.27523381e+01] [-7.86305635e-02 9.96903549e-01 -7.41175625e-04 -8.32426025e+00] [-7.82023775e-03 1.26635374e-04 9.99969413e-01 -1.79083188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98401273900001 meters Centerline goodness [0,1] 0.9941870441870442 Centerline is valid? [True, True] Translation: X:72.78, Y:-8.33, Z:-1.79 [[ 9.96760444e-01 7.98159614e-02 9.90095188e-03 7.27835074e+01] [-7.98105174e-02 9.96809605e-01 -9.44375593e-04 -8.32940893e+00] [-9.94474018e-03 1.51116143e-04 9.99950538e-01 -1.78630635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.014012739 meters Centerline goodness [0,1] 0.9946282767511818 Centerline is valid? [True, True] Translation: X:72.82, Y:-8.33, Z:-1.79 [[ 9.96760184e-01 7.97818105e-02 1.01979085e-02 7.28163706e+01] [-7.97760180e-02 9.96812338e-01 -9.74179907e-04 -8.32929978e+00] [-1.02431228e-02 1.57475213e-04 9.99947525e-01 -1.78634181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.044012739 meters Centerline goodness [0,1] 0.9929396111421092 Centerline is valid? [True, True] Translation: X:72.85, Y:-8.34, Z:-1.79 [[ 9.96808324e-01 7.91929184e-02 1.00819910e-02 7.28466095e+01] [-7.91872078e-02 9.96859295e-01 -9.64984268e-04 -8.34100065e+00] [-1.01267464e-02 1.63539633e-04 9.99948710e-01 -1.78666867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.074012739 meters Centerline goodness [0,1] 0.9946524064171123 Centerline is valid? [True, True] Translation: X:72.88, Y:-8.35, Z:-1.79 [[ 9.97038122e-01 7.63295190e-02 9.42277501e-03 7.28781907e+01] [-7.63243899e-02 9.97082630e-01 -9.03266833e-04 -8.34999742e+00] [-9.46423121e-03 1.81403914e-04 9.99955197e-01 -1.78883858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.104012739 meters Centerline goodness [0,1] 0.9919633839740422 Centerline is valid? [True, True] Translation: X:72.91, Y:-8.36, Z:-1.79 [[ 9.97194025e-01 7.42554785e-02 9.49740853e-03 7.29085528e+01] [-7.42501696e-02 9.97239230e-01 -9.10856087e-04 -8.36242936e+00] [-9.53882443e-03 2.03116054e-04 9.99954484e-01 -1.78870151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.134012739 meters Centerline goodness [0,1] 0.9868615357887421 Centerline is valid? [True, True] Translation: X:72.94, Y:-8.37, Z:-1.78 [[ 9.97445159e-01 7.08026492e-02 9.49414458e-03 7.29393062e+01] [-7.07971733e-02 9.97490315e-01 -9.12034897e-04 -8.37045529e+00] [-9.53489175e-03 2.37546194e-04 9.99954514e-01 -1.77612906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164012739 meters Centerline goodness [0,1] 0.9917726575827593 Centerline is valid? [True, True] Translation: X:72.97, Y:-8.38, Z:-1.79 [[ 9.97475248e-01 7.04237223e-02 9.14491164e-03 7.29695959e+01] [-7.04186243e-02 9.97517140e-01 -8.78664637e-04 -8.38111229e+00] [-9.18408494e-03 2.32474130e-04 9.99957798e-01 -1.78956276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.194012739 meters Centerline goodness [0,1] 0.993155269578736 Centerline is valid? [True, True] Translation: X:73.00, Y:-8.39, Z:-1.79 [[ 9.97450878e-01 7.08529087e-02 8.46234095e-03 7.30013987e+01] [-7.08485534e-02 9.97486752e-01 -8.13719614e-04 -8.38625605e+00] [-8.49872739e-03 2.12100728e-04 9.99963863e-01 -1.79099093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224012739 meters Centerline goodness [0,1] 0.9940857460073448 Centerline is valid? [True, True] Translation: X:73.03, Y:-8.39, Z:-1.79 [[ 9.97269510e-01 7.34837995e-02 7.32498016e-03 7.30317306e+01] [-7.34805995e-02 9.97296397e-01 -7.05395769e-04 -8.39312082e+00] [-7.35701149e-03 1.65225760e-04 9.99972923e-01 -1.79336582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.254012739 meters Centerline goodness [0,1] 0.997112587382224 Centerline is valid? [True, True] Translation: X:73.06, Y:-8.39, Z:-1.80 [[ 9.96875555e-01 7.87589561e-02 6.01291963e-03 7.30640663e+01] [-7.87568891e-02 9.96893683e-01 -5.80138921e-04 -8.39065679e+00] [-6.03993273e-03 1.04767464e-04 9.99981754e-01 -1.79670296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284012739 meters Centerline goodness [0,1] 0.998336993369294 Centerline is valid? [True, True] Translation: X:73.09, Y:-8.39, Z:-1.80 [[ 9.96645058e-01 8.16515402e-02 5.62630293e-03 7.30947628e+01] [-8.16497769e-02 9.96660935e-01 -5.42775655e-04 -8.39320714e+00] [-5.65183480e-03 8.15682958e-05 9.99984025e-01 -1.79792648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.314012739 meters Centerline goodness [0,1] 0.9984484430557052 Centerline is valid? [True, True] Translation: X:73.13, Y:-8.40, Z:-1.80 [[ 9.96432139e-01 8.42093641e-02 5.63694674e-03 7.31258923e+01] [-8.42076333e-02 9.96448081e-01 -5.44101452e-04 -8.39598092e+00] [-5.66274320e-03 6.74862296e-05 9.99983964e-01 -1.79785009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34401273900001 meters Centerline goodness [0,1] 0.998688792399295 Centerline is valid? [True, True] Translation: X:73.16, Y:-8.40, Z:-1.80 [[ 9.96081041e-01 8.81670728e-02 7.00909325e-03 7.31582216e+01] [-8.81644850e-02 9.96105699e-01 -6.77943923e-04 -8.39695482e+00] [-7.04157007e-03 5.73339913e-05 9.99975206e-01 -1.79588880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.374012739 meters Centerline goodness [0,1] 0.9985684678332586 Centerline is valid? [True, True] Translation: X:73.19, Y:-8.40, Z:-1.79 [[ 9.95928927e-01 8.98168504e-02 7.64894393e-03 7.31892784e+01] [-8.98138051e-02 9.95958298e-01 -7.41409161e-04 -8.40084379e+00] [-7.68462021e-03 5.14100709e-05 9.99970472e-01 -1.79499183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.404012739 meters Centerline goodness [0,1] 0.998427232575676 Centerline is valid? [True, True] Translation: X:73.22, Y:-8.40, Z:-1.79 [[ 9.95648888e-01 9.28029449e-02 8.42049792e-03 7.32211431e+01] [-9.27993541e-02 9.95684494e-01 -8.16998097e-04 -8.40443223e+00] [-8.45997904e-03 3.20264791e-05 9.99964213e-01 -1.79384837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.434012739 meters Centerline goodness [0,1] 0.9983744358650781 Centerline is valid? [True, True] Translation: X:73.25, Y:-8.41, Z:-1.79 [[ 9.95528311e-01 9.41188473e-02 8.06373014e-03 7.32526634e+01] [-9.41155865e-02 9.95560969e-01 -7.83740352e-04 -8.40830352e+00] [-8.10169973e-03 2.13130175e-05 9.99967180e-01 -1.79420884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.464012739 meters Centerline goodness [0,1] 0.997131809297187 Centerline is valid? [True, True] Translation: X:73.29, Y:-8.41, Z:-1.79 [[ 9.95357417e-01 9.58982792e-02 8.19342077e-03 7.32856068e+01] [-9.58949657e-02 9.95391139e-01 -7.97234102e-04 -8.41059538e+00] [-8.23211181e-03 7.82507360e-06 9.99966116e-01 -1.79386447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.494012739 meters Centerline goodness [0,1] 0.993652155264851 Centerline is valid? [True, True] Translation: X:73.32, Y:-8.41, Z:-1.79 [[ 9.94845429e-01 1.00997293e-01 9.06192048e-03 7.33192959e+01] [-1.00993434e-01 9.94886700e-01 -8.83634904e-04 -8.40680489e+00] [-9.10482890e-03 -3.61143262e-05 9.99958550e-01 -1.79302809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524012739 meters Centerline goodness [0,1] 0.9914787398863832 Centerline is valid? [True, True] Translation: X:73.35, Y:-8.41, Z:-1.79 [[ 9.94529012e-01 1.04067856e-01 9.05131693e-03 7.33521206e+01] [-1.04064118e-01 9.94570197e-01 -8.84310828e-04 -8.40546973e+00] [-9.09419840e-03 -6.24445369e-05 9.99958645e-01 -1.79406514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.554012739 meters Centerline goodness [0,1] 0.9897276431481878 Centerline is valid? [True, True] Translation: X:73.38, Y:-8.40, Z:-1.80 [[ 9.93870735e-01 1.10306254e-01 7.31380331e-03 7.33839946e+01] [-1.10303974e-01 9.93897641e-01 -7.15659248e-04 -8.39664032e+00] [-7.34811355e-03 -9.54687847e-05 9.99972998e-01 -1.79671904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584012739 meters Centerline goodness [0,1] 0.9895842281590929 Centerline is valid? [True, True] Translation: X:73.41, Y:-8.39, Z:-1.80 [[ 9.93549458e-01 1.13205675e-01 6.62949436e-03 7.34144304e+01] [-1.13203862e-01 9.93571570e-01 -6.49224095e-04 -8.39246906e+00] [-6.66037297e-03 -1.05448117e-04 9.99977814e-01 -1.79761230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.614012739 meters Centerline goodness [0,1] 0.9884581048335671 Centerline is valid? [True, True] Translation: X:73.45, Y:-8.39, Z:-1.80 [[ 9.93310677e-01 1.15277184e-01 6.71344706e-03 7.34458427e+01] [-1.15275369e-01 9.93333356e-01 -6.58011705e-04 -8.38886562e+00] [-6.74454463e-03 -1.20285034e-04 9.99977248e-01 -1.79720647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644012739 meters Centerline goodness [0,1] 0.9888370292302067 Centerline is valid? [True, True] Translation: X:73.48, Y:-8.38, Z:-1.79 [[ 9.93077111e-01 1.17170628e-01 8.30027491e-03 7.34756556e+01] [-1.17167919e-01 9.93111785e-01 -8.13592234e-04 -8.38440194e+00] [-8.33842995e-03 -1.64566113e-04 9.99965221e-01 -1.79396357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.674012739 meters Centerline goodness [0,1] 0.9877460398787413 Centerline is valid? [True, True] Translation: X:73.50, Y:-8.38, Z:-1.79 [[ 9.93123044e-01 1.16697196e-01 9.40132938e-03 7.35049505e+01] [-1.16693702e-01 9.93167524e-01 -9.21134506e-04 -8.38352611e+00] [-9.44458884e-03 -1.82276028e-04 9.99955382e-01 -1.79181670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704012739 meters Centerline goodness [0,1] 0.9876359619306594 Centerline is valid? [True, True] Translation: X:73.53, Y:-8.38, Z:-1.79 [[ 9.93260009e-01 1.15554469e-01 9.03983699e-03 7.35343268e+01] [-1.15551193e-01 9.93301131e-01 -8.85615042e-04 -8.38327977e+00] [-9.08161709e-03 -1.64917943e-04 9.99958748e-01 -1.79264912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73401273900001 meters Centerline goodness [0,1] 0.987962387816737 Centerline is valid? [True, True] Translation: X:73.56, Y:-8.39, Z:-1.79 [[ 9.93425560e-01 1.14159245e-01 8.56288811e-03 7.35648113e+01] [-1.14156254e-01 9.93462453e-01 -8.38783511e-04 -8.38616692e+00] [-8.60266273e-03 -1.44238255e-04 9.99962986e-01 -1.79353643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.764012739 meters Centerline goodness [0,1] 0.9896640826873385 Centerline is valid? [True, True] Translation: X:73.60, Y:-8.39, Z:-1.79 [[ 9.93775614e-01 1.11056589e-01 8.74428258e-03 7.35950091e+01] [-1.11053351e-01 9.93814077e-01 -8.56563109e-04 -8.38800559e+00] [-8.78531810e-03 -1.19850349e-04 9.99961401e-01 -1.79401990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.794012739 meters Centerline goodness [0,1] 0.9901699686045253 Centerline is valid? [True, True] Translation: X:73.62, Y:-8.39, Z:-1.79 [[ 9.93882712e-01 1.10062795e-01 9.12888276e-03 7.36248327e+01] [-1.10059224e-01 9.93924629e-01 -8.94134138e-04 -8.38976436e+00] [-9.17183231e-03 -1.16053294e-04 9.99957931e-01 -1.79364103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.824012739 meters Centerline goodness [0,1] 0.9895943069679445 Centerline is valid? [True, True] Translation: X:73.65, Y:-8.39, Z:-1.80 [[ 9.93879273e-01 1.10115287e-01 8.86648860e-03 7.36535653e+01] [-1.10111922e-01 9.93918815e-01 -8.68244522e-04 -8.38633228e+00] [-8.90817683e-03 -1.13375868e-04 9.99960315e-01 -1.79508997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.854012739 meters Centerline goodness [0,1] 0.989493730474601 Centerline is valid? [True, True] Translation: X:73.68, Y:-8.39, Z:-1.80 [[ 9.93861651e-01 1.10337464e-01 8.04129170e-03 7.36833262e+01] [-1.10334706e-01 9.93894176e-01 -7.87171001e-04 -8.38649592e+00] [-8.07904744e-03 -1.04894486e-04 9.99967358e-01 -1.79692725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.884012739 meters Centerline goodness [0,1] 0.9905042987296292 Centerline is valid? [True, True] Translation: X:73.71, Y:-8.39, Z:-1.80 [[ 9.93837031e-01 1.10606508e-01 7.35906950e-03 7.37128840e+01] [-1.10604207e-01 9.93864272e-01 -7.20234096e-04 -8.38543752e+00] [-7.39357883e-03 -9.81487277e-05 9.99972662e-01 -1.79868878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.914012739 meters Centerline goodness [0,1] 0.9902339118249434 Centerline is valid? [True, True] Translation: X:73.74, Y:-8.38, Z:-1.80 [[ 9.93764931e-01 1.11319182e-01 6.26906041e-03 7.37424426e+01] [-1.11317526e-01 9.93784701e-01 -6.13523203e-04 -8.38174283e+00] [-6.29839322e-03 -8.81584527e-05 9.99980161e-01 -1.80039194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944012739 meters Centerline goodness [0,1] 0.990272165565604 Centerline is valid? [True, True] Translation: X:73.77, Y:-8.38, Z:-1.80 [[ 9.93832316e-01 1.10738572e-01 5.85632458e-03 7.37712674e+01] [-1.10737118e-01 9.93849567e-01 -5.72882956e-04 -8.38216018e+00] [-5.88374589e-03 -7.91629134e-05 9.99982687e-01 -1.80108549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.974012739 meters Centerline goodness [0,1] 0.9909749614131367 Centerline is valid? [True, True] Translation: X:73.80, Y:-8.38, Z:-1.80 [[ 9.94088909e-01 1.08382569e-01 6.36075943e-03 7.38006734e+01] [-1.08380808e-01 9.94109256e-01 -6.21971140e-04 -8.38354832e+00] [-6.39070066e-03 -7.10896353e-05 9.99979577e-01 -1.79916179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004012739 meters Centerline goodness [0,1] 0.9906037115339441 Centerline is valid? [True, True] Translation: X:73.83, Y:-8.38, Z:-1.80 [[ 9.94207397e-01 1.07216260e-01 7.50507536e-03 7.38283375e+01] [-1.07213780e-01 9.94235720e-01 -7.33173001e-04 -8.38388113e+00] [-7.54042208e-03 -7.57214782e-05 9.99971568e-01 -1.79772680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.034012739 meters Centerline goodness [0,1] 0.9907753035568714 Centerline is valid? [True, True] Translation: X:73.86, Y:-8.39, Z:-1.80 [[ 9.94310505e-01 1.06153822e-01 8.83097923e-03 7.38570562e+01] [-1.06150351e-01 9.94349717e-01 -8.62063119e-04 -8.38704861e+00] [-8.87259299e-03 -8.02531345e-05 9.99960635e-01 -1.79604379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064012739 meters Centerline goodness [0,1] 0.9904208373694974 Centerline is valid? [True, True] Translation: X:73.89, Y:-8.39, Z:-1.80 [[ 9.94419870e-01 1.05075605e-01 9.39360290e-03 7.38873173e+01] [-1.05071635e-01 9.94464233e-01 -9.16499754e-04 -8.38687065e+00] [-9.43790387e-03 -7.56156467e-05 9.99955459e-01 -1.79533896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09401273900001 meters Centerline goodness [0,1] 0.9910479649610084 Centerline is valid? [True, True] Translation: X:73.92, Y:-8.39, Z:-1.80 [[ 9.94396447e-01 1.05306039e-01 9.29213642e-03 7.39163893e+01] [-1.05302167e-01 9.94439858e-01 -9.06385851e-04 -8.38634353e+00] [-9.33591873e-03 -7.71752276e-05 9.99956416e-01 -1.79574912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.124012739 meters Centerline goodness [0,1] 0.990633514986376 Centerline is valid? [True, True] Translation: X:73.95, Y:-8.38, Z:-1.80 [[ 9.94315270e-01 1.06156421e-01 8.24365930e-03 7.39452744e+01] [-1.06153404e-01 9.94349440e-01 -8.03894737e-04 -8.38104291e+00] [-8.28241659e-03 -7.57676876e-05 9.99965697e-01 -1.79752394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.154012739 meters Centerline goodness [0,1] 0.9903605624083499 Centerline is valid? [True, True] Translation: X:73.97, Y:-8.38, Z:-1.80 [[ 9.94278166e-01 1.06536417e-01 7.80509701e-03 7.39737779e+01] [-1.06533728e-01 9.94308798e-01 -7.60676235e-04 -8.38171114e+00] [-7.84171635e-03 -7.51823079e-05 9.99969250e-01 -1.79902505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.184012739 meters Centerline goodness [0,1] 0.9903922112859491 Centerline is valid? [True, True] Translation: X:74.00, Y:-8.38, Z:-1.80 [[ 9.94256865e-01 1.06780363e-01 7.15821968e-03 7.40020006e+01] [-1.06778109e-01 9.94282630e-01 -6.97363659e-04 -8.37996570e+00] [-7.19175824e-03 -7.09825579e-05 9.99974136e-01 -1.80103825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.214012739 meters Centerline goodness [0,1] 0.9912536443148688 Centerline is valid? [True, True] Translation: X:74.03, Y:-8.38, Z:-1.80 [[ 9.94367580e-01 1.05740313e-01 7.21813072e-03 7.40311791e+01] [-1.05737998e-01 9.94393776e-01 -7.02745421e-04 -8.38144682e+00] [-7.25197279e-03 -6.44434250e-05 9.99973702e-01 -1.80149214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.244012739 meters Centerline goodness [0,1] 0.9908580971139848 Centerline is valid? [True, True] Translation: X:74.06, Y:-8.38, Z:-1.80 [[ 9.94459788e-01 1.04841742e-01 7.61171568e-03 7.40593442e+01] [-1.04839143e-01 9.94488917e-01 -7.40699500e-04 -8.38362033e+00] [-7.64742310e-03 -6.14098831e-05 9.99970756e-01 -1.80090058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.274012739 meters Centerline goodness [0,1] 0.9919404835709857 Centerline is valid? [True, True] Translation: X:74.09, Y:-8.39, Z:-1.80 [[ 9.94689369e-01 1.02603247e-01 8.10139516e-03 7.40866446e+01] [-1.02600233e-01 9.94722359e-01 -7.87837032e-04 -8.38741881e+00] [-8.13947354e-03 -4.75519102e-05 9.99966873e-01 -1.79923287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304012739 meters Centerline goodness [0,1] 0.9918142548596113 Centerline is valid? [True, True] Translation: X:74.12, Y:-8.39, Z:-1.80 [[ 9.94796250e-01 1.01508422e-01 8.74416244e-03 7.41150171e+01] [-1.01504873e-01 9.94834679e-01 -8.49768711e-04 -8.39043628e+00] [-8.78525472e-03 -4.22283749e-05 9.99961408e-01 -1.79774938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.334012739 meters Centerline goodness [0,1] 0.9933915051969716 Centerline is valid? [True, True] Translation: X:74.14, Y:-8.39, Z:-1.80 [[ 9.95056754e-01 9.88806034e-02 9.20230276e-03 7.41435855e+01] [-9.88765657e-02 9.95099305e-01 -8.93814088e-04 -8.38922627e+00] [-9.24558595e-03 -2.04963478e-05 9.99957258e-01 -1.79775126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364012739 meters Centerline goodness [0,1] 0.9939695913435836 Centerline is valid? [True, True] Translation: X:74.17, Y:-8.39, Z:-1.80 [[ 9.95207314e-01 9.73496466e-02 9.24388627e-03 7.41726402e+01] [-9.73455105e-02 9.95250243e-01 -8.97399574e-04 -8.39138444e+00] [-9.28734159e-03 -6.75220893e-06 9.99956872e-01 -1.79847485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.394012739 meters Centerline goodness [0,1] 0.9954833074120629 Centerline is valid? [True, True] Translation: X:74.20, Y:-8.39, Z:-1.80 [[ 9.95349390e-01 9.59372461e-02 8.69691506e-03 7.42002361e+01] [-9.59335344e-02 9.95387384e-01 -8.43927084e-04 -8.39385152e+00] [-8.73776357e-03 5.67650939e-06 9.99961825e-01 -1.79976902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424012739 meters Centerline goodness [0,1] 0.9971102628798171 Centerline is valid? [True, True] Translation: X:74.23, Y:-8.40, Z:-1.80 [[ 9.95618058e-01 9.31432699e-02 8.30750720e-03 7.42301867e+01] [-9.31397901e-02 9.95652716e-01 -8.05628418e-04 -8.39627130e+00] [-8.34643097e-03 2.83387245e-05 9.99965168e-01 -1.80069658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.454012739 meters Centerline goodness [0,1] 0.997660040358937 Centerline is valid? [True, True] Translation: X:74.26, Y:-8.40, Z:-1.80 [[ 9.95791409e-01 9.13269587e-02 7.67184532e-03 7.42582659e+01] [-9.13239377e-02 9.95820960e-01 -7.43910689e-04 -8.39679513e+00] [-7.70772347e-03 4.01567494e-05 9.99970294e-01 -1.80218958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48401273900001 meters Centerline goodness [0,1] 0.9980704913815281 Centerline is valid? [True, True] Translation: X:74.29, Y:-8.40, Z:-1.80 [[ 9.95793841e-01 9.13847448e-02 6.59195451e-03 7.42873615e+01] [-9.13825184e-02 9.95815659e-01 -6.38778561e-04 -8.39807010e+00] [-6.62274614e-03 3.37023522e-05 9.99978069e-01 -1.80414145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.514012739 meters Centerline goodness [0,1] 0.9981769827992966 Centerline is valid? [True, True] Translation: X:74.31, Y:-8.40, Z:-1.81 [[ 9.95782455e-01 9.15413388e-02 6.12251316e-03 7.43147717e+01] [-9.15394225e-02 9.95801277e-01 -5.93071047e-04 -8.39940202e+00] [-6.15109694e-03 3.01184243e-05 9.99981081e-01 -1.80549372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.544012739 meters Centerline goodness [0,1] 0.9975791677571316 Centerline is valid? [True, True] Translation: X:74.34, Y:-8.40, Z:-1.80 [[ 9.95816157e-01 9.10607534e-02 7.62368484e-03 7.43441812e+01] [-9.10577729e-02 9.95845338e-01 -7.37871322e-04 -8.39924882e+00] [-7.65920212e-03 4.05884224e-05 9.99970667e-01 -1.80253000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.574012739 meters Centerline goodness [0,1] 0.9974830962182454 Centerline is valid? [True, True] Translation: X:74.37, Y:-8.40, Z:-1.80 [[ 9.95861966e-01 9.04698008e-02 8.61165943e-03 7.43714592e+01] [-9.04659796e-02 9.95899198e-01 -8.33036396e-04 -8.40183602e+00] [-8.65170935e-03 5.05270564e-05 9.99962572e-01 -1.80072634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.604012739 meters Centerline goodness [0,1] 0.996010070837245 Centerline is valid? [True, True] Translation: X:74.40, Y:-8.40, Z:-1.80 [[ 9.95930200e-01 8.95607713e-02 1.00948030e-02 7.44004387e+01] [-8.95554808e-02 9.95981357e-01 -9.75817167e-04 -8.40485330e+00] [-1.01416305e-02 6.78008540e-05 9.99948570e-01 -1.79906626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.634012739 meters Centerline goodness [0,1] 0.9961743144756247 Centerline is valid? [True, True] Translation: X:74.43, Y:-8.41, Z:-1.80 [[ 9.95945250e-01 8.93899590e-02 1.01239053e-02 7.44300356e+01] [-8.93846338e-02 9.95996702e-01 -9.78174307e-04 -8.40766582e+00] [-1.01708153e-02 6.92864850e-05 9.99948274e-01 -1.79939601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664012739 meters Centerline goodness [0,1] 0.9966567368894794 Centerline is valid? [True, True] Translation: X:74.46, Y:-8.41, Z:-1.80 [[ 9.95983221e-01 8.90338975e-02 9.50724345e-03 7.44593352e+01] [-8.90291870e-02 9.96028594e-01 -9.18388731e-04 -8.40962951e+00] [-9.55125405e-03 6.82776122e-05 9.99954383e-01 -1.80036158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.694012739 meters Centerline goodness [0,1] 0.9984403375707723 Centerline is valid? [True, True] Translation: X:74.49, Y:-8.41, Z:-1.81 [[ 9.96076585e-01 8.82242217e-02 6.92265861e-03 7.44886029e+01] [-8.82217053e-02 9.96100639e-01 -6.68623324e-04 -8.41189094e+00] [-6.95465344e-03 5.52712897e-05 9.99975815e-01 -1.80512005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724012739 meters Centerline goodness [0,1] 0.9984326018808778 Centerline is valid? [True, True] Translation: X:74.52, Y:-8.42, Z:-1.81 [[ 9.96171376e-01 8.71723803e-02 6.60041101e-03 7.45172451e+01] [-8.71700701e-02 9.96193241e-01 -6.37429703e-04 -8.41614915e+00] [-6.63085110e-03 5.96309338e-05 9.99978014e-01 -1.80609277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.754012739 meters Centerline goodness [0,1] 0.9974818738331959 Centerline is valid? [True, True] Translation: X:74.54, Y:-8.42, Z:-1.80 [[ 9.96431889e-01 8.39837952e-02 8.37935145e-03 7.45449177e+01] [-8.39799634e-02 9.96467115e-01 -8.08721811e-04 -8.42369507e+00] [-8.41766770e-03 1.02138573e-04 9.99964566e-01 -1.80346921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784012739 meters Centerline goodness [0,1] 0.9969508239263007 Centerline is valid? [True, True] Translation: X:74.57, Y:-8.43, Z:-1.80 [[ 9.96541205e-01 8.26375434e-02 8.75578816e-03 7.45740936e+01] [-8.26333116e-02 9.96579662e-01 -8.44610971e-04 -8.42720779e+00] [-8.79563698e-03 1.18169864e-04 9.99961311e-01 -1.80314857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.814012739 meters Centerline goodness [0,1] 0.997536893058322 Centerline is valid? [True, True] Translation: X:74.60, Y:-8.43, Z:-1.81 [[ 9.96749131e-01 8.02374789e-02 7.28811067e-03 7.46031946e+01] [-8.02344841e-02 9.96775769e-01 -7.02842975e-04 -8.43160613e+00] [-7.32100647e-03 1.15800325e-04 9.99973194e-01 -1.80619309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84401273900001 meters Centerline goodness [0,1] 0.9981075675791918 Centerline is valid? [True, True] Translation: X:74.63, Y:-8.44, Z:-1.81 [[ 9.96858434e-01 7.89980775e-02 5.70669590e-03 7.46324338e+01] [-7.89962205e-02 9.96874764e-01 -5.50446182e-04 -8.43508736e+00] [-5.73234531e-03 9.79095119e-05 9.99983565e-01 -1.80945881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.874012739 meters Centerline goodness [0,1] 0.9981075675791918 Centerline is valid? [True, True] Translation: X:74.66, Y:-8.44, Z:-1.81 [[ 9.96860199e-01 7.89757985e-02 5.70670818e-03 7.46614696e+01] [-7.89739418e-02 9.96876529e-01 -5.50318785e-04 -8.43784290e+00] [-5.73234531e-03 9.79096539e-05 9.99983565e-01 -1.80974308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.904012739 meters Centerline goodness [0,1] 0.9981631388966018 Centerline is valid? [True, True] Translation: X:74.69, Y:-8.44, Z:-1.81 [[ 9.96943562e-01 7.80114790e-02 4.21223544e-03 7.46896013e+01] [-7.80104587e-02 9.96952458e-01 -4.06224597e-04 -8.44168861e+00] [-4.23108866e-03 7.63845782e-05 9.99991046e-01 -1.81276908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.934012739 meters Centerline goodness [0,1] 0.9975298565168829 Centerline is valid? [True, True] Translation: X:74.72, Y:-8.44, Z:-1.81 [[ 9.97072639e-01 7.63412976e-02 4.26143294e-03 7.47190823e+01] [-7.63402390e-02 9.97081741e-01 -4.10759975e-04 -8.44459218e+00] [-4.28035492e-03 8.42387234e-05 9.99990836e-01 -1.81246517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.964012739 meters Centerline goodness [0,1] 0.9947989126945057 Centerline is valid? [True, True] Translation: X:74.75, Y:-8.45, Z:-1.81 [[ 9.97198503e-01 7.44492411e-02 7.24261830e-03 7.47476102e+01] [-7.44461355e-02 9.97224792e-01 -6.97830757e-04 -8.44614804e+00] [-7.27447150e-03 1.56690843e-04 9.99973528e-01 -1.80675307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.994012739 meters Centerline goodness [0,1] 0.9927506614752512 Centerline is valid? [True, True] Translation: X:74.78, Y:-8.45, Z:-1.81 [[ 9.97315830e-01 7.27840031e-02 7.97641387e-03 7.47771126e+01] [-7.27801856e-02 9.97347710e-01 -7.68215716e-04 -8.45056368e+00] [-8.01117192e-03 1.85628813e-04 9.99967893e-01 -1.80533442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024012739 meters Centerline goodness [0,1] 0.9940603468757424 Centerline is valid? [True, True] Translation: X:74.81, Y:-8.45, Z:-1.81 [[ 9.97497812e-01 7.02362372e-02 8.06141722e-03 7.48078609e+01] [-7.02322564e-02 9.97530364e-01 -7.76186862e-04 -8.45112917e+00] [-8.09602490e-03 2.08073174e-04 9.99967205e-01 -1.80505001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.054012739 meters Centerline goodness [0,1] 0.9920226678291194 Centerline is valid? [True, True] Translation: X:74.84, Y:-8.46, Z:-1.81 [[ 9.97840220e-01 6.51501796e-02 8.38744164e-03 7.48379536e+01] [-6.51456911e-02 9.97875437e-01 -8.07538436e-04 -8.46084675e+00] [-8.42223326e-03 2.59388648e-04 9.99964499e-01 -1.80502082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084012739 meters Centerline goodness [0,1] 0.9857145925973664 Centerline is valid? [True, True] Translation: X:74.87, Y:-8.47, Z:-1.80 [[ 9.97984416e-01 6.28581437e-02 8.71541244e-03 7.48677395e+01] [-6.28532081e-02 9.98022429e-01 -8.39335463e-04 -8.47393400e+00] [-8.75093616e-03 2.89852081e-04 9.99961668e-01 -1.80498673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.114012739 meters Centerline goodness [0,1] 0.9853039412157648 Centerline is valid? [True, True] Translation: X:74.90, Y:-8.48, Z:-1.80 [[ 9.98226873e-01 5.88582713e-02 8.87774984e-03 7.48984390e+01] [-5.88529847e-02 9.98266294e-01 -8.55785887e-04 -8.48120373e+00] [-8.91272851e-03 3.31786394e-04 9.99960226e-01 -1.80432688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144012739 meters Centerline goodness [0,1] 0.9547318948942534 Centerline is valid? [True, True] Translation: X:74.93, Y:-8.49, Z:-1.81 [[ 9.98291896e-01 5.78004076e-02 8.50896952e-03 7.49280353e+01] [-5.77955126e-02 9.98328105e-01 -8.20248307e-04 -8.49451680e+00] [-8.54215411e-03 3.27066983e-04 9.99963462e-01 -1.80525183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.174012739 meters Centerline goodness [0,1] 0.9461198144863109 Centerline is valid? [True, False] Translation: X:74.93, Y:-8.49, Z:-1.81 [[ 9.98527182e-01 5.36754097e-02 7.90050657e-03 7.49294369e+01] [-5.36319370e-02 9.98544983e-01 -5.61536303e-03 -8.49121022e+00] [-8.19041811e-03 5.18337315e-03 9.99953024e-01 -1.80534350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204012739 meters Centerline goodness [0,1] 0.9798001550521147 Centerline is valid? [False, True] Translation: X:74.93, Y:-8.50, Z:-1.81 [[ 9.98502372e-01 5.41392753e-02 7.87097168e-03 7.49293416e+01] [-5.41073356e-02 9.98526225e-01 -4.21590166e-03 -8.49846574e+00] [-8.08761750e-03 3.78371050e-03 9.99960136e-01 -1.80537286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23401273900001 meters Centerline goodness [0,1] 0.891227844298528 Centerline is valid? [True, False] Translation: X:74.93, Y:-8.50, Z:-1.81 [[ 9.98482410e-01 5.44911884e-02 7.97420603e-03 7.49288228e+01] [-5.44666942e-02 9.98510275e-01 -3.25743352e-03 -8.50339087e+00] [-8.13982807e-03 2.81816143e-03 9.99962900e-01 -1.80525222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.264012739 meters Centerline goodness [0,1] 0.9669336310737981 Centerline is valid? [False, True] Translation: X:74.92, Y:-8.51, Z:-1.80 [[ 9.98539459e-01 5.33262991e-02 8.67496175e-03 7.49226588e+01] [-5.32924868e-02 9.98570597e-01 -4.08339687e-03 -8.50792039e+00] [-8.88031418e-03 3.61512261e-03 9.99954034e-01 -1.80105884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.294012739 meters Centerline goodness [0,1] 0.9738040264980687 Centerline is valid? [True, True] Translation: X:74.95, Y:-8.51, Z:-1.80 [[ 9.98503804e-01 5.38007698e-02 9.77910348e-03 7.49541413e+01] [-5.37942393e-02 9.98551609e-01 -9.29805185e-04 -8.51435975e+00] [-9.81496375e-03 4.02354582e-04 9.99951751e-01 -1.80059933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.324012739 meters Centerline goodness [0,1] 0.9766835470315699 Centerline is valid? [True, True] Translation: X:74.98, Y:-8.52, Z:-1.80 [[ 9.98397185e-01 5.58856633e-02 8.93608222e-03 7.49838252e+01] [-5.58802825e-02 9.98437114e-01 -8.50894945e-04 -8.52184655e+00] [-8.96966897e-03 3.50180319e-04 9.99959710e-01 -1.80271415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.354012739 meters Centerline goodness [0,1] 0.9802167963278237 Centerline is valid? [True, True] Translation: X:75.01, Y:-8.53, Z:-1.80 [[ 9.98290688e-01 5.79183248e-02 7.82113614e-03 7.50147447e+01] [-5.79142647e-02 9.98321283e-01 -7.44800256e-04 -8.52582910e+00] [-7.85114425e-03 2.90571812e-04 9.99969137e-01 -1.80487710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.384012739 meters Centerline goodness [0,1] 0.9769075007539528 Centerline is valid? [True, True] Translation: X:75.04, Y:-8.53, Z:-1.81 [[ 9.97982960e-01 6.32253369e-02 5.70682792e-03 7.50437046e+01] [-6.32232609e-02 9.97999260e-01 -5.43624722e-04 -8.53061761e+00] [-5.72978090e-03 1.81723938e-04 9.99983568e-01 -1.80913681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.414012739 meters Centerline goodness [0,1] 0.9937090432503276 Centerline is valid? [True, True] Translation: X:75.08, Y:-8.52, Z:-1.81 [[ 9.97830985e-01 6.56058959e-02 5.40292086e-03 7.50758551e+01] [-6.56040709e-02 9.97845600e-01 -5.14524256e-04 -8.52271849e+00] [-5.42503663e-03 1.58954642e-04 9.99985272e-01 -1.80987535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444012739 meters Centerline goodness [0,1] 0.9943746362911395 Centerline is valid? [True, True] Translation: X:75.11, Y:-8.52, Z:-1.81 [[ 9.97713655e-01 6.73746343e-02 5.30299545e-03 7.51073636e+01] [-6.73729004e-02 9.97727737e-01 -5.05126973e-04 -8.52398667e+00] [-5.32497840e-03 1.46693894e-04 9.99985811e-01 -1.81065162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.474012739 meters Centerline goodness [0,1] 0.9944099110765777 Centerline is valid? [True, True] Translation: X:75.14, Y:-8.53, Z:-1.81 [[ 9.97619790e-01 6.87043388e-02 5.87104914e-03 7.51374680e+01] [-6.87022355e-02 9.97637053e-01 -5.59422244e-04 -8.52951051e+00] [-5.89561090e-03 1.54736501e-04 9.99982609e-01 -1.80995922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504012739 meters Centerline goodness [0,1] 0.9950450060585079 Centerline is valid? [True, True] Translation: X:75.17, Y:-8.53, Z:-1.81 [[ 9.97676464e-01 6.78730825e-02 5.90919698e-03 7.51683942e+01] [-6.78709369e-02 9.97693950e-01 -5.63094955e-04 -8.53411819e+00] [-5.93378907e-03 1.60723848e-04 9.99982382e-01 -1.80976788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.534012739 meters Centerline goodness [0,1] 0.9864262167927089 Centerline is valid? [True, True] Translation: X:75.20, Y:-8.54, Z:-1.80 [[ 9.97785064e-01 6.63080203e-02 5.31159413e-03 7.51983963e+01] [-6.63062641e-02 9.97799190e-01 -5.06252255e-04 -8.54384035e+00] [-5.33347290e-03 1.52938975e-04 9.99985765e-01 -1.79856618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564012739 meters Centerline goodness [0,1] 0.9865064855924088 Centerline is valid? [True, True] Translation: X:75.23, Y:-8.56, Z:-1.81 [[ 9.98034195e-01 6.22338009e-02 7.39593659e-03 7.52266332e+01] [-6.22302820e-02 9.98061569e-01 -7.05187630e-04 -8.56026659e+00] [-7.42548658e-03 2.43550149e-04 9.99972401e-01 -1.80899773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59401273900001 meters Centerline goodness [0,1] 0.9872252570003011 Centerline is valid? [True, True] Translation: X:75.26, Y:-8.57, Z:-1.81 [[ 9.98166570e-01 5.99914580e-02 8.03261370e-03 7.52578701e+01] [-5.99872352e-02 9.98198850e-01 -7.65830649e-04 -8.56589885e+00] [-8.06408906e-03 2.82572266e-04 9.99967445e-01 -1.80775323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.624012739 meters Centerline goodness [0,1] 0.9759462785826873 Centerline is valid? [True, True] Translation: X:75.29, Y:-8.58, Z:-1.81 [[ 9.98356453e-01 5.68571973e-02 7.18689101e-03 7.52863428e+01] [-5.68537276e-02 9.98382283e-01 -6.86327817e-04 -8.58147252e+00] [-7.21428733e-03 2.76598261e-04 9.99973938e-01 -1.80927565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.654012739 meters Centerline goodness [0,1] 0.9497621558793775 Centerline is valid? [True, False] Translation: X:75.29, Y:-8.58, Z:-1.81 [[ 9.98579496e-01 5.28733496e-02 6.58776810e-03 7.52876883e+01] [-5.28413550e-02 9.98590702e-01 -4.93970441e-03 -8.58102380e+00] [-6.83966269e-03 4.58458095e-03 9.99966100e-01 -1.80950440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.684012739 meters Centerline goodness [0,1] 0.9374864946626907 Centerline is valid? [False, False] Translation: X:75.29, Y:-8.59, Z:-1.81 [[ 9.98533336e-01 5.37203428e-02 6.73064598e-03 7.52867798e+01] [-5.37031164e-02 9.98553256e-01 -2.71464212e-03 -8.59234415e+00] [-6.86673997e-03 2.34920399e-03 9.99973664e-01 -1.80923642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.714012739 meters Centerline goodness [0,1] 0.9791787657826246 Centerline is valid? [False, True] Translation: X:75.29, Y:-8.59, Z:-1.81 [[ 9.98729755e-01 4.99856043e-02 6.34941233e-03 7.52871764e+01] [-4.99416325e-02 9.98728270e-01 -6.90483665e-03 -8.59175063e+00] [-6.68648002e-03 6.57896580e-03 9.99956003e-01 -1.80884699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.744012739 meters Centerline goodness [0,1] 0.9839899377504904 Centerline is valid? [True, True] Translation: X:75.32, Y:-8.61, Z:-1.81 [[ 9.98492025e-01 5.43880093e-02 7.45790365e-03 7.53160535e+01] [-5.43845723e-02 9.98519844e-01 -6.63034146e-04 -8.60693843e+00] [-7.48292590e-03 2.56439407e-04 9.99971970e-01 -1.80808945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.774012739 meters Centerline goodness [0,1] 0.9858539765319426 Centerline is valid? [True, True] Translation: X:75.35, Y:-8.60, Z:-1.80 [[ 9.98332121e-01 5.72726853e-02 7.26748012e-03 7.53487552e+01] [-5.72694986e-02 9.98358546e-01 -6.46015601e-04 -8.60210600e+00] [-7.29254994e-03 2.28733182e-04 9.99973383e-01 -1.79538591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804012739 meters Centerline goodness [0,1] 0.9930722891566265 Centerline is valid? [True, True] Translation: X:75.38, Y:-8.61, Z:-1.81 [[ 9.98164075e-01 6.00053439e-02 8.23641603e-03 7.53785503e+01] [-6.00013397e-02 9.98198028e-01 -7.32628616e-04 -8.60744840e+00] [-8.26553587e-03 2.37087568e-04 9.99965812e-01 -1.80757140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.834012739 meters Centerline goodness [0,1] 0.9939698706611835 Centerline is valid? [True, True] Translation: X:75.41, Y:-8.61, Z:-1.81 [[ 9.97920251e-01 6.40361265e-02 7.38561792e-03 7.54080303e+01] [-6.40330164e-02 9.97947564e-01 -6.57036906e-04 -8.61414788e+00] [-7.41253351e-03 1.82747040e-04 9.99972510e-01 -1.80910640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864012739 meters Centerline goodness [0,1] 0.9959495754635245 Centerline is valid? [True, True] Translation: X:75.44, Y:-8.61, Z:-1.81 [[ 9.97680595e-01 6.76597002e-02 7.45627722e-03 7.54395572e+01] [-6.76566316e-02 9.97708444e-01 -6.63310779e-04 -8.61424191e+00] [-7.48407016e-03 1.57305691e-04 9.99971982e-01 -1.80984759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.894012739 meters Centerline goodness [0,1] 0.997301720705976 Centerline is valid? [True, True] Translation: X:75.47, Y:-8.62, Z:-1.81 [[ 9.97596655e-01 6.89018276e-02 7.31106095e-03 7.54715606e+01] [-6.88989101e-02 9.97623435e-01 -6.50462299e-04 -8.61585517e+00] [-7.33850378e-03 1.45174882e-04 9.99973062e-01 -1.81097295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924012739 meters Centerline goodness [0,1] 0.9960864018681485 Centerline is valid? [True, True] Translation: X:75.50, Y:-8.63, Z:-1.81 [[ 9.97561382e-01 6.94697257e-02 6.72651253e-03 7.55018957e+01] [-6.94672613e-02 9.97584052e-01 -5.99603245e-04 -8.62902056e+00] [-6.75191589e-03 1.30868638e-04 9.99977197e-01 -1.81228080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.954012739 meters Centerline goodness [0,1] 0.9971341189554506 Centerline is valid? [True, True] Translation: X:75.53, Y:-8.63, Z:-1.81 [[ 9.97503315e-01 7.02406810e-02 7.30636191e-03 7.55345557e+01] [-7.02377881e-02 9.97530064e-01 -6.52097436e-04 -8.63083357e+00] [-7.33411943e-03 1.37286655e-04 9.99973096e-01 -1.81131584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98401273900001 meters Centerline goodness [0,1] 0.9965455091619105 Centerline is valid? [True, True] Translation: X:75.57, Y:-8.63, Z:-1.81 [[ 9.97471910e-01 7.06806243e-02 7.35102022e-03 7.55677518e+01] [-7.06777054e-02 9.97498988e-01 -6.56427594e-04 -8.63435305e+00] [-7.37903195e-03 1.35214845e-04 9.99972765e-01 -1.81104332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.014012739 meters Centerline goodness [0,1] 0.9965765222633709 Centerline is valid? [True, True] Translation: X:75.60, Y:-8.64, Z:-1.81 [[ 9.97374977e-01 7.19037928e-02 8.54399130e-03 7.56000347e+01] [-7.18998791e-02 9.97411561e-01 -7.64745568e-04 -8.63818314e+00] [-8.57686381e-03 1.48426151e-04 9.99963207e-01 -1.81007187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.044012739 meters Centerline goodness [0,1] 0.9966779572694111 Centerline is valid? [True, True] Translation: X:75.63, Y:-8.64, Z:-1.81 [[ 9.97313685e-01 7.26963092e-02 8.98109416e-03 7.56315926e+01] [-7.26920031e-02 9.97354112e-01 -8.05398639e-04 -8.64216865e+00] [-9.01588070e-03 1.50381360e-04 9.99959345e-01 -1.80947091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.074012739 meters Centerline goodness [0,1] 0.9974050483604624 Centerline is valid? [True, True] Translation: X:75.66, Y:-8.65, Z:-1.81 [[ 9.97254293e-01 7.36125961e-02 8.06601409e-03 7.56631096e+01] [-7.36091432e-02 9.97286904e-01 -7.24516918e-04 -8.64582160e+00] [-8.09746379e-03 1.28795221e-04 9.99967207e-01 -1.81094204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.104012739 meters Centerline goodness [0,1] 0.9979222578131763 Centerline is valid? [True, True] Translation: X:75.69, Y:-8.65, Z:-1.81 [[ 9.97199014e-01 7.44311105e-02 7.35768316e-03 7.56940244e+01] [-7.44282514e-02 9.97226151e-01 -6.62018514e-04 -8.64981819e+00] [-7.38654884e-03 1.12544718e-04 9.99972713e-01 -1.81245501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.134012739 meters Centerline goodness [0,1] 0.9984123238001245 Centerline is valid? [True, True] Translation: X:75.73, Y:-8.65, Z:-1.81 [[ 9.97087591e-01 7.59565734e-02 6.85090771e-03 7.57250742e+01] [-7.59541239e-02 9.97111122e-01 -6.17397954e-04 -8.65351981e+00] [-6.87801171e-03 9.52451453e-05 9.99976342e-01 -1.81346231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164012739 meters Centerline goodness [0,1] 0.9981762396206578 Centerline is valid? [True, True] Translation: X:75.76, Y:-8.66, Z:-1.81 [[ 9.96839117e-01 7.91130478e-02 7.27321403e-03 7.57558388e+01] [-7.91103622e-02 9.96865648e-01 -6.56649614e-04 -8.65815174e+00] [-7.30236677e-03 7.91874253e-05 9.99973334e-01 -1.81322796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.194012739 meters Centerline goodness [0,1] 0.9972883398614041 Centerline is valid? [True, True] Translation: X:75.79, Y:-8.66, Z:-1.81 [[ 9.96558131e-01 8.25014887e-02 8.08679158e-03 7.57880205e+01] [-8.24982683e-02 9.96590939e-01 -7.31574543e-04 -8.66064949e+00] [-8.11957920e-03 6.19102583e-05 9.99967034e-01 -1.81083195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224012739 meters Centerline goodness [0,1] 0.9965388997570781 Centerline is valid? [True, True] Translation: X:75.82, Y:-8.66, Z:-1.81 [[ 9.96395493e-01 8.44421595e-02 8.09584064e-03 7.58196047e+01] [-8.44389851e-02 9.96428381e-01 -7.33732497e-04 -8.66279636e+00] [-8.12888334e-03 4.74831864e-05 9.99966959e-01 -1.81057977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.254012739 meters Centerline goodness [0,1] 0.9966093743336034 Centerline is valid? [True, True] Translation: X:75.85, Y:-8.67, Z:-1.81 [[ 9.96277473e-01 8.58220225e-02 8.11030605e-03 7.58503669e+01] [-8.58188716e-02 9.96310483e-01 -7.36376921e-04 -8.66601792e+00] [-8.14358030e-03 3.76184246e-05 9.99966840e-01 -1.81032170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284012739 meters Centerline goodness [0,1] 0.9937863171735165 Centerline is valid? [True, True] Translation: X:75.88, Y:-8.67, Z:-1.81 [[ 9.95993122e-01 8.89902991e-02 8.85597904e-03 7.58822439e+01] [-8.89866544e-02 9.96032493e-01 -8.05531884e-04 -8.66766199e+00] [-8.89252740e-03 1.42402700e-05 9.99960461e-01 -1.80859482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.314012739 meters Centerline goodness [0,1] 0.9924044674568874 Centerline is valid? [True, True] Translation: X:75.91, Y:-8.67, Z:-1.81 [[ 9.95799858e-01 9.11182484e-02 8.95027910e-03 7.59147898e+01] [-9.11145983e-02 9.95840080e-01 -8.15590646e-04 -8.66901320e+00] [-8.98736184e-03 -3.33603465e-06 9.99959613e-01 -1.80918447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34401273900001 meters Centerline goodness [0,1] 0.9898009051696662 Centerline is valid? [True, True] Translation: X:75.95, Y:-8.67, Z:-1.81 [[ 9.95343891e-01 9.60500987e-02 8.05708100e-03 7.59462165e+01] [-9.60472911e-02 9.95376500e-01 -7.35584616e-04 -8.66530964e+00] [-8.09048206e-03 -4.17011497e-05 9.99967271e-01 -1.81068992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.374012739 meters Centerline goodness [0,1] 0.9893621659327724 Centerline is valid? [True, True] Translation: X:75.98, Y:-8.67, Z:-1.81 [[ 9.95104412e-01 9.84785534e-02 8.31766073e-03 7.59787371e+01] [-9.84756349e-02 9.95139172e-01 -7.60708179e-04 -8.66801995e+00] [-8.35214345e-03 -6.21028564e-05 9.99965118e-01 -1.81095768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.404012739 meters Centerline goodness [0,1] 0.9885596637942013 Centerline is valid? [True, True] Translation: X:76.01, Y:-8.67, Z:-1.81 [[ 9.94820113e-01 1.01302831e-01 8.40710831e-03 7.60099957e+01] [-1.01299938e-01 9.94855632e-01 -7.70351885e-04 -8.66621342e+00] [-8.44189788e-03 -8.52779993e-05 9.99964363e-01 -1.81080307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.434012739 meters Centerline goodness [0,1] 0.9869132412254356 Centerline is valid? [True, True] Translation: X:76.04, Y:-8.66, Z:-1.81 [[ 9.94356253e-01 1.05668026e-01 9.48214528e-03 7.60423343e+01] [-1.05664530e-01 9.94401453e-01 -8.70367238e-04 -8.66463703e+00] [-9.52102903e-03 -1.36471318e-04 9.99954665e-01 -1.80935245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.464012739 meters Centerline goodness [0,1] 0.9861282236478736 Centerline is valid? [True, True] Translation: X:76.07, Y:-8.66, Z:-1.81 [[ 9.94107260e-01 1.07959406e-01 9.77352192e-03 7.60737243e+01] [-1.07955796e-01 9.94155290e-01 -8.97781426e-04 -8.66219238e+00] [-9.81332246e-03 -1.62617301e-04 9.99951835e-01 -1.80875880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.494012739 meters Centerline goodness [0,1] 0.9855629369111198 Centerline is valid? [True, True] Translation: X:76.11, Y:-8.66, Z:-1.81 [[ 9.93650687e-01 1.12096205e-01 9.63088369e-03 7.61059800e+01] [-1.12092881e-01 9.93697339e-01 -8.85964981e-04 -8.66153189e+00] [-9.66949680e-03 -1.99213787e-04 9.99953229e-01 -1.81158144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524012739 meters Centerline goodness [0,1] 0.9852046933881466 Centerline is valid? [True, True] Translation: X:76.14, Y:-8.66, Z:-1.81 [[ 9.93411860e-01 1.14254411e-01 8.87726422e-03 7.61376090e+01] [-1.14251669e-01 9.93451503e-01 -8.17072594e-04 -8.66079595e+00] [-8.91248563e-03 -2.02552651e-04 9.99960262e-01 -1.81344180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.554012739 meters Centerline goodness [0,1] 0.9830263325817842 Centerline is valid? [True, True] Translation: X:76.17, Y:-8.65, Z:-1.81 [[ 9.92935039e-01 1.18398612e-01 7.85984191e-03 7.61689547e+01] [-1.18396588e-01 9.92966124e-01 -7.24044939e-04 -8.65016138e+00] [-7.89028267e-03 -2.11648871e-04 9.99968849e-01 -1.81444449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584012739 meters Centerline goodness [0,1] 0.9838557926698884 Centerline is valid? [True, True] Translation: X:76.20, Y:-8.65, Z:-1.81 [[ 9.92704776e-01 1.20337475e-01 7.49124947e-03 7.61991103e+01] [-1.20335689e-01 9.92733018e-01 -6.90340875e-04 -8.65332714e+00] [-7.51988457e-03 -2.16159983e-04 9.99971702e-01 -1.81485369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.614012739 meters Centerline goodness [0,1] 0.9831213774654466 Centerline is valid? [True, True] Translation: X:76.23, Y:-8.65, Z:-1.82 [[ 9.92501573e-01 1.22016985e-01 7.24452957e-03 7.62292276e+01] [-1.22015359e-01 9.92527988e-01 -6.67613405e-04 -8.64904346e+00] [-7.27185853e-03 -2.21336521e-04 9.99973535e-01 -1.81584389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644012739 meters Centerline goodness [0,1] 0.9793933188275951 Centerline is valid? [True, True] Translation: X:76.26, Y:-8.64, Z:-1.82 [[ 9.92233496e-01 1.24193683e-01 6.97269591e-03 7.62589220e+01] [-1.24192231e-01 9.92257969e-01 -6.42495414e-04 -8.64265134e+00] [-6.99850695e-03 -2.28449191e-04 9.99975484e-01 -1.81711378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.674012739 meters Centerline goodness [0,1] 0.981948991900741 Centerline is valid? [True, True] Translation: X:76.29, Y:-8.65, Z:-1.82 [[ 9.92179043e-01 1.24624760e-01 7.02968137e-03 7.62885873e+01] [-1.24623296e-01 9.92203918e-01 -6.47584778e-04 -8.64560557e+00] [-7.05558249e-03 -2.33542019e-04 9.99975082e-01 -1.81717071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704012739 meters Centerline goodness [0,1] 0.979460736921259 Centerline is valid? [True, True] Translation: X:76.32, Y:-8.64, Z:-1.82 [[ 9.92007131e-01 1.25998820e-01 6.79337516e-03 7.63180212e+01] [-1.25997486e-01 9.92030363e-01 -6.25675568e-04 -8.63867365e+00] [-6.81806881e-03 -2.35273568e-04 9.99976729e-01 -1.81779390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73401273900001 meters Centerline goodness [0,1] 0.9810775862068966 Centerline is valid? [True, True] Translation: X:76.35, Y:-8.64, Z:-1.82 [[ 9.91929777e-01 1.26599801e-01 6.91432617e-03 7.63476093e+01] [-1.26598435e-01 9.91953845e-01 -6.36555132e-04 -8.63964166e+00] [-6.93928018e-03 -2.43924884e-04 9.99975893e-01 -1.81760188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.764012739 meters Centerline goodness [0,1] 0.9810775862068966 Centerline is valid? [True, True] Translation: X:76.38, Y:-8.64, Z:-1.82 [[ 9.91935790e-01 1.26552675e-01 6.91433893e-03 7.63758433e+01] [-1.26551310e-01 9.91959859e-01 -6.36416480e-04 -8.64215365e+00] [-6.93928687e-03 -2.43734362e-04 9.99975893e-01 -1.81782869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.794012739 meters Centerline goodness [0,1] 0.9794274727622303 Centerline is valid? [True, True] Translation: X:76.40, Y:-8.64, Z:-1.82 [[ 9.91905901e-01 1.26772001e-01 7.17931064e-03 7.64040617e+01] [-1.26770537e-01 9.91931850e-01 -6.60455876e-04 -8.63941860e+00] [-7.20511420e-03 -2.55014986e-04 9.99974010e-01 -1.81699301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.824012739 meters Centerline goodness [0,1] 0.9785932069678684 Centerline is valid? [True, True] Translation: X:76.43, Y:-8.63, Z:-1.82 [[ 9.91999393e-01 1.26001958e-01 7.79168386e-03 7.64328332e+01] [-1.26000214e-01 9.92029956e-01 -7.16285733e-04 -8.63256942e+00] [-7.81983720e-03 -2.71198817e-04 9.99969388e-01 -1.81557364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.854012739 meters Centerline goodness [0,1] 0.9821866001976879 Centerline is valid? [True, True] Translation: X:76.46, Y:-8.63, Z:-1.82 [[ 9.92200003e-01 1.24439689e-01 7.34291204e-03 7.64618774e+01] [-1.24438100e-01 9.92227143e-01 -6.74623063e-04 -8.63111234e+00] [-7.36978652e-03 -2.44377017e-04 9.99972813e-01 -1.81795607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.884012739 meters Centerline goodness [0,1] 0.9807500265590141 Centerline is valid? [True, True] Translation: X:76.49, Y:-8.63, Z:-1.82 [[ 9.92331382e-01 1.23395696e-01 7.20629059e-03 7.64899655e+01] [-1.23394140e-01 9.92357520e-01 -6.61748883e-04 -8.62868976e+00] [-7.23287362e-03 -2.32539848e-04 9.99973815e-01 -1.81879725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.914012739 meters Centerline goodness [0,1] 0.9828442341708757 Centerline is valid? [True, True] Translation: X:76.52, Y:-8.63, Z:-1.82 [[ 9.92541011e-01 1.21696796e-01 7.22708603e-03 7.65189028e+01] [-1.21695189e-01 9.92567298e-01 -6.63216161e-04 -8.63256450e+00] [-7.25408054e-03 -2.21232365e-04 9.99973664e-01 -1.81884259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944012739 meters Centerline goodness [0,1] 0.984363317881785 Centerline is valid? [True, True] Translation: X:76.55, Y:-8.63, Z:-1.82 [[ 9.93114099e-01 1.16892573e-01 7.77894338e-03 7.65490319e+01] [-1.16890567e-01 9.93144544e-01 -7.13560063e-04 -8.63427850e+00] [-7.80902505e-03 -2.00638545e-04 9.99969489e-01 -1.81763016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.974012739 meters Centerline goodness [0,1] 0.9844335481660706 Centerline is valid? [True, True] Translation: X:76.58, Y:-8.63, Z:-1.82 [[ 9.93421908e-01 1.14219338e-01 8.17649814e-03 7.65777090e+01] [-1.14217032e-01 9.93455539e-01 -7.49924965e-04 -8.63455645e+00] [-8.20864330e-03 -1.88903460e-04 9.99966291e-01 -1.81661460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004012739 meters Centerline goodness [0,1] 0.9859983679079156 Centerline is valid? [True, True] Translation: X:76.61, Y:-8.64, Z:-1.82 [[ 9.93983943e-01 1.09152511e-01 9.03608117e-03 7.66073536e+01] [-1.09149487e-01 9.94025001e-01 -8.28545274e-04 -8.64309463e+00] [-9.07252840e-03 -1.62722928e-04 9.99958831e-01 -1.81640388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.034012739 meters Centerline goodness [0,1] 0.9867062137248208 Centerline is valid? [True, True] Translation: X:76.64, Y:-8.65, Z:-1.82 [[ 9.94284800e-01 1.06388362e-01 8.90243466e-03 7.66364256e+01] [-1.06385318e-01 9.94324644e-01 -8.16175129e-04 -8.64900255e+00] [-8.93874171e-03 -1.35577815e-04 9.99960039e-01 -1.81668635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064012739 meters Centerline goodness [0,1] 0.9880006032012754 Centerline is valid? [True, True] Translation: X:76.67, Y:-8.66, Z:-1.82 [[ 9.94768760e-01 1.01790718e-01 8.58861512e-03 7.66655521e+01] [-1.01787714e-01 9.94805831e-01 -7.87238184e-04 -8.65667830e+00] [-8.62413794e-03 -9.10955481e-05 9.99962807e-01 -1.81792963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09401273900001 meters Centerline goodness [0,1] 0.988421052631579 Centerline is valid? [True, True] Translation: X:76.70, Y:-8.66, Z:-1.82 [[ 9.94943542e-01 1.00057397e-01 8.71013215e-03 7.66961592e+01] [-1.00054239e-01 9.94981664e-01 -7.98629709e-04 -8.66155943e+00] [-8.74633059e-03 -7.68941725e-05 9.99961747e-01 -1.81815362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.124012739 meters Centerline goodness [0,1] 0.9892911560830097 Centerline is valid? [True, True] Translation: X:76.73, Y:-8.67, Z:-1.82 [[ 9.95165805e-01 9.78100954e-02 8.84342378e-03 7.67268744e+01] [-9.78067515e-02 9.95205095e-01 -8.10861690e-04 -8.66585658e+00] [-8.88033087e-03 -5.80047252e-05 9.99960567e-01 -1.81732315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.154012739 meters Centerline goodness [0,1] 0.9898596453051899 Centerline is valid? [True, True] Translation: X:76.76, Y:-8.67, Z:-1.82 [[ 9.95218873e-01 9.72879534e-02 8.62840883e-03 7.67569081e+01] [-9.72847497e-02 9.95256274e-01 -7.91240082e-04 -8.66921941e+00] [-8.66445615e-03 -5.19555300e-05 9.99962462e-01 -1.81834385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.184012739 meters Centerline goodness [0,1] 0.9895295773446496 Centerline is valid? [True, True] Translation: X:76.79, Y:-8.67, Z:-1.82 [[ 9.95234901e-01 9.71521967e-02 8.30321942e-03 7.67861836e+01] [-9.71492252e-02 9.95269535e-01 -7.61415579e-04 -8.67146513e+00] [-8.33791453e-03 -4.88639755e-05 9.99965238e-01 -1.81953697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.214012739 meters Centerline goodness [0,1] 0.990195652173913 Centerline is valid? [True, True] Translation: X:76.82, Y:-8.67, Z:-1.82 [[ 9.95179320e-01 9.77389611e-02 8.07562067e-03 7.68169455e+01] [-9.77361704e-02 9.95212084e-01 -7.40450394e-04 -8.67499991e+00] [-8.10932614e-03 -5.23993182e-05 9.99967118e-01 -1.81976300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.244012739 meters Centerline goodness [0,1] 0.9894369196694778 Centerline is valid? [True, True] Translation: X:76.85, Y:-8.67, Z:-1.82 [[ 9.95070433e-01 9.89070576e-02 7.22680949e-03 7.68467637e+01] [-9.89048534e-02 9.95096674e-01 -6.62632409e-04 -8.67454227e+00] [-7.25691311e-03 -5.54006148e-05 9.99973667e-01 -1.82038646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.274012739 meters Centerline goodness [0,1] 0.9885911952388114 Centerline is valid? [True, True] Translation: X:76.88, Y:-8.67, Z:-1.82 [[ 9.94812856e-01 1.01526768e-01 6.30052544e-03 7.68766388e+01] [-1.01525146e-01 9.94832806e-01 -5.77654416e-04 -8.67170830e+00] [-6.32661679e-03 -6.50037243e-05 9.99979985e-01 -1.82238514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304012739 meters Centerline goodness [0,1] 0.9879623316856997 Centerline is valid? [True, True] Translation: X:76.91, Y:-8.67, Z:-1.82 [[ 9.94740129e-01 1.02230410e-01 6.40457355e-03 7.69067479e+01] [-1.02228749e-01 9.94760744e-01 -5.87038198e-04 -8.67251100e+00] [-6.43103151e-03 -7.07810859e-05 9.99979318e-01 -1.82249724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.334012739 meters Centerline goodness [0,1] 0.9883808015749043 Centerline is valid? [True, True] Translation: X:76.94, Y:-8.67, Z:-1.82 [[ 9.94684265e-01 1.02726565e-01 7.10391381e-03 7.69366393e+01] [-1.02724536e-01 9.94709629e-01 -6.50949296e-04 -8.67215020e+00] [-7.13320125e-03 -8.22572250e-05 9.99974555e-01 -1.82129341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364012739 meters Centerline goodness [0,1] 0.9886550263635577 Centerline is valid? [True, True] Translation: X:76.97, Y:-8.67, Z:-1.82 [[ 9.94729316e-01 1.02278781e-01 7.25531917e-03 7.69657398e+01] [-1.02276654e-01 9.94755771e-01 -6.64645275e-04 -8.67468684e+00] [-7.28524972e-03 -8.09076274e-05 9.99973459e-01 -1.82168982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.394012739 meters Centerline goodness [0,1] 0.9880644605308514 Centerline is valid? [True, True] Translation: X:76.99, Y:-8.68, Z:-1.82 [[ 9.94855161e-01 1.00986724e-01 8.05549635e-03 7.69947187e+01] [-1.00984060e-01 9.94887770e-01 -7.37734473e-04 -8.68077735e+00] [-8.08881619e-03 -7.95377811e-05 9.99967282e-01 -1.82132404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424012739 meters Centerline goodness [0,1] 0.9882121807465619 Centerline is valid? [True, True] Translation: X:77.02, Y:-8.68, Z:-1.82 [[ 9.94859933e-01 1.00933563e-01 8.13204319e-03 7.70241486e+01] [-1.00930849e-01 9.94893165e-01 -7.44547871e-04 -8.68330538e+00] [-8.16566405e-03 -8.00531792e-05 9.99966657e-01 -1.82076901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.454012739 meters Centerline goodness [0,1] 0.9876799349774346 Centerline is valid? [True, True] Translation: X:77.05, Y:-8.68, Z:-1.82 [[ 9.94794097e-01 1.01580223e-01 8.13403350e-03 7.70524755e+01] [-1.01577530e-01 9.94827347e-01 -7.44534241e-04 -8.68322737e+00] [-8.16758892e-03 -8.55767659e-05 9.99966641e-01 -1.82052591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48401273900001 meters Centerline goodness [0,1] 0.9874061360223128 Centerline is valid? [True, True] Translation: X:77.08, Y:-8.68, Z:-1.82 [[ 9.94426344e-01 1.05200446e-01 7.00809228e-03 7.70821207e+01] [-1.05198539e-01 9.94451033e-01 -6.41262050e-04 -8.67859543e+00] [-7.03666566e-03 -9.95531941e-05 9.99975237e-01 -1.82145778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.514012739 meters Centerline goodness [0,1] 0.9866878175309224 Centerline is valid? [True, True] Translation: X:77.11, Y:-8.68, Z:-1.82 [[ 9.94275459e-01 1.06662080e-01 6.28589685e-03 7.71108439e+01] [-1.06660576e-01 9.94295324e-01 -5.74983714e-04 -8.67664027e+00] [-6.31136681e-03 -9.87651841e-05 9.99980078e-01 -1.82309431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.544012739 meters Centerline goodness [0,1] 0.9865038836201347 Centerline is valid? [True, True] Translation: X:77.14, Y:-8.67, Z:-1.83 [[ 9.93927848e-01 1.09895855e-01 5.50757834e-03 7.71411589e+01] [-1.09894751e-01 9.93943102e-01 -5.03599793e-04 -8.66871115e+00] [-5.52956303e-03 -1.04712091e-04 9.99984706e-01 -1.82505387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.574012739 meters Centerline goodness [0,1] 0.9862309330694262 Centerline is valid? [True, True] Translation: X:77.17, Y:-8.67, Z:-1.82 [[ 9.93761077e-01 1.11369320e-01 5.98296949e-03 7.71698574e+01] [-1.11368044e-01 9.93779080e-01 -5.46981314e-04 -8.66587196e+00] [-6.00666685e-03 -1.22742869e-04 9.99981952e-01 -1.82473543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.604012739 meters Centerline goodness [0,1] 0.9853296034508531 Centerline is valid? [True, True] Translation: X:77.20, Y:-8.66, Z:-1.82 [[ 9.93638077e-01 1.12416750e-01 6.77093457e-03 7.71978621e+01] [-1.12415144e-01 9.93661136e-01 -6.18559500e-04 -8.66382517e+00] [-6.79755099e-03 -1.46531313e-04 9.99976886e-01 -1.82363870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.634012739 meters Centerline goodness [0,1] 0.9844848277044402 Centerline is valid? [True, True] Translation: X:77.23, Y:-8.66, Z:-1.82 [[ 9.93683042e-01 1.11853461e-01 9.10027874e-03 7.72269247e+01] [-1.11850542e-01 9.93724693e-01 -8.30676043e-04 -8.66351838e+00] [-9.13608570e-03 -1.92442414e-04 9.99958247e-01 -1.81970958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664012739 meters Centerline goodness [0,1] 0.9844296973992226 Centerline is valid? [True, True] Translation: X:77.26, Y:-8.66, Z:-1.82 [[ 9.93800375e-01 1.10784414e-01 9.36101894e-03 7.72555133e+01] [-1.10781282e-01 9.93844444e-01 -8.54035546e-04 -8.66131116e+00] [-9.39801049e-03 -1.88284831e-04 9.99955820e-01 -1.81928685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.694012739 meters Centerline goodness [0,1] 0.9850682593856656 Centerline is valid? [True, True] Translation: X:77.28, Y:-8.66, Z:-1.82 [[ 9.94048337e-01 1.08646545e-01 7.98945061e-03 7.72848820e+01] [-1.08644196e-01 9.94080433e-01 -7.28659903e-04 -8.66233777e+00] [-8.02132291e-03 -1.43684276e-04 9.99967818e-01 -1.82261845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724012739 meters Centerline goodness [0,1] 0.9863864035275483 Centerline is valid? [True, True] Translation: X:77.31, Y:-8.66, Z:-1.82 [[ 9.94126238e-01 1.08009142e-01 6.85909526e-03 7.73126244e+01] [-1.08007399e-01 9.94149894e-01 -6.25155341e-04 -8.66080488e+00] [-6.88649132e-03 -1.19349713e-04 9.99976281e-01 -1.82469554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.754012739 meters Centerline goodness [0,1] 0.986395601025259 Centerline is valid? [True, True] Translation: X:77.34, Y:-8.66, Z:-1.82 [[ 9.94133794e-01 1.07976534e-01 6.25036435e-03 7.73415634e+01] [-1.07975088e-01 9.94153437e-01 -5.69321722e-04 -8.66107209e+00] [-6.27529458e-03 -1.08901676e-04 9.99980304e-01 -1.82469542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784012739 meters Centerline goodness [0,1] 0.9861412234833993 Centerline is valid? [True, True] Translation: X:77.37, Y:-8.65, Z:-1.82 [[ 9.93969017e-01 1.09399385e-01 7.57412772e-03 7.73708276e+01] [-1.09397306e-01 9.93997864e-01 -6.89457226e-04 -8.65085436e+00] [-7.60409298e-03 -1.43290046e-04 9.99971078e-01 -1.82112444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.814012739 meters Centerline goodness [0,1] 0.985328740844088 Centerline is valid? [True, True] Translation: X:77.40, Y:-8.65, Z:-1.82 [[ 9.93923149e-01 1.09709685e-01 8.97550291e-03 7.73999328e+01] [-1.09706784e-01 9.93963659e-01 -8.16408565e-04 -8.65009575e+00] [-9.01089164e-03 -1.73226184e-04 9.99959386e-01 -1.81908420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84401273900001 meters Centerline goodness [0,1] 0.985157579543741 Centerline is valid? [True, True] Translation: X:77.43, Y:-8.65, Z:-1.82 [[ 9.93844860e-01 1.10299721e-01 1.03133651e-02 7.74289280e+01] [-1.10295928e-01 9.93898350e-01 -9.37554601e-04 -8.64583262e+00] [-1.03538486e-02 -2.05738362e-04 9.99946376e-01 -1.81684317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.874012739 meters Centerline goodness [0,1] 0.9856657053075631 Centerline is valid? [True, True] Translation: X:77.46, Y:-8.65, Z:-1.82 [[ 9.93840541e-01 1.10303355e-01 1.06840298e-02 7.74574326e+01] [-1.10299291e-01 9.93897945e-01 -9.70722721e-04 -8.64702259e+00] [-1.07259092e-02 -2.13697317e-04 9.99942453e-01 -1.81673383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.904012739 meters Centerline goodness [0,1] 0.9846502479904224 Centerline is valid? [True, True] Translation: X:77.49, Y:-8.65, Z:-1.82 [[ 9.93914869e-01 1.09613820e-01 1.08647747e-02 7.74860588e+01] [-1.09609582e-01 9.93974228e-01 -9.86600209e-04 -8.64503949e+00] [-1.09074511e-02 -2.10286789e-04 9.99940490e-01 -1.81548960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.934012739 meters Centerline goodness [0,1] 0.9848194483322926 Centerline is valid? [True, True] Translation: X:77.52, Y:-8.64, Z:-1.82 [[ 9.94163345e-01 1.07340352e-01 1.08301436e-02 7.75152372e+01] [-1.07336012e-01 9.94222316e-01 -9.82927027e-04 -8.64400891e+00] [-1.08730781e-02 -1.85274396e-04 9.99940869e-01 -1.81518386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.964012739 meters Centerline goodness [0,1] 0.9856994334938788 Centerline is valid? [True, True] Translation: X:77.54, Y:-8.64, Z:-1.82 [[ 9.94255994e-01 1.06541863e-01 1.01906934e-02 7.75432629e+01] [-1.06537983e-01 9.94308204e-01 -9.24403041e-04 -8.64269526e+00] [-1.02311777e-02 -1.66602652e-04 9.99947646e-01 -1.81720529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.994012739 meters Centerline goodness [0,1] 0.9867227357141333 Centerline is valid? [True, True] Translation: X:77.57, Y:-8.64, Z:-1.82 [[ 9.94422260e-01 1.05187646e-01 7.74127594e-03 7.75726117e+01] [-1.05185369e-01 9.94452385e-01 -7.01864735e-04 -8.64264565e+00] [-7.77215782e-03 -1.16319047e-04 9.99969790e-01 -1.82248268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024012739 meters Centerline goodness [0,1] 0.9866169229768128 Centerline is valid? [True, True] Translation: X:77.60, Y:-8.64, Z:-1.83 [[ 9.94599877e-01 1.03557457e-01 6.85115060e-03 7.76016854e+01] [-1.03555636e-01 9.94623469e-01 -6.20961771e-04 -8.64466200e+00] [-6.87862040e-03 -9.18667577e-05 9.99976338e-01 -1.82502001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.054012739 meters Centerline goodness [0,1] 0.9876572616443993 Centerline is valid? [True, True] Translation: X:77.63, Y:-8.65, Z:-1.83 [[ 9.94799021e-01 1.01649310e-01 6.50578380e-03 7.76299156e+01] [-1.01647629e-01 9.94820291e-01 -5.89371014e-04 -8.64841379e+00] [-6.53199489e-03 -7.49917905e-05 9.99978663e-01 -1.82604743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084012739 meters Centerline goodness [0,1] 0.9884161617026743 Centerline is valid? [True, True] Translation: X:77.66, Y:-8.65, Z:-1.82 [[ 9.95135537e-01 9.81892397e-02 8.00849583e-03 7.76576907e+01] [-9.81865843e-02 9.95167759e-01 -7.25025036e-04 -8.64889595e+00] [-8.04098651e-03 -6.48286719e-05 9.99967669e-01 -1.82228633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.114012739 meters Centerline goodness [0,1] 0.9882137864286482 Centerline is valid? [True, True] Translation: X:77.69, Y:-8.65, Z:-1.82 [[ 9.95214066e-01 9.72923758e-02 9.11899926e-03 7.76867915e+01] [-9.72889008e-02 9.95255841e-01 -8.24958669e-04 -8.65126482e+00] [-9.15599946e-03 -6.61669426e-05 9.99958081e-01 -1.82043480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144012739 meters Centerline goodness [0,1] 0.9881213686249193 Centerline is valid? [True, True] Translation: X:77.72, Y:-8.65, Z:-1.82 [[ 9.95253724e-01 9.68490087e-02 9.50232206e-03 7.77151611e+01] [-9.68452199e-02 9.95299083e-01 -8.59146682e-04 -8.64673424e+00] [-9.54085994e-03 -6.51855343e-05 9.99954483e-01 -1.82033357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.174012739 meters Centerline goodness [0,1] 0.9881862108601716 Centerline is valid? [True, True] Translation: X:77.74, Y:-8.65, Z:-1.82 [[ 9.95256393e-01 9.68742302e-02 8.94964628e-03 7.77436132e+01] [-9.68708749e-02 9.95296629e-01 -8.08660499e-04 -8.64768456e+00] [-8.98589113e-03 -6.21355338e-05 9.99959624e-01 -1.82223749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204012739 meters Centerline goodness [0,1] 0.9891358452182569 Centerline is valid? [True, True] Translation: X:77.77, Y:-8.65, Z:-1.82 [[ 9.95270503e-01 9.67633076e-02 8.57248298e-03 7.77714518e+01] [-9.67602301e-02 9.95307419e-01 -7.73998225e-04 -8.64763715e+00] [-8.60715054e-03 -5.91378226e-05 9.99962956e-01 -1.82416721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23401273900001 meters Centerline goodness [0,1] 0.9884079708592244 Centerline is valid? [True, True] Translation: X:77.80, Y:-8.65, Z:-1.82 [[ 9.95316413e-01 9.63286221e-02 8.12618505e-03 7.77989718e+01] [-9.63258466e-02 9.95349584e-01 -7.33155140e-04 -8.64766993e+00] [-8.15901873e-03 -5.30403109e-05 9.99966713e-01 -1.82439989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.264012739 meters Centerline goodness [0,1] 0.9909280030883394 Centerline is valid? [True, True] Translation: X:77.83, Y:-8.65, Z:-1.82 [[ 9.95602345e-01 9.33357099e-02 8.02592198e-03 7.78280650e+01] [-9.33329090e-02 9.95634694e-01 -7.23641987e-04 -8.64988785e+00] [-8.05842802e-03 -2.86229870e-05 9.99967530e-01 -1.82481447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.294012739 meters Centerline goodness [0,1] 0.9920778200199647 Centerline is valid? [True, True] Translation: X:77.86, Y:-8.65, Z:-1.83 [[ 9.95826871e-01 9.09686765e-02 7.31729678e-03 7.78554964e+01] [-9.09662867e-02 9.95853754e-01 -6.59447732e-04 -8.65470914e+00] [-7.34694656e-03 -8.93154543e-06 9.99973011e-01 -1.82676772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.324012739 meters Centerline goodness [0,1] 0.995752004182642 Centerline is valid? [True, True] Translation: X:77.88, Y:-8.66, Z:-1.83 [[ 9.96323502e-01 8.54679626e-02 5.89127032e-03 7.78839524e+01] [-8.54663189e-02 9.96340919e-01 -5.30658225e-04 -8.66448269e+00] [-5.91506796e-03 2.52020734e-05 9.99982506e-01 -1.82970975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.354012739 meters Centerline goodness [0,1] 0.9970954445464836 Centerline is valid? [True, True] Translation: X:77.91, Y:-8.67, Z:-1.83 [[ 9.96501815e-01 8.33651796e-02 5.86341811e-03 7.79115599e+01] [-8.33635164e-02 9.96519064e-01 -5.27897966e-04 -8.66895580e+00] [-5.88701623e-03 3.72561296e-05 9.99982671e-01 -1.83053332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.384012739 meters Centerline goodness [0,1] 0.9976433284771618 Centerline is valid? [True, True] Translation: X:77.94, Y:-8.67, Z:-1.83 [[ 9.96624650e-01 8.18509511e-02 6.30308500e-03 7.79404480e+01] [-8.18490016e-02 9.96644580e-01 -5.67055996e-04 -8.67170016e+00] [-6.32834958e-03 4.92407693e-05 9.99979975e-01 -1.82988924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.414012739 meters Centerline goodness [0,1] 0.9965792961901911 Centerline is valid? [True, True] Translation: X:77.97, Y:-8.67, Z:-1.83 [[ 9.96771698e-01 7.98850155e-02 8.03529555e-03 7.79697094e+01] [-7.98817872e-02 9.96804082e-01 -7.22431292e-04 -8.67316457e+00] [-8.06732684e-03 7.82252970e-05 9.99967456e-01 -1.82708303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444012739 meters Centerline goodness [0,1] 0.9962537139904405 Centerline is valid? [True, True] Translation: X:78.00, Y:-8.68, Z:-1.83 [[ 9.96852217e-01 7.88488139e-02 8.27784763e-03 7.79984117e+01] [-7.88453552e-02 9.96886582e-01 -7.43847569e-04 -8.67521689e+00] [-8.31072672e-03 8.88362608e-05 9.99965461e-01 -1.82697349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.474012739 meters Centerline goodness [0,1] 0.9970778588281132 Centerline is valid? [True, True] Translation: X:78.03, Y:-8.68, Z:-1.83 [[ 9.97059868e-01 7.62949021e-02 7.12089664e-03 7.80266223e+01] [-7.62922794e-02 9.97085292e-01 -6.39616005e-04 -8.67844585e+00] [-7.14894074e-03 9.44660139e-05 9.99974442e-01 -1.82943826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504012739 meters Centerline goodness [0,1] 0.9917706968049677 Centerline is valid? [True, True] Translation: X:78.06, Y:-8.68, Z:-1.82 [[ 9.97151921e-01 7.51570099e-02 6.28257240e-03 7.80554397e+01] [-7.51549479e-02 9.97171708e-01 -5.63988630e-04 -8.68190062e+00] [-6.30719115e-03 9.02159448e-05 9.99980105e-01 -1.82095988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.534012739 meters Centerline goodness [0,1] 0.9959646425826287 Centerline is valid? [True, True] Translation: X:78.08, Y:-8.69, Z:-1.83 [[ 9.97263679e-01 7.35872249e-02 7.07635636e-03 7.80825295e+01] [-7.35845720e-02 9.97288778e-01 -6.34886366e-04 -8.69100572e+00] [-7.10389031e-03 1.12438459e-04 9.99974761e-01 -1.83099398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564012739 meters Centerline goodness [0,1] 0.9941303742421971 Centerline is valid? [True, True] Translation: X:78.11, Y:-8.70, Z:-1.83 [[ 9.97435056e-01 7.10391474e-02 8.76060019e-03 7.81108564e+01] [-7.10349882e-02 9.97473515e-01 -7.85398048e-04 -8.69889207e+00] [-8.79426068e-03 1.61074415e-04 9.99961317e-01 -1.82865964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59401273900001 meters Centerline goodness [0,1] 0.9942176502436383 Centerline is valid? [True, True] Translation: X:78.14, Y:-8.70, Z:-1.83 [[ 9.97497845e-01 7.00712863e-02 9.38422601e-03 7.81410370e+01] [-7.00664750e-02 9.97541970e-01 -8.40897261e-04 -8.69881185e+00] [-9.42008206e-03 1.81273569e-04 9.99955614e-01 -1.82790936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.624012739 meters Centerline goodness [0,1] 0.9944569771189172 Centerline is valid? [True, True] Translation: X:78.17, Y:-8.70, Z:-1.83 [[ 9.97567928e-01 6.92139170e-02 8.22573885e-03 7.81694998e+01] [-6.92101926e-02 9.97601827e-01 -7.36916785e-04 -8.70209179e+00] [-8.25701700e-03 1.65819580e-04 9.99965897e-01 -1.83066257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.654012739 meters Centerline goodness [0,1] 0.9944569771189172 Centerline is valid? [True, True] Translation: X:78.20, Y:-8.70, Z:-1.83 [[ 9.97569502e-01 6.91912280e-02 8.22576397e-03 7.81985543e+01] [-6.91875051e-02 9.97603401e-01 -7.36636222e-04 -8.70465123e+00] [-8.25701888e-03 1.65725741e-04 9.99965897e-01 -1.83089599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.684012739 meters Centerline goodness [0,1] 0.9953918043024182 Centerline is valid? [True, True] Translation: X:78.23, Y:-8.71, Z:-1.83 [[ 9.97594097e-01 6.89322975e-02 7.37266947e-03 7.82284531e+01] [-6.89293009e-02 9.97621329e-01 -6.60089878e-04 -8.70748321e+00] [-7.40063383e-03 1.50308814e-04 9.99972604e-01 -1.83307972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.714012739 meters Centerline goodness [0,1] 0.9903121164299491 Centerline is valid? [True, True] Translation: X:78.26, Y:-8.71, Z:-1.82 [[ 9.97608040e-01 6.88355054e-02 6.31435629e-03 7.82574503e+01] [-6.88333062e-02 9.97628015e-01 -5.65216339e-04 -8.71299787e+00] [-6.33828569e-03 1.29226344e-04 9.99979905e-01 -1.82149330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.744012739 meters Centerline goodness [0,1] 0.9940474920526552 Centerline is valid? [True, True] Translation: X:78.29, Y:-8.72, Z:-1.83 [[ 9.97613149e-01 6.86942055e-02 7.00796769e-03 7.82852057e+01] [-6.86914943e-02 9.97637753e-01 -6.27127060e-04 -8.72437831e+00] [-7.03449314e-03 1.44242428e-04 9.99975247e-01 -1.83450686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.774012739 meters Centerline goodness [0,1] 0.9953453291671156 Centerline is valid? [True, True] Translation: X:78.32, Y:-8.72, Z:-1.83 [[ 9.97604844e-01 6.88514531e-02 6.63719554e-03 7.83150910e+01] [-6.88490262e-02 9.97626914e-01 -5.93707851e-04 -8.72466722e+00] [-6.66232255e-03 1.35321379e-04 9.99977797e-01 -1.83480753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804012739 meters Centerline goodness [0,1] 0.9958560852955777 Centerline is valid? [True, True] Translation: X:78.35, Y:-8.73, Z:-1.84 [[ 9.97584014e-01 6.91783612e-02 6.36305702e-03 7.83450033e+01] [-6.91761382e-02 9.97604299e-01 -5.69050240e-04 -8.72596379e+00] [-6.38717900e-03 1.27503712e-04 9.99979594e-01 -1.83545952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.834012739 meters Centerline goodness [0,1] 0.996315481479876 Centerline is valid? [True, True] Translation: X:78.37, Y:-8.73, Z:-1.84 [[ 9.97528957e-01 6.99986442e-02 6.01406669e-03 7.83736014e+01] [-6.99966738e-02 9.97547080e-01 -5.37754341e-04 -8.73190445e+00] [-6.03695674e-03 1.15460863e-04 9.99981771e-01 -1.83705806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864012739 meters Centerline goodness [0,1] 0.9948461324608113 Centerline is valid? [True, True] Translation: X:78.40, Y:-8.74, Z:-1.83 [[ 9.97524855e-01 6.99067226e-02 7.56393140e-03 7.84017611e+01] [-6.99036065e-02 9.97553522e-01 -6.75880004e-04 -8.74055410e+00] [-7.59267497e-03 1.45461018e-04 9.99971165e-01 -1.83476131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.894012739 meters Centerline goodness [0,1] 0.9947095636465301 Centerline is valid? [True, True] Translation: X:78.43, Y:-8.75, Z:-1.83 [[ 9.97538666e-01 6.96394318e-02 8.18293129e-03 7.84297777e+01] [-6.96357784e-02 9.97572215e-01 -7.30881182e-04 -8.74654519e+00] [-8.21396305e-03 1.59257448e-04 9.99966252e-01 -1.83365966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924012739 meters Centerline goodness [0,1] 0.9947902150376262 Centerline is valid? [True, True] Translation: X:78.46, Y:-8.75, Z:-1.83 [[ 9.97536818e-01 6.96368595e-02 8.42637977e-03 7.84589784e+01] [-6.96329879e-02 9.97572394e-01 -7.52332218e-04 -8.74986162e+00] [-8.45831389e-03 1.63725086e-04 9.99964214e-01 -1.83366519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.954012739 meters Centerline goodness [0,1] 0.9894580900034352 Centerline is valid? [True, True] Translation: X:78.49, Y:-8.76, Z:-1.82 [[ 9.97467085e-01 7.07475287e-02 7.36213085e-03 7.84875685e+01] [-7.07446047e-02 9.97494245e-01 -6.57162827e-04 -8.75847014e+00] [-7.39017580e-03 1.34667253e-04 9.99972683e-01 -1.82320989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98401273900001 meters Centerline goodness [0,1] 0.9957249350147157 Centerline is valid? [True, True] Translation: X:78.52, Y:-8.76, Z:-1.84 [[ 9.97413376e-01 7.14123102e-02 8.17558022e-03 7.85172396e+01] [-7.14087284e-02 9.97446871e-01 -7.29563698e-04 -8.76452879e+00] [-8.20680674e-03 1.43868804e-04 9.99966313e-01 -1.83612730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.014012739 meters Centerline goodness [0,1] 0.9967056391705962 Centerline is valid? [True, True] Translation: X:78.55, Y:-8.77, Z:-1.84 [[ 9.97189475e-01 7.45487237e-02 7.45909158e-03 7.85465123e+01] [-7.45458304e-02 9.97217367e-01 -6.65556157e-04 -8.76668970e+00] [-7.48795202e-03 1.07641419e-04 9.99971959e-01 -1.83687321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.044012739 meters Centerline goodness [0,1] 0.9978410587447916 Centerline is valid? [True, True] Translation: X:78.58, Y:-8.77, Z:-1.84 [[ 9.97041794e-01 7.65377228e-02 7.04536510e-03 7.85751528e+01] [-7.65351922e-02 9.97066683e-01 -6.28494375e-04 -8.77076745e+00] [-7.07280233e-03 8.74167876e-05 9.99974984e-01 -1.83781429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.074012739 meters Centerline goodness [0,1] 0.99786103189007 Centerline is valid? [True, True] Translation: X:78.60, Y:-8.77, Z:-1.84 [[ 9.96898066e-01 7.84149826e-02 6.73322619e-03 7.86037535e+01] [-7.84127155e-02 9.96920802e-01 -6.00435787e-04 -8.77236768e+00] [-6.75957641e-03 7.06027248e-05 9.99977151e-01 -1.83880318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.104012739 meters Centerline goodness [0,1] 0.9979455572675912 Centerline is valid? [True, True] Translation: X:78.63, Y:-8.77, Z:-1.84 [[ 9.96628551e-01 8.16895053e-02 7.63909466e-03 7.86322085e+01] [-8.16866864e-02 9.96657826e-01 -6.80820530e-04 -8.77379848e+00] [-7.66917937e-03 5.45128479e-05 9.99970590e-01 -1.83818671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.134012739 meters Centerline goodness [0,1] 0.9969261854606423 Centerline is valid? [True, True] Translation: X:78.66, Y:-8.78, Z:-1.84 [[ 9.96480453e-01 8.34078036e-02 8.35730910e-03 7.86603990e+01] [-8.34044936e-02 9.96515497e-01 -7.44414734e-04 -8.78129929e+00] [-8.39027803e-03 4.47575985e-05 9.99964800e-01 -1.83732693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164012739 meters Centerline goodness [0,1] 0.9966550853492738 Centerline is valid? [True, True] Translation: X:78.69, Y:-8.79, Z:-1.84 [[ 9.96361403e-01 8.48218029e-02 8.31958965e-03 7.86896795e+01] [-8.48185735e-02 9.96396136e-01 -7.40876554e-04 -8.78521944e+00] [-8.35244947e-03 3.25250769e-05 9.99965117e-01 -1.83756388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.194012739 meters Centerline goodness [0,1] 0.9958916065308555 Centerline is valid? [True, True] Translation: X:78.72, Y:-8.79, Z:-1.84 [[ 9.96174858e-01 8.70298456e-02 7.83953768e-03 7.87185141e+01] [-8.70270479e-02 9.96205705e-01 -6.97957523e-04 -8.78679480e+00] [-7.87053529e-03 1.30359155e-05 9.99969027e-01 -1.83815746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224012739 meters Centerline goodness [0,1] 0.9926938688314463 Centerline is valid? [True, True] Translation: X:78.75, Y:-8.78, Z:-1.84 [[ 9.95583538e-01 9.36318309e-02 6.81905773e-03 7.87468061e+01] [-9.36298701e-02 9.95606890e-01 -6.06929990e-04 -8.78209229e+00] [-6.84592882e-03 -3.42179817e-05 9.99976566e-01 -1.84030989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.254012739 meters Centerline goodness [0,1] 0.9910704726011264 Centerline is valid? [True, True] Translation: X:78.78, Y:-8.78, Z:-1.84 [[ 9.95215403e-01 9.74603390e-02 6.91262500e-03 7.87750516e+01] [-9.74584191e-02 9.95239408e-01 -6.14865178e-04 -8.77976044e+00] [-6.93964178e-03 -6.17702079e-05 9.99975918e-01 -1.84087315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284012739 meters Centerline goodness [0,1] 0.9866589822404371 Centerline is valid? [True, True] Translation: X:78.81, Y:-8.77, Z:-1.84 [[ 9.94346021e-01 1.05934897e-01 7.33405311e-03 7.88056290e+01] [-1.05932970e-01 9.94373059e-01 -6.51804471e-04 -8.77057507e+00] [-7.36183367e-03 -1.28798848e-04 9.99972893e-01 -1.83998008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.314012739 meters Centerline goodness [0,1] 0.986099081933137 Centerline is valid? [True, True] Translation: X:78.83, Y:-8.77, Z:-1.84 [[ 9.93890307e-01 1.10099981e-01 7.74930925e-03 7.88345916e+01] [-1.10097956e-01 9.93920503e-01 -6.88717872e-04 -8.77435055e+00] [-7.77802517e-03 -1.68673096e-04 9.99969736e-01 -1.83968611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34401273900001 meters Centerline goodness [0,1] 0.9842283461192303 Centerline is valid? [True, True] Translation: X:78.86, Y:-8.77, Z:-1.84 [[ 9.93461948e-01 1.13894619e-01 7.83417538e-03 7.88638076e+01] [-1.13892669e-01 9.93492816e-01 -6.95971442e-04 -8.76782916e+00] [-7.86246437e-03 -2.00834002e-04 9.99969070e-01 -1.83964315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.374012739 meters Centerline goodness [0,1] 0.9826414772848289 Centerline is valid? [True, True] Translation: X:78.89, Y:-8.76, Z:-1.84 [[ 9.93062466e-01 1.17322164e-01 7.90249062e-03 7.88927140e+01] [-1.17320291e-01 9.93093881e-01 -7.01751786e-04 -8.76491134e+00] [-7.93024612e-03 -2.30239139e-04 9.99968529e-01 -1.83996416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.404012739 meters Centerline goodness [0,1] 0.979778198769663 Centerline is valid? [True, True] Translation: X:78.92, Y:-8.76, Z:-1.84 [[ 9.92516913e-01 1.21862507e-01 7.72703988e-03 7.89231254e+01] [-1.21860856e-01 9.92546957e-01 -6.85910161e-04 -8.76391699e+00] [-7.75303665e-03 -2.60846256e-04 9.99969911e-01 -1.84104846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.434012739 meters Centerline goodness [0,1] 0.9774538635298129 Centerline is valid? [True, True] Translation: X:78.95, Y:-8.76, Z:-1.84 [[ 9.92358079e-01 1.23092390e-01 8.58524311e-03 7.89514648e+01] [-1.23090398e-01 9.92395170e-01 -7.61954718e-04 -8.76473941e+00] [-8.61374462e-03 -3.00629074e-04 9.99962856e-01 -1.84011270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.464012739 meters Centerline goodness [0,1] 0.9750601995184038 Centerline is valid? [True, True] Translation: X:78.98, Y:-8.76, Z:-1.84 [[ 9.92221235e-01 1.24168760e-01 8.89609231e-03 7.89796878e+01] [-1.24166670e-01 9.92261062e-01 -7.89021563e-04 -8.76275345e+00] [-8.92521784e-03 -3.21714207e-04 9.99960118e-01 -1.84003341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.494012739 meters Centerline goodness [0,1] 0.971809361339162 Centerline is valid? [True, True] Translation: X:79.01, Y:-8.76, Z:-1.84 [[ 9.92175411e-01 1.24586848e-01 8.12845462e-03 7.90085838e+01] [-1.24585121e-01 9.92208662e-01 -7.20519800e-04 -8.76367164e+00] [-8.15489037e-03 -2.97802472e-04 9.99966704e-01 -1.84132286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524012739 meters Centerline goodness [0,1] 0.9719628193183542 Centerline is valid? [True, True] Translation: X:79.04, Y:-8.76, Z:-1.84 [[ 9.92102716e-01 1.25173642e-01 7.98498576e-03 7.90376235e+01] [-1.25171996e-01 9.92134805e-01 -7.07450834e-04 -8.76412447e+00] [-8.01073648e-03 -2.97632714e-04 9.99967869e-01 -1.84196924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.554012739 meters Centerline goodness [0,1] 0.9773841903497312 Centerline is valid? [True, True] Translation: X:79.07, Y:-8.77, Z:-1.84 [[ 9.92010367e-01 1.25869611e-01 8.50134690e-03 7.90662679e+01] [-1.25867775e-01 9.92046741e-01 -7.52794461e-04 -8.76739071e+00] [-8.52848743e-03 -3.23265711e-04 9.99963580e-01 -1.84063766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584012739 meters Centerline goodness [0,1] 0.9673899060932207 Centerline is valid? [True, True] Translation: X:79.09, Y:-8.76, Z:-1.84 [[ 9.91992535e-01 1.26010154e-01 8.50011729e-03 7.90949529e+01] [-1.26008327e-01 9.92028899e-01 -7.52265012e-04 -8.75985954e+00] [-8.52715503e-03 -3.24844285e-04 9.99963590e-01 -1.84089797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.614012739 meters Centerline goodness [0,1] 0.9751954821894006 Centerline is valid? [True, True] Translation: X:79.12, Y:-8.76, Z:-1.84 [[ 9.91953310e-01 1.26332958e-01 8.28334383e-03 7.91240236e+01] [-1.26331240e-01 9.91987843e-01 -7.32399065e-04 -8.76142215e+00] [-8.30950253e-03 -3.19939424e-04 9.99965424e-01 -1.84294053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644012739 meters Centerline goodness [0,1] 0.9760363112267946 Centerline is valid? [True, True] Translation: X:79.15, Y:-8.76, Z:-1.84 [[ 9.91980983e-01 1.26105902e-01 8.42797584e-03 7.91527239e+01] [-1.26104119e-01 9.92016732e-01 -7.44788135e-04 -8.76207049e+00] [-8.45461523e-03 -3.23986804e-04 9.99964207e-01 -1.84305766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.674012739 meters Centerline goodness [0,1] 0.9783477252223225 Centerline is valid? [True, True] Translation: X:79.18, Y:-8.76, Z:-1.84 [[ 9.92360460e-01 1.23138825e-01 7.58597230e-03 7.91815486e+01] [-1.23137297e-01 9.92389418e-01 -6.70057277e-04 -8.76188167e+00] [-7.61074870e-03 -2.69177773e-04 9.99971002e-01 -1.84434924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704012739 meters Centerline goodness [0,1] 0.9807894341888038 Centerline is valid? [True, True] Translation: X:79.21, Y:-8.76, Z:-1.85 [[ 9.92724664e-01 1.20209437e-01 6.88709062e-03 7.92110550e+01] [-1.20208108e-01 9.92748529e-01 -6.08099468e-04 -8.76488062e+00] [-6.91024837e-03 -2.24208793e-04 9.99976099e-01 -1.84582451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73401273900001 meters Centerline goodness [0,1] 0.9841232481009949 Centerline is valid? [True, True] Translation: X:79.24, Y:-8.77, Z:-1.85 [[ 9.93154998e-01 1.16630586e-01 6.36059090e-03 7.92410311e+01] [-1.16629380e-01 9.93175348e-01 -5.61461299e-04 -8.76986030e+00] [-6.38266564e-03 -1.84213679e-04 9.99979614e-01 -1.84636480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.764012739 meters Centerline goodness [0,1] 0.9852098514498238 Centerline is valid? [True, True] Translation: X:79.27, Y:-8.78, Z:-1.84 [[ 9.94024459e-01 1.08842980e-01 8.28138234e-03 7.92693011e+01] [-1.08840666e-01 9.94058940e-01 -7.30889594e-04 -8.78067760e+00] [-8.31173435e-03 -1.74829036e-04 9.99965442e-01 -1.84325059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.794012739 meters Centerline goodness [0,1] 0.9856397707514972 Centerline is valid? [True, True] Translation: X:79.30, Y:-8.79, Z:-1.84 [[ 9.94389798e-01 1.05312813e-01 9.90666460e-03 7.92973239e+01] [-1.05309329e-01 9.94439129e-01 -8.74114931e-04 -8.78648595e+00] [-9.94363042e-03 -1.74053231e-04 9.99950546e-01 -1.84012311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.824012739 meters Centerline goodness [0,1] 0.9875194670358194 Centerline is valid? [True, True] Translation: X:79.33, Y:-8.79, Z:-1.84 [[ 9.94933469e-01 9.99565543e-02 1.07740605e-02 7.93267616e+01] [-9.99521244e-02 9.94991794e-01 -9.50193957e-04 -8.79236447e+00] [-1.08150799e-02 -1.31510468e-04 9.99941507e-01 -1.83928748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.854012739 meters Centerline goodness [0,1] 0.9885811729660889 Centerline is valid? [True, True] Translation: X:79.36, Y:-8.80, Z:-1.84 [[ 9.95127094e-01 9.81644189e-02 9.26358117e-03 7.93556803e+01] [-9.81610684e-02 9.95170205e-01 -8.16768808e-04 -8.79512663e+00] [-9.29901761e-03 -9.65342550e-05 9.99956759e-01 -1.84247113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.884012739 meters Centerline goodness [0,1] 0.9893504872958844 Centerline is valid? [True, True] Translation: X:79.38, Y:-8.80, Z:-1.85 [[ 9.95274817e-01 9.67889631e-02 7.74175419e-03 7.93831990e+01] [-9.67865836e-02 9.95304924e-01 -6.82304253e-04 -8.79770100e+00] [-7.77144559e-03 -7.02176983e-05 9.99969799e-01 -1.84583811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.914012739 meters Centerline goodness [0,1] 0.9902691690867322 Centerline is valid? [True, True] Translation: X:79.41, Y:-8.80, Z:-1.85 [[ 9.95390739e-01 9.55954980e-02 7.66664126e-03 7.94123144e+01] [-9.55931323e-02 9.95420262e-01 -6.75258302e-04 -8.80039801e+00] [-7.69608170e-03 -6.07323921e-05 9.99970383e-01 -1.84654225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944012739 meters Centerline goodness [0,1] 0.9911351673876446 Centerline is valid? [True, True] Translation: X:79.44, Y:-8.81, Z:-1.84 [[ 9.95692952e-01 9.23213825e-02 8.50335017e-03 7.94408740e+01] [-9.23183565e-02 9.95729261e-01 -7.48535894e-04 -8.80501644e+00] [-8.53614044e-03 -3.97033974e-05 9.99963566e-01 -1.84435753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.974012739 meters Centerline goodness [0,1] 0.9921041990337753 Centerline is valid? [True, True] Translation: X:79.47, Y:-8.81, Z:-1.84 [[ 9.95913797e-01 8.99297422e-02 8.26745399e-03 7.94695361e+01] [-8.99268023e-02 9.95948112e-01 -7.27407725e-04 -8.80971316e+00] [-8.29937078e-03 -1.90303117e-05 9.99965559e-01 -1.84425330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004012739 meters Centerline goodness [0,1] 0.9953042457444727 Centerline is valid? [True, True] Translation: X:79.50, Y:-8.82, Z:-1.85 [[ 9.96403431e-01 8.43561229e-02 8.01545432e-03 7.94973251e+01] [-8.43531819e-02 9.96435670e-01 -7.04877879e-04 -8.81955107e+00] [-8.04634536e-03 2.62136602e-05 9.99967627e-01 -1.84650105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.034012739 meters Centerline goodness [0,1] 0.9956448983094482 Centerline is valid? [True, True] Translation: X:79.53, Y:-8.83, Z:-1.85 [[ 9.96660944e-01 8.12047362e-02 8.52954905e-03 7.95255568e+01] [-8.12012941e-02 9.96697440e-01 -7.49662163e-04 -8.82755073e+00] [-8.56225582e-03 5.45485788e-05 9.99963342e-01 -1.84659054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064012739 meters Centerline goodness [0,1] 0.9940471073669732 Centerline is valid? [True, True] Translation: X:79.55, Y:-8.84, Z:-1.84 [[ 9.96931863e-01 7.76394331e-02 9.94880595e-03 7.95537677e+01] [-7.76345776e-02 9.96981499e-01 -8.73895997e-04 -8.83806860e+00] [-9.98662426e-03 9.88434168e-05 9.99950128e-01 -1.84387137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09401273900001 meters Centerline goodness [0,1] 0.9902483031188246 Centerline is valid? [True, True] Translation: X:79.58, Y:-8.86, Z:-1.84 [[ 9.97408424e-01 7.06945715e-02 1.33683590e-02 7.95831309e+01] [-7.06851856e-02 9.97497983e-01 -1.17389239e-03 -8.85567950e+00] [-1.34178990e-02 2.25905221e-04 9.99909950e-01 -1.83746872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.124012739 meters Centerline goodness [0,1] 0.9895846980217476 Centerline is valid? [True, True] Translation: X:79.61, Y:-8.87, Z:-1.84 [[ 9.97636652e-01 6.72044331e-02 1.43064756e-02 7.96148113e+01] [-6.71933202e-02 9.97739184e-01 -1.25658108e-03 -8.86552457e+00] [-1.43585791e-02 2.92311743e-04 9.99896868e-01 -1.83726891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.154012739 meters Centerline goodness [0,1] 0.9879315183833848 Centerline is valid? [True, True] Translation: X:79.64, Y:-8.89, Z:-1.84 [[ 9.97995458e-01 6.20534915e-02 1.24269926e-02 7.96429198e+01] [-6.20447002e-02 9.98072774e-01 -1.09208846e-03 -8.88797872e+00] [-1.24708109e-02 3.18870290e-04 9.99922186e-01 -1.84039024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.184012739 meters Centerline goodness [0,1] 0.9885112286482268 Centerline is valid? [True, True] Translation: X:79.67, Y:-8.90, Z:-1.84 [[ 9.98115483e-01 6.03431147e-02 1.11441199e-02 7.96744492e+01] [-6.03359281e-02 9.98177647e-01 -9.80263791e-04 -8.89790032e+00] [-1.11829636e-02 3.06025649e-04 9.99937422e-01 -1.84337835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.214012739 meters Centerline goodness [0,1] 0.989853044086774 Centerline is valid? [True, True] Translation: X:79.71, Y:-8.91, Z:-1.84 [[ 9.98137950e-01 6.00573469e-02 1.06652774e-02 7.97058513e+01] [-6.00507303e-02 9.98194884e-01 -9.39841116e-04 -8.90928073e+00] [-1.07024697e-02 2.97633386e-04 9.99942683e-01 -1.84392503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.244012739 meters Centerline goodness [0,1] 0.990030856871588 Centerline is valid? [True, True] Translation: X:79.74, Y:-8.92, Z:-1.84 [[ 9.98046514e-01 6.15832030e-02 1.05197591e-02 7.97367437e+01] [-6.15768322e-02 9.98101914e-01 -9.28738930e-04 -8.91656578e+00] [-1.05569864e-02 2.79151211e-04 9.99944235e-01 -1.84336574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.274012739 meters Centerline goodness [0,1] 0.9868668322713036 Centerline is valid? [True, True] Translation: X:79.77, Y:-8.92, Z:-1.84 [[ 9.97925294e-01 6.36391680e-02 9.75518064e-03 7.97672983e+01] [-6.36337738e-02 9.97972945e-01 -8.62664251e-04 -8.92315803e+00] [-9.79030559e-03 2.40115518e-04 9.99952045e-01 -1.83586548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304012739 meters Centerline goodness [0,1] 0.9891027027027027 Centerline is valid? [True, True] Translation: X:79.80, Y:-8.92, Z:-1.84 [[ 9.97579965e-01 6.89884597e-02 8.64907056e-03 7.97981847e+01] [-6.89844108e-02 9.97617444e-01 -7.65948174e-04 -8.92216832e+00] [-8.68130525e-03 1.67443516e-04 9.99962303e-01 -1.83540015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.334012739 meters Centerline goodness [0,1] 0.9880261404187626 Centerline is valid? [True, True] Translation: X:79.83, Y:-8.93, Z:-1.83 [[ 9.97347043e-01 7.23685102e-02 7.85325143e-03 7.98289118e+01] [-7.23652762e-02 9.97377954e-01 -6.95556335e-04 -8.92629636e+00] [-7.88299622e-03 1.25408345e-04 9.99968921e-01 -1.83463877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.364012739 meters Centerline goodness [0,1] 0.9959021724990244 Centerline is valid? [True, True] Translation: X:79.86, Y:-8.93, Z:-1.85 [[ 9.96944836e-01 7.75635901e-02 9.21322199e-03 7.98597208e+01] [-7.75593584e-02 9.96987402e-01 -8.16246575e-04 -8.92811178e+00] [-9.24877727e-03 9.91812209e-05 9.99957224e-01 -1.84899429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.394012739 meters Centerline goodness [0,1] 0.9943352070164695 Centerline is valid? [True, True] Translation: X:79.89, Y:-8.93, Z:-1.84 [[ 9.96861742e-01 7.85982417e-02 9.43316182e-03 7.98911781e+01] [-7.85938509e-02 9.96906369e-01 -8.35844531e-04 -8.93089767e+00] [-9.46967500e-03 9.18329216e-05 9.99955157e-01 -1.84497438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424012739 meters Centerline goodness [0,1] 0.9915784408084697 Centerline is valid? [True, True] Translation: X:79.92, Y:-8.94, Z:-1.84 [[ 9.96901472e-01 7.81542459e-02 8.90897788e-03 7.99222637e+01] [-7.81503099e-02 9.96941275e-01 -7.89600654e-04 -8.93771743e+00] [-8.94343841e-03 9.09146718e-05 9.99960003e-01 -1.84158594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.454012739 meters Centerline goodness [0,1] 0.9966374962279605 Centerline is valid? [True, True] Translation: X:79.95, Y:-8.95, Z:-1.85 [[ 9.96927301e-01 7.77661722e-02 9.40098195e-03 7.99528790e+01] [-7.77617683e-02 9.96971621e-01 -8.33631799e-04 -8.94612575e+00] [-9.43734057e-03 1.00033319e-04 9.99955462e-01 -1.85152556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.484012739 meters Centerline goodness [0,1] 0.9964855190367718 Centerline is valid? [True, True] Translation: X:79.98, Y:-8.95, Z:-1.85 [[ 9.96932947e-01 7.77266935e-02 9.12470427e-03 7.99844773e+01] [-7.77225302e-02 9.96974699e-01 -8.10526100e-04 -8.95307960e+00] [-9.16009881e-03 9.88450709e-05 9.99958041e-01 -1.85256203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.514012739 meters Centerline goodness [0,1] 0.9912214154112929 Centerline is valid? [True, True] Translation: X:80.02, Y:-8.96, Z:-1.84 [[ 9.96848305e-01 7.89848527e-02 7.40606850e-03 8.00163386e+01] [-7.89821375e-02 9.96875814e-01 -6.58829023e-04 -8.95669988e+00] [-7.43496808e-03 7.18054735e-05 9.99972358e-01 -1.84295566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.544012739 meters Centerline goodness [0,1] 0.9912214154112929 Centerline is valid? [True, True] Translation: X:80.05, Y:-8.96, Z:-1.84 [[ 9.96848305e-01 7.89848631e-02 7.40595183e-03 8.00462207e+01] [-7.89821383e-02 9.96875813e-01 -6.60137975e-04 -8.95936254e+00] [-7.43495516e-03 7.31195101e-05 9.99972358e-01 -1.84319569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.574012739 meters Centerline goodness [0,1] 0.9972067634704365 Centerline is valid? [True, True] Translation: X:80.08, Y:-8.96, Z:-1.85 [[ 9.96719294e-01 8.05270852e-02 8.12634558e-03 8.00760937e+01] [-8.05238556e-02 9.96752419e-01 -7.24360838e-04 -8.96287274e+00] [-8.15828527e-03 6.76197451e-05 9.99966718e-01 -1.85494592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.604012739 meters Centerline goodness [0,1] 0.9968904931721319 Centerline is valid? [True, True] Translation: X:80.11, Y:-8.96, Z:-1.86 [[ 9.96617038e-01 8.18217423e-02 7.72547080e-03 8.01070940e+01] [-8.18188588e-02 9.96646978e-01 -6.89096786e-04 -8.96430038e+00] [-7.75595023e-03 5.46763935e-05 9.99969921e-01 -1.85645591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.634012739 meters Centerline goodness [0,1] 0.9970937742185482 Centerline is valid? [True, True] Translation: X:80.14, Y:-8.97, Z:-1.86 [[ 9.96431640e-01 8.41516436e-02 6.51818502e-03 8.01369674e+01] [-8.41496403e-02 9.96452959e-01 -5.81471176e-04 -8.96572070e+00] [-6.54399650e-03 3.08933530e-05 9.99978587e-01 -1.85954279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664012739 meters Centerline goodness [0,1] 0.9951192821186255 Centerline is valid? [True, True] Translation: X:80.17, Y:-8.96, Z:-1.86 [[ 9.96151989e-01 8.73563006e-02 7.07754725e-03 8.01671255e+01] [-8.73540187e-02 9.96177131e-01 -6.31492519e-04 -8.96410983e+00] [-7.10565556e-03 1.08103338e-05 9.99974754e-01 -1.85903829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.694012739 meters Centerline goodness [0,1] 0.9935035890008307 Centerline is valid? [True, True] Translation: X:80.20, Y:-8.97, Z:-1.86 [[ 9.96030710e-01 8.86957377e-02 7.47604225e-03 8.01962925e+01] [-8.86932308e-02 9.96058766e-01 -6.66857171e-04 -8.96518837e+00] [-7.50572481e-03 1.13588146e-06 9.99971832e-01 -1.85742694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724012739 meters Centerline goodness [0,1] 0.9920119927187065 Centerline is valid? [True, True] Translation: X:80.23, Y:-8.97, Z:-1.86 [[ 9.95975779e-01 8.92584339e-02 8.07343312e-03 8.02271773e+01] [-8.92555296e-02 9.96008500e-01 -7.20043575e-04 -8.96741700e+00] [-8.10547797e-03 -3.45258828e-06 9.99967150e-01 -1.85690512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.754012739 meters Centerline goodness [0,1] 0.9924282706255184 Centerline is valid? [True, True] Translation: X:80.26, Y:-8.97, Z:-1.86 [[ 9.96019221e-01 8.87794667e-02 7.99490100e-03 8.02561592e+01] [-8.87766032e-02 9.96051307e-01 -7.13039259e-04 -8.97060694e+00] [-8.02663484e-03 4.40653025e-07 9.99967786e-01 -1.85756835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784012739 meters Centerline goodness [0,1] 0.9929775280898876 Centerline is valid? [True, True] Translation: X:80.29, Y:-8.98, Z:-1.86 [[ 9.96224622e-01 8.62983128e-02 9.43944533e-03 8.02867647e+01] [-8.62942104e-02 9.96269341e-01 -8.41798730e-04 -8.97612849e+00] [-9.47687579e-03 2.40511401e-05 9.99955093e-01 -1.85702618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.814012739 meters Centerline goodness [0,1] 0.9950016228497242 Centerline is valid? [True, True] Translation: X:80.32, Y:-8.98, Z:-1.86 [[ 9.96507444e-01 8.28687375e-02 1.02803516e-02 8.03179939e+01] [-8.28636830e-02 9.96560469e-01 -9.17379976e-04 -8.98428036e+00] [-1.03210142e-02 6.23081768e-05 9.99946735e-01 -1.85612766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84401273900001 meters Centerline goodness [0,1] 0.9957193816884661 Centerline is valid? [True, True] Translation: X:80.35, Y:-8.99, Z:-1.86 [[ 9.96711108e-01 8.04668952e-02 9.59408132e-03 8.03482820e+01] [-8.04623671e-02 9.96757278e-01 -8.57652793e-04 -8.99364528e+00] [-9.63198304e-03 8.28695718e-05 9.99953608e-01 -1.85695948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.874012739 meters Centerline goodness [0,1] 0.9965339456695984 Centerline is valid? [True, True] Translation: X:80.38, Y:-9.00, Z:-1.86 [[ 9.96917413e-01 7.79665123e-02 8.76894590e-03 8.03796610e+01] [-7.79626218e-02 9.96955974e-01 -7.85149484e-04 -9.00240544e+00] [-8.80346836e-03 9.90791797e-05 9.99961244e-01 -1.85876923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.904012739 meters Centerline goodness [0,1] 0.9962590804297707 Centerline is valid? [True, True] Translation: X:80.41, Y:-9.01, Z:-1.86 [[ 9.97099123e-01 7.56126290e-02 8.72176910e-03 8.04107167e+01] [-7.56086783e-02 9.97137260e-01 -7.82280328e-04 -9.01110287e+00] [-8.75595121e-03 1.20569595e-04 9.99961659e-01 -1.85989336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.934012739 meters Centerline goodness [0,1] 0.9953200483091788 Centerline is valid? [True, True] Translation: X:80.44, Y:-9.02, Z:-1.86 [[ 9.97384727e-01 7.17975508e-02 8.29567800e-03 8.04410170e+01] [-7.17938354e-02 9.97419215e-01 -7.45192953e-04 -9.02491769e+00] [-8.32777166e-03 1.47665530e-04 9.99965313e-01 -1.86162743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.964012739 meters Centerline goodness [0,1] 0.9955687816321654 Centerline is valid? [True, True] Translation: X:80.47, Y:-9.03, Z:-1.86 [[ 9.97477001e-01 7.05656673e-02 7.75362606e-03 8.04724442e+01] [-7.05623800e-02 9.97507125e-01 -6.97055880e-04 -9.02910039e+00] [-7.78348545e-03 1.48182901e-04 9.99969697e-01 -1.86240824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.994012739 meters Centerline goodness [0,1] 0.9940054144643548 Centerline is valid? [True, True] Translation: X:80.50, Y:-9.04, Z:-1.86 [[ 9.97567367e-01 6.93156089e-02 7.39553796e-03 8.05024402e+01] [-6.93125759e-02 9.97594769e-01 -6.65936370e-04 -9.04244965e+00] [-7.42390977e-03 1.51712606e-04 9.99972431e-01 -1.86291092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024012739 meters Centerline goodness [0,1] 0.9948709032426324 Centerline is valid? [True, True] Translation: X:80.54, Y:-9.05, Z:-1.86 [[ 9.97574697e-01 6.91465527e-02 7.96731027e-03 8.05356856e+01] [-6.91430169e-02 9.97606499e-01 -7.18723586e-04 -9.04546342e+00] [-7.99793776e-03 1.66096595e-04 9.99968002e-01 -1.86281917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.054012739 meters Centerline goodness [0,1] 0.9946414737023328 Centerline is valid? [True, True] Translation: X:80.57, Y:-9.05, Z:-1.86 [[ 9.97566015e-01 6.92086327e-02 8.49769947e-03 8.05677768e+01] [-6.92045983e-02 9.97602192e-01 -7.68244691e-04 -9.05250674e+00] [-8.53049278e-03 1.78294917e-04 9.99963599e-01 -1.86181862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084012739 meters Centerline goodness [0,1] 0.9938761039128473 Centerline is valid? [True, True] Translation: X:80.60, Y:-9.06, Z:-1.86 [[ 9.97446776e-01 7.07958496e-02 9.37422895e-03 8.05989027e+01] [-7.07909926e-02 9.97490809e-01 -8.49339654e-04 -9.06149093e+00] [-9.41083694e-03 1.83560128e-04 9.99955700e-01 -1.86034964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.114012739 meters Centerline goodness [0,1] 0.9923154312134769 Centerline is valid? [True, True] Translation: X:80.63, Y:-9.07, Z:-1.86 [[ 9.97378713e-01 7.17347007e-02 9.47817450e-03 8.06295913e+01] [-7.17297633e-02 9.97423732e-01 -8.60282972e-04 -9.07014406e+00] [-9.51546833e-03 1.78160710e-04 9.99954711e-01 -1.85999612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144012739 meters Centerline goodness [0,1] 0.9938129373613245 Centerline is valid? [True, True] Translation: X:80.66, Y:-9.07, Z:-1.86 [[ 9.97314248e-01 7.26855140e-02 9.00589021e-03 8.06617648e+01] [-7.26810835e-02 9.97354897e-01 -8.18702939e-04 -9.07438061e+00] [-9.04157655e-03 1.61946248e-04 9.99959111e-01 -1.86081362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.174012739 meters Centerline goodness [0,1] 0.9949486227441499 Centerline is valid? [True, True] Translation: X:80.69, Y:-9.08, Z:-1.86 [[ 9.97178044e-01 7.44877536e-02 9.35536340e-03 8.06938349e+01] [-7.44830380e-02 9.97221917e-01 -8.51944818e-04 -9.07815516e+00] [-9.39283287e-03 1.52724780e-04 9.99955875e-01 -1.86083615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204012739 meters Centerline goodness [0,1] 0.9942256091016421 Centerline is valid? [True, True] Translation: X:80.72, Y:-9.09, Z:-1.86 [[ 9.97105135e-01 7.54367503e-02 9.52080504e-03 8.07242700e+01] [-7.54318960e-02 9.97150578e-01 -8.68451315e-04 -9.08582671e+00] [-9.55918939e-03 1.47764891e-04 9.99954299e-01 -1.85926636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.234012739 meters Centerline goodness [0,1] 0.9945887910672107 Centerline is valid? [True, True] Translation: X:80.76, Y:-9.09, Z:-1.86 [[ 9.96990637e-01 7.68321322e-02 1.03195832e-02 8.07559490e+01] [-7.68264918e-02 9.97044032e-01 -9.42473166e-04 -9.08866156e+00] [-1.03614911e-02 1.46819545e-04 9.99946308e-01 -1.85773650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.264012739 meters Centerline goodness [0,1] 0.9868776114206128 Centerline is valid? [True, True] Translation: X:80.79, Y:-9.09, Z:-1.85 [[ 9.96944164e-01 7.74579209e-02 1.01293833e-02 8.07885992e+01] [-7.74525042e-02 9.96995612e-01 -9.26536111e-04 -9.09125005e+00] [-1.01707183e-02 1.39158666e-04 9.99948267e-01 -1.84613138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.294012739 meters Centerline goodness [0,1] 0.9922806415644566 Centerline is valid? [True, True] Translation: X:80.82, Y:-9.10, Z:-1.85 [[ 9.96801532e-01 7.89793016e-02 1.22055551e-02 8.08189802e+01] [-7.89715326e-02 9.96876245e-01 -1.11791897e-03 -9.09867362e+00] [-1.22557204e-02 1.50451950e-04 9.99924885e-01 -1.85432119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.324012739 meters Centerline goodness [0,1] 0.9916426820168426 Centerline is valid? [True, True] Translation: X:80.85, Y:-9.10, Z:-1.85 [[ 9.96739895e-01 7.96469637e-02 1.28818705e-02 8.08508384e+01] [-7.96383390e-02 9.96823123e-01 -1.18191968e-03 -9.10324318e+00] [-1.29350826e-02 1.52175735e-04 9.99916327e-01 -1.85336226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.354012739 meters Centerline goodness [0,1] 0.993666932339573 Centerline is valid? [True, True] Translation: X:80.88, Y:-9.10, Z:-1.85 [[ 9.96598480e-01 8.15122320e-02 1.21336869e-02 8.08836517e+01] [-8.15047002e-02 9.96672334e-01 -1.11476715e-03 -9.10327842e+00] [-1.21841772e-02 1.22022737e-04 9.99925763e-01 -1.85408302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.384012739 meters Centerline goodness [0,1] 0.9946897708216881 Centerline is valid? [True, True] Translation: X:80.92, Y:-9.10, Z:-1.86 [[ 9.96470811e-01 8.32440112e-02 1.07869223e-02 8.09155330e+01] [-8.32381510e-02 9.96529190e-01 -9.91868915e-04 -9.10404039e+00] [-1.08320501e-02 9.04849553e-05 9.99941328e-01 -1.85726085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.414012739 meters Centerline goodness [0,1] 0.9954850388670003 Centerline is valid? [True, True] Translation: X:80.95, Y:-9.11, Z:-1.86 [[ 9.96327177e-01 8.51074269e-02 9.42769515e-03 8.09480110e+01] [-8.51030216e-02 9.96371779e-01 -8.68196725e-04 -9.10603031e+00] [-9.46737937e-03 6.26826494e-05 9.99955181e-01 -1.86016025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444012739 meters Centerline goodness [0,1] 0.9935081575125992 Centerline is valid? [True, True] Translation: X:80.98, Y:-9.11, Z:-1.86 [[ 9.96078727e-01 8.79168375e-02 9.88936660e-03 8.09789105e+01] [-8.79121129e-02 9.96127817e-01 -9.12284049e-04 -9.10926341e+00] [-9.93127829e-03 3.93116206e-05 9.99950683e-01 -1.85933144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.474012739 meters Centerline goodness [0,1] 0.9918470621310093 Centerline is valid? [True, True] Translation: X:81.01, Y:-9.11, Z:-1.86 [[ 9.95938876e-01 8.92943348e-02 1.15012159e-02 8.10122735e+01] [-8.92880133e-02 9.96005281e-01 -1.06298006e-03 -9.11069336e+00] [-1.15501899e-02 3.17424437e-05 9.99933294e-01 -1.85711786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504012739 meters Centerline goodness [0,1] 0.9906444685420255 Centerline is valid? [True, True] Translation: X:81.04, Y:-9.11, Z:-1.86 [[ 9.95665810e-01 9.22518061e-02 1.17982884e-02 8.10442542e+01] [-9.22453343e-02 9.95735710e-01 -1.09272213e-03 -9.11053747e+00] [-1.18487827e-02 -3.50996884e-07 9.99929801e-01 -1.85586975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.534012739 meters Centerline goodness [0,1] 0.9908473702303197 Centerline is valid? [True, True] Translation: X:81.08, Y:-9.11, Z:-1.86 [[ 9.95494204e-01 9.42406606e-02 1.04874839e-02 8.10777156e+01] [-9.42356381e-02 9.95549445e-01 -9.73140758e-04 -9.11155999e+00] [-1.05325182e-02 -1.95387567e-05 9.99944531e-01 -1.86018341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564012739 meters Centerline goodness [0,1] 0.9900109088575646 Centerline is valid? [True, True] Translation: X:81.11, Y:-9.11, Z:-1.86 [[ 9.95275080e-01 9.66625275e-02 9.15807362e-03 8.11101273e+01] [-9.66587860e-02 9.95317213e-01 -8.51314607e-04 -9.11054200e+00] [-9.19747853e-03 -3.79160646e-05 9.99957702e-01 -1.86322560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59401273900001 meters Centerline goodness [0,1] 0.9880188275566966 Centerline is valid? [True, True] Translation: X:81.14, Y:-9.10, Z:-1.87 [[ 9.94797493e-01 1.01536350e-01 8.26540387e-03 8.11430125e+01] [-1.01533460e-01 9.94831827e-01 -7.69649352e-04 -9.10328666e+00] [-8.30083422e-03 -7.35698053e-05 9.99965545e-01 -1.86532988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.624012739 meters Centerline goodness [0,1] 0.9884714556651821 Centerline is valid? [True, True] Translation: X:81.17, Y:-9.10, Z:-1.87 [[ 9.94582431e-01 1.03631872e-01 8.13781543e-03 8.11742065e+01] [-1.03629130e-01 9.94615718e-01 -7.58976686e-04 -9.10032998e+00] [-8.17265331e-03 -8.84498585e-05 9.99966599e-01 -1.86557583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.654012739 meters Centerline goodness [0,1] 0.986980287509684 Centerline is valid? [True, True] Translation: X:81.21, Y:-9.09, Z:-1.87 [[ 9.94309736e-01 1.06296876e-01 7.00882337e-03 8.12050570e+01] [-1.06294906e-01 9.94334433e-01 -6.54025283e-04 -9.09350544e+00] [-7.03863526e-03 -9.46985172e-05 9.99975224e-01 -1.86856416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.684012739 meters Centerline goodness [0,1] 0.9868146522982943 Centerline is valid? [True, True] Translation: X:81.23, Y:-9.09, Z:-1.87 [[ 9.94199242e-01 1.07369849e-01 6.29147617e-03 8.12347620e+01] [-1.07368284e-01 9.94219144e-01 -5.86999366e-04 -9.09141463e+00] [-6.31813208e-03 -9.19106760e-05 9.99980036e-01 -1.87090167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.714012739 meters Centerline goodness [0,1] 0.9871628630705395 Centerline is valid? [True, True] Translation: X:81.26, Y:-9.09, Z:-1.87 [[ 9.94155177e-01 1.07770714e-01 6.39981404e-03 8.12649672e+01] [-1.07769102e-01 9.94175771e-01 -5.97189824e-04 -9.08997335e+00] [-6.42689963e-03 -9.60028562e-05 9.99979343e-01 -1.87147012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.744012739 meters Centerline goodness [0,1] 0.9868731783077676 Centerline is valid? [True, True] Translation: X:81.29, Y:-9.09, Z:-1.87 [[ 9.94133030e-01 1.07918284e-01 7.29131451e-03 8.12940564e+01] [-1.07916197e-01 9.94159762e-01 -6.80207381e-04 -9.08912665e+00] [-7.32213831e-03 -1.10634312e-04 9.99973187e-01 -1.87024723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.774012739 meters Centerline goodness [0,1] 0.9864695996897488 Centerline is valid? [True, True] Translation: X:81.32, Y:-9.09, Z:-1.87 [[ 9.94305864e-01 1.06189325e-01 8.92615384e-03 8.13237711e+01] [-1.06186131e-01 9.94345922e-01 -8.32390317e-04 -9.09074962e+00] [-8.96407564e-03 -1.20183164e-04 9.99959815e-01 -1.86641706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804012739 meters Centerline goodness [0,1] 0.9868489810137606 Centerline is valid? [True, True] Translation: X:81.35, Y:-9.09, Z:-1.86 [[ 9.94605384e-01 1.03234374e-01 1.01387513e-02 8.13532498e+01] [-1.03230101e-01 9.94657053e-01 -9.45253961e-04 -9.09377456e+00] [-1.01821632e-02 -1.06469638e-04 9.99948155e-01 -1.86408990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834012739 meters Centerline goodness [0,1] 0.9885534102198609 Centerline is valid? [True, True] Translation: X:81.38, Y:-9.10, Z:-1.86 [[ 9.94808461e-01 1.01289093e-01 9.83081380e-03 8.13838511e+01] [-1.01284982e-01 9.94857031e-01 -9.16462915e-04 -9.09689915e+00] [-9.87308193e-03 -8.40087345e-05 9.99951256e-01 -1.86469533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.864012739 meters Centerline goodness [0,1] 0.9899795280680961 Centerline is valid? [True, True] Translation: X:81.41, Y:-9.10, Z:-1.87 [[ 9.95038408e-01 9.90454957e-02 9.41042568e-03 8.14138758e+01] [-9.90416280e-02 9.95082904e-01 -8.77288033e-04 -9.10092097e+00] [-9.45104515e-03 -5.90885927e-05 9.99955336e-01 -1.86662296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894012739 meters Centerline goodness [0,1] 0.9908419057355228 Centerline is valid? [True, True] Translation: X:81.44, Y:-9.11, Z:-1.87 [[ 9.95244728e-01 9.70410632e-02 8.42396818e-03 8.14449198e+01] [-9.70378914e-02 9.95280378e-01 -7.85409962e-04 -9.10643724e+00] [-8.46042725e-03 -3.57689844e-05 9.99964209e-01 -1.86951506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924012739 meters Centerline goodness [0,1] 0.9937949756538975 Centerline is valid? [True, True] Translation: X:81.48, Y:-9.12, Z:-1.87 [[ 9.95611787e-01 9.32085749e-02 8.32657095e-03 8.14758937e+01] [-9.32053400e-02 9.95646605e-01 -7.76555886e-04 -9.11746090e+00] [-8.36270376e-03 -2.93268314e-06 9.99965032e-01 -1.87098349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954012739 meters Centerline goodness [0,1] 0.9950895561131782 Centerline is valid? [True, True] Translation: X:81.51, Y:-9.12, Z:-1.87 [[ 9.95914751e-01 8.99493256e-02 7.93271444e-03 8.15072836e+01] [-8.99462757e-02 9.95946343e-01 -7.41116623e-04 -9.12493130e+00] [-7.96722088e-03 2.45708560e-05 9.99968261e-01 -1.87149896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.984012739 meters Centerline goodness [0,1] 0.9964863874458408 Centerline is valid? [True, True] Translation: X:81.54, Y:-9.13, Z:-1.87 [[ 9.96074282e-01 8.82356217e-02 7.10636873e-03 8.15382127e+01] [-8.82331222e-02 9.96099630e-01 -6.65084374e-04 -9.13159023e+00] [-7.13733540e-03 3.54563397e-05 9.99974528e-01 -1.87330244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.014012739 meters Centerline goodness [0,1] 0.997710103366362 Centerline is valid? [True, True] Translation: X:81.57, Y:-9.14, Z:-1.88 [[ 9.96259431e-01 8.61810753e-02 6.32198686e-03 8.15687722e+01] [-8.61790503e-02 9.96279489e-01 -5.92540694e-04 -9.14155707e+00] [-6.34953163e-03 4.55014312e-05 9.99979840e-01 -1.87583684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044012739 meters Centerline goodness [0,1] 0.9933926412160995 Centerline is valid? [True, True] Translation: X:81.60, Y:-9.14, Z:-1.87 [[ 9.96400578e-01 8.46227639e-02 4.98765127e-03 8.16008198e+01] [-8.46214816e-02 9.96413060e-01 -4.67946257e-04 -9.14447059e+00] [-5.00935977e-03 4.41994812e-05 9.99987452e-01 -1.86536885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.074012739 meters Centerline goodness [0,1] 0.996607368100561 Centerline is valid? [True, True] Translation: X:81.63, Y:-9.15, Z:-1.87 [[ 9.96559050e-01 8.25786376e-02 7.12947722e-03 8.16324812e+01] [-8.25759532e-02 9.96584548e-01 -6.70573560e-04 -9.15181964e+00] [-7.16050188e-03 7.95427731e-05 9.99974360e-01 -1.87287385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.104012739 meters Centerline goodness [0,1] 0.9952500272360824 Centerline is valid? [True, True] Translation: X:81.66, Y:-9.16, Z:-1.87 [[ 9.96627345e-01 8.15407456e-02 9.22180044e-03 8.16639623e+01] [-8.15361927e-02 9.96670002e-01 -8.69232327e-04 -9.15787941e+00] [-9.26196971e-03 1.14390209e-04 9.99957100e-01 -1.86937538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.134012739 meters Centerline goodness [0,1] 0.9915774998925702 Centerline is valid? [True, True] Translation: X:81.69, Y:-9.17, Z:-1.86 [[ 9.96774318e-01 7.92779949e-02 1.24883001e-02 8.16940848e+01] [-7.92694499e-02 9.96852529e-01 -1.17852506e-03 -9.16774023e+00] [-1.25424247e-02 1.84782836e-04 9.99921324e-01 -1.86366939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164012739 meters Centerline goodness [0,1] 0.9878951623197039 Centerline is valid? [True, True] Translation: X:81.72, Y:-9.18, Z:-1.86 [[ 9.96806441e-01 7.89213128e-02 1.21796830e-02 8.17247773e+01] [-7.89131410e-02 9.96880831e-01 -1.15082364e-03 -9.18079047e+00] [-1.22325170e-02 1.86011379e-04 9.99925163e-01 -1.86174455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194012739 meters Centerline goodness [0,1] 0.992821419332586 Centerline is valid? [True, True] Translation: X:81.76, Y:-9.18, Z:-1.87 [[ 9.96777073e-01 7.94261883e-02 1.12670738e-02 8.17580046e+01] [-7.94192068e-02 9.96840736e-01 -1.06642132e-03 -9.17533561e+00] [-1.13161799e-02 1.68162256e-04 9.99935956e-01 -1.86579334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224012739 meters Centerline goodness [0,1] 0.9954909279195703 Centerline is valid? [True, True] Translation: X:81.79, Y:-9.17, Z:-1.87 [[ 9.96511768e-01 8.29946784e-02 8.72814335e-03 8.17904555e+01] [-8.29906164e-02 9.96549985e-01 -8.27175297e-04 -9.17369650e+00] [-8.76668228e-03 9.99359205e-05 9.99961567e-01 -1.87034613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.254012739 meters Centerline goodness [0,1] 0.9967050711355503 Centerline is valid? [True, True] Translation: X:81.82, Y:-9.17, Z:-1.87 [[ 9.96275416e-01 8.58595535e-02 7.96449520e-03 8.18227148e+01] [-8.58562593e-02 9.96307248e-01 -7.55231161e-04 -9.17150967e+00] [-7.99992811e-03 6.86164736e-05 9.99967998e-01 -1.87165897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284012739 meters Centerline goodness [0,1] 0.9949611816353453 Centerline is valid? [True, True] Translation: X:81.85, Y:-9.17, Z:-1.87 [[ 9.95766891e-01 9.14666825e-02 9.06341213e-03 8.18549341e+01] [-9.14626327e-02 9.95808137e-01 -8.61193792e-04 -9.16635177e+00] [-9.10419008e-03 2.85847302e-05 9.99958556e-01 -1.86947469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314012739 meters Centerline goodness [0,1] 0.9929497965877867 Centerline is valid? [True, True] Translation: X:81.89, Y:-9.17, Z:-1.87 [[ 9.95549692e-01 9.36949567e-02 1.01028053e-02 8.18867192e+01] [-9.36900208e-02 9.95600952e-01 -9.61780260e-04 -9.16669076e+00] [-1.01484765e-02 1.09680034e-05 9.99948503e-01 -1.86759750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34401273900001 meters Centerline goodness [0,1] 0.9925355627119367 Centerline is valid? [True, True] Translation: X:81.92, Y:-9.17, Z:-1.87 [[ 9.95413558e-01 9.51229835e-02 1.01718453e-02 8.19192073e+01] [-9.51180359e-02 9.95465528e-01 -9.70177997e-04 -9.16813587e+00] [-1.02180076e-02 -1.79761899e-06 9.99947795e-01 -1.86736356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.374012739 meters Centerline goodness [0,1] 0.9920912744716712 Centerline is valid? [True, True] Translation: X:81.95, Y:-9.17, Z:-1.87 [[ 9.95304881e-01 9.62434845e-02 1.02657813e-02 8.19517334e+01] [-9.62384876e-02 9.95357821e-01 -9.80791385e-04 -9.16981152e+00] [-1.03125205e-02 -1.17768179e-05 9.99946824e-01 -1.86703450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404012739 meters Centerline goodness [0,1] 0.9915655392030295 Centerline is valid? [True, True] Translation: X:81.98, Y:-9.17, Z:-1.87 [[ 9.95287984e-01 9.63616669e-02 1.07822974e-02 8.19844080e+01] [-9.63561408e-02 9.95346386e-01 -1.03204780e-03 -9.17291726e+00] [-1.08315706e-02 -1.17557917e-05 9.99941337e-01 -1.86680776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.434012739 meters Centerline goodness [0,1] 0.9912552891396332 Centerline is valid? [True, True] Translation: X:82.02, Y:-9.17, Z:-1.87 [[ 9.95200249e-01 9.72073047e-02 1.12784516e-02 8.20177571e+01] [-9.72012868e-02 9.95264156e-01 -1.08181055e-03 -9.17469690e+00] [-1.13301985e-02 -1.96618803e-05 9.99935811e-01 -1.86746366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464012739 meters Centerline goodness [0,1] 0.9912552891396332 Centerline is valid? [True, True] Translation: X:82.05, Y:-9.18, Z:-1.87 [[ 9.95181456e-01 9.73995434e-02 1.12782423e-02 8.20501062e+01] [-9.73935132e-02 9.95245361e-01 -1.08398901e-03 -9.17798546e+00] [-1.13301984e-02 -1.96618800e-05 9.99935811e-01 -1.86772386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.494012739 meters Centerline goodness [0,1] 0.9921232949815356 Centerline is valid? [True, True] Translation: X:82.08, Y:-9.18, Z:-1.87 [[ 9.95136614e-01 9.79885563e-02 1.00678949e-02 8.20816531e+01] [-9.79837645e-02 9.95187541e-01 -9.69299785e-04 -9.18076950e+00] [-1.01144238e-02 -2.19045347e-05 9.99948848e-01 -1.86887105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524012739 meters Centerline goodness [0,1] 0.9931988742964353 Centerline is valid? [True, True] Translation: X:82.11, Y:-9.18, Z:-1.87 [[ 9.94944265e-01 1.00211654e-01 6.59807596e-03 8.21133546e+01] [-1.00209642e-01 9.94966142e-01 -6.35661181e-04 -9.17891447e+00] [-6.62856284e-03 -2.87433839e-05 9.99978030e-01 -1.87415070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.554012739 meters Centerline goodness [0,1] 0.9934296977660972 Centerline is valid? [True, True] Translation: X:82.14, Y:-9.18, Z:-1.88 [[ 9.94857220e-01 1.01135381e-01 5.54492804e-03 8.21437713e+01] [-1.01133970e-01 9.94872672e-01 -5.35098862e-04 -9.17794220e+00] [-5.57061481e-03 -2.84336177e-05 9.99984484e-01 -1.87661762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584012739 meters Centerline goodness [0,1] 0.9926363246028338 Centerline is valid? [True, True] Translation: X:82.17, Y:-9.18, Z:-1.88 [[ 9.94756632e-01 1.02096898e-01 5.95541420e-03 8.21734993e+01] [-1.02095284e-01 9.94774458e-01 -5.75230584e-04 -9.17815982e+00] [-5.98302319e-03 -3.58052663e-05 9.99982101e-01 -1.87640948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.614012739 meters Centerline goodness [0,1] 0.9919421219078975 Centerline is valid? [True, True] Translation: X:82.20, Y:-9.18, Z:-1.88 [[ 9.94717992e-01 1.02424895e-01 6.72728034e-03 8.22039096e+01] [-1.02422844e-01 9.94740740e-01 -6.49572282e-04 -9.18008221e+00] [-6.75843219e-03 -4.28859495e-05 9.99977161e-01 -1.87596597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644012739 meters Centerline goodness [0,1] 0.9914489616596301 Centerline is valid? [True, True] Translation: X:82.23, Y:-9.18, Z:-1.87 [[ 9.94696459e-01 1.02585952e-01 7.42134109e-03 8.22332513e+01] [-1.02583461e-01 9.94724143e-01 -7.16595947e-04 -9.17993532e+00] [-7.45569983e-03 -4.85114012e-05 9.99972205e-01 -1.87421508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.674012739 meters Centerline goodness [0,1] 0.9920460896857131 Centerline is valid? [True, True] Translation: X:82.26, Y:-9.18, Z:-1.88 [[ 9.94766310e-01 1.01956750e-01 6.69400529e-03 8.22637300e+01] [-1.01954710e-01 9.94788832e-01 -6.46278028e-04 -9.18134986e+00] [-6.72501411e-03 -3.95897562e-05 9.99977386e-01 -1.87535898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704012739 meters Centerline goodness [0,1] 0.9941195407232536 Centerline is valid? [True, True] Translation: X:82.29, Y:-9.18, Z:-1.88 [[ 9.94941148e-01 1.00317739e-01 5.33503349e-03 8.22942252e+01] [-1.00316419e-01 9.94955452e-01 -5.15075023e-04 -9.18282219e+00] [-5.35979182e-03 -2.27221207e-05 9.99985636e-01 -1.87861564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.734012739 meters Centerline goodness [0,1] 0.9937768653364983 Centerline is valid? [True, True] Translation: X:82.32, Y:-9.19, Z:-1.88 [[ 9.94983316e-01 9.99034927e-02 5.24345815e-03 8.23239959e+01] [-9.99022118e-02 9.94997132e-01 -5.06297939e-04 -9.18569744e+00] [-5.26780675e-03 -2.00750649e-05 9.99986125e-01 -1.87903008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.764012739 meters Centerline goodness [0,1] 0.993902309020745 Centerline is valid? [True, True] Translation: X:82.35, Y:-9.19, Z:-1.88 [[ 9.95028068e-01 9.94168228e-02 5.95301388e-03 8.23521139e+01] [-9.94151639e-02 9.95045876e-01 -5.74668856e-04 -9.18860947e+00] [-5.98065367e-03 -2.00082088e-05 9.99982116e-01 -1.87867245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.794012739 meters Centerline goodness [0,1] 0.9941515474919957 Centerline is valid? [True, True] Translation: X:82.38, Y:-9.19, Z:-1.88 [[ 9.95202742e-01 9.75615956e-02 7.29635579e-03 8.23815638e+01] [-9.75590561e-02 9.95229489e-01 -7.04019550e-04 -9.19163942e+00] [-7.33023372e-03 -1.11833969e-05 9.99973133e-01 -1.87536675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.824012739 meters Centerline goodness [0,1] 0.994775023749892 Centerline is valid? [True, True] Translation: X:82.41, Y:-9.20, Z:-1.87 [[ 9.95332869e-01 9.61909932e-02 7.73131094e-03 8.24130442e+01] [-9.61881021e-02 9.95362895e-01 -7.45784522e-04 -9.19675261e+00] [-7.76719779e-03 -1.35627829e-06 9.99969835e-01 -1.87476858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.854012739 meters Centerline goodness [0,1] 0.9960352328497032 Centerline is valid? [True, True] Translation: X:82.44, Y:-9.21, Z:-1.88 [[ 9.95709104e-01 9.21941542e-02 7.97609175e-03 8.24440156e+01] [-9.21909472e-02 9.95741049e-01 -7.69592411e-04 -9.20966480e+00] [-8.01307388e-03 3.09667168e-05 9.99967894e-01 -1.87502468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.884012739 meters Centerline goodness [0,1] 0.9964275722555792 Centerline is valid? [True, True] Translation: X:82.47, Y:-9.22, Z:-1.88 [[ 9.95894726e-01 9.01371769e-02 8.30560539e-03 8.24747488e+01] [-9.01336163e-02 9.95929358e-01 -8.02791126e-04 -9.21826509e+00] [-8.34415757e-03 5.08811999e-05 9.99965186e-01 -1.87504335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914012739 meters Centerline goodness [0,1] 0.9958686623983388 Centerline is valid? [True, True] Translation: X:82.51, Y:-9.22, Z:-1.87 [[ 9.96026802e-01 8.86498766e-02 8.47405250e-03 8.25061297e+01] [-8.86461051e-02 9.96062847e-01 -8.20385198e-04 -9.22489558e+00] [-8.51341591e-03 6.59338964e-05 9.99963758e-01 -1.87479431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944012739 meters Centerline goodness [0,1] 0.9962779966480204 Centerline is valid? [True, True] Translation: X:82.54, Y:-9.23, Z:-1.87 [[ 9.96218559e-01 8.64982018e-02 8.16359842e-03 8.25372138e+01] [-8.64946187e-02 9.96252003e-01 -7.91619092e-04 -9.23489009e+00] [-8.20147491e-03 8.25182991e-05 9.99966364e-01 -1.87451521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974012739 meters Centerline goodness [0,1] 0.9958870538092701 Centerline is valid? [True, True] Translation: X:82.57, Y:-9.24, Z:-1.88 [[ 9.96271972e-01 8.59245252e-02 7.68990451e-03 8.25677002e+01] [-8.59213194e-02 9.96301646e-01 -7.46896081e-04 -9.24292376e+00] [-7.72564121e-03 8.33848890e-05 9.99970153e-01 -1.87508089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004012739 meters Centerline goodness [0,1] 0.995595664752364 Centerline is valid? [True, True] Translation: X:82.60, Y:-9.25, Z:-1.87 [[ 9.96356613e-01 8.48473500e-02 8.62707876e-03 8.25991363e+01] [-8.48432669e-02 9.96393956e-01 -8.38839533e-04 -9.25201071e+00] [-8.66714245e-03 1.03833772e-04 9.99962434e-01 -1.87343787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.034012739 meters Centerline goodness [0,1] 0.9953547205199224 Centerline is valid? [True, True] Translation: X:82.63, Y:-9.26, Z:-1.87 [[ 9.96346554e-01 8.49221347e-02 9.04299302e-03 8.26317859e+01] [-8.49176369e-02 9.96387585e-01 -8.80881120e-04 -9.25544686e+00] [-9.08513228e-03 1.09753270e-04 9.99958723e-01 -1.87349182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064012739 meters Centerline goodness [0,1] 0.9957016978293574 Centerline is valid? [True, True] Translation: X:82.66, Y:-9.26, Z:-1.87 [[ 9.96211588e-01 8.65613676e-02 8.34275200e-03 8.26626535e+01] [-8.65575841e-02 9.96246517e-01 -8.14189200e-04 -9.26072312e+00] [-8.38191495e-03 8.89762583e-05 9.99964867e-01 -1.87489043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09401273900001 meters Centerline goodness [0,1] 0.9965523928548342 Centerline is valid? [True, True] Translation: X:82.69, Y:-9.26, Z:-1.88 [[ 9.96086841e-01 8.80592703e-02 7.52131134e-03 8.26933844e+01] [-8.80562298e-02 9.96115234e-01 -7.35102891e-04 -9.26460921e+00] [-7.55682544e-03 6.99279969e-05 9.99971444e-01 -1.87583386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.124012739 meters Centerline goodness [0,1] 0.9970379404974518 Centerline is valid? [True, True] Translation: X:82.73, Y:-9.27, Z:-1.88 [[ 9.95947733e-01 8.96336668e-02 7.34297600e-03 8.27253594e+01] [-8.96308028e-02 9.95974800e-01 -7.18853154e-04 -9.26769693e+00] [-7.37785250e-03 5.77833348e-05 9.99972782e-01 -1.87571325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.154012739 meters Centerline goodness [0,1] 0.9957378453630328 Centerline is valid? [True, True] Translation: X:82.76, Y:-9.27, Z:-1.87 [[ 9.95624170e-01 9.30670961e-02 8.42783000e-03 8.27573813e+01] [-9.30634330e-02 9.95659839e-01 -8.26635968e-04 -9.26708082e+00] [-8.46818447e-03 3.86959569e-05 9.99964144e-01 -1.87429699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.184012739 meters Centerline goodness [0,1] 0.9950985638149868 Centerline is valid? [True, True] Translation: X:82.79, Y:-9.27, Z:-1.87 [[ 9.95438202e-01 9.50046435e-02 8.76945475e-03 8.27886256e+01] [-9.50007393e-02 9.95476829e-01 -8.61634350e-04 -9.26795382e+00] [-8.81164827e-03 2.45990637e-05 9.99961176e-01 -1.87394758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.214012739 meters Centerline goodness [0,1] 0.9950312963799445 Centerline is valid? [True, True] Translation: X:82.82, Y:-9.27, Z:-1.88 [[ 9.95242402e-01 9.71735937e-02 7.06067783e-03 8.28202943e+01] [-9.71711115e-02 9.95267448e-01 -6.94571519e-04 -9.26916020e+00] [-7.09475682e-03 5.17311422e-06 9.99974832e-01 -1.87891207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.244012739 meters Centerline goodness [0,1] 0.9966301960031565 Centerline is valid? [True, True] Translation: X:82.85, Y:-9.27, Z:-1.88 [[ 9.95219675e-01 9.75137723e-02 5.37248585e-03 8.28521094e+01] [-9.75123371e-02 9.95234176e-01 -5.29065889e-04 -9.27181239e+00] [-5.39847273e-03 2.65313100e-06 9.99985428e-01 -1.88229168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.274012739 meters Centerline goodness [0,1] 0.9972690623780831 Centerline is valid? [True, True] Translation: X:82.88, Y:-9.27, Z:-1.88 [[ 9.95242033e-01 9.73266989e-02 4.56173507e-03 8.28830354e+01] [-9.73256577e-02 9.95252487e-01 -4.50195316e-04 -9.27431450e+00] [-4.58389420e-03 4.07943584e-06 9.99989494e-01 -1.88387790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304012739 meters Centerline goodness [0,1] 0.9971779796900053 Centerline is valid? [True, True] Translation: X:82.91, Y:-9.28, Z:-1.88 [[ 9.95382647e-01 9.58574295e-02 4.97390075e-03 8.29141139e+01] [-9.58561722e-02 9.95395074e-01 -4.91111114e-04 -9.27909374e+00] [-4.99807295e-03 1.20643937e-05 9.99987509e-01 -1.88254107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.334012739 meters Centerline goodness [0,1] 0.9971586628495167 Centerline is valid? [True, True] Translation: X:82.95, Y:-9.28, Z:-1.88 [[ 9.95488712e-01 9.47011141e-02 5.82435010e-03 8.29462324e+01] [-9.46993711e-02 9.95505750e-01 -5.74951574e-04 -9.28493169e+00] [-5.85262257e-03 2.07955110e-05 9.99982873e-01 -1.88076690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.364012739 meters Centerline goodness [0,1] 0.9973107869713007 Centerline is valid? [True, True] Translation: X:82.98, Y:-9.29, Z:-1.88 [[ 9.95753072e-01 9.18445210e-02 6.35643838e-03 8.29771470e+01] [-9.18423791e-02 9.95773359e-01 -6.28671430e-04 -9.29402129e+00] [-6.38731202e-03 4.22110844e-05 9.99979600e-01 -1.88000658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.394012739 meters Centerline goodness [0,1] 0.9971082673342109 Centerline is valid? [True, True] Translation: X:83.01, Y:-9.30, Z:-1.88 [[ 9.95847177e-01 9.07923683e-02 6.71909770e-03 8.30076668e+01] [-9.07899430e-02 9.95869842e-01 -6.65724880e-04 -9.30210272e+00] [-6.75178951e-03 5.29337444e-05 9.99977205e-01 -1.88041471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424012739 meters Centerline goodness [0,1] 0.9967524088093599 Centerline is valid? [True, True] Translation: X:83.04, Y:-9.31, Z:-1.88 [[ 9.95910739e-01 9.00795306e-02 6.89046093e-03 8.30408843e+01] [-9.00769593e-02 9.95934573e-01 -6.83242842e-04 -9.30571861e+00] [-6.92399446e-03 5.97771146e-05 9.99976027e-01 -1.87961560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.454012739 meters Centerline goodness [0,1] 0.9960640810161053 Centerline is valid? [True, True] Translation: X:83.07, Y:-9.31, Z:-1.88 [[ 9.96033263e-01 8.86434585e-02 7.75084230e-03 8.30713752e+01] [-8.86401483e-02 9.96063417e-01 -7.70247679e-04 -9.31323685e+00] [-7.78860789e-03 8.01564984e-05 9.99969665e-01 -1.87809835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.484012739 meters Centerline goodness [0,1] 0.9962085924128518 Centerline is valid? [True, True] Translation: X:83.10, Y:-9.32, Z:-1.88 [[ 9.96088086e-01 8.80314583e-02 7.68031993e-03 8.31036744e+01] [-8.80281847e-02 9.96117691e-01 -7.63907093e-04 -9.31759161e+00] [-7.71775042e-03 8.48341333e-05 9.99970214e-01 -1.87762057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.514012739 meters Centerline goodness [0,1] 0.9960665079095085 Centerline is valid? [True, True] Translation: X:83.13, Y:-9.33, Z:-1.88 [[ 9.96192789e-01 8.68593286e-02 7.44205762e-03 8.31337297e+01] [-8.68562128e-02 9.96220582e-01 -7.41468804e-04 -9.32885863e+00] [-7.47833446e-03 9.22569359e-05 9.99972033e-01 -1.87827580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.544012739 meters Centerline goodness [0,1] 0.9958891365023043 Centerline is valid? [True, True] Translation: X:83.17, Y:-9.34, Z:-1.88 [[ 9.96267524e-01 8.60301495e-02 7.05932348e-03 8.31654658e+01] [-8.60273213e-02 9.96292530e-01 -7.03879379e-04 -9.33670557e+00] [-7.09370610e-03 9.39574765e-05 9.99974835e-01 -1.87914503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.574012739 meters Centerline goodness [0,1] 0.9958551012477872 Centerline is valid? [True, True] Translation: X:83.20, Y:-9.34, Z:-1.88 [[ 9.96300686e-01 8.56698159e-02 6.75465459e-03 8.31970644e+01] [-8.56672110e-02 9.96323579e-01 -6.74563702e-04 -9.34445818e+00] [-6.78761138e-03 9.34158597e-05 9.99976960e-01 -1.87971747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.604012739 meters Centerline goodness [0,1] 0.9958375568831281 Centerline is valid? [True, True] Translation: X:83.23, Y:-9.36, Z:-1.88 [[ 9.96374121e-01 8.48935574e-02 5.62976958e-03 8.32278545e+01] [-8.48917308e-02 9.96390023e-01 -5.63054519e-04 -9.35512781e+00] [-5.65724594e-03 8.30920679e-05 9.99983994e-01 -1.88231279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.634012739 meters Centerline goodness [0,1] 0.9962721141207146 Centerline is valid? [True, True] Translation: X:83.26, Y:-9.36, Z:-1.88 [[ 9.96359325e-01 8.51210358e-02 4.74397627e-03 8.32593510e+01] [-8.51197382e-02 9.96370616e-01 -4.75118320e-04 -9.36206064e+00] [-4.76720112e-03 6.95825500e-05 9.99988634e-01 -1.88408597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664012739 meters Centerline goodness [0,1] 0.9967545028586167 Centerline is valid? [True, True] Translation: X:83.29, Y:-9.37, Z:-1.88 [[ 9.96090375e-01 8.81906906e-02 5.13489258e-03 8.32914720e+01] [-8.81892084e-02 9.96103608e-01 -5.14822936e-04 -9.36616061e+00] [-5.16028762e-03 5.99680601e-05 9.99986684e-01 -1.88198361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.694012739 meters Centerline goodness [0,1] 0.9972937865338818 Centerline is valid? [True, True] Translation: X:83.32, Y:-9.37, Z:-1.88 [[ 9.95839237e-01 9.09350862e-02 5.91806630e-03 8.33242348e+01] [-9.09331574e-02 9.95856821e-01 -5.94737677e-04 -9.36612948e+00] [-5.94762921e-03 5.41146597e-05 9.99982311e-01 -1.88071340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724012739 meters Centerline goodness [0,1] 0.9975615019421666 Centerline is valid? [True, True] Translation: X:83.36, Y:-9.36, Z:-1.88 [[ 9.95499077e-01 9.45603575e-02 6.31871407e-03 8.33570813e+01] [-9.45582303e-02 9.95519130e-01 -6.35225536e-04 -9.36455449e+00] [-6.35046788e-03 3.48800152e-05 9.99979835e-01 -1.88004186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.754012739 meters Centerline goodness [0,1] 0.9938241053560285 Centerline is valid? [True, True] Translation: X:83.39, Y:-9.36, Z:-1.88 [[ 9.94785576e-01 1.01761403e-01 6.80258258e-03 8.33885814e+01] [-1.01759097e-01 9.94808834e-01 -6.85142262e-04 -9.36014740e+00] [-6.83699028e-03 -1.06550247e-05 9.99976627e-01 -1.87966364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784012739 meters Centerline goodness [0,1] 0.9921215774065782 Centerline is valid? [True, True] Translation: X:83.42, Y:-9.36, Z:-1.88 [[ 9.94474528e-01 1.04783329e-01 6.39280855e-03 8.34207534e+01] [-1.04781349e-01 9.94495074e-01 -6.44786170e-04 -9.36037274e+00] [-6.42517946e-03 -2.86236825e-05 9.99979358e-01 -1.88051924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.814012739 meters Centerline goodness [0,1] 0.9910472576897662 Centerline is valid? [True, True] Translation: X:83.45, Y:-9.36, Z:-1.88 [[ 9.94188091e-01 1.07492591e-01 5.94826958e-03 8.34518155e+01] [-1.07490920e-01 9.94205885e-01 -6.00857323e-04 -9.35987105e+00] [-5.97839233e-03 -4.20197756e-05 9.99982128e-01 -1.88191674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84401273900001 meters Centerline goodness [0,1] 0.9895645838690323 Centerline is valid? [True, True] Translation: X:83.48, Y:-9.36, Z:-1.88 [[ 9.93709757e-01 1.11801737e-01 6.42573285e-03 8.34844623e+01] [-1.11799870e-01 9.93730530e-01 -6.50122410e-04 -9.36000839e+00] [-6.45813172e-03 -7.23631174e-05 9.99979143e-01 -1.88134215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.874012739 meters Centerline goodness [0,1] 0.9885167872617446 Centerline is valid? [True, True] Translation: X:83.52, Y:-9.36, Z:-1.88 [[ 9.93458374e-01 1.14005236e-01 6.57757139e-03 8.35157492e+01] [-1.14003320e-01 9.93480145e-01 -6.66759435e-04 -9.35781186e+00] [-6.61070064e-03 -8.74672324e-05 9.99978145e-01 -1.88122039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.904012739 meters Centerline goodness [0,1] 0.9883558553719896 Centerline is valid? [True, True] Translation: X:83.55, Y:-9.35, Z:-1.88 [[ 9.93184554e-01 1.16453897e-01 4.78870238e-03 8.35475982e+01] [-1.16452908e-01 9.93196096e-01 -4.85881764e-04 -9.35436936e+00] [-4.81270333e-03 -7.50880529e-05 9.99988416e-01 -1.88449054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.934012739 meters Centerline goodness [0,1] 0.9892475449283531 Centerline is valid? [True, True] Translation: X:83.58, Y:-9.35, Z:-1.89 [[ 9.92987250e-01 1.18155121e-01 3.96082239e-03 8.35786406e+01] [-1.18154457e-01 9.92995147e-01 -4.02030230e-04 -9.35454559e+00] [-3.98057934e-03 -6.87779262e-05 9.99992075e-01 -1.88601371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.964012739 meters Centerline goodness [0,1] 0.9883112689699709 Centerline is valid? [True, True] Translation: X:83.61, Y:-9.36, Z:-1.89 [[ 9.92756914e-01 1.20075881e-01 3.93609482e-03 8.36096069e+01] [-1.20075241e-01 9.92764714e-01 -3.99520340e-04 -9.35521322e+00] [-3.95558881e-03 -7.60009530e-05 9.99992174e-01 -1.88628230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.994012739 meters Centerline goodness [0,1] 0.9867530942074696 Centerline is valid? [True, True] Translation: X:83.64, Y:-9.35, Z:-1.88 [[ 9.92378156e-01 1.23087699e-01 5.91729669e-03 8.36398189e+01] [-1.23086304e-01 9.92395788e-01 -6.00663928e-04 -9.35305541e+00] [-5.94623466e-03 -1.32252420e-04 9.99982312e-01 -1.88370110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024012739 meters Centerline goodness [0,1] 0.9869266992065711 Centerline is valid? [True, True] Translation: X:83.67, Y:-9.35, Z:-1.88 [[ 9.92292958e-01 1.23764548e-01 6.08451951e-03 8.36707074e+01] [-1.23763088e-01 9.92311603e-01 -6.17445527e-04 -9.35402196e+00] [-6.11415718e-03 -1.40352073e-04 9.99981299e-01 -1.88268391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.054012739 meters Centerline goodness [0,1] 0.9862640867531363 Centerline is valid? [True, True] Translation: X:83.70, Y:-9.35, Z:-1.88 [[ 9.92224526e-01 1.24326856e-01 5.77251192e-03 8.37007925e+01] [-1.24325551e-01 9.92241308e-01 -5.85809259e-04 -9.35323406e+00] [-5.80055660e-03 -1.36416410e-04 9.99983167e-01 -1.88486223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084012739 meters Centerline goodness [0,1] 0.9863139074539186 Centerline is valid? [True, True] Translation: X:83.73, Y:-9.36, Z:-1.89 [[ 9.92223501e-01 1.24375312e-01 4.82771496e-03 8.37312681e+01] [-1.24374400e-01 9.92235239e-01 -4.89850736e-04 -9.35598664e+00] [-4.85115424e-03 -1.14402738e-04 9.99988227e-01 -1.88675139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.114012739 meters Centerline goodness [0,1] 0.9869316224595246 Centerline is valid? [True, True] Translation: X:83.76, Y:-9.36, Z:-1.89 [[ 9.92175517e-01 1.24800411e-01 3.54972870e-03 8.37610477e+01] [-1.24799920e-01 9.92181863e-01 -3.60281297e-04 -9.35821808e+00] [-3.56693969e-03 -8.55435759e-05 9.99993635e-01 -1.88900410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144012739 meters Centerline goodness [0,1] 0.9868884665485063 Centerline is valid? [True, True] Translation: X:83.79, Y:-9.36, Z:-1.89 [[ 9.91984527e-01 1.26341133e-01 2.14857892e-03 8.37902555e+01] [-1.26340957e-01 9.91986852e-01 -2.18161374e-04 -9.35549402e+00] [-2.15892479e-03 -5.50408092e-05 9.99997668e-01 -1.89208790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.174012739 meters Centerline goodness [0,1] 0.9861522607239469 Centerline is valid? [True, True] Translation: X:83.82, Y:-9.36, Z:-1.89 [[ 9.91868258e-01 1.27246341e-01 2.39306869e-03 8.38193846e+01] [-1.27246125e-01 9.91871143e-01 -2.42932962e-04 -9.35769174e+00] [-2.40452810e-03 -6.35512241e-05 9.99997107e-01 -1.89206737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204012739 meters Centerline goodness [0,1] 0.9836538047920161 Centerline is valid? [True, True] Translation: X:83.85, Y:-9.36, Z:-1.89 [[ 9.91750780e-01 1.28057880e-01 5.61867798e-03 8.38475153e+01] [-1.28056706e-01 9.91766684e-01 -5.69627579e-04 -9.35974217e+00] [-5.64536293e-03 -1.54580802e-04 9.99984053e-01 -1.88529683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.234012739 meters Centerline goodness [0,1] 0.9841180786327737 Centerline is valid? [True, True] Translation: X:83.88, Y:-9.36, Z:-1.88 [[ 9.91762513e-01 1.27902017e-01 6.94203550e-03 8.38765455e+01] [-1.27900224e-01 9.91786791e-01 -7.03386078e-04 -9.36282948e+00] [-6.97498361e-03 -1.90295954e-04 9.99975656e-01 -1.88206610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.264012739 meters Centerline goodness [0,1] 0.9837506431143886 Centerline is valid? [True, True] Translation: X:83.90, Y:-9.36, Z:-1.88 [[ 9.91788209e-01 1.27735873e-01 6.30044248e-03 8.39048800e+01] [-1.27734395e-01 9.91808206e-01 -6.38104940e-04 -9.36473834e+00] [-6.33033944e-03 -1.71918253e-04 9.99979948e-01 -1.88372189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.294012739 meters Centerline goodness [0,1] 0.984527282549973 Centerline is valid? [True, True] Translation: X:83.93, Y:-9.37, Z:-1.89 [[ 9.91899371e-01 1.26986095e-01 3.18889630e-03 8.39337667e+01] [-1.26985712e-01 9.91904494e-01 -3.23047933e-04 -9.36953236e+00] [-3.20410317e-03 -8.45132264e-05 9.99994863e-01 -1.89052114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.324012739 meters Centerline goodness [0,1] 0.9849780796011347 Centerline is valid? [True, True] Translation: X:83.96, Y:-9.38, Z:-1.89 [[ 9.91919310e-01 1.26829988e-01 3.19947660e-03 8.39617615e+01] [-1.26829602e-01 9.91924466e-01 -3.23984589e-04 -9.37695977e+00] [-3.21473008e-03 -8.44217745e-05 9.99994829e-01 -1.88957684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.354012739 meters Centerline goodness [0,1] 0.9849780796011347 Centerline is valid? [True, True] Translation: X:83.99, Y:-9.38, Z:-1.89 [[ 9.91925254e-01 1.26783495e-01 3.19949164e-03 8.39899657e+01] [-1.26783109e-01 9.91930410e-01 -3.23835955e-04 -9.37972479e+00] [-3.21473011e-03 -8.44204366e-05 9.99994829e-01 -1.88980360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.384012739 meters Centerline goodness [0,1] 0.9835772322679368 Centerline is valid? [True, True] Translation: X:84.02, Y:-9.38, Z:-1.88 [[ 9.91933801e-01 1.26640359e-01 5.43638361e-03 8.40181703e+01] [-1.26639247e-01 9.91948688e-01 -5.49750746e-04 -9.37826999e+00] [-5.46223422e-03 -1.43143177e-04 9.99985072e-01 -1.88434975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.414012739 meters Centerline goodness [0,1] 0.983456906527236 Centerline is valid? [True, True] Translation: X:84.05, Y:-9.38, Z:-1.88 [[ 9.91924876e-01 1.26679063e-01 6.12009854e-03 8.40467538e+01] [-1.26677657e-01 9.91943743e-01 -6.18445374e-04 -9.37929083e+00] [-6.14913753e-03 -1.61828391e-04 9.99981081e-01 -1.88220718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444012739 meters Centerline goodness [0,1] 0.9836274989886946 Centerline is valid? [True, True] Translation: X:84.08, Y:-9.38, Z:-1.88 [[ 9.91905325e-01 1.26826861e-01 6.22691752e-03 8.40762145e+01] [-1.26825410e-01 9.91924856e-01 -6.28917904e-04 -9.38344071e+00] [-6.25639795e-03 -1.65904349e-04 9.99980415e-01 -1.88252181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.474012739 meters Centerline goodness [0,1] 0.9827898743895417 Centerline is valid? [True, True] Translation: X:84.11, Y:-9.38, Z:-1.89 [[ 9.92024168e-01 1.25964899e-01 4.57110169e-03 8.41053672e+01] [-1.25964108e-01 9.92034692e-01 -4.61623445e-04 -9.38454492e+00] [-4.59283981e-03 -1.17853133e-04 9.99989446e-01 -1.88701773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504012739 meters Centerline goodness [0,1] 0.9835045796778138 Centerline is valid? [True, True] Translation: X:84.13, Y:-9.39, Z:-1.89 [[ 9.92197611e-01 1.24618752e-01 3.75064385e-03 8.41346508e+01] [-1.24618210e-01 9.92204696e-01 -3.78714113e-04 -9.39070509e+00] [-3.76860132e-03 -9.16392865e-05 9.99992895e-01 -1.88838248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.534012739 meters Centerline goodness [0,1] 0.9852730881693809 Centerline is valid? [True, True] Translation: X:84.16, Y:-9.39, Z:-1.89 [[ 9.92643415e-01 1.21019982e-01 3.63528217e-03 8.41629081e+01] [-1.21019449e-01 9.92650068e-01 -3.67037696e-04 -9.39411288e+00] [-3.65298199e-03 -7.56022918e-05 9.99993325e-01 -1.88839071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564012739 meters Centerline goodness [0,1] 0.9858747374287307 Centerline is valid? [True, True] Translation: X:84.19, Y:-9.40, Z:-1.89 [[ 9.92904862e-01 1.18838118e-01 4.17573052e-03 8.41911866e+01] [-1.18837397e-01 9.92913640e-01 -4.21417518e-04 -9.40023267e+00] [-4.19622025e-03 -7.78054421e-05 9.99991193e-01 -1.88729185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59401273900001 meters Centerline goodness [0,1] 0.9854638734501924 Centerline is valid? [True, True] Translation: X:84.22, Y:-9.41, Z:-1.89 [[ 9.93120813e-01 1.17038501e-01 3.61110650e-03 8.42202179e+01] [-1.17037950e-01 9.93127376e-01 -3.64304634e-04 -9.40679749e+00] [-3.62892640e-03 -6.08379888e-05 9.99993414e-01 -1.88829451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.624012739 meters Centerline goodness [0,1] 0.9871676968154501 Centerline is valid? [True, True] Translation: X:84.25, Y:-9.41, Z:-1.89 [[ 9.93187161e-01 1.16528454e-01 6.19146187e-04 8.42497198e+01] [-1.16528437e-01 9.93187354e-01 -6.25917677e-05 -9.40907453e+00] [-6.22221885e-04 -9.98279765e-06 9.99999806e-01 -1.89435560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.654012739 meters Centerline goodness [0,1] 0.9873589836197922 Centerline is valid? [True, True] Translation: X:84.28, Y:-9.41, Z:-1.89 [[ 9.93069732e-01 1.17526009e-01 3.81147462e-04 8.42789079e+01] [-1.17526003e-01 9.93069805e-01 -3.87632655e-05 -9.40948937e+00] [-3.83061727e-04 -6.30011189e-06 9.99999927e-01 -1.89478204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.684012739 meters Centerline goodness [0,1] 0.9855978492788257 Centerline is valid? [True, True] Translation: X:84.31, Y:-9.40, Z:-1.89 [[ 9.92670116e-01 1.20830767e-01 2.44257481e-03 8.43084993e+01] [-1.20830527e-01 9.92673120e-01 -2.46322579e-04 -9.40272573e+00] [-2.45444170e-03 -5.06205376e-05 9.99996987e-01 -1.88950727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.714012739 meters Centerline goodness [0,1] 0.9855461085676913 Centerline is valid? [True, True] Translation: X:84.34, Y:-9.41, Z:-1.88 [[ 9.92495042e-01 1.22213040e-01 4.19092003e-03 8.43376380e+01] [-1.22212346e-01 9.92503886e-01 -4.22269863e-04 -9.41014527e+00] [-4.21111130e-03 -9.30814220e-05 9.99991129e-01 -1.88431852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.744012739 meters Centerline goodness [0,1] 0.9852171102251912 Centerline is valid? [True, True] Translation: X:84.37, Y:-9.41, Z:-1.88 [[ 9.92371037e-01 1.23170948e-01 5.35179131e-03 8.43664298e+01] [-1.23169831e-01 9.92385460e-01 -5.39089237e-04 -9.41068087e+00] [-5.37744001e-03 -1.24202687e-04 9.99985534e-01 -1.88184748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.774012739 meters Centerline goodness [0,1] 0.9859506246535624 Centerline is valid? [True, True] Translation: X:84.40, Y:-9.41, Z:-1.88 [[ 9.92372625e-01 1.23172978e-01 4.99910277e-03 8.43955396e+01] [-1.23172004e-01 9.92385209e-01 -5.03405599e-04 -9.41265293e+00] [-5.02304162e-03 -1.16183571e-04 9.99987378e-01 -1.88281585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804012739 meters Centerline goodness [0,1] 0.9857969151670951 Centerline is valid? [True, True] Translation: X:84.42, Y:-9.42, Z:-1.88 [[ 9.92453846e-01 1.22562333e-01 3.71992073e-03 8.44243718e+01] [-1.22561790e-01 9.92460814e-01 -3.74534682e-04 -9.41897949e+00] [-3.73777940e-03 -8.42117562e-05 9.99993011e-01 -1.88470054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.834012739 meters Centerline goodness [0,1] 0.9855601910896867 Centerline is valid? [True, True] Translation: X:84.45, Y:-9.42, Z:-1.88 [[ 9.92466475e-01 1.22461193e-01 3.68143941e-03 8.44533274e+01] [-1.22460660e-01 9.92473299e-01 -3.70585593e-04 -9.42302152e+00] [-3.69911267e-03 -8.30377230e-05 9.99993155e-01 -1.88389741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.864012739 meters Centerline goodness [0,1] 0.9858123963917415 Centerline is valid? [True, True] Translation: X:84.48, Y:-9.42, Z:-1.88 [[ 9.92386955e-01 1.23087568e-01 4.19300384e-03 8.44824098e+01] [-1.23086884e-01 9.92395809e-01 -4.21834438e-04 -9.42470943e+00] [-4.21304201e-03 -9.74807825e-05 9.99991120e-01 -1.88273873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.894012739 meters Centerline goodness [0,1] 0.9854548584215509 Centerline is valid? [True, True] Translation: X:84.51, Y:-9.42, Z:-1.88 [[ 9.92062235e-01 1.25662475e-01 4.63285321e-03 8.45116653e+01] [-1.25661669e-01 9.92073046e-01 -4.65787038e-04 -9.42083846e+00] [-4.65466074e-03 -1.20082336e-04 9.99989160e-01 -1.88212932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924012739 meters Centerline goodness [0,1] 0.9854312604753105 Centerline is valid? [True, True] Translation: X:84.54, Y:-9.42, Z:-1.88 [[ 9.91966270e-01 1.26414148e-01 4.73108795e-03 8.45400161e+01] [-1.26413318e-01 9.91977544e-01 -4.75466577e-04 -9.42264450e+00] [-4.75323871e-03 -1.26425717e-04 9.99988695e-01 -1.88259753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.954012739 meters Centerline goodness [0,1] 0.9851864537397782 Centerline is valid? [True, True] Translation: X:84.57, Y:-9.43, Z:-1.88 [[ 9.91982303e-01 1.26303159e-01 4.31528328e-03 8.45684741e+01] [-1.26302467e-01 9.91991683e-01 -4.33644040e-04 -9.42862162e+00] [-4.33549574e-03 -1.14863710e-04 9.99990595e-01 -1.88237223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.984012739 meters Centerline goodness [0,1] 0.9855893503360331 Centerline is valid? [True, True] Translation: X:84.60, Y:-9.43, Z:-1.88 [[ 9.91955109e-01 1.26531776e-01 3.84325644e-03 8.45970784e+01] [-1.26531229e-01 9.91962549e-01 -3.86078625e-04 -9.43424754e+00] [-3.86121767e-03 -1.03319298e-04 9.99992540e-01 -1.88222307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.014012739 meters Centerline goodness [0,1] 0.9851773310540324 Centerline is valid? [True, True] Translation: X:84.63, Y:-9.43, Z:-1.88 [[ 9.91899838e-01 1.26966448e-01 3.77245563e-03 8.46258084e+01] [-1.26965925e-01 9.91907007e-01 -3.78743905e-04 -9.43441593e+00] [-3.79001294e-03 -1.03297301e-04 9.99992813e-01 -1.88308263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.044012739 meters Centerline goodness [0,1] 0.9849113058345801 Centerline is valid? [True, True] Translation: X:84.66, Y:-9.44, Z:-1.88 [[ 9.91723822e-01 1.28258647e-01 5.79488688e-03 8.46551554e+01] [-1.28257438e-01 9.91740738e-01 -5.81409619e-04 -9.44038939e+00] [-5.82159621e-03 -1.66639573e-04 9.99983040e-01 -1.88101570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.074012739 meters Centerline goodness [0,1] 0.9845054402643947 Centerline is valid? [True, True] Translation: X:84.68, Y:-9.44, Z:-1.88 [[ 9.91696365e-01 1.28455088e-01 6.13273791e-03 8.46843590e+01] [-1.28453738e-01 9.91715311e-01 -6.15150757e-04 -9.44320948e+00] [-6.16094933e-03 -1.77730338e-04 9.99981005e-01 -1.87981296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.104012739 meters Centerline goodness [0,1] 0.984604483380572 Centerline is valid? [True, True] Translation: X:84.71, Y:-9.44, Z:-1.88 [[ 9.91621910e-01 1.29087711e-01 4.72756721e-03 8.47132087e+01] [-1.29086916e-01 9.91633170e-01 -4.74172666e-04 -9.44035767e+00] [-4.74922232e-03 -1.40067068e-04 9.99988713e-01 -1.88215382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.134012739 meters Centerline goodness [0,1] 0.9828095043191659 Centerline is valid? [True, True] Translation: X:84.74, Y:-9.44, Z:-1.88 [[ 9.91539054e-01 1.29753797e-01 3.77574509e-03 8.47415464e+01] [-1.29753296e-01 9.91546236e-01 -3.78469990e-04 -9.43948013e+00] [-3.79293375e-03 -1.14647594e-04 9.99992800e-01 -1.88472285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164012739 meters Centerline goodness [0,1] 0.9840695918497565 Centerline is valid? [True, True] Translation: X:84.77, Y:-9.45, Z:-1.89 [[ 9.91452584e-01 1.30428087e-01 3.20759280e-03 8.47694949e+01] [-1.30427728e-01 9.91457767e-01 -3.21756867e-04 -9.44559473e+00] [-3.22215893e-03 -9.93523626e-05 9.99994804e-01 -1.88598787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.194012739 meters Centerline goodness [0,1] 0.9788974561609602 Centerline is valid? [True, True] Translation: X:84.80, Y:-9.44, Z:-1.88 [[ 9.91270670e-01 1.31773565e-01 4.26452927e-03 8.47980722e+01] [-1.31772944e-01 9.91279834e-01 -4.27503089e-04 -9.44109862e+00] [-4.28367547e-03 -1.38178301e-04 9.99990815e-01 -1.88421336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224012739 meters Centerline goodness [0,1] 0.9799226139294926 Centerline is valid? [True, True] Translation: X:84.83, Y:-9.44, Z:-1.88 [[ 9.91196472e-01 1.32307697e-01 4.92220006e-03 8.48273031e+01] [-1.32306878e-01 9.91208680e-01 -4.93039788e-04 -9.44308883e+00] [-4.94416038e-03 -1.62541625e-04 9.99987764e-01 -1.88227240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.254012739 meters Centerline goodness [0,1] 0.9753492370513647 Centerline is valid? [True, True] Translation: X:84.86, Y:-9.44, Z:-1.88 [[ 9.91129670e-01 1.32806840e-01 4.93152189e-03 8.48555681e+01] [-1.32806025e-01 9.91141925e-01 -4.93809262e-04 -9.44092978e+00] [-4.95341935e-03 -1.65506808e-04 9.99987718e-01 -1.88200712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284012739 meters Centerline goodness [0,1] 0.9822932967480547 Centerline is valid? [True, True] Translation: X:84.88, Y:-9.45, Z:-1.88 [[ 9.91092588e-01 1.33086851e-01 4.83454987e-03 8.48837868e+01] [-1.33086073e-01 9.91104365e-01 -4.83759334e-04 -9.44734957e+00] [-4.85592549e-03 -1.63960965e-04 9.99988196e-01 -1.88136831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.314012739 meters Centerline goodness [0,1] 0.9735392590992548 Centerline is valid? [True, True] Translation: X:84.91, Y:-9.44, Z:-1.88 [[ 9.91074790e-01 1.33193773e-01 5.49351289e-03 8.49126505e+01] [-1.33192772e-01 9.91089998e-01 -5.49421406e-04 -9.44141840e+00] [-5.51774519e-03 -1.87178503e-04 9.99984760e-01 -1.88106208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34401273900001 meters Centerline goodness [0,1] 0.9809438547128789 Centerline is valid? [True, True] Translation: X:84.94, Y:-9.44, Z:-1.88 [[ 9.91040651e-01 1.33437798e-01 5.72557540e-03 8.49411996e+01] [-1.33436716e-01 9.91057171e-01 -5.72255316e-04 -9.44459136e+00] [-5.75073304e-03 -1.96873697e-04 9.99983445e-01 -1.88131550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.374012739 meters Centerline goodness [0,1] 0.9670633052262124 Centerline is valid? [True, True] Translation: X:84.97, Y:-9.44, Z:-1.88 [[ 9.91046739e-01 1.33434710e-01 4.64098203e-03 8.49697060e+01] [-1.33434000e-01 9.91057593e-01 -4.63748475e-04 -9.44143690e+00] [-4.66136063e-03 -1.59668381e-04 9.99989123e-01 -1.88375225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.404012739 meters Centerline goodness [0,1] 0.9781822074724333 Centerline is valid? [True, True] Translation: X:85.00, Y:-9.45, Z:-1.89 [[ 9.91126934e-01 1.32878476e-01 3.27277568e-03 8.49976135e+01] [-1.32878120e-01 9.91132331e-01 -3.26925893e-04 -9.44757747e+00] [-3.28719520e-03 -1.10855222e-04 9.99994591e-01 -1.88549648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.434012739 meters Centerline goodness [0,1] 0.9705938963621976 Centerline is valid? [True, True] Translation: X:85.03, Y:-9.44, Z:-1.89 [[ 9.91377847e-01 1.30999275e-01 3.02573748e-03 8.50259893e+01] [-1.30998963e-01 9.91382459e-01 -3.02179458e-04 -9.44305103e+00] [-3.03924835e-03 -9.67944508e-05 9.99995377e-01 -1.88663809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.464012739 meters Centerline goodness [0,1] 0.9869014667741866 Centerline is valid? [True, True] Translation: X:85.05, Y:-9.46, Z:-1.88 [[ 9.91745061e-01 1.28127845e-01 4.99887653e-03 8.50541733e+01] [-1.28126958e-01 9.91757649e-01 -4.98615055e-04 -9.45828034e+00] [-5.02156051e-03 -1.45991825e-04 9.99987381e-01 -1.88208738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.494012739 meters Centerline goodness [0,1] 0.9869297850913844 Centerline is valid? [True, True] Translation: X:85.08, Y:-9.46, Z:-1.88 [[ 9.91990976e-01 1.26174748e-01 5.81694938e-03 8.50830202e+01] [-1.26173514e-01 9.92008018e-01 -5.80067431e-04 -9.46320584e+00] [-5.84365029e-03 -1.58523288e-04 9.99982913e-01 -1.88047708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524012739 meters Centerline goodness [0,1] 0.9873460939333802 Centerline is valid? [True, True] Translation: X:85.11, Y:-9.47, Z:-1.88 [[ 9.92257760e-01 1.24040725e-01 6.19977047e-03 8.51114549e+01] [-1.24039283e-01 9.92277116e-01 -6.17998298e-04 -9.46690263e+00] [-6.22854731e-03 -1.55801477e-04 9.99980590e-01 -1.87957861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.554012739 meters Centerline goodness [0,1] 0.9881178808796187 Centerline is valid? [True, True] Translation: X:85.14, Y:-9.47, Z:-1.88 [[ 9.92681234e-01 1.20634057e-01 5.60283161e-03 8.51404990e+01] [-1.20632827e-01 9.92697038e-01 -5.58290837e-04 -9.46976302e+00] [-5.62926323e-03 -1.21680578e-04 9.99984148e-01 -1.88064966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584012739 meters Centerline goodness [0,1] 0.9879682276028025 Centerline is valid? [True, True] Translation: X:85.17, Y:-9.47, Z:-1.88 [[ 9.92851767e-01 1.19254096e-01 4.88162303e-03 8.51696040e+01] [-1.19253146e-01 9.92863762e-01 -4.86371032e-04 -9.46921138e+00] [-4.90478835e-03 -9.92545635e-05 9.99987967e-01 -1.88307859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.614012739 meters Centerline goodness [0,1] 0.9898011545862733 Centerline is valid? [True, True] Translation: X:85.20, Y:-9.48, Z:-1.89 [[ 9.93396271e-01 1.14657515e-01 4.18359891e-03 8.51982115e+01] [-1.14656777e-01 9.93405078e-01 -4.16672838e-04 -9.48111979e+00] [-4.20378308e-03 -6.57567222e-05 9.99991162e-01 -1.88500335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644012739 meters Centerline goodness [0,1] 0.9907677671834123 Centerline is valid? [True, True] Translation: X:85.23, Y:-9.49, Z:-1.88 [[ 9.93748751e-01 1.11557193e-01 4.29091179e-03 8.52277394e+01] [-1.11556388e-01 9.93758014e-01 -4.27271407e-04 -9.48778199e+00] [-4.31179318e-03 -5.40781931e-05 9.99990703e-01 -1.88470431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.674012739 meters Centerline goodness [0,1] 0.991797616991884 Centerline is valid? [True, True] Translation: X:85.26, Y:-9.49, Z:-1.88 [[ 9.94067847e-01 1.08641112e-01 5.12091010e-03 8.52573586e+01] [-1.08639927e-01 9.94081036e-01 -5.09740505e-04 -9.49453472e+00] [-5.14597840e-03 -4.96186541e-05 9.99986758e-01 -1.88330166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704012739 meters Centerline goodness [0,1] 0.9927156050817326 Centerline is valid? [True, True] Translation: X:85.29, Y:-9.51, Z:-1.88 [[ 9.94661727e-01 1.03075110e-01 4.85502183e-03 8.52879992e+01] [-1.03073980e-01 9.94673575e-01 -4.82971859e-04 -9.50684692e+00] [-4.87894430e-03 -2.00328005e-05 9.99988098e-01 -1.88336411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.734012739 meters Centerline goodness [0,1] 0.9933919750411647 Centerline is valid? [True, True] Translation: X:85.32, Y:-9.52, Z:-1.88 [[ 9.94950682e-01 1.00249564e-01 4.81296644e-03 8.53184029e+01] [-1.00248420e-01 9.94962323e-01 -4.78902484e-04 -9.51542566e+00] [-4.83673004e-03 -6.00792862e-06 9.99988303e-01 -1.88367682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.764012739 meters Centerline goodness [0,1] 0.9941638415654637 Centerline is valid? [True, True] Translation: X:85.35, Y:-9.53, Z:-1.88 [[ 9.95573339e-01 9.38135078e-02 5.72289138e-03 8.53480638e+01] [-9.38117842e-02 9.95589787e-01 -5.69464242e-04 -9.53029944e+00] [-5.75107565e-03 3.00687659e-05 9.99983462e-01 -1.88279231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.794012739 meters Centerline goodness [0,1] 0.9937854692186522 Centerline is valid? [True, True] Translation: X:85.38, Y:-9.54, Z:-1.88 [[ 9.95857254e-01 9.07096503e-02 6.33157341e-03 8.53792853e+01] [-9.07074744e-02 9.95877380e-01 -6.30573980e-04 -9.53993964e+00] [-6.36266989e-03 5.36406388e-05 9.99979757e-01 -1.88215423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.824012739 meters Centerline goodness [0,1] 0.9930723342384913 Centerline is valid? [True, True] Translation: X:85.41, Y:-9.55, Z:-1.88 [[ 9.96103467e-01 8.79282695e-02 6.81933110e-03 8.54094713e+01] [-8.79256712e-02 9.96126806e-01 -6.80482450e-04 -9.55100154e+00] [-6.85275216e-03 7.82366630e-05 9.99976517e-01 -1.88210769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.854012739 meters Centerline goodness [0,1] 0.9911609612724758 Centerline is valid? [True, True] Translation: X:85.44, Y:-9.56, Z:-1.88 [[ 9.96493030e-01 8.34194966e-02 6.54432443e-03 8.54406955e+01] [-8.34170023e-02 9.96514514e-01 -6.53650276e-04 -9.56375527e+00] [-6.57604145e-03 1.05450019e-04 9.99978372e-01 -1.88160820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.884012739 meters Centerline goodness [0,1] 0.9900854775024949 Centerline is valid? [True, True] Translation: X:85.47, Y:-9.57, Z:-1.88 [[ 9.96583856e-01 8.24014142e-02 5.53389400e-03 8.54720700e+01] [-8.23996155e-02 9.96599216e-01 -5.52642113e-04 -9.56940167e+00] [-5.56061291e-03 9.47634704e-05 9.99984535e-01 -1.87987243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.914012739 meters Centerline goodness [0,1] 0.9930330768076486 Centerline is valid? [True, True] Translation: X:85.50, Y:-9.57, Z:-1.89 [[ 9.96441439e-01 8.42001798e-02 3.84545536e-03 8.55030543e+01] [-8.41993235e-02 9.96448858e-01 -3.84317174e-04 -9.57434919e+00] [-3.86415917e-03 5.91648182e-05 9.99992532e-01 -1.88595095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944012739 meters Centerline goodness [0,1] 0.9939642580977748 Centerline is valid? [True, True] Translation: X:85.54, Y:-9.58, Z:-1.89 [[ 9.96272221e-01 8.61714715e-02 4.01732683e-03 8.55350473e+01] [-8.61705504e-02 9.96280319e-01 -4.02140058e-04 -9.57651131e+00] [-4.03703665e-03 5.44657046e-05 9.99991850e-01 -1.88583967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.974012739 meters Centerline goodness [0,1] 0.9941312774757997 Centerline is valid? [True, True] Translation: X:85.57, Y:-9.58, Z:-1.88 [[ 9.96096631e-01 8.81242288e-02 5.06172559e-03 8.55658339e+01] [-8.81227855e-02 9.96109490e-01 -5.07898176e-04 -9.57887741e+00] [-5.08679103e-03 5.98623041e-05 9.99987060e-01 -1.88425717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004012739 meters Centerline goodness [0,1] 0.9929800530776475 Centerline is valid? [True, True] Translation: X:85.60, Y:-9.58, Z:-1.88 [[ 9.95835984e-01 9.08424945e-02 7.63769990e-03 8.55979245e+01] [-9.08392746e-02 9.95865270e-01 -7.68155775e-04 -9.58028702e+00] [-7.67590126e-03 7.11540438e-05 9.99970537e-01 -1.88009702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.034012739 meters Centerline goodness [0,1] 0.9928468627156145 Centerline is valid? [True, True] Translation: X:85.63, Y:-9.58, Z:-1.88 [[ 9.95733831e-01 9.19199602e-02 8.05353108e-03 8.56293864e+01] [-9.19164042e-02 9.95766396e-01 -8.11361715e-04 -9.58401238e+00] [-8.09401596e-03 6.76486906e-05 9.99967241e-01 -1.88005410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064012739 meters Centerline goodness [0,1] 0.9933573853989813 Centerline is valid? [True, True] Translation: X:85.66, Y:-9.59, Z:-1.88 [[ 9.95611959e-01 9.32943873e-02 7.27901353e-03 8.56613851e+01] [-9.32915113e-02 9.95638566e-01 -7.34396325e-04 -9.58734357e+00] [-7.31578165e-03 5.21035913e-05 9.99973238e-01 -1.88142856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09401273900001 meters Centerline goodness [0,1] 0.9936118673497825 Centerline is valid? [True, True] Translation: X:85.69, Y:-9.59, Z:-1.88 [[ 9.95554917e-01 9.39321464e-02 6.86718719e-03 8.56938307e+01] [-9.39295950e-02 9.95578601e-01 -6.93832137e-04 -9.59004516e+00] [-6.90199776e-03 4.57158842e-05 9.99976180e-01 -1.88187368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.124012739 meters Centerline goodness [0,1] 0.9942212674543501 Centerline is valid? [True, True] Translation: X:85.73, Y:-9.59, Z:-1.88 [[ 9.95514551e-01 9.43818888e-02 6.54500047e-03 8.57264656e+01] [-9.43795732e-02 9.95536065e-01 -6.62447370e-04 -9.59386753e+00] [-6.57830704e-03 4.17616457e-05 9.99978362e-01 -1.88264812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.154012739 meters Centerline goodness [0,1] 0.9942464577071705 Centerline is valid? [True, True] Translation: X:85.76, Y:-9.60, Z:-1.88 [[ 9.95460131e-01 9.49759516e-02 6.22066256e-03 8.57587346e+01] [-9.49738644e-02 9.95479566e-01 -6.30741384e-04 -9.59813707e+00] [-6.25244773e-03 3.70775382e-05 9.99980453e-01 -1.88416663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.184012739 meters Centerline goodness [0,1] 0.9938116956810347 Centerline is valid? [True, True] Translation: X:85.79, Y:-9.60, Z:-1.89 [[ 9.95393654e-01 9.56956531e-02 5.81506275e-03 8.57920255e+01] [-9.56938355e-02 9.95410639e-01 -5.90638819e-04 -9.60128464e+00] [-5.84489690e-03 3.14524742e-05 9.99982918e-01 -1.88527243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.214012739 meters Centerline goodness [0,1] 0.9944014701482969 Centerline is valid? [True, True] Translation: X:85.82, Y:-9.61, Z:-1.89 [[ 9.95382721e-01 9.57766217e-02 6.33067150e-03 8.58248320e+01] [-9.57744606e-02 9.95402852e-01 -6.44353523e-04 -9.60550069e+00] [-6.36328247e-03 3.50617152e-05 9.99979753e-01 -1.88524898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.244012739 meters Centerline goodness [0,1] 0.993722509288124 Centerline is valid? [True, True] Translation: X:85.86, Y:-9.61, Z:-1.88 [[ 9.95405902e-01 9.55034483e-02 6.79571599e-03 8.58561205e+01] [-9.55009419e-02 9.95429098e-01 -6.93114799e-04 -9.61054546e+00] [-6.83084829e-03 4.09332838e-05 9.99976669e-01 -1.88373441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.274012739 meters Centerline goodness [0,1] 0.993722509288124 Centerline is valid? [True, True] Translation: X:85.89, Y:-9.61, Z:-1.88 [[ 9.95388027e-01 9.56895838e-02 6.79559503e-03 8.58884397e+01] [-9.56870737e-02 9.95411222e-01 -6.94298560e-04 -9.61403964e+00] [-6.83084869e-03 4.08458708e-05 9.99976669e-01 -1.88399460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304012739 meters Centerline goodness [0,1] 0.9923183450902324 Centerline is valid? [True, True] Translation: X:85.92, Y:-9.62, Z:-1.88 [[ 9.95512172e-01 9.43070550e-02 7.85463461e-03 8.59201186e+01] [-9.43036449e-02 9.95543156e-01 -8.04219693e-04 -9.62120961e+00] [-7.89547132e-03 5.98898198e-05 9.99968828e-01 -1.88283115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.334012739 meters Centerline goodness [0,1] 0.9918590315861072 Centerline is valid? [True, True] Translation: X:85.95, Y:-9.63, Z:-1.88 [[ 9.95610098e-01 9.32814889e-02 7.68747135e-03 8.59505909e+01] [-9.32781817e-02 9.95639774e-01 -7.88409694e-04 -9.62944872e+00] [-7.72749626e-03 6.78753028e-05 9.99970140e-01 -1.88404205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.364012739 meters Centerline goodness [0,1] 0.9930511686670878 Centerline is valid? [True, True] Translation: X:85.98, Y:-9.64, Z:-1.89 [[ 9.95703898e-01 9.23765949e-02 6.34922652e-03 8.59824475e+01] [-9.23743155e-02 9.95724139e-01 -6.51945149e-04 -9.63539300e+00] [-6.38230259e-03 6.26388716e-05 9.99979631e-01 -1.88638342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.394012739 meters Centerline goodness [0,1] 0.9941677785907975 Centerline is valid? [True, True] Translation: X:86.02, Y:-9.64, Z:-1.89 [[ 9.95701273e-01 9.24776853e-02 5.18188234e-03 8.60155861e+01] [-9.24761657e-02 9.95714756e-01 -5.32615652e-04 -9.63905093e+00] [-5.20893177e-03 5.11254734e-05 9.99986432e-01 -1.88815078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424012739 meters Centerline goodness [0,1] 0.9939051967350807 Centerline is valid? [True, True] Translation: X:86.05, Y:-9.64, Z:-1.89 [[ 9.95664168e-01 9.28906446e-02 4.91858663e-03 8.60472985e+01] [-9.28892760e-02 9.95676316e-01 -5.06466881e-04 -9.64242035e+00] [-4.94436625e-03 4.73869751e-05 9.99987775e-01 -1.88945963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.454012739 meters Centerline goodness [0,1] 0.9940814444706538 Centerline is valid? [True, True] Translation: X:86.08, Y:-9.65, Z:-1.89 [[ 9.95550141e-01 9.40723213e-02 5.50594171e-03 8.60783116e+01] [-9.40706175e-02 9.95565365e-01 -5.68186160e-04 -9.64590329e+00] [-5.53497546e-03 4.77104753e-05 9.99984681e-01 -1.88903013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.484012739 meters Centerline goodness [0,1] 0.9933294601166268 Centerline is valid? [True, True] Translation: X:86.11, Y:-9.65, Z:-1.89 [[ 9.95496605e-01 9.45946118e-02 6.19419574e-03 8.61113064e+01] [-9.45924591e-02 9.95515875e-01 -6.40250803e-04 -9.64960186e+00] [-6.22698446e-03 5.14432941e-05 9.99980611e-01 -1.88767349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.514012739 meters Centerline goodness [0,1] 0.9929333189701605 Centerline is valid? [True, True] Translation: X:86.14, Y:-9.66, Z:-1.89 [[ 9.95440419e-01 9.51406676e-02 6.82825487e-03 8.61425577e+01] [-9.51380542e-02 9.95463837e-01 -7.07278169e-04 -9.65833467e+00] [-6.86457171e-03 5.44263957e-05 9.99976437e-01 -1.88643423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.544012739 meters Centerline goodness [0,1] 0.9929986818505954 Centerline is valid? [True, True] Translation: X:86.18, Y:-9.66, Z:-1.89 [[ 9.95421555e-01 9.53091968e-02 7.21700710e-03 8.61752769e+01] [-9.53062719e-02 9.95447715e-01 -7.48912178e-04 -9.66298382e+00] [-7.25553145e-03 5.76572840e-05 9.99973677e-01 -1.88604553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.574012739 meters Centerline goodness [0,1] 0.9926478491734204 Centerline is valid? [True, True] Translation: X:86.21, Y:-9.67, Z:-1.89 [[ 9.95381044e-01 9.57208810e-02 7.35460333e-03 8.62070324e+01] [-9.57178437e-02 9.95408213e-01 -7.64666909e-04 -9.66750287e+00] [-7.39402715e-03 5.71681745e-05 9.99972662e-01 -1.88654707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.604012739 meters Centerline goodness [0,1] 0.993590296961326 Centerline is valid? [True, True] Translation: X:86.24, Y:-9.67, Z:-1.89 [[ 9.95034396e-01 9.92737981e-02 7.15993835e-03 8.62383463e+01] [-9.92710022e-02 9.95060155e-01 -7.45712012e-04 -9.66829696e+00] [-7.19859903e-03 3.12348453e-05 9.99974089e-01 -1.88673755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.634012739 meters Centerline goodness [0,1] 0.9927759914255091 Centerline is valid? [True, True] Translation: X:86.27, Y:-9.66, Z:-1.89 [[ 9.94461804e-01 1.04862917e-01 7.03481575e-03 8.62710039e+01] [-1.04860350e-01 9.94486686e-01 -7.33744848e-04 -9.66450713e+00] [-7.07297323e-03 -7.99201584e-06 9.99974986e-01 -1.88747732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664012739 meters Centerline goodness [0,1] 0.9921170447486237 Centerline is valid? [True, True] Translation: X:86.30, Y:-9.66, Z:-1.89 [[ 9.94127926e-01 1.07958661e-01 7.38879355e-03 8.63029512e+01] [-1.07955905e-01 9.94155384e-01 -7.72004512e-04 -9.66293982e+00] [-7.42895346e-03 -3.01926505e-05 9.99972404e-01 -1.88708418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.694012739 meters Centerline goodness [0,1] 0.9913588248001728 Centerline is valid? [True, True] Translation: X:86.34, Y:-9.66, Z:-1.89 [[ 9.93755524e-01 1.11302038e-01 7.86223871e-03 8.63353961e+01] [-1.11299016e-01 9.93786624e-01 -8.22219612e-04 -9.66153882e+00] [-7.90490237e-03 -5.79741478e-05 9.99968754e-01 -1.88643462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724012739 meters Centerline goodness [0,1] 0.9894947581426388 Centerline is valid? [True, True] Translation: X:86.37, Y:-9.65, Z:-1.89 [[ 9.93080829e-01 1.17181813e-01 7.67401534e-03 8.63670001e+01] [-1.17179100e-01 9.93110473e-01 -8.03824081e-04 -9.65398861e+00] [-7.71533857e-03 -1.00971926e-04 9.99970231e-01 -1.88712496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.754012739 meters Centerline goodness [0,1] 0.9889798828842455 Centerline is valid? [True, True] Translation: X:86.40, Y:-9.65, Z:-1.89 [[ 9.92761514e-01 1.19890036e-01 7.13832880e-03 8.63984146e+01] [-1.19887755e-01 9.92787171e-01 -7.48209528e-04 -9.65017992e+00] [-7.17654412e-03 -1.13004590e-04 9.99974242e-01 -1.88772952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784012739 meters Centerline goodness [0,1] 0.9886809538182916 Centerline is valid? [True, True] Translation: X:86.43, Y:-9.64, Z:-1.89 [[ 9.92331609e-01 1.23391787e-01 7.24190715e-03 8.64300956e+01] [-1.23389523e-01 9.92358024e-01 -7.60301735e-04 -9.64238937e+00] [-7.28037966e-03 -1.39104024e-04 9.99973488e-01 -1.88840012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.814012739 meters Centerline goodness [0,1] 0.9884290357529795 Centerline is valid? [True, True] Translation: X:86.46, Y:-9.64, Z:-1.89 [[ 9.92212210e-01 1.24268753e-01 8.49754322e-03 8.64614240e+01] [-1.24265667e-01 9.92248582e-01 -8.92237712e-04 -9.64052540e+00] [-8.54255248e-03 -1.70663727e-04 9.99963497e-01 -1.88715220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84401273900001 meters Centerline goodness [0,1] 0.9877334940173883 Centerline is valid? [True, True] Translation: X:86.49, Y:-9.64, Z:-1.88 [[ 9.92138103e-01 1.24757810e-01 9.87290087e-03 8.64909400e+01] [-1.24753668e-01 9.92187204e-01 -1.03666444e-03 -9.63837960e+00] [-9.92509789e-03 -2.03166305e-04 9.99950724e-01 -1.88477227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.874012739 meters Centerline goodness [0,1] 0.9874818302128305 Centerline is valid? [True, True] Translation: X:86.52, Y:-9.63, Z:-1.89 [[ 9.92043771e-01 1.25519758e-01 9.69263485e-03 8.65221174e+01] [-1.25515802e-01 9.92091098e-01 -1.01779701e-03 -9.63110165e+00] [-9.74373039e-03 -2.06879653e-04 9.99952507e-01 -1.88544917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.904012739 meters Centerline goodness [0,1] 0.9880921785316542 Centerline is valid? [True, True] Translation: X:86.55, Y:-9.63, Z:-1.89 [[ 9.92042057e-01 1.25636246e-01 8.25177606e-03 8.65524164e+01] [-1.25633382e-01 9.92076359e-01 -8.66492953e-04 -9.62800563e+00] [-8.29525487e-03 -1.77101086e-04 9.99965578e-01 -1.88838641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.934012739 meters Centerline goodness [0,1] 0.9882676678256789 Centerline is valid? [True, True] Translation: X:86.58, Y:-9.62, Z:-1.89 [[ 9.92097158e-01 1.25268012e-01 7.15225668e-03 8.65805944e+01] [-1.25265851e-01 9.92122927e-01 -7.51002208e-04 -9.62151737e+00] [-7.18999439e-03 -1.50866367e-04 9.99974140e-01 -1.89138932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.964012739 meters Centerline goodness [0,1] 0.9881363568103319 Centerline is valid? [True, True] Translation: X:86.61, Y:-9.62, Z:-1.89 [[ 9.92215221e-01 1.24306945e-01 7.53255291e-03 8.66103470e+01] [-1.24304525e-01 9.92243801e-01 -7.90459139e-04 -9.62273348e+00] [-7.57238849e-03 -1.52024821e-04 9.99971317e-01 -1.89113563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.994012739 meters Centerline goodness [0,1] 0.9890492141200722 Centerline is valid? [True, True] Translation: X:86.64, Y:-9.62, Z:-1.89 [[ 9.92645231e-01 1.20781945e-01 8.19558303e-03 8.66390780e+01] [-1.20778961e-01 9.92679054e-01 -8.59830051e-04 -9.62352117e+00] [-8.23943555e-03 -1.36347803e-04 9.99966046e-01 -1.89070565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024012739 meters Centerline goodness [0,1] 0.9892505547058443 Centerline is valid? [True, True] Translation: X:86.67, Y:-9.63, Z:-1.89 [[ 9.92954738e-01 1.18213345e-01 8.15429069e-03 8.66682882e+01] [-1.18210308e-01 9.92988213e-01 -8.55222998e-04 -9.62733226e+00] [-8.19821331e-03 -1.14723481e-04 9.99966388e-01 -1.89190608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.054012739 meters Centerline goodness [0,1] 0.9904721304486838 Centerline is valid? [True, True] Translation: X:86.70, Y:-9.63, Z:-1.89 [[ 9.93311371e-01 1.15208284e-01 7.71824116e-03 8.66974436e+01] [-1.15205473e-01 9.93341353e-01 -8.09323152e-04 -9.63256565e+00] [-7.76008885e-03 -8.52737300e-05 9.99969886e-01 -1.89303394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084012739 meters Centerline goodness [0,1] 0.9924863681250269 Centerline is valid? [True, True] Translation: X:86.73, Y:-9.64, Z:-1.89 [[ 9.94041544e-01 1.08712942e-01 7.93128281e-03 8.67263313e+01] [-1.08709768e-01 9.94073184e-01 -8.31475807e-04 -9.64216362e+00] [-7.97466774e-03 -3.56864212e-05 9.99968201e-01 -1.89307290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.114012739 meters Centerline goodness [0,1] 0.9937082855078009 Centerline is valid? [True, True] Translation: X:86.76, Y:-9.65, Z:-1.89 [[ 9.94331321e-01 1.06019781e-01 8.06418249e-03 8.67563303e+01] [-1.06016412e-01 9.94364021e-01 -8.45316173e-04 -9.64734696e+00] [-8.10835316e-03 -1.44113438e-05 9.99967127e-01 -1.89294739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144012739 meters Centerline goodness [0,1] 0.9948329990407255 Centerline is valid? [True, True] Translation: X:86.79, Y:-9.65, Z:-1.89 [[ 9.94682820e-01 1.02707732e-01 7.56366075e-03 8.67865145e+01] [-1.02704673e-01 9.94711577e-01 -7.92845220e-04 -9.65175894e+00] [-7.60509224e-03 1.18062162e-05 9.99971081e-01 -1.89447733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.174012739 meters Centerline goodness [0,1] 0.9958348699481528 Centerline is valid? [True, True] Translation: X:86.82, Y:-9.66, Z:-1.90 [[ 9.94801748e-01 1.01595544e-01 6.91580896e-03 8.68162147e+01] [-1.01592959e-01 9.94825786e-01 -7.25018384e-04 -9.65612845e+00] [-6.95368373e-03 1.86520611e-05 9.99975823e-01 -1.89617342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204012739 meters Centerline goodness [0,1] 0.9956782920610225 Centerline is valid? [True, True] Translation: X:86.85, Y:-9.66, Z:-1.90 [[ 9.94961849e-01 1.00031038e-01 6.68656670e-03 8.68461329e+01] [-1.00028586e-01 9.94984317e-01 -7.00985786e-04 -9.66129336e+00] [-6.72314933e-03 2.86063026e-05 9.99977399e-01 -1.89730601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.234012739 meters Centerline goodness [0,1] 0.994824599393677 Centerline is valid? [True, True] Translation: X:86.88, Y:-9.67, Z:-1.90 [[ 9.95322285e-01 9.62932110e-02 7.82085784e-03 8.68770465e+01] [-9.62897410e-02 9.95353010e-01 -8.19896055e-04 -9.66977782e+00] [-7.86346482e-03 6.29924388e-05 9.99969080e-01 -1.89558734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.264012739 meters Centerline goodness [0,1] 0.9925946655759585 Centerline is valid? [True, True] Translation: X:86.91, Y:-9.68, Z:-1.90 [[ 9.95795367e-01 9.12758400e-02 7.76582912e-03 8.69068907e+01] [-9.12722648e-02 9.95825643e-01 -8.14288960e-04 -9.68196586e+00] [-7.80773668e-03 1.02060362e-04 9.99969514e-01 -1.89634768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.294012739 meters Centerline goodness [0,1] 0.9905437863804557 Centerline is valid? [True, True] Translation: X:86.94, Y:-9.69, Z:-1.90 [[ 9.96006422e-01 8.89713957e-02 7.43626223e-03 8.69375937e+01] [-8.89680493e-02 9.96034175e-01 -7.80263164e-04 -9.69030625e+00] [-7.47619242e-03 1.15557378e-04 9.99972046e-01 -1.89677585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.324012739 meters Centerline goodness [0,1] 0.9893019694585052 Centerline is valid? [True, True] Translation: X:86.97, Y:-9.70, Z:-1.90 [[ 9.96140272e-01 8.74579569e-02 7.46090298e-03 8.69683671e+01] [-8.74545378e-02 9.96168203e-01 -7.83921210e-04 -9.69776047e+00] [-7.50087446e-03 1.28405665e-04 9.99971860e-01 -1.89709268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.354012739 meters Centerline goodness [0,1] 0.9895781744579143 Centerline is valid? [True, True] Translation: X:87.00, Y:-9.70, Z:-1.90 [[ 9.96199522e-01 8.67780621e-02 7.48869959e-03 8.69997337e+01] [-8.67745902e-02 9.96227660e-01 -7.87910536e-04 -9.70246289e+00] [-7.52882302e-03 1.35087261e-04 9.99971649e-01 -1.89682281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.384012739 meters Centerline goodness [0,1] 0.990027295978679 Centerline is valid? [True, True] Translation: X:87.03, Y:-9.71, Z:-1.90 [[ 9.96121113e-01 8.76824306e-02 7.38372242e-03 8.70308603e+01] [-8.76790725e-02 9.96148470e-01 -7.77898885e-04 -9.70606750e+00] [-7.42349186e-03 1.27483570e-04 9.99972437e-01 -1.89677211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.414012739 meters Centerline goodness [0,1] 0.9928131641797585 Centerline is valid? [True, True] Translation: X:87.06, Y:-9.70, Z:-1.90 [[ 9.95861244e-01 9.06163605e-02 7.00418909e-03 8.70642081e+01] [-9.06134042e-02 9.95885869e-01 -7.38921434e-04 -9.70091261e+00] [-7.04233131e-03 1.01189801e-04 9.99975197e-01 -1.89719675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444012739 meters Centerline goodness [0,1] 0.9936721204897605 Centerline is valid? [True, True] Translation: X:87.10, Y:-9.70, Z:-1.90 [[ 9.95668101e-01 9.26586451e-02 7.70768521e-03 8.70953128e+01] [-9.26551225e-02 9.95697929e-01 -8.13632247e-04 -9.70254921e+00] [-7.74991626e-03 9.59511572e-05 9.99969964e-01 -1.89576025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.474012739 meters Centerline goodness [0,1] 0.9911915882867319 Centerline is valid? [True, True] Translation: X:87.13, Y:-9.71, Z:-1.89 [[ 9.95474997e-01 9.45181606e-02 9.79014199e-03 8.71262252e+01] [-9.45125487e-02 9.95523132e-01 -1.03533891e-03 -9.70720436e+00] [-9.84417115e-03 1.05362724e-04 9.99951539e-01 -1.89179538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.504012739 meters Centerline goodness [0,1] 0.9802374091436927 Centerline is valid? [True, True] Translation: X:87.16, Y:-9.71, Z:-1.87 [[ 9.95279835e-01 9.60106353e-02 1.41424373e-02 8.71595642e+01] [-9.59990329e-02 9.95380299e-01 -1.49855921e-03 -9.70890766e+00] [-1.42209811e-02 1.33825460e-04 9.99898868e-01 -1.87302519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.534012739 meters Centerline goodness [0,1] 0.986564381682988 Centerline is valid? [True, True] Translation: X:87.19, Y:-9.72, Z:-1.88 [[ 9.95353944e-01 9.49782783e-02 1.58003959e-02 8.71896159e+01] [-9.49636200e-02 9.95479331e-01 -1.67712533e-03 -9.71675932e+00] [-1.58882580e-02 1.68870521e-04 9.99873759e-01 -1.88181668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564012739 meters Centerline goodness [0,1] 0.9874225964731846 Centerline is valid? [True, True] Translation: X:87.22, Y:-9.73, Z:-1.89 [[ 9.95671810e-01 9.19667730e-02 1.34074061e-02 8.72205305e+01] [-9.19559196e-02 9.95762059e-01 -1.42505118e-03 -9.73180751e+00] [-1.34816437e-02 1.85992933e-04 9.99909101e-01 -1.88704580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59401273900001 meters Centerline goodness [0,1] 0.9874713785803776 Centerline is valid? [True, True] Translation: X:87.25, Y:-9.74, Z:-1.89 [[ 9.95804997e-01 9.07279893e-02 1.18675897e-02 8.72524355e+01] [-9.07193765e-02 9.95875695e-01 -1.26318048e-03 -9.74019139e+00] [-1.19332499e-02 1.81261101e-04 9.99928780e-01 -1.89022642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.624012739 meters Centerline goodness [0,1] 0.9885154975530179 Centerline is valid? [True, True] Translation: X:87.28, Y:-9.75, Z:-1.89 [[ 9.95811985e-01 9.07964761e-02 1.07000204e-02 8.72848647e+01] [-9.07894603e-02 9.95869456e-01 -1.14061452e-03 -9.74820317e+00] [-1.07593873e-02 1.64388535e-04 9.99942103e-01 -1.89140714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.654012739 meters Centerline goodness [0,1] 0.9887089902002556 Centerline is valid? [True, True] Translation: X:87.32, Y:-9.75, Z:-1.89 [[ 9.95674969e-01 9.23250979e-02 1.03649241e-02 8.73156284e+01] [-9.23185778e-02 9.95728907e-01 -1.10677336e-03 -9.75483461e+00] [-1.04228375e-02 1.45111475e-04 9.99945670e-01 -1.89121247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.684012739 meters Centerline goodness [0,1] 0.9901547116736991 Centerline is valid? [True, True] Translation: X:87.35, Y:-9.76, Z:-1.89 [[ 9.95428098e-01 9.49648792e-02 1.02261116e-02 8.73477487e+01] [-9.49586554e-02 9.95480617e-01 -1.09355064e-03 -9.75774248e+00] [-1.02837448e-02 1.17493222e-04 9.99947114e-01 -1.89197660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.714012739 meters Centerline goodness [0,1] 0.9932436807908995 Centerline is valid? [True, True] Translation: X:87.38, Y:-9.76, Z:-1.89 [[ 9.94838531e-01 1.01026933e-01 9.47925373e-03 8.73798953e+01] [-1.01021847e-01 9.94883690e-01 -1.01512787e-03 -9.75637215e+00] [-9.53331018e-03 5.22765962e-05 9.99954556e-01 -1.89475252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.744012739 meters Centerline goodness [0,1] 0.9935926477250664 Centerline is valid? [True, True] Translation: X:87.41, Y:-9.76, Z:-1.90 [[ 9.94579252e-01 1.03576005e-01 9.17185338e-03 8.74113486e+01] [-1.03571338e-01 9.94621541e-01 -9.83601135e-04 -9.75834081e+00] [-9.22440042e-03 2.83281509e-05 9.99957454e-01 -1.89561779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.774012739 meters Centerline goodness [0,1] 0.9935909969801647 Centerline is valid? [True, True] Translation: X:87.44, Y:-9.76, Z:-1.90 [[ 9.94189343e-01 1.07285707e-01 8.79356470e-03 8.74439887e+01] [-1.07281555e-01 9.94228232e-01 -9.43912459e-04 -9.76050476e+00] [-8.84407860e-03 -4.95958283e-06 9.99960890e-01 -1.89654194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804012739 meters Centerline goodness [0,1] 0.9935515980351849 Centerline is valid? [True, True] Translation: X:87.48, Y:-9.76, Z:-1.90 [[ 9.94126003e-01 1.07880841e-01 8.67267215e-03 8.74752628e+01] [-1.07876810e-01 9.94163832e-01 -9.32572096e-04 -9.76483961e+00] [-8.72266364e-03 -8.48604049e-06 9.99961957e-01 -1.89664468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.834012739 meters Centerline goodness [0,1] 0.9936224764613363 Centerline is valid? [True, True] Translation: X:87.51, Y:-9.77, Z:-1.90 [[ 9.94127896e-01 1.07869670e-01 8.59418115e-03 8.75074814e+01] [-1.07865698e-01 9.94165044e-01 -9.25675865e-04 -9.77059519e+00] [-8.64388683e-03 -6.77714708e-06 9.99962641e-01 -1.89687923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.864012739 meters Centerline goodness [0,1] 0.9954644097222223 Centerline is valid? [True, True] Translation: X:87.54, Y:-9.78, Z:-1.90 [[ 9.94353427e-01 1.05822267e-01 7.93159965e-03 8.75396641e+01] [-1.05818807e-01 9.94385060e-01 -8.55733451e-04 -9.78149840e+00] [-7.97761984e-03 1.15890752e-05 9.99968178e-01 -1.89932375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.894012739 meters Centerline goodness [0,1] 0.9951389645776567 Centerline is valid? [True, True] Translation: X:87.57, Y:-9.79, Z:-1.90 [[ 9.94442458e-01 1.05004175e-01 7.63685033e-03 8.75716075e+01] [-1.05000932e-01 9.94471781e-01 -8.25380657e-04 -9.78905430e+00] [-7.68130056e-03 1.89171648e-05 9.99970498e-01 -1.89992207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924012739 meters Centerline goodness [0,1] 0.9948420648791508 Centerline is valid? [True, True] Translation: X:87.60, Y:-9.80, Z:-1.90 [[ 9.94545503e-01 1.03987571e-01 8.11338456e-03 8.76026348e+01] [-1.03983864e-01 9.94578596e-01 -8.78592425e-04 -9.80002207e+00] [-8.16076131e-03 3.01390688e-05 9.99966700e-01 -1.89997055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.954012739 meters Centerline goodness [0,1] 0.9954421344570336 Centerline is valid? [True, True] Translation: X:87.63, Y:-9.81, Z:-1.90 [[ 9.94594507e-01 1.03530598e-01 7.94873878e-03 8.76349932e+01] [-1.03527014e-01 9.94626269e-01 -8.62209492e-04 -9.80661349e+00] [-7.99528945e-03 3.46396367e-05 9.99968037e-01 -1.90044117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.984012739 meters Centerline goodness [0,1] 0.9957253829796467 Centerline is valid? [True, True] Translation: X:87.67, Y:-9.81, Z:-1.90 [[ 9.94622459e-01 1.03270285e-01 7.83655127e-03 8.76676446e+01] [-1.03266782e-01 9.94653330e-01 -8.51473059e-04 -9.81293449e+00] [-7.88258369e-03 3.76387974e-05 9.99968931e-01 -1.90137477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.014012739 meters Centerline goodness [0,1] 0.995293561420098 Centerline is valid? [True, True] Translation: X:87.70, Y:-9.82, Z:-1.90 [[ 9.94650394e-01 1.02992772e-01 7.94247356e-03 8.76985008e+01] [-1.02989152e-01 9.94682104e-01 -8.64564564e-04 -9.82245822e+00] [-7.98928021e-03 4.19508698e-05 9.99968084e-01 -1.90149354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.044012739 meters Centerline goodness [0,1] 0.9951935511682042 Centerline is valid? [True, True] Translation: X:87.73, Y:-9.83, Z:-1.90 [[ 9.94453289e-01 1.04862159e-01 8.15989721e-03 8.77308477e+01] [-1.04858388e-01 9.94486765e-01 -8.89769612e-04 -9.82679288e+00] [-8.20821294e-03 2.92006484e-05 9.99966312e-01 -1.90123714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.074012739 meters Centerline goodness [0,1] 0.9944876571453471 Centerline is valid? [True, True] Translation: X:87.76, Y:-9.83, Z:-1.90 [[ 9.94283865e-01 1.06435545e-01 8.43035489e-03 8.77632461e+01] [-1.06431565e-01 9.94319604e-01 -9.20728231e-04 -9.83009967e+00] [-8.48046535e-03 1.82093625e-05 9.99964040e-01 -1.90087577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.104012739 meters Centerline goodness [0,1] 0.9943892030068673 Centerline is valid? [True, True] Translation: X:87.80, Y:-9.83, Z:-1.90 [[ 9.94103563e-01 1.08055448e-01 9.06238107e-03 8.77955839e+01] [-1.08050898e-01 9.94144869e-01 -9.91626371e-04 -9.83383001e+00] [-9.11647027e-03 6.58089251e-06 9.99958444e-01 -1.90063045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.134012739 meters Centerline goodness [0,1] 0.9926882557812534 Centerline is valid? [True, True] Translation: X:87.83, Y:-9.84, Z:-1.90 [[ 9.93972186e-01 1.09197669e-01 9.75512932e-03 8.78283492e+01] [-1.09192432e-01 9.94020055e-01 -1.06944584e-03 -9.83882981e+00] [-9.81357517e-03 -2.18687248e-06 9.99951846e-01 -1.89883782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164012739 meters Centerline goodness [0,1] 0.9926882557812534 Centerline is valid? [True, True] Translation: X:87.86, Y:-9.84, Z:-1.90 [[ 9.93950871e-01 1.09391536e-01 9.75492037e-03 8.78606385e+01] [-1.09386289e-01 9.93998738e-01 -1.07134866e-03 -9.84255855e+00] [-9.81357502e-03 -2.18660584e-06 9.99951846e-01 -1.89909801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.194012739 meters Centerline goodness [0,1] 0.9901803867283817 Centerline is valid? [True, True] Translation: X:87.89, Y:-9.85, Z:-1.89 [[ 9.94008465e-01 1.08764248e-01 1.08402250e-02 8.78917487e+01] [-1.08757707e-01 9.94067572e-01 -1.19282000e-03 -9.84985616e+00] [-1.09056523e-02 6.71516495e-06 9.99940532e-01 -1.89359183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224012739 meters Centerline goodness [0,1] 0.991343572118999 Centerline is valid? [True, True] Translation: X:87.92, Y:-9.86, Z:-1.90 [[ 9.94235767e-01 1.06599832e-01 1.14767221e-02 8.79228849e+01] [-1.06592331e-01 9.94302004e-01 -1.26504750e-03 -9.86069319e+00] [-1.15461817e-02 3.44249147e-05 9.99933340e-01 -1.89761909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.254012739 meters Centerline goodness [0,1] 0.9933878620038213 Centerline is valid? [True, True] Translation: X:87.95, Y:-9.87, Z:-1.90 [[ 9.94324456e-01 1.05885225e-01 1.03535200e-02 8.79545894e+01] [-1.05879064e-01 9.94378357e-01 -1.14296622e-03 -9.86901341e+00] [-1.04163395e-02 4.02582565e-05 9.99945748e-01 -1.90061145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284012739 meters Centerline goodness [0,1] 0.9947593376146395 Centerline is valid? [True, True] Translation: X:87.99, Y:-9.88, Z:-1.90 [[ 9.94378792e-01 1.05495574e-01 9.02785482e-03 8.79862600e+01] [-1.05490861e-01 9.94419772e-01 -9.98036280e-04 -9.87639510e+00] [-9.08276574e-03 4.00699349e-05 9.99958750e-01 -1.90318493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.314012739 meters Centerline goodness [0,1] 0.9947015570934256 Centerline is valid? [True, True] Translation: X:88.02, Y:-9.88, Z:-1.90 [[ 9.94201556e-01 1.07195724e-01 8.50546753e-03 8.80179317e+01] [-1.07191590e-01 9.94237937e-01 -9.41696799e-04 -9.87884840e+00] [-8.55740436e-03 2.45218326e-05 9.99963384e-01 -1.90466732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34401273900001 meters Centerline goodness [0,1] 0.9947153953902967 Centerline is valid? [True, True] Translation: X:88.05, Y:-9.88, Z:-1.90 [[ 9.93960320e-01 1.09397674e-01 8.66209366e-03 8.80502600e+01] [-1.09393458e-01 9.93998063e-01 -9.60496911e-04 -9.87915612e+00] [-8.71518045e-03 7.11943844e-06 9.99962022e-01 -1.90399173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.374012739 meters Centerline goodness [0,1] 0.9918950044544882 Centerline is valid? [True, True] Translation: X:88.08, Y:-9.88, Z:-1.90 [[ 9.93387820e-01 1.14494426e-01 8.46558639e-03 8.80842954e+01] [-1.14490571e-01 9.93423890e-01 -9.40172258e-04 -9.87543540e+00] [-8.51756025e-03 -3.52741500e-05 9.99963724e-01 -1.90476419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.404012739 meters Centerline goodness [0,1] 0.9920735505767619 Centerline is valid? [True, True] Translation: X:88.12, Y:-9.88, Z:-1.91 [[ 9.93154952e-01 1.16557576e-01 7.58763250e-03 8.81154521e+01] [-1.16554530e-01 9.93183935e-01 -8.43997627e-04 -9.87591473e+00] [-7.63428902e-03 -4.61525132e-05 9.99970857e-01 -1.90640193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.434012739 meters Centerline goodness [0,1] 0.9913817189279804 Centerline is valid? [True, True] Translation: X:88.15, Y:-9.88, Z:-1.91 [[ 9.93058819e-01 1.17386898e-01 7.38233540e-03 8.81484615e+01] [-1.17384029e-01 9.93086257e-01 -8.22266730e-04 -9.87851811e+00] [-7.42781917e-03 -5.00090425e-05 9.99972412e-01 -1.90756945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.464012739 meters Centerline goodness [0,1] 0.9908416735725972 Centerline is valid? [True, True] Translation: X:88.18, Y:-9.88, Z:-1.91 [[ 9.93048672e-01 1.17409222e-01 8.33127655e-03 8.81814247e+01] [-1.17405554e-01 9.93083618e-01 -9.29725294e-04 -9.88283831e+00] [-8.38281258e-03 -5.48756711e-05 9.99964862e-01 -1.90682393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.494012739 meters Centerline goodness [0,1] 0.9904512022022453 Centerline is valid? [True, True] Translation: X:88.21, Y:-9.89, Z:-1.91 [[ 9.93091987e-01 1.16997691e-01 8.93561921e-03 8.82142245e+01] [-1.16993439e-01 9.93132185e-01 -9.98954435e-04 -9.88832074e+00] [-8.99112640e-03 -5.33551730e-05 9.99959578e-01 -1.90633240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524012739 meters Centerline goodness [0,1] 0.9909859276712566 Centerline is valid? [True, True] Translation: X:88.25, Y:-9.89, Z:-1.91 [[ 9.93168330e-01 1.16312870e-01 9.38001469e-03 8.82470119e+01] [-1.16308136e-01 9.93212623e-01 -1.05049869e-03 -9.89370088e+00] [-9.43853551e-03 -4.76500009e-05 9.99955455e-01 -1.90528197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.554012739 meters Centerline goodness [0,1] 0.9914299181557183 Centerline is valid? [True, True] Translation: X:88.28, Y:-9.90, Z:-1.91 [[ 9.93173465e-01 1.16295709e-01 9.04301689e-03 8.82784398e+01] [-1.16291293e-01 9.93214632e-01 -1.01444667e-03 -9.89672046e+00] [-9.09963250e-03 -4.41026137e-05 9.99958597e-01 -1.90560517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584012739 meters Centerline goodness [0,1] 0.9922319708966403 Centerline is valid? [True, True] Translation: X:88.31, Y:-9.90, Z:-1.91 [[ 9.93185626e-01 1.16204347e-01 8.88041149e-03 8.83111967e+01] [-1.16200070e-01 9.93225326e-01 -9.97794340e-04 -9.90119086e+00] [-8.93619764e-03 -4.09094411e-05 9.99960071e-01 -1.90617879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.614012739 meters Centerline goodness [0,1] 0.9922069557750107 Centerline is valid? [True, True] Translation: X:88.34, Y:-9.91, Z:-1.91 [[ 9.93230287e-01 1.15819357e-01 8.91480618e-03 8.83429318e+01] [-1.15815017e-01 9.93270293e-01 -1.00335518e-03 -9.90681075e+00] [-8.97102010e-03 -3.59056719e-05 9.99959759e-01 -1.90639433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644012739 meters Centerline goodness [0,1] 0.9923516935535703 Centerline is valid? [True, True] Translation: X:88.38, Y:-9.91, Z:-1.91 [[ 9.93199544e-01 1.16081071e-01 8.93597353e-03 8.83755240e+01] [-1.16076705e-01 9.93239741e-01 -1.00734758e-03 -9.90960781e+00] [-8.99249802e-03 -3.67612096e-05 9.99959566e-01 -1.90685112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.674012739 meters Centerline goodness [0,1] 0.9917485767894074 Centerline is valid? [True, True] Translation: X:88.41, Y:-9.91, Z:-1.91 [[ 9.93112964e-01 1.16750479e-01 9.79619937e-03 8.84090062e+01] [-1.16745246e-01 9.93161278e-01 -1.10632540e-03 -9.91065101e+00] [-9.85836991e-03 -4.49536035e-05 9.99951404e-01 -1.90553706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704012739 meters Centerline goodness [0,1] 0.9914061500405169 Centerline is valid? [True, True] Translation: X:88.44, Y:-9.91, Z:-1.90 [[ 9.93025319e-01 1.17412765e-01 1.07218612e-02 8.84411471e+01] [-1.17406511e-01 9.93083199e-01 -1.21301074e-03 -9.91318292e+00] [-1.07901232e-02 -5.42659436e-05 9.99941783e-01 -1.90403366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.734012739 meters Centerline goodness [0,1] 0.989373684993518 Centerline is valid? [True, True] Translation: X:88.47, Y:-9.91, Z:-1.90 [[ 9.92853407e-01 1.18763132e-01 1.17231068e-02 8.84736697e+01] [-1.18755725e-01 9.92922612e-01 -1.32843522e-03 -9.91462119e+00] [-1.17979070e-02 -7.32446131e-05 9.99930400e-01 -1.90164477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.764012739 meters Centerline goodness [0,1] 0.9901043463263194 Centerline is valid? [True, True] Translation: X:88.51, Y:-9.92, Z:-1.90 [[ 9.92793616e-01 1.19326008e-01 1.10517341e-02 8.85067416e+01] [-1.19319439e-01 9.92855125e-01 -1.25415513e-03 -9.91599303e+00] [-1.11224242e-02 -7.35695079e-05 9.99938141e-01 -1.90325778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.794012739 meters Centerline goodness [0,1] 0.9906131718395155 Centerline is valid? [True, True] Translation: X:88.54, Y:-9.92, Z:-1.91 [[ 9.92793739e-01 1.19460345e-01 9.47727442e-03 8.85386621e+01] [-1.19455506e-01 9.92838971e-01 -1.07702141e-03 -9.91735540e+00] [-9.53806873e-03 -6.28525023e-05 9.99954510e-01 -1.90760108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.824012739 meters Centerline goodness [0,1] 0.9923111520421495 Centerline is valid? [True, True] Translation: X:88.57, Y:-9.92, Z:-1.91 [[ 9.92817595e-01 1.19448146e-01 6.73528461e-03 8.85707075e+01] [-1.19445696e-01 9.92840440e-01 -7.66187446e-04 -9.91874761e+00] [-6.77858260e-03 -4.38163837e-05 9.99977024e-01 -1.91491736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.854012739 meters Centerline goodness [0,1] 0.9924464511159138 Centerline is valid? [True, True] Translation: X:88.60, Y:-9.92, Z:-1.91 [[ 9.92810097e-01 1.19461125e-01 7.55982104e-03 8.86032736e+01] [-1.19458029e-01 9.92838878e-01 -8.61462791e-04 -9.92006404e+00] [-7.60859555e-03 -4.78123636e-05 9.99971053e-01 -1.91254397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.884012739 meters Centerline goodness [0,1] 0.992240837469386 Centerline is valid? [True, True] Translation: X:88.64, Y:-9.92, Z:-1.91 [[ 9.92756753e-01 1.19847271e-01 8.40600570e-03 8.86361085e+01] [-1.19843442e-01 9.92792339e-01 -9.59504446e-04 -9.92278585e+00] [-8.46041206e-03 -5.48501397e-05 9.99964209e-01 -1.91087774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.914012739 meters Centerline goodness [0,1] 0.9910618825642561 Centerline is valid? [True, True] Translation: X:88.67, Y:-9.92, Z:-1.91 [[ 9.92714863e-01 1.20132504e-01 9.24021246e-03 8.86680215e+01] [-1.20127872e-01 9.92757865e-01 -1.05667523e-03 -9.92297792e+00] [-9.30023463e-03 -6.10298538e-05 9.99956750e-01 -1.90942929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944012739 meters Centerline goodness [0,1] 0.991030530285276 Centerline is valid? [True, True] Translation: X:88.70, Y:-9.92, Z:-1.91 [[ 9.92651075e-01 1.20615207e-01 9.78854959e-03 8.87009394e+01] [-1.20610014e-01 9.92699334e-01 -1.12127185e-03 -9.92289677e+00] [-9.85232910e-03 -6.75654008e-05 9.99951462e-01 -1.90946581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.974012739 meters Centerline goodness [0,1] 0.9910592352338682 Centerline is valid? [True, True] Translation: X:88.73, Y:-9.92, Z:-1.91 [[ 9.92613670e-01 1.20916559e-01 9.86347564e-03 8.87336403e+01] [-1.20911283e-01 9.92662672e-01 -1.13171487e-03 -9.92474568e+00] [-9.92794716e-03 -6.92498404e-05 9.99950714e-01 -1.91001359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.004012739 meters Centerline goodness [0,1] 0.9908247046969795 Centerline is valid? [True, True] Translation: X:88.77, Y:-9.92, Z:-1.91 [[ 9.92471745e-01 1.22141188e-01 9.02031940e-03 8.87664857e+01] [-1.22136812e-01 9.92512733e-01 -1.03653441e-03 -9.92099507e+00] [-9.07938540e-03 -7.29819379e-05 9.99958779e-01 -1.91151139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.034012739 meters Centerline goodness [0,1] 0.991051065401073 Centerline is valid? [True, True] Translation: X:88.80, Y:-9.92, Z:-1.91 [[ 9.92333697e-01 1.23352501e-01 7.61534239e-03 8.87997579e+01] [-1.23349409e-01 9.92362915e-01 -8.76203919e-04 -9.92357270e+00] [-7.66526532e-03 -6.98613084e-05 9.99970619e-01 -1.91364532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064012739 meters Centerline goodness [0,1] 0.9912261930237535 Centerline is valid? [True, True] Translation: X:88.83, Y:-9.92, Z:-1.92 [[ 9.92239133e-01 1.24208850e-01 5.80206783e-03 8.88310236e+01] [-1.24207063e-01 9.92256095e-01 -6.68731693e-04 -9.91984041e+00] [-5.84019956e-03 -5.71160498e-05 9.99982944e-01 -1.91747978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09401273900001 meters Centerline goodness [0,1] 0.9918309018001877 Centerline is valid? [True, True] Translation: X:88.86, Y:-9.92, Z:-1.92 [[ 9.92365905e-01 1.23191306e-01 5.81480413e-03 8.88611788e+01] [-1.23189493e-01 9.92382940e-01 -6.70296330e-04 -9.92416979e+00] [-5.85308710e-03 -5.11435471e-05 9.99982869e-01 -1.91753510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.124012739 meters Centerline goodness [0,1] 0.9934043195240764 Centerline is valid? [True, True] Translation: X:88.89, Y:-9.93, Z:-1.91 [[ 9.92857254e-01 1.19031505e-01 8.12239743e-03 8.88922484e+01] [-1.19027828e-01 9.92890477e-01 -9.36310203e-04 -9.93297301e+00] [-8.17610147e-03 -3.71689445e-05 9.99966574e-01 -1.91311523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.154012739 meters Centerline goodness [0,1] 0.9941905333561997 Centerline is valid? [True, True] Translation: X:88.92, Y:-9.94, Z:-1.91 [[ 9.93141458e-01 1.16549163e-01 9.29179896e-03 8.89241100e+01] [-1.16544236e-01 9.93184924e-01 -1.07176018e-03 -9.93985048e+00] [-9.35338740e-03 -1.84961516e-05 9.99956256e-01 -1.91086206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.184012739 meters Centerline goodness [0,1] 0.9891702159535989 Centerline is valid? [True, True] Translation: X:88.96, Y:-9.95, Z:-1.90 [[ 9.93369290e-01 1.14565976e-01 9.59642309e-03 8.89567268e+01] [-1.14560613e-01 9.93415642e-01 -1.10856151e-03 -9.94583244e+00] [-9.66024023e-03 1.83885167e-06 9.99953339e-01 -1.90099793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.214012739 meters Centerline goodness [0,1] 0.9965531444427583 Centerline is valid? [True, True] Translation: X:88.99, Y:-9.96, Z:-1.91 [[ 9.93880407e-01 1.09986123e-01 1.02366845e-02 8.89880538e+01] [-1.09979757e-01 9.93933122e-01 -1.18450124e-03 -9.95619503e+00] [-1.03048584e-02 5.14245105e-05 9.99946902e-01 -1.91072740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.244012739 meters Centerline goodness [0,1] 0.9958903813293535 Centerline is valid? [True, True] Translation: X:89.02, Y:-9.96, Z:-1.91 [[ 9.94078653e-01 1.08139851e-01 1.06491752e-02 8.90189167e+01] [-1.08132836e-01 9.94135688e-01 -1.23400113e-03 -9.96414344e+00] [-1.07201698e-02 7.51686620e-05 9.99942535e-01 -1.90969748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.274012739 meters Centerline goodness [0,1] 0.9945169712793733 Centerline is valid? [True, True] Translation: X:89.05, Y:-9.97, Z:-1.91 [[ 9.94314566e-01 1.05972992e-01 1.04052072e-02 8.90493603e+01] [-1.05966160e-01 9.94369004e-01 -1.20727906e-03 -9.97273523e+00] [-1.04745545e-02 9.78153024e-05 9.99945136e-01 -1.90857371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304012739 meters Centerline goodness [0,1] 0.9948689323514889 Centerline is valid? [True, True] Translation: X:89.08, Y:-9.98, Z:-1.91 [[ 9.94347971e-01 1.05759782e-01 9.32632910e-03 8.90807511e+01] [-1.05754272e-01 9.94391704e-01 -1.08341195e-03 -9.97645328e+00] [-9.38860570e-03 9.09893357e-05 9.99955922e-01 -1.91067435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.334012739 meters Centerline goodness [0,1] 0.9957634371790482 Centerline is valid? [True, True] Translation: X:89.11, Y:-9.98, Z:-1.91 [[ 9.94342374e-01 1.05895599e-01 8.32864741e-03 8.91124229e+01] [-1.05891198e-01 9.94377250e-01 -9.68785973e-04 -9.98009570e+00] [-8.38440768e-03 8.13744897e-05 9.99964847e-01 -1.91386442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.364012739 meters Centerline goodness [0,1] 0.995713948953132 Centerline is valid? [True, True] Translation: X:89.14, Y:-9.99, Z:-1.92 [[ 9.94394227e-01 1.05392209e-01 8.52077470e-03 8.91448762e+01] [-1.05387576e-01 9.94430729e-01 -9.92167947e-04 -9.98557653e+00] [-8.57788696e-03 8.86222908e-05 9.99963205e-01 -1.91520605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.394012739 meters Centerline goodness [0,1] 0.9949146307156305 Centerline is valid? [True, True] Translation: X:89.18, Y:-9.99, Z:-1.91 [[ 9.94464909e-01 1.04665482e-01 9.20221276e-03 8.91765122e+01] [-1.04660031e-01 9.94507479e-01 -1.07327818e-03 -9.99239473e+00] [-9.26400459e-03 1.04233618e-04 9.99957083e-01 -1.91424276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424012739 meters Centerline goodness [0,1] 0.9928001556723098 Centerline is valid? [True, True] Translation: X:89.21, Y:-10.00, Z:-1.91 [[ 9.94574522e-01 1.03540670e-01 1.00423970e-02 8.92070293e+01] [-1.03534104e-01 9.94625213e-01 -1.17295588e-03 -9.99994252e+00] [-1.01098699e-02 1.26861454e-04 9.99948886e-01 -1.91214444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.454012739 meters Centerline goodness [0,1] 0.9938199323445225 Centerline is valid? [True, True] Translation: X:89.24, Y:-10.00, Z:-1.91 [[ 9.94551537e-01 1.03838845e-01 9.20518547e-03 8.92399255e+01] [-1.03833328e-01 9.94594129e-01 -1.07646413e-03 -1.00039637e+01] [-9.26720221e-03 1.14794014e-04 9.99957052e-01 -1.91345859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.484012739 meters Centerline goodness [0,1] 0.9949422429866484 Centerline is valid? [True, True] Translation: X:89.27, Y:-10.01, Z:-1.92 [[ 9.94488771e-01 1.04508508e-01 8.36996185e-03 8.92708289e+01] [-1.04503960e-01 9.94523987e-01 -9.80151918e-04 -1.00066881e+01] [-8.42656205e-03 1.00055920e-04 9.99964491e-01 -1.91576402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.514012739 meters Centerline goodness [0,1] 0.9961774685392776 Centerline is valid? [True, True] Translation: X:89.30, Y:-10.01, Z:-1.92 [[ 9.94366139e-01 1.05713522e-01 7.78672420e-03 8.93020886e+01] [-1.05709614e-01 9.94396623e-01 -9.12903484e-04 -1.00067704e+01] [-7.83959849e-03 8.46286987e-05 9.99969266e-01 -1.91691639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.544012739 meters Centerline goodness [0,1] 0.9958540986423784 Centerline is valid? [True, True] Translation: X:89.33, Y:-10.01, Z:-1.92 [[ 9.94232018e-01 1.06938135e-01 8.18104271e-03 8.93335875e+01] [-1.06933852e-01 9.94265673e-01 -9.60374505e-04 -1.00063649e+01] [-8.23683059e-03 8.00046686e-05 9.99966074e-01 -1.91590879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.574012739 meters Centerline goodness [0,1] 0.9969630395451021 Centerline is valid? [True, True] Translation: X:89.36, Y:-10.01, Z:-1.92 [[ 9.94127113e-01 1.07931405e-01 7.88001014e-03 8.93646159e+01] [-1.07927454e-01 9.94158341e-01 -9.26130407e-04 -1.00076722e+01] [-7.93393637e-03 7.02219138e-05 9.99968523e-01 -1.91668877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.604012739 meters Centerline goodness [0,1] 0.9968883868630251 Centerline is valid? [True, True] Translation: X:89.40, Y:-10.01, Z:-1.92 [[ 9.94019205e-01 1.08950875e-01 7.45158907e-03 8.93967634e+01] [-1.08947367e-01 9.94047133e-01 -8.76361063e-04 -1.00086155e+01] [-7.50271106e-03 5.92887181e-05 9.99971853e-01 -1.91765419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.634012739 meters Centerline goodness [0,1] 0.998234470879535 Centerline is valid? [True, True] Translation: X:89.43, Y:-10.01, Z:-1.92 [[ 9.93922897e-01 1.09911805e-01 6.05562852e-03 8.94293022e+01] [-1.09909502e-01 9.93941343e-01 -7.12867366e-04 -1.00084673e+01] [-6.09729208e-03 4.29640829e-05 9.99981410e-01 -1.92082353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664012739 meters Centerline goodness [0,1] 0.9983845259122044 Centerline is valid? [True, True] Translation: X:89.46, Y:-10.01, Z:-1.92 [[ 9.93926354e-01 1.09887106e-01 5.93516514e-03 8.94609007e+01] [-1.09884887e-01 9.93944074e-01 -6.99659464e-04 -1.00122497e+01] [-5.97610577e-03 4.32250269e-05 9.99982142e-01 -1.92130259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.694012739 meters Centerline goodness [0,1] 0.9986230044322045 Centerline is valid? [True, True] Translation: X:89.49, Y:-10.02, Z:-1.92 [[ 9.94084454e-01 1.08455144e-01 5.79484416e-03 8.94913150e+01] [-1.08452999e-01 9.94101343e-01 -6.84001631e-04 -1.00184210e+01] [-5.83484585e-03 5.14871614e-05 9.99982976e-01 -1.92217252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724012739 meters Centerline goodness [0,1] 0.996345629892315 Centerline is valid? [True, True] Translation: X:89.52, Y:-10.02, Z:-1.92 [[ 9.94206175e-01 1.07348209e-01 5.51749284e-03 8.95233858e+01] [-1.07346244e-01 9.94221484e-01 -6.51954575e-04 -1.00227258e+01] [-5.55559607e-03 5.58951346e-05 9.99984566e-01 -1.91815088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.754012739 meters Centerline goodness [0,1] 0.9981672344646169 Centerline is valid? [True, True] Translation: X:89.56, Y:-10.03, Z:-1.92 [[ 9.94308385e-01 1.06393029e-01 5.59987378e-03 8.95557556e+01] [-1.06390984e-01 9.94324152e-01 -6.62561126e-04 -1.00253952e+01] [-5.63858164e-03 6.30139997e-05 9.99984101e-01 -1.92256060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784012739 meters Centerline goodness [0,1] 0.9966382978723404 Centerline is valid? [True, True] Translation: X:89.59, Y:-10.04, Z:-1.92 [[ 9.94479566e-01 1.04777301e-01 5.66655277e-03 8.95854878e+01] [-1.04775175e-01 9.94495707e-01 -6.71455881e-04 -1.00362233e+01] [-5.70571574e-03 7.40350925e-05 9.99983720e-01 -1.92328797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.814012739 meters Centerline goodness [0,1] 0.9961669134942068 Centerline is valid? [True, True] Translation: X:89.62, Y:-10.04, Z:-1.92 [[ 9.94632233e-01 1.03290254e-01 6.15179414e-03 8.96174652e+01] [-1.03287714e-01 9.94651253e-01 -7.30006355e-04 -1.00419886e+01] [-6.19429229e-03 9.06830938e-05 9.99980811e-01 -1.92230436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84401273900001 meters Centerline goodness [0,1] 0.9944024270392685 Centerline is valid? [True, True] Translation: X:89.65, Y:-10.05, Z:-1.92 [[ 9.94671804e-01 1.02863421e-01 6.86439273e-03 8.96477686e+01] [-1.02860239e-01 9.94695484e-01 -8.15889744e-04 -1.00528446e+01] [-6.91190566e-03 1.05469443e-04 9.99976107e-01 -1.92198418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.874012739 meters Centerline goodness [0,1] 0.994303166832734 Centerline is valid? [True, True] Translation: X:89.68, Y:-10.05, Z:-1.92 [[ 9.94734844e-01 1.02220403e-01 7.31973943e-03 8.96803894e+01] [-1.02216759e-01 9.94761768e-01 -8.71291483e-04 -1.00546118e+01] [-7.37046070e-03 1.18503958e-04 9.99972831e-01 -1.92064493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.904012739 meters Centerline goodness [0,1] 0.9925502909036261 Centerline is valid? [True, True] Translation: X:89.71, Y:-10.06, Z:-1.92 [[ 9.94789661e-01 1.01590714e-01 8.53565987e-03 8.97111380e+01] [-1.01585729e-01 9.94826269e-01 -1.01666342e-03 -1.00620642e+01] [-8.59478223e-03 1.44265025e-04 9.99963054e-01 -1.91871801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.934012739 meters Centerline goodness [0,1] 0.992831774081774 Centerline is valid? [True, True] Translation: X:89.74, Y:-10.07, Z:-1.92 [[ 9.94775126e-01 1.01720913e-01 8.67777764e-03 8.97432962e+01] [-1.01715754e-01 9.94812964e-01 -1.03496568e-03 -1.00677172e+01] [-8.73804335e-03 1.46891413e-04 9.99961812e-01 -1.91842483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.964012739 meters Centerline goodness [0,1] 0.9935288388702521 Centerline is valid? [True, True] Translation: X:89.77, Y:-10.07, Z:-1.92 [[ 9.94637665e-01 1.03065949e-01 8.56304220e-03 8.97741045e+01] [-1.03060961e-01 9.94674516e-01 -1.02284312e-03 -1.00731216e+01] [-8.62286015e-03 1.34842933e-04 9.99962813e-01 -1.91866091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.994012739 meters Centerline goodness [0,1] 0.9950707243891984 Centerline is valid? [True, True] Translation: X:89.81, Y:-10.08, Z:-1.92 [[ 9.94564121e-01 1.03845539e-01 7.63637838e-03 8.98065125e+01] [-1.03841587e-01 9.94593430e-01 -9.13211324e-04 -1.00767920e+01] [-7.68992469e-03 1.15273566e-04 9.99970425e-01 -1.92085475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024012739 meters Centerline goodness [0,1] 0.9964283395025652 Centerline is valid? [True, True] Translation: X:89.84, Y:-10.08, Z:-1.92 [[ 9.94446519e-01 1.05079976e-01 5.85835144e-03 8.98377429e+01] [-1.05077671e-01 9.94463771e-01 -7.00623417e-04 -1.00802092e+01] [-5.89953976e-03 8.11505911e-05 9.99982594e-01 -1.92444010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.054012739 meters Centerline goodness [0,1] 0.9985015840397294 Centerline is valid? [True, True] Translation: X:89.87, Y:-10.08, Z:-1.93 [[ 9.94113143e-01 1.08253085e-01 4.50863117e-03 8.98688108e+01] [-1.08251750e-01 9.94123366e-01 -5.39807645e-04 -1.00829421e+01] [-4.54057143e-03 4.85626595e-05 9.99989690e-01 -1.92730533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084012739 meters Centerline goodness [0,1] 0.9985015840397294 Centerline is valid? [True, True] Translation: X:89.90, Y:-10.09, Z:-1.93 [[ 9.94093604e-01 1.08432366e-01 4.50861847e-03 8.99010625e+01] [-1.08431032e-01 9.94103827e-01 -5.39914031e-04 -1.00870074e+01] [-4.54057903e-03 4.78509304e-05 9.99989690e-01 -1.92756549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.114012739 meters Centerline goodness [0,1] 0.9988118640772504 Centerline is valid? [True, True] Translation: X:89.93, Y:-10.09, Z:-1.93 [[ 9.93888019e-01 1.10289484e-01 4.77865086e-03 8.99332232e+01] [-1.10288002e-01 9.93899506e-01 -5.73264157e-04 -1.00885201e+01] [-4.81272374e-03 4.27325203e-05 9.99988418e-01 -1.92661017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144012739 meters Centerline goodness [0,1] 0.99870709160256 Centerline is valid? [True, True] Translation: X:89.96, Y:-10.09, Z:-1.92 [[ 9.93347344e-01 1.15013757e-01 5.73501288e-03 8.99644942e+01] [-1.15011694e-01 9.93363899e-01 -6.89240203e-04 -1.00871254e+01] [-5.77622686e-03 2.50613759e-05 9.99983317e-01 -1.92461481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.174012739 meters Centerline goodness [0,1] 0.9982305412838169 Centerline is valid? [True, True] Translation: X:90.00, Y:-10.09, Z:-1.92 [[ 9.93029141e-01 1.17697907e-01 6.35042934e-03 8.99960417e+01] [-1.17695426e-01 9.93049446e-01 -7.64312231e-04 -1.00877846e+01] [-6.39624829e-03 1.15678310e-05 9.99979544e-01 -1.92374573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204012739 meters Centerline goodness [0,1] 0.9955464795463926 Centerline is valid? [True, True] Translation: X:90.03, Y:-10.09, Z:-1.92 [[ 9.92500390e-01 1.22091131e-01 6.06071473e-03 9.00286137e+01] [-1.22088948e-01 9.92518894e-01 -7.30290866e-04 -1.00856030e+01] [-6.10453592e-03 -1.51323171e-05 9.99981367e-01 -1.92410536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.234012739 meters Centerline goodness [0,1] 0.9947447447447447 Centerline is valid? [True, True] Translation: X:90.06, Y:-10.09, Z:-1.92 [[ 9.92248231e-01 1.24112411e-01 6.28951152e-03 9.00593942e+01] [-1.24110093e-01 9.92268164e-01 -7.59129952e-04 -1.00855540e+01] [-6.33509950e-03 -2.73465065e-05 9.99979933e-01 -1.92398108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.264012739 meters Centerline goodness [0,1] 0.991862155769189 Centerline is valid? [True, True] Translation: X:90.09, Y:-10.09, Z:-1.92 [[ 9.91919196e-01 1.26669833e-01 7.14576706e-03 9.00911879e+01] [-1.26666903e-01 9.91944933e-01 -8.62983218e-04 -1.00852549e+01] [-7.19752137e-03 -4.91225631e-05 9.99974096e-01 -1.92280524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.294012739 meters Centerline goodness [0,1] 0.9874118075958054 Centerline is valid? [True, True] Translation: X:90.12, Y:-10.07, Z:-1.92 [[ 9.90984229e-01 1.33678224e-01 8.96600718e-03 9.01221846e+01] [-1.33673895e-01 9.91024781e-01 -1.08303609e-03 -1.00729635e+01] [-9.03031365e-03 -1.25249417e-04 9.99959218e-01 -1.91797637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.324012739 meters Centerline goodness [0,1] 0.9871285213915809 Centerline is valid? [True, True] Translation: X:90.15, Y:-10.07, Z:-1.92 [[ 9.90434335e-01 1.37679413e-01 9.17648162e-03 9.01531939e+01] [-1.37675051e-01 9.90476830e-01 -1.10836425e-03 -1.00707095e+01] [-9.24169137e-03 -1.65610568e-04 9.99957281e-01 -1.91771799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.354012739 meters Centerline goodness [0,1] 0.9862778362359611 Centerline is valid? [True, True] Translation: X:90.19, Y:-10.06, Z:-1.92 [[ 9.89252864e-01 1.46016269e-01 7.61710208e-03 9.01855912e+01] [-1.46013510e-01 9.89282168e-01 -9.20018116e-04 -1.00551223e+01] [-7.66980087e-03 -2.02069254e-04 9.99970566e-01 -1.92059728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.384012739 meters Centerline goodness [0,1] 0.9850698312055522 Centerline is valid? [True, True] Translation: X:90.22, Y:-10.05, Z:-1.92 [[ 9.88767428e-01 1.49300100e-01 6.96089250e-03 9.02150764e+01] [-1.49297877e-01 9.88791908e-01 -8.40777813e-04 -1.00469962e+01] [-7.00840239e-03 -2.07912759e-04 9.99975419e-01 -1.92259628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.414012739 meters Centerline goodness [0,1] 0.981746234363033 Centerline is valid? [True, True] Translation: X:90.25, Y:-10.03, Z:-1.92 [[ 9.88321919e-01 1.52209998e-01 7.20422433e-03 9.02455874e+01] [-1.52207696e-01 9.88348147e-01 -8.69932434e-04 -1.00327498e+01] [-7.25269418e-03 -2.36765092e-04 9.99973671e-01 -1.92302866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444012739 meters Centerline goodness [0,1] 0.9841670441553959 Centerline is valid? [True, True] Translation: X:90.27, Y:-10.04, Z:-1.92 [[ 9.88378610e-01 1.51834645e-01 7.34600319e-03 9.02735784e+01] [-1.51832244e-01 9.88405880e-01 -8.86679503e-04 -1.00384039e+01] [-7.39546142e-03 -2.38985093e-04 9.99972625e-01 -1.92257346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.474012739 meters Centerline goodness [0,1] 0.9861288437817836 Centerline is valid? [True, True] Translation: X:90.30, Y:-10.04, Z:-1.92 [[ 9.88863550e-01 1.48660481e-01 6.99578928e-03 9.03034136e+01] [-1.48658226e-01 9.88888274e-01 -8.44161249e-04 -1.00394751e+01] [-7.04354741e-03 -2.05221331e-04 9.99975173e-01 -1.92360542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.504012739 meters Centerline goodness [0,1] 0.9860624198375374 Centerline is valid? [True, True] Translation: X:90.33, Y:-10.04, Z:-1.92 [[ 9.89259283e-01 1.45998622e-01 7.10442267e-03 9.03315193e+01] [-1.45996229e-01 9.89284775e-01 -8.57125615e-04 -1.00393005e+01] [-7.15343634e-03 -1.89299444e-04 9.99974396e-01 -1.92371773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.534012739 meters Centerline goodness [0,1] 0.9873390557939914 Centerline is valid? [True, True] Translation: X:90.36, Y:-10.05, Z:-1.92 [[ 9.90085046e-01 1.40270111e-01 7.47649338e-03 9.03612383e+01] [-1.40267301e-01 9.90113262e-01 -9.01520919e-04 -1.00455554e+01] [-7.52903169e-03 -1.56125168e-04 9.99971644e-01 -1.92318905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564012739 meters Centerline goodness [0,1] 0.9879301489470981 Centerline is valid? [True, True] Translation: X:90.39, Y:-10.05, Z:-1.92 [[ 9.90550253e-01 1.36934123e-01 7.69694526e-03 9.03891411e+01] [-1.36931045e-01 9.90580147e-01 -9.28018587e-04 -1.00498301e+01] [-7.75151858e-03 -1.34701713e-04 9.99969947e-01 -1.92268283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59401273900001 meters Centerline goodness [0,1] 0.9892205108540508 Centerline is valid? [True, True] Translation: X:90.42, Y:-10.06, Z:-1.92 [[ 9.90998787e-01 1.33623963e-01 8.12651347e-03 9.04173207e+01] [-1.33620423e-01 9.91032100e-01 -9.79410112e-04 -1.00556046e+01] [-8.18450837e-03 -1.15273935e-04 9.99966500e-01 -1.92180645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.624012739 meters Centerline goodness [0,1] 0.9916654071211107 Centerline is valid? [True, True] Translation: X:90.45, Y:-10.07, Z:-1.92 [[ 9.91868124e-01 1.26972502e-01 8.69531219e-03 9.04458600e+01] [-1.26968198e-01 9.91906235e-01 -1.04754463e-03 -1.00667496e+01] [-8.75794374e-03 -6.50019855e-05 9.99961646e-01 -1.92218301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.654012739 meters Centerline goodness [0,1] 0.9927553316900654 Centerline is valid? [True, True] Translation: X:90.47, Y:-10.07, Z:-1.92 [[ 9.92314718e-01 1.23453807e-01 8.40576996e-03 9.04741247e+01] [-1.23449660e-01 9.92350319e-01 -1.01245719e-03 -1.00725700e+01] [-8.46646019e-03 -3.30132682e-05 9.99964158e-01 -1.92275768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.684012739 meters Centerline goodness [0,1] 0.991980112408128 Centerline is valid? [True, True] Translation: X:90.50, Y:-10.09, Z:-1.91 [[ 9.93089815e-01 1.17194815e-01 6.16403527e-03 9.05028389e+01] [-1.17192465e-01 9.93108944e-01 -7.42230988e-04 -1.00868314e+01] [-6.20854419e-03 1.47235451e-05 9.99980727e-01 -1.91484358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.714012739 meters Centerline goodness [0,1] 0.997873437298621 Centerline is valid? [True, True] Translation: X:90.53, Y:-10.09, Z:-1.93 [[ 9.93406023e-01 1.14454702e-01 6.67796647e-03 9.05317188e+01] [-1.14451882e-01 9.93428467e-01 -8.04145791e-04 -1.00942565e+01] [-6.72612026e-03 3.45374399e-05 9.99977379e-01 -1.92554877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.744012739 meters Centerline goodness [0,1] 0.9913643087096493 Centerline is valid? [True, True] Translation: X:90.56, Y:-10.10, Z:-1.91 [[ 9.93617560e-01 1.12640043e-01 6.03033786e-03 9.05601174e+01] [-1.12637712e-01 9.93635858e-01 -7.25970516e-04 -1.01021232e+01] [-6.07373328e-03 4.20935961e-05 9.99981554e-01 -1.91430898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.774012739 meters Centerline goodness [0,1] 0.9976226681801632 Centerline is valid? [True, True] Translation: X:90.59, Y:-10.11, Z:-1.93 [[ 9.93900375e-01 1.10074900e-01 6.74989022e-03 9.05894966e+01] [-1.10071919e-01 9.93923293e-01 -8.12665489e-04 -1.01129956e+01] [-6.79832718e-03 6.47351642e-05 9.99976889e-01 -1.92695274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804012739 meters Centerline goodness [0,1] 0.9973065988328595 Centerline is valid? [True, True] Translation: X:90.62, Y:-10.12, Z:-1.93 [[ 9.94038204e-01 1.08874055e-01 5.87279046e-03 9.06184909e+01] [-1.08871778e-01 9.94055550e-01 -7.07041194e-04 -1.01230620e+01] [-5.91485839e-03 6.34448216e-05 9.99982505e-01 -1.92865271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.834012739 meters Centerline goodness [0,1] 0.9966750151135677 Centerline is valid? [True, True] Translation: X:90.65, Y:-10.13, Z:-1.93 [[ 9.94061774e-01 1.08645082e-01 6.11845576e-03 9.06496629e+01] [-1.08642606e-01 9.94080601e-01 -7.36672531e-04 -1.01287742e+01] [-6.16227403e-03 6.75730250e-05 9.99981011e-01 -1.92845120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.864012739 meters Centerline goodness [0,1] 0.9963535148664394 Centerline is valid? [True, True] Translation: X:90.68, Y:-10.13, Z:-1.93 [[ 9.94032909e-01 1.08884773e-01 6.53313217e-03 9.06803347e+01] [-1.08881953e-01 9.94054375e-01 -7.86761867e-04 -1.01331811e+01] [-6.57995501e-03 7.07269959e-05 9.99978349e-01 -1.92621615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.894012739 meters Centerline goodness [0,1] 0.9959567003251755 Centerline is valid? [True, True] Translation: X:90.71, Y:-10.14, Z:-1.92 [[ 9.93912590e-01 1.09897715e-01 7.76250970e-03 9.07101591e+01] [-1.09893764e-01 9.93942899e-01 -9.35030095e-04 -1.01391430e+01] [-7.81824907e-03 7.62867745e-05 9.99969434e-01 -1.92426141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924012739 meters Centerline goodness [0,1] 0.9962374310736296 Centerline is valid? [True, True] Translation: X:90.74, Y:-10.14, Z:-1.92 [[ 9.93817797e-01 1.10711242e-01 8.31905702e-03 9.07415548e+01] [-1.10706731e-01 9.93852612e-01 -1.00217694e-03 -1.01428102e+01] [-8.37886881e-03 7.50056700e-05 9.99964894e-01 -1.92419257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.954012739 meters Centerline goodness [0,1] 0.9945652173913043 Centerline is valid? [True, True] Translation: X:90.77, Y:-10.15, Z:-1.92 [[ 9.93513666e-01 1.13276277e-01 9.95389912e-03 9.07720880e+01] [-1.13269946e-01 9.93563526e-01 -1.19939054e-03 -1.01471107e+01] [-1.00256936e-02 6.41332761e-05 9.99949739e-01 -1.92163925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.984012739 meters Centerline goodness [0,1] 0.9939025708663971 Centerline is valid? [True, True] Translation: X:90.80, Y:-10.15, Z:-1.92 [[ 9.93300046e-01 1.15080152e-01 1.05629816e-02 9.08039863e+01] [-1.15073117e-01 9.93356208e-01 -1.27340067e-03 -1.01498539e+01] [-1.06393465e-02 4.93537234e-05 9.99943399e-01 -1.92080856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.014012739 meters Centerline goodness [0,1] 0.9944770602304849 Centerline is valid? [True, True] Translation: X:90.84, Y:-10.15, Z:-1.92 [[ 9.92812451e-01 1.19278472e-01 9.80221399e-03 9.08367701e+01] [-1.19272603e-01 9.92860839e-01 -1.18320618e-03 -1.01489829e+01] [-9.87336543e-03 5.56624991e-06 9.99951257e-01 -1.92204926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.044012739 meters Centerline goodness [0,1] 0.9940541352737888 Centerline is valid? [True, True] Translation: X:90.87, Y:-10.15, Z:-1.92 [[ 9.92493211e-01 1.21970456e-01 8.96844712e-03 9.08671487e+01] [-1.21965642e-01 9.92533731e-01 -1.08384847e-03 -1.01498553e+01] [-9.03368377e-03 -1.81301590e-05 9.99959195e-01 -1.92268953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.074012739 meters Centerline goodness [0,1] 0.9893238434163701 Centerline is valid? [True, True] Translation: X:90.90, Y:-10.15, Z:-1.92 [[ 9.92165119e-01 1.24664281e-01 8.19719081e-03 9.08967837e+01] [-1.24660350e-01 9.92198980e-01 -9.90728576e-04 -1.01497529e+01] [-8.25675283e-03 -3.88983447e-05 9.99965912e-01 -1.91566429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.104012739 meters Centerline goodness [0,1] 0.9903200017285712 Centerline is valid? [True, True] Translation: X:90.93, Y:-10.15, Z:-1.92 [[ 9.91459545e-01 1.30123816e-01 8.70424086e-03 9.09274251e+01] [-1.30119596e-01 9.91497748e-01 -1.05189420e-03 -1.01460242e+01] [-8.76711170e-03 -8.96817590e-05 9.99961564e-01 -1.92395255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.134012739 meters Centerline goodness [0,1] 0.9887189825637506 Centerline is valid? [True, True] Translation: X:90.96, Y:-10.14, Z:-1.92 [[ 9.90629463e-01 1.36279992e-01 9.00173903e-03 9.09580335e+01] [-1.36275734e-01 9.90670350e-01 -1.08763452e-03 -1.01425446e+01] [-9.06597877e-03 -1.49275796e-04 9.99958892e-01 -1.92393276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164012739 meters Centerline goodness [0,1] 0.987947139597951 Centerline is valid? [True, True] Translation: X:90.99, Y:-10.14, Z:-1.93 [[ 9.90167143e-01 1.39621445e-01 8.65340410e-03 9.09876190e+01] [-1.39617639e-01 9.90204939e-01 -1.04533889e-03 -1.01420256e+01] [-8.71459521e-03 -1.73107635e-04 9.99962012e-01 -1.92500680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.194012739 meters Centerline goodness [0,1] 0.9869031086422391 Centerline is valid? [True, True] Translation: X:91.02, Y:-10.14, Z:-1.93 [[ 9.89729642e-01 1.42724206e-01 8.06450117e-03 9.10169343e+01] [-1.42721006e-01 9.89762480e-01 -9.73924607e-04 -1.01379505e+01] [-8.12094329e-03 -1.87051667e-04 9.99967007e-01 -1.92640124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224012739 meters Centerline goodness [0,1] 0.9869420956866103 Centerline is valid? [True, True] Translation: X:91.05, Y:-10.14, Z:-1.93 [[ 9.89220255e-01 1.46215331e-01 8.02270871e-03 9.10463305e+01] [-1.46212281e-01 9.89252764e-01 -9.68589211e-04 -1.01362762e+01] [-8.07810936e-03 -2.14870472e-04 9.99967348e-01 -1.92779994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.254012739 meters Centerline goodness [0,1] 0.9870461831730353 Centerline is valid? [True, True] Translation: X:91.08, Y:-10.14, Z:-1.93 [[ 9.89182419e-01 1.46468740e-01 8.06537776e-03 9.10752467e+01] [-1.46465668e-01 9.89215275e-01 -9.73448259e-04 -1.01409818e+01] [-8.12097462e-03 -2.18383041e-04 9.99967000e-01 -1.92775461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284012739 meters Centerline goodness [0,1] 0.9872050227321931 Centerline is valid? [True, True] Translation: X:91.10, Y:-10.14, Z:-1.93 [[ 9.89290741e-01 1.45790463e-01 6.99790698e-03 9.11034408e+01] [-1.45788135e-01 9.89315474e-01 -8.44317795e-04 -1.01435872e+01] [-7.04623114e-03 -1.84936030e-04 9.99975158e-01 -1.93060340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.314012739 meters Centerline goodness [0,1] 0.9876179625529353 Centerline is valid? [True, True] Translation: X:91.13, Y:-10.15, Z:-1.93 [[ 9.89396577e-01 1.45110647e-01 6.10843329e-03 9.11323156e+01] [-1.45108862e-01 9.89415421e-01 -7.36750584e-04 -1.01478881e+01] [-6.15068845e-03 -1.57449300e-04 9.99981072e-01 -1.93281837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34401273900001 meters Centerline goodness [0,1] 0.9875381375961497 Centerline is valid? [True, True] Translation: X:91.16, Y:-10.15, Z:-1.93 [[ 9.89533316e-01 1.44203350e-01 5.40461052e-03 9.11604755e+01] [-1.44201940e-01 9.89548066e-01 -6.51672046e-04 -1.01496313e+01] [-5.44209518e-03 -1.34504122e-04 9.99985183e-01 -1.93481458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.374012739 meters Centerline goodness [0,1] 0.9875527516091905 Centerline is valid? [True, True] Translation: X:91.19, Y:-10.16, Z:-1.93 [[ 9.89801476e-01 1.42335598e-01 5.79794498e-03 9.11891815e+01] [-1.42333946e-01 9.89818448e-01 -6.98729654e-04 -1.01558319e+01] [-5.83836701e-03 -1.33640743e-04 9.99982948e-01 -1.93425481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.404012739 meters Centerline goodness [0,1] 0.988786449399657 Centerline is valid? [True, True] Translation: X:91.22, Y:-10.16, Z:-1.93 [[ 9.89972593e-01 1.41083333e-01 7.05401574e-03 9.12173557e+01] [-1.41080860e-01 9.89997712e-01 -8.49484671e-04 -1.01596529e+01] [-7.10330757e-03 -1.54220065e-04 9.99974759e-01 -1.93240113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.434012739 meters Centerline goodness [0,1] 0.9884305620658798 Centerline is valid? [True, True] Translation: X:91.25, Y:-10.16, Z:-1.93 [[ 9.89929857e-01 1.41366592e-01 7.37330048e-03 9.12458464e+01] [-1.41363901e-01 9.89957302e-01 -8.87570660e-04 -1.01635399e+01] [-7.42472549e-03 -1.63685821e-04 9.99972423e-01 -1.93228655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.464012739 meters Centerline goodness [0,1] 0.9880083532476479 Centerline is valid? [True, True] Translation: X:91.27, Y:-10.17, Z:-1.93 [[ 9.89854525e-01 1.41884470e-01 7.53762076e-03 9.12747477e+01] [-1.41881675e-01 9.89883209e-01 -9.06979957e-04 -1.01668305e+01] [-7.59005060e-03 -1.71672047e-04 9.99971180e-01 -1.93244645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.494012739 meters Centerline goodness [0,1] 0.9873880067894205 Centerline is valid? [True, True] Translation: X:91.30, Y:-10.17, Z:-1.93 [[ 9.89657300e-01 1.43299915e-01 6.60023798e-03 9.13029224e+01] [-1.43297805e-01 9.89679296e-01 -7.93931168e-04 -1.01676778e+01] [-6.64588915e-03 -1.60079838e-04 9.99977903e-01 -1.93404908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524012739 meters Centerline goodness [0,1] 0.9870466321243523 Centerline is valid? [True, True] Translation: X:91.33, Y:-10.17, Z:-1.93 [[ 9.89587843e-01 1.43804102e-01 6.02333507e-03 9.13309737e+01] [-1.43802357e-01 9.89606163e-01 -7.24214884e-04 -1.01667980e+01] [-6.06487458e-03 -1.49495532e-04 9.99981597e-01 -1.93498800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.554012739 meters Centerline goodness [0,1] 0.9873561737935772 Centerline is valid? [True, True] Translation: X:91.36, Y:-10.17, Z:-1.94 [[ 9.89548602e-01 1.44074969e-01 5.99737526e-03 9.13594230e+01] [-1.44073245e-01 9.89566764e-01 -7.20708061e-04 -1.01678912e+01] [-6.03863922e-03 -1.50885663e-04 9.99981756e-01 -1.93539717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584012739 meters Centerline goodness [0,1] 0.986707829517194 Centerline is valid? [True, True] Translation: X:91.39, Y:-10.17, Z:-1.93 [[ 9.89611069e-01 1.43555286e-01 7.86203891e-03 9.13883461e+01] [-1.43552312e-01 9.89642280e-01 -9.44306760e-04 -1.01712227e+01] [-7.91616634e-03 -1.94117438e-04 9.99968648e-01 -1.93295675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.614012739 meters Centerline goodness [0,1] 0.9872407946789549 Centerline is valid? [True, True] Translation: X:91.42, Y:-10.18, Z:-1.93 [[ 9.89785490e-01 1.42266742e-01 9.21185100e-03 9.14164762e+01] [-1.42262607e-01 9.89828332e-01 -1.10593190e-03 -1.01753987e+01] [-9.27548844e-03 -2.15866587e-04 9.99956958e-01 -1.93164144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644012739 meters Centerline goodness [0,1] 0.9879538658692866 Centerline is valid? [True, True] Translation: X:91.44, Y:-10.18, Z:-1.93 [[ 9.89925415e-01 1.41305229e-01 8.97243570e-03 9.14446675e+01] [-1.41301271e-01 9.89966056e-01 -1.07677248e-03 -1.01784113e+01] [-9.03456036e-03 -2.01892121e-04 9.99959167e-01 -1.93220423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.674012739 meters Centerline goodness [0,1] 0.9881651748520647 Centerline is valid? [True, True] Translation: X:91.47, Y:-10.18, Z:-1.93 [[ 9.90079852e-01 1.40277693e-01 8.00344176e-03 9.14725850e+01] [-1.40274513e-01 9.90112185e-01 -9.60146566e-04 -1.01823581e+01] [-8.05899235e-03 -1.72057125e-04 9.99967511e-01 -1.93436351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704012739 meters Centerline goodness [0,1] 0.9883454419650579 Centerline is valid? [True, True] Translation: X:91.50, Y:-10.19, Z:-1.94 [[ 9.90361640e-01 1.38360498e-01 6.33992830e-03 9.15009398e+01] [-1.38358465e-01 9.90381925e-01 -7.60286843e-04 -1.01907279e+01] [-6.38414406e-03 -1.24223822e-04 9.99979613e-01 -1.93824938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.734012739 meters Centerline goodness [0,1] 0.9881627567242417 Centerline is valid? [True, True] Translation: X:91.53, Y:-10.19, Z:-1.94 [[ 9.90419509e-01 1.37938620e-01 6.49100192e-03 9.15283422e+01] [-1.37936482e-01 9.90440771e-01 -7.78107732e-04 -1.01931516e+01] [-6.53628405e-03 -1.24692890e-04 9.99978630e-01 -1.93799066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.764012739 meters Centerline goodness [0,1] 0.988245100344098 Centerline is valid? [True, True] Translation: X:91.56, Y:-10.19, Z:-1.94 [[ 9.90258507e-01 1.39050411e-01 7.28515369e-03 9.15570539e+01] [-1.39047751e-01 9.90285293e-01 -8.72783208e-04 -1.01887058e+01] [-7.33574141e-03 -1.48703241e-04 9.99973082e-01 -1.93649567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.794012739 meters Centerline goodness [0,1] 0.9883942936822911 Centerline is valid? [True, True] Translation: X:91.59, Y:-10.19, Z:-1.94 [[ 9.90216934e-01 1.39337523e-01 7.44834631e-03 9.15859723e+01] [-1.39334754e-01 9.90244935e-01 -8.91881868e-04 -1.01908361e+01] [-7.49995982e-03 -1.54656973e-04 9.99971863e-01 -1.93655335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.824012739 meters Centerline goodness [0,1] 0.9882238757683598 Centerline is valid? [True, True] Translation: X:91.61, Y:-10.19, Z:-1.94 [[ 9.90277863e-01 1.38951183e-01 6.50557239e-03 9.16145828e+01] [-1.38949064e-01 9.90299223e-01 -7.78740920e-04 -1.01915317e+01] [-6.55067026e-03 -1.32773303e-04 9.99978535e-01 -1.93885098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.854012739 meters Centerline goodness [0,1] 0.9890215922979608 Centerline is valid? [True, True] Translation: X:91.64, Y:-10.19, Z:-1.94 [[ 9.90333266e-01 1.38592501e-01 5.66925453e-03 9.16430505e+01] [-1.38590888e-01 9.90349487e-01 -6.78415380e-04 -1.01934617e+01] [-5.70856660e-03 -1.13849700e-04 9.99983700e-01 -1.94077203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.884012739 meters Centerline goodness [0,1] 0.9893173020781524 Centerline is valid? [True, True] Translation: X:91.67, Y:-10.19, Z:-1.94 [[ 9.90397740e-01 1.38146838e-01 5.26961032e-03 9.16704621e+01] [-1.38145438e-01 9.90411753e-01 -6.30400282e-04 -1.01944986e+01] [-5.30617180e-03 -1.03625612e-04 9.99985917e-01 -1.94239628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.914012739 meters Centerline goodness [0,1] 0.9900410967840135 Centerline is valid? [True, True] Translation: X:91.70, Y:-10.20, Z:-1.94 [[ 9.90573338e-01 1.36850765e-01 6.02750459e-03 9.16988597e+01] [-1.36848913e-01 9.90591670e-01 -7.20627137e-04 -1.01993901e+01] [-6.06941421e-03 -1.11023420e-04 9.99981575e-01 -1.94142272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944012739 meters Centerline goodness [0,1] 0.9891109403023315 Centerline is valid? [True, True] Translation: X:91.73, Y:-10.20, Z:-1.94 [[ 9.90665110e-01 1.36150678e-01 6.75524335e-03 9.17266273e+01] [-1.36148337e-01 9.90688134e-01 -8.07268687e-04 -1.01980308e+01] [-6.80224961e-03 -1.19982227e-04 9.99976857e-01 -1.93993670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.974012739 meters Centerline goodness [0,1] 0.9891109403023315 Centerline is valid? [True, True] Translation: X:91.75, Y:-10.20, Z:-1.94 [[ 9.90671227e-01 1.36106158e-01 6.75529409e-03 9.17547695e+01] [-1.36103819e-01 9.90694251e-01 -8.06843820e-04 -1.02012994e+01] [-6.80224743e-03 -1.20104367e-04 9.99976857e-01 -1.94016341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.004012739 meters Centerline goodness [0,1] 0.9902686969176966 Centerline is valid? [True, True] Translation: X:91.78, Y:-10.21, Z:-1.94 [[ 9.91015959e-01 1.33530603e-01 7.54638373e-03 9.17838527e+01] [-1.33527612e-01 9.91044684e-01 -9.00953887e-04 -1.02053656e+01] [-7.59910839e-03 -1.14790922e-04 9.99971120e-01 -1.93780689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.034012739 meters Centerline goodness [0,1] 0.9908373303508055 Centerline is valid? [True, True] Translation: X:91.81, Y:-10.21, Z:-1.94 [[ 9.91171568e-01 1.32398203e-01 7.04549918e-03 9.18116419e+01] [-1.32395572e-01 9.91196603e-01 -8.40689913e-04 -1.02079596e+01] [-7.09478069e-03 -9.95249532e-05 9.99974827e-01 -1.93884514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064012739 meters Centerline goodness [0,1] 0.9899956970740104 Centerline is valid? [True, True] Translation: X:91.84, Y:-10.21, Z:-1.94 [[ 9.91354312e-01 1.30945738e-01 8.35709718e-03 9.18392575e+01] [-1.30941988e-01 9.91389531e-01 -9.96601818e-04 -1.02114420e+01] [-8.41563941e-03 -1.06309411e-04 9.99964582e-01 -1.93607193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09401273900001 meters Centerline goodness [0,1] 0.9903262478282319 Centerline is valid? [True, True] Translation: X:91.87, Y:-10.21, Z:-1.94 [[ 9.91386021e-01 1.30645405e-01 9.24856229e-03 9.18675453e+01] [-1.30640806e-01 9.91429153e-01 -1.10228535e-03 -1.02128448e+01] [-9.31330279e-03 -1.15449346e-04 9.99956624e-01 -1.93527607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.124012739 meters Centerline goodness [0,1] 0.9899177443381766 Centerline is valid? [True, True] Translation: X:91.90, Y:-10.21, Z:-1.93 [[ 9.91463545e-01 1.29946293e-01 1.06771172e-02 9.18962867e+01] [-1.29940130e-01 9.91521026e-01 -1.27183536e-03 -1.02117016e+01] [-1.07518565e-02 -1.26407608e-04 9.99942189e-01 -1.93370303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.154012739 meters Centerline goodness [0,1] 0.9904190086867655 Centerline is valid? [True, True] Translation: X:91.93, Y:-10.21, Z:-1.93 [[ 9.91525630e-01 1.29545872e-01 9.73616524e-03 9.19250978e+01] [-1.29540732e-01 9.91573424e-01 -1.15932441e-03 -1.02140482e+01] [-9.80430839e-03 -1.11730107e-04 9.99951930e-01 -1.93486140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.184012739 meters Centerline goodness [0,1] 0.9909830798886271 Centerline is valid? [True, True] Translation: X:91.95, Y:-10.22, Z:-1.94 [[ 9.91572838e-01 1.29259308e-01 8.67976185e-03 9.19542716e+01] [-1.29255216e-01 9.91610822e-01 -1.03316667e-03 -1.02165053e+01] [-8.74049219e-03 -9.74444864e-05 9.99961796e-01 -1.93657995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.214012739 meters Centerline goodness [0,1] 0.9909858074415037 Centerline is valid? [True, True] Translation: X:91.98, Y:-10.21, Z:-1.94 [[ 9.91640571e-01 1.28777709e-01 8.07963137e-03 9.19829797e+01] [-1.28774149e-01 9.91673482e-01 -9.61378426e-04 -1.02149439e+01] [-8.13616028e-03 -8.71058055e-05 9.99966897e-01 -1.93715392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.244012739 meters Centerline goodness [0,1] 0.9915333347806266 Centerline is valid? [True, True] Translation: X:92.01, Y:-10.22, Z:-1.94 [[ 9.91674592e-01 1.28452084e-01 9.03141844e-03 9.20116030e+01] [-1.28447627e-01 9.91715712e-01 -1.07417531e-03 -1.02169068e+01] [-9.09457963e-03 -9.48319059e-05 9.99958639e-01 -1.93561897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.274012739 meters Centerline goodness [0,1] 0.9910121651324236 Centerline is valid? [True, True] Translation: X:92.04, Y:-10.22, Z:-1.93 [[ 9.91692980e-01 1.28204246e-01 1.04261951e-02 9.20408019e+01] [-1.28198297e-01 9.91747780e-01 -1.23961288e-03 -1.02173183e+01] [-1.04990794e-02 -1.07305066e-04 9.99944877e-01 -1.93286021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304012739 meters Centerline goodness [0,1] 0.9908017187398787 Centerline is valid? [True, True] Translation: X:92.07, Y:-10.22, Z:-1.93 [[ 9.91758085e-01 1.27747169e-01 9.82661953e-03 9.20687169e+01] [-1.27741868e-01 9.91806761e-01 -1.16784798e-03 -1.02190443e+01] [-9.89529697e-03 -9.70480624e-05 9.99951036e-01 -1.93452662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.334012739 meters Centerline goodness [0,1] 0.9910321634905579 Centerline is valid? [True, True] Translation: X:92.10, Y:-10.22, Z:-1.94 [[ 9.91845362e-01 1.27130693e-01 8.97574474e-03 9.20962180e+01] [-1.27126249e-01 9.91885971e-01 -1.06622574e-03 -1.02208021e+01] [-9.03846531e-03 -8.35217064e-05 9.99959149e-01 -1.93660549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.364012739 meters Centerline goodness [0,1] 0.9928013744807638 Centerline is valid? [True, True] Translation: X:92.13, Y:-10.22, Z:-1.94 [[ 9.92103769e-01 1.25170858e-01 7.89738603e-03 9.21250196e+01] [-1.25167359e-01 9.92135199e-01 -9.37716127e-04 -1.02230465e+01] [-7.95264939e-03 -5.81832472e-05 9.99968375e-01 -1.93990371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.394012739 meters Centerline goodness [0,1] 0.994243919328313 Centerline is valid? [True, True] Translation: X:92.15, Y:-10.23, Z:-1.94 [[ 9.92393860e-01 1.22868243e-01 7.60400284e-03 9.21530020e+01] [-1.22864934e-01 9.92422991e-01 -9.02517093e-04 -1.02274897e+01] [-7.65727793e-03 -3.86128874e-05 9.99970682e-01 -1.94050921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424012739 meters Centerline goodness [0,1] 0.9948881928130167 Centerline is valid? [True, True] Translation: X:92.18, Y:-10.23, Z:-1.94 [[ 9.92631554e-01 1.20963077e-01 7.10862291e-03 9.21812868e+01] [-1.20960139e-01 9.92657007e-01 -8.43394659e-04 -1.02325417e+01] [-7.15844395e-03 -2.26798642e-05 9.99974378e-01 -1.94108149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.454012739 meters Centerline goodness [0,1] 0.9954756028921505 Centerline is valid? [True, True] Translation: X:92.21, Y:-10.24, Z:-1.94 [[ 9.92828933e-01 1.19335163e-01 7.05900451e-03 9.22087018e+01] [-1.19332227e-01 9.92854027e-01 -8.37174195e-04 -1.02367577e+01] [-7.10846537e-03 -1.11959686e-05 9.99974734e-01 -1.94172983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.484012739 meters Centerline goodness [0,1] 0.9957134240909874 Centerline is valid? [True, True] Translation: X:92.24, Y:-10.24, Z:-1.94 [[ 9.93030221e-01 1.17651212e-01 7.01230857e-03 9.22370098e+01] [-1.17648276e-01 9.93054979e-01 -8.31198160e-04 -1.02416971e+01] [-7.06139942e-03 4.18878437e-07 9.99975068e-01 -1.94178661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.514012739 meters Centerline goodness [0,1] 0.9955152116259514 Centerline is valid? [True, True] Translation: X:92.26, Y:-10.25, Z:-1.94 [[ 9.93401908e-01 1.14390438e-01 8.21446792e-03 9.22649199e+01] [-1.14386301e-01 9.93435870e-01 -9.73230038e-04 -1.02492245e+01] [-8.27187529e-03 2.71859779e-05 9.99965787e-01 -1.94009196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.544012739 meters Centerline goodness [0,1] 0.9937821612349914 Centerline is valid? [True, True] Translation: X:92.29, Y:-10.26, Z:-1.94 [[ 9.93663120e-01 1.12041019e-01 8.96738700e-03 9.22921936e+01] [-1.12035998e-01 9.93703581e-01 -1.06195350e-03 -1.02575835e+01] [-9.02990693e-03 5.05538818e-05 9.99959228e-01 -1.93834712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.574012739 meters Centerline goodness [0,1] 0.9930036709134096 Centerline is valid? [True, True] Translation: X:92.32, Y:-10.26, Z:-1.94 [[ 9.93744250e-01 1.11268041e-01 9.58066880e-03 9.23204064e+01] [-1.11262278e-01 9.93790430e-01 -1.13399627e-03 -1.02627045e+01] [-9.64735451e-03 6.09352278e-05 9.99953461e-01 -1.93724087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.604012739 meters Centerline goodness [0,1] 0.9926696362928685 Centerline is valid? [True, True] Translation: X:92.35, Y:-10.27, Z:-1.94 [[ 9.93845135e-01 1.10308492e-01 1.01923112e-02 9.23492620e+01] [-1.10301925e-01 9.93897395e-01 -1.20593750e-03 -1.02684993e+01] [-1.02631367e-02 7.42835677e-05 9.99947330e-01 -1.93637439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.634012739 meters Centerline goodness [0,1] 0.9916617809914664 Centerline is valid? [True, True] Translation: X:92.38, Y:-10.27, Z:-1.93 [[ 9.93847020e-01 1.10210497e-01 1.10339446e-02 9.23770523e+01] [-1.10202798e-01 9.93908265e-01 -1.30519869e-03 -1.02740112e+01] [-1.11105754e-02 8.11962539e-05 9.99938272e-01 -1.93418731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664012739 meters Centerline goodness [0,1] 0.9929975587819607 Centerline is valid? [True, True] Translation: X:92.41, Y:-10.28, Z:-1.94 [[ 9.93725805e-01 1.11367939e-01 1.03056155e-02 9.24055882e+01] [-1.11361289e-01 9.93779240e-01 -1.21869267e-03 -1.02767389e+01] [-1.03772300e-02 6.33997236e-05 9.99946153e-01 -1.93551644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.694012739 meters Centerline goodness [0,1] 0.9949640756256919 Centerline is valid? [True, True] Translation: X:92.43, Y:-10.27, Z:-1.94 [[ 9.93279782e-01 1.15385609e-01 9.02418625e-03 9.24348887e+01] [-1.15380678e-01 9.93320774e-01 -1.06685424e-03 -1.02746114e+01] [-9.08701130e-03 1.84680225e-05 9.99958712e-01 -1.93806318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724012739 meters Centerline goodness [0,1] 0.994586729999786 Centerline is valid? [True, True] Translation: X:92.46, Y:-10.28, Z:-1.94 [[ 9.93045507e-01 1.17403961e-01 8.77106367e-03 9.24623845e+01] [-1.17399385e-01 9.93084241e-01 -1.03650075e-03 -1.02753808e+01] [-8.83209440e-03 -4.25071161e-07 9.99960996e-01 -1.93836615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.754012739 meters Centerline goodness [0,1] 0.9951132351674847 Centerline is valid? [True, True] Translation: X:92.49, Y:-10.27, Z:-1.94 [[ 9.92699338e-01 1.20407722e-01 7.07142447e-03 9.24910853e+01] [-1.20404827e-01 9.92724524e-01 -8.35300659e-04 -1.02743148e+01] [-7.12055314e-03 -2.22312275e-05 9.99974648e-01 -1.94176148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784012739 meters Centerline goodness [0,1] 0.9955666508845177 Centerline is valid? [True, True] Translation: X:92.52, Y:-10.28, Z:-1.94 [[ 9.92626756e-01 1.21050680e-01 6.23349456e-03 9.25194728e+01] [-1.21048444e-01 9.92646328e-01 -7.36073498e-04 -1.02768491e+01] [-6.27675769e-03 -2.39085704e-05 9.99980301e-01 -1.94333681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.814012739 meters Centerline goodness [0,1] 0.99597866758419 Centerline is valid? [True, True] Translation: X:92.55, Y:-10.28, Z:-1.94 [[ 9.92668353e-01 1.20704833e-01 6.31539272e-03 9.25473334e+01] [-1.20702533e-01 9.92688442e-01 -7.45459530e-04 -1.02800728e+01] [-6.35919793e-03 -2.22898150e-05 9.99979780e-01 -1.94345781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84401273900001 meters Centerline goodness [0,1] 0.9941783314070459 Centerline is valid? [True, True] Translation: X:92.58, Y:-10.29, Z:-1.94 [[ 9.92803206e-01 1.19432204e-01 8.81717519e-03 9.25751768e+01] [-1.19427677e-01 9.92842358e-01 -1.04007235e-03 -1.02863985e+01] [-8.87828315e-03 -2.04275837e-05 9.99960587e-01 -1.93923728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.874012739 meters Centerline goodness [0,1] 0.9934306410563181 Centerline is valid? [True, True] Translation: X:92.60, Y:-10.29, Z:-1.94 [[ 9.92829779e-01 1.19139360e-01 9.73875679e-03 9.26038225e+01] [-1.19133828e-01 9.92877542e-01 -1.14828007e-03 -1.02905707e+01] [-9.80619825e-03 -2.01687260e-05 9.99951918e-01 -1.93782804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.904012739 meters Centerline goodness [0,1] 0.9928441321883945 Centerline is valid? [True, True] Translation: X:92.63, Y:-10.29, Z:-1.94 [[ 9.92565788e-01 1.21336703e-01 9.51637126e-03 9.26318836e+01] [-1.21331527e-01 9.92611406e-01 -1.12157915e-03 -1.02875391e+01] [-9.58214737e-03 -4.13947615e-05 9.99954089e-01 -1.93719908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.934012739 meters Centerline goodness [0,1] 0.9929117742109232 Centerline is valid? [True, True] Translation: X:92.66, Y:-10.29, Z:-1.94 [[ 9.92313119e-01 1.23409104e-01 9.21235947e-03 9.26611757e+01] [-1.23404347e-01 9.92355878e-01 -1.08521348e-03 -1.02859220e+01] [-9.27586429e-03 -5.99736316e-05 9.99956976e-01 -1.93785641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.964012739 meters Centerline goodness [0,1] 0.992175373689694 Centerline is valid? [True, True] Translation: X:92.69, Y:-10.28, Z:-1.94 [[ 9.92006881e-01 1.25856820e-01 9.07788229e-03 9.26893145e+01] [-1.25852308e-01 9.92048413e-01 -1.06890573e-03 -1.02824879e+01] [-9.14022780e-03 -8.21105953e-05 9.99958224e-01 -1.93870347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.994012739 meters Centerline goodness [0,1] 0.9909979423868313 Centerline is valid? [True, True] Translation: X:92.72, Y:-10.27, Z:-1.94 [[ 9.91396689e-01 1.30548735e-01 9.46743242e-03 9.27195489e+01] [-1.30544047e-01 9.91441885e-01 -1.11414149e-03 -1.02742501e+01] [-9.53185880e-03 -1.31360763e-04 9.99954562e-01 -1.93863771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024012739 meters Centerline goodness [0,1] 0.9913669064748202 Centerline is valid? [True, True] Translation: X:92.75, Y:-10.27, Z:-1.94 [[ 9.90985089e-01 1.33710910e-01 8.36336574e-03 9.27496825e+01] [-1.33707367e-01 9.91020369e-01 -9.83859506e-04 -1.02668423e+01] [-8.41981855e-03 -1.43253509e-04 9.99964542e-01 -1.94098873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.054012739 meters Centerline goodness [0,1] 0.9912041382019774 Centerline is valid? [True, True] Translation: X:92.78, Y:-10.27, Z:-1.94 [[ 9.91013715e-01 1.33544143e-01 7.60122667e-03 9.27779022e+01] [-1.33541214e-01 9.91042857e-01 -8.93872707e-04 -1.02664784e+01] [-7.65251286e-03 -1.29236928e-04 9.99970711e-01 -1.94259964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084012739 meters Centerline goodness [0,1] 0.9917060593038247 Centerline is valid? [True, True] Translation: X:92.81, Y:-10.27, Z:-1.94 [[ 9.91145505e-01 1.32588223e-01 7.13799852e-03 9.28058888e+01] [-1.32585619e-01 9.91171201e-01 -8.38896638e-04 -1.02665995e+01] [-7.18620638e-03 -1.14927322e-04 9.99974172e-01 -1.94395667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.114012739 meters Centerline goodness [0,1] 0.9931728816488787 Centerline is valid? [True, True] Translation: X:92.83, Y:-10.27, Z:-1.94 [[ 9.91794534e-01 1.27598652e-01 7.88578905e-03 9.28342117e+01] [-1.27595321e-01 9.91825880e-01 -9.26243529e-04 -1.02703620e+01] [-7.93951709e-03 -8.75465138e-05 9.99968478e-01 -1.94209989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144012739 meters Centerline goodness [0,1] 0.9933759217972904 Centerline is valid? [True, True] Translation: X:92.86, Y:-10.28, Z:-1.94 [[ 9.92212378e-01 1.24291563e-01 8.13660483e-03 9.28614882e+01] [-1.24287908e-01 9.92245737e-01 -9.55292698e-04 -1.02751165e+01] [-8.19224629e-03 -6.34283535e-05 9.99966441e-01 -1.94206107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.174012739 meters Centerline goodness [0,1] 0.9948776940941549 Centerline is valid? [True, True] Translation: X:92.89, Y:-10.28, Z:-1.94 [[ 9.92998032e-01 1.17885637e-01 7.60820573e-03 9.28896454e+01] [-1.17882256e-01 9.93027178e-01 -8.92822936e-04 -1.02844488e+01] [-7.66040606e-03 -1.03010404e-05 9.99970659e-01 -1.94373459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204012739 meters Centerline goodness [0,1] 0.9956827115149172 Centerline is valid? [True, True] Translation: X:92.92, Y:-10.29, Z:-1.94 [[ 9.93272038e-01 1.15566023e-01 7.42649183e-03 9.29181262e+01] [-1.15562739e-01 9.93299801e-01 -8.71152099e-04 -1.02893380e+01] [-7.47740843e-03 7.06528204e-06 9.99972044e-01 -1.94382051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.234012739 meters Centerline goodness [0,1] 0.9951677333447876 Centerline is valid? [True, True] Translation: X:92.95, Y:-10.29, Z:-1.94 [[ 9.93477540e-01 1.13750006e-01 7.95701827e-03 9.29471575e+01] [-1.13746182e-01 9.93509404e-01 -9.32980997e-04 -1.02932209e+01] [-8.01149907e-03 2.18152191e-05 9.99967907e-01 -1.94301931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.264012739 meters Centerline goodness [0,1] 0.9946409898919484 Centerline is valid? [True, True] Translation: X:92.98, Y:-10.30, Z:-1.94 [[ 9.93660214e-01 1.12146580e-01 7.90719106e-03 9.29751198e+01] [-1.12142756e-01 9.93691674e-01 -9.26767399e-04 -1.02957319e+01] [-7.96124372e-03 3.41576977e-05 9.99968308e-01 -1.94278227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.294012739 meters Centerline goodness [0,1] 0.9949492759906355 Centerline is valid? [True, True] Translation: X:93.00, Y:-10.30, Z:-1.94 [[ 9.93713722e-01 1.11711739e-01 7.31609947e-03 9.30025672e+01] [-1.11708456e-01 9.93740653e-01 -8.57094194e-04 -1.02984168e+01] [-7.36605295e-03 3.44360860e-05 9.99972870e-01 -1.94387645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.324012739 meters Centerline goodness [0,1] 0.9952326509480769 Centerline is valid? [True, True] Translation: X:93.03, Y:-10.30, Z:-1.94 [[ 9.93796093e-01 1.11016900e-01 6.67631900e-03 9.30310486e+01] [-1.11014153e-01 9.93818518e-01 -7.81767459e-04 -1.03003318e+01] [-6.72183886e-03 3.57515463e-05 9.99977408e-01 -1.94425343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.354012739 meters Centerline goodness [0,1] 0.9937090769033252 Centerline is valid? [True, True] Translation: X:93.06, Y:-10.30, Z:-1.94 [[ 9.93862467e-01 1.10368728e-01 7.49269075e-03 9.30584783e+01] [-1.10365253e-01 9.93890709e-01 -8.76973732e-04 -1.03026488e+01] [-7.54370620e-03 4.46585651e-05 9.99971545e-01 -1.94304913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.384012739 meters Centerline goodness [0,1] 0.9923717210353595 Centerline is valid? [True, True] Translation: X:93.09, Y:-10.31, Z:-1.94 [[ 9.93922671e-01 1.09717934e-01 8.92746932e-03 9.30867130e+01] [-1.09712979e-01 9.93962762e-01 -1.04431332e-03 -1.03054411e+01] [-8.98815196e-03 5.85074241e-05 9.99959604e-01 -1.94055363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414012739 meters Centerline goodness [0,1] 0.989780834243846 Centerline is valid? [True, True] Translation: X:93.11, Y:-10.31, Z:-1.94 [[ 9.94130277e-01 1.07647783e-01 1.08142335e-02 9.31143822e+01] [-1.07640397e-01 9.94189090e-01 -1.26441317e-03 -1.03099729e+01] [-1.08875042e-02 9.29430248e-05 9.99940725e-01 -1.93683963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444012739 meters Centerline goodness [0,1] 0.9887604159937988 Centerline is valid? [True, True] Translation: X:93.14, Y:-10.31, Z:-1.94 [[ 9.94303487e-01 1.06104144e-01 1.01235691e-02 9.31428039e+01] [-1.06097596e-01 9.94355017e-01 -1.18313380e-03 -1.03143594e+01] [-1.01919571e-02 1.02307714e-04 9.99948055e-01 -1.93840857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474012739 meters Centerline goodness [0,1] 0.9891918928322895 Centerline is valid? [True, True] Translation: X:93.17, Y:-10.32, Z:-1.94 [[ 9.94705136e-01 1.02459415e-01 7.98498952e-03 9.31708234e+01] [-1.02455226e-01 9.94737179e-01 -9.32912901e-04 -1.03203184e+01] [-8.03855166e-03 1.09869345e-04 9.99967684e-01 -1.94209734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.504012739 meters Centerline goodness [0,1] 0.9879697302891145 Centerline is valid? [True, True] Translation: X:93.20, Y:-10.33, Z:-1.94 [[ 9.94903037e-01 1.00521147e-01 7.96529185e-03 9.31991701e+01] [-1.00516919e-01 9.94934914e-01 -9.30342202e-04 -1.03261574e+01] [-8.01846603e-03 1.24953686e-04 9.99967844e-01 -1.94245554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534012739 meters Centerline goodness [0,1] 0.9872315476319733 Centerline is valid? [True, True] Translation: X:93.23, Y:-10.34, Z:-1.94 [[ 9.95394171e-01 9.55574240e-02 7.69568005e-03 9.32274392e+01] [-9.55533319e-02 9.95423906e-01 -8.98517484e-04 -1.03358344e+01] [-7.74632392e-03 1.59031195e-04 9.99969984e-01 -1.94251259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564012739 meters Centerline goodness [0,1] 0.9854101116331193 Centerline is valid? [True, True] Translation: X:93.25, Y:-10.35, Z:-1.94 [[ 9.95702309e-01 9.23425204e-02 7.05487954e-03 9.32542722e+01] [-9.23390023e-02 9.95727287e-01 -8.23488680e-04 -1.03473644e+01] [-7.10077909e-03 1.68509042e-04 9.99974775e-01 -1.94376397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59401273900001 meters Centerline goodness [0,1] 0.9854353079485337 Centerline is valid? [True, True] Translation: X:93.28, Y:-10.35, Z:-1.95 [[ 9.96017538e-01 8.89344397e-02 6.30310159e-03 9.32836982e+01] [-8.89315651e-02 9.96037467e-01 -7.35449346e-04 -1.03523007e+01] [-6.34353212e-03 1.71975758e-04 9.99979865e-01 -1.94526122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.624012739 meters Centerline goodness [0,1] 0.9783588041299334 Centerline is valid? [True, True] Translation: X:93.31, Y:-10.38, Z:-1.95 [[ 9.96601584e-01 8.21072487e-02 6.60929759e-03 9.33106360e+01] [-8.21039390e-02 9.96623474e-01 -7.70995518e-04 -1.03761651e+01] [-6.65028545e-03 2.25725988e-04 9.99977861e-01 -1.94553739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.654012739 meters Centerline goodness [0,1] 0.9745327405361074 Centerline is valid? [True, True] Translation: X:93.34, Y:-10.39, Z:-1.95 [[ 9.96819157e-01 7.93680580e-02 7.23049648e-03 9.33399034e+01] [-7.93640256e-02 9.96845344e-01 -8.43369440e-04 -1.03875309e+01] [-7.27462334e-03 2.66845507e-04 9.99973504e-01 -1.94535224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.684012739 meters Centerline goodness [0,1] 0.9796028959119087 Centerline is valid? [True, True] Translation: X:93.37, Y:-10.40, Z:-1.94 [[ 9.97062469e-01 7.62205822e-02 7.54028331e-03 9.33705055e+01] [-7.62161071e-02 9.97090934e-01 -8.79493669e-04 -1.03953090e+01] [-7.58538365e-03 3.02219089e-04 9.99971185e-01 -1.94440624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.714012739 meters Centerline goodness [0,1] 0.9777628615970899 Centerline is valid? [True, True] Translation: X:93.40, Y:-10.40, Z:-1.94 [[ 9.97102339e-01 7.57534547e-02 6.95270334e-03 9.34011916e+01] [-7.57496375e-02 9.97126539e-01 -8.11106515e-04 -1.04030682e+01] [-6.99416914e-03 2.82091445e-04 9.99975501e-01 -1.94469593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.744012739 meters Centerline goodness [0,1] 0.9752988389810503 Centerline is valid? [True, True] Translation: X:93.43, Y:-10.41, Z:-1.93 [[ 9.97034610e-01 7.67486682e-02 5.62383376e-03 9.34304533e+01] [-7.67461859e-02 9.97050446e-01 -6.56201874e-04 -1.04128675e+01] [-5.65760858e-03 2.22648189e-04 9.99983971e-01 -1.93420923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.774012739 meters Centerline goodness [0,1] 0.9621086234038831 Centerline is valid? [True, True] Translation: X:93.46, Y:-10.43, Z:-1.95 [[ 9.96935824e-01 7.79539642e-02 6.49177464e-03 9.34593011e+01] [-7.79506814e-02 9.96956929e-01 -7.57564047e-04 -1.04269246e+01] [-6.53107482e-03 2.49204481e-04 9.99978641e-01 -1.94679743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804012739 meters Centerline goodness [0,1] 0.9828187685330543 Centerline is valid? [True, True] Translation: X:93.49, Y:-10.42, Z:-1.95 [[ 9.96748097e-01 8.03480866e-02 6.11688286e-03 9.34910264e+01] [-8.03452166e-02 9.96766842e-01 -7.13879501e-04 -1.04220348e+01] [-6.15446486e-03 2.20095755e-04 9.99981037e-01 -1.94751571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834012739 meters Centerline goodness [0,1] 0.9716626174453356 Centerline is valid? [True, True] Translation: X:93.52, Y:-10.44, Z:-1.95 [[ 9.96701393e-01 8.09149115e-02 6.25382188e-03 9.35197493e+01] [-8.09119222e-02 9.96720988e-01 -7.29938055e-04 -1.04407236e+01] [-6.29237840e-03 2.21521526e-04 9.99980178e-01 -1.94887123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.864012739 meters Centerline goodness [0,1] 0.9833006322214956 Centerline is valid? [True, True] Translation: X:93.55, Y:-10.44, Z:-1.95 [[ 9.96684522e-01 8.11538625e-02 5.83216465e-03 9.35507072e+01] [-8.11512664e-02 9.96701564e-01 -6.80811025e-04 -1.04362563e+01] [-5.86817808e-03 2.05266264e-04 9.99982761e-01 -1.94865881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.894012739 meters Centerline goodness [0,1] 0.9850889431461458 Centerline is valid? [True, True] Translation: X:93.58, Y:-10.44, Z:-1.95 [[ 9.96656546e-01 8.15957633e-02 4.22621335e-03 9.35809232e+01] [-8.15944040e-02 9.96665495e-01 -4.93342149e-04 -1.04430561e+01] [-4.25237565e-03 1.46857323e-04 9.99990948e-01 -1.95120566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924012739 meters Centerline goodness [0,1] 0.9850889431461458 Centerline is valid? [True, True] Translation: X:93.61, Y:-10.45, Z:-1.95 [[ 9.96656546e-01 8.15957633e-02 4.22621335e-03 9.36107379e+01] [-8.15944040e-02 9.96665495e-01 -4.93342149e-04 -1.04465365e+01] [-4.25237565e-03 1.46857323e-04 9.99990948e-01 -1.95144585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954012739 meters Centerline goodness [0,1] 0.9853610158894422 Centerline is valid? [True, True] Translation: X:93.64, Y:-10.46, Z:-1.95 [[ 9.96487180e-01 8.36504279e-02 3.98812761e-03 9.36390153e+01] [-8.36492338e-02 9.96495152e-01 -4.65597235e-04 -1.04561625e+01] [-4.01309723e-03 1.30357858e-04 9.99991939e-01 -1.95330967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.984012739 meters Centerline goodness [0,1] 0.9857309638085355 Centerline is valid? [True, True] Translation: X:93.67, Y:-10.46, Z:-1.95 [[ 9.96384555e-01 8.48362829e-02 4.54133510e-03 9.36692386e+01] [-8.48347472e-02 9.96394894e-01 -5.30072752e-04 -1.04584568e+01] [-4.56993251e-03 1.42893288e-04 9.99989548e-01 -1.95295572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.014012739 meters Centerline goodness [0,1] 0.985975897413904 Centerline is valid? [True, True] Translation: X:93.70, Y:-10.46, Z:-1.95 [[ 9.96300415e-01 8.57809371e-02 5.20716407e-03 9.36991252e+01] [-8.57789310e-02 9.96314010e-01 -6.07789501e-04 -1.04626768e+01] [-5.24010727e-03 1.58875964e-04 9.99986258e-01 -1.95197000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.044012739 meters Centerline goodness [0,1] 0.9878303198887344 Centerline is valid? [True, True] Translation: X:93.73, Y:-10.47, Z:-1.95 [[ 9.96139361e-01 8.75566087e-02 6.34136772e-03 9.37295290e+01] [-8.75536694e-02 9.96159529e-01 -7.40175779e-04 -1.04662256e+01] [-6.38182117e-03 1.82108214e-04 9.99979619e-01 -1.94966734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.074012739 meters Centerline goodness [0,1] 0.986952389181716 Centerline is valid? [True, True] Translation: X:93.76, Y:-10.47, Z:-1.95 [[ 9.96043520e-01 8.85981839e-02 6.90422539e-03 9.37588604e+01] [-8.85947247e-02 9.96067430e-01 -8.05860893e-04 -1.04731226e+01] [-6.94847186e-03 1.90994572e-04 9.99975841e-01 -1.94864214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.104012739 meters Centerline goodness [0,1] 0.9876492204657635 Centerline is valid? [True, True] Translation: X:93.79, Y:-10.48, Z:-1.95 [[ 9.95920734e-01 8.99615363e-02 6.98669353e-03 9.37895860e+01] [-8.99580270e-02 9.95945224e-01 -8.15561029e-04 -1.04777160e+01] [-7.03173317e-03 1.83724973e-04 9.99975260e-01 -1.94872382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.134012739 meters Centerline goodness [0,1] 0.9860457152641041 Centerline is valid? [True, True] Translation: X:93.82, Y:-10.49, Z:-1.95 [[ 9.95878606e-01 9.03945953e-02 7.39047432e-03 9.38197549e+01] [-9.03906795e-02 9.95906010e-01 -8.62842423e-04 -1.04866937e+01] [-7.43821408e-03 1.91256313e-04 9.99972318e-01 -1.94885386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164012739 meters Centerline goodness [0,1] 0.9861248335409597 Centerline is valid? [True, True] Translation: X:93.85, Y:-10.49, Z:-1.95 [[ 9.95866536e-01 9.04726352e-02 8.03399010e-03 9.38510280e+01] [-9.04680035e-02 9.95898920e-01 -9.38813068e-04 -1.04935638e+01] [-8.08597895e-03 2.08113473e-04 9.99967286e-01 -1.94806782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.194012739 meters Centerline goodness [0,1] 0.9831310207784354 Centerline is valid? [True, True] Translation: X:93.88, Y:-10.50, Z:-1.94 [[ 9.95840898e-01 9.08262864e-02 7.17573526e-03 9.38827758e+01] [-9.08225932e-02 9.95866734e-01 -8.39552157e-04 -1.05005927e+01] [-7.22232944e-03 1.84341490e-04 9.99973902e-01 -1.94037464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224012739 meters Centerline goodness [0,1] 0.9827212418158956 Centerline is valid? [True, True] Translation: X:93.91, Y:-10.51, Z:-1.94 [[ 9.95783903e-01 9.15680400e-02 5.45086664e-03 9.39130361e+01] [-9.15659163e-02 9.95798813e-01 -6.38431358e-04 -1.05098328e+01] [-5.48642644e-03 1.36626071e-04 9.99984940e-01 -1.93972526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.254012739 meters Centerline goodness [0,1] 0.9887118622202155 Centerline is valid? [True, True] Translation: X:93.94, Y:-10.52, Z:-1.95 [[ 9.95701540e-01 9.24520042e-02 5.57411489e-03 9.39435252e+01] [-9.24497923e-02 9.95717133e-01 -6.53735773e-04 -1.05157018e+01] [-5.61068088e-03 1.35599952e-04 9.99984251e-01 -1.95305959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284012739 meters Centerline goodness [0,1] 0.9905012736928457 Centerline is valid? [True, True] Translation: X:93.97, Y:-10.52, Z:-1.95 [[ 9.95396041e-01 9.57200153e-02 4.93967022e-03 9.39742527e+01] [-9.57183137e-02 9.95408292e-01 -5.80281281e-04 -1.05199048e+01] [-4.97253323e-03 1.04792786e-04 9.99987631e-01 -1.95442667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.314012739 meters Centerline goodness [0,1] 0.9911624015959158 Centerline is valid? [True, True] Translation: X:94.01, Y:-10.52, Z:-1.95 [[ 9.95157241e-01 9.81261046e-02 5.77341859e-03 9.40051804e+01] [-9.81238189e-02 9.95173983e-01 -6.78519506e-04 -1.05218271e+01] [-5.81213645e-03 1.08723719e-04 9.99983103e-01 -1.95351419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34401273900001 meters Centerline goodness [0,1] 0.9920274324903557 Centerline is valid? [True, True] Translation: X:94.04, Y:-10.52, Z:-1.95 [[ 9.94881877e-01 1.00843885e-01 6.36888557e-03 9.40358084e+01] [-1.00841158e-01 9.94902257e-01 -7.48566354e-04 -1.05240557e+01] [-6.41190697e-03 1.02489301e-04 9.99979438e-01 -1.95226140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.374012739 meters Centerline goodness [0,1] 0.9943389728356795 Centerline is valid? [True, True] Translation: X:94.07, Y:-10.52, Z:-1.95 [[ 9.94315328e-01 1.06266469e-01 6.66827648e-03 9.40671649e+01] [-1.06263601e-01 9.94337685e-01 -7.83930660e-04 -1.05209650e+01] [-6.71382414e-03 7.08792028e-05 9.99977460e-01 -1.95227640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.404012739 meters Centerline goodness [0,1] 0.9949153633262534 Centerline is valid? [True, True] Translation: X:94.10, Y:-10.52, Z:-1.95 [[ 9.94055314e-01 1.08675153e-01 6.61387772e-03 9.40975108e+01] [-1.08672384e-01 9.94077315e-01 -7.77630782e-04 -1.05204604e+01] [-6.65921495e-03 5.42621512e-05 9.99977826e-01 -1.95226735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.434012739 meters Centerline goodness [0,1] 0.9963128108386211 Centerline is valid? [True, True] Translation: X:94.13, Y:-10.52, Z:-1.95 [[ 9.93646387e-01 1.12388754e-01 5.96875603e-03 9.41263474e+01] [-1.12386565e-01 9.93664313e-01 -7.01826471e-04 -1.05186381e+01] [-6.00981726e-03 2.65593478e-05 9.99981941e-01 -1.95375051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.464012739 meters Centerline goodness [0,1] 0.9962507043474492 Centerline is valid? [True, True] Translation: X:94.16, Y:-10.52, Z:-1.95 [[ 9.93528467e-01 1.13418675e-01 6.11476277e-03 9.41557822e+01] [-1.13416398e-01 9.93547283e-01 -7.18847801e-04 -1.05196882e+01] [-6.15683671e-03 2.06813831e-05 9.99981046e-01 -1.95310583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.494012739 meters Centerline goodness [0,1] 0.9948661532819949 Centerline is valid? [True, True] Translation: X:94.19, Y:-10.52, Z:-1.95 [[ 9.93460684e-01 1.13922592e-01 7.58370595e-03 9.41856751e+01] [-1.13919107e-01 9.93489629e-01 -8.91308750e-04 -1.05204288e+01] [-7.63587341e-03 2.15511889e-05 9.99970846e-01 -1.94982500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524012739 meters Centerline goodness [0,1] 0.9938893653516295 Centerline is valid? [True, True] Translation: X:94.21, Y:-10.52, Z:-1.95 [[ 9.93527320e-01 1.13267552e-01 8.59805991e-03 9.42144960e+01] [-1.13263050e-01 9.93564523e-01 -1.01028757e-03 -1.05237833e+01] [-8.65716009e-03 2.99058097e-05 9.99962526e-01 -1.94858888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.554012739 meters Centerline goodness [0,1] 0.9930042238648363 Centerline is valid? [True, True] Translation: X:94.24, Y:-10.53, Z:-1.95 [[ 9.93612500e-01 1.12463162e-01 9.28644208e-03 9.42443137e+01] [-1.12457878e-01 9.93655894e-01 -1.09087054e-03 -1.05273638e+01] [-9.35021066e-03 3.95690287e-05 9.99956285e-01 -1.94818812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584012739 meters Centerline goodness [0,1] 0.9920375619360842 Centerline is valid? [True, True] Translation: X:94.27, Y:-10.54, Z:-1.95 [[ 9.93949474e-01 1.09404926e-01 9.74703109e-03 9.42738591e+01] [-1.09398958e-01 9.93997262e-01 -1.14499682e-03 -1.05351449e+01] [-9.81379051e-03 7.17539375e-05 9.99951841e-01 -1.94692331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.614012739 meters Centerline goodness [0,1] 0.9914507546017622 Centerline is valid? [True, True] Translation: X:94.30, Y:-10.54, Z:-1.95 [[ 9.94124682e-01 1.07793186e-01 9.83591195e-03 9.43033353e+01] [-1.07787028e-01 9.94173336e-01 -1.15555443e-03 -1.05412493e+01] [-9.90316229e-03 8.85814681e-05 9.99950959e-01 -1.94698652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.644012739 meters Centerline goodness [0,1] 0.9911931087683209 Centerline is valid? [True, True] Translation: X:94.33, Y:-10.55, Z:-1.95 [[ 9.94378235e-01 1.05536189e-01 8.60459063e-03 9.43335209e+01] [-1.05531391e-01 9.94415458e-01 -1.01103262e-03 -1.05489608e+01] [-8.66323847e-03 9.72944074e-05 9.99962469e-01 -1.94924181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.674012739 meters Centerline goodness [0,1] 0.9922175623675905 Centerline is valid? [True, True] Translation: X:94.36, Y:-10.55, Z:-1.95 [[ 9.94477060e-01 1.04664755e-01 7.78884591e-03 9.43642561e+01] [-1.04660792e-01 9.94507556e-01 -9.15805117e-04 -1.05549118e+01] [-7.84191864e-03 9.55603982e-05 9.99969247e-01 -1.95120498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704012739 meters Centerline goodness [0,1] 0.9922763962317517 Centerline is valid? [True, True] Translation: X:94.39, Y:-10.56, Z:-1.95 [[ 9.94626610e-01 1.03327921e-01 6.42234263e-03 9.43944501e+01] [-1.03325198e-01 9.94647341e-01 -7.55248665e-04 -1.05629167e+01] [-6.46600430e-03 8.76005929e-05 9.99979091e-01 -1.95373588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.734012739 meters Centerline goodness [0,1] 0.9908112141562733 Centerline is valid? [True, True] Translation: X:94.42, Y:-10.57, Z:-1.95 [[ 9.94639010e-01 1.03190287e-01 6.70860872e-03 9.44247695e+01] [-1.03187311e-01 9.94661629e-01 -7.89087524e-04 -1.05687493e+01] [-6.75422185e-03 9.26139378e-05 9.99977186e-01 -1.95361031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.764012739 meters Centerline goodness [0,1] 0.9906232405041362 Centerline is valid? [True, True] Translation: X:94.45, Y:-10.58, Z:-1.95 [[ 9.94625956e-01 1.03270554e-01 7.37562232e-03 9.44549800e+01] [-1.03266958e-01 9.94653298e-01 -8.67629918e-04 -1.05762625e+01] [-7.42578769e-03 1.01309153e-04 9.99972423e-01 -1.95247367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.794012739 meters Centerline goodness [0,1] 0.9908568952442856 Centerline is valid? [True, True] Translation: X:94.49, Y:-10.58, Z:-1.95 [[ 9.94601474e-01 1.03502263e-01 7.42903142e-03 9.44857566e+01] [-1.03498620e-01 9.94629213e-01 -8.74081598e-04 -1.05818140e+01] [-7.47960110e-03 1.00468342e-04 9.99972022e-01 -1.95258610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.824012739 meters Centerline goodness [0,1] 0.991187143597719 Centerline is valid? [True, True] Translation: X:94.52, Y:-10.59, Z:-1.95 [[ 9.94539122e-01 1.04103730e-01 7.37212981e-03 9.45163192e+01] [-1.04100159e-01 9.94566440e-01 -8.67551083e-04 -1.05866511e+01] [-7.42238821e-03 9.53736100e-05 9.99972449e-01 -1.95309749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.854012739 meters Centerline goodness [0,1] 0.9920356663636757 Centerline is valid? [True, True] Translation: X:94.55, Y:-10.59, Z:-1.95 [[ 9.94290658e-01 1.06537215e-01 5.99238362e-03 9.45470066e+01] [-1.06534900e-01 9.94308714e-01 -7.05152537e-04 -1.05908223e+01] [-6.03340424e-03 6.27285924e-05 9.99981797e-01 -1.95476517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.884012739 meters Centerline goodness [0,1] 0.9933764897539227 Centerline is valid? [True, True] Translation: X:94.58, Y:-10.59, Z:-1.96 [[ 9.94173811e-01 1.07653999e-01 5.38981463e-03 9.45785659e+01] [-1.07652139e-01 9.94188420e-01 -6.34824992e-04 -1.05931003e+01] [-5.42683274e-03 5.09013049e-05 9.99985273e-01 -1.95570244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.914012739 meters Centerline goodness [0,1] 0.9917953771341659 Centerline is valid? [True, True] Translation: X:94.61, Y:-10.60, Z:-1.95 [[ 9.93893218e-01 1.10175984e-01 6.12564482e-03 9.46083636e+01] [-1.10173628e-01 9.93912094e-01 -7.21686096e-04 -1.05963167e+01] [-6.16786495e-03 4.23944017e-05 9.99980978e-01 -1.95496921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944012739 meters Centerline goodness [0,1] 0.9924926558589925 Centerline is valid? [True, True] Translation: X:94.64, Y:-10.60, Z:-1.95 [[ 9.93729684e-01 1.11627244e-01 6.37757023e-03 9.46396463e+01] [-1.11624721e-01 9.93750148e-01 -7.51426981e-04 -1.05988730e+01] [-6.42159108e-03 3.48208014e-05 9.99979381e-01 -1.95455772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.974012739 meters Centerline goodness [0,1] 0.9922266962382378 Centerline is valid? [True, True] Translation: X:94.67, Y:-10.60, Z:-1.96 [[ 9.93556215e-01 1.13169638e-01 6.21943872e-03 9.46709016e+01] [-1.13167268e-01 9.93575680e-01 -7.32938541e-04 -1.06018088e+01] [-6.26242944e-03 2.43787568e-05 9.99980390e-01 -1.95509939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.004012739 meters Centerline goodness [0,1] 0.9930792094244245 Centerline is valid? [True, True] Translation: X:94.70, Y:-10.61, Z:-1.96 [[ 9.93295371e-01 1.15479575e-01 5.36409867e-03 9.47009233e+01] [-1.15477844e-01 9.93309855e-01 -6.32273647e-04 -1.06055446e+01] [-5.40122676e-03 8.59993578e-06 9.99985413e-01 -1.95791148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.034012739 meters Centerline goodness [0,1] 0.993034932165367 Centerline is valid? [True, True] Translation: X:94.73, Y:-10.61, Z:-1.96 [[ 9.93170991e-01 1.16555499e-01 5.11849666e-03 9.47318193e+01] [-1.16553937e-01 9.93184180e-01 -6.03415259e-04 -1.06076051e+01] [-5.15394128e-03 2.71359382e-06 9.99986718e-01 -1.95909602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064012739 meters Centerline goodness [0,1] 0.9919490975198026 Centerline is valid? [True, True] Translation: X:94.76, Y:-10.61, Z:-1.96 [[ 9.92806226e-01 1.19610126e-01 5.40518936e-03 9.47620674e+01] [-1.19608429e-01 9.92820939e-01 -6.37275283e-04 -1.06050153e+01] [-5.44260975e-03 -1.38153376e-05 9.99985189e-01 -1.95760341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09401273900001 meters Centerline goodness [0,1] 0.9908531948638842 Centerline is valid? [True, True] Translation: X:94.79, Y:-10.60, Z:-1.96 [[ 9.92534316e-01 1.21822953e-01 5.89915256e-03 9.47921034e+01] [-1.21820971e-01 9.92551846e-01 -6.95352531e-04 -1.06047977e+01] [-5.93992466e-03 -2.84792472e-05 9.99982358e-01 -1.95706211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.124012739 meters Centerline goodness [0,1] 0.9899170770181833 Centerline is valid? [True, True] Translation: X:94.82, Y:-10.60, Z:-1.96 [[ 9.92047690e-01 1.25708504e-01 6.22522883e-03 9.48210735e+01] [-1.25706375e-01 9.92067220e-01 -7.33644862e-04 -1.06005558e+01] [-6.26807086e-03 -5.47402588e-05 9.99980354e-01 -1.95692543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.154012739 meters Centerline goodness [0,1] 0.9894433165936531 Centerline is valid? [True, True] Translation: X:94.85, Y:-10.60, Z:-1.96 [[ 9.91860768e-01 1.27174087e-01 6.24249697e-03 9.48502561e+01] [-1.27171977e-01 9.91880410e-01 -7.35446310e-04 -1.05977947e+01] [-6.28534017e-03 -6.44103411e-05 9.99980245e-01 -1.95823441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.184012739 meters Centerline goodness [0,1] 0.9893782992455814 Centerline is valid? [True, True] Translation: X:94.88, Y:-10.60, Z:-1.96 [[ 9.91738894e-01 1.28136645e-01 5.91330613e-03 9.48788550e+01] [-1.28134770e-01 9.91756520e-01 -6.96484742e-04 -1.05982709e+01] [-5.95380513e-03 -6.69691138e-05 9.99982274e-01 -1.95967327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.214012739 meters Centerline goodness [0,1] 0.9891566522230998 Centerline is valid? [True, True] Translation: X:94.91, Y:-10.60, Z:-1.96 [[ 9.91634247e-01 1.28938797e-01 6.02552094e-03 9.49079134e+01] [-1.28936866e-01 9.91652551e-01 -7.09402162e-04 -1.06029400e+01] [-6.06669267e-03 -7.34443099e-05 9.99981595e-01 -1.96014817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.244012739 meters Centerline goodness [0,1] 0.9888932105968279 Centerline is valid? [True, True] Translation: X:94.94, Y:-10.61, Z:-1.96 [[ 9.91739519e-01 1.28023880e-01 7.91275185e-03 9.49370599e+01] [-1.28020523e-01 9.91771082e-01 -9.31346924e-04 -1.06078200e+01] [-7.96687311e-03 -8.93410837e-05 9.99968260e-01 -1.95653164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.274012739 meters Centerline goodness [0,1] 0.9882279246587178 Centerline is valid? [True, True] Translation: X:94.97, Y:-10.61, Z:-1.96 [[ 9.91824760e-01 1.27324331e-01 8.49473881e-03 9.49668662e+01] [-1.27320438e-01 9.91861133e-01 -9.99633091e-04 -1.06121897e+01] [-8.55287888e-03 -9.00930200e-05 9.99963419e-01 -1.95568880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304012739 meters Centerline goodness [0,1] 0.9891614496827222 Centerline is valid? [True, True] Translation: X:95.00, Y:-10.61, Z:-1.96 [[ 9.91928999e-01 1.26553821e-01 7.80972577e-03 9.49957056e+01] [-1.26550508e-01 9.91959739e-01 -9.18854149e-04 -1.06149457e+01] [-7.86321804e-03 -7.68866904e-05 9.99969081e-01 -1.95693165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.334012739 meters Centerline goodness [0,1] 0.9902376638601726 Centerline is valid? [True, True] Translation: X:95.02, Y:-10.62, Z:-1.96 [[ 9.92193760e-01 1.24594640e-01 5.26481643e-03 9.50246738e+01] [-1.24593108e-01 9.92207727e-01 -6.19303856e-04 -1.06210888e+01] [-5.30095348e-03 -4.14904189e-05 9.99985949e-01 -1.96226887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.364012739 meters Centerline goodness [0,1] 0.991066646671951 Centerline is valid? [True, True] Translation: X:95.05, Y:-10.63, Z:-1.96 [[ 9.92677814e-01 1.20659154e-01 5.66791827e-03 9.50534697e+01] [-1.20657315e-01 9.92693995e-01 -6.66582268e-04 -1.06330385e+01] [-5.70693768e-03 -2.21743691e-05 9.99983715e-01 -1.96142949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.394012739 meters Centerline goodness [0,1] 0.9908570690990448 Centerline is valid? [True, True] Translation: X:95.08, Y:-10.64, Z:-1.96 [[ 9.92923672e-01 1.18587685e-01 6.28829774e-03 9.50828524e+01] [-1.18585381e-01 9.92943584e-01 -7.39334397e-04 -1.06409821e+01] [-6.33160085e-03 -1.15975583e-05 9.99979955e-01 -1.96042096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424012739 meters Centerline goodness [0,1] 0.9916076976182258 Centerline is valid? [True, True] Translation: X:95.11, Y:-10.65, Z:-1.96 [[ 9.93149632e-01 1.16674438e-01 6.39413245e-03 9.51114853e+01] [-1.16672015e-01 9.93170215e-01 -7.51796352e-04 -1.06482064e+01] [-6.43817731e-03 6.29949955e-07 9.99979275e-01 -1.96038619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.454012739 meters Centerline goodness [0,1] 0.9924399516156903 Centerline is valid? [True, True] Translation: X:95.14, Y:-10.66, Z:-1.96 [[ 9.93432335e-01 1.14278456e-01 5.71220374e-03 9.51410060e+01] [-1.14276484e-01 9.93448758e-01 -6.71506551e-04 -1.06573011e+01] [-5.75152044e-03 1.43257609e-05 9.99983460e-01 -1.96223288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.484012739 meters Centerline goodness [0,1] 0.9923832818400274 Centerline is valid? [True, True] Translation: X:95.17, Y:-10.66, Z:-1.96 [[ 9.93485828e-01 1.13801238e-01 5.93187092e-03 9.51710114e+01] [-1.13799103e-01 9.93503537e-01 -6.97426291e-04 -1.06620118e+01] [-5.97270272e-03 1.78415492e-05 9.99982163e-01 -1.96276293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.514012739 meters Centerline goodness [0,1] 0.992503554349231 Centerline is valid? [True, True] Translation: X:95.20, Y:-10.67, Z:-1.96 [[ 9.93416764e-01 1.14392629e-01 6.12033872e-03 9.52022517e+01] [-1.14390367e-01 9.93435618e-01 -7.19541085e-04 -1.06668633e+01] [-6.16247267e-03 1.46963847e-05 9.99981012e-01 -1.96289893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.544012739 meters Centerline goodness [0,1] 0.9929383987980254 Centerline is valid? [True, True] Translation: X:95.23, Y:-10.67, Z:-1.96 [[ 9.93439855e-01 1.14211380e-01 5.74587602e-03 9.52316827e+01] [-1.14209382e-01 9.93456471e-01 -6.75670092e-04 -1.06726016e+01] [-5.78544693e-03 1.50046475e-05 9.99983264e-01 -1.96381003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.574012739 meters Centerline goodness [0,1] 0.9925444507238186 Centerline is valid? [True, True] Translation: X:95.26, Y:-10.68, Z:-1.97 [[ 9.93565248e-01 1.13153589e-01 4.93597864e-03 9.52623047e+01] [-1.13152102e-01 9.93577508e-01 -5.80442311e-04 -1.06825062e+01] [-4.96995649e-03 1.81909522e-05 9.99987650e-01 -1.96531312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.604012739 meters Centerline goodness [0,1] 0.992393608882866 Centerline is valid? [True, True] Translation: X:95.29, Y:-10.69, Z:-1.96 [[ 9.93674511e-01 1.12173391e-01 5.30056137e-03 9.52928119e+01] [-1.12171662e-01 9.93688648e-01 -6.23456104e-04 -1.06901507e+01] [-5.33704285e-03 2.49396628e-05 9.99985758e-01 -1.96451481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.634012739 meters Centerline goodness [0,1] 0.9902463288565929 Centerline is valid? [True, True] Translation: X:95.32, Y:-10.70, Z:-1.96 [[ 9.93916128e-01 1.09879908e-01 7.55881793e-03 9.53240232e+01] [-1.09876322e-01 9.93944869e-01 -8.89277617e-04 -1.07021718e+01] [-7.61076204e-03 5.33322519e-05 9.99971036e-01 -1.96029104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664012739 meters Centerline goodness [0,1] 0.9888799774564845 Centerline is valid? [True, True] Translation: X:95.36, Y:-10.71, Z:-1.96 [[ 9.94048514e-01 1.08615562e-01 8.37926093e-03 9.53552572e+01] [-1.08611097e-01 9.94083827e-01 -9.87340572e-04 -1.07098023e+01] [-8.43692832e-03 7.13837036e-05 9.99964406e-01 -1.95874485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.694012739 meters Centerline goodness [0,1] 0.9876612330153535 Centerline is valid? [True, True] Translation: X:95.39, Y:-10.72, Z:-1.96 [[ 9.94125476e-01 1.07874287e-01 8.81342401e-03 9.53859639e+01] [-1.07869305e-01 9.94164539e-01 -1.04007311e-03 -1.07185907e+01] [-8.87419077e-03 8.32652530e-05 9.99960620e-01 -1.95812354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724012739 meters Centerline goodness [0,1] 0.9871667243767313 Centerline is valid? [True, True] Translation: X:95.42, Y:-10.72, Z:-1.96 [[ 9.94052687e-01 1.08493842e-01 9.39899038e-03 9.54183547e+01] [-1.08488188e-01 9.94097118e-01 -1.11080303e-03 -1.07247708e+01] [-9.46402453e-03 8.45173005e-05 9.99955212e-01 -1.95711095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.754012739 meters Centerline goodness [0,1] 0.9877594349841847 Centerline is valid? [True, True] Translation: X:95.45, Y:-10.73, Z:-1.96 [[ 9.93933343e-01 1.09573345e-01 9.49691254e-03 9.54502724e+01] [-1.09567605e-01 9.93978710e-01 -1.12419252e-03 -1.07289128e+01] [-9.56291041e-03 7.68184664e-05 9.99954271e-01 -1.95717313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784012739 meters Centerline goodness [0,1] 0.9881289597163059 Centerline is valid? [True, True] Translation: X:95.48, Y:-10.74, Z:-1.96 [[ 9.93674388e-01 1.11889596e-01 9.58793878e-03 9.54804926e+01] [-1.11883837e-01 9.93720642e-01 -1.13660916e-03 -1.07352760e+01] [-9.65490743e-03 5.66840278e-05 9.99953389e-01 -1.95693732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.814012739 meters Centerline goodness [0,1] 0.9881289597163059 Centerline is valid? [True, True] Translation: X:95.51, Y:-10.74, Z:-1.96 [[ 9.93653234e-01 1.12077316e-01 9.58775360e-03 9.55127502e+01] [-1.12071550e-01 9.93699488e-01 -1.13816930e-03 -1.07392925e+01] [-9.65490880e-03 5.64311953e-05 9.99953389e-01 -1.95719750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84401273900001 meters Centerline goodness [0,1] 0.9889494463994507 Centerline is valid? [True, True] Translation: X:95.54, Y:-10.75, Z:-1.96 [[ 9.93556136e-01 1.12971965e-01 9.14002069e-03 9.55444015e+01] [-1.12966748e-01 9.93598175e-01 -1.08668319e-03 -1.07452248e+01] [-9.20427261e-03 4.71623319e-05 9.99957639e-01 -1.95888534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.874012739 meters Centerline goodness [0,1] 0.990154896298241 Centerline is valid? [True, True] Translation: X:95.58, Y:-10.75, Z:-1.96 [[ 9.93436937e-01 1.14178259e-01 6.81004705e-03 9.55762406e+01] [-1.14175386e-01 9.93460278e-01 -8.10499004e-04 -1.07537672e+01] [-6.85805260e-03 2.76398969e-05 9.99976483e-01 -1.96380334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.904012739 meters Centerline goodness [0,1] 0.9919458486847742 Centerline is valid? [True, True] Translation: X:95.61, Y:-10.76, Z:-1.97 [[ 9.93385394e-01 1.14687111e-01 5.68554665e-03 9.56076447e+01] [-1.14685112e-01 9.93401664e-01 -6.77562807e-04 -1.07616811e+01] [-5.72573922e-03 2.10334434e-05 9.99983608e-01 -1.96606820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.934012739 meters Centerline goodness [0,1] 0.9921678861875844 Centerline is valid? [True, True] Translation: X:95.64, Y:-10.77, Z:-1.97 [[ 9.93072176e-01 1.17371000e-01 5.63041258e-03 9.56382555e+01] [-1.17369076e-01 9.93088137e-01 -6.72092103e-04 -1.07680428e+01] [-5.67038006e-03 6.59964506e-06 9.99983923e-01 -1.96593924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.964012739 meters Centerline goodness [0,1] 0.9899239503227318 Centerline is valid? [True, True] Translation: X:95.67, Y:-10.77, Z:-1.96 [[ 9.92709177e-01 1.20349354e-01 6.67247486e-03 9.56708826e+01] [-1.20346711e-01 9.92731602e-01 -7.97693551e-04 -1.07696951e+01] [-6.71997856e-03 -1.11326947e-05 9.99977421e-01 -1.96353439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.994012739 meters Centerline goodness [0,1] 0.9886918529940889 Centerline is valid? [True, True] Translation: X:95.70, Y:-10.77, Z:-1.96 [[ 9.92159474e-01 1.24734845e-01 7.79724926e-03 9.57032141e+01] [-1.24731358e-01 9.92190111e-01 -9.33861557e-04 -1.07691568e+01] [-7.85283869e-03 -4.60218972e-05 9.99969165e-01 -1.96128607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024012739 meters Centerline goodness [0,1] 0.9858687877934069 Centerline is valid? [True, True] Translation: X:95.74, Y:-10.76, Z:-1.95 [[ 9.90745412e-01 1.35553550e-01 6.98309996e-03 9.57352074e+01] [-1.35551013e-01 9.90770014e-01 -8.37531702e-04 -1.07600376e+01] [-7.03217644e-03 -1.16785582e-04 9.99975267e-01 -1.95404125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.054012739 meters Centerline goodness [0,1] 0.9871566411682893 Centerline is valid? [True, True] Translation: X:95.77, Y:-10.75, Z:-1.96 [[ 9.90003802e-01 1.40892412e-01 6.46526514e-03 9.57666726e+01] [-1.40890350e-01 9.90024903e-01 -7.75496534e-04 -1.07528092e+01] [-6.51003506e-03 -1.43148951e-04 9.99978799e-01 -1.96418176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084012739 meters Centerline goodness [0,1] 0.9855509244415945 Centerline is valid? [True, True] Translation: X:95.80, Y:-10.74, Z:-1.97 [[ 9.88631777e-01 1.50251645e-01 5.62608914e-03 9.57979108e+01] [-1.50250234e-01 9.88647769e-01 -6.74895033e-04 -1.07378344e+01] [-5.66362457e-03 -1.78098537e-04 9.99983946e-01 -1.96729123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.114012739 meters Centerline goodness [0,1] 0.9830356571282248 Centerline is valid? [True, True] Translation: X:95.83, Y:-10.74, Z:-1.97 [[ 9.88123697e-01 1.53559986e-01 5.55797998e-03 9.58291453e+01] [-1.53558661e-01 9.88139308e-01 -6.66819121e-04 -1.07350978e+01] [-5.59445523e-03 -1.94576190e-04 9.99984332e-01 -1.96819242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.144012739 meters Centerline goodness [0,1] 0.9761427555440616 Centerline is valid? [True, True] Translation: X:95.86, Y:-10.73, Z:-1.97 [[ 9.87522090e-01 1.57414334e-01 4.56610778e-03 9.58604695e+01] [-1.57413481e-01 9.87532630e-01 -5.47858958e-04 -1.07282899e+01] [-4.59542128e-03 -1.77744099e-04 9.99989425e-01 -1.97017138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.174012739 meters Centerline goodness [0,1] 0.9739740170351888 Centerline is valid? [True, True] Translation: X:95.89, Y:-10.73, Z:-1.97 [[ 9.87389037e-01 1.58248647e-01 4.50058932e-03 9.58894783e+01] [-1.58247826e-01 9.87399278e-01 -5.40068002e-04 -1.07255390e+01] [-4.52934368e-03 -1.78951253e-04 9.99989726e-01 -1.97068165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204012739 meters Centerline goodness [0,1] 0.9727514020291964 Centerline is valid? [True, True] Translation: X:95.92, Y:-10.72, Z:-1.97 [[ 9.87346170e-01 1.58500209e-01 5.02247625e-03 9.59182666e+01] [-1.58499192e-01 9.87358923e-01 -6.02447603e-04 -1.07226891e+01] [-5.05447482e-03 -2.01234092e-04 9.99987206e-01 -1.97045200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.234012739 meters Centerline goodness [0,1] 0.9714000382466056 Centerline is valid? [True, True] Translation: X:95.95, Y:-10.71, Z:-1.97 [[ 9.87656784e-01 1.56460968e-01 7.35135614e-03 9.59486741e+01] [-1.56458737e-01 9.87684103e-01 -8.81128344e-04 -1.07148570e+01] [-7.39867979e-03 -2.79931512e-04 9.99972590e-01 -1.96629243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.264012739 meters Centerline goodness [0,1] 0.9834503725271903 Centerline is valid? [True, True] Translation: X:95.98, Y:-10.72, Z:-1.96 [[ 9.88321604e-01 1.52105070e-01 9.18990736e-03 9.59786771e+01] [-1.52101398e-01 9.88364281e-01 -1.10126055e-03 -1.07217596e+01] [-9.25048349e-03 -3.09398168e-04 9.99957165e-01 -1.96241974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.294012739 meters Centerline goodness [0,1] 0.9846807219778553 Centerline is valid? [True, True] Translation: X:96.01, Y:-10.72, Z:-1.96 [[ 9.88687730e-01 1.49664847e-01 9.84915466e-03 9.60070086e+01] [-1.49660509e-01 9.88736739e-01 -1.18014335e-03 -1.07237204e+01] [-9.91484704e-03 -3.07236253e-04 9.99950799e-01 -1.96197141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.324012739 meters Centerline goodness [0,1] 0.9853117249636535 Centerline is valid? [True, True] Translation: X:96.04, Y:-10.73, Z:-1.96 [[ 9.89063324e-01 1.47183119e-01 9.53265646e-03 9.60357265e+01] [-1.47178944e-01 9.89109223e-01 -1.14180657e-03 -1.07264570e+01] [-9.59689307e-03 -2.73687311e-04 9.99953911e-01 -1.96279325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.354012739 meters Centerline goodness [0,1] 0.9862545907519168 Centerline is valid? [True, True] Translation: X:96.07, Y:-10.73, Z:-1.97 [[ 9.89738963e-01 1.42640110e-01 8.40144421e-03 9.60651102e+01] [-1.42636706e-01 9.89774600e-01 -1.00606148e-03 -1.07331645e+01] [-8.45904080e-03 -2.02616081e-04 9.99964201e-01 -1.96570752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.384012739 meters Centerline goodness [0,1] 0.987101750476721 Centerline is valid? [True, True] Translation: X:96.09, Y:-10.74, Z:-1.97 [[ 9.90247827e-01 1.39094737e-01 7.86739844e-03 9.60949517e+01] [-1.39091641e-01 9.90279066e-01 -9.42024109e-04 -1.07378991e+01] [-7.92195057e-03 -1.61452033e-04 9.99968608e-01 -1.96706059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.414012739 meters Centerline goodness [0,1] 0.9881631427713685 Centerline is valid? [True, True] Translation: X:96.12, Y:-10.74, Z:-1.97 [[ 9.90490767e-01 1.37361534e-01 7.73620727e-03 9.61235304e+01] [-1.37358488e-01 9.90520968e-01 -9.26233582e-04 -1.07421810e+01] [-7.79010438e-03 -1.45207921e-04 9.99969646e-01 -1.96805585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444012739 meters Centerline goodness [0,1] 0.9879085665456099 Centerline is valid? [True, True] Translation: X:96.15, Y:-10.75, Z:-1.97 [[ 9.90729147e-01 1.35626331e-01 7.82663571e-03 9.61520318e+01] [-1.35623162e-01 9.90760052e-01 -9.36687177e-04 -1.07471508e+01] [-7.88135745e-03 -1.33469798e-04 9.99968933e-01 -1.96760334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.474012739 meters Centerline goodness [0,1] 0.988311631565149 Centerline is valid? [True, True] Translation: X:96.18, Y:-10.76, Z:-1.97 [[ 9.91104470e-01 1.32858598e-01 7.77960656e-03 9.61810459e+01] [-1.32855385e-01 9.91134996e-01 -9.30690063e-04 -1.07558035e+01] [-7.83429049e-03 -1.11151539e-04 9.99969305e-01 -1.96817065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.504012739 meters Centerline goodness [0,1] 0.9880467032380628 Centerline is valid? [True, True] Translation: X:96.21, Y:-10.76, Z:-1.97 [[ 9.91191677e-01 1.32230547e-01 7.35807879e-03 9.62097938e+01] [-1.32227656e-01 9.91218983e-01 -8.80098848e-04 -1.07583901e+01] [-7.40984333e-03 -1.00594861e-04 9.99972542e-01 -1.96900304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.534012739 meters Centerline goodness [0,1] 0.9879621483595477 Centerline is valid? [True, True] Translation: X:96.24, Y:-10.76, Z:-1.97 [[ 9.91084131e-01 1.33097586e-01 6.10561388e-03 9.62382948e+01] [-1.33095613e-01 9.91102933e-01 -7.30136873e-04 -1.07574237e+01] [-6.14847128e-03 -8.90033536e-05 9.99981094e-01 -1.97102029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564012739 meters Centerline goodness [0,1] 0.9880862124986461 Centerline is valid? [True, True] Translation: X:96.27, Y:-10.76, Z:-1.97 [[ 9.90973697e-01 1.33910341e-01 6.25715385e-03 9.62665165e+01] [-1.33908287e-01 9.90993447e-01 -7.47955830e-04 -1.07606944e+01] [-6.30095748e-03 -9.66802004e-05 9.99980144e-01 -1.97181161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.594012739 meters Centerline goodness [0,1] 0.9873876986869385 Centerline is valid? [True, True] Translation: X:96.29, Y:-10.76, Z:-1.97 [[ 9.90684472e-01 1.35946845e-01 7.92031692e-03 9.62949019e+01] [-1.35943623e-01 9.90716123e-01 -9.46280283e-04 -1.07568201e+01] [-7.97542949e-03 -1.39251396e-04 9.99968186e-01 -1.96933978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.624012739 meters Centerline goodness [0,1] 0.987315056102341 Centerline is valid? [True, True] Translation: X:96.32, Y:-10.76, Z:-1.97 [[ 9.90657910e-01 1.36103747e-01 8.52499675e-03 9.63232357e+01] [-1.36100026e-01 9.90694578e-01 -1.01789685e-03 -1.07601957e+01] [-8.58420763e-03 -1.51864714e-04 9.99963143e-01 -1.96829832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.654012739 meters Centerline goodness [0,1] 0.9874959577449607 Centerline is valid? [True, True] Translation: X:96.35, Y:-10.76, Z:-1.97 [[ 9.90788313e-01 1.35182508e-01 8.01304398e-03 9.63515302e+01] [-1.35179192e-01 9.90820706e-01 -9.56411483e-04 -1.07637972e+01] [-8.06877999e-03 -1.35595493e-04 9.99967438e-01 -1.96941304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.684012739 meters Centerline goodness [0,1] 0.9883369330453564 Centerline is valid? [True, True] Translation: X:96.38, Y:-10.77, Z:-1.97 [[ 9.91093784e-01 1.33005253e-01 6.53557362e-03 9.63793457e+01] [-1.33003002e-01 9.91115328e-01 -7.79826980e-04 -1.07712903e+01] [-6.58122828e-03 -9.63692374e-05 9.99978339e-01 -1.97219532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.714012739 meters Centerline goodness [0,1] 0.9880243411222037 Centerline is valid? [True, True] Translation: X:96.41, Y:-10.78, Z:-1.97 [[ 9.91358063e-01 1.30993491e-01 7.06377184e-03 9.64080852e+01] [-1.30990812e-01 9.91383224e-01 -8.42503667e-04 -1.07778765e+01] [-7.11326740e-03 -9.00664079e-05 9.99974696e-01 -1.97206039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.744012739 meters Centerline goodness [0,1] 0.9881364627420803 Centerline is valid? [True, True] Translation: X:96.44, Y:-10.78, Z:-1.97 [[ 9.91403568e-01 1.30617782e-01 7.61321817e-03 9.64362499e+01] [-1.30614664e-01 9.91432794e-01 -9.07459768e-04 -1.07800630e+01] [-7.66652455e-03 -9.47390846e-05 9.99970607e-01 -1.97197223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.774012739 meters Centerline goodness [0,1] 0.9886435057757743 Centerline is valid? [True, True] Translation: X:96.46, Y:-10.78, Z:-1.97 [[ 9.91357027e-01 1.30976269e-01 7.51411882e-03 9.64647066e+01] [-1.30973246e-01 9.91385499e-01 -8.95171439e-04 -1.07826670e+01] [-7.56663465e-03 -9.67140343e-05 9.99971368e-01 -1.97228236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804012739 meters Centerline goodness [0,1] 0.9878798298018653 Centerline is valid? [True, True] Translation: X:96.49, Y:-10.78, Z:-1.97 [[ 9.91142806e-01 1.32604441e-01 7.21114803e-03 9.64932915e+01] [-1.32601702e-01 9.91169033e-01 -8.58754409e-04 -1.07836359e+01] [-7.26134126e-03 -1.05062249e-04 9.99973631e-01 -1.97327188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.834012739 meters Centerline goodness [0,1] 0.9883513890378633 Centerline is valid? [True, True] Translation: X:96.52, Y:-10.78, Z:-1.97 [[ 9.91050609e-01 1.33312628e-01 6.81417580e-03 9.65214111e+01] [-1.33310201e-01 9.91074030e-01 -8.11198532e-04 -1.07847569e+01] [-6.86149568e-03 -1.04460349e-04 9.99976454e-01 -1.97454200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.864012739 meters Centerline goodness [0,1] 0.9876850461274405 Centerline is valid? [True, True] Translation: X:96.55, Y:-10.78, Z:-1.97 [[ 9.90883111e-01 1.34522459e-01 7.37349386e-03 9.65497784e+01] [-1.34519655e-01 9.90910537e-01 -8.77254890e-04 -1.07841852e+01] [-7.42448324e-03 -1.22622792e-04 9.99972431e-01 -1.97336446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.894012739 meters Centerline goodness [0,1] 0.9878403836273334 Centerline is valid? [True, True] Translation: X:96.58, Y:-10.79, Z:-1.97 [[ 9.90849429e-01 1.34749834e-01 7.73894029e-03 9.65780577e+01] [-1.34746755e-01 9.90879642e-01 -9.20266249e-04 -1.07884299e+01] [-7.79236411e-03 -1.30951808e-04 9.99969630e-01 -1.97293957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924012739 meters Centerline goodness [0,1] 0.9876664810928868 Centerline is valid? [True, True] Translation: X:96.61, Y:-10.79, Z:-1.97 [[ 9.90916564e-01 1.34239657e-01 8.00490371e-03 9.66070024e+01] [-1.34236349e-01 9.90948887e-01 -9.51515920e-04 -1.07921065e+01] [-8.06018159e-03 -1.31676162e-04 9.99967508e-01 -1.97192782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.954012739 meters Centerline goodness [0,1] 0.988221488178025 Centerline is valid? [True, True] Translation: X:96.64, Y:-10.80, Z:-1.97 [[ 9.90990862e-01 1.33678112e-01 8.20206215e-03 9.66357875e+01] [-1.33674623e-01 9.91024795e-01 -9.74563316e-04 -1.07983629e+01] [-8.25872475e-03 -1.30624230e-04 9.99965888e-01 -1.97238652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.984012739 meters Centerline goodness [0,1] 0.987504531206687 Centerline is valid? [True, True] Translation: X:96.66, Y:-10.80, Z:-1.97 [[ 9.91039424e-01 1.33311258e-01 8.30475291e-03 9.66640483e+01] [-1.33307674e-01 9.91074211e-01 -9.86133540e-04 -1.07982343e+01] [-8.36208914e-03 -1.29790078e-04 9.99965029e-01 -1.97218666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.014012739 meters Centerline goodness [0,1] 0.987400969484721 Centerline is valid? [True, True] Translation: X:96.69, Y:-10.80, Z:-1.97 [[ 9.91074481e-01 1.33022377e-01 8.74182154e-03 9.66925135e+01] [-1.33018399e-01 9.91113025e-01 -1.03749079e-03 -1.08025713e+01] [-8.80214268e-03 -1.34592462e-04 9.99961251e-01 -1.97123875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.044012739 meters Centerline goodness [0,1] 0.9878420109270737 Centerline is valid? [True, True] Translation: X:96.72, Y:-10.81, Z:-1.97 [[ 9.91147310e-01 1.32447187e-01 9.20613461e-03 9.67208799e+01] [-1.32442755e-01 9.91190054e-01 -1.09214337e-03 -1.08055354e+01] [-9.26968038e-03 -1.36810865e-04 9.99957026e-01 -1.97163213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.074012739 meters Centerline goodness [0,1] 0.9879064997222341 Centerline is valid? [True, True] Translation: X:96.75, Y:-10.81, Z:-1.97 [[ 9.91217180e-01 1.31913507e-01 9.34493698e-03 9.67490532e+01] [-1.31908921e-01 9.91261221e-01 -1.10812835e-03 -1.08077660e+01] [-9.40945074e-03 -1.34284690e-04 9.99955721e-01 -1.97164170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.104012739 meters Centerline goodness [0,1] 0.9879918633390932 Centerline is valid? [True, True] Translation: X:96.78, Y:-10.81, Z:-1.97 [[ 9.91306105e-01 1.31224172e-01 9.61370583e-03 9.67776158e+01] [-1.31219292e-01 9.91352712e-01 -1.13939243e-03 -1.08137095e+01] [-9.68008918e-03 -1.32016999e-04 9.99953138e-01 -1.97232078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.134012739 meters Centerline goodness [0,1] 0.987644204851752 Centerline is valid? [True, True] Translation: X:96.81, Y:-10.82, Z:-1.97 [[ 9.91567219e-01 1.29253753e-01 9.37645726e-03 9.68060899e+01] [-1.29249026e-01 9.91611544e-01 -1.11086433e-03 -1.08209325e+01] [-9.44138665e-03 -1.10401317e-04 9.99955423e-01 -1.97233025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164012739 meters Centerline goodness [0,1] 0.9887572690071075 Centerline is valid? [True, True] Translation: X:96.83, Y:-10.83, Z:-1.97 [[ 9.91712630e-01 1.28176643e-01 8.76403008e-03 9.68342978e+01] [-1.28172473e-01 9.91751350e-01 -1.03810917e-03 -1.08260380e+01] [-8.82480001e-03 -9.38014360e-05 9.99961056e-01 -1.97366180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.194012739 meters Centerline goodness [0,1] 0.9890850722311396 Centerline is valid? [True, True] Translation: X:96.86, Y:-10.83, Z:-1.98 [[ 9.92053988e-01 1.25592470e-01 7.44424474e-03 9.68635243e+01] [-1.25589390e-01 9.92081916e-01 -8.81635041e-04 -1.08347189e+01] [-7.49602731e-03 -6.02885959e-05 9.99971903e-01 -1.97656034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224012739 meters Centerline goodness [0,1] 0.9896113889957676 Centerline is valid? [True, True] Translation: X:96.89, Y:-10.84, Z:-1.98 [[ 9.92225699e-01 1.24241578e-01 7.22438635e-03 9.68927765e+01] [-1.24238643e-01 9.92251998e-01 -8.55433301e-04 -1.08413668e+01] [-7.27469217e-03 -4.87650511e-05 9.99973538e-01 -1.97730403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.254012739 meters Centerline goodness [0,1] 0.9899867061194734 Centerline is valid? [True, True] Translation: X:96.92, Y:-10.85, Z:-1.97 [[ 9.92501883e-01 1.21899172e-01 8.97798533e-03 9.69210562e+01] [-1.21894545e-01 9.92542488e-01 -1.06283174e-03 -1.08507819e+01] [-9.04059021e-03 -3.95049336e-05 9.99959132e-01 -1.97449314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284012739 meters Centerline goodness [0,1] 0.9902235247801934 Centerline is valid? [True, True] Translation: X:96.95, Y:-10.86, Z:-1.97 [[ 9.92680670e-01 1.20377783e-01 9.70962623e-03 9.69507655e+01] [-1.20372299e-01 9.92728154e-01 -1.14934479e-03 -1.08580231e+01] [-9.77737491e-03 -2.78376747e-05 9.99952200e-01 -1.97388123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.314012739 meters Centerline goodness [0,1] 0.9906537993392454 Centerline is valid? [True, True] Translation: X:96.98, Y:-10.86, Z:-1.97 [[ 9.92822480e-01 1.19187243e-01 9.89564904e-03 9.69803670e+01] [-1.19181488e-01 9.92871795e-01 -1.17138788e-03 -1.08645779e+01] [-9.96472531e-03 -1.63979518e-05 9.99950351e-01 -1.97426178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.344012739 meters Centerline goodness [0,1] 0.9915575465196417 Centerline is valid? [True, True] Translation: X:97.01, Y:-10.87, Z:-1.98 [[ 9.92978847e-01 1.17942834e-01 9.08276854e-03 9.70101607e+01] [-1.17937932e-01 9.93020386e-01 -1.07526441e-03 -1.08719613e+01] [-9.14619406e-03 -3.48812966e-06 9.99958173e-01 -1.97646564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.374012739 meters Centerline goodness [0,1] 0.9932631669572329 Centerline is valid? [True, True] Translation: X:97.04, Y:-10.88, Z:-1.98 [[ 9.93070264e-01 1.17293360e-01 7.32933583e-03 9.70405073e+01] [-1.17290150e-01 9.93097310e-01 -8.67723678e-04 -1.08774427e+01] [-7.38052192e-03 2.05168318e-06 9.99972764e-01 -1.97956972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.404012739 meters Centerline goodness [0,1] 0.9936584299147169 Centerline is valid? [True, True] Translation: X:97.07, Y:-10.88, Z:-1.98 [[ 9.93136161e-01 1.16764610e-01 6.82582708e-03 9.70701819e+01] [-1.16761811e-01 9.93159618e-01 -8.08537625e-04 -1.08825699e+01] [-6.87354440e-03 5.99202412e-06 9.99976377e-01 -1.98055789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.434012739 meters Centerline goodness [0,1] 0.9942577303950249 Centerline is valid? [True, True] Translation: X:97.10, Y:-10.89, Z:-1.98 [[ 9.93202004e-01 1.16196997e-01 6.93091175e-03 9.71005258e+01] [-1.16194096e-01 9.93226187e-01 -8.21079745e-04 -1.08878673e+01] [-6.97937005e-03 1.01670201e-05 9.99975644e-01 -1.98005347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.464012739 meters Centerline goodness [0,1] 0.9923808297383727 Centerline is valid? [True, True] Translation: X:97.13, Y:-10.89, Z:-1.98 [[ 9.93199110e-01 1.16113683e-01 8.55224613e-03 9.71302405e+01] [-1.16109263e-01 9.93235930e-01 -1.01316032e-03 -1.08925696e+01] [-8.61203992e-03 1.32749345e-05 9.99962916e-01 -1.97628427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.494012739 meters Centerline goodness [0,1] 0.9922562553925798 Centerline is valid? [True, True] Translation: X:97.16, Y:-10.90, Z:-1.98 [[ 9.93075714e-01 1.17139020e-01 8.89247192e-03 9.71601184e+01] [-1.17134282e-01 9.93115527e-01 -1.05357254e-03 -1.08951505e+01] [-8.95466639e-03 4.66398896e-06 9.99959906e-01 -1.97676100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524012739 meters Centerline goodness [0,1] 0.9915125601282736 Centerline is valid? [True, True] Translation: X:97.19, Y:-10.90, Z:-1.98 [[ 9.92993649e-01 1.17829947e-01 8.92840961e-03 9.71913653e+01] [-1.17825198e-01 9.93033788e-01 -1.05794499e-03 -1.08980458e+01] [-8.99087002e-03 -1.45897188e-06 9.99959581e-01 -1.97792723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.554012739 meters Centerline goodness [0,1] 0.9918728824462838 Centerline is valid? [True, True] Translation: X:97.22, Y:-10.90, Z:-1.98 [[ 9.92928520e-01 1.18399640e-01 8.63016001e-03 9.72217019e+01] [-1.18395222e-01 9.92966024e-01 -1.02279212e-03 -1.09011972e+01] [-8.69055389e-03 -6.21025277e-06 9.99962236e-01 -1.97863680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584012739 meters Centerline goodness [0,1] 0.9917538170807654 Centerline is valid? [True, True] Translation: X:97.25, Y:-10.90, Z:-1.98 [[ 9.92782505e-01 1.19655698e-01 8.08772629e-03 9.72534033e+01] [-1.19651859e-01 9.92815448e-01 -9.58596084e-04 -1.09039775e+01] [-8.14432108e-03 -1.60340667e-05 9.99966834e-01 -1.97971860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.614012739 meters Centerline goodness [0,1] 0.9923497503943984 Centerline is valid? [True, True] Translation: X:97.28, Y:-10.91, Z:-1.98 [[ 9.92775603e-01 1.19741630e-01 7.65146633e-03 9.72839931e+01] [-1.19738195e-01 9.92805088e-01 -9.07055436e-04 -1.09083722e+01] [-7.70502699e-03 -1.56702625e-05 9.99970316e-01 -1.98148804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.644012739 meters Centerline goodness [0,1] 0.992378712655692 Centerline is valid? [True, True] Translation: X:97.31, Y:-10.91, Z:-1.98 [[ 9.92879785e-01 1.18855602e-01 7.94224516e-03 9.73135568e+01] [-1.18851871e-01 9.92911550e-01 -9.41720859e-04 -1.09149276e+01] [-7.99787575e-03 -8.93509638e-06 9.99968016e-01 -1.98087800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.674012739 meters Centerline goodness [0,1] 0.9926032950918657 Centerline is valid? [True, True] Translation: X:97.34, Y:-10.92, Z:-1.98 [[ 9.92869580e-01 1.18905762e-01 8.45080671e-03 9.73439826e+01] [-1.18901539e-01 9.92905544e-01 -1.00214811e-03 -1.09189296e+01] [-8.51001402e-03 -9.81155935e-06 9.99963789e-01 -1.97892182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704012739 meters Centerline goodness [0,1] 0.9877950614598063 Centerline is valid? [True, True] Translation: X:97.38, Y:-10.92, Z:-1.97 [[ 9.92696194e-01 1.20397585e-01 7.66083171e-03 9.73754352e+01] [-1.20394156e-01 9.92725753e-01 -9.08847757e-04 -1.09217559e+01] [-7.71452801e-03 -2.01096627e-05 9.99970242e-01 -1.96989621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.734012739 meters Centerline goodness [0,1] 0.9877950614598063 Centerline is valid? [True, True] Translation: X:97.41, Y:-10.93, Z:-1.97 [[ 9.92696194e-01 1.20397587e-01 7.66080966e-03 9.74052254e+01] [-1.20394156e-01 9.92725753e-01 -9.09033575e-04 -1.09252907e+01] [-7.71452849e-03 -1.99225472e-05 9.99970242e-01 -1.97013625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.764012739 meters Centerline goodness [0,1] 0.9912529601262987 Centerline is valid? [True, True] Translation: X:97.43, Y:-10.93, Z:-1.98 [[ 9.92498322e-01 1.21949116e-01 8.68877790e-03 9.74343462e+01] [-1.21944763e-01 9.92536353e-01 -1.03102154e-03 -1.09268660e+01] [-8.74966010e-03 -3.62638165e-05 9.99961720e-01 -1.97984410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.794012739 meters Centerline goodness [0,1] 0.9903523762140648 Centerline is valid? [True, True] Translation: X:97.46, Y:-10.93, Z:-1.98 [[ 9.92299693e-01 1.23513568e-01 9.25838236e-03 9.74638527e+01] [-1.23508692e-01 9.92342882e-01 -1.09869893e-03 -1.09284118e+01] [-9.32319406e-03 -5.32520848e-05 9.99956537e-01 -1.97952591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.824012739 meters Centerline goodness [0,1] 0.9890167364016736 Centerline is valid? [True, True] Translation: X:97.49, Y:-10.93, Z:-1.98 [[ 9.91933130e-01 1.26400184e-01 9.57392635e-03 9.74948087e+01] [-1.26395106e-01 9.91979328e-01 -1.13605018e-03 -1.09283869e+01] [-9.64073398e-03 -8.32116263e-05 9.99953524e-01 -1.97884733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.854012739 meters Centerline goodness [0,1] 0.9893577981651376 Centerline is valid? [True, True] Translation: X:97.53, Y:-10.93, Z:-1.98 [[ 9.91714579e-01 1.28257973e-01 7.21708433e-03 9.75250826e+01] [-1.28255136e-01 9.91740836e-01 -8.56393594e-04 -1.09261677e+01] [-7.26731656e-03 -7.63301216e-05 9.99973590e-01 -1.98262246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.884012739 meters Centerline goodness [0,1] 0.9899706935851514 Centerline is valid? [True, True] Translation: X:97.55, Y:-10.93, Z:-1.98 [[ 9.91657203e-01 1.28750334e-01 6.27247752e-03 9.75548112e+01] [-1.28748201e-01 9.91677038e-01 -7.44264024e-04 -1.09304002e+01] [-6.31609616e-03 -6.95154174e-05 9.99980051e-01 -1.98492410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.914012739 meters Centerline goodness [0,1] 0.9901472522260311 Centerline is valid? [True, True] Translation: X:97.58, Y:-10.94, Z:-1.99 [[ 9.91604794e-01 1.29153977e-01 6.25969143e-03 9.75842735e+01] [-1.29151862e-01 9.91624548e-01 -7.42607691e-04 -1.09351234e+01] [-6.30317442e-03 -7.20774586e-05 9.99980132e-01 -1.98505098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944012739 meters Centerline goodness [0,1] 0.9892805428886343 Centerline is valid? [True, True] Translation: X:97.61, Y:-10.94, Z:-1.98 [[ 9.91534716e-01 1.29600916e-01 7.90628696e-03 9.76134767e+01] [-1.29597559e-01 9.91566233e-01 -9.37711417e-04 -1.09355322e+01] [-7.96113543e-03 -9.48620639e-05 9.99968305e-01 -1.98192670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.974012739 meters Centerline goodness [0,1] 0.9885350045988321 Centerline is valid? [True, True] Translation: X:97.64, Y:-10.94, Z:-1.98 [[ 9.91349166e-01 1.30885342e-01 9.79071335e-03 9.76433024e+01] [-1.30880259e-01 9.91397504e-01 -1.16081762e-03 -1.09370126e+01] [-9.85842279e-03 -1.30635524e-04 9.99951396e-01 -1.97849101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.004012739 meters Centerline goodness [0,1] 0.9863200802441471 Centerline is valid? [True, True] Translation: X:97.67, Y:-10.93, Z:-1.98 [[ 9.90757814e-01 1.35148879e-01 1.15643689e-02 9.76730748e+01] [-1.35142083e-01 9.90825282e-01 -1.37076220e-03 -1.09314254e+01] [-1.16435261e-02 -2.04739542e-04 9.99932191e-01 -1.97564355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.034012739 meters Centerline goodness [0,1] 0.986244197436225 Centerline is valid? [True, True] Translation: X:97.70, Y:-10.93, Z:-1.98 [[ 9.90547415e-01 1.36723967e-01 1.10622985e-02 9.77033289e+01] [-1.36717850e-01 9.90609162e-01 -1.31091379e-03 -1.09313821e+01] [-1.11376475e-02 -2.13891392e-04 9.99937952e-01 -1.97667284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064012739 meters Centerline goodness [0,1] 0.9873456253261437 Centerline is valid? [True, True] Translation: X:97.73, Y:-10.93, Z:-1.98 [[ 9.90452964e-01 1.37524390e-01 9.48515616e-03 9.77332081e+01] [-1.37519932e-01 9.90498362e-01 -1.12382580e-03 -1.09325748e+01] [-9.54958510e-03 -1.91301432e-04 9.99954383e-01 -1.98077757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.094012739 meters Centerline goodness [0,1] 0.9865555886990242 Centerline is valid? [True, True] Translation: X:97.76, Y:-10.93, Z:-1.98 [[ 9.90530251e-01 1.36940723e-01 9.85194291e-03 9.77619209e+01] [-1.36935886e-01 9.90579225e-01 -1.16701916e-03 -1.09342726e+01] [-9.91894242e-03 -1.93116746e-04 9.99950787e-01 -1.98074406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.124012739 meters Centerline goodness [0,1] 0.9875998363867301 Centerline is valid? [True, True] Translation: X:97.79, Y:-10.94, Z:-1.98 [[ 9.91105343e-01 1.32574151e-01 1.15885370e-02 9.77905963e+01] [-1.32567165e-01 9.91173074e-01 -1.37231055e-03 -1.09443238e+01] [-1.16681787e-02 -1.76155177e-04 9.99931909e-01 -1.97848327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.154012739 meters Centerline goodness [0,1] 0.987985712739474 Centerline is valid? [True, True] Translation: X:97.82, Y:-10.95, Z:-1.98 [[ 9.91481153e-01 1.29771684e-01 1.11549524e-02 9.78204557e+01] [-1.29765035e-01 9.91543893e-01 -1.32078467e-03 -1.09524111e+01] [-1.12320254e-02 -1.37989690e-04 9.99936909e-01 -1.97936857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.184012739 meters Centerline goodness [0,1] 0.9896396689906822 Centerline is valid? [True, True] Translation: X:97.85, Y:-10.96, Z:-1.98 [[ 9.91824176e-01 1.27240214e-01 9.73299985e-03 9.78498321e+01] [-1.27235031e-01 9.91871927e-01 -1.15242060e-03 -1.09602453e+01] [-9.80052356e-03 -9.53799235e-05 9.99951969e-01 -1.98267700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.214012739 meters Centerline goodness [0,1] 0.9919576220296817 Centerline is valid? [True, True] Translation: X:97.88, Y:-10.97, Z:-1.99 [[ 9.92276849e-01 1.23821261e-01 7.41290373e-03 9.78793157e+01] [-1.23818159e-01 9.92304536e-01 -8.77707009e-04 -1.09711469e+01] [-7.46453679e-03 -4.69237499e-05 9.99972139e-01 -1.98706879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.244012739 meters Centerline goodness [0,1] 0.9923041805256636 Centerline is valid? [True, True] Translation: X:97.91, Y:-10.98, Z:-1.99 [[ 9.92376044e-01 1.23003438e-01 7.74212651e-03 9.79093633e+01] [-1.23000029e-01 9.92406244e-01 -9.16785073e-04 -1.09770279e+01] [-7.79610240e-03 -4.24862422e-05 9.99969609e-01 -1.98601305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.274012739 meters Centerline goodness [0,1] 0.9909517712334613 Centerline is valid? [True, True] Translation: X:97.94, Y:-10.98, Z:-1.98 [[ 9.92336604e-01 1.23173842e-01 9.81172498e-03 9.79382860e+01] [-1.23168375e-01 9.92385108e-01 -1.16183528e-03 -1.09806807e+01] [-9.88011746e-03 -5.55625471e-05 9.99951189e-01 -1.98179024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304012739 meters Centerline goodness [0,1] 0.9907727301989228 Centerline is valid? [True, True] Translation: X:97.97, Y:-10.99, Z:-1.98 [[ 9.92323143e-01 1.23270384e-01 9.95948162e-03 9.79688943e+01] [-1.23264757e-01 9.92373120e-01 -1.17923816e-03 -1.09856865e+01] [-1.00288870e-02 -5.74677648e-05 9.99949708e-01 -1.98195024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.334012739 meters Centerline goodness [0,1] 0.9910966617793927 Centerline is valid? [True, True] Translation: X:98.00, Y:-11.00, Z:-1.99 [[ 9.92335937e-01 1.23306816e-01 8.05090651e-03 9.79980814e+01] [-1.23303140e-01 9.92368594e-01 -9.53257262e-04 -1.09951730e+01] [-8.10700989e-03 -4.67506160e-05 9.99967137e-01 -1.98596675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.364012739 meters Centerline goodness [0,1] 0.9919219335659817 Centerline is valid? [True, True] Translation: X:98.03, Y:-11.00, Z:-1.99 [[ 9.92312104e-01 1.23497431e-01 8.06681556e-03 9.80289375e+01] [-1.23493746e-01 9.92344891e-01 -9.55235174e-04 -1.10025601e+01] [-8.12303230e-03 -4.83098500e-05 9.99967006e-01 -1.98638064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.394012739 meters Centerline goodness [0,1] 0.9907597976159849 Centerline is valid? [True, True] Translation: X:98.06, Y:-11.01, Z:-1.98 [[ 9.92208202e-01 1.24197532e-01 9.89227329e-03 9.80600972e+01] [-1.24192023e-01 9.92257511e-01 -1.17167844e-03 -1.10088097e+01] [-9.96120205e-03 -6.59924738e-05 9.99950384e-01 -1.98341389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424012739 meters Centerline goodness [0,1] 0.9902979902979903 Centerline is valid? [True, True] Translation: X:98.09, Y:-11.01, Z:-1.98 [[ 9.92125652e-01 1.24801960e-01 1.05432850e-02 9.80919904e+01] [-1.24795729e-01 9.92181669e-01 -1.24942952e-03 -1.10137476e+01] [-1.06167854e-02 -7.61658602e-05 9.99943637e-01 -1.98244204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.454012739 meters Centerline goodness [0,1] 0.9892302751311423 Centerline is valid? [True, True] Translation: X:98.12, Y:-11.02, Z:-1.98 [[ 9.92014115e-01 1.25700021e-01 1.03682632e-02 9.81229794e+01] [-1.25694026e-01 9.92068293e-01 -1.23038504e-03 -1.10182123e+01] [-1.04406846e-02 -8.26694170e-05 9.99945491e-01 -1.98224846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.484012739 meters Centerline goodness [0,1] 0.9901567154513664 Centerline is valid? [True, True] Translation: X:98.15, Y:-11.02, Z:-1.99 [[ 9.91771960e-01 1.27752004e-01 8.23440501e-03 9.81545230e+01] [-1.27748285e-01 9.91806140e-01 -9.78197703e-04 -1.10237537e+01] [-8.29190016e-03 -8.17820650e-05 9.99965618e-01 -1.98602966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.514012739 meters Centerline goodness [0,1] 0.9893575934429043 Centerline is valid? [True, True] Translation: X:98.18, Y:-11.02, Z:-1.99 [[ 9.91630086e-01 1.28900352e-01 7.38055526e-03 9.81849332e+01] [-1.28897387e-01 9.91657548e-01 -8.77945793e-04 -1.10242509e+01] [-7.43215086e-03 -8.07368285e-05 9.99972378e-01 -1.98765197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.544012739 meters Centerline goodness [0,1] 0.9897689981339682 Centerline is valid? [True, True] Translation: X:98.21, Y:-11.03, Z:-1.99 [[ 9.91391633e-01 1.30704358e-01 7.68126032e-03 9.82147445e+01] [-1.30701197e-01 9.91421384e-01 -9.14197650e-04 -1.10280372e+01] [-7.73485536e-03 -9.76220182e-05 9.99970081e-01 -1.98715336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.574012739 meters Centerline goodness [0,1] 0.9878983634797588 Centerline is valid? [True, True] Translation: X:98.24, Y:-11.03, Z:-1.99 [[ 9.91337121e-01 1.31078709e-01 8.31171748e-03 9.82439923e+01] [-1.31075023e-01 9.91371958e-01 -9.89126288e-04 -1.10308126e+01] [-8.36965703e-03 -1.08900949e-04 9.99964968e-01 -1.98590865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.604012739 meters Centerline goodness [0,1] 0.987445018576248 Centerline is valid? [True, True] Translation: X:98.27, Y:-11.04, Z:-1.99 [[ 9.91280635e-01 1.31465707e-01 8.91461225e-03 9.82739005e+01] [-1.31461482e-01 9.91320712e-01 -1.06077271e-03 -1.10363860e+01] [-8.97669499e-03 -1.20404693e-04 9.99959701e-01 -1.98559066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.634012739 meters Centerline goodness [0,1] 0.9868161126857339 Centerline is valid? [True, True] Translation: X:98.30, Y:-11.04, Z:-1.99 [[ 9.91091142e-01 1.32836951e-01 9.62768937e-03 9.83049133e+01] [-1.32832089e-01 9.91137893e-01 -1.14562360e-03 -1.10373814e+01] [-9.69454891e-03 -1.43448686e-04 9.99952996e-01 -1.98525267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664012739 meters Centerline goodness [0,1] 0.9861761137112152 Centerline is valid? [True, True] Translation: X:98.34, Y:-11.03, Z:-1.99 [[ 9.90746836e-01 1.35396424e-01 9.40829118e-03 9.83354842e+01] [-1.35391896e-01 9.90791492e-01 -1.11949960e-03 -1.10312318e+01] [-9.47323110e-03 -1.64665699e-04 9.99955114e-01 -1.98564527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.694012739 meters Centerline goodness [0,1] 0.986854054054054 Centerline is valid? [True, True] Translation: X:98.37, Y:-11.04, Z:-1.99 [[ 9.90591152e-01 1.36549574e-01 9.13148439e-03 9.83652170e+01] [-1.36545359e-01 9.90633224e-01 -1.08647124e-03 -1.10374080e+01] [-9.19430901e-03 -1.70613017e-04 9.99957717e-01 -1.98624093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724012739 meters Centerline goodness [0,1] 0.9865849477112978 Centerline is valid? [True, True] Translation: X:98.40, Y:-11.03, Z:-1.99 [[ 9.90460426e-01 1.37486996e-01 9.24500915e-03 9.83956919e+01] [-1.37482715e-01 9.90503555e-01 -1.09996254e-03 -1.10348431e+01] [-9.30844498e-03 -1.81559596e-04 9.99956659e-01 -1.98574145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.754012739 meters Centerline goodness [0,1] 0.9868403993258136 Centerline is valid? [True, True] Translation: X:98.43, Y:-11.03, Z:-1.99 [[ 9.90279498e-01 1.38761747e-01 9.57569546e-03 9.84260434e+01] [-1.38757216e-01 9.90325773e-01 -1.13916746e-03 -1.10320219e+01] [-9.64113088e-03 -2.00602663e-04 9.99953503e-01 -1.98591133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784012739 meters Centerline goodness [0,1] 0.9860583832014241 Centerline is valid? [True, True] Translation: X:98.45, Y:-11.03, Z:-1.99 [[ 9.90232234e-01 1.39164300e-01 8.56857812e-03 9.84548141e+01] [-1.39160689e-01 9.90269289e-01 -1.01916525e-03 -1.10311332e+01] [-8.62703118e-03 -1.83198952e-04 9.99962770e-01 -1.98764096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.814012739 meters Centerline goodness [0,1] 0.9858768564754291 Centerline is valid? [True, True] Translation: X:98.48, Y:-11.03, Z:-1.99 [[ 9.90315176e-01 1.38598996e-01 8.13457868e-03 9.84839196e+01] [-1.38595724e-01 9.90348570e-01 -9.67272897e-04 -1.10306056e+01] [-8.19013141e-03 -1.69512796e-04 9.99966446e-01 -1.98848682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.844012739 meters Centerline goodness [0,1] 0.9870327830138045 Centerline is valid? [True, True] Translation: X:98.51, Y:-11.03, Z:-1.99 [[ 9.90348400e-01 1.38352129e-01 8.29063457e-03 9.85131797e+01] [-1.38348723e-01 9.90383087e-01 -9.85630249e-04 -1.10329661e+01] [-8.34726831e-03 -1.70881369e-04 9.99965146e-01 -1.98871313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.874012739 meters Centerline goodness [0,1] 0.9863188933697584 Centerline is valid? [True, True] Translation: X:98.54, Y:-11.03, Z:-1.99 [[ 9.90336532e-01 1.38356398e-01 9.54253416e-03 9.85423693e+01] [-1.38351890e-01 9.90382486e-01 -1.13406205e-03 -1.10305348e+01] [-9.60766345e-03 -1.97124558e-04 9.99953826e-01 -1.98741807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.904012739 meters Centerline goodness [0,1] 0.9860900791762212 Centerline is valid? [True, True] Translation: X:98.57, Y:-11.03, Z:-1.99 [[ 9.90294168e-01 1.38645873e-01 9.73561432e-03 9.85709504e+01] [-1.38641200e-01 9.90342002e-01 -1.15653597e-03 -1.10305926e+01] [-9.80193671e-03 -2.04446432e-04 9.99951939e-01 -1.98711288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.934012739 meters Centerline goodness [0,1] 0.9862445181302814 Centerline is valid? [True, True] Translation: X:98.60, Y:-11.03, Z:-1.99 [[ 9.90186524e-01 1.39502021e-01 8.35669667e-03 9.86007586e+01] [-1.39498612e-01 9.90221769e-01 -9.92385244e-04 -1.10266717e+01] [-8.41342271e-03 -1.83101088e-04 9.99964590e-01 -1.98939767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.964012739 meters Centerline goodness [0,1] 0.9862077882895502 Centerline is valid? [True, True] Translation: X:98.63, Y:-11.02, Z:-1.99 [[ 9.90139773e-01 1.39875317e-01 7.62401844e-03 9.86290757e+01] [-1.39872493e-01 9.90169110e-01 -9.05052866e-04 -1.10248388e+01] [-7.67566211e-03 -1.70261625e-04 9.99970527e-01 -1.99111922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.994012739 meters Centerline goodness [0,1] 0.9867544009571013 Centerline is valid? [True, True] Translation: X:98.66, Y:-11.02, Z:-1.99 [[ 9.90333249e-01 1.38495564e-01 7.68346663e-03 9.86586460e+01] [-1.38492657e-01 9.90363041e-01 -9.11597306e-04 -1.10245156e+01] [-7.73567356e-03 -1.61318590e-04 9.99970066e-01 -1.99201493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024012739 meters Centerline goodness [0,1] 0.9874076341218136 Centerline is valid? [True, True] Translation: X:98.69, Y:-11.03, Z:-1.99 [[ 9.90567215e-01 1.36808798e-01 7.74244247e-03 9.86869292e+01] [-1.36805798e-01 9.90597461e-01 -9.18321923e-04 -1.10283893e+01] [-7.79527837e-03 -1.49551431e-04 9.99969605e-01 -1.99161428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.054012739 meters Centerline goodness [0,1] 0.9880962649874925 Centerline is valid? [True, True] Translation: X:98.71, Y:-11.03, Z:-1.99 [[ 9.90842944e-01 1.34768078e-01 8.23563728e-03 9.87148459e+01] [-1.34764616e-01 9.90877159e-01 -9.76395405e-04 -1.10305895e+01] [-8.29209181e-03 -1.42418000e-04 9.99965610e-01 -1.99070350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084012739 meters Centerline goodness [0,1] 0.9887370990535738 Centerline is valid? [True, True] Translation: X:98.74, Y:-11.03, Z:-1.99 [[ 9.91364795e-01 1.30786820e-01 9.52110403e-03 9.87426831e+01] [-1.30782015e-01 9.91410506e-01 -1.12815455e-03 -1.10340588e+01] [-9.58687031e-03 -1.26776465e-04 9.99954037e-01 -1.98868964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.114012739 meters Centerline goodness [0,1] 0.9895200257704284 Centerline is valid? [True, True] Translation: X:98.77, Y:-11.04, Z:-1.99 [[ 9.91622688e-01 1.28845788e-01 9.12183376e-03 9.87714194e+01] [-1.28841300e-01 9.91664637e-01 -1.08033736e-03 -1.10394030e+01] [-9.18499688e-03 -1.03981883e-04 9.99957812e-01 -1.99019467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.144012739 meters Centerline goodness [0,1] 0.991873056717058 Centerline is valid? [True, True] Translation: X:98.80, Y:-11.05, Z:-1.99 [[ 9.92136114e-01 1.24943676e-01 7.41679992e-03 9.87992175e+01] [-1.24940603e-01 9.92163835e-01 -8.78105883e-04 -1.10460452e+01] [-7.46839443e-03 -5.54588947e-05 9.99972110e-01 -1.99384560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.174012739 meters Centerline goodness [0,1] 0.9929230435254531 Centerline is valid? [True, True] Translation: X:98.83, Y:-11.05, Z:-2.00 [[ 9.92319949e-01 1.23513295e-01 6.75160139e-03 9.88274511e+01] [-1.23510715e-01 9.92342917e-01 -7.99274685e-04 -1.10504970e+01] [-6.79862487e-03 -4.07589022e-05 9.99976888e-01 -1.99563431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204012739 meters Centerline goodness [0,1] 0.9931570426335672 Centerline is valid? [True, True] Translation: X:98.86, Y:-11.05, Z:-1.99 [[ 9.92457815e-01 1.22359371e-01 7.46122042e-03 9.88556779e+01] [-1.22356191e-01 9.92485860e-01 -8.82894576e-04 -1.10524419e+01] [-7.51318619e-03 -3.66908913e-05 9.99971775e-01 -1.99388489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.234012739 meters Centerline goodness [0,1] 0.9931243899793949 Centerline is valid? [True, True] Translation: X:98.88, Y:-11.06, Z:-1.99 [[ 9.92485068e-01 1.22107134e-01 7.95215081e-03 9.88840845e+01] [-1.22103518e-01 9.92516925e-01 -9.40488118e-04 -1.10550311e+01] [-8.00748458e-03 -3.75651771e-05 9.99967939e-01 -1.99265933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.264012739 meters Centerline goodness [0,1] 0.9927366447985004 Centerline is valid? [True, True] Translation: X:98.91, Y:-11.06, Z:-1.99 [[ 9.92509756e-01 1.21893829e-01 8.14120410e-03 9.89119087e+01] [-1.21890035e-01 9.92543144e-01 -9.62456022e-04 -1.10566780e+01] [-8.19781377e-03 -3.70846581e-05 9.99966397e-01 -1.99271470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.294012739 meters Centerline goodness [0,1] 0.9934369455074075 Centerline is valid? [True, True] Translation: X:98.94, Y:-11.06, Z:-1.99 [[ 9.92659213e-01 1.20684391e-01 7.93506431e-03 9.89406377e+01] [-1.20680751e-01 9.92690927e-01 -9.37637092e-04 -1.10600027e+01] [-7.99022451e-03 -2.68554255e-05 9.99968077e-01 -1.99327742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.324012739 meters Centerline goodness [0,1] 0.9934814622314623 Centerline is valid? [True, True] Translation: X:98.97, Y:-11.07, Z:-1.99 [[ 9.93008092e-01 1.17717553e-01 8.80379847e-03 9.89688475e+01] [-1.17712960e-01 9.93047118e-01 -1.03985289e-03 -1.10691002e+01] [-8.86499563e-03 -3.73884498e-06 9.99960705e-01 -1.99099769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.354012739 meters Centerline goodness [0,1] 0.993791507127869 Centerline is valid? [True, True] Translation: X:99.00, Y:-11.08, Z:-1.99 [[ 9.93232783e-01 1.15817189e-01 8.66121116e-03 9.89973178e+01] [-1.15812675e-01 9.93270546e-01 -1.02264238e-03 -1.10755457e+01] [-8.72136550e-03 1.26439071e-05 9.99961968e-01 -1.99100338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.384012739 meters Centerline goodness [0,1] 0.9936096680939857 Centerline is valid? [True, True] Translation: X:99.03, Y:-11.08, Z:-1.99 [[ 9.93432185e-01 1.14097426e-01 8.61813243e-03 9.90260512e+01] [-1.14092892e-01 9.93469565e-01 -1.01744959e-03 -1.10811268e+01] [-8.67794066e-03 2.74995175e-05 9.99962346e-01 -1.99200985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.414012739 meters Centerline goodness [0,1] 0.9931390105503894 Centerline is valid? [True, True] Translation: X:99.06, Y:-11.09, Z:-1.99 [[ 9.93640856e-01 1.12265776e-01 8.61656676e-03 9.90550875e+01] [-1.12261177e-01 9.93678214e-01 -1.01706124e-03 -1.10880485e+01] [-8.67627585e-03 4.32876794e-05 9.99962359e-01 -1.99276362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444012739 meters Centerline goodness [0,1] 0.9928915041663088 Centerline is valid? [True, True] Translation: X:99.08, Y:-11.09, Z:-1.99 [[ 9.93617671e-01 1.12493956e-01 8.30862377e-03 9.90848816e+01] [-1.12489690e-01 9.93652408e-01 -9.80524284e-04 -1.10915815e+01] [-8.36618708e-03 3.96317445e-05 9.99965002e-01 -1.99272552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.474012739 meters Centerline goodness [0,1] 0.9945614640883977 Centerline is valid? [True, True] Translation: X:99.11, Y:-11.09, Z:-1.99 [[ 9.93329926e-01 1.15078651e-01 7.25001392e-03 9.91139248e+01] [-1.15075473e-01 9.93356383e-01 -8.55452923e-04 -1.10920488e+01] [-7.30029197e-03 1.54482095e-05 9.99973352e-01 -1.99442628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.504012739 meters Centerline goodness [0,1] 0.9954127452458381 Centerline is valid? [True, True] Translation: X:99.14, Y:-11.09, Z:-2.00 [[ 9.93054720e-01 1.17467010e-01 6.61994916e-03 9.91436374e+01] [-1.17464415e-01 9.93076785e-01 -7.80880943e-04 -1.10921345e+01] [-6.66584558e-03 -2.15094699e-06 9.99977783e-01 -1.99612048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.534012739 meters Centerline goodness [0,1] 0.9952694675450913 Centerline is valid? [True, True] Translation: X:99.17, Y:-11.09, Z:-2.00 [[ 9.92737654e-01 1.20136528e-01 6.25814269e-03 9.91731332e+01] [-1.20134262e-01 9.92757379e-01 -7.38105883e-04 -1.10921368e+01] [-6.30149082e-03 -1.90718504e-05 9.99980145e-01 -1.99716097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564012739 meters Centerline goodness [0,1] 0.9929396111421092 Centerline is valid? [True, True] Translation: X:99.20, Y:-11.09, Z:-2.00 [[ 9.92171378e-01 1.24730792e-01 6.17950570e-03 9.92018917e+01] [-1.24728673e-01 9.92190620e-01 -7.28550976e-04 -1.10877162e+01] [-6.22212034e-03 -4.79141223e-05 9.99980641e-01 -1.99841122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.594012739 meters Centerline goodness [0,1] 0.9929396111421092 Centerline is valid? [True, True] Translation: X:99.23, Y:-11.09, Z:-2.00 [[ 9.92177145e-01 1.24684905e-01 6.17955325e-03 9.92300358e+01] [-1.24682788e-01 9.92196388e-01 -7.28147406e-04 -1.10909417e+01] [-6.22211941e-03 -4.80327119e-05 9.99980641e-01 -1.99863790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.624012739 meters Centerline goodness [0,1] 0.9922580645161291 Centerline is valid? [True, True] Translation: X:99.26, Y:-11.09, Z:-2.00 [[ 9.91857768e-01 1.27210926e-01 5.96218316e-03 9.92594168e+01] [-1.27209002e-01 9.91875686e-01 -7.02268941e-04 -1.10901897e+01] [-6.00308079e-03 -6.18924669e-05 9.99981979e-01 -1.99961280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.654012739 meters Centerline goodness [0,1] 0.991140642303433 Centerline is valid? [True, True] Translation: X:99.29, Y:-11.09, Z:-2.00 [[ 9.91758990e-01 1.27972323e-01 6.09845726e-03 9.92876627e+01] [-1.27970326e-01 9.91777737e-01 -7.18044954e-04 -1.10927728e+01] [-6.14020402e-03 -6.82940275e-05 9.99981146e-01 -1.99882646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.684012739 meters Centerline goodness [0,1] 0.9905834405834406 Centerline is valid? [True, True] Translation: X:99.32, Y:-11.10, Z:-2.00 [[ 9.91690715e-01 1.28474308e-01 6.62399848e-03 9.93166071e+01] [-1.28471967e-01 9.91712834e-01 -7.79471394e-04 -1.10951606e+01] [-6.66924636e-03 -7.80035706e-05 9.99977757e-01 -1.99792590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.714012739 meters Centerline goodness [0,1] 0.990103866743447 Centerline is valid? [True, True] Translation: X:99.35, Y:-11.10, Z:-2.00 [[ 9.91685710e-01 1.28491968e-01 7.01897449e-03 9.93450360e+01] [-1.28489343e-01 9.91710546e-01 -8.25604557e-04 -1.10953632e+01] [-7.06687458e-03 -8.31231763e-05 9.99975026e-01 -1.99750366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.744012739 meters Centerline goodness [0,1] 0.9909355151254171 Centerline is valid? [True, True] Translation: X:99.37, Y:-11.10, Z:-2.00 [[ 9.91757554e-01 1.27944043e-01 6.87570098e-03 9.93735000e+01] [-1.27941513e-01 9.91781385e-01 -8.08342877e-04 -1.10992749e+01] [-6.92261490e-03 -7.80074332e-05 9.99976035e-01 -1.99822623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.774012739 meters Centerline goodness [0,1] 0.991148743761464 Centerline is valid? [True, True] Translation: X:99.40, Y:-11.10, Z:-2.00 [[ 9.91843784e-01 1.27292658e-01 6.51818859e-03 9.94021363e+01] [-1.27290372e-01 9.91865200e-01 -7.66015168e-04 -1.10983288e+01] [-6.56267253e-03 -6.99352657e-05 9.99978463e-01 -1.99967705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804012739 meters Centerline goodness [0,1] 0.9909907977434094 Centerline is valid? [True, True] Translation: X:99.43, Y:-11.10, Z:-2.00 [[ 9.91894237e-01 1.26892181e-01 6.64815600e-03 9.94302196e+01] [-1.26889796e-01 9.91916513e-01 -7.80960402e-04 -1.11034994e+01] [-6.69351349e-03 -6.89530392e-05 9.99977596e-01 -1.99911069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.834012739 meters Centerline goodness [0,1] 0.9918481777010999 Centerline is valid? [True, True] Translation: X:99.46, Y:-11.11, Z:-2.00 [[ 9.92022466e-01 1.25872005e-01 6.90403391e-03 9.94590907e+01] [-1.25869411e-01 9.92046488e-01 -8.10675758e-04 -1.11065187e+01] [-6.95116398e-03 -6.47981165e-05 9.99975838e-01 -1.99804936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.864012739 meters Centerline goodness [0,1] 0.9915321456899694 Centerline is valid? [True, True] Translation: X:99.49, Y:-11.11, Z:-2.00 [[ 9.92157152e-01 1.24769032e-01 7.54155105e-03 9.94870538e+01] [-1.24765908e-01 9.92185812e-01 -8.85137455e-04 -1.11093681e+01] [-7.59305769e-03 -6.27330064e-05 9.99971170e-01 -1.99687910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.894012739 meters Centerline goodness [0,1] 0.9921898728684861 Centerline is valid? [True, True] Translation: X:99.52, Y:-11.12, Z:-2.00 [[ 9.92354378e-01 1.23159141e-01 8.03833501e-03 9.95157981e+01] [-1.23155543e-01 9.92386932e-01 -9.42929402e-04 -1.11157033e+01] [-8.09326900e-03 -5.42453938e-05 9.99967247e-01 -1.99606587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924012739 meters Centerline goodness [0,1] 0.9932320293135036 Centerline is valid? [True, True] Translation: X:99.54, Y:-11.13, Z:-2.00 [[ 9.92834659e-01 1.19179432e-01 8.69499246e-03 9.95432395e+01] [-1.19175074e-01 9.92872732e-01 -1.01950543e-03 -1.11274246e+01] [-8.75452500e-03 -2.40260425e-05 9.99961678e-01 -1.99559416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.954012739 meters Centerline goodness [0,1] 0.9933190690362866 Centerline is valid? [True, True] Translation: X:99.57, Y:-11.14, Z:-1.99 [[ 9.93302596e-01 1.15153627e-01 9.46544414e-03 9.95727465e+01] [-1.15148282e-01 9.93347694e-01 -1.10952428e-03 -1.11402994e+01] [-9.53024286e-03 1.21637129e-05 9.99954586e-01 -1.99442167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.984012739 meters Centerline goodness [0,1] 0.9934932987462171 Centerline is valid? [True, True] Translation: X:99.60, Y:-11.15, Z:-1.99 [[ 9.93460013e-01 1.13795171e-01 9.37347772e-03 9.96020175e+01] [-1.13789869e-01 9.93504232e-01 -1.09871004e-03 -1.11466875e+01] [-9.43761767e-03 2.49176889e-05 9.99955464e-01 -1.99465255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.014012739 meters Centerline goodness [0,1] 0.9940383953168044 Centerline is valid? [True, True] Translation: X:99.63, Y:-11.15, Z:-2.00 [[ 9.93566776e-01 1.12905722e-01 8.79540484e-03 9.96310290e+01] [-1.12901021e-01 9.93605705e-01 -1.03076311e-03 -1.11528824e+01] [-8.85554348e-03 3.11217965e-05 9.99960788e-01 -1.99606928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.044012739 meters Centerline goodness [0,1] 0.9959021669169706 Centerline is valid? [True, True] Translation: X:99.66, Y:-11.16, Z:-2.00 [[ 9.93661122e-01 1.12219277e-01 6.66400103e-03 9.96608174e+01] [-1.12216564e-01 9.93683467e-01 -7.80905090e-04 -1.11620246e+01] [-6.70954026e-03 2.81437316e-05 9.99977490e-01 -1.99990030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.074012739 meters Centerline goodness [0,1] 0.9957725729658177 Centerline is valid? [True, True] Translation: X:99.69, Y:-11.17, Z:-2.00 [[ 9.93688563e-01 1.12023628e-01 5.80926461e-03 9.96893278e+01] [-1.12021562e-01 9.93705543e-01 -6.80819921e-04 -1.11682012e+01] [-5.84896636e-03 2.57600740e-05 9.99982894e-01 -2.00157360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.104012739 meters Centerline goodness [0,1] 0.9970535733488182 Centerline is valid? [True, True] Translation: X:99.72, Y:-11.17, Z:-2.00 [[ 9.93653508e-01 1.12349369e-01 5.50693070e-03 9.97188976e+01] [-1.12347519e-01 9.93668767e-01 -6.45180737e-04 -1.11741680e+01] [-5.54455069e-03 2.23961028e-05 9.99984629e-01 -2.00310349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.134012739 meters Centerline goodness [0,1] 0.996648692775355 Centerline is valid? [True, True] Translation: X:99.75, Y:-11.18, Z:-2.00 [[ 9.93621670e-01 1.12614678e-01 5.82340724e-03 9.97471839e+01] [-1.12612614e-01 9.93638734e-01 -6.82134807e-04 -1.11786208e+01] [-5.86318139e-03 2.19948163e-05 9.99982811e-01 -2.00242049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164012739 meters Centerline goodness [0,1] 0.995102269785104 Centerline is valid? [True, True] Translation: X:99.78, Y:-11.19, Z:-2.00 [[ 9.93616772e-01 1.12607316e-01 6.73074975e-03 9.97752141e+01] [-1.12604561e-01 9.93639568e-01 -7.88137612e-04 -1.11851879e+01] [-6.77668933e-03 2.51936322e-05 9.99977038e-01 -2.00089799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.194012739 meters Centerline goodness [0,1] 0.9961299151147127 Centerline is valid? [True, True] Translation: X:99.80, Y:-11.19, Z:-2.00 [[ 9.93630776e-01 1.12473903e-01 6.89223485e-03 9.98042618e+01] [-1.12471012e-01 9.93654679e-01 -8.06773549e-04 -1.11900405e+01] [-6.93924237e-03 2.64583979e-05 9.99975923e-01 -2.00106321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224012739 meters Centerline goodness [0,1] 0.995621996796583 Centerline is valid? [True, True] Translation: X:99.83, Y:-11.19, Z:-2.00 [[ 9.93629947e-01 1.12503041e-01 6.52636789e-03 9.98330507e+01] [-1.12500451e-01 9.93651380e-01 -7.63892366e-04 -1.11943968e+01] [-6.57087467e-03 2.48070036e-05 9.99978411e-01 -2.00182295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.254012739 meters Centerline goodness [0,1] 0.9972342523905493 Centerline is valid? [True, True] Translation: X:99.86, Y:-11.20, Z:-2.01 [[ 9.93657117e-01 1.12348845e-01 4.82404631e-03 9.98629563e+01] [-1.12347428e-01 9.93668826e-01 -5.64505658e-04 -1.11996409e+01] [-4.85692599e-03 1.89558679e-05 9.99988205e-01 -2.00623495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284012739 meters Centerline goodness [0,1] 0.9974379230095864 Centerline is valid? [True, True] Translation: X:99.89, Y:-11.20, Z:-2.01 [[ 9.93644641e-01 1.12467958e-01 4.61358940e-03 9.98925027e+01] [-1.12466663e-01 9.93655352e-01 -5.39916154e-04 -1.12035156e+01] [-4.64504106e-03 1.76097883e-05 9.99989212e-01 -2.00704662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.314012739 meters Centerline goodness [0,1] 0.9962273857498071 Centerline is valid? [True, True] Translation: X:99.92, Y:-11.21, Z:-2.00 [[ 9.93635357e-01 1.12491652e-01 5.86565114e-03 9.99211326e+01] [-1.12489560e-01 9.93652670e-01 -6.86397691e-04 -1.12079216e+01] [-5.90563392e-03 2.22045008e-05 9.99982561e-01 -2.00408464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.344012739 meters Centerline goodness [0,1] 0.9945779632936721 Centerline is valid? [True, True] Translation: X:99.95, Y:-11.21, Z:-2.00 [[ 9.93622780e-01 1.12535618e-01 7.03606860e-03 9.99499884e+01] [-1.12532612e-01 9.93647691e-01 -8.23021923e-04 -1.12120431e+01] [-7.08399260e-03 2.59861562e-05 9.99974908e-01 -2.00145162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.374012739 meters Centerline goodness [0,1] 0.9934282117481383 Centerline is valid? [True, True] Translation: X:99.98, Y:-11.22, Z:-2.00 [[ 9.93511989e-01 1.13408847e-01 8.50654803e-03 9.99793475e+01] [-1.13404483e-01 9.93548405e-01 -9.95145677e-04 -1.12158760e+01] [-8.56452555e-03 2.40084760e-05 9.99963323e-01 -1.99893221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.404012739 meters Centerline goodness [0,1] 0.9942827554961058 Centerline is valid? [True, True] Translation: X:100.01, Y:-11.22, Z:-2.00 [[ 9.93410865e-01 1.14355912e-01 7.58807225e-03 1.00008841e+02] [-1.14352468e-01 9.93439845e-01 -8.87621766e-04 -1.12186868e+01] [-7.63979812e-03 1.40583133e-05 9.99970816e-01 -2.00134140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.434012739 meters Centerline goodness [0,1] 0.9955982306613442 Centerline is valid? [True, True] Translation: X:100.04, Y:-11.22, Z:-2.00 [[ 9.93308267e-01 1.15321479e-01 6.29629376e-03 1.00039229e+02] [-1.15319127e-01 9.93328222e-01 -7.36441465e-04 -1.12212354e+01] [-6.33921380e-03 5.43029408e-06 9.99979907e-01 -2.00468644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.464012739 meters Centerline goodness [0,1] 0.9971951033897937 Centerline is valid? [True, True] Translation: X:100.07, Y:-11.23, Z:-2.01 [[ 9.93210410e-01 1.16230536e-01 4.85230018e-03 1.00068825e+02] [-1.16229150e-01 9.93222262e-01 -5.67580418e-04 -1.12256681e+01] [-4.88538274e-03 -2.51945910e-07 9.99988066e-01 -2.00816273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.494012739 meters Centerline goodness [0,1] 0.9954791849677543 Centerline is valid? [True, True] Translation: X:100.10, Y:-11.23, Z:-2.00 [[ 9.93190951e-01 1.16284763e-01 7.04193574e-03 1.00097157e+02] [-1.16281846e-01 9.93215915e-01 -8.23606457e-04 -1.12315696e+01] [-7.08993554e-03 -8.50807942e-07 9.99974866e-01 -2.00338918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524012739 meters Centerline goodness [0,1] 0.9939528408596537 Centerline is valid? [True, True] Translation: X:100.13, Y:-11.24, Z:-2.00 [[ 9.93101111e-01 1.16965467e-01 8.32247619e-03 1.00126379e+02] [-1.16961419e-01 9.93135982e-01 -9.73052108e-04 -1.12350627e+01] [-8.37916406e-03 -7.06949808e-06 9.99964894e-01 -2.00120652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.554012739 meters Centerline goodness [0,1] 0.9937290792763018 Centerline is valid? [True, True] Translation: X:100.16, Y:-11.24, Z:-2.00 [[ 9.93041707e-01 1.17449969e-01 8.58331567e-03 1.00155882e+02] [-1.17445684e-01 9.93078801e-01 -1.00335008e-03 -1.12386425e+01] [-8.64175226e-03 -1.17048975e-05 9.99962659e-01 -2.00090565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584012739 meters Centerline goodness [0,1] 0.9944244642591135 Centerline is valid? [True, True] Translation: X:100.19, Y:-11.24, Z:-2.01 [[ 9.92847132e-01 1.19211652e-01 6.56927717e-03 1.00186047e+02] [-1.19209181e-01 9.92868864e-01 -7.67847612e-04 -1.12408933e+01] [-6.61396714e-03 -2.07628501e-05 9.99978127e-01 -2.00584809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.614012739 meters Centerline goodness [0,1] 0.9939545951508135 Centerline is valid? [True, True] Translation: X:100.22, Y:-11.24, Z:-2.01 [[ 9.92476617e-01 1.22342490e-01 4.74136233e-03 1.00216317e+02] [-1.22341238e-01 9.92487942e-01 -5.54262437e-04 -1.12397374e+01] [-4.77355479e-03 -2.99716305e-05 9.99988606e-01 -2.00957457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.644012739 meters Centerline goodness [0,1] 0.9928815673455343 Centerline is valid? [True, True] Translation: X:100.24, Y:-11.24, Z:-2.01 [[ 9.92237006e-01 1.24275607e-01 4.61481236e-03 1.00244846e+02] [-1.24274442e-01 9.92247737e-01 -5.39503088e-04 -1.12399840e+01] [-4.64608419e-03 -3.81883009e-05 9.99989206e-01 -2.01023434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.674012739 meters Centerline goodness [0,1] 0.9916428556083099 Centerline is valid? [True, True] Translation: X:100.27, Y:-11.24, Z:-2.01 [[ 9.91952595e-01 1.26508585e-01 5.06236048e-03 1.00273800e+02] [-1.26507214e-01 9.91965511e-01 -5.91419827e-04 -1.12401089e+01] [-5.09650668e-03 -5.37646900e-05 9.99987011e-01 -2.00883097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704012739 meters Centerline goodness [0,1] 0.9892800480253848 Centerline is valid? [True, True] Translation: X:100.30, Y:-11.24, Z:-2.00 [[ 9.91393272e-01 1.30717106e-01 7.24008967e-03 1.00303640e+02] [-1.30714417e-01 9.91419702e-01 -8.45361715e-04 -1.12368650e+01] [-7.28847078e-03 -1.08298185e-04 9.99973433e-01 -2.00388299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.734012739 meters Centerline goodness [0,1] 0.9884794596674219 Centerline is valid? [True, True] Translation: X:100.33, Y:-11.23, Z:-2.00 [[ 9.91196431e-01 1.32162738e-01 7.91489386e-03 1.00331513e+02] [-1.32159573e-01 9.91228023e-01 -9.23859293e-04 -1.12343131e+01] [-7.96756437e-03 -1.30302962e-04 9.99968250e-01 -2.00267612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.764012739 meters Centerline goodness [0,1] 0.9887017739070892 Centerline is valid? [True, True] Translation: X:100.36, Y:-11.24, Z:-2.00 [[ 9.90961555e-01 1.33908569e-01 7.98072161e-03 1.00360334e+02] [-1.33905411e-01 9.90993680e-01 -9.31128785e-04 -1.12365620e+01] [-8.03353080e-03 -1.45948979e-04 9.99967720e-01 -2.00305468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.794012739 meters Centerline goodness [0,1] 0.988275566966196 Centerline is valid? [True, True] Translation: X:100.39, Y:-11.24, Z:-2.00 [[ 9.90934252e-01 1.34126482e-01 7.70682601e-03 1.00388269e+02] [-1.34123546e-01 9.90964210e-01 -8.98844059e-04 -1.12366498e+01] [-7.75774754e-03 -1.42971468e-04 9.99969898e-01 -2.00380785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.824012739 meters Centerline goodness [0,1] 0.9877050056663887 Centerline is valid? [True, True] Translation: X:100.42, Y:-11.24, Z:-2.01 [[ 9.90972497e-01 1.33890907e-01 6.83627161e-03 1.00416210e+02] [-1.33888594e-01 9.90996069e-01 -7.96943465e-04 -1.12384833e+01] [-6.88142177e-03 -1.25549735e-04 9.99976315e-01 -2.00571266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.854012739 meters Centerline goodness [0,1] 0.9887350033385746 Centerline is valid? [True, True] Translation: X:100.44, Y:-11.24, Z:-2.01 [[ 9.90995483e-01 1.33735783e-01 6.53396036e-03 1.00444541e+02] [-1.33733669e-01 9.91017016e-01 -7.61359852e-04 -1.12442364e+01] [-6.57708695e-03 -1.19306314e-04 9.99978364e-01 -2.00576896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.884012739 meters Centerline goodness [0,1] 0.9880074792065163 Centerline is valid? [True, True] Translation: X:100.47, Y:-11.24, Z:-2.00 [[ 9.90911408e-01 1.34273372e-01 8.07733012e-03 1.00472781e+02] [-1.34270163e-01 9.90944316e-01 -9.40759391e-04 -1.12404297e+01] [-8.13050331e-03 -1.52335221e-04 9.99966935e-01 -2.00257312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.914012739 meters Centerline goodness [0,1] 0.9877643731116206 Centerline is valid? [True, True] Translation: X:100.50, Y:-11.24, Z:-2.00 [[ 9.90819893e-01 1.34919318e-01 8.52743407e-03 1.00501962e+02] [-1.34915769e-01 9.90856574e-01 -9.92699520e-04 -1.12403519e+01] [-8.58339844e-03 -1.66898892e-04 9.99963148e-01 -2.00139031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944012739 meters Centerline goodness [0,1] 0.9877041347236085 Centerline is valid? [True, True] Translation: X:100.53, Y:-11.24, Z:-2.00 [[ 9.90689162e-01 1.35880970e-01 8.44663914e-03 1.00531356e+02] [-1.35877526e-01 9.90725154e-01 -9.82942137e-04 -1.12394435e+01] [-8.50186100e-03 -1.73918309e-04 9.99963843e-01 -2.00212894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.974012739 meters Centerline goodness [0,1] 0.986579901856198 Centerline is valid? [True, True] Translation: X:100.56, Y:-11.23, Z:-2.01 [[ 9.90303312e-01 1.38725238e-01 7.39310392e-03 1.00562008e+02] [-1.38722681e-01 9.90330893e-01 -8.60067038e-04 -1.12299436e+01] [-7.44093221e-03 -1.73863959e-04 9.99972301e-01 -2.00517802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.004012739 meters Centerline goodness [0,1] 0.9870797145068364 Centerline is valid? [True, True] Translation: X:100.59, Y:-11.23, Z:-2.01 [[ 9.90120836e-01 1.40044446e-01 6.94862791e-03 1.00590789e+02] [-1.40042221e-01 9.90145203e-01 -8.08167492e-04 -1.12299649e+01] [-6.99332996e-03 -1.72917812e-04 9.99975531e-01 -2.00646674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.034012739 meters Centerline goodness [0,1] 0.9865148596289963 Centerline is valid? [True, True] Translation: X:100.62, Y:-11.22, Z:-2.01 [[ 9.90048962e-01 1.40559627e-01 6.78565164e-03 1.00619086e+02] [-1.40557519e-01 9.90072200e-01 -7.88941173e-04 -1.12244766e+01] [-6.82917833e-03 -1.72683970e-04 9.99976666e-01 -2.00681988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064012739 meters Centerline goodness [0,1] 0.9874602123432527 Centerline is valid? [True, True] Translation: X:100.65, Y:-11.23, Z:-2.01 [[ 9.90233706e-01 1.39231348e-01 7.19998562e-03 1.00647689e+02] [-1.39228942e-01 9.90259866e-01 -8.36694142e-04 -1.12262520e+01] [-7.24635085e-03 -1.73923642e-04 9.99973730e-01 -2.00567969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.094012739 meters Centerline goodness [0,1] 0.9881261675219548 Centerline is valid? [True, True] Translation: X:100.68, Y:-11.23, Z:-2.00 [[ 9.90703095e-01 1.35797165e-01 8.15526968e-03 1.00676574e+02] [-1.35793966e-01 9.90736646e-01 -9.47314547e-04 -1.12278951e+01] [-8.20836716e-03 -1.68928962e-04 9.99966297e-01 -2.00380175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.124012739 meters Centerline goodness [0,1] 0.9886542908391502 Centerline is valid? [True, True] Translation: X:100.70, Y:-11.23, Z:-2.01 [[ 9.91020509e-01 1.33486668e-01 7.72403009e-03 1.00704574e+02] [-1.33483730e-01 9.91050599e-01 -8.96991333e-04 -1.12318253e+01] [-7.77464103e-03 -1.42095542e-04 9.99969767e-01 -2.00529325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.154012739 meters Centerline goodness [0,1] 0.9906908903712919 Centerline is valid? [True, True] Translation: X:100.73, Y:-11.24, Z:-2.01 [[ 9.91824407e-01 1.27460246e-01 6.18307600e-03 1.00733153e+02] [-1.27458247e-01 9.91843677e-01 -7.17808538e-04 -1.12419127e+01] [-6.22413689e-03 -7.61440028e-05 9.99980627e-01 -2.00885617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.184012739 meters Centerline goodness [0,1] 0.9914540953611022 Centerline is valid? [True, True] Translation: X:100.76, Y:-11.25, Z:-2.01 [[ 9.92263953e-01 1.23983345e-01 6.35441429e-03 1.00761968e+02] [-1.23981163e-01 9.92284298e-01 -7.37578206e-04 -1.12485804e+01] [-6.39683293e-03 -5.59554104e-05 9.99979538e-01 -2.00840602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.214012739 meters Centerline goodness [0,1] 0.9925381089436094 Centerline is valid? [True, True] Translation: X:100.79, Y:-11.26, Z:-2.01 [[ 9.92663721e-01 1.20707932e-01 6.95216098e-03 1.00790149e+02] [-1.20705243e-01 9.92688065e-01 -8.06727297e-04 -1.12572043e+01] [-6.99870561e-03 -3.83533582e-05 9.99975508e-01 -2.00685870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.244012739 meters Centerline goodness [0,1] 0.9938149699429241 Centerline is valid? [True, True] Translation: X:100.82, Y:-11.27, Z:-2.00 [[ 9.93339461e-01 1.14967966e-01 7.68646884e-03 1.00819011e+02] [-1.14964509e-01 9.93369200e-01 -8.91573408e-04 -1.12694095e+01] [-7.73800378e-03 1.96393104e-06 9.99970061e-01 -2.00393453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.274012739 meters Centerline goodness [0,1] 0.9941975809032148 Centerline is valid? [True, True] Translation: X:100.85, Y:-11.28, Z:-2.00 [[ 9.93558866e-01 1.13054630e-01 7.70909012e-03 1.00846758e+02] [-1.13051096e-01 9.93588773e-01 -8.94023672e-04 -1.12752169e+01] [-7.76073891e-03 1.67440577e-05 9.99969885e-01 -2.00457908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304012739 meters Centerline goodness [0,1] 0.9961679261844105 Centerline is valid? [True, True] Translation: X:100.88, Y:-11.29, Z:-2.01 [[ 9.93897084e-01 1.10163781e-01 5.70339412e-03 1.00875334e+02] [-1.10161800e-01 9.93913447e-01 -6.61126944e-04 -1.12850650e+01] [-5.74151235e-03 2.87959765e-05 9.99983517e-01 -2.01061225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.334012739 meters Centerline goodness [0,1] 0.9965935472672438 Centerline is valid? [True, True] Translation: X:100.90, Y:-11.29, Z:-2.01 [[ 9.94057744e-01 1.08773754e-01 4.17986273e-03 1.00904337e+02] [-1.08772678e-01 9.94066532e-01 -4.84491183e-04 -1.12889573e+01] [-4.20776157e-03 2.69573478e-05 9.99991147e-01 -2.01270324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.364012739 meters Centerline goodness [0,1] 0.997560819051287 Centerline is valid? [True, True] Translation: X:100.93, Y:-11.30, Z:-2.02 [[ 9.94220613e-01 1.07339536e-01 1.89657131e-03 1.00932427e+02] [-1.07339312e-01 9.94222422e-01 -2.19964315e-04 -1.12989920e+01] [-1.90922459e-03 1.51163967e-05 9.99998177e-01 -2.01894323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.394012739 meters Centerline goodness [0,1] 0.9977736950178321 Centerline is valid? [True, True] Translation: X:100.96, Y:-11.30, Z:-2.02 [[ 9.94220048e-01 1.07342976e-01 1.99542148e-03 1.00961928e+02] [-1.07342728e-01 9.94222050e-01 -2.31409665e-04 -1.12988868e+01] [-2.00873224e-03 1.58781437e-05 9.99997982e-01 -2.01574405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424012739 meters Centerline goodness [0,1] 0.9960808938160401 Centerline is valid? [True, True] Translation: X:100.99, Y:-11.30, Z:-2.01 [[ 9.94069597e-01 1.08643470e-01 4.71523408e-03 1.00989931e+02] [-1.08642102e-01 9.94080779e-01 -5.46127421e-04 -1.13026091e+01] [-4.74665675e-03 3.06157255e-05 9.99988734e-01 -2.01065018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.454012739 meters Centerline goodness [0,1] 0.9952865399790987 Centerline is valid? [True, True] Translation: X:101.02, Y:-11.31, Z:-2.01 [[ 9.93914493e-01 1.09988599e-01 6.04059183e-03 1.01017949e+02] [-1.09986381e-01 9.93932848e-01 -6.99118616e-04 -1.13068966e+01] [-6.08083772e-03 3.04812901e-05 9.99981511e-01 -2.00802694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.484012739 meters Centerline goodness [0,1] 0.9952922714790113 Centerline is valid? [True, True] Translation: X:101.05, Y:-11.31, Z:-2.01 [[ 9.93827724e-01 1.10756886e-01 6.27428325e-03 1.01047758e+02] [-1.10754511e-01 9.93847529e-01 -7.25816110e-04 -1.13100323e+01] [-6.31607004e-03 2.64309976e-05 9.99980053e-01 -2.00829499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.514012739 meters Centerline goodness [0,1] 0.9952922714790113 Centerline is valid? [True, True] Translation: X:101.08, Y:-11.31, Z:-2.01 [[ 9.93830290e-01 1.10733864e-01 6.27430009e-03 1.01076733e+02] [-1.10731489e-01 9.93850095e-01 -7.25670488e-04 -1.13133392e+01] [-6.31607004e-03 2.64307198e-05 9.99980053e-01 -2.00852835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.544012739 meters Centerline goodness [0,1] 0.9938410338418983 Centerline is valid? [True, True] Translation: X:101.11, Y:-11.32, Z:-2.01 [[ 9.93701102e-01 1.11869851e-01 6.57693061e-03 1.01105364e+02] [-1.11867268e-01 9.93722867e-01 -7.60524471e-04 -1.13157006e+01] [-6.62072610e-03 1.99907492e-05 9.99978083e-01 -2.00808120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.574012739 meters Centerline goodness [0,1] 0.9942600664623883 Centerline is valid? [True, True] Translation: X:101.13, Y:-11.31, Z:-2.01 [[ 9.93335969e-01 1.15088997e-01 6.17871205e-03 1.01134141e+02] [-1.15086780e-01 9.93355185e-01 -7.14276604e-04 -1.13146145e+01] [-6.21986102e-03 -1.57143270e-06 9.99980656e-01 -2.00863057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.604012739 meters Centerline goodness [0,1] 0.9938515779516726 Centerline is valid? [True, True] Translation: X:101.16, Y:-11.31, Z:-2.01 [[ 9.93103648e-01 1.17089660e-01 5.92928636e-03 1.01162973e+02] [-1.17087656e-01 9.93121348e-01 -6.85270039e-04 -1.13137163e+01] [-5.96873889e-03 -1.37020658e-05 9.99982187e-01 -2.00893465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.634012739 meters Centerline goodness [0,1] 0.9918978480684469 Centerline is valid? [True, True] Translation: X:101.19, Y:-11.31, Z:-2.01 [[ 9.92529294e-01 1.21907671e-01 4.91131586e-03 1.01192248e+02] [-1.21906355e-01 9.92541444e-01 -5.67487315e-04 -1.13062738e+01] [-4.94386559e-03 -3.54728312e-05 9.99987778e-01 -2.01096172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664012739 meters Centerline goodness [0,1] 0.9921763869132291 Centerline is valid? [True, True] Translation: X:101.22, Y:-11.31, Z:-2.01 [[ 9.92263660e-01 1.24075643e-01 4.25021609e-03 1.01221383e+02] [-1.24074678e-01 9.92272762e-01 -4.90872218e-04 -1.13050071e+01] [-4.27827894e-03 -4.02695303e-05 9.99990847e-01 -2.01245246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694012739 meters Centerline goodness [0,1] 0.9913331469493968 Centerline is valid? [True, True] Translation: X:101.25, Y:-11.30, Z:-2.01 [[ 9.91999824e-01 1.26158841e-01 4.50509481e-03 1.01249370e+02] [-1.26157780e-01 9.92010052e-01 -5.20117972e-04 -1.13026002e+01] [-4.53471682e-03 -5.23958211e-05 9.99989717e-01 -2.01218062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724012739 meters Centerline goodness [0,1] 0.9907733241781821 Centerline is valid? [True, True] Translation: X:101.28, Y:-11.31, Z:-2.01 [[ 9.92082665e-01 1.25478638e-01 5.20551840e-03 1.01277340e+02] [-1.25477214e-01 9.92096320e-01 -6.00614859e-04 -1.13050228e+01] [-5.23973999e-03 -5.73143554e-05 9.99986271e-01 -2.01122163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.754012739 meters Centerline goodness [0,1] 0.9918187806795724 Centerline is valid? [True, True] Translation: X:101.31, Y:-11.31, Z:-2.01 [[ 9.92272432e-01 1.23944279e-01 5.76507714e-03 1.01305527e+02] [-1.23942508e-01 9.92289178e-01 -6.64775806e-04 -1.13094016e+01] [-5.80301882e-03 -5.48994163e-05 9.99983161e-01 -2.01002987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.784012739 meters Centerline goodness [0,1] 0.9920296411184353 Centerline is valid? [True, True] Translation: X:101.33, Y:-11.32, Z:-2.01 [[ 9.92805530e-01 1.19539278e-01 6.89493239e-03 1.01332886e+02] [-1.19536641e-01 9.92829472e-01 -7.94675531e-04 -1.13196492e+01] [-6.94048702e-03 -3.52387974e-05 9.99975914e-01 -2.00873005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.814012739 meters Centerline goodness [0,1] 0.9930717430717431 Centerline is valid? [True, True] Translation: X:101.36, Y:-11.33, Z:-2.01 [[ 9.93118411e-01 1.16911377e-01 6.89577327e-03 1.01361195e+02] [-1.16908679e-01 9.93142351e-01 -7.94459959e-04 -1.13282478e+01] [-6.94136589e-03 -1.71829308e-05 9.99975908e-01 -2.00885100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.844012739 meters Centerline goodness [0,1] 0.9951354051295416 Centerline is valid? [True, True] Translation: X:101.39, Y:-11.34, Z:-2.01 [[ 9.93713566e-01 1.11779364e-01 6.22277236e-03 1.01388658e+02] [-1.11777068e-01 9.93733049e-01 -7.16658283e-04 -1.13404244e+01] [-6.26388216e-03 1.65898090e-05 9.99980382e-01 -2.00952199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.874012739 meters Centerline goodness [0,1] 0.9963071109584335 Centerline is valid? [True, True] Translation: X:101.42, Y:-11.35, Z:-2.01 [[ 9.93989876e-01 1.09333636e-01 5.50296503e-03 1.01417663e+02] [-1.09331803e-01 9.94005108e-01 -6.33578975e-04 -1.13474673e+01] [-5.53924685e-03 2.81219958e-05 9.99984658e-01 -2.01124328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.904012739 meters Centerline goodness [0,1] 0.9951014094190443 Centerline is valid? [True, True] Translation: X:101.44, Y:-11.36, Z:-2.01 [[ 9.94392268e-01 1.05661742e-01 4.42883949e-03 1.01444782e+02] [-1.05660519e-01 9.94402129e-01 -5.09884893e-04 -1.13600411e+01] [-4.45792275e-03 3.90721157e-05 9.99990063e-01 -2.01346281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.934012739 meters Centerline goodness [0,1] 0.9945263700173869 Centerline is valid? [True, True] Translation: X:101.47, Y:-11.37, Z:-2.01 [[ 9.94542440e-01 1.04214198e-01 4.97360826e-03 1.01472306e+02] [-1.04212638e-01 9.94554875e-01 -5.72406804e-04 -1.13679784e+01] [-5.00617925e-03 5.09700218e-05 9.99987468e-01 -2.01285522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.964012739 meters Centerline goodness [0,1] 0.991674119500873 Centerline is valid? [True, True] Translation: X:101.50, Y:-11.38, Z:-2.01 [[ 9.94772199e-01 1.01867008e-01 7.16826384e-03 1.01501735e+02] [-1.01863711e-01 9.94798022e-01 -8.24612621e-04 -1.13775978e+01] [-7.21497551e-03 9.01157584e-05 9.99973968e-01 -2.00762215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.994012739 meters Centerline goodness [0,1] 0.9912785664819944 Centerline is valid? [True, True] Translation: X:101.53, Y:-11.38, Z:-2.01 [[ 9.94851400e-01 1.01042487e-01 7.81713290e-03 1.01532539e+02] [-1.01038540e-01 9.94882106e-01 -8.99253265e-04 -1.13812881e+01] [-7.86798843e-03 1.04791676e-04 9.99969041e-01 -2.00636584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024012739 meters Centerline goodness [0,1] 0.9854726239669421 Centerline is valid? [True, True] Translation: X:101.56, Y:-11.39, Z:-2.00 [[ 9.94848116e-01 1.01103559e-01 7.43613359e-03 1.01562412e+02] [-1.01099988e-01 9.94875902e-01 -8.55593016e-04 -1.13899340e+01] [-7.48453361e-03 9.93920861e-05 9.99971986e-01 -1.99830660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.054012739 meters Centerline goodness [0,1] 0.9919776845565021 Centerline is valid? [True, True] Translation: X:101.59, Y:-11.39, Z:-2.01 [[ 9.94781950e-01 1.01757706e-01 7.36481854e-03 1.01593823e+02] [-1.01754220e-01 9.94809208e-01 -8.47464304e-04 -1.13932247e+01] [-7.41282533e-03 9.36408267e-05 9.99972520e-01 -2.00764680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084012739 meters Centerline goodness [0,1] 0.9907926855380926 Centerline is valid? [True, True] Translation: X:101.62, Y:-11.40, Z:-2.01 [[ 9.94858184e-01 1.01056370e-01 6.69354588e-03 1.01623599e+02] [-1.01053475e-01 9.94880697e-01 -7.70229124e-04 -1.14024575e+01] [-6.73711615e-03 8.98626779e-05 9.99977301e-01 -2.00969025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.114012739 meters Centerline goodness [0,1] 0.9886383124678443 Centerline is valid? [True, True] Translation: X:101.65, Y:-11.41, Z:-2.01 [[ 9.95203179e-01 9.76460016e-02 5.99088298e-03 1.01654048e+02] [-9.76436165e-02 9.95221206e-01 -6.90025367e-04 -1.14144043e+01] [-6.02963200e-03 1.01743958e-04 9.99981816e-01 -2.01173740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.144012739 meters Centerline goodness [0,1] 0.989637861494894 Centerline is valid? [True, True] Translation: X:101.69, Y:-11.42, Z:-2.01 [[ 9.95398147e-01 9.56505832e-02 5.78746809e-03 1.01685994e+02] [-9.56483195e-02 9.95414966e-01 -6.67303745e-04 -1.14187887e+01] [-5.82476034e-03 1.10671315e-04 9.99983030e-01 -2.01143530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174012739 meters Centerline goodness [0,1] 0.9899936916751866 Centerline is valid? [True, True] Translation: X:101.72, Y:-11.43, Z:-2.01 [[ 9.95742381e-01 9.20722393e-02 4.45123366e-03 1.01716231e+02] [-9.20708604e-02 9.95752325e-01 -5.14145677e-04 -1.14313688e+01] [-4.47966480e-03 1.02127728e-04 9.99989961e-01 -2.01432752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204012739 meters Centerline goodness [0,1] 0.9869542974079127 Centerline is valid? [True, True] Translation: X:101.75, Y:-11.45, Z:-2.02 [[ 9.95809094e-01 9.13750354e-02 3.85381071e-03 1.01745078e+02] [-9.13739972e-02 9.95816547e-01 -4.44962495e-04 -1.14487436e+01] [-3.87834693e-03 9.09596104e-05 9.99992475e-01 -2.01760335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.234012739 meters Centerline goodness [0,1] 0.9888342329792791 Centerline is valid? [True, True] Translation: X:101.78, Y:-11.45, Z:-2.02 [[ 9.95843294e-01 9.10043111e-02 3.78802966e-03 1.01777647e+02] [-9.10033055e-02 9.95850494e-01 -4.37340054e-04 -1.14507906e+01] [-3.81211104e-03 9.07989393e-05 9.99992730e-01 -2.01629370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.264012739 meters Centerline goodness [0,1] 0.9891379310344828 Centerline is valid? [True, True] Translation: X:101.81, Y:-11.46, Z:-2.02 [[ 9.95785335e-01 9.16232781e-02 4.09173635e-03 1.01808382e+02] [-9.16221057e-02 9.95793736e-01 -4.73449836e-04 -1.14576294e+01] [-4.11790445e-03 9.65609031e-05 9.99991517e-01 -2.01562130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.294012739 meters Centerline goodness [0,1] 0.9899640178610136 Centerline is valid? [True, True] Translation: X:101.84, Y:-11.46, Z:-2.01 [[ 9.95540845e-01 9.41911284e-02 5.14365715e-03 1.01840483e+02] [-9.41893076e-02 9.95554127e-01 -5.95631404e-04 -1.14615232e+01] [-5.17689229e-03 1.08497886e-04 9.99986594e-01 -2.01331874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.324012739 meters Centerline goodness [0,1] 0.9877920347325209 Centerline is valid? [True, True] Translation: X:101.87, Y:-11.47, Z:-2.01 [[ 9.95378393e-01 9.58850668e-02 5.28280353e-03 1.01870023e+02] [-9.58831650e-02 9.95392407e-01 -6.12689798e-04 -1.14741164e+01] [-5.31721032e-03 1.03326264e-04 9.99985858e-01 -2.01440101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.354012739 meters Centerline goodness [0,1] 0.9923592871562222 Centerline is valid? [True, True] Translation: X:101.90, Y:-11.47, Z:-2.02 [[ 9.95098081e-01 9.88099276e-02 4.05063028e-03 1.01902756e+02] [-9.88088326e-02 9.95106323e-01 -4.70058517e-04 -1.14701327e+01] [-4.07725425e-03 6.75162790e-05 9.99991686e-01 -2.01567242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.384012739 meters Centerline goodness [0,1] 0.9926364517170847 Centerline is valid? [True, True] Translation: X:101.93, Y:-11.48, Z:-2.02 [[ 9.94983038e-01 9.99831549e-02 3.48178486e-03 1.01933487e+02] [-9.99823514e-02 9.94989128e-01 -4.04505268e-04 -1.14788029e+01] [-3.50478179e-03 5.43588434e-05 9.99993857e-01 -2.01783042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414012739 meters Centerline goodness [0,1] 0.9932463146957594 Centerline is valid? [True, True] Translation: X:101.97, Y:-11.48, Z:-2.02 [[ 9.94858545e-01 1.01199734e-01 3.88440993e-03 1.01965655e+02] [-1.01198740e-01 9.94866127e-01 -4.52005714e-04 -1.14829221e+01] [-3.91021072e-03 5.65843557e-05 9.99992353e-01 -2.01662577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444012739 meters Centerline goodness [0,1] 0.9924095815593686 Centerline is valid? [True, True] Translation: X:102.00, Y:-11.49, Z:-2.01 [[ 9.94549963e-01 1.04098362e-01 5.82261349e-03 1.01996344e+02] [-1.04096169e-01 9.94567004e-01 -6.79213200e-04 -1.14883202e+01] [-5.86168424e-03 6.93997031e-05 9.99982818e-01 -2.01174553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474012739 meters Centerline goodness [0,1] 0.994004949650111 Centerline is valid? [True, True] Translation: X:102.03, Y:-11.49, Z:-2.01 [[ 9.94106283e-01 1.08226024e-01 6.31079362e-03 1.02027264e+02] [-1.08223524e-01 9.94126313e-01 -7.37338925e-04 -1.14917073e+01] [-6.35352525e-03 5.00169345e-05 9.99979815e-01 -2.01162676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.504012739 meters Centerline goodness [0,1] 0.9951994810249757 Centerline is valid? [True, True] Translation: X:102.06, Y:-11.49, Z:-2.01 [[ 9.93785325e-01 1.11170635e-01 5.64079309e-03 1.02058995e+02] [-1.11168683e-01 9.93801333e-01 -6.59348715e-04 -1.14938432e+01] [-5.67912790e-03 2.81715394e-05 9.99983873e-01 -2.01294255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.534012739 meters Centerline goodness [0,1] 0.995047052996533 Centerline is valid? [True, True] Translation: X:102.09, Y:-11.49, Z:-2.01 [[ 9.93390386e-01 1.14673737e-01 5.04730358e-03 1.02091532e+02] [-1.14672216e-01 9.93403208e-01 -5.90671418e-04 -1.14945065e+01] [-5.08174207e-03 7.98182141e-06 9.99987088e-01 -2.01432946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564012739 meters Centerline goodness [0,1] 0.9921975478007373 Centerline is valid? [True, True] Translation: X:102.12, Y:-11.49, Z:-2.02 [[ 9.92535950e-01 1.21869137e-01 4.50566405e-03 1.02122654e+02] [-1.21867994e-01 9.92546177e-01 -5.28462182e-04 -1.14889147e+01] [-4.53648286e-03 -2.45785238e-05 9.99989710e-01 -2.01518956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.594012739 meters Centerline goodness [0,1] 0.9909053684187841 Centerline is valid? [True, True] Translation: X:102.15, Y:-11.48, Z:-2.01 [[ 9.91598035e-01 1.29239025e-01 5.53284232e-03 1.02152622e+02] [-1.29237415e-01 9.91613468e-01 -6.49024860e-04 -1.14827417e+01] [-5.57032030e-03 -7.14784624e-05 9.99984483e-01 -2.01193857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624012739 meters Centerline goodness [0,1] 0.9902823849621503 Centerline is valid? [True, True] Translation: X:102.18, Y:-11.48, Z:-2.01 [[ 9.91151894e-01 1.32604241e-01 5.83417872e-03 1.02181667e+02] [-1.32602511e-01 9.91169060e-01 -6.84141496e-04 -1.14786411e+01] [-5.87337750e-03 -9.55386056e-05 9.99982747e-01 -2.01135850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.654012739 meters Centerline goodness [0,1] 0.9900373061911025 Centerline is valid? [True, True] Translation: X:102.21, Y:-11.48, Z:-2.01 [[ 9.90781508e-01 1.35353714e-01 5.60131476e-03 1.02211234e+02] [-1.35352164e-01 9.90797336e-01 -6.56641578e-04 -1.14812594e+01] [-5.63864662e-03 -1.07561743e-04 9.99984097e-01 -2.01094322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.684012739 meters Centerline goodness [0,1] 0.9895808768356738 Centerline is valid? [True, True] Translation: X:102.24, Y:-11.48, Z:-2.01 [[ 9.90452071e-01 1.37747587e-01 5.50432408e-03 1.02239656e+02] [-1.37746128e-01 9.90467358e-01 -6.45108886e-04 -1.14800714e+01] [-5.54071553e-03 -1.19249900e-04 9.99984643e-01 -2.01185010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.714012739 meters Centerline goodness [0,1] 0.9881400924815893 Centerline is valid? [True, True] Translation: X:102.27, Y:-11.48, Z:-2.01 [[ 9.90003109e-01 1.40936145e-01 5.55400130e-03 1.02268718e+02] [-1.40934709e-01 9.90018679e-01 -6.50934923e-04 -1.14775183e+01] [-5.59030528e-03 -1.38323960e-04 9.99984365e-01 -2.01222757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.744012739 meters Centerline goodness [0,1] 0.9870702509265965 Centerline is valid? [True, True] Translation: X:102.30, Y:-11.48, Z:-2.01 [[ 9.89817204e-01 1.42146658e-01 7.49870851e-03 1.02296539e+02] [-1.42144079e-01 9.89845588e-01 -8.78490020e-04 -1.14775438e+01] [-7.54743796e-03 -1.96352479e-04 9.99971498e-01 -2.00922615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774012739 meters Centerline goodness [0,1] 0.9873939654246752 Centerline is valid? [True, True] Translation: X:102.33, Y:-11.48, Z:-2.01 [[ 9.89770801e-01 1.42475604e-01 7.38002052e-03 1.02325345e+02] [-1.42473118e-01 9.89798295e-01 -8.64146065e-04 -1.14825860e+01] [-7.42785145e-03 -1.96147992e-04 9.99972394e-01 -2.00955275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804012739 meters Centerline goodness [0,1] 0.9879921091002659 Centerline is valid? [True, True] Translation: X:102.36, Y:-11.49, Z:-2.01 [[ 9.89713948e-01 1.42916105e-01 6.42560613e-03 1.02355160e+02] [-1.42914231e-01 9.89734791e-01 -7.52265544e-04 -1.14863820e+01] [-6.46715680e-03 -1.73782855e-04 9.99979073e-01 -2.01138221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834012739 meters Centerline goodness [0,1] 0.9874351857828266 Centerline is valid? [True, True] Translation: X:102.38, Y:-11.49, Z:-2.02 [[ 9.89479881e-01 1.44615729e-01 3.98188295e-03 1.02383787e+02] [-1.44615023e-01 9.89487887e-01 -4.66194952e-04 -1.14855321e+01] [-4.00744407e-03 -1.14549570e-04 9.99991964e-01 -2.01625000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.864012739 meters Centerline goodness [0,1] 0.9876872166233319 Centerline is valid? [True, True] Translation: X:102.41, Y:-11.49, Z:-2.02 [[ 9.89262780e-01 1.46111404e-01 3.25716019e-03 1.02412796e+02] [-1.46110940e-01 9.89268138e-01 -3.81343246e-04 -1.14885754e+01] [-3.27792339e-03 -9.86580551e-05 9.99994623e-01 -2.01680079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.894012739 meters Centerline goodness [0,1] 0.9869289476512952 Centerline is valid? [True, True] Translation: X:102.44, Y:-11.48, Z:-2.02 [[ 9.88964789e-01 1.48117408e-01 3.14312183e-03 1.02441814e+02] [-1.48116986e-01 9.88969779e-01 -3.67851789e-04 -1.14837420e+01] [-3.16293776e-03 -1.01757265e-04 9.99994993e-01 -2.01820795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924012739 meters Centerline goodness [0,1] 0.9788292309654381 Centerline is valid? [True, True] Translation: X:102.47, Y:-11.47, Z:-2.02 [[ 9.88320118e-01 1.52349563e-01 3.59941033e-03 1.02472245e+02] [-1.52349039e-01 9.88326663e-01 -4.20913446e-04 -1.14743764e+01] [-3.62151918e-03 -1.32369479e-04 9.99993434e-01 -2.01768395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.954012739 meters Centerline goodness [0,1] 0.9784062802451876 Centerline is valid? [True, True] Translation: X:102.50, Y:-11.47, Z:-2.02 [[ 9.87761886e-01 1.55924771e-01 3.73112527e-03 1.02502839e+02] [-1.55924234e-01 9.87768922e-01 -4.36174555e-04 -1.14718086e+01] [-3.75350000e-03 -1.50936249e-04 9.99992944e-01 -2.01752731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.984012739 meters Centerline goodness [0,1] 0.9738564925211359 Centerline is valid? [True, True] Translation: X:102.53, Y:-11.47, Z:-2.02 [[ 9.87624200e-01 1.56787505e-01 4.01465712e-03 1.02530777e+02] [-1.56786890e-01 9.87632346e-01 -4.69495396e-04 -1.14690516e+01] [-4.03861624e-03 -1.65760588e-04 9.99991831e-01 -2.01751954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.014012739 meters Centerline goodness [0,1] 0.9686714656898241 Centerline is valid? [True, True] Translation: X:102.56, Y:-11.47, Z:-2.02 [[ 9.87579506e-01 1.57064962e-01 4.16134650e-03 1.02558832e+02] [-1.57064305e-01 9.87588258e-01 -4.86291910e-04 -1.14670901e+01] [-4.18607636e-03 -1.73347072e-04 9.99991223e-01 -2.01770344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.044012739 meters Centerline goodness [0,1] 0.9842579196268544 Centerline is valid? [True, True] Translation: X:102.59, Y:-11.47, Z:-2.02 [[ 9.87938543e-01 1.54782920e-01 4.43663823e-03 1.02587903e+02] [-1.54782152e-01 9.87948489e-01 -5.18052879e-04 -1.14716372e+01] [-4.46335577e-03 -1.74908005e-04 9.99990024e-01 -2.01676356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.074012739 meters Centerline goodness [0,1] 0.9713815156246658 Centerline is valid? [True, True] Translation: X:102.62, Y:-11.47, Z:-2.02 [[ 9.88247913e-01 1.52798179e-01 4.33353747e-03 1.02616719e+02] [-1.52797427e-01 9.88257401e-01 -5.06044805e-04 -1.14650187e+01] [-4.35997320e-03 -1.62055654e-04 9.99990482e-01 -2.01809446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.104012739 meters Centerline goodness [0,1] 0.9844265259664277 Centerline is valid? [True, True] Translation: X:102.65, Y:-11.47, Z:-2.02 [[ 9.88834325e-01 1.48977864e-01 3.50353748e-03 1.02645828e+02] [-1.48977349e-01 9.88840524e-01 -4.08834825e-04 -1.14715935e+01] [-3.52534717e-03 -1.17677819e-04 9.99993779e-01 -2.01856948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.134012739 meters Centerline goodness [0,1] 0.98557784348344 Centerline is valid? [True, True] Translation: X:102.68, Y:-11.47, Z:-2.02 [[ 9.89097845e-01 1.47222625e-01 3.30942166e-03 1.02675037e+02] [-1.47222156e-01 9.89103376e-01 -3.86170000e-04 -1.14744230e+01] [-3.33021310e-03 -1.05260278e-04 9.99994449e-01 -2.01870192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164012739 meters Centerline goodness [0,1] 0.9871138985808164 Centerline is valid? [True, True] Translation: X:102.70, Y:-11.48, Z:-2.02 [[ 9.89398584e-01 1.45178499e-01 3.69405546e-03 1.02703230e+02] [-1.45177901e-01 9.89405474e-01 -4.30941545e-04 -1.14775743e+01] [-3.71748214e-03 -1.09922265e-04 9.99993084e-01 -2.01880512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.194012739 meters Centerline goodness [0,1] 0.9883608564004552 Centerline is valid? [True, True] Translation: X:102.73, Y:-11.49, Z:-2.02 [[ 9.90011772e-01 1.40890737e-01 5.14693673e-03 1.02732022e+02] [-1.40889521e-01 9.90025143e-01 -5.99990570e-04 -1.14854566e+01] [-5.18012989e-03 -1.31151721e-04 9.99986574e-01 -2.01628475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224012739 meters Centerline goodness [0,1] 0.9890968406593407 Centerline is valid? [True, True] Translation: X:102.76, Y:-11.49, Z:-2.01 [[ 9.90577106e-01 1.36828804e-01 5.90557772e-03 1.02760818e+02] [-1.36827131e-01 9.90594701e-01 -6.88241138e-04 -1.14931060e+01] [-5.94420521e-03 -1.26287343e-04 9.99982325e-01 -2.01490808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.254012739 meters Centerline goodness [0,1] 0.9893562778840026 Centerline is valid? [True, True] Translation: X:102.79, Y:-11.50, Z:-2.01 [[ 9.90779571e-01 1.35345949e-01 6.10872219e-03 1.02789407e+02] [-1.35344132e-01 9.90798395e-01 -7.11908304e-04 -1.15001726e+01] [-6.14886605e-03 -1.21435496e-04 9.99981088e-01 -2.01489068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.284012739 meters Centerline goodness [0,1] 0.9896944533162993 Centerline is valid? [True, True] Translation: X:102.82, Y:-11.51, Z:-2.02 [[ 9.90916237e-01 1.34344442e-01 6.04838117e-03 1.02818293e+02] [-1.34342643e-01 9.90934689e-01 -7.04571039e-04 -1.15052210e+01] [-6.08820592e-03 -1.14384631e-04 9.99981460e-01 -2.01511955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.314012739 meters Centerline goodness [0,1] 0.9894736842105263 Centerline is valid? [True, True] Translation: X:102.85, Y:-11.50, Z:-2.02 [[ 9.90902313e-01 1.34446302e-01 6.06610587e-03 1.02846746e+02] [-1.34444495e-01 9.90920874e-01 -7.06464005e-04 -1.15043985e+01] [-6.10601241e-03 -1.15517727e-04 9.99981351e-01 -2.01577509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.344012739 meters Centerline goodness [0,1] 0.988835451734799 Centerline is valid? [True, True] Translation: X:102.87, Y:-11.50, Z:-2.02 [[ 9.90738205e-01 1.35667860e-01 5.66047422e-03 1.02874537e+02] [-1.35666309e-01 9.90754368e-01 -6.58913674e-04 -1.15035588e+01] [-5.69753297e-03 -1.15124694e-04 9.99983762e-01 -2.01693387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.374012739 meters Centerline goodness [0,1] 0.9886190384161138 Centerline is valid? [True, True] Translation: X:102.90, Y:-11.50, Z:-2.02 [[ 9.90207023e-01 1.39520240e-01 4.91462471e-03 1.02904251e+02] [-1.39519120e-01 9.90219212e-01 -5.71780091e-04 -1.15034303e+01] [-4.94633070e-03 -1.19503451e-04 9.99987760e-01 -2.01825838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.404012739 meters Centerline goodness [0,1] 0.9886190384161138 Centerline is valid? [True, True] Translation: X:102.93, Y:-11.51, Z:-2.02 [[ 9.90216760e-01 1.39451121e-01 4.91462160e-03 1.02931582e+02] [-1.39450000e-01 9.90228949e-01 -5.71806900e-04 -1.15064744e+01] [-4.94633969e-03 -1.19131205e-04 9.99987760e-01 -2.01847842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.434012739 meters Centerline goodness [0,1] 0.9881705991431677 Centerline is valid? [True, True] Translation: X:102.96, Y:-11.51, Z:-2.02 [[ 9.89951017e-01 1.41339264e-01 4.49410249e-03 1.02960900e+02] [-1.41338347e-01 9.89961211e-01 -5.22528777e-04 -1.15062615e+01] [-4.52284097e-03 -1.17911125e-04 9.99989765e-01 -2.01897872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.464012739 meters Centerline goodness [0,1] 0.9877037766971573 Centerline is valid? [True, True] Translation: X:102.99, Y:-11.50, Z:-2.02 [[ 9.89765831e-01 1.42618948e-01 4.84098202e-03 1.02989113e+02] [-1.42617901e-01 9.89777661e-01 -5.62638779e-04 -1.15036509e+01] [-4.87173881e-03 -1.33530057e-04 9.99988124e-01 -2.01929366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.494012739 meters Centerline goodness [0,1] 0.9881778905057713 Centerline is valid? [True, True] Translation: X:103.02, Y:-11.51, Z:-2.02 [[ 9.89786622e-01 1.42472849e-01 4.89178428e-03 1.03018114e+02] [-1.42471780e-01 9.89798701e-01 -5.68215566e-04 -1.15051045e+01] [-4.92283702e-03 -1.34529047e-04 9.99987874e-01 -2.01923349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524012739 meters Centerline goodness [0,1] 0.9879240571723782 Centerline is valid? [True, True] Translation: X:103.05, Y:-11.51, Z:-2.02 [[ 9.89945166e-01 1.41396072e-01 3.96466137e-03 1.03046483e+02] [-1.41395361e-01 9.89953100e-01 -4.60409044e-04 -1.15065272e+01] [-3.98992885e-03 -1.04805019e-04 9.99992035e-01 -2.02124103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.554012739 meters Centerline goodness [0,1] 0.9882447973130966 Centerline is valid? [True, True] Translation: X:103.07, Y:-11.51, Z:-2.02 [[ 9.90048245e-01 1.40694333e-01 3.09475894e-03 1.03073866e+02] [-1.40693896e-01 9.90053079e-01 -3.59380547e-04 -1.15080824e+01] [-3.11453842e-03 -7.96096132e-05 9.99995147e-01 -2.02316099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584012739 meters Centerline goodness [0,1] 0.9892080896160238 Centerline is valid? [True, True] Translation: X:103.10, Y:-11.51, Z:-2.02 [[ 9.90084259e-01 1.40428141e-01 3.61905165e-03 1.03103007e+02] [-1.40427544e-01 9.90090869e-01 -4.19929018e-04 -1.15066060e+01] [-3.64215984e-03 -9.24494229e-05 9.99993363e-01 -2.02185206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.614012739 meters Centerline goodness [0,1] 0.9887688522836667 Centerline is valid? [True, True] Translation: X:103.13, Y:-11.51, Z:-2.02 [[ 9.90034547e-01 1.40747426e-01 4.66450323e-03 1.03131991e+02] [-1.40746439e-01 9.90045528e-01 -5.40917482e-04 -1.15065450e+01] [-4.69420331e-03 -1.20985224e-04 9.99988975e-01 -2.02034667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.644012739 meters Centerline goodness [0,1] 0.9880865963533882 Centerline is valid? [True, True] Translation: X:103.16, Y:-11.51, Z:-2.02 [[ 9.89955062e-01 1.41292149e-01 5.05016087e-03 1.03161163e+02] [-1.41290999e-01 9.89967934e-01 -5.85379570e-04 -1.15061396e+01] [-5.08220686e-03 -1.34042809e-04 9.99987077e-01 -2.01982403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.674012739 meters Centerline goodness [0,1] 0.987349629693052 Centerline is valid? [True, True] Translation: X:103.19, Y:-11.50, Z:-2.02 [[ 9.89696290e-01 1.43112580e-01 4.47705302e-03 1.03190210e+02] [-1.43111696e-01 9.89706408e-01 -5.18786211e-04 -1.15006304e+01] [-4.50521290e-03 -1.27277863e-04 9.99989843e-01 -2.02064732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704012739 meters Centerline goodness [0,1] 0.9861277616030142 Centerline is valid? [True, True] Translation: X:103.22, Y:-11.50, Z:-2.02 [[ 9.89562268e-01 1.44054374e-01 3.85412930e-03 1.03218948e+02] [-1.44053727e-01 9.89569767e-01 -4.46525038e-04 -1.14967644e+01] [-3.87825372e-03 -1.13337359e-04 9.99992473e-01 -2.02193631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.734012739 meters Centerline goodness [0,1] 0.9863167922404088 Centerline is valid? [True, True] Translation: X:103.25, Y:-11.49, Z:-2.02 [[ 9.89431221e-01 1.44925889e-01 4.72711593e-03 1.03248111e+02] [-1.44924927e-01 9.89442503e-01 -5.47264135e-04 -1.14933417e+01] [-4.75652216e-03 -1.43596711e-04 9.99988677e-01 -2.01998168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.764012739 meters Centerline goodness [0,1] 0.986198890751967 Centerline is valid? [True, True] Translation: X:103.28, Y:-11.50, Z:-2.02 [[ 9.89515431e-01 1.44313379e-01 5.73240120e-03 1.03277290e+02] [-1.44311956e-01 9.89532020e-01 -6.63317659e-04 -1.14956755e+01] [-5.76812015e-03 -1.70890971e-04 9.99983350e-01 -2.01854837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.794012739 meters Centerline goodness [0,1] 0.9873444873444873 Centerline is valid? [True, True] Translation: X:103.31, Y:-11.50, Z:-2.02 [[ 9.90091450e-01 1.40247623e-01 7.03733837e-03 1.03305412e+02] [-1.40245378e-01 9.90116443e-01 -8.13910977e-04 -1.15009761e+01] [-7.08193351e-03 -1.81107879e-04 9.99974906e-01 -2.01675852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.824012739 meters Centerline goodness [0,1] 0.9876161655184255 Centerline is valid? [True, True] Translation: X:103.33, Y:-11.51, Z:-2.02 [[ 9.90440965e-01 1.37756402e-01 7.06171048e-03 1.03333550e+02] [-1.37754080e-01 9.90466126e-01 -8.16503835e-04 -1.15059579e+01] [-7.10686365e-03 -1.64080580e-04 9.99974732e-01 -2.01623152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.854012739 meters Centerline goodness [0,1] 0.9893685154348661 Centerline is valid? [True, True] Translation: X:103.36, Y:-11.51, Z:-2.02 [[ 9.90730677e-01 1.35659035e-01 7.02503826e-03 1.03361193e+02] [-1.35656686e-01 9.90755572e-01 -8.11964876e-04 -1.15105866e+01] [-7.07024618e-03 -1.48554898e-04 9.99974994e-01 -2.01592378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.884012739 meters Centerline goodness [0,1] 0.9896759269175573 Centerline is valid? [True, True] Translation: X:103.39, Y:-11.52, Z:-2.02 [[ 9.91176675e-01 1.32361238e-01 7.02152266e-03 1.03388992e+02] [-1.32358812e-01 9.91201537e-01 -8.11160360e-04 -1.15157220e+01] [-7.06711024e-03 -1.25357169e-04 9.99975020e-01 -2.01632706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.914012739 meters Centerline goodness [0,1] 0.9884886182022374 Centerline is valid? [True, True] Translation: X:103.42, Y:-11.52, Z:-2.01 [[ 9.91682981e-01 1.28522891e-01 6.83609737e-03 1.03416131e+02] [-1.28520502e-01 9.91706538e-01 -7.89460497e-04 -1.15244545e+01] [-6.88086620e-03 -9.56841273e-05 9.99976322e-01 -2.00853768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944012739 meters Centerline goodness [0,1] 0.9888100969357881 Centerline is valid? [True, True] Translation: X:103.44, Y:-11.53, Z:-2.01 [[ 9.91960491e-01 1.26359587e-01 6.90210156e-03 1.03444412e+02] [-1.26357102e-01 9.91984500e-01 -7.96690798e-04 -1.15320064e+01] [-6.94744729e-03 -8.18437545e-05 9.99975863e-01 -2.00715568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.974012739 meters Centerline goodness [0,1] 0.9924255465656739 Centerline is valid? [True, True] Translation: X:103.47, Y:-11.54, Z:-2.02 [[ 9.92226924e-01 1.24205201e-01 7.66801033e-03 1.03472424e+02] [-1.24202073e-01 9.92256551e-01 -8.84726414e-04 -1.15395281e+01] [-7.71852111e-03 -7.45334088e-05 9.99970209e-01 -2.01638094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.004012739 meters Centerline goodness [0,1] 0.9934570186388877 Centerline is valid? [True, True] Translation: X:103.50, Y:-11.55, Z:-2.02 [[ 9.92721629e-01 1.20220829e-01 7.12173538e-03 1.03499521e+02] [-1.20218030e-01 9.92747174e-01 -8.21414211e-04 -1.15518320e+01] [-7.16883377e-03 -4.07253412e-05 9.99974303e-01 -2.01677577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.034012739 meters Centerline goodness [0,1] 0.9933275750377888 Centerline is valid? [True, True] Translation: X:103.53, Y:-11.56, Z:-2.01 [[ 9.92936554e-01 1.18477675e-01 6.32772300e-03 1.03527960e+02] [-1.18475431e-01 9.92956716e-01 -7.29587765e-04 -1.15612995e+01] [-6.36959491e-03 -2.52453499e-05 9.99979714e-01 -2.01459998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064012739 meters Centerline goodness [0,1] 0.9962765615972267 Centerline is valid? [True, True] Translation: X:103.55, Y:-11.57, Z:-2.02 [[ 9.93260057e-01 1.15789447e-01 5.22145138e-03 1.03554426e+02] [-1.15787882e-01 9.93273781e-01 -6.01960962e-04 -1.15711413e+01] [-5.25603148e-03 -6.67701771e-06 9.99986187e-01 -2.02158647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.094012739 meters Centerline goodness [0,1] 0.9965708370177065 Centerline is valid? [True, True] Translation: X:103.58, Y:-11.58, Z:-2.02 [[ 9.93374233e-01 1.14820314e-01 4.89170955e-03 1.03582501e+02] [-1.14818931e-01 9.93386277e-01 -5.63652393e-04 -1.15773365e+01] [-4.92407589e-03 -1.74309732e-06 9.99987877e-01 -2.02185027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.124012739 meters Centerline goodness [0,1] 0.99875063016461 Centerline is valid? [True, True] Translation: X:103.61, Y:-11.59, Z:-2.03 [[ 9.93595589e-01 1.12940563e-01 3.49787635e-03 1.03609705e+02] [-1.12939844e-01 9.93601746e-01 -4.03039846e-04 -1.15871174e+01] [-3.52101560e-03 5.40900197e-06 9.99993801e-01 -2.02733546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.154012739 meters Centerline goodness [0,1] 0.998891232036872 Centerline is valid? [True, True] Translation: X:103.64, Y:-11.60, Z:-2.03 [[ 9.93730868e-01 1.11764789e-01 2.75587647e-03 1.03637641e+02] [-1.11764339e-01 9.93734689e-01 -3.17386545e-04 -1.15957589e+01] [-2.77408268e-03 7.38809592e-06 9.99996152e-01 -2.02927032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.184012739 meters Centerline goodness [0,1] 0.9993975125876834 Centerline is valid? [True, True] Translation: X:103.67, Y:-11.60, Z:-2.03 [[ 9.93817550e-01 1.11007358e-01 2.01069192e-03 1.03665368e+02] [-1.11007116e-01 9.93819584e-01 -2.31571637e-04 -1.16040995e+01] [-2.02397116e-03 6.93884540e-06 9.99997952e-01 -2.03083095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.214012739 meters Centerline goodness [0,1] 0.9987361566308934 Centerline is valid? [True, True] Translation: X:103.69, Y:-11.61, Z:-2.03 [[ 9.93808192e-01 1.11083856e-01 2.37773428e-03 1.03693911e+02] [-1.11083520e-01 9.93811037e-01 -2.73710643e-04 -1.16114949e+01] [-2.39342341e-03 7.88878630e-06 9.99997136e-01 -2.02737591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.244012739 meters Centerline goodness [0,1] 0.9981022644888908 Centerline is valid? [True, True] Translation: X:103.72, Y:-11.62, Z:-2.03 [[ 9.93565491e-01 1.13178449e-01 4.27233439e-03 1.03721752e+02] [-1.13177382e-01 9.93574677e-01 -4.91306530e-04 -1.16171570e+01] [-4.30048857e-03 4.61359042e-06 9.99990753e-01 -2.02520708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.274012739 meters Centerline goodness [0,1] 0.9973254022595002 Centerline is valid? [True, True] Translation: X:103.75, Y:-11.62, Z:-2.02 [[ 9.93426983e-01 1.14355658e-01 5.06096645e-03 1.03750388e+02] [-1.14354178e-01 9.93439874e-01 -5.81677295e-04 -1.16217582e+01] [-5.09428396e-03 -8.88738667e-07 9.99987024e-01 -2.02386227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304012739 meters Centerline goodness [0,1] 0.9961880559085133 Centerline is valid? [True, True] Translation: X:103.78, Y:-11.63, Z:-2.02 [[ 9.93280266e-01 1.15610264e-01 5.34594174e-03 1.03778520e+02] [-1.15608633e-01 9.93294653e-01 -6.14171730e-04 -1.16268508e+01] [-5.38109990e-03 -7.99235533e-06 9.99985522e-01 -2.02275586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.334012739 meters Centerline goodness [0,1] 0.9947385444743936 Centerline is valid? [True, True] Translation: X:103.81, Y:-11.63, Z:-2.02 [[ 9.92901311e-01 1.18807389e-01 5.63837072e-03 1.03806261e+02] [-1.18805627e-01 9.92917320e-01 -6.47603997e-04 -1.16295869e+01] [-5.67537608e-03 -2.68633093e-05 9.99983895e-01 -2.02287225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.364012739 meters Centerline goodness [0,1] 0.9936844358809677 Centerline is valid? [True, True] Translation: X:103.83, Y:-11.63, Z:-2.02 [[ 9.92659815e-01 1.20778213e-01 6.25415700e-03 1.03834790e+02] [-1.20776087e-01 9.92679516e-01 -7.17881081e-04 -1.16325303e+01] [-6.29507794e-03 -4.27409115e-05 9.99980185e-01 -2.02137177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.394012739 meters Centerline goodness [0,1] 0.992195967916757 Centerline is valid? [True, True] Translation: X:103.86, Y:-11.64, Z:-2.02 [[ 9.92149854e-01 1.24854010e-01 7.08124470e-03 1.03864222e+02] [-1.24851391e-01 9.92175121e-01 -8.12409686e-04 -1.16363467e+01] [-7.12726742e-03 -7.80711023e-05 9.99974598e-01 -2.02018623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424012739 meters Centerline goodness [0,1] 0.9906473894203955 Centerline is valid? [True, True] Translation: X:103.89, Y:-11.64, Z:-2.02 [[ 9.91882107e-01 1.26957201e-01 7.19405174e-03 1.03892559e+02] [-1.26954555e-01 9.91908191e-01 -8.25184840e-04 -1.16386319e+01] [-7.24060201e-03 -9.48315571e-05 9.99973782e-01 -2.02020843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.454012739 meters Centerline goodness [0,1] 0.9898478246871714 Centerline is valid? [True, True] Translation: X:103.92, Y:-11.64, Z:-2.02 [[ 9.91621806e-01 1.28982615e-01 7.04826449e-03 1.03920886e+02] [-1.28980127e-01 9.91646849e-01 -8.08235975e-04 -1.16381220e+01] [-7.09363767e-03 -1.07621633e-04 9.99974834e-01 -2.02089100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.484012739 meters Centerline goodness [0,1] 0.9892844131073059 Centerline is valid? [True, True] Translation: X:103.95, Y:-11.64, Z:-2.02 [[ 9.91019622e-01 1.33529871e-01 7.06275900e-03 1.03950709e+02] [-1.33527492e-01 9.91044779e-01 -8.09451727e-04 -1.16370253e+01] [-7.10759642e-03 -1.40889954e-04 9.99974731e-01 -2.02201255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.514012739 meters Centerline goodness [0,1] 0.9885652642934196 Centerline is valid? [True, True] Translation: X:103.98, Y:-11.64, Z:-2.02 [[ 9.90665728e-01 1.36155748e-01 6.55955243e-03 1.03979792e+02] [-1.36153755e-01 9.90687433e-01 -7.51662307e-04 -1.16404581e+01] [-6.60080930e-03 -1.48461605e-04 9.99978203e-01 -2.02299408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.544012739 meters Centerline goodness [0,1] 0.9856861232536214 Centerline is valid? [True, True] Translation: X:104.01, Y:-11.63, Z:-2.02 [[ 9.89776059e-01 1.42497304e-01 6.15400224e-03 1.04011264e+02] [-1.42495673e-01 9.89795174e-01 -7.04926755e-04 -1.16257429e+01] [-6.19165188e-03 -1.79199068e-04 9.99980815e-01 -2.02421539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.574012739 meters Centerline goodness [0,1] 0.9827764159463295 Centerline is valid? [True, True] Translation: X:104.04, Y:-11.62, Z:-2.02 [[ 9.89354000e-01 1.45394928e-01 6.24318238e-03 1.04041194e+02] [-1.45393307e-01 9.89373678e-01 -7.15162658e-04 -1.16223879e+01] [-6.28082134e-03 -2.00167892e-04 9.99980255e-01 -2.02365086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.604012739 meters Centerline goodness [0,1] 0.9843316989980815 Centerline is valid? [True, True] Translation: X:104.07, Y:-11.63, Z:-2.02 [[ 9.88940827e-01 1.48167511e-01 6.51377876e-03 1.04070332e+02] [-1.48165808e-01 9.88962253e-01 -7.45938079e-04 -1.16263812e+01] [-6.55240510e-03 -2.27430671e-04 9.99978507e-01 -2.02296402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.634012739 meters Centerline goodness [0,1] 0.9789216207593321 Centerline is valid? [True, True] Translation: X:104.10, Y:-11.62, Z:-2.02 [[ 9.88231311e-01 1.52785582e-01 7.44599811e-03 1.04101017e+02] [-1.52783489e-01 9.88259318e-01 -8.52377254e-04 -1.16150564e+01] [-7.48880797e-03 -2.95279682e-04 9.99971915e-01 -2.02270301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664012739 meters Centerline goodness [0,1] 0.9772119396597839 Centerline is valid? [True, True] Translation: X:104.13, Y:-11.61, Z:-2.02 [[ 9.88111110e-01 1.53505296e-01 8.51816193e-03 1.04129397e+02] [-1.53502586e-01 9.88147765e-01 -9.74940668e-04 -1.16086433e+01] [-8.56686123e-03 -3.44210178e-04 9.99963245e-01 -2.02180807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.694012739 meters Centerline goodness [0,1] 0.9788414177106757 Centerline is valid? [True, True] Translation: X:104.16, Y:-11.61, Z:-2.02 [[ 9.88316405e-01 1.52179729e-01 8.48607467e-03 1.04158831e+02] [-1.52176994e-01 9.88352781e-01 -9.70790026e-04 -1.16098512e+01] [-8.53497006e-03 -3.31937628e-04 9.99963521e-01 -2.02182727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724012739 meters Centerline goodness [0,1] 0.9812730051445423 Centerline is valid? [True, True] Translation: X:104.19, Y:-11.61, Z:-2.02 [[ 9.88659462e-01 1.49976926e-01 7.70646934e-03 1.04188239e+02] [-1.49974606e-01 9.88689456e-01 -8.81360318e-04 -1.16129264e+01] [-7.75148869e-03 -2.84409484e-04 9.99969916e-01 -2.02329956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.754012739 meters Centerline goodness [0,1] 0.9863876822502258 Centerline is valid? [True, True] Translation: X:104.22, Y:-11.62, Z:-2.03 [[ 9.89476834e-01 1.44585945e-01 5.52255474e-03 1.04217675e+02] [-1.44584670e-01 9.89492231e-01 -6.31466644e-04 -1.16199057e+01] [-5.55582621e-03 -1.73655138e-04 9.99984551e-01 -2.02718572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.784012739 meters Centerline goodness [0,1] 0.9870127100571526 Centerline is valid? [True, True] Translation: X:104.25, Y:-11.62, Z:-2.03 [[ 9.89915260e-01 1.41587227e-01 4.56456970e-03 1.04245984e+02] [-1.41586324e-01 9.89925775e-01 -5.22034539e-04 -1.16228546e+01] [-4.59249862e-03 -1.29510686e-04 9.99989446e-01 -2.02867160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.814012739 meters Centerline goodness [0,1] 0.9878478525510966 Centerline is valid? [True, True] Translation: X:104.27, Y:-11.63, Z:-2.03 [[ 9.90282173e-01 1.39006181e-01 4.30119524e-03 1.04274001e+02] [-1.39005355e-01 9.90291507e-01 -4.91817630e-04 -1.16286089e+01] [-4.32780281e-03 -1.10850939e-04 9.99990629e-01 -2.02965832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.844012739 meters Centerline goodness [0,1] 0.9890978820589059 Centerline is valid? [True, True] Translation: X:104.30, Y:-11.63, Z:-2.03 [[ 9.90935790e-01 1.34260033e-01 4.52813570e-03 1.04303546e+02] [-1.34259070e-01 9.90946131e-01 -5.17372814e-04 -1.16338255e+01] [-4.55660105e-03 -9.52600482e-05 9.99989614e-01 -2.03000323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.874012739 meters Centerline goodness [0,1] 0.9898105227180484 Centerline is valid? [True, True] Translation: X:104.33, Y:-11.64, Z:-2.03 [[ 9.91554369e-01 1.29541581e-01 6.23803208e-03 1.04331694e+02] [-1.29539659e-01 9.91573985e-01 -7.12801434e-04 -1.16390512e+01] [-6.27780776e-03 -1.01291176e-04 9.99980289e-01 -2.02700613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.904012739 meters Centerline goodness [0,1] 0.9905130232259994 Centerline is valid? [True, True] Translation: X:104.36, Y:-11.65, Z:-2.03 [[ 9.91916036e-01 1.26692321e-01 7.18558513e-03 1.04359704e+02] [-1.26689698e-01 9.91942058e-01 -8.20788411e-04 -1.16478684e+01] [-7.23167169e-03 -9.61864245e-05 9.99973846e-01 -2.02525674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.934012739 meters Centerline goodness [0,1] 0.9910361983187511 Centerline is valid? [True, True] Translation: X:104.39, Y:-11.66, Z:-2.02 [[ 9.92309302e-01 1.23550788e-01 7.57974855e-03 1.04388051e+02] [-1.23547781e-01 9.92338247e-01 -8.65435686e-04 -1.16559460e+01] [-7.62859965e-03 -7.76812323e-05 9.99970899e-01 -2.02491219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.964012739 meters Centerline goodness [0,1] 0.9943605798095891 Centerline is valid? [True, True] Translation: X:104.42, Y:-11.67, Z:-2.03 [[ 9.93002536e-01 1.17928155e-01 6.23813062e-03 1.04415861e+02] [-1.17926009e-01 9.93022129e-01 -7.12025740e-04 -1.16683702e+01] [-6.27856963e-03 -2.85944813e-05 9.99980289e-01 -2.02775727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.994012739 meters Centerline goodness [0,1] 0.9961555169417897 Centerline is valid? [True, True] Translation: X:104.44, Y:-11.68, Z:-2.03 [[ 9.93286772e-01 1.15530924e-01 5.83050843e-03 1.04443712e+02] [-1.15529010e-01 9.93303884e-01 -6.65250383e-04 -1.16757717e+01] [-5.86832365e-03 -1.28084591e-05 9.99982781e-01 -2.02920844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024012739 meters Centerline goodness [0,1] 0.9968864744154088 Centerline is valid? [True, True] Translation: X:104.47, Y:-11.69, Z:-2.03 [[ 9.93688685e-01 1.11983287e-01 6.52228905e-03 1.04470098e+02] [-1.11980816e-01 9.93710090e-01 -7.43846983e-04 -1.16859726e+01] [-6.56456287e-03 8.78107767e-06 9.99978453e-01 -2.02818872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.054012739 meters Centerline goodness [0,1] 0.9976301799782232 Centerline is valid? [True, True] Translation: X:104.50, Y:-11.69, Z:-2.03 [[ 9.93858805e-01 1.10417895e-01 7.25015059e-03 1.04498113e+02] [-1.10414805e-01 9.93885249e-01 -8.26376206e-04 -1.16928305e+01] [-7.29706444e-03 2.07773050e-05 9.99973376e-01 -2.02609062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084012739 meters Centerline goodness [0,1] 0.9982610189141029 Centerline is valid? [True, True] Translation: X:104.53, Y:-11.70, Z:-2.03 [[ 9.94191867e-01 1.07362536e-01 7.47108276e-03 1.04526708e+02] [-1.07359171e-01 9.94219937e-01 -8.51191049e-04 -1.17048883e+01] [-7.51928546e-03 4.41579645e-05 9.99971729e-01 -2.02612965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.114012739 meters Centerline goodness [0,1] 0.9986638794905501 Centerline is valid? [True, True] Translation: X:104.55, Y:-11.71, Z:-2.03 [[ 9.94384811e-01 1.05572564e-01 7.29946734e-03 1.04554080e+02] [-1.05569304e-01 9.94411600e-01 -8.31489868e-04 -1.17132909e+01] [-7.34645751e-03 5.62212068e-05 9.99973013e-01 -2.02729096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.144012739 meters Centerline goodness [0,1] 0.9978728945997569 Centerline is valid? [True, True] Translation: X:104.58, Y:-11.73, Z:-2.03 [[ 9.94682582e-01 1.02722470e-01 7.39291978e-03 1.04582383e+02] [-1.02719050e-01 9.94710052e-01 -8.41774162e-04 -1.17260748e+01] [-7.44028074e-03 7.79043975e-05 9.99972318e-01 -2.02795832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.174012739 meters Centerline goodness [0,1] 0.9975936002774948 Centerline is valid? [True, True] Translation: X:104.61, Y:-11.73, Z:-2.03 [[ 9.94701270e-01 1.02522544e-01 7.64932796e-03 1.04612481e+02] [-1.02518878e-01 9.94730678e-01 -8.70876066e-04 -1.17312577e+01] [-7.69830562e-03 8.20610075e-05 9.99970364e-01 -2.02711482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204012739 meters Centerline goodness [0,1] 0.9982631350412505 Centerline is valid? [True, True] Translation: X:104.64, Y:-11.73, Z:-2.03 [[ 9.94636271e-01 1.03175704e-01 7.31183632e-03 1.04643233e+02] [-1.03172372e-01 9.94663143e-01 -8.32452639e-04 -1.17336124e+01] [-7.35870299e-03 7.36080883e-05 9.99972922e-01 -2.02760931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.234012739 meters Centerline goodness [0,1] 0.9985076536050825 Centerline is valid? [True, True] Translation: X:104.67, Y:-11.73, Z:-2.03 [[ 9.94257287e-01 1.06792869e-01 6.90872675e-03 1.04673176e+02] [-1.06789982e-01 9.94281289e-01 -7.86570767e-04 -1.17346400e+01] [-6.95321788e-03 4.42709127e-05 9.99975825e-01 -2.02857854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.264012739 meters Centerline goodness [0,1] 0.9982729215690508 Centerline is valid? [True, True] Translation: X:104.70, Y:-11.73, Z:-2.03 [[ 9.93998186e-01 1.09174501e-01 6.96668814e-03 1.04702667e+02] [-1.09171623e-01 9.94022599e-01 -7.93098184e-04 -1.17347154e+01] [-7.01163155e-03 2.77735026e-05 9.99975418e-01 -2.02898372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.294012739 meters Centerline goodness [0,1] 0.9971196423197627 Centerline is valid? [True, True] Translation: X:104.73, Y:-11.73, Z:-2.03 [[ 9.93628129e-01 1.12566255e-01 5.65499418e-03 1.04733243e+02] [-1.12564414e-01 9.93644221e-01 -6.43682654e-04 -1.17323161e+01] [-5.69150923e-03 3.03008430e-06 9.99983803e-01 -2.03167006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.324012739 meters Centerline goodness [0,1] 0.9971196423197627 Centerline is valid? [True, True] Translation: X:104.76, Y:-11.74, Z:-2.03 [[ 9.93633376e-01 1.12519931e-01 5.65500304e-03 1.04761399e+02] [-1.12518091e-01 9.93649468e-01 -6.43604781e-04 -1.17354299e+01] [-5.69150913e-03 3.21704601e-06 9.99983803e-01 -2.03189673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.354012739 meters Centerline goodness [0,1] 0.9973611379288151 Centerline is valid? [True, True] Translation: X:104.79, Y:-11.74, Z:-2.03 [[ 9.93604541e-01 1.12797365e-01 5.17400647e-03 1.04790196e+02] [-1.12795829e-01 9.93618012e-01 -5.88616133e-04 -1.17389976e+01] [-5.20738038e-03 1.24531449e-06 9.99986442e-01 -2.03376640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.384012739 meters Centerline goodness [0,1] 0.9978518184356941 Centerline is valid? [True, True] Translation: X:104.82, Y:-11.75, Z:-2.03 [[ 9.93858627e-01 1.10497468e-01 5.94466824e-03 1.04816753e+02] [-1.10495400e-01 9.93876406e-01 -6.76078878e-04 -1.17482795e+01] [-5.98297051e-03 1.50683285e-05 9.99982102e-01 -2.03240913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.414012739 meters Centerline goodness [0,1] 0.9980179450565845 Centerline is valid? [True, True] Translation: X:104.84, Y:-11.76, Z:-2.03 [[ 9.94044144e-01 1.08768758e-01 6.75261529e-03 1.04844776e+02] [-1.08766054e-01 9.94067078e-01 -7.67494655e-04 -1.17550337e+01] [-6.79603200e-03 2.84682498e-05 9.99976906e-01 -2.03179924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444012739 meters Centerline goodness [0,1] 0.9981205849949234 Centerline is valid? [True, True] Translation: X:104.88, Y:-11.76, Z:-2.03 [[ 9.94182148e-01 1.07459073e-01 7.37594728e-03 1.04875045e+02] [-1.07455812e-01 9.94209508e-01 -8.38132058e-04 -1.17612745e+01] [-7.42330181e-03 4.06675267e-05 9.99972446e-01 -2.03067601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.474012739 meters Centerline goodness [0,1] 0.9981078322986648 Centerline is valid? [True, True] Translation: X:104.91, Y:-11.77, Z:-2.03 [[ 9.94219907e-01 1.07077028e-01 7.82853601e-03 1.04905191e+02] [-1.07073342e-01 9.94250727e-01 -8.89559910e-04 -1.17680027e+01] [-7.87877905e-03 4.61906540e-05 9.99968961e-01 -2.03040825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.504012739 meters Centerline goodness [0,1] 0.9970685948798124 Centerline is valid? [True, True] Translation: X:104.94, Y:-11.77, Z:-2.03 [[ 9.93872870e-01 1.10311741e-01 6.93087615e-03 1.04935360e+02] [-1.10308931e-01 9.93897037e-01 -7.87582094e-04 -1.17685929e+01] [-6.97545681e-03 1.82189363e-05 9.99975671e-01 -2.03146234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.534012739 meters Centerline goodness [0,1] 0.9964045814674475 Centerline is valid? [True, True] Translation: X:104.97, Y:-11.77, Z:-2.03 [[ 9.93580003e-01 1.12945307e-01 6.49113309e-03 1.04965318e+02] [-1.12942899e-01 9.93601207e-01 -7.37473389e-04 -1.17684364e+01] [-6.53289183e-03 -3.88575981e-07 9.99978660e-01 -2.03216395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564012739 meters Centerline goodness [0,1] 0.9944534021283457 Centerline is valid? [True, True] Translation: X:104.99, Y:-11.77, Z:-2.03 [[ 9.93245404e-01 1.15837854e-01 6.72005695e-03 1.04993851e+02] [-1.15835341e-01 9.93268137e-01 -7.63348098e-04 -1.17666953e+01] [-6.76324305e-03 -2.02280971e-05 9.99977129e-01 -2.03281989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.594012739 meters Centerline goodness [0,1] 0.991963482062492 Centerline is valid? [True, True] Translation: X:105.02, Y:-11.76, Z:-2.03 [[ 9.92472404e-01 1.22259110e-01 7.15806272e-03 1.05024366e+02] [-1.22256428e-01 9.92498214e-01 -8.12729354e-04 -1.17618025e+01] [-7.20372803e-03 -6.85077237e-05 9.99974050e-01 -2.03231662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.624012739 meters Centerline goodness [0,1] 0.9899719554686837 Centerline is valid? [True, True] Translation: X:105.05, Y:-11.76, Z:-2.03 [[ 9.92105722e-01 1.25175065e-01 7.57884026e-03 1.05052595e+02] [-1.25172144e-01 9.92134665e-01 -8.60332899e-04 -1.17599857e+01] [-7.62692237e-03 -9.51184937e-05 9.99970910e-01 -2.03136178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.654012739 meters Centerline goodness [0,1] 0.9885697097307866 Centerline is valid? [True, True] Translation: X:105.08, Y:-11.75, Z:-2.03 [[ 9.91481456e-01 1.29950016e-01 8.80429464e-03 1.05082676e+02] [-1.29946268e-01 9.91520534e-01 -9.98876469e-04 -1.17531270e+01] [-8.85944293e-03 -1.53717731e-04 9.99960743e-01 -2.02871146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.684012739 meters Centerline goodness [0,1] 0.9879362898724939 Centerline is valid? [True, True] Translation: X:105.11, Y:-11.75, Z:-2.03 [[ 9.91182180e-01 1.32178963e-01 9.30631686e-03 1.05112145e+02] [-1.32174878e-01 9.91225851e-01 -1.05539907e-03 -1.17508992e+01] [-9.36416341e-03 -1.83968544e-04 9.99956138e-01 -2.02759205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.714012739 meters Centerline goodness [0,1] 0.985561873123363 Centerline is valid? [True, True] Translation: X:105.14, Y:-11.74, Z:-2.03 [[ 9.90935766e-01 1.34002307e-01 9.47043982e-03 1.05140656e+02] [-1.33998164e-01 9.90980999e-01 -1.07355958e-03 -1.17443028e+01] [-9.52888537e-03 -2.05192956e-04 9.99954578e-01 -2.02704880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.744012739 meters Centerline goodness [0,1] 0.9855886768174995 Centerline is valid? [True, True] Translation: X:105.17, Y:-11.74, Z:-2.03 [[ 9.90530549e-01 1.36997591e-01 8.99401457e-03 1.05170924e+02] [-1.36993982e-01 9.90571356e-01 -1.01910463e-03 -1.17433981e+01] [-9.04882808e-03 -2.22671596e-04 9.99959034e-01 -2.02830561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.774012739 meters Centerline goodness [0,1] 0.9856889212141956 Centerline is valid? [True, True] Translation: X:105.20, Y:-11.74, Z:-2.03 [[ 9.90436138e-01 1.37730549e-01 8.15795261e-03 1.05199712e+02] [-1.37727605e-01 9.90469713e-01 -9.24200581e-04 -1.17418067e+01] [-8.20749563e-03 -2.08213621e-04 9.99966296e-01 -2.03025391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804012739 meters Centerline goodness [0,1] 0.9857700892857143 Centerline is valid? [True, True] Translation: X:105.23, Y:-11.74, Z:-2.03 [[ 9.90343825e-01 1.38450726e-01 7.10668839e-03 1.05227629e+02] [-1.38448513e-01 9.90369306e-01 -8.04847368e-04 -1.17380743e+01] [-7.14967775e-03 -1.86834819e-04 9.99974423e-01 -2.03262425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.834012739 meters Centerline goodness [0,1] 0.9840302223748605 Centerline is valid? [True, True] Translation: X:105.26, Y:-11.73, Z:-2.03 [[ 9.90362254e-01 1.38302681e-01 7.41448500e-03 1.05255640e+02] [-1.38300271e-01 9.90389989e-01 -8.39245918e-04 -1.17329947e+01] [-7.45930167e-03 -1.94267807e-04 9.99972160e-01 -2.03291247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.864012739 meters Centerline goodness [0,1] 0.9874661173154071 Centerline is valid? [True, True] Translation: X:105.28, Y:-11.74, Z:-2.03 [[ 9.90577820e-01 1.36719764e-01 7.95544218e-03 1.05283806e+02] [-1.36716944e-01 9.90609745e-01 -8.99818967e-04 -1.17438536e+01] [-8.00376159e-03 -1.96303031e-04 9.99967950e-01 -2.03157377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.894012739 meters Centerline goodness [0,1] 0.9876651417332935 Centerline is valid? [True, True] Translation: X:105.31, Y:-11.74, Z:-2.03 [[ 9.90740460e-01 1.35515547e-01 8.29923849e-03 1.05311900e+02] [-1.35512441e-01 9.90775201e-01 -9.37994435e-04 -1.17435164e+01] [-8.34979251e-03 -1.95341030e-04 9.99965121e-01 -2.03160814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924012739 meters Centerline goodness [0,1] 0.9877312394648686 Centerline is valid? [True, True] Translation: X:105.34, Y:-11.75, Z:-2.03 [[ 9.90907342e-01 1.34305208e-01 8.04672937e-03 1.05339624e+02] [-1.34302253e-01 9.90939997e-01 -9.08995654e-04 -1.17452382e+01] [-8.09590884e-03 -1.79963415e-04 9.99967211e-01 -2.03253297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.954012739 meters Centerline goodness [0,1] 0.9862559849521204 Centerline is valid? [True, True] Translation: X:105.37, Y:-11.74, Z:-2.03 [[ 9.91179970e-01 1.32299132e-01 7.69463053e-03 1.05367938e+02] [-1.32296372e-01 9.91209824e-01 -8.68803938e-04 -1.17397734e+01] [-7.74193538e-03 -1.56830643e-04 9.99970018e-01 -2.03388291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.984012739 meters Centerline goodness [0,1] 0.989730589094659 Centerline is valid? [True, True] Translation: X:105.40, Y:-11.75, Z:-2.04 [[ 9.91427003e-01 1.30492052e-01 6.65751032e-03 1.05396312e+02] [-1.30489948e-01 9.91449348e-01 -7.51374485e-04 -1.17483668e+01] [-6.69863266e-03 -1.23805220e-04 9.99977556e-01 -2.03609156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.014012739 meters Centerline goodness [0,1] 0.9894396872277585 Centerline is valid? [True, True] Translation: X:105.42, Y:-11.75, Z:-2.04 [[ 9.91498284e-01 1.29938991e-01 6.85647784e-03 1.05424111e+02] [-1.29936748e-01 9.91521983e-01 -7.73537804e-04 -1.17475249e+01] [-6.89886123e-03 -1.23947027e-04 9.99976195e-01 -2.03636242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.044012739 meters Centerline goodness [0,1] 0.9893120870579091 Centerline is valid? [True, True] Translation: X:105.45, Y:-11.75, Z:-2.04 [[ 9.91527329e-01 1.29680117e-01 7.52486999e-03 1.05452639e+02] [-1.29677413e-01 9.91555873e-01 -8.48264841e-04 -1.17507815e+01] [-7.57133211e-03 -1.34727900e-04 9.99971328e-01 -2.03506735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.074012739 meters Centerline goodness [0,1] 0.9899881324846261 Centerline is valid? [True, True] Translation: X:105.48, Y:-11.75, Z:-2.04 [[ 9.91580166e-01 1.29267225e-01 7.66540794e-03 1.05481509e+02] [-1.29264409e-01 9.91609785e-01 -8.63745409e-04 -1.17515466e+01] [-7.71274750e-03 -1.34391615e-04 9.99970247e-01 -2.03507357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.104012739 meters Centerline goodness [0,1] 0.9897880374152579 Centerline is valid? [True, True] Translation: X:105.51, Y:-11.75, Z:-2.04 [[ 9.91603807e-01 1.29127553e-01 6.92561845e-03 1.05508807e+02] [-1.29125252e-01 9.91627985e-01 -7.80157032e-04 -1.17503692e+01] [-6.96837684e-03 -1.20665546e-04 9.99975713e-01 -2.03650558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.134012739 meters Centerline goodness [0,1] 0.9906670680830932 Centerline is valid? [True, True] Translation: X:105.54, Y:-11.75, Z:-2.04 [[ 9.91693849e-01 1.28492487e-01 5.74375349e-03 1.05537429e+02] [-1.28490898e-01 9.91710478e-01 -6.46396938e-04 -1.17527876e+01] [-5.77919766e-03 -9.69921750e-05 9.99983296e-01 -2.03833447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164012739 meters Centerline goodness [0,1] 0.9907524893008451 Centerline is valid? [True, True] Translation: X:105.57, Y:-11.75, Z:-2.04 [[ 9.91793600e-01 1.27715626e-01 5.84586441e-03 1.05565172e+02] [-1.27713967e-01 9.91810824e-01 -6.57627652e-04 -1.17534155e+01] [-5.88198093e-03 -9.43676396e-05 9.99982697e-01 -2.03853647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.194012739 meters Centerline goodness [0,1] 0.990343347639485 Centerline is valid? [True, True] Translation: X:105.59, Y:-11.76, Z:-2.04 [[ 9.91953246e-01 1.26441530e-01 6.42635071e-03 1.05594057e+02] [-1.26439502e-01 9.91974057e-01 -7.22480009e-04 -1.17576728e+01] [-6.46612467e-03 -9.58781958e-05 9.99979090e-01 -2.03808535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224012739 meters Centerline goodness [0,1] 0.9912567605121957 Centerline is valid? [True, True] Translation: X:105.62, Y:-11.76, Z:-2.03 [[ 9.92381335e-01 1.22938675e-01 8.08504024e-03 1.05622887e+02] [-1.22935353e-01 9.92414265e-01 -9.08502603e-04 -1.17644641e+01] [-8.13539937e-03 -9.23562505e-05 9.99966903e-01 -2.03498124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.254012739 meters Centerline goodness [0,1] 0.9924103526201339 Centerline is valid? [True, True] Translation: X:105.65, Y:-11.77, Z:-2.03 [[ 9.92558528e-01 1.21469251e-01 8.53164747e-03 1.05651810e+02] [-1.21465500e-01 9.92595191e-01 -9.58379979e-04 -1.17690508e+01] [-8.58488595e-03 -8.50526005e-05 9.99963146e-01 -2.03396422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.284012739 meters Centerline goodness [0,1] 0.9927379447741052 Centerline is valid? [True, True] Translation: X:105.68, Y:-11.77, Z:-2.04 [[ 9.92778464e-01 1.19699337e-01 7.93669191e-03 1.05679885e+02] [-1.19696036e-01 9.92810186e-01 -8.91219198e-04 -1.17739258e+01] [-7.98630692e-03 -6.52073384e-05 9.99968107e-01 -2.03529276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.314012739 meters Centerline goodness [0,1] 0.9929149364270731 Centerline is valid? [True, True] Translation: X:105.71, Y:-11.78, Z:-2.04 [[ 9.92876247e-01 1.18947250e-01 6.95050974e-03 1.05707992e+02] [-1.18944703e-01 9.92900574e-01 -7.80212923e-04 -1.17783401e+01] [-6.99396929e-03 -5.20714384e-05 9.99975541e-01 -2.03702630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.344012739 meters Centerline goodness [0,1] 0.9938843785292676 Centerline is valid? [True, True] Translation: X:105.74, Y:-11.78, Z:-2.04 [[ 9.93068549e-01 1.17401073e-01 5.64322478e-03 1.05735660e+02] [-1.17399370e-01 9.93084582e-01 -6.33306506e-04 -1.17802237e+01] [-5.67855038e-03 -3.35942581e-05 9.99983876e-01 -2.03995390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.374012739 meters Centerline goodness [0,1] 0.9947214202611281 Centerline is valid? [True, True] Translation: X:105.76, Y:-11.78, Z:-2.04 [[ 9.93186444e-01 1.16407607e-01 5.47319242e-03 1.05764181e+02] [-1.16405992e-01 9.93201524e-01 -6.13868588e-04 -1.17843551e+01] [-5.50744203e-03 -2.74264339e-05 9.99984834e-01 -2.04021556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.404012739 meters Centerline goodness [0,1] 0.9944173662851867 Centerline is valid? [True, True] Translation: X:105.79, Y:-11.79, Z:-2.04 [[ 9.93456257e-01 1.14042707e-01 6.23911647e-03 1.05791469e+02] [-1.14040564e-01 9.93475848e-01 -6.99454854e-04 -1.17891238e+01] [-6.27817925e-03 -1.66345579e-05 9.99980292e-01 -2.03924276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.434012739 meters Centerline goodness [0,1] 0.9951472988061496 Centerline is valid? [True, True] Translation: X:105.82, Y:-11.79, Z:-2.04 [[ 9.93581780e-01 1.12904920e-01 6.90837937e-03 1.05819737e+02] [-1.12902268e-01 9.93605797e-01 -7.74027028e-04 -1.17942697e+01] [-6.95159724e-03 -1.09125430e-05 9.99975837e-01 -2.03793668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.464012739 meters Centerline goodness [0,1] 0.995326601925097 Centerline is valid? [True, True] Translation: X:105.85, Y:-11.80, Z:-2.04 [[ 9.93831714e-01 1.10624137e-01 7.79898181e-03 1.05847090e+02] [-1.10620689e-01 9.93862315e-01 -8.73410621e-04 -1.18007848e+01] [-7.84773441e-03 5.29443331e-06 9.99969206e-01 -2.03622465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.494012739 meters Centerline goodness [0,1] 0.995587482946794 Centerline is valid? [True, True] Translation: X:105.88, Y:-11.81, Z:-2.04 [[ 9.93925804e-01 1.09806823e-01 7.34563221e-03 1.05875171e+02] [-1.09803745e-01 9.93952947e-01 -8.22241905e-04 -1.18050608e+01] [-7.39150056e-03 1.06695228e-05 9.99972682e-01 -2.03745395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524012739 meters Centerline goodness [0,1] 0.9963587581448831 Centerline is valid? [True, True] Translation: X:105.90, Y:-11.81, Z:-2.04 [[ 9.94038258e-01 1.08829479e-01 6.63971209e-03 1.05903629e+02] [-1.08826945e-01 9.94060433e-01 -7.42959065e-04 -1.18094611e+01] [-6.68113093e-03 1.59501546e-05 9.99977681e-01 -2.03918472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.554012739 meters Centerline goodness [0,1] 0.9977279120593773 Centerline is valid? [True, True] Translation: X:105.93, Y:-11.81, Z:-2.04 [[ 9.94211142e-01 1.07291120e-01 5.72899844e-03 1.05932385e+02] [-1.07289209e-01 9.94227647e-01 -6.40847214e-04 -1.18141101e+01] [-5.76468586e-03 2.24777304e-05 9.99983384e-01 -2.04139875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584012739 meters Centerline goodness [0,1] 0.9981223862763506 Centerline is valid? [True, True] Translation: X:105.96, Y:-11.82, Z:-2.04 [[ 9.94352965e-01 1.05916561e-01 6.62289385e-03 1.05959541e+02] [-1.05913978e-01 9.94375020e-01 -7.40489792e-04 -1.18202517e+01] [-6.66407034e-03 3.48511880e-05 9.99977794e-01 -2.03869268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.614012739 meters Centerline goodness [0,1] 0.9975765968495759 Centerline is valid? [True, True] Translation: X:105.99, Y:-11.83, Z:-2.04 [[ 9.94439075e-01 1.05063488e-01 7.25188533e-03 1.05988294e+02] [-1.05060372e-01 9.94465515e-01 -8.10347925e-04 -1.18252167e+01] [-7.29688786e-03 4.39558672e-05 9.99973376e-01 -2.03831126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.644012739 meters Centerline goodness [0,1] 0.9975156621300497 Centerline is valid? [True, True] Translation: X:106.02, Y:-11.83, Z:-2.04 [[ 9.94532878e-01 1.04162477e-01 7.38463999e-03 1.06016247e+02] [-1.04159223e-01 9.94560293e-01 -8.24831041e-04 -1.18312272e+01] [-7.43038616e-03 5.11432220e-05 9.99972393e-01 -2.03795294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.674012739 meters Centerline goodness [0,1] 0.9978410587447916 Centerline is valid? [True, True] Translation: X:106.04, Y:-11.84, Z:-2.04 [[ 9.94722474e-01 1.02378266e-01 6.77429596e-03 1.06044260e+02] [-1.02375489e-01 9.94745539e-01 -7.56373503e-04 -1.18385781e+01] [-6.81613690e-03 5.88598610e-05 9.99976768e-01 -2.03937003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704012739 meters Centerline goodness [0,1] 0.9986473429951691 Centerline is valid? [True, True] Translation: X:106.07, Y:-11.84, Z:-2.04 [[ 9.94783435e-01 1.01831700e-01 6.01847234e-03 1.06071861e+02] [-1.01829499e-01 9.94801639e-01 -6.71764552e-04 -1.18442142e+01] [-6.05559307e-03 5.54022239e-05 9.99981663e-01 -2.04143541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.734012739 meters Centerline goodness [0,1] 0.9984564261978776 Centerline is valid? [True, True] Translation: X:106.10, Y:-11.85, Z:-2.04 [[ 9.94777661e-01 1.01910416e-01 5.62779726e-03 1.06100288e+02] [-1.01908495e-01 9.94793579e-01 -6.27828907e-04 -1.18481813e+01] [-5.66247889e-03 5.10298234e-05 9.99983967e-01 -2.04210965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.764012739 meters Centerline goodness [0,1] 0.9982414242292662 Centerline is valid? [True, True] Translation: X:106.13, Y:-11.85, Z:-2.04 [[ 9.94609763e-01 1.03505816e-01 6.16160090e-03 1.06129148e+02] [-1.03503545e-01 9.94628847e-01 -6.87076385e-04 -1.18490372e+01] [-6.19962240e-03 4.56253427e-05 9.99980781e-01 -2.04035616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.794012739 meters Centerline goodness [0,1] 0.9982991027767147 Centerline is valid? [True, True] Translation: X:106.16, Y:-11.85, Z:-2.04 [[ 9.94531707e-01 1.04264655e-01 5.96365034e-03 1.06156646e+02] [-1.04262543e-01 9.94549587e-01 -6.64753229e-04 -1.18532618e+01] [-6.00045625e-03 3.93328132e-05 9.99981996e-01 -2.04159273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.824012739 meters Centerline goodness [0,1] 0.9983045755000429 Centerline is valid? [True, True] Translation: X:106.19, Y:-11.86, Z:-2.04 [[ 9.94548508e-01 1.04130750e-01 5.48198430e-03 1.06185820e+02] [-1.04128965e-01 9.94563616e-01 -6.10744788e-04 -1.18560354e+01] [-5.51577944e-03 3.65819642e-05 9.99984787e-01 -2.04267077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.854012739 meters Centerline goodness [0,1] 0.9983731135609547 Centerline is valid? [True, True] Translation: X:106.21, Y:-11.86, Z:-2.04 [[ 9.94530866e-01 1.04325290e-01 4.95886861e-03 1.06214081e+02] [-1.04323833e-01 9.94543228e-01 -5.52270020e-04 -1.18607272e+01] [-4.98942492e-03 3.19213995e-05 9.99987552e-01 -2.04417818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.884012739 meters Centerline goodness [0,1] 0.9955537240272416 Centerline is valid? [True, True] Translation: X:106.24, Y:-11.87, Z:-2.03 [[ 9.94574070e-01 1.03936134e-01 4.43841718e-03 1.06242430e+02] [-1.03934963e-01 9.94583973e-01 -4.94142571e-04 -1.18653423e+01] [-4.46573786e-03 3.01546611e-05 9.99990028e-01 -2.03419473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.914012739 meters Centerline goodness [0,1] 0.9980028775742479 Centerline is valid? [True, True] Translation: X:106.27, Y:-11.87, Z:-2.04 [[ 9.94599528e-01 1.03597055e-01 6.27922812e-03 1.06270120e+02] [-1.03594709e-01 9.94619348e-01 -6.98640424e-04 -1.18686997e+01] [-6.31781887e-03 4.43726282e-05 9.99980041e-01 -2.04118592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944012739 meters Centerline goodness [0,1] 0.9971179710516204 Centerline is valid? [True, True] Translation: X:106.30, Y:-11.87, Z:-2.04 [[ 9.94453764e-01 1.04839873e-01 8.38525440e-03 1.06297497e+02] [-1.04835739e-01 9.94489114e-01 -9.32296221e-04 -1.18708643e+01] [-8.43678604e-03 4.80511436e-05 9.99964409e-01 -2.03765216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.974012739 meters Centerline goodness [0,1] 0.9966209036426233 Centerline is valid? [True, True] Translation: X:106.33, Y:-11.87, Z:-2.04 [[ 9.94331730e-01 1.06037558e-01 7.77474048e-03 1.06326833e+02] [-1.06034044e-01 9.94362125e-01 -8.63989535e-04 -1.18706782e+01] [-7.82252280e-03 3.47050363e-05 9.99969403e-01 -2.03856590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.004012739 meters Centerline goodness [0,1] 0.996954946068235 Centerline is valid? [True, True] Translation: X:106.36, Y:-11.87, Z:-2.04 [[ 9.94211213e-01 1.07232692e-01 6.72408179e-03 1.06355248e+02] [-1.07230092e-01 9.94233951e-01 -7.46973075e-04 -1.18714198e+01] [-6.76541034e-03 2.16250969e-05 9.99977114e-01 -2.04142440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.034012739 meters Centerline goodness [0,1] 0.9953352515476502 Centerline is valid? [True, True] Translation: X:106.38, Y:-11.87, Z:-2.04 [[ 9.94003418e-01 1.09188294e-01 5.92632036e-03 1.06384335e+02] [-1.09186311e-01 9.94021085e-01 -6.58124978e-04 -1.18703055e+01] [-5.96274693e-03 7.10542289e-06 9.99982223e-01 -2.04329397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064012739 meters Centerline goodness [0,1] 0.9945306157330257 Centerline is valid? [True, True] Translation: X:106.41, Y:-11.87, Z:-2.04 [[ 9.93922626e-01 1.09883286e-01 6.59364082e-03 1.06411806e+02] [-1.09880848e-01 9.93944497e-01 -7.31884054e-04 -1.18717768e+01] [-6.63413484e-03 2.92127441e-06 9.99977994e-01 -2.04254079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.094012739 meters Centerline goodness [0,1] 0.9944525359835503 Centerline is valid? [True, True] Translation: X:106.44, Y:-11.88, Z:-2.04 [[ 9.94045192e-01 1.08676482e-01 7.97356994e-03 1.06439060e+02] [-1.08672884e-01 9.94077171e-01 -8.84470506e-04 -1.18766802e+01] [-8.02246499e-03 1.26928160e-05 9.99967819e-01 -2.04001691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.124012739 meters Centerline goodness [0,1] 0.9953295055274659 Centerline is valid? [True, True] Translation: X:106.47, Y:-11.88, Z:-2.04 [[ 9.94255888e-01 1.06752431e-01 7.69069675e-03 1.06465766e+02] [-1.06749029e-01 9.94285632e-01 -8.52660748e-04 -1.18837913e+01] [-7.73777289e-03 2.67885580e-05 9.99970063e-01 -2.04097080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.154012739 meters Centerline goodness [0,1] 0.996395692200799 Centerline is valid? [True, True] Translation: X:106.49, Y:-11.89, Z:-2.04 [[ 9.94533764e-01 1.04168125e-01 7.18284647e-03 1.06494373e+02] [-1.04165092e-01 9.94559702e-01 -7.96106997e-04 -1.18904930e+01] [-7.22669861e-03 4.35534274e-05 9.99973886e-01 -2.04251440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.184012739 meters Centerline goodness [0,1] 0.996728086791803 Centerline is valid? [True, True] Translation: X:106.52, Y:-11.90, Z:-2.04 [[ 9.95107067e-01 9.86299291e-02 5.83626480e-03 1.06522195e+02] [-9.86278329e-02 9.95124179e-01 -6.46605443e-04 -1.19035814e+01] [-5.87158287e-03 6.78234969e-05 9.99982760e-01 -2.04499600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.214012739 meters Centerline goodness [0,1] 0.996728086791803 Centerline is valid? [True, True] Translation: X:106.55, Y:-11.91, Z:-2.05 [[ 9.95111555e-01 9.85846412e-02 5.83627445e-03 1.06550361e+02] [-9.85825447e-02 9.95128667e-01 -6.46518290e-04 -1.19066126e+01] [-5.87158079e-03 6.80030336e-05 9.99982760e-01 -2.04522268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.244012739 meters Centerline goodness [0,1] 0.9974577184099968 Centerline is valid? [True, True] Translation: X:106.58, Y:-11.92, Z:-2.05 [[ 9.95658083e-01 9.29701107e-02 4.64106045e-03 1.06578733e+02] [-9.29687252e-02 9.95668897e-01 -5.13864045e-04 -1.19208390e+01] [-4.66873354e-03 8.01594166e-05 9.99989098e-01 -2.04822435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.274012739 meters Centerline goodness [0,1] 0.9971601910416935 Centerline is valid? [True, True] Translation: X:106.61, Y:-11.93, Z:-2.05 [[ 9.95838933e-01 9.09966069e-02 4.94344506e-03 1.06607291e+02] [-9.09950109e-02 9.95851198e-01 -5.47281559e-04 -1.19289181e+01] [-4.97273645e-03 9.51754461e-05 9.99987631e-01 -2.04784321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304012739 meters Centerline goodness [0,1] 0.9966147451417308 Centerline is valid? [True, True] Translation: X:106.64, Y:-11.93, Z:-2.05 [[ 9.95958351e-01 8.96437432e-02 5.56432535e-03 1.06636160e+02] [-8.96417002e-02 9.95973888e-01 -6.15972403e-04 -1.19348093e+01] [-5.59714083e-03 1.14687274e-04 9.99984329e-01 -2.04662131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.334012739 meters Centerline goodness [0,1] 0.9944323563291949 Centerline is valid? [True, True] Translation: X:106.66, Y:-11.95, Z:-2.04 [[ 9.96050975e-01 8.83800326e-02 8.45139275e-03 1.06664188e+02] [-8.83752766e-02 9.96086811e-01 -9.35283526e-04 -1.19471031e+01] [-8.50098124e-03 1.84695896e-04 9.99963849e-01 -2.04180095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.364012739 meters Centerline goodness [0,1] 0.9943689531470812 Centerline is valid? [True, True] Translation: X:106.70, Y:-11.95, Z:-2.04 [[ 9.96051789e-01 8.83300683e-02 8.86749838e-03 1.06695032e+02] [-8.83248312e-02 9.96091241e-01 -9.81256602e-04 -1.19492631e+01] [-8.91951193e-03 1.94162097e-04 9.99960202e-01 -2.04065437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.394012739 meters Centerline goodness [0,1] 0.9953708641764618 Centerline is valid? [True, True] Translation: X:106.72, Y:-11.95, Z:-2.04 [[ 9.95985874e-01 8.91348417e-02 8.19260375e-03 1.06724647e+02] [-8.91303972e-02 9.96019553e-01 -9.06750177e-04 -1.19537263e+01] [-8.24081656e-03 1.72900341e-04 9.99966029e-01 -2.04183880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424012739 meters Centerline goodness [0,1] 0.9950820022665555 Centerline is valid? [True, True] Translation: X:106.75, Y:-11.96, Z:-2.04 [[ 9.95879168e-01 9.03630139e-02 7.69475385e-03 1.06754732e+02] [-9.03591292e-02 9.95908883e-01 -8.51720007e-04 -1.19600411e+01] [-7.74023769e-03 1.52918954e-04 9.99970032e-01 -2.04349797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.454012739 meters Centerline goodness [0,1] 0.9946490603491056 Centerline is valid? [True, True] Translation: X:106.79, Y:-11.96, Z:-2.04 [[ 9.95876315e-01 9.03803645e-02 7.85838424e-03 1.06786191e+02] [-9.03763094e-02 9.95907308e-01 -8.70340563e-04 -1.19648095e+01] [-7.90488399e-03 1.56539788e-04 9.99968744e-01 -2.04258043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.484012739 meters Centerline goodness [0,1] 0.9944634005021566 Centerline is valid? [True, True] Translation: X:106.82, Y:-11.97, Z:-2.04 [[ 9.95924145e-01 8.97849473e-02 8.58835191e-03 1.06815897e+02] [-8.97800799e-02 9.95961160e-01 -9.51397125e-04 -1.19746163e+01] [-8.63908607e-03 1.76456448e-04 9.99962667e-01 -2.04247895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.514012739 meters Centerline goodness [0,1] 0.9942152699540688 Centerline is valid? [True, True] Translation: X:106.85, Y:-11.98, Z:-2.04 [[ 9.96011717e-01 8.88222248e-02 8.44224242e-03 1.06847637e+02] [-8.88174855e-02 9.96047478e-01 -9.35381478e-04 -1.19829336e+01] [-8.49195694e-03 1.81832168e-04 9.99963926e-01 -2.04318182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.544012739 meters Centerline goodness [0,1] 0.9939752484938121 Centerline is valid? [True, True] Translation: X:106.88, Y:-12.00, Z:-2.05 [[ 9.96262169e-01 8.60842878e-02 7.15443769e-03 1.06878266e+02] [-8.60808060e-02 9.96287842e-01 -7.93751035e-04 -1.19966835e+01] [-7.19620878e-03 1.74924365e-04 9.99974092e-01 -2.04662561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.574012739 meters Centerline goodness [0,1] 0.99499379666108 Centerline is valid? [True, True] Translation: X:106.91, Y:-12.00, Z:-2.05 [[ 9.96334507e-01 8.53259337e-02 6.08567040e-03 1.06909945e+02] [-8.53234003e-02 9.96353081e-01 -6.75187792e-04 -1.20049035e+01] [-6.12108748e-03 1.53462805e-04 9.99981254e-01 -2.04949937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.604012739 meters Centerline goodness [0,1] 0.9947218136194514 Centerline is valid? [True, True] Translation: X:106.94, Y:-12.01, Z:-2.05 [[ 9.96363144e-01 8.50527835e-02 5.14870442e-03 1.06940722e+02] [-8.50509630e-02 9.96376438e-01 -5.71902029e-04 -1.20139456e+01] [-5.17868963e-03 1.31919835e-04 9.99986582e-01 -2.05104982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.634012739 meters Centerline goodness [0,1] 0.9953959882413972 Centerline is valid? [True, True] Translation: X:106.97, Y:-12.03, Z:-2.05 [[ 9.96317557e-01 8.55691142e-02 5.40845657e-03 1.06971754e+02] [-8.55671085e-02 9.96332228e-01 -6.01591110e-04 -1.20252836e+01] [-5.44009720e-03 1.36589796e-04 9.99985193e-01 -2.05042925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664012739 meters Centerline goodness [0,1] 0.9942414658087032 Centerline is valid? [True, True] Translation: X:107.00, Y:-12.03, Z:-2.05 [[ 9.96240220e-01 8.64388070e-02 5.81005265e-03 1.07002936e+02] [-8.64365012e-02 9.96257152e-01 -6.47279938e-04 -1.20318880e+01] [-5.84425661e-03 1.42645685e-04 9.99982912e-01 -2.04953104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.694012739 meters Centerline goodness [0,1] 0.9956383047978647 Centerline is valid? [True, True] Translation: X:107.03, Y:-12.04, Z:-2.05 [[ 9.95951337e-01 8.96556092e-02 6.54269559e-03 1.07032857e+02] [-8.96527453e-02 9.95972817e-01 -7.30304696e-04 -1.20355636e+01] [-6.58182287e-03 1.40777317e-04 9.99978330e-01 -2.04871212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724012739 meters Centerline goodness [0,1] 0.9898981140255799 Centerline is valid? [True, True] Translation: X:107.07, Y:-12.04, Z:-2.04 [[ 9.95742870e-01 9.19756018e-02 6.05186970e-03 1.07065335e+02] [-9.19731956e-02 9.95761254e-01 -6.75300955e-04 -1.20371456e+01] [-6.08832858e-03 1.15816315e-04 9.99981459e-01 -2.03656522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.754012739 meters Centerline goodness [0,1] 0.9967330866921962 Centerline is valid? [True, True] Translation: X:107.10, Y:-12.04, Z:-2.05 [[ 9.95275547e-01 9.68351097e-02 7.03896308e-03 1.07096449e+02] [-9.68319657e-02 9.95300433e-01 -7.86888846e-04 -1.20383725e+01] [-7.08208147e-03 1.01574594e-04 9.99974917e-01 -2.04868679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.784012739 meters Centerline goodness [0,1] 0.9969518739535482 Centerline is valid? [True, True] Translation: X:107.13, Y:-12.04, Z:-2.05 [[ 9.95061485e-01 9.90254771e-02 6.82609238e-03 1.07127884e+02] [-9.90225719e-02 9.95084895e-01 -7.63089360e-04 -1.20415524e+01] [-6.86810671e-03 8.33836078e-05 9.99976411e-01 -2.04946909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.814012739 meters Centerline goodness [0,1] 0.996559805629018 Centerline is valid? [True, True] Translation: X:107.16, Y:-12.04, Z:-2.05 [[ 9.94866010e-01 1.00969882e-01 6.83406291e-03 1.07159322e+02] [-1.00967007e-01 9.94889480e-01 -7.65208705e-04 -1.20429787e+01] [-6.87640033e-03 7.12652535e-05 9.99976355e-01 -2.04959309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.844012739 meters Centerline goodness [0,1] 0.9955996548748921 Centerline is valid? [True, True] Translation: X:107.19, Y:-12.04, Z:-2.05 [[ 9.94386529e-01 1.05522811e-01 7.76957752e-03 1.07190236e+02] [-1.05519233e-01 9.94416881e-01 -8.70156810e-04 -1.20389879e+01] [-7.81802044e-03 4.54323467e-05 9.99969438e-01 -2.04756067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.874012739 meters Centerline goodness [0,1] 0.9945346960731576 Centerline is valid? [True, True] Translation: X:107.22, Y:-12.04, Z:-2.05 [[ 9.94093383e-01 1.08228765e-01 8.05478589e-03 1.07221926e+02] [-1.08225008e-01 9.94126015e-01 -9.02192896e-04 -1.20374765e+01] [-8.10511542e-03 2.51347246e-05 9.99967153e-01 -2.04639306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.904012739 meters Centerline goodness [0,1] 0.993800544865607 Centerline is valid? [True, True] Translation: X:107.25, Y:-12.04, Z:-2.05 [[ 9.93788201e-01 1.11022296e-01 7.68519660e-03 1.07252329e+02] [-1.11018958e-01 9.93817916e-01 -8.60967029e-04 -1.20360874e+01] [-7.73327261e-03 2.41635588e-06 9.99970098e-01 -2.04724493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.934012739 meters Centerline goodness [0,1] 0.9922092973344208 Centerline is valid? [True, True] Translation: X:107.28, Y:-12.03, Z:-2.05 [[ 9.93279093e-01 1.15551420e-01 6.67182744e-03 1.07282749e+02] [-1.15549006e-01 9.93301499e-01 -7.47547452e-04 -1.20286093e+01] [-6.71351637e-03 -2.83997728e-05 9.99977464e-01 -2.04992879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.964012739 meters Centerline goodness [0,1] 0.9914919930912425 Centerline is valid? [True, True] Translation: X:107.31, Y:-12.03, Z:-2.05 [[ 9.93076428e-01 1.17272501e-01 6.80942114e-03 1.07311607e+02] [-1.17270027e-01 9.93099773e-01 -7.62818343e-04 -1.20259260e+01] [-6.85189220e-03 -4.10040855e-05 9.99976525e-01 -2.05025584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.994012739 meters Centerline goodness [0,1] 0.9901055832780075 Centerline is valid? [True, True] Translation: X:107.34, Y:-12.02, Z:-2.05 [[ 9.92810374e-01 1.19400926e-01 8.42491653e-03 1.07341537e+02] [-1.19397219e-01 9.92846118e-01 -9.43447820e-04 -1.20223997e+01] [-8.47729421e-03 -6.92468200e-05 9.99964065e-01 -2.04648518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024012739 meters Centerline goodness [0,1] 0.9898423967666745 Centerline is valid? [True, True] Translation: X:107.37, Y:-12.02, Z:-2.05 [[ 9.92717455e-01 1.20119067e-01 9.13590046e-03 1.07370175e+02] [-1.20114740e-01 9.92759489e-01 -1.02281837e-03 -1.20216807e+01] [-9.19261186e-03 -8.19866659e-05 9.99957744e-01 -2.04538373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.054012739 meters Centerline goodness [0,1] 0.9894136981623375 Centerline is valid? [True, True] Translation: X:107.40, Y:-12.02, Z:-2.05 [[ 9.92684364e-01 1.20383759e-01 9.24682094e-03 1.07398660e+02] [-1.20379342e-01 9.92727426e-01 -1.03480322e-03 -1.20201201e+01] [-9.30414625e-03 -8.58932490e-05 9.99956712e-01 -2.04545572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084012739 meters Centerline goodness [0,1] 0.9898326396115158 Centerline is valid? [True, True] Translation: X:107.43, Y:-12.02, Z:-2.05 [[ 9.92771795e-01 1.19727234e-01 8.33976461e-03 1.07428283e+02] [-1.19723622e-01 9.92806821e-01 -9.32877612e-04 -1.20186109e+01] [-8.39146605e-03 -7.23322402e-05 9.99964788e-01 -2.04925160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.114012739 meters Centerline goodness [0,1] 0.9904312351822978 Centerline is valid? [True, True] Translation: X:107.46, Y:-12.02, Z:-2.05 [[ 9.92796534e-01 1.19568181e-01 7.64801069e-03 1.07456020e+02] [-1.19565140e-01 9.92825990e-01 -8.55200858e-04 -1.20200416e+01] [-7.69539859e-03 -6.53950207e-05 9.99970388e-01 -2.05167848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.144012739 meters Centerline goodness [0,1] 0.9908370798544209 Centerline is valid? [True, True] Translation: X:107.48, Y:-12.02, Z:-2.05 [[ 9.92773083e-01 1.19753127e-01 7.79701002e-03 1.07484459e+02] [-1.19749976e-01 9.92803699e-01 -8.71433900e-04 -1.20208598e+01] [-7.84525732e-03 -6.85556380e-05 9.99969223e-01 -2.04990254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.174012739 meters Centerline goodness [0,1] 0.9898768635290615 Centerline is valid? [True, True] Translation: X:107.51, Y:-12.02, Z:-2.05 [[ 9.92693854e-01 1.20363995e-01 8.45107624e-03 1.07513099e+02] [-1.20360319e-01 9.92729823e-01 -9.44096054e-04 -1.20162409e+01] [-8.50327060e-03 -7.99758817e-05 9.99963843e-01 -2.04797611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204012739 meters Centerline goodness [0,1] 0.9908419753620992 Centerline is valid? [True, True] Translation: X:107.54, Y:-12.02, Z:-2.05 [[ 9.92584787e-01 1.21224161e-01 8.95232509e-03 1.07542132e+02] [-1.21220076e-01 9.92625153e-01 -9.99544628e-04 -1.20187635e+01] [-9.00747202e-03 -9.30687374e-05 9.99959428e-01 -2.04694969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.234012739 meters Centerline goodness [0,1] 0.9896797304789117 Centerline is valid? [True, True] Translation: X:107.57, Y:-12.01, Z:-2.05 [[ 9.92387586e-01 1.22903496e-01 7.84924825e-03 1.07570869e+02] [-1.22900411e-01 9.92418622e-01 -8.76046658e-04 -1.20129122e+01] [-7.89740933e-03 -9.52980044e-05 9.99968810e-01 -2.05012958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.264012739 meters Centerline goodness [0,1] 0.989066729183095 Centerline is valid? [True, True] Translation: X:107.60, Y:-12.01, Z:-2.05 [[ 9.92377311e-01 1.23022728e-01 7.25818479e-03 1.07599300e+02] [-1.23020096e-01 9.92403849e-01 -8.09669101e-04 -1.20087441e+01] [-7.30265823e-03 -8.94053477e-05 9.99973331e-01 -2.05248727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.294012739 meters Centerline goodness [0,1] 0.9887169224873864 Centerline is valid? [True, True] Translation: X:107.63, Y:-12.01, Z:-2.05 [[ 9.92374524e-01 1.23015107e-01 7.75163615e-03 1.07628241e+02] [-1.23012108e-01 9.92404794e-01 -8.64230681e-04 -1.20057805e+01] [-7.79907431e-03 -9.59045954e-05 9.99969582e-01 -2.05192434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.324012739 meters Centerline goodness [0,1] 0.9900045238146529 Centerline is valid? [True, True] Translation: X:107.66, Y:-12.01, Z:-2.05 [[ 9.92407608e-01 1.22710579e-01 8.32184059e-03 1.07656495e+02] [-1.22707117e-01 9.92442494e-01 -9.27246992e-04 -1.20119791e+01] [-8.37273124e-03 -1.00942097e-04 9.99964943e-01 -2.05108267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.354012739 meters Centerline goodness [0,1] 0.9895375154802067 Centerline is valid? [True, True] Translation: X:107.68, Y:-12.01, Z:-2.05 [[ 9.92472691e-01 1.22216046e-01 7.82276935e-03 1.07684600e+02] [-1.22212974e-01 9.92503516e-01 -8.71283296e-04 -1.20111125e+01] [-7.87061089e-03 -9.13190288e-05 9.99969022e-01 -2.05169352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.384012739 meters Centerline goodness [0,1] 0.9900877756369086 Centerline is valid? [True, True] Translation: X:107.71, Y:-12.01, Z:-2.06 [[ 9.92513528e-01 1.21991414e-01 5.91541359e-03 1.07713450e+02] [-1.21989656e-01 9.92531153e-01 -6.58577618e-04 -1.20110608e+01] [-5.95157309e-03 -6.79720718e-05 9.99982287e-01 -2.05531854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.414012739 meters Centerline goodness [0,1] 0.9901969105415039 Centerline is valid? [True, True] Translation: X:107.74, Y:-12.01, Z:-2.06 [[ 9.92517305e-01 1.21975857e-01 5.59367525e-03 1.07741356e+02] [-1.21974286e-01 9.92533065e-01 -6.22540750e-04 -1.20109364e+01] [-5.62784259e-03 -6.44020757e-05 9.99984161e-01 -2.05620788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444012739 meters Centerline goodness [0,1] 0.989905498281787 Centerline is valid? [True, True] Translation: X:107.77, Y:-12.01, Z:-2.05 [[ 9.92552686e-01 1.21612505e-01 7.04022463e-03 1.07770366e+02] [-1.21610010e-01 9.92577651e-01 -7.82986246e-04 -1.20100663e+01] [-7.08319054e-03 -7.90066877e-05 9.99974911e-01 -2.05362416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.474012739 meters Centerline goodness [0,1] 0.9904421578335558 Centerline is valid? [True, True] Translation: X:107.80, Y:-12.01, Z:-2.05 [[ 9.92642601e-01 1.20848050e-01 7.51104134e-03 1.07798890e+02] [-1.20845191e-01 9.92671014e-01 -8.34968725e-04 -1.20125459e+01] [-7.55689737e-03 -7.88476977e-05 9.99971443e-01 -2.05295390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.504012739 meters Centerline goodness [0,1] 0.9906114330930944 Centerline is valid? [True, True] Translation: X:107.83, Y:-12.01, Z:-2.05 [[ 9.92837573e-01 1.19224640e-01 7.68364203e-03 1.07826652e+02] [-1.19221603e-01 9.92867303e-01 -8.53783108e-04 -1.20134059e+01] [-7.73062892e-03 -6.83881681e-05 9.99970116e-01 -2.05333871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.534012739 meters Centerline goodness [0,1] 0.990516129032258 Centerline is valid? [True, True] Translation: X:107.86, Y:-12.02, Z:-2.05 [[ 9.92933232e-01 1.18404110e-01 8.00400107e-03 1.07855512e+02] [-1.18400791e-01 9.92965489e-01 -8.88886825e-04 -1.20165156e+01] [-8.05294469e-03 -6.50747933e-05 9.99967572e-01 -2.05323150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564012739 meters Centerline goodness [0,1] 0.990733140363762 Centerline is valid? [True, True] Translation: X:107.88, Y:-12.02, Z:-2.05 [[ 9.93034116e-01 1.17538892e-01 8.23726709e-03 1.07883613e+02] [-1.17535350e-01 9.93068278e-01 -9.14395575e-04 -1.20200976e+01] [-8.28764569e-03 -6.01440694e-05 9.99965655e-01 -2.05258116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.594012739 meters Centerline goodness [0,1] 0.9904031120420639 Centerline is valid? [True, True] Translation: X:107.91, Y:-12.02, Z:-2.05 [[ 9.93184572e-01 1.16198824e-01 9.06854355e-03 1.07912284e+02] [-1.16194480e-01 9.93225971e-01 -1.00621319e-03 -1.20246552e+01] [-9.12403376e-03 -5.43592825e-05 9.99958374e-01 -2.05034526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.624012739 meters Centerline goodness [0,1] 0.9908247069894773 Centerline is valid? [True, True] Translation: X:107.94, Y:-12.03, Z:-2.05 [[ 9.93224222e-01 1.15821005e-01 9.54668196e-03 1.07940316e+02] [-1.15816178e-01 9.93270100e-01 -1.05877940e-03 -1.20272884e+01] [-9.60506264e-03 -5.40548694e-05 9.99953869e-01 -2.04989238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.654012739 meters Centerline goodness [0,1] 0.990819616131856 Centerline is valid? [True, True] Translation: X:107.97, Y:-12.03, Z:-2.05 [[ 9.93222820e-01 1.15856910e-01 9.25230528e-03 1.07968088e+02] [-1.15852383e-01 9.93265913e-01 -1.02560555e-03 -1.20283869e+01] [-9.30882294e-03 -5.32467752e-05 9.99956671e-01 -2.05010763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.684012739 meters Centerline goodness [0,1] 0.9909172126265634 Centerline is valid? [True, True] Translation: X:108.00, Y:-12.03, Z:-2.05 [[ 9.93197002e-01 1.16121628e-01 8.68810545e-03 1.07995651e+02] [-1.16117650e-01 9.93235000e-01 -9.62590527e-04 -1.20304325e+01] [-8.74110799e-03 -5.28003650e-05 9.99961794e-01 -2.05138357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.714012739 meters Centerline goodness [0,1] 0.9907800348979987 Centerline is valid? [True, True] Translation: X:108.02, Y:-12.03, Z:-2.05 [[ 9.93140810e-01 1.16602342e-01 8.67324394e-03 1.08023991e+02] [-1.16598400e-01 9.93178680e-01 -9.60454486e-04 -1.20346463e+01] [-8.72607221e-03 -5.74198208e-05 9.99961925e-01 -2.05200400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.744012739 meters Centerline goodness [0,1] 0.9899676237539405 Centerline is valid? [True, True] Translation: X:108.05, Y:-12.04, Z:-2.05 [[ 9.93005489e-01 1.17748510e-01 8.68251785e-03 1.08051343e+02] [-1.17744608e-01 9.93043445e-01 -9.61056834e-04 -1.20374238e+01] [-8.73528045e-03 -6.79849487e-05 9.99961844e-01 -2.05194698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.774012739 meters Centerline goodness [0,1] 0.9899582125191881 Centerline is valid? [True, True] Translation: X:108.08, Y:-12.04, Z:-2.05 [[ 9.92954261e-01 1.18208044e-01 8.28822970e-03 1.08079446e+02] [-1.18204508e-01 9.92988849e-01 -9.16940566e-04 -1.20395189e+01] [-8.33850942e-03 -6.92260735e-05 9.99965232e-01 -2.05301749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804012739 meters Centerline goodness [0,1] 0.9899940006856359 Centerline is valid? [True, True] Translation: X:108.11, Y:-12.04, Z:-2.06 [[ 9.92710984e-01 1.20311896e-01 7.06760202e-03 1.08108542e+02] [-1.20309380e-01 9.92736139e-01 -7.81547052e-04 -1.20397813e+01] [-7.11029335e-03 -7.44484750e-05 9.99974719e-01 -2.05562024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834012739 meters Centerline goodness [0,1] 0.989603271271968 Centerline is valid? [True, True] Translation: X:108.14, Y:-12.04, Z:-2.06 [[ 9.92455327e-01 1.22435367e-01 6.48119576e-03 1.08137714e+02] [-1.22433298e-01 9.92476485e-01 -7.16428650e-04 -1.20397425e+01] [-6.52015059e-03 -8.24907435e-05 9.99978740e-01 -2.05680065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.864012739 meters Centerline goodness [0,1] 0.9879331816034698 Centerline is valid? [True, True] Translation: X:108.17, Y:-12.04, Z:-2.06 [[ 9.92129475e-01 1.25075030e-01 5.94485680e-03 1.08165703e+02] [-1.25073338e-01 9.92147282e-01 -6.56963689e-04 -1.20373706e+01] [-5.98034327e-03 -9.17500464e-05 9.99982113e-01 -2.05798932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.894012739 meters Centerline goodness [0,1] 0.9869515159268262 Centerline is valid? [True, True] Translation: X:108.20, Y:-12.03, Z:-2.06 [[ 9.91399351e-01 1.30737634e-01 5.91582285e-03 1.08195663e+02] [-1.30736063e-01 9.91416994e-01 -6.53152229e-04 -1.20272201e+01] [-5.95043889e-03 -1.25876694e-04 9.99982288e-01 -2.05751610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.924012739 meters Centerline goodness [0,1] 0.9867534028940702 Centerline is valid? [True, True] Translation: X:108.22, Y:-12.02, Z:-2.06 [[ 9.91099336e-01 1.32972752e-01 6.35239707e-03 1.08224679e+02] [-1.32970988e-01 9.91119682e-01 -7.01126832e-04 -1.20245357e+01] [-6.38921653e-03 -1.49798177e-04 9.99979578e-01 -2.05717140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954012739 meters Centerline goodness [0,1] 0.986109017293735 Centerline is valid? [True, True] Translation: X:108.25, Y:-12.02, Z:-2.06 [[ 9.90754865e-01 1.35513678e-01 6.39058204e-03 1.08254366e+02] [-1.35511948e-01 9.90775461e-01 -7.05020812e-04 -1.20210755e+01] [-6.42717183e-03 -1.67497421e-04 9.99979331e-01 -2.05749093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.984012739 meters Centerline goodness [0,1] 0.9862533284263849 Centerline is valid? [True, True] Translation: X:108.28, Y:-12.02, Z:-2.06 [[ 9.90754750e-01 1.35526111e-01 6.13986426e-03 1.08283144e+02] [-1.35524515e-01 9.90773762e-01 -6.77176556e-04 -1.20233176e+01] [-6.17499151e-03 -1.61186237e-04 9.99980922e-01 -2.05802855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.014012739 meters Centerline goodness [0,1] 0.9856762796637225 Centerline is valid? [True, True] Translation: X:108.31, Y:-12.02, Z:-2.06 [[ 9.90824371e-01 1.35018778e-01 6.08240923e-03 1.08311457e+02] [-1.35017204e-01 9.90843027e-01 -6.70628163e-04 -1.20208877e+01] [-6.11726017e-03 -1.56755159e-04 9.99981277e-01 -2.05863214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.044012739 meters Centerline goodness [0,1] 0.9865184484389783 Centerline is valid? [True, True] Translation: X:108.34, Y:-12.03, Z:-2.06 [[ 9.91046739e-01 1.33333268e-01 6.97139940e-03 1.08339634e+02] [-1.33331163e-01 9.91071244e-01 -7.67873363e-04 -1.20259428e+01] [-7.01153654e-03 -1.68506400e-04 9.99975405e-01 -2.05799865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.074012739 meters Centerline goodness [0,1] 0.9858483539401162 Centerline is valid? [True, True] Translation: X:108.37, Y:-12.03, Z:-2.06 [[ 9.91098443e-01 1.32968069e-01 6.58547863e-03 1.08367348e+02] [-1.32966185e-01 9.91120309e-01 -7.25091563e-04 -1.20271069e+01] [-6.62341565e-03 -1.57008851e-04 9.99978053e-01 -2.05816210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.104012739 meters Centerline goodness [0,1] 0.9862835722348832 Centerline is valid? [True, True] Translation: X:108.40, Y:-12.02, Z:-2.06 [[ 9.90801897e-01 1.35222728e-01 5.13961315e-03 1.08397153e+02] [-1.35221612e-01 9.90815218e-01 -5.65662425e-04 -1.20212792e+01] [-5.16889734e-03 -1.34527371e-04 9.99986632e-01 -2.05967513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.134012739 meters Centerline goodness [0,1] 0.9862835722348832 Centerline is valid? [True, True] Translation: X:108.42, Y:-12.02, Z:-2.06 [[ 9.90811097e-01 1.35155299e-01 5.13963230e-03 1.08424498e+02] [-1.35154183e-01 9.90824418e-01 -5.65488454e-04 -1.20241486e+01] [-5.16890194e-03 -1.34350569e-04 9.99986632e-01 -2.05989518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164012739 meters Centerline goodness [0,1] 0.98572257939665 Centerline is valid? [True, True] Translation: X:108.45, Y:-12.02, Z:-2.06 [[ 9.90484028e-01 1.37538243e-01 4.96203265e-03 1.08454594e+02] [-1.37537235e-01 9.90496447e-01 -5.45488734e-04 -1.20200440e+01] [-4.98990127e-03 -1.42166371e-04 9.99987540e-01 -2.06055687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194012739 meters Centerline goodness [0,1] 0.985312143824864 Centerline is valid? [True, True] Translation: X:108.48, Y:-12.02, Z:-2.06 [[ 9.90084689e-01 1.40375216e-01 5.20640648e-03 1.08484306e+02] [-1.40374146e-01 9.90098365e-01 -5.72258998e-04 -1.20174097e+01] [-5.23518552e-03 -1.64259990e-04 9.99986283e-01 -2.05994587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224012739 meters Centerline goodness [0,1] 0.9821794871794872 Centerline is valid? [True, True] Translation: X:108.52, Y:-12.00, Z:-2.06 [[ 9.89442466e-01 1.44769255e-01 6.74303684e-03 1.08515180e+02] [-1.44767564e-01 9.89465413e-01 -7.40811937e-04 -1.20033243e+01] [-6.77924853e-03 -2.43182228e-04 9.99976991e-01 -2.05845476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.254012739 meters Centerline goodness [0,1] 0.9817285009650439 Centerline is valid? [True, True] Translation: X:108.54, Y:-12.00, Z:-2.06 [[ 9.89422658e-01 1.44878429e-01 7.28314971e-03 1.08544454e+02] [-1.44876460e-01 9.89449428e-01 -8.00053060e-04 -1.20027642e+01] [-7.32221875e-03 -2.63566324e-04 9.99973157e-01 -2.05777088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.284012739 meters Centerline goodness [0,1] 0.9844961240310077 Centerline is valid? [True, True] Translation: X:108.57, Y:-12.01, Z:-2.06 [[ 9.89832307e-01 1.41997374e-01 8.29150572e-03 1.08574541e+02] [-1.41994733e-01 9.89866996e-01 -9.09336047e-04 -1.20060694e+01] [-8.33661118e-03 -2.77259947e-04 9.99965211e-01 -2.05614983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314012739 meters Centerline goodness [0,1] 0.9840070601403418 Centerline is valid? [True, True] Translation: X:108.60, Y:-12.01, Z:-2.05 [[ 9.90179305e-01 1.39528769e-01 8.75596741e-03 1.08602809e+02] [-1.39525730e-01 9.90217981e-01 -9.59975560e-04 -1.20061127e+01] [-8.80426058e-03 -2.71134814e-04 9.99961205e-01 -2.05478550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.344012739 meters Centerline goodness [0,1] 0.9851725607158074 Centerline is valid? [True, True] Translation: X:108.63, Y:-12.01, Z:-2.05 [[ 9.90548113e-01 1.36874920e-01 8.92702242e-03 1.08632462e+02] [-1.36871658e-01 9.90588306e-01 -9.78313280e-04 -1.20113573e+01] [-8.97691057e-03 -2.52789982e-04 9.99959675e-01 -2.05454391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.374012739 meters Centerline goodness [0,1] 0.9868381883903891 Centerline is valid? [True, True] Translation: X:108.66, Y:-12.01, Z:-2.06 [[ 9.91149463e-01 1.32518131e-01 7.85406697e-03 1.08661462e+02] [-1.32515470e-01 9.91180564e-01 -8.60487994e-04 -1.20127899e+01] [-7.89882879e-03 -1.87913163e-04 9.99968786e-01 -2.05667884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.404012739 meters Centerline goodness [0,1] 0.9876998507780856 Centerline is valid? [True, True] Translation: X:108.69, Y:-12.01, Z:-2.06 [[ 9.91325661e-01 1.31250707e-01 6.83267692e-03 1.08689193e+02] [-1.31248664e-01 9.91349196e-01 -7.48488310e-04 -1.20129088e+01] [-6.87180839e-03 -1.54784046e-04 9.99976377e-01 -2.05838581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.434012739 meters Centerline goodness [0,1] 0.9898759753240333 Centerline is valid? [True, True] Translation: X:108.72, Y:-12.02, Z:-2.06 [[ 9.91583142e-01 1.29331599e-01 6.01750169e-03 1.08717878e+02] [-1.29329981e-01 9.91601393e-01 -6.58888601e-04 -1.20151041e+01] [-6.05217818e-03 -1.24900551e-04 9.99981678e-01 -2.05940011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.464012739 meters Centerline goodness [0,1] 0.9898166570395567 Centerline is valid? [True, True] Translation: X:108.75, Y:-12.02, Z:-2.06 [[ 9.91777657e-01 1.27830691e-01 6.03262920e-03 1.08745611e+02] [-1.27829039e-01 9.91795998e-01 -6.60277608e-04 -1.20167443e+01] [-6.06754124e-03 -1.16296614e-04 9.99981586e-01 -2.05968109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.494012739 meters Centerline goodness [0,1] 0.9908972134764077 Centerline is valid? [True, True] Translation: X:108.77, Y:-12.03, Z:-2.06 [[ 9.92524593e-01 1.21794997e-01 7.80455285e-03 1.08774629e+02] [-1.21792049e-01 9.92555272e-01 -8.53605775e-04 -1.20273197e+01] [-7.85041499e-03 -1.03307762e-04 9.99969180e-01 -2.05617136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524012739 meters Centerline goodness [0,1] 0.9918459069020866 Centerline is valid? [True, True] Translation: X:108.80, Y:-12.03, Z:-2.05 [[ 9.93017634e-01 1.17636234e-01 8.81444734e-03 1.08802881e+02] [-1.17632312e-01 9.93056751e-01 -9.63914132e-04 -1.20345781e+01] [-8.86663766e-03 -7.96800889e-05 9.99960687e-01 -2.05440707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.554012739 meters Centerline goodness [0,1] 0.9931878934207122 Centerline is valid? [True, True] Translation: X:108.83, Y:-12.04, Z:-2.05 [[ 9.93500789e-01 1.13429731e-01 9.48044897e-03 1.08830902e+02] [-1.13425006e-01 9.93546020e-01 -1.03626861e-03 -1.20422460e+01] [-9.53680602e-03 -4.57863002e-05 9.99954523e-01 -2.05393543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584012739 meters Centerline goodness [0,1] 0.9957186412091595 Centerline is valid? [True, True] Translation: X:108.86, Y:-12.06, Z:-2.06 [[ 9.94430539e-01 1.05048775e-01 8.52399776e-03 1.08857320e+02] [-1.05044651e-01 9.94467070e-01 -9.31349324e-04 -1.20594706e+01] [-8.57467218e-03 3.07618432e-05 9.99963236e-01 -2.05632856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.614012739 meters Centerline goodness [0,1] 0.9967127030546247 Centerline is valid? [True, True] Translation: X:108.88, Y:-12.07, Z:-2.06 [[ 9.94850670e-01 1.01082539e-01 7.38005988e-03 1.08884908e+02] [-1.01079341e-01 9.94878041e-01 -8.05981994e-04 -1.20697164e+01] [-7.42373023e-03 5.58601378e-05 9.99972442e-01 -2.05827728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.644012739 meters Centerline goodness [0,1] 0.9982466643859049 Centerline is valid? [True, True] Translation: X:108.91, Y:-12.08, Z:-2.06 [[ 9.95406022e-01 9.56230209e-02 4.80515807e-03 1.08912337e+02] [-9.56216022e-02 9.95417618e-01 -5.24641742e-04 -1.20833080e+01] [-4.83330683e-03 6.27546362e-05 9.99988318e-01 -2.06237303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.674012739 meters Centerline goodness [0,1] 0.9982099337891173 Centerline is valid? [True, True] Translation: X:108.94, Y:-12.09, Z:-2.06 [[ 9.95532522e-01 9.43220688e-02 4.28321407e-03 1.08939231e+02] [-9.43209296e-02 9.95541734e-01 -4.67655691e-04 -1.20901819e+01] [-4.30822862e-03 6.15697158e-05 9.99990718e-01 -2.06398799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704012739 meters Centerline goodness [0,1] 0.9983818062541001 Centerline is valid? [True, True] Translation: X:108.97, Y:-12.09, Z:-2.06 [[ 9.95554044e-01 9.40886363e-02 4.41290527e-03 1.08967426e+02] [-9.40874265e-02 9.95563822e-01 -4.81434781e-04 -1.20933170e+01] [-4.43862638e-03 6.40954428e-05 9.99990147e-01 -2.06291472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.734012739 meters Centerline goodness [0,1] 0.997667235458021 Centerline is valid? [True, True] Translation: X:108.99, Y:-12.10, Z:-2.06 [[ 9.95412024e-01 9.55024485e-02 5.84684301e-03 1.08994475e+02] [-9.55003512e-02 9.95429192e-01 -6.37485771e-04 -1.21027853e+01] [-5.88099967e-03 7.61854402e-05 9.99982704e-01 -2.05994883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.764012739 meters Centerline goodness [0,1] 0.9975226195605342 Centerline is valid? [True, True] Translation: X:109.02, Y:-12.11, Z:-2.06 [[ 9.95274773e-01 9.68766756e-02 6.56024967e-03 1.09023031e+02] [-9.68740682e-02 9.95296390e-01 -7.14793152e-04 -1.21065092e+01] [-6.59863960e-03 7.58975173e-05 9.99978226e-01 -2.05848010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.794012739 meters Centerline goodness [0,1] 0.9978281905171487 Centerline is valid? [True, True] Translation: X:109.05, Y:-12.11, Z:-2.06 [[ 9.94931625e-01 1.00315377e-01 6.92000003e-03 1.09051789e+02] [-1.00312561e-01 9.94955688e-01 -7.53648047e-04 -1.21101101e+01] [-6.96069588e-03 5.56653483e-05 9.99975773e-01 -2.05873524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.824012739 meters Centerline goodness [0,1] 0.9977758292521226 Centerline is valid? [True, True] Translation: X:109.08, Y:-12.11, Z:-2.06 [[ 9.94741019e-01 1.02214390e-01 6.52103454e-03 1.09079640e+02] [-1.02211932e-01 9.94762392e-01 -7.09930135e-04 -1.21138794e+01] [-6.55944499e-03 3.96690878e-05 9.99978486e-01 -2.06010823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.854012739 meters Centerline goodness [0,1] 0.9968051812570634 Centerline is valid? [True, True] Translation: X:109.11, Y:-12.12, Z:-2.06 [[ 9.94539526e-01 1.04166258e-01 6.36561816e-03 1.09108571e+02] [-1.04163959e-01 9.94559898e-01 -6.92632821e-04 -1.21170746e+01] [-6.40313751e-03 2.57827318e-05 9.99979499e-01 -2.06060733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.884012739 meters Centerline goodness [0,1] 0.9956596476149548 Centerline is valid? [True, True] Translation: X:109.14, Y:-12.12, Z:-2.06 [[ 9.94166670e-01 1.07608066e-01 7.28949506e-03 1.09136040e+02] [-1.07605146e-01 9.94193394e-01 -7.92760330e-04 -1.21198155e+01] [-7.33247523e-03 3.74871872e-06 9.99973117e-01 -2.05842347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.914012739 meters Centerline goodness [0,1] 0.9948478054669311 Centerline is valid? [True, True] Translation: X:109.16, Y:-12.12, Z:-2.06 [[ 9.94011302e-01 1.09012905e-01 7.59728137e-03 1.09163808e+02] [-1.09009777e-01 9.94040334e-01 -8.25759797e-04 -1.21233752e+01] [-7.64202259e-03 -7.36337809e-06 9.99970799e-01 -2.05822614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944012739 meters Centerline goodness [0,1] 0.9943729730890659 Centerline is valid? [True, True] Translation: X:109.19, Y:-12.13, Z:-2.06 [[ 9.93825117e-01 1.10746578e-01 6.84338644e-03 1.09191899e+02] [-1.10744084e-01 9.93848678e-01 -7.43444030e-04 -1.21302174e+01] [-6.88362445e-03 -1.90112125e-05 9.99976307e-01 -2.06095010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.974012739 meters Centerline goodness [0,1] 0.9945908520489852 Centerline is valid? [True, True] Translation: X:109.22, Y:-12.14, Z:-2.06 [[ 9.93797840e-01 1.11015642e-01 6.43273251e-03 1.09219901e+02] [-1.11013446e-01 9.93818659e-01 -6.98587979e-04 -1.21354041e+01] [-6.47052379e-03 -1.98645778e-05 9.99979066e-01 -2.06262470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.004012739 meters Centerline goodness [0,1] 0.9942327630896838 Centerline is valid? [True, True] Translation: X:109.25, Y:-12.14, Z:-2.06 [[ 9.93768640e-01 1.11296535e-01 6.08041224e-03 1.09247876e+02] [-1.11294580e-01 9.93787241e-01 -6.59917471e-04 -1.21397113e+01] [-6.11608264e-03 -2.09116412e-05 9.99981296e-01 -2.06262201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.034012739 meters Centerline goodness [0,1] 0.9947386579265137 Centerline is valid? [True, True] Translation: X:109.28, Y:-12.14, Z:-2.06 [[ 9.93678116e-01 1.12079329e-01 6.48277184e-03 1.09275738e+02] [-1.12077127e-01 9.93699262e-01 -7.03090813e-04 -1.21449800e+01] [-6.52072754e-03 -2.79244880e-05 9.99978739e-01 -2.06165198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064012739 meters Centerline goodness [0,1] 0.9937710874643135 Centerline is valid? [True, True] Translation: X:109.30, Y:-12.15, Z:-2.06 [[ 9.93590947e-01 1.12828921e-01 6.83110282e-03 1.09303960e+02] [-1.12826498e-01 9.93614429e-01 -7.40256259e-04 -1.21497574e+01] [-6.87100464e-03 -3.52174894e-05 9.99976394e-01 -2.06089601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.094012739 meters Centerline goodness [0,1] 0.992895709008241 Centerline is valid? [True, True] Translation: X:109.33, Y:-12.16, Z:-2.06 [[ 9.93413069e-01 1.14356282e-01 7.28806717e-03 1.09332464e+02] [-1.14353568e-01 9.93439801e-01 -7.89396228e-04 -1.21552009e+01] [-7.33052842e-03 -4.92199551e-05 9.99973130e-01 -2.06042258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.124012739 meters Centerline goodness [0,1] 0.9926650888078637 Centerline is valid? [True, True] Translation: X:109.36, Y:-12.16, Z:-2.06 [[ 9.93355172e-01 1.14876838e-01 6.98674079e-03 1.09359981e+02] [-1.14874358e-01 9.93379741e-01 -7.56443611e-04 -1.21579791e+01] [-7.02738460e-03 -5.11801924e-05 9.99975306e-01 -2.06195491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.154012739 meters Centerline goodness [0,1] 0.9923757570551093 Centerline is valid? [True, True] Translation: X:109.39, Y:-12.16, Z:-2.06 [[ 9.93320659e-01 1.15190941e-01 6.71684027e-03 1.09388528e+02] [-1.15188660e-01 9.93343367e-01 -7.26815908e-04 -1.21630824e+01] [-6.75585134e-03 -5.17425712e-05 9.99977178e-01 -2.06242189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.184012739 meters Centerline goodness [0,1] 0.9929275287319145 Centerline is valid? [True, True] Translation: X:109.42, Y:-12.17, Z:-2.06 [[ 9.93280133e-01 1.15577573e-01 6.03333912e-03 1.09416831e+02] [-1.15575741e-01 9.93298456e-01 -6.52607618e-04 -1.21691609e+01] [-6.06833324e-03 -4.90854572e-05 9.99981586e-01 -2.06334216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.214012739 meters Centerline goodness [0,1] 0.9932470334412082 Centerline is valid? [True, True] Translation: X:109.45, Y:-12.17, Z:-2.06 [[ 9.93262520e-01 1.15755206e-01 5.50435706e-03 1.09445207e+02] [-1.15753685e-01 9.93277771e-01 -5.95158482e-04 -1.21732676e+01] [-5.53624821e-03 -4.60010019e-05 9.99984674e-01 -2.06456791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.244012739 meters Centerline goodness [0,1] 0.9934075877372515 Centerline is valid? [True, True] Translation: X:109.47, Y:-12.18, Z:-2.07 [[ 9.93220663e-01 1.16165636e-01 4.27316822e-03 1.09472848e+02] [-1.16164724e-01 9.93229854e-01 -4.61956500e-04 -1.21771878e+01] [-4.29790172e-03 -3.75666655e-05 9.99990763e-01 -2.06773105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.274012739 meters Centerline goodness [0,1] 0.993409291606539 Centerline is valid? [True, True] Translation: X:109.50, Y:-12.18, Z:-2.07 [[ 9.93189416e-01 1.16425091e-01 4.47013019e-03 1.09500182e+02] [-1.16424096e-01 9.93199475e-01 -4.83013233e-04 -1.21811433e+01] [-4.49596582e-03 -4.07072347e-05 9.99989892e-01 -2.06729989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304012739 meters Centerline goodness [0,1] 0.9929695128566779 Centerline is valid? [True, True] Translation: X:109.53, Y:-12.19, Z:-2.07 [[ 9.93147601e-01 1.16750840e-01 5.20414355e-03 1.09527665e+02] [-1.16749499e-01 9.93161235e-01 -5.61794312e-04 -1.21856066e+01] [-5.23414359e-03 -4.96364796e-05 9.99986301e-01 -2.06533333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.334012739 meters Centerline goodness [0,1] 0.9923751512009676 Centerline is valid? [True, True] Translation: X:109.56, Y:-12.19, Z:-2.06 [[ 9.93076426e-01 1.17272968e-01 6.80170735e-03 1.09555377e+02] [-1.17270694e-01 9.93099716e-01 -7.33561080e-04 -1.21890750e+01] [-6.84080052e-03 -6.91587265e-05 9.99976599e-01 -2.06321364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.364012739 meters Centerline goodness [0,1] 0.9926364178088023 Centerline is valid? [True, True] Translation: X:109.58, Y:-12.19, Z:-2.06 [[ 9.93132464e-01 1.16772867e-01 7.21160346e-03 1.09582430e+02] [-1.16770301e-01 9.93158644e-01 -7.77299137e-04 -1.21934801e+01] [-7.25303377e-03 -7.01401023e-05 9.99973694e-01 -2.06337855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.394012739 meters Centerline goodness [0,1] 0.9925978070736806 Centerline is valid? [True, True] Translation: X:109.61, Y:-12.20, Z:-2.06 [[ 9.93326101e-01 1.15166271e-01 6.32348248e-03 1.09610416e+02] [-1.15164268e-01 9.93346227e-01 -6.81241532e-04 -1.22040157e+01] [-6.35986351e-03 -5.15442354e-05 9.99979775e-01 -2.06493015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.424012739 meters Centerline goodness [0,1] 0.9939716235709518 Centerline is valid? [True, True] Translation: X:109.64, Y:-12.21, Z:-2.07 [[ 9.93429535e-01 1.14341748e-01 4.87067814e-03 1.09638685e+02] [-1.14340550e-01 9.93441475e-01 -5.24583573e-04 -1.22100354e+01] [-4.89871548e-03 -3.57792033e-05 9.99988001e-01 -2.06823285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.454012739 meters Centerline goodness [0,1] 0.9946222569173389 Centerline is valid? [True, True] Translation: X:109.67, Y:-12.22, Z:-2.07 [[ 9.93553125e-01 1.13308442e-01 3.65850991e-03 1.09666540e+02] [-1.13307759e-01 9.93559861e-01 -3.93955739e-04 -1.22163223e+01] [-3.67958710e-03 -2.31216037e-05 9.99993230e-01 -2.07013808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.484012739 meters Centerline goodness [0,1] 0.9948791260375104 Centerline is valid? [True, True] Translation: X:109.69, Y:-12.22, Z:-2.07 [[ 9.93777189e-01 1.11288142e-01 4.67416656e-03 1.09693270e+02] [-1.11287007e-01 9.93788181e-01 -5.03021151e-04 -1.22240639e+01] [-4.70111178e-03 -2.02830619e-05 9.99988950e-01 -2.06989277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.514012739 meters Centerline goodness [0,1] 0.9957257577065883 Centerline is valid? [True, True] Translation: X:109.72, Y:-12.23, Z:-2.07 [[ 9.93873051e-01 1.10399320e-01 5.32436409e-03 1.09721688e+02] [-1.10397837e-01 9.93887312e-01 -5.72559391e-04 -1.22315739e+01] [-5.35502809e-03 -1.87469282e-05 9.99985662e-01 -2.06769964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.544012739 meters Centerline goodness [0,1] 0.9958118556701031 Centerline is valid? [True, True] Translation: X:109.75, Y:-12.24, Z:-2.07 [[ 9.94024506e-01 1.09001084e-01 5.83479506e-03 1.09749922e+02] [-1.08999281e-01 9.94041631e-01 -6.27129472e-04 -1.22415628e+01] [-5.86838699e-03 -1.26064002e-05 9.99982781e-01 -2.06707335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.574012739 meters Centerline goodness [0,1] 0.9961065221132335 Centerline is valid? [True, True] Translation: X:109.78, Y:-12.25, Z:-2.07 [[ 9.94083273e-01 1.08483546e-01 5.45588403e-03 1.09776828e+02] [-1.08481963e-01 9.94098245e-01 -5.86213075e-04 -1.22473731e+01] [-5.48727921e-03 -9.12039624e-06 9.99984945e-01 -2.06728537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.604012739 meters Centerline goodness [0,1] 0.9965703192407248 Centerline is valid? [True, True] Translation: X:109.80, Y:-12.26, Z:-2.07 [[ 9.94110814e-01 1.08270067e-01 4.61321357e-03 1.09804181e+02] [-1.08268934e-01 9.94121518e-01 -4.95415013e-04 -1.22555247e+01] [-4.63973349e-03 -6.97029529e-06 9.99989236e-01 -2.06818147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.634012739 meters Centerline goodness [0,1] 0.9961605659929682 Centerline is valid? [True, True] Translation: X:109.83, Y:-12.26, Z:-2.07 [[ 9.94069418e-01 1.08646207e-01 4.68971353e-03 1.09833136e+02] [-1.08645041e-01 9.94080481e-01 -5.03308244e-04 -1.22602265e+01] [-4.71663521e-03 -9.19078599e-06 9.99988877e-01 -2.06832669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664012739 meters Centerline goodness [0,1] 0.9950381191703224 Centerline is valid? [True, True] Translation: X:109.86, Y:-12.26, Z:-2.07 [[ 9.93923293e-01 1.09886816e-01 6.43236899e-03 1.09860794e+02] [-1.09884652e-01 9.93944107e-01 -6.89913457e-04 -1.22638992e+01] [-6.46922765e-03 -2.10975750e-05 9.99979074e-01 -2.06508371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.694012739 meters Centerline goodness [0,1] 0.9945281018027572 Centerline is valid? [True, True] Translation: X:109.89, Y:-12.27, Z:-2.06 [[ 9.93712397e-01 1.11700816e-01 7.65500471e-03 1.09889514e+02] [-1.11697809e-01 9.93741881e-01 -8.20513195e-04 -1.22662485e+01] [-7.69875077e-03 -3.96931203e-05 9.99970363e-01 -2.06285876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724012739 meters Centerline goodness [0,1] 0.9935722013619296 Centerline is valid? [True, True] Translation: X:109.92, Y:-12.27, Z:-2.06 [[ 9.93447026e-01 1.14003101e-01 8.14243951e-03 1.09918324e+02] [-1.13999780e-01 9.93480392e-01 -8.72361008e-04 -1.22664079e+01] [-8.18880586e-03 -6.15918655e-05 9.99966469e-01 -2.06246220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.754012739 meters Centerline goodness [0,1] 0.991481783461357 Centerline is valid? [True, True] Translation: X:109.95, Y:-12.26, Z:-2.06 [[ 9.92738722e-01 1.20093084e-01 6.89066240e-03 1.09948409e+02] [-1.20090855e-01 9.92762631e-01 -7.37951166e-04 -1.22621885e+01] [-6.92941497e-03 -9.49128399e-05 9.99975987e-01 -2.06443955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.784012739 meters Centerline goodness [0,1] 0.9907211876879759 Centerline is valid? [True, True] Translation: X:109.98, Y:-12.26, Z:-2.07 [[ 9.92400637e-01 1.22896993e-01 6.10777845e-03 1.09976610e+02] [-1.22895294e-01 9.92419427e-01 -6.54134663e-04 -1.22590003e+01] [-6.14186917e-03 -1.01453572e-04 9.99981133e-01 -2.06633116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.814012739 meters Centerline goodness [0,1] 0.990655412970459 Centerline is valid? [True, True] Translation: X:110.01, Y:-12.26, Z:-2.07 [[ 9.91945230e-01 1.26502788e-01 6.45797343e-03 1.10006383e+02] [-1.26500968e-01 9.91966243e-01 -6.91194631e-04 -1.22567873e+01] [-6.49352969e-03 -1.31312672e-04 9.99978908e-01 -2.06628944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.844012739 meters Centerline goodness [0,1] 0.9898588874983817 Centerline is valid? [True, True] Translation: X:110.03, Y:-12.26, Z:-2.07 [[ 9.91842318e-01 1.27298326e-01 6.62972017e-03 1.10034593e+02] [-1.27296426e-01 9.91864465e-01 -7.09366899e-04 -1.22556516e+01] [-6.66608507e-03 -1.40359577e-04 9.99977772e-01 -2.06694170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.874012739 meters Centerline goodness [0,1] 0.9902831402831402 Centerline is valid? [True, True] Translation: X:110.06, Y:-12.26, Z:-2.07 [[ 9.91819303e-01 1.27557323e-01 4.85798273e-03 1.10063500e+02] [-1.27556307e-01 9.91831195e-01 -5.19593985e-04 -1.22568235e+01] [-4.88457683e-03 -1.04322992e-04 9.99988065e-01 -2.07088579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.904012739 meters Centerline goodness [0,1] 0.9909122011717915 Centerline is valid? [True, True] Translation: X:110.09, Y:-12.26, Z:-2.07 [[ 9.91837573e-01 1.27447973e-01 3.90414964e-03 1.10090848e+02] [-1.27447317e-01 9.91845254e-01 -4.17514249e-04 -1.22580585e+01] [-3.92552363e-03 -8.34670760e-05 9.99992292e-01 -2.07359956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.934012739 meters Centerline goodness [0,1] 0.992027408476804 Centerline is valid? [True, True] Translation: X:110.12, Y:-12.27, Z:-2.07 [[ 9.91887230e-01 1.27075514e-01 3.39668006e-03 1.10118664e+02] [-1.27075015e-01 9.91893043e-01 -3.63077611e-04 -1.22651364e+01] [-3.41528159e-03 -7.15011242e-05 9.99994165e-01 -2.07368685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.964012739 meters Centerline goodness [0,1] 0.991191139322495 Centerline is valid? [True, True] Translation: X:110.15, Y:-12.27, Z:-2.07 [[ 9.91915635e-01 1.26820136e-01 4.47505240e-03 1.10147148e+02] [-1.26819269e-01 9.91925725e-01 -4.78007924e-04 -1.22657545e+01] [-4.49954063e-03 -9.33793425e-05 9.99989873e-01 -2.07144093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.994012739 meters Centerline goodness [0,1] 0.9912457039102522 Centerline is valid? [True, True] Translation: X:110.17, Y:-12.27, Z:-2.07 [[ 9.91921264e-01 1.26757960e-01 4.96240058e-03 1.10173949e+02] [-1.26756895e-01 9.91933672e-01 -5.29890365e-04 -1.22664622e+01] [-4.98954005e-03 -1.03408967e-04 9.99987547e-01 -2.07147336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024012739 meters Centerline goodness [0,1] 0.9912457039102522 Centerline is valid? [True, True] Translation: X:110.20, Y:-12.27, Z:-2.07 [[ 9.91930249e-01 1.26687631e-01 4.96244840e-03 1.10201302e+02] [-1.26686567e-01 9.91942656e-01 -5.29442095e-04 -1.22692456e+01] [-4.98953801e-03 -1.03505923e-04 9.99987547e-01 -2.07169341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.054012739 meters Centerline goodness [0,1] 0.9904761904761905 Centerline is valid? [True, True] Translation: X:110.23, Y:-12.26, Z:-2.07 [[ 9.91941117e-01 1.26605058e-01 4.89683570e-03 1.10229093e+02] [-1.26604022e-01 9.91953199e-01 -5.22133577e-04 -1.22645920e+01] [-4.92353659e-03 -1.02033333e-04 9.99987874e-01 -2.07217150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084012739 meters Centerline goodness [0,1] 0.9915460236195065 Centerline is valid? [True, True] Translation: X:110.26, Y:-12.27, Z:-2.07 [[ 9.92016204e-01 1.26017770e-01 4.83462998e-03 1.10257348e+02] [-1.26016756e-01 9.92027979e-01 -5.14995625e-04 -1.22694085e+01] [-4.86098681e-03 -9.83603802e-05 9.99988180e-01 -2.07233645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.114012739 meters Centerline goodness [0,1] 0.9922364300626305 Centerline is valid? [True, True] Translation: X:110.29, Y:-12.28, Z:-2.07 [[ 9.92413214e-01 1.22845405e-01 5.00196564e-03 1.10286307e+02] [-1.22844281e-01 9.92425815e-01 -5.32535965e-04 -1.22752348e+01] [-5.02949942e-03 -8.59671446e-05 9.99987348e-01 -2.07275897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.144012739 meters Centerline goodness [0,1] 0.9921758091410492 Centerline is valid? [True, True] Translation: X:110.31, Y:-12.28, Z:-2.07 [[ 9.92741522e-01 1.20160638e-01 5.06867248e-03 1.10313913e+02] [-1.20159450e-01 9.92754459e-01 -5.39519570e-04 -1.22796498e+01] [-5.09677622e-03 -7.34454164e-05 9.99987009e-01 -2.07264170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.174012739 meters Centerline goodness [0,1] 0.993322563274098 Centerline is valid? [True, True] Translation: X:110.34, Y:-12.28, Z:-2.07 [[ 9.93083722e-01 1.17303386e-01 4.96349005e-03 1.10342730e+02] [-1.17302212e-01 9.93096124e-01 -5.27995323e-04 -1.22845406e+01] [-4.99115837e-03 -5.78848016e-05 9.99987542e-01 -2.07309798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20401273899999 meters Centerline goodness [0,1] 0.9944113664209101 Centerline is valid? [True, True] Translation: X:110.37, Y:-12.29, Z:-2.07 [[ 9.93391619e-01 1.14687177e-01 4.46564200e-03 1.10370011e+02] [-1.14686201e-01 9.93401656e-01 -4.74901490e-04 -1.22879178e+01] [-4.49064127e-03 -4.03843541e-05 9.99989916e-01 -2.07459630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.234012739 meters Centerline goodness [0,1] 0.9955636519502786 Centerline is valid? [True, True] Translation: X:110.40, Y:-12.29, Z:-2.08 [[ 9.93817364e-01 1.10950563e-01 4.12534788e-03 1.10397824e+02] [-1.10949699e-01 9.93825926e-01 -4.38500960e-04 -1.22920132e+01] [-4.14852960e-03 -2.19162375e-05 9.99991395e-01 -2.07575938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.264012739 meters Centerline goodness [0,1] 0.9970382860972393 Centerline is valid? [True, True] Translation: X:110.43, Y:-12.30, Z:-2.07 [[ 9.94185041e-01 1.07582926e-01 4.69230173e-03 1.10426078e+02] [-1.07581772e-01 9.94196114e-01 -4.98394907e-04 -1.22979369e+01] [-4.71868693e-03 -9.30937547e-06 9.99988867e-01 -2.07482088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.294012739 meters Centerline goodness [0,1] 0.9976083256124626 Centerline is valid? [True, True] Translation: X:110.45, Y:-12.30, Z:-2.07 [[ 9.94385871e-01 1.05688792e-01 5.15927385e-03 1.10454130e+02] [-1.05687373e-01 9.94399255e-01 -5.47713316e-04 -1.23021671e+01] [-5.18826523e-03 -6.31718263e-07 9.99986541e-01 -2.07449570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.324012739 meters Centerline goodness [0,1] 0.997726983047967 Centerline is valid? [True, True] Translation: X:110.48, Y:-12.31, Z:-2.07 [[ 9.94579679e-01 1.03834167e-01 5.45225996e-03 1.10481603e+02] [-1.03832556e-01 9.94594624e-01 -5.78566066e-04 -1.23065278e+01] [-5.48286337e-03 9.30796507e-06 9.99984969e-01 -2.07415425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.354012739 meters Centerline goodness [0,1] 0.9980151453043085 Centerline is valid? [True, True] Translation: X:110.51, Y:-12.31, Z:-2.07 [[ 9.94772222e-01 1.01955521e-01 5.77047943e-03 1.10510116e+02] [-1.01953687e-01 9.94788958e-01 -6.11942226e-04 -1.23114540e+01] [-5.80280011e-03 2.04214739e-05 9.99983163e-01 -2.07382655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.384012739 meters Centerline goodness [0,1] 0.9987629671426711 Centerline is valid? [True, True] Translation: X:110.54, Y:-12.32, Z:-2.07 [[ 9.95185412e-01 9.78600296e-02 5.42312679e-03 1.10539299e+02] [-9.78583501e-02 9.95200187e-01 -5.74817002e-04 -1.23203594e+01] [-5.45334841e-03 4.13512548e-05 9.99985130e-01 -2.07447441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.414012739 meters Centerline goodness [0,1] 0.9983276139177273 Centerline is valid? [True, True] Translation: X:110.57, Y:-12.33, Z:-2.07 [[ 9.95700848e-01 9.24930143e-02 4.98625050e-03 1.10566640e+02] [-9.24915273e-02 9.95713331e-01 -5.28477922e-04 -1.23307125e+01] [-5.01375662e-03 6.50199903e-05 9.99987429e-01 -2.07466899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444012739 meters Centerline goodness [0,1] 0.9978891138586137 Centerline is valid? [True, True] Translation: X:110.59, Y:-12.34, Z:-2.08 [[ 9.96000753e-01 8.92175435e-02 4.76761010e-03 1.10594758e+02] [-8.92161477e-02 9.96012161e-01 -5.05061300e-04 -1.23394109e+01] [-4.79365796e-03 7.76936289e-05 9.99988507e-01 -2.07633501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.474012739 meters Centerline goodness [0,1] 0.9974672583612945 Centerline is valid? [True, True] Translation: X:110.62, Y:-12.35, Z:-2.08 [[ 9.96299891e-01 8.58136163e-02 4.74874652e-03 1.10624166e+02] [-8.58121940e-02 9.96311204e-01 -5.02828852e-04 -1.23458920e+01] [-4.77437893e-03 9.34679729e-05 9.99988598e-01 -2.07656928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.504012739 meters Centerline goodness [0,1] 0.9909194586103759 Centerline is valid? [True, True] Translation: X:110.65, Y:-12.36, Z:-2.06 [[ 9.96775970e-01 8.00213862e-02 5.85180869e-03 1.10652491e+02] [-8.00191279e-02 9.96793136e-01 -6.19397961e-04 -1.23632673e+01] [-5.88260782e-03 1.49144375e-04 9.99982686e-01 -2.06478242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.534012739 meters Centerline goodness [0,1] 0.99044313019628 Centerline is valid? [True, True] Translation: X:110.68, Y:-12.38, Z:-2.07 [[ 9.96965371e-01 7.75269268e-02 7.04444702e-03 1.10681178e+02] [-7.75235885e-02 9.96990239e-01 -7.46132466e-04 -1.23784491e+01] [-7.08109027e-03 1.97757419e-04 9.99974909e-01 -2.07196090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564012739 meters Centerline goodness [0,1] 0.9913522350815299 Centerline is valid? [True, True] Translation: X:110.71, Y:-12.38, Z:-2.07 [[ 9.97202296e-01 7.44837819e-02 6.30453404e-03 1.10711701e+02] [-7.44810471e-02 9.97222206e-01 -6.67788357e-04 -1.23825025e+01] [-6.33676074e-03 1.96351786e-04 9.99979903e-01 -2.07375172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.594012739 meters Centerline goodness [0,1] 0.9926007184186186 Centerline is valid? [True, True] Translation: X:110.74, Y:-12.39, Z:-2.08 [[ 9.97268210e-01 7.37090996e-02 4.80487875e-03 1.10741963e+02] [-7.37075035e-02 9.97279773e-01 -5.08672243e-04 -1.23899582e+01] [-4.82930216e-03 1.53127040e-04 9.99988327e-01 -2.07670750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.624012739 meters Centerline goodness [0,1] 0.9883829298424327 Centerline is valid? [True, True] Translation: X:110.77, Y:-12.40, Z:-2.08 [[ 9.97310175e-01 7.31994950e-02 3.77464553e-03 1.10771747e+02] [-7.31985029e-02 9.97317311e-01 -4.00508596e-04 -1.24008055e+01] [-3.79383635e-03 1.23132896e-04 9.99992796e-01 -2.07939100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.654012739 meters Centerline goodness [0,1] 0.9917696357580316 Centerline is valid? [True, True] Translation: X:110.80, Y:-12.40, Z:-2.08 [[ 9.97281967e-01 7.35956085e-02 3.51628317e-03 1.10802076e+02] [-7.35947497e-02 9.97288160e-01 -3.73181221e-04 -1.24020516e+01] [-3.53421208e-03 1.13386922e-04 9.99993748e-01 -2.07889796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.684012739 meters Centerline goodness [0,1] 0.9910403506510249 Centerline is valid? [True, True] Translation: X:110.83, Y:-12.41, Z:-2.08 [[ 9.97252027e-01 7.39348002e-02 4.69471877e-03 1.10832540e+02] [-7.39332731e-02 9.97263066e-01 -4.98247950e-04 -1.24050249e+01] [-4.71870750e-03 1.49782853e-04 9.99988856e-01 -2.07692443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.714012739 meters Centerline goodness [0,1] 0.9906275644624887 Centerline is valid? [True, True] Translation: X:110.86, Y:-12.42, Z:-2.07 [[ 9.97288256e-01 7.33254993e-02 6.28537275e-03 1.10863339e+02] [-7.33227515e-02 9.97308041e-01 -6.66810290e-04 -1.24150096e+01] [-6.31734699e-03 2.04141246e-04 9.99980025e-01 -2.07460784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.744012739 meters Centerline goodness [0,1] 0.98559183321847 Centerline is valid? [True, True] Translation: X:110.90, Y:-12.42, Z:-2.06 [[ 9.97336111e-01 7.27321878e-02 5.54169097e-03 1.10895527e+02] [-7.27300389e-02 9.97351490e-01 -5.88576117e-04 -1.24205981e+01] [-5.56982218e-03 1.83960816e-04 9.99984471e-01 -2.06207552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.774012739 meters Centerline goodness [0,1] 0.9893890051113938 Centerline is valid? [True, True] Translation: X:110.93, Y:-12.43, Z:-2.08 [[ 9.97410924e-01 7.16139408e-02 6.54919285e-03 1.10927248e+02] [-7.16109068e-02 9.97432400e-01 -6.96901152e-04 -1.24280998e+01] [-6.58228498e-03 2.26103184e-04 9.99978311e-01 -2.07506515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804012739 meters Centerline goodness [0,1] 0.9909116482375089 Centerline is valid? [True, True] Translation: X:110.96, Y:-12.44, Z:-2.07 [[ 9.97428563e-01 7.13774187e-02 6.44398473e-03 1.10958392e+02] [-7.13744697e-02 9.97449354e-01 -6.86757491e-04 -1.24376830e+01] [-6.47656738e-03 2.25055545e-04 9.99979001e-01 -2.07480794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.834012739 meters Centerline goodness [0,1] 0.9901962882890597 Centerline is valid? [True, True] Translation: X:110.99, Y:-12.44, Z:-2.08 [[ 9.97378108e-01 7.21010857e-02 6.19216081e-03 1.10988775e+02] [-7.20983703e-02 9.97397307e-01 -6.60924571e-04 -1.24445217e+01] [-6.22369789e-03 2.12746996e-04 9.99980610e-01 -2.07535764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.864012739 meters Centerline goodness [0,1] 0.9906644220468309 Centerline is valid? [True, True] Translation: X:111.02, Y:-12.45, Z:-2.07 [[ 9.97117590e-01 7.55383551e-02 7.10415465e-03 1.11019075e+02] [-7.55348581e-02 9.97142872e-01 -7.59660507e-04 -1.24494455e+01] [-7.14124068e-03 2.20859540e-04 9.99974477e-01 -2.07313943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.894012739 meters Centerline goodness [0,1] 0.9920991047083324 Centerline is valid? [True, True] Translation: X:111.05, Y:-12.45, Z:-2.07 [[ 9.96906566e-01 7.82654761e-02 7.19814419e-03 1.11051117e+02] [-7.82619563e-02 9.96932532e-01 -7.69796644e-04 -1.24506503e+01] [-7.23631262e-03 2.04074483e-04 9.99973797e-01 -2.07242339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.924012739 meters Centerline goodness [0,1] 0.9948430348739766 Centerline is valid? [True, True] Translation: X:111.08, Y:-12.45, Z:-2.07 [[ 9.96307398e-01 8.55639735e-02 7.09760505e-03 1.11080974e+02] [-8.55607343e-02 9.96332667e-01 -7.59332195e-04 -1.24485054e+01] [-7.13654726e-03 1.49251982e-04 9.99974523e-01 -2.07364347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95401273899999 meters Centerline goodness [0,1] 0.9967871830020562 Centerline is valid? [True, True] Translation: X:111.11, Y:-12.45, Z:-2.07 [[ 9.95918707e-01 9.00146021e-02 6.58031326e-03 1.11113213e+02] [-9.00119159e-02 9.95940440e-01 -7.03839893e-04 -1.24469139e+01] [-6.61695595e-03 1.08660712e-04 9.99978102e-01 -2.07447571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.984012739 meters Centerline goodness [0,1] 0.9936196158703889 Centerline is valid? [True, True] Translation: X:111.15, Y:-12.44, Z:-2.06 [[ 9.95508831e-01 9.45268305e-02 5.18121706e-03 1.11145505e+02] [-9.45252248e-02 9.95522312e-01 -5.54467138e-04 -1.24419850e+01] [-5.21042921e-03 6.22212255e-05 9.99986424e-01 -2.06285061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.014012739 meters Centerline goodness [0,1] 0.9986703838730431 Centerline is valid? [True, True] Translation: X:111.17, Y:-12.43, Z:-2.08 [[ 9.94694573e-01 1.02744690e-01 5.12193413e-03 1.11174892e+02] [-1.02743228e-01 9.94707760e-01 -5.48420809e-04 -1.24335211e+01] [-5.15117495e-03 1.92671575e-05 9.99986732e-01 -2.07695332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.044012739 meters Centerline goodness [0,1] 0.9974046197767973 Centerline is valid? [True, True] Translation: X:111.21, Y:-12.43, Z:-2.08 [[ 9.94036059e-01 1.08901905e-01 5.71746642e-03 1.11205236e+02] [-1.08900187e-01 9.94052501e-01 -6.11967066e-04 -1.24253929e+01] [-5.75010618e-03 -1.43158301e-05 9.99983468e-01 -2.07704348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.074012739 meters Centerline goodness [0,1] 0.9967842901856536 Centerline is valid? [True, True] Translation: X:111.23, Y:-12.43, Z:-2.08 [[ 9.93868099e-01 1.10398435e-01 6.19568901e-03 1.11233598e+02] [-1.10396448e-01 9.93887411e-01 -6.62849254e-04 -1.24253540e+01] [-6.23099483e-03 -2.51973304e-05 9.99980587e-01 -2.07636585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.104012739 meters Centerline goodness [0,1] 0.9956827459445596 Centerline is valid? [True, True] Translation: X:111.26, Y:-12.43, Z:-2.08 [[ 9.93763712e-01 1.11296018e-01 6.84694485e-03 1.11261377e+02] [-1.11293616e-01 9.93787299e-01 -7.32075149e-04 -1.24265073e+01] [-6.88588388e-03 -3.45115331e-05 9.99976291e-01 -2.07545981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.134012739 meters Centerline goodness [0,1] 0.9958250369323656 Centerline is valid? [True, True] Translation: X:111.29, Y:-12.43, Z:-2.07 [[ 9.93646938e-01 1.12340336e-01 6.73879066e-03 1.11289982e+02] [-1.12338036e-01 9.93669788e-01 -7.20067481e-04 -1.24269435e+01] [-6.77702530e-03 -4.15296628e-05 9.99977035e-01 -2.07499149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164012739 meters Centerline goodness [0,1] 0.9956884411223053 Centerline is valid? [True, True] Translation: X:111.32, Y:-12.43, Z:-2.08 [[ 9.93627978e-01 1.12520451e-01 6.52605538e-03 1.11318894e+02] [-1.12518300e-01 9.93649408e-01 -6.97042367e-04 -1.24285880e+01] [-6.56304259e-03 -4.16998574e-05 9.99978462e-01 -2.07575177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194012739 meters Centerline goodness [0,1] 0.9960799601498711 Centerline is valid? [True, True] Translation: X:111.35, Y:-12.43, Z:-2.08 [[ 9.93474883e-01 1.13910923e-01 5.65314595e-03 1.11347978e+02] [-1.13909333e-01 9.93490966e-01 -6.03581523e-04 -1.24261910e+01] [-5.68510396e-03 -4.43029993e-05 9.99983839e-01 -2.07716194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224012739 meters Centerline goodness [0,1] 0.9955397543632838 Centerline is valid? [True, True] Translation: X:111.38, Y:-12.43, Z:-2.08 [[ 9.93381311e-01 1.14726391e-01 5.60595763e-03 1.11376084e+02] [-1.14724841e-01 9.93397127e-01 -5.98298257e-04 -1.24253429e+01] [-5.63758280e-03 -4.88042907e-05 9.99984108e-01 -2.07825807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.254012739 meters Centerline goodness [0,1] 0.9951729339510829 Centerline is valid? [True, True] Translation: X:111.40, Y:-12.43, Z:-2.08 [[ 9.93312394e-01 1.15315194e-01 5.73534329e-03 1.11404595e+02] [-1.15313584e-01 9.93328950e-01 -6.11716217e-04 -1.24262125e+01] [-5.76762270e-03 -5.37376903e-05 9.99983366e-01 -2.07831211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.284012739 meters Centerline goodness [0,1] 0.9946433971229859 Centerline is valid? [True, True] Translation: X:111.43, Y:-12.42, Z:-2.08 [[ 9.93315529e-01 1.15263517e-01 6.21141010e-03 1.11432481e+02] [-1.15261629e-01 9.93334948e-01 -6.62179707e-04 -1.24238606e+01] [-6.24633589e-03 -5.81838626e-05 9.99980490e-01 -2.07719855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.314012739 meters Centerline goodness [0,1] 0.9954365421043568 Centerline is valid? [True, True] Translation: X:111.46, Y:-12.43, Z:-2.08 [[ 9.93443787e-01 1.14146178e-01 6.33181693e-03 1.11461240e+02] [-1.14144196e-01 9.93463964e-01 -6.74602980e-04 -1.24258394e+01] [-6.36743530e-03 -5.25600156e-05 9.99979726e-01 -2.07808618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.344012739 meters Centerline goodness [0,1] 0.9970265029088559 Centerline is valid? [True, True] Translation: X:111.49, Y:-12.43, Z:-2.08 [[ 9.93971194e-01 1.09480086e-01 5.94776429e-03 1.11488094e+02] [-1.09478255e-01 9.93988989e-01 -6.33445369e-04 -1.24323181e+01] [-5.98136187e-03 -2.15244076e-05 9.99982111e-01 -2.07955813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.374012739 meters Centerline goodness [0,1] 0.9976649280928791 Centerline is valid? [True, True] Translation: X:111.52, Y:-12.44, Z:-2.08 [[ 9.94293054e-01 1.06516365e-01 5.96545118e-03 1.11516324e+02] [-1.06514473e-01 9.94310949e-01 -6.34949409e-04 -1.24384848e+01] [-5.99914593e-03 -4.08109909e-06 9.99982005e-01 -2.07988088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.404012739 meters Centerline goodness [0,1] 0.9982565272605953 Centerline is valid? [True, True] Translation: X:111.54, Y:-12.44, Z:-2.08 [[ 9.94615179e-01 1.03441351e-01 6.36647348e-03 1.11543817e+02] [-1.03439134e-01 9.94635555e-01 -6.77328881e-04 -1.24449410e+01] [-6.40238469e-03 1.51390805e-05 9.99979504e-01 -2.07939578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.434012739 meters Centerline goodness [0,1] 0.9976468556378316 Centerline is valid? [True, True] Translation: X:111.57, Y:-12.45, Z:-2.08 [[ 9.95176463e-01 9.78442788e-02 7.09250703e-03 1.11572625e+02] [-9.78413898e-02 9.95201735e-01 -7.54001544e-04 -1.24545123e+01] [-7.13225004e-03 5.64238447e-05 9.99974564e-01 -2.07801377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.464012739 meters Centerline goodness [0,1] 0.9976388504818021 Centerline is valid? [True, True] Translation: X:111.60, Y:-12.46, Z:-2.08 [[ 9.95375331e-01 9.58201365e-02 6.81556899e-03 1.11601245e+02] [-9.58174222e-02 9.95398662e-01 -7.24419160e-04 -1.24607011e+01] [-6.85362220e-03 6.80187099e-05 9.99976511e-01 -2.07887879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.494012739 meters Centerline goodness [0,1] 0.9959078411730855 Centerline is valid? [True, True] Translation: X:111.63, Y:-12.47, Z:-2.08 [[ 9.95566006e-01 9.37340861e-02 7.88978667e-03 1.11630346e+02] [-9.37303852e-02 9.95597264e-01 -8.38350282e-04 -1.24681993e+01] [-7.93363202e-03 9.51202985e-05 9.99968524e-01 -2.07725073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524012739 meters Centerline goodness [0,1] 0.9956375553285666 Centerline is valid? [True, True] Translation: X:111.66, Y:-12.47, Z:-2.08 [[ 9.95584185e-01 9.34899023e-02 8.47170209e-03 1.11659867e+02] [-9.34856274e-02 9.95620222e-01 -9.00082832e-04 -1.24721894e+01] [-8.51874658e-03 1.04125847e-04 9.99963709e-01 -2.07631445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.554012739 meters Centerline goodness [0,1] 0.9963118043954613 Centerline is valid? [True, True] Translation: X:111.69, Y:-12.47, Z:-2.08 [[ 9.95566236e-01 9.36429315e-02 8.88093479e-03 1.11690969e+02] [-9.36382405e-02 9.95605841e-01 -9.43470843e-04 -1.24723996e+01] [-8.93025992e-03 1.07692608e-04 9.99960119e-01 -2.07641656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584012739 meters Centerline goodness [0,1] 0.9971744156177755 Centerline is valid? [True, True] Translation: X:111.72, Y:-12.48, Z:-2.08 [[ 9.95613685e-01 9.33106190e-02 6.82051483e-03 1.11719752e+02] [-9.33078443e-02 9.95637043e-01 -7.24594234e-04 -1.24772719e+01] [-6.85836956e-03 8.50083984e-05 9.99976477e-01 -2.08095073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.614012739 meters Centerline goodness [0,1] 0.997529378907341 Centerline is valid? [True, True] Translation: X:111.75, Y:-12.48, Z:-2.08 [[ 9.95704492e-01 9.24274324e-02 5.45292498e-03 1.11748809e+02] [-9.24256459e-02 9.95719421e-01 -5.79259698e-04 -1.24817868e+01] [-5.48312279e-03 7.27813701e-05 9.99984965e-01 -2.08343205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.644012739 meters Centerline goodness [0,1] 0.9964729302808673 Centerline is valid? [True, True] Translation: X:111.78, Y:-12.49, Z:-2.08 [[ 9.95898860e-01 9.02799877e-02 5.91480441e-03 1.11777849e+02] [-9.02778482e-02 9.95916420e-01 -6.28272190e-04 -1.24874164e+01] [-5.94737124e-03 9.17197428e-05 9.99982310e-01 -2.08336855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.674012739 meters Centerline goodness [0,1] 0.9957556626711598 Centerline is valid? [True, True] Translation: X:111.81, Y:-12.49, Z:-2.08 [[ 9.96013533e-01 8.89463954e-02 6.75132872e-03 1.11806575e+02] [-8.89435786e-02 9.96036408e-01 -7.16935829e-04 -1.24929402e+01] [-6.78833807e-03 1.13590452e-04 9.99976953e-01 -2.08209682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70401273899999 meters Centerline goodness [0,1] 0.9941152466656644 Centerline is valid? [True, True] Translation: X:111.84, Y:-12.50, Z:-2.08 [[ 9.96291948e-01 8.57378827e-02 7.16724420e-03 1.11837009e+02] [-8.57346259e-02 9.96317718e-01 -7.60989510e-04 -1.25045841e+01] [-7.20609801e-03 1.43686722e-04 9.99974025e-01 -2.08169379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.734012739 meters Centerline goodness [0,1] 0.9932207014542344 Centerline is valid? [True, True] Translation: X:111.87, Y:-12.51, Z:-2.08 [[ 9.96452449e-01 8.38758917e-02 6.88125993e-03 1.11867691e+02] [-8.38728442e-02 9.96476197e-01 -7.30772177e-04 -1.25120636e+01] [-6.91830590e-03 1.51028884e-04 9.99976057e-01 -2.08256797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.764012739 meters Centerline goodness [0,1] 0.9925395596835225 Centerline is valid? [True, True] Translation: X:111.90, Y:-12.52, Z:-2.08 [[ 9.96619496e-01 8.18963335e-02 6.52461006e-03 1.11898574e+02] [-8.18935504e-02 9.96640841e-01 -6.93033717e-04 -1.25199467e+01] [-6.55944977e-03 1.56367431e-04 9.99978474e-01 -2.08430770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.794012739 meters Centerline goodness [0,1] 0.9907471165432948 Centerline is valid? [True, True] Translation: X:111.93, Y:-12.53, Z:-2.08 [[ 9.96859361e-01 7.89154682e-02 6.61531458e-03 1.11927201e+02] [-7.89125408e-02 9.96881295e-01 -7.02773259e-04 -1.25336116e+01] [-6.65014305e-03 1.78534820e-04 9.99977872e-01 -2.08419186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.824012739 meters Centerline goodness [0,1] 0.9912450524866632 Centerline is valid? [True, True] Translation: X:111.96, Y:-12.54, Z:-2.08 [[ 9.96937802e-01 7.78688444e-02 7.17370269e-03 1.11959119e+02] [-7.78653724e-02 9.96963591e-01 -7.62441644e-04 -1.25364997e+01] [-7.21129085e-03 2.01523865e-04 9.99973978e-01 -2.08316462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.854012739 meters Centerline goodness [0,1] 0.9909876730431768 Centerline is valid? [True, True] Translation: X:111.99, Y:-12.55, Z:-2.08 [[ 9.97025981e-01 7.66095763e-02 8.37651996e-03 1.11990263e+02] [-7.66047844e-02 9.97061137e-01 -8.91889094e-04 -1.25488446e+01] [-8.42022977e-03 2.47555093e-04 9.99964519e-01 -2.08123732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.884012739 meters Centerline goodness [0,1] 0.9892666637755323 Centerline is valid? [True, True] Translation: X:112.02, Y:-12.56, Z:-2.08 [[ 9.97020445e-01 7.66468305e-02 8.68882062e-03 1.12021560e+02] [-7.66416630e-02 9.97058272e-01 -9.26638016e-04 -1.25581244e+01] [-8.73428433e-03 2.57951386e-04 9.99961822e-01 -2.08125937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.914012739 meters Centerline goodness [0,1] 0.9899593694824396 Centerline is valid? [True, True] Translation: X:112.05, Y:-12.57, Z:-2.08 [[ 9.96809021e-01 7.92998353e-02 9.12754420e-03 1.12050899e+02] [-7.92942302e-02 9.96850778e-01 -9.74920924e-04 -1.25665274e+01] [-9.17611061e-03 2.48048381e-04 9.99957868e-01 -2.08199573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944012739 meters Centerline goodness [0,1] 0.9899593694824396 Centerline is valid? [True, True] Translation: X:112.08, Y:-12.57, Z:-2.08 [[ 9.96794567e-01 7.94813222e-02 9.12751158e-03 1.12083219e+02] [-7.94757219e-02 9.96836325e-01 -9.75226046e-04 -1.25701649e+01] [-9.17614736e-03 2.46684452e-04 9.99957868e-01 -2.08225597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.974012739 meters Centerline goodness [0,1] 0.9921742532933351 Centerline is valid? [True, True] Translation: X:112.11, Y:-12.57, Z:-2.08 [[ 9.96593761e-01 8.19512776e-02 9.21216557e-03 1.12114707e+02] [-8.19456644e-02 9.96636311e-01 -9.85780257e-04 -1.25696335e+01] [-9.26196466e-03 2.27525426e-04 9.99957081e-01 -2.08239538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.004012739 meters Centerline goodness [0,1] 0.9932967056277975 Centerline is valid? [True, True] Translation: X:112.14, Y:-12.57, Z:-2.08 [[ 9.96291420e-01 8.56383075e-02 8.33587933e-03 1.12144936e+02] [-8.56338388e-02 9.96326277e-01 -8.92190382e-04 -1.25728395e+01] [-8.38166129e-03 1.75048276e-04 9.99964858e-01 -2.08371018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.034012739 meters Centerline goodness [0,1] 0.9977793436252216 Centerline is valid? [True, True] Translation: X:112.17, Y:-12.57, Z:-2.09 [[ 9.95504516e-01 9.44868194e-02 6.55739888e-03 1.12174988e+02] [-9.44842454e-02 9.95526109e-01 -7.01915528e-04 -1.25679425e+01] [-6.59438356e-03 7.91891931e-05 9.99978254e-01 -2.08709598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064012739 meters Centerline goodness [0,1] 0.9989350372736954 Centerline is valid? [True, True] Translation: X:112.21, Y:-12.57, Z:-2.09 [[ 9.95032634e-01 9.93511070e-02 6.27816070e-03 1.12206401e+02] [-9.93488444e-02 9.95052439e-01 -6.72005944e-04 -1.25650547e+01] [-6.31386365e-03 4.49398335e-05 9.99980066e-01 -2.08795321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.094012739 meters Centerline goodness [0,1] 0.9982162954154545 Centerline is valid? [True, True] Translation: X:112.24, Y:-12.55, Z:-2.09 [[ 9.94118652e-01 1.08052324e-01 7.26646339e-03 1.12237268e+02] [-1.08049524e-01 9.94145208e-01 -7.77915271e-04 -1.25536050e+01] [-7.30797531e-03 -1.17978290e-05 9.99973296e-01 -2.08594482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.124012739 meters Centerline goodness [0,1] 0.9966610663320644 Centerline is valid? [True, True] Translation: X:112.27, Y:-12.55, Z:-2.08 [[ 9.93707729e-01 1.11711212e-01 8.09655242e-03 1.12266736e+02] [-1.11707860e-01 9.93740712e-01 -8.66570825e-04 -1.25497005e+01] [-8.14267945e-03 -4.33304146e-05 9.99966847e-01 -2.08491603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.154012739 meters Centerline goodness [0,1] 0.9937190507835109 Centerline is valid? [True, True] Translation: X:112.30, Y:-12.54, Z:-2.08 [[ 9.93031711e-01 1.17493065e-01 9.13236272e-03 1.12297549e+02] [-1.17489046e-01 9.93073698e-01 -9.77163628e-04 -1.25429085e+01] [-9.18391916e-03 -1.02598112e-04 9.99957822e-01 -2.08453967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.184012739 meters Centerline goodness [0,1] 0.9922948145604396 Centerline is valid? [True, True] Translation: X:112.33, Y:-12.54, Z:-2.09 [[ 9.92755267e-01 1.19815789e-01 9.00865290e-03 1.12326246e+02] [-1.19811976e-01 9.92796133e-01 -9.63734242e-04 -1.25400452e+01] [-9.05922634e-03 -1.22592256e-04 9.99958957e-01 -2.08501456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.214012739 meters Centerline goodness [0,1] 0.9918230852211435 Centerline is valid? [True, True] Translation: X:112.36, Y:-12.54, Z:-2.08 [[ 9.92508837e-01 1.21818802e-01 9.29447414e-03 1.12356719e+02] [-1.21814831e-01 9.92552345e-01 -9.94239580e-04 -1.25372160e+01] [-9.34636919e-03 -1.45413230e-04 9.99956311e-01 -2.08448006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.244012739 meters Centerline goodness [0,1] 0.9912969506609083 Centerline is valid? [True, True] Translation: X:112.39, Y:-12.53, Z:-2.09 [[ 9.92222536e-01 1.24146362e-01 9.06200705e-03 1.12386093e+02] [-1.24142687e-01 9.92263903e-01 -9.69135235e-04 -1.25317740e+01] [-9.11221710e-03 -1.63384087e-04 9.99958470e-01 -2.08585719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.274012739 meters Centerline goodness [0,1] 0.9913340787889214 Centerline is valid? [True, True] Translation: X:112.41, Y:-12.53, Z:-2.09 [[ 9.92224246e-01 1.24178838e-01 8.40611085e-03 1.12414151e+02] [-1.24175680e-01 9.92259842e-01 -8.98600551e-04 -1.25290232e+01] [-8.45263339e-03 -1.52221274e-04 9.99964264e-01 -2.08718023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304012739 meters Centerline goodness [0,1] 0.9907212509128399 Centerline is valid? [True, True] Translation: X:112.44, Y:-12.53, Z:-2.09 [[ 9.92343747e-01 1.23222037e-01 8.37963631e-03 1.12442784e+02] [-1.23218869e-01 9.92379115e-01 -8.95267669e-04 -1.25279592e+01] [-8.42609278e-03 -1.44116039e-04 9.99964489e-01 -2.08759418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.334012739 meters Centerline goodness [0,1] 0.9911863249322436 Centerline is valid? [True, True] Translation: X:112.47, Y:-12.53, Z:-2.09 [[ 9.92457931e-01 1.22276873e-01 8.69603606e-03 1.12471343e+02] [-1.22273428e-01 9.92496018e-01 -9.28653376e-04 -1.25288261e+01] [-8.74433399e-03 -1.41644733e-04 9.99961758e-01 -2.08649180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.364012739 meters Centerline goodness [0,1] 0.9920768820074747 Centerline is valid? [True, True] Translation: X:112.50, Y:-12.53, Z:-2.09 [[ 9.92737356e-01 1.19962905e-01 9.02461352e-03 1.12500320e+02] [-1.19959103e-01 9.92778367e-01 -9.63310360e-04 -1.25302280e+01] [-9.07500258e-03 -1.26270368e-04 9.99958813e-01 -2.08617282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.394012739 meters Centerline goodness [0,1] 0.9886765593995341 Centerline is valid? [True, True] Translation: X:112.53, Y:-12.53, Z:-2.08 [[ 9.92922464e-01 1.18489287e-01 8.07890154e-03 1.12529363e+02] [-1.18486195e-01 9.92955326e-01 -8.62024236e-04 -1.25349973e+01] [-8.12412894e-03 -1.01315072e-04 9.99966994e-01 -2.07524413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.424012739 meters Centerline goodness [0,1] 0.9931305411845524 Centerline is valid? [True, True] Translation: X:112.56, Y:-12.54, Z:-2.09 [[ 9.93232151e-01 1.15837739e-01 8.45650273e-03 1.12557122e+02] [-1.15834257e-01 9.93268147e-01 -9.01982781e-04 -1.25384204e+01] [-8.50405844e-03 -8.36744135e-05 9.99963836e-01 -2.08815149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45401273899999 meters Centerline goodness [0,1] 0.9932262434681634 Centerline is valid? [True, True] Translation: X:112.59, Y:-12.54, Z:-2.09 [[ 9.93359600e-01 1.14698918e-01 8.99239057e-03 1.12586306e+02] [-1.14694940e-01 9.93400298e-01 -9.58584035e-04 -1.25404528e+01] [-9.04299203e-03 -7.91630414e-05 9.99959108e-01 -2.08788080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.484012739 meters Centerline goodness [0,1] 0.9938893653516295 Centerline is valid? [True, True] Translation: X:112.61, Y:-12.54, Z:-2.09 [[ 9.93424926e-01 1.14111451e-01 9.24626147e-03 1.12614447e+02] [-1.14107224e-01 9.93467952e-01 -9.85177711e-04 -1.25411376e+01] [-9.29828451e-03 -7.63651321e-05 9.99956767e-01 -2.08697328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.514012739 meters Centerline goodness [0,1] 0.9941318827233204 Centerline is valid? [True, True] Translation: X:112.64, Y:-12.54, Z:-2.09 [[ 9.93546723e-01 1.12989357e-01 9.91533401e-03 1.12643443e+02] [-1.12984446e-01 9.93596196e-01 -1.05586468e-03 -1.25421626e+01] [-9.97113962e-03 -7.12276265e-05 9.99950284e-01 -2.08592829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.544012739 meters Centerline goodness [0,1] 0.9939316443076657 Centerline is valid? [True, True] Translation: X:112.67, Y:-12.55, Z:-2.09 [[ 9.93732067e-01 1.11326727e-01 1.01458295e-02 1.12672520e+02] [-1.11321503e-01 9.93783858e-01 -1.07994500e-03 -1.25459719e+01] [-1.02029884e-02 -5.62730151e-05 9.99947947e-01 -2.08590352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.574012739 meters Centerline goodness [0,1] 0.9956640608313042 Centerline is valid? [True, True] Translation: X:112.70, Y:-12.55, Z:-2.09 [[ 9.94184563e-01 1.07241400e-01 9.81513846e-03 1.12700605e+02] [-1.07236316e-01 9.94233012e-01 -1.04440667e-03 -1.25510473e+01] [-9.87053831e-03 -1.42062984e-05 9.99951285e-01 -2.08732490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.604012739 meters Centerline goodness [0,1] 0.9957899258941038 Centerline is valid? [True, True] Translation: X:112.73, Y:-12.56, Z:-2.09 [[ 9.94392907e-01 1.05237784e-01 1.03805263e-02 1.12729341e+02] [-1.05231992e-01 9.94447087e-01 -1.10415890e-03 -1.25561452e+01] [-1.04390833e-02 5.60431876e-06 9.99945511e-01 -2.08670711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.634012739 meters Centerline goodness [0,1] 0.9960846074764311 Centerline is valid? [True, True] Translation: X:112.76, Y:-12.56, Z:-2.09 [[ 9.94586301e-01 1.03325210e-01 1.10449526e-02 1.12759041e+02] [-1.03318540e-01 9.94647626e-01 -1.17436250e-03 -1.25611298e+01] [-1.11071772e-02 2.68564808e-05 9.99938313e-01 -2.08643119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664012739 meters Centerline goodness [0,1] 0.9959912929157956 Centerline is valid? [True, True] Translation: X:112.79, Y:-12.57, Z:-2.09 [[ 9.94979273e-01 9.94594853e-02 1.11381118e-02 1.12788267e+02] [-9.94524622e-02 9.95041610e-01 -1.18402886e-03 -1.25678815e+01] [-1.12006476e-02 7.03715235e-05 9.99937268e-01 -2.08572624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.694012739 meters Centerline goodness [0,1] 0.994911051212938 Centerline is valid? [True, True] Translation: X:112.82, Y:-12.58, Z:-2.09 [[ 9.95332344e-01 9.59132868e-02 1.06848451e-02 1.12817476e+02] [-9.59066200e-02 9.95389688e-01 -1.13578273e-03 -1.25775000e+01] [-1.07445213e-02 1.05733908e-04 9.99942270e-01 -2.08696032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724012739 meters Centerline goodness [0,1] 0.9953317058546405 Centerline is valid? [True, True] Translation: X:112.85, Y:-12.59, Z:-2.09 [[ 9.95515855e-01 9.40447226e-02 1.01868755e-02 1.12847069e+02] [-9.40385640e-02 9.95567966e-01 -1.08293843e-03 -1.25850647e+01] [-1.02435716e-02 1.20123236e-04 9.99947526e-01 -2.08808874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.754012739 meters Centerline goodness [0,1] 0.9958461801986982 Centerline is valid? [True, True] Translation: X:112.88, Y:-12.59, Z:-2.09 [[ 9.95640192e-01 9.27907668e-02 9.51216936e-03 1.12877717e+02] [-9.27853395e-02 9.95685622e-01 -1.01124736e-03 -1.25924555e+01] [-9.56496469e-03 1.24248648e-04 9.99954247e-01 -2.08963652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.784012739 meters Centerline goodness [0,1] 0.9964542073856266 Centerline is valid? [True, True] Translation: X:112.91, Y:-12.60, Z:-2.09 [[ 9.95693811e-01 9.23498651e-02 8.08319650e-03 1.12908313e+02] [-9.23459302e-02 9.95726614e-01 -8.59484333e-04 -1.25962164e+01] [-8.12802714e-03 1.09332931e-04 9.99966961e-01 -2.09239097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.814012739 meters Centerline goodness [0,1] 0.9975105693499582 Centerline is valid? [True, True] Translation: X:112.94, Y:-12.60, Z:-2.09 [[ 9.95651694e-01 9.28853428e-02 7.07228684e-03 1.12937810e+02] [-9.28823441e-02 9.95676807e-01 -7.51994553e-04 -1.26022426e+01] [-7.11156125e-03 9.18340709e-05 9.99974708e-01 -2.09386177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.844012739 meters Centerline goodness [0,1] 0.9982097793499126 Centerline is valid? [True, True] Translation: X:112.97, Y:-12.61, Z:-2.09 [[ 9.95495957e-01 9.45620240e-02 6.76922216e-03 1.12967816e+02] [-9.45593154e-02 9.95518969e-01 -7.19784091e-04 -1.26052698e+01] [-6.80695331e-03 7.64491390e-05 9.99976830e-01 -2.09480285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.874012739 meters Centerline goodness [0,1] 0.9983022436172956 Centerline is valid? [True, True] Translation: X:113.00, Y:-12.61, Z:-2.09 [[ 9.95376342e-01 9.58091839e-02 6.82189424e-03 1.12997333e+02] [-9.58064628e-02 9.95399716e-01 -7.25315230e-04 -1.26095544e+01] [-6.86000345e-03 6.83800638e-05 9.99976468e-01 -2.09443153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.904012739 meters Centerline goodness [0,1] 0.9983433378515029 Centerline is valid? [True, True] Translation: X:113.03, Y:-12.61, Z:-2.10 [[ 9.95117540e-01 9.84611768e-02 6.81755639e-03 1.13027048e+02] [-9.84585225e-02 9.95140892e-01 -7.24690549e-04 -1.26127766e+01] [-6.85578303e-03 4.99057472e-05 9.99976498e-01 -2.09517291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.934012739 meters Centerline goodness [0,1] 0.9979594905170006 Centerline is valid? [True, True] Translation: X:113.06, Y:-12.62, Z:-2.10 [[ 9.95049486e-01 9.91299122e-02 7.05550094e-03 1.13055767e+02] [-9.91270874e-02 9.95074499e-01 -7.49809805e-04 -1.26173251e+01] [-7.09507764e-03 4.67066032e-05 9.99974829e-01 -2.09571416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.964012739 meters Centerline goodness [0,1] 0.9947815166082024 Centerline is valid? [True, True] Translation: X:113.09, Y:-12.63, Z:-2.09 [[ 9.94979403e-01 9.98137238e-02 7.29444328e-03 1.13086068e+02] [-9.98107243e-02 9.95006140e-01 -7.74994793e-04 -1.26254242e+01] [-7.33537097e-03 4.30401888e-05 9.99973095e-01 -2.08553136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.994012739 meters Centerline goodness [0,1] 0.9978322317386776 Centerline is valid? [True, True] Translation: X:113.11, Y:-12.63, Z:-2.09 [[ 9.94979840e-01 9.97462841e-02 8.11154327e-03 1.13114884e+02] [-9.97425728e-02 9.95012903e-01 -8.61805306e-04 -1.26336163e+01] [-8.15705209e-03 4.84127113e-05 9.99966730e-01 -2.09349199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024012739 meters Centerline goodness [0,1] 0.9973847037060662 Centerline is valid? [True, True] Translation: X:113.14, Y:-12.64, Z:-2.09 [[ 9.94985988e-01 9.96499148e-02 8.53100957e-03 1.13144235e+02] [-9.96458071e-02 9.95022558e-01 -9.06256075e-04 -1.26385500e+01] [-8.57885531e-03 5.16327617e-05 9.99963200e-01 -2.09259363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.054012739 meters Centerline goodness [0,1] 0.9977870402200069 Centerline is valid? [True, True] Translation: X:113.17, Y:-12.64, Z:-2.09 [[ 9.94888008e-01 1.00658221e-01 8.11005899e-03 1.13174903e+02] [-1.00654544e-01 9.94921063e-01 -8.61377746e-04 -1.26429500e+01] [-8.15557326e-03 4.06601032e-05 9.99966742e-01 -2.09458739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084012739 meters Centerline goodness [0,1] 0.9974288101819117 Centerline is valid? [True, True] Translation: X:113.21, Y:-12.65, Z:-2.10 [[ 9.94799124e-01 1.01581420e-01 7.47784219e-03 1.13205199e+02] [-1.01578319e-01 9.94827228e-01 -7.94394970e-04 -1.26471834e+01] [-7.51985679e-03 3.06767833e-05 9.99971725e-01 -2.09579666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.114012739 meters Centerline goodness [0,1] 0.9971696675447954 Centerline is valid? [True, True] Translation: X:113.24, Y:-12.64, Z:-2.10 [[ 9.94446768e-01 1.05002698e-01 7.07524672e-03 1.13235672e+02] [-1.05000007e-01 9.94471937e-01 -7.51734736e-04 -1.26438510e+01] [-7.11506849e-03 4.65922473e-06 9.99974688e-01 -2.09620513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.144012739 meters Centerline goodness [0,1] 0.9966271375784137 Centerline is valid? [True, True] Translation: X:113.26, Y:-12.64, Z:-2.10 [[ 9.94243649e-01 1.06888218e-01 7.38079626e-03 1.13264425e+02] [-1.06885343e-01 9.94271044e-01 -7.84012447e-04 -1.26437755e+01] [-7.42231370e-03 -9.39954814e-06 9.99972454e-01 -2.09541417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.174012739 meters Centerline goodness [0,1] 0.9940473641385807 Centerline is valid? [True, True] Translation: X:113.29, Y:-12.64, Z:-2.09 [[ 9.93886551e-01 1.09953241e-01 9.99042200e-03 1.13294053e+02] [-1.09948132e-01 9.93936760e-01 -1.06087841e-03 -1.26423946e+01] [-1.00464947e-02 -4.40354490e-05 9.99949532e-01 -2.08987338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20401273899999 meters Centerline goodness [0,1] 0.9930450884974807 Centerline is valid? [True, True] Translation: X:113.32, Y:-12.64, Z:-2.09 [[ 9.93735936e-01 1.11207929e-01 1.10311452e-02 1.13323835e+02] [-1.11201781e-01 9.93797159e-01 -1.17111189e-03 -1.26428496e+01] [-1.10929577e-02 -6.29070215e-05 9.99938469e-01 -2.08890141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.234012739 meters Centerline goodness [0,1] 0.9933899293629707 Centerline is valid? [True, True] Translation: X:113.35, Y:-12.64, Z:-2.09 [[ 9.93648176e-01 1.12010137e-01 1.08180846e-02 1.13353403e+02] [-1.12004273e-01 9.93707062e-01 -1.14823761e-03 -1.26442615e+01] [-1.08786213e-02 -7.07274941e-05 9.99940824e-01 -2.09034494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.264012739 meters Centerline goodness [0,1] 0.9907780231198857 Centerline is valid? [True, True] Translation: X:113.38, Y:-12.65, Z:-2.09 [[ 9.93727640e-01 1.11501765e-01 8.52846453e-03 1.13382432e+02] [-1.11498103e-01 9.93764235e-01 -9.05049092e-04 -1.26479527e+01] [-8.57619760e-03 -5.15353230e-05 9.99963222e-01 -2.08588601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.294012739 meters Centerline goodness [0,1] 0.9944669626198288 Centerline is valid? [True, True] Translation: X:113.41, Y:-12.65, Z:-2.10 [[ 9.93910012e-01 1.09871624e-01 8.43293237e-03 1.13410330e+02] [-1.09867987e-01 9.93945786e-01 -8.94701727e-04 -1.26538993e+01] [-8.48017992e-03 -3.72563018e-05 9.99964042e-01 -2.09596134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.324012739 meters Centerline goodness [0,1] 0.9955209347614411 Centerline is valid? [True, True] Translation: X:113.44, Y:-12.66, Z:-2.09 [[ 9.94348358e-01 1.05823399e-01 8.52940250e-03 1.13438839e+02] [-1.05819533e-01 9.94384940e-01 -9.04629930e-04 -1.26645898e+01] [-8.57724040e-03 -3.06009887e-06 9.99963215e-01 -2.09485507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.354012739 meters Centerline goodness [0,1] 0.9968422409348685 Centerline is valid? [True, True] Translation: X:113.47, Y:-12.67, Z:-2.09 [[ 9.94609676e-01 1.03334319e-01 8.57965186e-03 1.13469008e+02] [-1.03330315e-01 9.94646680e-01 -9.09772516e-04 -1.26720855e+01] [-8.62773296e-03 1.83304161e-05 9.99962780e-01 -2.09462229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.384012739 meters Centerline goodness [0,1] 0.997144772987822 Centerline is valid? [True, True] Translation: X:113.50, Y:-12.68, Z:-2.09 [[ 9.94853062e-01 1.00965309e-01 8.56684452e-03 1.13499480e+02] [-1.00961229e-01 9.94889946e-01 -9.08524604e-04 -1.26788877e+01] [-8.61479695e-03 3.89293363e-05 9.99962891e-01 -2.09471964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.414012739 meters Centerline goodness [0,1] 0.9976694960552479 Centerline is valid? [True, True] Translation: X:113.53, Y:-12.69, Z:-2.10 [[ 9.95258227e-01 9.69028821e-02 8.41980694e-03 1.13530579e+02] [-9.68987931e-02 9.95293839e-01 -8.93193145e-04 -1.26919417e+01] [-8.46673496e-03 7.30886957e-05 9.99964154e-01 -2.09591526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444012739 meters Centerline goodness [0,1] 0.9978627818729009 Centerline is valid? [True, True] Translation: X:113.56, Y:-12.70, Z:-2.10 [[ 9.95584060e-01 9.36130032e-02 6.99891428e-03 1.13561572e+02] [-9.36100900e-02 9.95608657e-01 -7.43393028e-04 -1.27044375e+01] [-7.03777090e-03 8.49412529e-05 9.99975231e-01 -2.09870426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.474012739 meters Centerline goodness [0,1] 0.9977949519385155 Centerline is valid? [True, True] Translation: X:113.59, Y:-12.71, Z:-2.10 [[ 9.95666896e-01 9.27950984e-02 6.04160980e-03 1.13592056e+02] [-9.27929072e-02 9.95685223e-01 -6.42592776e-04 -1.27123156e+01] [-6.07517106e-03 7.91898181e-05 9.99981543e-01 -2.10070574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.504012739 meters Centerline goodness [0,1] 0.9981537793223284 Centerline is valid? [True, True] Translation: X:113.62, Y:-12.72, Z:-2.10 [[ 9.95734175e-01 9.21190019e-02 5.24803146e-03 1.13623592e+02] [-9.21173337e-02 9.95748002e-01 -5.59223112e-04 -1.27163459e+01] [-5.27723191e-03 7.34028996e-05 9.99986073e-01 -2.10307329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.534012739 meters Centerline goodness [0,1] 0.9984389228567712 Centerline is valid? [True, True] Translation: X:113.65, Y:-12.73, Z:-2.10 [[ 9.95727308e-01 9.22211588e-02 4.73132357e-03 1.13652674e+02] [-9.22198035e-02 9.95738547e-01 -5.04298415e-04 -1.27251957e+01] [-4.75766824e-03 6.58219744e-05 9.99988680e-01 -2.10462808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564012739 meters Centerline goodness [0,1] 0.9983549427476786 Centerline is valid? [True, True] Translation: X:113.68, Y:-12.73, Z:-2.10 [[ 9.95694175e-01 9.25723796e-02 4.84402500e-03 1.13684042e+02] [-9.25709630e-02 9.95705956e-01 -5.16334537e-04 -1.27302652e+01] [-4.87102286e-03 6.56952320e-05 9.99988134e-01 -2.10364370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.594012739 meters Centerline goodness [0,1] 0.9974207969737351 Centerline is valid? [True, True] Translation: X:113.71, Y:-12.74, Z:-2.10 [[ 9.95746002e-01 9.19162032e-02 6.42742605e-03 1.13714024e+02] [-9.19136946e-02 9.95766741e-01 -6.85219618e-04 -1.27415254e+01] [-6.46319988e-03 9.15362201e-05 9.99979109e-01 -2.10044169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.624012739 meters Centerline goodness [0,1] 0.9972828993816991 Centerline is valid? [True, True] Translation: X:113.75, Y:-12.75, Z:-2.10 [[ 9.95831336e-01 9.09233017e-02 7.27345517e-03 1.13745480e+02] [-9.09200573e-02 9.95857892e-01 -7.76158059e-04 -1.27471151e+01] [-7.31389858e-03 1.11619557e-04 9.99973247e-01 -2.09941757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.654012739 meters Centerline goodness [0,1] 0.9956648639368186 Centerline is valid? [True, True] Translation: X:113.78, Y:-12.76, Z:-2.10 [[ 9.96014458e-01 8.87828085e-02 8.53305984e-03 1.13775299e+02] [-8.87782504e-02 9.96050998e-01 -9.12224633e-04 -1.27617432e+01] [-8.58035264e-03 1.51038799e-04 9.99963177e-01 -2.09857766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.684012739 meters Centerline goodness [0,1] 0.9949846094237682 Centerline is valid? [True, True] Translation: X:113.81, Y:-12.77, Z:-2.10 [[ 9.96078522e-01 8.80260657e-02 8.88760021e-03 1.13806060e+02] [-8.80210781e-02 9.96118158e-01 -9.51549333e-04 -1.27710431e+01] [-8.93686109e-03 1.65521701e-04 9.99960052e-01 -2.09821015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.714012739 meters Centerline goodness [0,1] 0.9950646954058752 Centerline is valid? [True, True] Translation: X:113.84, Y:-12.78, Z:-2.10 [[ 9.96096591e-01 8.78200132e-02 8.90090321e-03 1.13837642e+02] [-8.78149903e-02 9.96136344e-01 -9.54337827e-04 -1.27788914e+01] [-8.95032315e-03 1.68979928e-04 9.99959931e-01 -2.09804353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.744012739 meters Centerline goodness [0,1] 0.9948161210138308 Centerline is valid? [True, True] Translation: X:113.87, Y:-12.79, Z:-2.10 [[ 9.96071299e-01 8.80950032e-02 9.01320683e-03 1.13869711e+02] [-8.80898498e-02 9.96112063e-01 -9.67939904e-04 -1.27878484e+01] [-9.06343472e-03 1.70165121e-04 9.99958912e-01 -2.09742155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.774012739 meters Centerline goodness [0,1] 0.9948260748722554 Centerline is valid? [True, True] Translation: X:113.90, Y:-12.79, Z:-2.10 [[ 9.96010768e-01 8.87974934e-02 8.80651884e-03 1.13901454e+02] [-8.87925875e-02 9.96049687e-01 -9.47278878e-04 -1.27941774e+01] [-8.85584632e-03 1.61546368e-04 9.99960773e-01 -2.09769876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804012739 meters Centerline goodness [0,1] 0.9969054884600507 Centerline is valid? [True, True] Translation: X:113.93, Y:-12.80, Z:-2.10 [[ 9.95737541e-01 9.18934374e-02 7.89595992e-03 1.13933934e+02] [-9.18895820e-02 9.95768839e-01 -8.50449623e-04 -1.27966850e+01] [-7.94070158e-03 1.21268160e-04 9.99968465e-01 -2.10042129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.834012739 meters Centerline goodness [0,1] 0.9969054884600507 Centerline is valid? [True, True] Translation: X:113.97, Y:-12.80, Z:-2.10 [[ 9.95719887e-01 9.20845315e-02 7.89590981e-03 1.13966237e+02] [-9.20806785e-02 9.95751186e-01 -8.50914610e-04 -1.28003460e+01] [-7.94071763e-03 1.20211867e-04 9.99968465e-01 -2.10068144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.864012739 meters Centerline goodness [0,1] 0.9973792747894827 Centerline is valid? [True, True] Translation: X:114.00, Y:-12.80, Z:-2.10 [[ 9.95521301e-01 9.41876550e-02 8.12552465e-03 1.13998268e+02] [-9.41836314e-02 9.95554456e-01 -8.77277876e-04 -1.28043928e+01] [-8.17203102e-03 1.08057394e-04 9.99966603e-01 -2.10136836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.894012739 meters Centerline goodness [0,1] 0.9969977697718305 Centerline is valid? [True, True] Translation: X:114.03, Y:-12.81, Z:-2.10 [[ 9.95317234e-01 9.62455780e-02 8.96621940e-03 1.14029619e+02] [-9.62407471e-02 9.95357613e-01 -9.69712313e-04 -1.28088437e+01] [-9.01792526e-03 1.02255723e-04 9.99959332e-01 -2.10073474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.924012739 meters Centerline goodness [0,1] 0.9977951407470834 Centerline is valid? [True, True] Translation: X:114.06, Y:-12.81, Z:-2.10 [[ 9.95013355e-01 9.93177054e-02 9.18784180e-03 1.14061971e+02] [-9.93127502e-02 9.95055771e-01 -9.95141011e-04 -1.28134783e+01] [-9.24125013e-03 7.77087582e-05 9.99957296e-01 -2.09906223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95401273899999 meters Centerline goodness [0,1] 0.9978608691856024 Centerline is valid? [True, True] Translation: X:114.09, Y:-12.82, Z:-2.10 [[ 9.94738840e-01 1.02128590e-01 8.02446577e-03 1.14094340e+02] [-1.02124898e-01 9.94771204e-01 -8.69555688e-04 -1.28174487e+01] [-8.07131398e-03 4.54830653e-05 9.99967425e-01 -2.10062188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.984012739 meters Centerline goodness [0,1] 0.9982784170153417 Centerline is valid? [True, True] Translation: X:114.13, Y:-12.82, Z:-2.10 [[ 9.94614269e-01 1.03356996e-01 7.73221624e-03 1.14127181e+02] [-1.03353602e-01 9.94644323e-01 -8.38317522e-04 -1.28222160e+01] [-7.77745097e-03 3.46501675e-05 9.99969755e-01 -2.10152666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.014012739 meters Centerline goodness [0,1] 0.9979436784345982 Centerline is valid? [True, True] Translation: X:114.16, Y:-12.83, Z:-2.10 [[ 9.94517067e-01 1.04290699e-01 7.69763356e-03 1.14158674e+02] [-1.04287351e-01 9.94546856e-01 -8.36099629e-04 -1.28275875e+01] [-7.74285468e-03 2.87495359e-05 9.99970023e-01 -2.10189250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.044012739 meters Centerline goodness [0,1] 0.9975978185595568 Centerline is valid? [True, True] Translation: X:114.19, Y:-12.83, Z:-2.10 [[ 9.94370464e-01 1.05631490e-01 8.32872593e-03 1.14190092e+02] [-1.05627604e-01 9.94405344e-01 -9.06320474e-04 -1.28346262e+01] [-8.37786555e-03 2.14749457e-05 9.99964905e-01 -2.10075798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.074012739 meters Centerline goodness [0,1] 0.9968775571730049 Centerline is valid? [True, True] Translation: X:114.22, Y:-12.84, Z:-2.10 [[ 9.94224154e-01 1.06983297e-01 8.53852591e-03 1.14221472e+02] [-1.06979249e-01 9.94260818e-01 -9.30708863e-04 -1.28388773e+01] [-8.58909205e-03 1.18881393e-05 9.99963113e-01 -2.10061385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.104012739 meters Centerline goodness [0,1] 0.9915492957746479 Centerline is valid? [True, True] Translation: X:114.25, Y:-12.84, Z:-2.09 [[ 9.93886576e-01 1.10195326e-01 6.81647145e-03 1.14254326e+02] [-1.10192818e-01 9.93909951e-01 -7.43553552e-04 -1.28397673e+01] [-6.85689493e-03 -1.21183037e-05 9.99976491e-01 -2.09053575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.134012739 meters Centerline goodness [0,1] 0.9958021692343754 Centerline is valid? [True, True] Translation: X:114.29, Y:-12.84, Z:-2.10 [[ 9.93700910e-01 1.11854163e-01 6.86640675e-03 1.14287251e+02] [-1.11851649e-01 9.93724633e-01 -7.50312386e-04 -1.28414365e+01] [-6.90724309e-03 -2.24328157e-05 9.99976144e-01 -2.10265227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164012739 meters Centerline goodness [0,1] 0.9956867734909098 Centerline is valid? [True, True] Translation: X:114.32, Y:-12.84, Z:-2.10 [[ 9.93550942e-01 1.13216065e-01 6.21678947e-03 1.14319758e+02] [-1.13214024e-01 9.93570391e-01 -6.80388229e-04 -1.28429556e+01] [-6.25384882e-03 -2.78273837e-05 9.99980444e-01 -2.10498081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.194012739 meters Centerline goodness [0,1] 0.9953388465256149 Centerline is valid? [True, True] Translation: X:114.35, Y:-12.85, Z:-2.11 [[ 9.93437808e-01 1.14202454e-01 6.25468134e-03 1.14351725e+02] [-1.14200401e-01 9.93457497e-01 -6.85659097e-04 -1.28454384e+01] [-6.29206402e-03 -3.31274462e-05 9.99980204e-01 -2.10553429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224012739 meters Centerline goodness [0,1] 0.9951133781988083 Centerline is valid? [True, True] Translation: X:114.38, Y:-12.85, Z:-2.10 [[ 9.93445164e-01 1.14080984e-01 7.22744517e-03 1.14384025e+02] [-1.14078228e-01 9.93471453e-01 -7.93795118e-04 -1.28506106e+01] [-7.27081738e-03 -3.59022166e-05 9.99973567e-01 -2.10343967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.254012739 meters Centerline goodness [0,1] 0.9956851436505394 Centerline is valid? [True, True] Translation: X:114.42, Y:-12.86, Z:-2.10 [[ 9.93641774e-01 1.12193816e-01 9.41126974e-03 1.14415616e+02] [-1.12189037e-01 9.93686342e-01 -1.03583911e-03 -1.28570957e+01] [-9.46806494e-03 -2.65882770e-05 9.99955177e-01 -2.09944803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.284012739 meters Centerline goodness [0,1] 0.9958264666224343 Centerline is valid? [True, True] Translation: X:114.45, Y:-12.86, Z:-2.10 [[ 9.93763063e-01 1.11117055e-01 9.37944453e-03 1.14448210e+02] [-1.11112246e-01 9.93807325e-01 -1.03393865e-03 -1.28620508e+01] [-9.43624890e-03 -1.46811028e-05 9.99955478e-01 -2.09973511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.314012739 meters Centerline goodness [0,1] 0.9969072829191813 Centerline is valid? [True, True] Translation: X:114.48, Y:-12.87, Z:-2.10 [[ 9.93938409e-01 1.09578106e-01 8.89254437e-03 1.14480583e+02] [-1.09573707e-01 9.93978188e-01 -9.81889461e-04 -1.28682868e+01] [-8.94658873e-03 1.54859867e-06 9.99959978e-01 -2.10077670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.344012739 meters Centerline goodness [0,1] 0.9966860514837937 Centerline is valid? [True, True] Translation: X:114.51, Y:-12.87, Z:-2.10 [[ 9.93971594e-01 1.09240588e-01 9.32548261e-03 1.14511990e+02] [-1.09235718e-01 9.94015339e-01 -1.03156329e-03 -1.28719509e+01] [-9.38236134e-03 6.66882203e-06 9.99955985e-01 -2.09960942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.374012739 meters Centerline goodness [0,1] 0.9965438035334778 Centerline is valid? [True, True] Translation: X:114.55, Y:-12.87, Z:-2.10 [[ 9.93959872e-01 1.09306485e-01 9.79106309e-03 1.14545377e+02] [-1.09301101e-01 9.94008095e-01 -1.08492749e-03 -1.28744754e+01] [-9.85098558e-03 8.20041228e-06 9.99951478e-01 -2.09861812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.404012739 meters Centerline goodness [0,1] 0.996533570206036 Centerline is valid? [True, True] Translation: X:114.58, Y:-12.87, Z:-2.10 [[ 9.93763498e-01 1.11086903e-01 9.68558674e-03 1.14579144e+02] [-1.11081701e-01 9.93810696e-01 -1.07509258e-03 -1.28733697e+01] [-9.74506840e-03 -7.50368501e-06 9.99952516e-01 -2.09927866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.434012739 meters Centerline goodness [0,1] 0.9956849824635987 Centerline is valid? [True, True] Translation: X:114.61, Y:-12.87, Z:-2.10 [[ 9.93598157e-01 1.12639902e-01 8.65765225e-03 1.14610809e+02] [-1.12635791e-01 9.93635875e-01 -9.62501179e-04 -1.28743583e+01] [-8.71096991e-03 -1.88221150e-05 9.99962059e-01 -2.10107131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.464012739 meters Centerline goodness [0,1] 0.996808143547274 Centerline is valid? [True, True] Translation: X:114.64, Y:-12.87, Z:-2.11 [[ 9.93398305e-01 1.14549691e-01 6.17866272e-03 1.14644289e+02] [-1.14547630e-01 9.93417519e-01 -6.87594624e-04 -1.28732570e+01] [-6.21675554e-03 -2.46958363e-05 9.99980675e-01 -2.10607323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.494012739 meters Centerline goodness [0,1] 0.9974490342772621 Centerline is valid? [True, True] Translation: X:114.68, Y:-12.87, Z:-2.11 [[ 9.93350832e-01 1.14972729e-01 5.94948000e-03 1.14676248e+02] [-1.14970819e-01 9.93368648e-01 -6.63206665e-04 -1.28742529e+01] [-5.98627759e-03 -2.52196950e-05 9.99982082e-01 -2.10694521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524012739 meters Centerline goodness [0,1] 0.9966327799939948 Centerline is valid? [True, True] Translation: X:114.71, Y:-12.88, Z:-2.11 [[ 9.93310053e-01 1.15295845e-01 6.48125697e-03 1.14709580e+02] [-1.15293577e-01 9.93331197e-01 -7.23757071e-04 -1.28759014e+01] [-6.52148093e-03 -2.83321245e-05 9.99978735e-01 -2.10619171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.554012739 meters Centerline goodness [0,1] 0.9961330570213857 Centerline is valid? [True, True] Translation: X:114.74, Y:-12.88, Z:-2.10 [[ 9.93324221e-01 1.15017803e-01 8.82591912e-03 1.14742230e+02] [-1.15013566e-01 9.93363430e-01 -9.87819056e-04 -1.28768985e+01] [-8.88096206e-03 -3.38758368e-05 9.99960563e-01 -2.10181701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584012739 meters Centerline goodness [0,1] 0.9962863362786528 Centerline is valid? [True, True] Translation: X:114.78, Y:-12.88, Z:-2.10 [[ 9.93372050e-01 1.14564727e-01 9.32171427e-03 1.14775488e+02] [-1.14559963e-01 9.93415785e-01 -1.04517084e-03 -1.28801004e+01] [-9.38007782e-03 -2.96517414e-05 9.99956006e-01 -2.10087650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.614012739 meters Centerline goodness [0,1] 0.9965656392204001 Centerline is valid? [True, True] Translation: X:114.81, Y:-12.88, Z:-2.10 [[ 9.93523670e-01 1.13221570e-01 9.57045804e-03 1.14807776e+02] [-1.13216469e-01 9.93569764e-01 -1.07493663e-03 -1.28841681e+01] [-9.63062375e-03 -1.55584756e-05 9.99953624e-01 -2.10132393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.644012739 meters Centerline goodness [0,1] 0.9973469125764902 Centerline is valid? [True, True] Translation: X:114.84, Y:-12.89, Z:-2.10 [[ 9.93649730e-01 1.12153042e-01 9.05034072e-03 1.14838897e+02] [-1.12148421e-01 9.93690945e-01 -1.01814707e-03 -1.28896690e+01] [-9.10742992e-03 -3.29985803e-06 9.99958526e-01 -2.10281116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.674012739 meters Centerline goodness [0,1] 0.9986415387269277 Centerline is valid? [True, True] Translation: X:114.87, Y:-12.90, Z:-2.11 [[ 9.93904662e-01 1.10053559e-01 6.46038191e-03 1.14871222e+02] [-1.10051155e-01 9.93925658e-01 -7.27502436e-04 -1.28963238e+01] [-6.50120357e-03 1.20955701e-05 9.99978867e-01 -2.10831053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70401273899999 meters Centerline goodness [0,1] 0.9989897252912601 Centerline is valid? [True, True] Translation: X:114.90, Y:-12.90, Z:-2.11 [[ 9.93954022e-01 1.09649354e-01 5.69394906e-03 1.14902587e+02] [-1.09647474e-01 9.93970331e-01 -6.42153303e-04 -1.29012735e+01] [-5.73002812e-03 1.39437243e-05 9.99983583e-01 -2.11037785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.734012739 meters Centerline goodness [0,1] 0.9985761439389036 Centerline is valid? [True, True] Translation: X:114.94, Y:-12.91, Z:-2.11 [[ 9.94017383e-01 1.09049174e-01 6.14165384e-03 1.14935139e+02] [-1.09046968e-01 9.94036356e-01 -6.93860300e-04 -1.29086532e+01] [-6.18069210e-03 1.99804668e-05 9.99980899e-01 -2.10848152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.764012739 meters Centerline goodness [0,1] 0.9988921320067324 Centerline is valid? [True, True] Translation: X:114.97, Y:-12.91, Z:-2.11 [[ 9.93974340e-01 1.09407052e-01 6.71633426e-03 1.14967061e+02] [-1.09404412e-01 9.93997030e-01 -7.60311738e-04 -1.29134947e+01] [-6.75919978e-03 2.09337537e-05 9.99977156e-01 -2.10754367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.794012739 meters Centerline goodness [0,1] 0.9988103992732621 Centerline is valid? [True, True] Translation: X:115.00, Y:-12.92, Z:-2.11 [[ 9.93884260e-01 1.10215935e-01 6.82098821e-03 1.14999836e+02] [-1.10213227e-01 9.93907665e-01 -7.72910836e-04 -1.29167742e+01] [-6.86461956e-03 1.64207951e-05 9.99976438e-01 -2.10753167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.824012739 meters Centerline goodness [0,1] 0.9981325071092059 Centerline is valid? [True, True] Translation: X:115.03, Y:-12.92, Z:-2.11 [[ 9.93624160e-01 1.12467180e-01 7.88424245e-03 1.15030524e+02] [-1.12463617e-01 9.93655440e-01 -8.95152161e-04 -1.29193916e+01] [-7.93489564e-03 2.75438767e-06 9.99968518e-01 -2.10694621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.854012739 meters Centerline goodness [0,1] 0.9978975822195525 Centerline is valid? [True, True] Translation: X:115.06, Y:-12.92, Z:-2.11 [[ 9.93523805e-01 1.13332416e-01 8.13711663e-03 1.15062695e+02] [-1.13328644e-01 9.93557126e-01 -9.24669392e-04 -1.29247967e+01] [-8.18948523e-03 -3.48733753e-06 9.99966466e-01 -2.10715459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.884012739 meters Centerline goodness [0,1] 0.9977381413984748 Centerline is valid? [True, True] Translation: X:115.09, Y:-12.93, Z:-2.11 [[ 9.93448555e-01 1.14051769e-01 7.22240439e-03 1.15093857e+02] [-1.14048808e-01 9.93474808e-01 -8.21927237e-04 -1.29324011e+01] [-7.26901907e-03 -7.16418287e-06 9.99973580e-01 -2.10806958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.914012739 meters Centerline goodness [0,1] 0.9959532374100719 Centerline is valid? [True, True] Translation: X:115.13, Y:-12.94, Z:-2.10 [[ 9.93381861e-01 1.14720971e-01 5.61929130e-03 1.15126446e+02] [-1.14719186e-01 9.93397755e-01 -6.40141478e-04 -1.29363126e+01] [-5.65562901e-03 -8.73558879e-06 9.99984007e-01 -2.10332256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944012739 meters Centerline goodness [0,1] 0.9981598767545361 Centerline is valid? [True, True] Translation: X:115.16, Y:-12.94, Z:-2.11 [[ 9.93352790e-01 1.14970141e-01 5.66586899e-03 1.15158192e+02] [-1.14968324e-01 9.93368948e-01 -6.46552042e-04 -1.29402966e+01] [-5.70263250e-03 -9.14118624e-06 9.99983740e-01 -2.11289646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.974012739 meters Centerline goodness [0,1] 0.9981950622058918 Centerline is valid? [True, True] Translation: X:115.19, Y:-12.95, Z:-2.11 [[ 9.93188252e-01 1.16377540e-01 5.77622395e-03 1.15189516e+02] [-1.16375669e-01 9.93205048e-01 -6.60188763e-04 -1.29453538e+01] [-5.81380594e-03 -1.65202040e-05 9.99983100e-01 -2.11244595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.004012739 meters Centerline goodness [0,1] 0.9965020708598897 Centerline is valid? [True, True] Translation: X:115.22, Y:-12.95, Z:-2.11 [[ 9.92884710e-01 1.18852858e-01 7.34517024e-03 1.15221487e+02] [-1.18849888e-01 9.92911878e-01 -8.41169295e-04 -1.29479027e+01] [-7.39308214e-03 -3.77885266e-05 9.99972670e-01 -2.10846704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.034012739 meters Centerline goodness [0,1] 0.9951375203495845 Centerline is valid? [True, True] Translation: X:115.25, Y:-12.95, Z:-2.11 [[ 9.92618514e-01 1.20999809e-01 8.21783062e-03 1.15254041e+02] [-1.20996151e-01 9.92652529e-01 -9.42683681e-04 -1.29495622e+01] [-8.27151489e-03 -5.86005976e-05 9.99965789e-01 -2.10674318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.064012739 meters Centerline goodness [0,1] 0.9941587301587301 Centerline is valid? [True, True] Translation: X:115.29, Y:-12.95, Z:-2.11 [[ 9.92292240e-01 1.23606282e-01 8.80899779e-03 1.15286228e+02] [-1.23602168e-01 9.92331336e-01 -1.01200042e-03 -1.29506958e+01] [-8.86653416e-03 -8.46110551e-05 9.99960688e-01 -2.10574358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.094012739 meters Centerline goodness [0,1] 0.9921241204191862 Centerline is valid? [True, True] Translation: X:115.32, Y:-12.95, Z:-2.11 [[ 9.91657121e-01 1.28653721e-01 8.02334171e-03 1.15319255e+02] [-1.28650464e-01 9.91689572e-01 -9.22896429e-04 -1.29456826e+01] [-8.07539836e-03 -1.17009819e-04 9.99967387e-01 -2.10843730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.124012739 meters Centerline goodness [0,1] 0.9922055674518201 Centerline is valid? [True, True] Translation: X:115.35, Y:-12.94, Z:-2.11 [[ 9.91328212e-01 1.31189706e-01 7.59185791e-03 1.15350268e+02] [-1.31186862e-01 9.91357274e-01 -8.73596258e-04 -1.29442266e+01] [-7.64085039e-03 -1.29931399e-04 9.99970800e-01 -2.10994254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.154012739 meters Centerline goodness [0,1] 0.9911784857828023 Centerline is valid? [True, True] Translation: X:115.38, Y:-12.95, Z:-2.11 [[ 9.90840518e-01 1.34846917e-01 7.16773276e-03 1.15381758e+02] [-1.34844476e-01 9.90866432e-01 -8.24942713e-04 -1.29450957e+01] [-7.21350677e-03 -1.49142502e-04 9.99973971e-01 -2.11073959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.184012739 meters Centerline goodness [0,1] 0.9913932680017044 Centerline is valid? [True, True] Translation: X:115.41, Y:-12.95, Z:-2.11 [[ 9.90741905e-01 1.35592071e-01 6.72809183e-03 1.15412939e+02] [-1.35589937e-01 9.90764740e-01 -7.74490392e-04 -1.29488850e+01] [-6.77097090e-03 -1.44941457e-04 9.99977066e-01 -2.11143077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.214012739 meters Centerline goodness [0,1] 0.9922695823011873 Centerline is valid? [True, True] Translation: X:115.44, Y:-12.95, Z:-2.11 [[ 9.90869702e-01 1.34720575e-01 5.25365914e-03 1.15443490e+02] [-1.34719261e-01 9.90883623e-01 -6.04880577e-04 -1.29519388e+01] [-5.28725467e-03 -1.08411239e-04 9.99986016e-01 -2.11486595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.244012739 meters Centerline goodness [0,1] 0.992262764283713 Centerline is valid? [True, True] Translation: X:115.47, Y:-12.96, Z:-2.12 [[ 9.90986564e-01 1.33865135e-01 5.07500551e-03 1.15472901e+02] [-1.33863897e-01 9.90999554e-01 -5.84436021e-04 -1.29562302e+01] [-5.10756380e-03 -1.00191769e-04 9.99986951e-01 -2.11596661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.274012739 meters Centerline goodness [0,1] 0.9924317564362414 Centerline is valid? [True, True] Translation: X:115.50, Y:-12.96, Z:-2.12 [[ 9.91163570e-01 1.32537614e-01 5.34401755e-03 1.15502689e+02] [-1.32536222e-01 9.91177972e-01 -6.15317209e-04 -1.29619864e+01] [-5.37842515e-03 -9.83958954e-05 9.99985531e-01 -2.11610453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304012739 meters Centerline goodness [0,1] 0.9933109653153249 Centerline is valid? [True, True] Translation: X:115.53, Y:-12.97, Z:-2.11 [[ 9.91599212e-01 1.29210075e-01 5.97997799e-03 1.15533831e+02] [-1.29208273e-01 9.91617239e-01 -6.88443718e-04 -1.29711523e+01] [-6.01880313e-03 -9.00023793e-05 9.99981883e-01 -2.11420068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.334012739 meters Centerline goodness [0,1] 0.9939750058546762 Centerline is valid? [True, True] Translation: X:115.57, Y:-12.98, Z:-2.11 [[ 9.91807956e-01 1.27593470e-01 6.07328564e-03 1.15565010e+02] [-1.27591579e-01 9.91826547e-01 -6.99302591e-04 -1.29753830e+01] [-6.11287237e-03 -8.13262341e-05 9.99981313e-01 -2.11452943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.364012739 meters Centerline goodness [0,1] 0.9952162306460224 Centerline is valid? [True, True] Translation: X:115.60, Y:-12.99, Z:-2.11 [[ 9.92206551e-01 1.24458420e-01 6.02172609e-03 1.15596035e+02] [-1.24456498e-01 9.92224822e-01 -6.94269747e-04 -1.29854081e+01] [-6.06131381e-03 -6.05839515e-05 9.99981628e-01 -2.11477831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.394012739 meters Centerline goodness [0,1] 0.9958819194590143 Centerline is valid? [True, True] Translation: X:115.63, Y:-12.99, Z:-2.11 [[ 9.92398331e-01 1.22925250e-01 5.91066680e-03 1.15627658e+02] [-1.22923366e-01 9.92415931e-01 -6.82379136e-04 -1.29933167e+01] [-5.94972152e-03 -4.93671430e-05 9.99982299e-01 -2.11490373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.424012739 meters Centerline goodness [0,1] 0.9970269097222222 Centerline is valid? [True, True] Translation: X:115.66, Y:-13.01, Z:-2.11 [[ 9.92928861e-01 1.18516096e-01 6.79792591e-03 1.15658645e+02] [-1.18513492e-01 9.92952131e-01 -7.86109124e-04 -1.30065328e+01] [-6.84318161e-03 -2.50954987e-05 9.99976585e-01 -2.11455277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45401273899999 meters Centerline goodness [0,1] 0.9982550963952845 Centerline is valid? [True, True] Translation: X:115.69, Y:-13.02, Z:-2.11 [[ 9.93254252e-01 1.15742431e-01 7.04841830e-03 1.15689227e+02] [-1.15739553e-01 9.93279261e-01 -8.16296668e-04 -1.30158505e+01] [-7.09552788e-03 -4.99064401e-06 9.99974826e-01 -2.11437510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.484012739 meters Centerline goodness [0,1] 0.9987710749859859 Centerline is valid? [True, True] Translation: X:115.72, Y:-13.03, Z:-2.11 [[ 9.93572765e-01 1.12944508e-01 7.52985497e-03 1.15721308e+02] [-1.12941133e-01 9.93601297e-01 -8.73271123e-04 -1.30252535e+01] [-7.58030484e-03 1.72280548e-05 9.99971269e-01 -2.11392200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.514012739 meters Centerline goodness [0,1] 0.9980895958099899 Centerline is valid? [True, True] Translation: X:115.75, Y:-13.04, Z:-2.11 [[ 9.94067418e-01 1.08388381e-01 9.05135213e-03 1.15752366e+02] [-1.08383298e-01 9.94108623e-01 -1.05169589e-03 -1.30381729e+01] [-9.11201882e-03 6.44412216e-05 9.99958483e-01 -2.11057565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.544012739 meters Centerline goodness [0,1] 0.9970040795512494 Centerline is valid? [True, True] Translation: X:115.78, Y:-13.05, Z:-2.11 [[ 9.94236380e-01 1.06781399e-01 9.57882002e-03 1.15782734e+02] [-1.06775615e-01 9.94282518e-01 -1.11463017e-03 -1.30467796e+01] [-9.64307506e-03 8.54214596e-05 9.99953501e-01 -2.10953503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.574012739 meters Centerline goodness [0,1] 0.9958946802794196 Centerline is valid? [True, True] Translation: X:115.81, Y:-13.06, Z:-2.11 [[ 9.94496137e-01 1.04317480e-01 9.76204140e-03 1.15813202e+02] [-1.04311339e-01 9.94544042e-01 -1.13748987e-03 -1.30614287e+01] [-9.82744018e-03 1.12937669e-04 9.99951703e-01 -2.11006577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.604012739 meters Centerline goodness [0,1] 0.9959468782338737 Centerline is valid? [True, True] Translation: X:115.84, Y:-13.07, Z:-2.11 [[ 9.94601476e-01 1.03376461e-01 9.01174028e-03 1.15844715e+02] [-1.03371177e-01 9.94642295e-01 -1.05144152e-03 -1.30701919e+01] [-9.07215233e-03 1.14211085e-04 9.99958841e-01 -2.11231944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.634012739 meters Centerline goodness [0,1] 0.9963081623559865 Centerline is valid? [True, True] Translation: X:115.87, Y:-13.08, Z:-2.12 [[ 9.94698478e-01 1.02619985e-01 6.63904187e-03 1.15874979e+02] [-1.02617095e-01 9.94720629e-01 -7.75375887e-04 -1.30806214e+01] [-6.68356097e-03 8.99860253e-05 9.99977661e-01 -2.11669939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664012739 meters Centerline goodness [0,1] 0.9975761016727082 Centerline is valid? [True, True] Translation: X:115.91, Y:-13.08, Z:-2.12 [[ 9.94628556e-01 1.03343462e-01 5.84506479e-03 1.15907844e+02] [-1.03341231e-01 9.94645727e-01 -6.83305006e-04 -1.30837265e+01] [-5.88438382e-03 7.55984830e-05 9.99982684e-01 -2.11833701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.694012739 meters Centerline goodness [0,1] 0.9981429496868927 Centerline is valid? [True, True] Translation: X:115.94, Y:-13.09, Z:-2.12 [[ 9.94433570e-01 1.05245892e-01 5.01774004e-03 1.15938282e+02] [-1.05244267e-01 9.94446227e-01 -5.87465374e-04 -1.30901157e+01] [-5.05170097e-03 5.61069160e-05 9.99987239e-01 -2.11970033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724012739 meters Centerline goodness [0,1] 0.9983861249784817 Centerline is valid? [True, True] Translation: X:115.97, Y:-13.09, Z:-2.12 [[ 9.94342613e-01 1.06117183e-01 4.68093570e-03 1.15968691e+02] [-1.06115775e-01 9.94353630e-01 -5.48712806e-04 -1.30945799e+01] [-4.71273326e-03 4.88874049e-05 9.99988894e-01 -2.12034116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.754012739 meters Centerline goodness [0,1] 0.99853885988096 Centerline is valid? [True, True] Translation: X:116.00, Y:-13.10, Z:-2.12 [[ 9.94270790e-01 1.06801961e-01 4.35159253e-03 1.16001593e+02] [-1.06800749e-01 9.94280312e-01 -5.10558839e-04 -1.30987158e+01] [-4.38123146e-03 4.28803984e-05 9.99990401e-01 -2.12105930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.784012739 meters Centerline goodness [0,1] 0.99853885988096 Centerline is valid? [True, True] Translation: X:116.03, Y:-13.10, Z:-2.12 [[ 9.94250535e-01 1.06990361e-01 4.35149520e-03 1.16033844e+02] [-1.06989147e-01 9.94260057e-01 -5.11386470e-04 -1.31027008e+01] [-4.38123129e-03 4.28835119e-05 9.99990401e-01 -2.12131950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.814012739 meters Centerline goodness [0,1] 0.9987400700435637 Centerline is valid? [True, True] Translation: X:116.07, Y:-13.11, Z:-2.12 [[ 9.94152123e-01 1.07876772e-01 4.91508681e-03 1.16065075e+02] [-1.07875228e-01 9.94164272e-01 -5.78837667e-04 -1.31081183e+01] [-4.94884684e-03 4.52365850e-05 9.99987753e-01 -2.12146754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.844012739 meters Centerline goodness [0,1] 0.998233938532446 Centerline is valid? [True, True] Translation: X:116.10, Y:-13.11, Z:-2.12 [[ 9.94070584e-01 1.08579859e-01 5.83844358e-03 1.16097133e+02] [-1.08577686e-01 9.94087728e-01 -6.88805810e-04 -1.31120772e+01] [-5.87871555e-03 5.07968990e-05 9.99982719e-01 -2.11968003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.874012739 meters Centerline goodness [0,1] 0.9984794945925688 Centerline is valid? [True, True] Translation: X:116.13, Y:-13.11, Z:-2.12 [[ 9.93861517e-01 1.10418735e-01 6.85483062e-03 1.16128004e+02] [-1.10415774e-01 9.93885155e-01 -8.10098001e-04 -1.31136757e+01] [-6.90236439e-03 4.82437979e-05 9.99976177e-01 -2.11779083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.904012739 meters Centerline goodness [0,1] 0.9989195496683018 Centerline is valid? [True, True] Translation: X:116.16, Y:-13.12, Z:-2.12 [[ 9.93753129e-01 1.11437813e-01 6.02758460e-03 1.16160724e+02] [-1.11435538e-01 9.93771409e-01 -7.13045327e-04 -1.31154522e+01] [-6.06950145e-03 3.69038906e-05 9.99981580e-01 -2.11976142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.934012739 meters Centerline goodness [0,1] 0.9990749306197965 Centerline is valid? [True, True] Translation: X:116.19, Y:-13.12, Z:-2.12 [[ 9.93641717e-01 1.12491667e-01 4.66502604e-03 1.16193762e+02] [-1.12490313e-01 9.93652668e-01 -5.52399327e-04 -1.31169424e+01] [-4.69755589e-03 2.41167743e-05 9.99988966e-01 -2.12287564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.964012739 meters Centerline goodness [0,1] 0.9993780294256424 Centerline is valid? [True, True] Translation: X:116.23, Y:-13.12, Z:-2.12 [[ 9.93451122e-01 1.14205618e-01 3.45602507e-03 1.16227361e+02] [-1.14204885e-01 9.93457134e-01 -4.09476123e-04 -1.31164268e+01] [-3.48017724e-03 1.20995693e-05 9.99993944e-01 -2.12484829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.994012739 meters Centerline goodness [0,1] 0.9993261162558149 Centerline is valid? [True, True] Translation: X:116.26, Y:-13.12, Z:-2.12 [[ 9.93296354e-01 1.15449910e-01 5.80265295e-03 1.16258223e+02] [-1.15447851e-01 9.93313303e-01 -6.89749549e-04 -1.31175330e+01] [-5.84348389e-03 1.52219007e-05 9.99982927e-01 -2.12011733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024012739 meters Centerline goodness [0,1] 0.9988339955087234 Centerline is valid? [True, True] Translation: X:116.29, Y:-13.12, Z:-2.12 [[ 9.93269392e-01 1.15614970e-01 7.00664788e-03 1.16290143e+02] [-1.15611962e-01 9.93294105e-01 -8.34199492e-04 -1.31205695e+01] [-7.05610799e-03 1.85325138e-05 9.99975105e-01 -2.11868390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.054012739 meters Centerline goodness [0,1] 0.9990475988909818 Centerline is valid? [True, True] Translation: X:116.32, Y:-13.12, Z:-2.12 [[ 9.93309676e-01 1.15223467e-01 7.70972338e-03 1.16322314e+02] [-1.15219802e-01 9.93339596e-01 -9.19407403e-04 -1.31246925e+01] [-7.76431081e-03 2.49434717e-05 9.99969857e-01 -2.11867526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084012739 meters Centerline goodness [0,1] 0.998937526561836 Centerline is valid? [True, True] Translation: X:116.35, Y:-13.13, Z:-2.12 [[ 9.93410335e-01 1.14435289e-01 6.36169338e-03 1.16354415e+02] [-1.14432774e-01 9.93430704e-01 -7.59116861e-04 -1.31299490e+01] [-6.40677129e-03 2.61283115e-05 9.99979476e-01 -2.12213290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.114012739 meters Centerline goodness [0,1] 0.9994167080731924 Centerline is valid? [True, True] Translation: X:116.39, Y:-13.13, Z:-2.12 [[ 9.93440253e-01 1.14228015e-01 5.33142366e-03 1.16387375e+02] [-1.14226242e-01 9.93454559e-01 -6.36907716e-04 -1.31343645e+01] [-5.36927985e-03 2.37412757e-05 9.99985585e-01 -2.12394001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.144012739 meters Centerline goodness [0,1] 0.9993094369753339 Centerline is valid? [True, True] Translation: X:116.42, Y:-13.14, Z:-2.12 [[ 9.93456653e-01 1.14106502e-01 4.85639804e-03 1.16419448e+02] [-1.14105025e-01 9.93468523e-01 -5.81006091e-04 -1.31383749e+01] [-4.89097516e-03 2.30649476e-05 9.99988039e-01 -2.12446599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.174012739 meters Centerline goodness [0,1] 0.9996356075707886 Centerline is valid? [True, True] Translation: X:116.45, Y:-13.14, Z:-2.12 [[ 9.93413371e-01 1.14490043e-01 4.68021327e-03 1.16452219e+02] [-1.14488672e-01 9.93424396e-01 -5.60695710e-04 -1.31413718e+01] [-4.71363212e-03 2.11712133e-05 9.99988891e-01 -2.12459932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20401273899999 meters Centerline goodness [0,1] 0.9992914045221275 Centerline is valid? [True, True] Translation: X:116.48, Y:-13.15, Z:-2.13 [[ 9.93429430e-01 1.14362599e-01 4.37763769e-03 1.16484734e+02] [-1.14361395e-01 9.93439075e-01 -5.25186535e-04 -1.31454044e+01] [-4.40897803e-03 2.11030074e-05 9.99990280e-01 -2.12566417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.234012739 meters Centerline goodness [0,1] 0.9992624248866521 Centerline is valid? [True, True] Translation: X:116.52, Y:-13.15, Z:-2.12 [[ 9.93432633e-01 1.14307181e-01 5.04691331e-03 1.16517037e+02] [-1.14305574e-01 9.93445453e-01 -6.06678767e-04 -1.31507652e+01] [-5.08318081e-03 2.58041612e-05 9.99987080e-01 -2.12430743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.264012739 meters Centerline goodness [0,1] 0.9990757657173562 Centerline is valid? [True, True] Translation: X:116.55, Y:-13.15, Z:-2.12 [[ 9.93278022e-01 1.15516407e-01 7.39807780e-03 1.16548625e+02] [-1.15512972e-01 9.93305572e-01 -8.91460584e-04 -1.31529741e+01] [-7.45153023e-03 3.08942535e-05 9.99972236e-01 -2.12049505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.294012739 meters Centerline goodness [0,1] 0.9988523418721985 Centerline is valid? [True, True] Translation: X:116.58, Y:-13.15, Z:-2.12 [[ 9.93105709e-01 1.16915510e-01 8.47427065e-03 1.16581975e+02] [-1.16911040e-01 9.93141864e-01 -1.02265059e-03 -1.31544989e+01] [-8.53571667e-03 2.48643473e-05 9.99963570e-01 -2.11974998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.324012739 meters Centerline goodness [0,1] 0.9986019100060225 Centerline is valid? [True, True] Translation: X:116.61, Y:-13.16, Z:-2.12 [[ 9.92902066e-01 1.18614239e-01 8.72638027e-03 1.16614582e+02] [-1.18609550e-01 9.92940412e-01 -1.05473283e-03 -1.31554661e+01] [-8.78988196e-03 1.22143647e-05 9.99961368e-01 -2.11902691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.354012739 meters Centerline goodness [0,1] 0.9985663235829072 Centerline is valid? [True, True] Translation: X:116.65, Y:-13.15, Z:-2.12 [[ 9.92441777e-01 1.22534448e-01 6.68043645e-03 1.16646747e+02] [-1.22531785e-01 9.92464261e-01 -8.07947039e-04 -1.31525535e+01] [-6.72909577e-03 -1.67254090e-05 9.99977359e-01 -2.12276119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.384012739 meters Centerline goodness [0,1] 0.9983179321211089 Centerline is valid? [True, True] Translation: X:116.68, Y:-13.15, Z:-2.13 [[ 9.92000569e-01 1.26145730e-01 4.70389880e-03 1.16679970e+02] [-1.26144449e-01 9.92011721e-01 -5.69358006e-04 -1.31488990e+01] [-4.73814482e-03 -2.85672544e-05 9.99988775e-01 -2.12709103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.414012739 meters Centerline goodness [0,1] 0.9977233676975945 Centerline is valid? [True, True] Translation: X:116.71, Y:-13.15, Z:-2.13 [[ 9.91792817e-01 1.27755143e-01 5.06284348e-03 1.16712132e+02] [-1.27753674e-01 9.91805738e-01 -6.13721752e-04 -1.31490352e+01] [-5.09976332e-03 -3.81120316e-05 9.99986995e-01 -2.12690015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444012739 meters Centerline goodness [0,1] 0.9964788732394366 Centerline is valid? [True, True] Translation: X:116.74, Y:-13.15, Z:-2.13 [[ 9.91567202e-01 1.29468893e-01 5.68241044e-03 1.16743450e+02] [-1.29467065e-01 9.91583483e-01 -6.89924888e-04 -1.31492067e+01] [-5.72390815e-03 -5.15781091e-05 9.99983617e-01 -2.12579592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.474012739 meters Centerline goodness [0,1] 0.995714842228282 Centerline is valid? [True, True] Translation: X:116.78, Y:-13.15, Z:-2.13 [[ 9.91277521e-01 1.31663163e-01 5.80413486e-03 1.16775528e+02] [-1.31661288e-01 9.91294511e-01 -7.05601007e-04 -1.31468682e+01] [-5.84650869e-03 -6.47334527e-05 9.99982907e-01 -2.12607557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.504012739 meters Centerline goodness [0,1] 0.9962730524557157 Centerline is valid? [True, True] Translation: X:116.81, Y:-13.15, Z:-2.13 [[ 9.91262748e-01 1.31809831e-01 4.93287652e-03 1.16807871e+02] [-1.31808476e-01 9.91275020e-01 -6.00202986e-04 -1.31489100e+01] [-4.96894992e-03 -5.52360731e-05 9.99987653e-01 -2.12767445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.534012739 meters Centerline goodness [0,1] 0.9970428148973557 Centerline is valid? [True, True] Translation: X:116.84, Y:-13.15, Z:-2.13 [[ 9.91424733e-01 1.30576940e-01 5.16348977e-03 1.16838866e+02] [-1.30575434e-01 9.91438178e-01 -6.29175349e-04 -1.31500764e+01] [-5.20143668e-03 -5.04449151e-05 9.99986471e-01 -2.12789138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.564012739 meters Centerline goodness [0,1] 0.9968045673384176 Centerline is valid? [True, True] Translation: X:116.87, Y:-13.15, Z:-2.13 [[ 9.91536973e-01 1.29654818e-01 6.63768240e-03 1.16871243e+02] [-1.29652300e-01 9.91559189e-01 -8.10107962e-04 -1.31538251e+01] [-6.68668938e-03 -5.73387912e-05 9.99977642e-01 -2.12533957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.594012739 meters Centerline goodness [0,1] 0.9933288715214059 Centerline is valid? [True, True] Translation: X:116.90, Y:-13.16, Z:-2.11 [[ 9.91712365e-01 1.28302189e-01 6.71815313e-03 1.16903291e+02] [-1.28299571e-01 9.91735119e-01 -8.20988340e-04 -1.31584996e+01] [-6.76796299e-03 -4.77518775e-05 9.99977096e-01 -2.11259750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.624012739 meters Centerline goodness [0,1] 0.9982552940919897 Centerline is valid? [True, True] Translation: X:116.94, Y:-13.16, Z:-2.13 [[ 9.91834985e-01 1.27340844e-01 6.90455995e-03 1.16935005e+02] [-1.27338047e-01 9.91859016e-01 -8.44961909e-04 -1.31621838e+01] [-6.95594820e-03 -4.11503961e-05 9.99975806e-01 -2.12543739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.654012739 meters Centerline goodness [0,1] 0.9983413394222691 Centerline is valid? [True, True] Translation: X:116.97, Y:-13.16, Z:-2.13 [[ 9.91978778e-01 1.26270087e-01 5.82827037e-03 1.16967220e+02] [-1.26268072e-01 9.91995899e-01 -7.14007316e-04 -1.31645725e+01] [-5.87177807e-03 -2.76443553e-05 9.99982761e-01 -2.12821135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.684012739 meters Centerline goodness [0,1] 0.999568127834161 Centerline is valid? [True, True] Translation: X:117.00, Y:-13.17, Z:-2.13 [[ 9.92494055e-01 1.22155689e-01 5.79123852e-03 1.16997708e+02] [-1.22153622e-01 9.92510951e-01 -7.10718201e-04 -1.31729049e+01] [-5.83468593e-03 -2.03717203e-06 9.99982978e-01 -2.12844331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.714012739 meters Centerline goodness [0,1] 0.999720406056435 Centerline is valid? [True, True] Translation: X:117.03, Y:-13.18, Z:-2.13 [[ 9.92794962e-01 1.19634272e-01 6.76794939e-03 1.17029929e+02] [-1.19631385e-01 9.92818030e-01 -8.31201177e-04 -1.31816945e+01] [-6.81878233e-03 1.55531796e-05 9.99976752e-01 -2.12744755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.744012739 meters Centerline goodness [0,1] 0.9988744956466341 Centerline is valid? [True, True] Translation: X:117.06, Y:-13.20, Z:-2.13 [[ 9.93401691e-01 1.14446319e-01 7.42425848e-03 1.17060676e+02] [-1.14442689e-01 9.93429432e-01 -9.13260486e-04 -1.31961322e+01] [-7.47999619e-03 5.75824052e-05 9.99972023e-01 -2.12549644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.774012739 meters Centerline goodness [0,1] 0.9957129866193218 Centerline is valid? [True, True] Translation: X:117.09, Y:-13.20, Z:-2.12 [[ 9.93596406e-01 1.12829767e-01 5.96868677e-03 1.17091846e+02] [-1.12827388e-01 9.93614332e-01 -7.34899666e-04 -1.32031271e+01] [-6.01349128e-03 5.67623303e-05 9.99981917e-01 -2.11644027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804012739 meters Centerline goodness [0,1] 0.9980820866896817 Centerline is valid? [True, True] Translation: X:117.12, Y:-13.22, Z:-2.13 [[ 9.93834496e-01 1.10706504e-01 6.08801759e-03 1.17121640e+02] [-1.10703983e-01 9.93853140e-01 -7.50561292e-04 -1.32156128e+01] [-6.13368741e-03 7.19659088e-05 9.99981186e-01 -2.12870006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.834012739 meters Centerline goodness [0,1] 0.9966594323162687 Centerline is valid? [True, True] Translation: X:117.15, Y:-13.23, Z:-2.13 [[ 9.94256935e-01 1.06798113e-01 6.87826253e-03 1.17150649e+02] [-1.06794793e-01 9.94280720e-01 -8.49214427e-04 -1.32337970e+01] [-6.92961832e-03 1.09774713e-04 9.99975984e-01 -2.12745549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.864012739 meters Centerline goodness [0,1] 0.9959319845027981 Centerline is valid? [True, True] Translation: X:117.18, Y:-13.24, Z:-2.13 [[ 9.94410444e-01 1.05272734e-01 8.09447770e-03 1.17182262e+02] [-1.05268075e-01 9.94443378e-01 -1.00071205e-03 -1.32398331e+01] [-8.15484743e-03 1.43028432e-04 9.99966738e-01 -2.12518210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.894012739 meters Centerline goodness [0,1] 0.9950561024891449 Centerline is valid? [True, True] Translation: X:117.21, Y:-13.25, Z:-2.12 [[ 9.94495719e-01 1.04355771e-01 9.38823534e-03 1.17213384e+02] [-1.04349446e-01 9.94540015e-01 -1.16240188e-03 -1.32521470e+01] [-9.45827907e-03 1.76346541e-04 9.99955254e-01 -2.12332749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.924012739 meters Centerline goodness [0,1] 0.9948940793047257 Centerline is valid? [True, True] Translation: X:117.24, Y:-13.26, Z:-2.12 [[ 9.94473249e-01 1.04614387e-01 8.87621202e-03 1.17244626e+02] [-1.04608731e-01 9.94512847e-01 -1.10039626e-03 -1.32606742e+01] [-8.94262416e-03 1.65785373e-04 9.99960000e-01 -2.12416459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95401273899999 meters Centerline goodness [0,1] 0.99633923123856 Centerline is valid? [True, True] Translation: X:117.28, Y:-13.27, Z:-2.13 [[ 9.94442731e-01 1.05065176e-01 6.70548550e-03 1.17276485e+02] [-1.05061953e-01 9.94465331e-01 -8.32104220e-04 -1.32726402e+01] [-6.75579803e-03 1.22988589e-04 9.99977172e-01 -2.12864326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.984012739 meters Centerline goodness [0,1] 0.9968732479406563 Centerline is valid? [True, True] Translation: X:117.31, Y:-13.28, Z:-2.13 [[ 9.94364117e-01 1.05864125e-01 5.72627170e-03 1.17308390e+02] [-1.05861782e-01 9.94380600e-01 -7.11487157e-04 -1.32789537e+01] [-5.76941445e-03 1.01283971e-04 9.99983352e-01 -2.13091511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.014012739 meters Centerline goodness [0,1] 0.9971455139156197 Centerline is valid? [True, True] Translation: X:117.34, Y:-13.28, Z:-2.13 [[ 9.94055723e-01 1.08681943e-01 6.43861146e-03 1.17338937e+02] [-1.08679032e-01 9.94076569e-01 -8.01206522e-04 -1.32836823e+01] [-6.48754948e-03 9.67018637e-05 9.99978951e-01 -2.12883322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.044012739 meters Centerline goodness [0,1] 0.9965244382268077 Centerline is valid? [True, True] Translation: X:117.37, Y:-13.29, Z:-2.13 [[ 9.93818467e-01 1.10743097e-01 7.79872868e-03 1.17371131e+02] [-1.10738880e-01 9.93849061e-01 -9.71864771e-04 -1.32874741e+01] [-7.85838649e-03 1.02234680e-04 9.99969117e-01 -2.12576923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.074012739 meters Centerline goodness [0,1] 0.9971413943169213 Centerline is valid? [True, True] Translation: X:117.40, Y:-13.29, Z:-2.12 [[ 9.93604152e-01 1.12582481e-01 8.71635024e-03 1.17401884e+02] [-1.12577270e-01 9.93642378e-01 -1.08774505e-03 -1.32910442e+01] [-8.78339601e-03 9.95250808e-05 9.99961420e-01 -2.12381618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.104012739 meters Centerline goodness [0,1] 0.9979692799585215 Centerline is valid? [True, True] Translation: X:117.43, Y:-13.29, Z:-2.13 [[ 9.93374177e-01 1.14653066e-01 7.90062101e-03 1.17433249e+02] [-1.14648842e-01 9.93405591e-01 -9.87005055e-04 -1.32933595e+01] [-7.96168424e-03 7.46682876e-05 9.99968303e-01 -2.12669192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.134012739 meters Centerline goodness [0,1] 0.99800153074241 Centerline is valid? [True, True] Translation: X:117.47, Y:-13.30, Z:-2.13 [[ 9.93320217e-01 1.15173050e-01 7.07916047e-03 1.17465985e+02] [-1.15169665e-01 9.93345441e-01 -8.85270342e-04 -1.32972345e+01] [-7.13401106e-03 6.40523888e-05 9.99974551e-01 -2.12945800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164012739 meters Centerline goodness [0,1] 0.9980145175064048 Centerline is valid? [True, True] Translation: X:117.50, Y:-13.30, Z:-2.13 [[ 9.93251447e-01 1.15723504e-01 7.72227821e-03 1.17496999e+02] [-1.15719481e-01 9.93281464e-01 -9.67219729e-04 -1.33034146e+01] [-7.78232586e-03 6.70743670e-05 9.99969715e-01 -2.12776963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.194012739 meters Centerline goodness [0,1] 0.9978644001984598 Centerline is valid? [True, True] Translation: X:117.53, Y:-13.31, Z:-2.13 [[ 9.93181429e-01 1.16271239e-01 8.46451595e-03 1.17529587e+02] [-1.16266412e-01 9.93217496e-01 -1.06173854e-03 -1.33078232e+01] [-8.53055499e-03 7.03600996e-05 9.99963612e-01 -2.12582407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224012739 meters Centerline goodness [0,1] 0.9976399914181506 Centerline is valid? [True, True] Translation: X:117.56, Y:-13.31, Z:-2.12 [[ 9.92822775e-01 1.19241457e-01 9.18757864e-03 1.17561387e+02] [-1.19235882e-01 9.92865284e-01 -1.15415960e-03 -1.33052862e+01] [-9.25965155e-03 5.03868973e-05 9.99957127e-01 -2.12366037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.254012739 meters Centerline goodness [0,1] 0.99804683307935 Centerline is valid? [True, True] Translation: X:117.59, Y:-13.30, Z:-2.12 [[ 9.92475744e-01 1.22071970e-01 9.50432335e-03 1.17592880e+02] [-1.22066120e-01 9.92521251e-01 -1.19536380e-03 -1.33025611e+01] [-9.57916331e-03 2.62137000e-05 9.99954118e-01 -2.12354071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.284012739 meters Centerline goodness [0,1] 0.9966760309665245 Centerline is valid? [True, True] Translation: X:117.63, Y:-13.30, Z:-2.12 [[ 9.92003915e-01 1.25835053e-01 9.68358171e-03 1.17626135e+02] [-1.25829145e-01 9.92051178e-01 -1.21939946e-03 -1.32988638e+01] [-9.76005183e-03 -8.82777008e-06 9.99952370e-01 -2.12461817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.314012739 meters Centerline goodness [0,1] 0.9947533196588578 Centerline is valid? [True, True] Translation: X:117.66, Y:-13.29, Z:-2.13 [[ 9.90987400e-01 1.33700916e-01 8.24855930e-03 1.17659248e+02] [-1.33696891e-01 9.91021725e-01 -1.03999566e-03 -1.32862795e+01] [-8.31354985e-03 -7.21841366e-05 9.99965439e-01 -2.12845657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.344012739 meters Centerline goodness [0,1] 0.9942620132382016 Centerline is valid? [True, True] Translation: X:117.69, Y:-13.28, Z:-2.13 [[ 9.90569075e-01 1.36817015e-01 7.34931292e-03 1.17690999e+02] [-1.36813901e-01 9.90596334e-01 -9.27213685e-04 -1.32795318e+01] [-7.40706104e-03 -8.70189654e-05 9.99972564e-01 -2.13081450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.374012739 meters Centerline goodness [0,1] 0.9930479326747165 Centerline is valid? [True, True] Translation: X:117.72, Y:-13.27, Z:-2.13 [[ 9.89988033e-01 1.40943658e-01 7.65375447e-03 1.17724381e+02] [-1.40940403e-01 9.90017611e-01 -9.65801175e-04 -1.32737759e+01] [-7.71347527e-03 -1.22591632e-04 9.99970243e-01 -2.13067434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.404012739 meters Centerline goodness [0,1] 0.9926905299365796 Centerline is valid? [True, True] Translation: X:117.76, Y:-13.27, Z:-2.13 [[ 9.89832091e-01 1.42013092e-01 8.04440269e-03 1.17756291e+02] [-1.42009528e-01 9.89864770e-01 -1.01549783e-03 -1.32737885e+01] [-8.10708481e-03 -1.37209483e-04 9.99967128e-01 -2.12993997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.434012739 meters Centerline goodness [0,1] 0.9927686396408064 Centerline is valid? [True, True] Translation: X:117.79, Y:-13.27, Z:-2.13 [[ 9.89948770e-01 1.41219831e-01 7.64145114e-03 1.17788691e+02] [-1.41216583e-01 9.89978254e-01 -9.65713277e-04 -1.32748599e+01] [-7.70124832e-03 -1.23092945e-04 9.99970337e-01 -2.13109669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.464012739 meters Centerline goodness [0,1] 0.9936841197646095 Centerline is valid? [True, True] Translation: X:117.82, Y:-13.28, Z:-2.13 [[ 9.90160116e-01 1.39760475e-01 7.06781422e-03 1.17820222e+02] [-1.39757651e-01 9.90185336e-01 -8.94271202e-04 -1.32780641e+01] [-7.12342976e-03 -1.02309437e-04 9.99974623e-01 -2.13301407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.494012739 meters Centerline goodness [0,1] 0.9949679878375195 Centerline is valid? [True, True] Translation: X:117.85, Y:-13.28, Z:-2.14 [[ 9.90429937e-01 1.37872964e-01 6.29166501e-03 1.17852515e+02] [-1.37870682e-01 9.90449918e-01 -7.97067139e-04 -1.32829187e+01] [-6.34147310e-03 -7.79969912e-05 9.99979890e-01 -2.13512499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524012739 meters Centerline goodness [0,1] 0.996332231581192 Centerline is valid? [True, True] Translation: X:117.88, Y:-13.29, Z:-2.14 [[ 9.90852869e-01 1.34791983e-01 6.45862802e-03 1.17884368e+02] [-1.34789510e-01 9.90873916e-01 -8.18688951e-04 -1.32889525e+01] [-6.51003875e-03 -5.93550096e-05 9.99978808e-01 -2.13547319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554012739 meters Centerline goodness [0,1] 0.9961526061257389 Centerline is valid? [True, True] Translation: X:117.92, Y:-13.29, Z:-2.13 [[ 9.90999265e-01 1.33671999e-01 7.22871906e-03 1.17915397e+02] [-1.33668861e-01 9.91025627e-01 -9.17637257e-04 -1.32935191e+01] [-7.28650825e-03 -5.68767963e-05 9.99973451e-01 -2.13413680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584012739 meters Centerline goodness [0,1] 0.9968569029730253 Centerline is valid? [True, True] Translation: X:117.95, Y:-13.30, Z:-2.13 [[ 9.91199303e-01 1.32157009e-01 7.64631998e-03 1.17946706e+02] [-1.32153444e-01 9.91228794e-01 -9.71884936e-04 -1.32971212e+01] [-7.70769394e-03 -4.71558465e-05 9.99970294e-01 -2.13370593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.614012739 meters Centerline goodness [0,1] 0.9969640604622325 Centerline is valid? [True, True] Translation: X:117.98, Y:-13.30, Z:-2.13 [[ 9.91249047e-01 1.31795574e-01 7.43323938e-03 1.17979670e+02] [-1.31792190e-01 9.91276916e-01 -9.45417661e-04 -1.33015615e+01] [-7.49300047e-03 -4.24985413e-05 9.99971926e-01 -2.13481705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.644012739 meters Centerline goodness [0,1] 0.9971389819014115 Centerline is valid? [True, True] Translation: X:118.01, Y:-13.30, Z:-2.13 [[ 9.91322243e-01 1.31184432e-01 8.41754379e-03 1.18011306e+02] [-1.31180056e-01 9.91357979e-01 -1.07231291e-03 -1.33042199e+01] [-8.48546996e-03 -4.12062280e-05 9.99963997e-01 -2.13296390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.674012739 meters Centerline goodness [0,1] 0.9971389819014115 Centerline is valid? [True, True] Translation: X:118.04, Y:-13.31, Z:-2.13 [[ 9.91299576e-01 1.31355619e-01 8.41736489e-03 1.18043524e+02] [-1.31351237e-01 9.91335311e-01 -1.07371541e-03 -1.33085402e+01] [-8.48546960e-03 -4.12576595e-05 9.99963997e-01 -2.13322409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70401273899999 meters Centerline goodness [0,1] 0.9971509361209888 Centerline is valid? [True, True] Translation: X:118.08, Y:-13.31, Z:-2.13 [[ 9.91246431e-01 1.31703207e-01 9.20750610e-03 1.18076806e+02] [-1.31697962e-01 9.91289192e-01 -1.17626765e-03 -1.33124296e+01] [-9.28221951e-03 -4.66386791e-05 9.99956918e-01 -2.13212550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.734012739 meters Centerline goodness [0,1] 0.9973797410310719 Centerline is valid? [True, True] Translation: X:118.11, Y:-13.31, Z:-2.13 [[ 9.91159224e-01 1.32315820e-01 9.79371424e-03 1.18109411e+02] [-1.32309898e-01 9.91207607e-01 -1.25299185e-03 -1.33142274e+01] [-9.87339471e-03 -5.38909013e-05 9.99951255e-01 -2.13203410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.764012739 meters Centerline goodness [0,1] 0.9970267379679144 Centerline is valid? [True, True] Translation: X:118.14, Y:-13.32, Z:-2.13 [[ 9.91147957e-01 1.32433399e-01 9.33396474e-03 1.18140897e+02] [-1.32428014e-01 9.91191905e-01 -1.19536546e-03 -1.33172223e+01] [-9.41005660e-03 -5.12943881e-05 9.99955723e-01 -2.13290431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.794012739 meters Centerline goodness [0,1] 0.9973921851764047 Centerline is valid? [True, True] Translation: X:118.17, Y:-13.32, Z:-2.13 [[ 9.91193882e-01 1.32090288e-01 9.31899243e-03 1.18172912e+02] [-1.32084893e-01 9.91237688e-01 -1.19466665e-03 -1.33204412e+01] [-9.39514037e-03 -4.67518432e-05 9.99955864e-01 -2.13337590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.824012739 meters Centerline goodness [0,1] 0.9979139171527098 Centerline is valid? [True, True] Translation: X:118.20, Y:-13.33, Z:-2.13 [[ 9.91376720e-01 1.30741504e-01 8.88020885e-03 1.18203066e+02] [-1.30736538e-01 9.91416491e-01 -1.13991127e-03 -1.33268232e+01] [-8.95301921e-03 -3.08862657e-05 9.99959920e-01 -2.13422523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.854012739 meters Centerline goodness [0,1] 0.9983176239673878 Centerline is valid? [True, True] Translation: X:118.24, Y:-13.33, Z:-2.13 [[ 9.91561448e-01 1.29334983e-01 8.85195827e-03 1.18235540e+02] [-1.29329981e-01 9.91600959e-01 -1.13758124e-03 -1.33336411e+01] [-8.92473936e-03 -1.68419002e-05 9.99960174e-01 -2.13466846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.884012739 meters Centerline goodness [0,1] 0.9981507266556435 Centerline is valid? [True, True] Translation: X:118.27, Y:-13.34, Z:-2.13 [[ 9.91597254e-01 1.29016801e-01 9.46316376e-03 1.18268393e+02] [-1.29011053e-01 9.91642408e-01 -1.21789790e-03 -1.33387007e+01] [-9.54120378e-03 -1.31885093e-05 9.99954482e-01 -2.13450942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914012739 meters Centerline goodness [0,1] 0.9976652529666281 Centerline is valid? [True, True] Translation: X:118.30, Y:-13.34, Z:-2.13 [[ 9.91447246e-01 1.30093466e-01 1.03946201e-02 1.18300388e+02] [-1.30086568e-01 9.91501734e-01 -1.33995863e-03 -1.33408713e+01] [-1.04806037e-02 -2.37021499e-05 9.99945077e-01 -2.13282662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944012739 meters Centerline goodness [0,1] 0.9966933631073798 Centerline is valid? [True, True] Translation: X:118.33, Y:-13.34, Z:-2.13 [[ 9.91254115e-01 1.31592661e-01 9.93237048e-03 1.18332517e+02] [-1.31586420e-01 9.91303874e-01 -1.28212782e-03 -1.33411852e+01] [-1.00147159e-02 -3.60505940e-05 9.99949851e-01 -2.13345604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974012739 meters Centerline goodness [0,1] 0.9980444826474697 Centerline is valid? [True, True] Translation: X:118.37, Y:-13.34, Z:-2.14 [[ 9.90844143e-01 1.34825543e-01 7.06801110e-03 1.18365252e+02] [-1.34822459e-01 9.90869351e-01 -9.13237738e-04 -1.33377156e+01] [-7.12660335e-03 -4.80503702e-05 9.99974604e-01 -2.14044807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.004012739 meters Centerline goodness [0,1] 0.9978855157831144 Centerline is valid? [True, True] Translation: X:118.40, Y:-13.34, Z:-2.14 [[ 9.90677953e-01 1.36107270e-01 5.65724109e-03 1.18396795e+02] [-1.36105309e-01 9.90694105e-01 -7.31947285e-04 -1.33378692e+01] [-5.70421875e-03 -4.48565110e-05 9.99983730e-01 -2.14354532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.034012739 meters Centerline goodness [0,1] 0.9980989405331511 Centerline is valid? [True, True] Translation: X:118.43, Y:-13.34, Z:-2.15 [[ 9.90617722e-01 1.36583456e-01 4.63550952e-03 1.18427532e+02] [-1.36582144e-01 9.90628567e-01 -5.99906027e-04 -1.33403066e+01] [-4.67400539e-03 -3.88502895e-05 9.99989076e-01 -2.14518933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.064012739 meters Centerline goodness [0,1] 0.9978528671814002 Centerline is valid? [True, True] Translation: X:118.46, Y:-13.34, Z:-2.14 [[ 9.90731520e-01 1.35744773e-01 4.94088525e-03 1.18458044e+02] [-1.35743272e-01 9.90743839e-01 -6.39426329e-04 -1.33431414e+01] [-4.98195040e-03 -3.71921130e-05 9.99987589e-01 -2.14469029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.094012739 meters Centerline goodness [0,1] 0.9978513568681378 Centerline is valid? [True, True] Translation: X:118.49, Y:-13.34, Z:-2.14 [[ 9.90829107e-01 1.35024340e-01 5.10958520e-03 1.18488375e+02] [-1.35022726e-01 9.90842281e-01 -6.61224292e-04 -1.33447206e+01] [-5.15207443e-03 -3.47498453e-05 9.99986727e-01 -2.14457514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.124012739 meters Centerline goodness [0,1] 0.997893527384144 Centerline is valid? [True, True] Translation: X:118.52, Y:-13.34, Z:-2.14 [[ 9.90849342e-01 1.34857321e-01 5.57525963e-03 1.18518968e+02] [-1.34855396e-01 9.90865027e-01 -7.21619851e-04 -1.33390625e+01] [-5.62164550e-03 -3.68372891e-05 9.99984198e-01 -2.14468590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.154012739 meters Centerline goodness [0,1] 0.9974265175039346 Centerline is valid? [True, True] Translation: X:118.55, Y:-13.34, Z:-2.14 [[ 9.90764614e-01 1.35461381e-01 5.97436023e-03 1.18548918e+02] [-1.35459182e-01 9.90782626e-01 -7.73217389e-04 -1.33384207e+01] [-6.02403342e-03 -4.32055195e-05 9.99981854e-01 -2.14369198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.184012739 meters Centerline goodness [0,1] 0.997031491997935 Centerline is valid? [True, True] Translation: X:118.58, Y:-13.34, Z:-2.14 [[ 9.90584895e-01 1.36720265e-01 7.00963403e-03 1.18580179e+02] [-1.36717270e-01 9.90609694e-01 -9.07008745e-04 -1.33377645e+01] [-7.06781789e-03 -5.98688651e-05 9.99975021e-01 -2.14185816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.214012739 meters Centerline goodness [0,1] 0.9974335195289753 Centerline is valid? [True, True] Translation: X:118.61, Y:-13.34, Z:-2.14 [[ 9.90566281e-01 1.36828646e-01 7.50757292e-03 1.18609886e+02] [-1.36825213e-01 9.90594729e-01 -9.71444497e-04 -1.33372831e+01] [-7.56988360e-03 -6.49450991e-05 9.99971346e-01 -2.14140949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.244012739 meters Centerline goodness [0,1] 0.9971560762341356 Centerline is valid? [True, True] Translation: X:118.64, Y:-13.34, Z:-2.14 [[ 9.90724745e-01 1.35593240e-01 8.88551190e-03 1.18639571e+02] [-1.35588382e-01 9.90764588e-01 -1.14961888e-03 -1.33370198e+01] [-8.95933108e-03 -6.58163088e-05 9.99959862e-01 -2.13895002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274012739 meters Centerline goodness [0,1] 0.997638392373524 Centerline is valid? [True, True] Translation: X:118.67, Y:-13.34, Z:-2.14 [[ 9.90982524e-01 1.33649683e-01 9.56026473e-03 1.18669735e+02] [-1.33643970e-01 9.91028637e-01 -1.23681800e-03 -1.33429543e+01] [-9.63979646e-03 -5.20067040e-05 9.99953535e-01 -2.13816787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304012739 meters Centerline goodness [0,1] 0.9977956598039636 Centerline is valid? [True, True] Translation: X:118.70, Y:-13.35, Z:-2.14 [[ 9.91324134e-01 1.31045574e-01 1.01743784e-02 1.18699638e+02] [-1.31038965e-01 9.91376345e-01 -1.31640662e-03 -1.33491611e+01] [-1.02591473e-02 -2.82543696e-05 9.99947373e-01 -2.13715276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.334012739 meters Centerline goodness [0,1] 0.9970117395944503 Centerline is valid? [True, True] Translation: X:118.73, Y:-13.36, Z:-2.14 [[ 9.91985560e-01 1.25804707e-01 1.17398395e-02 1.18730844e+02] [-1.25795526e-01 9.92055026e-01 -1.52015235e-03 -1.33581893e+01] [-1.18378091e-02 3.11498991e-05 9.99929930e-01 -2.13512281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.364012739 meters Centerline goodness [0,1] 0.9965420499771644 Centerline is valid? [True, True] Translation: X:118.76, Y:-13.36, Z:-2.14 [[ 9.92214498e-01 1.23943903e-01 1.21777856e-02 1.18762419e+02] [-1.23933858e-01 9.92289225e-01 -1.57896121e-03 -1.33635573e+01] [-1.22795880e-02 5.74282519e-05 9.99924601e-01 -2.13541647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.394012739 meters Centerline goodness [0,1] 0.9969720232002729 Centerline is valid? [True, True] Translation: X:118.79, Y:-13.37, Z:-2.14 [[ 9.92430728e-01 1.22433427e-01 9.55538139e-03 1.18794150e+02] [-1.22427160e-01 9.92476726e-01 -1.24034436e-03 -1.33697342e+01] [-9.63535326e-03 6.11176526e-05 9.99953577e-01 -2.13871363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.424012739 meters Centerline goodness [0,1] 0.9979813164393858 Centerline is valid? [True, True] Translation: X:118.83, Y:-13.37, Z:-2.14 [[ 9.92452781e-01 1.22383376e-01 7.73224868e-03 1.18826086e+02] [-1.22379261e-01 9.92482900e-01 -1.00486729e-03 -1.33728440e+01] [-7.79710365e-03 5.10164536e-05 9.99969601e-01 -2.14261228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45401273899999 meters Centerline goodness [0,1] 0.998008830404294 Centerline is valid? [True, True] Translation: X:118.86, Y:-13.38, Z:-2.15 [[ 9.92423597e-01 1.22685152e-01 6.61500901e-03 1.18857191e+02] [-1.22682140e-01 9.92445642e-01 -8.60773558e-04 -1.33751051e+01] [-6.67064100e-03 4.27085298e-05 9.99977750e-01 -2.14505662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.484012739 meters Centerline goodness [0,1] 0.9981702329185861 Centerline is valid? [True, True] Translation: X:118.89, Y:-13.38, Z:-2.14 [[ 9.92169975e-01 1.24653542e-01 7.76107729e-03 1.18887827e+02] [-1.24649454e-01 9.92200329e-01 -1.01012650e-03 -1.33757571e+01] [-7.82645929e-03 3.48031463e-05 9.99969372e-01 -2.14400640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.514012739 meters Centerline goodness [0,1] 0.9977020874495318 Centerline is valid? [True, True] Translation: X:118.92, Y:-13.38, Z:-2.14 [[ 9.91827517e-01 1.27192830e-01 1.00080214e-02 1.18917435e+02] [-1.27186162e-01 9.91878008e-01 -1.30254810e-03 -1.33757038e+01] [-1.00924111e-02 1.90212278e-05 9.99949070e-01 -2.13902612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.544012739 meters Centerline goodness [0,1] 0.9981114463715892 Centerline is valid? [True, True] Translation: X:118.95, Y:-13.38, Z:-2.14 [[ 9.91716521e-01 1.28073322e-01 9.77583529e-03 1.18948416e+02] [-1.28067003e-01 9.91764702e-01 -1.27230465e-03 -1.33768624e+01] [-9.85827666e-03 9.80361583e-06 9.99951406e-01 -2.14004814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.574012739 meters Centerline goodness [0,1] 0.9980416209352874 Centerline is valid? [True, True] Translation: X:118.98, Y:-13.38, Z:-2.14 [[ 9.91689545e-01 1.28333190e-01 9.07960463e-03 1.18978478e+02] [-1.28327747e-01 9.91731109e-01 -1.18197675e-03 -1.33792284e+01] [-9.15621321e-03 6.98877865e-06 9.99958081e-01 -2.14168487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.604012739 meters Centerline goodness [0,1] 0.9985327752125318 Centerline is valid? [True, True] Translation: X:119.01, Y:-13.38, Z:-2.14 [[ 9.91756222e-01 1.27893770e-01 7.92334004e-03 1.19008067e+02] [-1.27889611e-01 9.91787872e-01 -1.03153994e-03 -1.33848404e+01] [-7.99020010e-03 9.72328462e-06 9.99968078e-01 -2.14447417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.634012739 meters Centerline goodness [0,1] 0.9982773842079197 Centerline is valid? [True, True] Translation: X:119.04, Y:-13.39, Z:-2.15 [[ 9.91797679e-01 1.27608156e-01 7.31594935e-03 1.19037866e+02] [-1.27604602e-01 9.91824661e-01 -9.52463727e-04 -1.33895989e+01] [-7.37768113e-03 1.11025114e-05 9.99972784e-01 -2.14506120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664012739 meters Centerline goodness [0,1] 0.9985113589782313 Centerline is valid? [True, True] Translation: X:119.07, Y:-13.39, Z:-2.15 [[ 9.91667718e-01 1.28648274e-01 6.69020976e-03 1.19067575e+02] [-1.28645325e-01 9.91690285e-01 -8.71013685e-04 -1.33896789e+01] [-6.74667043e-03 3.09194124e-06 9.99977241e-01 -2.14555623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.694012739 meters Centerline goodness [0,1] 0.9982874485150661 Centerline is valid? [True, True] Translation: X:119.10, Y:-13.39, Z:-2.14 [[ 9.91471795e-01 1.30148765e-01 6.70664629e-03 1.19097212e+02] [-1.30145837e-01 9.91494478e-01 -8.73087017e-04 -1.33896154e+01] [-6.76323396e-03 -7.20094083e-06 9.99977129e-01 -2.14491323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724012739 meters Centerline goodness [0,1] 0.9980500974951253 Centerline is valid? [True, True] Translation: X:119.13, Y:-13.38, Z:-2.14 [[ 9.90872823e-01 1.34621548e-01 6.93448051e-03 1.19127648e+02] [-1.34618528e-01 9.90897087e-01 -9.02574146e-04 -1.33843870e+01] [-6.99286246e-03 -3.91733632e-05 9.99975549e-01 -2.14472728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.754012739 meters Centerline goodness [0,1] 0.9974057980413775 Centerline is valid? [True, True] Translation: X:119.16, Y:-13.38, Z:-2.14 [[ 9.90666605e-01 1.36110963e-01 7.31321970e-03 1.19156742e+02] [-1.36107646e-01 9.90693597e-01 -9.51700015e-04 -1.33837281e+01] [-7.37469673e-03 -5.25676912e-05 9.99972805e-01 -2.14429350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.784012739 meters Centerline goodness [0,1] 0.9975466460068436 Centerline is valid? [True, True] Translation: X:119.18, Y:-13.38, Z:-2.14 [[ 9.90556068e-01 1.36877234e-01 7.95610092e-03 1.19184922e+02] [-1.36873336e-01 9.90588017e-01 -1.03494878e-03 -1.33833798e+01] [-8.02287916e-03 -6.38032827e-05 9.99967814e-01 -2.14365018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.814012739 meters Centerline goodness [0,1] 0.9974403276380623 Centerline is valid? [True, True] Translation: X:119.21, Y:-13.39, Z:-2.14 [[ 9.90807044e-01 1.34956813e-01 9.38405988e-03 1.19212906e+02] [-1.34951310e-01 9.90851480e-01 -1.22001018e-03 -1.33856786e+01] [-9.46285831e-03 -5.75965031e-05 9.99955224e-01 -2.14211321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.844012739 meters Centerline goodness [0,1] 0.9979826161605323 Centerline is valid? [True, True] Translation: X:119.24, Y:-13.40, Z:-2.14 [[ 9.91507972e-01 1.29746765e-01 8.81580724e-03 1.19241462e+02] [-1.29741707e-01 9.91547163e-01 -1.14567297e-03 -1.33968414e+01] [-8.88993602e-03 -7.83399850e-06 9.99960484e-01 -2.14182689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.874012739 meters Centerline goodness [0,1] 0.9979306330969369 Centerline is valid? [True, True] Translation: X:119.27, Y:-13.40, Z:-2.14 [[ 9.91862523e-01 1.27031223e-01 8.47371527e-03 1.19270680e+02] [-1.27026453e-01 9.91898719e-01 -1.10102589e-03 -1.34049109e+01] [-8.54493199e-03 1.56803238e-05 9.99963491e-01 -2.14218443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.904012739 meters Centerline goodness [0,1] 0.9977804594233505 Centerline is valid? [True, True] Translation: X:119.30, Y:-13.41, Z:-2.14 [[ 9.92153821e-01 1.24770860e-01 7.93897637e-03 1.19299997e+02] [-1.24766601e-01 9.92185583e-01 -1.03137262e-03 -1.34121520e+01] [-8.00562315e-03 3.27611902e-05 9.99967954e-01 -2.14305909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.934012739 meters Centerline goodness [0,1] 0.9966914450221287 Centerline is valid? [True, True] Translation: X:119.33, Y:-13.42, Z:-2.14 [[ 9.92405643e-01 1.22731126e-01 8.25288278e-03 1.19329534e+02] [-1.22726455e-01 9.92439957e-01 -1.07205757e-03 -1.34184449e+01] [-8.32206546e-03 5.10689350e-05 9.99965370e-01 -2.14317693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.964012739 meters Centerline goodness [0,1] 0.9965418243507764 Centerline is valid? [True, True] Translation: X:119.36, Y:-13.42, Z:-2.14 [[ 9.92336018e-01 1.23284304e-01 8.37899042e-03 1.19359227e+02] [-1.23279509e-01 9.92371391e-01 -1.08843389e-03 -1.34216360e+01] [-8.44925719e-03 4.71343345e-05 9.99964303e-01 -2.14320564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.994012739 meters Centerline goodness [0,1] 0.9978552278820375 Centerline is valid? [True, True] Translation: X:119.39, Y:-13.42, Z:-2.14 [[ 9.91854364e-01 1.27131729e-01 7.90222706e-03 1.19388464e+02] [-1.27127586e-01 9.91885842e-01 -1.02641600e-03 -1.34193914e+01] [-7.96859718e-03 1.34641451e-05 9.99968250e-01 -2.14444127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024012739 meters Centerline goodness [0,1] 0.9982867544705001 Centerline is valid? [True, True] Translation: X:119.42, Y:-13.42, Z:-2.15 [[ 9.91576834e-01 1.29321273e-01 7.16869400e-03 1.19418653e+02] [-1.29317923e-01 9.91602747e-01 -9.30910418e-04 -1.34197704e+01] [-7.22888319e-03 -3.97141301e-06 9.99973871e-01 -2.14603406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.054012739 meters Centerline goodness [0,1] 0.9982370899084146 Centerline is valid? [True, True] Translation: X:119.45, Y:-13.42, Z:-2.15 [[ 9.91338002e-01 1.31192225e-01 6.12918155e-03 1.19447355e+02] [-1.31189811e-01 9.91356949e-01 -7.95846135e-04 -1.34205997e+01] [-6.18061554e-03 -1.51336545e-05 9.99980900e-01 -2.14797025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084012739 meters Centerline goodness [0,1] 0.99875392085249 Centerline is valid? [True, True] Translation: X:119.48, Y:-13.42, Z:-2.15 [[ 9.91122323e-01 1.32860936e-01 4.95103115e-03 1.19475644e+02] [-1.32859383e-01 9.91134689e-01 -6.42744507e-04 -1.34224950e+01] [-4.99253435e-03 -2.07525134e-05 9.99987537e-01 -2.15064311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.114012739 meters Centerline goodness [0,1] 0.9984167058924216 Centerline is valid? [True, True] Translation: X:119.50, Y:-13.43, Z:-2.15 [[ 9.91106820e-01 1.32938223e-01 5.89072523e-03 1.19503319e+02] [-1.32936029e-01 9.91124325e-01 -7.64284073e-04 -1.34283654e+01] [-5.94004364e-03 -2.56024637e-05 9.99982357e-01 -2.14974398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.144012739 meters Centerline goodness [0,1] 0.99796643548249 Centerline is valid? [True, True] Translation: X:119.53, Y:-13.43, Z:-2.15 [[ 9.91127424e-01 1.32744221e-01 6.73807560e-03 1.19531716e+02] [-1.32741348e-01 9.91150327e-01 -8.73728702e-04 -1.34336051e+01] [-6.79442827e-03 -2.84447640e-05 9.99976917e-01 -2.14887386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.174012739 meters Centerline goodness [0,1] 0.9983542302778319 Centerline is valid? [True, True] Translation: X:119.56, Y:-13.44, Z:-2.15 [[ 9.91100088e-01 1.32934923e-01 6.99438185e-03 1.19560672e+02] [-1.32931835e-01 9.91124768e-01 -9.06616306e-04 -1.34378021e+01] [-7.05282605e-03 -3.12285145e-05 9.99975128e-01 -2.14854836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20401273899999 meters Centerline goodness [0,1] 0.9982074595598557 Centerline is valid? [True, True] Translation: X:119.59, Y:-13.44, Z:-2.15 [[ 9.90709236e-01 1.35880059e-01 5.64093431e-03 1.19590028e+02] [-1.35878099e-01 9.90725294e-01 -7.30986219e-04 -1.34382992e+01] [-5.68794275e-03 -4.22846336e-05 9.99983823e-01 -2.15063227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.234012739 meters Centerline goodness [0,1] 0.9979594075699396 Centerline is valid? [True, True] Translation: X:119.62, Y:-13.44, Z:-2.15 [[ 9.90474248e-01 1.37608344e-01 4.97077062e-03 1.19618656e+02] [-1.37606845e-01 9.90486719e-01 -6.43950665e-04 -1.34407673e+01] [-5.01209527e-03 -4.61955139e-05 9.99987438e-01 -2.15199481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.264012739 meters Centerline goodness [0,1] 0.9967918555907264 Centerline is valid? [True, True] Translation: X:119.65, Y:-13.44, Z:-2.15 [[ 9.90037014e-01 1.40731575e-01 4.61901277e-03 1.19646813e+02] [-1.40730315e-01 9.90047787e-01 -5.98219558e-04 -1.34398641e+01] [-4.65723175e-03 -5.77756178e-05 9.99989153e-01 -2.15272831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.294012739 meters Centerline goodness [0,1] 0.9965798080417263 Centerline is valid? [True, True] Translation: X:119.68, Y:-13.44, Z:-2.15 [[ 9.89909462e-01 1.41593444e-01 5.52755687e-03 1.19675037e+02] [-1.41591656e-01 9.89924892e-01 -7.15444328e-04 -1.34418886e+01] [-5.57316836e-03 -7.44308232e-05 9.99984467e-01 -2.15136625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.324012739 meters Centerline goodness [0,1] 0.9958659194067381 Centerline is valid? [True, True] Translation: X:119.70, Y:-13.44, Z:-2.15 [[ 9.89783819e-01 1.42401679e-01 7.05354833e-03 1.19702526e+02] [-1.42398792e-01 9.89808947e-01 -9.12416111e-04 -1.34433882e+01] [-7.11159483e-03 -1.01322058e-04 9.99974707e-01 -2.14825109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.354012739 meters Centerline goodness [0,1] 0.9954348664752025 Centerline is valid? [True, True] Translation: X:119.73, Y:-13.45, Z:-2.15 [[ 9.89499441e-01 1.44287220e-01 8.48849447e-03 1.19730956e+02] [-1.44283114e-01 9.89535840e-01 -1.09738442e-03 -1.34454538e+01] [-8.55800806e-03 -1.38885142e-04 9.99963370e-01 -2.14539903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.384012739 meters Centerline goodness [0,1] 0.9947304157830473 Centerline is valid? [True, True] Translation: X:119.76, Y:-13.45, Z:-2.15 [[ 9.89408038e-01 1.44918366e-01 8.39051151e-03 1.19758315e+02] [-1.44914380e-01 9.89443605e-01 -1.08431086e-03 -1.34468130e+01] [-8.45907451e-03 -1.43079892e-04 9.99964211e-01 -2.14666333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.414012739 meters Centerline goodness [0,1] 0.9950175662727563 Centerline is valid? [True, True] Translation: X:119.79, Y:-13.45, Z:-2.15 [[ 9.89469120e-01 1.44557151e-01 7.35459612e-03 1.19785895e+02] [-1.44554082e-01 9.89496445e-01 -9.49981377e-04 -1.34480265e+01] [-7.41467332e-03 -1.23159656e-04 9.99972503e-01 -2.14897250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444012739 meters Centerline goodness [0,1] 0.9955242012830623 Centerline is valid? [True, True] Translation: X:119.81, Y:-13.45, Z:-2.15 [[ 9.89577258e-01 1.43824083e-01 7.17527555e-03 1.19814569e+02] [-1.43821145e-01 9.89603264e-01 -9.26368338e-04 -1.34525999e+01] [-7.23391018e-03 -1.15243308e-04 9.99973828e-01 -2.14956152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.474012739 meters Centerline goodness [0,1] 0.996044371829048 Centerline is valid? [True, True] Translation: X:119.84, Y:-13.46, Z:-2.15 [[ 9.89805112e-01 1.42259558e-01 6.93239902e-03 1.19842640e+02] [-1.42256780e-01 9.89829383e-01 -8.94701825e-04 -1.34591274e+01] [-6.98917213e-03 -1.00600320e-04 9.99975570e-01 -2.14920648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.504012739 meters Centerline goodness [0,1] 0.9963512266317529 Centerline is valid? [True, True] Translation: X:119.87, Y:-13.46, Z:-2.15 [[ 9.89917970e-01 1.41467760e-01 7.02036621e-03 1.19870127e+02] [-1.41464893e-01 9.89942859e-01 -9.05728225e-04 -1.34613444e+01] [-7.07789273e-03 -9.65387096e-05 9.99974947e-01 -2.14928802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.534012739 meters Centerline goodness [0,1] 0.9959024348163644 Centerline is valid? [True, True] Translation: X:119.90, Y:-13.46, Z:-2.15 [[ 9.89991685e-01 1.40934606e-01 7.34165522e-03 1.19897706e+02] [-1.40931460e-01 9.90018903e-01 -9.46724720e-04 -1.34644275e+01] [-7.40180372e-03 -9.74205849e-05 9.99972602e-01 -2.14956641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.564012739 meters Centerline goodness [0,1] 0.9959214501510574 Centerline is valid? [True, True] Translation: X:119.93, Y:-13.47, Z:-2.15 [[ 9.90086676e-01 1.40191732e-01 8.64018993e-03 1.19925962e+02] [-1.40187351e-01 9.90124369e-01 -1.11357842e-03 -1.34703395e+01] [-8.71097709e-03 -1.08706180e-04 9.99962053e-01 -2.14715037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.594012739 meters Centerline goodness [0,1] 0.9959214501510574 Centerline is valid? [True, True] Translation: X:119.95, Y:-13.47, Z:-2.15 [[ 9.90093098e-01 1.40146367e-01 8.64024071e-03 1.19954071e+02] [-1.40141988e-01 9.90130791e-01 -1.11318433e-03 -1.34738684e+01] [-8.71097711e-03 -1.08704386e-04 9.99962053e-01 -2.14737706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.624012739 meters Centerline goodness [0,1] 0.9957419492885418 Centerline is valid? [True, True] Translation: X:119.98, Y:-13.48, Z:-2.15 [[ 9.90051617e-01 1.40431844e-01 8.75747047e-03 1.19982884e+02] [-1.40427361e-01 9.90090341e-01 -1.12787472e-03 -1.34776145e+01] [-8.82907645e-03 -1.13134277e-04 9.99961017e-01 -2.14645675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.654012739 meters Centerline goodness [0,1] 0.9958406965217016 Centerline is valid? [True, True] Translation: X:120.01, Y:-13.48, Z:-2.15 [[ 9.89808244e-01 1.42185059e-01 7.94039052e-03 1.20011745e+02] [-1.42181432e-01 9.89840086e-01 -1.02230540e-03 -1.34753930e+01] [-8.00507339e-03 -1.17089786e-04 9.99967952e-01 -2.14810419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.684012739 meters Centerline goodness [0,1] 0.9957254910342175 Centerline is valid? [True, True] Translation: X:120.04, Y:-13.47, Z:-2.15 [[ 9.89594803e-01 1.43687447e-01 7.48623321e-03 1.20039977e+02] [-1.43684269e-01 9.89623111e-01 -9.63421758e-04 -1.34736411e+01] [-7.54698102e-03 -1.22256784e-04 9.99971514e-01 -2.14898470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.714012739 meters Centerline goodness [0,1] 0.9956238220065426 Centerline is valid? [True, True] Translation: X:120.07, Y:-13.48, Z:-2.15 [[ 9.89413147e-01 1.44940800e-01 7.33416975e-03 1.20068293e+02] [-1.44937787e-01 9.89440320e-01 -9.43435678e-04 -1.34757030e+01] [-7.39346559e-03 -1.29550671e-04 9.99972660e-01 -2.15007793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.744012739 meters Centerline goodness [0,1] 0.9950091427342154 Centerline is valid? [True, True] Translation: X:120.10, Y:-13.47, Z:-2.15 [[ 9.89216675e-01 1.46309401e-01 6.62790076e-03 1.20096062e+02] [-1.46306974e-01 9.89238871e-01 -8.52234386e-04 -1.34736965e+01] [-6.68126697e-03 -1.26663639e-04 9.99977672e-01 -2.15194251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.774012739 meters Centerline goodness [0,1] 0.9954298893776962 Centerline is valid? [True, True] Translation: X:120.12, Y:-13.47, Z:-2.15 [[ 9.89225356e-01 1.46288609e-01 5.73042690e-03 1.20124982e+02] [-1.46286796e-01 9.89241948e-01 -7.36563382e-04 -1.34723085e+01] [-5.77652950e-03 -1.09658619e-04 9.99983310e-01 -2.15320748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804012739 meters Centerline goodness [0,1] 0.995605815831987 Centerline is valid? [True, True] Translation: X:120.15, Y:-13.48, Z:-2.15 [[ 9.89248504e-01 1.46115990e-01 6.12490264e-03 1.20154070e+02] [-1.46113917e-01 9.89267458e-01 -7.86961287e-04 -1.34759163e+01] [-6.17415449e-03 -1.16433242e-04 9.99980933e-01 -2.15274506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.834012739 meters Centerline goodness [0,1] 0.9954389226346166 Centerline is valid? [True, True] Translation: X:120.18, Y:-13.48, Z:-2.15 [[ 9.89282998e-01 1.45864132e-01 6.54255111e-03 1.20182845e+02] [-1.45861763e-01 9.89304624e-01 -8.40283406e-04 -1.34776646e+01] [-6.59514328e-03 -1.23029954e-04 9.99978244e-01 -2.15204018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.864012739 meters Centerline goodness [0,1] 0.9957649776484931 Centerline is valid? [True, True] Translation: X:120.21, Y:-13.47, Z:-2.15 [[ 9.89244936e-01 1.46119235e-01 6.60494253e-03 1.20211984e+02] [-1.46116829e-01 9.89266978e-01 -8.47977082e-04 -1.34747664e+01] [-6.65795730e-03 -1.26236224e-04 9.99977828e-01 -2.15169117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.894012739 meters Centerline goodness [0,1] 0.995673232160155 Centerline is valid? [True, True] Translation: X:120.24, Y:-13.47, Z:-2.15 [[ 9.89261300e-01 1.46016595e-01 6.42138146e-03 1.20239731e+02] [-1.46014321e-01 9.89282133e-01 -8.24162421e-04 -1.34723598e+01] [-6.47289934e-03 -1.22301663e-04 9.99979043e-01 -2.15253311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.924012739 meters Centerline goodness [0,1] 0.995790791547046 Centerline is valid? [True, True] Translation: X:120.27, Y:-13.47, Z:-2.15 [[ 9.89359913e-01 1.45338364e-01 6.61230175e-03 1.20268719e+02] [-1.45335941e-01 9.89382002e-01 -8.48034129e-04 -1.34700073e+01] [-6.66534423e-03 -1.21994122e-04 9.99977779e-01 -2.15160500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95401273899999 meters Centerline goodness [0,1] 0.9944403024816274 Centerline is valid? [True, True] Translation: X:120.30, Y:-13.46, Z:-2.15 [[ 9.89434507e-01 1.44819750e-01 6.82612480e-03 1.20297116e+02] [-1.44817158e-01 9.89458046e-01 -8.75125443e-04 -1.34644753e+01] [-6.88089956e-03 -1.22660682e-04 9.99976319e-01 -2.15126452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.984012739 meters Centerline goodness [0,1] 0.994795428474317 Centerline is valid? [True, True] Translation: X:120.33, Y:-13.47, Z:-2.15 [[ 9.89538008e-01 1.44102279e-01 7.00458001e-03 1.20325656e+02] [-1.44099535e-01 9.89562792e-01 -8.97549733e-04 -1.34651927e+01] [-7.06081071e-03 -1.21197147e-04 9.99975065e-01 -2.15120311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.014012739 meters Centerline goodness [0,1] 0.996277408387666 Centerline is valid? [True, True] Translation: X:120.35, Y:-13.47, Z:-2.15 [[ 9.89959815e-01 1.41183728e-01 6.83516453e-03 1.20354121e+02] [-1.41181047e-01 9.89983407e-01 -8.75555903e-04 -1.34707144e+01] [-6.89031372e-03 -9.82305251e-05 9.99976257e-01 -2.15165786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.044012739 meters Centerline goodness [0,1] 0.9964958577577816 Centerline is valid? [True, True] Translation: X:120.38, Y:-13.48, Z:-2.15 [[ 9.90346385e-01 1.38469759e-01 6.33748613e-03 1.20382596e+02] [-1.38467400e-01 9.90366660e-01 -8.11531713e-04 -1.34761023e+01] [-6.38880757e-03 -7.38377309e-05 9.99979589e-01 -2.15258921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.074012739 meters Centerline goodness [0,1] 0.9977918792608155 Centerline is valid? [True, True] Translation: X:120.41, Y:-13.48, Z:-2.15 [[ 9.91232836e-01 1.31983065e-01 6.15915568e-03 1.20409819e+02] [-1.31980714e-01 9.91251971e-01 -7.88429332e-04 -1.34830551e+01] [-6.20933452e-03 -3.13727197e-05 9.99980721e-01 -2.15286530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.104012739 meters Centerline goodness [0,1] 0.997916308644097 Centerline is valid? [True, True] Translation: X:120.44, Y:-13.49, Z:-2.15 [[ 9.91697574e-01 1.28432920e-01 6.39578052e-03 1.20438488e+02] [-1.28430314e-01 9.91718198e-01 -8.18297664e-04 -1.34894504e+01] [-6.44790829e-03 -9.90829113e-06 9.99979212e-01 -2.15291681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.134012739 meters Centerline goodness [0,1] 0.9960075555937151 Centerline is valid? [True, True] Translation: X:120.47, Y:-13.50, Z:-2.15 [[ 9.92598753e-01 1.21233505e-01 7.08182845e-03 1.20465969e+02] [-1.21230129e-01 9.92624015e-01 -9.05699019e-04 -1.35022817e+01] [-7.13939406e-03 4.04647411e-05 9.99974513e-01 -2.15223816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164012739 meters Centerline goodness [0,1] 0.9942381981274144 Centerline is valid? [True, True] Translation: X:120.49, Y:-13.51, Z:-2.15 [[ 9.93025241e-01 1.17675574e-01 7.30278514e-03 1.20494068e+02] [-1.17671890e-01 9.93052091e-01 -9.33602807e-04 -1.35102010e+01] [-7.36190830e-03 6.77586235e-05 9.99972898e-01 -2.15189910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.194012739 meters Centerline goodness [0,1] 0.9925828215552288 Centerline is valid? [True, True] Translation: X:120.52, Y:-13.52, Z:-2.15 [[ 9.93637118e-01 1.12458079e-01 6.20147072e-03 1.20520705e+02] [-1.12455323e-01 9.93656466e-01 -7.92564944e-04 -1.35228377e+01] [-6.25126181e-03 9.01335556e-05 9.99980457e-01 -2.15372126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224012739 meters Centerline goodness [0,1] 0.9924451140766251 Centerline is valid? [True, True] Translation: X:120.55, Y:-13.53, Z:-2.15 [[ 9.93851454e-01 1.10567654e-01 5.83793654e-03 1.20548643e+02] [-1.10565180e-01 9.93868595e-01 -7.45817877e-04 -1.35302098e+01] [-5.88460512e-03 9.57596790e-05 9.99982681e-01 -2.15466433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.254012739 meters Centerline goodness [0,1] 0.990999099909991 Centerline is valid? [True, True] Translation: X:120.58, Y:-13.54, Z:-2.15 [[ 9.94109042e-01 1.08178892e-01 6.67389207e-03 1.20577342e+02] [-1.08175607e-01 9.94131436e-01 -8.52325388e-04 -1.35400961e+01] [-6.72692952e-03 1.25352048e-04 9.99977366e-01 -2.15260734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.284012739 meters Centerline goodness [0,1] 0.9907861749769654 Centerline is valid? [True, True] Translation: X:120.61, Y:-13.55, Z:-2.15 [[ 9.94192639e-01 1.07390493e-01 6.94834328e-03 1.20606138e+02] [-1.07386914e-01 9.94216910e-01 -8.87207007e-04 -1.35462853e+01] [-7.00343798e-03 1.35893535e-04 9.99975466e-01 -2.15251147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.314012739 meters Centerline goodness [0,1] 0.9911310584748857 Centerline is valid? [True, True] Translation: X:120.64, Y:-13.55, Z:-2.15 [[ 9.94271245e-01 1.06700106e-01 6.30709253e-03 1.20635132e+02] [-1.06697144e-01 9.94291241e-01 -8.05199919e-04 -1.35502089e+01] [-6.35700178e-03 1.27638364e-04 9.99979786e-01 -2.15320406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.344012739 meters Centerline goodness [0,1] 0.9915162766600466 Centerline is valid? [True, True] Translation: X:120.66, Y:-13.56, Z:-2.16 [[ 9.94347063e-01 1.06056450e-01 5.09395649e-03 1.20662530e+02] [-1.06054510e-01 9.94360105e-01 -6.50271641e-04 -1.35586183e+01] [-5.13419261e-03 1.06358639e-04 9.99986814e-01 -2.15508630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.374012739 meters Centerline goodness [0,1] 0.99155185859111 Centerline is valid? [True, True] Translation: X:120.69, Y:-13.56, Z:-2.15 [[ 9.94375969e-01 1.05778743e-01 5.22398533e-03 1.20692154e+02] [-1.05776700e-01 9.94389685e-01 -6.66645083e-04 -1.35638802e+01] [-5.26519401e-03 1.10319923e-04 9.99986133e-01 -2.15445335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.404012739 meters Centerline goodness [0,1] 0.9910131593024499 Centerline is valid? [True, True] Translation: X:120.72, Y:-13.57, Z:-2.15 [[ 9.94383694e-01 1.05644778e-01 6.34424001e-03 1.20721459e+02] [-1.05641763e-01 9.94403923e-01 -8.09413210e-04 -1.35712914e+01] [-6.39424744e-03 1.34650598e-04 9.99979548e-01 -2.15233492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.434012739 meters Centerline goodness [0,1] 0.9904859861146824 Centerline is valid? [True, True] Translation: X:120.75, Y:-13.58, Z:-2.15 [[ 9.94353290e-01 1.05890039e-01 6.98811462e-03 1.20749901e+02] [-1.05886388e-01 9.94377835e-01 -8.91385957e-04 -1.35782831e+01] [-7.04321518e-03 1.46406342e-04 9.99975186e-01 -2.15217970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.464012739 meters Centerline goodness [0,1] 0.9914914699293469 Centerline is valid? [True, True] Translation: X:120.78, Y:-13.58, Z:-2.15 [[ 9.94274206e-01 1.06625229e-01 7.06146922e-03 1.20779742e+02] [-1.06621522e-01 9.94299271e-01 -9.00487895e-04 -1.35826193e+01] [-7.11722842e-03 1.42427293e-04 9.99974662e-01 -2.15178090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.494012739 meters Centerline goodness [0,1] 0.9909221623709681 Centerline is valid? [True, True] Translation: X:120.81, Y:-13.59, Z:-2.15 [[ 9.94046180e-01 1.08745715e-01 6.82353536e-03 1.20807833e+02] [-1.08742305e-01 9.94069592e-01 -8.69918044e-04 -1.35871715e+01] [-6.87766887e-03 1.22731747e-04 9.99976341e-01 -2.15199849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524012739 meters Centerline goodness [0,1] 0.9923987216031788 Centerline is valid? [True, True] Translation: X:120.84, Y:-13.59, Z:-2.15 [[ 9.93615522e-01 1.12607792e-01 6.90502598e-03 1.20838356e+02] [-1.12604395e-01 9.93639510e-01 -8.80036618e-04 -1.35863548e+01] [-6.96020561e-03 9.68817701e-05 9.99975773e-01 -2.15151759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.554012739 meters Centerline goodness [0,1] 0.9929351316634554 Centerline is valid? [True, True] Translation: X:120.87, Y:-13.59, Z:-2.15 [[ 9.93415106e-01 1.14334528e-01 7.35135062e-03 1.20866527e+02] [-1.14330725e-01 9.93442302e-01 -9.36840790e-04 -1.35891284e+01] [-7.41025593e-03 9.01865474e-05 9.99972540e-01 -2.15133212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584012739 meters Centerline goodness [0,1] 0.9924790966296009 Centerline is valid? [True, True] Translation: X:120.89, Y:-13.59, Z:-2.15 [[ 9.93274069e-01 1.15527444e-01 7.74817532e-03 1.20894593e+02] [-1.15523258e-01 9.93304285e-01 -9.87120939e-04 -1.35946765e+01] [-7.81033530e-03 8.53871771e-05 9.99969495e-01 -2.15138922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.614012739 meters Centerline goodness [0,1] 0.9936455281750819 Centerline is valid? [True, True] Translation: X:120.92, Y:-13.60, Z:-2.15 [[ 9.93243410e-01 1.15827946e-01 7.17046367e-03 1.20923864e+02] [-1.15824371e-01 9.93269289e-01 -9.13272099e-04 -1.35975872e+01] [-7.22798379e-03 7.65870483e-05 9.99973875e-01 -2.15297360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.644012739 meters Centerline goodness [0,1] 0.9934035238504513 Centerline is valid? [True, True] Translation: X:120.95, Y:-13.60, Z:-2.15 [[ 9.93329146e-01 1.15122369e-01 6.63683843e-03 1.20952746e+02] [-1.15119291e-01 9.93351315e-01 -8.45250352e-04 -1.36036050e+01] [-6.69001940e-03 7.55836760e-05 9.99977619e-01 -2.15344261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.674012739 meters Centerline goodness [0,1] 0.9924240784432563 Centerline is valid? [True, True] Translation: X:120.98, Y:-13.61, Z:-2.15 [[ 9.93675530e-01 1.12066360e-01 7.07612361e-03 1.20982155e+02] [-1.12062785e-01 9.93700720e-01 -9.00992094e-04 -1.36143532e+01] [-7.13252003e-03 1.02323680e-04 9.99974558e-01 -2.15268217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70401273899999 meters Centerline goodness [0,1] 0.9907238378263639 Centerline is valid? [True, True] Translation: X:121.01, Y:-13.63, Z:-2.15 [[ 9.93852923e-01 1.10452372e-01 7.52603751e-03 1.21010849e+02] [-1.10448281e-01 9.93881411e-01 -9.58278949e-04 -1.36251650e+01] [-7.58583296e-03 1.21150426e-04 9.99971220e-01 -2.15237621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.734012739 meters Centerline goodness [0,1] 0.9909169177787344 Centerline is valid? [True, True] Translation: X:121.04, Y:-13.64, Z:-2.15 [[ 9.94132713e-01 1.07910119e-01 7.45358975e-03 1.21041188e+02] [-1.07906036e-01 9.94160644e-01 -9.49042938e-04 -1.36363648e+01] [-7.51247692e-03 1.39187309e-04 9.99971771e-01 -2.15288322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.764012739 meters Centerline goodness [0,1] 0.9908687599603738 Centerline is valid? [True, True] Translation: X:121.07, Y:-13.64, Z:-2.15 [[ 9.94193517e-01 1.07365171e-01 7.20912549e-03 1.21072360e+02] [-1.07361335e-01 9.94219644e-01 -9.18078933e-04 -1.36431968e+01] [-7.26602388e-03 1.38766785e-04 9.99973592e-01 -2.15322234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.794012739 meters Centerline goodness [0,1] 0.9888195527821113 Centerline is valid? [True, True] Translation: X:121.10, Y:-13.65, Z:-2.15 [[ 9.94195257e-01 1.07406245e-01 6.29989140e-03 1.21103799e+02] [-1.07403316e-01 9.94215210e-01 -8.02412133e-04 -1.36483273e+01] [-6.34963193e-03 1.21125110e-04 9.99979834e-01 -2.14540807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.824012739 meters Centerline goodness [0,1] 0.9906340997001174 Centerline is valid? [True, True] Translation: X:121.13, Y:-13.66, Z:-2.16 [[ 9.94206559e-01 1.07314205e-01 6.08101762e-03 1.21133816e+02] [-1.07311475e-01 9.94225149e-01 -7.74427889e-04 -1.36561964e+01] [-6.12900776e-03 1.17378318e-04 9.99981211e-01 -2.15532696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.854012739 meters Centerline goodness [0,1] 0.9914486170643806 Centerline is valid? [True, True] Translation: X:121.16, Y:-13.66, Z:-2.16 [[ 9.93963808e-01 1.09556541e-01 5.77164131e-03 1.21163801e+02] [-1.09554112e-01 9.93980560e-01 -7.36197479e-04 -1.36625931e+01] [-5.81755451e-03 9.94466098e-05 9.99983073e-01 -2.15671807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.884012739 meters Centerline goodness [0,1] 0.991307161345988 Centerline is valid? [True, True] Translation: X:121.19, Y:-13.67, Z:-2.16 [[ 9.93796046e-01 1.11058386e-01 5.95437333e-03 1.21193530e+02] [-1.11055828e-01 9.93813879e-01 -7.59602366e-04 -1.36666404e+01] [-6.00189907e-03 9.36219660e-05 9.99981984e-01 -2.15730262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.914012739 meters Centerline goodness [0,1] 0.991824513717829 Centerline is valid? [True, True] Translation: X:121.22, Y:-13.67, Z:-2.16 [[ 9.93509276e-01 1.13578736e-01 6.26008035e-03 1.21224646e+02] [-1.13575958e-01 9.93528995e-01 -7.98601563e-04 -1.36663792e+01] [-6.31027550e-03 8.24234355e-05 9.99980087e-01 -2.15643615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944012739 meters Centerline goodness [0,1] 0.9932925114135491 Centerline is valid? [True, True] Translation: X:121.26, Y:-13.66, Z:-2.15 [[ 9.92906308e-01 1.18650524e-01 7.68869030e-03 1.21255615e+02] [-1.18646486e-01 9.92936075e-01 -9.80853040e-04 -1.36608146e+01] [-7.75075670e-03 6.16590857e-05 9.99969961e-01 -2.15402747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.974012739 meters Centerline goodness [0,1] 0.9939254743710827 Centerline is valid? [True, True] Translation: X:121.29, Y:-13.66, Z:-2.15 [[ 9.92636089e-01 1.20840166e-01 8.44094714e-03 1.21285587e+02] [-1.20835378e-01 9.92671976e-01 -1.07672242e-03 -1.36618051e+01] [-8.50920299e-03 4.88284915e-05 9.99963795e-01 -2.15320076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.004012739 meters Centerline goodness [0,1] 0.9936446591519055 Centerline is valid? [True, True] Translation: X:121.32, Y:-13.66, Z:-2.15 [[ 9.92362574e-01 1.22927005e-01 1.02699990e-02 1.21316097e+02] [-1.22920029e-01 9.92415714e-01 -1.31014088e-03 -1.36594008e+01] [-1.03531601e-02 3.77461967e-05 9.99946404e-01 -2.14983398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.034012739 meters Centerline goodness [0,1] 0.9930859349992531 Centerline is valid? [True, True] Translation: X:121.34, Y:-13.66, Z:-2.15 [[ 9.92302152e-01 1.23372550e-01 1.07542448e-02 1.21344453e+02] [-1.23364930e-01 9.92360425e-01 -1.37161881e-03 -1.36603575e+01] [-1.08413070e-02 3.43636468e-05 9.99941231e-01 -2.14962337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.064012739 meters Centerline goodness [0,1] 0.9933917385969822 Centerline is valid? [True, True] Translation: X:121.37, Y:-13.66, Z:-2.15 [[ 9.92349273e-01 1.22980712e-01 1.08933419e-02 1.21373636e+02] [-1.22972874e-01 9.92409060e-01 -1.38903986e-03 -1.36628119e+01] [-1.09814763e-02 3.88271390e-05 9.99939701e-01 -2.15027430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.094012739 meters Centerline goodness [0,1] 0.9933333333333333 Centerline is valid? [True, True] Translation: X:121.40, Y:-13.67, Z:-2.15 [[ 9.92581983e-01 1.21106197e-01 1.06908923e-02 1.21403600e+02] [-1.21098540e-01 9.92639555e-01 -1.36313359e-03 -1.36663180e+01] [-1.07772865e-02 5.83703968e-05 9.99941922e-01 -2.15197249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.124012739 meters Centerline goodness [0,1] 0.9928134036400749 Centerline is valid? [True, True] Translation: X:121.43, Y:-13.67, Z:-2.15 [[ 9.92743433e-01 1.19795709e-01 1.04625424e-02 1.21433256e+02] [-1.19788302e-01 9.92798561e-01 -1.33398808e-03 -1.36705284e+01] [-1.05470030e-02 7.10177154e-05 9.99944376e-01 -2.15222624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.154012739 meters Centerline goodness [0,1] 0.9923518164435946 Centerline is valid? [True, True] Translation: X:121.46, Y:-13.67, Z:-2.15 [[ 9.93190020e-01 1.16035425e-01 1.04577729e-02 1.21464124e+02] [-1.16027817e-01 9.93245069e-01 -1.33334884e-03 -1.36747490e+01] [-1.05418470e-02 1.10876195e-04 9.99944427e-01 -2.15359215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.184012739 meters Centerline goodness [0,1] 0.9919394814543417 Centerline is valid? [True, True] Translation: X:121.49, Y:-13.68, Z:-2.15 [[ 9.93437097e-01 1.13968944e-01 9.68574632e-03 1.21494083e+02] [-1.13962318e-01 9.93484305e-01 -1.23512186e-03 -1.36827760e+01] [-9.76340248e-03 1.23205773e-04 9.99952329e-01 -2.15480427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.214012739 meters Centerline goodness [0,1] 0.9903349405889443 Centerline is valid? [True, True] Translation: X:121.52, Y:-13.70, Z:-2.16 [[ 9.94001615e-01 1.08988222e-01 9.07506378e-03 1.21523673e+02] [-1.08982195e-01 9.94043028e-01 -1.15751674e-03 -1.36982580e+01] [-9.14715957e-03 1.61553139e-04 9.99958151e-01 -2.15663950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.244012739 meters Centerline goodness [0,1] 0.9896068012752391 Centerline is valid? [True, True] Translation: X:121.55, Y:-13.71, Z:-2.16 [[ 9.94251454e-01 1.06656074e-01 9.40894139e-03 1.21553821e+02] [-1.06649476e-01 9.94295955e-01 -1.20159978e-03 -1.37071759e+01] [-9.48343027e-03 1.91233655e-04 9.99955013e-01 -2.15644140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.274012739 meters Centerline goodness [0,1] 0.98895170130903 Centerline is valid? [True, True] Translation: X:121.59, Y:-13.71, Z:-2.16 [[ 9.94458577e-01 1.04613373e-01 1.04009549e-02 1.21585855e+02] [-1.04605181e-01 9.94512940e-01 -1.32999236e-03 -1.37120812e+01] [-1.04830192e-02 2.34628538e-04 9.99945024e-01 -2.15592548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304012739 meters Centerline goodness [0,1] 0.9877022792634245 Centerline is valid? [True, True] Translation: X:121.62, Y:-13.72, Z:-2.15 [[ 9.94721088e-01 1.01965170e-01 1.15352370e-02 1.21615427e+02] [-1.01954896e-01 9.94787926e-01 -1.47677569e-03 -1.37238679e+01] [-1.16256942e-02 2.92906028e-04 9.99932376e-01 -2.15399962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.334012739 meters Centerline goodness [0,1] 0.9872420751155373 Centerline is valid? [True, True] Translation: X:121.65, Y:-13.73, Z:-2.16 [[ 9.94798064e-01 1.01226191e-01 1.14048206e-02 1.21646290e+02] [-1.01216089e-01 9.94863392e-01 -1.46104510e-03 -1.37318644e+01] [-1.14941345e-02 2.99093505e-04 9.99933896e-01 -2.15525415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.364012739 meters Centerline goodness [0,1] 0.9873592521776078 Centerline is valid? [True, True] Translation: X:121.68, Y:-13.74, Z:-2.16 [[ 9.94785408e-01 1.01542327e-01 9.54719107e-03 1.21676300e+02] [-1.01535254e-01 9.94831189e-01 -1.22391344e-03 -1.37425596e+01] [-9.62212246e-03 2.48154761e-04 9.99953676e-01 -2.15846853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.394012739 meters Centerline goodness [0,1] 0.9859864149649661 Centerline is valid? [True, True] Translation: X:121.71, Y:-13.75, Z:-2.16 [[ 9.94739881e-01 1.01943492e-01 1.00046483e-02 1.21706679e+02] [-1.01935729e-01 9.94790158e-01 -1.28414919e-03 -1.37507436e+01] [-1.00834363e-02 2.57563297e-04 9.99949128e-01 -2.15795285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.424012739 meters Centerline goodness [0,1] 0.9864584002914015 Centerline is valid? [True, True] Translation: X:121.74, Y:-13.75, Z:-2.16 [[ 9.94696259e-01 1.02308951e-01 1.05939257e-02 1.21739100e+02] [-1.02300248e-01 9.94752635e-01 -1.36154127e-03 -1.37547610e+01] [-1.06776334e-02 2.70558776e-04 9.99942956e-01 -2.15743430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45401273899999 meters Centerline goodness [0,1] 0.9864584002914015 Centerline is valid? [True, True] Translation: X:121.77, Y:-13.76, Z:-2.16 [[ 9.94677475e-01 1.02491436e-01 1.05936754e-02 1.21771332e+02] [-1.02482723e-01 9.94733850e-01 -1.36348642e-03 -1.37590881e+01] [-1.06776332e-02 2.70560531e-04 9.99942956e-01 -2.15769458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.484012739 meters Centerline goodness [0,1] 0.9874307161873173 Centerline is valid? [True, True] Translation: X:121.80, Y:-13.77, Z:-2.16 [[ 9.94674886e-01 1.02477994e-01 1.09604619e-02 1.21803338e+02] [-1.02468644e-01 9.94735232e-01 -1.41281097e-03 -1.37684919e+01] [-1.10475396e-02 2.82183924e-04 9.99938934e-01 -2.15769359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.514012739 meters Centerline goodness [0,1] 0.9867810162496776 Centerline is valid? [True, True] Translation: X:121.83, Y:-13.78, Z:-2.16 [[ 9.94706565e-01 1.02198400e-01 1.06927994e-02 1.21833168e+02] [-1.02189464e-01 9.94763996e-01 -1.38023749e-03 -1.37815080e+01] [-1.07778699e-02 2.80239856e-04 9.99941878e-01 -2.15792033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.544012739 meters Centerline goodness [0,1] 0.9862506495756106 Centerline is valid? [True, True] Translation: X:121.86, Y:-13.79, Z:-2.16 [[ 9.94696913e-01 1.02270725e-01 1.08972520e-02 1.21864509e+02] [-1.02261428e-01 9.94756562e-01 -1.40841773e-03 -1.37900317e+01] [-1.09841528e-02 2.86580221e-04 9.99939631e-01 -2.15754595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.574012739 meters Centerline goodness [0,1] 0.9867995341012036 Centerline is valid? [True, True] Translation: X:121.90, Y:-13.80, Z:-2.16 [[ 9.94626879e-01 1.02913335e-01 1.12346430e-02 1.21896627e+02] [-1.02903472e-01 9.94690284e-01 -1.45402342e-03 -1.37961774e+01] [-1.13246286e-02 2.90127013e-04 9.99935832e-01 -2.15675292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.604012739 meters Centerline goodness [0,1] 0.9862645695220763 Centerline is valid? [True, True] Translation: X:121.93, Y:-13.81, Z:-2.15 [[ 9.94460548e-01 1.04260204e-01 1.33427274e-02 1.21927893e+02] [-1.04246379e-01 9.94550000e-01 -1.72932129e-03 -1.38050310e+01] [-1.34503089e-02 3.28810776e-04 9.99909486e-01 -2.15371945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.634012739 meters Centerline goodness [0,1] 0.9867628848370981 Centerline is valid? [True, True] Translation: X:121.96, Y:-13.81, Z:-2.15 [[ 9.94262255e-01 1.06107326e-01 1.35574253e-02 1.21958840e+02] [-1.06093195e-01 9.94354634e-01 -1.75935932e-03 -1.38099817e+01] [-1.36675696e-02 3.10913997e-04 9.99906546e-01 -2.15293094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664012739 meters Centerline goodness [0,1] 0.9883529971044557 Centerline is valid? [True, True] Translation: X:121.99, Y:-13.81, Z:-2.15 [[ 9.93740656e-01 1.10908628e-01 1.33710595e-02 1.21990840e+02] [-1.10895297e-01 9.93830578e-01 -1.73668142e-03 -1.38112477e+01] [-1.34811807e-02 2.43023325e-04 9.99909095e-01 -2.15426997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.694012739 meters Centerline goodness [0,1] 0.9888912855910268 Centerline is valid? [True, True] Translation: X:122.02, Y:-13.82, Z:-2.16 [[ 9.93402675e-01 1.14000278e-01 1.24523743e-02 1.22021431e+02] [-1.13988944e-01 9.93480700e-01 -1.61847927e-03 -1.38154995e+01] [-1.25557006e-02 1.88368641e-04 9.99921156e-01 -2.15556981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724012739 meters Centerline goodness [0,1] 0.9911168864367425 Centerline is valid? [True, True] Translation: X:122.05, Y:-13.81, Z:-2.16 [[ 9.92606403e-01 1.20855950e-01 1.12413738e-02 1.22053219e+02] [-1.20847138e-01 9.92670051e-01 -1.46233513e-03 -1.38132062e+01] [-1.13357070e-02 9.30353602e-05 9.99935744e-01 -2.15851623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.754012739 meters Centerline goodness [0,1] 0.9919195392418121 Centerline is valid? [True, True] Translation: X:122.08, Y:-13.81, Z:-2.16 [[ 9.92189095e-01 1.24250159e-01 1.10769476e-02 1.22084974e+02] [-1.24241806e-01 9.92250923e-01 -1.44171980e-03 -1.38139369e+01] [-1.11702454e-02 5.42386892e-05 9.99937609e-01 -2.15836030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.784012739 meters Centerline goodness [0,1] 0.9939650358661569 Centerline is valid? [True, True] Translation: X:122.12, Y:-13.81, Z:-2.16 [[ 9.91739400e-01 1.27793505e-01 1.10355225e-02 1.22117506e+02] [-1.27785414e-01 9.91800796e-01 -1.43808080e-03 -1.38134829e+01] [-1.11288173e-02 1.60225858e-05 9.99938073e-01 -2.15903995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.814012739 meters Centerline goodness [0,1] 0.9952826142893901 Centerline is valid? [True, True] Translation: X:122.15, Y:-13.81, Z:-2.16 [[ 9.91022827e-01 1.33290579e-01 1.03623029e-02 1.22150523e+02] [-1.33283728e-01 9.91077000e-01 -1.35199430e-03 -1.38090015e+01] [-1.04500482e-02 -4.12691433e-05 9.99945396e-01 -2.16111120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.844012739 meters Centerline goodness [0,1] 0.9959143085669816 Centerline is valid? [True, True] Translation: X:122.18, Y:-13.81, Z:-2.16 [[ 9.90747762e-01 1.35312792e-01 1.04556316e-02 1.22181838e+02] [-1.35305912e-01 9.90802929e-01 -1.36588279e-03 -1.38093153e+01] [-1.05442918e-02 -6.14634457e-05 9.99944406e-01 -2.16153465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.874012739 meters Centerline goodness [0,1] 0.995180003412387 Centerline is valid? [True, True] Translation: X:122.21, Y:-13.81, Z:-2.16 [[ 9.90219469e-01 1.39070232e-01 1.11746561e-02 1.22213101e+02] [-1.39062598e-01 9.90282515e-01 -1.46111179e-03 -1.38051359e+01] [-1.12692637e-02 -1.07155371e-04 9.99936494e-01 -2.16119489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.904012739 meters Centerline goodness [0,1] 0.9952805119156445 Centerline is valid? [True, True] Translation: X:122.24, Y:-13.80, Z:-2.16 [[ 9.90036995e-01 1.40308376e-01 1.18451343e-02 1.22243355e+02] [-1.40299887e-01 9.90107844e-01 -1.54873288e-03 -1.38040013e+01] [-1.19452606e-02 -1.28568163e-04 9.99928645e-01 -2.16016673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.934012739 meters Centerline goodness [0,1] 0.9951436665317686 Centerline is valid? [True, True] Translation: X:122.27, Y:-13.80, Z:-2.16 [[ 9.89914587e-01 1.41133775e-01 1.22624710e-02 1.22273621e+02] [-1.41124741e-01 9.89990524e-01 -1.60324232e-03 -1.38042394e+01] [-1.23660017e-02 -1.43465078e-04 9.99923528e-01 -2.15977025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.964012739 meters Centerline goodness [0,1] 0.995596984471316 Centerline is valid? [True, True] Translation: X:122.30, Y:-13.80, Z:-2.16 [[ 9.89886244e-01 1.41406655e-01 1.13746328e-02 1.22304573e+02] [-1.41398899e-01 9.89951584e-01 -1.48722892e-03 -1.38016309e+01] [-1.14706399e-02 -1.36173110e-04 9.99934201e-01 -2.16244452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.994012739 meters Centerline goodness [0,1] 0.9953432477091783 Centerline is valid? [True, True] Translation: X:122.33, Y:-13.80, Z:-2.16 [[ 9.89959814e-01 1.40959001e-01 1.04941399e-02 1.22334803e+02] [-1.40952376e-01 9.90015427e-01 -1.37204464e-03 -1.38000779e+01] [-1.05827624e-02 -1.20904889e-04 9.99943994e-01 -2.16442910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024012739 meters Centerline goodness [0,1] 0.9958550780662758 Centerline is valid? [True, True] Translation: X:122.36, Y:-13.80, Z:-2.16 [[ 9.90103059e-01 1.39950428e-01 1.04789971e-02 1.22363017e+02] [-1.39943768e-01 9.90158505e-01 -1.36978935e-03 -1.38030095e+01] [-1.05675707e-02 -1.10237716e-04 9.99944156e-01 -2.16486148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.054012739 meters Centerline goodness [0,1] 0.9956238682417866 Centerline is valid? [True, True] Translation: X:122.39, Y:-13.81, Z:-2.16 [[ 9.90314037e-01 1.38438649e-01 1.06230427e-02 1.22391833e+02] [-1.38431721e-01 9.90371007e-01 -1.38824260e-03 -1.38062453e+01] [-1.07129399e-02 -9.57699559e-05 9.99942610e-01 -2.16468748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084012739 meters Centerline goodness [0,1] 0.9953341685747613 Centerline is valid? [True, True] Translation: X:122.42, Y:-13.81, Z:-2.16 [[ 9.90779259e-01 1.34976898e-01 1.17344338e-02 1.22420828e+02] [-1.34968207e-01 9.90848744e-01 -1.53309098e-03 -1.38129649e+01] [-1.18339809e-02 -6.48207433e-05 9.99929974e-01 -2.16321210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.114012739 meters Centerline goodness [0,1] 0.9944991929317815 Centerline is valid? [True, True] Translation: X:122.45, Y:-13.82, Z:-2.16 [[ 9.91036378e-01 1.33053890e-01 1.19816595e-02 1.22451017e+02] [-1.33044690e-01 9.91108804e-01 -1.56520961e-03 -1.38198496e+01] [-1.20833854e-02 -4.29165178e-05 9.99926992e-01 -2.16317904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.144012739 meters Centerline goodness [0,1] 0.993775889082051 Centerline is valid? [True, True] Translation: X:122.48, Y:-13.83, Z:-2.16 [[ 9.91572301e-01 1.29023177e-01 1.17214554e-02 1.22480986e+02] [-1.29014090e-01 9.91641578e-01 -1.53130767e-03 -1.38291620e+01] [-1.18210567e-02 6.16937005e-06 9.99930129e-01 -2.16477289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.174012739 meters Centerline goodness [0,1] 0.9934200751384968 Centerline is valid? [True, True] Translation: X:122.51, Y:-13.84, Z:-2.17 [[ 9.91777845e-01 1.27540569e-01 1.04932884e-02 1.22511377e+02] [-1.27533197e-01 9.91833354e-01 -1.37141719e-03 -1.38361776e+01] [-1.05825047e-02 2.18985694e-05 9.99944003e-01 -2.16665552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20401273899999 meters Centerline goodness [0,1] 0.9922974022611547 Centerline is valid? [True, True] Translation: X:122.54, Y:-13.85, Z:-2.17 [[ 9.92156021e-01 1.24589029e-01 1.01981973e-02 1.22542035e+02] [-1.24581896e-01 9.92208431e-01 -1.33422711e-03 -1.38461699e+01] [-1.02849674e-02 5.32507059e-05 9.99947107e-01 -2.16776651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.234012739 meters Centerline goodness [0,1] 0.9914255552922421 Centerline is valid? [True, True] Translation: X:122.57, Y:-13.85, Z:-2.17 [[ 9.92260085e-01 1.23701979e-01 1.08509537e-02 1.22573513e+02] [-1.23693837e-01 9.92319412e-01 -1.42084585e-03 -1.38526959e+01] [-1.09433735e-02 6.76525201e-05 9.99940117e-01 -2.16671416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.264012739 meters Centerline goodness [0,1] 0.9901560779742244 Centerline is valid? [True, True] Translation: X:122.60, Y:-13.86, Z:-2.16 [[ 9.92376592e-01 1.22708280e-01 1.14619962e-02 1.22603586e+02] [-1.22699107e-01 9.92442780e-01 -1.50277005e-03 -1.38611781e+01] [-1.15597777e-02 8.49371264e-05 9.99933180e-01 -2.16495334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.294012739 meters Centerline goodness [0,1] 0.9889114208051085 Centerline is valid? [True, True] Translation: X:122.64, Y:-13.87, Z:-2.16 [[ 9.92649097e-01 1.20327180e-01 1.30053515e-02 1.22635178e+02] [-1.20315138e-01 9.92734281e-01 -1.70727305e-03 -1.38710895e+01] [-1.31162896e-02 1.29982399e-04 9.99913969e-01 -2.16354012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.324012739 meters Centerline goodness [0,1] 0.9891553746915451 Centerline is valid? [True, True] Translation: X:122.67, Y:-13.88, Z:-2.17 [[ 9.93028558e-01 1.17160308e-01 1.29516221e-02 1.22665992e+02] [-1.17148069e-01 9.93113001e-01 -1.70225464e-03 -1.38805181e+01] [-1.30618610e-02 1.73129945e-04 9.99914675e-01 -2.16502788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.354012739 meters Centerline goodness [0,1] 0.9885457413930971 Centerline is valid? [True, True] Translation: X:122.70, Y:-13.89, Z:-2.17 [[ 9.93199068e-01 1.15750864e-01 1.25438958e-02 1.22696889e+02] [-1.15739246e-01 9.93278260e-01 -1.65062992e-03 -1.38885833e+01] [-1.26506409e-02 1.87583053e-04 9.99919960e-01 -2.16646154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.384012739 meters Centerline goodness [0,1] 0.9884548029317017 Centerline is valid? [True, True] Translation: X:122.73, Y:-13.90, Z:-2.17 [[ 9.93342079e-01 1.14589263e-01 1.18665733e-02 1.22728249e+02] [-1.14578761e-01 9.93412937e-01 -1.56336773e-03 -1.38958528e+01] [-1.19675526e-02 1.93301681e-04 9.99928368e-01 -2.16777017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.414012739 meters Centerline goodness [0,1] 0.9867016175436353 Centerline is valid? [True, True] Translation: X:122.76, Y:-13.91, Z:-2.17 [[ 9.93555599e-01 1.12903715e-01 1.00011566e-02 1.22757543e+02] [-1.12896155e-01 9.93605917e-01 -1.31910380e-03 -1.39146907e+01] [-1.00861401e-02 1.81510841e-04 9.99949117e-01 -2.17068516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444012739 meters Centerline goodness [0,1] 0.9867362050093361 Centerline is valid? [True, True] Translation: X:122.79, Y:-13.92, Z:-2.17 [[ 9.93658137e-01 1.12039274e-01 9.52405642e-03 1.22788891e+02] [-1.12032363e-01 9.93703763e-01 -1.25770647e-03 -1.39220351e+01] [-9.60500322e-03 1.82727715e-04 9.99953854e-01 -2.17297664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.474012739 meters Centerline goodness [0,1] 0.9865314051370602 Centerline is valid? [True, True] Translation: X:122.82, Y:-13.94, Z:-2.17 [[ 9.93848036e-01 1.10333437e-01 9.62360079e-03 1.22818552e+02] [-1.10326287e-01 9.93894608e-01 -1.27231742e-03 -1.39368496e+01] [-9.70522409e-03 2.02754021e-04 9.99952883e-01 -2.17304817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.504012739 meters Centerline goodness [0,1] 0.9844931271477664 Centerline is valid? [True, True] Translation: X:122.85, Y:-13.94, Z:-2.16 [[ 9.93914363e-01 1.09710315e-01 9.89374263e-03 1.22850036e+02] [-1.09702714e-01 9.93963581e-01 -1.30936225e-03 -1.39408232e+01] [-9.97767040e-03 2.16023531e-04 9.99950198e-01 -2.16367733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.534012739 meters Centerline goodness [0,1] 0.9869803513788696 Centerline is valid? [True, True] Translation: X:122.88, Y:-13.95, Z:-2.17 [[ 9.94022661e-01 1.08600894e-01 1.11711643e-02 1.22881484e+02] [-1.08591118e-01 9.94085398e-01 -1.47977321e-03 -1.39489439e+01] [-1.12657960e-02 2.57838891e-04 9.99936506e-01 -2.17085679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.564012739 meters Centerline goodness [0,1] 0.9826619511774347 Centerline is valid? [True, True] Translation: X:122.91, Y:-13.97, Z:-2.17 [[ 9.94344693e-01 1.05620114e-01 1.10915659e-02 1.22909169e+02] [-1.05610274e-01 9.94406510e-01 -1.47081387e-03 -1.39746449e+01] [-1.11848729e-02 2.91112648e-04 9.99937405e-01 -2.17120107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.594012739 meters Centerline goodness [0,1] 0.9854148264644419 Centerline is valid? [True, True] Translation: X:122.94, Y:-13.99, Z:-2.17 [[ 9.94723806e-01 1.02102188e-01 9.98468722e-03 1.22939598e+02] [-1.02094030e-01 9.94773871e-01 -1.32470427e-03 -1.39852846e+01] [-1.00677612e-02 2.98337917e-04 9.99949274e-01 -2.17489363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.624012739 meters Centerline goodness [0,1] 0.9849471202716439 Centerline is valid? [True, True] Translation: X:122.97, Y:-14.00, Z:-2.17 [[ 9.94848203e-01 1.00852429e-01 1.02878459e-02 1.22970435e+02] [-1.00843694e-01 9.94901344e-01 -1.36561942e-03 -1.39954346e+01] [-1.03731178e-02 3.21119636e-04 9.99946146e-01 -2.17472986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.654012739 meters Centerline goodness [0,1] 0.9842230104672165 Centerline is valid? [True, True] Translation: X:123.00, Y:-14.01, Z:-2.17 [[ 9.94893898e-01 1.00346065e-01 1.08073236e-02 1.23001368e+02] [-1.00336375e-01 9.94952536e-01 -1.43647366e-03 -1.40058367e+01] [-1.08969185e-02 3.44771210e-04 9.99940567e-01 -2.17401336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.684012739 meters Centerline goodness [0,1] 0.9838723569183067 Centerline is valid? [True, True] Translation: X:123.03, Y:-14.02, Z:-2.17 [[ 9.94842859e-01 1.00811965e-01 1.11639386e-02 1.23030659e+02] [-1.00801633e-01 9.94905434e-01 -1.48576258e-03 -1.40215366e+01] [-1.12568458e-02 3.52757053e-04 9.99936577e-01 -2.17251862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.714012739 meters Centerline goodness [0,1] 0.9851711354427106 Centerline is valid? [True, True] Translation: X:123.06, Y:-14.03, Z:-2.17 [[ 9.94768102e-01 1.01604880e-01 1.06240834e-02 1.23062214e+02] [-1.01595550e-01 9.94824779e-01 -1.41554777e-03 -1.40276690e+01] [-1.07129280e-02 3.28782170e-04 9.99942561e-01 -2.17375795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.744012739 meters Centerline goodness [0,1] 0.9853198711434934 Centerline is valid? [True, True] Translation: X:123.09, Y:-14.04, Z:-2.18 [[ 9.94577933e-01 1.03505614e-01 1.00659831e-02 1.23091787e+02] [-1.03497323e-01 9.94628826e-01 -1.34252128e-03 -1.40384420e+01] [-1.01508754e-02 2.93439731e-04 9.99948435e-01 -2.17505804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.774012739 meters Centerline goodness [0,1] 0.9851723765265319 Centerline is valid? [True, True] Translation: X:123.12, Y:-14.05, Z:-2.17 [[ 9.94478308e-01 1.04355602e-01 1.10816899e-02 1.23122875e+02] [-1.04345597e-01 9.94539999e-01 -1.47882661e-03 -1.40452744e+01] [-1.11755077e-02 3.14335444e-04 9.99937503e-01 -2.17373547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804012739 meters Centerline goodness [0,1] 0.9849320655090258 Centerline is valid? [True, True] Translation: X:123.15, Y:-14.05, Z:-2.17 [[ 9.94152103e-01 1.07049295e-01 1.42142102e-02 1.23153924e+02] [-1.07033069e-01 9.94253647e-01 -1.89959638e-03 -1.40535216e+01] [-1.43358808e-02 3.67097194e-04 9.99897169e-01 -2.16849837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.834012739 meters Centerline goodness [0,1] 0.9859330637529037 Centerline is valid? [True, True] Translation: X:123.18, Y:-14.06, Z:-2.17 [[ 9.93857843e-01 1.09682289e-01 1.47099951e-02 1.23184728e+02] [-1.09665177e-01 9.93966638e-01 -1.96737690e-03 -1.40573817e+01] [-1.48370308e-02 3.42118741e-04 9.99889867e-01 -2.16765220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.864012739 meters Centerline goodness [0,1] 0.9867703777121803 Centerline is valid? [True, True] Translation: X:123.22, Y:-14.06, Z:-2.17 [[ 9.93472373e-01 1.13185758e-01 1.41995615e-02 1.23215010e+02] [-1.13170167e-01 9.93573805e-01 -1.89936611e-03 -1.40595754e+01] [-1.43232935e-02 2.80001019e-04 9.99897377e-01 -2.16821354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.894012739 meters Centerline goodness [0,1] 0.990114475232695 Centerline is valid? [True, True] Translation: X:123.25, Y:-14.06, Z:-2.17 [[ 9.92688846e-01 1.20208448e-01 1.08987863e-02 1.23245697e+02] [-1.20199685e-01 9.92748664e-01 -1.45795418e-03 -1.40566750e+01] [-1.09950139e-02 1.37264173e-04 9.99939544e-01 -2.17418263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.924012739 meters Centerline goodness [0,1] 0.9913569391125314 Centerline is valid? [True, True] Translation: X:123.28, Y:-14.06, Z:-2.18 [[ 9.92350576e-01 1.23047321e-01 9.98456251e-03 1.23278633e+02] [-1.23040107e-01 9.92400800e-01 -1.33586139e-03 -1.40571194e+01] [-1.00730620e-02 9.71411784e-05 9.99949261e-01 -2.17662004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95401273899999 meters Centerline goodness [0,1] 0.9919902601563502 Centerline is valid? [True, True] Translation: X:123.31, Y:-14.05, Z:-2.17 [[ 9.91664246e-01 1.28327544e-01 1.15786595e-02 1.23311297e+02] [-1.28318190e-01 9.91731838e-01 -1.55026735e-03 -1.40545224e+01] [-1.16818673e-02 5.15920675e-05 9.99931763e-01 -2.17454884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.984012739 meters Centerline goodness [0,1] 0.9917565403096636 Centerline is valid? [True, True] Translation: X:123.34, Y:-14.06, Z:-2.17 [[ 9.91287661e-01 1.31099375e-01 1.27171931e-02 1.23343275e+02] [-1.31088293e-01 9.91369232e-01 -1.70466843e-03 -1.40554470e+01] [-1.28309149e-02 2.27416450e-05 9.99917680e-01 -2.17190095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01401273899998 meters Centerline goodness [0,1] 0.9924297819261043 Centerline is valid? [True, True] Translation: X:123.38, Y:-14.06, Z:-2.17 [[ 9.90902073e-01 1.33926257e-01 1.32981341e-02 1.23376547e+02] [-1.33914368e-01 9.90991300e-01 -1.78447680e-03 -1.40554421e+01] [-1.34173235e-02 -1.25694670e-05 9.99909984e-01 -2.17047267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04401273899998 meters Centerline goodness [0,1] 0.9936298855538761 Centerline is valid? [True, True] Translation: X:123.41, Y:-14.05, Z:-2.17 [[ 9.90204897e-01 1.39105070e-01 1.20017356e-02 1.23408882e+02] [-1.39095744e-01 9.90277625e-01 -1.61242566e-03 -1.40486512e+01] [-1.21093468e-02 -7.27585479e-05 9.99926677e-01 -2.17301207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07401273899998 meters Centerline goodness [0,1] 0.9945016303305415 Centerline is valid? [True, True] Translation: X:123.44, Y:-14.05, Z:-2.18 [[ 9.89725979e-01 1.42606854e-01 1.02845442e-02 1.23440498e+02] [-1.42600180e-01 9.89779408e-01 -1.38307077e-03 -1.40457941e+01] [-1.03766655e-02 -9.77167810e-05 9.99946156e-01 -2.17725429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10401273899998 meters Centerline goodness [0,1] 0.9945114076625053 Centerline is valid? [True, True] Translation: X:123.47, Y:-14.05, Z:-2.18 [[ 9.89560617e-01 1.43753266e-01 1.02363948e-02 1.23472996e+02] [-1.43746701e-01 9.89613554e-01 -1.37811746e-03 -1.40479540e+01] [-1.03281839e-02 -1.07717215e-04 9.99946657e-01 -2.17738213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13401273899999 meters Centerline goodness [0,1] 0.9940141758146771 Centerline is valid? [True, True] Translation: X:123.51, Y:-14.05, Z:-2.18 [[ 9.89363973e-01 1.45095680e-01 1.03039836e-02 1.23505221e+02] [-1.45089083e-01 9.89417621e-01 -1.38884769e-03 -1.40487416e+01] [-1.03964588e-02 -1.20919664e-04 9.99945948e-01 -2.17717185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164012739 meters Centerline goodness [0,1] 0.9939839572192514 Centerline is valid? [True, True] Translation: X:123.54, Y:-14.04, Z:-2.18 [[ 9.88975525e-01 1.47743919e-01 9.95716656e-03 1.23537305e+02] [-1.47737878e-01 9.89025639e-01 -1.34359906e-03 -1.40431637e+01] [-1.00464016e-02 -1.42264070e-04 9.99949524e-01 -2.17790935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.194012739 meters Centerline goodness [0,1] 0.993981322823852 Centerline is valid? [True, True] Translation: X:123.57, Y:-14.04, Z:-2.18 [[ 9.88780001e-01 1.49048778e-01 9.92830665e-03 1.23569624e+02] [-1.49042823e-01 9.88829833e-01 -1.34116066e-03 -1.40432545e+01] [-1.00173042e-02 -1.53630013e-04 9.99949814e-01 -2.17845728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224012739 meters Centerline goodness [0,1] 0.9936215144593371 Centerline is valid? [True, True] Translation: X:123.60, Y:-14.04, Z:-2.18 [[ 9.88350142e-01 1.51882891e-01 9.77672283e-03 1.23601539e+02] [-1.51877240e-01 9.88398480e-01 -1.32220814e-03 -1.40449622e+01] [-9.86411879e-03 -1.78057071e-04 9.99951333e-01 -2.17976603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.254012739 meters Centerline goodness [0,1] 0.9929594143610723 Centerline is valid? [True, True] Translation: X:123.63, Y:-14.04, Z:-2.18 [[ 9.88196689e-01 1.52882275e-01 9.71150906e-03 1.23633165e+02] [-1.52876732e-01 9.88244391e-01 -1.31500407e-03 -1.40430793e+01] [-9.79838517e-03 -1.85181092e-04 9.99951978e-01 -2.17958920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284012739 meters Centerline goodness [0,1] 0.9933110367892977 Centerline is valid? [True, True] Translation: X:123.67, Y:-14.04, Z:-2.18 [[ 9.88012119e-01 1.53987611e-01 1.09484670e-02 1.23665743e+02] [-1.53980613e-01 9.88072754e-01 -1.48437761e-03 -1.40410135e+01] [-1.10464577e-02 -2.19268593e-04 9.99938962e-01 -2.17746313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.314012739 meters Centerline goodness [0,1] 0.9931189710610933 Centerline is valid? [True, True] Translation: X:123.70, Y:-14.04, Z:-2.18 [[ 9.88014281e-01 1.53924748e-01 1.16168899e-02 1.23697486e+02] [-1.53916842e-01 9.88082547e-01 -1.57693644e-03 -1.40436183e+01] [-1.17211757e-02 -2.29999276e-04 9.99931278e-01 -2.17647986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344012739 meters Centerline goodness [0,1] 0.9928525709409004 Centerline is valid? [True, True] Translation: X:123.73, Y:-14.05, Z:-2.18 [[ 9.88074240e-01 1.53513897e-01 1.19490580e-02 1.23729165e+02] [-1.53505479e-01 9.88146462e-01 -1.62397860e-03 -1.40489640e+01] [-1.20567226e-02 -2.29634438e-04 9.99927289e-01 -2.17656697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.374012739 meters Centerline goodness [0,1] 0.9928525709409004 Centerline is valid? [True, True] Translation: X:123.76, Y:-14.05, Z:-2.18 [[ 9.88046230e-01 1.53694092e-01 1.19487861e-02 1.23761355e+02] [-1.53685662e-01 9.88118451e-01 -1.62597687e-03 -1.40535287e+01] [-1.20567190e-02 -2.29816784e-04 9.99927289e-01 -2.17682719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404012739 meters Centerline goodness [0,1] 0.9927825585616366 Centerline is valid? [True, True] Translation: X:123.79, Y:-14.05, Z:-2.18 [[ 9.88154587e-01 1.52985738e-01 1.20779638e-02 1.23792699e+02] [-1.52977047e-01 9.88228372e-01 -1.64566635e-03 -1.40549348e+01] [-1.21875499e-02 -2.21478473e-04 9.99925705e-01 -2.17622869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.434012739 meters Centerline goodness [0,1] 0.9932606456043956 Centerline is valid? [True, True] Translation: X:123.82, Y:-14.06, Z:-2.18 [[ 9.88067493e-01 1.53523467e-01 1.23763852e-02 1.23824581e+02] [-1.53514359e-01 9.88144975e-01 -1.68822343e-03 -1.40556725e+01] [-1.24888447e-02 -2.31874151e-04 9.99921984e-01 -2.17679401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464012739 meters Centerline goodness [0,1] 0.9941700439955787 Centerline is valid? [True, True] Translation: X:123.86, Y:-14.06, Z:-2.18 [[ 9.88008438e-01 1.53907390e-01 1.23224425e-02 1.23857548e+02] [-1.53898366e-01 9.88085250e-01 -1.68290870e-03 -1.40591767e+01] [-1.24346358e-02 -2.33675772e-04 9.99922660e-01 -2.17761474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.494012739 meters Centerline goodness [0,1] 0.9930756288019328 Centerline is valid? [True, True] Translation: X:123.89, Y:-14.06, Z:-2.18 [[ 9.87912507e-01 1.54537800e-01 1.21221910e-02 1.23888925e+02] [-1.54529088e-01 9.87986849e-01 -1.65769982e-03 -1.40594732e+01] [-1.22327426e-02 -2.35568737e-04 9.99925149e-01 -2.17787500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52401273899997 meters Centerline goodness [0,1] 0.9933339086163007 Centerline is valid? [True, True] Translation: X:123.92, Y:-14.06, Z:-2.18 [[ 9.87762331e-01 1.55583875e-01 1.09194526e-02 1.23920887e+02] [-1.55576855e-01 9.87822660e-01 -1.49459397e-03 -1.40594479e+01] [-1.10190174e-02 -2.22510472e-04 9.99939264e-01 -2.17993570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55401273899997 meters Centerline goodness [0,1] 0.9937288643465605 Centerline is valid? [True, True] Translation: X:123.95, Y:-14.06, Z:-2.18 [[ 9.87678924e-01 1.56174585e-01 9.99209762e-03 1.23951724e+02] [-1.56168730e-01 9.87729444e-01 -1.36833551e-03 -1.40600175e+01] [-1.00831883e-02 -2.08977047e-04 9.99949142e-01 -2.18183348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58401273899997 meters Centerline goodness [0,1] 0.9931717163041378 Centerline is valid? [True, True] Translation: X:123.98, Y:-14.06, Z:-2.18 [[ 9.87550245e-01 1.57070315e-01 8.56912774e-03 1.23982051e+02] [-1.57066042e-01 9.87587404e-01 -1.17354328e-03 -1.40579879e+01] [-8.64709143e-03 -1.86986019e-04 9.99962596e-01 -2.18426813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61401273899997 meters Centerline goodness [0,1] 0.9937502693849403 Centerline is valid? [True, True] Translation: X:124.01, Y:-14.06, Z:-2.18 [[ 9.87532519e-01 1.57179539e-01 8.60908540e-03 1.24012508e+02] [-1.57175232e-01 9.87570026e-01 -1.17892467e-03 -1.40623457e+01] [-8.68737753e-03 -1.88908543e-04 9.99962246e-01 -2.18495219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64401273899998 meters Centerline goodness [0,1] 0.993686380621054 Centerline is valid? [True, True] Translation: X:124.04, Y:-14.06, Z:-2.18 [[ 9.87728840e-01 1.55886668e-01 9.54392371e-03 1.24042110e+02] [-1.55881313e-01 9.87774928e-01 -1.30692188e-03 -1.40628191e+01] [-9.63098026e-03 -1.96834925e-04 9.99953602e-01 -2.18314256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67401273899998 meters Centerline goodness [0,1] 0.9934791934791934 Centerline is valid? [True, True] Translation: X:124.07, Y:-14.07, Z:-2.18 [[ 9.87946866e-01 1.54470301e-01 9.99583110e-03 1.24071947e+02] [-1.54464356e-01 9.87997414e-01 -1.36870655e-03 -1.40683367e+01] [-1.00872798e-02 -1.91790262e-04 9.99949104e-01 -2.18258632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70401273899998 meters Centerline goodness [0,1] 0.99372103453431 Centerline is valid? [True, True] Translation: X:124.10, Y:-14.07, Z:-2.18 [[ 9.88252511e-01 1.52506911e-01 9.93055290e-03 1.24101665e+02] [-1.52500944e-01 9.88302389e-01 -1.35976816e-03 -1.40739177e+01] [-1.00217632e-02 -1.70624402e-04 9.99949766e-01 -2.18222139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73401273899998 meters Centerline goodness [0,1] 0.9945910262143572 Centerline is valid? [True, True] Translation: X:124.13, Y:-14.08, Z:-2.18 [[ 9.88812894e-01 1.48863789e-01 9.41455263e-03 1.24131426e+02] [-1.48858261e-01 9.88857703e-01 -1.28913071e-03 -1.40802723e+01] [-9.50155777e-03 -1.26724870e-04 9.99954851e-01 -2.18280095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76401273899998 meters Centerline goodness [0,1] 0.9959378273790435 Centerline is valid? [True, True] Translation: X:124.16, Y:-14.09, Z:-2.18 [[ 9.89321434e-01 1.45383679e-01 1.03288818e-02 1.24161194e+02] [-1.45376833e-01 9.89375346e-01 -1.41458691e-03 -1.40877990e+01] [-1.04247988e-02 -1.02098964e-04 9.99945655e-01 -2.18136430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79401273899998 meters Centerline goodness [0,1] 0.9950564971751412 Centerline is valid? [True, True] Translation: X:124.19, Y:-14.09, Z:-2.18 [[ 9.89508334e-01 1.44032068e-01 1.13145925e-02 1.24192299e+02] [-1.44023757e-01 9.89573016e-01 -1.55022773e-03 -1.40947085e+01] [-1.14198979e-02 -9.56068561e-05 9.99934786e-01 -2.17973009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82401273899998 meters Centerline goodness [0,1] 0.9953008126576276 Centerline is valid? [True, True] Translation: X:124.22, Y:-14.10, Z:-2.18 [[ 9.89596424e-01 1.43352480e-01 1.22059300e-02 1.24223537e+02] [-1.43342745e-01 9.89671692e-01 -1.67326420e-03 -1.41026077e+01] [-1.23197300e-02 -9.37752487e-05 9.99924105e-01 -2.17804890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85401273899998 meters Centerline goodness [0,1] 0.9943173256990335 Centerline is valid? [True, True] Translation: X:124.26, Y:-14.11, Z:-2.17 [[ 9.89696769e-01 1.42650441e-01 1.22945760e-02 1.24255294e+02] [-1.42640490e-01 9.89773128e-01 -1.68701789e-03 -1.41117585e+01] [-1.24094948e-02 -8.40681959e-05 9.99922996e-01 -2.17457938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88401273899999 meters Centerline goodness [0,1] 0.9949912613495886 Centerline is valid? [True, True] Translation: X:124.29, Y:-14.12, Z:-2.18 [[ 9.89657000e-01 1.42918774e-01 1.23792363e-02 1.24286922e+02] [-1.42908690e-01 9.89734417e-01 -1.69992225e-03 -1.41162625e+01] [-1.24951071e-02 -8.67604952e-05 9.99921929e-01 -2.17845028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.914012739 meters Centerline goodness [0,1] 0.9951561966541482 Centerline is valid? [True, True] Translation: X:124.32, Y:-14.12, Z:-2.18 [[ 9.89476464e-01 1.44187916e-01 1.20901953e-02 1.24319630e+02] [-1.44178366e-01 9.89550320e-01 -1.66241032e-03 -1.41212697e+01] [-1.22035561e-02 -9.82287196e-05 9.99925529e-01 -2.17824191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944012739 meters Centerline goodness [0,1] 0.9949596343599163 Centerline is valid? [True, True] Translation: X:124.35, Y:-14.12, Z:-2.18 [[ 9.89310057e-01 1.45337181e-01 1.19463058e-02 1.24350718e+02] [-1.45327915e-01 9.89382177e-01 -1.64470963e-03 -1.41249514e+01] [-1.20584995e-02 -1.09003940e-04 9.99927288e-01 -2.17841208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.974012739 meters Centerline goodness [0,1] 0.9949084374465172 Centerline is valid? [True, True] Translation: X:124.38, Y:-14.13, Z:-2.18 [[ 9.89047455e-01 1.47155272e-01 1.14218290e-02 1.24382913e+02] [-1.47146903e-01 9.89113396e-01 -1.57422641e-03 -1.41274314e+01] [-1.15291398e-02 -1.23702148e-04 9.99933530e-01 -2.17939565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004012739 meters Centerline goodness [0,1] 0.9944611962960587 Centerline is valid? [True, True] Translation: X:124.41, Y:-14.12, Z:-2.18 [[ 9.88257323e-01 1.52437776e-01 1.04970496e-02 1.24414576e+02] [-1.52430992e-01 9.88313056e-01 -1.44795783e-03 -1.41219625e+01] [-1.05950947e-02 -1.69120758e-04 9.99943856e-01 -2.18164440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.034012739 meters Centerline goodness [0,1] 0.9938073884262225 Centerline is valid? [True, True] Translation: X:124.44, Y:-14.12, Z:-2.18 [[ 9.87770129e-01 1.55572666e-01 1.03594096e-02 1.24444653e+02] [-1.55566232e-01 9.87824431e-01 -1.42894323e-03 -1.41183478e+01] [-1.04555824e-02 -2.00106877e-04 9.99945319e-01 -2.18195688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064012739 meters Centerline goodness [0,1] 0.9926835529693651 Centerline is valid? [True, True] Translation: X:124.48, Y:-14.11, Z:-2.18 [[ 9.86918963e-01 1.60915034e-01 9.86465703e-03 1.24476017e+02] [-1.60909468e-01 9.86968232e-01 -1.36058684e-03 -1.41118876e+01] [-9.95504199e-03 -2.44527757e-04 9.99950417e-01 -2.18224003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.094012739 meters Centerline goodness [0,1] 0.9923014239149082 Centerline is valid? [True, True] Translation: X:124.51, Y:-14.11, Z:-2.18 [[ 9.86654323e-01 1.62573985e-01 9.10744608e-03 1.24505497e+02] [-1.62569312e-01 9.86696327e-01 -1.25603362e-03 -1.41137232e+01] [-9.19048199e-03 -2.41320242e-04 9.99957738e-01 -2.18405888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124012739 meters Centerline goodness [0,1] 0.9927914011713973 Centerline is valid? [True, True] Translation: X:124.53, Y:-14.12, Z:-2.19 [[ 9.86598939e-01 1.62933827e-01 8.66612200e-03 1.24534548e+02] [-1.62929611e-01 9.86636972e-01 -1.19495974e-03 -1.41151913e+01] [-8.74501573e-03 -2.33021877e-04 9.99961734e-01 -2.18540815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.154012739 meters Centerline goodness [0,1] 0.9931991761778083 Centerline is valid? [True, True] Translation: X:124.56, Y:-14.12, Z:-2.19 [[ 9.86738620e-01 1.62068946e-01 8.97513982e-03 1.24562495e+02] [-1.62064392e-01 9.86779409e-01 -1.23714011e-03 -1.41205326e+01] [-9.05698517e-03 -2.33816656e-04 9.99958957e-01 -2.18519920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184012739 meters Centerline goodness [0,1] 0.9926332019873223 Centerline is valid? [True, True] Translation: X:124.59, Y:-14.12, Z:-2.18 [[ 9.86802216e-01 1.61655317e-01 9.43109902e-03 1.24590629e+02] [-1.61650274e-01 9.86847253e-01 -1.29952386e-03 -1.41213503e+01] [-9.51712910e-03 -2.42166724e-04 9.99954682e-01 -2.18408000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.214012739 meters Centerline goodness [0,1] 0.9932691267178877 Centerline is valid? [True, True] Translation: X:124.62, Y:-14.12, Z:-2.18 [[ 9.86874232e-01 1.61207251e-01 9.56409897e-03 1.24619924e+02] [-1.61202049e-01 9.86920546e-01 -1.31741259e-03 -1.41237260e+01] [-9.65138224e-03 -2.41631812e-04 9.99953395e-01 -2.18416227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244012739 meters Centerline goodness [0,1] 0.993283997091158 Centerline is valid? [True, True] Translation: X:124.65, Y:-14.13, Z:-2.19 [[ 9.86936862e-01 1.60825916e-01 9.52132809e-03 1.24648484e+02] [-1.60820746e-01 9.86982760e-01 -1.31118560e-03 -1.41260596e+01] [-9.60825930e-03 -2.37169691e-04 9.99953811e-01 -2.18533410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27401273899997 meters Centerline goodness [0,1] 0.9936947212119908 Centerline is valid? [True, True] Translation: X:124.68, Y:-14.13, Z:-2.19 [[ 9.86979863e-01 1.60639681e-01 8.10205891e-03 1.24676849e+02] [-1.60635933e-01 9.87013097e-01 -1.11549069e-03 -1.41267587e+01] [-8.17603032e-03 -2.00514948e-04 9.99966556e-01 -2.18765003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30401273899997 meters Centerline goodness [0,1] 0.9928973322208673 Centerline is valid? [True, True] Translation: X:124.70, Y:-14.13, Z:-2.19 [[ 9.86944750e-01 1.60864159e-01 7.92352040e-03 1.24704716e+02] [-1.60860585e-01 9.86976536e-01 -1.09045638e-03 -1.41266438e+01] [-7.99574406e-03 -1.98361925e-04 9.99968014e-01 -2.18799275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33401273899997 meters Centerline goodness [0,1] 0.9937853591633807 Centerline is valid? [True, True] Translation: X:124.73, Y:-14.13, Z:-2.19 [[ 9.86845191e-01 1.61449662e-01 8.40090370e-03 1.24733221e+02] [-1.61445670e-01 9.86880925e-01 -1.15564674e-03 -1.41306874e+01] [-8.47727039e-03 -2.15845102e-04 9.99964044e-01 -2.18703770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36401273899997 meters Centerline goodness [0,1] 0.9929662552860965 Centerline is valid? [True, True] Translation: X:124.76, Y:-14.13, Z:-2.18 [[ 9.86543136e-01 1.63198046e-01 9.95182256e-03 1.24762915e+02] [-1.63192539e-01 9.86593291e-01 -1.36845175e-03 -1.41282899e+01] [-1.00417300e-02 -2.74026503e-04 9.99949543e-01 -2.18393849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39401273899998 meters Centerline goodness [0,1] 0.9926131713830383 Centerline is valid? [True, True] Translation: X:124.79, Y:-14.13, Z:-2.18 [[ 9.86470774e-01 1.63594368e-01 1.05969123e-02 1.24790699e+02] [-1.63588152e-01 9.86527645e-01 -1.45659357e-03 -1.41276648e+01] [-1.06924374e-02 -2.96642313e-04 9.99942790e-01 -2.18332056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42401273899998 meters Centerline goodness [0,1] 0.9923394603385188 Centerline is valid? [True, True] Translation: X:124.82, Y:-14.13, Z:-2.18 [[ 9.86490589e-01 1.63462320e-01 1.07883297e-02 1.24819478e+02] [-1.63455876e-01 9.86549532e-01 -1.48229001e-03 -1.41277029e+01] [-1.08855201e-02 -3.01150728e-04 9.99940706e-01 -2.18406937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45401273899998 meters Centerline goodness [0,1] 0.9915104199995733 Centerline is valid? [True, True] Translation: X:124.85, Y:-14.13, Z:-2.18 [[ 9.86578299e-01 1.62957171e-01 1.04029118e-02 1.24848107e+02] [-1.62951157e-01 9.86633102e-01 -1.42883285e-03 -1.41264922e+01] [-1.04966957e-02 -2.85511037e-04 9.99944867e-01 -2.18468434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48401273899998 meters Centerline goodness [0,1] 0.9919187155687981 Centerline is valid? [True, True] Translation: X:124.88, Y:-14.13, Z:-2.19 [[ 9.86591363e-01 1.62894439e-01 1.01432288e-02 1.24876606e+02] [-1.62888723e-01 9.86643464e-01 -1.39261235e-03 -1.41315865e+01] [-1.02345992e-02 -2.78278274e-04 9.99947586e-01 -2.18518150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51401273899998 meters Centerline goodness [0,1] 0.9912359263050153 Centerline is valid? [True, True] Translation: X:124.91, Y:-14.13, Z:-2.18 [[ 9.86558768e-01 1.63064435e-01 1.05729877e-02 1.24905041e+02] [-1.63058240e-01 9.86615378e-01 -1.45108407e-03 -1.41276543e+01] [-1.06680925e-02 -2.92433064e-04 9.99943052e-01 -2.18489118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54401273899998 meters Centerline goodness [0,1] 0.9913741693644573 Centerline is valid? [True, True] Translation: X:124.93, Y:-14.13, Z:-2.19 [[ 9.86363221e-01 1.64299731e-01 9.65372233e-03 1.24934226e+02] [-1.64294631e-01 9.86410422e-01 -1.32442775e-03 -1.41250677e+01] [-9.74013544e-03 -2.79687931e-04 9.99952525e-01 -2.18716812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57401273899998 meters Centerline goodness [0,1] 0.9912004624574475 Centerline is valid? [True, True] Translation: X:124.96, Y:-14.13, Z:-2.19 [[ 9.86293856e-01 1.64757288e-01 8.91437310e-03 1.24963129e+02] [-1.64752961e-01 9.86334105e-01 -1.22262430e-03 -1.41262750e+01] [-8.99398648e-03 -2.62802530e-04 9.99959519e-01 -2.18890083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60401273899998 meters Centerline goodness [0,1] 0.9930239546664377 Centerline is valid? [True, True] Translation: X:124.99, Y:-14.13, Z:-2.19 [[ 9.86305414e-01 1.64701133e-01 8.66988207e-03 1.24990056e+02] [-1.64697042e-01 9.86343486e-01 -1.18869464e-03 -1.41337461e+01] [-8.74726105e-03 -2.55487973e-04 9.99961709e-01 -2.18961779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63401273899999 meters Centerline goodness [0,1] 0.9915616298595022 Centerline is valid? [True, True] Translation: X:125.02, Y:-14.13, Z:-2.19 [[ 9.86351586e-01 1.64383892e-01 9.40660688e-03 1.25018710e+02] [-1.64379068e-01 9.86396401e-01 -1.28899664e-03 -1.41284330e+01] [-9.49053346e-03 -2.74845396e-04 9.99954926e-01 -2.18829739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664012739 meters Centerline goodness [0,1] 0.9914394893580685 Centerline is valid? [True, True] Translation: X:125.05, Y:-14.13, Z:-2.19 [[ 9.86371509e-01 1.64209600e-01 1.03176608e-02 1.25046627e+02] [-1.64203794e-01 9.86425424e-01 -1.41315746e-03 -1.41316520e+01] [-1.04096570e-02 -3.00300801e-04 9.99945773e-01 -2.18697502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.694012739 meters Centerline goodness [0,1] 0.9908280418189981 Centerline is valid? [True, True] Translation: X:125.08, Y:-14.13, Z:-2.19 [[ 9.86493925e-01 1.63398842e-01 1.14260047e-02 1.25075163e+02] [-1.63391676e-01 9.86560040e-01 -1.56416179e-03 -1.41305290e+01] [-1.15280219e-02 -3.23877953e-04 9.99933498e-01 -2.18571649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724012739 meters Centerline goodness [0,1] 0.9912976708471973 Centerline is valid? [True, True] Translation: X:125.10, Y:-14.13, Z:-2.19 [[ 9.86565579e-01 1.63030750e-01 1.04562359e-02 1.25104498e+02] [-1.63024734e-01 9.86620945e-01 -1.43087986e-03 -1.41318801e+01] [-1.05496188e-02 -2.92968261e-04 9.99944308e-01 -2.18779234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.754012739 meters Centerline goodness [0,1] 0.991962103999657 Centerline is valid? [True, True] Translation: X:125.13, Y:-14.13, Z:-2.19 [[ 9.86650534e-01 1.62591328e-01 9.20785581e-03 1.25133744e+02] [-1.62586647e-01 9.86693466e-01 -1.25967342e-03 -1.41334851e+01] [-9.29014313e-03 -2.54216949e-04 9.99956813e-01 -2.19098067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784012739 meters Centerline goodness [0,1] 0.9932033284634441 Centerline is valid? [True, True] Translation: X:125.16, Y:-14.14, Z:-2.19 [[ 9.87063694e-01 1.60154952e-01 7.46027870e-03 1.25162771e+02] [-1.60151812e-01 9.87091868e-01 -1.02032306e-03 -1.41373255e+01] [-7.52739023e-03 -1.87653307e-04 9.99971651e-01 -2.19448198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.814012739 meters Centerline goodness [0,1] 0.9935504402248859 Centerline is valid? [True, True] Translation: X:125.19, Y:-14.14, Z:-2.19 [[ 9.87653019e-01 1.56423262e-01 8.56019413e-03 1.25191846e+02] [-1.56418990e-01 9.87690098e-01 -1.17042792e-03 -1.41410411e+01] [-8.63790113e-03 -1.83000248e-04 9.99962676e-01 -2.19277465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844012739 meters Centerline goodness [0,1] 0.9944148647180268 Centerline is valid? [True, True] Translation: X:125.22, Y:-14.15, Z:-2.19 [[ 9.88012151e-01 1.54095802e-01 9.29914037e-03 1.25219598e+02] [-1.54090661e-01 9.88055895e-01 -1.27120265e-03 -1.41490130e+01] [-9.38395746e-03 -1.76947021e-04 9.99955954e-01 -2.19218896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.874012739 meters Centerline goodness [0,1] 0.9939656997670971 Centerline is valid? [True, True] Translation: X:125.25, Y:-14.15, Z:-2.19 [[ 9.88285979e-01 1.52324281e-01 9.38808936e-03 1.25247813e+02] [-1.52318964e-01 9.88330556e-01 -1.28292034e-03 -1.41514719e+01] [-9.47395549e-03 -1.62091868e-04 9.99955108e-01 -2.19174770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904012739 meters Centerline goodness [0,1] 0.9947990744475343 Centerline is valid? [True, True] Translation: X:125.28, Y:-14.16, Z:-2.19 [[ 9.88731939e-01 1.49400333e-01 9.41767409e-03 1.25276601e+02] [-1.49394855e-01 9.88776781e-01 -1.28649295e-03 -1.41574586e+01] [-9.50417995e-03 -1.34955392e-04 9.99954825e-01 -2.19111075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.934012739 meters Centerline goodness [0,1] 0.9947839046199702 Centerline is valid? [True, True] Translation: X:125.31, Y:-14.16, Z:-2.19 [[ 9.88773751e-01 1.49119409e-01 9.48008224e-03 1.25305193e+02] [-1.49113851e-01 9.88819187e-01 -1.29441410e-03 -1.41613883e+01] [-9.56710947e-03 -1.33728890e-04 9.99954225e-01 -2.19092868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964012739 meters Centerline goodness [0,1] 0.9942768061161296 Centerline is valid? [True, True] Translation: X:125.33, Y:-14.16, Z:-2.19 [[ 9.88671837e-01 1.49758349e-01 1.00217877e-02 1.25333063e+02] [-1.49752175e-01 9.88722618e-01 -1.36788070e-03 -1.41592121e+01] [-1.01136197e-02 -1.48399389e-04 9.99948845e-01 -2.19056423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.994012739 meters Centerline goodness [0,1] 0.994032029539307 Centerline is valid? [True, True] Translation: X:125.36, Y:-14.16, Z:-2.19 [[ 9.88556088e-01 1.50454826e-01 1.09638304e-02 1.25361289e+02] [-1.50447487e-01 9.88616870e-01 -1.49586366e-03 -1.41645937e+01] [-1.10640876e-02 -1.70735601e-04 9.99938777e-01 -2.18975082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02401273899997 meters Centerline goodness [0,1] 0.9936925611236345 Centerline is valid? [True, True] Translation: X:125.39, Y:-14.17, Z:-2.19 [[ 9.88475965e-01 1.50901888e-01 1.19952714e-02 1.25389661e+02] [-1.50893142e-01 9.88548726e-01 -1.63603866e-03 -1.41657042e+01] [-1.21047915e-02 -1.92819286e-04 9.99926716e-01 -2.18792347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05401273899997 meters Centerline goodness [0,1] 0.9936718396866054 Centerline is valid? [True, True] Translation: X:125.42, Y:-14.17, Z:-2.19 [[ 9.88410924e-01 1.51259527e-01 1.28218690e-02 1.25418472e+02] [-1.51249574e-01 9.88494062e-01 -1.74804211e-03 -1.41678626e+01] [-1.29387494e-02 -2.11518312e-04 9.99916269e-01 -2.18602464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08401273899997 meters Centerline goodness [0,1] 0.9937024459442032 Centerline is valid? [True, True] Translation: X:125.45, Y:-14.17, Z:-2.19 [[ 9.88483079e-01 1.50819472e-01 1.24374342e-02 1.25446345e+02] [-1.50810080e-01 9.88561301e-01 -1.69499884e-03 -1.41714564e+01] [-1.25508050e-02 -2.00212784e-04 9.99921216e-01 -2.18671496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11401273899997 meters Centerline goodness [0,1] 0.9934650390372256 Centerline is valid? [True, True] Translation: X:125.47, Y:-14.18, Z:-2.19 [[ 9.88735592e-01 1.49188977e-01 1.20240472e-02 1.25473599e+02] [-1.49180087e-01 9.88808687e-01 -1.63796879e-03 -1.41772283e+01] [-1.21338492e-02 -1.74230364e-04 9.99926367e-01 -2.18914648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14401273899998 meters Centerline goodness [0,1] 0.993517017828201 Centerline is valid? [True, True] Translation: X:125.50, Y:-14.18, Z:-2.19 [[ 9.88834242e-01 1.48506745e-01 1.23526704e-02 1.25502239e+02] [-1.48497318e-01 9.88911380e-01 -1.68205158e-03 -1.41820137e+01] [-1.24654923e-02 -1.71068221e-04 9.99922288e-01 -2.18841377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17401273899998 meters Centerline goodness [0,1] 0.993516326487086 Centerline is valid? [True, True] Translation: X:125.53, Y:-14.19, Z:-2.19 [[ 9.88888047e-01 1.48118396e-01 1.27032210e-02 1.25530523e+02] [-1.48108401e-01 9.88969621e-01 -1.72918456e-03 -1.41859333e+01] [-1.28192237e-02 -1.71483808e-04 9.99917816e-01 -2.18711176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20401273899998 meters Centerline goodness [0,1] 0.9930089425489481 Centerline is valid? [True, True] Translation: X:125.56, Y:-14.19, Z:-2.19 [[ 9.88721464e-01 1.49215486e-01 1.28298817e-02 1.25558321e+02] [-1.49205392e-01 9.88804684e-01 -1.74577175e-03 -1.41871593e+01] [-1.29467433e-02 -1.88205532e-04 9.99916170e-01 -2.18682707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23401273899998 meters Centerline goodness [0,1] 0.9928917055624545 Centerline is valid? [True, True] Translation: X:125.59, Y:-14.19, Z:-2.19 [[ 9.88538484e-01 1.50499126e-01 1.19028626e-02 1.25587582e+02] [-1.50490539e-01 9.88610124e-01 -1.61902401e-03 -1.41891336e+01] [-1.20109522e-02 -1.90800671e-04 9.99927848e-01 -2.18938786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26401273899998 meters Centerline goodness [0,1] 0.9928917055624545 Centerline is valid? [True, True] Translation: X:125.61, Y:-14.19, Z:-2.19 [[ 9.88548642e-01 1.50432386e-01 1.19029478e-02 1.25614844e+02] [-1.50423801e-01 9.88620281e-01 -1.61839785e-03 -1.41927031e+01] [-1.20109550e-02 -1.90621658e-04 9.99927848e-01 -2.18960787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29401273899998 meters Centerline goodness [0,1] 0.9926652452025586 Centerline is valid? [True, True] Translation: X:125.64, Y:-14.19, Z:-2.19 [[ 9.88333917e-01 1.51944605e-01 1.04358113e-02 1.25644069e+02] [-1.51938096e-01 9.88388994e-01 -1.41832439e-03 -1.41939098e+01] [-1.05301477e-02 -1.83819196e-04 9.99944540e-01 -2.19195646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32401273899998 meters Centerline goodness [0,1] 0.9926189760974982 Centerline is valid? [True, True] Translation: X:125.67, Y:-14.19, Z:-2.20 [[ 9.87978970e-01 1.54310214e-01 9.26895486e-03 1.25672270e+02] [-1.54305187e-01 9.88022431e-01 -1.25930753e-03 -1.41914582e+01] [-9.35225933e-03 -1.86078456e-04 9.99956249e-01 -2.19510204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35401273899998 meters Centerline goodness [0,1] 0.992442996742671 Centerline is valid? [True, True] Translation: X:125.70, Y:-14.19, Z:-2.19 [[ 9.87813057e-01 1.55346038e-01 9.64219673e-03 1.25700837e+02] [-1.55340655e-01 9.87860095e-01 -1.30927170e-03 -1.41930900e+01] [-9.72853155e-03 -2.04509480e-04 9.99952656e-01 -2.19481019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38401273899999 meters Centerline goodness [0,1] 0.9917548293142588 Centerline is valid? [True, True] Translation: X:125.73, Y:-14.19, Z:-2.19 [[ 9.87531751e-01 1.57119938e-01 9.71417273e-03 1.25730624e+02] [-1.57114564e-01 9.87579503e-01 -1.31859087e-03 -1.41896062e+01] [-9.80069479e-03 -2.24087669e-04 9.99951947e-01 -2.19473614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.414012739 meters Centerline goodness [0,1] 0.9911562745806671 Centerline is valid? [True, True] Translation: X:125.76, Y:-14.19, Z:-2.19 [[ 9.87467893e-01 1.57548468e-01 9.25423775e-03 1.25758971e+02] [-1.57543614e-01 9.87511232e-01 -1.25573295e-03 -1.41873820e+01] [-9.33650252e-03 -2.17950098e-04 9.99956390e-01 -2.19471254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444012739 meters Centerline goodness [0,1] 0.9923254196017045 Centerline is valid? [True, True] Translation: X:125.79, Y:-14.19, Z:-2.20 [[ 9.87485524e-01 1.57444801e-01 9.13645247e-03 1.25786947e+02] [-1.57440071e-01 9.87527766e-01 -1.23921189e-03 -1.41925287e+01] [-9.21760797e-03 -2.14739921e-04 9.99957494e-01 -2.19610451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.474012739 meters Centerline goodness [0,1] 0.9920342741501431 Centerline is valid? [True, True] Translation: X:125.82, Y:-14.19, Z:-2.20 [[ 9.87780116e-01 1.55575268e-01 9.31550363e-03 1.25815162e+02] [-1.55570273e-01 9.87824020e-01 -1.26279897e-03 -1.41895749e+01] [-9.39853854e-03 -2.01847729e-04 9.99955812e-01 -2.19632707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504012739 meters Centerline goodness [0,1] 0.9920938370812001 Centerline is valid? [True, True] Translation: X:125.84, Y:-14.19, Z:-2.20 [[ 9.88119220e-01 1.53369467e-01 9.91027408e-03 1.25843557e+02] [-1.53363712e-01 9.88168897e-01 -1.34262889e-03 -1.41937409e+01] [-9.99894289e-03 -1.93199011e-04 9.99949991e-01 -2.19521518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.534012739 meters Centerline goodness [0,1] 0.9930580928023384 Centerline is valid? [True, True] Translation: X:125.87, Y:-14.20, Z:-2.19 [[ 9.89036524e-01 1.47270154e-01 1.08745719e-02 1.25871963e+02] [-1.47262861e-01 9.89096295e-01 -1.47280362e-03 -1.42028321e+01] [-1.09728988e-02 -1.44763998e-04 9.99939785e-01 -2.19388313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564012739 meters Centerline goodness [0,1] 0.9935436976227126 Centerline is valid? [True, True] Translation: X:125.90, Y:-14.21, Z:-2.19 [[ 9.89533141e-01 1.43873565e-01 1.11606833e-02 1.25899271e+02] [-1.43865671e-01 9.89596072e-01 -1.51118341e-03 -1.42087936e+01] [-1.12619877e-02 -1.10273123e-04 9.99936576e-01 -2.19279055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.594012739 meters Centerline goodness [0,1] 0.9938828698817499 Centerline is valid? [True, True] Translation: X:125.93, Y:-14.22, Z:-2.19 [[ 9.89959879e-01 1.40873290e-01 1.15824609e-02 1.25927378e+02] [-1.40864590e-01 9.90027631e-01 -1.56765513e-03 -1.42175460e+01] [-1.16877970e-02 -7.96429185e-05 9.99931692e-01 -2.19268610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624012739 meters Centerline goodness [0,1] 0.993708645189283 Centerline is valid? [True, True] Translation: X:125.96, Y:-14.22, Z:-2.19 [[ 9.90481916e-01 1.37089950e-01 1.23255780e-02 1.25955663e+02] [-1.37079812e-01 9.90558602e-01 -1.66763503e-03 -1.42240906e+01] [-1.24378233e-02 -3.78255774e-05 9.99922647e-01 -2.19246188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.654012739 meters Centerline goodness [0,1] 0.993692150954848 Centerline is valid? [True, True] Translation: X:125.98, Y:-14.23, Z:-2.19 [[ 9.90594396e-01 1.36304571e-01 1.19919574e-02 1.25983956e+02] [-1.36294923e-01 9.90666979e-01 -1.62194875e-03 -1.42275948e+01] [-1.21011153e-02 -2.77495719e-05 9.99926778e-01 -2.19362942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684012739 meters Centerline goodness [0,1] 0.9943990866202796 Centerline is valid? [True, True] Translation: X:126.01, Y:-14.23, Z:-2.20 [[ 9.90659358e-01 1.35888645e-01 1.13275159e-02 1.26011878e+02] [-1.35880015e-01 9.90724117e-01 -1.53153836e-03 -1.42301874e+01] [-1.14305619e-02 -2.19502263e-05 9.99934669e-01 -2.19516144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.714012739 meters Centerline goodness [0,1] 0.9940245513000932 Centerline is valid? [True, True] Translation: X:126.04, Y:-14.23, Z:-2.20 [[ 9.90732550e-01 1.35350992e-01 1.13631981e-02 1.26039930e+02] [-1.35342280e-01 9.90797713e-01 -1.53574705e-03 -1.42346333e+01] [-1.14664956e-02 -1.64065483e-05 9.99934257e-01 -2.19561464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744012739 meters Centerline goodness [0,1] 0.9937604528496076 Centerline is valid? [True, True] Translation: X:126.07, Y:-14.24, Z:-2.20 [[ 9.90849902e-01 1.34512974e-01 1.10783951e-02 1.26067702e+02] [-1.34504647e-01 9.90911832e-01 -1.49672228e-03 -1.42398370e+01] [-1.11790413e-02 -7.06849366e-06 9.99937513e-01 -2.19645300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77401273899997 meters Centerline goodness [0,1] 0.9924185315212475 Centerline is valid? [True, True] Translation: X:126.09, Y:-14.25, Z:-2.19 [[ 9.91198600e-01 1.31833927e-01 1.20478410e-02 1.26094836e+02] [-1.31823890e-01 9.91271817e-01 -1.62697343e-03 -1.42480295e+01] [-1.21571755e-02 2.44605223e-05 9.99926099e-01 -2.19410771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80401273899997 meters Centerline goodness [0,1] 0.9924040771278322 Centerline is valid? [True, True] Translation: X:126.12, Y:-14.25, Z:-2.19 [[ 9.91331479e-01 1.30790323e-01 1.24816239e-02 1.26123456e+02] [-1.30779475e-01 9.91410051e-01 -1.68487756e-03 -1.42530225e+01] [-1.25947731e-02 3.79319324e-05 9.99920682e-01 -2.19482596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83401273899997 meters Centerline goodness [0,1] 0.9934201982598156 Centerline is valid? [True, True] Translation: X:126.15, Y:-14.26, Z:-2.20 [[ 9.91470351e-01 1.29819852e-01 1.15476660e-02 1.26151590e+02] [-1.29810507e-01 9.91537596e-01 -1.55828915e-03 -1.42573001e+01] [-1.16522419e-02 4.59891015e-05 9.99932109e-01 -2.19800781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86401273899997 meters Centerline goodness [0,1] 0.9940938563266354 Centerline is valid? [True, True] Translation: X:126.18, Y:-14.26, Z:-2.20 [[ 9.91493613e-01 1.29726813e-01 1.05532053e-02 1.26179459e+02] [-1.29719009e-01 9.91549773e-01 -1.42358225e-03 -1.42616804e+01] [-1.06487051e-02 4.25213856e-05 9.99943300e-01 -2.19884325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89401273899998 meters Centerline goodness [0,1] 0.9945098543824659 Centerline is valid? [True, True] Translation: X:126.21, Y:-14.26, Z:-2.20 [[ 9.91516725e-01 1.29581412e-01 1.01608214e-02 1.26207711e+02] [-1.29574175e-01 9.91568785e-01 -1.37008380e-03 -1.42648979e+01] [-1.02526907e-02 4.18809489e-05 9.99947439e-01 -2.20064193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92401273899998 meters Centerline goodness [0,1] 0.9939435739379702 Centerline is valid? [True, True] Translation: X:126.24, Y:-14.27, Z:-2.20 [[ 9.91701807e-01 1.28089721e-01 1.09795003e-02 1.26235704e+02] [-1.28081186e-01 9.91762582e-01 -1.47991909e-03 -1.42713586e+01] [-1.10786200e-02 6.13710177e-05 9.99938628e-01 -2.19955583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95401273899998 meters Centerline goodness [0,1] 0.9931004928219412 Centerline is valid? [True, True] Translation: X:126.26, Y:-14.28, Z:-2.20 [[ 9.91835448e-01 1.27025899e-01 1.12634114e-02 1.26263201e+02] [-1.27016855e-01 9.91899398e-01 -1.51759134e-03 -1.42785566e+01] [-1.13649443e-02 7.45578025e-05 9.99935414e-01 -2.19840062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98401273899998 meters Centerline goodness [0,1] 0.992893987714304 Centerline is valid? [True, True] Translation: X:126.29, Y:-14.29, Z:-2.20 [[ 9.92033515e-01 1.25445844e-01 1.15258248e-02 1.26290398e+02] [-1.25436275e-01 9.92100464e-01 -1.55223478e-03 -1.42869857e+01] [-1.16294975e-02 9.41123906e-05 9.99932371e-01 -2.19906613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01401273899998 meters Centerline goodness [0,1] 0.9889500368332106 Centerline is valid? [True, True] Translation: X:126.32, Y:-14.29, Z:-2.19 [[ 9.92157622e-01 1.24540523e-01 1.06259508e-02 1.26318980e+02] [-1.24532345e-01 9.92214518e-01 -1.43045981e-03 -1.42918125e+01] [-1.07213729e-02 9.59670364e-05 9.99942520e-01 -2.19194390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04401273899998 meters Centerline goodness [0,1] 0.9921409910488672 Centerline is valid? [True, True] Translation: X:126.35, Y:-14.30, Z:-2.20 [[ 9.92240853e-01 1.23760595e-01 1.18914028e-02 1.26346014e+02] [-1.23750305e-01 9.92312099e-01 -1.60015002e-03 -1.43003410e+01] [-1.19980184e-02 1.16169502e-04 9.99928014e-01 -2.19809578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07401273899998 meters Centerline goodness [0,1] 0.9920062929183409 Centerline is valid? [True, True] Translation: X:126.37, Y:-14.30, Z:-2.20 [[ 9.92292026e-01 1.23302480e-01 1.23706959e-02 1.26374465e+02] [-1.23291317e-01 9.92369126e-01 -1.66394478e-03 -1.43033181e+01] [-1.24814652e-02 1.25919748e-04 9.99922096e-01 -2.19764817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10401273899998 meters Centerline goodness [0,1] 0.9909596962112712 Centerline is valid? [True, True] Translation: X:126.40, Y:-14.31, Z:-2.20 [[ 9.92251885e-01 1.23610472e-01 1.25158830e-02 1.26402313e+02] [-1.23599076e-01 9.92330810e-01 -1.68294143e-03 -1.43087091e+01] [-1.26279255e-02 1.22950230e-04 9.99920257e-01 -2.19764530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13401273899999 meters Centerline goodness [0,1] 0.9934740799965426 Centerline is valid? [True, True] Translation: X:126.43, Y:-14.31, Z:-2.20 [[ 9.92036805e-01 1.25484030e-01 1.08044414e-02 1.26432389e+02] [-1.25475652e-01 9.92095636e-01 -1.45250893e-03 -1.43100029e+01] [-1.09013058e-02 8.52479964e-05 9.99940575e-01 -2.20325545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164012739 meters Centerline goodness [0,1] 0.9932887335946822 Centerline is valid? [True, True] Translation: X:126.46, Y:-14.31, Z:-2.20 [[ 9.91905929e-01 1.26602103e-01 9.72297061e-03 1.26459697e+02] [-1.26595374e-01 9.91953579e-01 -1.30685008e-03 -1.43130629e+01] [-9.81018547e-03 6.53892419e-05 9.99951877e-01 -2.20470583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.194012739 meters Centerline goodness [0,1] 0.9935817627613446 Centerline is valid? [True, True] Translation: X:126.49, Y:-14.31, Z:-2.20 [[ 9.91712504e-01 1.28084672e-01 1.00313087e-02 1.26489000e+02] [-1.28077592e-01 9.91763235e-01 -1.34772053e-03 -1.43132774e+01] [-1.01213055e-02 5.17654435e-05 9.99948777e-01 -2.20436365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224012739 meters Centerline goodness [0,1] 0.9879947315008745 Centerline is valid? [True, True] Translation: X:126.52, Y:-14.32, Z:-2.20 [[ 9.91741529e-01 1.27839866e-01 1.02814707e-02 1.26517553e+02] [-1.27832420e-01 9.91794820e-01 -1.38084167e-03 -1.43182067e+01] [-1.03736360e-02 5.51327433e-05 9.99946191e-01 -2.19525462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.254012739 meters Centerline goodness [0,1] 0.9911388321324873 Centerline is valid? [True, True] Translation: X:126.54, Y:-14.32, Z:-2.20 [[ 9.91734831e-01 1.27767577e-01 1.17248293e-02 1.26544511e+02] [-1.27757896e-01 9.91804135e-01 -1.57409067e-03 -1.43225608e+01] [-1.18298519e-02 6.31410262e-05 9.99930023e-01 -2.20142506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284012739 meters Centerline goodness [0,1] 0.9871947652373627 Centerline is valid? [True, True] Translation: X:126.57, Y:-14.33, Z:-2.19 [[ 9.91973857e-01 1.25878300e-01 1.19382119e-02 1.26573225e+02] [-1.25868133e-01 9.92045687e-01 -1.60226871e-03 -1.43296483e+01] [-1.20449425e-02 8.67682424e-05 9.99927453e-01 -2.19462957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.314012739 meters Centerline goodness [0,1] 0.990810465858328 Centerline is valid? [True, True] Translation: X:126.60, Y:-14.34, Z:-2.20 [[ 9.92077827e-01 1.25018020e-01 1.23320682e-02 1.26599945e+02] [-1.25007109e-01 9.92154466e-01 -1.65468520e-03 -1.43360213e+01] [-1.24421820e-02 9.99803022e-05 9.99922588e-01 -2.20234413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344012739 meters Centerline goodness [0,1] 0.9859176158997438 Centerline is valid? [True, True] Translation: X:126.63, Y:-14.35, Z:-2.20 [[ 9.92559276e-01 1.21350959e-01 1.00014377e-02 1.26627805e+02] [-1.21343600e-01 9.92609657e-01 -1.34155007e-03 -1.43492749e+01] [-1.00903220e-02 1.17957507e-04 9.99949084e-01 -2.19611226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.374012739 meters Centerline goodness [0,1] 0.99086570645015 Centerline is valid? [True, True] Translation: X:126.66, Y:-14.36, Z:-2.21 [[ 9.92721822e-01 1.19982512e-01 1.03721685e-02 1.26655952e+02] [-1.19974526e-01 9.92775996e-01 -1.39100770e-03 -1.43576852e+01] [-1.04641365e-02 1.36487691e-04 9.99945240e-01 -2.20662614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404012739 meters Centerline goodness [0,1] 0.9903918330580994 Centerline is valid? [True, True] Translation: X:126.69, Y:-14.37, Z:-2.21 [[ 9.92894932e-01 1.18515980e-01 1.06590741e-02 1.26685183e+02] [-1.18507465e-01 9.92952133e-01 -1.42917619e-03 -1.43655603e+01] [-1.07533306e-02 1.55841938e-04 9.99942169e-01 -2.20593892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.434012739 meters Centerline goodness [0,1] 0.9893473944879705 Centerline is valid? [True, True] Translation: X:126.71, Y:-14.38, Z:-2.20 [[ 9.93069193e-01 1.16963555e-01 1.15370853e-02 1.26714190e+02] [-1.16953476e-01 9.93136190e-01 -1.54676311e-03 -1.43755382e+01] [-1.16388118e-02 1.86740569e-04 9.99932249e-01 -2.20306775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464012739 meters Centerline goodness [0,1] 0.9897682233327589 Centerline is valid? [True, True] Translation: X:126.74, Y:-14.38, Z:-2.20 [[ 9.92986547e-01 1.17619315e-01 1.19755979e-02 1.26744722e+02] [-1.17608504e-01 9.93058741e-01 -1.60546157e-03 -1.43797357e+01] [-1.20813054e-02 1.85769589e-04 9.99927001e-01 -2.20243900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.494012739 meters Centerline goodness [0,1] 0.9895602244551742 Centerline is valid? [True, True] Translation: X:126.77, Y:-14.38, Z:-2.20 [[ 9.92565039e-01 1.21021293e-01 1.29803878e-02 1.26774856e+02] [-1.21008882e-01 9.92649899e-01 -1.74016480e-03 -1.43834242e+01] [-1.30955777e-02 1.56484513e-04 9.99914237e-01 -2.20030913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52401273899997 meters Centerline goodness [0,1] 0.9890527304154841 Centerline is valid? [True, True] Translation: X:126.80, Y:-14.39, Z:-2.20 [[ 9.92244868e-01 1.23577995e-01 1.33641381e-02 1.26804366e+02] [-1.23565072e-01 9.92334854e-01 -1.79154768e-03 -1.43851821e+01] [-1.34830959e-02 1.26313301e-04 9.99909091e-01 -2.19903263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55401273899997 meters Centerline goodness [0,1] 0.989251040221914 Centerline is valid? [True, True] Translation: X:126.83, Y:-14.38, Z:-2.20 [[ 9.91873406e-01 1.26501220e-01 1.35863163e-02 1.26834974e+02] [-1.26488141e-01 9.91966448e-01 -1.82117347e-03 -1.43837055e+01] [-1.37075506e-02 8.78656491e-05 9.99906043e-01 -2.19951244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58401273899997 meters Centerline goodness [0,1] 0.9899255177164507 Centerline is valid? [True, True] Translation: X:126.86, Y:-14.38, Z:-2.20 [[ 9.91072221e-01 1.32692511e-01 1.29826662e-02 1.26864543e+02] [-1.32681102e-01 9.91157252e-01 -1.73999694e-03 -1.43766078e+01] [-1.30987483e-02 1.90817125e-06 9.99914208e-01 -2.20076137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61401273899997 meters Centerline goodness [0,1] 0.990072713023033 Centerline is valid? [True, True] Translation: X:126.89, Y:-14.38, Z:-2.20 [[ 9.90725609e-01 1.35286381e-01 1.26634275e-02 1.26892436e+02] [-1.35275745e-01 9.90806537e-01 -1.69665293e-03 -1.43753295e+01] [-1.27765408e-02 -3.21370872e-05 9.99918376e-01 -2.20113037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64401273899998 meters Centerline goodness [0,1] 0.9903123933082963 Centerline is valid? [True, True] Translation: X:126.92, Y:-14.37, Z:-2.20 [[ 9.90255739e-01 1.38572500e-01 1.38287609e-02 1.26922429e+02] [-1.38560148e-01 9.90352289e-01 -1.85198173e-03 -1.43706688e+01] [-1.39519787e-02 -8.21796164e-05 9.99902663e-01 -2.19891276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67401273899998 meters Centerline goodness [0,1] 0.989783756172314 Centerline is valid? [True, True] Translation: X:126.95, Y:-14.37, Z:-2.20 [[ 9.90121597e-01 1.39491252e-01 1.41919994e-02 1.26950865e+02] [-1.39478347e-01 9.90223299e-01 -1.89990635e-03 -1.43697944e+01] [-1.43182687e-02 -9.83383014e-05 9.99897484e-01 -2.19798244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70401273899998 meters Centerline goodness [0,1] 0.9901842054942953 Centerline is valid? [True, True] Translation: X:126.98, Y:-14.37, Z:-2.20 [[ 9.90057379e-01 1.39983264e-01 1.38228756e-02 1.26979399e+02] [-1.39971080e-01 9.90153864e-01 -1.84980098e-03 -1.43706761e+01] [-1.39457148e-02 -1.03393708e-04 9.99902748e-01 -2.19902763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73401273899998 meters Centerline goodness [0,1] 0.989321554164165 Centerline is valid? [True, True] Translation: X:127.01, Y:-14.37, Z:-2.20 [[ 9.90012943e-01 1.40380824e-01 1.29459373e-02 1.27007593e+02] [-1.40370178e-01 9.90097578e-01 -1.73185361e-03 -1.43706349e+01] [-1.30608602e-02 -1.02666028e-04 9.99914698e-01 -2.20262088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76401273899998 meters Centerline goodness [0,1] 0.9897216917365835 Centerline is valid? [True, True] Translation: X:127.04, Y:-14.37, Z:-2.20 [[ 9.90053413e-01 1.40111727e-01 1.27649020e-02 1.27036261e+02] [-1.40101363e-01 9.90135695e-01 -1.70699200e-03 -1.43746883e+01] [-1.28781547e-02 -9.83669078e-05 9.99917068e-01 -2.20435240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79401273899998 meters Centerline goodness [0,1] 0.9897597144617476 Centerline is valid? [True, True] Translation: X:127.06, Y:-14.38, Z:-2.20 [[ 9.90234904e-01 1.38837179e-01 1.26124317e-02 1.27064011e+02] [-1.38826965e-01 9.90315218e-01 -1.68597979e-03 -1.43765113e+01] [-1.27243597e-02 -8.14295814e-05 9.99919039e-01 -2.20451830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82401273899998 meters Centerline goodness [0,1] 0.9904163560856138 Centerline is valid? [True, True] Translation: X:127.09, Y:-14.38, Z:-2.21 [[ 9.90339253e-01 1.38128525e-01 1.21932178e-02 1.27092581e+02] [-1.38118933e-01 9.90414310e-01 -1.62931043e-03 -1.43807493e+01] [-1.23013916e-02 -7.05441553e-05 9.99924333e-01 -2.20603882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85401273899998 meters Centerline goodness [0,1] 0.9900104368570151 Centerline is valid? [True, True] Translation: X:127.12, Y:-14.38, Z:-2.21 [[ 9.90429614e-01 1.37564298e-01 1.11912602e-02 1.27119981e+02] [-1.37556187e-01 9.90492837e-01 -1.49490607e-03 -1.43834598e+01] [-1.12905088e-02 -5.88278432e-05 9.99936258e-01 -2.20791269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88401273899999 meters Centerline goodness [0,1] 0.9905400499690363 Centerline is valid? [True, True] Translation: X:127.15, Y:-14.38, Z:-2.21 [[ 9.90403658e-01 1.37813213e-01 1.03977272e-02 1.27147266e+02] [-1.37806232e-01 9.90458235e-01 -1.38826500e-03 -1.43825741e+01] [-1.04898358e-02 -5.79288803e-05 9.99944978e-01 -2.20972258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.914012739 meters Centerline goodness [0,1] 0.9905556157261995 Centerline is valid? [True, True] Translation: X:127.18, Y:-14.39, Z:-2.21 [[ 9.90310080e-01 1.38461161e-01 1.06982009e-02 1.27175990e+02] [-1.38453819e-01 9.90367862e-01 -1.42751411e-03 -1.43856898e+01] [-1.07928096e-02 -6.75251460e-05 9.99941754e-01 -2.21059915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944012739 meters Centerline goodness [0,1] 0.9901233512196165 Centerline is valid? [True, True] Translation: X:127.20, Y:-14.38, Z:-2.21 [[ 9.90185679e-01 1.39306618e-01 1.12243934e-02 1.27204107e+02] [-1.39298597e-01 9.90249292e-01 -1.49714015e-03 -1.43845174e+01] [-1.13235091e-02 -8.10955090e-05 9.99935884e-01 -2.21059804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.974012739 meters Centerline goodness [0,1] 0.9905605856289732 Centerline is valid? [True, True] Translation: X:127.23, Y:-14.39, Z:-2.21 [[ 9.90191348e-01 1.39258133e-01 1.13255116e-02 1.27233234e+02] [-1.39249971e-01 9.90256111e-01 -1.50999398e-03 -1.43867573e+01] [-1.14254360e-02 -8.18941767e-05 9.99934724e-01 -2.21092202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004012739 meters Centerline goodness [0,1] 0.9902119310954445 Centerline is valid? [True, True] Translation: X:127.26, Y:-14.39, Z:-2.21 [[ 9.90305043e-01 1.38486221e-01 1.08392315e-02 1.27261748e+02] [-1.38478704e-01 9.90364358e-01 -1.44462504e-03 -1.43857299e+01] [-1.09348492e-02 -7.03832761e-05 9.99940210e-01 -2.21136443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.034012739 meters Centerline goodness [0,1] 0.9905948090170402 Centerline is valid? [True, True] Translation: X:127.29, Y:-14.39, Z:-2.21 [[ 9.90397071e-01 1.37863567e-01 1.03575054e-02 1.27290852e+02] [-1.37856675e-01 9.90451227e-01 -1.37986136e-03 -1.43887301e+01] [-1.04488366e-02 -6.12406102e-05 9.99945408e-01 -2.21295115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064012739 meters Centerline goodness [0,1] 0.9906045751633987 Centerline is valid? [True, True] Translation: X:127.32, Y:-14.39, Z:-2.21 [[ 9.90489745e-01 1.37264241e-01 9.41236339e-03 1.27319970e+02] [-1.37258526e-01 9.90534465e-01 -1.25356407e-03 -1.43921111e+01] [-9.49533985e-03 -5.02847718e-05 9.99954917e-01 -2.21497005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.094012739 meters Centerline goodness [0,1] 0.9905660377358491 Centerline is valid? [True, True] Translation: X:127.35, Y:-14.39, Z:-2.22 [[ 9.90659957e-01 1.36029135e-01 9.42995918e-03 1.27347761e+02] [-1.36023346e-01 9.90704836e-01 -1.25553599e-03 -1.43942631e+01] [-9.51309564e-03 -3.88853706e-05 9.99954749e-01 -2.21573673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124012739 meters Centerline goodness [0,1] 0.9899664111618293 Centerline is valid? [True, True] Translation: X:127.38, Y:-14.40, Z:-2.21 [[ 9.90713333e-01 1.35560211e-01 1.05128750e-02 1.27376121e+02] [-1.35552997e-01 9.90769109e-01 -1.39901530e-03 -1.43965147e+01] [-1.06054826e-02 -3.90286072e-05 9.99943760e-01 -2.21408398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.154012739 meters Centerline goodness [0,1] 0.9902559160509691 Centerline is valid? [True, True] Translation: X:127.40, Y:-14.39, Z:-2.21 [[ 9.90673687e-01 1.35761890e-01 1.15911985e-02 1.27404776e+02] [-1.35753145e-01 9.90741494e-01 -1.54162150e-03 -1.43947873e+01] [-1.16931747e-02 -4.62977855e-05 9.99931631e-01 -2.21175063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184012739 meters Centerline goodness [0,1] 0.9902559160509691 Centerline is valid? [True, True] Translation: X:127.43, Y:-14.40, Z:-2.21 [[ 9.90682979e-01 1.35694057e-01 1.15913099e-02 1.27432042e+02] [-1.35685317e-01 9.90750786e-01 -1.54078329e-03 -1.43982779e+01] [-1.16931745e-02 -4.63427787e-05 9.99931631e-01 -2.21197063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.214012739 meters Centerline goodness [0,1] 0.9901015390510249 Centerline is valid? [True, True] Translation: X:127.46, Y:-14.40, Z:-2.21 [[ 9.90646910e-01 1.35981121e-01 1.13063479e-02 1.27459542e+02] [-1.35972834e-01 9.90711427e-01 -1.50203655e-03 -1.43975147e+01] [-1.14055767e-02 -4.93683052e-05 9.99934953e-01 -2.21097020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244012739 meters Centerline goodness [0,1] 0.9902558635394456 Centerline is valid? [True, True] Translation: X:127.49, Y:-14.40, Z:-2.21 [[ 9.90556625e-01 1.36601568e-01 1.17296249e-02 1.27488486e+02] [-1.36592704e-01 9.90626069e-01 -1.55728622e-03 -1.43974425e+01] [-1.18324000e-02 -5.96010068e-05 9.99929993e-01 -2.21301084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27401273899997 meters Centerline goodness [0,1] 0.9899229274749675 Centerline is valid? [True, True] Translation: X:127.52, Y:-14.40, Z:-2.21 [[ 9.90549244e-01 1.36598815e-01 1.23676890e-02 1.27517451e+02] [-1.36588968e-01 9.90626448e-01 -1.64139124e-03 -1.43988074e+01] [-1.24759719e-02 -6.34110176e-05 9.99922170e-01 -2.21160919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30401273899997 meters Centerline goodness [0,1] 0.990041369898068 Centerline is valid? [True, True] Translation: X:127.55, Y:-14.40, Z:-2.21 [[ 9.90488874e-01 1.36972504e-01 1.30507859e-02 1.27546069e+02] [-1.36961580e-01 9.90574847e-01 -1.73140845e-03 -1.43999377e+01] [-1.31649356e-02 -7.25154519e-05 9.99913336e-01 -2.21051649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33401273899997 meters Centerline goodness [0,1] 0.9897074179044048 Centerline is valid? [True, True] Translation: X:127.58, Y:-14.40, Z:-2.21 [[ 9.90290276e-01 1.38477527e-01 1.22124370e-02 1.27575067e+02] [-1.38468083e-01 9.90365572e-01 -1.61963273e-03 -1.43989540e+01] [-1.23190599e-02 -8.71261961e-05 9.99924114e-01 -2.21165530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36401273899997 meters Centerline goodness [0,1] 0.9898318930306548 Centerline is valid? [True, True] Translation: X:127.60, Y:-14.40, Z:-2.21 [[ 9.90197558e-01 1.39195119e-01 1.15548794e-02 1.27603601e+02] [-1.39186719e-01 9.90264970e-01 -1.53190003e-03 -1.44001657e+01] [-1.16556253e-02 -9.14020898e-05 9.99932067e-01 -2.21341244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39401273899998 meters Centerline goodness [0,1] 0.990083889008389 Centerline is valid? [True, True] Translation: X:127.63, Y:-14.40, Z:-2.21 [[ 9.90112755e-01 1.39791624e-01 1.16204044e-02 1.27632736e+02] [-1.39783177e-01 9.90180939e-01 -1.54002909e-03 -1.43985260e+01] [-1.17215861e-02 -9.95345847e-05 9.99931295e-01 -2.21385183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42401273899998 meters Centerline goodness [0,1] 0.9900506083773016 Centerline is valid? [True, True] Translation: X:127.66, Y:-14.40, Z:-2.21 [[ 9.90163964e-01 1.39374438e-01 1.22511502e-02 1.27659535e+02] [-1.39365026e-01 9.90239747e-01 -1.62284812e-03 -1.43997025e+01] [-1.23577594e-02 -1.00496131e-04 9.99923635e-01 -2.21314235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45401273899998 meters Centerline goodness [0,1] 0.9897621198434207 Centerline is valid? [True, True] Translation: X:127.69, Y:-14.40, Z:-2.21 [[ 9.90455562e-01 1.37258499e-01 1.25652134e-02 1.27687872e+02] [-1.37248439e-01 9.90535259e-01 -1.66353884e-03 -1.44042047e+01] [-1.26746217e-02 -7.68946290e-05 9.99919671e-01 -2.21268556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48401273899998 meters Centerline goodness [0,1] 0.9891327831309683 Centerline is valid? [True, True] Translation: X:127.72, Y:-14.41, Z:-2.21 [[ 9.90738728e-01 1.35213911e-01 1.24084794e-02 1.27716427e+02] [-1.35203948e-01 9.90816429e-01 -1.64219419e-03 -1.44103227e+01] [-1.25165727e-02 -5.06900204e-05 9.99921663e-01 -2.21387329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51401273899998 meters Centerline goodness [0,1] 0.9884289020313706 Centerline is valid? [True, True] Translation: X:127.74, Y:-14.42, Z:-2.21 [[ 9.91058710e-01 1.32877016e-01 1.20967716e-02 1.27743619e+02] [-1.32867382e-01 9.91132533e-01 -1.60021517e-03 -1.44161880e+01] [-1.22021357e-02 -2.13591875e-05 9.99925551e-01 -2.21382561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54401273899998 meters Centerline goodness [0,1] 0.9887830229536596 Centerline is valid? [True, True] Translation: X:127.77, Y:-14.42, Z:-2.22 [[ 9.91529298e-01 1.29416734e-01 1.09981536e-02 1.27771708e+02] [-1.29408566e-01 9.91590293e-01 -1.45413252e-03 -1.44241409e+01] [-1.10938514e-02 1.85597119e-05 9.99938461e-01 -2.21628793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57401273899998 meters Centerline goodness [0,1] 0.9888724512767737 Centerline is valid? [True, True] Translation: X:127.80, Y:-14.43, Z:-2.22 [[ 9.91740382e-01 1.27828030e-01 1.05360651e-02 1.27799837e+02] [-1.27820450e-01 9.91796347e-01 -1.39255467e-03 -1.44293472e+01] [-1.06276384e-02 3.43281315e-05 9.99943524e-01 -2.21679349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60401273899998 meters Centerline goodness [0,1] 0.9889282168601891 Centerline is valid? [True, True] Translation: X:127.83, Y:-14.43, Z:-2.22 [[ 9.91989141e-01 1.25892871e-01 1.04177016e-02 1.27828613e+02] [-1.25885358e-01 9.92043841e-01 -1.37642403e-03 -1.44345529e+01] [-1.05080987e-02 5.39615970e-05 9.99944787e-01 -2.21687852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63401273899999 meters Centerline goodness [0,1] 0.9887609119962251 Centerline is valid? [True, True] Translation: X:127.86, Y:-14.44, Z:-2.22 [[ 9.92000074e-01 1.25808067e-01 1.04011577e-02 1.27856692e+02] [-1.25800579e-01 9.92054599e-01 -1.37372330e-03 -1.44378321e+01] [-1.04913418e-02 5.42619657e-05 9.99944963e-01 -2.21752216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664012739 meters Centerline goodness [0,1] 0.9883676009786668 Centerline is valid? [True, True] Translation: X:127.89, Y:-14.44, Z:-2.22 [[ 9.91909869e-01 1.26510864e-01 1.04791812e-02 1.27885705e+02] [-1.26503308e-01 9.91965221e-01 -1.38344244e-03 -1.44398487e+01] [-1.05700038e-02 4.65991246e-05 9.99944135e-01 -2.21783395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.694012739 meters Centerline goodness [0,1] 0.9889122290317691 Centerline is valid? [True, True] Translation: X:127.91, Y:-14.44, Z:-2.22 [[ 9.91813243e-01 1.27224515e-01 1.09733583e-02 1.27912388e+02] [-1.27216281e-01 9.91873944e-01 -1.44803936e-03 -1.44413724e+01] [-1.10684143e-02 4.01947743e-05 9.99938742e-01 -2.21718872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724012739 meters Centerline goodness [0,1] 0.9882811658516619 Centerline is valid? [True, True] Translation: X:127.94, Y:-14.44, Z:-2.22 [[ 9.91713871e-01 1.27978368e-01 1.11864129e-02 1.27940048e+02] [-1.27969869e-01 9.91776959e-01 -1.47525901e-03 -1.44428114e+01] [-1.12832278e-02 3.15110257e-05 9.99936342e-01 -2.21616256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.754012739 meters Centerline goodness [0,1] 0.9882623063387838 Centerline is valid? [True, True] Translation: X:127.97, Y:-14.44, Z:-2.22 [[ 9.91577908e-01 1.29002476e-01 1.14723259e-02 1.27968030e+02] [-1.28993614e-01 9.91644271e-01 -1.51214021e-03 -1.44447757e+01] [-1.15715361e-02 1.95480369e-05 9.99933047e-01 -2.21570541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784012739 meters Centerline goodness [0,1] 0.9881798217284589 Centerline is valid? [True, True] Translation: X:128.00, Y:-14.45, Z:-2.22 [[ 9.91601463e-01 1.28839930e-01 1.12610762e-02 1.27996158e+02] [-1.28831391e-01 9.91665403e-01 -1.48349890e-03 -1.44491818e+01] [-1.13583536e-02 2.02595577e-05 9.99935492e-01 -2.21649010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.814012739 meters Centerline goodness [0,1] 0.9878697778639606 Centerline is valid? [True, True] Translation: X:128.02, Y:-14.46, Z:-2.22 [[ 9.91756547e-01 1.27640906e-01 1.12583443e-02 1.28024228e+02] [-1.27632302e-01 9.91820446e-01 -1.48241050e-03 -1.44559024e+01] [-1.13554723e-02 3.32619202e-05 9.99935524e-01 -2.21628085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844012739 meters Centerline goodness [0,1] 0.9866932081268798 Centerline is valid? [True, True] Translation: X:128.05, Y:-14.46, Z:-2.21 [[ 9.91872182e-01 1.26630049e-01 1.24259741e-02 1.28051400e+02] [-1.26619497e-01 9.91950013e-01 -1.63543925e-03 -1.44609751e+01] [-1.25330410e-02 4.87760957e-05 9.99921457e-01 -2.21496054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.874012739 meters Centerline goodness [0,1] 0.9865353526759125 Centerline is valid? [True, True] Translation: X:128.08, Y:-14.47, Z:-2.21 [[ 9.92005555e-01 1.25494972e-01 1.32661251e-02 1.28078310e+02] [-1.25482855e-01 9.92094253e-01 -1.74514836e-03 -1.44670256e+01] [-1.33802539e-02 6.65256198e-05 9.99910478e-01 -2.21367207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904012739 meters Centerline goodness [0,1] 0.9871665557868532 Centerline is valid? [True, True] Translation: X:128.11, Y:-14.48, Z:-2.21 [[ 9.92393553e-01 1.22256130e-01 1.44386211e-02 1.28105535e+02] [-1.22241446e-01 9.92498577e-01 -1.89850655e-03 -1.44775034e+01] [-1.45624150e-02 1.19067738e-04 9.99893955e-01 -2.21265523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.934012739 meters Centerline goodness [0,1] 0.9863656006914434 Centerline is valid? [True, True] Translation: X:128.13, Y:-14.48, Z:-2.21 [[ 9.92609353e-01 1.20499133e-01 1.43746430e-02 1.28133976e+02] [-1.20484406e-01 9.92713422e-01 -1.88932323e-03 -1.44847043e+01] [-1.44975628e-02 1.43439589e-04 9.99894895e-01 -2.21372308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964012739 meters Centerline goodness [0,1] 0.9867681749946386 Centerline is valid? [True, True] Translation: X:128.16, Y:-14.49, Z:-2.21 [[ 9.92823807e-01 1.18747010e-01 1.41434054e-02 1.28161391e+02] [-1.18732585e-01 9.92924529e-01 -1.85826633e-03 -1.44925663e+01] [-1.42639977e-02 1.65647973e-04 9.99898250e-01 -2.21443404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.994012739 meters Centerline goodness [0,1] 0.9869499967374992 Centerline is valid? [True, True] Translation: X:128.19, Y:-14.51, Z:-2.21 [[ 9.93256695e-01 1.15056563e-01 1.42522047e-02 1.28189151e+02] [-1.15041543e-01 9.93358918e-01 -1.87197027e-03 -1.45050262e+01] [-1.43729371e-02 2.19751384e-04 9.99896680e-01 -2.21470603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02401273899997 meters Centerline goodness [0,1] 0.9880845227379881 Centerline is valid? [True, True] Translation: X:128.22, Y:-14.52, Z:-2.22 [[ 9.93495831e-01 1.13112827e-01 1.30966236e-02 1.28216520e+02] [-1.13099981e-01 9.93582124e-01 -1.71975683e-03 -1.45161188e+01] [-1.32070977e-02 2.27343358e-04 9.99912757e-01 -2.21750341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05401273899997 meters Centerline goodness [0,1] 0.9876835724043715 Centerline is valid? [True, True] Translation: X:128.24, Y:-14.52, Z:-2.22 [[ 9.93541335e-01 1.12833458e-01 1.20094041e-02 1.28244975e+02] [-1.12822641e-01 9.93613892e-01 -1.57662617e-03 -1.45220043e+01] [-1.21106070e-02 2.11510581e-04 9.99926642e-01 -2.21993325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08401273899997 meters Centerline goodness [0,1] 0.9886115613182064 Centerline is valid? [True, True] Translation: X:128.27, Y:-14.52, Z:-2.22 [[ 9.93552710e-01 1.12834652e-01 1.10160970e-02 1.28273827e+02] [-1.12825553e-01 9.93613760e-01 -1.44589116e-03 -1.45240413e+01] [-1.11088921e-02 1.93671842e-04 9.99938276e-01 -2.22248359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11401273899997 meters Centerline goodness [0,1] 0.9886567810369088 Centerline is valid? [True, True] Translation: X:128.30, Y:-14.53, Z:-2.22 [[ 9.93498044e-01 1.13381454e-01 1.03093221e-02 1.28301720e+02] [-1.13373520e-01 9.93551516e-01 -1.35265428e-03 -1.45292925e+01] [-1.03962085e-02 1.75055245e-04 9.99945943e-01 -2.22370274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14401273899998 meters Centerline goodness [0,1] 0.9893600751567586 Centerline is valid? [True, True] Translation: X:128.33, Y:-14.53, Z:-2.22 [[ 9.93292617e-01 1.15099820e-01 1.10366512e-02 1.28331250e+02] [-1.15090840e-01 9.93353917e-01 -1.44743946e-03 -1.45297638e+01] [-1.11299008e-02 1.67513473e-04 9.99938047e-01 -2.22242751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17401273899998 meters Centerline goodness [0,1] 0.988727927310132 Centerline is valid? [True, True] Translation: X:128.36, Y:-14.53, Z:-2.22 [[ 9.93013114e-01 1.17444545e-01 1.14775785e-02 1.28358506e+02] [-1.17435000e-01 9.93079432e-01 -1.50441786e-03 -1.45330383e+01] [-1.15748328e-02 1.46037235e-04 9.99932999e-01 -2.22107750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20401273899998 meters Centerline goodness [0,1] 0.9890626019265476 Centerline is valid? [True, True] Translation: X:128.39, Y:-14.53, Z:-2.22 [[ 9.92879302e-01 1.18617562e-01 1.09802238e-02 1.28387843e+02] [-1.18608906e-01 9.92940007e-01 -1.43852732e-03 -1.45344446e+01] [-1.10733381e-02 1.25931668e-04 9.99938681e-01 -2.22365571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23401273899998 meters Centerline goodness [0,1] 0.99017626219817 Centerline is valid? [True, True] Translation: X:128.42, Y:-14.54, Z:-2.23 [[ 9.92779728e-01 1.19500237e-01 1.03973685e-02 1.28416927e+02] [-1.19492531e-01 9.92834166e-01 -1.36146660e-03 -1.45376290e+01] [-1.04855583e-02 1.09228557e-04 9.99945019e-01 -2.22557704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26401273899998 meters Centerline goodness [0,1] 0.9905454702441341 Centerline is valid? [True, True] Translation: X:128.44, Y:-14.54, Z:-2.23 [[ 9.92683214e-01 1.20360295e-01 9.66620135e-03 1.28444063e+02] [-1.20353680e-01 9.92730271e-01 -1.26526213e-03 -1.45435550e+01] [-9.74821801e-03 9.26415746e-05 9.99952481e-01 -2.22833395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29401273899998 meters Centerline goodness [0,1] 0.9912505105660296 Centerline is valid? [True, True] Translation: X:128.47, Y:-14.55, Z:-2.23 [[ 9.92665764e-01 1.20547159e-01 9.11386875e-03 1.28471544e+02] [-1.20541291e-01 9.92707598e-01 -1.19244256e-03 -1.45494311e+01] [-9.19115232e-03 8.50994021e-05 9.99957757e-01 -2.22889126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32401273899998 meters Centerline goodness [0,1] 0.9918713248011068 Centerline is valid? [True, True] Translation: X:128.50, Y:-14.55, Z:-2.23 [[ 9.92633200e-01 1.20854188e-01 8.57872641e-03 1.28500180e+02] [-1.20849004e-01 9.92670267e-01 -1.12195154e-03 -1.45534224e+01] [-8.65143918e-03 7.69557966e-05 9.99962573e-01 -2.22942874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35401273899998 meters Centerline goodness [0,1] 0.9918300300430112 Centerline is valid? [True, True] Translation: X:128.53, Y:-14.56, Z:-2.23 [[ 9.92509144e-01 1.21874678e-01 8.49484706e-03 1.28528787e+02] [-1.21869637e-01 9.92545494e-01 -1.11057815e-03 -1.45566394e+01] [-8.56687353e-03 6.69950435e-05 9.99963301e-01 -2.22979641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38401273899999 meters Centerline goodness [0,1] 0.9900831733845169 Centerline is valid? [True, True] Translation: X:128.56, Y:-14.56, Z:-2.23 [[ 9.92076186e-01 1.25294729e-01 9.27746457e-03 1.28556622e+02] [-1.25288870e-01 9.92119564e-01 -1.21239305e-03 -1.45576952e+01] [-9.35626056e-03 4.04232203e-05 9.99956228e-01 -2.22824277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.414012739 meters Centerline goodness [0,1] 0.9895930446848644 Centerline is valid? [True, True] Translation: X:128.59, Y:-14.56, Z:-2.23 [[ 9.91783814e-01 1.27507377e-01 1.03312348e-02 1.28585691e+02] [-1.27500238e-01 9.91837622e-01 -1.34945503e-03 -1.45580003e+01] [-1.04189728e-02 2.11327617e-05 9.99945721e-01 -2.22702972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444012739 meters Centerline goodness [0,1] 0.9891452418535256 Centerline is valid? [True, True] Translation: X:128.61, Y:-14.56, Z:-2.23 [[ 9.91259025e-01 1.31530624e-01 1.02587014e-02 1.28614442e+02] [-1.31523805e-01 9.91312108e-01 -1.33946361e-03 -1.45555487e+01] [-1.03457554e-02 -2.15080500e-05 9.99946481e-01 -2.22712504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.474012739 meters Centerline goodness [0,1] 0.9893157827257575 Centerline is valid? [True, True] Translation: X:128.64, Y:-14.56, Z:-2.23 [[ 9.91123992e-01 1.32599443e-01 9.51941811e-03 1.28642167e+02] [-1.32593626e-01 9.91169706e-01 -1.24240216e-03 -1.45573983e+01] [-9.60010068e-03 -3.08395770e-05 9.99953917e-01 -2.22839248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504012739 meters Centerline goodness [0,1] 0.9889831609021255 Centerline is valid? [True, True] Translation: X:128.67, Y:-14.56, Z:-2.23 [[ 9.90959400e-01 1.33850221e-01 9.14252630e-03 1.28670875e+02] [-1.33844914e-01 9.91001572e-01 -1.19270398e-03 -1.45609674e+01] [-9.21990163e-03 -4.17594236e-05 9.99957495e-01 -2.22995257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.534012739 meters Centerline goodness [0,1] 0.9847638285984441 Centerline is valid? [True, True] Translation: X:128.70, Y:-14.57, Z:-2.22 [[ 9.90918322e-01 1.34163390e-01 9.00352347e-03 1.28698967e+02] [-1.34158260e-01 9.90959224e-01 -1.17412540e-03 -1.45650621e+01] [-9.07964927e-03 -4.44346676e-05 9.99958778e-01 -2.21775404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564012739 meters Centerline goodness [0,1] 0.9878518006138948 Centerline is valid? [True, True] Translation: X:128.73, Y:-14.57, Z:-2.23 [[ 9.90853455e-01 1.34503471e-01 1.08741880e-02 1.28727392e+02] [-1.34496017e-01 9.90913121e-01 -1.41725644e-03 -1.45689879e+01] [-1.09660015e-02 -5.82415300e-05 9.99939870e-01 -2.22727269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.594012739 meters Centerline goodness [0,1] 0.9877103584121955 Centerline is valid? [True, True] Translation: X:128.75, Y:-14.57, Z:-2.23 [[ 9.90848984e-01 1.34460263e-01 1.17782773e-02 1.28754867e+02] [-1.34451522e-01 9.90918984e-01 -1.53445635e-03 -1.45732900e+01] [-1.18776419e-02 -6.31927929e-05 9.99929456e-01 -2.22543277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624012739 meters Centerline goodness [0,1] 0.9870035793420828 Centerline is valid? [True, True] Translation: X:128.78, Y:-14.58, Z:-2.22 [[ 9.90770669e-01 1.34997906e-01 1.22084422e-02 1.28783357e+02] [-1.34988564e-01 9.90845881e-01 -1.58981635e-03 -1.45769923e+01] [-1.23113065e-02 -7.28566726e-05 9.99924210e-01 -2.22480451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.654012739 meters Centerline goodness [0,1] 0.9867668402629557 Centerline is valid? [True, True] Translation: X:128.81, Y:-14.58, Z:-2.22 [[ 9.90442920e-01 1.37362804e-01 1.24210593e-02 1.28811617e+02] [-1.37353327e-01 9.90520797e-01 -1.61686940e-03 -1.45783634e+01] [-1.25254153e-02 -1.04656978e-04 9.99921548e-01 -2.22390452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684012739 meters Centerline goodness [0,1] 0.986269385656756 Centerline is valid? [True, True] Translation: X:128.84, Y:-14.58, Z:-2.22 [[ 9.90219324e-01 1.38947023e-01 1.26259359e-02 1.28839366e+02] [-1.38937370e-01 9.90299807e-01 -1.64280043e-03 -1.45795002e+01] [-1.27317241e-02 -1.27481588e-04 9.99918940e-01 -2.22427246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.714012739 meters Centerline goodness [0,1] 0.9856269902745503 Centerline is valid? [True, True] Translation: X:128.87, Y:-14.58, Z:-2.22 [[ 9.89698269e-01 1.42582564e-01 1.29440795e-02 1.28867979e+02] [-1.42572738e-01 9.89782896e-01 -1.68348427e-03 -1.45790818e+01] [-1.30518640e-02 -1.79331382e-04 9.99914805e-01 -2.22442821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744012739 meters Centerline goodness [0,1] 0.9857503530317943 Centerline is valid? [True, True] Translation: X:128.90, Y:-14.58, Z:-2.22 [[ 9.89468082e-01 1.44191983e-01 1.27116659e-02 1.28896153e+02] [-1.44182649e-01 9.89549712e-01 -1.65247581e-03 -1.45793728e+01] [-1.28170991e-02 -1.97729601e-04 9.99917838e-01 -2.22496147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77401273899997 meters Centerline goodness [0,1] 0.9845976864574679 Centerline is valid? [True, True] Translation: X:128.93, Y:-14.57, Z:-2.23 [[ 9.88946668e-01 1.47860789e-01 1.10305935e-02 1.28926029e+02] [-1.47853996e-01 9.89008160e-01 -1.43324719e-03 -1.45723640e+01] [-1.11212680e-02 -2.13512293e-04 9.99938134e-01 -2.22774713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80401273899997 meters Centerline goodness [0,1] 0.985241273100616 Centerline is valid? [True, True] Translation: X:128.96, Y:-14.58, Z:-2.23 [[ 9.88754886e-01 1.49191001e-01 1.02869139e-02 1.28955053e+02] [-1.49185170e-01 9.88808374e-01 -1.33624228e-03 -1.45751450e+01] [-1.03711420e-02 -2.13438918e-04 9.99946195e-01 -2.23011512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83401273899997 meters Centerline goodness [0,1] 0.9854249802607712 Centerline is valid? [True, True] Translation: X:128.98, Y:-14.58, Z:-2.23 [[ 9.88610574e-01 1.50182833e-01 9.70826353e-03 1.28983479e+02] [-1.50177691e-01 9.88658218e-01 -1.26061353e-03 -1.45766017e+01] [-9.78747703e-03 -2.11708733e-04 9.99952079e-01 -2.23104841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86401273899997 meters Centerline goodness [0,1] 0.9847963220357104 Centerline is valid? [True, True] Translation: X:129.01, Y:-14.58, Z:-2.23 [[ 9.88766393e-01 1.49136951e-01 9.95941428e-03 1.29011274e+02] [-1.49131493e-01 9.88816529e-01 -1.29261606e-03 -1.45774785e+01] [-1.00408103e-02 -2.07167002e-04 9.99949568e-01 -2.23127502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89401273899998 meters Centerline goodness [0,1] 0.9854358535018205 Centerline is valid? [True, True] Translation: X:129.04, Y:-14.58, Z:-2.23 [[ 9.88981071e-01 1.47700455e-01 1.00507253e-02 1.29039668e+02] [-1.47694828e-01 9.89032122e-01 -1.30389077e-03 -1.45828645e+01] [-1.01330754e-02 -1.94916855e-04 9.99948640e-01 -2.23160219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92401273899998 meters Centerline goodness [0,1] 0.9859856010596253 Centerline is valid? [True, True] Translation: X:129.07, Y:-14.59, Z:-2.23 [[ 9.89551316e-01 1.43808071e-01 1.03648963e-02 1.29067317e+02] [-1.43801879e-01 9.89605585e-01 -1.34415016e-03 -1.45942427e+01] [-1.04504589e-02 -1.60385996e-04 9.99945380e-01 -2.23271039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95401273899998 meters Centerline goodness [0,1] 0.9860027437194547 Centerline is valid? [True, True] Translation: X:129.09, Y:-14.60, Z:-2.23 [[ 9.89841318e-01 1.41809950e-01 1.02031469e-02 1.29094897e+02] [-1.41803848e-01 9.89893893e-01 -1.32265958e-03 -1.45995996e+01] [-1.02875991e-02 -1.37622389e-04 9.99947072e-01 -2.23260961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98401273899998 meters Centerline goodness [0,1] 0.9871025988263364 Centerline is valid? [True, True] Translation: X:129.12, Y:-14.61, Z:-2.23 [[ 9.90261897e-01 1.38894459e-01 9.47129434e-03 1.29122583e+02] [-1.38889073e-01 9.90307184e-01 -1.22726998e-03 -1.46072643e+01] [-9.54995183e-03 -1.00140592e-04 9.99954393e-01 -2.23438761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01401273899998 meters Centerline goodness [0,1] 0.9879332147373384 Centerline is valid? [True, True] Translation: X:129.15, Y:-14.61, Z:-2.24 [[ 9.90452230e-01 1.37557108e-01 9.07865466e-03 1.29150833e+02] [-1.37552107e-01 9.90493834e-01 -1.17596992e-03 -1.46114253e+01] [-9.15411448e-03 -8.40460455e-05 9.99958097e-01 -2.23541125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04401273899998 meters Centerline goodness [0,1] 0.9891387319796733 Centerline is valid? [True, True] Translation: X:129.18, Y:-14.62, Z:-2.24 [[ 9.90605125e-01 1.36462529e-01 8.91429419e-03 1.29179050e+02] [-1.36457667e-01 9.90645231e-01 -1.15425852e-03 -1.46158713e+01] [-8.98841606e-03 -7.30093862e-05 9.99959601e-01 -2.23588427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07401273899998 meters Centerline goodness [0,1] 0.9891387319796733 Centerline is valid? [True, True] Translation: X:129.21, Y:-14.62, Z:-2.24 [[ 9.90614850e-01 1.36391911e-01 8.91435209e-03 1.29206328e+02] [-1.36387050e-01 9.90654956e-01 -1.15381114e-03 -1.46192708e+01] [-8.98841758e-03 -7.28197366e-05 9.99959601e-01 -2.23610425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10401273899998 meters Centerline goodness [0,1] 0.9894639516631905 Centerline is valid? [True, True] Translation: X:129.23, Y:-14.62, Z:-2.24 [[ 9.90805661e-01 1.34992444e-01 9.01009704e-03 1.29234146e+02] [-1.34987426e-01 9.90846626e-01 -1.16555779e-03 -1.46233901e+01] [-9.08496575e-03 -6.14085467e-05 9.99958729e-01 -2.23560806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13401273899999 meters Centerline goodness [0,1] 0.9883398112159911 Centerline is valid? [True, True] Translation: X:129.26, Y:-14.63, Z:-2.23 [[ 9.90816659e-01 1.34835072e-01 1.00921291e-02 1.29261588e+02] [-1.34828776e-01 9.90868053e-01 -1.30481802e-03 -1.46253782e+01] [-1.01759035e-02 -6.78739807e-05 9.99948222e-01 -2.23340400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164012739 meters Centerline goodness [0,1] 0.9884895822064519 Centerline is valid? [True, True] Translation: X:129.29, Y:-14.63, Z:-2.23 [[ 9.90849424e-01 1.34542267e-01 1.07608780e-02 1.29289026e+02] [-1.34535101e-01 9.90907853e-01 -1.39037864e-03 -1.46284822e+01] [-1.08501032e-02 -7.00599303e-05 9.99941133e-01 -2.23340005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.194012739 meters Centerline goodness [0,1] 0.9881514553103804 Centerline is valid? [True, True] Translation: X:129.32, Y:-14.63, Z:-2.23 [[ 9.90883981e-01 1.34293719e-01 1.06833315e-02 1.29316031e+02] [-1.34286650e-01 9.90941569e-01 -1.37957171e-03 -1.46311215e+01] [-1.07718250e-02 -6.76332812e-05 9.99941980e-01 -2.23358456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224012739 meters Centerline goodness [0,1] 0.9887529087305007 Centerline is valid? [True, True] Translation: X:129.34, Y:-14.64, Z:-2.24 [[ 9.91100102e-01 1.32775051e-01 9.55899360e-03 1.29344211e+02] [-1.32769327e-01 9.91146197e-01 -1.23372094e-03 -1.46367544e+01] [-9.63816751e-03 -4.64002007e-05 9.99953551e-01 -2.23692637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.254012739 meters Centerline goodness [0,1] 0.989026799518983 Centerline is valid? [True, True] Translation: X:129.37, Y:-14.64, Z:-2.24 [[ 9.91309548e-01 1.31247856e-01 8.90961567e-03 1.29371660e+02] [-1.31242826e-01 9.91349585e-01 -1.14950660e-03 -1.46425227e+01] [-8.98341407e-03 -2.98062659e-05 9.99959648e-01 -2.23835188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284012739 meters Centerline goodness [0,1] 0.9914751828292008 Centerline is valid? [True, True] Translation: X:129.40, Y:-14.65, Z:-2.24 [[ 9.91681884e-01 1.28481538e-01 7.71590447e-03 1.29400299e+02] [-1.28477684e-01 9.91711901e-01 -9.95103529e-04 -1.46497572e+01] [-7.77980673e-03 -4.49539477e-06 9.99969737e-01 -2.23988511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.314012739 meters Centerline goodness [0,1] 0.9913725998962117 Centerline is valid? [True, True] Translation: X:129.43, Y:-14.65, Z:-2.24 [[ 9.91853935e-01 1.27141348e-01 7.80057536e-03 1.29427480e+02] [-1.27137370e-01 9.91884609e-01 -1.00575461e-03 -1.46549718e+01] [-7.86514364e-03 5.81703349e-06 9.99969069e-01 -2.24062818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344012739 meters Centerline goodness [0,1] 0.9908873005247361 Centerline is valid? [True, True] Translation: X:129.46, Y:-14.66, Z:-2.24 [[ 9.92070863e-01 1.25328679e-01 9.38747646e-03 1.29455985e+02] [-1.25322843e-01 9.92115276e-01 -1.20963409e-03 -1.46621684e+01] [-9.46506065e-03 2.35774927e-05 9.99955205e-01 -2.23775740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.374012739 meters Centerline goodness [0,1] 0.9869282453269015 Centerline is valid? [True, True] Translation: X:129.48, Y:-14.67, Z:-2.23 [[ 9.92125894e-01 1.24834964e-01 1.01213948e-02 1.29484030e+02] [-1.24828159e-01 9.92177520e-01 -1.30371425e-03 -1.46675032e+01] [-1.02049695e-02 3.00135848e-05 9.99947927e-01 -2.23236503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404012739 meters Centerline goodness [0,1] 0.9894255563500834 Centerline is valid? [True, True] Translation: X:129.51, Y:-14.67, Z:-2.23 [[ 9.92116131e-01 1.24840860e-01 1.09700846e-02 1.29512943e+02] [-1.24832873e-01 9.92176778e-01 -1.41250444e-03 -1.46718301e+01] [-1.10606014e-02 3.19412625e-05 9.99938829e-01 -2.23479142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.434012739 meters Centerline goodness [0,1] 0.981483106625713 Centerline is valid? [True, True] Translation: X:129.54, Y:-14.67, Z:-2.22 [[ 9.91839283e-01 1.27019371e-01 1.09962001e-02 1.29540745e+02] [-1.27011486e-01 9.91900237e-01 -1.41533414e-03 -1.46721059e+01] [-1.10869083e-02 7.14028613e-06 9.99938538e-01 -2.22307309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464012739 meters Centerline goodness [0,1] 0.987840034680828 Centerline is valid? [True, True] Translation: X:129.57, Y:-14.67, Z:-2.23 [[ 9.91455362e-01 1.29861301e-01 1.23412994e-02 1.29570085e+02] [-1.29851597e-01 9.91532169e-01 -1.58776375e-03 -1.46709535e+01] [-1.24429844e-02 -2.83405616e-05 9.99922583e-01 -2.23370970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.494012739 meters Centerline goodness [0,1] 0.9879739183003714 Centerline is valid? [True, True] Translation: X:129.60, Y:-14.67, Z:-2.23 [[ 9.91387266e-01 1.30377203e-01 1.23722972e-02 1.29598292e+02] [-1.30367498e-01 9.91464464e-01 -1.59111618e-03 -1.46730348e+01] [-1.24741383e-02 -3.55331124e-05 9.99922194e-01 -2.23343755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52401273899997 meters Centerline goodness [0,1] 0.9884183012091718 Centerline is valid? [True, True] Translation: X:129.63, Y:-14.68, Z:-2.23 [[ 9.91402691e-01 1.30282014e-01 1.21367839e-02 1.29625438e+02] [-1.30272678e-01 9.91476977e-01 -1.56005936e-03 -1.46756384e+01] [-1.22365895e-02 -3.44442935e-05 9.99925130e-01 -2.23384939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55401273899997 meters Centerline goodness [0,1] 0.988160075775515 Centerline is valid? [True, True] Translation: X:129.65, Y:-14.68, Z:-2.24 [[ 9.91476781e-01 1.29816643e-01 1.10196090e-02 1.29654529e+02] [-1.29808925e-01 9.91538017e-01 -1.41584385e-03 -1.46785717e+01] [-1.11101613e-02 -2.66672863e-05 9.99938280e-01 -2.23702104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58401273899997 meters Centerline goodness [0,1] 0.9885943740788996 Centerline is valid? [True, True] Translation: X:129.68, Y:-14.68, Z:-2.24 [[ 9.91515883e-01 1.29559333e-01 1.05182437e-02 1.29682335e+02] [-1.29552292e-01 9.91571671e-01 -1.35092161e-03 -1.46825088e+01] [-1.06046170e-02 -2.32023438e-05 9.99943769e-01 -2.23882569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61401273899997 meters Centerline goodness [0,1] 0.9893511318472438 Centerline is valid? [True, True] Translation: X:129.71, Y:-14.69, Z:-2.24 [[ 9.91838493e-01 1.27073968e-01 1.04216398e-02 1.29710457e+02] [-1.27066925e-01 9.91893244e-01 -1.33788840e-03 -1.46904951e+01] [-1.05071649e-02 2.72349165e-06 9.99944798e-01 -2.23977343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64401273899998 meters Centerline goodness [0,1] 0.9904004799760012 Centerline is valid? [True, True] Translation: X:129.74, Y:-14.70, Z:-2.24 [[ 9.92190655e-01 1.24291437e-01 1.04566941e-02 1.29737561e+02] [-1.24284197e-01 9.92245755e-01 -1.34189235e-03 -1.46989031e+01] [-1.05423961e-02 3.18112112e-05 9.99944427e-01 -2.23994262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67401273899998 meters Centerline goodness [0,1] 0.991053741453128 Centerline is valid? [True, True] Translation: X:129.76, Y:-14.71, Z:-2.24 [[ 9.92890602e-01 1.18530280e-01 1.09007064e-02 1.29764112e+02] [-1.18522072e-01 9.92950433e-01 -1.39822332e-03 -1.47149227e+01] [-1.09895929e-02 9.63084836e-05 9.99939608e-01 -2.23864045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70401273899998 meters Centerline goodness [0,1] 0.9908838005563878 Centerline is valid? [True, True] Translation: X:129.79, Y:-14.72, Z:-2.24 [[ 9.93153338e-01 1.16238396e-01 1.16224701e-02 1.29792374e+02] [-1.16228916e-01 9.93221334e-01 -1.49017771e-03 -1.47219879e+01] [-1.17169011e-02 1.29107871e-04 9.99931346e-01 -2.23776225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73401273899998 meters Centerline goodness [0,1] 0.9883743213030981 Centerline is valid? [True, True] Translation: X:129.82, Y:-14.74, Z:-2.24 [[ 9.93546447e-01 1.12745631e-01 1.24048387e-02 1.29819422e+02] [-1.12734565e-01 9.93623867e-01 -1.58994878e-03 -1.47356180e+01] [-1.25050036e-02 1.81233853e-04 9.99921793e-01 -2.23639557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76401273899998 meters Centerline goodness [0,1] 0.9869862131168664 Centerline is valid? [True, True] Translation: X:129.85, Y:-14.75, Z:-2.24 [[ 9.93673150e-01 1.11627425e-01 1.23688417e-02 1.29847331e+02] [-1.11616341e-01 9.93750110e-01 -1.58496792e-03 -1.47458702e+01] [-1.24684636e-02 1.94375215e-04 9.99922247e-01 -2.23645194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79401273899998 meters Centerline goodness [0,1] 0.9883332979152942 Centerline is valid? [True, True] Translation: X:129.88, Y:-14.75, Z:-2.24 [[ 9.93705684e-01 1.11359257e-01 1.21708389e-02 1.29876555e+02] [-1.11348509e-01 9.93780196e-01 -1.55933354e-03 -1.47533696e+01] [-1.22687849e-02 1.94313835e-04 9.99924717e-01 -2.23801665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82401273899998 meters Centerline goodness [0,1] 0.9894241560908228 Centerline is valid? [True, True] Translation: X:129.90, Y:-14.76, Z:-2.24 [[ 9.93599465e-01 1.12384766e-01 1.13915532e-02 1.29904861e+02] [-1.12375421e-01 9.93664750e-01 -1.45922491e-03 -1.47602273e+01] [-1.14833795e-02 1.69754505e-04 9.99934049e-01 -2.24003055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85401273899998 meters Centerline goodness [0,1] 0.9901888071878112 Centerline is valid? [True, True] Translation: X:129.93, Y:-14.76, Z:-2.24 [[ 9.93432875e-01 1.13929676e-01 1.05428958e-02 1.29934217e+02] [-1.13921761e-01 9.93488807e-01 -1.35022826e-03 -1.47629566e+01] [-1.06280800e-02 1.40295893e-04 9.99943511e-01 -2.24158125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88401273899999 meters Centerline goodness [0,1] 0.9927142610794965 Centerline is valid? [True, True] Translation: X:129.96, Y:-14.76, Z:-2.24 [[ 9.92939719e-01 1.18173254e-01 1.02857537e-02 1.29964660e+02] [-1.18165950e-01 9.92992988e-01 -1.31706578e-03 -1.47607167e+01] [-1.03693233e-02 9.23410652e-05 9.99946233e-01 -2.24299960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.914012739 meters Centerline goodness [0,1] 0.9916267942583732 Centerline is valid? [True, True] Translation: X:129.99, Y:-14.77, Z:-2.24 [[ 9.92700552e-01 1.20113927e-01 1.08746907e-02 1.29992187e+02] [-1.20105884e-01 9.92760111e-01 -1.39205407e-03 -1.47658616e+01] [-1.09631642e-02 7.57785054e-05 9.99939900e-01 -2.24086638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944012739 meters Centerline goodness [0,1] 0.990044819858645 Centerline is valid? [True, True] Translation: X:130.02, Y:-14.76, Z:-2.24 [[ 9.92251881e-01 1.23619634e-01 1.24254426e-02 1.30022053e+02] [-1.23609420e-01 9.92329675e-01 -1.58967702e-03 -1.47636057e+01] [-1.25266507e-02 4.14582654e-05 9.99921538e-01 -2.23951962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.974012739 meters Centerline goodness [0,1] 0.9897954733766517 Centerline is valid? [True, True] Translation: X:130.05, Y:-14.77, Z:-2.24 [[ 9.92029036e-01 1.25394216e-01 1.24371645e-02 1.30050847e+02] [-1.25384132e-01 9.92106995e-01 -1.59036846e-03 -1.47659951e+01] [-1.25384209e-02 1.82686216e-05 9.99921391e-01 -2.24133729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004012739 meters Centerline goodness [0,1] 0.9905513821795663 Centerline is valid? [True, True] Translation: X:130.08, Y:-14.77, Z:-2.25 [[ 9.91712111e-01 1.28119365e-01 9.61858761e-03 1.30078112e+02] [-1.28113465e-01 9.91758755e-01 -1.22957391e-03 -1.47720482e+01] [-9.69685070e-03 -1.28872517e-05 9.99952984e-01 -2.24637084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.034012739 meters Centerline goodness [0,1] 0.9894748078565329 Centerline is valid? [True, True] Translation: X:130.11, Y:-14.78, Z:-2.25 [[ 9.91596021e-01 1.29062759e-01 8.95188634e-03 1.30105518e+02] [-1.29057691e-01 9.91636427e-01 -1.14393130e-03 -1.47752917e+01] [-9.02465552e-03 -2.09920558e-05 9.99959277e-01 -2.24757155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064012739 meters Centerline goodness [0,1] 0.9888129803586678 Centerline is valid? [True, True] Translation: X:130.13, Y:-14.78, Z:-2.25 [[ 9.91401543e-01 1.30501770e-01 9.60563137e-03 1.30134207e+02] [-1.30496008e-01 9.91448076e-01 -1.22687656e-03 -1.47773064e+01] [-9.68359430e-03 -3.71692258e-05 9.99953112e-01 -2.24643683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.094012739 meters Centerline goodness [0,1] 0.9892312359161033 Centerline is valid? [True, True] Translation: X:130.16, Y:-14.78, Z:-2.25 [[ 9.91397266e-01 1.30459374e-01 1.05741426e-02 1.30162515e+02] [-1.30452395e-01 9.91453655e-01 -1.35006501e-03 -1.47824895e+01] [-1.06599009e-02 -4.09714656e-05 9.99943181e-01 -2.24593843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124012739 meters Centerline goodness [0,1] 0.9880265036112236 Centerline is valid? [True, True] Translation: X:130.19, Y:-14.79, Z:-2.24 [[ 9.91443749e-01 1.30049068e-01 1.12486572e-02 1.30190020e+02] [-1.30041150e-01 9.91507558e-01 -1.43557132e-03 -1.47866083e+01] [-1.13398234e-02 -3.95001150e-05 9.99935701e-01 -2.24324458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.154012739 meters Centerline goodness [0,1] 0.9886852521080709 Centerline is valid? [True, True] Translation: X:130.22, Y:-14.80, Z:-2.24 [[ 9.91631375e-01 1.28639588e-01 1.09119954e-02 1.30217675e+02] [-1.28632059e-01 9.91691412e-01 -1.39198908e-03 -1.47957535e+01] [-1.10003970e-02 -2.32923925e-05 9.99939494e-01 -2.24448509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184012739 meters Centerline goodness [0,1] 0.989117135681628 Centerline is valid? [True, True] Translation: X:130.25, Y:-14.80, Z:-2.25 [[ 9.91676513e-01 1.28300495e-01 1.08017209e-02 1.30246066e+02] [-1.28293102e-01 9.91735339e-01 -1.37745893e-03 -1.48017224e+01] [-1.08891770e-02 -1.97926159e-05 9.99940711e-01 -2.24648940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.214012739 meters Centerline goodness [0,1] 0.9890135828165568 Centerline is valid? [True, True] Translation: X:130.27, Y:-14.81, Z:-2.25 [[ 9.91782478e-01 1.27433763e-01 1.13204438e-02 1.30273325e+02] [-1.27425593e-01 9.91847083e-01 -1.44302349e-03 -1.48080268e+01] [-1.14120391e-02 -1.13488524e-05 9.99934880e-01 -2.24565092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244012739 meters Centerline goodness [0,1] 0.9890834367909586 Centerline is valid? [True, True] Translation: X:130.30, Y:-14.81, Z:-2.25 [[ 9.91861629e-01 1.26836637e-01 1.10894649e-02 1.30301714e+02] [-1.26828766e-01 9.91923620e-01 -1.41299293e-03 -1.48138915e+01] [-1.11791214e-02 -4.96968242e-06 9.99937512e-01 -2.24591315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27401273899997 meters Centerline goodness [0,1] 0.9911018675357534 Centerline is valid? [True, True] Translation: X:130.33, Y:-14.82, Z:-2.25 [[ 9.91964472e-01 1.26142180e-01 9.72811663e-03 1.30329470e+02] [-1.26136094e-01 9.92012172e-01 -1.23914821e-03 -1.48217902e+01] [-9.80671896e-03 2.12436948e-06 9.99951913e-01 -2.24874529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30401273899997 meters Centerline goodness [0,1] 0.990730701362757 Centerline is valid? [True, True] Translation: X:130.36, Y:-14.82, Z:-2.25 [[ 9.91894038e-01 1.26715523e-01 9.45481679e-03 1.30357174e+02] [-1.26709804e-01 9.91939099e-01 -1.20388922e-03 -1.48249265e+01] [-9.53115390e-03 -3.88743913e-06 9.99954578e-01 -2.24881393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33401273899997 meters Centerline goodness [0,1] 0.9892104077736545 Centerline is valid? [True, True] Translation: X:130.39, Y:-14.82, Z:-2.25 [[ 9.91464641e-01 1.29959300e-01 1.04137373e-02 1.30386922e+02] [-1.29952548e-01 9.91519328e-01 -1.32536836e-03 -1.48223471e+01] [-1.04976658e-02 -3.92358315e-05 9.99944897e-01 -2.24724719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36401273899997 meters Centerline goodness [0,1] 0.9889009086975336 Centerline is valid? [True, True] Translation: X:130.42, Y:-14.82, Z:-2.25 [[ 9.91210664e-01 1.31826088e-01 1.11041692e-02 1.30416336e+02] [-1.31818534e-01 9.91272858e-01 -1.41269293e-03 -1.48224195e+01] [-1.11934913e-02 -6.34590162e-05 9.99937349e-01 -2.24611842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39401273899998 meters Centerline goodness [0,1] 0.9867653704620285 Centerline is valid? [True, True] Translation: X:130.44, Y:-14.82, Z:-2.25 [[ 9.90592215e-01 1.36345698e-01 1.17010735e-02 1.30444596e+02] [-1.36337631e-01 9.90661312e-01 -1.48801318e-03 -1.48183981e+01] [-1.17946850e-02 -1.21282372e-04 9.99930433e-01 -2.24550967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42401273899998 meters Centerline goodness [0,1] 0.9860834137450413 Centerline is valid? [True, True] Translation: X:130.47, Y:-14.82, Z:-2.25 [[ 9.90363096e-01 1.38033807e-01 1.12962966e-02 1.30473036e+02] [-1.38026406e-01 9.90427508e-01 -1.43588816e-03 -1.48182365e+01] [-1.13863640e-02 -1.37136588e-04 9.99935164e-01 -2.24604514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45401273899998 meters Centerline goodness [0,1] 0.9858426296517074 Centerline is valid? [True, True] Translation: X:130.50, Y:-14.82, Z:-2.25 [[ 9.90158658e-01 1.39507950e-01 1.11069558e-02 1.30501087e+02] [-1.39500895e-01 9.90220939e-01 -1.41117844e-03 -1.48180148e+01] [-1.11952108e-02 -1.52139722e-04 9.99937320e-01 -2.24663551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48401273899998 meters Centerline goodness [0,1] 0.9856206925891262 Centerline is valid? [True, True] Translation: X:130.53, Y:-14.81, Z:-2.25 [[ 9.89881798e-01 1.41420233e-01 1.15906494e-02 1.30529415e+02] [-1.41412689e-01 9.89949637e-01 -1.47194380e-03 -1.48148488e+01] [-1.16823218e-02 -1.82014527e-04 9.99931743e-01 -2.24587586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51401273899998 meters Centerline goodness [0,1] 0.9856503198294243 Centerline is valid? [True, True] Translation: X:130.56, Y:-14.82, Z:-2.25 [[ 9.89860337e-01 1.41606631e-01 1.11389182e-02 1.30558452e+02] [-1.41599682e-01 9.89922992e-01 -1.41399212e-03 -1.48162941e+01] [-1.12269019e-02 -1.77612557e-04 9.99936961e-01 -2.24732501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54401273899998 meters Centerline goodness [0,1] 0.98579963633215 Centerline is valid? [True, True] Translation: X:130.59, Y:-14.82, Z:-2.25 [[ 9.89921426e-01 1.41296583e-01 9.53135894e-03 1.30586556e+02] [-1.41291485e-01 9.89967299e-01 -1.20952342e-03 -1.48160564e+01] [-9.60663519e-03 -1.49366706e-04 9.99953844e-01 -2.25117428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57401273899998 meters Centerline goodness [0,1] 0.9860120266396534 Centerline is valid? [True, True] Translation: X:130.62, Y:-14.82, Z:-2.25 [[ 9.89960146e-01 1.41023939e-01 9.54767235e-03 1.30615166e+02] [-1.41018816e-01 9.90006175e-01 -1.21106485e-03 -1.48198656e+01] [-9.62304372e-03 -1.47495515e-04 9.99953687e-01 -2.25168369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60401273899998 meters Centerline goodness [0,1] 0.9855001594557244 Centerline is valid? [True, True] Translation: X:130.64, Y:-14.82, Z:-2.25 [[ 9.90033156e-01 1.40438255e-01 1.05568445e-02 1.30642907e+02] [-1.40431964e-01 9.90089426e-01 -1.33847068e-03 -1.48186500e+01] [-1.06401926e-02 -1.57388064e-04 9.99943379e-01 -2.25018907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63401273899999 meters Centerline goodness [0,1] 0.9858240819812126 Centerline is valid? [True, True] Translation: X:130.67, Y:-14.82, Z:-2.25 [[ 9.90115916e-01 1.39855775e-01 1.05277909e-02 1.30671140e+02] [-1.39849494e-01 9.90171874e-01 -1.33409848e-03 -1.48219274e+01] [-1.06109038e-02 -1.51394089e-04 9.99943691e-01 -2.25050852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664012739 meters Centerline goodness [0,1] 0.9866804159147546 Centerline is valid? [True, True] Translation: X:130.70, Y:-14.83, Z:-2.26 [[ 9.90414000e-01 1.37846721e-01 8.85384797e-03 1.30699094e+02] [-1.37842201e-01 9.90453568e-01 -1.12163097e-03 -1.48275352e+01] [-8.92393846e-03 -1.09554882e-04 9.99960175e-01 -2.25522096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.694012739 meters Centerline goodness [0,1] 0.9874849733814185 Centerline is valid? [True, True] Translation: X:130.73, Y:-14.83, Z:-2.26 [[ 9.90632457e-01 1.36300680e-01 8.33429346e-03 1.30727278e+02] [-1.36296623e-01 9.90667511e-01 -1.05544699e-03 -1.48325869e+01] [-8.40037189e-03 -9.03760121e-05 9.99964712e-01 -2.25624710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724012739 meters Centerline goodness [0,1] 0.9882922629936511 Centerline is valid? [True, True] Translation: X:130.75, Y:-14.84, Z:-2.25 [[ 9.91012632e-01 1.33457163e-01 9.11856283e-03 1.30754945e+02] [-1.33452191e-01 9.91054580e-01 -1.15430732e-03 -1.48403436e+01] [-9.19104404e-03 -7.29590572e-05 9.99957759e-01 -2.25490997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.754012739 meters Centerline goodness [0,1] 0.9891485628885183 Centerline is valid? [True, True] Translation: X:130.78, Y:-14.85, Z:-2.25 [[ 9.91164888e-01 1.32258785e-01 9.98895276e-03 1.30783239e+02] [-1.32252762e-01 9.91215218e-01 -1.26397438e-03 -1.48460382e+01] [-1.00683737e-02 -6.82595723e-05 9.99949310e-01 -2.25433217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784012739 meters Centerline goodness [0,1] 0.9890298989029899 Centerline is valid? [True, True] Translation: X:130.81, Y:-14.85, Z:-2.25 [[ 9.91307592e-01 1.31180854e-01 1.00420115e-02 1.30810658e+02] [-1.31174717e-01 9.91358452e-01 -1.27016193e-03 -1.48493337e+01] [-1.01218539e-02 -5.81368549e-05 9.99948771e-01 -2.25374447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.814012739 meters Centerline goodness [0,1] 0.9903351620092576 Centerline is valid? [True, True] Translation: X:130.84, Y:-14.86, Z:-2.26 [[ 9.91636903e-01 1.28750706e-01 8.91671087e-03 1.30838307e+02] [-1.28745774e-01 9.91676991e-01 -1.12734762e-03 -1.48577990e+01] [-8.98764381e-03 -3.00693387e-05 9.99959610e-01 -2.25637071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844012739 meters Centerline goodness [0,1] 0.9931640834927664 Centerline is valid? [True, True] Translation: X:130.87, Y:-14.87, Z:-2.26 [[ 9.92019305e-01 1.25883197e-01 7.14974841e-03 1.30865046e+02] [-1.25879953e-01 9.92045070e-01 -9.03697411e-04 -1.48689727e+01] [-7.20663298e-03 -3.52471661e-06 9.99974032e-01 -2.26089523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.874012739 meters Centerline goodness [0,1] 0.9940370354308513 Centerline is valid? [True, True] Translation: X:130.89, Y:-14.87, Z:-2.26 [[ 9.92139420e-01 1.24962824e-01 6.60791531e-03 1.30892842e+02] [-1.24960035e-01 9.92161425e-01 -8.34870900e-04 -1.48748891e+01] [-6.66044649e-03 2.58300442e-06 9.99977819e-01 -2.26185353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904012739 meters Centerline goodness [0,1] 0.9891550908423168 Centerline is valid? [True, True] Translation: X:130.92, Y:-14.88, Z:-2.25 [[ 9.92167549e-01 1.24736406e-01 6.66204033e-03 1.30920940e+02] [-1.24733569e-01 9.92189916e-01 -8.41271105e-04 -1.48789235e+01] [-6.71494636e-03 3.70182204e-06 9.99977454e-01 -2.25252320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.934012739 meters Centerline goodness [0,1] 0.9918723856173736 Centerline is valid? [True, True] Translation: X:130.95, Y:-14.88, Z:-2.26 [[ 9.91939856e-01 1.26437584e-01 8.29810230e-03 1.30949299e+02] [-1.26433247e-01 9.91974565e-01 -1.04727262e-03 -1.48826063e+01] [-8.36392103e-03 -1.03245669e-05 9.99965022e-01 -2.25867651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964012739 meters Centerline goodness [0,1] 0.9909513905268349 Centerline is valid? [True, True] Translation: X:130.98, Y:-14.88, Z:-2.26 [[ 9.91792315e-01 1.27573855e-01 8.53911872e-03 1.30977188e+02] [-1.27569308e-01 9.91829074e-01 -1.07725971e-03 -1.48848584e+01] [-8.60677639e-03 -2.09115631e-05 9.99962961e-01 -2.25862243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.994012739 meters Centerline goodness [0,1] 0.9909513905268349 Centerline is valid? [True, True] Translation: X:131.01, Y:-14.89, Z:-2.26 [[ 9.91798259e-01 1.27527629e-01 8.53918163e-03 1.31005303e+02] [-1.27523085e-01 9.91835018e-01 -1.07676084e-03 -1.48883155e+01] [-8.60677613e-03 -2.10132587e-05 9.99962961e-01 -2.25884911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02401273899997 meters Centerline goodness [0,1] 0.9903938726171884 Centerline is valid? [True, True] Translation: X:131.03, Y:-14.89, Z:-2.26 [[ 9.91708651e-01 1.28199948e-01 8.87275292e-03 1.31033630e+02] [-1.28195073e-01 9.91748341e-01 -1.11838817e-03 -1.48912046e+01] [-8.94291529e-03 -2.83279879e-05 9.99960011e-01 -2.25798904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05401273899997 meters Centerline goodness [0,1] 0.990782315862188 Centerline is valid? [True, True] Translation: X:131.06, Y:-14.90, Z:-2.26 [[ 9.91840183e-01 1.27128927e-01 9.55440488e-03 1.31061936e+02] [-1.27123229e-01 9.91886201e-01 -1.20382634e-03 -1.48979958e+01] [-9.62992351e-03 -2.05834621e-05 9.99953631e-01 -2.25872198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08401273899997 meters Centerline goodness [0,1] 0.9908510271016744 Centerline is valid? [True, True] Translation: X:131.09, Y:-14.90, Z:-2.26 [[ 9.91923229e-01 1.26451919e-01 9.91059713e-03 1.31090039e+02] [-1.26445759e-01 9.91972737e-01 -1.24824355e-03 -1.49037320e+01] [-9.98888496e-03 -1.49912094e-05 9.99950110e-01 -2.25827116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11401273899997 meters Centerline goodness [0,1] 0.9906280899359443 Centerline is valid? [True, True] Translation: X:131.12, Y:-14.91, Z:-2.26 [[ 9.92016392e-01 1.25684361e-01 1.03402267e-02 1.31118895e+02] [-1.25677618e-01 9.92070280e-01 -1.30194604e-03 -1.49092685e+01] [-1.04218658e-02 -7.98323951e-06 9.99945691e-01 -2.25692577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14401273899998 meters Centerline goodness [0,1] 0.9907051973258573 Centerline is valid? [True, True] Translation: X:131.15, Y:-14.91, Z:-2.26 [[ 9.92013902e-01 1.25691224e-01 1.04944804e-02 1.31146130e+02] [-1.25684284e-01 9.92069411e-01 -1.32083035e-03 -1.49125665e+01] [-1.05772698e-02 -8.70918958e-06 9.99944059e-01 -2.25731636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17401273899998 meters Centerline goodness [0,1] 0.9903574788334901 Centerline is valid? [True, True] Translation: X:131.17, Y:-14.92, Z:-2.26 [[ 9.92055406e-01 1.25310802e-01 1.11028846e-02 1.31174834e+02] [-1.25303017e-01 9.92117535e-01 -1.39675407e-03 -1.49171838e+01] [-1.11903949e-02 -5.56752055e-06 9.99937386e-01 -2.25699664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20401273899998 meters Centerline goodness [0,1] 0.9905726479393592 Centerline is valid? [True, True] Translation: X:131.20, Y:-14.93, Z:-2.26 [[ 9.92374022e-01 1.22640230e-01 1.23763382e-02 1.31202869e+02] [-1.22630357e-01 9.92451194e-01 -1.55637663e-03 -1.49263781e+01] [-1.24737861e-02 2.67929644e-05 9.99922199e-01 -2.25549969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23401273899998 meters Centerline goodness [0,1] 0.9940561766409888 Centerline is valid? [True, True] Translation: X:131.23, Y:-14.94, Z:-2.26 [[ 9.92800179e-01 1.19302074e-01 1.07154274e-02 1.31231318e+02] [-1.19294482e-01 9.92858002e-01 -1.34720018e-03 -1.49362729e+01] [-1.07996216e-02 5.92092120e-05 9.99941681e-01 -2.25863503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26401273899998 meters Centerline goodness [0,1] 0.9960656859391036 Centerline is valid? [True, True] Translation: X:131.26, Y:-14.94, Z:-2.26 [[ 9.92928402e-01 1.18330652e-01 9.54171590e-03 1.31258988e+02] [-1.18324590e-01 9.92974246e-01 -1.19941075e-03 -1.49419381e+01] [-9.61660520e-03 6.19093829e-05 9.99953757e-01 -2.26151391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29401273899998 meters Centerline goodness [0,1] 0.996418940783087 Centerline is valid? [True, True] Translation: X:131.29, Y:-14.95, Z:-2.26 [[ 9.92988471e-01 1.17926731e-01 8.19646369e-03 1.31287303e+02] [-1.17922245e-01 9.93022297e-01 -1.03006001e-03 -1.49473134e+01] [-8.26074281e-03 5.62923117e-05 9.99965878e-01 -2.26446215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32401273899998 meters Centerline goodness [0,1] 0.9962367210012473 Centerline is valid? [True, True] Translation: X:131.32, Y:-14.95, Z:-2.26 [[ 9.92835249e-01 1.19220673e-01 8.03741021e-03 1.31315916e+02] [-1.19216404e-01 9.92867780e-01 -1.00979730e-03 -1.49520443e+01] [-8.10047435e-03 4.43712083e-05 9.99967190e-01 -2.26457059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35401273899998 meters Centerline goodness [0,1] 0.9951259489302967 Centerline is valid? [True, True] Translation: X:131.34, Y:-14.95, Z:-2.26 [[ 9.92626888e-01 1.20910359e-01 8.51738480e-03 1.31344356e+02] [-1.20905630e-01 9.92663429e-01 -1.06987884e-03 -1.49540635e+01] [-8.58425584e-03 3.21907274e-05 9.99963154e-01 -2.26339323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38401273899999 meters Centerline goodness [0,1] 0.9922410253085219 Centerline is valid? [True, True] Translation: X:131.37, Y:-14.95, Z:-2.26 [[ 9.92067119e-01 1.25430516e-01 8.36758834e-03 1.31373598e+02] [-1.25426115e-01 9.92102407e-01 -1.05068146e-03 -1.49505092e+01] [-8.43329204e-03 -7.16757160e-06 9.99964439e-01 -2.26371885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414012739 meters Centerline goodness [0,1] 0.9913655398696196 Centerline is valid? [True, True] Translation: X:131.40, Y:-14.95, Z:-2.27 [[ 9.91796983e-01 1.27575529e-01 7.95167027e-03 1.31402846e+02] [-1.27571627e-01 9.91828858e-01 -9.98108281e-04 -1.49498500e+01] [-8.01403023e-03 -2.44867314e-05 9.99967887e-01 -2.26619225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444012739 meters Centerline goodness [0,1] 0.9907971511927235 Centerline is valid? [True, True] Translation: X:131.43, Y:-14.95, Z:-2.27 [[ 9.91580184e-01 1.29299123e-01 7.10461544e-03 1.31432331e+02] [-1.29296054e-01 9.91605635e-01 -8.91494595e-04 -1.49500236e+01] [-7.16024617e-03 -3.46103671e-05 9.99974365e-01 -2.26761874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.474012739 meters Centerline goodness [0,1] 0.9901384899026712 Centerline is valid? [True, True] Translation: X:131.46, Y:-14.95, Z:-2.27 [[ 9.91380354e-01 1.30841454e-01 6.74588732e-03 1.31460352e+02] [-1.30838725e-01 9.91403304e-01 -8.46210092e-04 -1.49503808e+01] [-6.79861434e-03 -4.37072334e-05 9.99976888e-01 -2.26940174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504012739 meters Centerline goodness [0,1] 0.9895390299437212 Centerline is valid? [True, True] Translation: X:131.49, Y:-14.95, Z:-2.27 [[ 9.91423813e-01 1.30445568e-01 7.92321630e-03 1.31488111e+02] [-1.30441795e-01 9.91455471e-01 -9.93297079e-04 -1.49535617e+01] [-7.98508735e-03 -4.87401787e-05 9.99968117e-01 -2.26707632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.534012739 meters Centerline goodness [0,1] 0.9894664578551048 Centerline is valid? [True, True] Translation: X:131.52, Y:-14.96, Z:-2.27 [[ 9.91468629e-01 1.30076507e-01 8.37020450e-03 1.31516968e+02] [-1.30072287e-01 9.91503959e-01 -1.04883822e-03 -1.49575398e+01] [-8.43552011e-03 -4.88414539e-05 9.99964419e-01 -2.26658417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564012739 meters Centerline goodness [0,1] 0.9904314432215572 Centerline is valid? [True, True] Translation: X:131.55, Y:-14.96, Z:-2.27 [[ 9.91585212e-01 1.29183701e-01 8.38686565e-03 1.31545387e+02] [-1.29179436e-01 9.91620678e-01 -1.05054578e-03 -1.49625101e+01] [-8.45230279e-03 -4.17049174e-05 9.99964278e-01 -2.26702048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.594012739 meters Centerline goodness [0,1] 0.99236167572425 Centerline is valid? [True, True] Translation: X:131.57, Y:-14.97, Z:-2.27 [[ 9.91977895e-01 1.26197835e-01 7.34592009e-03 1.31573015e+02] [-1.26194483e-01 9.92005094e-01 -9.19867672e-04 -1.49689050e+01] [-7.40327546e-03 -1.45261923e-05 9.99972595e-01 -2.26823853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624012739 meters Centerline goodness [0,1] 0.992708893429401 Centerline is valid? [True, True] Translation: X:131.60, Y:-14.97, Z:-2.27 [[ 9.92125406e-01 1.25014042e-01 7.65953806e-03 1.31601784e+02] [-1.25010366e-01 9.92154972e-01 -9.58647800e-04 -1.49739423e+01] [-7.71929321e-03 -6.42282234e-06 9.99970206e-01 -2.26863092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.654012739 meters Centerline goodness [0,1] 0.9924553304266052 Centerline is valid? [True, True] Translation: X:131.63, Y:-14.98, Z:-2.27 [[ 9.92307876e-01 1.23505366e-01 8.45604799e-03 1.31628937e+02] [-1.23500835e-01 9.92343904e-01 -1.05790148e-03 -1.49803254e+01] [-8.52196419e-03 5.43497829e-06 9.99963687e-01 -2.26726475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684012739 meters Centerline goodness [0,1] 0.9932348798497589 Centerline is valid? [True, True] Translation: X:131.66, Y:-14.98, Z:-2.27 [[ 9.92355305e-01 1.23144577e-01 8.14623640e-03 1.31656256e+02] [-1.23140364e-01 9.92388741e-01 -1.01869142e-03 -1.49834861e+01] [-8.20967960e-03 7.77332203e-06 9.99966300e-01 -2.26743935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.714012739 meters Centerline goodness [0,1] 0.9936283795419322 Centerline is valid? [True, True] Translation: X:131.68, Y:-14.98, Z:-2.27 [[ 9.92361508e-01 1.23170613e-01 6.90193961e-03 1.31684956e+02] [-1.23167591e-01 9.92385510e-01 -8.62771574e-04 -1.49827505e+01] [-6.95565296e-03 6.08602579e-06 9.99975809e-01 -2.27038413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744012739 meters Centerline goodness [0,1] 0.9938922820655192 Centerline is valid? [True, True] Translation: X:131.71, Y:-14.98, Z:-2.27 [[ 9.92332303e-01 1.23391304e-01 7.15450642e-03 1.31713222e+02] [-1.23388066e-01 9.92358094e-01 -8.93992106e-04 -1.49846844e+01] [-7.21014320e-03 4.35653652e-06 9.99974007e-01 -2.27089507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77401273899997 meters Centerline goodness [0,1] 0.9929898503354551 Centerline is valid? [True, True] Translation: X:131.74, Y:-14.99, Z:-2.27 [[ 9.92344107e-01 1.23257598e-01 7.79346931e-03 1.31741852e+02] [-1.23253755e-01 9.92374710e-01 -9.73318368e-04 -1.49876883e+01] [-7.85401073e-03 5.29238744e-06 9.99969157e-01 -2.26984690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80401273899997 meters Centerline goodness [0,1] 0.992721573342494 Centerline is valid? [True, True] Translation: X:131.77, Y:-14.99, Z:-2.27 [[ 9.92508469e-01 1.21849114e-01 8.92931921e-03 1.31769425e+02] [-1.21844017e-01 9.92548635e-01 -1.11467796e-03 -1.49919298e+01] [-8.99860612e-03 1.83432005e-05 9.99959512e-01 -2.26768817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83401273899997 meters Centerline goodness [0,1] 0.9930795110940761 Centerline is valid? [True, True] Translation: X:131.80, Y:-15.00, Z:-2.27 [[ 9.92739958e-01 1.19870870e-01 9.91721079e-03 1.31797351e+02] [-1.19864489e-01 9.92789491e-01 -1.23742181e-03 -1.49984992e+01] [-9.99403348e-03 3.97166646e-05 9.99950058e-01 -2.26561502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86401273899997 meters Centerline goodness [0,1] 0.9941746315993872 Centerline is valid? [True, True] Translation: X:131.82, Y:-15.01, Z:-2.27 [[ 9.92857271e-01 1.18875603e-01 1.01503983e-02 1.31824413e+02] [-1.18868870e-01 9.92909154e-01 -1.26618819e-03 -1.50053065e+01] [-1.02289423e-02 5.05777737e-05 9.99947682e-01 -2.26637058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89401273899998 meters Centerline goodness [0,1] 0.9943089956670762 Centerline is valid? [True, True] Translation: X:131.85, Y:-15.01, Z:-2.27 [[ 9.93059117e-01 1.17181524e-01 1.01034785e-02 1.31853098e+02] [-1.17174771e-01 9.93110510e-01 -1.25984325e-03 -1.50136809e+01] [-1.01815010e-02 6.72260491e-05 9.99948165e-01 -2.26664680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92401273899998 meters Centerline goodness [0,1] 0.9948144758916705 Centerline is valid? [True, True] Translation: X:131.88, Y:-15.03, Z:-2.27 [[ 9.93540057e-01 1.13055573e-01 9.82818134e-03 1.31881800e+02] [-1.13048982e-01 9.93588660e-01 -1.22534591e-03 -1.50267349e+01] [-9.90370172e-03 1.06364351e-04 9.99950951e-01 -2.26769507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95401273899998 meters Centerline goodness [0,1] 0.9945807004391132 Centerline is valid? [True, True] Translation: X:131.91, Y:-15.04, Z:-2.27 [[ 9.93747358e-01 1.11239599e-01 9.58855161e-03 1.31910866e+02] [-1.11233240e-01 9.93793609e-01 -1.19558024e-03 -1.50357527e+01] [-9.66203717e-03 1.21539039e-04 9.99953314e-01 -2.26894312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98401273899998 meters Centerline goodness [0,1] 0.9953194778426657 Centerline is valid? [True, True] Translation: X:131.94, Y:-15.05, Z:-2.27 [[ 9.93881381e-01 1.10094445e-01 8.88899366e-03 1.31941076e+02] [-1.10088930e-01 9.93921123e-01 -1.10875848e-03 -1.50479898e+01] [-8.95702671e-03 1.23394606e-04 9.99959877e-01 -2.27005667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01401273899998 meters Centerline goodness [0,1] 0.9952673207416692 Centerline is valid? [True, True] Translation: X:131.97, Y:-15.05, Z:-2.27 [[ 9.93817236e-01 1.10654341e-01 9.10595206e-03 1.31971961e+02] [-1.10648576e-01 9.93858945e-01 -1.13603556e-03 -1.50543910e+01] [-9.17573917e-03 1.21451090e-04 9.99957895e-01 -2.26966174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04401273899998 meters Centerline goodness [0,1] 0.994816517740956 Centerline is valid? [True, True] Translation: X:132.00, Y:-15.06, Z:-2.27 [[ 9.93493386e-01 1.13483561e-01 9.61115409e-03 1.32002228e+02] [-1.13477269e-01 9.93539869e-01 -1.19929577e-03 -1.50603327e+01] [-9.68516513e-03 1.00844901e-04 9.99953093e-01 -2.26935650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07401273899998 meters Centerline goodness [0,1] 0.9949268166314063 Centerline is valid? [True, True] Translation: X:132.03, Y:-15.07, Z:-2.27 [[ 9.93310713e-01 1.15093839e-01 9.33994965e-03 1.32031736e+02] [-1.15087966e-01 9.93354620e-01 -1.16564831e-03 -1.50651226e+01] [-9.41204108e-03 8.29351452e-05 9.99955702e-01 -2.26994431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10401273899998 meters Centerline goodness [0,1] 0.9954425013248542 Centerline is valid? [True, True] Translation: X:132.06, Y:-15.07, Z:-2.27 [[ 9.93126014e-01 1.16711468e-01 8.89684015e-03 1.32062725e+02] [-1.16706203e-01 9.93165862e-01 -1.11045557e-03 -1.50701771e+01] [-8.96564082e-03 6.45058758e-05 9.99959806e-01 -2.27142241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13401273899999 meters Centerline goodness [0,1] 0.9939807123902397 Centerline is valid? [True, True] Translation: X:132.09, Y:-15.08, Z:-2.27 [[ 9.92691210e-01 1.20371494e-01 8.65245591e-03 1.32091719e+02] [-1.20366652e-01 9.92728917e-01 -1.08012112e-03 -1.50766198e+01] [-8.71955898e-03 3.07595948e-05 9.99961983e-01 -2.27205591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164012739 meters Centerline goodness [0,1] 0.9917298856715461 Centerline is valid? [True, True] Translation: X:132.12, Y:-15.08, Z:-2.27 [[ 9.92163457e-01 1.24660415e-01 8.45318945e-03 1.32122178e+02] [-1.24655949e-01 9.92199466e-01 -1.05516363e-03 -1.50790059e+01] [-8.51878719e-03 -6.84556197e-06 9.99963714e-01 -2.27339148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.194012739 meters Centerline goodness [0,1] 0.9910950506549655 Centerline is valid? [True, True] Translation: X:132.15, Y:-15.08, Z:-2.28 [[ 9.91963481e-01 1.26296125e-01 7.59872006e-03 1.32151237e+02] [-1.26292564e-01 9.91992585e-01 -9.48589525e-04 -1.50823464e+01] [-7.65767714e-03 -1.86956746e-05 9.99970679e-01 -2.27610208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224012739 meters Centerline goodness [0,1] 0.9906211365477257 Centerline is valid? [True, True] Translation: X:132.18, Y:-15.08, Z:-2.28 [[ 9.91752193e-01 1.28033808e-01 5.91028465e-03 1.32179542e+02] [-1.28031684e-01 9.91769804e-01 -7.37811813e-04 -1.50842700e+01] [-5.95610670e-03 -2.49772134e-05 9.99982262e-01 -2.27908806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.254012739 meters Centerline goodness [0,1] 0.9894800379408468 Centerline is valid? [True, True] Translation: X:132.21, Y:-15.09, Z:-2.28 [[ 9.91298661e-01 1.31568648e-01 4.08113303e-03 1.32208788e+02] [-1.31567665e-01 9.91307061e-01 -5.09393077e-04 -1.50850482e+01] [-4.11267615e-03 -3.19844689e-05 9.99991542e-01 -2.28169862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284012739 meters Centerline goodness [0,1] 0.9884889614294304 Centerline is valid? [True, True] Translation: X:132.24, Y:-15.09, Z:-2.28 [[ 9.91108706e-01 1.32974288e-01 4.62294875e-03 1.32237096e+02] [-1.32973043e-01 9.91119487e-01 -5.76952555e-04 -1.50872110e+01] [-4.65861445e-03 -4.29048630e-05 9.99989148e-01 -2.28129026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.314012739 meters Centerline goodness [0,1] 0.9864019639235777 Centerline is valid? [True, True] Translation: X:132.26, Y:-15.09, Z:-2.28 [[ 9.90856284e-01 1.34681880e-01 8.03834843e-03 1.32264577e+02] [-1.34678179e-01 9.90888885e-01 -1.00241856e-03 -1.50896894e+01] [-8.10011773e-03 -8.93374012e-05 9.99967190e-01 -2.27557783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344012739 meters Centerline goodness [0,1] 0.9855125658519734 Centerline is valid? [True, True] Translation: X:132.29, Y:-15.09, Z:-2.27 [[ 9.90742443e-01 1.35417398e-01 9.56761185e-03 1.32293269e+02] [-1.35412195e-01 9.90788633e-01 -1.19252679e-03 -1.50925932e+01] [-9.64096994e-03 -1.14084415e-04 9.99953518e-01 -2.27212831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.374012739 meters Centerline goodness [0,1] 0.9855514943023006 Centerline is valid? [True, True] Translation: X:132.32, Y:-15.09, Z:-2.27 [[ 9.90494909e-01 1.37242684e-01 9.18046081e-03 1.32322698e+02] [-1.37237976e-01 9.90537445e-01 -1.14387851e-03 -1.50908174e+01] [-9.25057915e-03 -1.26902016e-04 9.99957204e-01 -2.27195510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404012739 meters Centerline goodness [0,1] 0.9856747062992633 Centerline is valid? [True, True] Translation: X:132.35, Y:-15.09, Z:-2.27 [[ 9.90378736e-01 1.38134172e-01 8.30115118e-03 1.32352118e+02] [-1.38130357e-01 9.90413517e-01 -1.03398491e-03 -1.50905007e+01] [-8.36440099e-03 -1.22604304e-04 9.99965010e-01 -2.27429195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.434012739 meters Centerline goodness [0,1] 0.9859385985469885 Centerline is valid? [True, True] Translation: X:132.38, Y:-15.09, Z:-2.28 [[ 9.90263130e-01 1.39012182e-01 7.38553912e-03 1.32380950e+02] [-1.39009189e-01 9.90290664e-01 -9.19651249e-04 -1.50905788e+01] [-7.44167316e-03 -1.15961075e-04 9.99972304e-01 -2.27642771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464012739 meters Centerline goodness [0,1] 0.9854380316824084 Centerline is valid? [True, True] Translation: X:132.41, Y:-15.09, Z:-2.28 [[ 9.90300732e-01 1.38745666e-01 7.35523814e-03 1.32409326e+02] [-1.38742692e-01 9.90328040e-01 -9.15563282e-04 -1.50910454e+01] [-7.41112901e-03 -1.13802552e-04 9.99972531e-01 -2.27820903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.494012739 meters Centerline goodness [0,1] 0.9858813007091293 Centerline is valid? [True, True] Translation: X:132.44, Y:-15.09, Z:-2.28 [[ 9.90495846e-01 1.37335709e-01 7.54208520e-03 1.32437179e+02] [-1.37332544e-01 9.90524554e-01 -9.38400237e-04 -1.50944687e+01] [-7.59949644e-03 -1.06292211e-04 9.99971118e-01 -2.27827331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52401273899997 meters Centerline goodness [0,1] 0.98681558976118 Centerline is valid? [True, True] Translation: X:132.47, Y:-15.10, Z:-2.28 [[ 9.91012570e-01 1.33538835e-01 7.84002534e-03 1.32465527e+02] [-1.33535299e-01 9.91043578e-01 -9.75030274e-04 -1.51002627e+01] [-7.90001117e-03 -8.06528730e-05 9.99968791e-01 -2.27768428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55401273899997 meters Centerline goodness [0,1] 0.9873102391040518 Centerline is valid? [True, True] Translation: X:132.49, Y:-15.11, Z:-2.28 [[ 9.91358903e-01 1.30923671e-01 8.15582100e-03 1.32493259e+02] [-1.30919760e-01 9.91392449e-01 -1.01394049e-03 -1.51069996e+01] [-8.21836817e-03 -6.25791964e-05 9.99966227e-01 -2.27717379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58401273899997 meters Centerline goodness [0,1] 0.9880444246246629 Centerline is valid? [True, True] Translation: X:132.52, Y:-15.12, Z:-2.28 [[ 9.91716195e-01 1.28162632e-01 8.56320709e-03 1.32521072e+02] [-1.28158221e-01 9.91753164e-01 -1.06420328e-03 -1.51151119e+01] [-8.62897881e-03 -4.20577546e-05 9.99962769e-01 -2.27686581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61401273899997 meters Centerline goodness [0,1] 0.9920397376297523 Centerline is valid? [True, True] Translation: X:132.55, Y:-15.13, Z:-2.28 [[ 9.92456112e-01 1.22330722e-01 8.12777328e-03 1.32548695e+02] [-1.22326554e-01 9.92489393e-01 -1.00976374e-03 -1.51283601e+01] [-8.19025389e-03 7.90369359e-06 9.99966459e-01 -2.27824194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64401273899998 meters Centerline goodness [0,1] 0.9957697180527819 Centerline is valid? [True, True] Translation: X:132.58, Y:-15.14, Z:-2.28 [[ 9.92979764e-01 1.18076197e-01 7.01424794e-03 1.32579246e+02] [-1.18072987e-01 9.93004537e-01 -8.71328989e-04 -1.51387603e+01] [-7.06806324e-03 3.70188451e-05 9.99975020e-01 -2.28113147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67401273899998 meters Centerline goodness [0,1] 0.996675445792496 Centerline is valid? [True, True] Translation: X:132.61, Y:-15.15, Z:-2.28 [[ 9.93117899e-01 1.16892241e-01 7.28304105e-03 1.32609593e+02] [-1.16888748e-01 9.93144603e-01 -9.04911213e-04 -1.51457972e+01] [-7.33889001e-03 4.73779748e-05 9.99973069e-01 -2.28132953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70401273899998 meters Centerline goodness [0,1] 0.9958899982785333 Centerline is valid? [True, True] Translation: X:132.64, Y:-15.15, Z:-2.28 [[ 9.93169182e-01 1.16412838e-01 7.93895987e-03 1.32640885e+02] [-1.16408672e-01 9.93200910e-01 -9.86408496e-04 -1.51521572e+01] [-7.99981278e-03 5.55067414e-05 9.99967999e-01 -2.28004374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73401273899998 meters Centerline goodness [0,1] 0.9941046108828022 Centerline is valid? [True, True] Translation: X:132.67, Y:-15.16, Z:-2.28 [[ 9.93048224e-01 1.17377178e-01 8.82174357e-03 1.32672061e+02] [-1.17372070e-01 9.93087406e-01 -1.09632091e-03 -1.51573987e+01] [-8.88944549e-03 5.32732220e-05 9.99960487e-01 -2.27720632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76401273899998 meters Centerline goodness [0,1] 0.9941647964091055 Centerline is valid? [True, True] Translation: X:132.70, Y:-15.16, Z:-2.28 [[ 9.92891308e-01 1.18714291e-01 8.58882252e-03 1.32703439e+02] [-1.18709497e-01 9.92928454e-01 -1.06766220e-03 -1.51614198e+01] [-8.65483303e-03 4.04977104e-05 9.99962545e-01 -2.27744834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79401273899998 meters Centerline goodness [0,1] 0.9926582658909903 Centerline is valid? [True, True] Translation: X:132.73, Y:-15.17, Z:-2.28 [[ 9.92710748e-01 1.20238747e-01 8.24715156e-03 1.32734179e+02] [-1.20234369e-01 9.92745004e-01 -1.02638679e-03 -1.51664772e+01] [-8.31072997e-03 2.73141326e-05 9.99965465e-01 -2.27915504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82401273899998 meters Centerline goodness [0,1] 0.9924729564076646 Centerline is valid? [True, True] Translation: X:132.76, Y:-15.17, Z:-2.28 [[ 9.92639563e-01 1.20819950e-01 8.32093700e-03 1.32764762e+02] [-1.20815512e-01 9.92674438e-01 -1.03576868e-03 -1.51715583e+01] [-8.38512297e-03 2.28467109e-05 9.99964844e-01 -2.28017247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85401273899998 meters Centerline goodness [0,1] 0.9926545733265202 Centerline is valid? [True, True] Translation: X:132.79, Y:-15.18, Z:-2.28 [[ 9.92499029e-01 1.21985397e-01 8.07711057e-03 1.32794675e+02] [-1.21981253e-01 9.92531895e-01 -1.00561035e-03 -1.51774209e+01] [-8.13945964e-03 1.28112259e-05 9.99966874e-01 -2.28123592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88401273899999 meters Centerline goodness [0,1] 0.9926545733265202 Centerline is valid? [True, True] Translation: X:132.82, Y:-15.18, Z:-2.28 [[ 9.92499029e-01 1.21985401e-01 8.07705321e-03 1.32824444e+02] [-1.21981253e-01 9.92531895e-01 -1.00607084e-03 -1.51811286e+01] [-8.13945888e-03 1.32752629e-05 9.99966874e-01 -2.28147598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.914012739 meters Centerline goodness [0,1] 0.9915735167669819 Centerline is valid? [True, True] Translation: X:132.86, Y:-15.19, Z:-2.28 [[ 9.92399225e-01 1.22829151e-01 7.53511685e-03 1.32855911e+02] [-1.22825565e-01 9.92427831e-01 -9.38558061e-04 -1.51858566e+01] [-7.59334196e-03 5.91930798e-06 9.99971170e-01 -2.28304092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944012739 meters Centerline goodness [0,1] 0.991579757223457 Centerline is valid? [True, True] Translation: X:132.89, Y:-15.19, Z:-2.28 [[ 9.92335101e-01 1.23383793e-01 6.89101757e-03 1.32885845e+02] [-1.23380807e-01 9.92359028e-01 -8.58491036e-04 -1.51915054e+01] [-6.94428738e-03 1.69148319e-06 9.99975888e-01 -2.28440657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974012739 meters Centerline goodness [0,1] 0.9920220729777132 Centerline is valid? [True, True] Translation: X:132.92, Y:-15.20, Z:-2.29 [[ 9.92277095e-01 1.23861913e-01 6.66287626e-03 1.32915410e+02] [-1.23859131e-01 9.92299464e-01 -8.30144915e-04 -1.51988275e+01] [-6.71439188e-03 -1.52427646e-06 9.99977458e-01 -2.28504735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004012739 meters Centerline goodness [0,1] 0.9907187613609632 Centerline is valid? [True, True] Translation: X:132.95, Y:-15.20, Z:-2.28 [[ 9.92173140e-01 1.24655064e-01 7.31953525e-03 1.32945572e+02] [-1.24651728e-01 9.92200139e-01 -9.12061265e-04 -1.52033110e+01] [-7.37613695e-03 -7.47002631e-06 9.99972796e-01 -2.28335767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034012739 meters Centerline goodness [0,1] 0.9889735063820658 Centerline is valid? [True, True] Translation: X:132.98, Y:-15.21, Z:-2.28 [[ 9.91864999e-01 1.27012295e-01 8.46759579e-03 1.32975270e+02] [-1.27007916e-01 9.91901142e-01 -1.05511701e-03 -1.52059667e+01] [-8.53303077e-03 -2.89180628e-05 9.99963593e-01 -2.28110138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064012739 meters Centerline goodness [0,1] 0.9883656391426864 Centerline is valid? [True, True] Translation: X:133.01, Y:-15.21, Z:-2.28 [[ 9.91667220e-01 1.28559178e-01 8.28629165e-03 1.33006176e+02] [-1.28555038e-01 9.91701838e-01 -1.03253351e-03 -1.52100052e+01] [-8.35027232e-03 -4.13149081e-05 9.99965135e-01 -2.28232361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.094012739 meters Centerline goodness [0,1] 0.9883425818385168 Centerline is valid? [True, True] Translation: X:133.04, Y:-15.21, Z:-2.28 [[ 9.91493529e-01 1.29910290e-01 7.99361463e-03 1.33037208e+02] [-1.29906479e-01 9.91525751e-01 -9.96245669e-04 -1.52146758e+01] [-8.05529731e-03 -5.06511994e-05 9.99967554e-01 -2.28349944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124012739 meters Centerline goodness [0,1] 0.986400068212824 Centerline is valid? [True, True] Translation: X:133.07, Y:-15.22, Z:-2.28 [[ 9.91132964e-01 1.32621204e-01 8.18930174e-03 1.33067341e+02] [-1.32617296e-01 9.91166793e-01 -1.02083629e-03 -1.52158687e+01] [-8.25234848e-03 -7.42585521e-05 9.99965946e-01 -2.28336061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.154012739 meters Centerline goodness [0,1] 0.9864471374127521 Centerline is valid? [True, True] Translation: X:133.10, Y:-15.22, Z:-2.28 [[ 9.90905460e-01 1.34285923e-01 8.58257821e-03 1.33097517e+02] [-1.34281692e-01 9.90942623e-01 -1.06996130e-03 -1.52201251e+01] [-8.64852331e-03 -9.22526251e-05 9.99962597e-01 -2.28291676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184012739 meters Centerline goodness [0,1] 0.9858532082519375 Centerline is valid? [True, True] Translation: X:133.13, Y:-15.22, Z:-2.28 [[ 9.90390529e-01 1.38067319e-01 8.00092420e-03 1.33128130e+02] [-1.38063765e-01 9.90422840e-01 -9.97448443e-04 -1.52186433e+01] [-8.06201310e-03 -1.16774230e-04 9.99967495e-01 -2.28439268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.214012739 meters Centerline goodness [0,1] 0.9846202935545628 Centerline is valid? [True, True] Translation: X:133.16, Y:-15.21, Z:-2.29 [[ 9.90164412e-01 1.39711761e-01 7.42037606e-03 1.33158272e+02] [-1.39708751e-01 9.90192208e-01 -9.25079613e-04 -1.52146830e+01] [-7.47684306e-03 -1.20710557e-04 9.99972041e-01 -2.28604231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244012739 meters Centerline goodness [0,1] 0.9855175077239959 Centerline is valid? [True, True] Translation: X:133.19, Y:-15.22, Z:-2.29 [[ 9.89958971e-01 1.41177280e-01 7.08593367e-03 1.33187829e+02] [-1.41174573e-01 9.89984323e-01 -8.83305761e-04 -1.52201611e+01] [-7.13966595e-03 -1.25917199e-04 9.99974504e-01 -2.28658388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27401273899997 meters Centerline goodness [0,1] 0.984250787460627 Centerline is valid? [True, True] Translation: X:133.22, Y:-15.21, Z:-2.29 [[ 9.89732334e-01 1.42747877e-01 7.27677515e-03 1.33217766e+02] [-1.42745065e-01 9.89759074e-01 -9.07021577e-04 -1.52134025e+01] [-7.33172964e-03 -1.41015161e-04 9.99973113e-01 -2.28692842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30401273899997 meters Centerline goodness [0,1] 0.9852745460009444 Centerline is valid? [True, True] Translation: X:133.25, Y:-15.22, Z:-2.29 [[ 9.89779813e-01 1.42459698e-01 6.41527451e-03 1.33246477e+02] [-1.42457508e-01 9.89800596e-01 -7.99426131e-04 -1.52239274e+01] [-6.46372853e-03 -1.22648170e-04 9.99979102e-01 -2.28872837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33401273899997 meters Centerline goodness [0,1] 0.9853580810473278 Centerline is valid? [True, True] Translation: X:133.28, Y:-15.23, Z:-2.29 [[ 9.89968653e-01 1.41158735e-01 6.02301181e-03 1.33275788e+02] [-1.41156781e-01 9.89986970e-01 -7.50414021e-04 -1.52292433e+01] [-6.06863070e-03 -1.07302601e-04 9.99981580e-01 -2.28956323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36401273899997 meters Centerline goodness [0,1] 0.9847258318776362 Centerline is valid? [True, True] Translation: X:133.31, Y:-15.23, Z:-2.29 [[ 9.90130457e-01 1.39987842e-01 6.71436731e-03 1.33305004e+02] [-1.39985388e-01 9.90153216e-01 -8.36368851e-04 -1.52306107e+01] [-6.76533385e-03 -1.11799043e-04 9.99977109e-01 -2.28940816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39401273899998 meters Centerline goodness [0,1] 0.9850911805481497 Centerline is valid? [True, True] Translation: X:133.33, Y:-15.24, Z:-2.29 [[ 9.90341014e-01 1.38376917e-01 8.74671964e-03 1.33334144e+02] [-1.38372692e-01 9.90379630e-01 -1.08926230e-03 -1.52362029e+01] [-8.81330172e-03 -1.31566018e-04 9.99961153e-01 -2.28627510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42401273899998 meters Centerline goodness [0,1] 0.9857509877156243 Centerline is valid? [True, True] Translation: X:133.36, Y:-15.24, Z:-2.29 [[ 9.90511705e-01 1.37156998e-01 8.63250602e-03 1.33364533e+02] [-1.37152838e-01 9.90549314e-01 -1.07485675e-03 -1.52416159e+01] [-8.69834705e-03 -1.19314508e-04 9.99962162e-01 -2.28725280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45401273899998 meters Centerline goodness [0,1] 0.9867823479005998 Centerline is valid? [True, True] Translation: X:133.39, Y:-15.25, Z:-2.29 [[ 9.91038605e-01 1.33427209e-01 6.29791564e-03 1.33394689e+02] [-1.33424920e-01 9.91058614e-01 -7.84059858e-04 -1.52457621e+01] [-6.34621846e-03 -6.32653020e-05 9.99979861e-01 -2.29311289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48401273899998 meters Centerline goodness [0,1] 0.9880298822364314 Centerline is valid? [True, True] Translation: X:133.42, Y:-15.26, Z:-2.29 [[ 9.91363205e-01 1.30992324e-01 6.32508199e-03 1.33423957e+02] [-1.30989963e-01 9.91383381e-01 -7.87960552e-04 -1.52568595e+01] [-6.37379796e-03 -4.73671574e-05 9.99979686e-01 -2.29207582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51401273899998 meters Centerline goodness [0,1] 0.9884848355129385 Centerline is valid? [True, True] Translation: X:133.45, Y:-15.26, Z:-2.29 [[ 9.91635399e-01 1.28876383e-01 7.07906469e-03 1.33453542e+02] [-1.28873370e-01 9.91660666e-01 -8.81993956e-04 -1.52648938e+01] [-7.13369819e-03 -3.76864959e-05 9.99974554e-01 -2.29109647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54401273899998 meters Centerline goodness [0,1] 0.9891400757166036 Centerline is valid? [True, True] Translation: X:133.48, Y:-15.28, Z:-2.29 [[ 9.92077412e-01 1.25351038e-01 8.33827551e-03 1.33484451e+02] [-1.25346733e-01 9.92112452e-01 -1.03894776e-03 -1.52771962e+01] [-8.40274014e-03 -1.44589848e-05 9.99964696e-01 -2.28835860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57401273899998 meters Centerline goodness [0,1] 0.9891955475199861 Centerline is valid? [True, True] Translation: X:133.52, Y:-15.29, Z:-2.29 [[ 9.92285639e-01 1.23599301e-01 9.61375981e-03 1.33515139e+02] [-1.23593479e-01 9.92332209e-01 -1.19969673e-03 -1.52867072e+01] [-9.68832519e-03 2.24381252e-06 9.99953067e-01 -2.28548067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60401273899998 meters Centerline goodness [0,1] 0.9892916156999078 Centerline is valid? [True, True] Translation: X:133.55, Y:-15.29, Z:-2.28 [[ 9.92241247e-01 1.23925411e-01 9.99000358e-03 1.33547578e+02] [-1.23919122e-01 9.92291536e-01 -1.24850773e-03 -1.52918213e+01] [-1.00677178e-02 8.68395300e-07 9.99949319e-01 -2.28497380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63401273899999 meters Centerline goodness [0,1] 0.9888342817727195 Centerline is valid? [True, True] Translation: X:133.58, Y:-15.30, Z:-2.29 [[ 9.92086657e-01 1.25179664e-01 9.70136500e-03 1.33580469e+02] [-1.25173775e-01 9.92134090e-01 -1.21423390e-03 -1.52953813e+01] [-9.77705232e-03 -9.73123350e-06 9.99952203e-01 -2.28528068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.664012739 meters Centerline goodness [0,1] 0.9878545098122776 Centerline is valid? [True, True] Translation: X:133.61, Y:-15.29, Z:-2.29 [[ 9.91472039e-01 1.30054489e-01 8.30819293e-03 1.33612586e+02] [-1.30050330e-01 9.91506847e-01 -1.04121006e-03 -1.52914067e+01] [-8.37304422e-03 -4.81525665e-05 9.99964944e-01 -2.28750787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694012739 meters Centerline goodness [0,1] 0.9875398123439787 Centerline is valid? [True, True] Translation: X:133.64, Y:-15.29, Z:-2.29 [[ 9.91185020e-01 1.32245467e-01 7.96200255e-03 1.33643397e+02] [-1.32241708e-01 9.91216996e-01 -9.98991641e-04 -1.52934904e+01] [-8.02418436e-03 -6.27232704e-05 9.99967804e-01 -2.28902619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724012739 meters Centerline goodness [0,1] 0.9865223912577673 Centerline is valid? [True, True] Translation: X:133.67, Y:-15.30, Z:-2.29 [[ 9.90918234e-01 1.34234674e-01 7.88069587e-03 1.33673888e+02] [-1.34231051e-01 9.90949568e-01 -9.89194118e-04 -1.52958274e+01] [-7.94215632e-03 -7.76236025e-05 9.99968458e-01 -2.28937888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754012739 meters Centerline goodness [0,1] 0.9868034876496926 Centerline is valid? [True, True] Translation: X:133.70, Y:-15.30, Z:-2.29 [[ 9.90899635e-01 1.34384431e-01 7.66408419e-03 1.33703824e+02] [-1.34381009e-01 9.90929270e-01 -9.62095600e-04 -1.53022685e+01] [-7.72385602e-03 -7.65671848e-05 9.99970168e-01 -2.28987729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784012739 meters Centerline goodness [0,1] 0.9870163481861709 Centerline is valid? [True, True] Translation: X:133.73, Y:-15.31, Z:-2.29 [[ 9.90959043e-01 1.33975986e-01 7.11405410e-03 1.33733268e+02] [-1.33973027e-01 9.90984576e-01 -8.93039046e-04 -1.53079324e+01] [-7.16956367e-03 -6.81262409e-05 9.99974296e-01 -2.29157427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814012739 meters Centerline goodness [0,1] 0.9872365813641303 Centerline is valid? [True, True] Translation: X:133.76, Y:-15.31, Z:-2.29 [[ 9.91045156e-01 1.33385118e-01 6.15704451e-03 1.33762480e+02] [-1.33382890e-01 9.91064280e-01 -7.72963432e-04 -1.53148382e+01] [-6.20512871e-03 -5.52027269e-05 9.99980746e-01 -2.29387940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844012739 meters Centerline goodness [0,1] 0.9872705489709469 Centerline is valid? [True, True] Translation: X:133.79, Y:-15.32, Z:-2.29 [[ 9.90889339e-01 1.34538161e-01 6.14819546e-03 1.33792862e+02] [-1.34535961e-01 9.90908411e-01 -7.71944635e-04 -1.53182059e+01] [-6.19615461e-03 -6.22416759e-05 9.99980802e-01 -2.29366515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.874012739 meters Centerline goodness [0,1] 0.9866070459528099 Centerline is valid? [True, True] Translation: X:133.82, Y:-15.31, Z:-2.29 [[ 9.90178287e-01 1.39622049e-01 7.25557413e-03 1.33823458e+02] [-1.39619121e-01 9.90204863e-01 -9.10998731e-04 -1.53123910e+01] [-7.31170030e-03 -1.10965720e-04 9.99973263e-01 -2.29014261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904012739 meters Centerline goodness [0,1] 0.9857311700870313 Centerline is valid? [True, True] Translation: X:133.85, Y:-15.31, Z:-2.29 [[ 9.89694580e-01 1.42969123e-01 8.02918142e-03 1.33852727e+02] [-1.42965649e-01 9.89727138e-01 -1.00792635e-03 -1.53083346e+01] [-8.09080109e-03 -1.50357888e-04 9.99967258e-01 -2.28843681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.934012739 meters Centerline goodness [0,1] 0.9840210749066096 Centerline is valid? [True, True] Translation: X:133.88, Y:-15.30, Z:-2.29 [[ 9.88866837e-01 1.48545922e-01 8.74578484e-03 1.33884518e+02] [-1.48542020e-01 9.88905488e-01 -1.09758767e-03 -1.52998899e+01] [-8.81179679e-03 -2.13748500e-04 9.99961153e-01 -2.28777764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964012739 meters Centerline goodness [0,1] 0.9844379782304128 Centerline is valid? [True, True] Translation: X:133.91, Y:-15.30, Z:-2.29 [[ 9.88576716e-01 1.50478331e-01 8.50579293e-03 1.33913723e+02] [-1.50474712e-01 9.88613282e-01 -1.06745057e-03 -1.53005010e+01] [-8.56956804e-03 -2.24649961e-04 9.99963255e-01 -2.28879280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99401273899997 meters Centerline goodness [0,1] 0.9836083022884513 Centerline is valid? [True, True] Translation: X:133.94, Y:-15.30, Z:-2.29 [[ 9.88376630e-01 1.51808828e-01 8.10663230e-03 1.33942849e+02] [-1.51805588e-01 9.88409849e-01 -1.01710649e-03 -1.52961324e+01] [-8.16708095e-03 -2.25347804e-04 9.99966623e-01 -2.29096960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02401273899997 meters Centerline goodness [0,1] 0.9836641941431206 Centerline is valid? [True, True] Translation: X:133.97, Y:-15.30, Z:-2.29 [[ 9.88503395e-01 1.50983484e-01 8.06381363e-03 1.33971546e+02] [-1.50980253e-01 9.88536261e-01 -1.01145787e-03 -1.53028668e+01] [-8.12408561e-03 -2.17647082e-04 9.99966975e-01 -2.29148861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05401273899997 meters Centerline goodness [0,1] 0.9847617808991199 Centerline is valid? [True, True] Translation: X:134.00, Y:-15.31, Z:-2.29 [[ 9.88777837e-01 1.49187254e-01 7.84547544e-03 1.33999952e+02] [-1.49184141e-01 9.88808942e-01 -9.83806000e-04 -1.53124252e+01] [-7.90444758e-03 -1.97654946e-04 9.99968740e-01 -2.29227383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08401273899997 meters Centerline goodness [0,1] 0.9860197368421053 Centerline is valid? [True, True] Translation: X:134.03, Y:-15.32, Z:-2.29 [[ 9.89517762e-01 1.44259386e-01 6.62030519e-03 1.34028682e+02] [-1.44257060e-01 9.89539899e-01 -8.30033840e-04 -1.53169636e+01] [-6.67079630e-03 -1.33692537e-04 9.99977741e-01 -2.29480294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11401273899997 meters Centerline goodness [0,1] 0.9866273944918625 Centerline is valid? [True, True] Translation: X:134.06, Y:-15.32, Z:-2.30 [[ 9.89855975e-01 1.41933025e-01 6.33756920e-03 1.34057291e+02] [-1.41930847e-01 9.89876257e-01 -7.94464775e-04 -1.53214959e+01] [-6.38617006e-03 -1.13090859e-04 9.99979602e-01 -2.29578227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14401273899998 meters Centerline goodness [0,1] 0.9873778501628665 Centerline is valid? [True, True] Translation: X:134.09, Y:-15.33, Z:-2.30 [[ 9.90309404e-01 1.38758463e-01 5.77694472e-03 1.34085466e+02] [-1.38756599e-01 9.90326250e-01 -7.24143592e-04 -1.53272232e+01] [-5.82154106e-03 -8.44629931e-05 9.99983051e-01 -2.29746687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17401273899998 meters Centerline goodness [0,1] 0.9878602638885899 Centerline is valid? [True, True] Translation: X:134.11, Y:-15.33, Z:-2.30 [[ 9.90530669e-01 1.37183188e-01 5.45589742e-03 1.34114120e+02] [-1.37181502e-01 9.90545692e-01 -6.83695502e-04 -1.53343761e+01] [-5.49810722e-03 -7.12268415e-05 9.99984883e-01 -2.29914059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20401273899998 meters Centerline goodness [0,1] 0.989398305449228 Centerline is valid? [True, True] Translation: X:134.14, Y:-15.34, Z:-2.30 [[ 9.90839088e-01 1.34951942e-01 5.08673652e-03 1.34143021e+02] [-1.34950448e-01 9.90852144e-01 -6.37327928e-04 -1.53402843e+01] [-5.12621243e-03 -5.49679519e-05 9.99986859e-01 -2.29969912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23401273899998 meters Centerline goodness [0,1] 0.9894376064322821 Centerline is valid? [True, True] Translation: X:134.17, Y:-15.35, Z:-2.30 [[ 9.90982009e-01 1.33854697e-01 6.13002775e-03 1.34171941e+02] [-1.33852508e-01 9.91000967e-01 -7.67860712e-04 -1.53454569e+01] [-6.17764519e-03 -5.95834346e-05 9.99980916e-01 -2.29831183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26401273899998 meters Centerline goodness [0,1] 0.9895459781356633 Centerline is valid? [True, True] Translation: X:134.20, Y:-15.35, Z:-2.30 [[ 9.91118576e-01 1.32773045e-01 7.43546228e-03 1.34201902e+02] [-1.32769795e-01 9.91146465e-01 -9.31154448e-04 -1.53519063e+01] [-7.49326437e-03 -6.43203329e-05 9.99971923e-01 -2.29578907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29401273899998 meters Centerline goodness [0,1] 0.9893148555886543 Centerline is valid? [True, True] Translation: X:134.23, Y:-15.36, Z:-2.30 [[ 9.91319795e-01 1.31254036e-01 7.57907409e-03 1.34230973e+02] [-1.31250616e-01 9.91348766e-01 -9.49143484e-04 -1.53583392e+01] [-7.63808466e-03 -5.38534161e-05 9.99970828e-01 -2.29542382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32401273899998 meters Centerline goodness [0,1] 0.9898239587805925 Centerline is valid? [True, True] Translation: X:134.26, Y:-15.36, Z:-2.30 [[ 9.91435466e-01 1.30405735e-01 7.07533812e-03 1.34261494e+02] [-1.30402733e-01 9.91460711e-01 -8.85970959e-04 -1.53633737e+01] [-7.13045546e-03 -4.42603972e-05 9.99974577e-01 -2.29693116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35401273899998 meters Centerline goodness [0,1] 0.9906965751364359 Centerline is valid? [True, True] Translation: X:134.29, Y:-15.37, Z:-2.30 [[ 9.91674042e-01 1.28585043e-01 6.96287026e-03 1.34291089e+02] [-1.28582091e-01 9.91698485e-01 -8.71826933e-04 -1.53708211e+01] [-7.01717179e-03 -3.07322799e-05 9.99975379e-01 -2.29756915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38401273899999 meters Centerline goodness [0,1] 0.9909647647388623 Centerline is valid? [True, True] Translation: X:134.32, Y:-15.38, Z:-2.30 [[ 9.91837621e-01 1.27301778e-01 7.23813670e-03 1.34320590e+02] [-1.27298550e-01 9.91864031e-01 -9.06799316e-04 -1.53768302e+01] [-7.29468461e-03 -2.20066297e-05 9.99973393e-01 -2.29762107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.414012739 meters Centerline goodness [0,1] 0.9918457798145399 Centerline is valid? [True, True] Translation: X:134.35, Y:-15.39, Z:-2.30 [[ 9.92142364e-01 1.24932315e-01 6.74136057e-03 1.34351433e+02] [-1.24929461e-01 9.92165267e-01 -8.44451833e-04 -1.53873097e+01] [-6.79404314e-03 -4.37810534e-06 9.99976920e-01 -2.29821862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444012739 meters Centerline goodness [0,1] 0.9918417692757135 Centerline is valid? [True, True] Translation: X:134.38, Y:-15.39, Z:-2.30 [[ 9.92235704e-01 1.24153052e-01 7.37073634e-03 1.34382593e+02] [-1.24149609e-01 9.92263080e-01 -9.24624553e-04 -1.53938857e+01] [-7.42850450e-03 2.37146105e-06 9.99972408e-01 -2.29830548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.474012739 meters Centerline goodness [0,1] 0.986657425056316 Centerline is valid? [True, True] Translation: X:134.41, Y:-15.40, Z:-2.29 [[ 9.92265241e-01 1.23917292e-01 7.36175977e-03 1.34414827e+02] [-1.23913841e-01 9.92292550e-01 -9.24735981e-04 -1.53998664e+01] [-7.41961016e-03 5.35944052e-06 9.99972474e-01 -2.28747556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504012739 meters Centerline goodness [0,1] 0.9924795734812856 Centerline is valid? [True, True] Translation: X:134.45, Y:-15.41, Z:-2.30 [[ 9.92384446e-01 1.22918637e-01 8.00746006e-03 1.34445540e+02] [-1.22914508e-01 9.92416751e-01 -1.00758787e-03 -1.54096189e+01] [-8.07058883e-03 1.56815150e-05 9.99967432e-01 -2.29740508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.534012739 meters Centerline goodness [0,1] 0.9931083960172181 Centerline is valid? [True, True] Translation: X:134.48, Y:-15.42, Z:-2.30 [[ 9.92402228e-01 1.22840730e-01 6.92624933e-03 1.34478377e+02] [-1.22837631e-01 9.92426398e-01 -8.72624435e-04 -1.54157407e+01] [-6.98098649e-03 1.51903711e-05 9.99975633e-01 -2.29927403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564012739 meters Centerline goodness [0,1] 0.994074363482451 Centerline is valid? [True, True] Translation: X:134.51, Y:-15.42, Z:-2.30 [[ 9.92352316e-01 1.23267679e-01 6.47760758e-03 1.34510949e+02] [-1.23264971e-01 9.92373457e-01 -8.17237635e-04 -1.54225070e+01] [-6.52894481e-03 1.25255514e-05 9.99978686e-01 -2.30030431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.594012739 meters Centerline goodness [0,1] 0.993482348918711 Centerline is valid? [True, True] Translation: X:134.54, Y:-15.43, Z:-2.30 [[ 9.92232621e-01 1.24201656e-01 6.95516874e-03 1.34542923e+02] [-1.24198546e-01 9.92256997e-01 -8.78988096e-04 -1.54276933e+01] [-7.01048662e-03 8.33881750e-06 9.99975426e-01 -2.29967185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624012739 meters Centerline goodness [0,1] 0.9908611146865749 Centerline is valid? [True, True] Translation: X:134.58, Y:-15.43, Z:-2.30 [[ 9.91991574e-01 1.25990721e-01 8.89129619e-03 1.34575784e+02] [-1.25985692e-01 9.92031420e-01 -1.12573097e-03 -1.54330024e+01] [-8.96227684e-03 -3.46046459e-06 9.99959838e-01 -2.29705762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.654012739 meters Centerline goodness [0,1] 0.9901206055940467 Centerline is valid? [True, True] Translation: X:134.61, Y:-15.44, Z:-2.30 [[ 9.91881673e-01 1.26856978e-01 8.83478890e-03 1.34608564e+02] [-1.26852032e-01 9.91921019e-01 -1.12024793e-03 -1.54380319e+01] [-8.90552407e-03 -9.55753707e-06 9.99960345e-01 -2.29747391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684012739 meters Centerline goodness [0,1] 0.9907747887233082 Centerline is valid? [True, True] Translation: X:134.64, Y:-15.44, Z:-2.30 [[ 9.91668900e-01 1.28604486e-01 7.32663075e-03 1.34639912e+02] [-1.28601123e-01 9.91695964e-01 -9.30183401e-04 -1.54415377e+01] [-7.38541590e-03 -1.97789938e-05 9.99972727e-01 -2.30012049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.714012739 meters Centerline goodness [0,1] 0.991297995315958 Centerline is valid? [True, True] Translation: X:134.67, Y:-15.45, Z:-2.30 [[ 9.91562777e-01 1.29449645e-01 6.78595136e-03 1.34672852e+02] [-1.29446773e-01 9.91585997e-01 -8.62655537e-04 -1.54457851e+01] [-6.84052479e-03 -2.30423831e-05 9.99976603e-01 -2.30097974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74401273899997 meters Centerline goodness [0,1] 0.9913654230298344 Centerline is valid? [True, True] Translation: X:134.71, Y:-15.45, Z:-2.30 [[ 9.91520893e-01 1.29756022e-01 7.04934508e-03 1.34705979e+02] [-1.29752920e-01 9.91545952e-01 -8.97546910e-04 -1.54508859e+01] [-7.10621169e-03 -2.47365938e-05 9.99974750e-01 -2.30054721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77401273899997 meters Centerline goodness [0,1] 0.9898064294604919 Centerline is valid? [True, True] Translation: X:134.74, Y:-15.46, Z:-2.30 [[ 9.91562412e-01 1.29352602e-01 8.47866578e-03 1.34738480e+02] [-1.29348084e-01 9.91598661e-01 -1.08147902e-03 -1.54581583e+01] [-8.54732576e-03 -2.43452228e-05 9.99963471e-01 -2.29739068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80401273899997 meters Centerline goodness [0,1] 0.9898064294604919 Centerline is valid? [True, True] Translation: X:134.77, Y:-15.46, Z:-2.30 [[ 9.91538025e-01 1.29539417e-01 8.47846180e-03 1.34770700e+02] [-1.29534892e-01 9.91574273e-01 -1.08307587e-03 -1.54624618e+01] [-8.54732562e-03 -2.43457197e-05 9.99963471e-01 -2.29765087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83401273899997 meters Centerline goodness [0,1] 0.9900410832204083 Centerline is valid? [True, True] Translation: X:134.80, Y:-15.47, Z:-2.30 [[ 9.91528372e-01 1.29548876e-01 9.41145705e-03 1.34803833e+02] [-1.29543281e-01 9.91573037e-01 -1.20422880e-03 -1.54675934e+01] [-9.48815353e-03 -2.51640069e-05 9.99954986e-01 -2.29612109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86401273899997 meters Centerline goodness [0,1] 0.9893417737872231 Centerline is valid? [True, True] Translation: X:134.84, Y:-15.47, Z:-2.29 [[ 9.91470280e-01 1.29898753e-01 1.06300429e-02 1.34835333e+02] [-1.29891612e-01 9.91527263e-01 -1.36233804e-03 -1.54723198e+01] [-1.07169434e-02 -3.00357322e-05 9.99942571e-01 -2.29493643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89401273899998 meters Centerline goodness [0,1] 0.9898807843477884 Centerline is valid? [True, True] Translation: X:134.87, Y:-15.48, Z:-2.30 [[ 9.91429445e-01 1.30249009e-01 1.01415597e-02 1.34867973e+02] [-1.30242510e-01 9.91481313e-01 -1.30149972e-03 -1.54775690e+01] [-1.02246860e-02 -3.05170443e-05 9.99947726e-01 -2.29622876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92401273899998 meters Centerline goodness [0,1] 0.990320146599116 Centerline is valid? [True, True] Translation: X:134.90, Y:-15.48, Z:-2.30 [[ 9.91442976e-01 1.30202231e-01 9.39168733e-03 1.34899396e+02] [-1.30196639e-01 9.91487458e-01 -1.20692375e-03 -1.54836401e+01] [-9.46888436e-03 -2.61700548e-05 9.99955169e-01 -2.29802588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95401273899998 meters Centerline goodness [0,1] 0.9862874884112028 Centerline is valid? [True, True] Translation: X:134.93, Y:-15.49, Z:-2.29 [[ 9.91520654e-01 1.29783494e-01 6.56028492e-03 1.34930726e+02] [-1.29780751e-01 9.91542356e-01 -8.43881990e-04 -1.54900972e+01] [-6.61432232e-03 -1.46722794e-05 9.99978125e-01 -2.29110662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98401273899998 meters Centerline goodness [0,1] 0.9916034266522118 Centerline is valid? [True, True] Translation: X:134.96, Y:-15.50, Z:-2.30 [[ 9.91605182e-01 1.29130438e-01 6.67028682e-03 1.34962337e+02] [-1.29127582e-01 9.91627617e-01 -8.58760042e-04 -1.54959515e+01] [-6.72533268e-03 -9.76710386e-06 9.99977385e-01 -2.30360415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01401273899998 meters Centerline goodness [0,1] 0.9910466392613477 Centerline is valid? [True, True] Translation: X:134.99, Y:-15.50, Z:-2.30 [[ 9.91679248e-01 1.28482027e-01 8.03980527e-03 1.34993575e+02] [-1.28477844e-01 9.91711838e-01 -1.03677707e-03 -1.55031739e+01] [-8.10637728e-03 -4.78653848e-06 9.99967143e-01 -2.30168830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04401273899998 meters Centerline goodness [0,1] 0.9912250441981804 Centerline is valid? [True, True] Translation: X:135.02, Y:-15.51, Z:-2.30 [[ 9.91772348e-01 1.27751680e-01 8.19251248e-03 1.35024573e+02] [-1.27747300e-01 9.91806185e-01 -1.05792801e-03 -1.55094607e+01] [-8.26053663e-03 2.65239943e-06 9.99965881e-01 -2.30056126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07401273899998 meters Centerline goodness [0,1] 0.9919760374305829 Centerline is valid? [True, True] Translation: X:135.06, Y:-15.52, Z:-2.30 [[ 9.91986330e-01 1.26123042e-01 7.48998141e-03 1.35056716e+02] [-1.26119325e-01 9.92014606e-01 -9.68373744e-04 -1.55167114e+01] [-7.55230520e-03 1.59821150e-05 9.99971481e-01 -2.30307885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10401273899998 meters Centerline goodness [0,1] 0.9930123399103711 Centerline is valid? [True, True] Translation: X:135.09, Y:-15.52, Z:-2.31 [[ 9.91961380e-01 1.26348326e-01 6.97999640e-03 1.35088443e+02] [-1.26345095e-01 9.91985938e-01 -9.03736755e-04 -1.55219877e+01] [-7.03824390e-03 1.45836497e-05 9.99975231e-01 -2.30508392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13401273899999 meters Centerline goodness [0,1] 0.992593722090313 Centerline is valid? [True, True] Translation: X:135.12, Y:-15.53, Z:-2.31 [[ 9.91766579e-01 1.27912948e-01 6.10989193e-03 1.35121613e+02] [-1.27910495e-01 9.91785399e-01 -7.92220399e-04 -1.55265995e+01] [-6.16103685e-03 4.17841432e-06 9.99981021e-01 -2.30696730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.164012739 meters Centerline goodness [0,1] 0.991639912951671 Centerline is valid? [True, True] Translation: X:135.15, Y:-15.53, Z:-2.31 [[ 9.91606187e-01 1.29145332e-01 6.21712620e-03 1.35153122e+02] [-1.29142814e-01 9.91625677e-01 -8.06508430e-04 -1.55301074e+01] [-6.26921877e-03 -3.15842347e-06 9.99980348e-01 -2.30712027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.194012739 meters Centerline goodness [0,1] 0.9930814492316313 Centerline is valid? [True, True] Translation: X:135.19, Y:-15.53, Z:-2.31 [[ 9.91455965e-01 1.30333456e-01 5.31593139e-03 1.35185937e+02] [-1.30331628e-01 9.91470217e-01 -6.90346120e-04 -1.55324368e+01] [-5.36056284e-03 -8.38621225e-06 9.99985632e-01 -2.30872763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224012739 meters Centerline goodness [0,1] 0.9930005565306734 Centerline is valid? [True, True] Translation: X:135.22, Y:-15.54, Z:-2.31 [[ 9.91393595e-01 1.30833474e-01 4.61968594e-03 1.35217773e+02] [-1.30832095e-01 9.91404359e-01 -6.00667193e-04 -1.55352701e+01] [-4.65856416e-03 -8.90558287e-06 9.99989149e-01 -2.31049372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.254012739 meters Centerline goodness [0,1] 0.9920904679450181 Centerline is valid? [True, True] Translation: X:135.25, Y:-15.54, Z:-2.31 [[ 9.91304148e-01 1.31521255e-01 4.27140164e-03 1.35250394e+02] [-1.31520080e-01 9.91313351e-01 -5.56000504e-04 -1.55387968e+01] [-4.30742335e-03 -1.06094807e-05 9.99990723e-01 -2.31048935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284012739 meters Centerline goodness [0,1] 0.9911483510581158 Centerline is valid? [True, True] Translation: X:135.28, Y:-15.54, Z:-2.31 [[ 9.91079754e-01 1.33153173e-01 5.58158630e-03 1.35282759e+02] [-1.33151184e-01 9.91095471e-01 -7.28143218e-04 -1.55402495e+01] [-5.62883949e-03 -2.15468239e-05 9.99984158e-01 -2.30804538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.314012739 meters Centerline goodness [0,1] 0.9901020055325035 Centerline is valid? [True, True] Translation: X:135.31, Y:-15.54, Z:-2.31 [[ 9.90868372e-01 1.34670325e-01 6.61608857e-03 1.35314972e+02] [-1.34667555e-01 9.90890459e-01 -8.64463171e-04 -1.55420156e+01] [-6.67223658e-03 -3.44032575e-05 9.99977740e-01 -2.30586511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344012739 meters Centerline goodness [0,1] 0.9888666608680525 Centerline is valid? [True, True] Translation: X:135.35, Y:-15.54, Z:-2.31 [[ 9.90350216e-01 1.38370132e-01 7.75610035e-03 1.35347874e+02] [-1.38366427e-01 9.90380584e-01 -1.01495382e-03 -1.55391926e+01] [-7.82193049e-03 -6.80241596e-05 9.99969406e-01 -2.30554746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.374012739 meters Centerline goodness [0,1] 0.9884418997158545 Centerline is valid? [True, True] Translation: X:135.38, Y:-15.54, Z:-2.31 [[ 9.90091519e-01 1.40234252e-01 7.28966427e-03 1.35379338e+02] [-1.40231021e-01 9.90118351e-01 -9.55085776e-04 -1.55382020e+01] [-7.35156610e-03 -7.66147351e-05 9.99972974e-01 -2.30623085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404012739 meters Centerline goodness [0,1] 0.9879296716443419 Centerline is valid? [True, True] Translation: X:135.41, Y:-15.54, Z:-2.31 [[ 9.89900091e-01 1.41606901e-01 6.73018022e-03 1.35410041e+02] [-1.41604171e-01 9.89922966e-01 -8.82918668e-04 -1.55359355e+01] [-6.78738735e-03 -7.90203214e-05 9.99976962e-01 -2.30720218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.434012739 meters Centerline goodness [0,1] 0.9885393596662868 Centerline is valid? [True, True] Translation: X:135.44, Y:-15.54, Z:-2.31 [[ 9.89867903e-01 1.41812893e-01 7.11606034e-03 1.35440622e+02] [-1.41809845e-01 9.89893477e-01 -9.33640403e-04 -1.55363727e+01] [-7.17654396e-03 -8.49467450e-05 9.99974245e-01 -2.30657231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464012739 meters Centerline goodness [0,1] 0.987891431520991 Centerline is valid? [True, True] Translation: X:135.47, Y:-15.53, Z:-2.30 [[ 9.89860071e-01 1.41731989e-01 9.43838616e-03 1.35470667e+02] [-1.41726624e-01 9.89905061e-01 -1.23831625e-03 -1.55346799e+01] [-9.51861526e-03 -1.11910797e-04 9.99954691e-01 -2.30218594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49401273899997 meters Centerline goodness [0,1] 0.9873682846778373 Centerline is valid? [True, True] Translation: X:135.50, Y:-15.54, Z:-2.30 [[ 9.89932480e-01 1.41198757e-01 9.82829583e-03 1.35501937e+02] [-1.41192913e-01 9.89981262e-01 -1.28942089e-03 -1.55377014e+01] [-9.91189334e-03 -1.11246102e-04 9.99950870e-01 -2.30192017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52401273899997 meters Centerline goodness [0,1] 0.9881450937439598 Centerline is valid? [True, True] Translation: X:135.53, Y:-15.54, Z:-2.30 [[ 9.90111588e-01 1.39957164e-01 9.54126440e-03 1.35532733e+02] [-1.39951595e-01 9.90157555e-01 -1.25219715e-03 -1.55410328e+01] [-9.62260899e-03 -9.55002574e-05 9.99953697e-01 -2.30349343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55401273899997 meters Centerline goodness [0,1] 0.9907692975978455 Centerline is valid? [True, True] Translation: X:135.56, Y:-15.55, Z:-2.31 [[ 9.90864322e-01 1.34661654e-01 7.35757668e-03 1.35564100e+02] [-1.34658190e-01 9.90891638e-01 -9.66506012e-04 -1.55504564e+01] [-7.42071250e-03 -3.30816337e-05 9.99972466e-01 -2.30853253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58401273899997 meters Centerline goodness [0,1] 0.9922690543786853 Centerline is valid? [True, True] Translation: X:135.60, Y:-15.56, Z:-2.31 [[ 9.91721216e-01 1.28188869e-01 7.52615187e-03 1.35595399e+02] [-1.28185053e-01 9.91749774e-01 -9.89304277e-04 -1.55613752e+01] [-7.59087721e-03 1.63738671e-05 9.99971189e-01 -2.30777784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61401273899997 meters Centerline goodness [0,1] 0.9926756449083919 Centerline is valid? [True, True] Translation: X:135.63, Y:-15.57, Z:-2.31 [[ 9.91984699e-01 1.26097463e-01 8.11090998e-03 1.35625774e+02] [-1.26092948e-01 9.92017857e-01 -1.06763790e-03 -1.55688100e+01] [-8.18079396e-03 3.63519077e-05 9.99966536e-01 -2.30682643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64401273899998 meters Centerline goodness [0,1] 0.992505653063422 Centerline is valid? [True, True] Translation: X:135.66, Y:-15.58, Z:-2.31 [[ 9.92155098e-01 1.24737159e-01 8.30081738e-03 1.35656290e+02] [-1.24732376e-01 9.92189820e-01 -1.09343861e-03 -1.55755952e+01] [-8.37237892e-03 4.94800149e-05 9.99964950e-01 -2.30710522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67401273899998 meters Centerline goodness [0,1] 0.9943704340352385 Centerline is valid? [True, True] Translation: X:135.69, Y:-15.58, Z:-2.31 [[ 9.92369931e-01 1.23104891e-01 6.86339556e-03 1.35687508e+02] [-1.23101577e-01 9.92393663e-01 -9.04905330e-04 -1.55821416e+01] [-6.92258853e-03 5.31060243e-05 9.99976037e-01 -2.31039838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70401273899998 meters Centerline goodness [0,1] 0.9945842556575186 Centerline is valid? [True, True] Translation: X:135.72, Y:-15.59, Z:-2.31 [[ 9.92405160e-01 1.22841837e-01 6.47164112e-03 1.35719422e+02] [-1.22838877e-01 9.92426259e-01 -8.54326866e-04 -1.55865653e+01] [-6.52757367e-03 5.28692616e-05 9.99978694e-01 -2.31112580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73401273899998 meters Centerline goodness [0,1] 0.9936684409340659 Centerline is valid? [True, True] Translation: X:135.75, Y:-15.59, Z:-2.31 [[ 9.92318446e-01 1.23513184e-01 6.97098435e-03 1.35751029e+02] [-1.23509761e-01 9.92342930e-01 -9.21078353e-04 -1.55904465e+01] [-7.03137236e-03 5.30184282e-05 9.99975278e-01 -2.30914040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76401273899998 meters Centerline goodness [0,1] 0.9858308286818377 Centerline is valid? [True, True] Translation: X:135.78, Y:-15.59, Z:-2.30 [[ 9.92108818e-01 1.25187411e-01 6.94299414e-03 1.35783462e+02] [-1.25184047e-01 9.92133111e-01 -9.18690199e-04 -1.55918443e+01] [-7.00338283e-03 4.22885389e-05 9.99975475e-01 -2.29534939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79401273899998 meters Centerline goodness [0,1] 0.9918773913601094 Centerline is valid? [True, True] Translation: X:135.82, Y:-15.59, Z:-2.31 [[ 9.91761213e-01 1.27776578e-01 9.10177067e-03 1.35815147e+02] [-1.27770888e-01 9.91802977e-01 -1.20629118e-03 -1.55914238e+01] [-9.18129901e-03 3.34114780e-05 9.99957850e-01 -2.30532444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82401273899998 meters Centerline goodness [0,1] 0.9920272114738826 Centerline is valid? [True, True] Translation: X:135.85, Y:-15.59, Z:-2.30 [[ 9.91590684e-01 1.29066355e-01 9.47581004e-03 1.35848590e+02] [-1.29060231e-01 9.91635959e-01 -1.25746569e-03 -1.55927023e+01] [-9.55885049e-03 2.39410228e-05 9.99954313e-01 -2.30496147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85401273899998 meters Centerline goodness [0,1] 0.9913638306968791 Centerline is valid? [True, True] Translation: X:135.88, Y:-15.59, Z:-2.30 [[ 9.91397372e-01 1.30544555e-01 9.45359737e-03 1.35881083e+02] [-1.30538510e-01 9.91442444e-01 -1.25635948e-03 -1.55939508e+01] [-9.53670857e-03 1.14929729e-05 9.99954524e-01 -2.30488597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88401273899999 meters Centerline goodness [0,1] 0.9914451114922813 Centerline is valid? [True, True] Translation: X:135.91, Y:-15.59, Z:-2.31 [[ 9.90986912e-01 1.33709965e-01 8.15999823e-03 1.35912784e+02] [-1.33705558e-01 9.91020507e-01 -1.08573930e-03 -1.55888376e+01] [-8.23189975e-03 -1.50836840e-05 9.99966117e-01 -2.30733078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.914012739 meters Centerline goodness [0,1] 0.9917637648889945 Centerline is valid? [True, True] Translation: X:135.94, Y:-15.59, Z:-2.31 [[ 9.90700693e-01 1.35823297e-01 8.01052128e-03 1.35943394e+02] [-1.35819109e-01 9.90733078e-01 -1.06704526e-03 -1.55876039e+01] [-8.08121801e-03 -3.08593866e-05 9.99967346e-01 -2.30783412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944012739 meters Centerline goodness [0,1] 0.9897334101726751 Centerline is valid? [True, True] Translation: X:135.97, Y:-15.58, Z:-2.31 [[ 9.90196908e-01 1.39427810e-01 8.36482218e-03 1.35974313e+02] [-1.39423372e-01 9.90232236e-01 -1.11424277e-03 -1.55800593e+01] [-8.43847300e-03 -6.29319658e-05 9.99964393e-01 -2.30770714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.974012739 meters Centerline goodness [0,1] 0.9895492156524737 Centerline is valid? [True, True] Translation: X:136.00, Y:-15.58, Z:-2.31 [[ 9.90002535e-01 1.40804840e-01 8.30522099e-03 1.36004097e+02] [-1.40800513e-01 9.90037369e-01 -1.10634353e-03 -1.55807076e+01] [-8.37825766e-03 -7.40964837e-05 9.99964899e-01 -2.30931081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004012739 meters Centerline goodness [0,1] 0.9897283039907362 Centerline is valid? [True, True] Translation: X:136.03, Y:-15.58, Z:-2.31 [[ 9.89912889e-01 1.41499022e-01 7.10622315e-03 1.36033061e+02] [-1.41495873e-01 9.89938393e-01 -9.46500570e-04 -1.55810984e+01] [-7.16865203e-03 -6.85481358e-05 9.99974303e-01 -2.31115712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.034012739 meters Centerline goodness [0,1] 0.9901730491563046 Centerline is valid? [True, True] Translation: X:136.06, Y:-15.58, Z:-2.32 [[ 9.89951044e-01 1.41307701e-01 5.39113157e-03 1.36061310e+02] [-1.41305886e-01 9.89965722e-01 -7.17938442e-04 -1.55817995e+01] [-5.43848569e-03 -5.10747145e-05 9.99985210e-01 -2.31578103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064012739 meters Centerline goodness [0,1] 0.9902166619770135 Centerline is valid? [True, True] Translation: X:136.09, Y:-15.59, Z:-2.32 [[ 9.90044584e-01 1.40651944e-01 5.36218975e-03 1.36089969e+02] [-1.40650142e-01 9.90059103e-01 -7.13698040e-04 -1.55851603e+01] [-5.40926780e-03 -4.75998688e-05 9.99985369e-01 -2.31585895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.094012739 meters Centerline goodness [0,1] 0.9910937634779609 Centerline is valid? [True, True] Translation: X:136.12, Y:-15.59, Z:-2.31 [[ 9.90324618e-01 1.38637259e-01 6.07134997e-03 1.36118461e+02] [-1.38634912e-01 9.90343228e-01 -8.07737801e-04 -1.55874645e+01] [-6.12470288e-03 -4.17784395e-05 9.99981243e-01 -2.31437072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124012739 meters Centerline goodness [0,1] 0.9912550224533208 Centerline is valid? [True, True] Translation: X:136.15, Y:-15.59, Z:-2.31 [[ 9.90487703e-01 1.37464116e-01 6.14225977e-03 1.36145879e+02] [-1.37461693e-01 9.90506747e-01 -8.16888866e-04 -1.55895198e+01] [-6.19624265e-03 -3.52070507e-05 9.99980802e-01 -2.31490799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.154012739 meters Centerline goodness [0,1] 0.9913721124408572 Centerline is valid? [True, True] Translation: X:136.17, Y:-15.59, Z:-2.32 [[ 9.90562592e-01 1.36944267e-01 5.65857104e-03 1.36174491e+02] [-1.36942204e-01 9.90578753e-01 -7.52223885e-04 -1.55912886e+01] [-5.70827300e-03 -2.97723504e-05 9.99983707e-01 -2.31531837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184012739 meters Centerline goodness [0,1] 0.9909677143833276 Centerline is valid? [True, True] Translation: X:136.20, Y:-15.59, Z:-2.32 [[ 9.90538472e-01 1.37125122e-01 5.49875755e-03 1.36202638e+02] [-1.37123178e-01 9.90553734e-01 -7.30760038e-04 -1.55924230e+01] [-5.54702038e-03 -3.01611812e-05 9.99984615e-01 -2.31616339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.214012739 meters Centerline goodness [0,1] 0.9913215915390848 Centerline is valid? [True, True] Translation: X:136.23, Y:-15.59, Z:-2.32 [[ 9.90498935e-01 1.37413939e-01 5.41002385e-03 1.36231786e+02] [-1.37412063e-01 9.90513709e-01 -7.18630301e-04 -1.55934794e+01] [-5.45745261e-03 -3.15999910e-05 9.99985107e-01 -2.31635396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24401273899997 meters Centerline goodness [0,1] 0.9914933635411546 Centerline is valid? [True, True] Translation: X:136.26, Y:-15.60, Z:-2.32 [[ 9.90590791e-01 1.36746266e-01 5.50842456e-03 1.36259392e+02] [-1.36744313e-01 9.90606106e-01 -7.31463569e-04 -1.55963801e+01] [-5.55670392e-03 -2.86646559e-05 9.99984561e-01 -2.31714981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27401273899997 meters Centerline goodness [0,1] 0.9912265758091994 Centerline is valid? [True, True] Translation: X:136.29, Y:-15.60, Z:-2.32 [[ 9.90671676e-01 1.36138641e-01 5.99168643e-03 1.36287808e+02] [-1.36136321e-01 9.90689795e-01 -7.95221511e-04 -1.56000881e+01] [-6.04416297e-03 -2.78827181e-05 9.99981733e-01 -2.31667940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30401273899997 meters Centerline goodness [0,1] 0.9907571835084191 Centerline is valid? [True, True] Translation: X:136.32, Y:-15.60, Z:-2.31 [[ 9.90741357e-01 1.35582246e-01 7.00131060e-03 1.36316867e+02] [-1.35579067e-01 9.90766094e-01 -9.28839731e-04 -1.56026295e+01] [-7.06259533e-03 -2.89912250e-05 9.99975059e-01 -2.31469529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33401273899997 meters Centerline goodness [0,1] 0.9910535934378851 Centerline is valid? [True, True] Translation: X:136.34, Y:-15.60, Z:-2.31 [[ 9.90763027e-01 1.35408186e-01 7.29704240e-03 1.36344768e+02] [-1.35404732e-01 9.90789898e-01 -9.67713757e-04 -1.56042145e+01] [-7.36087226e-03 -2.92790565e-05 9.99972908e-01 -2.31435779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36401273899997 meters Centerline goodness [0,1] 0.9900534920191626 Centerline is valid? [True, True] Translation: X:136.37, Y:-15.60, Z:-2.31 [[ 9.90790014e-01 1.35166034e-01 8.08037111e-03 1.36373456e+02] [-1.35161794e-01 9.90822962e-01 -1.07106308e-03 -1.56042344e+01] [-8.15098859e-03 -3.09588546e-05 9.99966780e-01 -2.31300160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39401273899998 meters Centerline goodness [0,1] 0.9904576856649395 Centerline is valid? [True, True] Translation: X:136.40, Y:-15.60, Z:-2.31 [[ 9.90753006e-01 1.35419270e-01 8.37266408e-03 1.36401508e+02] [-1.35414731e-01 9.90788383e-01 -1.10938687e-03 -1.56049764e+01] [-8.44577067e-03 -3.46536788e-05 9.99964333e-01 -2.31266455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42401273899998 meters Centerline goodness [0,1] 0.9900673617368173 Centerline is valid? [True, True] Translation: X:136.43, Y:-15.60, Z:-2.31 [[ 9.90698932e-01 1.35767949e-01 9.09337096e-03 1.36430221e+02] [-1.35762614e-01 9.90740663e-01 -1.20431273e-03 -1.56045526e+01] [-9.17267945e-03 -4.14284741e-05 9.99957929e-01 -2.31128453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45401273899998 meters Centerline goodness [0,1] 0.989678800856531 Centerline is valid? [True, True] Translation: X:136.46, Y:-15.61, Z:-2.31 [[ 9.90650753e-01 1.36141604e-01 8.74928143e-03 1.36458231e+02] [-1.36136683e-01 9.90689387e-01 -1.15833264e-03 -1.56056647e+01] [-8.82551753e-03 -4.35950491e-05 9.99961053e-01 -2.31153823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48401273899998 meters Centerline goodness [0,1] 0.9898229896055322 Centerline is valid? [True, True] Translation: X:136.49, Y:-15.61, Z:-2.31 [[ 9.90607506e-01 1.36477117e-01 8.41225215e-03 1.36487047e+02] [-1.36472584e-01 9.90643223e-01 -1.11324023e-03 -1.56067688e+01] [-8.48547239e-03 -4.52576655e-05 9.99963997e-01 -2.31349375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51401273899998 meters Centerline goodness [0,1] 0.9898237989716228 Centerline is valid? [True, True] Translation: X:136.52, Y:-15.60, Z:-2.32 [[ 9.90540517e-01 1.37065318e-01 6.52556572e-03 1.36515608e+02] [-1.37062605e-01 9.90562011e-01 -8.63347813e-04 -1.56029662e+01] [-6.58231254e-03 -3.92300449e-05 9.99978336e-01 -2.31697631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54401273899998 meters Centerline goodness [0,1] 0.9899119706997366 Centerline is valid? [True, True] Translation: X:136.55, Y:-15.60, Z:-2.32 [[ 9.90395144e-01 1.38097651e-01 6.81888119e-03 1.36545260e+02] [-1.38094715e-01 9.90418617e-01 -9.01699266e-04 -1.55987654e+01] [-6.87806942e-03 -4.86128826e-05 9.99976345e-01 -2.31603012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57401273899998 meters Centerline goodness [0,1] 0.9891612293956044 Centerline is valid? [True, True] Translation: X:136.57, Y:-15.60, Z:-2.32 [[ 9.90310149e-01 1.38702049e-01 6.89568470e-03 1.36574327e+02] [-1.38699064e-01 9.90334155e-01 -9.11530624e-04 -1.55976556e+01] [-6.95546325e-03 -5.37269850e-05 9.99975809e-01 -2.31554286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60401273899998 meters Centerline goodness [0,1] 0.9888526839307151 Centerline is valid? [True, True] Translation: X:136.60, Y:-15.60, Z:-2.32 [[ 9.90175987e-01 1.39643121e-01 7.16337856e-03 1.36602898e+02] [-1.39639927e-01 9.90201896e-01 -9.46576566e-04 -1.55958965e+01] [-7.22537393e-03 -6.30162753e-05 9.99973895e-01 -2.31506802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63401273899999 meters Centerline goodness [0,1] 0.9887674298502324 Centerline is valid? [True, True] Translation: X:136.63, Y:-15.59, Z:-2.32 [[ 9.90046325e-01 1.40558596e-01 7.18013549e-03 1.36633001e+02] [-1.40555415e-01 9.90072359e-01 -9.48364431e-04 -1.55914295e+01] [-7.24215446e-03 -7.02822005e-05 9.99973773e-01 -2.31510940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.664012739 meters Centerline goodness [0,1] 0.9889332132286707 Centerline is valid? [True, True] Translation: X:136.66, Y:-15.59, Z:-2.32 [[ 9.90026548e-01 1.40706342e-01 7.01143040e-03 1.36661586e+02] [-1.40703314e-01 9.90051373e-01 -9.25770001e-04 -1.55914951e+01] [-7.07193800e-03 -6.99946130e-05 9.99974991e-01 -2.31537260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.694012739 meters Centerline goodness [0,1] 0.9889332132286707 Centerline is valid? [True, True] Translation: X:136.69, Y:-15.59, Z:-2.32 [[ 9.90036028e-01 1.40639619e-01 7.01146923e-03 1.36688857e+02] [-1.40636591e-01 9.90060853e-01 -9.25475798e-04 -1.55949572e+01] [-7.07193978e-03 -6.98147509e-05 9.99974991e-01 -2.31559259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724012739 meters Centerline goodness [0,1] 0.9890935634849071 Centerline is valid? [True, True] Translation: X:136.72, Y:-15.59, Z:-2.32 [[ 9.90218470e-01 1.39380638e-01 6.35763552e-03 1.36717411e+02] [-1.39378125e-01 9.90238878e-01 -8.38769666e-04 -1.55943569e+01] [-6.41248612e-03 -5.55501016e-05 9.99979438e-01 -2.31807483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.754012739 meters Centerline goodness [0,1] 0.9896429955643599 Centerline is valid? [True, True] Translation: X:136.75, Y:-15.60, Z:-2.32 [[ 9.90330237e-01 1.38583388e-01 6.37696309e-03 1.36745994e+02] [-1.38580846e-01 9.90350767e-01 -8.40938466e-04 -1.55972622e+01] [-6.43197039e-03 -5.09181475e-05 9.99979313e-01 -2.31817770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784012739 meters Centerline goodness [0,1] 0.9906247318287137 Centerline is valid? [True, True] Translation: X:136.77, Y:-15.60, Z:-2.32 [[ 9.90609452e-01 1.36570256e-01 6.44039401e-03 1.36773791e+02] [-1.36567623e-01 9.90630387e-01 -8.49020764e-04 -1.55968301e+01] [-6.49600100e-03 -3.85013054e-05 9.99978900e-01 -2.31753070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.814012739 meters Centerline goodness [0,1] 0.9913824519282299 Centerline is valid? [True, True] Translation: X:136.80, Y:-15.60, Z:-2.32 [[ 9.90709329e-01 1.35852463e-01 6.25565260e-03 1.36801814e+02] [-1.35849966e-01 9.90729079e-01 -8.24321356e-04 -1.55981694e+01] [-6.30964302e-03 -3.31673348e-05 9.99980093e-01 -2.31846796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844012739 meters Centerline goodness [0,1] 0.9910893438909146 Centerline is valid? [True, True] Translation: X:136.83, Y:-15.60, Z:-2.32 [[ 9.90816159e-01 1.35080572e-01 6.04794415e-03 1.36830417e+02] [-1.35078226e-01 9.90834617e-01 -7.96615809e-04 -1.56027726e+01] [-6.10011975e-03 -2.76457487e-05 9.99981394e-01 -2.31877611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.874012739 meters Centerline goodness [0,1] 0.9919750048149971 Centerline is valid? [True, True] Translation: X:136.86, Y:-15.61, Z:-2.32 [[ 9.91075418e-01 1.33180188e-01 5.70561600e-03 1.36858322e+02] [-1.33178069e-01 9.91091841e-01 -7.51299799e-04 -1.56050185e+01] [-5.75484772e-03 -1.52681619e-05 9.99983441e-01 -2.32113134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904012739 meters Centerline goodness [0,1] 0.993031060946151 Centerline is valid? [True, True] Translation: X:136.89, Y:-15.61, Z:-2.32 [[ 9.91155233e-01 1.32611324e-01 5.05379998e-03 1.36886073e+02] [-1.32609656e-01 9.91168117e-01 -6.65242407e-04 -1.56074437e+01] [-5.09738408e-03 -1.08241825e-05 9.99987008e-01 -2.32249242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.934012739 meters Centerline goodness [0,1] 0.9944216782166534 Centerline is valid? [True, True] Translation: X:136.91, Y:-15.61, Z:-2.32 [[ 9.91245143e-01 1.31955340e-01 4.56667225e-03 1.36913283e+02] [-1.31953972e-01 9.91255662e-01 -6.00979067e-04 -1.56083539e+01] [-4.60604212e-03 -6.87296089e-06 9.99989392e-01 -2.32405591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964012739 meters Centerline goodness [0,1] 0.9943338536209883 Centerline is valid? [True, True] Translation: X:136.94, Y:-15.61, Z:-2.32 [[ 9.91397075e-01 1.30824882e-01 4.08536587e-03 1.36941135e+02] [-1.30823779e-01 9.91405492e-01 -5.37202595e-04 -1.56123115e+01] [-4.12053363e-03 -1.88192039e-06 9.99991511e-01 -2.32469264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99401273899997 meters Centerline goodness [0,1] 0.9955635184711202 Centerline is valid? [True, True] Translation: X:136.97, Y:-15.62, Z:-2.33 [[ 9.91922501e-01 1.26793505e-01 3.62758009e-03 1.36969538e+02] [-1.26792609e-01 9.91929134e-01 -4.76721983e-04 -1.56180323e+01] [-3.65874763e-03 1.29209171e-05 9.99993307e-01 -2.32568485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02401273899997 meters Centerline goodness [0,1] 0.996506286527637 Centerline is valid? [True, True] Translation: X:137.00, Y:-15.62, Z:-2.32 [[ 9.92215455e-01 1.24468956e-01 3.99631632e-03 1.36997822e+02] [-1.24467851e-01 9.92223502e-01 -5.24971199e-04 -1.56223744e+01] [-4.03058160e-03 2.34716316e-05 9.99991877e-01 -2.32483802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05401273899997 meters Centerline goodness [0,1] 0.9948164331919633 Centerline is valid? [True, True] Translation: X:137.02, Y:-15.63, Z:-2.32 [[ 9.92863906e-01 1.19139573e-01 5.19875809e-03 1.37024958e+02] [-1.19137632e-01 9.92877514e-01 -6.82607226e-04 -1.56318762e+01] [-5.24305555e-03 5.83683501e-05 9.99986253e-01 -2.32280711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08401273899997 meters Centerline goodness [0,1] 0.993285990961911 Centerline is valid? [True, True] Translation: X:137.05, Y:-15.64, Z:-2.32 [[ 9.93239665e-01 1.15929578e-01 5.94149092e-03 1.37053652e+02] [-1.15926987e-01 9.93257432e-01 -7.79701258e-04 -1.56375590e+01] [-5.99182045e-03 8.56510736e-05 9.99982045e-01 -2.32139937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11401273899997 meters Centerline goodness [0,1] 0.9902231027650961 Centerline is valid? [True, True] Translation: X:137.08, Y:-15.65, Z:-2.32 [[ 9.93989845e-01 1.09218082e-01 7.45643523e-03 1.37082392e+02] [-1.09213817e-01 9.94017799e-01 -9.78038358e-04 -1.56501173e+01] [-7.51864882e-03 1.57814443e-04 9.99971722e-01 -2.31893416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14401273899998 meters Centerline goodness [0,1] 0.9888489520180149 Centerline is valid? [True, True] Translation: X:137.11, Y:-15.66, Z:-2.32 [[ 9.94390377e-01 1.05456136e-01 8.17200618e-03 1.37109500e+02] [-1.05450887e-01 9.94423935e-01 -1.07178308e-03 -1.56594555e+01] [-8.23946464e-03 2.04025475e-04 9.99966034e-01 -2.31737113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17401273899998 meters Centerline goodness [0,1] 0.9837885805809272 Centerline is valid? [True, True] Translation: X:137.14, Y:-15.67, Z:-2.31 [[ 9.95042669e-01 9.92320032e-02 6.56478795e-03 1.37138660e+02] [-9.92284823e-02 9.95064303e-01 -8.60696762e-04 -1.56684547e+01] [-6.61779481e-03 2.05016059e-04 9.99978081e-01 -2.30533064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20401273899998 meters Centerline goodness [0,1] 0.9816713467859552 Centerline is valid? [True, True] Translation: X:137.17, Y:-15.68, Z:-2.31 [[ 9.95296735e-01 9.66822861e-02 6.07820510e-03 1.37166742e+02] [-9.66792203e-02 9.95315273e-01 -7.96896883e-04 -1.56799186e+01] [-6.12677618e-03 2.05512735e-04 9.99981210e-01 -2.30612002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23401273899998 meters Centerline goodness [0,1] 0.9823562279721482 Centerline is valid? [True, True] Translation: X:137.20, Y:-15.69, Z:-2.32 [[ 9.95559594e-01 9.38656438e-02 7.09483051e-03 1.37196231e+02] [-9.38613960e-02 9.95584840e-01 -9.30071990e-04 -1.56891388e+01] [-7.15080750e-03 2.60011396e-04 9.99974399e-01 -2.32007823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26401273899998 meters Centerline goodness [0,1] 0.9775711041418839 Centerline is valid? [True, True] Translation: X:137.22, Y:-15.70, Z:-2.32 [[ 9.96006717e-01 8.89137123e-02 8.06050201e-03 1.37224962e+02] [-8.89080675e-02 9.96039276e-01 -1.05666359e-03 -1.57029375e+01] [-8.12252847e-03 3.35800378e-04 9.99966955e-01 -2.31893403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29401273899998 meters Centerline goodness [0,1] 0.9587157949428472 Centerline is valid? [True, True] Translation: X:137.25, Y:-15.72, Z:-2.32 [[ 9.96195979e-01 8.67592690e-02 8.14862470e-03 1.37253558e+02] [-8.67534279e-02 9.96229242e-01 -1.06823552e-03 -1.57168023e+01] [-8.21057753e-03 3.57250802e-04 9.99966229e-01 -2.31877641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32401273899998 meters Centerline goodness [0,1] 0.960423197492163 Centerline is valid? [True, True] Translation: X:137.28, Y:-15.73, Z:-2.32 [[ 9.96503025e-01 8.31475113e-02 8.25910265e-03 1.37282922e+02] [-8.31413861e-02 9.96537173e-01 -1.08281438e-03 -1.57274157e+01] [-8.32053613e-03 3.92354564e-04 9.99965307e-01 -2.31878488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35401273899998 meters Centerline goodness [0,1] 0.9306219582788414 Centerline is valid? [True, False] Translation: X:137.28, Y:-15.73, Z:-2.32 [[ 9.96476954e-01 8.34605362e-02 8.24732082e-03 1.37282784e+02] [-8.34634961e-02 9.96510835e-01 1.47554620e-05 -1.57330946e+01] [-8.21731306e-03 -7.03053706e-04 9.99965990e-01 -2.31881684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38401273899999 meters Centerline goodness [0,1] 0.9076192531836823 Centerline is valid? [False, False] Translation: X:137.28, Y:-15.74, Z:-2.32 [[ 9.96786111e-01 7.97273247e-02 7.81042191e-03 1.37283044e+02] [-7.97004997e-02 9.96812033e-01 -3.68807695e-03 -1.57353759e+01] [-8.07956305e-03 3.05372935e-03 9.99962697e-01 -2.31873688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.414012739 meters Centerline goodness [0,1] 0.9188191094223627 Centerline is valid? [False, False] Translation: X:137.28, Y:-15.74, Z:-2.32 [[ 9.96763646e-01 8.00123813e-02 7.76232449e-03 1.37283203e+02] [-7.99897906e-02 9.96790614e-01 -3.17886710e-03 -1.57377574e+01] [-7.99176093e-03 2.54767245e-03 9.99964820e-01 -2.31885236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444012739 meters Centerline goodness [0,1] 0.9586560535518891 Centerline is valid? [False, True] Translation: X:137.28, Y:-15.74, Z:-2.32 [[ 9.96748699e-01 8.02031130e-02 7.71303445e-03 1.37283321e+02] [-8.01826739e-02 9.96775897e-01 -2.92414061e-03 -1.57388759e+01] [-7.92269201e-03 2.29618162e-03 9.99965979e-01 -2.31874526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.474012739 meters Centerline goodness [0,1] 0.9801007717328911 Centerline is valid? [True, True] Translation: X:137.31, Y:-15.74, Z:-2.32 [[ 9.96196353e-01 8.67203571e-02 8.50915329e-03 1.37313707e+02] [-8.67143914e-02 9.96232640e-01 -1.06824758e-03 -1.57407412e+01] [-8.56973506e-03 3.26318291e-04 9.99963226e-01 -2.31797576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504012739 meters Centerline goodness [0,1] 0.9836542188913296 Centerline is valid? [True, True] Translation: X:137.34, Y:-15.74, Z:-2.32 [[ 9.95911610e-01 8.99508904e-02 8.30070726e-03 1.37343952e+02] [-8.99453254e-02 9.95946159e-01 -1.04207076e-03 -1.57435042e+01] [-8.36079271e-03 2.91200554e-04 9.99965006e-01 -2.31944026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.534012739 meters Centerline goodness [0,1] 0.9880595737396217 Centerline is valid? [True, True] Translation: X:137.37, Y:-15.74, Z:-2.32 [[ 9.95282057e-01 9.67638795e-02 7.09776315e-03 1.37373681e+02] [-9.67599835e-02 9.95307345e-01 -8.91061090e-04 -1.57444130e+01] [-7.15067833e-03 2.00077669e-04 9.99974414e-01 -2.32164459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564012739 meters Centerline goodness [0,1] 0.9905923344947736 Centerline is valid? [True, True] Translation: X:137.41, Y:-15.74, Z:-2.32 [[ 9.95001599e-01 9.96380426e-02 6.63921058e-03 1.37405640e+02] [-9.96346985e-02 9.95023735e-01 -8.33380289e-04 -1.57415745e+01] [-6.68920849e-03 1.67718976e-04 9.99977613e-01 -2.32292072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.594012739 meters Centerline goodness [0,1] 0.9910936561078204 Centerline is valid? [True, True] Translation: X:137.44, Y:-15.74, Z:-2.32 [[ 9.94373145e-01 1.05745277e-01 6.32333495e-03 1.37435491e+02] [-1.05742366e-01 9.94393243e-01 -7.93927186e-04 -1.57401061e+01] [-6.37183560e-03 1.20815474e-04 9.99979692e-01 -2.32316799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624012739 meters Centerline goodness [0,1] 0.9925289583602463 Centerline is valid? [True, True] Translation: X:137.46, Y:-15.74, Z:-2.32 [[ 9.94074416e-01 1.08553925e-01 5.66577677e-03 1.37464168e+02] [-1.08551633e-01 9.94090558e-01 -7.11354807e-04 -1.57405737e+01] [-5.70951554e-03 9.21102923e-05 9.99983696e-01 -2.32471088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.654012739 meters Centerline goodness [0,1] 0.9945354010972396 Centerline is valid? [True, True] Translation: X:137.49, Y:-15.74, Z:-2.33 [[ 9.93624845e-01 1.12663899e-01 4.06369030e-03 1.37493056e+02] [-1.12662754e-01 9.93633153e-01 -5.10141419e-04 -1.57375373e+01] [-4.09529192e-03 4.90626466e-05 9.99991613e-01 -2.32751060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684012739 meters Centerline goodness [0,1] 0.9952491485346118 Centerline is valid? [True, True] Translation: X:137.52, Y:-15.74, Z:-2.33 [[ 9.93420555e-01 1.14460917e-01 3.78138234e-03 1.37521784e+02] [-1.14459939e-01 9.93427751e-01 -4.74643266e-04 -1.57367053e+01] [-3.81085826e-03 3.87035846e-05 9.99992738e-01 -2.32821110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.714012739 meters Centerline goodness [0,1] 0.995472256688217 Centerline is valid? [True, True] Translation: X:137.55, Y:-15.74, Z:-2.33 [[ 9.93137392e-01 1.16856892e-01 4.75259538e-03 1.37550294e+02] [-1.16855376e-01 9.93148763e-01 -5.96277827e-04 -1.57353852e+01] [-4.78971339e-03 3.68194863e-05 9.99988529e-01 -2.32680035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74401273899997 meters Centerline goodness [0,1] 0.9942704519019515 Centerline is valid? [True, True] Translation: X:137.58, Y:-15.74, Z:-2.32 [[ 9.93000197e-01 1.17981127e-01 5.57341559e-03 1.37578987e+02] [-1.17979062e-01 9.93015837e-01 -6.98841961e-04 -1.57366096e+01] [-5.61694011e-03 3.64038584e-05 9.99984224e-01 -2.32457538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77401273899997 meters Centerline goodness [0,1] 0.9939434290500634 Centerline is valid? [True, True] Translation: X:137.61, Y:-15.74, Z:-2.32 [[ 9.92830128e-01 1.19354224e-01 6.55034594e-03 1.37607269e+02] [-1.19351405e-01 9.92851735e-01 -8.20992611e-04 -1.57369161e+01] [-6.60151127e-03 3.33132061e-05 9.99978209e-01 -2.32296715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80401273899997 meters Centerline goodness [0,1] 0.9915164369034994 Centerline is valid? [True, True] Translation: X:137.64, Y:-15.73, Z:-2.32 [[ 9.92520642e-01 1.21845481e-01 7.51354722e-03 1.37637079e+02] [-1.21841847e-01 9.92549081e-01 -9.41226255e-04 -1.57326284e+01] [-7.57224855e-03 1.87220138e-05 9.99971330e-01 -2.32074482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83401273899997 meters Centerline goodness [0,1] 0.9906065025306683 Centerline is valid? [True, True] Translation: X:137.67, Y:-15.73, Z:-2.32 [[ 9.92306982e-01 1.23575820e-01 7.47459799e-03 1.37666498e+02] [-1.23572275e-01 9.92335133e-01 -9.36014977e-04 -1.57303619e+01] [-7.53297501e-03 5.16111782e-06 9.99971627e-01 -2.32138712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86401273899997 meters Centerline goodness [0,1] 0.9912757833663958 Centerline is valid? [True, True] Translation: X:137.69, Y:-15.73, Z:-2.32 [[ 9.92291960e-01 1.23710746e-01 7.23300660e-03 1.37694429e+02] [-1.23707433e-01 9.92318322e-01 -9.05441387e-04 -1.57331890e+01] [-7.28945780e-03 3.68553118e-06 9.99973432e-01 -2.32200408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89401273899998 meters Centerline goodness [0,1] 0.9909931314527626 Centerline is valid? [True, True] Translation: X:137.72, Y:-15.74, Z:-2.32 [[ 9.92418382e-01 1.22711113e-01 6.90922808e-03 1.37722413e+02] [-1.22708068e-01 9.92442433e-01 -8.64476781e-04 -1.57380770e+01] [-6.96309203e-03 1.01046171e-05 9.99975757e-01 -2.32159720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92401273899998 meters Centerline goodness [0,1] 0.9920600950220434 Centerline is valid? [True, True] Translation: X:137.75, Y:-15.75, Z:-2.32 [[ 9.92968304e-01 1.18128745e-01 7.71661785e-03 1.37748992e+02] [-1.18124812e-01 9.92998287e-01 -9.65093603e-04 -1.57500325e+01] [-7.77659360e-03 4.67833244e-05 9.99969761e-01 -2.32077072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95401273899998 meters Centerline goodness [0,1] 0.9918199514446315 Centerline is valid? [True, True] Translation: X:137.78, Y:-15.76, Z:-2.32 [[ 9.93351201e-01 1.14819651e-01 8.35697257e-03 1.37777585e+02] [-1.14814926e-01 9.93386351e-01 -1.04461813e-03 -1.57597298e+01] [-8.42164517e-03 7.81674857e-05 9.99964534e-01 -2.32050915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98401273899998 meters Centerline goodness [0,1] 0.9913213885778276 Centerline is valid? [True, True] Translation: X:137.81, Y:-15.78, Z:-2.32 [[ 9.93975020e-01 1.09324130e-01 7.86730250e-03 1.37805063e+02] [-1.09319772e-01 9.94006147e-01 -9.83236898e-04 -1.57752541e+01] [-7.92763856e-03 1.17261203e-04 9.99968569e-01 -2.32141442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01401273899998 meters Centerline goodness [0,1] 0.9918956784136221 Centerline is valid? [True, True] Translation: X:137.83, Y:-15.78, Z:-2.32 [[ 9.94147635e-01 1.07786850e-01 7.24399113e-03 1.37834890e+02] [-1.07783115e-01 9.94174019e-01 -9.05172229e-04 -1.57816365e+01] [-7.29935344e-03 1.19094903e-04 9.99973352e-01 -2.32220429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04401273899998 meters Centerline goodness [0,1] 0.9920092795463333 Centerline is valid? [True, True] Translation: X:137.86, Y:-15.79, Z:-2.32 [[ 9.94171393e-01 1.07653723e-01 5.82387811e-03 1.37863988e+02] [-1.07651307e-01 9.94188446e-01 -7.27744745e-04 -1.57887679e+01] [-5.86837676e-03 9.65549183e-05 9.99982776e-01 -2.32421816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07401273899998 meters Centerline goodness [0,1] 0.9920569647649554 Centerline is valid? [True, True] Translation: X:137.89, Y:-15.79, Z:-2.32 [[ 9.94125354e-01 1.08084670e-01 5.69947696e-03 1.37894091e+02] [-1.08082363e-01 9.94141688e-01 -7.12160339e-04 -1.57900977e+01] [-5.74306126e-03 9.19637134e-05 9.99983504e-01 -2.32415872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10401273899998 meters Centerline goodness [0,1] 0.9919756681550508 Centerline is valid? [True, True] Translation: X:137.92, Y:-15.79, Z:-2.32 [[ 9.93819431e-01 1.10766500e-01 7.32951045e-03 1.37922931e+02] [-1.10762759e-01 9.93846453e-01 -9.15614349e-04 -1.57908549e+01] [-7.38582736e-03 9.81185332e-05 9.99972720e-01 -2.32157145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13401273899999 meters Centerline goodness [0,1] 0.9917628032345014 Centerline is valid? [True, True] Translation: X:137.95, Y:-15.79, Z:-2.32 [[ 9.93695931e-01 1.11832331e-01 7.86930080e-03 1.37952717e+02] [-1.11828055e-01 9.93727085e-01 -9.82747763e-04 -1.57928128e+01] [-7.92984032e-03 9.65438521e-05 9.99968554e-01 -2.32058756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.164012739 meters Centerline goodness [0,1] 0.9916539724087623 Centerline is valid? [True, True] Translation: X:137.98, Y:-15.80, Z:-2.32 [[ 9.93609535e-01 1.12600071e-01 7.83041081e-03 1.37980754e+02] [-1.12595862e-01 9.93640386e-01 -9.77707349e-04 -1.57972224e+01] [-7.89070233e-03 8.97874895e-05 9.99968864e-01 -2.32138093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.194012739 meters Centerline goodness [0,1] 0.9929516747855326 Centerline is valid? [True, True] Translation: X:138.01, Y:-15.80, Z:-2.32 [[ 9.93436807e-01 1.14234563e-01 5.81164700e-03 1.38010725e+02] [-1.14232273e-01 9.93453804e-01 -7.25487867e-04 -1.57955912e+01] [-5.85647861e-03 5.68487033e-05 9.99982849e-01 -2.32429736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224012739 meters Centerline goodness [0,1] 0.9931259739982494 Centerline is valid? [True, True] Translation: X:138.04, Y:-15.80, Z:-2.33 [[ 9.93391461e-01 1.14658121e-01 5.18857261e-03 1.38039550e+02] [-1.14656302e-01 9.93405009e-01 -6.47666188e-04 -1.57974189e+01] [-5.22861421e-03 4.84835102e-05 9.99986330e-01 -2.32584706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.254012739 meters Centerline goodness [0,1] 0.9932528256478577 Centerline is valid? [True, True] Translation: X:138.07, Y:-15.80, Z:-2.32 [[ 9.93453890e-01 1.14071225e-01 6.09291389e-03 1.38068158e+02] [-1.14068708e-01 9.93472572e-01 -7.60204737e-04 -1.57995748e+01] [-6.13986032e-03 6.02175389e-05 9.99981149e-01 -2.32469071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284012739 meters Centerline goodness [0,1] 0.9925582000824456 Centerline is valid? [True, True] Translation: X:138.10, Y:-15.80, Z:-2.32 [[ 9.93453097e-01 1.14039595e-01 6.77608710e-03 1.38096796e+02] [-1.14036484e-01 9.93476203e-01 -8.45088955e-04 -1.58024156e+01] [-6.82825488e-03 6.68350936e-05 9.99976685e-01 -2.32356602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.314012739 meters Centerline goodness [0,1] 0.9932086081972532 Centerline is valid? [True, True] Translation: X:138.13, Y:-15.80, Z:-2.33 [[ 9.93417657e-01 1.14419482e-01 5.43514980e-03 1.38125291e+02] [-1.14417487e-01 9.93432524e-01 -6.77666351e-04 -1.58046583e+01] [-5.47699281e-03 5.13295383e-05 9.99985000e-01 -2.32510249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344012739 meters Centerline goodness [0,1] 0.9936991562911335 Centerline is valid? [True, True] Translation: X:138.15, Y:-15.81, Z:-2.33 [[ 9.93390167e-01 1.14677626e-01 5.00185605e-03 1.38152995e+02] [-1.14675940e-01 9.93402758e-01 -6.23481374e-04 -1.58077702e+01] [-5.04035696e-03 4.57677211e-05 9.99987296e-01 -2.32648104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.374012739 meters Centerline goodness [0,1] 0.9938464860196481 Centerline is valid? [True, True] Translation: X:138.18, Y:-15.81, Z:-2.32 [[ 9.93274406e-01 1.15648590e-01 5.59986659e-03 1.38181539e+02] [-1.15646495e-01 9.93290190e-01 -6.97553769e-04 -1.58076641e+01] [-5.64296366e-03 4.52573591e-05 9.99984077e-01 -2.32496207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404012739 meters Centerline goodness [0,1] 0.9931081717392235 Centerline is valid? [True, True] Translation: X:138.21, Y:-15.81, Z:-2.32 [[ 9.93187006e-01 1.16355259e-01 6.40512217e-03 1.38209125e+02] [-1.16352535e-01 9.93207658e-01 -7.97532405e-04 -1.58101913e+01] [-6.45441348e-03 4.68466173e-05 9.99979169e-01 -2.32429519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.434012739 meters Centerline goodness [0,1] 0.99253667139846 Centerline is valid? [True, True] Translation: X:138.24, Y:-15.82, Z:-2.32 [[ 9.93152601e-01 1.16620305e-01 6.90045740e-03 1.38237062e+02] [-1.16617153e-01 9.93176571e-01 -8.58776522e-04 -1.58152748e+01] [-6.95352340e-03 4.81844392e-05 9.99975823e-01 -2.32466159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464012739 meters Centerline goodness [0,1] 0.9926765324030941 Centerline is valid? [True, True] Translation: X:138.27, Y:-15.82, Z:-2.32 [[ 9.93190744e-01 1.16320800e-01 6.45117490e-03 1.38265475e+02] [-1.16318041e-01 9.93211694e-01 -8.02595872e-04 -1.58194067e+01] [-6.50074094e-03 4.67427675e-05 9.99978869e-01 -2.32481002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49401273899997 meters Centerline goodness [0,1] 0.9932755722229406 Centerline is valid? [True, True] Translation: X:138.29, Y:-15.82, Z:-2.33 [[ 9.93201675e-01 1.16243779e-01 6.14957831e-03 1.38293723e+02] [-1.16241271e-01 9.93220712e-01 -7.64796283e-04 -1.58233757e+01] [-6.19679136e-03 4.47621485e-05 9.99980799e-01 -2.32604859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52401273899997 meters Centerline goodness [0,1] 0.9935912549565963 Centerline is valid? [True, True] Translation: X:138.32, Y:-15.83, Z:-2.33 [[ 9.93205544e-01 1.16235429e-01 5.66321164e-03 1.38321755e+02] [-1.16233303e-01 9.93221689e-01 -7.04166456e-04 -1.58276449e+01] [-5.70667372e-03 4.11282323e-05 9.99983716e-01 -2.32607305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55401273899997 meters Centerline goodness [0,1] 0.9875132092561841 Centerline is valid? [True, True] Translation: X:138.35, Y:-15.83, Z:-2.31 [[ 9.93045281e-01 1.17578943e-01 6.02187441e-03 1.38350372e+02] [-1.17576566e-01 9.93063538e-01 -7.48467258e-04 -1.58314182e+01] [-6.06810790e-03 3.52305655e-05 9.99981588e-01 -2.31414087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58401273899997 meters Centerline goodness [0,1] 0.9933691527013774 Centerline is valid? [True, True] Translation: X:138.38, Y:-15.83, Z:-2.32 [[ 9.92963858e-01 1.18224408e-01 6.76502100e-03 1.38377610e+02] [-1.18221425e-01 9.92986902e-01 -8.40489977e-04 -1.58345360e+01] [-6.81694368e-03 3.48057471e-05 9.99976764e-01 -2.32309132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61401273899997 meters Centerline goodness [0,1] 0.9933691527013774 Centerline is valid? [True, True] Translation: X:138.41, Y:-15.84, Z:-2.32 [[ 9.92969111e-01 1.18180277e-01 6.76507006e-03 1.38405733e+02] [-1.18177296e-01 9.92992156e-01 -8.40094925e-04 -1.58379367e+01] [-6.81694415e-03 3.47106236e-05 9.99976764e-01 -2.32331304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64401273899998 meters Centerline goodness [0,1] 0.9931591100369019 Centerline is valid? [True, True] Translation: X:138.43, Y:-15.84, Z:-2.32 [[ 9.92892305e-01 1.18849665e-01 6.29500751e-03 1.38434498e+02] [-1.18847099e-01 9.92912260e-01 -7.81462917e-04 -1.58398411e+01] [-6.34326674e-03 2.77651388e-05 9.99979881e-01 -2.32417698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67401273899998 meters Centerline goodness [0,1] 0.9940032553756533 Centerline is valid? [True, True] Translation: X:138.46, Y:-15.84, Z:-2.33 [[ 9.92714485e-01 1.20419903e-01 4.12294286e-03 1.38461937e+02] [-1.20418816e-01 9.92723046e-01 -5.11797071e-04 -1.58404494e+01] [-4.15457095e-03 1.15884676e-05 9.99991370e-01 -2.32880326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70401273899998 meters Centerline goodness [0,1] 0.9943677596910802 Centerline is valid? [True, True] Translation: X:138.49, Y:-15.84, Z:-2.33 [[ 9.92648529e-01 1.20965555e-01 4.02903046e-03 1.38491061e+02] [-1.20964523e-01 9.92656705e-01 -4.99877856e-04 -1.58431237e+01] [-4.05991211e-03 8.83327175e-06 9.99991758e-01 -2.32932643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73401273899998 meters Centerline goodness [0,1] 0.9931471424877166 Centerline is valid? [True, True] Translation: X:138.52, Y:-15.85, Z:-2.33 [[ 9.92570868e-01 1.21543581e-01 5.49813271e-03 1.38520068e+02] [-1.21541669e-01 9.92586096e-01 -6.81778706e-04 -1.58469259e+01] [-5.54023590e-03 8.46145685e-06 9.99984653e-01 -2.32598577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76401273899998 meters Centerline goodness [0,1] 0.9933279331514324 Centerline is valid? [True, True] Translation: X:138.55, Y:-15.85, Z:-2.33 [[ 9.92653753e-01 1.20846993e-01 5.87637193e-03 1.38547024e+02] [-1.20844798e-01 9.92671146e-01 -7.28406883e-04 -1.58522459e+01] [-5.92133064e-03 1.29268476e-05 9.99982469e-01 -2.32559833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79401273899998 meters Centerline goodness [0,1] 0.9941195202207833 Centerline is valid? [True, True] Translation: X:138.57, Y:-15.86, Z:-2.33 [[ 9.92889757e-01 1.18930201e-01 5.05346033e-03 1.38574274e+02] [-1.18928555e-01 9.92902617e-01 -6.26130323e-04 -1.58605157e+01] [-5.09205980e-03 2.06776499e-05 9.99987035e-01 -2.32830320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82401273899998 meters Centerline goodness [0,1] 0.9946939993181043 Centerline is valid? [True, True] Translation: X:138.60, Y:-15.87, Z:-2.33 [[ 9.92980626e-01 1.18195520e-01 4.39264822e-03 1.38601580e+02] [-1.18194270e-01 9.92990342e-01 -5.44049897e-04 -1.58653752e+01] [-4.42616152e-03 2.10451584e-05 9.99990204e-01 -2.33026669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85401273899998 meters Centerline goodness [0,1] 0.9918291870041069 Centerline is valid? [True, True] Translation: X:138.63, Y:-15.87, Z:-2.32 [[ 9.93085165e-01 1.17336582e-01 3.73930177e-03 1.38629855e+02] [-1.17335671e-01 9.93092204e-01 -4.62956813e-04 -1.58702041e+01] [-3.76779320e-03 2.10020618e-05 9.99992902e-01 -2.32216526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88401273899999 meters Centerline goodness [0,1] 0.9948964145149432 Centerline is valid? [True, True] Translation: X:138.66, Y:-15.87, Z:-2.33 [[ 9.93071921e-01 1.17443619e-01 3.89301684e-03 1.38657963e+02] [-1.17442632e-01 9.93079552e-01 -4.81790842e-04 -1.58743504e+01] [-3.92265867e-03 2.12468127e-05 9.99992306e-01 -2.32932980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.914012739 meters Centerline goodness [0,1] 0.9951233075952345 Centerline is valid? [True, True] Translation: X:138.69, Y:-15.88, Z:-2.33 [[ 9.92958205e-01 1.18409745e-01 3.62422676e-03 1.38685871e+02] [-1.18408897e-01 9.92964819e-01 -4.48427263e-04 -1.58779229e+01] [-3.65182782e-03 1.61288366e-05 9.99993332e-01 -2.32979063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944012739 meters Centerline goodness [0,1] 0.9947989425949408 Centerline is valid? [True, True] Translation: X:138.71, Y:-15.88, Z:-2.33 [[ 9.92940782e-01 1.18552818e-01 3.71928627e-03 1.38714581e+02] [-1.18551927e-01 9.92947747e-01 -4.59912800e-04 -1.58821799e+01] [-3.74758088e-03 1.57376229e-05 9.99992978e-01 -2.33028472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.974012739 meters Centerline goodness [0,1] 0.9954977273216863 Centerline is valid? [True, True] Translation: X:138.74, Y:-15.89, Z:-2.33 [[ 9.92941563e-01 1.18548435e-01 3.64974625e-03 1.38742776e+02] [-1.18547578e-01 9.92948271e-01 -4.51146431e-04 -1.58868519e+01] [-3.67749193e-03 1.52934659e-05 9.99993238e-01 -2.33064172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004012739 meters Centerline goodness [0,1] 0.9948156434195241 Centerline is valid? [True, True] Translation: X:138.77, Y:-15.89, Z:-2.33 [[ 9.92854169e-01 1.19241269e-01 4.70299936e-03 1.38771456e+02] [-1.19239855e-01 9.92865308e-01 -5.81009011e-04 -1.58913410e+01] [-4.73872515e-03 1.60722593e-05 9.99988772e-01 -2.32854977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.034012739 meters Centerline goodness [0,1] 0.9941586015131593 Centerline is valid? [True, True] Translation: X:138.80, Y:-15.89, Z:-2.33 [[ 9.92534606e-01 1.21840898e-01 5.46362142e-03 1.38800158e+02] [-1.21839030e-01 9.92549644e-01 -6.74691811e-04 -1.58900059e+01] [-5.50512055e-03 3.97263954e-06 9.99984847e-01 -2.32558504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064012739 meters Centerline goodness [0,1] 0.9940610859728507 Centerline is valid? [True, True] Translation: X:138.83, Y:-15.89, Z:-2.33 [[ 9.92283161e-01 1.23894209e-01 4.93483111e-03 1.38829658e+02] [-1.23892712e-01 9.92295432e-01 -6.09068914e-04 -1.58888208e+01] [-4.97227048e-03 -7.02078311e-06 9.99987638e-01 -2.32589508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.094012739 meters Centerline goodness [0,1] 0.9932862799104837 Centerline is valid? [True, True] Translation: X:138.86, Y:-15.89, Z:-2.33 [[ 9.91974641e-01 1.26354848e-01 4.55669298e-03 1.38858561e+02] [-1.26353598e-01 9.91985107e-01 -5.62213975e-04 -1.58876968e+01] [-4.59121003e-03 -1.80525491e-05 9.99989460e-01 -2.32709880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124012739 meters Centerline goodness [0,1] 0.9922941151147273 Centerline is valid? [True, True] Translation: X:138.89, Y:-15.88, Z:-2.33 [[ 9.91479635e-01 1.30178791e-01 4.64923215e-03 1.38887674e+02] [-1.30177534e-01 9.91490535e-01 -5.73396642e-04 -1.58820549e+01] [-4.68431376e-03 -3.67144813e-05 9.99989028e-01 -2.32795570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.154012739 meters Centerline goodness [0,1] 0.9916737830913749 Centerline is valid? [True, True] Translation: X:138.92, Y:-15.88, Z:-2.33 [[ 9.91340656e-01 1.31197650e-01 5.55696912e-03 1.38917061e+02] [-1.31195871e-01 9.91356230e-01 -6.85002700e-04 -1.58816338e+01] [-5.59880670e-03 -4.99803795e-05 9.99984325e-01 -2.32635571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184012739 meters Centerline goodness [0,1] 0.9920358921518118 Centerline is valid? [True, True] Translation: X:138.95, Y:-15.88, Z:-2.32 [[ 9.91273098e-01 1.31651865e-01 6.74031925e-03 1.38945888e+02] [-1.31649261e-01 9.91296011e-01 -8.30483660e-04 -1.58830525e+01] [-6.79098632e-03 -6.41219405e-05 9.99976939e-01 -2.32383454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.214012739 meters Centerline goodness [0,1] 0.9920485636114911 Centerline is valid? [True, True] Translation: X:138.97, Y:-15.89, Z:-2.33 [[ 9.91347559e-01 1.31122136e-01 6.08295364e-03 1.38973662e+02] [-1.31120006e-01 9.91366220e-01 -7.49251157e-04 -1.58857862e+01] [-6.12867817e-03 -5.48286158e-05 9.99981218e-01 -2.32536008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24401273899997 meters Centerline goodness [0,1] 0.9929109815728225 Centerline is valid? [True, True] Translation: X:139.00, Y:-15.89, Z:-2.33 [[ 9.91613394e-01 1.29163754e-01 4.42728411e-03 1.39002214e+02] [-1.29162607e-01 9.91623277e-01 -5.45131090e-04 -1.58919956e+01] [-4.46060915e-03 -3.12802690e-05 9.99990051e-01 -2.32839536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27401273899997 meters Centerline goodness [0,1] 0.9929575957360276 Centerline is valid? [True, True] Translation: X:139.03, Y:-15.89, Z:-2.33 [[ 9.91724340e-01 1.28309891e-01 4.40524622e-03 1.39029582e+02] [-1.28308748e-01 9.91734123e-01 -5.42255396e-04 -1.58949868e+01] [-4.43840973e-03 -2.74637543e-05 9.99990150e-01 -2.32912271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30401273899997 meters Centerline goodness [0,1] 0.9932665003011789 Centerline is valid? [True, True] Translation: X:139.06, Y:-15.90, Z:-2.33 [[ 9.91713528e-01 1.28378864e-01 4.81102117e-03 1.39057271e+02] [-1.28377503e-01 9.91725197e-01 -5.91923586e-04 -1.58959102e+01] [-4.84720140e-03 -3.06082579e-05 9.99988252e-01 -2.32897187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33401273899997 meters Centerline goodness [0,1] 0.9926046253152653 Centerline is valid? [True, True] Translation: X:139.09, Y:-15.90, Z:-2.33 [[ 9.91557557e-01 1.29563840e-01 5.17898593e-03 1.39085306e+02] [-1.29562282e-01 9.91571082e-01 -6.36774691e-04 -1.58966446e+01] [-5.21783566e-03 -3.96024769e-05 9.99986386e-01 -2.32843339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36401273899997 meters Centerline goodness [0,1] 0.9926008775703347 Centerline is valid? [True, True] Translation: X:139.12, Y:-15.89, Z:-2.33 [[ 9.91164677e-01 1.32520036e-01 5.56988229e-03 1.39115181e+02] [-1.32518282e-01 9.91180325e-01 -6.84469088e-04 -1.58935731e+01] [-5.61146361e-03 -5.96896491e-05 9.99984254e-01 -2.32590194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39401273899998 meters Centerline goodness [0,1] 0.992098069366137 Centerline is valid? [True, True] Translation: X:139.14, Y:-15.89, Z:-2.32 [[ 9.91003509e-01 1.33698160e-01 6.07012389e-03 1.39144123e+02] [-1.33696100e-01 9.91022097e-01 -7.45626711e-04 -1.58930888e+01] [-6.11531582e-03 -7.26332043e-05 9.99981299e-01 -2.32479028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42401273899998 meters Centerline goodness [0,1] 0.9926836659595654 Centerline is valid? [True, True] Translation: X:139.17, Y:-15.89, Z:-2.33 [[ 9.91004199e-01 1.33741365e-01 4.89126644e-03 1.39173457e+02] [-1.33740029e-01 9.91016268e-01 -6.00664907e-04 -1.58937226e+01] [-4.92765836e-03 -5.88966732e-05 9.99987857e-01 -2.32757669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45401273899998 meters Centerline goodness [0,1] 0.9922666723321082 Centerline is valid? [True, True] Translation: X:139.20, Y:-15.90, Z:-2.33 [[ 9.91111707e-01 1.32940318e-01 4.94523748e-03 1.39201511e+02] [-1.32938943e-01 9.91124043e-01 -6.07152276e-04 -1.58960464e+01] [-4.98205878e-03 -5.56589161e-05 9.99987588e-01 -2.32902713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48401273899998 meters Centerline goodness [0,1] 0.9925784107042981 Centerline is valid? [True, True] Translation: X:139.23, Y:-15.90, Z:-2.33 [[ 9.91279208e-01 1.31693322e-01 4.73295740e-03 1.39229910e+02] [-1.31692051e-01 9.91290506e-01 -5.80616759e-04 -1.58997872e+01] [-4.76819908e-03 -4.77395449e-05 9.99988631e-01 -2.33035573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51401273899998 meters Centerline goodness [0,1] 0.9941707894170789 Centerline is valid? [True, True] Translation: X:139.26, Y:-15.91, Z:-2.33 [[ 9.91781197e-01 1.27880185e-01 4.08846523e-03 1.39258553e+02] [-1.27879205e-01 9.91789624e-01 -5.01372590e-04 -1.59066006e+01] [-4.11901301e-03 -2.55777752e-05 9.99991517e-01 -2.33135930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54401273899998 meters Centerline goodness [0,1] 0.9954839809134287 Centerline is valid? [True, True] Translation: X:139.29, Y:-15.92, Z:-2.33 [[ 9.92274215e-01 1.24048434e-01 1.96674385e-03 1.39286315e+02] [-1.24048199e-01 9.92276164e-01 -2.41330379e-04 -1.59159303e+01] [-1.98148970e-03 -4.50512072e-06 9.99998037e-01 -2.33466022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57401273899998 meters Centerline goodness [0,1] 0.9963759518519317 Centerline is valid? [True, True] Translation: X:139.31, Y:-15.92, Z:-2.34 [[ 9.92401054e-01 1.23044455e-01 4.58525071e-04 1.39313888e+02] [-1.23044442e-01 9.92401160e-01 -5.66409623e-05 -1.59207466e+01] [-4.62010169e-04 -2.08410982e-07 9.99999893e-01 -2.33747687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60401273899998 meters Centerline goodness [0,1] 0.9969825635278143 Centerline is valid? [True, True] Translation: X:139.34, Y:-15.93, Z:-2.34 [[ 9.92510579e-01 1.22153911e-01 -1.08271041e-03 1.39342005e+02] [-1.22153840e-01 9.92511170e-01 1.32153555e-04 -1.59250858e+01] [ 1.09074524e-03 1.09343247e-06 9.99999405e-01 -2.34024289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63401273899999 meters Centerline goodness [0,1] 0.9969460688758934 Centerline is valid? [True, True] Translation: X:139.37, Y:-15.93, Z:-2.34 [[ 9.92524695e-01 1.22040625e-01 -9.03186989e-04 1.39368612e+02] [-1.22040575e-01 9.92525106e-01 1.09820096e-04 -1.59277730e+01] [ 9.09838275e-04 1.22630209e-06 9.99999586e-01 -2.34008207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.664012739 meters Centerline goodness [0,1] 0.9969114765272216 Centerline is valid? [True, True] Translation: X:139.40, Y:-15.93, Z:-2.34 [[ 9.92529520e-01 1.22003498e-01 5.46253862e-04 1.39395884e+02] [-1.22003480e-01 9.92529670e-01 -6.72441236e-05 -1.59309933e+01] [-5.50377184e-04 9.69056725e-08 9.99999849e-01 -2.33960598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.694012739 meters Centerline goodness [0,1] 0.995896267967256 Centerline is valid? [True, True] Translation: X:139.42, Y:-15.93, Z:-2.33 [[ 9.92473677e-01 1.22426922e-01 2.76569157e-03 1.39424682e+02] [-1.22426455e-01 9.92477531e-01 -3.38382802e-04 -1.59343594e+01] [-2.78631390e-03 -2.75778957e-06 9.99996118e-01 -2.33403554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724012739 meters Centerline goodness [0,1] 0.9956607242101663 Centerline is valid? [True, True] Translation: X:139.45, Y:-15.94, Z:-2.33 [[ 9.92419857e-01 1.22857167e-01 2.99074797e-03 1.39452160e+02] [-1.22856623e-01 9.92424363e-01 -3.65799671e-04 -1.59368216e+01] [-3.01303226e-03 -4.40633839e-06 9.99995461e-01 -2.33341716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.754012739 meters Centerline goodness [0,1] 0.996164336856461 Centerline is valid? [True, True] Translation: X:139.48, Y:-15.94, Z:-2.34 [[ 9.92290864e-01 1.23910495e-01 2.24286231e-03 1.39481367e+02] [-1.23910192e-01 9.92293399e-01 -2.74239856e-04 -1.59379190e+01] [-2.25955866e-03 -5.78779554e-06 9.99997447e-01 -2.33514180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784012739 meters Centerline goodness [0,1] 0.9960869380290077 Centerline is valid? [True, True] Translation: X:139.51, Y:-15.94, Z:-2.34 [[ 9.92237459e-01 1.24345262e-01 1.75524689e-03 1.39509039e+02] [-1.24345077e-01 9.92239011e-01 -2.14685383e-04 -1.59401610e+01] [-1.76831955e-03 -5.23742953e-06 9.99998437e-01 -2.33718676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.814012739 meters Centerline goodness [0,1] 0.9958687517574027 Centerline is valid? [True, True] Translation: X:139.54, Y:-15.94, Z:-2.34 [[ 9.92148719e-01 1.25061459e-01 7.42445188e-04 1.39537223e+02] [-1.25061426e-01 9.92148997e-01 -9.10337218e-05 -1.59429178e+01] [-7.48001059e-04 -2.53226384e-06 9.99999720e-01 -2.33778213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844012739 meters Centerline goodness [0,1] 0.9955215010400306 Centerline is valid? [True, True] Translation: X:139.57, Y:-15.94, Z:-2.34 [[ 9.92119471e-01 1.25285913e-01 1.54779136e-03 1.39565224e+02] [-1.25285771e-01 9.92120678e-01 -1.89183477e-04 -1.59448294e+01] [-1.55929784e-03 -6.22362199e-06 9.99998784e-01 -2.33650378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.874012739 meters Centerline goodness [0,1] 0.9952586113576826 Centerline is valid? [True, True] Translation: X:139.59, Y:-15.94, Z:-2.34 [[ 9.91955641e-01 1.26569357e-01 2.05058193e-03 1.39593900e+02] [-1.26569109e-01 9.91957760e-01 -2.50501048e-04 -1.59433922e+01] [-2.06579642e-03 -1.10544011e-05 9.99997866e-01 -2.33542050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904012739 meters Centerline goodness [0,1] 0.9943806970509383 Centerline is valid? [True, True] Translation: X:139.62, Y:-15.94, Z:-2.33 [[ 9.91907051e-01 1.26935275e-01 2.79974399e-03 1.39622468e+02] [-1.26934816e-01 9.91911002e-01 -3.41490364e-04 -1.59444087e+01] [-2.82044404e-03 -1.66582885e-05 9.99996022e-01 -2.33447862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.934012739 meters Centerline goodness [0,1] 0.9936312515975121 Centerline is valid? [True, True] Translation: X:139.65, Y:-15.94, Z:-2.33 [[ 9.91801716e-01 1.27714565e-01 4.28330727e-03 1.39649822e+02] [-1.27713502e-01 9.91810964e-01 -5.21886378e-04 -1.59428182e+01] [-4.31488361e-03 -2.94283671e-05 9.99990690e-01 -2.33292540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964012739 meters Centerline goodness [0,1] 0.9936107015406971 Centerline is valid? [True, True] Translation: X:139.68, Y:-15.94, Z:-2.33 [[ 9.91727273e-01 1.28285287e-01 4.46103118e-03 1.39678047e+02] [-1.28284142e-01 9.91737306e-01 -5.43064651e-04 -1.59443980e+01] [-4.49383825e-03 -3.37075342e-05 9.99989902e-01 -2.33270246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99401273899997 meters Centerline goodness [0,1] 0.9934955847512384 Centerline is valid? [True, True] Translation: X:139.71, Y:-15.94, Z:-2.33 [[ 9.91532964e-01 1.29815566e-01 3.20943525e-03 1.39706620e+02] [-1.29814982e-01 9.91538158e-01 -3.90638983e-04 -1.59436281e+01] [-3.23298854e-03 -2.93013507e-05 9.99994773e-01 -2.33484476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02401273899997 meters Centerline goodness [0,1] 0.9932768818348156 Centerline is valid? [True, True] Translation: X:139.74, Y:-15.94, Z:-2.34 [[ 9.91491665e-01 1.30139865e-01 2.80967020e-03 1.39735336e+02] [-1.30139419e-01 9.91495645e-01 -3.41820625e-04 -1.59449770e+01] [-2.83026026e-03 -2.67365477e-05 9.99995994e-01 -2.33550996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05401273899997 meters Centerline goodness [0,1] 0.9931267048993707 Centerline is valid? [True, True] Translation: X:139.76, Y:-15.94, Z:-2.33 [[ 9.91373186e-01 1.31027940e-01 3.29941115e-03 1.39764085e+02] [-1.31027330e-01 9.91378675e-01 -4.01192545e-04 -1.59447752e+01] [-3.32353329e-03 -3.45815013e-05 9.99994476e-01 -2.33447675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08401273899997 meters Centerline goodness [0,1] 0.9928719737996875 Centerline is valid? [True, True] Translation: X:139.79, Y:-15.95, Z:-2.33 [[ 9.91358352e-01 1.31121956e-01 3.95604202e-03 1.39792365e+02] [-1.31121081e-01 9.91366245e-01 -4.80877473e-04 -1.59471436e+01] [-3.98494012e-03 -4.19986080e-05 9.99992059e-01 -2.33297090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11401273899997 meters Centerline goodness [0,1] 0.9922618156944059 Centerline is valid? [True, True] Translation: X:139.82, Y:-15.94, Z:-2.34 [[ 9.91268765e-01 1.31811578e-01 3.45607000e-03 1.39820673e+02] [-1.31810915e-01 9.91274789e-01 -4.19867634e-04 -1.59440663e+01] [-3.48125848e-03 -3.93460782e-05 9.99993940e-01 -2.33519759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14401273899998 meters Centerline goodness [0,1] 0.9923919856485184 Centerline is valid? [True, True] Translation: X:139.85, Y:-15.94, Z:-2.34 [[ 9.91169920e-01 1.32573234e-01 2.55468809e-03 1.39849698e+02] [-1.32572875e-01 9.91173212e-01 -3.10251797e-04 -1.59439792e+01] [-2.57326948e-03 -3.11700946e-05 9.99996689e-01 -2.33699032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17401273899998 meters Centerline goodness [0,1] 0.9926273026245083 Centerline is valid? [True, True] Translation: X:139.88, Y:-15.94, Z:-2.34 [[ 9.91104844e-01 1.33072694e-01 1.68708385e-03 1.39879312e+02] [-1.33072538e-01 9.91106280e-01 -2.04940023e-04 -1.59428522e+01] [-1.69935132e-03 -2.13874810e-05 9.99998556e-01 -2.33906303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20401273899998 meters Centerline goodness [0,1] 0.9925861037518161 Centerline is valid? [True, True] Translation: X:139.91, Y:-15.94, Z:-2.34 [[ 9.91176932e-01 1.32529045e-01 2.08386934e-03 1.39907609e+02] [-1.32528806e-01 9.91179122e-01 -2.53020280e-04 -1.59423512e+01] [-2.09902032e-03 -2.53848504e-05 9.99997797e-01 -2.34019450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23401273899998 meters Centerline goodness [0,1] 0.9929422903128631 Centerline is valid? [True, True] Translation: X:139.94, Y:-15.95, Z:-2.34 [[ 9.91326821e-01 1.31393894e-01 2.60363658e-03 1.39936274e+02] [-1.31393518e-01 9.91330239e-01 -3.15795859e-04 -1.59471194e+01] [-2.62255732e-03 -2.90440646e-05 9.99996561e-01 -2.33869849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26401273899998 meters Centerline goodness [0,1] 0.9940082332909456 Centerline is valid? [True, True] Translation: X:139.96, Y:-15.95, Z:-2.34 [[ 9.91915017e-01 1.26859615e-01 3.35204310e-03 1.39963288e+02] [-1.26858966e-01 9.91920681e-01 -4.06465294e-04 -1.59539196e+01] [-3.37652491e-03 -2.20576934e-05 9.99994299e-01 -2.33662618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29401273899998 meters Centerline goodness [0,1] 0.9951280235228468 Centerline is valid? [True, True] Translation: X:139.99, Y:-15.96, Z:-2.34 [[ 9.92473225e-01 1.22435643e-01 2.53185296e-03 1.39991297e+02] [-1.22435258e-01 9.92476455e-01 -3.06781818e-04 -1.59619264e+01] [-2.55036548e-03 -5.51533124e-06 9.99996748e-01 -2.33856938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32401273899998 meters Centerline goodness [0,1] 0.9957168815436532 Centerline is valid? [True, True] Translation: X:140.02, Y:-15.97, Z:-2.34 [[ 9.92628643e-01 1.21185005e-01 1.60350067e-03 1.40019287e+02] [-1.21184849e-01 9.92629938e-01 -1.94367593e-04 -1.59667372e+01] [-1.61523721e-03 -1.38514717e-06 9.99998696e-01 -2.33983096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35401273899998 meters Centerline goodness [0,1] 0.9959292111239663 Centerline is valid? [True, True] Translation: X:140.05, Y:-15.97, Z:-2.34 [[ 9.92790447e-01 1.19853918e-01 1.47223710e-03 1.40045461e+02] [-1.19853785e-01 9.92791538e-01 -1.78833041e-04 -1.59715500e+01] [-1.48305838e-03 1.09054567e-06 9.99998900e-01 -2.34185729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38401273899999 meters Centerline goodness [0,1] 0.9964086793832391 Centerline is valid? [True, True] Translation: X:140.07, Y:-15.98, Z:-2.34 [[ 9.93024478e-01 1.17886868e-01 2.25232718e-03 1.40071388e+02] [-1.17886553e-01 9.93027032e-01 -2.72666745e-04 -1.59784211e+01] [-2.26876560e-03 5.24566530e-06 9.99997426e-01 -2.34077132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.414012739 meters Centerline goodness [0,1] 0.9963461538461539 Centerline is valid? [True, True] Translation: X:140.10, Y:-15.98, Z:-2.34 [[ 9.93105439e-01 1.17209022e-01 1.90563458e-03 1.40099733e+02] [-1.17208795e-01 9.93107268e-01 -2.30433473e-04 -1.59825131e+01] [-1.91950843e-03 5.48760201e-06 9.99998158e-01 -2.34099718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444012739 meters Centerline goodness [0,1] 0.9972568144213184 Centerline is valid? [True, True] Translation: X:140.13, Y:-15.99, Z:-2.34 [[ 9.93120705e-01 1.17094968e-01 -1.82175820e-04 1.40128358e+02] [-1.17094966e-01 9.93120722e-01 2.16106849e-05 -1.59869534e+01] [ 1.83453085e-04 -1.30147161e-07 9.99999983e-01 -2.34407861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.474012739 meters Centerline goodness [0,1] 0.9979321665352064 Centerline is valid? [True, True] Translation: X:140.15, Y:-16.00, Z:-2.35 [[ 9.93492880e-01 1.13890701e-01 -8.97622688e-04 1.40154792e+02] [-1.13890650e-01 9.93493285e-01 1.07806608e-04 -1.59997780e+01] [ 9.04060284e-04 -4.87426550e-06 9.99999591e-01 -2.34709394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504012739 meters Centerline goodness [0,1] 0.9979321665352064 Centerline is valid? [True, True] Translation: X:140.18, Y:-16.00, Z:-2.35 [[ 9.93500737e-01 1.13822144e-01 -8.97639152e-04 1.40182100e+02] [-1.13822093e-01 9.93501142e-01 1.07669944e-04 -1.60029398e+01] [ 9.04060747e-04 -4.79900212e-06 9.99999591e-01 -2.34730912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.534012739 meters Centerline goodness [0,1] 0.9977743060757164 Centerline is valid? [True, True] Translation: X:140.21, Y:-16.01, Z:-2.35 [[ 9.93707961e-01 1.12001127e-01 -4.86297754e-04 1.40208577e+02] [-1.12001113e-01 9.93708080e-01 5.79506562e-05 -1.60122546e+01] [ 4.89728546e-04 -3.12013894e-06 9.99999880e-01 -2.34806615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564012739 meters Centerline goodness [0,1] 0.997746684407056 Centerline is valid? [True, True] Translation: X:140.24, Y:-16.02, Z:-2.35 [[ 9.93872367e-01 1.10533753e-01 8.32113227e-05 1.40235255e+02] [-1.10533752e-01 9.93872371e-01 -1.04685607e-05 -1.60204702e+01] [-8.38585638e-05 1.20675347e-06 9.99999996e-01 -2.34670918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.594012739 meters Centerline goodness [0,1] 0.9975542184321025 Centerline is valid? [True, True] Translation: X:140.26, Y:-16.03, Z:-2.34 [[ 9.93995135e-01 1.09413785e-01 1.51492127e-03 1.40262264e+02] [-1.09413633e-01 9.93996289e-01 -1.82865205e-04 -1.60289445e+01] [-1.52583409e-03 1.60140844e-05 9.99998836e-01 -2.34404380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624012739 meters Centerline goodness [0,1] 0.9977642101642445 Centerline is valid? [True, True] Translation: X:140.29, Y:-16.04, Z:-2.35 [[ 9.93990328e-01 1.09461006e-01 1.23139232e-03 1.40289496e+02] [-1.09460906e-01 9.93991090e-01 -1.48575353e-04 -1.60355434e+01] [-1.24025620e-03 1.28931449e-05 9.99999231e-01 -2.34526362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.654012739 meters Centerline goodness [0,1] 0.9979622363372282 Centerline is valid? [True, True] Translation: X:140.32, Y:-16.04, Z:-2.35 [[ 9.93725514e-01 1.11846332e-01 -2.74725357e-05 1.40318593e+02] [-1.11846332e-01 9.93725514e-01 3.03333332e-06 -1.60391852e+01] [ 2.76394269e-05 5.84016232e-08 1.00000000e+00 -2.34761156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684012739 meters Centerline goodness [0,1] 0.9978902503995738 Centerline is valid? [True, True] Translation: X:140.35, Y:-16.04, Z:-2.35 [[ 9.93504040e-01 1.13796296e-01 3.53427192e-04 1.40346417e+02] [-1.13796288e-01 9.93504103e-01 -4.29277542e-05 -1.60406310e+01] [-3.56016385e-04 2.43019473e-06 9.99999937e-01 -2.34767429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.714012739 meters Centerline goodness [0,1] 0.9971581734805917 Centerline is valid? [True, True] Translation: X:140.38, Y:-16.04, Z:-2.34 [[ 9.92998020e-01 1.18105958e-01 2.43219180e-03 1.40375787e+02] [-1.18105596e-01 9.93000998e-01 -2.92576130e-04 -1.60388672e+01] [-2.44972387e-03 3.27205539e-06 9.99996999e-01 -2.34401522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74401273899997 meters Centerline goodness [0,1] 0.9964354800147797 Centerline is valid? [True, True] Translation: X:140.40, Y:-16.04, Z:-2.34 [[ 9.92796022e-01 1.19789633e-01 2.54989536e-03 1.40403509e+02] [-1.19789241e-01 9.92799297e-01 -3.06672390e-04 -1.60410157e+01] [-2.56827050e-03 -9.86900134e-07 9.99996702e-01 -2.34379839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77401273899997 meters Centerline goodness [0,1] 0.9968411259438759 Centerline is valid? [True, True] Translation: X:140.43, Y:-16.05, Z:-2.35 [[ 9.92735850e-01 1.20300408e-01 1.82840330e-03 1.40431747e+02] [-1.20300207e-01 9.92737534e-01 -2.19850424e-04 -1.60454811e+01] [-1.84157268e-03 -1.70389749e-06 9.99998304e-01 -2.34546287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80401273899997 meters Centerline goodness [0,1] 0.9975920710339045 Centerline is valid? [True, True] Translation: X:140.46, Y:-16.05, Z:-2.35 [[ 9.92997749e-01 1.18126423e-01 1.27194551e-03 1.40458888e+02] [-1.18126324e-01 9.92998564e-01 -1.53070585e-04 -1.60543917e+01] [-1.28112175e-03 1.74849834e-06 9.99999179e-01 -2.34718206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83401273899997 meters Centerline goodness [0,1] 0.9977443609022556 Centerline is valid? [True, True] Translation: X:140.49, Y:-16.06, Z:-2.35 [[ 9.93180850e-01 1.16575065e-01 1.43270538e-03 1.40486314e+02] [-1.16574937e-01 9.93181884e-01 -1.72265698e-04 -1.60625416e+01] [-1.44301891e-03 4.07345200e-06 9.99998959e-01 -2.34807066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86401273899997 meters Centerline goodness [0,1] 0.9974177852707057 Centerline is valid? [True, True] Translation: X:140.51, Y:-16.07, Z:-2.35 [[ 9.93412373e-01 1.14576778e-01 2.00475897e-03 1.40514007e+02] [-1.14576525e-01 9.93414396e-01 -2.40679203e-04 -1.60701659e+01] [-2.01913267e-03 9.39538159e-06 9.99997962e-01 -2.34658507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89401273899998 meters Centerline goodness [0,1] 0.9976629502572899 Centerline is valid? [True, True] Translation: X:140.54, Y:-16.08, Z:-2.35 [[ 9.93758596e-01 1.11521141e-01 2.62436762e-03 1.40540623e+02] [-1.11520698e-01 9.93762061e-01 -3.14934561e-04 -1.60808654e+01] [-2.64311883e-03 2.02976186e-05 9.99996507e-01 -2.34706771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92401273899998 meters Centerline goodness [0,1] 0.9978589016165292 Centerline is valid? [True, True] Translation: X:140.57, Y:-16.09, Z:-2.35 [[ 9.93865886e-01 1.10560610e-01 2.63684672e-03 1.40569072e+02] [-1.10560160e-01 9.93869383e-01 -3.16139466e-04 -1.60868043e+01] [-2.65563379e-03 2.26700353e-05 9.99996474e-01 -2.34739718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95401273899998 meters Centerline goodness [0,1] 0.9977590070677469 Centerline is valid? [True, True] Translation: X:140.60, Y:-16.09, Z:-2.35 [[ 9.93936023e-01 1.09916541e-01 3.08821269e-03 1.40596617e+02] [-1.09915921e-01 9.93940820e-01 -3.70100524e-04 -1.60946341e+01] [-3.11018083e-03 2.84124985e-05 9.99995163e-01 -2.34694235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98401273899998 meters Centerline goodness [0,1] 0.9980029633447143 Centerline is valid? [True, True] Translation: X:140.62, Y:-16.10, Z:-2.35 [[ 9.93944274e-01 1.09842906e-01 3.05225403e-03 1.40624499e+02] [-1.09842301e-01 9.93948960e-01 -3.65611244e-04 -1.60990399e+01] [-3.07394452e-03 2.81305953e-05 9.99995275e-01 -2.34753958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01401273899998 meters Centerline goodness [0,1] 0.9981266553261127 Centerline is valid? [True, True] Translation: X:140.65, Y:-16.10, Z:-2.35 [[ 9.93830740e-01 1.10885939e-01 2.18398513e-03 1.40653505e+02] [-1.10885632e-01 9.93833139e-01 -2.61543367e-04 -1.61015016e+01] [-2.19951827e-03 1.77572676e-05 9.99997581e-01 -2.34930582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04401273899998 meters Centerline goodness [0,1] 0.9980035155487077 Centerline is valid? [True, True] Translation: X:140.68, Y:-16.10, Z:-2.35 [[ 9.93766935e-01 1.11454944e-01 2.25263818e-03 1.40681710e+02] [-1.11454619e-01 9.93769488e-01 -2.69652778e-04 -1.61044019e+01] [-2.26865723e-03 1.69050841e-05 9.99997426e-01 -2.34965832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07401273899998 meters Centerline goodness [0,1] 0.9984754460930622 Centerline is valid? [True, True] Translation: X:140.71, Y:-16.11, Z:-2.35 [[ 9.93623827e-01 1.12728487e-01 1.99466657e-03 1.40710666e+02] [-1.12728235e-01 9.93625829e-01 -2.38723761e-04 -1.61069984e+01] [-2.00886320e-03 1.23463755e-05 9.99997982e-01 -2.35017112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10401273899998 meters Centerline goodness [0,1] 0.9983981204613414 Centerline is valid? [True, True] Translation: X:140.74, Y:-16.11, Z:-2.35 [[ 9.93560037e-01 1.13294218e-01 1.69474659e-03 1.40738444e+02] [-1.13294037e-01 9.93561483e-01 -2.02874980e-04 -1.61094751e+01] [-1.70681950e-03 9.56378919e-06 9.99998543e-01 -2.35123924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13401273899999 meters Centerline goodness [0,1] 0.9981917595901322 Centerline is valid? [True, True] Translation: X:140.77, Y:-16.11, Z:-2.35 [[ 9.93485509e-01 1.13944477e-01 1.78848070e-03 1.40767353e+02] [-1.13944277e-01 9.93487119e-01 -2.13899646e-04 -1.61111434e+01] [-1.80120522e-03 8.71905953e-06 9.99998378e-01 -2.35147463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.164012739 meters Centerline goodness [0,1] 0.9981461751544854 Centerline is valid? [True, True] Translation: X:140.79, Y:-16.12, Z:-2.35 [[ 9.93530096e-01 1.13555997e-01 1.72758646e-03 1.40794518e+02] [-1.13555809e-01 9.93531598e-01 -2.06616742e-04 -1.61156591e+01] [-1.73987430e-03 9.10247308e-06 9.99998486e-01 -2.35277764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.194012739 meters Centerline goodness [0,1] 0.9984418356456777 Centerline is valid? [True, True] Translation: X:140.82, Y:-16.12, Z:-2.35 [[ 9.93787474e-01 1.11283163e-01 1.58574827e-03 1.40823064e+02] [-1.11283002e-01 9.93788739e-01 -1.89525076e-04 -1.61227112e+01] [-1.59698973e-03 1.18808185e-05 9.99998725e-01 -2.35240962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224012739 meters Centerline goodness [0,1] 0.9987693769161017 Centerline is valid? [True, True] Translation: X:140.85, Y:-16.13, Z:-2.35 [[ 9.93929113e-01 1.10014689e-01 1.29879971e-03 1.40849981e+02] [-1.10014580e-01 9.93929961e-01 -1.55308626e-04 -1.61290424e+01] [-1.30800218e-03 1.14788597e-05 9.99999144e-01 -2.35411747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.254012739 meters Centerline goodness [0,1] 0.9987832435251174 Centerline is valid? [True, True] Translation: X:140.88, Y:-16.14, Z:-2.36 [[ 9.94056496e-01 1.08864141e-01 -5.30435156e-04 1.40877547e+02] [-1.08864123e-01 9.94056638e-01 6.27521446e-05 -1.61365158e+01] [ 5.34114046e-04 -4.63381890e-06 9.99999857e-01 -2.35825711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284012739 meters Centerline goodness [0,1] 0.9989732839939253 Centerline is valid? [True, True] Translation: X:140.90, Y:-16.14, Z:-2.36 [[ 9.94076547e-01 1.08679421e-01 -7.76232835e-04 1.40904441e+02] [-1.08679382e-01 9.94076850e-01 9.19996945e-05 -1.61431833e+01] [ 7.81633565e-04 -7.09423390e-06 9.99999694e-01 -2.35985298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.314012739 meters Centerline goodness [0,1] 0.9986948800787351 Centerline is valid? [True, True] Translation: X:140.93, Y:-16.15, Z:-2.36 [[ 9.93934788e-01 1.09965973e-01 1.05967401e-03 1.40931969e+02] [-1.09965900e-01 9.93935352e-01 -1.26598257e-04 -1.61497621e+01] [-1.06716896e-03 9.30240603e-06 9.99999431e-01 -2.35734360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344012739 meters Centerline goodness [0,1] 0.9987781612398448 Centerline is valid? [True, True] Translation: X:140.96, Y:-16.15, Z:-2.36 [[ 9.93803737e-01 1.11140436e-01 1.39115462e-03 1.40961189e+02] [-1.11140313e-01 9.93804711e-01 -1.65918831e-04 -1.61519424e+01] [-1.40097631e-03 1.02773942e-05 9.99999019e-01 -2.35551604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.374012739 meters Centerline goodness [0,1] 0.9986744489342142 Centerline is valid? [True, True] Translation: X:140.99, Y:-16.15, Z:-2.36 [[ 9.93306366e-01 1.15499355e-01 1.53704561e-03 1.40989167e+02] [-1.15499210e-01 9.93307555e-01 -1.83207866e-04 -1.61509209e+01] [-1.54791941e-03 4.45398492e-06 9.99998802e-01 -2.35651603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404012739 meters Centerline goodness [0,1] 0.9981035989005135 Centerline is valid? [True, True] Translation: X:141.02, Y:-16.15, Z:-2.35 [[ 9.92941976e-01 1.18582429e-01 2.10686940e-03 1.41018059e+02] [-1.18582164e-01 9.92944212e-01 -2.50891350e-04 -1.61499677e+01] [-2.12175508e-03 -7.16579650e-07 9.99997749e-01 -2.35459123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.434012739 meters Centerline goodness [0,1] 0.9957064877343632 Centerline is valid? [True, True] Translation: X:141.05, Y:-16.14, Z:-2.35 [[ 9.92008243e-01 1.26096699e-01 4.38962671e-03 1.41047431e+02] [-1.26095623e-01 9.92017954e-01 -5.22148280e-04 -1.61433198e+01] [-4.42042968e-03 -3.55373157e-05 9.99990229e-01 -2.35071679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464012739 meters Centerline goodness [0,1] 0.99447691910943 Centerline is valid? [True, True] Translation: X:141.08, Y:-16.14, Z:-2.35 [[ 9.91544006e-01 1.29683180e-01 4.77049252e-03 1.41075628e+02] [-1.29681952e-01 9.91555480e-01 -5.67227758e-04 -1.61405089e+01] [-4.80376790e-03 -5.62154991e-05 9.99988460e-01 -2.35054450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49401273899997 meters Centerline goodness [0,1] 0.9929607877008119 Centerline is valid? [True, True] Translation: X:141.11, Y:-16.13, Z:-2.35 [[ 9.90655711e-01 1.36329659e-01 3.93523889e-03 1.41106291e+02] [-1.36328876e-01 9.90663525e-01 -4.67619979e-04 -1.61325204e+01] [-3.96224810e-03 -7.32362935e-05 9.99992148e-01 -2.35332274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52401273899997 meters Centerline goodness [0,1] 0.9916908381131005 Centerline is valid? [True, True] Translation: X:141.14, Y:-16.13, Z:-2.35 [[ 9.90345360e-01 1.38572828e-01 3.69321114e-03 1.41135721e+02] [-1.38572154e-01 9.90352243e-01 -4.38882585e-04 -1.61310256e+01] [-3.71839714e-03 -7.71308925e-05 9.99993084e-01 -2.35412567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55401273899997 meters Centerline goodness [0,1] 0.9918099918099919 Centerline is valid? [True, True] Translation: X:141.16, Y:-16.13, Z:-2.36 [[ 9.90216999e-01 1.39494640e-01 3.39715197e-03 1.41163987e+02] [-1.39494075e-01 9.90222823e-01 -4.03617949e-04 -1.61295113e+01] [-3.42023995e-03 -7.42132194e-05 9.99994148e-01 -2.35524933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58401273899997 meters Centerline goodness [0,1] 0.9922961373390558 Centerline is valid? [True, True] Translation: X:141.19, Y:-16.13, Z:-2.36 [[ 9.90451674e-01 1.37823263e-01 3.19830483e-03 1.41191236e+02] [-1.37822755e-01 9.90456836e-01 -3.79828335e-04 -1.61340776e+01] [-3.22013206e-03 -6.45975727e-05 9.99994813e-01 -2.35538866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61401273899997 meters Centerline goodness [0,1] 0.9941675275482094 Centerline is valid? [True, True] Translation: X:141.22, Y:-16.14, Z:-2.36 [[ 9.91071712e-01 1.33301413e-01 2.75601828e-03 1.41219637e+02] [-1.33301019e-01 9.91075543e-01 -3.27027208e-04 -1.61443561e+01] [-2.77501550e-03 -4.32726308e-05 9.99996149e-01 -2.35680647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64401273899998 meters Centerline goodness [0,1] 0.994254721632688 Centerline is valid? [True, True] Translation: X:141.25, Y:-16.15, Z:-2.36 [[ 9.91335322e-01 1.31336605e-01 2.23041596e-03 1.41247018e+02] [-1.31336342e-01 9.91337831e-01 -2.64835221e-04 -1.61490103e+01] [-2.24587828e-03 -3.03941635e-05 9.99997478e-01 -2.35871472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67401273899998 meters Centerline goodness [0,1] 0.9948566285199949 Centerline is valid? [True, True] Translation: X:141.28, Y:-16.16, Z:-2.36 [[ 9.91523563e-01 1.29912830e-01 1.91872842e-03 1.41275260e+02] [-1.29912633e-01 9.91525419e-01 -2.27708532e-04 -1.61567516e+01] [-1.93205026e-03 -2.34886860e-05 9.99998133e-01 -2.35884918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70401273899998 meters Centerline goodness [0,1] 0.9953381441982246 Centerline is valid? [True, True] Translation: X:141.30, Y:-16.16, Z:-2.36 [[ 9.91685209e-01 1.28664943e-01 2.40383595e-03 1.41303486e+02] [-1.28664630e-01 9.91688122e-01 -2.85075583e-04 -1.61614745e+01] [-2.42053479e-03 -2.65834227e-05 9.99997070e-01 -2.35830706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73401273899998 meters Centerline goodness [0,1] 0.9943130799161928 Centerline is valid? [True, True] Translation: X:141.33, Y:-16.16, Z:-2.36 [[ 9.91605198e-01 1.29251997e-01 3.61282530e-03 1.41330924e+02] [-1.29251295e-01 9.91611779e-01 -4.28247313e-04 -1.61613073e+01] [-3.63787194e-03 -4.23100872e-05 9.99993382e-01 -2.35643316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76401273899998 meters Centerline goodness [0,1] 0.9943600589630199 Centerline is valid? [True, True] Translation: X:141.36, Y:-16.16, Z:-2.36 [[ 9.91511630e-01 1.29957817e-01 3.95635239e-03 1.41359459e+02] [-1.29956982e-01 9.91519522e-01 -4.68459459e-04 -1.61628424e+01] [-3.98368060e-03 -4.96726140e-05 9.99992064e-01 -2.35589792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79401273899998 meters Centerline goodness [0,1] 0.9943212257580628 Centerline is valid? [True, True] Translation: X:141.39, Y:-16.16, Z:-2.36 [[ 9.91363620e-01 1.31121409e-01 2.31271579e-03 1.41387180e+02] [-1.31121127e-01 9.91366317e-01 -2.73945002e-04 -1.61632959e+01] [-2.32866859e-03 -3.16667910e-05 9.99997288e-01 -2.35930920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82401273899998 meters Centerline goodness [0,1] 0.9947403305467063 Centerline is valid? [True, True] Translation: X:141.42, Y:-16.17, Z:-2.36 [[ 9.91304696e-01 1.31585223e-01 5.74179617e-04 1.41416045e+02] [-1.31585206e-01 9.91304862e-01 -6.82378511e-05 -1.61659465e+01] [-5.78166139e-04 -7.90904081e-06 9.99999833e-01 -2.36244600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85401273899998 meters Centerline goodness [0,1] 0.9961798094245838 Centerline is valid? [True, True] Translation: X:141.44, Y:-16.17, Z:-2.37 [[ 9.91224994e-01 1.32181265e-01 -1.06015322e-03 1.41444827e+02] [-1.32181207e-01 9.91225561e-01 1.24902728e-04 -1.61671043e+01] [ 1.06736078e-03 1.63256262e-05 9.99999430e-01 -2.36608571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88401273899999 meters Centerline goodness [0,1] 0.9959113918573963 Centerline is valid? [True, True] Translation: X:141.47, Y:-16.17, Z:-2.37 [[ 9.91215488e-01 1.32254999e-01 -6.86119643e-04 1.41472340e+02] [-1.32254975e-01 9.91215726e-01 8.04698281e-05 -1.61696002e+01] [ 6.90735117e-04 1.09797961e-05 9.99999761e-01 -2.36532967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.914012739 meters Centerline goodness [0,1] 0.9945134152376445 Centerline is valid? [True, True] Translation: X:141.50, Y:-16.17, Z:-2.36 [[ 9.90937091e-01 1.34317449e-01 1.58249289e-03 1.41500227e+02] [-1.34317321e-01 9.90938354e-01 -1.87250451e-04 -1.61686568e+01] [-1.59330390e-03 -2.70027878e-05 9.99998730e-01 -2.36146640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944012739 meters Centerline goodness [0,1] 0.9933339086163007 Centerline is valid? [True, True] Translation: X:141.53, Y:-16.17, Z:-2.36 [[ 9.90820147e-01 1.35156305e-01 2.86538624e-03 1.41529063e+02] [-1.35155891e-01 9.90824288e-01 -3.38450928e-04 -1.61707387e+01] [-2.88483806e-03 -5.19298331e-05 9.99995837e-01 -2.35931786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.974012739 meters Centerline goodness [0,1] 0.9918088883185765 Centerline is valid? [True, True] Translation: X:141.56, Y:-16.17, Z:-2.36 [[ 9.90629995e-01 1.36525323e-01 3.61222417e-03 1.41557531e+02] [-1.36524675e-01 9.90636579e-01 -4.26557964e-04 -1.61652139e+01] [-3.63663736e-03 -7.05966175e-05 9.99993385e-01 -2.35920774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004012739 meters Centerline goodness [0,1] 0.9920648648648649 Centerline is valid? [True, True] Translation: X:141.59, Y:-16.17, Z:-2.36 [[ 9.90506658e-01 1.37428922e-01 3.13880789e-03 1.41585580e+02] [-1.37428438e-01 9.90511629e-01 -3.70341287e-04 -1.61688082e+01] [-3.15992132e-03 -6.45359556e-05 9.99995005e-01 -2.35995244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.034012739 meters Centerline goodness [0,1] 0.9918503064284783 Centerline is valid? [True, True] Translation: X:141.61, Y:-16.17, Z:-2.36 [[ 9.90414118e-01 1.38108315e-01 2.44290052e-03 1.41614068e+02] [-1.38108024e-01 9.90417130e-01 -2.88190710e-04 -1.61692235e+01] [-2.45929205e-03 -5.19560158e-05 9.99996975e-01 -2.36189570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064012739 meters Centerline goodness [0,1] 0.9925564737103282 Centerline is valid? [True, True] Translation: X:141.64, Y:-16.17, Z:-2.37 [[ 9.90280523e-01 1.39083567e-01 4.97950121e-04 1.41642525e+02] [-1.39083555e-01 9.90280648e-01 -5.90804283e-05 -1.61668687e+01] [-5.01327485e-04 -1.07504755e-05 9.99999874e-01 -2.36554466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.094012739 meters Centerline goodness [0,1] 0.9927693731304741 Centerline is valid? [True, True] Translation: X:141.67, Y:-16.17, Z:-2.37 [[ 9.90298791e-01 1.38953252e-01 5.46800415e-04 1.41670637e+02] [-1.38953237e-01 9.90298942e-01 -6.48847384e-05 -1.61691539e+01] [-5.50511818e-04 -1.17244096e-05 9.99999848e-01 -2.36528135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124012739 meters Centerline goodness [0,1] 0.9922706153111295 Centerline is valid? [True, True] Translation: X:141.70, Y:-16.17, Z:-2.36 [[ 9.90391560e-01 1.38277695e-01 1.95876803e-03 1.41700218e+02] [-1.38277509e-01 9.90393496e-01 -2.30976734e-04 -1.61691760e+01] [-1.97189005e-03 -4.20961556e-05 9.99998055e-01 -2.36289057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.154012739 meters Centerline goodness [0,1] 0.992767464320206 Centerline is valid? [True, True] Translation: X:141.73, Y:-16.17, Z:-2.36 [[ 9.90554625e-01 1.37098137e-01 2.37383748e-03 1.41728469e+02] [-1.37097861e-01 9.90557469e-01 -2.79326362e-04 -1.61713902e+01] [-2.38971757e-03 -4.87600214e-05 9.99997143e-01 -2.36251566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184012739 meters Centerline goodness [0,1] 0.993130688648463 Centerline is valid? [True, True] Translation: X:141.76, Y:-16.18, Z:-2.36 [[ 9.90902578e-01 1.34555931e-01 2.60422876e-03 1.41756735e+02] [-1.34555591e-01 9.90905999e-01 -3.06276409e-04 -1.61754592e+01] [-2.62175721e-03 -4.69234564e-05 9.99996562e-01 -2.36223678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.214012739 meters Centerline goodness [0,1] 0.9938387298304574 Centerline is valid? [True, True] Translation: X:141.79, Y:-16.18, Z:-2.36 [[ 9.91086445e-01 1.33200689e-01 2.28794043e-03 1.41785135e+02] [-1.33200423e-01 9.91089085e-01 -2.69017966e-04 -1.61792219e+01] [-2.30338617e-03 -3.81345732e-05 9.99997346e-01 -2.36287514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24401273899997 meters Centerline goodness [0,1] 0.994624116513172 Centerline is valid? [True, True] Translation: X:141.81, Y:-16.18, Z:-2.36 [[ 9.91398519e-01 1.30850205e-01 2.68346519e-03 1.41813075e+02] [-1.30849831e-01 9.91402150e-01 -3.15388148e-04 -1.61818248e+01] [-2.70166176e-03 -3.84556232e-05 9.99996350e-01 -2.36246710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27401273899997 meters Centerline goodness [0,1] 0.9945108927808629 Centerline is valid? [True, True] Translation: X:141.84, Y:-16.18, Z:-2.36 [[ 9.91477723e-01 1.30247420e-01 2.74493106e-03 1.41840580e+02] [-1.30247026e-01 9.91481522e-01 -3.22431706e-04 -1.61841494e+01] [-2.76354432e-03 -3.78352544e-05 9.99996181e-01 -2.36300297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30401273899997 meters Centerline goodness [0,1] 0.9952931568088033 Centerline is valid? [True, True] Translation: X:141.87, Y:-16.19, Z:-2.36 [[ 9.91661886e-01 1.28841503e-01 2.56338621e-03 1.41868951e+02] [-1.28841156e-01 9.91665199e-01 -3.00918814e-04 -1.61865876e+01] [-2.58079173e-03 -3.18599241e-05 9.99996669e-01 -2.36410537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33401273899997 meters Centerline goodness [0,1] 0.995265110189832 Centerline is valid? [True, True] Translation: X:141.90, Y:-16.19, Z:-2.36 [[ 9.91728343e-01 1.28320061e-01 2.97573481e-03 1.41897588e+02] [-1.28319591e-01 9.91732807e-01 -3.49127742e-04 -1.61897546e+01] [-2.99593393e-03 -3.56051976e-05 9.99995512e-01 -2.36392442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36401273899997 meters Centerline goodness [0,1] 0.9952258064516128 Centerline is valid? [True, True] Translation: X:141.92, Y:-16.19, Z:-2.36 [[ 9.91780830e-01 1.27899717e-01 3.52803186e-03 1.41924958e+02] [-1.27899054e-01 9.91787105e-01 -4.13739073e-04 -1.61926204e+01] [-3.55197362e-03 -4.08934564e-05 9.99993691e-01 -2.36192841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39401273899998 meters Centerline goodness [0,1] 0.9949103352681279 Centerline is valid? [True, True] Translation: X:141.95, Y:-16.20, Z:-2.36 [[ 9.91689127e-01 1.28594257e-01 4.02393320e-03 1.41953367e+02] [-1.28593402e-01 9.91697290e-01 -4.71549033e-04 -1.61952404e+01] [-4.05116214e-03 -4.98212116e-05 9.99991793e-01 -2.36140129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42401273899998 meters Centerline goodness [0,1] 0.9949103352681279 Centerline is valid? [True, True] Translation: X:141.98, Y:-16.20, Z:-2.36 [[ 9.91698325e-01 1.28523307e-01 4.02394524e-03 1.41980685e+02] [-1.28522452e-01 9.91706487e-01 -4.71446288e-04 -1.61983064e+01] [-4.05116443e-03 -4.96348142e-05 9.99991793e-01 -2.36161646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45401273899998 meters Centerline goodness [0,1] 0.9940573014943501 Centerline is valid? [True, True] Translation: X:142.01, Y:-16.20, Z:-2.36 [[ 9.91552339e-01 1.29603368e-01 5.18893886e-03 1.42009198e+02] [-1.29601964e-01 9.91565914e-01 -6.07365612e-04 -1.61974445e+01] [-5.22389153e-03 -7.02618722e-05 9.99986353e-01 -2.36053219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48401273899998 meters Centerline goodness [0,1] 0.9941891746475842 Centerline is valid? [True, True] Translation: X:142.04, Y:-16.20, Z:-2.36 [[ 9.91635410e-01 1.28964212e-01 5.23876655e-03 1.42036449e+02] [-1.28962774e-01 9.91649246e-01 -6.12876747e-04 -1.62014041e+01] [-5.27405807e-03 -6.78555819e-05 9.99986090e-01 -2.36101904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51401273899998 meters Centerline goodness [0,1] 0.9949587136027814 Centerline is valid? [True, True] Translation: X:142.06, Y:-16.21, Z:-2.36 [[ 9.91772971e-01 1.27936830e-01 4.30589420e-03 1.42063678e+02] [-1.27935850e-01 9.91782317e-01 -5.03566079e-04 -1.62056883e+01] [-4.33493437e-03 -5.14550060e-05 9.99990603e-01 -2.36314787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54401273899998 meters Centerline goodness [0,1] 0.9962810894473226 Centerline is valid? [True, True] Translation: X:142.09, Y:-16.21, Z:-2.37 [[ 9.91934463e-01 1.26720081e-01 2.83598590e-03 1.42091786e+02] [-1.26719650e-01 9.91938516e-01 -3.31593210e-04 -1.62101863e+01] [-2.85514317e-03 -3.04564098e-05 9.99995924e-01 -2.36594339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57401273899998 meters Centerline goodness [0,1] 0.9970337807558524 Centerline is valid? [True, True] Translation: X:142.12, Y:-16.22, Z:-2.37 [[ 9.92187877e-01 1.24735009e-01 2.09620990e-03 1.42120559e+02] [-1.24734769e-01 9.92190091e-01 -2.45091814e-04 -1.62151901e+01] [-2.11041022e-03 -1.82931319e-05 9.99997773e-01 -2.36734565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60401273899998 meters Centerline goodness [0,1] 0.996461277800416 Centerline is valid? [True, True] Translation: X:142.15, Y:-16.22, Z:-2.37 [[ 9.92207882e-01 1.24565966e-01 2.61515593e-03 1.42148620e+02] [-1.24565593e-01 9.92211328e-01 -3.05613490e-04 -1.62176056e+01] [-2.63285638e-03 -2.25263374e-05 9.99996534e-01 -2.36673412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63401273899999 meters Centerline goodness [0,1] 0.9960304757026698 Centerline is valid? [True, True] Translation: X:142.18, Y:-16.22, Z:-2.37 [[ 9.92068156e-01 1.25669303e-01 2.82832241e-03 1.42177301e+02] [-1.25668872e-01 9.92072188e-01 -3.30319944e-04 -1.62152507e+01] [-2.84741108e-03 -2.77321897e-05 9.99995946e-01 -2.36648685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.664012739 meters Centerline goodness [0,1] 0.9957796014067996 Centerline is valid? [True, True] Translation: X:142.21, Y:-16.21, Z:-2.37 [[ 9.91885879e-01 1.27095738e-01 3.01262503e-03 1.42206153e+02] [-1.27095256e-01 9.91890454e-01 -3.51585892e-04 -1.62140043e+01] [-3.03287907e-03 -3.41572676e-05 9.99995400e-01 -2.36564922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.694012739 meters Centerline goodness [0,1] 0.9943428125541877 Centerline is valid? [True, True] Translation: X:142.24, Y:-16.21, Z:-2.36 [[ 9.91468195e-01 1.30290448e-01 3.90086337e-03 1.42235660e+02] [-1.30289667e-01 9.91475867e-01 -4.54971975e-04 -1.62079566e+01] [-3.92689039e-03 -5.71519446e-05 9.99992288e-01 -2.36364905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724012739 meters Centerline goodness [0,1] 0.9933495994645132 Centerline is valid? [True, True] Translation: X:142.26, Y:-16.20, Z:-2.36 [[ 9.91272800e-01 1.31751993e-01 4.43265789e-03 1.42263653e+02] [-1.31750999e-01 9.91282708e-01 -5.16772401e-04 -1.62047863e+01] [-4.46210291e-03 -7.17446793e-05 9.99990042e-01 -2.36330789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.754012739 meters Centerline goodness [0,1] 0.9926608268945182 Centerline is valid? [True, True] Translation: X:142.29, Y:-16.21, Z:-2.36 [[ 9.91386919e-01 1.30838550e-01 5.76641844e-03 1.42291708e+02] [-1.30836855e-01 9.91403685e-01 -6.71774322e-04 -1.62059816e+01] [-5.80474246e-03 -8.84717766e-05 9.99983148e-01 -2.36099337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784012739 meters Centerline goodness [0,1] 0.9932856833441629 Centerline is valid? [True, True] Translation: X:142.32, Y:-16.21, Z:-2.36 [[ 9.91691924e-01 1.28441712e-01 7.06073109e-03 1.42319672e+02] [-1.28439114e-01 9.91717056e-01 -8.22045271e-04 -1.62139741e+01] [-7.10783235e-03 -9.16583857e-05 9.99974735e-01 -2.35923769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.814012739 meters Centerline goodness [0,1] 0.994044793509688 Centerline is valid? [True, True] Translation: X:142.35, Y:-16.22, Z:-2.36 [[ 9.92079758e-01 1.25376378e-01 7.64969236e-03 1.42347304e+02] [-1.25373241e-01 9.92109247e-01 -8.90221280e-04 -1.62215940e+01] [-7.70094325e-03 -7.58962101e-05 9.99970344e-01 -2.35869276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844012739 meters Centerline goodness [0,1] 0.9968125054580386 Centerline is valid? [True, True] Translation: X:142.37, Y:-16.24, Z:-2.36 [[ 9.92886838e-01 1.18850020e-01 7.09922653e-03 1.42374334e+02] [-1.18847153e-01 9.92912218e-01 -8.25854364e-04 -1.62360282e+01] [-7.14706156e-03 -2.37429314e-05 9.99974459e-01 -2.36074532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.874012739 meters Centerline goodness [0,1] 0.9987198403055025 Centerline is valid? [True, True] Translation: X:142.40, Y:-16.25, Z:-2.36 [[ 9.93400227e-01 1.14602726e-01 4.71206815e-03 1.42401103e+02] [-1.14601415e-01 9.93411403e-01 -5.48091350e-04 -1.62476356e+01] [-4.74383499e-03 4.46439379e-06 9.99988748e-01 -2.36474624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904012739 meters Centerline goodness [0,1] 0.9990286022665947 Centerline is valid? [True, True] Translation: X:142.43, Y:-16.25, Z:-2.37 [[ 9.93435859e-01 1.14323578e-01 3.91315293e-03 1.42428577e+02] [-1.14322673e-01 9.93443566e-01 -4.55011528e-04 -1.62520554e+01] [-3.93951515e-03 4.66266753e-06 9.99992240e-01 -2.36684905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.934012739 meters Centerline goodness [0,1] 0.9984475397817931 Centerline is valid? [True, True] Translation: X:142.46, Y:-16.25, Z:-2.36 [[ 9.93239741e-01 1.15975565e-01 4.94818360e-03 1.42457694e+02] [-1.15974140e-01 9.93252067e-01 -5.74922500e-04 -1.62539859e+01] [-4.98147055e-03 -2.82546130e-06 9.99987592e-01 -2.36491567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964012739 meters Centerline goodness [0,1] 0.9979677872662415 Centerline is valid? [True, True] Translation: X:142.49, Y:-16.26, Z:-2.36 [[ 9.93117666e-01 1.16973353e-01 5.87679782e-03 1.42485405e+02] [-1.16971363e-01 9.93135053e-01 -6.82520859e-04 -1.62574356e+01] [-5.91629067e-03 -9.59352662e-06 9.99982499e-01 -2.36319008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99401273899997 meters Centerline goodness [0,1] 0.9969736927433476 Centerline is valid? [True, True] Translation: X:142.51, Y:-16.26, Z:-2.36 [[ 9.92891057e-01 1.18873226e-01 6.04202980e-03 1.42512402e+02] [-1.18871159e-01 9.92909440e-01 -7.01258022e-04 -1.62619344e+01] [-6.08254922e-03 -2.19502684e-05 9.99981501e-01 -2.36396504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02401273899997 meters Centerline goodness [0,1] 0.9971491040041156 Centerline is valid? [True, True] Translation: X:142.54, Y:-16.27, Z:-2.37 [[ 9.92796005e-01 1.19699346e-01 5.30649824e-03 1.42540895e+02] [-1.19697766e-01 9.92810186e-01 -6.15610629e-04 -1.62657665e+01] [-5.34203370e-03 -2.40002109e-05 9.99985731e-01 -2.36552303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05401273899997 meters Centerline goodness [0,1] 0.9968462380124863 Centerline is valid? [True, True] Translation: X:142.57, Y:-16.27, Z:-2.37 [[ 9.92572874e-01 1.21573962e-01 4.34307352e-03 1.42568380e+02] [-1.21572922e-01 9.92582375e-01 -5.03827787e-04 -1.62675945e+01] [-4.37211057e-03 -2.79143426e-05 9.99990442e-01 -2.36871855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08401273899997 meters Centerline goodness [0,1] 0.9961870098357815 Centerline is valid? [True, True] Translation: X:142.60, Y:-16.27, Z:-2.37 [[ 9.92430000e-01 1.22749524e-01 3.90506269e-03 1.42596503e+02] [-1.22748694e-01 9.92437682e-01 -4.52646899e-04 -1.62726081e+01] [-3.93109356e-03 -3.01209817e-05 9.99992273e-01 -2.36870332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11401273899997 meters Centerline goodness [0,1] 0.9957829631712117 Centerline is valid? [True, True] Translation: X:142.62, Y:-16.27, Z:-2.37 [[ 9.92105125e-01 1.25376926e-01 2.83673836e-03 1.42623967e+02] [-1.25376498e-01 9.92109180e-01 -3.28989531e-04 -1.62735944e+01] [-2.85560187e-03 -2.92681224e-05 9.99995922e-01 -2.37076769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14401273899998 meters Centerline goodness [0,1] 0.9951780892374952 Centerline is valid? [True, True] Translation: X:142.65, Y:-16.27, Z:-2.37 [[ 9.91837427e-01 1.27480430e-01 2.69399395e-03 1.42652615e+02] [-1.27480052e-01 9.91841085e-01 -3.12208656e-04 -1.62686571e+01] [-2.71181438e-03 -3.37702599e-05 9.99996322e-01 -2.37200378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17401273899998 meters Centerline goodness [0,1] 0.9932180765173209 Centerline is valid? [True, True] Translation: X:142.68, Y:-16.27, Z:-2.37 [[ 9.91522060e-01 1.29883080e-01 3.79345979e-03 1.42681341e+02] [-1.29882351e-01 9.91529315e-01 -4.38890385e-04 -1.62675347e+01] [-3.81833102e-03 -5.75339790e-05 9.99992708e-01 -2.37029821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20401273899998 meters Centerline goodness [0,1] 0.9914638615248648 Centerline is valid? [True, True] Translation: X:142.71, Y:-16.27, Z:-2.37 [[ 9.90950230e-01 1.34166072e-01 4.13616287e-03 1.42711414e+02] [-1.34165244e-01 9.90958858e-01 -4.78160995e-04 -1.62668908e+01] [-4.16292021e-03 -8.10955527e-05 9.99991332e-01 -2.36912986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23401273899998 meters Centerline goodness [0,1] 0.9914491255276988 Centerline is valid? [True, True] Translation: X:142.74, Y:-16.26, Z:-2.37 [[ 9.90777592e-01 1.35469356e-01 2.79582518e-03 1.42739713e+02] [-1.35468982e-01 9.90781535e-01 -3.23378830e-04 -1.62649176e+01] [-2.81385989e-03 -5.83510937e-05 9.99996039e-01 -2.37253967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26401273899998 meters Centerline goodness [0,1] 0.9923910487956056 Centerline is valid? [True, True] Translation: X:142.77, Y:-16.27, Z:-2.37 [[ 9.90929912e-01 1.34362687e-01 2.13978035e-03 1.42768658e+02] [-1.34362466e-01 9.90932221e-01 -2.47408859e-04 -1.62683669e+01] [-2.15361982e-03 -4.23413266e-05 9.99997680e-01 -2.37372732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29401273899998 meters Centerline goodness [0,1] 0.9939486605220088 Centerline is valid? [True, True] Translation: X:142.80, Y:-16.28, Z:-2.37 [[ 9.91580067e-01 1.29462183e-01 2.91775034e-03 1.42796929e+02] [-1.29461752e-01 9.91584359e-01 -3.36987363e-04 -1.62802459e+01] [-2.93682272e-03 -4.35871199e-05 9.99995687e-01 -2.37277708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32401273899998 meters Centerline goodness [0,1] 0.9946767241379311 Centerline is valid? [True, True] Translation: X:142.82, Y:-16.29, Z:-2.37 [[ 9.91980799e-01 1.26334619e-01 3.69566288e-03 1.42824934e+02] [-1.26333906e-01 9.91987682e-01 -4.26795858e-04 -1.62891464e+01] [-3.71997114e-03 -4.35142300e-05 9.99993080e-01 -2.37234212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35401273899998 meters Centerline goodness [0,1] 0.9972590419495064 Centerline is valid? [True, True] Translation: X:142.85, Y:-16.30, Z:-2.37 [[ 9.92811993e-01 1.19612951e-01 4.13391194e-03 1.42851985e+02] [-1.19612001e-01 9.92820599e-01 -4.77169163e-04 -1.63018103e+01] [-4.16130854e-03 -2.07262110e-05 9.99991342e-01 -2.37189094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38401273899999 meters Centerline goodness [0,1] 0.9984984340812562 Centerline is valid? [True, True] Translation: X:142.88, Y:-16.31, Z:-2.37 [[ 9.93173560e-01 1.16554795e-01 4.61083921e-03 1.42880102e+02] [-1.16553581e-01 9.93184263e-01 -5.31960832e-04 -1.63109912e+01] [-4.64141552e-03 -9.08038838e-06 9.99989229e-01 -2.37118026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.414012739 meters Centerline goodness [0,1] 0.9990485663624962 Centerline is valid? [True, True] Translation: X:142.91, Y:-16.32, Z:-2.37 [[ 9.93629083e-01 1.12580006e-01 5.19505454e-03 1.42908041e+02] [-1.12578412e-01 9.93642663e-01 -5.99083449e-04 -1.63233099e+01] [-5.22947265e-03 1.04157472e-05 9.99986326e-01 -2.36997154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444012739 meters Centerline goodness [0,1] 0.9990926570027436 Centerline is valid? [True, True] Translation: X:142.93, Y:-16.33, Z:-2.37 [[ 9.93745675e-01 1.11543396e-01 5.25401051e-03 1.42934931e+02] [-1.11541753e-01 9.93759564e-01 -6.05657798e-04 -1.63291400e+01] [-5.28878032e-03 1.58282752e-05 9.99986014e-01 -2.37021079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.474012739 meters Centerline goodness [0,1] 0.9990705114348709 Centerline is valid? [True, True] Translation: X:142.96, Y:-16.34, Z:-2.37 [[ 9.93823482e-01 1.10893030e-01 4.19785336e-03 1.42963079e+02] [-1.10891976e-01 9.93832348e-01 -4.83709380e-04 -1.63360910e+01] [-4.22560246e-03 1.52134881e-05 9.99991072e-01 -2.37209419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504012739 meters Centerline goodness [0,1] 0.9995659816410234 Centerline is valid? [True, True] Translation: X:142.99, Y:-16.34, Z:-2.37 [[ 9.93790358e-01 1.11199247e-01 3.93100595e-03 1.42990722e+02] [-1.11198326e-01 9.93798132e-01 -4.52845301e-04 -1.63413155e+01] [-3.95698243e-03 1.29120137e-05 9.99992171e-01 -2.37335460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.534012739 meters Centerline goodness [0,1] 0.9990518467439555 Centerline is valid? [True, True] Translation: X:143.02, Y:-16.35, Z:-2.37 [[ 9.93786894e-01 1.11202382e-01 4.65178104e-03 1.43018776e+02] [-1.11201093e-01 9.93797781e-01 -5.35494908e-04 -1.63457432e+01] [-4.68247798e-03 1.48846846e-05 9.99989037e-01 -2.37165875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564012739 meters Centerline goodness [0,1] 0.9988900983970459 Centerline is valid? [True, True] Translation: X:143.05, Y:-16.35, Z:-2.37 [[ 9.93725221e-01 1.11660741e-01 6.48563216e-03 1.43046223e+02] [-1.11658249e-01 9.93746386e-01 -7.46168103e-04 -1.63502069e+01] [-6.52839120e-03 1.73117341e-05 9.99978690e-01 -2.36770372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.594012739 meters Centerline goodness [0,1] 0.9988331640700966 Centerline is valid? [True, True] Translation: X:143.08, Y:-16.36, Z:-2.37 [[ 9.93817928e-01 1.10832395e-01 6.48890651e-03 1.43075075e+02] [-1.10829886e-01 9.93839112e-01 -7.46155226e-04 -1.63552311e+01] [-6.53162725e-03 2.23776737e-05 9.99978668e-01 -2.36759866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624012739 meters Centerline goodness [0,1] 0.9988832814345538 Centerline is valid? [True, True] Translation: X:143.10, Y:-16.36, Z:-2.37 [[ 9.93978104e-01 1.09369261e-01 6.77445983e-03 1.43103330e+02] [-1.09366494e-01 9.94001189e-01 -7.78649286e-04 -1.63619864e+01] [-6.81898142e-03 3.30614208e-05 9.99976750e-01 -2.36812395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.654012739 meters Centerline goodness [0,1] 0.999137298882802 Centerline is valid? [True, True] Translation: X:143.13, Y:-16.37, Z:-2.37 [[ 9.94260228e-01 1.06745602e-01 7.20945757e-03 1.43131471e+02] [-1.06742402e-01 9.94286364e-01 -8.28279876e-04 -1.63707046e+01] [-7.25668059e-03 5.39709221e-05 9.99973668e-01 -2.36875514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684012739 meters Centerline goodness [0,1] 0.9991601524646295 Centerline is valid? [True, True] Translation: X:143.16, Y:-16.38, Z:-2.37 [[ 9.94325502e-01 1.06175331e-01 6.60260233e-03 1.43159698e+02] [-1.06172636e-01 9.94347422e-01 -7.58254863e-04 -1.63756974e+01] [-6.64578857e-03 5.29364517e-05 9.99977915e-01 -2.37011169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.714012739 meters Centerline goodness [0,1] 0.9992975734355045 Centerline is valid? [True, True] Translation: X:143.19, Y:-16.38, Z:-2.37 [[ 9.94329820e-01 1.06191640e-01 5.61649269e-03 1.43187653e+02] [-1.06189692e-01 9.94345681e-01 -6.44823249e-04 -1.63815298e+01] [-5.65321009e-03 4.47533589e-05 9.99984019e-01 -2.37287500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74401273899997 meters Centerline goodness [0,1] 0.998244625520111 Centerline is valid? [True, True] Translation: X:143.22, Y:-16.38, Z:-2.37 [[ 9.94361917e-01 1.05933154e-01 4.74812267e-03 1.43216208e+02] [-1.05931758e-01 9.94373253e-01 -5.45102227e-04 -1.63830043e+01] [-4.77915058e-03 3.90519123e-05 9.99988579e-01 -2.36549147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77401273899997 meters Centerline goodness [0,1] 0.9990972595378829 Centerline is valid? [True, True] Translation: X:143.24, Y:-16.39, Z:-2.37 [[ 9.94385680e-01 1.05686737e-01 5.23765296e-03 1.43243537e+02] [-1.05685037e-01 9.94399473e-01 -6.01044192e-04 -1.63887071e+01] [-5.27184175e-03 4.41281882e-05 9.99986103e-01 -2.37211654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80401273899997 meters Centerline goodness [0,1] 0.9991996539043911 Centerline is valid? [True, True] Translation: X:143.27, Y:-16.39, Z:-2.37 [[ 9.94367731e-01 1.05842684e-01 5.49013213e-03 1.43271143e+02] [-1.05840820e-01 9.94382886e-01 -6.29683213e-04 -1.63930535e+01] [-5.52594079e-03 4.50565807e-05 9.99984731e-01 -2.37204984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83401273899997 meters Centerline goodness [0,1] 0.9991276781345078 Centerline is valid? [True, True] Translation: X:143.30, Y:-16.40, Z:-2.37 [[ 9.94308594e-01 1.06373362e-01 5.92684023e-03 1.43297913e+02] [-1.06371202e-01 9.94326257e-01 -6.79306454e-04 -1.64006182e+01] [-5.96547298e-03 4.49951259e-05 9.99982205e-01 -2.37206870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86401273899997 meters Centerline goodness [0,1] 0.9991862780787597 Centerline is valid? [True, True] Translation: X:143.33, Y:-16.41, Z:-2.37 [[ 9.94306877e-01 1.06351951e-01 6.56480768e-03 1.43326511e+02] [-1.06349304e-01 9.94328547e-01 -7.52083065e-04 -1.64063727e+01] [-6.60756119e-03 4.96386380e-05 9.99978169e-01 -2.37163048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89401273899998 meters Centerline goodness [0,1] 0.998835730148121 Centerline is valid? [True, True] Translation: X:143.36, Y:-16.41, Z:-2.37 [[ 9.94257925e-01 1.06795683e-01 6.77210447e-03 1.43355358e+02] [-1.06792878e-01 9.94280986e-01 -7.75480918e-04 -1.64124623e+01] [-6.81619273e-03 4.78155229e-05 9.99976768e-01 -2.37029631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92401273899998 meters Centerline goodness [0,1] 0.9991246984479409 Centerline is valid? [True, True] Translation: X:143.38, Y:-16.42, Z:-2.37 [[ 9.94210718e-01 1.07273842e-01 6.11321988e-03 1.43384041e+02] [-1.07271566e-01 9.94229511e-01 -6.99923764e-04 -1.64169912e+01] [-6.15302712e-03 4.00970392e-05 9.99981069e-01 -2.37216295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95401273899998 meters Centerline goodness [0,1] 0.999140616607584 Centerline is valid? [True, True] Translation: X:143.41, Y:-16.42, Z:-2.38 [[ 9.93983236e-01 1.09469224e-01 3.71692285e-03 1.43412666e+02] [-1.09468398e-01 9.93990185e-01 -4.25538080e-04 -1.64202040e+01] [-3.74116816e-03 1.60921267e-05 9.99993002e-01 -2.37724376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98401273899998 meters Centerline goodness [0,1] 0.9992276501255068 Centerline is valid? [True, True] Translation: X:143.44, Y:-16.42, Z:-2.38 [[ 9.93857659e-01 1.10604819e-01 3.67810849e-03 1.43441946e+02] [-1.10604019e-01 9.93864464e-01 -4.20967142e-04 -1.64223576e+01] [-3.70210232e-03 1.15678376e-05 9.99993147e-01 -2.37700754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01401273899998 meters Centerline goodness [0,1] 0.9988688748506062 Centerline is valid? [True, True] Translation: X:143.47, Y:-16.42, Z:-2.37 [[ 9.93501287e-01 1.13714773e-01 4.91360212e-03 1.43469996e+02] [-1.13713383e-01 9.93513437e-01 -5.62194027e-04 -1.64225309e+01] [-4.94565949e-03 -2.01831105e-07 9.99987770e-01 -2.37461577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04401273899998 meters Centerline goodness [0,1] 0.9981060606060606 Centerline is valid? [True, True] Translation: X:143.50, Y:-16.42, Z:-2.37 [[ 9.93290377e-01 1.15526264e-01 5.28286000e-03 1.43498740e+02] [-1.15524686e-01 9.93304426e-01 -6.04030796e-04 -1.64233293e+01] [-5.31726964e-03 -1.03227644e-05 9.99985863e-01 -2.37332612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07401273899998 meters Centerline goodness [0,1] 0.9967943923236382 Centerline is valid? [True, True] Translation: X:143.53, Y:-16.42, Z:-2.37 [[ 9.93077374e-01 1.17341348e-01 5.32330895e-03 1.43527893e+02] [-1.17339772e-01 9.93091641e-01 -6.08429355e-04 -1.64247251e+01] [-5.35792754e-03 -2.04184330e-05 9.99985646e-01 -2.37324515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10401273899998 meters Centerline goodness [0,1] 0.9948438168592212 Centerline is valid? [True, True] Translation: X:143.56, Y:-16.42, Z:-2.38 [[ 9.92665170e-01 1.20791028e-01 5.03862820e-03 1.43555809e+02] [-1.20789662e-01 9.92677957e-01 -5.75735538e-04 -1.64206933e+01] [-5.07127884e-03 -3.71015825e-05 9.99987140e-01 -2.37532670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13401273899999 meters Centerline goodness [0,1] 0.9941895368782161 Centerline is valid? [True, True] Translation: X:143.59, Y:-16.42, Z:-2.38 [[ 9.92466056e-01 1.22419016e-01 4.97114675e-03 1.43585236e+02] [-1.22417709e-01 9.92478505e-01 -5.67601683e-04 -1.64209326e+01] [-5.00324153e-03 -4.52309900e-05 9.99987483e-01 -2.37570159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.164012739 meters Centerline goodness [0,1] 0.9925702595025304 Centerline is valid? [True, True] Translation: X:143.61, Y:-16.42, Z:-2.38 [[ 9.92177867e-01 1.24727833e-01 5.10362410e-03 1.43614784e+02] [-1.24726487e-01 9.92190992e-01 -5.82499856e-04 -1.64195360e+01] [-5.13642381e-03 -5.86136406e-05 9.99986807e-01 -2.37523327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.194012739 meters Centerline goodness [0,1] 0.9919320504087193 Centerline is valid? [True, True] Translation: X:143.64, Y:-16.42, Z:-2.37 [[ 9.92098131e-01 1.25347831e-01 5.40542698e-03 1.43643967e+02] [-1.25346332e-01 9.92112855e-01 -6.16686966e-04 -1.64199981e+01] [-5.44009397e-03 -6.57364574e-05 9.99985200e-01 -2.37429514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224012739 meters Centerline goodness [0,1] 0.9927115583075335 Centerline is valid? [True, True] Translation: X:143.67, Y:-16.42, Z:-2.37 [[ 9.92304382e-01 1.23685177e-01 5.83008974e-03 1.43672350e+02] [-1.23683405e-01 9.92321507e-01 -6.64854976e-04 -1.64244823e+01] [-5.86755614e-03 -6.13468428e-05 9.99982784e-01 -2.37424298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.254012739 meters Centerline goodness [0,1] 0.9935340647024592 Centerline is valid? [True, True] Translation: X:143.70, Y:-16.43, Z:-2.37 [[ 9.92546429e-01 1.21702823e-01 6.32533846e-03 1.43700369e+02] [-1.21700699e-01 9.92566582e-01 -7.21015044e-04 -1.64278492e+01] [-6.36606915e-03 -5.41572061e-05 9.99979735e-01 -2.37428137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284012739 meters Centerline goodness [0,1] 0.994211133421626 Centerline is valid? [True, True] Translation: X:143.73, Y:-16.43, Z:-2.37 [[ 9.92937911e-01 1.18423773e-01 7.07922875e-03 1.43727968e+02] [-1.18421033e-01 9.92963146e-01 -8.06470616e-04 -1.64341824e+01] [-7.12491855e-03 -3.75543317e-05 9.99974617e-01 -2.37300911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314012739 meters Centerline goodness [0,1] 0.994211133421626 Centerline is valid? [True, True] Translation: X:143.76, Y:-16.44, Z:-2.37 [[ 9.92943072e-01 1.18380488e-01 7.07927392e-03 1.43756124e+02] [-1.18377750e-01 9.92968307e-01 -8.06073933e-04 -1.64372942e+01] [-7.12491807e-03 -3.76429915e-05 9.99974617e-01 -2.37323083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344012739 meters Centerline goodness [0,1] 0.9955447029087949 Centerline is valid? [True, True] Translation: X:143.79, Y:-16.44, Z:-2.37 [[ 9.93067022e-01 1.17357167e-01 6.72193513e-03 1.43785022e+02] [-1.17354676e-01 9.93089772e-01 -7.65109751e-04 -1.64420130e+01] [-6.76527613e-03 -2.90452603e-05 9.99977115e-01 -2.37343042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.374012739 meters Centerline goodness [0,1] 0.9967156777449104 Centerline is valid? [True, True] Translation: X:143.81, Y:-16.45, Z:-2.38 [[ 9.93188361e-01 1.16391588e-01 5.46605338e-03 1.43813689e+02] [-1.16389928e-01 9.93203402e-01 -6.21972801e-04 -1.64452558e+01] [-5.50129522e-03 -1.84574114e-05 9.99984868e-01 -2.37666788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404012739 meters Centerline goodness [0,1] 0.9968697740234124 Centerline is valid? [True, True] Translation: X:143.84, Y:-16.45, Z:-2.38 [[ 9.93134015e-01 1.16878696e-01 4.91926832e-03 1.43841907e+02] [-1.16877358e-01 9.93146198e-01 -5.59610743e-04 -1.64461052e+01] [-4.95095921e-03 -1.91826229e-05 9.99987744e-01 -2.37834154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.434012739 meters Centerline goodness [0,1] 0.9945435016111708 Centerline is valid? [True, True] Translation: X:143.87, Y:-16.44, Z:-2.38 [[ 9.92936751e-01 1.18494583e-01 5.97006496e-03 1.43869769e+02] [-1.18492644e-01 9.92954698e-01 -6.78629167e-04 -1.64436446e+01] [-6.00841793e-03 -3.35729422e-05 9.99981949e-01 -2.37644667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464012739 meters Centerline goodness [0,1] 0.9943469205593574 Centerline is valid? [True, True] Translation: X:143.90, Y:-16.45, Z:-2.38 [[ 9.92880081e-01 1.18961371e-01 6.11047085e-03 1.43897455e+02] [-1.18959351e-01 9.92898883e-01 -6.94221189e-04 -1.64456378e+01] [-6.14966518e-03 -3.76192566e-05 9.99981090e-01 -2.37606126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49401273899997 meters Centerline goodness [0,1] 0.9943429911165602 Centerline is valid? [True, True] Translation: X:143.93, Y:-16.45, Z:-2.38 [[ 9.92924210e-01 1.18586519e-01 6.22508454e-03 1.43926082e+02] [-1.18584417e-01 9.92943723e-01 -7.06857852e-04 -1.64494093e+01] [-6.26498243e-03 -3.63417501e-05 9.99980374e-01 -2.37529478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52401273899997 meters Centerline goodness [0,1] 0.9944581805780544 Centerline is valid? [True, True] Translation: X:143.95, Y:-16.45, Z:-2.38 [[ 9.92987192e-01 1.18080410e-01 5.78396075e-03 1.43954041e+02] [-1.18078588e-01 9.93004036e-01 -6.56546820e-04 -1.64527431e+01] [-5.82102169e-03 -3.10193383e-05 9.99983057e-01 -2.37549416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55401273899997 meters Centerline goodness [0,1] 0.9939264254528163 Centerline is valid? [True, True] Translation: X:143.98, Y:-16.46, Z:-2.38 [[ 9.93032567e-01 1.17672636e-01 6.28265190e-03 1.43981767e+02] [-1.17670481e-01 9.93052441e-01 -7.12759536e-04 -1.64557438e+01] [-6.32287510e-03 -3.14892401e-05 9.99980010e-01 -2.37653357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58401273899997 meters Centerline goodness [0,1] 0.9937179983649584 Centerline is valid? [True, True] Translation: X:144.01, Y:-16.46, Z:-2.38 [[ 9.92993154e-01 1.17993167e-01 6.49689753e-03 1.44010271e+02] [-1.17990873e-01 9.93014406e-01 -7.36619854e-04 -1.64587603e+01] [-6.53842895e-03 -3.51161368e-05 9.99978624e-01 -2.37643257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61401273899997 meters Centerline goodness [0,1] 0.993537027891697 Centerline is valid? [True, True] Translation: X:144.04, Y:-16.46, Z:-2.38 [[ 9.92907725e-01 1.18712813e-01 6.44334168e-03 1.44039569e+02] [-1.18710574e-01 9.92928631e-01 -7.30257238e-04 -1.64599400e+01] [-6.48446932e-03 -3.98147358e-05 9.99978975e-01 -2.37612740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64401273899998 meters Centerline goodness [0,1] 0.9943217258512034 Centerline is valid? [True, True] Translation: X:144.07, Y:-16.46, Z:-2.38 [[ 9.92852048e-01 1.19223363e-01 5.53172641e-03 1.44068487e+02] [-1.19221721e-01 9.92867458e-01 -6.26737262e-04 -1.64609032e+01] [-5.56699286e-03 -3.72445693e-05 9.99984503e-01 -2.37775526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67401273899998 meters Centerline goodness [0,1] 0.9942924578907842 Centerline is valid? [True, True] Translation: X:144.10, Y:-16.46, Z:-2.38 [[ 9.92696501e-01 1.20570362e-01 4.05513359e-03 1.44097249e+02] [-1.20569491e-01 9.92704783e-01 -4.59390333e-04 -1.64578903e+01] [-4.08093937e-03 -3.28902165e-05 9.99991672e-01 -2.38013117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70401273899998 meters Centerline goodness [0,1] 0.9931474581352521 Centerline is valid? [True, True] Translation: X:144.12, Y:-16.46, Z:-2.38 [[ 9.92694864e-01 1.20565298e-01 4.57330603e-03 1.44124808e+02] [-1.20564192e-01 9.92705398e-01 -5.17765581e-04 -1.64585790e+01] [-4.60237015e-03 -3.73937123e-05 9.99989408e-01 -2.37950387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73401273899998 meters Centerline goodness [0,1] 0.992312661498708 Centerline is valid? [True, True] Translation: X:144.15, Y:-16.46, Z:-2.37 [[ 9.92748402e-01 1.19966495e-01 7.65842277e-03 1.44153210e+02] [-1.19963381e-01 9.92777939e-01 -8.66295716e-04 -1.64624552e+01] [-7.70703964e-03 -5.87166038e-05 9.99970299e-01 -2.37375189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76401273899998 meters Centerline goodness [0,1] 0.9913847083972103 Centerline is valid? [True, True] Translation: X:144.18, Y:-16.47, Z:-2.37 [[ 9.92828694e-01 1.19245778e-01 8.46342569e-03 1.44181483e+02] [-1.19241953e-01 9.92864765e-01 -9.56917578e-04 -1.64661364e+01] [-8.51714553e-03 -5.91401822e-05 9.99963727e-01 -2.37202303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79401273899998 meters Centerline goodness [0,1] 0.9915517911931204 Centerline is valid? [True, True] Translation: X:144.21, Y:-16.47, Z:-2.37 [[ 9.93107105e-01 1.16915927e-01 8.30327911e-03 1.44209615e+02] [-1.16912167e-01 9.93141815e-01 -9.38411148e-04 -1.64682373e+01] [-8.35604890e-03 -3.88115790e-05 9.99965087e-01 -2.37275837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82401273899998 meters Centerline goodness [0,1] 0.9931902074759218 Centerline is valid? [True, True] Translation: X:144.24, Y:-16.47, Z:-2.37 [[ 9.93289765e-01 1.15397602e-01 7.67052736e-03 1.44237382e+02] [-1.15394352e-01 9.93319381e-01 -8.66474554e-04 -1.64725195e+01] [-7.71927258e-03 -2.44752259e-05 9.99970206e-01 -2.37392244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85401273899998 meters Centerline goodness [0,1] 0.9948357206613678 Centerline is valid? [True, True] Translation: X:144.27, Y:-16.48, Z:-2.38 [[ 9.93508455e-01 1.13535765e-01 7.11196195e-03 1.44265152e+02] [-1.13532925e-01 9.93533910e-01 -8.03017249e-04 -1.64777726e+01] [-7.15714654e-03 -9.63742069e-06 9.99974387e-01 -2.37575802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88401273899999 meters Centerline goodness [0,1] 0.9974739365915269 Centerline is valid? [True, True] Translation: X:144.29, Y:-16.49, Z:-2.38 [[ 9.93967746e-01 1.09496356e-01 6.21837477e-03 1.44292832e+02] [-1.09494109e-01 9.93987197e-01 -7.01820189e-04 -1.64862624e+01] [-6.25783166e-03 1.67112288e-05 9.99980419e-01 -2.37721845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.914012739 meters Centerline goodness [0,1] 0.9978775860220817 Centerline is valid? [True, True] Translation: X:144.32, Y:-16.49, Z:-2.38 [[ 9.94364664e-01 1.05896434e-01 4.98597341e-03 1.44319402e+02] [-1.05894944e-01 9.94377164e-01 -5.62561028e-04 -1.64942194e+01] [-5.01751131e-03 3.14014301e-05 9.99987412e-01 -2.38061603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944012739 meters Centerline goodness [0,1] 0.9975523061532895 Centerline is valid? [True, True] Translation: X:144.35, Y:-16.50, Z:-2.38 [[ 9.94450624e-01 1.05107070e-01 4.52323070e-03 1.44347258e+02] [-1.05105836e-01 9.94460911e-01 -5.10239806e-04 -1.64996324e+01] [-4.55180593e-03 3.19903484e-05 9.99989640e-01 -2.38179259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.974012739 meters Centerline goodness [0,1] 0.9975090725589985 Centerline is valid? [True, True] Translation: X:144.38, Y:-16.50, Z:-2.38 [[ 9.94546253e-01 1.04183270e-01 4.85757619e-03 1.44375963e+02] [-1.04181838e-01 9.94558115e-01 -5.47622752e-04 -1.65041620e+01] [-4.88819495e-03 3.85649408e-05 9.99988052e-01 -2.38161800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004012739 meters Centerline goodness [0,1] 0.9970785985865572 Centerline is valid? [True, True] Translation: X:144.40, Y:-16.51, Z:-2.38 [[ 9.94782829e-01 1.01872842e-01 5.38946076e-03 1.44403912e+02] [-1.01871047e-01 9.94797427e-01 -6.07342400e-04 -1.65096639e+01] [-5.42329339e-03 5.51437809e-05 9.99985292e-01 -2.37929033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.034012739 meters Centerline goodness [0,1] 0.9932569261924253 Centerline is valid? [True, True] Translation: X:144.43, Y:-16.51, Z:-2.37 [[ 9.94994882e-01 9.97971073e-02 5.07178292e-03 1.44432481e+02] [-9.97954918e-02 9.95007806e-01 -5.71239846e-04 -1.65147401e+01] [-5.10347168e-03 6.22396519e-05 9.99986975e-01 -2.36937851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064012739 meters Centerline goodness [0,1] 0.9971213990433522 Centerline is valid? [True, True] Translation: X:144.46, Y:-16.52, Z:-2.38 [[ 9.95101263e-01 9.87402839e-02 4.88179360e-03 1.44459240e+02] [-9.87387754e-02 9.95113236e-01 -5.49649271e-04 -1.65232767e+01] [-4.91220995e-03 6.49343631e-05 9.99987933e-01 -2.38141077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.094012739 meters Centerline goodness [0,1] 0.9971362867184449 Centerline is valid? [True, True] Translation: X:144.49, Y:-16.53, Z:-2.38 [[ 9.95154432e-01 9.82291307e-02 4.32364352e-03 1.44486780e+02] [-9.82279439e-02 9.95163823e-01 -4.86509191e-04 -1.65321589e+01] [-4.35052299e-03 5.94491645e-05 9.99990535e-01 -2.38200315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124012739 meters Centerline goodness [0,1] 0.9970927148101776 Centerline is valid? [True, True] Translation: X:144.51, Y:-16.54, Z:-2.38 [[ 9.95074085e-01 9.90493190e-02 4.09861810e-03 1.44514122e+02] [-9.90482596e-02 9.95082524e-01 -4.61144886e-04 -1.65355580e+01] [-4.12413933e-03 5.29123357e-05 9.99991494e-01 -2.38197958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.154012739 meters Centerline goodness [0,1] 0.9976486180286869 Centerline is valid? [True, True] Translation: X:144.54, Y:-16.54, Z:-2.38 [[ 9.94945207e-01 1.00330191e-01 4.22932323e-03 1.44541563e+02] [-1.00329076e-01 9.94954195e-01 -4.75598705e-04 -1.65375018e+01] [-4.25569980e-03 4.88705608e-05 9.99990943e-01 -2.38149487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184012739 meters Centerline goodness [0,1] 0.9978538469792896 Centerline is valid? [True, True] Translation: X:144.57, Y:-16.54, Z:-2.38 [[ 9.94564373e-01 1.04016194e-01 4.72640748e-03 1.44570132e+02] [-1.04014845e-01 9.94575603e-01 -5.31095809e-04 -1.65380916e+01] [-4.75601213e-03 3.65924289e-05 9.99988689e-01 -2.38084904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.214012739 meters Centerline goodness [0,1] 0.9978985740323791 Centerline is valid? [True, True] Translation: X:144.60, Y:-16.54, Z:-2.38 [[ 9.94430763e-01 1.05260116e-01 5.26933700e-03 1.44597532e+02] [-1.05258457e-01 9.94444723e-01 -5.91850356e-04 -1.65428548e+01] [-5.30236261e-03 3.39119177e-05 9.99985942e-01 -2.38119559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24401273899997 meters Centerline goodness [0,1] 0.9973694424080383 Centerline is valid? [True, True] Translation: X:144.63, Y:-16.54, Z:-2.38 [[ 9.94342411e-01 1.06096090e-01 5.17591196e-03 1.44626614e+02] [-1.06094503e-01 9.94355881e-01 -5.81045308e-04 -1.65447896e+01] [-5.20834513e-03 2.86221856e-05 9.99986436e-01 -2.38087706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27401273899997 meters Centerline goodness [0,1] 0.9978185084586265 Centerline is valid? [True, True] Translation: X:144.65, Y:-16.55, Z:-2.38 [[ 9.94340071e-01 1.06144121e-01 4.60973921e-03 1.44653407e+02] [-1.06142863e-01 9.94350755e-01 -5.17347953e-04 -1.65522369e+01] [-4.63861111e-03 2.51288820e-05 9.99989241e-01 -2.38280294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30401273899997 meters Centerline goodness [0,1] 0.9981056171643856 Centerline is valid? [True, True] Translation: X:144.68, Y:-16.56, Z:-2.38 [[ 9.94348447e-01 1.06090364e-01 4.00011641e-03 1.44680489e+02] [-1.06089417e-01 9.94356493e-01 -4.48752446e-04 -1.65585803e+01] [-4.02515004e-03 2.18462803e-05 9.99991899e-01 -2.38423094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33401273899997 meters Centerline goodness [0,1] 0.9981962011561699 Centerline is valid? [True, True] Translation: X:144.71, Y:-16.56, Z:-2.38 [[ 9.94339682e-01 1.06171797e-01 4.01813442e-03 1.44709374e+02] [-1.06170844e-01 9.94347801e-01 -4.50512449e-04 -1.65621444e+01] [-4.04325484e-03 2.13536844e-05 9.99991826e-01 -2.38201996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36401273899997 meters Centerline goodness [0,1] 0.9981513724984415 Centerline is valid? [True, True] Translation: X:144.74, Y:-16.57, Z:-2.38 [[ 9.94329445e-01 1.06279086e-01 3.70270073e-03 1.44737329e+02] [-1.06278277e-01 9.94336339e-01 -4.15044432e-04 -1.65666543e+01] [-3.72584044e-03 1.91742443e-05 9.99993059e-01 -2.38283649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39401273899998 meters Centerline goodness [0,1] 0.997867757915141 Centerline is valid? [True, True] Translation: X:144.77, Y:-16.57, Z:-2.38 [[ 9.94302957e-01 1.06536416e-01 3.40897435e-03 1.44765629e+02] [-1.06535733e-01 9.94308801e-01 -3.81842778e-04 -1.65713825e+01] [-3.43025336e-03 1.64898219e-05 9.99994117e-01 -2.38332943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42401273899998 meters Centerline goodness [0,1] 0.9977287966948585 Centerline is valid? [True, True] Translation: X:144.79, Y:-16.58, Z:-2.38 [[ 9.94171916e-01 1.07752030e-01 3.42085218e-03 1.44793229e+02] [-1.07751350e-01 9.94177801e-01 -3.83154274e-04 -1.65759922e+01] [-3.44222095e-03 1.23197793e-05 9.99994075e-01 -2.38309822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45401273899998 meters Centerline goodness [0,1] 0.996633505254753 Centerline is valid? [True, True] Translation: X:144.82, Y:-16.58, Z:-2.38 [[ 9.93908614e-01 1.10106141e-01 4.72277574e-03 1.44822365e+02] [-1.10104872e-01 9.93919835e-01 -5.28491461e-04 -1.65753248e+01] [-4.75225064e-03 5.27159534e-06 9.99988708e-01 -2.38099931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48401273899998 meters Centerline goodness [0,1] 0.9906660918301358 Centerline is valid? [True, True] Translation: X:144.85, Y:-16.58, Z:-2.37 [[ 9.93704915e-01 1.11926889e-01 4.78671276e-03 1.44851140e+02] [-1.11925609e-01 9.93716444e-01 -5.35422732e-04 -1.65759454e+01] [-4.81656338e-03 -3.70353871e-06 9.99988400e-01 -2.37196407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51401273899998 meters Centerline goodness [0,1] 0.9932680800136775 Centerline is valid? [True, True] Translation: X:144.88, Y:-16.58, Z:-2.38 [[ 9.93193772e-01 1.16385520e-01 4.53227431e-03 1.44878986e+02] [-1.16384419e-01 9.93204113e-01 -5.06803375e-04 -1.65752276e+01] [-4.56045806e-03 -2.41321544e-05 9.99989601e-01 -2.38118706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54401273899998 meters Centerline goodness [0,1] 0.991875685086079 Centerline is valid? [True, True] Translation: X:144.91, Y:-16.57, Z:-2.38 [[ 9.92852852e-01 1.19262710e-01 4.42947931e-03 1.44908481e+02] [-1.19261689e-01 9.92862732e-01 -4.95011789e-04 -1.65736914e+01] [-4.45690137e-03 -3.67933152e-05 9.99990067e-01 -2.38092514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57401273899998 meters Centerline goodness [0,1] 0.9904682166548593 Centerline is valid? [True, True] Translation: X:144.94, Y:-16.57, Z:-2.38 [[ 9.92429587e-01 1.22724927e-01 4.70187088e-03 1.44937355e+02] [-1.22723816e-01 9.92440723e-01 -5.25243420e-04 -1.65691069e+01] [-4.73078860e-03 -5.57644267e-05 9.99988808e-01 -2.38143442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60401273899998 meters Centerline goodness [0,1] 0.9883870405473124 Centerline is valid? [True, True] Translation: X:144.97, Y:-16.57, Z:-2.38 [[ 9.91669332e-01 1.28695191e-01 5.42993148e-03 1.44966699e+02] [-1.28693801e-01 9.91684193e-01 -6.06164939e-04 -1.65675487e+01] [-5.46278773e-03 -9.76833411e-05 9.99985074e-01 -2.38007199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63401273899999 meters Centerline goodness [0,1] 0.9876103520473137 Centerline is valid? [True, True] Translation: X:145.00, Y:-16.56, Z:-2.38 [[ 9.91119487e-01 1.32903661e-01 4.33355183e-03 1.44995640e+02] [-1.32902817e-01 9.91128956e-01 -4.83622785e-04 -1.65615662e+01] [-4.35938394e-03 -9.66132778e-05 9.99990493e-01 -2.38217486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.664012739 meters Centerline goodness [0,1] 0.9870338619802829 Centerline is valid? [True, True] Translation: X:145.02, Y:-16.56, Z:-2.38 [[ 9.90853166e-01 1.34879637e-01 4.18177331e-03 1.45023623e+02] [-1.34878869e-01 9.90861985e-01 -4.66522109e-04 -1.65586540e+01] [-4.20648454e-03 -1.01777946e-04 9.99991148e-01 -2.38213208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.694012739 meters Centerline goodness [0,1] 0.9857851310333035 Centerline is valid? [True, True] Translation: X:145.05, Y:-16.55, Z:-2.38 [[ 9.90539568e-01 1.37158228e-01 4.35709320e-03 1.45053572e+02] [-1.37157417e-01 9.90549144e-01 -4.85766119e-04 -1.65515966e+01] [-4.38254176e-03 -1.16437086e-04 9.99990390e-01 -2.38163698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724012739 meters Centerline goodness [0,1] 0.9843111970771545 Centerline is valid? [True, True] Translation: X:145.08, Y:-16.55, Z:-2.38 [[ 9.89745239e-01 1.42759930e-01 4.89531366e-03 1.45084768e+02] [-1.42758977e-01 9.89757332e-01 -5.45368067e-04 -1.65452638e+01] [-4.92302929e-03 -1.59074521e-04 9.99987869e-01 -2.38036287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.754012739 meters Centerline goodness [0,1] 0.9658295771624812 Centerline is valid? [True, True] Translation: X:145.11, Y:-16.54, Z:-2.38 [[ 9.89374492e-01 1.45314539e-01 4.66891956e-03 1.45114393e+02] [-1.45313700e-01 9.89385495e-01 -5.20277285e-04 -1.65355108e+01] [-4.69496515e-03 -1.63708903e-04 9.99988965e-01 -2.38251719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784012739 meters Centerline goodness [0,1] 0.9696385228848821 Centerline is valid? [True, True] Translation: X:145.14, Y:-16.53, Z:-2.39 [[ 9.88965308e-01 1.48109197e-01 3.35926929e-03 1.45144814e+02] [-1.48108779e-01 9.88971005e-01 -3.74084961e-04 -1.65324684e+01] [-3.37762535e-03 -1.27580225e-04 9.99994288e-01 -2.38518632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.814012739 meters Centerline goodness [0,1] 0.9705190192974199 Centerline is valid? [True, True] Translation: X:145.17, Y:-16.53, Z:-2.39 [[ 9.88980001e-01 1.48018979e-01 2.98986749e-03 1.45171923e+02] [-1.48018647e-01 9.88984514e-01 -3.33260247e-04 -1.65311289e+01] [-3.00626149e-03 -1.12968421e-04 9.99995475e-01 -2.38605882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844012739 meters Centerline goodness [0,1] 0.9724273756770064 Centerline is valid? [True, True] Translation: X:145.20, Y:-16.53, Z:-2.38 [[ 9.89410622e-01 1.45097784e-01 3.64074308e-03 1.45201180e+02] [-1.45097274e-01 9.89417312e-01 -4.05127642e-04 -1.65287372e+01] [-3.66099736e-03 -1.27424304e-04 9.99993290e-01 -2.38477529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.874012739 meters Centerline goodness [0,1] 0.9838868863714384 Centerline is valid? [True, True] Translation: X:145.23, Y:-16.54, Z:-2.38 [[ 9.89742257e-01 1.42801955e-01 4.22689199e-03 1.45230796e+02] [-1.42801248e-01 9.89751273e-01 -4.70184243e-04 -1.65360115e+01] [-4.25071496e-03 -1.38244237e-04 9.99990956e-01 -2.38358146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904012739 meters Centerline goodness [0,1] 0.9866061922405349 Centerline is valid? [True, True] Translation: X:145.26, Y:-16.54, Z:-2.38 [[ 9.90498776e-01 1.37426247e-01 5.11877636e-03 1.45260176e+02] [-1.37425139e-01 9.90511992e-01 -5.69324683e-04 -1.65391111e+01] [-5.14844952e-03 -1.39533149e-04 9.99986737e-01 -2.38160949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.934012739 meters Centerline goodness [0,1] 0.9858497666716844 Centerline is valid? [True, True] Translation: X:145.29, Y:-16.54, Z:-2.38 [[ 9.90893583e-01 1.34555626e-01 4.96897021e-03 1.45288878e+02] [-1.34554545e-01 9.90906034e-01 -5.52679293e-04 -1.65441249e+01] [-4.99814868e-03 -1.20951162e-04 9.99987502e-01 -2.37786624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964012739 meters Centerline goodness [0,1] 0.9874108805960563 Centerline is valid? [True, True] Translation: X:145.32, Y:-16.55, Z:-2.38 [[ 9.91293338e-01 1.31592622e-01 4.57159934e-03 1.45316386e+02] [-1.31591677e-01 9.91303875e-01 -5.08332040e-04 -1.65482920e+01] [-4.59873689e-03 -9.76782587e-05 9.99989421e-01 -2.38311638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99401273899997 meters Centerline goodness [0,1] 0.9891868789400577 Centerline is valid? [True, True] Translation: X:145.35, Y:-16.56, Z:-2.39 [[ 9.91999891e-01 1.26195951e-01 3.28594498e-03 1.45345417e+02] [-1.26195434e-01 9.92005332e-01 -3.65149608e-04 -1.65565081e+01] [-3.30575534e-03 -5.24428796e-05 9.99994535e-01 -2.38570961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02401273899997 meters Centerline goodness [0,1] 0.9903570051000729 Centerline is valid? [True, True] Translation: X:145.37, Y:-16.56, Z:-2.39 [[ 9.92418379e-01 1.22894526e-01 1.64196507e-03 1.45374354e+02] [-1.22894392e-01 9.92419737e-01 -1.82654171e-04 -1.65601854e+01] [-1.65196575e-03 -2.05189429e-05 9.99998635e-01 -2.38846656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05401273899997 meters Centerline goodness [0,1] 0.9911884759086884 Centerline is valid? [True, True] Translation: X:145.40, Y:-16.56, Z:-2.39 [[ 9.92500118e-01 1.22239552e-01 1.00359251e-03 1.45403256e+02] [-1.22239501e-01 9.92500626e-01 -1.11737739e-04 -1.65631035e+01] [-1.00972497e-03 -1.17789285e-05 9.99999490e-01 -2.38908300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08401273899997 meters Centerline goodness [0,1] 0.9909407364165099 Centerline is valid? [True, True] Translation: X:145.43, Y:-16.56, Z:-2.39 [[ 9.92588040e-01 1.21521736e-01 1.20416204e-03 1.45432258e+02] [-1.21521663e-01 9.92588771e-01 -1.33943146e-04 -1.65640804e+01] [-1.21151472e-03 -1.33814097e-05 9.99999266e-01 -2.38893191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11401273899997 meters Centerline goodness [0,1] 0.9906757912745937 Centerline is valid? [True, True] Translation: X:145.46, Y:-16.57, Z:-2.39 [[ 9.92639573e-01 1.21088698e-01 2.05044180e-03 1.45461460e+02] [-1.21088486e-01 9.92641691e-01 -2.27730797e-04 -1.65659665e+01] [-2.06292964e-03 -2.22302932e-05 9.99997872e-01 -2.38748646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14401273899998 meters Centerline goodness [0,1] 0.9903362061609352 Centerline is valid? [True, True] Translation: X:145.49, Y:-16.57, Z:-2.39 [[ 9.92771964e-01 1.19970349e-01 3.30793137e-03 1.45489276e+02] [-1.19969791e-01 9.92777475e-01 -3.67060131e-04 -1.65652993e+01] [-3.32807609e-03 -3.24448296e-05 9.99994461e-01 -2.38613132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17401273899998 meters Centerline goodness [0,1] 0.990900701761916 Centerline is valid? [True, True] Translation: X:145.52, Y:-16.57, Z:-2.39 [[ 9.92828766e-01 1.19510315e-01 2.88544175e-03 1.45517048e+02] [-1.19509889e-01 9.92832959e-01 -3.20116281e-04 -1.65677904e+01] [-2.90301887e-03 -2.70181713e-05 9.99995786e-01 -2.38731413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20401273899998 meters Centerline goodness [0,1] 0.9917670639453436 Centerline is valid? [True, True] Translation: X:145.55, Y:-16.57, Z:-2.39 [[ 9.93168787e-01 1.16660985e-01 2.44424753e-03 1.45545577e+02] [-1.16660672e-01 9.93171795e-01 -2.70964157e-04 -1.65719879e+01] [-2.45916865e-03 -1.60344150e-05 9.99996976e-01 -2.38876998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23401273899998 meters Centerline goodness [0,1] 0.9917670639453436 Centerline is valid? [True, True] Translation: X:145.57, Y:-16.57, Z:-2.39 [[ 9.93176938e-01 1.16591573e-01 2.44424644e-03 1.45572912e+02] [-1.16591260e-01 9.93179946e-01 -2.70974128e-04 -1.65748795e+01] [-2.45916984e-03 -1.58525162e-05 9.99996976e-01 -2.38898515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26401273899998 meters Centerline goodness [0,1] 0.9919131038071286 Centerline is valid? [True, True] Translation: X:145.60, Y:-16.58, Z:-2.39 [[ 9.93458597e-01 1.14138278e-01 3.53130555e-03 1.45600944e+02] [-1.14137609e-01 9.93464873e-01 -3.90895031e-04 -1.65806959e+01] [-3.55284410e-03 -1.47167439e-05 9.99993689e-01 -2.38715880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29401273899998 meters Centerline goodness [0,1] 0.9938834615717126 Centerline is valid? [True, True] Translation: X:145.63, Y:-16.59, Z:-2.38 [[ 9.94150012e-01 1.07841895e-01 5.98989298e-03 1.45629045e+02] [-1.07839861e-01 9.94168057e-01 -6.62503152e-04 -1.65927600e+01] [-6.02640586e-03 1.26782917e-05 9.99981841e-01 -2.38180479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32401273899998 meters Centerline goodness [0,1] 0.995213749592081 Centerline is valid? [True, True] Translation: X:145.66, Y:-16.60, Z:-2.38 [[ 9.94459716e-01 1.04937856e-01 6.15788777e-03 1.45656811e+02] [-1.04935652e-01 9.94478781e-01 -6.80780996e-04 -1.65998676e+01] [-6.19532842e-03 3.08273068e-05 9.99980808e-01 -2.38193118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35401273899998 meters Centerline goodness [0,1] 0.9973056773227841 Centerline is valid? [True, True] Translation: X:145.68, Y:-16.61, Z:-2.39 [[ 9.94939601e-01 1.00366879e-01 4.65622307e-03 1.45683495e+02] [-1.00365569e-01 9.94950495e-01 -5.14668151e-04 -1.66124884e+01] [-4.68436709e-03 4.47392456e-05 9.99989027e-01 -2.38577696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38401273899999 meters Centerline goodness [0,1] 0.9973970556859398 Centerline is valid? [True, True] Translation: X:145.71, Y:-16.62, Z:-2.39 [[ 9.95074510e-01 9.90411130e-02 4.19258669e-03 1.45711751e+02] [-9.90400405e-02 9.95083341e-01 -4.63164858e-04 -1.66177546e+01] [-4.21784554e-03 4.56495885e-05 9.99991104e-01 -2.38714342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.414012739 meters Centerline goodness [0,1] 0.9976769935520289 Centerline is valid? [True, True] Translation: X:145.74, Y:-16.62, Z:-2.39 [[ 9.95124012e-01 9.85560214e-02 3.86151903e-03 1.45740497e+02] [-9.85551085e-02 9.95131503e-01 -4.26440313e-04 -1.66243662e+01] [-3.88474749e-03 4.37885684e-05 9.99992453e-01 -2.38840655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444012739 meters Centerline goodness [0,1] 0.9976894441829618 Centerline is valid? [True, True] Translation: X:145.77, Y:-16.63, Z:-2.39 [[ 9.95082660e-01 9.89781110e-02 3.71924812e-03 1.45768008e+02] [-9.89772676e-02 9.95089610e-01 -4.10615236e-04 -1.66287888e+01] [-3.74162708e-03 4.04750857e-05 9.99992999e-01 -2.38894611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.474012739 meters Centerline goodness [0,1] 0.9974973885793872 Centerline is valid? [True, True] Translation: X:145.80, Y:-16.63, Z:-2.39 [[ 9.94966116e-01 1.00110212e-01 4.51357735e-03 1.45796861e+02] [-1.00108984e-01 9.94976353e-01 -4.97918712e-04 -1.66336136e+01] [-4.54074948e-03 4.35626058e-05 9.99989690e-01 -2.38760752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504012739 meters Centerline goodness [0,1] 0.9977191762968112 Centerline is valid? [True, True] Translation: X:145.82, Y:-16.64, Z:-2.39 [[ 9.94883515e-01 1.00919619e-01 4.69268054e-03 1.45824036e+02] [-1.00918300e-01 9.94894582e-01 -5.17472162e-04 -1.66376092e+01] [-4.72094554e-03 4.12471794e-05 9.99988855e-01 -2.38792976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.534012739 meters Centerline goodness [0,1] 0.9971545932993882 Centerline is valid? [True, True] Translation: X:145.85, Y:-16.64, Z:-2.39 [[ 9.94799103e-01 1.01713684e-01 5.39179082e-03 1.45851621e+02] [-1.01711957e-01 9.94813714e-01 -5.94166422e-04 -1.66427154e+01] [-5.42426231e-03 4.26666245e-05 9.99985288e-01 -2.38677612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564012739 meters Centerline goodness [0,1] 0.9968782294178437 Centerline is valid? [True, True] Translation: X:145.88, Y:-16.65, Z:-2.39 [[ 9.94778376e-01 1.01858989e-01 6.38191687e-03 1.45880099e+02] [-1.01856576e-01 9.94798846e-01 -7.02803837e-04 -1.66458893e+01] [-6.42031043e-03 4.90938608e-05 9.99979388e-01 -2.38517318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.594012739 meters Centerline goodness [0,1] 0.9968442746125112 Centerline is valid? [True, True] Translation: X:145.91, Y:-16.66, Z:-2.38 [[ 9.94845993e-01 1.01163605e-01 6.88303761e-03 1.45907955e+02] [-1.01160784e-01 9.94869801e-01 -7.57641578e-04 -1.66551297e+01] [-6.92437201e-03 5.74432083e-05 9.99976025e-01 -2.38458481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624012739 meters Centerline goodness [0,1] 0.9971896252118507 Centerline is valid? [True, True] Translation: X:145.94, Y:-16.66, Z:-2.39 [[ 9.94960015e-01 1.00071077e-01 6.35201367e-03 1.45935745e+02] [-1.00068654e-01 9.94980289e-01 -6.98923469e-04 -1.66633075e+01] [-6.39007042e-03 5.97634463e-05 9.99979582e-01 -2.38616859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.654012739 meters Centerline goodness [0,1] 0.9976458502760776 Centerline is valid? [True, True] Translation: X:145.96, Y:-16.68, Z:-2.39 [[ 9.95282753e-01 9.69313812e-02 4.06808212e-03 1.45963467e+02] [-9.69303617e-02 9.95291065e-01 -4.47516143e-04 -1.66766426e+01] [-4.09230415e-03 5.10844269e-05 9.99991625e-01 -2.39052687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684012739 meters Centerline goodness [0,1] 0.9973505654281098 Centerline is valid? [True, True] Translation: X:145.99, Y:-16.68, Z:-2.39 [[ 9.95431209e-01 9.54271143e-02 3.22094713e-03 1.45992528e+02] [-9.54264676e-02 9.95436419e-01 -3.54219299e-04 -1.66842852e+01] [-3.24005021e-03 4.52373379e-05 9.99994750e-01 -2.39189306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.714012739 meters Centerline goodness [0,1] 0.9972311060550774 Centerline is valid? [True, True] Translation: X:146.02, Y:-16.70, Z:-2.39 [[ 9.95651848e-01 9.30952806e-02 3.26591368e-03 1.46019015e+02] [-9.30946031e-02 9.95657203e-01 -3.59189973e-04 -1.67010319e+01] [-3.28516937e-03 5.35892224e-05 9.99994602e-01 -2.39293261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74401273899997 meters Centerline goodness [0,1] 0.9973735199138859 Centerline is valid? [True, True] Translation: X:146.05, Y:-16.71, Z:-2.39 [[ 9.95708939e-01 9.25010326e-02 2.69573040e-03 1.46047515e+02] [-9.25005692e-02 9.95712587e-01 -2.96357855e-04 -1.67086077e+01] [-2.71158610e-03 4.57295685e-05 9.99996323e-01 -2.39410166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77401273899997 meters Centerline goodness [0,1] 0.9974277368443999 Centerline is valid? [True, True] Translation: X:146.08, Y:-16.71, Z:-2.39 [[ 9.95590763e-01 9.37669277e-02 2.60673630e-03 1.46076633e+02] [-9.37664990e-02 9.95594175e-01 -2.86438493e-04 -1.67145200e+01] [-2.62210993e-03 4.07509812e-05 9.99996561e-01 -2.39388078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80401273899997 meters Centerline goodness [0,1] 0.9979222003255933 Centerline is valid? [True, True] Translation: X:146.10, Y:-16.72, Z:-2.40 [[ 9.95453830e-01 9.52118150e-02 2.52656112e-03 1.46104639e+02] [-9.52114170e-02 9.95457035e-01 -2.77635585e-04 -1.67219163e+01] [-2.54151723e-03 3.58159418e-05 9.99996770e-01 -2.39507558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83401273899997 meters Centerline goodness [0,1] 0.9970894874022589 Centerline is valid? [True, True] Translation: X:146.13, Y:-16.73, Z:-2.39 [[ 9.95072713e-01 9.91092085e-02 2.76778230e-03 1.46134397e+02] [-9.91087466e-02 9.95076562e-01 -3.03894252e-04 -1.67257166e+01] [-2.78427401e-03 2.80854439e-05 9.99996124e-01 -2.39461890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86401273899997 meters Centerline goodness [0,1] 0.9972194081003599 Centerline is valid? [True, True] Translation: X:146.16, Y:-16.73, Z:-2.40 [[ 9.94946497e-01 1.00374062e-01 2.55265035e-03 1.46162754e+02] [-1.00373673e-01 9.94949771e-01 -2.80377418e-04 -1.67324469e+01] [-2.56790150e-03 2.27416374e-05 9.99996703e-01 -2.39596721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89401273899998 meters Centerline goodness [0,1] 0.9969992012262257 Centerline is valid? [True, True] Translation: X:146.19, Y:-16.74, Z:-2.40 [[ 9.94844822e-01 1.01366820e-01 2.92376681e-03 1.46191223e+02] [-1.01366314e-01 9.94849118e-01 -3.20986872e-04 -1.67358329e+01] [-2.94124425e-03 2.29606624e-05 9.99995674e-01 -2.39500950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92401273899998 meters Centerline goodness [0,1] 0.9972677595628415 Centerline is valid? [True, True] Translation: X:146.22, Y:-16.74, Z:-2.40 [[ 9.94558047e-01 1.04178573e-01 1.05658832e-03 1.46218654e+02] [-1.04178509e-01 9.94558608e-01 -1.16298205e-04 -1.67396642e+01] [-1.06295479e-03 5.59152059e-06 9.99999435e-01 -2.39893922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95401273899998 meters Centerline goodness [0,1] 0.9971826745236354 Centerline is valid? [True, True] Translation: X:146.25, Y:-16.74, Z:-2.40 [[ 9.94391355e-01 1.05761818e-01 5.20265475e-04 1.46245716e+02] [-1.05761803e-01 9.94391491e-01 -5.74413814e-05 -1.67440314e+01] [-5.23422666e-04 2.09499855e-06 9.99999863e-01 -2.39953827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98401273899998 meters Centerline goodness [0,1] 0.9954132391575865 Centerline is valid? [True, True] Translation: X:146.27, Y:-16.75, Z:-2.39 [[ 9.94303688e-01 1.06555408e-01 2.47408178e-03 1.46274246e+02] [-1.06555063e-01 9.94306766e-01 -2.71350384e-04 -1.67458311e+01] [-2.48891011e-03 6.17874733e-06 9.99996903e-01 -2.39442840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01401273899998 meters Centerline goodness [0,1] 0.9932763631631458 Centerline is valid? [True, True] Translation: X:146.30, Y:-16.75, Z:-2.39 [[ 9.94179350e-01 1.07630109e-01 4.81458138e-03 1.46303064e+02] [-1.07628817e-01 9.94191008e-01 -5.27471947e-04 -1.67470213e+01] [-4.84338537e-03 6.21402063e-06 9.99988271e-01 -2.39055723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04401273899998 meters Centerline goodness [0,1] 0.9915906744666207 Centerline is valid? [True, True] Translation: X:146.33, Y:-16.75, Z:-2.39 [[ 9.93910422e-01 1.10050168e-01 5.57076311e-03 1.46331281e+02] [-1.10048477e-01 9.93926034e-01 -6.10013495e-04 -1.67481744e+01] [-5.60405857e-03 -6.75522661e-06 9.99984297e-01 -2.39072684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07401273899998 meters Centerline goodness [0,1] 0.9919598417492662 Centerline is valid? [True, True] Translation: X:146.36, Y:-16.75, Z:-2.39 [[ 9.93862732e-01 1.10509156e-01 4.95955858e-03 1.46359983e+02] [-1.10507823e-01 9.93875106e-01 -5.42764489e-04 -1.67529702e+01] [-4.98916225e-03 -8.63662679e-06 9.99987554e-01 -2.39268019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10401273899998 meters Centerline goodness [0,1] 0.9919957310565635 Centerline is valid? [True, True] Translation: X:146.39, Y:-16.76, Z:-2.39 [[ 9.93968397e-01 1.09580922e-01 4.34134273e-03 1.46387843e+02] [-1.09579893e-01 9.93977878e-01 -4.74989743e-04 -1.67596100e+01] [-4.36724845e-03 -3.59907771e-06 9.99990464e-01 -2.39308337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13401273899999 meters Centerline goodness [0,1] 0.9925459950881124 Centerline is valid? [True, True] Translation: X:146.42, Y:-16.76, Z:-2.39 [[ 9.93934861e-01 1.09908676e-01 3.68429796e-03 1.46416923e+02] [-1.09907937e-01 9.93941690e-01 -4.02969452e-04 -1.67622417e+01] [-3.70626718e-03 -4.40820282e-06 9.99993132e-01 -2.39306607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.164012739 meters Centerline goodness [0,1] 0.992966505125016 Centerline is valid? [True, True] Translation: X:146.44, Y:-16.77, Z:-2.39 [[ 9.93895552e-01 1.10268260e-01 3.54153077e-03 1.46444930e+02] [-1.10267580e-01 9.93901862e-01 -3.87326279e-04 -1.67656651e+01] [-3.56264383e-03 -5.55416087e-06 9.99993654e-01 -2.39455168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.194012739 meters Centerline goodness [0,1] 0.9931092041344776 Centerline is valid? [True, True] Translation: X:146.47, Y:-16.77, Z:-2.40 [[ 9.93854108e-01 1.10648847e-01 3.29325034e-03 1.46473416e+02] [-1.10648262e-01 9.93859564e-01 -3.60120289e-04 -1.67701511e+01] [-3.31287524e-03 -6.48539651e-06 9.99994512e-01 -2.39531082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224012739 meters Centerline goodness [0,1] 0.9921787226687409 Centerline is valid? [True, True] Translation: X:146.50, Y:-16.78, Z:-2.40 [[ 9.93844891e-01 1.10733040e-01 3.24452981e-03 1.46501704e+02] [-1.10732473e-01 9.93850187e-01 -3.54649649e-04 -1.67776283e+01] [-3.26384799e-03 -6.80806659e-06 9.99994674e-01 -2.39551491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.254012739 meters Centerline goodness [0,1] 0.9925272916305666 Centerline is valid? [True, True] Translation: X:146.53, Y:-16.78, Z:-2.39 [[ 9.93945746e-01 1.09805635e-01 3.81791000e-03 1.46530648e+02] [-1.09804844e-01 9.93953079e-01 -4.16983067e-04 -1.67831799e+01] [-3.84061049e-03 -4.76646596e-06 9.99992625e-01 -2.39393592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284012739 meters Centerline goodness [0,1] 0.9919228709159079 Centerline is valid? [True, True] Translation: X:146.56, Y:-16.79, Z:-2.39 [[ 9.94005968e-01 1.09137673e-01 6.41130949e-03 1.46559642e+02] [-1.09135429e-01 9.94026644e-01 -6.99949531e-04 -1.67909779e+01] [-6.44940331e-03 -3.94699787e-06 9.99979202e-01 -2.38884062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.314012739 meters Centerline goodness [0,1] 0.9906668383110195 Centerline is valid? [True, True] Translation: X:146.59, Y:-16.80, Z:-2.39 [[ 9.93875860e-01 1.10210883e-01 8.02105151e-03 1.46589284e+02] [-1.10207406e-01 9.93908226e-01 -8.75456431e-04 -1.67952471e+01] [-8.06867390e-03 -1.38842703e-05 9.99967448e-01 -2.38595233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344012739 meters Centerline goodness [0,1] 0.9892220680823818 Centerline is valid? [True, True] Translation: X:146.62, Y:-16.80, Z:-2.39 [[ 9.93505670e-01 1.13522311e-01 7.69209807e-03 1.46618745e+02] [-1.13519213e-01 9.93535446e-01 -8.39655100e-04 -1.67961592e+01] [-7.73769168e-03 -3.89988154e-05 9.99970063e-01 -2.38692109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.374012739 meters Centerline goodness [0,1] 0.9899053218624357 Centerline is valid? [True, True] Translation: X:146.65, Y:-16.80, Z:-2.39 [[ 9.93321637e-01 1.15219880e-01 6.04187496e-03 1.46648293e+02] [-1.15218000e-01 9.93340011e-01 -6.59488173e-04 -1.67962424e+01] [-6.07762228e-03 -4.10488786e-05 9.99981530e-01 -2.39078500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404012739 meters Centerline goodness [0,1] 0.9895152679906043 Centerline is valid? [True, True] Translation: X:146.68, Y:-16.80, Z:-2.39 [[ 9.93022357e-01 1.17849981e-01 4.24038650e-03 1.46677611e+02] [-1.17849079e-01 9.93031410e-01 -4.62848441e-04 -1.67966565e+01] [-4.26538366e-03 -4.01067952e-05 9.99990902e-01 -2.39408822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.434012739 meters Centerline goodness [0,1] 0.9871245554651014 Centerline is valid? [True, True] Translation: X:146.71, Y:-16.80, Z:-2.39 [[ 9.92523903e-01 1.21881050e-01 6.42737957e-03 1.46706949e+02] [-1.21879065e-01 9.92544710e-01 -7.01196565e-04 -1.67965783e+01] [-6.46492417e-03 -8.74086578e-05 9.99979098e-01 -2.38937902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464012739 meters Centerline goodness [0,1] 0.986413393432067 Centerline is valid? [True, True] Translation: X:146.74, Y:-16.80, Z:-2.39 [[ 9.92259254e-01 1.24016360e-01 6.44316658e-03 1.46736294e+02] [-1.24014411e-01 9.92280168e-01 -7.02685198e-04 -1.67970563e+01] [-6.48057088e-03 -1.01799615e-04 9.99978996e-01 -2.38890400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49401273899997 meters Centerline goodness [0,1] 0.9865604778496765 Centerline is valid? [True, True] Translation: X:146.77, Y:-16.80, Z:-2.39 [[ 9.92018757e-01 1.25954639e-01 5.84928645e-03 1.46765856e+02] [-1.25953067e-01 9.92035996e-01 -6.37750046e-04 -1.67972564e+01] [-5.88303028e-03 -1.04075562e-04 9.99982689e-01 -2.39123141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52401273899997 meters Centerline goodness [0,1] 0.9863086846939212 Centerline is valid? [True, True] Translation: X:146.80, Y:-16.79, Z:-2.40 [[ 9.91561720e-01 1.29586911e-01 3.54795094e-03 1.46795155e+02] [-1.29586356e-01 9.91568065e-01 -3.86873414e-04 -1.67905078e+01] [-3.56816858e-03 -7.61571673e-05 9.99993631e-01 -2.39544039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55401273899997 meters Centerline goodness [0,1] 0.9856099610090261 Centerline is valid? [True, True] Translation: X:146.82, Y:-16.79, Z:-2.39 [[ 9.91286501e-01 1.31661251e-01 4.04830511e-03 1.46824235e+02] [-1.31660547e-01 9.91294762e-01 -4.41289214e-04 -1.67900571e+01] [-4.07116435e-03 -9.55580230e-05 9.99991708e-01 -2.39426181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58401273899997 meters Centerline goodness [0,1] 0.984298793531274 Centerline is valid? [True, True] Translation: X:146.85, Y:-16.78, Z:-2.39 [[ 9.90839072e-01 1.34930017e-01 5.64132139e-03 1.46854065e+02] [-1.34928704e-01 9.90855119e-01 -6.14496651e-04 -1.67795191e+01] [-5.67264623e-03 -1.52308890e-04 9.99983899e-01 -2.39208554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61401273899997 meters Centerline goodness [0,1] 0.9840471092077088 Centerline is valid? [True, True] Translation: X:146.88, Y:-16.78, Z:-2.39 [[ 9.90780466e-01 1.35320462e-01 6.51466161e-03 1.46882860e+02] [-1.35318721e-01 9.90801868e-01 -7.09368328e-04 -1.67829323e+01] [-6.55073094e-03 -1.78727391e-04 9.99978528e-01 -2.39149950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64401273899998 meters Centerline goodness [0,1] 0.984251968503937 Centerline is valid? [True, True] Translation: X:146.91, Y:-16.78, Z:-2.39 [[ 9.91006197e-01 1.33610996e-01 7.40403984e-03 1.46911704e+02] [-1.33608702e-01 9.91033837e-01 -8.05813635e-04 -1.67849878e+01] [-7.44531957e-03 -1.90677847e-04 9.99972265e-01 -2.39170588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67401273899998 meters Centerline goodness [0,1] 0.9842563358648349 Centerline is valid? [True, True] Translation: X:146.94, Y:-16.79, Z:-2.39 [[ 9.91266157e-01 1.31661969e-01 7.51871319e-03 1.46939891e+02] [-1.31659550e-01 9.91294655e-01 -8.17933972e-04 -1.67877710e+01] [-7.56095100e-03 -1.79120128e-04 9.99971400e-01 -2.39221792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70401273899998 meters Centerline goodness [0,1] 0.9856138175755115 Centerline is valid? [True, True] Translation: X:146.97, Y:-16.80, Z:-2.39 [[ 9.91826180e-01 1.27363262e-01 7.70894042e-03 1.46969094e+02] [-1.27360592e-01 9.91856127e-01 -8.38254317e-04 -1.67955671e+01] [-7.75292259e-03 -1.50412641e-04 9.99969934e-01 -2.39185778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73401273899998 meters Centerline goodness [0,1] 0.9856375373683982 Centerline is valid? [True, True] Translation: X:147.00, Y:-16.80, Z:-2.39 [[ 9.92107617e-01 1.25174516e-01 7.33605005e-03 1.46997385e+02] [-1.25172039e-01 9.92134731e-01 -7.97641579e-04 -1.68006948e+01] [-7.37819444e-03 -1.26922058e-04 9.99972773e-01 -2.39250447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76401273899998 meters Centerline goodness [0,1] 0.9867521090901245 Centerline is valid? [True, True] Translation: X:147.03, Y:-16.80, Z:-2.40 [[ 9.92527672e-01 1.21924243e-01 4.82686770e-03 1.47026515e+02] [-1.21923133e-01 9.92539407e-01 -5.24685411e-04 -1.68047415e+01] [-4.85482828e-03 -6.77420410e-05 9.99988213e-01 -2.39681164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79401273899998 meters Centerline goodness [0,1] 0.9876267176069637 Centerline is valid? [True, True] Translation: X:147.05, Y:-16.81, Z:-2.40 [[ 9.92627568e-01 1.21129676e-01 4.25603756e-03 1.47054439e+02] [-1.21128806e-01 9.92636690e-01 -4.62599016e-04 -1.68055774e+01] [-4.28073350e-03 -5.63402097e-05 9.99990836e-01 -2.39829593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82401273899998 meters Centerline goodness [0,1] 0.9871384707877955 Centerline is valid? [True, True] Translation: X:147.08, Y:-16.81, Z:-2.40 [[ 9.92673223e-01 1.20733973e-01 4.81459295e-03 1.47082250e+02] [-1.20732856e-01 9.92684897e-01 -5.22954041e-04 -1.68057218e+01] [-4.84251203e-03 -6.21570855e-05 9.99988273e-01 -2.39743877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85401273899998 meters Centerline goodness [0,1] 0.9866237832541694 Centerline is valid? [True, True] Translation: X:147.11, Y:-16.81, Z:-2.40 [[ 9.92655163e-01 1.20895594e-01 4.47031208e-03 1.47111396e+02] [-1.20894634e-01 9.92665227e-01 -4.85289015e-04 -1.68078565e+01] [-4.49619266e-03 -5.87120978e-05 9.99989890e-01 -2.39669053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88401273899999 meters Centerline goodness [0,1] 0.9874203072183475 Centerline is valid? [True, True] Translation: X:147.14, Y:-16.81, Z:-2.40 [[ 9.92808556e-01 1.19656155e-01 3.68441944e-03 1.47139532e+02] [-1.19655495e-01 9.92815392e-01 -3.99910941e-04 -1.68091006e+01] [-3.70580014e-03 -4.38260278e-05 9.99993133e-01 -2.39937145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.914012739 meters Centerline goodness [0,1] 0.9878335020133939 Centerline is valid? [True, True] Translation: X:147.17, Y:-16.81, Z:-2.40 [[ 9.93015305e-01 1.17928270e-01 3.67797723e-03 1.47168124e+02] [-1.17927601e-01 9.93022115e-01 -3.98953140e-04 -1.68145585e+01] [-3.69936058e-03 -3.75684584e-05 9.99993157e-01 -2.39993170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.944012739 meters Centerline goodness [0,1] 0.9882228368916933 Centerline is valid? [True, True] Translation: X:147.20, Y:-16.82, Z:-2.40 [[ 9.93255318e-01 1.15860993e-01 4.48361615e-03 1.47196095e+02] [-1.15859980e-01 9.93265437e-01 -4.86040263e-04 -1.68203254e+01] [-4.50973407e-03 -3.67096005e-05 9.99989830e-01 -2.39927594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.974012739 meters Centerline goodness [0,1] 0.9879711822976972 Centerline is valid? [True, True] Translation: X:147.22, Y:-16.82, Z:-2.40 [[ 9.93284090e-01 1.15609386e-01 4.60281593e-03 1.47223833e+02] [-1.15608316e-01 9.93294754e-01 -4.98766681e-04 -1.68225738e+01] [-4.62961503e-03 -3.67067874e-05 9.99989283e-01 -2.39892279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004012739 meters Centerline goodness [0,1] 0.9876959671315818 Centerline is valid? [True, True] Translation: X:147.25, Y:-16.82, Z:-2.40 [[ 9.93173134e-01 1.16563783e-01 4.47323798e-03 1.47251806e+02] [-1.16562783e-01 9.93183207e-01 -4.84469073e-04 -1.68216119e+01] [-4.49921639e-03 -4.02514010e-05 9.99989878e-01 -2.39957316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.034012739 meters Centerline goodness [0,1] 0.9876813930990003 Centerline is valid? [True, True] Translation: X:147.28, Y:-16.82, Z:-2.40 [[ 9.92871909e-01 1.19122462e-01 3.90028958e-03 1.47280890e+02] [-1.19121723e-01 9.92879568e-01 -4.22197963e-04 -1.68176858e+01] [-3.92281110e-03 -4.54207163e-05 9.99992305e-01 -2.40017507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064012739 meters Centerline goodness [0,1] 0.9869940960041071 Centerline is valid? [True, True] Translation: X:147.31, Y:-16.82, Z:-2.40 [[ 9.92717018e-01 1.20334346e-01 5.70683350e-03 1.47309987e+02] [-1.20332785e-01 9.92733418e-01 -6.17308171e-04 -1.68166669e+01] [-5.73964771e-03 -7.39068439e-05 9.99983525e-01 -2.39698047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.094012739 meters Centerline goodness [0,1] 0.9861700992423434 Centerline is valid? [True, True] Translation: X:147.34, Y:-16.82, Z:-2.40 [[ 9.92769420e-01 1.19842015e-01 6.83889413e-03 1.47337643e+02] [-1.19839765e-01 9.92792971e-01 -7.39377349e-04 -1.68183376e+01] [-6.87821449e-03 -8.55402400e-05 9.99976341e-01 -2.39517440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124012739 meters Centerline goodness [0,1] 0.9861700992423434 Centerline is valid? [True, True] Translation: X:147.37, Y:-16.82, Z:-2.40 [[ 9.92774957e-01 1.19796138e-01 6.83893832e-03 1.47365817e+02] [-1.19793889e-01 9.92798508e-01 -7.38968375e-04 -1.68212906e+01] [-6.87821332e-03 -8.56337224e-05 9.99976341e-01 -2.39539613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.154012739 meters Centerline goodness [0,1] 0.9860949924779712 Centerline is valid? [True, True] Translation: X:147.39, Y:-16.83, Z:-2.39 [[ 9.92850359e-01 1.19124470e-01 7.58460667e-03 1.47394146e+02] [-1.19121687e-01 9.92879324e-01 -8.19146251e-04 -1.68254253e+01] [-7.62817951e-03 -9.02014960e-05 9.99970901e-01 -2.39459218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184012739 meters Centerline goodness [0,1] 0.9862987222162568 Centerline is valid? [True, True] Translation: X:147.42, Y:-16.83, Z:-2.40 [[ 9.93021220e-01 1.17725288e-01 7.04371675e-03 1.47422275e+02] [-1.17722855e-01 9.93046198e-01 -7.60423584e-04 -1.68275208e+01] [-7.08425722e-03 -7.40896913e-05 9.99974904e-01 -2.39529432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.214012739 meters Centerline goodness [0,1] 0.9867763989798324 Centerline is valid? [True, True] Translation: X:147.45, Y:-16.83, Z:-2.40 [[ 9.93353055e-01 1.14934920e-01 6.29864840e-03 1.47450965e+02] [-1.14932921e-01 9.93373022e-01 -6.79623446e-04 -1.68347697e+01] [-6.33501986e-03 -4.88160311e-05 9.99979932e-01 -2.39596274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24401273899997 meters Centerline goodness [0,1] 0.9870716410882082 Centerline is valid? [True, True] Translation: X:147.48, Y:-16.84, Z:-2.40 [[ 9.93563158e-01 1.13083030e-01 6.66932449e-03 1.47478594e+02] [-1.13080749e-01 9.93585541e-01 -7.19385893e-04 -1.68399450e+01] [-6.70789471e-03 -3.94168863e-05 9.99977501e-01 -2.39604163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27401273899997 meters Centerline goodness [0,1] 0.9892406150674341 Centerline is valid? [True, True] Translation: X:147.51, Y:-16.85, Z:-2.39 [[ 9.94071897e-01 1.08443088e-01 7.82048152e-03 1.47506775e+02] [-1.08439812e-01 9.94102659e-01 -8.43000214e-04 -1.68484565e+01] [-7.86577902e-03 -1.00487213e-05 9.99969064e-01 -2.39488903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30401273899997 meters Centerline goodness [0,1] 0.9912218421222487 Centerline is valid? [True, True] Translation: X:147.53, Y:-16.85, Z:-2.40 [[ 9.94378105e-01 1.05659350e-01 6.94882082e-03 1.47534788e+02] [-1.05656697e-01 9.94402384e-01 -7.48736807e-04 -1.68541450e+01] [-6.98903503e-03 1.03380299e-05 9.99975576e-01 -2.39563387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33401273899997 meters Centerline goodness [0,1] 0.993091795705364 Centerline is valid? [True, True] Translation: X:147.56, Y:-16.86, Z:-2.40 [[ 9.94545602e-01 1.04152710e-01 5.59092987e-03 1.47563783e+02] [-1.04150970e-01 9.94561317e-01 -6.02250291e-04 -1.68594744e+01] [-5.62324858e-03 1.66646105e-05 9.99984189e-01 -2.39839333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36401273899997 meters Centerline goodness [0,1] 0.9943912330658383 Centerline is valid? [True, True] Translation: X:147.59, Y:-16.87, Z:-2.40 [[ 9.94660861e-01 1.03141274e-01 3.41321136e-03 1.47593266e+02] [-1.03140620e-01 9.94666717e-01 -3.67658845e-04 -1.68655991e+01] [-3.43292854e-03 1.36551292e-05 9.99994107e-01 -2.40344040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39401273899998 meters Centerline goodness [0,1] 0.9938905442774765 Centerline is valid? [True, True] Translation: X:147.62, Y:-16.87, Z:-2.40 [[ 9.94688266e-01 1.02796163e-01 5.31061633e-03 1.47620977e+02] [-1.02794575e-01 9.94702442e-01 -5.71899858e-04 -1.68699710e+01] [-5.34127214e-03 2.29595316e-05 9.99985735e-01 -2.40089752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42401273899998 meters Centerline goodness [0,1] 0.9934959696336418 Centerline is valid? [True, True] Translation: X:147.65, Y:-16.87, Z:-2.40 [[ 9.94669102e-01 1.02934472e-01 6.15397274e-03 1.47649882e+02] [-1.02932345e-01 9.94688139e-01 -6.62244621e-04 -1.68738697e+01] [-6.18945149e-03 2.52714179e-05 9.99980845e-01 -2.39937641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45401273899998 meters Centerline goodness [0,1] 0.9933420393483333 Centerline is valid? [True, True] Translation: X:147.68, Y:-16.88, Z:-2.40 [[ 9.94659749e-01 1.03009533e-01 6.40469420e-03 1.47678809e+02] [-1.03007232e-01 9.94680368e-01 -6.88974937e-04 -1.68785523e+01] [-6.44159457e-03 2.55658149e-05 9.99979252e-01 -2.39909052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48401273899998 meters Centerline goodness [0,1] 0.9934261241970022 Centerline is valid? [True, True] Translation: X:147.71, Y:-16.88, Z:-2.40 [[ 9.94646819e-01 1.03172466e-01 5.75744558e-03 1.47708546e+02] [-1.03170610e-01 9.94663482e-01 -6.19232812e-04 -1.68818609e+01] [-5.79060864e-03 2.19187724e-05 9.99983234e-01 -2.40008589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51401273899998 meters Centerline goodness [0,1] 0.9935290438083734 Centerline is valid? [True, True] Translation: X:147.74, Y:-16.88, Z:-2.40 [[ 9.94622178e-01 1.03405198e-01 5.83843971e-03 1.47737114e+02] [-1.03403294e-01 9.94639314e-01 -6.27854291e-04 -1.68845357e+01] [-5.87206507e-03 2.07639039e-05 9.99982759e-01 -2.40033643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54401273899998 meters Centerline goodness [0,1] 0.992674620343993 Centerline is valid? [True, True] Translation: X:147.77, Y:-16.89, Z:-2.40 [[ 9.94582885e-01 1.03739256e-01 6.56139632e-03 1.47765516e+02] [-1.03736861e-01 9.94604528e-01 -7.05223090e-04 -1.68914467e+01] [-6.59915381e-03 2.07441564e-05 9.99978225e-01 -2.39906281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57401273899998 meters Centerline goodness [0,1] 0.9926925238898258 Centerline is valid? [True, True] Translation: X:147.79, Y:-16.90, Z:-2.40 [[ 9.94576257e-01 1.03804110e-01 6.54036153e-03 1.47794287e+02] [-1.03801733e-01 9.94597761e-01 -7.02713887e-04 -1.68988535e+01] [-6.57797352e-03 2.00016856e-05 9.99978365e-01 -2.40028433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60401273899998 meters Centerline goodness [0,1] 0.9927806443220744 Centerline is valid? [True, True] Translation: X:147.82, Y:-16.90, Z:-2.40 [[ 9.94521834e-01 1.04354198e-01 6.04346185e-03 1.47822674e+02] [-1.04352180e-01 9.94540196e-01 -6.49196106e-04 -1.69026019e+01] [-6.07821208e-03 1.49912830e-05 9.99981527e-01 -2.40216722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63401273899999 meters Centerline goodness [0,1] 0.9916763703799543 Centerline is valid? [True, True] Translation: X:147.85, Y:-16.90, Z:-2.40 [[ 9.94278981e-01 1.06705597e-01 4.81917653e-03 1.47851125e+02] [-1.06704341e-01 9.94290660e-01 -5.17616395e-04 -1.69033237e+01] [-4.84689478e-03 4.28044563e-07 9.99988254e-01 -2.40492945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.664012739 meters Centerline goodness [0,1] 0.991394626993471 Centerline is valid? [True, True] Translation: X:147.88, Y:-16.91, Z:-2.41 [[ 9.94135891e-01 1.08043929e-01 4.50999918e-03 1.47880174e+02] [-1.08042844e-01 9.94146121e-01 -4.84306867e-04 -1.69055528e+01] [-4.53592460e-03 -5.80629814e-06 9.99989713e-01 -2.40538333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.694012739 meters Centerline goodness [0,1] 0.9884189107282015 Centerline is valid? [True, True] Translation: X:147.91, Y:-16.91, Z:-2.40 [[ 9.93883045e-01 1.10257317e-01 6.30998899e-03 1.47908656e+02] [-1.10255240e-01 9.93903075e-01 -6.77173710e-04 -1.69071885e+01] [-6.34618083e-03 -2.26778831e-05 9.99979863e-01 -2.40185944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724012739 meters Centerline goodness [0,1] 0.9887461175169128 Centerline is valid? [True, True] Translation: X:147.94, Y:-16.91, Z:-2.40 [[ 9.93787303e-01 1.11111122e-01 6.41206919e-03 1.47937448e+02] [-1.11108997e-01 9.93807988e-01 -6.87834407e-04 -1.69088790e+01] [-6.44879164e-03 -2.88774760e-05 9.99979206e-01 -2.40166163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.754012739 meters Centerline goodness [0,1] 0.9882292623528658 Centerline is valid? [True, True] Translation: X:147.97, Y:-16.91, Z:-2.40 [[ 9.93560928e-01 1.13179528e-01 5.20358794e-03 1.47966347e+02] [-1.13178158e-01 9.93574553e-01 -5.58030778e-04 -1.69094505e+01] [-5.23331022e-03 -3.44949198e-05 9.99986306e-01 -2.40491408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784012739 meters Centerline goodness [0,1] 0.9880898145135047 Centerline is valid? [True, True] Translation: X:147.99, Y:-16.91, Z:-2.41 [[ 9.93419987e-01 1.14427644e-01 4.80040404e-03 1.47994430e+02] [-1.14426493e-01 9.93431584e-01 -5.14638246e-04 -1.69104831e+01] [-4.82776183e-03 -3.80414800e-05 9.99988346e-01 -2.40576705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.814012739 meters Centerline goodness [0,1] 0.9873732998353981 Centerline is valid? [True, True] Translation: X:148.02, Y:-16.91, Z:-2.40 [[ 9.93087597e-01 1.17258903e-01 5.23206609e-03 1.48023433e+02] [-1.17257577e-01 9.93101378e-01 -5.60564682e-04 -1.69087952e+01] [-5.26170325e-03 -5.68095580e-05 9.99986156e-01 -2.40371221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844012739 meters Centerline goodness [0,1] 0.9870887487667824 Centerline is valid? [True, True] Translation: X:148.05, Y:-16.91, Z:-2.40 [[ 9.92954653e-01 1.18370868e-01 5.42167031e-03 1.48051755e+02] [-1.18369461e-01 9.92969452e-01 -5.80634996e-04 -1.69058471e+01] [-5.45228327e-03 -6.52159737e-05 9.99985134e-01 -2.40399321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.874012739 meters Centerline goodness [0,1] 0.9867096856904767 Centerline is valid? [True, True] Translation: X:148.08, Y:-16.91, Z:-2.40 [[ 9.92758126e-01 1.19916240e-01 7.16927617e-03 1.48080818e+02] [-1.19913826e-01 9.92784008e-01 -7.67210992e-04 -1.69050025e+01] [-7.20954379e-03 -9.80403893e-05 9.99974006e-01 -2.40169712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904012739 meters Centerline goodness [0,1] 0.9862624348649929 Centerline is valid? [True, True] Translation: X:148.11, Y:-16.91, Z:-2.40 [[ 9.92730569e-01 1.20132482e-01 7.36227412e-03 1.48109211e+02] [-1.20129945e-01 9.92757864e-01 -7.87532102e-04 -1.69105342e+01] [-7.40356371e-03 -1.02622391e-04 9.99972588e-01 -2.40124672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.934012739 meters Centerline goodness [0,1] 0.9860853031416101 Centerline is valid? [True, True] Translation: X:148.14, Y:-16.91, Z:-2.40 [[ 9.92663628e-01 1.20685313e-01 7.34683491e-03 1.48136629e+02] [-1.20682804e-01 9.92690810e-01 -7.85535653e-04 -1.69117846e+01] [-7.38793812e-03 -1.06863966e-04 9.99972703e-01 -2.40154399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964012739 meters Centerline goodness [0,1] 0.9864277725200035 Centerline is valid? [True, True] Translation: X:148.17, Y:-16.91, Z:-2.40 [[ 9.92348238e-01 1.23308988e-01 6.31414760e-03 1.48165618e+02] [-1.23307190e-01 9.92368319e-01 -6.74809316e-04 -1.69081848e+01] [-6.34917010e-03 -1.08933963e-04 9.99979838e-01 -2.40404609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99401273899997 meters Centerline goodness [0,1] 0.9856512376607041 Centerline is valid? [True, True] Translation: X:148.19, Y:-16.90, Z:-2.40 [[ 9.92203052e-01 1.24462215e-01 6.50084656e-03 1.48194383e+02] [-1.24460336e-01 9.92224341e-01 -6.94361101e-04 -1.69001745e+01] [-6.53671991e-03 -1.20150343e-04 9.99978628e-01 -2.40418285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02401273899997 meters Centerline goodness [0,1] 0.9864317711922812 Centerline is valid? [True, True] Translation: X:148.22, Y:-16.91, Z:-2.40 [[ 9.92280541e-01 1.23804910e-01 7.18828723e-03 1.48222910e+02] [-1.23802599e-01 9.92306569e-01 -7.67303236e-04 -1.69066966e+01] [-7.22798055e-03 -1.28548574e-04 9.99973870e-01 -2.40202077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05401273899997 meters Centerline goodness [0,1] 0.9863811563169165 Centerline is valid? [True, True] Translation: X:148.25, Y:-16.91, Z:-2.40 [[ 9.92613620e-01 1.21053268e-01 8.01922593e-03 1.48250893e+02] [-1.21050306e-01 9.92646005e-01 -8.55588247e-04 -1.69131854e+01] [-8.06382433e-03 -1.21461202e-04 9.99967479e-01 -2.40064680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08401273899997 meters Centerline goodness [0,1] 0.9868195823348168 Centerline is valid? [True, True] Translation: X:148.28, Y:-16.92, Z:-2.40 [[ 9.92819748e-01 1.19405394e-01 7.16234115e-03 1.48278147e+02] [-1.19402990e-01 9.92845578e-01 -7.63873715e-04 -1.69169814e+01] [-7.20230939e-03 -9.68160393e-05 9.99974058e-01 -2.40273081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11401273899997 meters Centerline goodness [0,1] 0.9878848316394729 Centerline is valid? [True, True] Translation: X:148.31, Y:-16.92, Z:-2.41 [[ 9.93076677e-01 1.17341628e-01 5.44567630e-03 1.48306095e+02] [-1.17340208e-01 9.93091606e-01 -5.80550652e-04 -1.69228665e+01] [-5.47617819e-03 -6.24654783e-05 9.99985004e-01 -2.40618371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14401273899998 meters Centerline goodness [0,1] 0.989080423213112 Centerline is valid? [True, True] Translation: X:148.33, Y:-16.93, Z:-2.41 [[ 9.93638851e-01 1.12546947e-01 3.87525040e-03 1.48334031e+02] [-1.12546192e-01 9.93646408e-01 -4.13055413e-04 -1.69338511e+01] [-3.89711676e-03 -2.57167676e-05 9.99992406e-01 -2.40968706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17401273899998 meters Centerline goodness [0,1] 0.9910283248600846 Centerline is valid? [True, True] Translation: X:148.36, Y:-16.94, Z:-2.41 [[ 9.94056441e-01 1.08763252e-01 4.72727864e-03 1.48360875e+02] [-1.08762087e-01 9.94067681e-01 -5.03608094e-04 -1.69422458e+01] [-4.75400897e-03 -1.35338223e-05 9.99988700e-01 -2.40727266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20401273899998 meters Centerline goodness [0,1] 0.9912699436631832 Centerline is valid? [True, True] Translation: X:148.39, Y:-16.95, Z:-2.41 [[ 9.94215297e-01 1.07281503e-01 5.15977776e-03 1.48389499e+02] [-1.07280097e-01 9.94228686e-01 -5.49313954e-04 -1.69474682e+01] [-5.18893028e-03 -7.40512171e-06 9.99986537e-01 -2.40645456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23401273899998 meters Centerline goodness [0,1] 0.9931419321860624 Centerline is valid? [True, True] Translation: X:148.42, Y:-16.96, Z:-2.41 [[ 9.94568560e-01 1.03949822e-01 5.27380191e-03 1.48417307e+02] [-1.03948308e-01 9.94582543e-01 -5.61169190e-04 -1.69568410e+01] [-5.30356475e-03 9.91844921e-06 9.99985936e-01 -2.40683573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26401273899998 meters Centerline goodness [0,1] 0.9942741592166879 Centerline is valid? [True, True] Translation: X:148.45, Y:-16.96, Z:-2.41 [[ 9.94739544e-01 1.02288744e-01 5.50028489e-03 1.48446271e+02] [-1.02287073e-01 9.94754750e-01 -5.85038738e-04 -1.69635250e+01] [-5.53127740e-03 1.93531258e-05 9.99984702e-01 -2.40660522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29401273899998 meters Centerline goodness [0,1] 0.9946949602122016 Centerline is valid? [True, True] Translation: X:148.48, Y:-16.97, Z:-2.40 [[ 9.94924779e-01 1.00414773e-01 6.44653460e-03 1.48475461e+02] [-1.00412439e-01 9.94945663e-01 -6.85509852e-04 -1.69707186e+01] [-6.48278696e-03 3.47184736e-05 9.99978986e-01 -2.40339985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32401273899998 meters Centerline goodness [0,1] 0.9953913135818201 Centerline is valid? [True, True] Translation: X:148.50, Y:-16.98, Z:-2.40 [[ 9.94974216e-01 9.99381296e-02 6.21923939e-03 1.48504056e+02] [-9.99359488e-02 9.94993653e-01 -6.61221023e-04 -1.69756274e+01] [-6.25418491e-03 3.63722802e-05 9.99980442e-01 -2.40464928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35401273899998 meters Centerline goodness [0,1] 0.9952529266459027 Centerline is valid? [True, True] Translation: X:148.53, Y:-16.98, Z:-2.41 [[ 9.95060316e-01 9.91089544e-02 5.69066343e-03 1.48533131e+02] [-9.91071161e-02 9.95076587e-01 -6.04828143e-04 -1.69818673e+01] [-5.72258983e-03 3.78552414e-05 9.99983625e-01 -2.40629360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38401273899999 meters Centerline goodness [0,1] 0.9952936666808637 Centerline is valid? [True, True] Translation: X:148.56, Y:-16.99, Z:-2.41 [[ 9.95066273e-01 9.90581073e-02 5.53203892e-03 1.48561733e+02] [-9.90563698e-02 9.95081650e-01 -5.87870989e-04 -1.69869835e+01] [-5.56306380e-03 3.69869012e-05 9.99984525e-01 -2.40688518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.414012739 meters Centerline goodness [0,1] 0.9956486324273343 Centerline is valid? [True, True] Translation: X:148.59, Y:-16.99, Z:-2.41 [[ 9.95131641e-01 9.84378383e-02 4.79677583e-03 1.48590641e+02] [-9.84365256e-02 9.95143201e-01 -5.09572002e-04 -1.69934374e+01] [-4.82364002e-03 3.49132757e-05 9.99988366e-01 -2.40737543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.444012739 meters Centerline goodness [0,1] 0.99632557145909 Centerline is valid? [True, True] Translation: X:148.62, Y:-17.00, Z:-2.41 [[ 9.95220620e-01 9.75511943e-02 4.43633422e-03 1.48619476e+02] [-9.75500636e-02 9.95230508e-01 -4.71083278e-04 -1.69996215e+01] [-4.46112990e-03 3.60671066e-05 9.99990048e-01 -2.40808736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.474012739 meters Centerline goodness [0,1] 0.9962241482879945 Centerline is valid? [True, True] Translation: X:148.65, Y:-17.01, Z:-2.41 [[ 9.95261728e-01 9.70999438e-02 5.06880955e-03 1.48648589e+02] [-9.70984610e-02 9.95274635e-01 -5.38382794e-04 -1.70070701e+01] [-5.09713451e-03 4.36581835e-05 9.99987009e-01 -2.40622633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504012739 meters Centerline goodness [0,1] 0.9958903520096394 Centerline is valid? [True, True] Translation: X:148.68, Y:-17.01, Z:-2.41 [[ 9.95207468e-01 9.76434806e-02 5.27704520e-03 1.48677257e+02] [-9.76418820e-02 9.95221457e-01 -5.60340850e-04 -1.70122067e+01] [-5.30654225e-03 4.23947736e-05 9.99985919e-01 -2.40562662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.534012739 meters Centerline goodness [0,1] 0.9947409092860516 Centerline is valid? [True, True] Translation: X:148.71, Y:-17.01, Z:-2.40 [[ 9.94864411e-01 1.01045622e-01 5.88091120e-03 1.48707033e+02] [-1.01043697e-01 9.94881793e-01 -6.24405605e-04 -1.70123183e+01] [-5.91390493e-03 2.69699079e-05 9.99982512e-01 -2.40437469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564012739 meters Centerline goodness [0,1] 0.993033306814028 Centerline is valid? [True, True] Translation: X:148.74, Y:-17.01, Z:-2.40 [[ 9.94594217e-01 1.03643203e-01 6.35841992e-03 1.48737381e+02] [-1.03641006e-01 9.94614542e-01 -6.74944165e-04 -1.70111857e+01] [-6.39413029e-03 1.23025245e-05 9.99979557e-01 -2.40402356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.594012739 meters Centerline goodness [0,1] 0.9905331974868399 Centerline is valid? [True, True] Translation: X:148.77, Y:-17.00, Z:-2.41 [[ 9.94073865e-01 1.08540664e-01 6.00624141e-03 1.48767439e+02] [-1.08538794e-01 9.94092010e-01 -6.37452683e-04 -1.70032926e+01] [-6.03994613e-03 -1.82351468e-05 9.99981759e-01 -2.40571803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624012739 meters Centerline goodness [0,1] 0.9898176097955019 Centerline is valid? [True, True] Translation: X:148.80, Y:-17.00, Z:-2.41 [[ 9.93804293e-01 1.10966016e-01 6.29054290e-03 1.48796712e+02] [-1.10964014e-01 9.93824201e-01 -6.67413911e-04 -1.70011673e+01] [-6.32575404e-03 -3.47450836e-05 9.99979992e-01 -2.40622980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.654012739 meters Centerline goodness [0,1] 0.9877737614288752 Centerline is valid? [True, True] Translation: X:148.83, Y:-16.99, Z:-2.40 [[ 9.93262615e-01 1.15635788e-01 7.59881028e-03 1.48825754e+02] [-1.15633007e-01 9.93291678e-01 -8.05800084e-04 -1.69945063e+01] [-7.64101434e-03 -7.83021849e-05 9.99970804e-01 -2.40288309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684012739 meters Centerline goodness [0,1] 0.9883070114543562 Centerline is valid? [True, True] Translation: X:148.85, Y:-17.00, Z:-2.40 [[ 9.93055806e-01 1.17453071e-01 6.70391380e-03 1.48854861e+02] [-1.17450950e-01 9.93078431e-01 -7.10563486e-04 -1.69956713e+01] [-6.74097006e-03 -8.17518472e-05 9.99977276e-01 -2.40422485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.714012739 meters Centerline goodness [0,1] 0.9883591780938955 Centerline is valid? [True, True] Translation: X:148.88, Y:-16.99, Z:-2.41 [[ 9.92847050e-01 1.19347448e-01 3.30470465e-03 1.48883585e+02] [-1.19346943e-01 9.92852549e-01 -3.50356583e-04 -1.69917772e+01] [-3.32289860e-03 -4.65558965e-05 9.99994478e-01 -2.41144848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74401273899997 meters Centerline goodness [0,1] 0.9888531941958992 Centerline is valid? [True, True] Translation: X:148.91, Y:-17.00, Z:-2.41 [[ 9.92852524e-01 1.19302449e-01 3.28512533e-03 1.48911840e+02] [-1.19301950e-01 9.92857957e-01 -3.48031216e-04 -1.69965952e+01] [-3.30318380e-03 -4.63781885e-05 9.99994543e-01 -2.41161627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77401273899997 meters Centerline goodness [0,1] 0.9879270924592406 Centerline is valid? [True, True] Translation: X:148.94, Y:-17.00, Z:-2.41 [[ 9.93040105e-01 1.17621574e-01 6.04270412e-03 1.48939716e+02] [-1.17619859e-01 9.93058487e-01 -6.39595889e-04 -1.70006970e+01] [-6.07598889e-03 -7.55976406e-05 9.99981538e-01 -2.40737243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80401273899997 meters Centerline goodness [0,1] 0.9879178585151347 Centerline is valid? [True, True] Translation: X:148.97, Y:-17.00, Z:-2.40 [[ 9.93134806e-01 1.16716018e-01 7.78642831e-03 1.48968312e+02] [-1.16713148e-01 9.93165325e-01 -8.23568995e-04 -1.70032370e+01] [-7.82933430e-03 -9.08635268e-05 9.99969346e-01 -2.40366914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83401273899997 meters Centerline goodness [0,1] 0.9888282614790692 Centerline is valid? [True, True] Translation: X:149.00, Y:-17.00, Z:-2.41 [[ 9.93236393e-01 1.15954912e-01 5.99389497e-03 1.48997034e+02] [-1.15953198e-01 9.93254476e-01 -6.33775750e-04 -1.70037617e+01] [-6.02695242e-03 -6.55221526e-05 9.99981836e-01 -2.40661756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86401273899997 meters Centerline goodness [0,1] 0.9890443139348638 Centerline is valid? [True, True] Translation: X:149.02, Y:-17.00, Z:-2.41 [[ 9.93256406e-01 1.15851145e-01 4.49718169e-03 1.49024933e+02] [-1.15850179e-01 9.93266586e-01 -4.75435891e-04 -1.70038057e+01] [-4.52198009e-03 -4.87695620e-05 9.99989775e-01 -2.41048151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89401273899998 meters Centerline goodness [0,1] 0.9900662251655629 Centerline is valid? [True, True] Translation: X:149.05, Y:-17.01, Z:-2.41 [[ 9.93382206e-01 1.14821519e-01 2.79500367e-03 1.49053584e+02] [-1.14821143e-01 9.93386137e-01 -2.95433755e-04 -1.70102076e+01] [-2.81044005e-03 -2.74468791e-05 9.99996050e-01 -2.41321011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92401273899998 meters Centerline goodness [0,1] 0.9896839239375506 Centerline is valid? [True, True] Translation: X:149.08, Y:-17.01, Z:-2.41 [[ 9.93487087e-01 1.13903040e-01 3.08309778e-03 1.49080926e+02] [-1.13902578e-01 9.93491870e-01 -3.25781248e-04 -1.70132530e+01] [-3.10014005e-03 -2.75133218e-05 9.99995194e-01 -2.41280744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95401273899998 meters Centerline goodness [0,1] 0.9906934151120198 Centerline is valid? [True, True] Translation: X:149.11, Y:-17.01, Z:-2.41 [[ 9.93678184e-01 1.12221564e-01 3.16034895e-03 1.49108427e+02] [-1.12221071e-01 9.93683209e-01 -3.33708612e-04 -1.70149596e+01] [-3.17783499e-03 -2.30587753e-05 9.99994950e-01 -2.41332615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98401273899998 meters Centerline goodness [0,1] 0.9906326715190146 Centerline is valid? [True, True] Translation: X:149.14, Y:-17.02, Z:-2.41 [[ 9.93766607e-01 1.11433510e-01 3.24089854e-03 1.49136570e+02] [-1.11432987e-01 9.93771892e-01 -3.41967977e-04 -1.70184664e+01] [-3.25882056e-03 -2.13066483e-05 9.99994690e-01 -2.41241865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01401273899998 meters Centerline goodness [0,1] 0.9908622908622908 Centerline is valid? [True, True] Translation: X:149.16, Y:-17.02, Z:-2.41 [[ 9.93934431e-01 1.09890196e-01 4.30013280e-03 1.49164607e+02] [-1.09889263e-01 9.93943733e-01 -4.53418121e-04 -1.70226240e+01] [-4.32391626e-03 -2.18705420e-05 9.99990652e-01 -2.41087104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04401273899998 meters Centerline goodness [0,1] 0.9908622908622908 Centerline is valid? [True, True] Translation: X:149.19, Y:-17.03, Z:-2.41 [[ 9.93939354e-01 1.09845657e-01 4.30015359e-03 1.49192788e+02] [-1.09844725e-01 9.93948656e-01 -4.53220872e-04 -1.70255015e+01] [-4.32391622e-03 -2.18751251e-05 9.99990652e-01 -2.41109275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07401273899998 meters Centerline goodness [0,1] 0.9908435905133594 Centerline is valid? [True, True] Translation: X:149.22, Y:-17.03, Z:-2.41 [[ 9.94040913e-01 1.08913391e-01 4.53176105e-03 1.49220854e+02] [-1.08912347e-01 9.94051243e-01 -4.77408136e-04 -1.70307631e+01] [-4.55679884e-03 -1.90015115e-05 9.99989618e-01 -2.40992093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10401273899998 meters Centerline goodness [0,1] 0.9921128209524626 Centerline is valid? [True, True] Translation: X:149.25, Y:-17.04, Z:-2.41 [[ 9.94278610e-01 1.06743420e-01 3.98600288e-03 1.49248701e+02] [-1.06742595e-01 9.94286600e-01 -4.19783637e-04 -1.70375748e+01] [-4.00803839e-03 -8.09440179e-06 9.99991968e-01 -2.41039555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13401273899999 meters Centerline goodness [0,1] 0.9932608232032416 Centerline is valid? [True, True] Translation: X:149.28, Y:-17.04, Z:-2.41 [[ 9.94354259e-01 1.06056532e-01 3.40884238e-03 1.49276412e+02] [-1.06055924e-01 9.94360102e-01 -3.58889111e-04 -1.70412939e+01] [-3.42767939e-03 -4.66501397e-06 9.99994125e-01 -2.41316899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.164012739 meters Centerline goodness [0,1] 0.9924239172425634 Centerline is valid? [True, True] Translation: X:149.31, Y:-17.05, Z:-2.41 [[ 9.94314352e-01 1.06433888e-01 3.28572972e-03 1.49305089e+02] [-1.06433327e-01 9.94319781e-01 -3.45780969e-04 -1.70456605e+01] [-3.30386886e-03 -5.89616395e-06 9.99994542e-01 -2.41343243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.194012739 meters Centerline goodness [0,1] 0.9923348677871748 Centerline is valid? [True, True] Translation: X:149.33, Y:-17.05, Z:-2.41 [[ 9.94282525e-01 1.06696434e-01 4.25801424e-03 1.49332245e+02] [-1.06695494e-01 9.94291643e-01 -4.47836187e-04 -1.70505374e+01] [-4.28149050e-03 -9.03523976e-06 9.99990834e-01 -2.41097519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224012739 meters Centerline goodness [0,1] 0.9914255091103966 Centerline is valid? [True, True] Translation: X:149.36, Y:-17.05, Z:-2.41 [[ 9.94250484e-01 1.06923525e-01 5.77371165e-03 1.49361386e+02] [-1.06921804e-01 9.94267248e-01 -6.06731969e-04 -1.70537865e+01] [-5.80548631e-03 -1.40921120e-05 9.99983148e-01 -2.40725401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.254012739 meters Centerline goodness [0,1] 0.9902592504794948 Centerline is valid? [True, True] Translation: X:149.39, Y:-17.06, Z:-2.40 [[ 9.94134117e-01 1.07873507e-01 7.78867616e-03 1.49389558e+02] [-1.07870409e-01 9.94164627e-01 -8.17989543e-04 -1.70575674e+01] [-7.83146573e-03 -2.69763729e-05 9.99969333e-01 -2.40349864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284012739 meters Centerline goodness [0,1] 0.9891388174807197 Centerline is valid? [True, True] Translation: X:149.42, Y:-17.06, Z:-2.40 [[ 9.93996114e-01 1.09096739e-01 8.34429451e-03 1.49418025e+02] [-1.09093229e-01 9.94031136e-01 -8.75917949e-04 -1.70600305e+01] [-8.39004834e-03 -3.96469981e-05 9.99964802e-01 -2.40245893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.314012739 meters Centerline goodness [0,1] 0.9890375762766299 Centerline is valid? [True, True] Translation: X:149.45, Y:-17.06, Z:-2.40 [[ 9.93834173e-01 1.10540149e-01 8.63207611e-03 1.49446697e+02] [-1.10536451e-01 9.93871658e-01 -9.05807046e-04 -1.70617356e+01] [-8.67930384e-03 -5.39370591e-05 9.99962333e-01 -2.40199778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344012739 meters Centerline goodness [0,1] 0.9888806049632549 Centerline is valid? [True, True] Translation: X:149.48, Y:-17.06, Z:-2.41 [[ 9.93476912e-01 1.13855785e-01 6.36279527e-03 1.49475288e+02] [-1.13853844e-01 9.93497286e-01 -6.67526696e-04 -1.70601563e+01] [-6.39742160e-03 -6.12563416e-05 9.99979534e-01 -2.40654477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.374012739 meters Centerline goodness [0,1] 0.9880904276812488 Centerline is valid? [True, True] Translation: X:149.50, Y:-17.06, Z:-2.41 [[ 9.93144201e-01 1.16758589e-01 5.65936834e-03 1.49502997e+02] [-1.16757102e-01 9.93160323e-01 -5.93636705e-04 -1.70588535e+01] [-5.68997227e-03 -7.12045950e-05 9.99983809e-01 -2.40783496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404012739 meters Centerline goodness [0,1] 0.9878589323569088 Centerline is valid? [True, True] Translation: X:149.53, Y:-17.06, Z:-2.41 [[ 9.92985874e-01 1.18083852e-01 5.93782601e-03 1.49530880e+02] [-1.18082241e-01 9.93003624e-01 -6.22406607e-04 -1.70598362e+01] [-5.96977892e-03 -8.31108323e-05 9.99982177e-01 -2.40765867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.434012739 meters Centerline goodness [0,1] 0.9879979239652265 Centerline is valid? [True, True] Translation: X:149.56, Y:-17.06, Z:-2.41 [[ 9.92926463e-01 1.18614741e-01 5.25192603e-03 1.49559367e+02] [-1.18613490e-01 9.92940349e-01 -5.50193144e-04 -1.70649174e+01] [-5.28011029e-03 -7.66479441e-05 9.99986057e-01 -2.40923252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464012739 meters Centerline goodness [0,1] 0.9882700495264576 Centerline is valid? [True, True] Translation: X:149.59, Y:-17.07, Z:-2.41 [[ 9.92908738e-01 1.18797467e-01 4.40458302e-03 1.49588108e+02] [-1.18796590e-01 9.92918505e-01 -4.61277751e-04 -1.70674648e+01] [-4.42819061e-03 -6.52427323e-05 9.99990193e-01 -2.41081940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49401273899997 meters Centerline goodness [0,1] 0.9876815630489738 Centerline is valid? [True, True] Translation: X:149.62, Y:-17.07, Z:-2.41 [[ 9.92835186e-01 1.19404553e-01 4.56566708e-03 1.49616132e+02] [-1.19403617e-01 9.92845682e-01 -4.77957190e-04 -1.70699576e+01] [-4.59007311e-03 -7.06244481e-05 9.99989463e-01 -2.41080265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52401273899997 meters Centerline goodness [0,1] 0.9870461361751005 Centerline is valid? [True, True] Translation: X:149.64, Y:-17.07, Z:-2.41 [[ 9.92724260e-01 1.20226247e-01 6.64786333e-03 1.49643855e+02] [-1.20224286e-01 9.92746512e-01 -6.95334021e-04 -1.70707674e+01] [-6.68324053e-03 -1.08959670e-04 9.99977661e-01 -2.40734236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55401273899997 meters Centerline goodness [0,1] 0.986901237460331 Centerline is valid? [True, True] Translation: X:149.67, Y:-17.07, Z:-2.41 [[ 9.92711508e-01 1.20315656e-01 6.92854728e-03 1.49672407e+02] [-1.20313530e-01 9.92735680e-01 -7.24260611e-04 -1.70728198e+01] [-6.96535598e-03 -1.14616138e-04 9.99975735e-01 -2.40813518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58401273899997 meters Centerline goodness [0,1] 0.987094395280236 Centerline is valid? [True, True] Translation: X:149.70, Y:-17.08, Z:-2.41 [[ 9.92702083e-01 1.20461929e-01 5.61223796e-03 1.49700830e+02] [-1.20460538e-01 9.92717943e-01 -5.86477427e-04 -1.70772341e+01] [-5.64201753e-03 -9.38558428e-05 9.99984079e-01 -2.41151329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61401273899997 meters Centerline goodness [0,1] 0.9868463472822232 Centerline is valid? [True, True] Translation: X:149.73, Y:-17.08, Z:-2.41 [[ 9.92641796e-01 1.20977962e-01 5.15730791e-03 1.49729925e+02] [-1.20976795e-01 9.92655189e-01 -5.38721811e-04 -1.70806361e+01] [-5.18460193e-03 -8.91567957e-05 9.99986556e-01 -2.41242850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64401273899998 meters Centerline goodness [0,1] 0.9870233450453751 Centerline is valid? [True, True] Translation: X:149.76, Y:-17.08, Z:-2.41 [[ 9.92625207e-01 1.21116062e-01 5.10861882e-03 1.49757226e+02] [-1.21114921e-01 9.92638349e-01 -5.33427011e-04 -1.70825540e+01] [-5.13561753e-03 -8.92368658e-05 9.99986809e-01 -2.41236504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67401273899998 meters Centerline goodness [0,1] 0.986347687400319 Centerline is valid? [True, True] Translation: X:149.79, Y:-17.08, Z:-2.41 [[ 9.92406878e-01 1.22788652e-01 7.17882618e-03 1.49785712e+02] [-1.22786445e-01 9.92432833e-01 -7.48979349e-04 -1.70784401e+01] [-7.21646896e-03 -1.38170288e-04 9.99973951e-01 -2.40691798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70401273899998 meters Centerline goodness [0,1] 0.9862577004264852 Centerline is valid? [True, True] Translation: X:149.81, Y:-17.08, Z:-2.41 [[ 9.92210167e-01 1.24351244e-01 7.46681647e-03 1.49814488e+02] [-1.24348905e-01 9.92238249e-01 -7.78569943e-04 -1.70787654e+01] [-7.50567705e-03 -1.55985439e-04 9.99971820e-01 -2.40678353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73401273899998 meters Centerline goodness [0,1] 0.985969387755102 Centerline is valid? [True, True] Translation: X:149.84, Y:-17.08, Z:-2.41 [[ 9.91715283e-01 1.28370767e-01 4.66307427e-03 1.49844180e+02] [-1.28369899e-01 9.91726239e-01 -4.86108496e-04 -1.70750365e+01] [-4.68689523e-03 -1.16517149e-04 9.99989010e-01 -2.41261568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76401273899998 meters Centerline goodness [0,1] 0.9848927038626609 Centerline is valid? [True, True] Translation: X:149.87, Y:-17.07, Z:-2.42 [[ 9.91454549e-01 1.30389892e-01 4.04382034e-03 1.49873606e+02] [-1.30389257e-01 9.91462790e-01 -4.21444703e-04 -1.70703611e+01] [-4.06424952e-03 -1.09427460e-04 9.99991735e-01 -2.41510136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79401273899998 meters Centerline goodness [0,1] 0.985009289115719 Centerline is valid? [True, True] Translation: X:149.90, Y:-17.06, Z:-2.41 [[ 9.91197675e-01 1.32321334e-01 4.27006676e-03 1.49902751e+02] [-1.32320644e-01 9.91206865e-01 -4.44850271e-04 -1.70648096e+01] [-4.29138267e-03 -1.24083428e-04 9.99990784e-01 -2.41376394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82401273899998 meters Centerline goodness [0,1] 0.9852289512555391 Centerline is valid? [True, True] Translation: X:149.93, Y:-17.07, Z:-2.41 [[ 9.91516071e-01 1.29887588e-01 5.00946901e-03 1.49931089e+02] [-1.29886609e-01 9.91528717e-01 -5.21693185e-04 -1.70697044e+01] [-5.03479385e-03 -1.33395766e-04 9.99987316e-01 -2.41182557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85401273899998 meters Centerline goodness [0,1] 0.9855103666544663 Centerline is valid? [True, True] Translation: X:149.96, Y:-17.07, Z:-2.41 [[ 9.91795483e-01 1.27757346e-01 4.44759999e-03 1.49959950e+02] [-1.27756554e-01 9.91805449e-01 -4.62978133e-04 -1.70745726e+01] [-4.47030276e-03 -1.09030426e-04 9.99990002e-01 -2.41308908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88401273899999 meters Centerline goodness [0,1] 0.986721297408615 Centerline is valid? [True, True] Translation: X:149.99, Y:-17.08, Z:-2.42 [[ 9.92119250e-01 1.25252424e-01 3.35012464e-03 1.49988429e+02] [-1.25251960e-01 9.92124904e-01 -3.48737463e-04 -1.70780799e+01] [-3.36742230e-03 -7.36205262e-05 9.99994328e-01 -2.41553082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.914012739 meters Centerline goodness [0,1] 0.9871435954862606 Centerline is valid? [True, True] Translation: X:150.02, Y:-17.08, Z:-2.42 [[ 9.92290387e-01 1.23898840e-01 2.97748379e-03 1.50016431e+02] [-1.23898468e-01 9.92294852e-01 -3.09903975e-04 -1.70814756e+01] [-2.99293858e-03 -6.13909443e-05 9.99995519e-01 -2.41710540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.944012739 meters Centerline goodness [0,1] 0.9870938839942829 Centerline is valid? [True, True] Translation: X:150.04, Y:-17.09, Z:-2.42 [[ 9.92455175e-01 1.22582922e-01 2.48058490e-03 1.50044711e+02] [-1.22582660e-01 9.92458274e-01 -2.58058273e-04 -1.70863333e+01] [-2.49351055e-03 -4.79654271e-05 9.99996890e-01 -2.41877953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.974012739 meters Centerline goodness [0,1] 0.9872782271040268 Centerline is valid? [True, True] Translation: X:150.07, Y:-17.09, Z:-2.42 [[ 9.92692186e-01 1.20670902e-01 8.69800393e-04 1.50073605e+02] [-1.20670869e-01 9.92692567e-01 -9.05964582e-05 -1.70921047e+01] [-8.74376741e-04 -1.50251734e-05 9.99999618e-01 -2.42059377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004012739 meters Centerline goodness [0,1] 0.9882801559773359 Centerline is valid? [True, True] Translation: X:150.10, Y:-17.10, Z:-2.42 [[ 9.93054691e-01 1.17624790e-01 2.60548915e-03 1.50101846e+02] [-1.17624485e-01 9.93058109e-01 -2.70841985e-04 -1.71011501e+01] [-2.61925986e-03 -3.75084144e-05 9.99996569e-01 -2.41666171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.034012739 meters Centerline goodness [0,1] 0.9881291040147157 Centerline is valid? [True, True] Translation: X:150.13, Y:-17.10, Z:-2.42 [[ 9.93170972e-01 1.16614737e-01 3.52480710e-03 1.50130084e+02] [-1.16614172e-01 9.93177225e-01 -3.66103874e-04 -1.71029706e+01] [-3.54345124e-03 -4.74387218e-05 9.99993721e-01 -2.41657806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064012739 meters Centerline goodness [0,1] 0.9883078504432738 Centerline is valid? [True, True] Translation: X:150.16, Y:-17.11, Z:-2.42 [[ 9.93187294e-01 1.16511760e-01 2.00239835e-03 1.50158703e+02] [-1.16511577e-01 9.93189312e-01 -2.08034942e-04 -1.71075394e+01] [-2.01299916e-03 -2.66849288e-05 9.99997974e-01 -2.41919652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.094012739 meters Centerline goodness [0,1] 0.9885457632217995 Centerline is valid? [True, True] Translation: X:150.19, Y:-17.11, Z:-2.42 [[ 9.93132554e-01 1.16989371e-01 1.10317554e-03 1.50187969e+02] [-1.16989316e-01 9.93133167e-01 -1.14725627e-04 -1.71090120e+01] [-1.10902190e-03 -1.51219972e-05 9.99999385e-01 -2.42110107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124012739 meters Centerline goodness [0,1] 0.9883633066344265 Centerline is valid? [True, True] Translation: X:150.22, Y:-17.11, Z:-2.42 [[ 9.92939308e-01 1.18620128e-01 8.91962217e-04 1.50217094e+02] [-1.18620092e-01 9.92939709e-01 -9.27858649e-05 -1.71060889e+01] [-8.96670975e-04 -1.36739081e-05 9.99999598e-01 -2.42137168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.154012739 meters Centerline goodness [0,1] 0.9874911341801534 Centerline is valid? [True, True] Translation: X:150.25, Y:-17.11, Z:-2.42 [[ 9.92782655e-01 1.19914209e-01 1.78366634e-03 1.50246439e+02] [-1.19914070e-01 9.92784257e-01 -1.85106571e-04 -1.71067494e+01] [-1.79299277e-03 -3.01160973e-05 9.99998392e-01 -2.42018199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184012739 meters Centerline goodness [0,1] 0.986705804777402 Centerline is valid? [True, True] Translation: X:150.28, Y:-17.10, Z:-2.42 [[ 9.92363220e-01 1.23334050e-01 1.98778384e-03 1.50276483e+02] [-1.23333884e-01 9.92365210e-01 -2.06083303e-04 -1.70958765e+01] [-1.99802461e-03 -4.06516113e-05 9.99998003e-01 -2.42096380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.214012739 meters Centerline goodness [0,1] 0.9868860945150227 Centerline is valid? [True, True] Translation: X:150.31, Y:-17.10, Z:-2.42 [[ 9.92227500e-01 1.24423878e-01 1.81274684e-03 1.50305121e+02] [-1.24423742e-01 9.92229156e-01 -1.87972753e-04 -1.71005540e+01] [-1.82204856e-03 -3.90370097e-05 9.99998339e-01 -2.41950234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24401273899997 meters Centerline goodness [0,1] 0.9862686438671631 Centerline is valid? [True, True] Translation: X:150.33, Y:-17.10, Z:-2.42 [[ 9.92239564e-01 1.24328742e-01 1.73518868e-03 1.50332810e+02] [-1.24328618e-01 9.92241081e-01 -1.80079995e-04 -1.70961318e+01] [-1.74411461e-03 -3.70511146e-05 9.99998478e-01 -2.42136186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27401273899997 meters Centerline goodness [0,1] 0.9866411803870192 Centerline is valid? [True, True] Translation: X:150.36, Y:-17.10, Z:-2.42 [[ 9.92434393e-01 1.22765483e-01 1.61621794e-03 1.50360717e+02] [-1.22765373e-01 9.92435708e-01 -1.67416840e-04 -1.71034408e+01] [-1.62454541e-03 -3.22653685e-05 9.99998680e-01 -2.42045395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30401273899997 meters Centerline goodness [0,1] 0.9875010737909115 Centerline is valid? [True, True] Translation: X:150.39, Y:-17.11, Z:-2.42 [[ 9.92967626e-01 1.18370535e-01 1.92640129e-03 1.50389069e+02] [-1.18370371e-01 9.92969494e-01 -1.99314734e-04 -1.71094987e+01] [-1.93645071e-03 -3.01157564e-05 9.99998125e-01 -2.42064482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33401273899997 meters Centerline goodness [0,1] 0.9882542755727655 Centerline is valid? [True, True] Translation: X:150.42, Y:-17.12, Z:-2.42 [[ 9.93317553e-01 1.15402202e-01 1.60343170e-03 1.50417813e+02] [-1.15402084e-01 9.93318847e-01 -1.66174538e-04 -1.71155768e+01] [-1.61189583e-03 -1.99752743e-05 9.99998701e-01 -2.42168837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36401273899997 meters Centerline goodness [0,1] 0.9915254237288136 Centerline is valid? [True, True] Translation: X:150.45, Y:-17.13, Z:-2.42 [[ 9.94006037e-01 1.09322304e-01 7.94831933e-04 1.50445710e+02] [-1.09322273e-01 9.94006355e-01 -8.23835353e-05 -1.71263594e+01] [-7.99074350e-04 -5.00310216e-06 9.99999681e-01 -2.42307570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39401273899998 meters Centerline goodness [0,1] 0.9935297717933025 Centerline is valid? [True, True] Translation: X:150.47, Y:-17.13, Z:-2.42 [[ 9.94304802e-01 1.06564062e-01 1.43569886e-03 1.50473740e+02] [-1.06563959e-01 9.94305839e-01 -1.48465078e-04 -1.71342158e+01] [-1.44334480e-03 -5.37421501e-06 9.99998958e-01 -2.42089162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42401273899998 meters Centerline goodness [0,1] 0.9943153995188315 Centerline is valid? [True, True] Translation: X:150.50, Y:-17.15, Z:-2.42 [[ 9.94761177e-01 1.02152732e-01 3.87563449e-03 1.50500692e+02] [-1.02151949e-01 9.94768727e-01 -3.99986279e-04 -1.71453446e+01] [-3.89621968e-03 1.98720536e-06 9.99992410e-01 -2.41697852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45401273899998 meters Centerline goodness [0,1] 0.9961013225347866 Centerline is valid? [True, True] Translation: X:150.53, Y:-17.16, Z:-2.42 [[ 9.95037061e-01 9.94355121e-02 3.71835996e-03 1.50529000e+02] [-9.94347733e-02 9.95044008e-01 -3.83486598e-04 -1.71559847e+01] [-3.73806399e-03 1.18490971e-05 9.99993013e-01 -2.41826708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48401273899998 meters Centerline goodness [0,1] 0.9965365916620058 Centerline is valid? [True, True] Translation: X:150.56, Y:-17.16, Z:-2.42 [[ 9.95091791e-01 9.88984524e-02 3.37975054e-03 1.50557178e+02] [-9.88978393e-02 9.95097531e-01 -3.48444996e-04 -1.71606509e+01] [-3.39764209e-03 1.24847297e-05 9.99994228e-01 -2.41877260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51401273899998 meters Centerline goodness [0,1] 0.9968905472636815 Centerline is valid? [True, True] Translation: X:150.59, Y:-17.16, Z:-2.42 [[ 9.95105788e-01 9.87750026e-02 2.82287014e-03 1.50586130e+02] [-9.87745746e-02 9.95109792e-01 -2.90961220e-04 -1.71647071e+01] [-2.83780542e-03 1.07093966e-05 9.99995973e-01 -2.41931745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54401273899998 meters Centerline goodness [0,1] 0.9957167944489657 Centerline is valid? [True, True] Translation: X:150.61, Y:-17.17, Z:-2.42 [[ 9.94944164e-01 1.00365273e-01 3.59475350e-03 1.50614959e+02] [-1.00364591e-01 9.94950658e-01 -3.70255741e-04 -1.71674528e+01] [-3.61376318e-03 7.59782518e-06 9.99993470e-01 -2.41740581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57401273899998 meters Centerline goodness [0,1] 0.9918227772821885 Centerline is valid? [True, True] Translation: X:150.64, Y:-17.17, Z:-2.41 [[ 9.94634028e-01 1.03270220e-01 6.19772213e-03 1.50642700e+02] [-1.03268251e-01 9.94653337e-01 -6.37820076e-04 -1.71701312e+01] [-6.23045282e-03 -5.63037050e-06 9.99980591e-01 -2.41243885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60401273899998 meters Centerline goodness [0,1] 0.9904370113506644 Centerline is valid? [True, True] Translation: X:150.67, Y:-17.17, Z:-2.41 [[ 9.94531265e-01 1.04190279e-01 7.20759161e-03 1.50671779e+02] [-1.04187643e-01 9.94557382e-01 -7.41243391e-04 -1.71735258e+01] [-7.24559380e-03 -1.37522557e-05 9.99973750e-01 -2.41104688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63401273899999 meters Centerline goodness [0,1] 0.9904050719087737 Centerline is valid? [True, True] Translation: X:150.70, Y:-17.18, Z:-2.41 [[ 9.94433860e-01 1.05194647e-01 5.94843849e-03 1.50700238e+02] [-1.05192871e-01 9.94451651e-01 -6.11512639e-04 -1.71754987e+01] [-5.97976233e-03 -1.76244482e-05 9.99982121e-01 -2.41464106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.664012739 meters Centerline goodness [0,1] 0.991658404103979 Centerline is valid? [True, True] Translation: X:150.73, Y:-17.18, Z:-2.42 [[ 9.94430198e-01 1.05319013e-01 4.06026446e-03 1.50728645e+02] [-1.05318187e-01 9.94438487e-01 -4.17391382e-04 -1.71791602e+01] [-4.08164250e-03 -1.25530972e-05 9.99991670e-01 -2.41829091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.694012739 meters Centerline goodness [0,1] 0.993184114902492 Centerline is valid? [True, True] Translation: X:150.76, Y:-17.19, Z:-2.42 [[ 9.94498491e-01 1.04729917e-01 2.09661266e-03 1.50755418e+02] [-1.04729695e-01 9.94500701e-01 -2.15714444e-04 -1.71869635e+01] [-2.10767451e-03 -5.04991640e-06 9.99997779e-01 -2.42174378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724012739 meters Centerline goodness [0,1] 0.9936647488525437 Centerline is valid? [True, True] Translation: X:150.78, Y:-17.19, Z:-2.42 [[ 9.94561337e-01 1.04131075e-01 2.11341234e-03 1.50783651e+02] [-1.04130849e-01 9.94563582e-01 -2.17191980e-04 -1.71919984e+01] [-2.12453938e-03 -4.06067443e-06 9.99997743e-01 -2.42138913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.754012739 meters Centerline goodness [0,1] 0.9946557483029846 Centerline is valid? [True, True] Translation: X:150.81, Y:-17.20, Z:-2.42 [[ 9.94520234e-01 1.04542786e-01 5.56015125e-04 1.50811219e+02] [-1.04542771e-01 9.94520390e-01 -5.74628316e-05 -1.71951943e+01] [-5.58975703e-04 -9.79412821e-07 9.99999844e-01 -2.42352973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784012739 meters Centerline goodness [0,1] 0.9944385991282129 Centerline is valid? [True, True] Translation: X:150.84, Y:-17.20, Z:-2.43 [[ 9.94440328e-01 1.05301598e-01 9.09439163e-05 1.50840054e+02] [-1.05301597e-01 9.94440332e-01 -9.67827366e-06 -1.71982586e+01] [-9.14574360e-05 4.79259795e-08 9.99999996e-01 -2.42584279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.814012739 meters Centerline goodness [0,1] 0.9917341213756478 Centerline is valid? [True, True] Translation: X:150.87, Y:-17.20, Z:-2.42 [[ 9.94191618e-01 1.07618405e-01 1.14243867e-03 1.50868447e+02] [-1.07618341e-01 9.94192275e-01 -1.17399924e-04 -1.72010149e+01] [-1.14843810e-03 -6.22933359e-06 9.99999341e-01 -2.42401453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844012739 meters Centerline goodness [0,1] 0.9916511658087122 Centerline is valid? [True, True] Translation: X:150.90, Y:-17.20, Z:-2.42 [[ 9.94148403e-01 1.07998607e-01 2.29206263e-03 1.50897212e+02] [-1.07998353e-01 9.94151045e-01 -2.35073344e-04 -1.72040185e+01] [-2.30404405e-03 -1.38411981e-05 9.99997346e-01 -2.42210465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.874012739 meters Centerline goodness [0,1] 0.991488810161583 Centerline is valid? [True, True] Translation: X:150.93, Y:-17.21, Z:-2.42 [[ 9.94147781e-01 1.07988192e-01 2.95644300e-03 1.50925309e+02] [-1.07987768e-01 9.94152177e-01 -3.02982028e-04 -1.72088096e+01] [-2.97187272e-03 -1.80507708e-05 9.99995584e-01 -2.42054973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904012739 meters Centerline goodness [0,1] 0.9905936409545071 Centerline is valid? [True, True] Translation: X:150.95, Y:-17.21, Z:-2.42 [[ 9.94196984e-01 1.07534219e-01 2.95765234e-03 1.50953131e+02] [-1.07533794e-01 9.94201384e-01 -3.03018623e-04 -1.72133707e+01] [-2.97308692e-03 -1.67873752e-05 9.99995580e-01 -2.42219883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.934012739 meters Centerline goodness [0,1] 0.9905936409545071 Centerline is valid? [True, True] Translation: X:150.98, Y:-17.22, Z:-2.42 [[ 9.94201875e-01 1.07488995e-01 2.95767765e-03 1.50981321e+02] [-1.07488570e-01 9.94206274e-01 -3.02771187e-04 -1.72161630e+01] [-2.97308625e-03 -1.69008611e-05 9.99995580e-01 -2.42242055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964012739 meters Centerline goodness [0,1] 0.9928088257260526 Centerline is valid? [True, True] Translation: X:151.01, Y:-17.23, Z:-2.42 [[ 9.94407976e-01 1.05593997e-01 1.63876875e-03 1.51008064e+02] [-1.05593864e-01 9.94409326e-01 -1.67910432e-04 -1.72250544e+01] [-1.64733726e-03 -6.07245263e-06 9.99998643e-01 -2.42422326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99401273899997 meters Centerline goodness [0,1] 0.994411599706555 Centerline is valid? [True, True] Translation: X:151.04, Y:-17.23, Z:-2.43 [[ 9.94569030e-01 1.04076833e-01 6.75804274e-04 1.51035669e+02] [-1.04076810e-01 9.94569260e-01 -6.94982550e-05 -1.72303604e+01] [-6.79367315e-04 -1.21474096e-06 9.99999769e-01 -2.42623706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02401273899997 meters Centerline goodness [0,1] 0.9976993374944081 Centerline is valid? [True, True] Translation: X:151.06, Y:-17.24, Z:-2.43 [[ 9.95052168e-01 9.93532958e-02 3.25042263e-04 1.51063087e+02] [-9.93532902e-02 9.95052221e-01 -3.35320122e-05 -1.72426453e+01] [-3.26765542e-04 1.07208319e-06 9.99999947e-01 -2.42808828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05401273899997 meters Centerline goodness [0,1] 0.9971016345928436 Centerline is valid? [True, True] Translation: X:151.09, Y:-17.26, Z:-2.42 [[ 9.95568024e-01 9.39929439e-02 3.10404734e-03 1.51090042e+02] [-9.39924123e-02 9.95572863e-01 -3.17027593e-04 -1.72589713e+01] [-3.12010365e-03 2.38656375e-05 9.99995132e-01 -2.42231207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08401273899997 meters Centerline goodness [0,1] 0.9959201388888889 Centerline is valid? [True, True] Translation: X:151.12, Y:-17.27, Z:-2.42 [[ 9.95720448e-01 9.23118143e-02 4.39536314e-03 1.51119871e+02] [-9.23107336e-02 9.95730148e-01 -4.48544818e-04 -1.72660815e+01] [-4.41800158e-03 4.08860507e-05 9.99990240e-01 -2.41986302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11401273899997 meters Centerline goodness [0,1] 0.9949658703071672 Centerline is valid? [True, True] Translation: X:151.15, Y:-17.27, Z:-2.42 [[ 9.95901774e-01 9.03459660e-02 4.15490114e-03 1.51149308e+02] [-9.03449834e-02 9.95910440e-01 -4.23965262e-04 -1.72736623e+01] [-4.17621297e-03 4.68532817e-05 9.99991278e-01 -2.42049662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14401273899998 meters Centerline goodness [0,1] 0.9956201558709235 Centerline is valid? [True, True] Translation: X:151.18, Y:-17.28, Z:-2.42 [[ 9.95957006e-01 8.97807430e-02 3.00992616e-03 1.51180033e+02] [-8.97802249e-02 9.95961554e-01 -3.07090240e-04 -1.72784290e+01] [-3.02534153e-03 3.56168288e-05 9.99995423e-01 -2.42289863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17401273899998 meters Centerline goodness [0,1] 0.9959630413194595 Centerline is valid? [True, True] Translation: X:151.21, Y:-17.28, Z:-2.43 [[ 9.96014796e-01 8.91625278e-02 2.13780794e-03 1.51210367e+02] [-8.91622647e-02 9.96017090e-01 -2.18233169e-04 -1.72836002e+01] [-2.14875146e-03 2.67516682e-05 9.99997691e-01 -2.42505376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20401273899998 meters Centerline goodness [0,1] 0.9943524662329017 Centerline is valid? [True, True] Translation: X:151.24, Y:-17.29, Z:-2.42 [[ 9.96212426e-01 8.69163417e-02 2.52043560e-03 1.51240205e+02] [-8.69159690e-02 9.96215613e-01 -2.57235240e-04 -1.72915099e+01] [-2.53325524e-03 3.71948402e-05 9.99996791e-01 -2.42488962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23401273899998 meters Centerline goodness [0,1] 0.9913800479123888 Centerline is valid? [True, True] Translation: X:151.27, Y:-17.30, Z:-2.42 [[ 9.96332247e-01 8.54290402e-02 4.89201330e-03 1.51270066e+02] [-8.54276176e-02 9.96344254e-01 -4.99412086e-04 -1.73005333e+01] [-4.91679364e-03 7.96673249e-05 9.99987909e-01 -2.42040905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26401273899998 meters Centerline goodness [0,1] 0.9898605830164765 Centerline is valid? [True, True] Translation: X:151.30, Y:-17.31, Z:-2.42 [[ 9.96357439e-01 8.50876827e-02 5.65163234e-03 1.51301178e+02] [-8.50857796e-02 9.96373463e-01 -5.76758933e-04 -1.73075989e+01] [-5.68021157e-03 9.37845097e-05 9.99983863e-01 -2.41899533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29401273899998 meters Centerline goodness [0,1] 0.9911315380631797 Centerline is valid? [True, True] Translation: X:151.33, Y:-17.31, Z:-2.42 [[ 9.96486978e-01 8.35736453e-02 5.39889349e-03 1.51333131e+02] [-8.35718829e-02 9.96501599e-01 -5.51611928e-04 -1.73132160e+01] [-5.42610621e-03 9.84784088e-05 9.99985274e-01 -2.41848504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32401273899998 meters Centerline goodness [0,1] 0.9897512244589726 Centerline is valid? [True, True] Translation: X:151.36, Y:-17.32, Z:-2.42 [[ 9.96532086e-01 8.30518944e-02 5.11703902e-03 1.51362884e+02] [-8.30503002e-02 9.96545219e-01 -5.23621309e-04 -1.73245406e+01] [-5.14284851e-03 9.68338087e-05 9.99986771e-01 -2.41972282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35401273899998 meters Centerline goodness [0,1] 0.9901599279681002 Centerline is valid? [True, True] Translation: X:151.39, Y:-17.33, Z:-2.42 [[ 9.96523954e-01 8.31799650e-02 4.59366972e-03 1.51394396e+02] [-8.31786790e-02 9.96534538e-01 -4.70621461e-04 -1.73311010e+01] [-4.61689681e-03 8.68901801e-05 9.99989338e-01 -2.42148692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38401273899999 meters Centerline goodness [0,1] 0.9902764003277134 Centerline is valid? [True, True] Translation: X:151.43, Y:-17.33, Z:-2.42 [[ 9.96466663e-01 8.39032421e-02 3.79946421e-03 1.51426297e+02] [-8.39023659e-02 9.96473904e-01 -3.89689415e-04 -1.73341843e+01] [-3.81876314e-03 6.95284739e-05 9.99992706e-01 -2.42333921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.414012739 meters Centerline goodness [0,1] 0.9918911961558263 Centerline is valid? [True, True] Translation: X:151.46, Y:-17.33, Z:-2.43 [[ 9.96249028e-01 8.65149200e-02 1.74431349e-03 1.51458438e+02] [-8.65147399e-02 9.96250555e-01 -1.78543673e-04 -1.73346253e+01] [-1.75321997e-03 2.69651325e-05 9.99998463e-01 -2.42836821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.444012739 meters Centerline goodness [0,1] 0.9938764069170728 Centerline is valid? [True, True] Translation: X:151.49, Y:-17.33, Z:-2.43 [[ 9.96123284e-01 8.79611428e-02 1.11353821e-03 1.51489818e+02] [-8.79610697e-02 9.96123907e-01 -1.14551208e-04 -1.73331851e+01] [-1.11929808e-03 1.61591137e-05 9.99999373e-01 -2.42791143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.474012739 meters Centerline goodness [0,1] 0.9931468471186586 Centerline is valid? [True, True] Translation: X:151.52, Y:-17.35, Z:-2.43 [[ 9.95977060e-01 8.95828260e-02 2.14802609e-03 1.51519334e+02] [-8.95825572e-02 9.95979376e-01 -2.21194341e-04 -1.73467980e+01] [-2.15920490e-03 2.78788190e-05 9.99997669e-01 -2.42777206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504012739 meters Centerline goodness [0,1] 0.9934851319099529 Centerline is valid? [True, True] Translation: X:151.55, Y:-17.35, Z:-2.43 [[ 9.95901553e-01 9.03970752e-02 2.90945918e-03 1.51550423e+02] [-9.03965853e-02 9.95905803e-01 -2.99735568e-04 -1.73477809e+01] [-2.92464250e-03 3.55019430e-05 9.99995723e-01 -2.42504017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.534012739 meters Centerline goodness [0,1] 0.9926565318216954 Centerline is valid? [True, True] Translation: X:151.58, Y:-17.35, Z:-2.43 [[ 9.95870176e-01 9.07456146e-02 2.79733662e-03 1.51581191e+02] [-9.07451647e-02 9.95874105e-01 -2.87583838e-04 -1.73545831e+01] [-2.81189207e-03 3.25513959e-05 9.99996046e-01 -2.42584939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564012739 meters Centerline goodness [0,1] 0.9935362531886376 Centerline is valid? [True, True] Translation: X:151.61, Y:-17.37, Z:-2.43 [[ 9.95693279e-01 9.26708326e-02 2.64788649e-03 1.51611484e+02] [-9.26704354e-02 9.95696799e-01 -2.72589701e-04 -1.73660429e+01] [-2.66175322e-03 2.60349396e-05 9.99996457e-01 -2.42835891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.594012739 meters Centerline goodness [0,1] 0.9946693959359475 Centerline is valid? [True, True] Translation: X:151.64, Y:-17.37, Z:-2.43 [[ 9.95509198e-01 9.46386344e-02 2.22817775e-03 1.51644234e+02] [-9.46383578e-02 9.95511692e-01 -2.29497291e-04 -1.73656313e+01] [-2.23989631e-03 1.75955808e-05 9.99997491e-01 -2.42772787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624012739 meters Centerline goodness [0,1] 0.9954692556634305 Centerline is valid? [True, True] Translation: X:151.68, Y:-17.37, Z:-2.43 [[ 9.95271798e-01 9.71100846e-02 1.91827802e-03 1.51675754e+02] [-9.71098838e-02 9.95273646e-01 -1.97782441e-04 -1.73680008e+01] [-1.92841823e-03 1.05635298e-05 9.99998141e-01 -2.42958026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.654012739 meters Centerline goodness [0,1] 0.996672851749952 Centerline is valid? [True, True] Translation: X:151.71, Y:-17.36, Z:-2.43 [[ 9.94694963e-01 1.02857718e-01 1.49030434e-03 1.51706063e+02] [-1.02857602e-01 9.94696079e-01 -1.54678882e-04 -1.73639149e+01] [-1.49830980e-03 5.69174125e-07 9.99998878e-01 -2.43097021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684012739 meters Centerline goodness [0,1] 0.9957177986941406 Centerline is valid? [True, True] Translation: X:151.74, Y:-17.36, Z:-2.44 [[ 9.94249131e-01 1.07090491e-01 -5.40123939e-04 1.51737259e+02] [-1.07090477e-01 9.94249278e-01 5.60002775e-05 -1.73619540e+01] [ 5.43014933e-04 2.16390291e-06 9.99999853e-01 -2.43673627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.714012739 meters Centerline goodness [0,1] 0.9952216391484279 Centerline is valid? [True, True] Translation: X:151.77, Y:-17.36, Z:-2.44 [[ 9.94154145e-01 1.07958700e-01 -1.56716460e-03 1.51767239e+02] [-1.07958578e-01 9.94155380e-01 1.62286885e-04 -1.73631784e+01] [ 1.57552539e-03 7.85068201e-06 9.99998759e-01 -2.43963226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74401273899997 meters Centerline goodness [0,1] 0.9961676749843908 Centerline is valid? [True, True] Translation: X:151.80, Y:-17.37, Z:-2.44 [[ 9.94351040e-01 1.06132468e-01 -1.38149907e-03 1.51796469e+02] [-1.06132372e-01 9.94352000e-01 1.42993391e-04 -1.73713345e+01] [ 1.38887260e-03 4.43614612e-06 9.99999036e-01 -2.43657783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77401273899997 meters Centerline goodness [0,1] 0.9963995824367796 Centerline is valid? [True, True] Translation: X:151.82, Y:-17.38, Z:-2.44 [[ 9.94506227e-01 1.04676679e-01 -3.97325120e-04 1.51824307e+02] [-1.04676671e-01 9.94506306e-01 4.08952413e-05 -1.73778958e+01] [ 3.99423115e-04 9.20098667e-07 9.99999920e-01 -2.43604992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80401273899997 meters Centerline goodness [0,1] 0.9962925083098951 Centerline is valid? [True, True] Translation: X:151.85, Y:-17.39, Z:-2.44 [[ 9.94871990e-01 1.01142069e-01 7.09812124e-05 1.51854861e+02] [-1.01142069e-01 9.94871993e-01 -7.17910282e-06 -1.73894269e+01] [-7.13433295e-05 -3.68983527e-08 9.99999997e-01 -2.43522462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83401273899997 meters Centerline goodness [0,1] 0.9973243294897114 Centerline is valid? [True, True] Translation: X:151.88, Y:-17.40, Z:-2.44 [[ 9.95019921e-01 9.96753919e-02 4.16492585e-04 1.51884849e+02] [-9.96753826e-02 9.95020008e-01 -4.30757653e-05 -1.73973253e+01] [-4.18712049e-04 1.34718679e-06 9.99999912e-01 -2.43759734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86401273899997 meters Centerline goodness [0,1] 0.9947198969735995 Centerline is valid? [True, True] Translation: X:151.92, Y:-17.41, Z:-2.43 [[ 9.95289642e-01 9.69338575e-02 1.53467158e-03 1.51916056e+02] [-9.69337290e-02 9.95290825e-01 -1.58062709e-04 -1.74093945e+01] [-1.54276617e-03 8.55673833e-06 9.99998810e-01 -2.43295604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89401273899998 meters Centerline goodness [0,1] 0.9940463578965211 Centerline is valid? [True, True] Translation: X:151.95, Y:-17.42, Z:-2.43 [[ 9.95403308e-01 9.57534941e-02 1.87691710e-03 1.51948409e+02] [-9.57532990e-02 9.95405077e-01 -1.93757446e-04 -1.74187774e+01] [-1.88684577e-03 1.31457978e-05 9.99998220e-01 -2.43228987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92401273899998 meters Centerline goodness [0,1] 0.9911741801505581 Centerline is valid? [True, True] Translation: X:151.98, Y:-17.43, Z:-2.43 [[ 9.95567920e-01 9.39886010e-02 3.26487832e-03 1.51978092e+02] [-9.39879949e-02 9.95573273e-01 -3.38900100e-04 -1.74302211e+01] [-3.28227834e-03 3.05387016e-05 9.99994613e-01 -2.42907977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95401273899998 meters Centerline goodness [0,1] 0.9902536200839688 Centerline is valid? [True, True] Translation: X:152.01, Y:-17.44, Z:-2.43 [[ 9.95579165e-01 9.38419989e-02 3.97562716e-03 1.52010136e+02] [-9.38410972e-02 9.95587102e-01 -4.13134746e-04 -1.74370528e+01] [-3.99685251e-03 3.82311310e-05 9.99992012e-01 -2.42677065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98401273899998 meters Centerline goodness [0,1] 0.9903302748350775 Centerline is valid? [True, True] Translation: X:152.04, Y:-17.44, Z:-2.43 [[ 9.95533824e-01 9.43033029e-02 4.39233838e-03 1.52042523e+02] [-9.43022026e-02 9.95543513e-01 -4.57387460e-04 -1.74423579e+01] [-4.41589712e-03 4.11375037e-05 9.99990249e-01 -2.42573684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01401273899998 meters Centerline goodness [0,1] 0.990005717068626 Centerline is valid? [True, True] Translation: X:152.07, Y:-17.45, Z:-2.42 [[ 9.95420340e-01 9.54396360e-02 5.44274936e-03 1.52073006e+02] [-9.54379556e-02 9.95435218e-01 -5.68235603e-04 -1.74480519e+01] [-5.47213660e-03 4.61884052e-05 9.99985027e-01 -2.42461215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04401273899998 meters Centerline goodness [0,1] 0.9893233114817108 Centerline is valid? [True, True] Translation: X:152.10, Y:-17.45, Z:-2.42 [[ 9.95148512e-01 9.82068763e-02 5.90327902e-03 1.52104890e+02] [-9.82049422e-02 9.95166020e-01 -6.17313120e-04 -1.74486519e+01] [-5.93536708e-03 3.45870577e-05 9.99982385e-01 -2.42282754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07401273899998 meters Centerline goodness [0,1] 0.9925051688490696 Centerline is valid? [True, True] Translation: X:152.14, Y:-17.45, Z:-2.43 [[ 9.94910915e-01 1.00717403e-01 2.87664308e-03 1.52138392e+02] [-1.00716955e-01 9.94915074e-01 -3.00470855e-04 -1.74487245e+01] [-2.89227821e-03 9.21500125e-06 9.99995817e-01 -2.42840135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10401273899998 meters Centerline goodness [0,1] 0.993398777709163 Centerline is valid? [True, True] Translation: X:152.17, Y:-17.45, Z:-2.43 [[ 9.94745708e-01 1.02356403e-01 2.03535930e-03 1.52169982e+02] [-1.02356182e-01 9.94747791e-01 -2.12624184e-04 -1.74510236e+01] [-2.04643262e-03 3.17538685e-06 9.99997906e-01 -2.42980113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13401273899999 meters Centerline goodness [0,1] 0.9922968889645487 Centerline is valid? [True, True] Translation: X:152.20, Y:-17.45, Z:-2.43 [[ 9.94361863e-01 1.05982967e-01 3.47799804e-03 1.52201457e+02] [-1.05982339e-01 9.94367945e-01 -3.65034776e-04 -1.74509629e+01] [-3.49709723e-03 -5.62970693e-06 9.99993885e-01 -2.42812594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.164012739 meters Centerline goodness [0,1] 0.9915619043539717 Centerline is valid? [True, True] Translation: X:152.23, Y:-17.45, Z:-2.43 [[ 9.94167591e-01 1.07772199e-01 3.99422336e-03 1.52233272e+02] [-1.07771381e-01 9.94175615e-01 -4.19992990e-04 -1.74514789e+01] [-4.01622303e-03 -1.29195489e-05 9.99991935e-01 -2.42749914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.194012739 meters Centerline goodness [0,1] 0.9914112782916329 Centerline is valid? [True, True] Translation: X:152.27, Y:-17.44, Z:-2.43 [[ 9.93622932e-01 1.12724901e-01 2.56226310e-03 1.52266593e+02] [-1.12724581e-01 9.93626236e-01 -2.69385292e-04 -1.74442191e+01] [-2.57629827e-03 -2.11626312e-05 9.99996681e-01 -2.43153309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224012739 meters Centerline goodness [0,1] 0.9909691535458407 Centerline is valid? [True, True] Translation: X:152.30, Y:-17.44, Z:-2.43 [[ 9.93312922e-01 1.15445474e-01 1.33448444e-03 1.52297953e+02] [-1.15445389e-01 9.93313819e-01 -1.40765164e-04 -1.74425483e+01] [-1.34181254e-03 -1.42362187e-05 9.99999100e-01 -2.43394760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.254012739 meters Centerline goodness [0,1] 0.9890702200928283 Centerline is valid? [True, True] Translation: X:152.33, Y:-17.43, Z:-2.44 [[ 9.92712260e-01 1.20506560e-01 7.33769401e-04 1.52328687e+02] [-1.20506536e-01 9.92712531e-01 -7.75752542e-05 -1.74314191e+01] [-7.37770406e-04 -1.14141026e-05 9.99999728e-01 -2.43614506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284012739 meters Centerline goodness [0,1] 0.9890716271851356 Centerline is valid? [True, True] Translation: X:152.36, Y:-17.44, Z:-2.43 [[ 9.92365963e-01 1.23319860e-01 1.41692003e-03 1.52359060e+02] [-1.23319772e-01 9.92366974e-01 -1.49630603e-04 -1.74362959e+01] [-1.42455707e-03 -2.62459381e-05 9.99998985e-01 -2.43144391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.314012739 meters Centerline goodness [0,1] 0.9884417716930032 Centerline is valid? [True, True] Translation: X:152.39, Y:-17.43, Z:-2.43 [[ 9.91864509e-01 1.27295722e-01 7.71209497e-04 1.52388896e+02] [-1.27295697e-01 9.91864809e-01 -8.16943534e-05 -1.74260394e+01] [-7.75334902e-04 -1.71419208e-05 9.99999699e-01 -2.43362381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344012739 meters Centerline goodness [0,1] 0.9875449409347714 Centerline is valid? [True, True] Translation: X:152.42, Y:-17.42, Z:-2.44 [[ 9.91592442e-01 1.29398821e-01 6.12313111e-04 1.52418031e+02] [-1.29398806e-01 9.91592631e-01 -6.48820919e-05 -1.74206419e+01] [-6.15560834e-04 -1.48959933e-05 9.99999810e-01 -2.43579011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.374012739 meters Centerline goodness [0,1] 0.985960801022582 Centerline is valid? [True, True] Translation: X:152.45, Y:-17.41, Z:-2.44 [[ 9.91493320e-01 1.30151449e-01 1.26338333e-03 1.52446640e+02] [-1.30151385e-01 9.91494125e-01 -1.33690346e-04 -1.74149982e+01] [-1.27003715e-03 -3.18780054e-05 9.99999193e-01 -2.43556067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404012739 meters Centerline goodness [0,1] 0.9868267041222414 Centerline is valid? [True, True] Translation: X:152.48, Y:-17.42, Z:-2.43 [[ 9.91205689e-01 1.32282776e-01 3.54243985e-03 1.52476114e+02] [-1.32282285e-01 9.91212014e-01 -3.73746118e-04 -1.74198725e+01] [-3.56074912e-03 -9.81427593e-05 9.99993656e-01 -2.42851839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.434012739 meters Centerline goodness [0,1] 0.9851379133116327 Centerline is valid? [True, True] Translation: X:152.51, Y:-17.42, Z:-2.43 [[ 9.91071465e-01 1.33274631e-01 3.90170136e-03 1.52505363e+02] [-1.33274043e-01 9.91079139e-01 -4.11564074e-04 -1.74156459e+01] [-3.92174588e-03 -1.12106105e-04 9.99992304e-01 -2.42873364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464012739 meters Centerline goodness [0,1] 0.9862895576442183 Centerline is valid? [True, True] Translation: X:152.53, Y:-17.41, Z:-2.43 [[ 9.90970879e-01 1.34041773e-01 3.08544514e-03 1.52534681e+02] [-1.34041409e-01 9.90975678e-01 -3.25446713e-04 -1.74149928e+01] [-3.10122454e-03 -9.10691975e-05 9.99995187e-01 -2.43043125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49401273899997 meters Centerline goodness [0,1] 0.9862144608370252 Centerline is valid? [True, True] Translation: X:152.56, Y:-17.41, Z:-2.43 [[ 9.90892418e-01 1.34626523e-01 2.81338802e-03 1.52562437e+02] [-1.34626222e-01 9.90896408e-01 -2.96829486e-04 -1.74133831e+01] [-2.82773721e-03 -8.46297145e-05 9.99995998e-01 -2.43175154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52401273899997 meters Centerline goodness [0,1] 0.9852868632707775 Centerline is valid? [True, True] Translation: X:152.59, Y:-17.41, Z:-2.43 [[ 9.90701196e-01 1.36033383e-01 2.46136848e-03 1.52591430e+02] [-1.36033157e-01 9.90704251e-01 -2.59612542e-04 -1.74076920e+01] [-2.47380418e-03 -7.76292690e-05 9.99996937e-01 -2.43218287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55401273899997 meters Centerline goodness [0,1] 0.9842583335106043 Centerline is valid? [True, True] Translation: X:152.62, Y:-17.41, Z:-2.43 [[ 9.90624223e-01 1.36595056e-01 2.33242212e-03 1.52619615e+02] [-1.36594856e-01 9.90626966e-01 -2.45811563e-04 -1.74053149e+01] [-2.34413689e-03 -7.50899748e-05 9.99997250e-01 -2.43247046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58401273899997 meters Centerline goodness [0,1] 0.9846321084491432 Centerline is valid? [True, True] Translation: X:152.65, Y:-17.40, Z:-2.43 [[ 9.90607438e-01 1.36696888e-01 3.29620129e-03 1.52649102e+02] [-1.36696490e-01 9.90612916e-01 -3.46956495e-04 -1.74009974e+01] [-3.31268745e-03 -1.06881461e-04 9.99994507e-01 -2.43201896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61401273899997 meters Centerline goodness [0,1] 0.9863242306025141 Centerline is valid? [True, True] Translation: X:152.68, Y:-17.41, Z:-2.43 [[ 9.90745169e-01 1.35679200e-01 3.89414389e-03 1.52677269e+02] [-1.35678637e-01 9.90752815e-01 -4.09662045e-04 -1.74067155e+01] [-3.91371664e-03 -1.22481442e-04 9.99992334e-01 -2.43072953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64401273899998 meters Centerline goodness [0,1] 0.9860570548736153 Centerline is valid? [True, True] Translation: X:152.71, Y:-17.41, Z:-2.43 [[ 9.91251980e-01 1.31888218e-01 5.00093783e-03 1.52706179e+02] [-1.31887243e-01 9.91264586e-01 -5.25714326e-04 -1.74055820e+01] [-5.02658809e-03 -1.38444537e-04 9.99987357e-01 -2.42912678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67401273899998 meters Centerline goodness [0,1] 0.9864678265672466 Centerline is valid? [True, True] Translation: X:152.73, Y:-17.41, Z:-2.43 [[ 9.91457811e-01 1.30305052e-01 5.65712119e-03 1.52734135e+02] [-1.30303779e-01 9.91473939e-01 -5.94497518e-04 -1.74070213e+01] [-5.68635426e-03 -1.47725063e-04 9.99983822e-01 -2.42772166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70401273899998 meters Centerline goodness [0,1] 0.9869828087010779 Centerline is valid? [True, True] Translation: X:152.76, Y:-17.41, Z:-2.43 [[ 9.91808497e-01 1.27582162e-01 6.22074565e-03 1.52763154e+02] [-1.27580573e-01 9.91827994e-01 -6.53333283e-04 -1.74115690e+01] [-6.25326335e-03 -1.45664791e-04 9.99980438e-01 -2.42720113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73401273899998 meters Centerline goodness [0,1] 0.9877387712958183 Centerline is valid? [True, True] Translation: X:152.79, Y:-17.42, Z:-2.43 [[ 9.92200342e-01 1.24567220e-01 4.63557529e-03 1.52791479e+02] [-1.24566306e-01 9.92211166e-01 -4.86644501e-04 -1.74158173e+01] [-4.66008952e-03 -9.45876476e-05 9.99989137e-01 -2.42969680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76401273899998 meters Centerline goodness [0,1] 0.9889996713049195 Centerline is valid? [True, True] Translation: X:152.82, Y:-17.42, Z:-2.43 [[ 9.92406004e-01 1.22949265e-01 3.71503499e-03 1.52820353e+02] [-1.22948666e-01 9.92412955e-01 -3.89868719e-04 -1.74210715e+01] [-3.73478292e-03 -6.98505396e-05 9.99993023e-01 -2.43134821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79401273899998 meters Centerline goodness [0,1] 0.9894604607588469 Centerline is valid? [True, True] Translation: X:152.85, Y:-17.43, Z:-2.43 [[ 9.92819585e-01 1.19589021e-01 2.78158442e-03 1.52847443e+02] [-1.19588672e-01 9.92823481e-01 -2.91996167e-04 -1.74263543e+01] [-2.79654186e-03 -4.27464740e-05 9.99996089e-01 -2.43491950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82401273899998 meters Centerline goodness [0,1] 0.9906221163544282 Centerline is valid? [True, True] Translation: X:152.88, Y:-17.43, Z:-2.44 [[ 9.93030019e-01 1.17841013e-01 2.20822025e-03 1.52875652e+02] [-1.17840789e-01 9.93032474e-01 -2.31698281e-04 -1.74321574e+01] [-2.22013798e-03 -3.01350682e-05 9.99997535e-01 -2.43575266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85401273899998 meters Centerline goodness [0,1] 0.9906221163544282 Centerline is valid? [True, True] Translation: X:152.90, Y:-17.44, Z:-2.44 [[ 9.93035265e-01 1.17796803e-01 2.20823049e-03 1.52903838e+02] [-1.17796579e-01 9.93037719e-01 -2.31600650e-04 -1.74350178e+01] [-2.22013798e-03 -3.01343855e-05 9.99997535e-01 -2.43597439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88401273899999 meters Centerline goodness [0,1] 0.9917517759592339 Centerline is valid? [True, True] Translation: X:152.93, Y:-17.45, Z:-2.44 [[ 9.93437899e-01 1.14357042e-01 1.89965363e-03 1.52932113e+02] [-1.14356870e-01 9.93439715e-01 -1.99077483e-04 -1.74466755e+01] [-1.90995728e-03 -1.94673273e-05 9.99998176e-01 -2.43519527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.914012739 meters Centerline goodness [0,1] 0.9926191298342542 Centerline is valid? [True, True] Translation: X:152.96, Y:-17.45, Z:-2.44 [[ 9.93657095e-01 1.12427401e-01 2.37858140e-03 1.52960022e+02] [-1.12427126e-01 9.93659941e-01 -2.49292728e-04 -1.74520934e+01] [-2.39152839e-03 -1.97055837e-05 9.99997140e-01 -2.43509585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.944012739 meters Centerline goodness [0,1] 0.993361934643871 Centerline is valid? [True, True] Translation: X:152.99, Y:-17.46, Z:-2.44 [[ 9.94124494e-01 1.08205614e-01 2.83485427e-03 1.52988124e+02] [-1.08205207e-01 9.94128535e-01 -2.96841086e-04 -1.74603072e+01] [-2.85032940e-03 -1.16490005e-05 9.99995938e-01 -2.43623956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.974012739 meters Centerline goodness [0,1] 0.9954294217687075 Centerline is valid? [True, True] Translation: X:153.02, Y:-17.47, Z:-2.44 [[ 9.94345539e-01 1.06171895e-01 2.11610656e-03 1.53016533e+02] [-1.06171664e-01 9.94347791e-01 -2.21571157e-04 -1.74664415e+01] [-2.12767052e-03 -4.35226287e-06 9.99997736e-01 -2.43929674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004012739 meters Centerline goodness [0,1] 0.9957217421066142 Centerline is valid? [True, True] Translation: X:153.05, Y:-17.48, Z:-2.44 [[ 9.94746286e-01 1.02349589e-01 2.09493948e-03 1.53045389e+02] [-1.02349354e-01 9.94748492e-01 -2.19224459e-04 -1.74773765e+01] [-2.10637542e-03 3.65701319e-06 9.99997782e-01 -2.43957993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034012739 meters Centerline goodness [0,1] 0.9951100771186075 Centerline is valid? [True, True] Translation: X:153.07, Y:-17.49, Z:-2.44 [[ 9.95071616e-01 9.91231273e-02 2.66151877e-03 1.53074719e+02] [-9.91227377e-02 9.95075176e-01 -2.78217317e-04 -1.74883899e+01] [-2.67598903e-03 1.30291289e-05 9.99996419e-01 -2.43777823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064012739 meters Centerline goodness [0,1] 0.9945072767770257 Centerline is valid? [True, True] Translation: X:153.10, Y:-17.49, Z:-2.44 [[ 9.95189430e-01 9.79250441e-02 2.94679160e-03 1.53104788e+02] [-9.79245609e-02 9.95193793e-01 -3.08139904e-04 -1.74935047e+01] [-2.96280332e-03 1.80943014e-05 9.99995611e-01 -2.43633942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.094012739 meters Centerline goodness [0,1] 0.9937927567591196 Centerline is valid? [True, True] Translation: X:153.13, Y:-17.50, Z:-2.44 [[ 9.95374941e-01 9.60316950e-02 2.57683753e-03 1.53134996e+02] [-9.60313205e-02 9.95378276e-01 -2.68977914e-04 -1.75031061e+01] [-2.59075851e-03 2.02767646e-05 9.99996644e-01 -2.43768493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124012739 meters Centerline goodness [0,1] 0.9939473288832608 Centerline is valid? [True, True] Translation: X:153.16, Y:-17.51, Z:-2.44 [[ 9.95413451e-01 9.56370742e-02 2.36870884e-03 1.53164469e+02] [-9.56367552e-02 9.95416270e-01 -2.47844073e-04 -1.75091414e+01] [-2.38155440e-03 2.01716971e-05 9.99997164e-01 -2.43811440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.154012739 meters Centerline goodness [0,1] 0.9936621836462854 Centerline is valid? [True, True] Translation: X:153.19, Y:-17.51, Z:-2.44 [[ 9.95375503e-01 9.60148432e-02 2.95931028e-03 1.53194494e+02] [-9.60143468e-02 9.95379902e-01 -3.09698346e-04 -1.75141675e+01] [-2.97537362e-03 2.41299036e-05 9.99995573e-01 -2.43665801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184012739 meters Centerline goodness [0,1] 0.992825169732925 Centerline is valid? [True, True] Translation: X:153.23, Y:-17.52, Z:-2.43 [[ 9.95301010e-01 9.67440104e-02 4.06160748e-03 1.53225765e+02] [-9.67430812e-02 9.95309296e-01 -4.25092924e-04 -1.75164904e+01] [-4.08368087e-03 3.01629952e-05 9.99991661e-01 -2.43437318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.214012739 meters Centerline goodness [0,1] 0.9935952360551795 Centerline is valid? [True, True] Translation: X:153.26, Y:-17.52, Z:-2.43 [[ 9.94995354e-01 9.98113668e-02 4.68369549e-03 1.53256668e+02] [-9.98101663e-02 9.95006377e-01 -4.89937997e-04 -1.75188966e+01] [-4.70920826e-03 2.00056044e-05 9.99988911e-01 -2.43424586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24401273899997 meters Centerline goodness [0,1] 0.9946673492459632 Centerline is valid? [True, True] Translation: X:153.29, Y:-17.52, Z:-2.44 [[ 9.94841149e-01 1.01360091e-01 4.14960938e-03 1.53287983e+02] [-1.01359160e-01 9.94849804e-01 -4.34581869e-04 -1.75227168e+01] [-4.17228734e-03 1.17390046e-05 9.99991296e-01 -2.43545670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27401273899997 meters Centerline goodness [0,1] 0.9952457436556377 Centerline is valid? [True, True] Translation: X:153.32, Y:-17.52, Z:-2.44 [[ 9.94605884e-01 1.03666693e-01 3.51471164e-03 1.53318937e+02] [-1.03666036e-01 9.94612094e-01 -3.68980533e-04 -1.75245112e+01] [-3.53402570e-03 2.63398423e-06 9.99993755e-01 -2.43631199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30401273899997 meters Centerline goodness [0,1] 0.9947591554996911 Centerline is valid? [True, True] Translation: X:153.35, Y:-17.53, Z:-2.44 [[ 9.94463565e-01 1.04996304e-01 4.24193649e-03 1.53349077e+02] [-1.04995359e-01 9.94472612e-01 -4.45506752e-04 -1.75286474e+01] [-4.26526623e-03 -2.34341362e-06 9.99990904e-01 -2.43503191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33401273899997 meters Centerline goodness [0,1] 0.9931071049840933 Centerline is valid? [True, True] Translation: X:153.38, Y:-17.53, Z:-2.43 [[ 9.94389597e-01 1.05668559e-01 4.84613611e-03 1.53380582e+02] [-1.05667334e-01 9.94401406e-01 -5.08998597e-04 -1.75334391e+01] [-4.87278971e-03 -5.93537176e-06 9.99988128e-01 -2.43386806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36401273899997 meters Centerline goodness [0,1] 0.9927525419393345 Centerline is valid? [True, True] Translation: X:153.41, Y:-17.53, Z:-2.44 [[ 9.94080133e-01 1.08591321e-01 3.55151334e-03 1.53412298e+02] [-1.08590681e-01 9.94086477e-01 -3.73055475e-04 -1.75331985e+01] [-3.57102197e-03 -1.48142177e-05 9.99993624e-01 -2.43559449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39401273899998 meters Centerline goodness [0,1] 0.9928997382985113 Centerline is valid? [True, True] Translation: X:153.44, Y:-17.53, Z:-2.44 [[ 9.93790866e-01 1.11237908e-01 2.41714351e-03 1.53442382e+02] [-1.11237619e-01 9.93793805e-01 -2.54087944e-04 -1.75312474e+01] [-2.43040646e-03 -1.63670106e-05 9.99997046e-01 -2.43832866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42401273899998 meters Centerline goodness [0,1] 0.991547603724203 Centerline is valid? [True, True] Translation: X:153.47, Y:-17.53, Z:-2.44 [[ 9.93251701e-01 1.15974912e-01 9.36968742e-04 1.53471957e+02] [-1.15974870e-01 9.93252143e-01 -9.86979062e-05 -1.75265139e+01] [-9.42092691e-04 -1.06329650e-05 9.99999556e-01 -2.44254620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45401273899998 meters Centerline goodness [0,1] 0.9899281798478603 Centerline is valid? [True, True] Translation: X:153.50, Y:-17.53, Z:-2.44 [[ 9.93018583e-01 1.17915293e-01 3.17456317e-03 1.53500308e+02] [-1.17914829e-01 9.93023656e-01 -3.33686190e-04 -1.75266523e+01] [-3.19176303e-03 -4.29714849e-05 9.99994905e-01 -2.43877305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48401273899998 meters Centerline goodness [0,1] 0.9891302017451707 Centerline is valid? [True, True] Translation: X:153.53, Y:-17.53, Z:-2.44 [[ 9.92818121e-01 1.19552714e-01 4.39626577e-03 1.53530216e+02] [-1.19551841e-01 9.92827852e-01 -4.61690550e-04 -1.75287391e+01] [-4.41993146e-03 -6.72069239e-05 9.99990230e-01 -2.43538599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51401273899998 meters Centerline goodness [0,1] 0.9881552365762892 Centerline is valid? [True, True] Translation: X:153.56, Y:-17.53, Z:-2.44 [[ 9.92562375e-01 1.21653470e-01 4.51268639e-03 1.53559819e+02] [-1.21652573e-01 9.92572631e-01 -4.73805017e-04 -1.75274863e+01] [-4.53680902e-03 -7.86988757e-05 9.99989706e-01 -2.43534307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54401273899998 meters Centerline goodness [0,1] 0.9877418528168112 Centerline is valid? [True, True] Translation: X:153.59, Y:-17.52, Z:-2.44 [[ 9.92088220e-01 1.25510530e-01 2.84104253e-03 1.53588873e+02] [-1.25510190e-01 9.92092286e-01 -2.98303527e-04 -1.75214603e+01] [-2.85601662e-03 -6.06363722e-05 9.99995920e-01 -2.43888890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57401273899998 meters Centerline goodness [0,1] 0.9877658775299951 Centerline is valid? [True, True] Translation: X:153.62, Y:-17.52, Z:-2.44 [[ 9.91864586e-01 1.27257501e-01 3.18930384e-03 1.53618021e+02] [-1.27257082e-01 9.91869711e-01 -3.34811960e-04 -1.75231347e+01] [-3.20598121e-03 -7.37733749e-05 9.99994858e-01 -2.43876614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60401273899998 meters Centerline goodness [0,1] 0.9874967775199793 Centerline is valid? [True, True] Translation: X:153.65, Y:-17.53, Z:-2.44 [[ 9.91782370e-01 1.27864675e-01 4.28435136e-03 1.53646310e+02] [-1.27863925e-01 9.91791618e-01 -4.49627273e-04 -1.75250636e+01] [-4.30667522e-03 -1.01881580e-04 9.99990721e-01 -2.43674780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63401273899999 meters Centerline goodness [0,1] 0.9868823879581597 Centerline is valid? [True, True] Translation: X:153.67, Y:-17.53, Z:-2.44 [[ 9.91755290e-01 1.28044568e-01 5.10228194e-03 1.53674182e+02] [-1.28043509e-01 9.91768407e-01 -5.35008829e-04 -1.75263134e+01] [-5.12878701e-03 -1.22716247e-04 9.99986840e-01 -2.43550925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.664012739 meters Centerline goodness [0,1] 0.9868175680020578 Centerline is valid? [True, True] Translation: X:153.70, Y:-17.53, Z:-2.44 [[ 9.91832339e-01 1.27438518e-01 5.29482200e-03 1.53703540e+02] [-1.27437371e-01 9.91846464e-01 -5.54775236e-04 -1.75305140e+01] [-5.32235022e-03 -1.24514178e-04 9.99985828e-01 -2.43674780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.694012739 meters Centerline goodness [0,1] 0.9873069960600575 Centerline is valid? [True, True] Translation: X:153.73, Y:-17.53, Z:-2.44 [[ 9.91914370e-01 1.26842718e-01 4.09979202e-03 1.53731065e+02] [-1.26842025e-01 9.91922838e-01 -4.29649642e-04 -1.75346497e+01] [-4.12117526e-03 -9.38502660e-05 9.99991504e-01 -2.43918126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724012739 meters Centerline goodness [0,1] 0.9876564229164894 Centerline is valid? [True, True] Translation: X:153.76, Y:-17.54, Z:-2.44 [[ 9.92022021e-01 1.26022108e-01 3.27690366e-03 1.53760388e+02] [-1.26021662e-01 9.92027431e-01 -3.43134478e-04 -1.75418696e+01] [-3.29402085e-03 -7.25638869e-05 9.99994572e-01 -2.44159064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.754012739 meters Centerline goodness [0,1] 0.9884234674370194 Centerline is valid? [True, True] Translation: X:153.79, Y:-17.55, Z:-2.44 [[ 9.92197189e-01 1.24628287e-01 3.53944134e-03 1.53790086e+02] [-1.24627758e-01 9.92203500e-01 -3.70575695e-04 -1.75485452e+01] [-3.55803030e-03 -7.34284759e-05 9.99993667e-01 -2.44164722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784012739 meters Centerline goodness [0,1] 0.9885430223379061 Centerline is valid? [True, True] Translation: X:153.82, Y:-17.56, Z:-2.44 [[ 9.92605853e-01 1.21296844e-01 4.54927502e-03 1.53817740e+02] [-1.21295935e-01 9.92616275e-01 -4.76071553e-04 -1.75578800e+01] [-4.57343040e-03 -7.92571584e-05 9.99989539e-01 -2.43897223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.814012739 meters Centerline goodness [0,1] 0.9887067161948678 Centerline is valid? [True, True] Translation: X:153.85, Y:-17.56, Z:-2.44 [[ 9.92742957e-01 1.20177924e-01 4.32296238e-03 1.53848035e+02] [-1.20177094e-01 9.92752367e-01 -4.52129376e-04 -1.75641992e+01] [-4.34596710e-03 -7.06728043e-05 9.99990554e-01 -2.43953500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844012739 meters Centerline goodness [0,1] 0.9888527240623737 Centerline is valid? [True, True] Translation: X:153.88, Y:-17.57, Z:-2.44 [[ 9.92806588e-01 1.19657947e-01 4.12969197e-03 1.53876794e+02] [-1.19657185e-01 9.92815175e-01 -4.31957619e-04 -1.75689927e+01] [-4.15170802e-03 -6.52969445e-05 9.99991379e-01 -2.44055051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.874012739 meters Centerline goodness [0,1] 0.9891585587512028 Centerline is valid? [True, True] Translation: X:153.91, Y:-17.57, Z:-2.44 [[ 9.92645194e-01 1.21020124e-01 3.10620156e-03 1.53906967e+02] [-1.21019699e-01 9.92650053e-01 -3.24835279e-04 -1.75740037e+01] [-3.12268275e-03 -5.34654007e-05 9.99995123e-01 -2.44230909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904012739 meters Centerline goodness [0,1] 0.9883019674935842 Centerline is valid? [True, True] Translation: X:153.94, Y:-17.58, Z:-2.44 [[ 9.92554402e-01 1.21778719e-01 2.38792186e-03 1.53936766e+02] [-1.21778470e-01 9.92557274e-01 -2.49783042e-04 -1.75755672e+01] [-2.40056747e-03 -4.28742137e-05 9.99997118e-01 -2.44378403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.934012739 meters Centerline goodness [0,1] 0.989177997395889 Centerline is valid? [True, True] Translation: X:153.97, Y:-17.58, Z:-2.45 [[ 9.92405178e-01 1.23001712e-01 1.59414784e-03 1.53965769e+02] [-1.23001602e-01 9.92406458e-01 -1.66904720e-04 -1.75764451e+01] [-1.60257218e-03 -3.04456311e-05 9.99998715e-01 -2.44571410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964012739 meters Centerline goodness [0,1] 0.9883874260921349 Centerline is valid? [True, True] Translation: X:153.99, Y:-17.58, Z:-2.44 [[ 9.92307189e-01 1.23775609e-01 2.45794760e-03 1.53994805e+02] [-1.23775352e-01 9.92310232e-01 -2.57067056e-04 -1.75754794e+01] [-2.47086518e-03 -4.91438405e-05 9.99996946e-01 -2.44415673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99401273899997 meters Centerline goodness [0,1] 0.9883200102869634 Centerline is valid? [True, True] Translation: X:154.02, Y:-17.58, Z:-2.44 [[ 9.92213307e-01 1.24514558e-01 2.97952938e-03 1.54023885e+02] [-1.24514183e-01 9.92217779e-01 -3.11539930e-04 -1.75781442e+01] [-2.99513328e-03 -6.18796031e-05 9.99995513e-01 -2.44243855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02401273899997 meters Centerline goodness [0,1] 0.9879456597997321 Centerline is valid? [True, True] Translation: X:154.05, Y:-17.57, Z:-2.44 [[ 9.91956382e-01 1.26530948e-01 3.52932096e-03 1.54052821e+02] [-1.26530436e-01 9.91962657e-01 -3.68902604e-04 -1.75732105e+01] [-3.54763219e-03 -8.06312284e-05 9.99993704e-01 -2.44094808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05401273899997 meters Centerline goodness [0,1] 0.9881537438032492 Centerline is valid? [True, True] Translation: X:154.08, Y:-17.58, Z:-2.44 [[ 9.91896580e-01 1.26980155e-01 4.14906112e-03 1.54081841e+02] [-1.26979452e-01 9.91905253e-01 -4.33435831e-04 -1.75765911e+01] [-4.17051327e-03 -9.69219896e-05 9.99991299e-01 -2.43901640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08401273899997 meters Centerline goodness [0,1] 0.9875707183267616 Centerline is valid? [True, True] Translation: X:154.11, Y:-17.58, Z:-2.44 [[ 9.91917841e-01 1.26765409e-01 5.43393463e-03 1.54110013e+02] [-1.26764202e-01 9.91932717e-01 -5.67317206e-04 -1.75756740e+01] [-5.46201374e-03 -1.26096329e-04 9.99985075e-01 -2.43751731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11401273899997 meters Centerline goodness [0,1] 0.9875402701030488 Centerline is valid? [True, True] Translation: X:154.14, Y:-17.58, Z:-2.44 [[ 9.91966049e-01 1.26393099e-01 5.30485325e-03 1.54137908e+02] [-1.26391945e-01 9.91980226e-01 -5.53545736e-04 -1.75763983e+01] [-5.33227389e-03 -1.21392145e-04 9.99985776e-01 -2.43831303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14401273899998 meters Centerline goodness [0,1] 0.9878960939331302 Centerline is valid? [True, True] Translation: X:154.17, Y:-17.58, Z:-2.44 [[ 9.92208615e-01 1.24515825e-01 4.22775453e-03 1.54166526e+02] [-1.24515076e-01 9.92217618e-01 -4.40888123e-04 -1.75802702e+01] [-4.24975008e-03 -8.89661844e-05 9.99990966e-01 -2.44086970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17401273899998 meters Centerline goodness [0,1] 0.9885018239221793 Centerline is valid? [True, True] Translation: X:154.20, Y:-17.59, Z:-2.44 [[ 9.92579433e-01 1.21510014e-01 4.62440195e-03 1.54195139e+02] [-1.21509087e-01 9.92590202e-01 -4.82031881e-04 -1.75862470e+01] [-4.64870776e-03 -8.34519257e-05 9.99989191e-01 -2.44088864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20401273899998 meters Centerline goodness [0,1] 0.9892431809450634 Centerline is valid? [True, True] Translation: X:154.22, Y:-17.59, Z:-2.44 [[ 9.92797852e-01 1.19706649e-01 4.76891530e-03 1.54223277e+02] [-1.19705643e-01 9.92809303e-01 -4.97015980e-04 -1.75910174e+01] [-4.79411959e-03 -7.74296727e-05 9.99988505e-01 -2.44097855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23401273899998 meters Centerline goodness [0,1] 0.9898887328508156 Centerline is valid? [True, True] Translation: X:154.25, Y:-17.60, Z:-2.44 [[ 9.93027198e-01 1.17776293e-01 5.07236484e-03 1.54252521e+02] [-1.17775131e-01 9.93040150e-01 -5.28363054e-04 -1.76006991e+01] [-5.09929058e-03 -7.27195492e-05 9.99986996e-01 -2.44052532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26401273899998 meters Centerline goodness [0,1] 0.9900070613913081 Centerline is valid? [True, True] Translation: X:154.28, Y:-17.60, Z:-2.44 [[ 9.93122403e-01 1.16990355e-01 4.59895001e-03 1.54281229e+02] [-1.16989390e-01 9.93133049e-01 -4.79164050e-04 -1.76011598e+01] [-4.62342681e-03 -6.21598043e-05 9.99989310e-01 -2.44313511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29401273899998 meters Centerline goodness [0,1] 0.9899655469422911 Centerline is valid? [True, True] Translation: X:154.31, Y:-17.61, Z:-2.44 [[ 9.93106409e-01 1.17119530e-01 4.76188148e-03 1.54310384e+02] [-1.17118498e-01 9.93117824e-01 -4.95922726e-04 -1.76070759e+01] [-4.78719161e-03 -6.52003702e-05 9.99988539e-01 -2.44208423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32401273899998 meters Centerline goodness [0,1] 0.989045650228038 Centerline is valid? [True, True] Translation: X:154.34, Y:-17.60, Z:-2.44 [[ 9.92820680e-01 1.19499552e-01 5.19177031e-03 1.54339721e+02] [-1.19498359e-01 9.92834251e-01 -5.40570794e-04 -1.76028735e+01] [-5.21916536e-03 -8.37181690e-05 9.99986377e-01 -2.43991837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35401273899998 meters Centerline goodness [0,1] 0.988945922344572 Centerline is valid? [True, True] Translation: X:154.37, Y:-17.60, Z:-2.44 [[ 9.92587256e-01 1.21446688e-01 4.60887794e-03 1.54369370e+02] [-1.21445770e-01 9.92597952e-01 -4.79760561e-04 -1.76007885e+01] [-4.63302813e-03 -8.35245093e-05 9.99989264e-01 -2.44088941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38401273899999 meters Centerline goodness [0,1] 0.9883558853172646 Centerline is valid? [True, True] Translation: X:154.40, Y:-17.59, Z:-2.44 [[ 9.92058360e-01 1.25724809e-01 3.67184894e-03 1.54399713e+02] [-1.25724255e-01 9.92065152e-01 -3.82176184e-04 -1.75922635e+01] [-3.69076241e-03 -8.24993944e-05 9.99993186e-01 -2.44376528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.414012739 meters Centerline goodness [0,1] 0.9887423608877453 Centerline is valid? [True, True] Translation: X:154.43, Y:-17.59, Z:-2.44 [[ 9.91918974e-01 1.26810147e-01 3.99188338e-03 1.54428394e+02] [-1.26809501e-01 9.91927002e-01 -4.15377166e-04 -1.75939792e+01] [-4.01233096e-03 -9.41882475e-05 9.99991946e-01 -2.44366389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.444012739 meters Centerline goodness [0,1] 0.9882446488438064 Centerline is valid? [True, True] Translation: X:154.46, Y:-17.60, Z:-2.44 [[ 9.92075830e-01 1.25500552e-01 5.92957673e-03 1.54457052e+02] [-1.25499107e-01 9.92093541e-01 -6.16554801e-04 -1.75975139e+01] [-5.96007274e-03 -1.32487470e-04 9.99982230e-01 -2.44023155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.474012739 meters Centerline goodness [0,1] 0.9889880952380953 Centerline is valid? [True, True] Translation: X:154.49, Y:-17.60, Z:-2.44 [[ 9.92730114e-01 1.20209503e-01 6.04949808e-03 1.54486303e+02] [-1.20207903e-01 9.92748541e-01 -6.28687849e-04 -1.76001499e+01] [-6.08120464e-03 -1.03080118e-04 9.99981504e-01 -2.44058313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504012739 meters Centerline goodness [0,1] 0.990926131038596 Centerline is valid? [True, True] Translation: X:154.52, Y:-17.61, Z:-2.44 [[ 9.93071548e-01 1.17425404e-01 4.49176040e-03 1.54515375e+02] [-1.17424493e-01 9.93081704e-01 -4.66741407e-04 -1.76073089e+01] [-4.51549237e-03 -6.39350775e-05 9.99989803e-01 -2.44347608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.534012739 meters Centerline goodness [0,1] 0.9924454213704944 Centerline is valid? [True, True] Translation: X:154.55, Y:-17.61, Z:-2.45 [[ 9.93464612e-01 1.14125841e-01 1.83212333e-03 1.54545063e+02] [-1.14125684e-01 9.93466301e-01 -1.90372848e-04 -1.76131527e+01] [-1.84187925e-03 -1.99636415e-05 9.99998304e-01 -2.44843391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564012739 meters Centerline goodness [0,1] 0.9926859864350562 Centerline is valid? [True, True] Translation: X:154.57, Y:-17.62, Z:-2.45 [[ 9.93560656e-01 1.13280815e-01 2.16345738e-03 1.54572999e+02] [-1.13280593e-01 9.93563011e-01 -2.25021606e-04 -1.76150192e+01] [-2.17502186e-03 -2.15051204e-05 9.99997634e-01 -2.44812636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.594012739 meters Centerline goodness [0,1] 0.9911645731317863 Centerline is valid? [True, True] Translation: X:154.60, Y:-17.62, Z:-2.44 [[ 9.93743584e-01 1.11575499e-01 4.95945987e-03 1.54601318e+02] [-1.11574319e-01 9.93755959e-01 -5.14923538e-04 -1.76165104e+01] [-4.98594565e-03 -4.16463951e-05 9.99987569e-01 -2.44293611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624012739 meters Centerline goodness [0,1] 0.9920266932443559 Centerline is valid? [True, True] Translation: X:154.63, Y:-17.62, Z:-2.44 [[ 9.93893544e-01 1.10228330e-01 5.03370984e-03 1.54630958e+02] [-1.10227098e-01 9.93906290e-01 -5.22336074e-04 -1.76219687e+01] [-5.06061211e-03 -3.57047756e-05 9.99987194e-01 -2.44219486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.654012739 meters Centerline goodness [0,1] 0.9946338049080535 Centerline is valid? [True, True] Translation: X:154.66, Y:-17.63, Z:-2.45 [[ 9.94259149e-01 1.06968996e-01 2.52558793e-03 1.54660233e+02] [-1.06968676e-01 9.94262357e-01 -2.61982415e-04 -1.76301112e+01] [-2.53912100e-03 -9.68038230e-06 9.99996776e-01 -2.44694153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684012739 meters Centerline goodness [0,1] 0.9958398224990933 Centerline is valid? [True, True] Translation: X:154.69, Y:-17.64, Z:-2.45 [[ 9.94583678e-01 1.03910254e-01 2.44266208e-03 1.54689551e+02] [-1.03909945e-01 9.94586678e-01 -2.53380413e-04 -1.76394390e+01] [-2.45576799e-03 -1.80885993e-06 9.99996985e-01 -2.44763242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.714012739 meters Centerline goodness [0,1] 0.9952975721854587 Centerline is valid? [True, True] Translation: X:154.72, Y:-17.64, Z:-2.45 [[ 9.94695730e-01 1.02799559e-01 3.55733648e-03 1.54718764e+02] [-1.02798896e-01 9.94702091e-01 -3.69104661e-04 -1.76448481e+01] [-3.57643383e-03 1.45656634e-06 9.99993605e-01 -2.44501136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74401273899997 meters Centerline goodness [0,1] 0.9952975721854587 Centerline is valid? [True, True] Translation: X:154.75, Y:-17.65, Z:-2.45 [[ 9.94698080e-01 1.02776826e-01 3.55734492e-03 1.54747777e+02] [-1.02776163e-01 9.94704441e-01 -3.69023313e-04 -1.76478115e+01] [-3.57643383e-03 1.45651813e-06 9.99993605e-01 -2.44523961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77401273899997 meters Centerline goodness [0,1] 0.9938073884262225 Centerline is valid? [True, True] Translation: X:154.78, Y:-17.65, Z:-2.44 [[ 9.94827755e-01 1.01437450e-01 5.30857860e-03 1.54777926e+02] [-1.01435958e-01 9.94841919e-01 -5.50420251e-04 -1.76538968e+01] [-5.33702974e-03 9.09258952e-06 9.99985758e-01 -2.44150569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80401273899997 meters Centerline goodness [0,1] 0.9941937411945524 Centerline is valid? [True, True] Translation: X:154.81, Y:-17.66, Z:-2.44 [[ 9.94808664e-01 1.01608130e-01 5.61339263e-03 1.54808105e+02] [-1.01606463e-01 9.94824501e-01 -5.81999519e-04 -1.76570615e+01] [-5.64347640e-03 8.62119116e-06 9.99984075e-01 -2.44143450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83401273899997 meters Centerline goodness [0,1] 0.9936892996192187 Centerline is valid? [True, True] Translation: X:154.84, Y:-17.66, Z:-2.44 [[ 9.94754960e-01 1.02133112e-01 5.60321477e-03 1.54839247e+02] [-1.02131460e-01 9.94770741e-01 -5.80984229e-04 -1.76595270e+01] [-5.63325183e-03 5.67243987e-06 9.99984133e-01 -2.44143952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86401273899997 meters Centerline goodness [0,1] 0.9931471313070172 Centerline is valid? [True, True] Translation: X:154.87, Y:-17.66, Z:-2.44 [[ 9.94522530e-01 1.04357693e-01 5.86599255e-03 1.54869439e+02] [-1.04355920e-01 9.94539829e-01 -6.08421296e-04 -1.76592384e+01] [-5.89745667e-03 -7.06236105e-06 9.99982610e-01 -2.44177643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89401273899998 meters Centerline goodness [0,1] 0.9936547952229368 Centerline is valid? [True, True] Translation: X:154.90, Y:-17.66, Z:-2.44 [[ 9.94396180e-01 1.05576394e-01 5.46459431e-03 1.54900209e+02] [-1.05574874e-01 9.94411195e-01 -5.66656378e-04 -1.76607767e+01] [-5.49387930e-03 -1.34429163e-05 9.99984908e-01 -2.44282772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92401273899998 meters Centerline goodness [0,1] 0.9925301869575367 Centerline is valid? [True, True] Translation: X:154.93, Y:-17.66, Z:-2.44 [[ 9.94323710e-01 1.06283016e-01 4.92751926e-03 1.54929805e+02] [-1.06281787e-01 9.94335919e-01 -5.11395141e-04 -1.76632024e+01] [-4.95396202e-03 -1.52132396e-05 9.99987729e-01 -2.44367583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95401273899998 meters Centerline goodness [0,1] 0.9923040644829361 Centerline is valid? [True, True] Translation: X:154.96, Y:-17.66, Z:-2.44 [[ 9.94245556e-01 1.07010363e-01 4.95545689e-03 1.54958658e+02] [-1.07009129e-01 9.94257905e-01 -5.14301694e-04 -1.76645997e+01] [-4.98203780e-03 -1.89369494e-05 9.99987589e-01 -2.44334577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98401273899998 meters Centerline goodness [0,1] 0.9935046779223572 Centerline is valid? [True, True] Translation: X:154.99, Y:-17.67, Z:-2.44 [[ 9.94209667e-01 1.07364892e-01 4.46304983e-03 1.54988707e+02] [-1.07363895e-01 9.94219684e-01 -4.63040696e-04 -1.76665877e+01] [-4.48696631e-03 -1.88108788e-05 9.99989933e-01 -2.44433083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01401273899998 meters Centerline goodness [0,1] 0.9943728170410935 Centerline is valid? [True, True] Translation: X:155.02, Y:-17.67, Z:-2.45 [[ 9.94413629e-01 1.05466917e-01 4.27373303e-03 1.55017844e+02] [-1.05465986e-01 9.94422812e-01 -4.43261168e-04 -1.76708688e+01] [-4.29664701e-03 -9.94852123e-06 9.99990769e-01 -2.44608297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04401273899998 meters Centerline goodness [0,1] 0.9948108433994358 Centerline is valid? [True, True] Translation: X:155.05, Y:-17.68, Z:-2.45 [[ 9.94465983e-01 1.04959638e-01 4.56979929e-03 1.55046833e+02] [-1.04958569e-01 9.94476483e-01 -4.73906013e-04 -1.76750134e+01] [-4.59429893e-03 -8.35618436e-06 9.99989446e-01 -2.44565396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07401273899998 meters Centerline goodness [0,1] 0.9949505709902846 Centerline is valid? [True, True] Translation: X:155.08, Y:-17.68, Z:-2.44 [[ 9.94728649e-01 1.02427112e-01 4.85816178e-03 1.55075438e+02] [-1.02425873e-01 9.94740512e-01 -5.03745724e-04 -1.76809613e+01] [-4.88420756e-03 3.48884147e-06 9.99988072e-01 -2.44481191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10401273899998 meters Centerline goodness [0,1] 0.9952562891731777 Centerline is valid? [True, True] Translation: X:155.11, Y:-17.68, Z:-2.44 [[ 9.94832288e-01 1.01428300e-01 4.58459977e-03 1.55105922e+02] [-1.01427186e-01 9.94842852e-01 -4.75295233e-04 -1.76840703e+01] [-4.60916469e-03 7.83598945e-06 9.99989378e-01 -2.44496043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13401273899999 meters Centerline goodness [0,1] 0.9956641195157552 Centerline is valid? [True, True] Translation: X:155.14, Y:-17.69, Z:-2.45 [[ 9.94950507e-01 1.00301051e-01 3.63148796e-03 1.55136614e+02] [-1.00300345e-01 9.94957134e-01 -3.76484100e-04 -1.76865346e+01] [-3.65093661e-03 1.03435496e-05 9.99993335e-01 -2.44688488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.164012739 meters Centerline goodness [0,1] 0.996187293835411 Centerline is valid? [True, True] Translation: X:155.17, Y:-17.69, Z:-2.45 [[ 9.94956401e-01 1.00221752e-01 4.16670528e-03 1.55165960e+02] [-1.00220822e-01 9.94965125e-01 -4.32013878e-04 -1.76900306e+01] [-4.18902363e-03 1.22443448e-05 9.99991226e-01 -2.44601286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.194012739 meters Centerline goodness [0,1] 0.993603183432459 Centerline is valid? [True, True] Translation: X:155.20, Y:-17.69, Z:-2.44 [[ 9.95034685e-01 9.92867849e-02 6.93612957e-03 1.55196610e+02] [-9.92841851e-02 9.95058859e-01 -7.19001555e-04 -1.76943221e+01] [-6.97324453e-03 2.67835139e-05 9.99975686e-01 -2.44029190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.224012739 meters Centerline goodness [0,1] 0.995398805829606 Centerline is valid? [True, True] Translation: X:155.23, Y:-17.70, Z:-2.45 [[ 9.95185576e-01 9.79180803e-02 4.20936070e-03 1.55227533e+02] [-9.79171128e-02 9.95194478e-01 -4.35797881e-04 -1.77013044e+01] [-4.23180502e-03 2.15313188e-05 9.99991046e-01 -2.44629823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.254012739 meters Centerline goodness [0,1] 0.9966171812716813 Centerline is valid? [True, True] Translation: X:155.26, Y:-17.71, Z:-2.45 [[ 9.95301950e-01 9.67995691e-02 1.96777666e-03 1.55258667e+02] [-9.67993547e-02 9.95303895e-01 -2.04143294e-04 -1.77080471e+01] [-1.97829676e-03 1.27047072e-05 9.99998043e-01 -2.45073405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.284012739 meters Centerline goodness [0,1] 0.9965698702516139 Centerline is valid? [True, True] Translation: X:155.29, Y:-17.72, Z:-2.45 [[ 9.95447589e-01 9.53004477e-02 1.38669014e-03 1.55287972e+02] [-9.53003396e-02 9.95448554e-01 -1.43989311e-04 -1.77167771e+01] [-1.39410094e-03 1.11817712e-05 9.99999028e-01 -2.45174990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.314012739 meters Centerline goodness [0,1] 0.9956823405580736 Centerline is valid? [True, True] Translation: X:155.32, Y:-17.72, Z:-2.45 [[ 9.95462949e-01 9.51256910e-02 2.14932375e-03 1.55316997e+02] [-9.51254308e-02 9.95465269e-01 -2.23178659e-04 -1.77222641e+01] [-2.16080717e-03 1.77107385e-05 9.99997665e-01 -2.45062952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.344012739 meters Centerline goodness [0,1] 0.9955294117647059 Centerline is valid? [True, True] Translation: X:155.35, Y:-17.73, Z:-2.45 [[ 9.95498702e-01 9.47446259e-02 2.40610744e-03 1.55346430e+02] [-9.47442987e-02 9.95501610e-01 -2.49842227e-04 -1.77305532e+01] [-2.41895504e-03 2.07526507e-05 9.99997074e-01 -2.45032996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.374012739 meters Centerline goodness [0,1] 0.9960902448404051 Centerline is valid? [True, True] Translation: X:155.38, Y:-17.74, Z:-2.45 [[ 9.95574162e-01 9.39767105e-02 6.82081483e-04 1.55376111e+02] [-9.39766843e-02 9.95574396e-01 -7.04634421e-05 -1.77382746e+01] [-6.85684783e-04 6.05182625e-06 9.99999765e-01 -2.45424367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.404012739 meters Centerline goodness [0,1] 0.9967045816944828 Centerline is valid? [True, True] Translation: X:155.41, Y:-17.74, Z:-2.45 [[ 9.95460018e-01 9.51756255e-02 9.75895845e-04 1.55406008e+02] [-9.51755719e-02 9.95460497e-01 -1.01383486e-04 -1.77418493e+01] [-9.81114999e-04 8.04176124e-06 9.99999519e-01 -2.45445355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.434012739 meters Centerline goodness [0,1] 0.9960483595352017 Centerline is valid? [True, True] Translation: X:155.44, Y:-17.74, Z:-2.45 [[ 9.95133192e-01 9.84862704e-02 3.22265115e-03 1.55436679e+02] [-9.84857026e-02 9.95138410e-01 -3.34793521e-04 -1.77444979e+01] [-3.23995651e-03 1.57790825e-05 9.99994751e-01 -2.44883260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.464012739 meters Centerline goodness [0,1] 0.9962055881338393 Centerline is valid? [True, True] Translation: X:155.47, Y:-17.75, Z:-2.45 [[ 9.95017483e-01 9.96212304e-02 3.97721449e-03 1.55467647e+02] [-9.96203750e-02 9.95025432e-01 -4.13092576e-04 -1.77477527e+01] [-3.99858236e-03 1.48227358e-05 9.99992006e-01 -2.44755964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49401273899997 meters Centerline goodness [0,1] 0.995441644448267 Centerline is valid? [True, True] Translation: X:155.50, Y:-17.75, Z:-2.45 [[ 9.94915625e-01 1.00616379e-01 4.38668926e-03 1.55498494e+02] [-1.00615350e-01 9.94925296e-01 -4.55302809e-04 -1.77514264e+01] [-4.41023903e-03 1.16196036e-05 9.99990275e-01 -2.44799995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52401273899997 meters Centerline goodness [0,1] 0.9965207680082471 Centerline is valid? [True, True] Translation: X:155.53, Y:-17.76, Z:-2.45 [[ 9.95007034e-01 9.97360659e-02 3.70395574e-03 1.55529471e+02] [-9.97353247e-02 9.95013928e-01 -3.84738433e-04 -1.77595972e+01] [-3.72385985e-03 1.34022191e-05 9.99993066e-01 -2.44976542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55401273899997 meters Centerline goodness [0,1] 0.9963802831896093 Centerline is valid? [True, True] Translation: X:155.56, Y:-17.77, Z:-2.45 [[ 9.95113244e-01 9.86887931e-02 3.18664202e-03 1.55560681e+02] [-9.86882379e-02 9.95118346e-01 -3.31380714e-04 -1.77679005e+01] [-3.20378950e-03 1.52772518e-05 9.99994868e-01 -2.45087683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58401273899997 meters Centerline goodness [0,1] 0.9950014889181946 Centerline is valid? [True, True] Translation: X:155.59, Y:-17.78, Z:-2.45 [[ 9.95287821e-01 9.69058344e-02 3.37836303e-03 1.55591165e+02] [-9.69051975e-02 9.95293554e-01 -3.52094191e-04 -1.77787406e+01] [-3.39658293e-03 2.30541230e-05 9.99994231e-01 -2.45089212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61401273899997 meters Centerline goodness [0,1] 0.994002390506275 Centerline is valid? [True, True] Translation: X:155.62, Y:-17.79, Z:-2.45 [[ 9.95339048e-01 9.63390994e-02 4.35410968e-03 1.55623807e+02] [-9.63380323e-02 9.95348571e-01 -4.54653367e-04 -1.77863334e+01] [-4.37765775e-03 3.30678901e-05 9.99990417e-01 -2.44892221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64401273899998 meters Centerline goodness [0,1] 0.9942492972555415 Centerline is valid? [True, True] Translation: X:155.66, Y:-17.79, Z:-2.45 [[ 9.95330587e-01 9.64368539e-02 4.11774993e-03 1.55655885e+02] [-9.64358975e-02 9.95339104e-01 -4.30659849e-04 -1.77931410e+01] [-4.14008901e-03 3.15500108e-05 9.99991429e-01 -2.44910769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67401273899998 meters Centerline goodness [0,1] 0.9948680665440705 Centerline is valid? [True, True] Translation: X:155.69, Y:-17.80, Z:-2.45 [[ 9.95402077e-01 9.57454986e-02 2.73938301e-03 1.55685838e+02] [-9.57450721e-02 9.95405846e-01 -2.86701028e-04 -1.78023842e+01] [-2.75424820e-03 2.31003752e-05 9.99996207e-01 -2.45271839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70401273899998 meters Centerline goodness [0,1] 0.9942334076487738 Centerline is valid? [True, True] Translation: X:155.72, Y:-17.81, Z:-2.45 [[ 9.95439439e-01 9.53723142e-02 2.10827610e-03 1.55717676e+02] [-9.53720608e-02 9.95441671e-01 -2.20636027e-04 -1.78086637e+01] [-2.11970845e-03 1.85591669e-05 9.99997753e-01 -2.45423567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73401273899998 meters Centerline goodness [0,1] 0.9951482249342766 Centerline is valid? [True, True] Translation: X:155.75, Y:-17.82, Z:-2.46 [[ 9.95430909e-01 9.54687295e-02 1.74010660e-03 1.55748809e+02] [-9.54685571e-02 9.95432429e-01 -1.82105243e-04 -1.78176984e+01] [-1.74954389e-03 1.51477220e-05 9.99998469e-01 -2.45569614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76401273899998 meters Centerline goodness [0,1] 0.9952671592247564 Centerline is valid? [True, True] Translation: X:155.78, Y:-17.82, Z:-2.45 [[ 9.95345977e-01 9.63460119e-02 1.95761430e-03 1.55780629e+02] [-9.63457942e-02 9.95347902e-01 -2.05432690e-04 -1.78231725e+01] [-1.96829990e-03 1.58686978e-05 9.99998063e-01 -2.45487154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79401273899998 meters Centerline goodness [0,1] 0.995391411459882 Centerline is valid? [True, True] Translation: X:155.81, Y:-17.83, Z:-2.45 [[ 9.95010600e-01 9.97112869e-02 3.40062490e-03 1.55812152e+02] [-9.97106446e-02 9.95016411e-01 -3.58310375e-04 -1.78261879e+01] [-3.41940518e-03 1.74441202e-05 9.99994154e-01 -2.45060245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82401273899998 meters Centerline goodness [0,1] 0.9947996589940324 Centerline is valid? [True, True] Translation: X:155.84, Y:-17.83, Z:-2.45 [[ 9.94866896e-01 1.01121682e-01 3.77699555e-03 1.55844146e+02] [-1.01120897e-01 9.94874065e-01 -3.98702785e-04 -1.78294361e+01] [-3.79795241e-03 1.47230258e-05 9.99992788e-01 -2.44953412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85401273899998 meters Centerline goodness [0,1] 0.9955018035221728 Centerline is valid? [True, True] Translation: X:155.88, Y:-17.83, Z:-2.45 [[ 9.94598582e-01 1.03722662e-01 3.90765624e-03 1.55875712e+02] [-1.03721839e-01 9.94606259e-01 -4.13152492e-04 -1.78320070e+01] [-3.92943263e-03 5.61159204e-06 9.99992280e-01 -2.45062056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88401273899999 meters Centerline goodness [0,1] 0.9957708986303723 Centerline is valid? [True, True] Translation: X:155.91, Y:-17.83, Z:-2.45 [[ 9.94205115e-01 1.07476506e-01 2.23370853e-03 1.55908237e+02] [-1.07476247e-01 9.94207624e-01 -2.36000792e-04 -1.78338074e+01] [-2.24613459e-03 -5.43741616e-06 9.99997477e-01 -2.45483306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.914012739 meters Centerline goodness [0,1] 0.9954994535050685 Centerline is valid? [True, True] Translation: X:155.94, Y:-17.84, Z:-2.46 [[ 9.93903448e-01 1.10247678e-01 1.17700055e-03 1.55938943e+02] [-1.10247608e-01 9.93904145e-01 -1.24480674e-04 -1.78352204e+01] [-1.18354943e-03 -6.03972338e-06 9.99999300e-01 -2.45642013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.944012739 meters Centerline goodness [0,1] 0.9930509807255031 Centerline is valid? [True, True] Translation: X:155.97, Y:-17.83, Z:-2.46 [[ 9.93186262e-01 1.16526992e-01 1.58373983e-03 1.55969176e+02] [-1.16526871e-01 9.93187525e-01 -1.68373431e-04 -1.78300544e+01] [-1.59257069e-03 -1.73220685e-05 9.99998732e-01 -2.45521616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.974012739 meters Centerline goodness [0,1] 0.9897447924439802 Centerline is valid? [True, True] Translation: X:156.00, Y:-17.82, Z:-2.45 [[ 9.92443590e-01 1.22672456e-01 2.68119570e-03 1.56000304e+02] [-1.22672133e-01 9.92447211e-01 -2.84959750e-04 -1.78231272e+01] [-2.69590191e-03 -4.61015200e-05 9.99996365e-01 -2.45328393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.004012739 meters Centerline goodness [0,1] 0.9889846640857272 Centerline is valid? [True, True] Translation: X:156.03, Y:-17.82, Z:-2.45 [[ 9.92066122e-01 1.25684661e-01 2.85921180e-03 1.56031436e+02] [-1.25684307e-01 9.92070241e-01 -3.03788992e-04 -1.78215011e+01] [-2.87472056e-03 -5.79792870e-05 9.99995866e-01 -2.45351893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.034012739 meters Centerline goodness [0,1] 0.988689894713991 Centerline is valid? [True, True] Translation: X:156.06, Y:-17.83, Z:-2.45 [[ 9.91779217e-01 1.27927722e-01 2.91264086e-03 1.56061706e+02] [-1.27927365e-01 9.91783491e-01 -3.09465787e-04 -1.78262977e+01] [-2.92829838e-03 -6.56847349e-05 9.99995710e-01 -2.45246513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.064012739 meters Centerline goodness [0,1] 0.9884348496530455 Centerline is valid? [True, True] Translation: X:156.09, Y:-17.82, Z:-2.45 [[ 9.91200457e-01 1.32347111e-01 2.42804264e-03 1.56091575e+02] [-1.32346875e-01 9.91203429e-01 -2.58104238e-04 -1.78174185e+01] [-2.44084355e-03 -6.55108188e-05 9.99997019e-01 -2.45364168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.094012739 meters Centerline goodness [0,1] 0.9879683740116879 Centerline is valid? [True, True] Translation: X:156.12, Y:-17.81, Z:-2.45 [[ 9.90733178e-01 1.35792972e-01 2.83523260e-03 1.56122225e+02] [-1.35792665e-01 9.90737231e-01 -3.01291158e-04 -1.78109620e+01] [-2.84988372e-03 -8.65046438e-05 9.99995935e-01 -2.45230908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.124012739 meters Centerline goodness [0,1] 0.9542915401117223 Centerline is valid? [True, True] Translation: X:156.15, Y:-17.79, Z:-2.46 [[ 9.90281602e-01 1.39060314e-01 2.13976551e-03 1.56153914e+02] [-1.39060147e-01 9.90283911e-01 -2.27319617e-04 -1.77921209e+01] [-2.15058649e-03 -7.24456723e-05 9.99997685e-01 -2.45602175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.154012739 meters Centerline goodness [0,1] 0.9861745252826968 Centerline is valid? [True, True] Translation: X:156.18, Y:-17.80, Z:-2.46 [[ 9.90168709e-01 1.39875211e-01 9.23886515e-04 1.56182291e+02] [-1.39875180e-01 9.90169139e-01 -9.84273376e-05 -1.78014636e+01] [-9.28571460e-04 -3.17691231e-05 9.99999568e-01 -2.45663567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.184012739 meters Centerline goodness [0,1] 0.9673530997304582 Centerline is valid? [True, True] Translation: X:156.21, Y:-17.79, Z:-2.46 [[ 9.90076214e-01 1.40531302e-01 -2.11201946e-04 1.56211157e+02] [-1.40531300e-01 9.90076236e-01 2.18680312e-05 -1.77898086e+01] [ 2.12179171e-04 8.02946662e-06 9.99999977e-01 -2.46115868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.214012739 meters Centerline goodness [0,1] 0.9851855023442015 Centerline is valid? [True, True] Translation: X:156.24, Y:-17.80, Z:-2.46 [[ 9.90169487e-01 1.39871754e-01 5.28025260e-04 1.56240030e+02] [-1.39871743e-01 9.90169628e-01 -5.62611490e-05 -1.77955114e+01] [-5.30703921e-04 -1.81477407e-05 9.99999859e-01 -2.45862251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24401273899997 meters Centerline goodness [0,1] 0.9646287836741664 Centerline is valid? [True, True] Translation: X:156.27, Y:-17.79, Z:-2.45 [[ 9.90501642e-01 1.37455572e-01 3.53039844e-03 1.56270727e+02] [-1.37455110e-01 9.90507927e-01 -3.74457133e-04 -1.77850086e+01] [-3.54835886e-03 -1.14370901e-04 9.99993698e-01 -2.45404044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27401273899997 meters Centerline goodness [0,1] 0.9872493484675526 Centerline is valid? [True, True] Translation: X:156.30, Y:-17.80, Z:-2.45 [[ 9.90667966e-01 1.36243940e-01 3.81698565e-03 1.56298214e+02] [-1.36243391e-01 9.90675312e-01 -4.04841423e-04 -1.77971585e+01] [-3.83655064e-03 -1.18975637e-04 9.99992633e-01 -2.45214240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30401273899997 meters Centerline goodness [0,1] 0.9891016326181725 Centerline is valid? [True, True] Translation: X:156.33, Y:-17.80, Z:-2.46 [[ 9.91084831e-01 1.33219132e-01 1.87610483e-03 1.56327236e+02] [-1.33218994e-01 9.91086606e-01 -1.98949630e-04 -1.78043262e+01] [-1.88588626e-03 -5.27568363e-05 9.99998220e-01 -2.45597370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33401273899997 meters Centerline goodness [0,1] 0.9889326380759818 Centerline is valid? [True, True] Translation: X:156.36, Y:-17.80, Z:-2.46 [[ 9.91315713e-01 1.31498405e-01 1.15221283e-03 1.56355197e+02] [-1.31498351e-01 9.91316382e-01 -1.22458824e-04 -1.78029369e+01] [-1.15831059e-03 -3.01187302e-05 9.99999329e-01 -2.45956547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36401273899997 meters Centerline goodness [0,1] 0.9900255260730604 Centerline is valid? [True, True] Translation: X:156.38, Y:-17.81, Z:-2.46 [[ 9.91739398e-01 1.28267344e-01 6.74058418e-04 1.56384326e+02] [-1.28267325e-01 9.91739627e-01 -7.15362190e-05 -1.78097389e+01] [-6.77666205e-04 -1.55143837e-05 9.99999770e-01 -2.46106578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39401273899998 meters Centerline goodness [0,1] 0.991688267175082 Centerline is valid? [True, True] Translation: X:156.41, Y:-17.81, Z:-2.46 [[ 9.92068156e-01 1.25700353e-01 4.41132690e-04 1.56412094e+02] [-1.25700345e-01 9.92068254e-01 -4.71155786e-05 -1.78144345e+01] [-4.43556182e-04 -8.70866600e-06 9.99999902e-01 -2.46247471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42401273899998 meters Centerline goodness [0,1] 0.9919654686097696 Centerline is valid? [True, True] Translation: X:156.44, Y:-17.82, Z:-2.46 [[ 9.92201895e-01 1.24641067e-01 5.64829631e-05 1.56441037e+02] [-1.24641067e-01 9.92201897e-01 -6.24051138e-06 -1.78191277e+01] [-5.68203271e-05 -8.48249554e-07 9.99999998e-01 -2.46269475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45401273899998 meters Centerline goodness [0,1] 0.9921236376021798 Centerline is valid? [True, True] Translation: X:156.47, Y:-17.82, Z:-2.46 [[ 9.92313246e-01 1.23751005e-01 -3.31943877e-04 1.56469041e+02] [-1.23751000e-01 9.92313302e-01 3.46516413e-05 -1.78202223e+01] [ 3.33680500e-04 6.69310425e-06 9.99999944e-01 -2.46400463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48401273899998 meters Centerline goodness [0,1] 0.9922339261579388 Centerline is valid? [True, True] Translation: X:156.50, Y:-17.82, Z:-2.46 [[ 9.92237912e-01 1.24353929e-01 -1.63462414e-04 1.56497830e+02] [-1.24353928e-01 9.92237925e-01 1.69038364e-05 -1.78247278e+01] [ 1.64295665e-04 3.55456590e-06 9.99999986e-01 -2.46220783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51401273899998 meters Centerline goodness [0,1] 0.9918503702442761 Centerline is valid? [True, True] Translation: X:156.53, Y:-17.82, Z:-2.46 [[ 9.92103506e-01 1.25416204e-01 1.18743302e-03 1.56526645e+02] [-1.25416143e-01 9.92104216e-01 -1.25867394e-04 -1.78194419e+01] [-1.19384311e-03 -2.40497863e-05 9.99999287e-01 -2.46082338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54401273899998 meters Centerline goodness [0,1] 0.9913539090224756 Centerline is valid? [True, True] Translation: X:156.56, Y:-17.82, Z:-2.46 [[ 9.92129385e-01 1.25208239e-01 1.47669656e-03 1.56555580e+02] [-1.25208145e-01 9.92130483e-01 -1.56257779e-04 -1.78222392e+01] [-1.48464043e-03 -2.98665020e-05 9.99998897e-01 -2.46005117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57401273899998 meters Centerline goodness [0,1] 0.9909384837913724 Centerline is valid? [True, True] Translation: X:156.58, Y:-17.81, Z:-2.46 [[ 9.92316190e-01 1.23720487e-01 1.34942517e-03 1.56584977e+02] [-1.23720407e-01 9.92317107e-01 -1.42831835e-04 -1.78113336e+01] [-1.35672890e-03 -2.52170883e-05 9.99999079e-01 -2.46331690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60401273899998 meters Centerline goodness [0,1] 0.9922089629120879 Centerline is valid? [True, True] Translation: X:156.61, Y:-17.82, Z:-2.46 [[ 9.92499223e-01 1.22241790e-01 1.49540020e-03 1.56613244e+02] [-1.22241691e-01 9.92500350e-01 -1.57996395e-04 -1.78238056e+01] [-1.50349898e-03 -2.59889483e-05 9.99998869e-01 -2.45941188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63401273899999 meters Centerline goodness [0,1] 0.9929790012201126 Centerline is valid? [True, True] Translation: X:156.64, Y:-17.83, Z:-2.46 [[ 9.92917619e-01 1.18760327e-01 3.25361339e-03 1.56642179e+02] [-1.18759840e-01 9.92922949e-01 -3.43375194e-04 -1.78261979e+01] [-3.27136675e-03 -4.54553247e-05 9.99994648e-01 -2.45689350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.664012739 meters Centerline goodness [0,1] 0.9929790012201126 Centerline is valid? [True, True] Translation: X:156.67, Y:-17.83, Z:-2.46 [[ 9.92923186e-01 1.18713775e-01 3.25362942e-03 1.56670364e+02] [-1.18713287e-01 9.92928516e-01 -3.43223177e-04 -1.78290791e+01] [-3.27136675e-03 -4.54547939e-05 9.99994648e-01 -2.45711523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.694012739 meters Centerline goodness [0,1] 0.9931546658056183 Centerline is valid? [True, True] Translation: X:156.70, Y:-17.83, Z:-2.45 [[ 9.93521852e-01 1.13484716e-01 5.96233695e-03 1.56699531e+02] [-1.13482989e-01 9.93539741e-01 -6.28329830e-04 -1.78346270e+01] [-5.99512454e-03 -5.23644016e-05 9.99982028e-01 -2.45221509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.724012739 meters Centerline goodness [0,1] 0.99397512864494 Centerline is valid? [True, True] Translation: X:156.73, Y:-17.84, Z:-2.45 [[ 9.93819678e-01 1.10786791e-01 6.98102366e-03 1.56728428e+02] [-1.10784358e-01 9.93844196e-01 -7.35495197e-04 -1.78378491e+01] [-7.01953300e-03 -4.24386244e-05 9.99975362e-01 -2.45104941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.754012739 meters Centerline goodness [0,1] 0.9950553584865097 Centerline is valid? [True, True] Translation: X:156.76, Y:-17.84, Z:-2.45 [[ 9.94358351e-01 1.05872204e-01 6.52273861e-03 1.56757368e+02] [-1.05869975e-01 9.94379745e-01 -6.86969966e-04 -1.78420085e+01] [-6.55881018e-03 -7.46785310e-06 9.99978491e-01 -2.45224706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.784012739 meters Centerline goodness [0,1] 0.9963396622214611 Centerline is valid? [True, True] Translation: X:156.79, Y:-17.85, Z:-2.45 [[ 9.94605180e-01 1.03555172e-01 6.07144991e-03 1.56786804e+02] [-1.03553198e-01 9.94623711e-01 -6.39396952e-04 -1.78460482e+01] [-6.10502090e-03 7.22946486e-06 9.99981364e-01 -2.45280564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.814012739 meters Centerline goodness [0,1] 0.996330787056905 Centerline is valid? [True, True] Translation: X:156.82, Y:-17.85, Z:-2.46 [[ 9.95042312e-01 9.93580300e-02 4.33356513e-03 1.56816472e+02] [-9.93569852e-02 9.95051748e-01 -4.56244852e-04 -1.78531571e+01] [-4.35745314e-03 2.34129662e-05 9.99990506e-01 -2.45655810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.844012739 meters Centerline goodness [0,1] 0.997201930881285 Centerline is valid? [True, True] Translation: X:156.85, Y:-17.86, Z:-2.46 [[ 9.95310646e-01 9.66781909e-02 3.16941571e-03 1.56845121e+02] [-9.66776183e-02 9.95315692e-01 -3.33735416e-04 -1.78593482e+01] [-3.18683413e-03 2.57588500e-05 9.99994922e-01 -2.45954783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.874012739 meters Centerline goodness [0,1] 0.9972360420121614 Centerline is valid? [True, True] Translation: X:156.87, Y:-17.86, Z:-2.46 [[ 9.95361019e-01 9.61637589e-02 2.99567682e-03 1.56874425e+02] [-9.61632450e-02 9.95365526e-01 -3.15465551e-04 -1.78626681e+01] [-3.01212978e-03 2.59281087e-05 9.99995463e-01 -2.46030274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.904012739 meters Centerline goodness [0,1] 0.9972299768443377 Centerline is valid? [True, True] Translation: X:156.90, Y:-17.87, Z:-2.46 [[ 9.95398135e-01 9.57940429e-02 2.46037051e-03 1.56904092e+02] [-9.57936951e-02 9.95401176e-01 -2.59069943e-04 -1.78655553e+01] [-2.47387305e-03 2.21897563e-05 9.99996940e-01 -2.46132146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.934012739 meters Centerline goodness [0,1] 0.9977036162678399 Centerline is valid? [True, True] Translation: X:156.93, Y:-17.87, Z:-2.46 [[ 9.95409304e-01 9.56831138e-02 2.24920068e-03 1.56932569e+02] [-9.56828230e-02 9.95411845e-01 -2.36811880e-04 -1.78688355e+01] [-2.26153990e-03 2.05148779e-05 9.99997443e-01 -2.46242969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.964012739 meters Centerline goodness [0,1] 0.9977244693973034 Centerline is valid? [True, True] Translation: X:156.96, Y:-17.87, Z:-2.46 [[ 9.95277718e-01 9.70389126e-02 2.39022977e-03 1.56961876e+02] [-9.70385883e-02 9.95280588e-01 -2.51567043e-04 -1.78704229e+01] [-2.40336109e-03 1.84345499e-05 9.99997112e-01 -2.46267876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99401273899997 meters Centerline goodness [0,1] 0.9979504696840308 Centerline is valid? [True, True] Translation: X:156.99, Y:-17.87, Z:-2.46 [[ 9.95164841e-01 9.81981293e-02 2.01643583e-03 1.56991034e+02] [-9.81979009e-02 9.95166884e-01 -2.12211357e-04 -1.78722298e+01] [-2.02752892e-03 1.31755154e-05 9.99997944e-01 -2.46364170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02401273899997 meters Centerline goodness [0,1] 0.9986221447178626 Centerline is valid? [True, True] Translation: X:157.02, Y:-17.87, Z:-2.47 [[ 9.94870991e-01 1.01144315e-01 1.24035754e-03 1.57020035e+02] [-1.01144231e-01 9.94871764e-01 -1.30657718e-04 -1.78720153e+01] [-1.24721198e-03 4.53256400e-06 9.99999222e-01 -2.46613896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05401273899997 meters Centerline goodness [0,1] 0.9985305557956609 Centerline is valid? [True, True] Translation: X:157.05, Y:-17.87, Z:-2.47 [[ 9.94754860e-01 1.02275967e-01 1.54746217e-03 1.57049331e+02] [-1.02275837e-01 9.94756064e-01 -1.62963297e-04 -1.78736924e+01] [-1.55601461e-03 3.84054240e-06 9.99998789e-01 -2.46570176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08401273899997 meters Centerline goodness [0,1] 0.9978819905010483 Centerline is valid? [True, True] Translation: X:157.08, Y:-17.87, Z:-2.46 [[ 9.94535216e-01 1.04330563e-01 3.85206460e-03 1.57078599e+02] [-1.04329777e-01 9.94542676e-01 -4.04919512e-04 -1.78740089e+01] [-3.87328812e-03 8.21673740e-07 9.99992499e-01 -2.46120648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11401273899997 meters Centerline goodness [0,1] 0.9972313437640847 Centerline is valid? [True, True] Translation: X:157.11, Y:-17.88, Z:-2.46 [[ 9.94472558e-01 1.04854593e-01 5.46320863e-03 1.57107086e+02] [-1.04853023e-01 9.94487564e-01 -5.73836095e-04 -1.78755044e+01] [-5.49326239e-03 -2.16969117e-06 9.99984912e-01 -2.45840329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14401273899998 meters Centerline goodness [0,1] 0.9969942000762034 Centerline is valid? [True, True] Translation: X:157.14, Y:-17.88, Z:-2.46 [[ 9.94438582e-01 1.05148188e-01 5.98035569e-03 1.57135441e+02] [-1.05146314e-01 9.94456564e-01 -6.27915763e-04 -1.78784034e+01] [-6.01322818e-03 -4.38869342e-06 9.99981920e-01 -2.45885134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17401273899998 meters Centerline goodness [0,1] 0.9966700819672131 Centerline is valid? [True, True] Translation: X:157.16, Y:-17.88, Z:-2.46 [[ 9.94329153e-01 1.06109950e-01 7.08620533e-03 1.57164304e+02] [-1.06107344e-01 9.94354403e-01 -7.43724277e-04 -1.78819959e+01] [-7.12511602e-03 -1.23916975e-05 9.99974616e-01 -2.45693137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20401273899998 meters Centerline goodness [0,1] 0.9964442131737565 Centerline is valid? [True, True] Translation: X:157.19, Y:-17.89, Z:-2.45 [[ 9.94469917e-01 1.04681323e-01 8.45012381e-03 1.57194000e+02] [-1.04677569e-01 9.94505817e-01 -8.86546371e-04 -1.78873067e+01] [-8.49650213e-03 -2.89472213e-06 9.99963904e-01 -2.45392877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23401273899998 meters Centerline goodness [0,1] 0.9961856876598327 Centerline is valid? [True, True] Translation: X:157.22, Y:-17.89, Z:-2.45 [[ 9.94584646e-01 1.03585227e-01 8.45472920e-03 1.57224659e+02] [-1.03581431e-01 9.94620581e-01 -8.86864801e-04 -1.78925089e+01] [-8.50111376e-03 6.30916548e-06 9.99963865e-01 -2.45445452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26401273899998 meters Centerline goodness [0,1] 0.9962177553015171 Centerline is valid? [True, True] Translation: X:157.26, Y:-17.90, Z:-2.46 [[ 9.94863898e-01 1.00888514e-01 8.20564765e-03 1.57255171e+02] [-1.00884844e-01 9.94897737e-01 -8.60987503e-04 -1.79037348e+01] [-8.25064403e-03 2.87398991e-05 9.99965962e-01 -2.45561193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29401273899998 meters Centerline goodness [0,1] 0.9953554076325422 Centerline is valid? [True, True] Translation: X:157.29, Y:-17.91, Z:-2.45 [[ 9.95040623e-01 9.91014746e-02 8.54731574e-03 1.57285799e+02] [-9.90974158e-02 9.95077331e-01 -8.98127912e-04 -1.79112775e+01] [-8.59424594e-03 4.66568549e-05 9.99963068e-01 -2.45494997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32401273899998 meters Centerline goodness [0,1] 0.9933138230833316 Centerline is valid? [True, True] Translation: X:157.32, Y:-17.92, Z:-2.45 [[ 9.95335641e-01 9.60298024e-02 9.23243914e-03 1.57315964e+02] [-9.60249318e-02 9.95378456e-01 -9.70427436e-04 -1.79179535e+01] [-9.28296097e-03 7.93566759e-05 9.99956909e-01 -2.45409195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35401273899998 meters Centerline goodness [0,1] 0.9929597175275044 Centerline is valid? [True, True] Translation: X:157.35, Y:-17.92, Z:-2.46 [[ 9.95422196e-01 9.51620649e-02 8.87878071e-03 1.57347392e+02] [-9.51575188e-02 9.95461789e-01 -9.34027169e-04 -1.79224071e+01] [-8.92737089e-03 8.48686339e-05 9.99960147e-01 -2.45555896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38401273899999 meters Centerline goodness [0,1] 0.9930564457548178 Centerline is valid? [True, True] Translation: X:157.38, Y:-17.93, Z:-2.46 [[ 9.95629916e-01 9.31194289e-02 7.05996399e-03 1.57377297e+02] [-9.31164971e-02 9.95654943e-01 -7.43564314e-04 -1.79334250e+01] [-7.09852833e-03 8.29157589e-05 9.99974802e-01 -2.45931098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.414012739 meters Centerline goodness [0,1] 0.992812353367743 Centerline is valid? [True, True] Translation: X:157.41, Y:-17.94, Z:-2.46 [[ 9.95994931e-01 8.92289890e-02 5.68198674e-03 1.57408587e+02] [-8.92270220e-02 9.96011134e-01 -5.99247447e-04 -1.79432652e+01] [-5.71279230e-03 8.98606640e-05 9.99983678e-01 -2.46288815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.444012739 meters Centerline goodness [0,1] 0.9918069417548041 Centerline is valid? [True, True] Translation: X:157.44, Y:-17.95, Z:-2.46 [[ 9.96125955e-01 8.77578797e-02 5.62467702e-03 1.57439263e+02] [-8.77559278e-02 9.96141830e-01 -5.93377123e-04 -1.79507649e+01] [-5.65504958e-03 9.74796023e-05 9.99984005e-01 -2.46330504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.474012739 meters Centerline goodness [0,1] 0.9895382240706598 Centerline is valid? [True, True] Translation: X:157.47, Y:-17.96, Z:-2.46 [[ 9.96403338e-01 8.45385028e-02 5.79901464e-03 1.57470176e+02] [-8.45363699e-02 9.96420206e-01 -6.12374888e-04 -1.79626727e+01] [-5.83002462e-03 1.19944736e-04 9.99982998e-01 -2.46264600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.504012739 meters Centerline goodness [0,1] 0.9895290204913636 Centerline is valid? [True, True] Translation: X:157.50, Y:-17.97, Z:-2.46 [[ 9.96473960e-01 8.37307986e-02 5.36657945e-03 1.57501049e+02] [-8.37289604e-02 9.96488404e-01 -5.66682232e-04 -1.79712932e+01] [-5.39518295e-03 1.15345970e-04 9.99985439e-01 -2.46279322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.534012739 meters Centerline goodness [0,1] 0.9896394174049208 Centerline is valid? [True, True] Translation: X:157.53, Y:-17.97, Z:-2.46 [[ 9.96480770e-01 8.36767930e-02 4.92640802e-03 1.57533788e+02] [-8.36752406e-02 9.96492942e-01 -5.20750193e-04 -1.79749852e+01] [-4.95270552e-03 1.06699177e-04 9.99987730e-01 -2.46317184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.564012739 meters Centerline goodness [0,1] 0.9901477832512315 Centerline is valid? [True, True] Translation: X:157.57, Y:-17.98, Z:-2.46 [[ 9.96366349e-01 8.50224433e-02 5.02816311e-03 1.57566063e+02] [-8.50208380e-02 9.96379031e-01 -5.32540189e-04 -1.79780302e+01] [-5.05523416e-03 1.03106482e-04 9.99987217e-01 -2.46364004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.594012739 meters Centerline goodness [0,1] 0.9895011425861251 Centerline is valid? [True, True] Translation: X:157.60, Y:-17.98, Z:-2.46 [[ 9.96048140e-01 8.84570233e-02 7.96599813e-03 1.57596270e+02] [-8.84530873e-02 9.96079985e-01 -8.45760680e-04 -1.79831857e+01] [-8.00958477e-03 1.37801225e-04 9.99967913e-01 -2.45960825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.624012739 meters Centerline goodness [0,1] 0.9904880778169923 Centerline is valid? [True, True] Translation: X:157.63, Y:-17.99, Z:-2.46 [[ 9.95820204e-01 9.09096800e-02 8.80636929e-03 1.57628058e+02] [-9.09049632e-02 9.95859133e-01 -9.35253595e-04 -1.79851858e+01] [-8.85492689e-03 1.30801750e-04 9.99960786e-01 -2.45715351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.654012739 meters Centerline goodness [0,1] 0.9938956477039068 Centerline is valid? [True, True] Translation: X:157.66, Y:-17.98, Z:-2.46 [[ 9.95322673e-01 9.62293553e-02 8.52568249e-03 1.57658663e+02] [-9.62251188e-02 9.95359184e-01 -9.06684275e-04 -1.79825847e+01] [-8.57336600e-03 8.20586066e-05 9.99963245e-01 -2.45886520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.684012739 meters Centerline goodness [0,1] 0.9970968990581051 Centerline is valid? [True, True] Translation: X:157.69, Y:-17.98, Z:-2.46 [[ 9.94668339e-01 1.02924009e-01 6.44537117e-03 1.57691974e+02] [-1.02921729e-01 9.94689222e-01 -6.85395620e-04 -1.79780999e+01] [-6.48168490e-03 1.83725788e-05 9.99978993e-01 -2.46260999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.714012739 meters Centerline goodness [0,1] 0.9985061248879593 Centerline is valid? [True, True] Translation: X:157.72, Y:-17.98, Z:-2.46 [[ 9.94373253e-01 1.05779375e-01 5.70598544e-03 1.57723510e+02] [-1.05777633e-01 9.94389624e-01 -6.07076388e-04 -1.79778293e+01] [-5.73818887e-03 9.48911404e-08 9.99983536e-01 -2.46398458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74401273899997 meters Centerline goodness [0,1] 0.9977894149461304 Centerline is valid? [True, True] Translation: X:157.75, Y:-17.97, Z:-2.46 [[ 9.94062252e-01 1.08631840e-01 6.27395360e-03 1.57754119e+02] [-1.08629782e-01 9.94082051e-01 -6.68817329e-04 -1.79748816e+01] [-6.30947951e-03 -1.66921506e-05 9.99980095e-01 -2.46241383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77401273899997 meters Centerline goodness [0,1] 0.9973561895015138 Centerline is valid? [True, True] Translation: X:157.78, Y:-17.98, Z:-2.46 [[ 9.93982706e-01 1.09346631e-01 6.45712881e-03 1.57784717e+02] [-1.09344467e-01 9.94003679e-01 -6.88266898e-04 -1.79773676e+01] [-6.49366946e-03 -2.19259166e-05 9.99978916e-01 -2.46313953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80401273899997 meters Centerline goodness [0,1] 0.9971263135320609 Centerline is valid? [True, True] Translation: X:157.82, Y:-17.99, Z:-2.46 [[ 9.94000367e-01 1.09151069e-01 7.02239754e-03 1.57815526e+02] [-1.09148501e-01 9.94025173e-01 -7.48994637e-04 -1.79872753e+01] [-7.06219349e-03 -2.19832194e-05 9.99975062e-01 -2.46360311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83401273899997 meters Centerline goodness [0,1] 0.9970433851098018 Centerline is valid? [True, True] Translation: X:157.85, Y:-17.99, Z:-2.46 [[ 9.94066213e-01 1.08524776e-01 7.39840784e-03 1.57846450e+02] [-1.08521908e-01 9.94093744e-01 -7.89236528e-04 -1.79929434e+01] [-7.44036267e-03 -1.83359668e-05 9.99972320e-01 -2.46243971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86401273899997 meters Centerline goodness [0,1] 0.9972445317840055 Centerline is valid? [True, True] Translation: X:157.88, Y:-18.00, Z:-2.46 [[ 9.94196796e-01 1.07304988e-01 7.64008927e-03 1.57878538e+02] [-1.07301883e-01 9.94226151e-01 -8.16245529e-04 -1.79952210e+01] [-7.68356377e-03 -8.28727918e-06 9.99970481e-01 -2.46313550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89401273899998 meters Centerline goodness [0,1] 0.9964717525063466 Centerline is valid? [True, True] Translation: X:157.91, Y:-18.00, Z:-2.46 [[ 9.94380384e-01 1.05503705e-01 8.75324448e-03 1.57911169e+02] [-1.05499546e-01 9.94418910e-01 -9.36839322e-04 -1.80049765e+01] [-8.80323185e-03 8.11133041e-06 9.99961251e-01 -2.46257645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92401273899998 meters Centerline goodness [0,1] 0.9969464656964657 Centerline is valid? [True, True] Translation: X:157.94, Y:-18.01, Z:-2.46 [[ 9.94502882e-01 1.04335864e-01 8.83433179e-03 1.57943738e+02] [-1.04331567e-01 9.94542119e-01 -9.47222144e-04 -1.80141627e+01] [-8.88494430e-03 2.03154767e-05 9.99960528e-01 -2.46230226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95401273899998 meters Centerline goodness [0,1] 0.9965049867871452 Centerline is valid? [True, True] Translation: X:157.97, Y:-18.02, Z:-2.47 [[ 9.94687786e-01 1.02695707e-01 7.05698247e-03 1.57974984e+02] [-1.02692916e-01 9.94712818e-01 -7.57738741e-04 -1.80227395e+01] [-7.09748744e-03 2.90113638e-05 9.99974812e-01 -2.46501869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98401273899998 meters Centerline goodness [0,1] 0.9971894443252521 Centerline is valid? [True, True] Translation: X:158.01, Y:-18.03, Z:-2.47 [[ 9.94732510e-01 1.02295250e-01 6.55102382e-03 1.58008001e+02] [-1.02292829e-01 9.94754081e-01 -7.04505701e-04 -1.80277522e+01] [-6.58872527e-03 3.06719642e-05 9.99978294e-01 -2.46739627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01401273899998 meters Centerline goodness [0,1] 0.9977031050616759 Centerline is valid? [True, True] Translation: X:158.04, Y:-18.04, Z:-2.47 [[ 9.94633935e-01 1.03282131e-01 6.01131590e-03 1.58039634e+02] [-1.03280104e-01 9.94652100e-01 -6.47597190e-04 -1.80366925e+01] [-6.04605321e-03 2.32728127e-05 9.99981722e-01 -2.46780822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04401273899998 meters Centerline goodness [0,1] 0.9980847034518379 Centerline is valid? [True, True] Translation: X:158.07, Y:-18.04, Z:-2.47 [[ 9.94488843e-01 1.04635949e-01 6.57719468e-03 1.58072094e+02] [-1.04633546e-01 9.94510592e-01 -7.09322355e-04 -1.80406841e+01] [-6.61531039e-03 1.72179646e-05 9.99978118e-01 -2.46590954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07401273899998 meters Centerline goodness [0,1] 0.9977220956719818 Centerline is valid? [True, True] Translation: X:158.10, Y:-18.04, Z:-2.46 [[ 9.94207834e-01 1.07204913e-01 7.60845123e-03 1.58104873e+02] [-1.07201760e-01 9.94236947e-01 -8.22210852e-04 -1.80368019e+01] [-7.65274836e-03 1.80910645e-06 9.99970717e-01 -2.46357732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10401273899998 meters Centerline goodness [0,1] 0.9979764928746717 Centerline is valid? [True, True] Translation: X:158.14, Y:-18.04, Z:-2.47 [[ 9.94047371e-01 1.08731048e-01 6.88356540e-03 1.58138396e+02] [-1.08728496e-01 9.94071204e-01 -7.44948199e-04 -1.80377399e+01] [-6.92375314e-03 -7.92591364e-06 9.99976031e-01 -2.46607236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13401273899999 meters Centerline goodness [0,1] 0.9979009595613434 Centerline is valid? [True, True] Translation: X:158.17, Y:-18.04, Z:-2.47 [[ 9.93837602e-01 1.10693132e-01 5.81822164e-03 1.58170218e+02] [-1.10691337e-01 9.93854632e-01 -6.30559649e-04 -1.80435832e+01] [-5.85226515e-03 -1.73528454e-05 9.99982875e-01 -2.46918063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.164012739 meters Centerline goodness [0,1] 0.9978333619358161 Centerline is valid? [True, True] Translation: X:158.20, Y:-18.05, Z:-2.47 [[ 9.93851794e-01 1.10531904e-01 6.42727751e-03 1.58201171e+02] [-1.10529702e-01 9.93872576e-01 -6.97895916e-04 -1.80483626e+01] [-6.46503462e-03 -1.67999586e-05 9.99979101e-01 -2.46749361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.194012739 meters Centerline goodness [0,1] 0.9977645305514158 Centerline is valid? [True, True] Translation: X:158.23, Y:-18.05, Z:-2.47 [[ 9.93815950e-01 1.10825554e-01 6.89593541e-03 1.58233673e+02] [-1.10823018e-01 9.93839875e-01 -7.49886211e-04 -1.80513576e+01] [-6.93656213e-03 -1.89794990e-05 9.99975942e-01 -2.46719869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.224012739 meters Centerline goodness [0,1] 0.997469377339231 Centerline is valid? [True, True] Translation: X:158.27, Y:-18.06, Z:-2.47 [[ 9.93691332e-01 1.11897907e-01 7.50963588e-03 1.58265450e+02] [-1.11894921e-01 9.93719708e-01 -8.17948849e-04 -1.80553867e+01] [-7.55399994e-03 -2.75014287e-05 9.99971468e-01 -2.46509039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.254012739 meters Centerline goodness [0,1] 0.9974615985420463 Centerline is valid? [True, True] Translation: X:158.30, Y:-18.06, Z:-2.47 [[ 9.93563820e-01 1.13034187e-01 7.36265440e-03 1.58298003e+02] [-1.13031338e-01 9.93591099e-01 -8.03179307e-04 -1.80593615e+01] [-7.40625459e-03 -3.42007793e-05 9.99972573e-01 -2.46572091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.284012739 meters Centerline goodness [0,1] 0.9965713312179227 Centerline is valid? [True, True] Translation: X:158.33, Y:-18.06, Z:-2.46 [[ 9.93233298e-01 1.15868916e-01 7.87469345e-03 1.58329124e+02] [-1.15865733e-01 9.93264512e-01 -8.60682873e-04 -1.80574360e+01] [-7.92137994e-03 -5.75482425e-05 9.99968624e-01 -2.46479327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.314012739 meters Centerline goodness [0,1] 0.9966848212171442 Centerline is valid? [True, True] Translation: X:158.36, Y:-18.06, Z:-2.46 [[ 9.93075991e-01 1.17172710e-01 8.40434298e-03 1.58361073e+02] [-1.17169125e-01 9.93111550e-01 -9.19391934e-04 -1.80589486e+01] [-8.45417773e-03 -7.17034549e-05 9.99964260e-01 -2.46473147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.344012739 meters Centerline goodness [0,1] 0.9969111475619368 Centerline is valid? [True, True] Translation: X:158.39, Y:-18.06, Z:-2.47 [[ 9.92946986e-01 1.18343319e-01 7.15139652e-03 1.58392479e+02] [-1.18340746e-01 9.92972736e-01 -7.83347413e-04 -1.80602578e+01] [-7.19384570e-03 -6.84791475e-05 9.99974122e-01 -2.46701275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.374012739 meters Centerline goodness [0,1] 0.9967041198501873 Centerline is valid? [True, True] Translation: X:158.42, Y:-18.06, Z:-2.47 [[ 9.93020740e-01 1.17658686e-01 8.13900236e-03 1.58422426e+02] [-1.17655319e-01 9.93054091e-01 -8.92916947e-04 -1.80624686e+01] [-8.18752903e-03 -7.09118718e-05 9.99966479e-01 -2.46593122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.404012739 meters Centerline goodness [0,1] 0.9965831193361488 Centerline is valid? [True, True] Translation: X:158.45, Y:-18.07, Z:-2.47 [[ 9.93057881e-01 1.17307082e-01 8.66563799e-03 1.58453026e+02] [-1.17303250e-01 9.93095687e-01 -9.50925295e-04 -1.80654512e+01] [-8.71735798e-03 -7.21836370e-05 9.99962001e-01 -2.46541621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.434012739 meters Centerline goodness [0,1] 0.9966371530733867 Centerline is valid? [True, True] Translation: X:158.48, Y:-18.07, Z:-2.47 [[ 9.93111814e-01 1.16814364e-01 9.12848757e-03 1.58484681e+02] [-1.16810077e-01 9.93153764e-01 -1.00317704e-03 -1.80704589e+01] [-9.18317728e-03 -7.00323682e-05 9.99957831e-01 -2.46533095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.464012739 meters Centerline goodness [0,1] 0.9969479430855865 Centerline is valid? [True, True] Translation: X:158.52, Y:-18.07, Z:-2.47 [[ 9.93085966e-01 1.17087536e-01 8.41269184e-03 1.58516540e+02] [-1.17083895e-01 9.93121596e-01 -9.25801257e-04 -1.80733974e+01] [-8.46322573e-03 -6.55904887e-05 9.99964184e-01 -2.46734667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49401273899997 meters Centerline goodness [0,1] 0.9973477070499658 Centerline is valid? [True, True] Translation: X:158.55, Y:-18.07, Z:-2.47 [[ 9.92969114e-01 1.18146692e-01 7.32786665e-03 1.58548690e+02] [-1.18143950e-01 9.92996151e-01 -8.07465428e-04 -1.80747510e+01] [-7.37194275e-03 -6.39548840e-05 9.99972825e-01 -2.46964370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52401273899997 meters Centerline goodness [0,1] 0.9971294757516241 Centerline is valid? [True, True] Translation: X:158.58, Y:-18.07, Z:-2.47 [[ 9.92803346e-01 1.19559024e-01 6.86700362e-03 1.58580070e+02] [-1.19556641e-01 9.92827092e-01 -7.57872656e-04 -1.80724416e+01] [-6.90835775e-03 -6.85773799e-05 9.99976135e-01 -2.47105205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55401273899997 meters Centerline goodness [0,1] 0.9971294757516241 Centerline is valid? [True, True] Translation: X:158.61, Y:-18.08, Z:-2.47 [[ 9.92800546e-01 1.19582271e-01 6.86698588e-03 1.58610714e+02] [-1.19579888e-01 9.92824293e-01 -7.58033396e-04 -1.80758694e+01] [-6.90835775e-03 -6.85774305e-05 9.99976135e-01 -2.47129338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58401273899997 meters Centerline goodness [0,1] 0.9969704727769244 Centerline is valid? [True, True] Translation: X:158.64, Y:-18.08, Z:-2.47 [[ 9.92783141e-01 1.19701518e-01 7.29257872e-03 1.58640619e+02] [-1.19698832e-01 9.92809922e-01 -8.05203827e-04 -1.80770564e+01] [-7.33652863e-03 -7.35203699e-05 9.99973085e-01 -2.47025448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61401273899997 meters Centerline goodness [0,1] 0.9966833914448507 Centerline is valid? [True, True] Translation: X:158.67, Y:-18.08, Z:-2.47 [[ 9.92801124e-01 1.19447045e-01 8.85050899e-03 1.58671488e+02] [-1.19443078e-01 9.92840569e-01 -9.77332690e-04 -1.80784695e+01] [-8.90388389e-03 -8.68350439e-05 9.99960356e-01 -2.46768574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64401273899998 meters Centerline goodness [0,1] 0.9965727909402473 Centerline is valid? [True, True] Translation: X:158.70, Y:-18.08, Z:-2.47 [[ 9.92801641e-01 1.19389821e-01 9.53790978e-03 1.58701697e+02] [-1.19385211e-01 9.92847452e-01 -1.05326074e-03 -1.80793517e+01] [-9.59543803e-03 -9.30063771e-05 9.99953958e-01 -2.46589862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67401273899998 meters Centerline goodness [0,1] 0.9965863025389375 Centerline is valid? [True, True] Translation: X:158.73, Y:-18.08, Z:-2.47 [[ 9.92801202e-01 1.19376991e-01 9.74200617e-03 1.58731878e+02] [-1.19372179e-01 9.92848994e-01 -1.07600767e-03 -1.80798267e+01] [-9.80079158e-03 -9.46628018e-05 9.99951967e-01 -2.46617021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70401273899998 meters Centerline goodness [0,1] 0.9962644352893462 Centerline is valid? [True, True] Translation: X:158.76, Y:-18.08, Z:-2.47 [[ 9.92885867e-01 1.18688086e-01 9.52851220e-03 1.58763504e+02] [-1.18683446e-01 9.92931584e-01 -1.05291610e-03 -1.80800909e+01] [-9.58612931e-03 -8.54511475e-05 9.99954048e-01 -2.46773625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73401273899998 meters Centerline goodness [0,1] 0.9964843500308951 Centerline is valid? [True, True] Translation: X:158.79, Y:-18.08, Z:-2.47 [[ 9.92922425e-01 1.18391443e-01 9.40875490e-03 1.58793385e+02] [-1.18386904e-01 9.92966998e-01 -1.03988186e-03 -1.80823600e+01] [-9.46569622e-03 -8.13513429e-05 9.99955196e-01 -2.46778591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76401273899998 meters Centerline goodness [0,1] 0.9970471395492108 Centerline is valid? [True, True] Translation: X:158.82, Y:-18.09, Z:-2.47 [[ 9.93139920e-01 1.16631199e-01 8.38233719e-03 1.58824164e+02] [-1.16627533e-01 9.93175292e-01 -9.26534152e-04 -1.80862581e+01] [-8.43319297e-03 -5.74332533e-05 9.99964438e-01 -2.46961696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79401273899998 meters Centerline goodness [0,1] 0.9984428991937204 Centerline is valid? [True, True] Translation: X:158.85, Y:-18.09, Z:-2.47 [[ 9.93519159e-01 1.13467876e-01 6.68739759e-03 1.58854681e+02] [-1.13465471e-01 9.93541665e-01 -7.39228872e-04 -1.80930508e+01] [-6.72808686e-03 -2.43506696e-05 9.99977366e-01 -2.47299183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82401273899998 meters Centerline goodness [0,1] 0.9984686715725892 Centerline is valid? [True, True] Translation: X:158.88, Y:-18.10, Z:-2.47 [[ 9.93702513e-01 1.11832069e-01 6.99316263e-03 1.58884989e+02] [-1.11829392e-01 9.93727120e-01 -7.73793103e-04 -1.80993308e+01] [-7.03583024e-03 -1.31209753e-05 9.99975248e-01 -2.47285559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85401273899998 meters Centerline goodness [0,1] 0.9978241856694895 Centerline is valid? [True, True] Translation: X:158.92, Y:-18.11, Z:-2.47 [[ 9.93852493e-01 1.10433088e-01 7.85848030e-03 1.58915756e+02] [-1.10429665e-01 9.93883561e-01 -8.69542310e-04 -1.81055949e+01] [-7.90644063e-03 -3.61255036e-06 9.99968744e-01 -2.47090567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88401273899999 meters Centerline goodness [0,1] 0.9973678624495861 Centerline is valid? [True, True] Translation: X:158.95, Y:-18.11, Z:-2.47 [[ 9.94053846e-01 1.08558159e-01 8.48988752e-03 1.58946313e+02] [-1.08554093e-01 9.94090099e-01 -9.39708645e-04 -1.81120355e+01] [-8.54172617e-03 1.25089531e-05 9.99963519e-01 -2.46987166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.914012739 meters Centerline goodness [0,1] 0.9976979153344417 Centerline is valid? [True, True] Translation: X:158.98, Y:-18.12, Z:-2.47 [[ 9.94172087e-01 1.07584063e-01 6.89423221e-03 1.58976899e+02] [-1.07581352e-01 9.94195991e-01 -7.63907045e-04 -1.81185829e+01] [-6.93640225e-03 1.77642384e-05 9.99975943e-01 -2.47399154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.944012739 meters Centerline goodness [0,1] 0.9979551409035721 Centerline is valid? [True, True] Translation: X:159.01, Y:-18.12, Z:-2.48 [[ 9.94248953e-01 1.06948754e-01 5.56620151e-03 1.59007878e+02] [-1.06946972e-01 9.94264534e-01 -6.17633588e-04 -1.81248528e+01] [-5.60033190e-03 1.87931521e-05 9.99984318e-01 -2.47701107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.974012739 meters Centerline goodness [0,1] 0.9981659294422268 Centerline is valid? [True, True] Translation: X:159.04, Y:-18.13, Z:-2.48 [[ 9.94372287e-01 1.05830835e-01 4.85694434e-03 1.59038321e+02] [-1.05829465e-01 9.94384148e-01 -5.39018456e-04 -1.81322169e+01] [-4.88671324e-03 2.19771939e-05 9.99988060e-01 -2.47861700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.004012739 meters Centerline goodness [0,1] 0.9976213945913514 Centerline is valid? [True, True] Translation: X:159.07, Y:-18.14, Z:-2.48 [[ 9.94329300e-01 1.06212584e-01 5.30378336e-03 1.59068508e+02] [-1.06210954e-01 9.94343445e-01 -5.88777828e-04 -1.81366070e+01] [-5.33631783e-03 2.21191547e-05 9.99985762e-01 -2.47787190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.034012739 meters Centerline goodness [0,1] 0.9983156368598354 Centerline is valid? [True, True] Translation: X:159.10, Y:-18.13, Z:-2.48 [[ 9.93878903e-01 1.10329098e-01 5.67586839e-03 1.59099723e+02] [-1.10327298e-01 9.93895110e-01 -6.30180146e-04 -1.81343177e+01] [-5.71074504e-03 1.19526698e-07 9.99983694e-01 -2.47616703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.064012739 meters Centerline goodness [0,1] 0.9983441216317929 Centerline is valid? [True, True] Translation: X:159.13, Y:-18.13, Z:-2.48 [[ 9.93162575e-01 1.16585026e-01 6.00262513e-03 1.59130718e+02] [-1.16583127e-01 9.93180714e-01 -6.66500731e-04 -1.81276078e+01] [-6.03939552e-03 -3.78612235e-05 9.99981762e-01 -2.47741183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.094012739 meters Centerline goodness [0,1] 0.9981798325445941 Centerline is valid? [True, True] Translation: X:159.16, Y:-18.13, Z:-2.48 [[ 9.92887785e-01 1.18833185e-01 7.24709258e-03 1.59160672e+02] [-1.18830478e-01 9.92914231e-01 -8.04457147e-04 -1.81257925e+01] [-7.29133756e-03 -6.24398016e-05 9.99973416e-01 -2.47600289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.124012739 meters Centerline goodness [0,1] 0.9968154922001076 Centerline is valid? [True, True] Translation: X:159.19, Y:-18.13, Z:-2.47 [[ 9.92553182e-01 1.21474574e-01 9.06139029e-03 1.59191831e+02] [-1.21470452e-01 9.92594538e-01 -1.00591895e-03 -1.81257207e+01] [-9.11648008e-03 -1.02263112e-04 9.99958439e-01 -2.47250315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.154012739 meters Centerline goodness [0,1] 0.9960222921807198 Centerline is valid? [True, True] Translation: X:159.22, Y:-18.12, Z:-2.47 [[ 9.92410543e-01 1.22620749e-01 9.24474089e-03 1.59221913e+02] [-1.22616508e-01 9.92453595e-01 -1.02628419e-03 -1.81227743e+01] [-9.30082007e-03 -1.15062599e-04 9.99956740e-01 -2.47178429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.184012739 meters Centerline goodness [0,1] 0.9964638563254109 Centerline is valid? [True, True] Translation: X:159.25, Y:-18.12, Z:-2.47 [[ 9.92337644e-01 1.23220020e-01 9.10096037e-03 1.59252090e+02] [-1.23215935e-01 9.92379369e-01 -1.01035152e-03 -1.81207504e+01] [-9.15610085e-03 -1.18773486e-04 9.99958075e-01 -2.47132443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.214012739 meters Centerline goodness [0,1] 0.9963667450309895 Centerline is valid? [True, True] Translation: X:159.28, Y:-18.12, Z:-2.47 [[ 9.92408799e-01 1.22653403e-01 8.99547610e-03 1.59280399e+02] [-1.22649391e-01 9.92449560e-01 -9.98441106e-04 -1.81212396e+01] [-9.05001850e-03 -1.12427928e-04 9.99959041e-01 -2.47123028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24401273899997 meters Centerline goodness [0,1] 0.9969394088564518 Centerline is valid? [True, True] Translation: X:159.31, Y:-18.12, Z:-2.47 [[ 9.92641679e-01 1.20667661e-01 1.00902056e-02 1.59310782e+02] [-1.20662512e-01 9.92692956e-01 -1.11975181e-03 -1.81242127e+01] [-1.01515938e-02 -1.05997237e-04 9.99948466e-01 -2.46893987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27401273899997 meters Centerline goodness [0,1] 0.9966165893518322 Centerline is valid? [True, True] Translation: X:159.34, Y:-18.13, Z:-2.47 [[ 9.92851131e-01 1.18894654e-01 1.05210335e-02 1.59341554e+02] [-1.18888956e-01 9.92906870e-01 -1.16759437e-03 -1.81283621e+01] [-1.05852272e-02 -9.15873093e-05 9.99943971e-01 -2.46837925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30401273899997 meters Centerline goodness [0,1] 0.9977087090272622 Centerline is valid? [True, True] Translation: X:159.37, Y:-18.13, Z:-2.47 [[ 9.93349729e-01 1.14698542e-01 1.00279727e-02 1.59371986e+02] [-1.14693150e-01 9.93400344e-01 -1.11296184e-03 -1.81338018e+01] [-1.00894466e-02 -4.45794365e-05 9.99949099e-01 -2.47075425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33401273899997 meters Centerline goodness [0,1] 0.997858030244613 Centerline is valid? [True, True] Translation: X:159.40, Y:-18.14, Z:-2.47 [[ 9.93697674e-01 1.11785475e-01 8.30306340e-03 1.59402456e+02] [-1.11781678e-01 9.93732362e-01 -9.21521529e-04 -1.81372780e+01] [-8.35403553e-03 -1.24165571e-05 9.99965104e-01 -2.47454967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36401273899997 meters Centerline goodness [0,1] 0.9980927072841438 Centerline is valid? [True, True] Translation: X:159.43, Y:-18.14, Z:-2.48 [[ 9.93869992e-01 1.10284774e-01 7.72703019e-03 1.59432985e+02] [-1.10281439e-01 9.93900030e-01 -8.57590064e-04 -1.81415733e+01] [-7.77447466e-03 1.85017919e-07 9.99969778e-01 -2.47599799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39401273899998 meters Centerline goodness [0,1] 0.9981148647201217 Centerline is valid? [True, True] Translation: X:159.46, Y:-18.15, Z:-2.48 [[ 9.94164593e-01 1.07700317e-01 6.11586987e-03 1.59462470e+02] [-1.07698180e-01 9.94183404e-01 -6.78793707e-04 -1.81456466e+01] [-6.15340262e-03 1.61646182e-05 9.99981068e-01 -2.47883048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42401273899998 meters Centerline goodness [0,1] 0.9984147726055569 Centerline is valid? [True, True] Translation: X:159.49, Y:-18.15, Z:-2.48 [[ 9.94202886e-01 1.07382074e-01 5.45091496e-03 1.59491015e+02] [-1.07380371e-01 9.94217828e-01 -6.04990576e-04 -1.81466807e+01] [-5.48436198e-03 1.61621055e-05 9.99984961e-01 -2.48092289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45401273899998 meters Centerline goodness [0,1] 0.9988704737493755 Centerline is valid? [True, True] Translation: X:159.52, Y:-18.15, Z:-2.48 [[ 9.94170239e-01 1.07735263e-01 4.31844809e-03 1.59520585e+02] [-1.07734198e-01 9.94179618e-01 -4.79165841e-04 -1.81464471e+01] [-4.34493613e-03 1.11278767e-05 9.99990561e-01 -2.48327430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48401273899998 meters Centerline goodness [0,1] 0.9987007925165649 Centerline is valid? [True, True] Translation: X:159.55, Y:-18.15, Z:-2.48 [[ 9.94218115e-01 1.07284348e-01 4.51764274e-03 1.59550402e+02] [-1.07283179e-01 9.94228378e-01 -5.01155555e-04 -1.81493898e+01] [-4.54533476e-03 1.35908586e-05 9.99989670e-01 -2.48331871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51401273899998 meters Centerline goodness [0,1] 0.9981416609706083 Centerline is valid? [True, True] Translation: X:159.58, Y:-18.15, Z:-2.48 [[ 9.94195673e-01 1.07408180e-01 6.20051252e-03 1.59579702e+02] [-1.07405980e-01 9.94215008e-01 -6.87650073e-04 -1.81478949e+01] [-6.23850185e-03 1.76866022e-05 9.99980540e-01 -2.47966039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54401273899998 meters Centerline goodness [0,1] 0.9978880450550388 Centerline is valid? [True, True] Translation: X:159.61, Y:-18.15, Z:-2.48 [[ 9.94140080e-01 1.07857667e-01 7.22665495e-03 1.59608726e+02] [-1.07854693e-01 9.94166346e-01 -8.01152532e-04 -1.81481118e+01] [-7.27090759e-03 1.70291913e-05 9.99973566e-01 -2.47801628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57401273899998 meters Centerline goodness [0,1] 0.9970846110655207 Centerline is valid? [True, True] Translation: X:159.64, Y:-18.15, Z:-2.48 [[ 9.94228780e-01 1.06946268e-01 8.46341680e-03 1.59638451e+02] [-1.06942157e-01 9.94264801e-01 -9.38027891e-04 -1.81511865e+01] [-8.51519600e-03 2.75182729e-05 9.99963745e-01 -2.47666540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60401273899998 meters Centerline goodness [0,1] 0.9971077983114646 Centerline is valid? [True, True] Translation: X:159.67, Y:-18.16, Z:-2.48 [[ 9.94292106e-01 1.06400503e-01 7.88292519e-03 1.59667387e+02] [-1.06396922e-01 9.94323354e-01 -8.73522297e-04 -1.81554248e+01] [-7.93111982e-03 2.98173508e-05 9.99968548e-01 -2.47824523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63401273899999 meters Centerline goodness [0,1] 0.9975250165354499 Centerline is valid? [True, True] Translation: X:159.70, Y:-18.16, Z:-2.48 [[ 9.94510025e-01 1.04476766e-01 5.86641718e-03 1.59696338e+02] [-1.04474749e-01 9.94527327e-01 -6.50024610e-04 -1.81608856e+01] [-5.90222467e-03 3.35635282e-05 9.99982581e-01 -2.48287232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.664012739 meters Centerline goodness [0,1] 0.9968553459119497 Centerline is valid? [True, True] Translation: X:159.73, Y:-18.17, Z:-2.48 [[ 9.94695818e-01 1.02684893e-01 6.00349613e-03 1.59726179e+02] [-1.02682748e-01 9.94713934e-01 -6.65124375e-04 -1.81671753e+01] [-6.04005948e-03 4.51409523e-05 9.99981758e-01 -2.48338931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.694012739 meters Centerline goodness [0,1] 0.9926416799345927 Centerline is valid? [True, True] Translation: X:159.76, Y:-18.18, Z:-2.48 [[ 9.95115655e-01 9.83434699e-02 8.56709488e-03 1.59755787e+02] [-9.83389425e-02 9.95152527e-01 -9.49144216e-04 -1.81793239e+01] [-8.61890826e-03 1.02029217e-04 9.99962851e-01 -2.47872255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.724012739 meters Centerline goodness [0,1] 0.9895894079785741 Centerline is valid? [True, True] Translation: X:159.79, Y:-18.19, Z:-2.48 [[ 9.95339667e-01 9.59684243e-02 9.43443445e-03 1.59786361e+02] [-9.59628247e-02 9.95384370e-01 -1.04548508e-03 -1.81903108e+01] [-9.49122214e-03 1.35257796e-04 9.99954948e-01 -2.47736815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.754012739 meters Centerline goodness [0,1] 0.9876306657299184 Centerline is valid? [True, True] Translation: X:159.82, Y:-18.20, Z:-2.48 [[ 9.95644569e-01 9.28145005e-02 8.79548620e-03 1.59816290e+02] [-9.28094996e-02 9.95683406e-01 -9.75917213e-04 -1.82045762e+01] [-8.84809892e-03 1.55362000e-04 9.99960843e-01 -2.47823197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.784012739 meters Centerline goodness [0,1] 0.9886161432093472 Centerline is valid? [True, True] Translation: X:159.85, Y:-18.21, Z:-2.48 [[ 9.95780226e-01 9.14529845e-02 7.62186061e-03 1.59847923e+02] [-9.14491820e-02 9.95809385e-01 -8.46654215e-04 -1.82149192e+01] [-7.66734938e-03 1.46068608e-04 9.99970595e-01 -2.48071864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.814012739 meters Centerline goodness [0,1] 0.9868356482963153 Centerline is valid? [True, True] Translation: X:159.88, Y:-18.22, Z:-2.48 [[ 9.95745335e-01 9.17231214e-02 8.83723006e-03 1.59880250e+02] [-9.17180056e-02 9.95784535e-01 -9.83297262e-04 -1.82227774e+01] [-8.89016812e-03 1.68580546e-04 9.99960467e-01 -2.47858125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.844012739 meters Centerline goodness [0,1] 0.9856270669040956 Centerline is valid? [True, True] Translation: X:159.91, Y:-18.23, Z:-2.47 [[ 9.95656493e-01 9.24546795e-02 1.09672032e-02 1.59910729e+02] [-9.24468200e-02 9.95716873e-01 -1.22252892e-03 -1.82316437e+01] [-1.10332578e-02 2.03335794e-04 9.99939111e-01 -2.47451291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.874012739 meters Centerline goodness [0,1] 0.9863988236820482 Centerline is valid? [True, True] Translation: X:159.94, Y:-18.24, Z:-2.48 [[ 9.95608201e-01 9.30464539e-02 1.03280325e-02 1.59942507e+02] [-9.30395021e-02 9.95661751e-01 -1.15258675e-03 -1.82368416e+01] [-1.03904711e-02 1.86609819e-04 9.99946000e-01 -2.47572382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.904012739 meters Centerline goodness [0,1] 0.9902144627653842 Centerline is valid? [True, True] Translation: X:159.97, Y:-18.24, Z:-2.48 [[ 9.95473070e-01 9.46845133e-02 8.25887099e-03 1.59974636e+02] [-9.46801191e-02 9.95507320e-01 -9.22301729e-04 -1.82421156e+01] [-8.30909422e-03 1.36175644e-04 9.99965470e-01 -2.48118153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.934012739 meters Centerline goodness [0,1] 0.9896482091614411 Centerline is valid? [True, True] Translation: X:160.01, Y:-18.25, Z:-2.48 [[ 9.95397727e-01 9.55029251e-02 7.90930502e-03 1.60005295e+02] [-9.54989109e-02 9.95429141e-01 -8.84515288e-04 -1.82500014e+01] [-7.95762650e-03 1.25114491e-04 9.99968330e-01 -2.48243577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.964012739 meters Centerline goodness [0,1] 0.9914110429447853 Centerline is valid? [True, True] Translation: X:160.04, Y:-18.26, Z:-2.48 [[ 9.95243417e-01 9.71202404e-02 7.62887981e-03 1.60036771e+02] [-9.71165447e-02 9.95272650e-01 -8.54276813e-04 -1.82565959e+01] [-7.67578299e-03 1.09322927e-04 9.99970535e-01 -2.48174922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99401273899997 meters Centerline goodness [0,1] 0.9934466384478202 Centerline is valid? [True, True] Translation: X:160.07, Y:-18.26, Z:-2.48 [[ 9.95036015e-01 9.93312529e-02 6.05230915e-03 1.60067442e+02] [-9.93289632e-02 9.95054419e-01 -6.78483113e-04 -1.82644017e+01] [-6.08977154e-03 7.39455398e-05 9.99981454e-01 -2.48428517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02401273899997 meters Centerline goodness [0,1] 0.99505269950527 Centerline is valid? [True, True] Translation: X:160.10, Y:-18.27, Z:-2.49 [[ 9.94855474e-01 1.01152002e-01 5.55509959e-03 1.60099873e+02] [-1.01150097e-01 9.94870981e-01 -6.23464444e-04 -1.82666889e+01] [-5.58967205e-03 5.83581513e-05 9.99984376e-01 -2.48543049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05401273899997 meters Centerline goodness [0,1] 0.997098976109215 Centerline is valid? [True, True] Translation: X:160.13, Y:-18.27, Z:-2.49 [[ 9.94478047e-01 1.04819991e-01 5.11697221e-03 1.60131124e+02] [-1.04818420e-01 9.94491211e-01 -5.75032305e-04 -1.82711985e+01] [-5.14905877e-03 3.55040599e-05 9.99986743e-01 -2.48702367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08401273899997 meters Centerline goodness [0,1] 0.9975857796009059 Centerline is valid? [True, True] Translation: X:160.16, Y:-18.27, Z:-2.49 [[ 9.94301579e-01 1.06468802e-01 5.36315300e-03 1.60163345e+02] [-1.06467094e-01 9.94316043e-01 -6.03628398e-04 -1.82742545e+01] [-5.39693666e-03 2.91893523e-05 9.99985436e-01 -2.48712583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11401273899997 meters Centerline goodness [0,1] 0.9979411512395985 Centerline is valid? [True, True] Translation: X:160.19, Y:-18.28, Z:-2.49 [[ 9.93960142e-01 1.09581945e-01 5.91885612e-03 1.60194523e+02] [-1.09579915e-01 9.93977765e-01 -6.67302764e-04 -1.82758141e+01] [-5.95633571e-03 1.46846033e-05 9.99982261e-01 -2.48653590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14401273899998 meters Centerline goodness [0,1] 0.9984294658032314 Centerline is valid? [True, True] Translation: X:160.23, Y:-18.28, Z:-2.49 [[ 9.93767190e-01 1.11293885e-01 6.35952980e-03 1.60226294e+02] [-1.11291569e-01 9.93787538e-01 -7.18028924e-04 -1.82780774e+01] [-6.39993370e-03 5.79153862e-06 9.99979520e-01 -2.48543716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17401273899998 meters Centerline goodness [0,1] 0.9985916094063421 Centerline is valid? [True, True] Translation: X:160.26, Y:-18.28, Z:-2.48 [[ 9.93283545e-01 1.15499635e-01 6.90174363e-03 1.60258124e+02] [-1.15496999e-01 9.93307522e-01 -7.80588969e-04 -1.82756038e+01] [-6.94571161e-03 -2.17845005e-05 9.99975878e-01 -2.48347224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20401273899998 meters Centerline goodness [0,1] 0.998972866558247 Centerline is valid? [True, True] Translation: X:160.29, Y:-18.27, Z:-2.49 [[ 9.93003690e-01 1.17923970e-01 6.13266489e-03 1.60288887e+02] [-1.17921934e-01 9.93022626e-01 -6.93748457e-04 -1.82732639e+01] [-6.17168457e-03 -3.42809255e-05 9.99980954e-01 -2.48515218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23401273899998 meters Centerline goodness [0,1] 0.998799751377071 Centerline is valid? [True, True] Translation: X:160.32, Y:-18.26, Z:-2.49 [[ 9.92246394e-01 1.24174984e-01 5.25989004e-03 1.60319876e+02] [-1.24173574e-01 9.92260334e-01 -5.95096253e-04 -1.82620804e+01] [-5.29307631e-03 -6.26572316e-05 9.99985990e-01 -2.48805699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26401273899998 meters Centerline goodness [0,1] 0.995264 Centerline is valid? [True, True] Translation: X:160.35, Y:-18.25, Z:-2.48 [[ 9.91501379e-01 1.29873102e-01 7.61534707e-03 1.60350096e+02] [-1.29870314e-01 9.91530614e-01 -8.61590098e-04 -1.82475712e+01] [-7.66274713e-03 -1.34739748e-04 9.99970632e-01 -2.48346636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29401273899998 meters Centerline goodness [0,1] 0.9953829557713053 Centerline is valid? [True, True] Translation: X:160.38, Y:-18.25, Z:-2.48 [[ 9.91341214e-01 1.31046535e-01 8.33082138e-03 1.60379061e+02] [-1.31043243e-01 9.91376206e-01 -9.42136334e-04 -1.82506755e+01] [-8.38244179e-03 -1.57719272e-04 9.99964854e-01 -2.48193088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32401273899998 meters Centerline goodness [0,1] 0.9964441605450868 Centerline is valid? [True, True] Translation: X:160.41, Y:-18.25, Z:-2.48 [[ 9.91157488e-01 1.32499619e-01 7.11927392e-03 1.60408822e+02] [-1.32497254e-01 9.91183046e-01 -8.04919190e-04 -1.82469653e+01] [-7.16315509e-03 -1.45482563e-04 9.99974334e-01 -2.48431923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35401273899998 meters Centerline goodness [0,1] 0.9963558413719186 Centerline is valid? [True, True] Translation: X:160.44, Y:-18.25, Z:-2.48 [[ 9.91134117e-01 1.32660336e-01 7.37544153e-03 1.60437954e+02] [-1.32657803e-01 9.91161547e-01 -8.33664927e-04 -1.82480554e+01] [-7.42084831e-03 -1.52136122e-04 9.99972454e-01 -2.48449148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38401273899999 meters Centerline goodness [0,1] 0.9942331340372302 Centerline is valid? [True, True] Translation: X:160.47, Y:-18.24, Z:-2.48 [[ 9.91094537e-01 1.32769112e-01 1.01971056e-02 1.60466708e+02] [-1.32764284e-01 9.91146971e-01 -1.15194943e-03 -1.82425876e+01] [-1.02597736e-02 -2.12120635e-04 9.99947345e-01 -2.47967875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.414012739 meters Centerline goodness [0,1] 0.9938607149709023 Centerline is valid? [True, True] Translation: X:160.50, Y:-18.25, Z:-2.48 [[ 9.91116728e-01 1.32498372e-01 1.14809718e-02 1.60495723e+02] [-1.32492242e-01 9.91183195e-01 -1.29629071e-03 -1.82452369e+01] [-1.15515027e-02 -2.36364282e-04 9.99933251e-01 -2.47795421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.444012739 meters Centerline goodness [0,1] 0.9933287863932819 Centerline is valid? [True, True] Translation: X:160.53, Y:-18.24, Z:-2.48 [[ 9.91361340e-01 1.30619455e-01 1.18849657e-02 1.60525081e+02] [-1.30612757e-01 9.91432554e-01 -1.34137504e-03 -1.82432815e+01] [-1.19583516e-02 -2.22540788e-04 9.99928472e-01 -2.47670880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.474012739 meters Centerline goodness [0,1] 0.9933287863932819 Centerline is valid? [True, True] Translation: X:160.55, Y:-18.25, Z:-2.48 [[ 9.91367147e-01 1.30575369e-01 1.18850172e-02 1.60553246e+02] [-1.30568673e-01 9.91438361e-01 -1.34091881e-03 -1.82463678e+01] [-1.19583529e-02 -2.22468069e-04 9.99928472e-01 -2.47693054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.504012739 meters Centerline goodness [0,1] 0.9954146132419113 Centerline is valid? [True, True] Translation: X:160.58, Y:-18.25, Z:-2.48 [[ 9.91890614e-01 1.26608024e-01 1.11093683e-02 1.60582667e+02] [-1.26601930e-01 9.91952812e-01 -1.25300411e-03 -1.82512477e+01] [-1.11786095e-02 -1.63624443e-04 9.99937504e-01 -2.47795583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.534012739 meters Centerline goodness [0,1] 0.9964079238224792 Centerline is valid? [True, True] Translation: X:160.61, Y:-18.26, Z:-2.48 [[ 9.92185075e-01 1.24378494e-01 9.93820468e-03 1.60610887e+02] [-1.24373507e-01 9.92234839e-01 -1.12068051e-03 -1.82556736e+01] [-1.00004215e-02 -1.24126898e-04 9.99949987e-01 -2.48038933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.564012739 meters Centerline goodness [0,1] 0.9979648671808055 Centerline is valid? [True, True] Translation: X:160.64, Y:-18.26, Z:-2.48 [[ 9.92471267e-01 1.22185837e-01 8.45019506e-03 1.60640014e+02] [-1.22182154e-01 9.92507236e-01 -9.52645588e-04 -1.82619996e+01] [-8.50327954e-03 -8.69896609e-05 9.99963843e-01 -2.48454377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.594012739 meters Centerline goodness [0,1] 0.9991666132444388 Centerline is valid? [True, True] Translation: X:160.67, Y:-18.27, Z:-2.49 [[ 9.93028864e-01 1.17706488e-01 6.23359734e-03 1.60668473e+02] [-1.17704397e-01 9.93048428e-01 -7.02588293e-04 -1.82695148e+01] [-6.27296324e-03 -3.60313608e-05 9.99980324e-01 -2.48905830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.624012739 meters Centerline goodness [0,1] 0.9989979746295704 Centerline is valid? [True, True] Translation: X:160.70, Y:-18.27, Z:-2.49 [[ 9.93247070e-01 1.15833439e-01 6.54764296e-03 1.60697323e+02] [-1.15831090e-01 9.93268651e-01 -7.38201709e-04 -1.82747961e+01] [-6.58907694e-03 -2.52039355e-05 9.99978291e-01 -2.48874041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.654012739 meters Centerline goodness [0,1] 0.9986092686892892 Centerline is valid? [True, True] Translation: X:160.73, Y:-18.28, Z:-2.49 [[ 9.93453539e-01 1.13947720e-01 8.12296584e-03 1.60725892e+02] [-1.13944045e-01 9.93486747e-01 -9.15346661e-04 -1.82795365e+01] [-8.17436058e-03 -1.62092019e-05 9.99966589e-01 -2.48527443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.684012739 meters Centerline goodness [0,1] 0.9982687128628223 Centerline is valid? [True, True] Translation: X:160.76, Y:-18.28, Z:-2.48 [[ 9.93528355e-01 1.13215894e-01 9.14162619e-03 1.60755025e+02] [-1.13211211e-01 9.93570411e-01 -1.02980004e-03 -1.82820237e+01] [-9.19943903e-03 -1.17990368e-05 9.99957684e-01 -2.48387600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.714012739 meters Centerline goodness [0,1] 0.9979027201084654 Centerline is valid? [True, True] Translation: X:160.78, Y:-18.28, Z:-2.49 [[ 9.93612490e-01 1.12494976e-01 8.89382108e-03 1.60784656e+02] [-1.12490516e-01 9.93652294e-01 -1.00169312e-03 -1.82849257e+01] [-8.95005116e-03 -5.17572670e-06 9.99959947e-01 -2.48522562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74401273899997 meters Centerline goodness [0,1] 0.9987636952722002 Centerline is valid? [True, True] Translation: X:160.81, Y:-18.29, Z:-2.49 [[ 9.93752573e-01 1.11370181e-01 7.24617373e-03 1.60814614e+02] [-1.11367191e-01 9.93778991e-01 -8.16047755e-04 -1.82889689e+01] [-7.29197860e-03 3.96354153e-06 9.99973413e-01 -2.48931764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77401273899997 meters Centerline goodness [0,1] 0.998642387673742 Centerline is valid? [True, True] Translation: X:160.84, Y:-18.29, Z:-2.49 [[ 9.93788040e-01 1.11100112e-01 6.48813596e-03 1.60844293e+02] [-1.11097709e-01 9.93809220e-01 -7.30709403e-04 -1.82929611e+01] [-6.52915123e-03 5.35322432e-06 9.99978685e-01 -2.49158678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80401273899997 meters Centerline goodness [0,1] 0.9988084599344653 Centerline is valid? [True, True] Translation: X:160.87, Y:-18.29, Z:-2.49 [[ 9.93732352e-01 1.11663756e-01 5.21707661e-03 1.60874090e+02] [-1.11662211e-01 9.93746047e-01 -5.87474320e-04 -1.82945569e+01] [-5.25004885e-03 1.24192922e-06 9.99986218e-01 -2.49277119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83401273899997 meters Centerline goodness [0,1] 0.9987557386192989 Centerline is valid? [True, True] Translation: X:160.90, Y:-18.30, Z:-2.49 [[ 9.93797523e-01 1.11075178e-01 5.36550863e-03 1.60902999e+02] [-1.11073535e-01 9.93812007e-01 -6.04059279e-04 -1.82981012e+01] [-5.39940289e-03 4.34660149e-06 9.99985423e-01 -2.49365459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86401273899997 meters Centerline goodness [0,1] 0.9981579454666181 Centerline is valid? [True, True] Translation: X:160.93, Y:-18.31, Z:-2.50 [[ 9.94163261e-01 1.07755725e-01 5.30225291e-03 1.60930700e+02] [-1.07754075e-01 9.94177400e-01 -5.96829602e-04 -1.83090879e+01] [-5.33569182e-03 2.20067069e-05 9.99985765e-01 -2.49631870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89401273899998 meters Centerline goodness [0,1] 0.9977619006628218 Centerline is valid? [True, True] Translation: X:160.96, Y:-18.32, Z:-2.50 [[ 9.94437596e-01 1.05197112e-01 5.23779916e-03 1.60959103e+02] [-1.05195467e-01 9.94451390e-01 -5.89365740e-04 -1.83178947e+01] [-5.27073623e-03 3.50947233e-05 9.99986109e-01 -2.49679537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92401273899998 meters Centerline goodness [0,1] 0.9976485815985331 Centerline is valid? [True, True] Translation: X:160.99, Y:-18.32, Z:-2.50 [[ 9.94396651e-01 1.05572239e-01 5.45922390e-03 1.60988361e+02] [-1.05570458e-01 9.94411636e-01 -6.14144649e-04 -1.83207267e+01] [-5.49355240e-03 3.43706149e-05 9.99984910e-01 -2.49633281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95401273899998 meters Centerline goodness [0,1] 0.998657432072456 Centerline is valid? [True, True] Translation: X:161.02, Y:-18.32, Z:-2.49 [[ 9.93980006e-01 1.09393341e-01 6.07003135e-03 1.61017555e+02] [-1.09391211e-01 9.93998540e-01 -6.82715466e-04 -1.83200089e+01] [-6.10828682e-03 1.45974400e-05 9.99981344e-01 -2.49481911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98401273899998 meters Centerline goodness [0,1] 0.9990198376339733 Centerline is valid? [True, True] Translation: X:161.05, Y:-18.32, Z:-2.49 [[ 9.93683415e-01 1.12052567e-01 6.12310105e-03 1.61046808e+02] [-1.12050452e-01 9.93702280e-01 -6.88466524e-04 -1.83197776e+01] [-6.16168392e-03 -1.97847328e-06 9.99981017e-01 -2.49441449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01401273899998 meters Centerline goodness [0,1] 0.9991897309053691 Centerline is valid? [True, True] Translation: X:161.08, Y:-18.32, Z:-2.49 [[ 9.93154796e-01 1.16583975e-01 7.19215719e-03 1.61076193e+02] [-1.16581178e-01 9.93180837e-01 -8.08385684e-04 -1.83156225e+01] [-7.23735751e-03 -3.56180394e-05 9.99973809e-01 -2.49329876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04401273899998 meters Centerline goodness [0,1] 0.9987797829298054 Centerline is valid? [True, True] Translation: X:161.10, Y:-18.32, Z:-2.49 [[ 9.92943670e-01 1.18281372e-01 8.50800014e-03 1.61104745e+02] [-1.18277523e-01 9.92980118e-01 -9.55826962e-04 -1.83167655e+01] [-8.56133150e-03 -5.72228539e-05 9.99963349e-01 -2.49068870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07401273899998 meters Centerline goodness [0,1] 0.9984252638747021 Centerline is valid? [True, True] Translation: X:161.13, Y:-18.32, Z:-2.49 [[ 9.92955493e-01 1.18188725e-01 8.41509844e-03 1.61133233e+02] [-1.18184960e-01 9.92991149e-01 -9.45014124e-04 -1.83201382e+01] [-8.46780828e-03 -5.61811055e-05 9.99964146e-01 -2.49059363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10401273899998 meters Centerline goodness [0,1] 0.9985110377419564 Centerline is valid? [True, True] Translation: X:161.16, Y:-18.32, Z:-2.49 [[ 9.92991716e-01 1.17891854e-01 8.30443316e-03 1.61163106e+02] [-1.17888179e-01 9.93026439e-01 -9.32309912e-04 -1.83241836e+01] [-8.35643343e-03 -5.32184862e-05 9.99965083e-01 -2.49194148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13401273899999 meters Centerline goodness [0,1] 0.9993598634375334 Centerline is valid? [True, True] Translation: X:161.19, Y:-18.33, Z:-2.50 [[ 9.93229969e-01 1.16048471e-01 5.19441202e-03 1.61192160e+02] [-1.16047008e-01 9.93243551e-01 -5.83074943e-04 -1.83294982e+01] [-5.22698120e-03 -2.36684677e-05 9.99986339e-01 -2.49810951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.164012739 meters Centerline goodness [0,1] 0.9993795597013329 Centerline is valid? [True, True] Translation: X:161.22, Y:-18.33, Z:-2.50 [[ 9.93427860e-01 1.14355695e-01 4.88487458e-03 1.61220093e+02] [-1.14354381e-01 9.93439870e-01 -5.48375563e-04 -1.83348793e+01] [-4.91553903e-03 -1.38352466e-05 9.99987919e-01 -2.49955313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.194012739 meters Centerline goodness [0,1] 0.9989883335485815 Centerline is valid? [True, True] Translation: X:161.25, Y:-18.34, Z:-2.50 [[ 9.93457143e-01 1.13990086e-01 7.01172945e-03 1.61248843e+02] [-1.13987373e-01 9.93481887e-01 -7.86665359e-04 -1.83383270e+01] [-7.05569826e-03 -1.77303012e-05 9.99975108e-01 -2.49529805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.224012739 meters Centerline goodness [0,1] 0.9984105163673855 Centerline is valid? [True, True] Translation: X:161.28, Y:-18.34, Z:-2.49 [[ 9.93377867e-01 1.14541543e-01 8.98040699e-03 1.61277863e+02] [-1.14537119e-01 9.93418459e-01 -1.00703331e-03 -1.83396983e+01] [-9.03664922e-03 -2.82253398e-05 9.99959168e-01 -2.49137639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.254012739 meters Centerline goodness [0,1] 0.9989366227137388 Centerline is valid? [True, True] Translation: X:161.31, Y:-18.34, Z:-2.49 [[ 9.93311171e-01 1.15194008e-01 7.95353449e-03 1.61308273e+02] [-1.15190561e-01 9.93343012e-01 -8.91645275e-04 -1.83413206e+01] [-8.00330010e-03 -3.04908900e-05 9.99967973e-01 -2.49375048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.284012739 meters Centerline goodness [0,1] 0.9992891148402663 Centerline is valid? [True, True] Translation: X:161.34, Y:-18.34, Z:-2.50 [[ 9.93203532e-01 1.16234776e-01 6.01845490e-03 1.61337633e+02] [-1.16232821e-01 9.93221766e-01 -6.74751139e-04 -1.83418636e+01] [-6.05608995e-03 -2.93767754e-05 9.99981661e-01 -2.49843328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.314012739 meters Centerline goodness [0,1] 0.9992956694341878 Centerline is valid? [True, True] Translation: X:161.37, Y:-18.34, Z:-2.50 [[ 9.93151764e-01 1.16671489e-01 6.11046202e-03 1.61366365e+02] [-1.16669483e-01 9.93170561e-01 -6.84961041e-04 -1.83433101e+01] [-6.14864641e-03 -3.26341787e-05 9.99981096e-01 -2.49875272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.344012739 meters Centerline goodness [0,1] 0.999362177102158 Centerline is valid? [True, True] Translation: X:161.39, Y:-18.34, Z:-2.50 [[ 9.93092307e-01 1.17193973e-01 5.76563224e-03 1.61394598e+02] [-1.17192197e-01 9.93109043e-01 -6.46072783e-04 -1.83419131e+01] [-5.80161735e-03 -3.40772004e-05 9.99983170e-01 -2.49958414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.374012739 meters Centerline goodness [0,1] 0.9994458416812311 Centerline is valid? [True, True] Translation: X:161.42, Y:-18.34, Z:-2.50 [[ 9.92999583e-01 1.17993648e-01 5.41537154e-03 1.61423430e+02] [-1.17992095e-01 9.93014349e-01 -6.06494179e-04 -1.83429999e+01] [-5.44910411e-03 -3.67225675e-05 9.99985153e-01 -2.49954605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.404012739 meters Centerline goodness [0,1] 0.9991035410129987 Centerline is valid? [True, True] Translation: X:161.45, Y:-18.34, Z:-2.50 [[ 9.92742739e-01 1.20166303e-01 4.68122995e-03 1.61451933e+02] [-1.20165167e-01 9.92753775e-01 -5.24140878e-04 -1.83374923e+01] [-4.71029278e-03 -4.21837275e-05 9.99988906e-01 -2.50187208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.434012739 meters Centerline goodness [0,1] 0.9990479281618522 Centerline is valid? [True, True] Translation: X:161.48, Y:-18.34, Z:-2.50 [[ 9.92520829e-01 1.22016273e-01 3.79921705e-03 1.61481268e+02] [-1.22015539e-01 9.92528099e-01 -4.25214001e-04 -1.83361530e+01] [-3.82271271e-03 -4.15297626e-05 9.99992693e-01 -2.50473617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.464012739 meters Centerline goodness [0,1] 0.9990864281465114 Centerline is valid? [True, True] Translation: X:161.51, Y:-18.34, Z:-2.50 [[ 9.92587835e-01 1.21455467e-01 4.23775575e-03 1.61509761e+02] [-1.21454549e-01 9.92596881e-01 -4.74087618e-04 -1.83353253e+01] [-4.26396368e-03 -4.41211123e-05 9.99990908e-01 -2.50473110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49401273899997 meters Centerline goodness [0,1] 0.9991782895448157 Centerline is valid? [True, True] Translation: X:161.54, Y:-18.34, Z:-2.50 [[ 9.93034739e-01 1.17603857e-01 7.16525416e-03 1.61538318e+02] [-1.17601140e-01 9.93060588e-01 -8.00819275e-04 -1.83412739e+01] [-7.20971094e-03 -4.74006945e-05 9.99974009e-01 -2.49913395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52401273899997 meters Centerline goodness [0,1] 0.9991470669765656 Centerline is valid? [True, True] Translation: X:161.57, Y:-18.35, Z:-2.50 [[ 9.93287386e-01 1.15406586e-01 7.84142291e-03 1.61566043e+02] [-1.15403266e-01 9.93318337e-01 -8.75966704e-04 -1.83454758e+01] [-7.89012149e-03 -3.48391392e-05 9.99968872e-01 -2.49758703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55401273899997 meters Centerline goodness [0,1] 0.9991838663258951 Centerline is valid? [True, True] Translation: X:161.59, Y:-18.35, Z:-2.50 [[ 9.93490909e-01 1.13680237e-01 7.25378536e-03 1.61594279e+02] [-1.13677354e-01 9.93517390e-01 -8.09882041e-04 -1.83499078e+01] [-7.29882948e-03 -1.99806805e-05 9.99973363e-01 -2.49799358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58401273899997 meters Centerline goodness [0,1] 0.9994219158138141 Centerline is valid? [True, True] Translation: X:161.62, Y:-18.35, Z:-2.50 [[ 9.93766410e-01 1.11375707e-01 4.87593384e-03 1.61621851e+02] [-1.11374377e-01 9.93778372e-01 -5.44318854e-04 -1.83513165e+01] [-4.90622149e-03 -2.12829841e-06 9.99987964e-01 -2.50294525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61401273899997 meters Centerline goodness [0,1] 0.9990755073959409 Centerline is valid? [True, True] Translation: X:161.65, Y:-18.36, Z:-2.50 [[ 9.94148446e-01 1.07902469e-01 5.09152651e-03 1.61650108e+02] [-1.07900975e-01 9.94161484e-01 -5.68034257e-04 -1.83555055e+01] [-5.12309185e-03 1.53297012e-05 9.99986877e-01 -2.50393716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64401273899998 meters Centerline goodness [0,1] 0.9981735748512001 Centerline is valid? [True, True] Translation: X:161.68, Y:-18.36, Z:-2.50 [[ 9.94406626e-01 1.05465367e-01 5.70241221e-03 1.61677054e+02] [-1.05463455e-01 9.94422976e-01 -6.35909672e-04 -1.83613357e+01] [-5.73767617e-03 3.09566992e-05 9.99983539e-01 -2.50345672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67401273899998 meters Centerline goodness [0,1] 0.996862239415431 Centerline is valid? [True, True] Translation: X:161.71, Y:-18.37, Z:-2.50 [[ 9.94877484e-01 1.00963901e-01 5.00834557e-03 1.61705762e+02] [-1.00962371e-01 9.94890089e-01 -5.58087218e-04 -1.83705391e+01] [-5.03910003e-03 4.95739655e-05 9.99987302e-01 -2.50402999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70401273899998 meters Centerline goodness [0,1] 0.9976115838184804 Centerline is valid? [True, True] Translation: X:161.74, Y:-18.37, Z:-2.51 [[ 9.95027520e-01 9.95341966e-02 3.63016641e-03 1.61735140e+02] [-9.95333830e-02 9.95034141e-01 -4.04545777e-04 -1.83742057e+01] [-3.65240566e-03 4.12114372e-05 9.99993329e-01 -2.50541979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73401273899998 meters Centerline goodness [0,1] 0.9970202622169249 Centerline is valid? [True, True] Translation: X:161.76, Y:-18.38, Z:-2.51 [[ 9.95099992e-01 9.88279759e-02 3.00608835e-03 1.61763302e+02] [-9.88274146e-02 9.95104532e-01 -3.35071854e-04 -1.83779825e+01] [-3.02448661e-03 3.63460600e-05 9.99995426e-01 -2.50595564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76401273899998 meters Centerline goodness [0,1] 0.9972065252159079 Centerline is valid? [True, True] Translation: X:161.79, Y:-18.38, Z:-2.50 [[ 9.95024117e-01 9.95611092e-02 3.82001727e-03 1.61792331e+02] [-9.95602092e-02 9.95031449e-01 -4.25520636e-04 -1.83803913e+01] [-3.84340262e-03 4.30815762e-05 9.99992613e-01 -2.50487185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79401273899998 meters Centerline goodness [0,1] 0.9974706878442973 Centerline is valid? [True, True] Translation: X:161.82, Y:-18.38, Z:-2.50 [[ 9.94737724e-01 1.02276022e-01 6.03959163e-03 1.61821124e+02] [-1.02273825e-01 9.94756057e-01 -6.72244934e-04 -1.83788364e+01] [-6.07667489e-03 5.10152569e-05 9.99981536e-01 -2.50042210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82401273899998 meters Centerline goodness [0,1] 0.9978316326530612 Centerline is valid? [True, True] Translation: X:161.85, Y:-18.37, Z:-2.50 [[ 9.94268972e-01 1.06664840e-01 7.19878206e-03 1.61850293e+02] [-1.06661837e-01 9.94295032e-01 -8.00969442e-04 -1.83730373e+01] [-7.24314852e-03 2.85437479e-05 9.99973768e-01 -2.49873580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85401273899998 meters Centerline goodness [0,1] 0.9988840243797751 Centerline is valid? [True, True] Translation: X:161.88, Y:-18.37, Z:-2.50 [[ 9.94001349e-01 1.09124296e-01 7.29425946e-03 1.61880072e+02] [-1.09121282e-01 9.94028112e-01 -8.11242241e-04 -1.83706309e+01] [-7.33922520e-03 1.04169426e-05 9.99973067e-01 -2.49929235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88401273899999 meters Centerline goodness [0,1] 0.9992493941538527 Centerline is valid? [True, True] Translation: X:161.91, Y:-18.36, Z:-2.50 [[ 9.93318740e-01 1.15199824e-01 6.84703634e-03 1.61909419e+02] [-1.15197313e-01 9.93342338e-01 -7.61287608e-04 -1.83604486e+01] [-6.88915128e-03 -3.25589386e-05 9.99976269e-01 -2.50021833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.914012739 meters Centerline goodness [0,1] 0.9990099862258953 Centerline is valid? [True, True] Translation: X:161.94, Y:-18.36, Z:-2.50 [[ 9.93024281e-01 1.17723980e-01 6.62126546e-03 1.61938567e+02] [-1.17721690e-01 9.93046355e-01 -7.35883737e-04 -1.83572336e+01] [-6.66185469e-03 -4.87161408e-05 9.99977808e-01 -2.50163255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.944012739 meters Centerline goodness [0,1] 0.9991650252633382 Centerline is valid? [True, True] Translation: X:161.97, Y:-18.35, Z:-2.50 [[ 9.92951171e-01 1.18391185e-01 5.61248483e-03 1.61967750e+02] [-1.18389552e-01 9.92967031e-01 -6.23556535e-04 -1.83548381e+01] [-5.64683600e-03 -4.52983734e-05 9.99984055e-01 -2.50324014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.974012739 meters Centerline goodness [0,1] 0.9993121238177128 Centerline is valid? [True, True] Translation: X:162.00, Y:-18.36, Z:-2.50 [[ 9.93155994e-01 1.16655437e-01 5.71676454e-03 1.61995126e+02] [-1.16653715e-01 9.93172446e-01 -6.34885948e-04 -1.83592644e+01] [-5.75179592e-03 -3.63410362e-05 9.99983458e-01 -2.50310819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.004012739 meters Centerline goodness [0,1] 0.9991009119321831 Centerline is valid? [True, True] Translation: X:162.02, Y:-18.37, Z:-2.50 [[ 9.93763766e-01 1.11212479e-01 8.08467590e-03 1.62023244e+02] [-1.11208860e-01 9.93796651e-01 -8.97191307e-04 -1.83691759e+01] [-8.13430271e-03 -7.49137705e-06 9.99966916e-01 -2.49906534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.034012739 meters Centerline goodness [0,1] 0.9977699904428162 Centerline is valid? [True, True] Translation: X:162.05, Y:-18.38, Z:-2.50 [[ 9.94026168e-01 1.08665893e-01 1.01834195e-02 1.62052041e+02] [-1.08660023e-01 9.94078329e-01 -1.12952181e-03 -1.83750739e+01] [-1.02458571e-02 1.62436433e-05 9.99947510e-01 -2.49563627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.064012739 meters Centerline goodness [0,1] 0.9941230330259991 Centerline is valid? [True, True] Translation: X:162.08, Y:-18.38, Z:-2.49 [[ 9.94402636e-01 1.04812171e-01 1.33344150e-02 1.62079742e+02] [-1.04801769e-01 9.94492033e-01 -1.47834527e-03 -1.83828159e+01] [-1.34159181e-02 7.26001460e-05 9.99910000e-01 -2.48960894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.094012739 meters Centerline goodness [0,1] 0.9926153583472063 Centerline is valid? [True, True] Translation: X:162.11, Y:-18.39, Z:-2.49 [[ 9.94657891e-01 1.02406973e-01 1.29804295e-02 1.62109254e+02] [-1.02396916e-01 9.94742580e-01 -1.43883325e-03 -1.83895777e+01] [-1.30595325e-02 1.01990908e-04 9.99914715e-01 -2.48999728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.124012739 meters Centerline goodness [0,1] 0.9923063808021824 Centerline is valid? [True, True] Translation: X:162.14, Y:-18.40, Z:-2.49 [[ 9.94787806e-01 1.01268002e-01 1.19168997e-02 1.62138433e+02] [-1.01259444e-01 9.94859176e-01 -1.32089685e-03 -1.83954036e+01] [-1.19894016e-02 1.07313439e-04 9.99928119e-01 -2.49250825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.154012739 meters Centerline goodness [0,1] 0.9947797575391518 Centerline is valid? [True, True] Translation: X:162.17, Y:-18.40, Z:-2.50 [[ 9.94990784e-01 9.96143635e-02 8.38565588e-03 1.62168176e+02] [-9.96100678e-02 9.95026116e-01 -9.29422075e-04 -1.84024027e+01] [-8.43653039e-03 8.94706471e-05 9.99964408e-01 -2.49896242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.184012739 meters Centerline goodness [0,1] 0.9961402449542867 Centerline is valid? [True, True] Translation: X:162.20, Y:-18.41, Z:-2.50 [[ 9.95012197e-01 9.94962617e-02 7.15693897e-03 1.62195789e+02] [-9.94931294e-02 9.95037933e-01 -7.93259914e-04 -1.84096964e+01] [-7.20035215e-03 7.72370348e-05 9.99974074e-01 -2.50198542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.214012739 meters Centerline goodness [0,1] 0.9964474500823934 Centerline is valid? [True, True] Translation: X:162.22, Y:-18.42, Z:-2.50 [[ 9.94973045e-01 9.99238951e-02 6.62231603e-03 1.62224921e+02] [-9.99212243e-02 9.94995081e-01 -7.33771476e-04 -1.84174495e+01] [-6.66249318e-03 6.83729143e-05 9.99977803e-01 -2.50386654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24401273899997 meters Centerline goodness [0,1] 0.9963139960996935 Centerline is valid? [True, True] Translation: X:162.25, Y:-18.42, Z:-2.50 [[ 9.94951121e-01 1.00147378e-01 6.53986811e-03 1.62253303e+02] [-1.00144779e-01 9.94972612e-01 -7.24514910e-04 -1.84203441e+01] [-6.57954792e-03 6.59232767e-05 9.99978352e-01 -2.50394655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27401273899997 meters Centerline goodness [0,1] 0.9968856050517634 Centerline is valid? [True, True] Translation: X:162.28, Y:-18.42, Z:-2.50 [[ 9.94884441e-01 1.00824987e-01 6.26668497e-03 1.62282172e+02] [-1.00822616e-01 9.94904176e-01 -6.93933620e-04 -1.84235924e+01] [-6.30471690e-03 5.85601870e-05 9.99980123e-01 -2.50404456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30401273899997 meters Centerline goodness [0,1] 0.9979545258806304 Centerline is valid? [True, True] Translation: X:162.31, Y:-18.43, Z:-2.50 [[ 9.94610560e-01 1.03486474e-01 6.35485744e-03 1.62311355e+02] [-1.03484091e-01 9.94630860e-01 -7.03569271e-04 -1.84255881e+01] [-6.39354722e-03 4.21507800e-05 9.99979560e-01 -2.50455414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33401273899997 meters Centerline goodness [0,1] 0.9986596885371458 Centerline is valid? [True, True] Translation: X:162.34, Y:-18.43, Z:-2.51 [[ 9.94382198e-01 1.05674172e-01 6.08381440e-03 1.62338962e+02] [-1.05672030e-01 9.94400809e-01 -6.73309810e-04 -1.84259675e+01] [-6.12090142e-03 2.66382692e-05 9.99981267e-01 -2.50572604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36401273899997 meters Centerline goodness [0,1] 0.9986596885371458 Centerline is valid? [True, True] Translation: X:162.37, Y:-18.43, Z:-2.51 [[ 9.94386978e-01 1.05629189e-01 6.08385562e-03 1.62367127e+02] [-1.05627048e-01 9.94405588e-01 -6.72937174e-04 -1.84289934e+01] [-6.12090183e-03 2.65402517e-05 9.99981267e-01 -2.50594776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39401273899998 meters Centerline goodness [0,1] 0.9989860856434042 Centerline is valid? [True, True] Translation: X:162.40, Y:-18.43, Z:-2.51 [[ 9.94259716e-01 1.06801449e-01 6.40835758e-03 1.62396210e+02] [-1.06799100e-01 9.94280368e-01 -7.08503514e-04 -1.84302699e+01] [-6.44737333e-03 2.00296793e-05 9.99979215e-01 -2.50547476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42401273899998 meters Centerline goodness [0,1] 0.9994190049922534 Centerline is valid? [True, True] Translation: X:162.42, Y:-18.43, Z:-2.51 [[ 9.93956438e-01 1.09596023e-01 6.26990799e-03 1.62423574e+02] [-1.09593832e-01 9.93976213e-01 -6.93017226e-04 -1.84320526e+01] [-6.30809133e-03 1.68568985e-06 9.99980104e-01 -2.50577161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45401273899998 meters Centerline goodness [0,1] 0.9994904242218353 Centerline is valid? [True, True] Translation: X:162.45, Y:-18.44, Z:-2.51 [[ 9.93881565e-01 1.10292879e-01 5.90889574e-03 1.62452074e+02] [-1.10290947e-01 9.93899130e-01 -6.52770984e-04 -1.84354626e+01] [-5.94484233e-03 -2.92065903e-06 9.99982329e-01 -2.50715620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48401273899998 meters Centerline goodness [0,1] 0.9993810428361044 Centerline is valid? [True, True] Translation: X:162.48, Y:-18.44, Z:-2.51 [[ 9.93823287e-01 1.10850972e-01 5.22836791e-03 1.62480323e+02] [-1.10849468e-01 9.93837040e-01 -5.77388972e-04 -1.84379568e+01] [-5.26014982e-03 -5.73919717e-06 9.99986165e-01 -2.50950340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51401273899998 meters Centerline goodness [0,1] 0.9991449885642221 Centerline is valid? [True, True] Translation: X:162.51, Y:-18.44, Z:-2.51 [[ 9.93941542e-01 1.09703286e-01 6.73797589e-03 1.62508823e+02] [-1.09700766e-01 9.93964380e-01 -7.43684529e-04 -1.84449476e+01] [-6.77889267e-03 1.78334146e-08 9.99977023e-01 -2.50764514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54401273899998 meters Centerline goodness [0,1] 0.9992415705989426 Centerline is valid? [True, True] Translation: X:162.54, Y:-18.45, Z:-2.51 [[ 9.93944048e-01 1.09629319e-01 7.52612003e-03 1.62537562e+02] [-1.09626175e-01 9.93972541e-01 -8.30283349e-04 -1.84501023e+01] [-7.57178005e-03 1.95443465e-07 9.99971334e-01 -2.50625988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57401273899998 meters Centerline goodness [0,1] 0.9992339936591698 Centerline is valid? [True, True] Translation: X:162.57, Y:-18.45, Z:-2.50 [[ 9.93838323e-01 1.10537134e-01 8.18104499e-03 1.62565928e+02] [-1.10533453e-01 9.93871995e-01 -9.02111807e-04 -1.84510238e+01] [-8.23062836e-03 -7.72586845e-06 9.99966128e-01 -2.50436807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60401273899998 meters Centerline goodness [0,1] 0.9991022188021034 Centerline is valid? [True, True] Translation: X:162.59, Y:-18.45, Z:-2.51 [[ 9.93728866e-01 1.11501158e-01 8.39244272e-03 1.62594517e+02] [-1.11497323e-01 9.93764304e-01 -9.24923107e-04 -1.84523605e+01] [-8.44324000e-03 -1.66121100e-05 9.99964355e-01 -2.50521525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63401273899999 meters Centerline goodness [0,1] 0.9989702443524339 Centerline is valid? [True, True] Translation: X:162.62, Y:-18.45, Z:-2.51 [[ 9.93616263e-01 1.12505770e-01 8.31707838e-03 1.62622065e+02] [-1.12502042e-01 9.93651071e-01 -9.16212903e-04 -1.84546544e+01] [-8.36735308e-03 -2.53242585e-05 9.99964993e-01 -2.50622197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.664012739 meters Centerline goodness [0,1] 0.9992264053635895 Centerline is valid? [True, True] Translation: X:162.65, Y:-18.46, Z:-2.51 [[ 9.93537937e-01 1.13233812e-01 7.77628810e-03 1.62650994e+02] [-1.13230580e-01 9.93568368e-01 -8.56157051e-04 -1.84587537e+01] [-7.82321981e-03 -2.98890988e-05 9.99969398e-01 -2.50700735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.694012739 meters Centerline goodness [0,1] 0.9990789924605894 Centerline is valid? [True, True] Translation: X:162.68, Y:-18.46, Z:-2.51 [[ 9.93573196e-01 1.12949030e-01 7.40405014e-03 1.62679841e+02] [-1.12946094e-01 9.93600783e-01 -8.14842493e-04 -1.84607710e+01] [-7.44870569e-03 -2.66528809e-05 9.99972258e-01 -2.50708506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.724012739 meters Centerline goodness [0,1] 0.9991285125196616 Centerline is valid? [True, True] Translation: X:162.71, Y:-18.46, Z:-2.51 [[ 9.93651548e-01 1.12270259e-01 7.21044143e-03 1.62707681e+02] [-1.12267459e-01 9.93677709e-01 -7.93210154e-04 -1.84620257e+01] [-7.25390883e-03 -2.13234412e-05 9.99973690e-01 -2.50808949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.754012739 meters Centerline goodness [0,1] 0.9991245489291739 Centerline is valid? [True, True] Translation: X:162.74, Y:-18.47, Z:-2.51 [[ 9.93669212e-01 1.12063328e-01 7.95657432e-03 1.62736469e+02] [-1.12059916e-01 9.93701067e-01 -8.74778977e-04 -1.84682555e+01] [-8.00448704e-03 -2.23721151e-05 9.99967963e-01 -2.50672386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.784012739 meters Centerline goodness [0,1] 0.9988905956647892 Centerline is valid? [True, True] Translation: X:162.77, Y:-18.47, Z:-2.51 [[ 9.93730742e-01 1.11460380e-01 8.70608798e-03 1.62765261e+02] [-1.11456275e-01 9.93768878e-01 -9.56750803e-04 -1.84735107e+01] [-8.75847909e-03 -1.95954545e-05 9.99961644e-01 -2.50579458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.814012739 meters Centerline goodness [0,1] 0.9983844911147012 Centerline is valid? [True, True] Translation: X:162.79, Y:-18.48, Z:-2.50 [[ 9.93838829e-01 1.10414027e-01 9.65014575e-03 1.62793908e+02] [-1.10408940e-01 9.93885679e-01 -1.06001014e-03 -1.84778069e+01] [-9.70818165e-03 -1.19831298e-05 9.99952874e-01 -2.50399069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.844012739 meters Centerline goodness [0,1] 0.9970378002447035 Centerline is valid? [True, True] Translation: X:162.82, Y:-18.48, Z:-2.50 [[ 9.94081869e-01 1.07994581e-01 1.17646815e-02 1.62823042e+02] [-1.07986856e-01 9.94151483e-01 -1.29174858e-03 -1.84848010e+01] [-1.18353774e-02 1.36728781e-05 9.99929959e-01 -2.50166964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.874012739 meters Centerline goodness [0,1] 0.9967095486774509 Centerline is valid? [True, True] Translation: X:162.85, Y:-18.49, Z:-2.50 [[ 9.94193555e-01 1.06961678e-01 1.17632737e-02 1.62852276e+02] [-1.06953885e-01 9.94263144e-01 -1.29146318e-03 -1.84920869e+01] [-1.18339265e-02 2.58365562e-05 9.99929976e-01 -2.50164591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.904012739 meters Centerline goodness [0,1] 0.9968452913842349 Centerline is valid? [True, True] Translation: X:162.88, Y:-18.50, Z:-2.51 [[ 9.94395282e-01 1.05304564e-01 9.43250699e-03 1.62883112e+02] [-1.05299478e-01 9.94440017e-01 -1.03569053e-03 -1.85011217e+01] [-9.48912535e-03 3.66477192e-05 9.99954977e-01 -2.50689348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.934012739 meters Centerline goodness [0,1] 0.9984490780630708 Centerline is valid? [True, True] Translation: X:162.91, Y:-18.50, Z:-2.51 [[ 9.94381450e-01 1.05672865e-01 6.22714944e-03 1.62912111e+02] [-1.05670654e-01 9.94400948e-01 -6.83878582e-04 -1.85048304e+01] [-6.26455071e-03 2.20092222e-05 9.99980377e-01 -2.51343342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96401273899997 meters Centerline goodness [0,1] 0.9980462879470995 Centerline is valid? [True, True] Translation: X:162.94, Y:-18.51, Z:-2.51 [[ 9.94391624e-01 1.05584177e-01 6.10566419e-03 1.62941347e+02] [-1.05582050e-01 9.94410369e-01 -6.70487285e-04 -1.85101880e+01] [-6.14232863e-03 2.20783983e-05 9.99981135e-01 -2.51023775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99401273899997 meters Centerline goodness [0,1] 0.9975501682927869 Centerline is valid? [True, True] Translation: X:162.97, Y:-18.52, Z:-2.51 [[ 9.94499466e-01 1.04462216e-01 7.64580595e-03 1.62968669e+02] [-1.04458850e-01 9.94528855e-01 -8.39397144e-04 -1.85208668e+01] [-7.69165992e-03 3.61079153e-05 9.99970418e-01 -2.51070877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02401273899997 meters Centerline goodness [0,1] 0.9972205130381278 Centerline is valid? [True, True] Translation: X:163.00, Y:-18.53, Z:-2.51 [[ 9.94570189e-01 1.03751305e-01 8.11203479e-03 1.62997746e+02] [-1.03747495e-01 9.94603270e-01 -8.90291499e-04 -1.85270680e+01] [-8.16062523e-03 4.38540981e-05 9.99966701e-01 -2.51040224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05401273899997 meters Centerline goodness [0,1] 0.9968561529577826 Centerline is valid? [True, True] Translation: X:163.03, Y:-18.53, Z:-2.51 [[ 9.94641087e-01 1.03067529e-01 8.13592369e-03 1.63028249e+02] [-1.03063675e-01 9.94674360e-01 -8.92737733e-04 -1.85329514e+01] [-8.18460696e-03 4.94354348e-05 9.99966504e-01 -2.51005607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08401273899997 meters Centerline goodness [0,1] 0.9967042609198108 Centerline is valid? [True, True] Translation: X:163.06, Y:-18.54, Z:-2.51 [[ 9.94790443e-01 1.01633813e-01 7.90833740e-03 1.63056969e+02] [-1.01630126e-01 9.94821876e-01 -8.67772429e-04 -1.85444595e+01] [-7.95558207e-03 5.95263933e-05 9.99968352e-01 -2.51171879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11401273899997 meters Centerline goodness [0,1] 0.9959719110804757 Centerline is valid? [True, True] Translation: X:163.09, Y:-18.55, Z:-2.51 [[ 9.94880451e-01 1.00783916e-01 7.44917699e-03 1.63086885e+02] [-1.00780617e-01 9.94908337e-01 -8.17798283e-04 -1.85544003e+01] [-7.49366920e-03 6.28788681e-05 9.99971920e-01 -2.51283567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14401273899998 meters Centerline goodness [0,1] 0.9963629402756509 Centerline is valid? [True, True] Translation: X:163.12, Y:-18.56, Z:-2.51 [[ 9.94913896e-01 1.00492607e-01 6.89756891e-03 1.63117254e+02] [-1.00489772e-01 9.94937803e-01 -7.57273458e-04 -1.85592256e+01] [-6.93875244e-03 6.02867602e-05 9.99975925e-01 -2.51379272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17401273899998 meters Centerline goodness [0,1] 0.9968025064915557 Centerline is valid? [True, True] Translation: X:163.15, Y:-18.56, Z:-2.51 [[ 9.94825606e-01 1.01366687e-01 6.84165516e-03 1.63148372e+02] [-1.01363915e-01 9.94849130e-01 -7.51522604e-04 -1.85619682e+01] [-6.88259404e-03 5.41369754e-05 9.99976313e-01 -2.51435046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20401273899998 meters Centerline goodness [0,1] 0.9967143161937273 Centerline is valid? [True, True] Translation: X:163.18, Y:-18.57, Z:-2.51 [[ 9.94740353e-01 1.02155221e-01 7.47935428e-03 1.63177867e+02] [-1.02151930e-01 9.94768470e-01 -8.21753339e-04 -1.85677974e+01] [-7.52417220e-03 5.34007347e-05 9.99971692e-01 -2.51431352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23401273899998 meters Centerline goodness [0,1] 0.9960055537754993 Centerline is valid? [True, True] Translation: X:163.21, Y:-18.58, Z:-2.51 [[ 9.94748714e-01 1.02034201e-01 8.00113260e-03 1.63207582e+02] [-1.02030427e-01 9.94780890e-01 -8.79566348e-04 -1.85770090e+01] [-8.04911966e-03 5.85885210e-05 9.99967604e-01 -2.51283198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26401273899998 meters Centerline goodness [0,1] 0.9971356031508365 Centerline is valid? [True, True] Translation: X:163.24, Y:-18.58, Z:-2.51 [[ 9.94786735e-01 1.01682064e-01 7.75309884e-03 1.63239515e+02] [-1.01678509e-01 9.94816945e-01 -8.52378008e-04 -1.85797177e+01] [-7.79958566e-03 5.96108068e-05 9.99969581e-01 -2.51319358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29401273899998 meters Centerline goodness [0,1] 0.9974398361495136 Centerline is valid? [True, True] Translation: X:163.27, Y:-18.58, Z:-2.52 [[ 9.94619440e-01 1.03379692e-01 6.69391669e-03 1.63270360e+02] [-1.03377073e-01 9.94641965e-01 -7.36923827e-04 -1.85848406e+01] [-6.73423340e-03 4.09612482e-05 9.99977324e-01 -2.51552191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32401273899998 meters Centerline goodness [0,1] 0.998138240958699 Centerline is valid? [True, True] Translation: X:163.30, Y:-18.59, Z:-2.52 [[ 9.94435830e-01 1.05132089e-01 6.68015173e-03 1.63300564e+02] [-1.05129512e-01 9.94458266e-01 -7.36638780e-04 -1.85865758e+01] [-6.72057648e-03 3.02589032e-05 9.99977416e-01 -2.51608699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35401273899998 meters Centerline goodness [0,1] 0.9989635963207669 Centerline is valid? [True, True] Translation: X:163.33, Y:-18.58, Z:-2.52 [[ 9.94094443e-01 1.08298986e-01 6.89691817e-03 1.63329260e+02] [-1.08296315e-01 9.94118368e-01 -7.60649094e-04 -1.85845105e+01] [-6.93873056e-03 9.24621324e-06 9.99975927e-01 -2.51614670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38401273899999 meters Centerline goodness [0,1] 0.9979590507414725 Centerline is valid? [True, True] Translation: X:163.36, Y:-18.58, Z:-2.51 [[ 9.93962579e-01 1.09535710e-01 6.34981552e-03 1.63360865e+02] [-1.09533473e-01 9.93982861e-01 -7.00119324e-04 -1.85846156e+01] [-6.38829586e-03 3.75065156e-07 9.99979595e-01 -2.50977850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.414012739 meters Centerline goodness [0,1] 0.999059406998867 Centerline is valid? [True, True] Translation: X:163.39, Y:-18.59, Z:-2.52 [[ 9.93872753e-01 1.10295030e-01 7.20819940e-03 1.63390414e+02] [-1.10292165e-01 9.93898891e-01 -7.94987112e-04 -1.85850153e+01] [-7.25190452e-03 -4.89188740e-06 9.99973705e-01 -2.51606712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.444012739 meters Centerline goodness [0,1] 0.9989577350945483 Centerline is valid? [True, True] Translation: X:163.42, Y:-18.59, Z:-2.51 [[ 9.93954722e-01 1.09526706e-01 7.60990608e-03 1.63419783e+02] [-1.09523491e-01 9.93983853e-01 -8.39193076e-04 -1.85900680e+01] [-7.65603782e-03 6.56438967e-07 9.99970692e-01 -2.51481586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.474012739 meters Centerline goodness [0,1] 0.9987239743944195 Centerline is valid? [True, True] Translation: X:163.45, Y:-18.60, Z:-2.51 [[ 9.94050378e-01 1.08578670e-01 8.63245705e-03 1.63449919e+02] [-1.08574498e-01 9.94087859e-01 -9.51855371e-04 -1.85951250e+01] [-8.68477194e-03 8.92749900e-06 9.99962287e-01 -2.51327446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.504012739 meters Centerline goodness [0,1] 0.9988014724766715 Centerline is valid? [True, True] Translation: X:163.48, Y:-18.60, Z:-2.52 [[ 9.94060872e-01 1.08537206e-01 7.91563362e-03 1.63481396e+02] [-1.08533697e-01 9.94092387e-01 -8.72818333e-04 -1.85979183e+01] [-7.96360439e-03 8.52157171e-06 9.99968290e-01 -2.51528038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.534012739 meters Centerline goodness [0,1] 0.998967497687625 Centerline is valid? [True, True] Translation: X:163.51, Y:-18.60, Z:-2.52 [[ 9.94155658e-01 1.07781268e-01 6.14219914e-03 1.63512868e+02] [-1.07779140e-01 9.94174632e-01 -6.77376032e-04 -1.86014315e+01] [-6.17942701e-03 1.14162724e-05 9.99980907e-01 -2.51889878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.564012739 meters Centerline goodness [0,1] 0.9986311624425195 Centerline is valid? [True, True] Translation: X:163.54, Y:-18.61, Z:-2.52 [[ 9.94320814e-01 1.06243805e-01 6.19461649e-03 1.63544297e+02] [-1.06241609e-01 9.94340110e-01 -6.83308491e-04 -1.86066824e+01] [-6.23215294e-03 2.13018291e-05 9.99980580e-01 -2.51771308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.594012739 meters Centerline goodness [0,1] 0.9980786063491386 Centerline is valid? [True, True] Translation: X:163.57, Y:-18.61, Z:-2.52 [[ 9.94402122e-01 1.05452005e-01 6.65540651e-03 1.63574617e+02] [-1.05449452e-01 9.94424393e-01 -7.34324837e-04 -1.86107663e+01] [-6.69573460e-03 2.84052059e-05 9.99977583e-01 -2.51652439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.624012739 meters Centerline goodness [0,1] 0.9976748692113931 Centerline is valid? [True, True] Translation: X:163.60, Y:-18.61, Z:-2.52 [[ 9.94461254e-01 1.04848728e-01 7.31842338e-03 1.63604690e+02] [-1.04845624e-01 9.94488181e-01 -8.07576110e-04 -1.86144706e+01] [-7.36275888e-03 3.57984824e-05 9.99972894e-01 -2.51642401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.654012739 meters Centerline goodness [0,1] 0.9967290918419702 Centerline is valid? [True, True] Translation: X:163.64, Y:-18.62, Z:-2.52 [[ 9.94449279e-01 1.04842552e-01 8.86965586e-03 1.63635618e+02] [-1.04837992e-01 9.94488832e-01 -9.78890284e-04 -1.86196404e+01] [-8.92340305e-03 4.35798314e-05 9.99960185e-01 -2.51521089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.684012739 meters Centerline goodness [0,1] 0.9974679198317669 Centerline is valid? [True, True] Translation: X:163.67, Y:-18.63, Z:-2.52 [[ 9.94499375e-01 1.04440585e-01 7.94710586e-03 1.63666567e+02] [-1.04436910e-01 9.94531127e-01 -8.77271059e-04 -1.86285424e+01] [-7.99526685e-03 4.24743443e-05 9.99968036e-01 -2.51769900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71401273899997 meters Centerline goodness [0,1] 0.9973818024450936 Centerline is valid? [True, True] Translation: X:163.70, Y:-18.64, Z:-2.52 [[ 9.94615665e-01 1.03361873e-01 7.48339746e-03 1.63698160e+02] [-1.03358573e-01 9.94643816e-01 -8.27345106e-04 -1.86355028e+01] [-7.52883095e-03 4.94171171e-05 9.99971657e-01 -2.51908954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74401273899997 meters Centerline goodness [0,1] 0.9956450851675462 Centerline is valid? [True, True] Translation: X:163.73, Y:-18.65, Z:-2.52 [[ 9.94810396e-01 1.01416724e-01 8.18075128e-03 1.63728531e+02] [-1.01412703e-01 9.94844030e-01 -9.05923582e-04 -1.86452953e+01] [-8.23044736e-03 7.15901014e-05 9.99966127e-01 -2.51695037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77401273899997 meters Centerline goodness [0,1] 0.9958512435576655 Centerline is valid? [True, True] Translation: X:163.76, Y:-18.65, Z:-2.52 [[ 9.94808758e-01 1.01424636e-01 8.28115550e-03 1.63760228e+02] [-1.01420505e-01 9.94843223e-01 -9.18334919e-04 -1.86501964e+01] [-8.33159321e-03 7.36886499e-05 9.99965289e-01 -2.51632984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80401273899997 meters Centerline goodness [0,1] 0.9959055050591665 Centerline is valid? [True, True] Translation: X:163.79, Y:-18.65, Z:-2.52 [[ 9.94739322e-01 1.02141359e-01 7.79893097e-03 1.63791791e+02] [-1.02137708e-01 9.94769892e-01 -8.66059411e-04 -1.86543445e+01] [-7.84660220e-03 6.49384163e-05 9.99969213e-01 -2.51711980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83401273899997 meters Centerline goodness [0,1] 0.9977734424699944 Centerline is valid? [True, True] Translation: X:163.82, Y:-18.66, Z:-2.52 [[ 9.94476122e-01 1.04741245e-01 6.82010640e-03 1.63822537e+02] [-1.04738507e-01 9.94499507e-01 -7.58382907e-04 -1.86571182e+01] [-6.86202642e-03 3.98659295e-05 9.99976455e-01 -2.52016253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86401273899997 meters Centerline goodness [0,1] 0.9981303189203129 Centerline is valid? [True, True] Translation: X:163.85, Y:-18.66, Z:-2.52 [[ 9.94420952e-01 1.05315946e-01 5.95999403e-03 1.63854300e+02] [-1.05313863e-01 9.94438812e-01 -6.63077670e-04 -1.86627782e+01] [-5.99668203e-03 3.17083326e-05 9.99982019e-01 -2.52164124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89401273899998 meters Centerline goodness [0,1] 0.9983845955027139 Centerline is valid? [True, True] Translation: X:163.89, Y:-18.67, Z:-2.52 [[ 9.94390463e-01 1.05579459e-01 6.37059209e-03 1.63885683e+02] [-1.05577078e-01 9.94410869e-01 -7.09877408e-04 -1.86675462e+01] [-6.40993449e-03 3.33068264e-05 9.99979456e-01 -2.52198938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92401273899998 meters Centerline goodness [0,1] 0.9982597860181326 Centerline is valid? [True, True] Translation: X:163.92, Y:-18.68, Z:-2.52 [[ 9.94369398e-01 1.05828926e-01 5.45327318e-03 1.63917423e+02] [-1.05827181e-01 9.94384351e-01 -6.08379835e-04 -1.86751430e+01] [-5.48703370e-03 2.78497601e-05 9.99984946e-01 -2.52339091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95401273899998 meters Centerline goodness [0,1] 0.9982856163209326 Centerline is valid? [True, True] Translation: X:163.95, Y:-18.68, Z:-2.52 [[ 9.94285807e-01 1.06619040e-01 5.30234268e-03 1.63948285e+02] [-1.06617397e-01 9.94299945e-01 -5.92413901e-04 -1.86791905e+01] [-5.33528163e-03 2.37067586e-05 9.99985767e-01 -2.52401758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98401273899998 meters Centerline goodness [0,1] 0.9987595440254935 Centerline is valid? [True, True] Translation: X:163.98, Y:-18.68, Z:-2.52 [[ 9.94163056e-01 1.07758477e-01 5.28469629e-03 1.63979339e+02] [-1.07756855e-01 9.94177102e-01 -5.91568517e-04 -1.86811688e+01] [-5.31767056e-03 1.86533129e-05 9.99985861e-01 -2.52362076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01401273899998 meters Centerline goodness [0,1] 0.9987028452345511 Centerline is valid? [True, True] Translation: X:164.01, Y:-18.68, Z:-2.52 [[ 9.93894218e-01 1.10130312e-01 6.75260503e-03 1.64009992e+02] [-1.10127717e-01 9.93917157e-01 -7.56106625e-04 -1.86834197e+01] [-6.79480025e-03 7.84102858e-06 9.99976915e-01 -2.52255635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04401273899998 meters Centerline goodness [0,1] 0.9981777644385371 Centerline is valid? [True, True] Translation: X:164.04, Y:-18.69, Z:-2.52 [[ 9.93778456e-01 1.11133465e-01 7.33031591e-03 1.64041705e+02] [-1.11130433e-01 9.93805491e-01 -8.20882055e-04 -1.86862469e+01] [-7.37613567e-03 1.15371877e-06 9.99972796e-01 -2.52119214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07401273899998 meters Centerline goodness [0,1] 0.9973744316605119 Centerline is valid? [True, True] Translation: X:164.07, Y:-18.68, Z:-2.52 [[ 9.93327488e-01 1.15115240e-01 6.99876533e-03 1.64074000e+02] [-1.15112574e-01 9.93352143e-01 -7.83891652e-04 -1.86825896e+01] [-7.04247641e-03 -2.69847645e-05 9.99975201e-01 -2.52189407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10401273899998 meters Centerline goodness [0,1] 0.9951658929255931 Centerline is valid? [True, True] Translation: X:164.10, Y:-18.67, Z:-2.52 [[ 9.92621001e-01 1.21107555e-01 6.04220629e-03 1.64104460e+02] [-1.21105677e-01 9.92639389e-01 -6.77048022e-04 -1.86739301e+01] [-6.07972759e-03 -5.96933990e-05 9.99981517e-01 -2.52448155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13401273899999 meters Centerline goodness [0,1] 0.9942301067860834 Centerline is valid? [True, True] Translation: X:164.13, Y:-18.67, Z:-2.52 [[ 9.92297305e-01 1.23734637e-01 5.98313953e-03 1.64134170e+02] [-1.23732843e-01 9.92315340e-01 -6.70488679e-04 -1.86726678e+01] [-6.02012381e-03 -7.49867523e-05 9.99981876e-01 -2.52472446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.164012739 meters Centerline goodness [0,1] 0.9924397441144162 Centerline is valid? [True, True] Translation: X:164.16, Y:-18.67, Z:-2.52 [[ 9.92040324e-01 1.25765314e-01 6.25148790e-03 1.64163710e+02] [-1.25763397e-01 9.92060017e-01 -7.00423670e-04 -1.86671433e+01] [-6.28994019e-03 -9.13598300e-05 9.99980214e-01 -2.52418434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.194012739 meters Centerline goodness [0,1] 0.9929236096083099 Centerline is valid? [True, True] Translation: X:164.19, Y:-18.66, Z:-2.52 [[ 9.91728861e-01 1.28211923e-01 5.96401030e-03 1.64193507e+02] [-1.28210224e-01 9.91746788e-01 -6.67996762e-04 -1.86647344e+01] [-6.00043321e-03 -1.02175428e-04 9.99981992e-01 -2.52453522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.224012739 meters Centerline goodness [0,1] 0.9929822302343548 Centerline is valid? [True, True] Translation: X:164.22, Y:-18.67, Z:-2.53 [[ 9.91668982e-01 1.28697477e-01 5.43968273e-03 1.64222434e+02] [-1.28696071e-01 9.91683896e-01 -6.09215128e-04 -1.86660498e+01] [-5.47285022e-03 -9.59260497e-05 9.99985019e-01 -2.52560289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.254012739 meters Centerline goodness [0,1] 0.9920753168793591 Centerline is valid? [True, True] Translation: X:164.25, Y:-18.67, Z:-2.52 [[ 9.91755532e-01 1.27989385e-01 6.29940296e-03 1.64251583e+02] [-1.27987487e-01 9.91775532e-01 -7.05141617e-04 -1.86665819e+01] [-6.33784436e-03 -1.06916653e-04 9.99979910e-01 -2.52468912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.284012739 meters Centerline goodness [0,1] 0.9920753168793591 Centerline is valid? [True, True] Translation: X:164.28, Y:-18.67, Z:-2.52 [[ 9.91761508e-01 1.27943068e-01 6.29943595e-03 1.64279749e+02] [-1.27941171e-01 9.91781508e-01 -7.04846755e-04 -1.86696437e+01] [-6.33784434e-03 -1.06917330e-04 9.99979910e-01 -2.52491086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.314012739 meters Centerline goodness [0,1] 0.9910599157568984 Centerline is valid? [True, True] Translation: X:164.31, Y:-18.67, Z:-2.52 [[ 9.91819462e-01 1.27294514e-01 9.50056124e-03 1.64307566e+02] [-1.27290176e-01 9.91864952e-01 -1.06236027e-03 -1.86680964e+01] [-9.55850635e-03 -1.55658522e-04 9.99954304e-01 -2.51768558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.344012739 meters Centerline goodness [0,1] 0.9904492091086644 Centerline is valid? [True, True] Translation: X:164.34, Y:-18.67, Z:-2.52 [[ 9.91791889e-01 1.27444635e-01 1.03302905e-02 1.64336421e+02] [-1.27439521e-01 9.91845671e-01 -1.15449605e-03 -1.86691859e+01] [-1.03931882e-02 -1.71467448e-04 9.99945975e-01 -2.51593289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.374012739 meters Centerline goodness [0,1] 0.9901328517993035 Centerline is valid? [True, True] Translation: X:164.37, Y:-18.67, Z:-2.52 [[ 9.91841490e-01 1.27105113e-01 9.73390201e-03 1.64365551e+02] [-1.27100560e-01 9.91889240e-01 -1.08741190e-03 -1.86715630e+01] [-9.79316828e-03 -1.58644156e-04 9.99952033e-01 -2.51743010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.404012739 meters Centerline goodness [0,1] 0.9923673997412678 Centerline is valid? [True, True] Translation: X:164.39, Y:-18.68, Z:-2.53 [[ 9.92157685e-01 1.24856144e-01 5.83707044e-03 1.64394351e+02] [-1.24854469e-01 9.92174852e-01 -6.51909471e-04 -1.86753208e+01] [-5.87278940e-03 -8.19873358e-05 9.99982752e-01 -2.52659350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.434012739 meters Centerline goodness [0,1] 0.9934162399414777 Centerline is valid? [True, True] Translation: X:164.42, Y:-18.68, Z:-2.53 [[ 9.92312072e-01 1.23669135e-01 4.76408509e-03 1.64422880e+02] [-1.23668005e-01 9.92323506e-01 -5.32071523e-04 -1.86802934e+01] [-4.79331444e-03 -6.11839046e-05 9.99988510e-01 -2.52890130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46401273899997 meters Centerline goodness [0,1] 0.9926798557312675 Centerline is valid? [True, True] Translation: X:164.45, Y:-18.68, Z:-2.53 [[ 9.92591781e-01 1.21354937e-01 5.87661172e-03 1.64450884e+02] [-1.21353180e-01 9.92609176e-01 -6.55930012e-04 -1.86842077e+01] [-5.91277906e-03 -6.20747829e-05 9.99982517e-01 -2.52609648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49401273899997 meters Centerline goodness [0,1] 0.9929944850201222 Centerline is valid? [True, True] Translation: X:164.48, Y:-18.69, Z:-2.52 [[ 9.92703506e-01 1.20423377e-01 6.16118607e-03 1.64480279e+02] [-1.20421429e-01 9.92722623e-01 -6.87456375e-04 -1.86855075e+01] [-6.19913462e-03 -5.94984785e-05 9.99980783e-01 -2.52472123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52401273899997 meters Centerline goodness [0,1] 0.9929572914647542 Centerline is valid? [True, True] Translation: X:164.51, Y:-18.69, Z:-2.53 [[ 9.92661545e-01 1.20808319e-01 5.32988697e-03 1.64509307e+02] [-1.20806868e-01 9.92675852e-01 -5.94582571e-04 -1.86861056e+01] [-5.36268061e-03 -5.36676997e-05 9.99985619e-01 -2.52761852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55401273899997 meters Centerline goodness [0,1] 0.9929398715952478 Centerline is valid? [True, True] Translation: X:164.54, Y:-18.69, Z:-2.53 [[ 9.92602755e-01 1.21330959e-01 4.30919953e-03 1.64538047e+02] [-1.21330016e-01 9.92612108e-01 -4.80589178e-04 -1.86862377e+01] [-4.33567398e-03 -4.58011054e-05 9.99990600e-01 -2.53088566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58401273899997 meters Centerline goodness [0,1] 0.9927285318559557 Centerline is valid? [True, True] Translation: X:164.57, Y:-18.69, Z:-2.53 [[ 9.92688452e-01 1.20581776e-01 5.44733104e-03 1.64566743e+02] [-1.20580260e-01 9.92703396e-01 -6.07186757e-04 -1.86910642e+01] [-5.48079968e-03 -5.40933100e-05 9.99984979e-01 -2.52909324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61401273899997 meters Centerline goodness [0,1] 0.9930008561643836 Centerline is valid? [True, True] Translation: X:164.60, Y:-18.69, Z:-2.53 [[ 9.92869762e-01 1.19015780e-01 6.69920342e-03 1.64595037e+02] [-1.19013454e-01 9.92892361e-01 -7.46313772e-04 -1.86942197e+01] [-6.74041102e-03 -5.63029584e-05 9.99977282e-01 -2.52692260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64401273899998 meters Centerline goodness [0,1] 0.9950212455470192 Centerline is valid? [True, True] Translation: X:164.62, Y:-18.71, Z:-2.53 [[ 9.93490535e-01 1.13705926e-01 6.89340719e-03 1.64623841e+02] [-1.13703337e-01 9.93514450e-01 -7.67688042e-04 -1.87069112e+01] [-6.93599033e-03 -2.11125945e-05 9.99975946e-01 -2.52740981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67401273899998 meters Centerline goodness [0,1] 0.9975037337315981 Centerline is valid? [True, True] Translation: X:164.65, Y:-18.72, Z:-2.53 [[ 9.94098606e-01 1.08398009e-01 4.22287007e-03 1.64651720e+02] [-1.08396990e-01 9.94107575e-01 -4.70122301e-04 -1.87197430e+01] [-4.24894745e-03 9.60152159e-06 9.99990973e-01 -2.53271961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70401273899998 meters Centerline goodness [0,1] 0.9976490703141697 Centerline is valid? [True, True] Translation: X:164.68, Y:-18.73, Z:-2.53 [[ 9.94324557e-01 1.06320196e-01 3.83303773e-03 1.64681060e+02] [-1.06319340e-01 9.94331944e-01 -4.26904399e-04 -1.87266010e+01] [-3.85670042e-03 1.69554845e-05 9.99992563e-01 -2.53383898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73401273899998 meters Centerline goodness [0,1] 0.9971177837047234 Centerline is valid? [True, True] Translation: X:164.71, Y:-18.73, Z:-2.53 [[ 9.94537309e-01 1.04296718e-01 4.21129103e-03 1.64710034e+02] [-1.04295668e-01 9.94546225e-01 -4.68917937e-04 -1.87329651e+01] [-4.23723020e-03 2.71369741e-05 9.99991023e-01 -2.53295685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76401273899998 meters Centerline goodness [0,1] 0.9974852953712386 Centerline is valid? [True, True] Translation: X:164.74, Y:-18.74, Z:-2.53 [[ 9.94547548e-01 1.04225325e-01 3.50085054e-03 1.64738745e+02] [-1.04224600e-01 9.94553710e-01 -3.89504906e-04 -1.87372120e+01] [-3.52238017e-03 2.25064033e-05 9.99993796e-01 -2.53368092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79401273899998 meters Centerline goodness [0,1] 0.9973094744933911 Centerline is valid? [True, True] Translation: X:164.77, Y:-18.74, Z:-2.54 [[ 9.94555539e-01 1.04160686e-01 3.13546291e-03 1.64766957e+02] [-1.04160103e-01 9.94560481e-01 -3.49264275e-04 -1.87416569e+01] [-3.15478711e-03 2.07725794e-05 9.99995023e-01 -2.53505423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82401273899998 meters Centerline goodness [0,1] 0.9977618043300478 Centerline is valid? [True, True] Translation: X:164.79, Y:-18.75, Z:-2.54 [[ 9.94602774e-01 1.03712430e-01 3.00892783e-03 1.64794756e+02] [-1.03711891e-01 9.94607325e-01 -3.35070969e-04 -1.87467522e+01] [-3.02745269e-03 2.12009216e-05 9.99995417e-01 -2.53571879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85401273899998 meters Centerline goodness [0,1] 0.9962812418922425 Centerline is valid? [True, True] Translation: X:164.82, Y:-18.76, Z:-2.53 [[ 9.94765480e-01 1.02090642e-01 4.37510895e-03 1.64824037e+02] [-1.02089488e-01 9.94775100e-01 -4.86814081e-04 -1.87565132e+01] [-4.40194861e-03 3.76132083e-05 9.99990311e-01 -2.53366305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88401273899999 meters Centerline goodness [0,1] 0.9964822513591302 Centerline is valid? [True, True] Translation: X:164.85, Y:-18.77, Z:-2.53 [[ 9.94911452e-01 1.00660743e-01 4.31473253e-03 1.64853520e+02] [-1.00659608e-01 9.94920807e-01 -4.79907893e-04 -1.87659946e+01] [-4.34112505e-03 4.31465749e-05 9.99990576e-01 -2.53457085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.914012739 meters Centerline goodness [0,1] 0.996815626936804 Centerline is valid? [True, True] Translation: X:164.88, Y:-18.78, Z:-2.54 [[ 9.95190646e-01 9.79315402e-02 2.23421419e-03 1.64883239e+02] [-9.79312305e-02 9.95193153e-01 -2.47885161e-04 -1.87812014e+01] [-2.24775045e-03 2.78936479e-05 9.99997473e-01 -2.53978155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.944012739 meters Centerline goodness [0,1] 0.9971162950847895 Centerline is valid? [True, True] Translation: X:164.91, Y:-18.79, Z:-2.54 [[ 9.95285288e-01 9.69820633e-02 1.29410472e-03 1.64914340e+02] [-9.69819578e-02 9.95286129e-01 -1.44105709e-04 -1.87854186e+01] [-1.30198015e-03 1.79214829e-05 9.99999152e-01 -2.54078536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.974012739 meters Centerline goodness [0,1] 0.9971563368448265 Centerline is valid? [True, True] Translation: X:164.94, Y:-18.79, Z:-2.54 [[ 9.95381069e-01 9.59982017e-02 9.34173207e-04 1.64944612e+02] [-9.59981463e-02 9.95381507e-01 -1.04077512e-04 -1.87923596e+01] [-9.39849989e-04 1.39178889e-05 9.99999558e-01 -2.54133012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.004012739 meters Centerline goodness [0,1] 0.9921917012626643 Centerline is valid? [True, True] Translation: X:164.97, Y:-18.80, Z:-2.53 [[ 9.95426023e-01 9.55245083e-02 1.44960678e-03 1.64974291e+02] [-9.55243742e-02 9.95427078e-01 -1.61644774e-04 -1.88007528e+01] [-1.45841888e-03 2.24326335e-05 9.99998936e-01 -2.53191612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.034012739 meters Centerline goodness [0,1] 0.9963344837195344 Centerline is valid? [True, True] Translation: X:165.01, Y:-18.81, Z:-2.54 [[ 9.95314429e-01 9.66470202e-02 2.92256482e-03 1.65005535e+02] [-9.66464802e-02 9.95318719e-01 -3.25776629e-04 -1.88050675e+01] [-2.94036882e-03 4.17945755e-05 9.99995676e-01 -2.53757439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.064012739 meters Centerline goodness [0,1] 0.9959464072367298 Centerline is valid? [True, True] Translation: X:165.04, Y:-18.81, Z:-2.54 [[ 9.95016699e-01 9.96166864e-02 4.27595800e-03 1.65035825e+02] [-9.96155570e-02 9.95025886e-01 -4.76828411e-04 -1.88110377e+01] [-4.30218896e-03 4.85002936e-05 9.99990744e-01 -2.53508078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.094012739 meters Centerline goodness [0,1] 0.9969696318425069 Centerline is valid? [True, True] Translation: X:165.07, Y:-18.81, Z:-2.54 [[ 9.94649019e-01 1.03242446e-01 3.78499943e-03 1.65067763e+02] [-1.03241589e-01 9.94656220e-01 -4.21587506e-04 -1.88115751e+01] [-3.80829895e-03 2.85622431e-05 9.99992748e-01 -2.53630259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.124012739 meters Centerline goodness [0,1] 0.997098396595452 Centerline is valid? [True, True] Translation: X:165.10, Y:-18.81, Z:-2.54 [[ 9.94505244e-01 1.04631954e-01 3.38727256e-03 1.65098673e+02] [-1.04631273e-01 9.94511012e-01 -3.78275286e-04 -1.88144600e+01] [-3.40825954e-03 2.17821164e-05 9.99994192e-01 -2.53759162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.154012739 meters Centerline goodness [0,1] 0.9966791644349223 Centerline is valid? [True, True] Translation: X:165.13, Y:-18.82, Z:-2.54 [[ 9.94419470e-01 1.05424763e-01 3.94160116e-03 1.65129604e+02] [-1.05423848e-01 9.94427282e-01 -4.39907830e-04 -1.88202101e+01] [-3.96601291e-03 2.19141498e-05 9.99992135e-01 -2.53840960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.184012739 meters Centerline goodness [0,1] 0.9960477722825735 Centerline is valid? [True, True] Translation: X:165.16, Y:-18.83, Z:-2.54 [[ 9.94542803e-01 1.04191228e-01 5.36657869e-03 1.65161094e+02] [-1.04189506e-01 9.94557282e-01 -6.00196519e-04 -1.88292726e+01] [-5.39990513e-03 3.77799438e-05 9.99985420e-01 -2.53595842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21401273899997 meters Centerline goodness [0,1] 0.9952380952380953 Centerline is valid? [True, True] Translation: X:165.19, Y:-18.84, Z:-2.54 [[ 9.94705577e-01 1.02630763e-01 5.26707713e-03 1.65191557e+02] [-1.02629078e-01 9.94719520e-01 -5.89945341e-04 -1.88375914e+01] [-5.29981098e-03 4.62666523e-05 9.99985955e-01 -2.53608963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24401273899997 meters Centerline goodness [0,1] 0.9955108061309562 Centerline is valid? [True, True] Translation: X:165.22, Y:-18.85, Z:-2.54 [[ 9.94907576e-01 1.00718005e-01 3.84701089e-03 1.65222425e+02] [-1.00717091e-01 9.94915012e-01 -4.31108109e-04 -1.88494527e+01] [-3.87086924e-03 4.14529763e-05 9.99992507e-01 -2.53906514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27401273899997 meters Centerline goodness [0,1] 0.9970485587487613 Centerline is valid? [True, True] Translation: X:165.25, Y:-18.86, Z:-2.54 [[ 9.94783587e-01 1.02002398e-01 1.06114526e-03 1.65255000e+02] [-1.02002330e-01 9.94784153e-01 -1.18015307e-04 -1.88572145e+01] [-1.06764833e-03 9.16040068e-06 9.99999430e-01 -2.54351248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30401273899997 meters Centerline goodness [0,1] 0.9972187754054169 Centerline is valid? [True, True] Translation: X:165.29, Y:-18.86, Z:-2.54 [[ 9.94541835e-01 1.04332561e-01 1.12050805e-03 1.65286516e+02] [-1.04332486e-01 9.94542466e-01 -1.25145374e-04 -1.88587900e+01] [-1.12744958e-03 7.55691896e-06 9.99999364e-01 -2.54360025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33401273899997 meters Centerline goodness [0,1] 0.9973520681628906 Centerline is valid? [True, True] Translation: X:165.32, Y:-18.86, Z:-2.54 [[ 9.94273407e-01 1.06849180e-01 1.90928000e-03 1.65318481e+02] [-1.06848965e-01 9.94275240e-01 -2.14958866e-04 -1.88593597e+01] [-1.92131800e-03 9.72329285e-06 9.99998154e-01 -2.54218841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36401273899997 meters Centerline goodness [0,1] 0.9957662454294695 Centerline is valid? [True, True] Translation: X:165.35, Y:-18.86, Z:-2.54 [[ 9.93705050e-01 1.11959058e-01 3.92977876e-03 1.65350118e+02] [-1.11958181e-01 9.93712820e-01 -4.43095058e-04 -1.88576345e+01] [-3.95468004e-03 3.34913303e-07 9.99992180e-01 -2.53809814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39401273899998 meters Centerline goodness [0,1] 0.9947552447552448 Centerline is valid? [True, True] Translation: X:165.38, Y:-18.86, Z:-2.54 [[ 9.93289637e-01 1.15630234e-01 2.31191765e-03 1.65381116e+02] [-1.15629941e-01 9.93292328e-01 -2.60655038e-04 -1.88585346e+01] [-2.32654967e-03 -8.42095372e-06 9.99997294e-01 -2.54067234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42401273899998 meters Centerline goodness [0,1] 0.9951109118469651 Centerline is valid? [True, True] Translation: X:165.41, Y:-18.86, Z:-2.54 [[ 9.93137220e-01 1.16950148e-01 1.06051427e-03 1.65411892e+02] [-1.16950087e-01 9.93137786e-01 -1.19571920e-04 -1.88597853e+01] [-1.06722075e-03 -5.27591241e-06 9.99999431e-01 -2.54347218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45401273899998 meters Centerline goodness [0,1] 0.9934869524096127 Centerline is valid? [True, True] Translation: X:165.44, Y:-18.86, Z:-2.54 [[ 9.92736998e-01 1.20286791e-01 2.08322742e-03 1.65442486e+02] [-1.20286563e-01 9.92739184e-01 -2.35198367e-04 -1.88573919e+01] [-2.09639275e-03 -1.70941446e-05 9.99997802e-01 -2.54153036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48401273899998 meters Centerline goodness [0,1] 0.9915259677729986 Centerline is valid? [True, True] Translation: X:165.47, Y:-18.86, Z:-2.54 [[ 9.92509053e-01 1.22107032e-01 3.95641358e-03 1.65472445e+02] [-1.22106223e-01 9.92516937e-01 -4.46295346e-04 -1.88570762e+01] [-3.98130329e-03 -4.01505475e-05 9.99992074e-01 -2.53840155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51401273899998 meters Centerline goodness [0,1] 0.9900949679859052 Centerline is valid? [True, True] Translation: X:165.50, Y:-18.85, Z:-2.53 [[ 9.92254661e-01 1.24051345e-01 6.47694792e-03 1.65502566e+02] [-1.24049217e-01 9.92275797e-01 -7.30760516e-04 -1.88545993e+01] [-6.51757049e-03 -7.83597905e-05 9.99978757e-01 -2.53364507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54401273899998 meters Centerline goodness [0,1] 0.9907812161869726 Centerline is valid? [True, True] Translation: X:165.53, Y:-18.86, Z:-2.53 [[ 9.92221238e-01 1.24328407e-01 6.28190239e-03 1.65533869e+02] [-1.24326413e-01 9.92241120e-01 -7.08540107e-04 -1.88557586e+01] [-6.32125352e-03 -7.79778473e-05 9.99980018e-01 -2.53446469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57401273899998 meters Centerline goodness [0,1] 0.9906304147859756 Centerline is valid? [True, True] Translation: X:165.56, Y:-18.86, Z:-2.54 [[ 9.92237472e-01 1.24257858e-01 4.97829737e-03 1.65564813e+02] [-1.24256604e-01 9.92249959e-01 -5.61621784e-04 -1.88550533e+01] [-5.00950128e-03 -6.13241459e-05 9.99987450e-01 -2.53728427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60401273899998 meters Centerline goodness [0,1] 0.9921137658362384 Centerline is valid? [True, True] Translation: X:165.59, Y:-18.86, Z:-2.54 [[ 9.92333426e-01 1.23545021e-01 3.31642928e-03 1.65594459e+02] [-1.23544460e-01 9.92338967e-01 -3.74151771e-04 -1.88570283e+01] [-3.33724660e-03 -3.84431564e-05 9.99994431e-01 -2.54223280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63401273899999 meters Centerline goodness [0,1] 0.9916398022781001 Centerline is valid? [True, True] Translation: X:165.62, Y:-18.86, Z:-2.54 [[ 9.92398622e-01 1.22957933e-01 5.13047005e-03 1.65623820e+02] [-1.22956583e-01 9.92411882e-01 -5.79009390e-04 -1.88588937e+01] [-5.16273324e-03 -5.62169442e-05 9.99986671e-01 -2.53802935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.664012739 meters Centerline goodness [0,1] 0.9917030103180513 Centerline is valid? [True, True] Translation: X:165.65, Y:-18.86, Z:-2.54 [[ 9.92389424e-01 1.23041506e-01 4.90093399e-03 1.65653889e+02] [-1.23040275e-01 9.92401524e-01 -5.52958501e-04 -1.88573963e+01] [-4.93173121e-03 -5.42621002e-05 9.99987837e-01 -2.53905518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.694012739 meters Centerline goodness [0,1] 0.9927108043993962 Centerline is valid? [True, True] Translation: X:165.68, Y:-18.86, Z:-2.54 [[ 9.92334523e-01 1.23541623e-01 3.10825910e-03 1.65683800e+02] [-1.23541130e-01 9.92339391e-01 -3.50743253e-04 -1.88554415e+01] [-3.12777933e-03 -3.59432026e-05 9.99995108e-01 -2.54393661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.724012739 meters Centerline goodness [0,1] 0.9932428070326454 Centerline is valid? [True, True] Translation: X:165.71, Y:-18.86, Z:-2.54 [[ 9.92367204e-01 1.23291627e-01 2.55085931e-03 1.65713208e+02] [-1.23291294e-01 9.92370482e-01 -2.87823566e-04 -1.88576117e+01] [-2.56688372e-03 -2.88720782e-05 9.99996705e-01 -2.54466216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.754012739 meters Centerline goodness [0,1] 0.99399747036251 Centerline is valid? [True, True] Translation: X:165.74, Y:-18.86, Z:-2.54 [[ 9.92685600e-01 1.20684173e-01 3.26023471e-03 1.65742673e+02] [-1.20683616e-01 9.92690954e-01 -3.67734832e-04 -1.88567752e+01] [-3.28078527e-03 -2.84118419e-05 9.99994618e-01 -2.54335670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.784012739 meters Centerline goodness [0,1] 0.9943644467300934 Centerline is valid? [True, True] Translation: X:165.77, Y:-18.86, Z:-2.54 [[ 9.92944335e-01 1.18512832e-01 4.03193154e-03 1.65772024e+02] [-1.18511963e-01 9.92952520e-01 -4.54637312e-04 -1.88607060e+01] [-4.05739694e-03 -2.64025795e-05 9.99991768e-01 -2.54277331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.814012739 meters Centerline goodness [0,1] 0.9955299578784492 Centerline is valid? [True, True] Translation: X:165.80, Y:-18.87, Z:-2.54 [[ 9.93333154e-01 1.15178952e-01 4.80146485e-03 1.65801248e+02] [-1.15177682e-01 9.93344758e-01 -5.41224488e-04 -1.88674293e+01] [-4.83184761e-03 -1.54053642e-05 9.99988326e-01 -2.54262235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.844012739 meters Centerline goodness [0,1] 0.9962071699487861 Centerline is valid? [True, True] Translation: X:165.83, Y:-18.88, Z:-2.54 [[ 9.94211503e-01 1.07258445e-01 6.25401963e-03 1.65831221e+02] [-1.07256133e-01 9.94231173e-01 -7.04803637e-04 -1.88848761e+01] [-6.29353741e-03 2.99419224e-05 9.99980195e-01 -2.54037306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.874012739 meters Centerline goodness [0,1] 0.9950399794757772 Centerline is valid? [True, True] Translation: X:165.86, Y:-18.90, Z:-2.54 [[ 9.95048545e-01 9.91875780e-02 6.34178765e-03 1.65859505e+02] [-9.91850360e-02 9.95068750e-01 -7.14871923e-04 -1.89019238e+01] [-6.38142112e-03 8.23218300e-05 9.99979635e-01 -2.53920083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.904012739 meters Centerline goodness [0,1] 0.9942705180316527 Centerline is valid? [True, True] Translation: X:165.89, Y:-18.91, Z:-2.54 [[ 9.95329077e-01 9.63593164e-02 5.90852175e-03 1.65890791e+02] [-9.63570617e-02 9.95346610e-01 -6.65741420e-04 -1.89115816e+01] [-5.94517748e-03 9.33039985e-05 9.99982323e-01 -2.54068365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.934012739 meters Centerline goodness [0,1] 0.995038176101974 Centerline is valid? [True, True] Translation: X:165.92, Y:-18.92, Z:-2.54 [[ 9.95577416e-01 9.38286606e-02 4.66810954e-03 1.65921567e+02] [-9.38272232e-02 9.95588356e-01 -5.26465589e-04 -1.89220232e+01] [-4.69691306e-03 8.61414958e-05 9.99988966e-01 -2.54375466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96401273899997 meters Centerline goodness [0,1] 0.9948576793411001 Centerline is valid? [True, True] Translation: X:165.95, Y:-18.93, Z:-2.55 [[ 9.95532534e-01 9.43481322e-02 3.66117795e-03 1.65952948e+02] [-9.43472507e-02 9.95539264e-01 -4.13113373e-04 -1.89298944e+01] [-3.68382287e-03 6.58457292e-05 9.99993213e-01 -2.54520808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99401273899997 meters Centerline goodness [0,1] 0.997847675062865 Centerline is valid? [True, True] Translation: X:165.98, Y:-18.93, Z:-2.55 [[ 9.95142594e-01 9.84327231e-02 1.48869271e-03 1.65983808e+02] [-9.84325813e-02 9.95143707e-01 -1.68457498e-04 -1.89293475e+01] [-1.49804491e-03 2.11033653e-05 9.99998878e-01 -2.54889248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02401273899997 meters Centerline goodness [0,1] 0.9982137092435166 Centerline is valid? [True, True] Translation: X:166.02, Y:-18.93, Z:-2.55 [[ 9.94866979e-01 1.01186302e-01 1.01296308e-03 1.66015800e+02] [-1.01186238e-01 9.94867495e-01 -1.14522836e-04 -1.89278488e+01] [-1.01935219e-03 1.14370645e-05 9.99999480e-01 -2.54838084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05401273899997 meters Centerline goodness [0,1] 0.9982751185855973 Centerline is valid? [True, True] Translation: X:166.05, Y:-18.93, Z:-2.55 [[ 9.94342343e-01 1.06205993e-01 1.89514351e-03 1.66045235e+02] [-1.06205777e-01 9.94344149e-01 -2.14603534e-04 -1.89308791e+01] [-1.90721704e-03 1.21141913e-05 9.99998181e-01 -2.54909397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08401273899997 meters Centerline goodness [0,1] 0.9983756171586124 Centerline is valid? [True, True] Translation: X:166.07, Y:-18.93, Z:-2.55 [[ 9.94149898e-01 1.07978497e-01 2.57371374e-03 1.66074755e+02] [-1.07978104e-01 9.94153230e-01 -2.91365309e-04 -1.89329039e+01] [-2.59012702e-03 1.17560609e-05 9.99996646e-01 -2.54819570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11401273899997 meters Centerline goodness [0,1] 0.9972657751954543 Centerline is valid? [True, True] Translation: X:166.11, Y:-18.93, Z:-2.54 [[ 9.93797173e-01 1.11117757e-01 4.47464212e-03 1.66105964e+02] [-1.11116602e-01 9.93807247e-01 -5.06732716e-04 -1.89327388e+01] [-4.50323876e-03 6.38251465e-06 9.99989860e-01 -2.54384882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14401273899998 meters Centerline goodness [0,1] 0.9961344609601913 Centerline is valid? [True, True] Translation: X:166.14, Y:-18.94, Z:-2.54 [[ 9.93623479e-01 1.12618691e-01 5.42340309e-03 1.66137357e+02] [-1.12617016e-01 9.93638279e-01 -6.14226717e-04 -1.89350165e+01] [-5.45807432e-03 -4.57387449e-07 9.99985105e-01 -2.54170163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17401273899998 meters Centerline goodness [0,1] 0.9961344609601913 Centerline is valid? [True, True] Translation: X:166.17, Y:-18.94, Z:-2.54 [[ 9.93604992e-01 1.12781680e-01 5.42342626e-03 1.66168812e+02] [-1.12780008e-01 9.93619793e-01 -6.14022429e-04 -1.89387295e+01] [-5.45807416e-03 -1.55830770e-06 9.99985105e-01 -2.54194953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20401273899998 meters Centerline goodness [0,1] 0.9951550387596899 Centerline is valid? [True, True] Translation: X:166.20, Y:-18.94, Z:-2.54 [[ 9.93283358e-01 1.15409223e-01 8.29957166e-03 1.66200186e+02] [-1.15405384e-01 9.93318031e-01 -9.41639839e-04 -1.89410206e+01] [-8.35278810e-03 -2.25000724e-05 9.99965115e-01 -2.53736963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23401273899998 meters Centerline goodness [0,1] 0.9940117208311134 Centerline is valid? [True, True] Translation: X:166.23, Y:-18.94, Z:-2.54 [[ 9.93127957e-01 1.16758798e-01 8.01529663e-03 1.66232065e+02] [-1.16755259e-01 9.93160300e-01 -9.09608593e-04 -1.89434711e+01] [-8.06667922e-03 -3.24703102e-05 9.99967463e-01 -2.53775806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26401273899998 meters Centerline goodness [0,1] 0.9955437298548467 Centerline is valid? [True, True] Translation: X:166.26, Y:-18.94, Z:-2.55 [[ 9.92813425e-01 1.19598963e-01 4.19425762e-03 1.66264047e+02] [-1.19598019e-01 9.92822284e-01 -4.76107790e-04 -1.89440202e+01] [-4.22109442e-03 -2.89386963e-05 9.99991091e-01 -2.54536167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29401273899998 meters Centerline goodness [0,1] 0.9955332335969225 Centerline is valid? [True, True] Translation: X:166.29, Y:-18.95, Z:-2.55 [[ 9.92621684e-01 1.21229716e-01 2.35542607e-03 1.66294574e+02] [-1.21229421e-01 9.92624479e-01 -2.68039268e-04 -1.89463324e+01] [-2.37054790e-03 -1.94853492e-05 9.99997190e-01 -2.54900392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32401273899998 meters Centerline goodness [0,1] 0.9943440357218797 Centerline is valid? [True, True] Translation: X:166.32, Y:-18.95, Z:-2.55 [[ 9.92259142e-01 1.24166647e-01 2.10701988e-03 1.66324676e+02] [-1.24166417e-01 9.92261379e-01 -2.39920720e-04 -1.89457609e+01] [-2.12050460e-03 -2.35575818e-05 9.99997751e-01 -2.54928509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35401273899998 meters Centerline goodness [0,1] 0.9934669731018045 Centerline is valid? [True, True] Translation: X:166.35, Y:-18.95, Z:-2.55 [[ 9.92041715e-01 1.25877314e-01 2.85281567e-03 1.66354299e+02] [-1.25876900e-01 9.92045816e-01 -3.24831561e-04 -1.89464543e+01] [-2.87101277e-03 -3.68571342e-05 9.99995878e-01 -2.54771002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38401273899999 meters Centerline goodness [0,1] 0.9927257988822049 Centerline is valid? [True, True] Translation: X:166.38, Y:-18.94, Z:-2.55 [[ 9.91384837e-01 1.30941331e-01 3.23609046e-03 1.66384250e+02] [-1.30940826e-01 9.91390117e-01 -3.68429756e-04 -1.89404213e+01] [-3.25647078e-03 -5.84806846e-05 9.99994696e-01 -2.54795617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.414012739 meters Centerline goodness [0,1] 0.9918083363475818 Centerline is valid? [True, True] Translation: X:166.41, Y:-18.94, Z:-2.55 [[ 9.91025183e-01 1.33647704e-01 2.71635371e-03 1.66414246e+02] [-1.33647358e-01 9.91028904e-01 -3.09145961e-04 -1.89391590e+01] [-2.73330169e-03 -5.66620659e-05 9.99996263e-01 -2.54893678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.444012739 meters Centerline goodness [0,1] 0.9899182207606767 Centerline is valid? [True, True] Translation: X:166.44, Y:-18.93, Z:-2.55 [[ 9.90294864e-01 1.38950010e-01 2.99628719e-03 1.66444928e+02] [-1.38949615e-01 9.90299393e-01 -3.40862505e-04 -1.89337325e+01] [-3.01458424e-03 -7.87785630e-05 9.99995453e-01 -2.54735885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.474012739 meters Centerline goodness [0,1] 0.988720127456187 Centerline is valid? [True, True] Translation: X:166.47, Y:-18.93, Z:-2.55 [[ 9.89958451e-01 1.41307144e-01 3.81519612e-03 1.66473994e+02] [-1.41306520e-01 9.89965797e-01 -4.34014762e-04 -1.89288412e+01] [-3.83824306e-03 -1.09455505e-04 9.99992628e-01 -2.54721529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.504012739 meters Centerline goodness [0,1] 0.9852796228840797 Centerline is valid? [True, True] Translation: X:166.51, Y:-18.92, Z:-2.55 [[ 9.89414194e-01 1.45026446e-01 5.18489663e-03 1.66505215e+02] [-1.45025346e-01 9.89427765e-01 -5.89572745e-04 -1.89218741e+01] [-5.21558433e-03 -1.68609784e-04 9.99986385e-01 -2.54610702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.534012739 meters Centerline goodness [0,1] 0.9826301135146712 Centerline is valid? [True, True] Translation: X:166.53, Y:-18.92, Z:-2.55 [[ 9.89200901e-01 1.46500548e-01 4.37796381e-03 1.66534092e+02] [-1.46499778e-01 9.89210578e-01 -4.97890949e-04 -1.89207106e+01] [-4.40366941e-03 -1.48856551e-04 9.99990293e-01 -2.54805851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.564012739 meters Centerline goodness [0,1] 0.9826202920995462 Centerline is valid? [True, True] Translation: X:166.56, Y:-18.92, Z:-2.55 [[ 9.88857110e-01 1.48839495e-01 2.90182366e-03 1.66563845e+02] [-1.48839167e-01 9.88861362e-01 -3.29952098e-04 -1.89187134e+01] [-2.91861120e-03 -1.05629537e-04 9.99995735e-01 -2.55037374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.594012739 meters Centerline goodness [0,1] 0.9720080527713527 Centerline is valid? [True, True] Translation: X:166.59, Y:-18.91, Z:-2.55 [[ 9.88821034e-01 1.49048922e-01 4.16906217e-03 1.66591883e+02] [-1.49048247e-01 9.88829811e-01 -4.73855226e-04 -1.89148058e+01] [-4.19312057e-03 -1.52833393e-04 9.99991197e-01 -2.54885806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.624012739 meters Centerline goodness [0,1] 0.9836975297978926 Centerline is valid? [True, True] Translation: X:166.62, Y:-18.92, Z:-2.54 [[ 9.88969334e-01 1.47910265e-01 7.88732943e-03 1.66620373e+02] [-1.47907820e-01 9.89000746e-01 -8.95588509e-04 -1.89168469e+01] [-7.93304142e-03 -2.80888130e-04 9.99968493e-01 -2.54261388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.654012739 meters Centerline goodness [0,1] 0.976659528907923 Centerline is valid? [True, True] Translation: X:166.65, Y:-18.91, Z:-2.54 [[ 9.89139992e-01 1.46728386e-01 8.53560514e-03 1.66649037e+02] [-1.46725482e-01 9.89176776e-01 -9.68760599e-04 -1.89136312e+01] [-8.58536705e-03 -2.94150930e-04 9.99963102e-01 -2.54181237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.684012739 meters Centerline goodness [0,1] 0.9804638506834463 Centerline is valid? [True, True] Translation: X:166.68, Y:-18.91, Z:-2.54 [[ 9.89513539e-01 1.44259196e-01 7.22770903e-03 1.66678022e+02] [-1.44257051e-01 9.89539909e-01 -8.20025441e-04 -1.89125443e+01] [-7.27040274e-03 -2.31221711e-04 9.99973544e-01 -2.54484544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71401273899997 meters Centerline goodness [0,1] 0.9867399047332961 Centerline is valid? [True, True] Translation: X:166.71, Y:-18.92, Z:-2.55 [[ 9.89596897e-01 1.43743155e-01 5.99053781e-03 1.66706935e+02] [-1.43741673e-01 9.89615011e-01 -6.79525031e-04 -1.89160080e+01] [-6.02600322e-03 -1.88634066e-04 9.99981826e-01 -2.54693116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74401273899997 meters Centerline goodness [0,1] 0.9857459883919426 Centerline is valid? [True, True] Translation: X:166.74, Y:-18.91, Z:-2.55 [[ 9.89516375e-01 1.44339322e-01 4.84797164e-03 1.66736615e+02] [-1.44338359e-01 9.89528239e-01 -5.49765290e-04 -1.89118755e+01] [-4.87655759e-03 -1.55746513e-04 9.99988097e-01 -2.55005259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77401273899997 meters Centerline goodness [0,1] 0.98702686528885 Centerline is valid? [True, True] Translation: X:166.76, Y:-18.91, Z:-2.55 [[ 9.89502703e-01 1.44413062e-01 5.41003003e-03 1.66764994e+02] [-1.44411865e-01 9.89517477e-01 -6.13215561e-04 -1.89140819e+01] [-5.44187560e-03 -1.74494071e-04 9.99985178e-01 -2.54972828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80401273899997 meters Centerline goodness [0,1] 0.9837408892914133 Centerline is valid? [True, True] Translation: X:166.79, Y:-18.91, Z:-2.54 [[ 9.89412462e-01 1.45100991e-01 2.94672839e-03 1.66793860e+02] [-1.45100638e-01 9.89416845e-01 -3.34206728e-04 -1.89057698e+01] [-2.96403644e-03 -9.69038703e-05 9.99995603e-01 -2.53902553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83401273899997 meters Centerline goodness [0,1] 0.9820289855072464 Centerline is valid? [True, True] Translation: X:166.82, Y:-18.90, Z:-2.55 [[ 9.89355715e-01 1.45463472e-01 3.95575556e-03 1.66821930e+02] [-1.45462842e-01 9.89363614e-01 -4.48103493e-04 -1.89027793e+01] [-3.97886331e-03 -1.32081694e-04 9.99992076e-01 -2.55284659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86401273899997 meters Centerline goodness [0,1] 0.9869276864350756 Centerline is valid? [True, True] Translation: X:166.85, Y:-18.90, Z:-2.56 [[ 9.89579569e-01 1.43959086e-01 2.83868705e-03 1.66850558e+02] [-1.43958756e-01 9.89583636e-01 -3.21320481e-04 -1.89028494e+01] [-2.85537526e-03 -9.06816729e-05 9.99995919e-01 -2.55511623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89401273899998 meters Centerline goodness [0,1] 0.9882285202482247 Centerline is valid? [True, True] Translation: X:166.88, Y:-18.91, Z:-2.55 [[ 9.89907960e-01 1.41659976e-01 3.83159765e-03 1.66878625e+02] [-1.41659359e-01 9.89915369e-01 -4.33407454e-04 -1.89061621e+01] [-3.85435389e-03 -1.13748176e-04 9.99992565e-01 -2.55360057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92401273899998 meters Centerline goodness [0,1] 0.991314069487444 Centerline is valid? [True, True] Translation: X:166.91, Y:-18.92, Z:-2.55 [[ 9.90872422e-01 1.34664926e-01 6.09925103e-03 1.66907796e+02] [-1.34663233e-01 9.90891184e-01 -6.89349444e-04 -1.89187045e+01] [-6.13652527e-03 -1.38287509e-04 9.99981162e-01 -2.54945889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95401273899998 meters Centerline goodness [0,1] 0.9922791515645442 Centerline is valid? [True, True] Translation: X:166.94, Y:-18.92, Z:-2.55 [[ 9.91366368e-01 1.30942824e-01 6.83387115e-03 1.66935792e+02] [-1.30940610e-01 9.91389913e-01 -7.72403952e-04 -1.89231700e+01] [-6.87617168e-03 -1.29095955e-04 9.99976351e-01 -2.54998170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98401273899998 meters Centerline goodness [0,1] 0.9937526561835954 Centerline is valid? [True, True] Translation: X:166.96, Y:-18.93, Z:-2.55 [[ 9.92192553e-01 1.24527950e-01 6.83579519e-03 1.66964130e+02] [-1.24525584e-01 9.92216097e-01 -7.72269991e-04 -1.89326304e+01] [-6.87875522e-03 -8.49908546e-05 9.99976337e-01 -2.54968778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01401273899998 meters Centerline goodness [0,1] 0.9963942051249226 Centerline is valid? [True, True] Translation: X:166.99, Y:-18.94, Z:-2.55 [[ 9.93058147e-01 1.17458679e-01 6.24308907e-03 1.66991519e+02] [-1.17456567e-01 9.93077770e-01 -7.05213220e-04 -1.89449811e+01] [-6.28270639e-03 -3.29740743e-05 9.99980263e-01 -2.55160290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04401273899998 meters Centerline goodness [0,1] 0.997587274474218 Centerline is valid? [True, True] Translation: X:167.02, Y:-18.95, Z:-2.55 [[ 9.93529130e-01 1.13446513e-01 5.45494992e-03 1.67019210e+02] [-1.13444841e-01 9.93544105e-01 -6.15986468e-04 -1.89535929e+01] [-5.48961485e-03 -6.83542632e-06 9.99984932e-01 -2.55401162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07401273899998 meters Centerline goodness [0,1] 0.9990429197328683 Centerline is valid? [True, True] Translation: X:167.05, Y:-18.97, Z:-2.56 [[ 9.94274791e-01 1.06814248e-01 2.89081200e-03 1.67046473e+02] [-1.06813750e-01 9.94278993e-01 -3.26414171e-04 -1.89674791e+01] [-2.90913933e-03 1.57669106e-05 9.99995768e-01 -2.55870839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10401273899998 meters Centerline goodness [0,1] 0.9991643454038998 Centerline is valid? [True, True] Translation: X:167.07, Y:-18.97, Z:-2.56 [[ 9.94485665e-01 1.04857055e-01 1.80557513e-03 1.67074180e+02] [-1.04856857e-01 9.94487304e-01 -2.03910808e-04 -1.89743743e+01] [-1.81700303e-03 1.34594419e-05 9.99998349e-01 -2.56113001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13401273899999 meters Centerline goodness [0,1] 0.9990098356327151 Centerline is valid? [True, True] Translation: X:167.10, Y:-18.98, Z:-2.56 [[ 9.94627604e-01 1.03479765e-01 2.80492177e-03 1.67103015e+02] [-1.03479284e-01 9.94631559e-01 -3.16588865e-04 -1.89776430e+01] [-2.82262425e-03 2.46367276e-05 9.99996016e-01 -2.55789658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.164012739 meters Centerline goodness [0,1] 0.9988003170590629 Centerline is valid? [True, True] Translation: X:167.13, Y:-18.98, Z:-2.56 [[ 9.94651171e-01 1.03211913e-01 4.04333331e-03 1.67130547e+02] [-1.03210912e-01 9.94659389e-01 -4.56055197e-04 -1.89811229e+01] [-4.06880977e-03 3.62997171e-05 9.99991722e-01 -2.55564992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.194012739 meters Centerline goodness [0,1] 0.9980161692868875 Centerline is valid? [True, True] Translation: X:167.16, Y:-18.99, Z:-2.55 [[ 9.94683236e-01 1.02835731e-01 5.48386702e-03 1.67158702e+02] [-1.02833886e-01 9.94698351e-01 -6.18021709e-04 -1.89855968e+01] [-5.51834820e-03 5.08084779e-05 9.99984773e-01 -2.55331390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.224012739 meters Centerline goodness [0,1] 0.9977816067197932 Centerline is valid? [True, True] Translation: X:167.19, Y:-18.99, Z:-2.55 [[ 9.94807584e-01 1.01595351e-01 6.02123000e-03 1.67188089e+02] [-1.01593107e-01 9.94825804e-01 -6.78227215e-04 -1.89929433e+01] [-6.05897971e-03 6.29901132e-05 9.99981642e-01 -2.55340177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.254012739 meters Centerline goodness [0,1] 0.998589381892793 Centerline is valid? [True, True] Translation: X:167.22, Y:-19.00, Z:-2.56 [[ 9.94807622e-01 1.01716077e-01 3.41102896e-03 1.67217303e+02] [-1.01715358e-01 9.94813469e-01 -3.84214368e-04 -1.89966746e+01] [-3.43241833e-03 3.52653505e-05 9.99994109e-01 -2.55882465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.284012739 meters Centerline goodness [0,1] 0.999083136100983 Centerline is valid? [True, True] Translation: X:167.25, Y:-19.00, Z:-2.56 [[ 9.94779557e-01 1.02024697e-01 2.14350454e-03 1.67245906e+02] [-1.02024414e-01 9.94781866e-01 -2.41523297e-04 -1.90006564e+01] [-2.15696079e-03 2.15726440e-05 9.99997674e-01 -2.56093027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.314012739 meters Centerline goodness [0,1] 0.9993761831010153 Centerline is valid? [True, True] Translation: X:167.27, Y:-19.01, Z:-2.56 [[ 9.94733587e-01 1.02492794e-01 5.63190172e-04 1.67274594e+02] [-1.02492774e-01 9.94733747e-01 -6.37192442e-05 -1.90074345e+01] [-5.66755033e-04 5.66074914e-06 9.99999839e-01 -2.56357429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.344012739 meters Centerline goodness [0,1] 0.9994813950473227 Centerline is valid? [True, True] Translation: X:167.30, Y:-19.01, Z:-2.56 [[ 9.94780449e-01 1.02037842e-01 3.69956449e-04 1.67302424e+02] [-1.02037833e-01 9.94780518e-01 -4.19600612e-05 -1.90138073e+01] [-3.72306982e-04 3.99149404e-06 9.99999931e-01 -2.56472911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.374012739 meters Centerline goodness [0,1] 0.9989951252886342 Centerline is valid? [True, True] Translation: X:167.33, Y:-19.03, Z:-2.56 [[ 9.95036403e-01 9.94975676e-02 1.67047712e-03 1.67329883e+02] [-9.94973921e-02 9.95037805e-01 -1.88070554e-04 -1.90250616e+01] [-1.68090045e-03 2.09289306e-05 9.99998587e-01 -2.56269272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.404012739 meters Centerline goodness [0,1] 0.9980512666766602 Centerline is valid? [True, True] Translation: X:167.36, Y:-19.03, Z:-2.56 [[ 9.95149319e-01 9.82949682e-02 3.99162106e-03 1.67359387e+02] [-9.82939584e-02 9.95157322e-01 -4.48848975e-04 -1.90312878e+01] [-4.01641053e-03 5.43195169e-05 9.99991933e-01 -2.55809403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.434012739 meters Centerline goodness [0,1] 0.9889786447815064 Centerline is valid? [True, True] Translation: X:167.39, Y:-19.04, Z:-2.54 [[ 9.95129997e-01 9.83715478e-02 6.27113224e-03 1.67388348e+02] [-9.83690585e-02 9.95149753e-01 -7.04915161e-04 -1.90371412e+01] [-6.31005930e-03 8.45968479e-05 9.99980088e-01 -2.53967457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46401273899997 meters Centerline goodness [0,1] 0.9952548893876242 Centerline is valid? [True, True] Translation: X:167.42, Y:-19.04, Z:-2.55 [[ 9.94979720e-01 9.97849748e-02 7.63646470e-03 1.67418175e+02] [-9.97813260e-02 9.95009020e-01 -8.58279152e-04 -1.90409352e+01] [-7.68399463e-03 9.19937759e-05 9.99970473e-01 -2.55048518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49401273899997 meters Centerline goodness [0,1] 0.9988459319099827 Centerline is valid? [True, True] Translation: X:167.45, Y:-19.04, Z:-2.56 [[ 9.94517748e-01 1.04485002e-01 4.16328245e-03 1.67448501e+02] [-1.04483958e-01 9.94526462e-01 -4.67927620e-04 -1.90407079e+01] [-4.18938598e-03 3.03660925e-05 9.99991224e-01 -2.55730457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52401273899997 meters Centerline goodness [0,1] 0.9992305390501433 Centerline is valid? [True, True] Translation: X:167.48, Y:-19.04, Z:-2.56 [[ 9.94245288e-01 1.07087513e-01 2.92778344e-03 1.67478525e+02] [-1.07087008e-01 9.94249599e-01 -3.29233845e-04 -1.90407661e+01] [-2.94620434e-03 1.38116304e-05 9.99995660e-01 -2.56056641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55401273899997 meters Centerline goodness [0,1] 0.9992473927534674 Centerline is valid? [True, True] Translation: X:167.51, Y:-19.04, Z:-2.56 [[ 9.93993180e-01 1.09423104e-01 2.03552404e-03 1.67506310e+02] [-1.09422864e-01 9.93995264e-01 -2.29096201e-04 -1.90418296e+01] [-2.04836968e-03 4.98718964e-06 9.99997902e-01 -2.56337463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58401273899997 meters Centerline goodness [0,1] 0.9991859119928017 Centerline is valid? [True, True] Translation: X:167.53, Y:-19.05, Z:-2.56 [[ 9.93954466e-01 1.09768226e-01 2.33572647e-03 1.67533866e+02] [-1.09767912e-01 9.93957211e-01 -2.62688065e-04 -1.90464877e+01] [-2.35044697e-03 4.71215879e-06 9.99997238e-01 -2.56325954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61401273899997 meters Centerline goodness [0,1] 0.999249828532236 Centerline is valid? [True, True] Translation: X:167.56, Y:-19.06, Z:-2.56 [[ 9.93979161e-01 1.09501362e-01 3.85734662e-03 1.67561199e+02] [-1.09500505e-01 9.93986646e-01 -4.33324779e-04 -1.90561153e+01] [-3.88160068e-03 8.33439716e-06 9.99992467e-01 -2.56044237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64401273899998 meters Centerline goodness [0,1] 0.9990747713824637 Centerline is valid? [True, True] Translation: X:167.59, Y:-19.06, Z:-2.56 [[ 9.93968689e-01 1.09600808e-01 3.72934015e-03 1.67590077e+02] [-1.09600009e-01 9.93975685e-01 -4.18624261e-04 -1.90607844e+01] [-3.75275499e-03 7.36369413e-06 9.99992958e-01 -2.56059031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67401273899998 meters Centerline goodness [0,1] 0.9993172168050014 Centerline is valid? [True, True] Translation: X:167.62, Y:-19.07, Z:-2.56 [[ 9.93965858e-01 1.09656696e-01 2.69845657e-03 1.67617956e+02] [-1.09656278e-01 9.93969521e-01 -3.02904990e-04 -1.90657250e+01] [-2.71539915e-03 5.17451456e-06 9.99996313e-01 -2.56410484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70401273899998 meters Centerline goodness [0,1] 0.9990072513812155 Centerline is valid? [True, True] Translation: X:167.65, Y:-19.07, Z:-2.56 [[ 9.93969283e-01 1.09630111e-01 2.51058072e-03 1.67647672e+02] [-1.09629749e-01 9.93972454e-01 -2.81763583e-04 -1.90696832e+01] [-2.52633786e-03 4.83001261e-06 9.99996809e-01 -2.56341009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73401273899998 meters Centerline goodness [0,1] 0.9993381301108099 Centerline is valid? [True, True] Translation: X:167.68, Y:-19.08, Z:-2.57 [[ 9.93960833e-01 1.09724469e-01 1.55042119e-03 1.67675991e+02] [-1.09724331e-01 9.93962042e-01 -1.74114984e-04 -1.90750512e+01] [-1.56016449e-03 2.94454717e-06 9.99998783e-01 -2.56625548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76401273899998 meters Centerline goodness [0,1] 0.9993402570869158 Centerline is valid? [True, True] Translation: X:167.71, Y:-19.08, Z:-2.57 [[ 9.93896359e-01 1.10316559e-01 5.32836252e-04 1.67705569e+02] [-1.10316542e-01 9.93896502e-01 -5.99109471e-05 -1.90769899e+01] [-5.36193257e-04 7.64619242e-07 9.99999856e-01 -2.56680736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79401273899998 meters Centerline goodness [0,1] 0.999379506600766 Centerline is valid? [True, True] Translation: X:167.73, Y:-19.08, Z:-2.57 [[ 9.93654510e-01 1.12472173e-01 -8.51901660e-04 1.67733558e+02] [-1.12472133e-01 9.93654875e-01 9.49876543e-05 -1.90768844e+01] [ 8.57179705e-04 1.43028567e-06 9.99999633e-01 -2.57121260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82401273899998 meters Centerline goodness [0,1] 0.9993807256187405 Centerline is valid? [True, True] Translation: X:167.76, Y:-19.08, Z:-2.57 [[ 9.93561495e-01 1.13292679e-01 -5.70409245e-04 1.67760991e+02] [-1.13292661e-01 9.93561658e-01 6.34117052e-05 -1.90783593e+01] [ 5.73920837e-04 1.61975251e-06 9.99999835e-01 -2.57217573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85401273899998 meters Centerline goodness [0,1] 0.9990952175786298 Centerline is valid? [True, True] Translation: X:167.79, Y:-19.08, Z:-2.57 [[ 9.93431845e-01 1.14424806e-01 3.63756651e-04 1.67790120e+02] [-1.14424799e-01 9.93431912e-01 -4.10788838e-05 -1.90780811e+01] [-3.66067909e-04 -8.13710238e-07 9.99999933e-01 -2.56773396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88401273899999 meters Centerline goodness [0,1] 0.9989156319101888 Centerline is valid? [True, True] Translation: X:167.82, Y:-19.08, Z:-2.57 [[ 9.93353003e-01 1.15104887e-01 8.22162911e-04 1.67817953e+02] [-1.15104850e-01 9.93353343e-01 -9.24301099e-05 -1.90764109e+01] [-8.27337434e-04 -2.81921146e-06 9.99999658e-01 -2.56900700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.914012739 meters Centerline goodness [0,1] 0.9986508191455188 Centerline is valid? [True, True] Translation: X:167.85, Y:-19.08, Z:-2.57 [[ 9.93297519e-01 1.15573973e-01 1.64196226e-03 1.67846973e+02] [-1.15573827e-01 9.93298876e-01 -1.83948381e-04 -1.90773826e+01] [-1.65221891e-03 -7.05239247e-06 9.99998635e-01 -2.56765767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.944012739 meters Centerline goodness [0,1] 0.9985444893940367 Centerline is valid? [True, True] Translation: X:167.88, Y:-19.08, Z:-2.56 [[ 9.93429760e-01 1.14391844e-01 3.43762955e-03 1.67875700e+02] [-1.14391198e-01 9.93435708e-01 -3.84635762e-04 -1.90837181e+01] [-3.45906314e-03 -1.11259505e-05 9.99994017e-01 -2.56105322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.974012739 meters Centerline goodness [0,1] 0.9989958981370706 Centerline is valid? [True, True] Translation: X:167.90, Y:-19.09, Z:-2.56 [[ 9.93717765e-01 1.11851886e-01 3.76290162e-03 1.67904317e+02] [-1.11851095e-01 9.93724889e-01 -4.20766515e-04 -1.90866962e+01] [-3.78635252e-03 -2.76150509e-06 9.99992832e-01 -2.56083283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.004012739 meters Centerline goodness [0,1] 0.9991701068221475 Centerline is valid? [True, True] Translation: X:167.93, Y:-19.09, Z:-2.56 [[ 9.93852422e-01 1.10656762e-01 3.52752570e-03 1.67933373e+02] [-1.10656060e-01 9.93858683e-01 -3.94287344e-04 -1.90899495e+01] [-3.54949260e-03 1.52133817e-06 9.99993701e-01 -2.56229989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.034012739 meters Centerline goodness [0,1] 0.9992917847025495 Centerline is valid? [True, True] Translation: X:167.96, Y:-19.09, Z:-2.56 [[ 9.93902967e-01 1.10222099e-01 2.82508310e-03 1.67962867e+02] [-1.10221647e-01 9.93906982e-01 -3.15743566e-04 -1.90924092e+01] [-2.84267173e-03 2.43315596e-06 9.99995960e-01 -2.56453527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.064012739 meters Centerline goodness [0,1] 0.9993618786293152 Centerline is valid? [True, True] Translation: X:167.99, Y:-19.09, Z:-2.57 [[ 9.93855437e-01 1.10655009e-01 2.61511461e-03 1.67991209e+02] [-1.10654623e-01 9.93858878e-01 -2.92288041e-04 -1.90940585e+01] [-2.63139801e-03 1.11753835e-06 9.99996538e-01 -2.56541036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.094012739 meters Centerline goodness [0,1] 0.9993618786293152 Centerline is valid? [True, True] Translation: X:168.02, Y:-19.10, Z:-2.57 [[ 9.93860307e-01 1.10611258e-01 2.61511925e-03 1.68019373e+02] [-1.10610872e-01 9.93863748e-01 -2.92246548e-04 -1.90971101e+01] [-2.63139798e-03 1.19162436e-06 9.99996538e-01 -2.56563207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.124012739 meters Centerline goodness [0,1] 0.999395170000432 Centerline is valid? [True, True] Translation: X:168.05, Y:-19.10, Z:-2.56 [[ 9.93777301e-01 1.11356566e-01 2.52807696e-03 1.68048124e+02] [-1.11356208e-01 9.93780517e-01 -2.82439049e-04 -1.90973309e+01] [-2.54380507e-03 -8.35548229e-07 9.99996765e-01 -2.56434183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.154012739 meters Centerline goodness [0,1] 0.9991882423310262 Centerline is valid? [True, True] Translation: X:168.08, Y:-19.09, Z:-2.57 [[ 9.93461255e-01 1.14159597e-01 1.52357459e-03 1.68076933e+02] [-1.14159470e-01 9.93462423e-01 -1.70365370e-04 -1.90923562e+01] [-1.53306294e-03 -4.67907312e-06 9.99998825e-01 -2.56593924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.184012739 meters Centerline goodness [0,1] 0.9988874625588361 Centerline is valid? [True, True] Translation: X:168.11, Y:-19.09, Z:-2.57 [[ 9.93042190e-01 1.17756559e-01 7.75627738e-04 1.68106122e+02] [-1.17756528e-01 9.93042493e-01 -8.68268269e-05 -1.90889050e+01] [-7.80455731e-04 -5.11252682e-06 9.99999695e-01 -2.56807935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21401273899997 meters Centerline goodness [0,1] 0.998778972623281 Centerline is valid? [True, True] Translation: X:168.13, Y:-19.09, Z:-2.57 [[ 9.92867568e-01 1.19221986e-01 3.31501300e-04 1.68134938e+02] [-1.19221980e-01 9.92867624e-01 -3.73073659e-05 -1.90900678e+01] [-3.33584766e-04 -2.48096764e-06 9.99999944e-01 -2.56855666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24401273899997 meters Centerline goodness [0,1] 0.9987562722477162 Centerline is valid? [True, True] Translation: X:168.16, Y:-19.09, Z:-2.57 [[ 9.92741793e-01 1.20263217e-01 7.00309826e-04 1.68162839e+02] [-1.20263191e-01 9.92742040e-01 -7.85112758e-05 -1.90897651e+01] [-7.04669024e-04 -6.28006969e-06 9.99999752e-01 -2.56895752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27401273899997 meters Centerline goodness [0,1] 0.9972389289612807 Centerline is valid? [True, True] Translation: X:168.19, Y:-19.09, Z:-2.56 [[ 9.92469284e-01 1.22440012e-01 3.62830640e-03 1.68191786e+02] [-1.22439353e-01 9.92475915e-01 -4.04193355e-04 -1.90905888e+01] [-3.65049616e-03 -4.30979979e-05 9.99993336e-01 -2.56276375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30401273899997 meters Centerline goodness [0,1] 0.9968399026348379 Centerline is valid? [True, True] Translation: X:168.22, Y:-19.09, Z:-2.56 [[ 9.92340361e-01 1.23465373e-01 4.11201959e-03 1.68221040e+02] [-1.23464535e-01 9.92348880e-01 -4.57838129e-04 -1.90907838e+01] [-4.13708518e-03 -5.33573326e-05 9.99991441e-01 -2.56086958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33401273899997 meters Centerline goodness [0,1] 0.9963737018281693 Centerline is valid? [True, True] Translation: X:168.25, Y:-19.08, Z:-2.56 [[ 9.91888271e-01 1.27080937e-01 2.84498117e-03 1.68251085e+02] [-1.27080551e-01 9.91892350e-01 -3.16688246e-04 -1.90841144e+01] [-2.86216009e-03 -4.74224175e-05 9.99995903e-01 -2.56325225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36401273899997 meters Centerline goodness [0,1] 0.9949036165131354 Centerline is valid? [True, True] Translation: X:168.28, Y:-19.07, Z:-2.57 [[ 9.91369743e-01 1.31088185e-01 1.38576971e-03 1.68281451e+02] [-1.31088097e-01 9.91370711e-01 -1.54347878e-04 -1.90690718e+01] [-1.39404468e-03 -2.86420982e-05 9.99999028e-01 -2.56964030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39401273899998 meters Centerline goodness [0,1] 0.9954854234545029 Centerline is valid? [True, True] Translation: X:168.31, Y:-19.08, Z:-2.57 [[ 9.91247995e-01 1.32008156e-01 1.12231962e-03 1.68309102e+02] [-1.32008099e-01 9.91248630e-01 -1.25092840e-04 -1.90785110e+01] [-1.12901106e-03 -2.41572530e-05 9.99999362e-01 -2.56875502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42401273899998 meters Centerline goodness [0,1] 0.9954637851717129 Centerline is valid? [True, True] Translation: X:168.34, Y:-19.08, Z:-2.57 [[ 9.91286734e-01 1.31713133e-01 1.50371370e-03 1.68337253e+02] [-1.31713030e-01 9.91287874e-01 -1.67623288e-04 -1.90781627e+01] [-1.51269134e-03 -3.18959455e-05 9.99998855e-01 -2.56787846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45401273899998 meters Centerline goodness [0,1] 0.995811225914549 Centerline is valid? [True, True] Translation: X:168.37, Y:-19.08, Z:-2.57 [[ 9.91400175e-01 1.30853087e-01 1.77853805e-03 1.68365986e+02] [-1.30852943e-01 9.91401769e-01 -1.97791917e-04 -1.90794665e+01] [-1.78912745e-03 -3.66359962e-05 9.99998399e-01 -2.56685488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48401273899998 meters Centerline goodness [0,1] 0.9961162942069863 Centerline is valid? [True, True] Translation: X:168.39, Y:-19.08, Z:-2.57 [[ 9.91511576e-01 1.30006305e-01 1.77650133e-03 1.68394933e+02] [-1.30006159e-01 9.91513167e-01 -1.97486217e-04 -1.90820265e+01] [-1.78709891e-03 -3.51462449e-05 9.99998403e-01 -2.56594791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51401273899998 meters Centerline goodness [0,1] 0.9954757922723959 Centerline is valid? [True, True] Translation: X:168.42, Y:-19.08, Z:-2.57 [[ 9.91598036e-01 1.29344149e-01 1.85104540e-03 1.68422794e+02] [-1.29343990e-01 9.91599763e-01 -2.05738113e-04 -1.90837499e+01] [-1.86210720e-03 -3.54120893e-05 9.99998266e-01 -2.56539284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54401273899998 meters Centerline goodness [0,1] 0.9955249643062629 Centerline is valid? [True, True] Translation: X:168.45, Y:-19.08, Z:-2.57 [[ 9.91486547e-01 1.30199195e-01 1.61163336e-03 1.68452194e+02] [-1.30199076e-01 9.91487856e-01 -1.79026559e-04 -1.90832228e+01] [-1.62122401e-03 -3.23307492e-05 9.99998685e-01 -2.56560582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57401273899998 meters Centerline goodness [0,1] 0.9959969008264463 Centerline is valid? [True, True] Translation: X:168.48, Y:-19.08, Z:-2.57 [[ 9.91468938e-01 1.30340275e-01 8.69991583e-04 1.68479856e+02] [-1.30340241e-01 9.91469320e-01 -9.68473287e-05 -1.90829530e+01] [-8.75193071e-04 -1.73737941e-05 9.99999617e-01 -2.56806942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60401273899998 meters Centerline goodness [0,1] 0.9965758587272532 Centerline is valid? [True, True] Translation: X:168.51, Y:-19.08, Z:-2.57 [[ 9.91408681e-01 1.30800605e-01 1.68482099e-04 1.68509319e+02] [-1.30800604e-01 9.91408696e-01 -1.90223524e-05 -1.90826946e+01] [-1.69522754e-04 -3.17863511e-06 9.99999986e-01 -2.57036507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63401273899999 meters Centerline goodness [0,1] 0.9964618089805721 Centerline is valid? [True, True] Translation: X:168.54, Y:-19.09, Z:-2.57 [[ 9.91377651e-01 1.31035430e-01 -2.62591261e-04 1.68537722e+02] [-1.31035427e-01 9.91377686e-01 2.87024865e-05 -1.90851375e+01] [ 2.64088159e-04 5.95375436e-06 9.99999965e-01 -2.57009504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.664012739 meters Centerline goodness [0,1] 0.9966745843230403 Centerline is valid? [True, True] Translation: X:168.57, Y:-19.08, Z:-2.57 [[ 9.91186679e-01 1.32467388e-01 -1.16529346e-03 1.68566678e+02] [-1.32467328e-01 9.91187364e-01 1.28577886e-04 -1.90823679e+01] [ 1.17205653e-03 2.69186238e-05 9.99999313e-01 -2.57093556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.694012739 meters Centerline goodness [0,1] 0.9958332433774477 Centerline is valid? [True, True] Translation: X:168.59, Y:-19.08, Z:-2.57 [[ 9.91047363e-01 1.33506213e-01 -1.10274369e-03 1.68594943e+02] [-1.33506160e-01 9.91047976e-01 1.21498455e-04 -1.90799199e+01] [ 1.10909270e-03 2.68123525e-05 9.99999385e-01 -2.57077697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.724012739 meters Centerline goodness [0,1] 0.9958531187555059 Centerline is valid? [True, True] Translation: X:168.62, Y:-19.08, Z:-2.57 [[ 9.90964356e-01 1.34124692e-01 -4.59635643e-04 1.68624416e+02] [-1.34124683e-01 9.90964463e-01 5.04423596e-05 -1.90792071e+01] [ 4.62248154e-04 1.16619047e-05 9.99999893e-01 -2.56905733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.754012739 meters Centerline goodness [0,1] 0.9940799104451907 Centerline is valid? [True, True] Translation: X:168.65, Y:-19.07, Z:-2.57 [[ 9.90824535e-01 1.35154490e-01 7.40601162e-05 1.68654043e+02] [-1.35154489e-01 9.90824537e-01 -8.55626778e-06 -1.90743022e+01] [-7.45369984e-05 -1.53179715e-06 9.99999997e-01 -2.56838838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.784012739 meters Centerline goodness [0,1] 0.9943549939059594 Centerline is valid? [True, True] Translation: X:168.68, Y:-19.07, Z:-2.57 [[ 9.91143304e-01 1.32792572e-01 1.04058881e-03 1.68682661e+02] [-1.32792525e-01 9.91143850e-01 -1.15309971e-04 -1.90714044e+01] [-1.04668551e-03 -2.38937099e-05 9.99999452e-01 -2.56796891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.814012739 meters Centerline goodness [0,1] 0.9946673547499247 Centerline is valid? [True, True] Translation: X:168.71, Y:-19.07, Z:-2.57 [[ 9.91460528e-01 1.30387952e-01 2.23682277e-03 1.68711685e+02] [-1.30387725e-01 9.91463050e-01 -2.47510942e-04 -1.90747179e+01] [-2.24999957e-03 -4.62569030e-05 9.99997468e-01 -2.56601317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.844012739 meters Centerline goodness [0,1] 0.9953935723273123 Centerline is valid? [True, True] Translation: X:168.74, Y:-19.08, Z:-2.56 [[ 9.92376355e-01 1.23200944e-01 3.27078531e-03 1.68740235e+02] [-1.23200423e-01 9.92381744e-01 -3.61122793e-04 -1.90797568e+01] [-3.29035830e-03 -4.45924134e-05 9.99994586e-01 -2.56494463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.874012739 meters Centerline goodness [0,1] 0.9975802343352013 Centerline is valid? [True, True] Translation: X:168.77, Y:-19.09, Z:-2.57 [[ 9.92916494e-01 1.18782889e-01 2.73162866e-03 1.68768408e+02] [-1.18782509e-01 9.92920251e-01 -3.01674852e-04 -1.90876964e+01] [-2.74812323e-03 -2.49317695e-05 9.99996224e-01 -2.56610961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.904012739 meters Centerline goodness [0,1] 0.9997440163829515 Centerline is valid? [True, True] Translation: X:168.80, Y:-19.10, Z:-2.57 [[ 9.94098578e-01 1.08473089e-01 1.26733537e-03 1.68795740e+02] [-1.08472999e-01 9.94099386e-01 -1.40094604e-04 -1.91039144e+01] [-1.27505381e-03 1.79617855e-06 9.99999187e-01 -2.57026364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.934012739 meters Centerline goodness [0,1] 0.99971975510908 Centerline is valid? [True, True] Translation: X:168.82, Y:-19.11, Z:-2.57 [[ 9.94716601e-01 1.02656452e-01 7.32893591e-04 1.68823657e+02] [-1.02656420e-01 9.94716871e-01 -8.11526668e-05 -1.91143428e+01] [-7.37352464e-04 5.48767242e-06 9.99999728e-01 -2.57057930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96401273899997 meters Centerline goodness [0,1] 0.998403168114461 Centerline is valid? [True, True] Translation: X:168.85, Y:-19.13, Z:-2.57 [[ 9.95514180e-01 9.46101858e-02 6.55169233e-04 1.68851029e+02] [-9.46101586e-02 9.95514396e-01 -7.24651476e-05 -1.91293448e+01] [-6.59086344e-04 1.01544170e-05 9.99999783e-01 -2.57140911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99401273899997 meters Centerline goodness [0,1] 0.997385676938242 Centerline is valid? [True, True] Translation: X:168.88, Y:-19.13, Z:-2.57 [[ 9.95720942e-01 9.24048542e-02 1.07165380e-03 1.68879158e+02] [-9.24047803e-02 9.95721519e-01 -1.18375073e-04 -1.91347868e+01] [-1.07800718e-03 1.88426058e-05 9.99999419e-01 -2.57039849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02401273899997 meters Centerline goodness [0,1] 0.996242458076568 Centerline is valid? [True, True] Translation: X:168.91, Y:-19.14, Z:-2.57 [[ 9.95905028e-01 9.03812701e-02 2.09775691e-03 1.68907420e+02] [-9.03809833e-02 9.95907237e-01 -2.31292280e-04 -1.91385167e+01] [-2.11007578e-03 4.07478120e-05 9.99997773e-01 -2.56675266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05401273899997 meters Centerline goodness [0,1] 0.9961577868852459 Centerline is valid? [True, True] Translation: X:168.94, Y:-19.14, Z:-2.57 [[ 9.95992033e-01 8.94252432e-02 1.73068706e-03 1.68935198e+02] [-8.94250465e-02 9.95993536e-01 -1.90870472e-04 -1.91439271e+01] [-1.74082177e-03 3.53386988e-05 9.99998484e-01 -2.56835583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08401273899997 meters Centerline goodness [0,1] 0.9962396321285831 Centerline is valid? [True, True] Translation: X:168.96, Y:-19.15, Z:-2.57 [[ 9.96225632e-01 8.68014040e-02 -8.10818152e-05 1.68963056e+02] [-8.68014036e-02 9.96225635e-01 8.64890400e-06 -1.91530668e+01] [ 8.15265198e-05 -1.57824449e-06 9.99999997e-01 -2.57242173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11401273899997 meters Centerline goodness [0,1] 0.996249078530853 Centerline is valid? [True, True] Translation: X:168.99, Y:-19.16, Z:-2.57 [[ 9.96381886e-01 8.49888820e-02 1.63566556e-04 1.68991070e+02] [-8.49888802e-02 9.96381900e-01 -1.83441632e-05 -1.91595440e+01] [-1.64533806e-04 4.37645348e-06 9.99999986e-01 -2.57234459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14401273899998 meters Centerline goodness [0,1] 0.9899963970073967 Centerline is valid? [True, True] Translation: X:169.02, Y:-19.18, Z:-2.57 [[ 9.96762211e-01 8.03845501e-02 1.84887024e-03 1.69018442e+02] [-8.03843110e-02 9.96763924e-01 -2.03408622e-04 -1.91755891e+01] [-1.85923807e-03 5.41298672e-05 9.99998270e-01 -2.57024670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17401273899998 meters Centerline goodness [0,1] 0.988749757537878 Centerline is valid? [True, True] Translation: X:169.05, Y:-19.18, Z:-2.57 [[ 9.97044579e-01 7.67933696e-02 2.21044894e-03 1.69048096e+02] [-7.67930193e-02 9.97047027e-01 -2.43039360e-04 -1.91805985e+01] [-2.22258535e-03 7.25740282e-05 9.99997527e-01 -2.56886255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20401273899998 meters Centerline goodness [0,1] 0.9561154177433248 Centerline is valid? [True, True] Translation: X:169.08, Y:-19.20, Z:-2.57 [[ 9.97570734e-01 6.96205527e-02 2.36824561e-03 1.69075612e+02] [-6.96201305e-02 9.97573541e-01 -2.60344715e-04 -1.92014218e+01] [-2.38062450e-03 9.48347001e-05 9.99997162e-01 -2.56756303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23401273899998 meters Centerline goodness [0,1] 0.9373287671232877 Centerline is valid? [True, False] Translation: X:169.08, Y:-19.20, Z:-2.57 [[ 9.97849338e-01 6.55182162e-02 2.01541847e-03 1.69075621e+02] [-6.55088333e-02 9.97842225e-01 -4.41435780e-03 -1.92018219e+01] [-2.30029050e-03 4.27283630e-03 9.99988226e-01 -2.56715712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26401273899998 meters Centerline goodness [0,1] 0.927412761929349 Centerline is valid? [False, False] Translation: X:169.08, Y:-19.21, Z:-2.57 [[ 9.97827117e-01 6.58524032e-02 2.12248103e-03 1.69075105e+02] [-6.58450827e-02 9.97824228e-01 -3.35190285e-03 -1.92073577e+01] [-2.33859385e-03 3.20486462e-03 9.99992130e-01 -2.56713938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29401273899998 meters Centerline goodness [0,1] 0.9164619694031458 Centerline is valid? [False, False] Translation: X:169.08, Y:-19.21, Z:-2.57 [[ 9.97792221e-01 6.63837709e-02 1.96950921e-03 1.69075714e+02] [-6.63800913e-02 9.97792641e-01 -1.87832471e-03 -1.92147101e+01] [-2.08985207e-03 1.74344159e-03 9.99996296e-01 -2.56770365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32401273899998 meters Centerline goodness [0,1] 0.9046752968867016 Centerline is valid? [False, False] Translation: X:169.08, Y:-19.22, Z:-2.57 [[ 9.97914090e-01 6.45528664e-02 6.30194148e-04 1.69082702e+02] [-6.45504136e-02 9.97908837e-01 -3.34607983e-03 -1.92214896e+01] [-8.44875354e-04 3.29842092e-03 9.99994203e-01 -2.57190412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35401273899998 meters Centerline goodness [0,1] 0.9059529658030203 Centerline is valid? [False, False] Translation: X:169.08, Y:-19.23, Z:-2.57 [[ 9.97887747e-01 6.49594117e-02 5.65433435e-04 1.69082973e+02] [-6.49578578e-02 9.97885045e-01 -2.43184924e-03 -1.92260537e+01] [-7.22209065e-04 2.38998321e-03 9.99996883e-01 -2.57221863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38401273899999 meters Centerline goodness [0,1] 0.9434646972687337 Centerline is valid? [False, False] Translation: X:169.08, Y:-19.23, Z:-2.57 [[ 9.97849021e-01 6.55491204e-02 8.02077395e-04 1.69081297e+02] [-6.55479663e-02 9.97848452e-01 -1.38939802e-03 -1.92309735e+01] [-8.91425506e-04 1.33383492e-03 9.99998713e-01 -2.57082821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.414012739 meters Centerline goodness [0,1] 0.9685506023835788 Centerline is valid? [False, True] Translation: X:169.03, Y:-19.24, Z:-2.57 [[ 9.97966365e-01 6.36926719e-02 2.52551512e-03 1.69034148e+02] [-6.37236706e-02 9.97853345e-01 1.50995517e-02 -1.92380718e+01] [-1.55836291e-03 -1.52297798e-02 9.99882806e-01 -2.56871888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.444012739 meters Centerline goodness [0,1] 0.9822026131253064 Centerline is valid? [True, True] Translation: X:169.07, Y:-19.23, Z:-2.57 [[ 9.97702985e-01 6.77365118e-02 7.20733849e-04 1.69065470e+02] [-6.77364766e-02 9.97703245e-01 -7.30831988e-05 -1.92339231e+01] [-7.24028901e-04 2.40953540e-05 9.99999738e-01 -2.57090113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.474012739 meters Centerline goodness [0,1] 0.9850153035198096 Centerline is valid? [True, True] Translation: X:169.10, Y:-19.24, Z:-2.57 [[ 9.97618888e-01 6.89590613e-02 -1.09619174e-03 1.69095492e+02] [-6.89589807e-02 9.97619490e-01 1.11248378e-04 -1.92403465e+01] [ 1.10125383e-03 -3.53912184e-05 9.99999393e-01 -2.57423348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.504012739 meters Centerline goodness [0,1] 0.9918357776261937 Centerline is valid? [True, True] Translation: X:169.13, Y:-19.24, Z:-2.58 [[ 9.97371197e-01 7.24310329e-02 -2.10742373e-03 1.69125624e+02] [-7.24307425e-02 9.97373421e-01 2.13874511e-04 -1.92449154e+01] [ 2.11737957e-03 -6.06700112e-05 9.99997757e-01 -2.57560148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.534012739 meters Centerline goodness [0,1] 0.992442576317242 Centerline is valid? [True, True] Translation: X:169.15, Y:-19.25, Z:-2.57 [[ 9.97165938e-01 7.52313538e-02 -5.78810650e-04 1.69154785e+02] [-7.52313324e-02 9.97166106e-01 5.86060999e-05 -1.92474945e+01] [ 5.81579378e-04 -1.48953102e-05 9.99999831e-01 -2.57293964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.564012739 meters Centerline goodness [0,1] 0.9952590219297296 Centerline is valid? [True, True] Translation: X:169.19, Y:-19.25, Z:-2.57 [[ 9.96596835e-01 8.24115055e-02 1.75829174e-03 1.69185521e+02] [-8.24113189e-02 9.96598386e-01 -1.78439338e-04 -1.92458989e+01] [-1.76701616e-03 3.29289380e-05 9.99998438e-01 -2.56973206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.594012739 meters Centerline goodness [0,1] 0.996889116168073 Centerline is valid? [True, True] Translation: X:169.22, Y:-19.24, Z:-2.57 [[ 9.96214587e-01 8.69073975e-02 1.89767572e-03 1.69216145e+02] [-8.69071884e-02 9.96216394e-01 -1.92527673e-04 -1.92445934e+01] [-1.90722774e-03 2.68772145e-05 9.99998181e-01 -2.56881217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.624012739 meters Centerline goodness [0,1] 0.999635427836157 Centerline is valid? [True, True] Translation: X:169.25, Y:-19.24, Z:-2.57 [[ 9.95509848e-01 9.46552918e-02 7.20205400e-04 1.69246705e+02] [-9.46552636e-02 9.95510108e-01 -7.31798012e-05 -1.92394422e+01] [-7.23898611e-04 4.67998073e-06 9.99999738e-01 -2.56980604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.654012739 meters Centerline goodness [0,1] 0.9997227435591196 Centerline is valid? [True, True] Translation: X:169.28, Y:-19.24, Z:-2.57 [[ 9.95251718e-01 9.73339268e-02 3.53550953e-04 1.69275350e+02] [-9.73339201e-02 9.95251781e-01 -3.60414367e-05 -1.92412223e+01] [-3.55380270e-04 1.45780153e-06 9.99999937e-01 -2.57177420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.684012739 meters Centerline goodness [0,1] 0.9999574096552312 Centerline is valid? [True, True] Translation: X:169.31, Y:-19.24, Z:-2.57 [[ 9.94913289e-01 1.00734448e-01 3.45381497e-04 1.69305066e+02] [-1.00734442e-01 9.94913348e-01 -3.51359988e-05 -1.92422753e+01] [-3.47164067e-04 1.65459672e-07 9.99999940e-01 -2.57241713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71401273899997 meters Centerline goodness [0,1] 0.9996986979446896 Centerline is valid? [True, True] Translation: X:169.33, Y:-19.24, Z:-2.57 [[ 9.94827281e-01 1.01580817e-01 1.38927924e-04 1.69333914e+02] [-1.01580816e-01 9.94827290e-01 -1.42129489e-05 -1.92448996e+01] [-1.39653053e-04 2.70174335e-08 9.99999990e-01 -2.57384351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74401273899997 meters Centerline goodness [0,1] 0.9998062098962146 Centerline is valid? [True, True] Translation: X:169.36, Y:-19.25, Z:-2.58 [[ 9.94646767e-01 1.03315303e-01 -1.93834380e-03 1.69363706e+02] [-1.03315117e-01 9.94648656e-01 1.96284745e-04 -1.92471242e+01] [ 1.94825027e-03 5.02622879e-06 9.99998102e-01 -2.57716318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77401273899997 meters Centerline goodness [0,1] 0.999828200833226 Centerline is valid? [True, True] Translation: X:169.39, Y:-19.25, Z:-2.58 [[ 9.94518701e-01 1.04530981e-01 -2.41387618e-03 1.69392645e+02] [-1.04530696e-01 9.94521631e-01 2.44229347e-04 -1.92501175e+01] [ 2.42618160e-03 9.43350439e-06 9.99997057e-01 -2.57694509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80401273899997 meters Centerline goodness [0,1] 0.9992709025797182 Centerline is valid? [True, True] Translation: X:169.42, Y:-19.26, Z:-2.57 [[ 9.94312083e-01 1.06497517e-01 -1.32686911e-03 1.69420777e+02] [-1.06497433e-01 9.94312968e-01 1.34074588e-04 -1.92551611e+01] [ 1.33360177e-03 7.99617063e-06 9.99999111e-01 -2.57492919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83401273899997 meters Centerline goodness [0,1] 0.999330294454406 Centerline is valid? [True, True] Translation: X:169.45, Y:-19.26, Z:-2.57 [[ 9.94256869e-01 1.07017438e-01 -7.39827929e-04 1.69449397e+02] [-1.07017412e-01 9.94257144e-01 7.46111483e-05 -1.92587191e+01] [ 7.43563897e-04 4.99182379e-06 9.99999724e-01 -2.57392267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86401273899997 meters Centerline goodness [0,1] 0.9988904842709829 Centerline is valid? [True, True] Translation: X:169.48, Y:-19.26, Z:-2.57 [[ 9.93935692e-01 1.09958858e-01 -9.43514739e-04 1.69478963e+02] [-1.09958817e-01 9.93936140e-01 9.53268952e-05 -1.92572877e+01] [ 9.48275434e-04 8.99896087e-06 9.99999550e-01 -2.57499025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89401273899998 meters Centerline goodness [0,1] 0.9982929327415501 Centerline is valid? [True, True] Translation: X:169.51, Y:-19.25, Z:-2.58 [[ 9.93690653e-01 1.12146838e-01 -1.40465821e-03 1.69507041e+02] [-1.12146750e-01 9.93691646e-01 1.41713125e-04 -1.92546359e+01] [ 1.41168981e-03 1.67088448e-05 9.99999003e-01 -2.57758735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92401273899998 meters Centerline goodness [0,1] 0.9972303332188251 Centerline is valid? [True, True] Translation: X:169.54, Y:-19.25, Z:-2.58 [[ 9.93137587e-01 1.16945132e-01 -1.25266512e-03 1.69536547e+02] [-1.16945065e-01 9.93138377e-01 1.26430455e-04 -1.92523932e+01] [ 1.25885523e-03 2.09301675e-05 9.99999207e-01 -2.57591254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95401273899998 meters Centerline goodness [0,1] 0.9962684975905156 Centerline is valid? [True, True] Translation: X:169.57, Y:-19.25, Z:-2.58 [[ 9.92919889e-01 1.18776960e-01 -1.45890176e-03 1.69565500e+02] [-1.18776872e-01 9.92920960e-01 1.47150397e-04 -1.92513612e+01] [ 1.46605221e-03 2.71752318e-05 9.99998925e-01 -2.57570783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98401273899998 meters Centerline goodness [0,1] 0.9962684975905156 Centerline is valid? [True, True] Translation: X:169.59, Y:-19.25, Z:-2.58 [[ 9.92925130e-01 1.18733141e-01 -1.45890824e-03 1.69593700e+02] [-1.18733053e-01 9.92926201e-01 1.47086203e-04 -1.92541171e+01] [ 1.46605222e-03 2.71750409e-05 9.99998925e-01 -2.57586482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01401273899998 meters Centerline goodness [0,1] 0.995681402374165 Centerline is valid? [True, True] Translation: X:169.62, Y:-19.25, Z:-2.58 [[ 9.92806778e-01 1.19725780e-01 -6.63005527e-04 1.69622534e+02] [-1.19725763e-01 9.92806999e-01 6.66129627e-05 -1.92479954e+01] [ 6.66211817e-04 1.32450415e-05 9.99999778e-01 -2.57668836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04401273899998 meters Centerline goodness [0,1] 0.9950778976202705 Centerline is valid? [True, True] Translation: X:169.65, Y:-19.25, Z:-2.58 [[ 9.92839116e-01 1.19459071e-01 -1.39253436e-04 1.69651589e+02] [-1.19459070e-01 9.92839126e-01 1.38182636e-05 -1.92500900e+01] [ 1.39906977e-04 2.91577339e-06 9.99999990e-01 -2.57627730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07401273899998 meters Centerline goodness [0,1] 0.9949689824980281 Centerline is valid? [True, True] Translation: X:169.68, Y:-19.25, Z:-2.58 [[ 9.93080742e-01 1.17432814e-01 4.16324118e-04 1.69679776e+02] [-1.17432807e-01 9.93080830e-01 -4.22166306e-05 -1.92545407e+01] [-4.18401118e-04 -6.96558702e-06 9.99999912e-01 -2.57523384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10401273899998 meters Centerline goodness [0,1] 0.9958604502293823 Centerline is valid? [True, True] Translation: X:169.71, Y:-19.26, Z:-2.57 [[ 9.93307584e-01 1.15486469e-01 1.70848446e-03 1.69707734e+02] [-1.15486343e-01 9.93309053e-01 -1.72474806e-04 -1.92642220e+01] [-1.71697159e-03 -2.59860887e-05 9.99998526e-01 -2.57155223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13401273899999 meters Centerline goodness [0,1] 0.9974688390692135 Centerline is valid? [True, True] Translation: X:169.74, Y:-19.27, Z:-2.57 [[ 9.93812694e-01 1.11045398e-01 2.29121496e-03 1.69735697e+02] [-1.11045161e-01 9.93815334e-01 -2.31071002e-04 -1.92698688e+01] [-2.30270394e-03 -2.47870381e-05 9.99997348e-01 -2.57080474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.164012739 meters Centerline goodness [0,1] 0.9982496211070079 Centerline is valid? [True, True] Translation: X:169.77, Y:-19.28, Z:-2.57 [[ 9.94031138e-01 1.09085142e-01 1.59038925e-03 1.69765179e+02] [-1.09085025e-01 9.94032410e-01 -1.60351887e-04 -1.92767248e+01] [-1.59839047e-03 -1.40928831e-05 9.99998722e-01 -2.57205217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.194012739 meters Centerline goodness [0,1] 0.9990747514739424 Centerline is valid? [True, True] Translation: X:169.79, Y:-19.28, Z:-2.57 [[ 9.94262017e-01 1.06971989e-01 1.88339926e-04 1.69794343e+02] [-1.06971987e-01 9.94262035e-01 -1.91030913e-05 -1.92835739e+01] [-1.89302734e-04 -1.15361818e-06 9.99999982e-01 -2.57470374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.224012739 meters Centerline goodness [0,1] 0.9992434558934786 Centerline is valid? [True, True] Translation: X:169.82, Y:-19.29, Z:-2.58 [[ 9.94353891e-01 1.06114480e-01 2.35843206e-04 1.69822640e+02] [-1.06114477e-01 9.94353919e-01 -2.39447225e-05 -1.92861914e+01] [-2.37052498e-04 -1.21685058e-06 9.99999972e-01 -2.57607918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.254012739 meters Centerline goodness [0,1] 0.9991067250840103 Centerline is valid? [True, True] Translation: X:169.85, Y:-19.29, Z:-2.58 [[ 9.94477613e-01 1.04948870e-01 -1.07112963e-04 1.69850444e+02] [-1.04948870e-01 9.94477619e-01 1.05209587e-05 -1.92929176e+01] [ 1.07625607e-04 7.78526462e-07 9.99999994e-01 -2.57672873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.284012739 meters Centerline goodness [0,1] 0.999168496684647 Centerline is valid? [True, True] Translation: X:169.88, Y:-19.30, Z:-2.58 [[ 9.94514871e-01 1.04594572e-01 -3.82427215e-04 1.69880159e+02] [-1.04594565e-01 9.94514945e-01 3.83477541e-05 -1.92988333e+01] [ 3.84340547e-04 1.86239648e-06 9.99999926e-01 -2.57669327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.314012739 meters Centerline goodness [0,1] 0.9987527954584552 Centerline is valid? [True, True] Translation: X:169.91, Y:-19.30, Z:-2.58 [[ 9.94341706e-01 1.06228700e-01 -1.85525484e-04 1.69908299e+02] [-1.06228699e-01 9.94341724e-01 1.84662296e-05 -1.93015374e+01] [ 1.86437373e-04 1.34638853e-06 9.99999983e-01 -2.57564106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.344012739 meters Centerline goodness [0,1] 0.9984876562932669 Centerline is valid? [True, True] Translation: X:169.94, Y:-19.30, Z:-2.58 [[ 9.94081000e-01 1.08639996e-01 -5.63213173e-04 1.69936710e+02] [-1.08639982e-01 9.94081159e-01 5.66677705e-05 -1.93002360e+01] [ 5.66035990e-04 4.85511489e-06 9.99999840e-01 -2.57637980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.374012739 meters Centerline goodness [0,1] 0.9985419302270729 Centerline is valid? [True, True] Translation: X:169.97, Y:-19.29, Z:-2.58 [[ 9.93370929e-01 1.14930066e-01 -2.29707556e-03 1.69966651e+02] [-1.14929839e-01 9.93373585e-01 2.30766160e-04 -1.92943599e+01] [ 2.30837615e-03 3.47661298e-05 9.99997335e-01 -2.58035907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.404012739 meters Centerline goodness [0,1] 0.9973346411360826 Centerline is valid? [True, True] Translation: X:169.99, Y:-19.29, Z:-2.58 [[ 9.93021412e-01 1.17905388e-01 -2.60668702e-03 1.69994696e+02] [-1.17905107e-01 9.93024832e-01 2.61616124e-04 -1.92926591e+01] [ 2.61935089e-03 4.75512994e-05 9.99996568e-01 -2.58137008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.434012739 meters Centerline goodness [0,1] 0.9952062598078205 Centerline is valid? [True, True] Translation: X:170.03, Y:-19.29, Z:-2.58 [[ 9.92501014e-01 1.22235023e-01 -5.79990382e-04 1.70025091e+02] [-1.22235010e-01 9.92501183e-01 5.81399533e-05 -1.92882670e+01] [ 5.82747879e-04 1.31911674e-05 9.99999830e-01 -2.57746158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46401273899997 meters Centerline goodness [0,1] 0.9930865773239737 Centerline is valid? [True, True] Translation: X:170.05, Y:-19.29, Z:-2.58 [[ 9.92338900e-01 1.23544407e-01 5.35942017e-04 1.70053307e+02] [-1.23544396e-01 9.92339045e-01 -5.41686720e-05 -1.92875481e+01] [-5.38528425e-04 -1.24589522e-05 9.99999855e-01 -2.57570883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49401273899997 meters Centerline goodness [0,1] 0.9913879688000855 Centerline is valid? [True, True] Translation: X:170.08, Y:-19.29, Z:-2.57 [[ 9.92132157e-01 1.25188908e-01 1.23273256e-03 1.70082566e+02] [-1.25188850e-01 9.92132923e-01 -1.23960495e-04 -1.92881822e+01] [-1.23855304e-03 -3.13391782e-05 9.99999233e-01 -2.57321117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52401273899997 meters Centerline goodness [0,1] 0.9913993640224513 Centerline is valid? [True, True] Translation: X:170.11, Y:-19.29, Z:-2.57 [[ 9.92095917e-01 1.25466990e-01 1.93026592e-03 1.70110364e+02] [-1.25466850e-01 9.92097793e-01 -1.93911582e-04 -1.92875823e+01] [-1.93934206e-03 -4.98054968e-05 9.99998118e-01 -2.57194564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55401273899997 meters Centerline goodness [0,1] 0.9909370133241046 Centerline is valid? [True, True] Translation: X:170.14, Y:-19.29, Z:-2.57 [[ 9.92163968e-01 1.24926112e-01 2.03144528e-03 1.70139251e+02] [-1.24925956e-01 9.92166047e-01 -2.03905435e-04 -1.92899304e+01] [-2.04100414e-03 -5.14726175e-05 9.99997916e-01 -2.57219337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58401273899997 meters Centerline goodness [0,1] 0.9913177037779721 Centerline is valid? [True, True] Translation: X:170.17, Y:-19.29, Z:-2.57 [[ 9.92255099e-01 1.24207481e-01 1.52338073e-03 1.70166739e+02] [-1.24207392e-01 9.92256267e-01 -1.52946451e-04 -1.92901212e+01] [-1.53058117e-03 -3.74532518e-05 9.99998828e-01 -2.57356620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61401273899997 meters Centerline goodness [0,1] 0.9934640522875817 Centerline is valid? [True, True] Translation: X:170.20, Y:-19.29, Z:-2.57 [[ 9.92562389e-01 1.21732608e-01 1.03717772e-03 1.70195330e+02] [-1.21732565e-01 9.92562931e-01 -1.04119991e-04 -1.92939164e+01] [-1.04213896e-03 -2.29127178e-05 9.99999457e-01 -2.57468602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64401273899998 meters Centerline goodness [0,1] 0.9928670879297419 Centerline is valid? [True, True] Translation: X:170.22, Y:-19.30, Z:-2.57 [[ 9.92696760e-01 1.20632124e-01 1.01618371e-03 1.70223883e+02] [-1.20632083e-01 9.92697280e-01 -1.01971852e-04 -1.92962127e+01] [-1.02106389e-03 -2.13572308e-05 9.99999478e-01 -2.57349503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67401273899998 meters Centerline goodness [0,1] 0.9951107090548806 Centerline is valid? [True, True] Translation: X:170.25, Y:-19.30, Z:-2.57 [[ 9.92949527e-01 1.18522130e-01 1.93419207e-03 1.70251950e+02] [-1.18521977e-01 9.92951410e-01 -1.93792900e-04 -1.93030871e+01] [-1.94352749e-03 -3.68176990e-05 9.99998111e-01 -2.57127423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70401273899998 meters Centerline goodness [0,1] 0.9948921065731663 Centerline is valid? [True, True] Translation: X:170.28, Y:-19.30, Z:-2.57 [[ 9.93110300e-01 1.17159015e-01 2.38700864e-03 1.70279685e+02] [-1.17158779e-01 9.93113167e-01 -2.39025406e-04 -1.93049269e+01] [-2.39857370e-03 -4.22804247e-05 9.99997123e-01 -2.56969942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73401273899998 meters Centerline goodness [0,1] 0.9940290868767859 Centerline is valid? [True, True] Translation: X:170.31, Y:-19.30, Z:-2.57 [[ 9.93123968e-01 1.17047634e-01 2.15295781e-03 1.70307664e+02] [-1.17047442e-01 9.93126301e-01 -2.15481196e-04 -1.93036469e+01] [-2.16338059e-03 -3.79986638e-05 9.99997659e-01 -2.57037302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76401273899998 meters Centerline goodness [0,1] 0.9945861172578254 Centerline is valid? [True, True] Translation: X:170.34, Y:-19.30, Z:-2.57 [[ 9.93149368e-01 1.16829670e-01 2.27186569e-03 1.70337155e+02] [-1.16829456e-01 9.93151966e-01 -2.27186338e-04 -1.93025132e+01] [-2.28284998e-03 -3.97908634e-05 9.99997394e-01 -2.57101351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79401273899998 meters Centerline goodness [0,1] 0.9938372611938713 Centerline is valid? [True, True] Translation: X:170.37, Y:-19.30, Z:-2.57 [[ 9.93221290e-01 1.16203680e-01 2.85905242e-03 1.70365528e+02] [-1.16203339e-01 9.93225404e-01 -2.85748199e-04 -1.92996426e+01] [-2.87288849e-03 -4.84202415e-05 9.99995872e-01 -2.57061050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82401273899998 meters Centerline goodness [0,1] 0.9948963180580276 Centerline is valid? [True, True] Translation: X:170.39, Y:-19.30, Z:-2.57 [[ 9.93368259e-01 1.14948661e-01 2.51151673e-03 1.70393988e+02] [-1.14948394e-01 9.93371433e-01 -2.50838209e-04 -1.93033842e+01] [-2.52370249e-03 -3.95200986e-05 9.99996815e-01 -2.56963037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85401273899998 meters Centerline goodness [0,1] 0.99598229632176 Centerline is valid? [True, True] Translation: X:170.42, Y:-19.30, Z:-2.57 [[ 9.93444187e-01 1.14309435e-01 1.41402292e-03 1.70422289e+02] [-1.14309350e-01 9.93445194e-01 -1.41319662e-04 -1.93045449e+01] [-1.42090845e-03 -2.12428446e-05 9.99998990e-01 -2.57148328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88401273899999 meters Centerline goodness [0,1] 0.9968684983806276 Centerline is valid? [True, True] Translation: X:170.45, Y:-19.31, Z:-2.57 [[ 9.93493457e-01 1.13887258e-01 6.65435066e-04 1.70451387e+02] [-1.13887239e-01 9.93493680e-01 -6.65790896e-05 -1.93053971e+01] [-6.68688043e-04 -9.63867245e-06 9.99999776e-01 -2.57301094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.914012739 meters Centerline goodness [0,1] 0.9973072895518561 Centerline is valid? [True, True] Translation: X:170.48, Y:-19.30, Z:-2.57 [[ 9.93617411e-01 1.12802362e-01 2.59028585e-04 1.70480386e+02] [-1.12802359e-01 9.93617445e-01 -2.60667999e-05 -1.93049537e+01] [-2.60315717e-04 -3.31860924e-06 9.99999966e-01 -2.57393240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.944012739 meters Centerline goodness [0,1] 0.9964695498676082 Centerline is valid? [True, True] Translation: X:170.51, Y:-19.31, Z:-2.57 [[ 9.93658759e-01 1.12435779e-01 6.83506114e-04 1.70509172e+02] [-1.12435758e-01 9.93658994e-01 -6.83258221e-05 -1.93050583e+01] [-6.86854265e-04 -8.95797663e-06 9.99999764e-01 -2.57278409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.974012739 meters Centerline goodness [0,1] 0.9959999144366725 Centerline is valid? [True, True] Translation: X:170.54, Y:-19.30, Z:-2.57 [[ 9.93685020e-01 1.12199051e-01 1.20589850e-03 1.70537553e+02] [-1.12198987e-01 9.93685752e-01 -1.20333121e-04 -1.93042889e+01] [-1.21178542e-03 -1.57273713e-05 9.99999266e-01 -2.57191063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.004012739 meters Centerline goodness [0,1] 0.99637235214096 Centerline is valid? [True, True] Translation: X:170.57, Y:-19.30, Z:-2.57 [[ 9.93813686e-01 1.11051002e-01 1.42538388e-03 1.70566238e+02] [-1.11050912e-01 9.93814708e-01 -1.42035778e-04 -1.93015991e+01] [-1.43234068e-03 -1.71330806e-05 9.99998974e-01 -2.57232925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.034012739 meters Centerline goodness [0,1] 0.996309646412633 Centerline is valid? [True, True] Translation: X:170.60, Y:-19.30, Z:-2.57 [[ 9.93907164e-01 1.10210487e-01 1.48257718e-03 1.70595113e+02] [-1.10210390e-01 9.93908270e-01 -1.47655998e-04 -1.93035793e+01] [-1.48981896e-03 -1.66390541e-05 9.99998890e-01 -2.57229045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.064012739 meters Centerline goodness [0,1] 0.9963767343720028 Centerline is valid? [True, True] Translation: X:170.62, Y:-19.30, Z:-2.57 [[ 9.93964903e-01 1.09686913e-01 1.59743306e-03 1.70622513e+02] [-1.09686799e-01 9.93966187e-01 -1.59042382e-04 -1.93044961e+01] [-1.60523932e-03 -1.71347736e-05 9.99998711e-01 -2.57266175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.094012739 meters Centerline goodness [0,1] 0.9961687473095135 Centerline is valid? [True, True] Translation: X:170.65, Y:-19.31, Z:-2.57 [[ 9.94152523e-01 1.07969487e-01 1.83027617e-03 1.70651502e+02] [-1.07969335e-01 9.94154208e-01 -1.82023742e-04 -1.93076020e+01] [-1.83922977e-03 -1.66543383e-05 9.99998308e-01 -2.57326882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.124012739 meters Centerline goodness [0,1] 0.9970923395976311 Centerline is valid? [True, True] Translation: X:170.68, Y:-19.32, Z:-2.58 [[ 9.94640076e-01 1.03389219e-01 1.33760370e-03 1.70678680e+02] [-1.03389134e-01 9.94640975e-01 -1.33081694e-04 -1.93170279e+01] [-1.34419466e-03 -5.92530203e-06 9.99999097e-01 -2.57534014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.154012739 meters Centerline goodness [0,1] 0.9971297605277814 Centerline is valid? [True, True] Translation: X:170.71, Y:-19.32, Z:-2.58 [[ 9.94911947e-01 1.00741246e-01 1.19094129e-03 1.70706629e+02] [-1.00741176e-01 9.94912660e-01 -1.18401723e-04 -1.93234091e+01] [-1.19681051e-03 -2.17753766e-06 9.99999284e-01 -2.57612309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.184012739 meters Centerline goodness [0,1] 0.9968564292481268 Centerline is valid? [True, True] Translation: X:170.73, Y:-19.33, Z:-2.58 [[ 9.95205626e-01 9.78039043e-02 3.98782043e-04 1.70734963e+02] [-9.78038962e-02 9.95205706e-01 -3.97981707e-05 -1.93283717e+01] [-4.00762581e-04 6.04925803e-07 9.99999920e-01 -2.57727693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21401273899997 meters Centerline goodness [0,1] 0.9969250618213096 Centerline is valid? [True, True] Translation: X:170.76, Y:-19.33, Z:-2.58 [[ 9.95246865e-01 9.73841458e-02 7.50355850e-05 1.70764092e+02] [-9.73841455e-02 9.95246868e-01 -7.69236612e-06 -1.93312729e+01] [-7.54280455e-05 3.48526932e-07 9.99999997e-01 -2.57752593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24401273899997 meters Centerline goodness [0,1] 0.9970749621026112 Centerline is valid? [True, True] Translation: X:170.79, Y:-19.34, Z:-2.58 [[ 9.95258305e-01 9.72645053e-02 -7.22812453e-04 1.70791462e+02] [-9.72644792e-02 9.95258567e-01 7.12787099e-05 -1.93357701e+01] [ 7.26318175e-04 -6.36751183e-07 9.99999736e-01 -2.57885022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27401273899997 meters Centerline goodness [0,1] 0.9971214124269692 Centerline is valid? [True, True] Translation: X:170.82, Y:-19.34, Z:-2.58 [[ 9.95295547e-01 9.68839061e-02 -5.31191761e-04 1.70819792e+02] [-9.68838919e-02 9.95295689e-01 5.23384362e-05 -1.93400149e+01] [ 5.33763622e-04 -6.28287384e-07 9.99999858e-01 -2.57844559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30401273899997 meters Centerline goodness [0,1] 0.9963771222774824 Centerline is valid? [True, True] Translation: X:170.85, Y:-19.35, Z:-2.58 [[ 9.95467974e-01 9.50871491e-02 1.39526373e-03 1.70847737e+02] [-9.50870486e-02 9.95468952e-01 -1.38328468e-04 -1.93455082e+01] [-1.40209498e-03 5.03004999e-06 9.99999017e-01 -2.57571462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33401273899997 meters Centerline goodness [0,1] 0.9953161091624604 Centerline is valid? [True, True] Translation: X:170.88, Y:-19.35, Z:-2.57 [[ 9.95560089e-01 9.41023501e-02 2.20396346e-03 1.70875301e+02] [-9.41020974e-02 9.95562528e-01 -2.18291994e-04 -1.93500781e+01] [-2.21472522e-03 9.92521320e-06 9.99997547e-01 -2.57397560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36401273899997 meters Centerline goodness [0,1] 0.9954233905951761 Centerline is valid? [True, True] Translation: X:170.90, Y:-19.36, Z:-2.57 [[ 9.95796833e-01 9.15776988e-02 1.48088849e-03 1.70903606e+02] [-9.15775819e-02 9.95797934e-01 -1.46662069e-04 -1.93569802e+01] [-1.48809667e-03 1.04294367e-05 9.99998893e-01 -2.57413114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39401273899998 meters Centerline goodness [0,1] 0.9953803180060163 Centerline is valid? [True, True] Translation: X:170.93, Y:-19.36, Z:-2.58 [[ 9.95896359e-01 9.04956911e-02 9.85567898e-04 1.70930858e+02] [-9.04956387e-02 9.95896847e-01 -9.77187447e-05 -1.93624410e+01] [-9.90367087e-04 8.12814579e-06 9.99999510e-01 -2.57545256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42401273899998 meters Centerline goodness [0,1] 0.9959501960277455 Centerline is valid? [True, True] Translation: X:170.96, Y:-19.36, Z:-2.58 [[ 9.95848182e-01 9.10292337e-02 2.78064222e-04 1.70958667e+02] [-9.10292295e-02 9.95848221e-01 -2.77752685e-05 -1.93641083e+01] [-2.79438122e-04 2.34797877e-06 9.99999961e-01 -2.57753288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45401273899998 meters Centerline goodness [0,1] 0.9961103709115915 Centerline is valid? [True, True] Translation: X:170.99, Y:-19.36, Z:-2.58 [[ 9.95743358e-01 9.21690966e-02 1.50401274e-04 1.70987550e+02] [-9.21690954e-02 9.95743369e-01 -1.50887922e-05 -1.93649332e+01] [-1.51151792e-04 1.16221520e-06 9.99999989e-01 -2.57819563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48401273899998 meters Centerline goodness [0,1] 0.9970836663714329 Centerline is valid? [True, True] Translation: X:171.02, Y:-19.37, Z:-2.58 [[ 9.95589007e-01 9.38148946e-02 -1.13773450e-03 1.71016815e+02] [-9.38148280e-02 9.95589657e-01 1.11961761e-04 -1.93659464e+01] [ 1.14322038e-03 -4.73153235e-06 9.99999347e-01 -2.57951179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51401273899998 meters Centerline goodness [0,1] 0.9970819643783503 Centerline is valid? [True, True] Translation: X:171.04, Y:-19.37, Z:-2.58 [[ 9.95546984e-01 9.42467493e-02 -1.93719498e-03 1.71043996e+02] [-9.42465568e-02 9.95548869e-01 1.90640390e-04 -1.93692355e+01] [ 1.94653951e-03 -7.21750844e-06 9.99998105e-01 -2.58190906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54401273899998 meters Centerline goodness [0,1] 0.9974141984015045 Centerline is valid? [True, True] Translation: X:171.07, Y:-19.37, Z:-2.58 [[ 9.95464124e-01 9.51139732e-02 -2.12372155e-03 1.71071830e+02] [-9.51137440e-02 9.95466389e-01 2.08924742e-04 -1.93709014e+01] [ 2.13396509e-03 -5.98197786e-06 9.99997723e-01 -2.58251045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57401273899998 meters Centerline goodness [0,1] 0.9977831304755611 Centerline is valid? [True, True] Translation: X:171.10, Y:-19.37, Z:-2.58 [[ 9.95363024e-01 9.61811176e-02 -1.28192031e-03 1.71099504e+02] [-9.61810352e-02 9.95363849e-01 1.25928438e-04 -1.93720514e+01] [ 1.28808907e-03 -2.04808814e-06 9.99999170e-01 -2.58065476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60401273899998 meters Centerline goodness [0,1] 0.9974434360219865 Centerline is valid? [True, True] Translation: X:171.13, Y:-19.37, Z:-2.58 [[ 9.95208660e-01 9.77611402e-02 1.57533550e-03 1.71127405e+02] [-9.77610168e-02 9.95209907e-01 -1.55336711e-04 -1.93731359e+01] [-1.58297540e-03 5.86039013e-07 9.99998747e-01 -2.57535730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63401273899999 meters Centerline goodness [0,1] 0.9974762597313713 Centerline is valid? [True, True] Translation: X:171.16, Y:-19.37, Z:-2.57 [[ 9.95144961e-01 9.83966246e-02 2.14742905e-03 1.71156397e+02] [-9.83963973e-02 9.95147278e-01 -2.11484980e-04 -1.93747142e+01] [-2.15781758e-03 -8.41069943e-07 9.99997672e-01 -2.57377290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.664012739 meters Centerline goodness [0,1] 0.9974582346679411 Centerline is valid? [True, True] Translation: X:171.18, Y:-19.38, Z:-2.57 [[ 9.95054526e-01 9.92960683e-02 2.60405850e-03 1.71184837e+02] [-9.92957376e-02 9.95057933e-01 -2.56301930e-04 -1.93770563e+01] [-2.61663885e-03 -3.53751491e-06 9.99996577e-01 -2.57285773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.694012739 meters Centerline goodness [0,1] 0.9972017134124028 Centerline is valid? [True, True] Translation: X:171.21, Y:-19.38, Z:-2.57 [[ 9.95039170e-01 9.94479865e-02 2.67373269e-03 1.71213950e+02] [-9.94476387e-02 9.95042762e-01 -2.63026198e-04 -1.93801295e+01] [-2.68663579e-03 -4.17503379e-06 9.99996391e-01 -2.57215463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.724012739 meters Centerline goodness [0,1] 0.9973324154547801 Centerline is valid? [True, True] Translation: X:171.24, Y:-19.38, Z:-2.57 [[ 9.94850525e-01 1.01335561e-01 1.88060501e-03 1.71242321e+02] [-1.01335393e-01 9.94852303e-01 -1.85033439e-04 -1.93803210e+01] [-1.88967470e-03 -6.49123355e-06 9.99998215e-01 -2.57300607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.754012739 meters Centerline goodness [0,1] 0.9979749235210479 Centerline is valid? [True, True] Translation: X:171.27, Y:-19.38, Z:-2.58 [[ 9.94682112e-01 1.02990300e-01 7.02453144e-04 1.71271097e+02] [-1.02990277e-01 9.94682360e-01 -6.92180959e-05 -1.93801180e+01] [-7.05846544e-04 -3.49584208e-06 9.99999751e-01 -2.57557901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.784012739 meters Centerline goodness [0,1] 0.9983703926067286 Centerline is valid? [True, True] Translation: X:171.30, Y:-19.37, Z:-2.58 [[ 9.94281013e-01 1.06791233e-01 -9.48006910e-04 1.71300631e+02] [-1.06791193e-01 9.94281465e-01 9.28396544e-05 -1.93744845e+01] [ 9.52500161e-04 8.93008343e-06 9.99999546e-01 -2.57979410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.814012739 meters Centerline goodness [0,1] 0.9972753222039616 Centerline is valid? [True, True] Translation: X:171.33, Y:-19.37, Z:-2.58 [[ 9.94121706e-01 1.08267494e-01 -4.29040026e-04 1.71328790e+02] [-1.08267486e-01 9.94121798e-01 4.17540267e-05 -1.93725060e+01] [ 4.31038646e-04 4.94250060e-06 9.99999907e-01 -2.57909730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.844012739 meters Centerline goodness [0,1] 0.996626847713991 Centerline is valid? [True, True] Translation: X:171.36, Y:-19.37, Z:-2.57 [[ 9.93982072e-01 1.09527773e-01 1.81852452e-03 1.71357371e+02] [-1.09527629e-01 9.93983736e-01 -1.78638983e-04 -1.93686950e+01] [-1.82714972e-03 -2.16147320e-05 9.99998331e-01 -2.57438781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.874012739 meters Centerline goodness [0,1] 0.9961102727060174 Centerline is valid? [True, True] Translation: X:171.39, Y:-19.37, Z:-2.57 [[ 9.93926725e-01 1.10014937e-01 2.52557059e-03 1.71386439e+02] [-1.10014662e-01 9.93929934e-01 -2.47649087e-04 -1.93699658e+01] [-2.53748530e-03 -3.17047497e-05 9.99996780e-01 -2.57278938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.904012739 meters Centerline goodness [0,1] 0.9961102727060174 Centerline is valid? [True, True] Translation: X:171.41, Y:-19.37, Z:-2.57 [[ 9.93931740e-01 1.09969621e-01 2.52558187e-03 1.71414642e+02] [-1.09969347e-01 9.93934948e-01 -2.47533938e-04 -1.93726369e+01] [-2.53748530e-03 -3.17047497e-05 9.99996780e-01 -2.57294636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.934012739 meters Centerline goodness [0,1] 0.9964266609607361 Centerline is valid? [True, True] Translation: X:171.44, Y:-19.37, Z:-2.57 [[ 9.94010213e-01 1.09244914e-01 3.04048996e-03 1.71444096e+02] [-1.09244514e-01 9.94014863e-01 -2.97810563e-04 -1.93722312e+01] [-3.05482650e-03 -3.61301077e-05 9.99995333e-01 -2.57365538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96401273899997 meters Centerline goodness [0,1] 0.9962325891799961 Centerline is valid? [True, True] Translation: X:171.47, Y:-19.37, Z:-2.57 [[ 9.94164768e-01 1.07819856e-01 3.36056896e-03 1.71473078e+02] [-1.07819360e-01 9.94170447e-01 -3.28978193e-04 -1.93749216e+01] [-3.37644872e-03 -3.52758637e-05 9.99994299e-01 -2.57357518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99401273899997 meters Centerline goodness [0,1] 0.996993772815117 Centerline is valid? [True, True] Translation: X:171.50, Y:-19.38, Z:-2.57 [[ 9.94516434e-01 1.04525827e-01 3.37847435e-03 1.71501446e+02] [-1.04525307e-01 9.94522172e-01 -3.30570544e-04 -1.93794347e+01] [-3.39452081e-03 -2.43782307e-05 9.99994238e-01 -2.57351042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02401273899997 meters Centerline goodness [0,1] 0.9976119912155391 Centerline is valid? [True, True] Translation: X:171.53, Y:-19.38, Z:-2.58 [[ 9.94729573e-01 1.02496248e-01 2.75608565e-03 1.71529201e+02] [-1.02495895e-01 9.94733391e-01 -2.69623076e-04 -1.93835474e+01] [-2.76920578e-03 -1.42854165e-05 9.99996166e-01 -2.57506033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05401273899997 meters Centerline goodness [0,1] 0.9975530002815133 Centerline is valid? [True, True] Translation: X:171.56, Y:-19.39, Z:-2.58 [[ 9.95107537e-01 9.87794130e-02 1.90195837e-03 1.71557852e+02] [-9.87792379e-02 9.95109355e-01 -1.86007646e-04 -1.93891850e+01] [-1.91103029e-03 -2.77638845e-06 9.99998174e-01 -2.57683472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08401273899997 meters Centerline goodness [0,1] 0.9974108231870413 Centerline is valid? [True, True] Translation: X:171.59, Y:-19.39, Z:-2.58 [[ 9.95269753e-01 9.71347627e-02 1.71931186e-03 1.71585356e+02] [-9.71346172e-02 9.95271238e-01 -1.68132278e-04 -1.93930680e+01] [-1.72751313e-03 3.32272068e-07 9.99998508e-01 -2.57762452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11401273899997 meters Centerline goodness [0,1] 0.9972302737520129 Centerline is valid? [True, True] Translation: X:171.61, Y:-19.40, Z:-2.58 [[ 9.95448786e-01 9.52934568e-02 9.33666709e-04 1.71613853e+02] [-9.52934130e-02 9.95449224e-01 -9.13345349e-05 -1.93983053e+01] [-9.38121384e-04 1.94656453e-06 9.99999560e-01 -2.58026865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14401273899998 meters Centerline goodness [0,1] 0.996907349340664 Centerline is valid? [True, True] Translation: X:171.64, Y:-19.40, Z:-2.58 [[ 9.95532896e-01 9.44152691e-02 1.03201175e-04 1.71642608e+02] [-9.44152685e-02 9.95532901e-01 -1.03232705e-05 -1.94021082e+01] [-1.03714840e-04 5.33388731e-07 9.99999995e-01 -2.58128236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17401273899998 meters Centerline goodness [0,1] 0.996818093866231 Centerline is valid? [True, True] Translation: X:171.67, Y:-19.41, Z:-2.58 [[ 9.95668606e-01 9.29693809e-02 -8.49139417e-04 1.71669845e+02] [-9.29693444e-02 9.95668968e-01 8.24302530e-05 -1.94058982e+01] [ 8.53125257e-04 -3.12928017e-06 9.99999636e-01 -2.58349272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20401273899998 meters Centerline goodness [0,1] 0.9967054305849498 Centerline is valid? [True, True] Translation: X:171.70, Y:-19.41, Z:-2.58 [[ 9.95769146e-01 9.18809349e-02 -1.30456682e-03 1.71698243e+02] [-9.18808477e-02 9.95770000e-01 1.26806556e-04 -1.94088012e+01] [ 1.31069961e-03 -6.40534978e-06 9.99999141e-01 -2.58282564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23401273899998 meters Centerline goodness [0,1] 0.9967063755159655 Centerline is valid? [True, True] Translation: X:171.73, Y:-19.42, Z:-2.58 [[ 9.95977438e-01 8.95947988e-02 -1.30946939e-03 1.71725130e+02] [-8.95947091e-02 9.95978299e-01 1.27101721e-04 -1.94169421e+01] [ 1.31559075e-03 -9.26891761e-06 9.99999135e-01 -2.58398461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26401273899998 meters Centerline goodness [0,1] 0.9962417253897075 Centerline is valid? [True, True] Translation: X:171.75, Y:-19.42, Z:-2.58 [[ 9.96081469e-01 8.84395160e-02 -3.99805319e-04 1.71752063e+02] [-8.84395076e-02 9.96081549e-01 3.85783632e-05 -1.94230857e+01] [ 4.01650554e-04 -3.06860707e-06 9.99999919e-01 -2.58259267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29401273899998 meters Centerline goodness [0,1] 0.9949112193417345 Centerline is valid? [True, True] Translation: X:171.78, Y:-19.43, Z:-2.58 [[ 9.96293408e-01 8.60088446e-02 1.38717354e-03 1.71780281e+02] [-8.60087398e-02 9.96294373e-01 -1.35152461e-04 -1.94287729e+01] [-1.39365750e-03 1.53424574e-05 9.99999029e-01 -2.57897006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32401273899998 meters Centerline goodness [0,1] 0.9943143884737148 Centerline is valid? [True, True] Translation: X:171.81, Y:-19.44, Z:-2.58 [[ 9.96388890e-01 8.48928630e-02 1.54318579e-03 1.71807869e+02] [-8.48927320e-02 9.96390085e-01 -1.50294766e-04 -1.94353496e+01] [-1.55037397e-03 1.87467773e-05 9.99998798e-01 -2.57896981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35401273899998 meters Centerline goodness [0,1] 0.9935700902742293 Centerline is valid? [True, True] Translation: X:171.84, Y:-19.45, Z:-2.58 [[ 9.96434815e-01 8.43183467e-02 2.84163588e-03 1.71836110e+02] [-8.43179017e-02 9.96438867e-01 -2.76226441e-04 -1.94460347e+01] [-2.85480739e-03 3.56408681e-05 9.99995924e-01 -2.57689625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38401273899999 meters Centerline goodness [0,1] 0.9933842892928255 Centerline is valid? [True, True] Translation: X:171.87, Y:-19.45, Z:-2.58 [[ 9.96356398e-01 8.52230484e-02 3.31071263e-03 1.71865372e+02] [-8.52224497e-02 9.96361897e-01 -3.21754043e-04 -1.94481818e+01] [-3.32608878e-03 3.84346586e-05 9.99994468e-01 -2.57546306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.414012739 meters Centerline goodness [0,1] 0.996066022406568 Centerline is valid? [True, True] Translation: X:171.89, Y:-19.44, Z:-2.58 [[ 9.96025903e-01 8.90525545e-02 1.42969177e-03 1.71894817e+02] [-8.90524468e-02 9.96026929e-01 -1.38916958e-04 -1.94431401e+01] [-1.43638241e-03 1.10473377e-05 9.99998968e-01 -2.57838956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.444012739 meters Centerline goodness [0,1] 0.9968215789021562 Centerline is valid? [True, True] Translation: X:171.92, Y:-19.44, Z:-2.58 [[ 9.95789706e-01 9.16662385e-02 -4.03749422e-04 1.71924296e+02] [-9.16662302e-02 9.95789787e-01 3.88950274e-05 -1.94409514e+01] [ 4.05614912e-04 -1.72108043e-06 9.99999918e-01 -2.58180428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.474012739 meters Centerline goodness [0,1] 0.9981452326007721 Centerline is valid? [True, True] Translation: X:171.95, Y:-19.44, Z:-2.58 [[ 9.95252656e-01 9.73195319e-02 -1.02915550e-03 1.71953108e+02] [-9.73194811e-02 9.95253188e-01 9.94251949e-05 -1.94363134e+01] [ 1.03394631e-03 1.20369035e-06 9.99999465e-01 -2.58215590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.504012739 meters Centerline goodness [0,1] 0.9977436921007529 Centerline is valid? [True, True] Translation: X:171.98, Y:-19.44, Z:-2.58 [[ 9.95092418e-01 9.89475719e-02 6.76618975e-04 1.71982224e+02] [-9.89475500e-02 9.95092648e-01 -6.58152976e-05 -1.94371556e+01] [-6.79810831e-04 -1.45748616e-06 9.99999769e-01 -2.57809454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.534012739 meters Centerline goodness [0,1] 0.9969693089170615 Centerline is valid? [True, True] Translation: X:172.01, Y:-19.44, Z:-2.57 [[ 9.95101631e-01 9.87452941e-02 4.70227084e-03 1.72009786e+02] [-9.87442437e-02 9.95112741e-01 -4.55584764e-04 -1.94382755e+01] [-4.72427647e-03 -1.09690355e-05 9.99988840e-01 -2.57223747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.564012739 meters Centerline goodness [0,1] 0.9964598750293233 Centerline is valid? [True, True] Translation: X:172.04, Y:-19.44, Z:-2.57 [[ 9.95227578e-01 9.74463141e-02 5.12672978e-03 1.72036871e+02] [-9.74450501e-02 9.95240783e-01 -4.96368985e-04 -1.94431430e+01] [-5.15069988e-03 -5.57433736e-06 9.99986735e-01 -2.57232746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.594012739 meters Centerline goodness [0,1] 0.996484157269648 Centerline is valid? [True, True] Translation: X:172.07, Y:-19.45, Z:-2.57 [[ 9.95645072e-01 9.31173027e-02 4.47858491e-03 1.72065617e+02] [-9.31162954e-02 9.95655145e-01 -4.33366919e-04 -1.94543853e+01] [-4.49948007e-03 1.44504019e-05 9.99989877e-01 -2.57496196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.624012739 meters Centerline goodness [0,1] 0.9959684300341297 Centerline is valid? [True, True] Translation: X:172.09, Y:-19.46, Z:-2.58 [[ 9.95889004e-01 9.04926739e-02 4.02084202e-03 1.72093871e+02] [-9.04918409e-02 9.95897121e-01 -3.89010208e-04 -1.94615249e+01] [-4.03954757e-03 2.35575922e-05 9.99991841e-01 -2.57551330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.654012739 meters Centerline goodness [0,1] 0.9945469262556981 Centerline is valid? [True, True] Translation: X:172.12, Y:-19.48, Z:-2.58 [[ 9.96396738e-01 8.47573357e-02 3.12010399e-03 1.72123424e+02] [-8.47568064e-02 9.96401622e-01 -3.01716951e-04 -1.94756113e+01] [-3.13444940e-03 3.61797359e-05 9.99995087e-01 -2.57707178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.684012739 meters Centerline goodness [0,1] 0.9934753406255997 Centerline is valid? [True, True] Translation: X:172.15, Y:-19.49, Z:-2.58 [[ 9.96630390e-01 8.19942127e-02 2.19437363e-03 1.72152259e+02] [-8.19939441e-02 9.96632805e-01 -2.12235385e-04 -1.94860441e+01] [-2.20438682e-03 3.15948854e-05 9.99997570e-01 -2.57875382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71401273899997 meters Centerline goodness [0,1] 0.9945260546966879 Centerline is valid? [True, True] Translation: X:172.18, Y:-19.50, Z:-2.58 [[ 9.96993671e-01 7.74802645e-02 -6.54754422e-04 1.72181349e+02] [-7.74802397e-02 9.96993886e-01 6.32362991e-05 -1.94986958e+01] [ 6.57685721e-04 -1.23156604e-05 9.99999784e-01 -2.58475595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74401273899997 meters Centerline goodness [0,1] 0.9935574229691877 Centerline is valid? [True, True] Translation: X:172.21, Y:-19.51, Z:-2.59 [[ 9.97135197e-01 7.56246387e-02 -1.52100117e-03 1.72210325e+02] [-7.56245026e-02 9.97136356e-01 1.46883962e-04 -1.95061547e+01] [ 1.52775361e-03 -3.14382112e-05 9.99998832e-01 -2.58671240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77401273899997 meters Centerline goodness [0,1] 0.9916829221238559 Centerline is valid? [True, True] Translation: X:172.24, Y:-19.52, Z:-2.59 [[ 9.97323603e-01 7.31072104e-02 -9.83565357e-04 1.72238560e+02] [-7.31071522e-02 9.97324087e-01 9.49913216e-05 -1.95193625e+01] [ 9.87877973e-04 -2.28314248e-05 9.99999512e-01 -2.58633233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80401273899997 meters Centerline goodness [0,1] 0.9899208680920418 Centerline is valid? [True, True] Translation: X:172.27, Y:-19.53, Z:-2.58 [[ 9.97406633e-01 7.19720503e-02 1.78679457e-04 1.72267599e+02] [-7.19720484e-02 9.97406649e-01 -1.73290456e-05 -1.95296418e+01] [-1.79463285e-04 4.42417853e-06 9.99999984e-01 -2.58477249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83401273899997 meters Centerline goodness [0,1] 0.9901074717432643 Centerline is valid? [True, True] Translation: X:172.30, Y:-19.53, Z:-2.58 [[ 9.97443415e-01 7.14582031e-02 5.99184681e-04 1.72297694e+02] [-7.14581812e-02 9.97443595e-01 -5.79003296e-05 -1.95338045e+01] [-6.01790375e-04 1.49356550e-05 9.99999819e-01 -2.58280854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86401273899997 meters Centerline goodness [0,1] 0.990603998116519 Centerline is valid? [True, True] Translation: X:172.33, Y:-19.54, Z:-2.58 [[ 9.97379671e-01 7.23446051e-02 2.25635481e-04 1.72327682e+02] [-7.23446020e-02 9.97379696e-01 -2.18035760e-05 -1.95382428e+01] [-2.26621619e-04 5.42293438e-06 9.99999974e-01 -2.58403089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89401273899998 meters Centerline goodness [0,1] 0.9912104524349422 Centerline is valid? [True, True] Translation: X:172.36, Y:-19.54, Z:-2.58 [[ 9.97313117e-01 7.32566796e-02 7.51766282e-05 1.72357671e+02] [-7.32566792e-02 9.97313120e-01 -7.26445734e-06 -1.95434311e+01] [-7.55068076e-05 1.73774846e-06 9.99999997e-01 -2.58477474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92401273899998 meters Centerline goodness [0,1] 0.9912464238438874 Centerline is valid? [True, True] Translation: X:172.39, Y:-19.55, Z:-2.58 [[ 9.97244010e-01 7.41895605e-02 5.42469007e-04 1.72387053e+02] [-7.41895429e-02 9.97244157e-01 -5.24197886e-05 -1.95515512e+01] [-5.44863048e-04 1.20297925e-05 9.99999851e-01 -2.58380436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95401273899998 meters Centerline goodness [0,1] 0.9913097322458043 Centerline is valid? [True, True] Translation: X:172.42, Y:-19.56, Z:-2.58 [[ 9.97163537e-01 7.52519536e-02 1.42288737e-03 1.72417275e+02] [-7.52518340e-02 9.97164551e-01 -1.37496252e-04 -1.95582929e+01] [-1.42919971e-03 3.00313647e-05 9.99998978e-01 -2.58124569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98401273899998 meters Centerline goodness [0,1] 0.9918448173068733 Centerline is valid? [True, True] Translation: X:172.45, Y:-19.56, Z:-2.58 [[ 9.97104078e-01 7.60358881e-02 1.41481236e-03 1.72447603e+02] [-7.60357710e-02 9.97105081e-01 -1.36466877e-04 -1.95643849e+01] [-1.42109297e-03 2.84953313e-05 9.99998990e-01 -2.58125295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01401273899998 meters Centerline goodness [0,1] 0.9923478112175103 Centerline is valid? [True, True] Translation: X:172.48, Y:-19.57, Z:-2.58 [[ 9.97065258e-01 7.65479711e-02 1.13153153e-03 1.72478608e+02] [-7.65478963e-02 9.97065899e-01 -1.09309791e-04 -1.95681506e+01] [-1.13657894e-03 2.23726369e-05 9.99999354e-01 -2.58190226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04401273899998 meters Centerline goodness [0,1] 0.9939588772141794 Centerline is valid? [True, True] Translation: X:172.51, Y:-19.57, Z:-2.58 [[ 9.97010749e-01 7.72629376e-02 -6.38016520e-05 1.72509978e+02] [-7.72629373e-02 9.97010751e-01 6.30113253e-06 -1.95715321e+01] [ 6.40977770e-05 -1.35279383e-06 9.99999998e-01 -2.58452539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07401273899998 meters Centerline goodness [0,1] 0.9943217528878872 Centerline is valid? [True, True] Translation: X:172.54, Y:-19.57, Z:-2.59 [[ 9.96979832e-01 7.76540441e-02 -1.03147849e-03 1.72539839e+02] [-7.76539824e-02 9.96980365e-01 9.97842286e-05 -1.95747660e+01] [ 1.03611245e-03 -1.93844513e-05 9.99999463e-01 -2.58647404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10401273899998 meters Centerline goodness [0,1] 0.9948954317344763 Centerline is valid? [True, True] Translation: X:172.57, Y:-19.58, Z:-2.59 [[ 9.97035664e-01 7.68549223e-02 -3.63393077e-03 1.72569518e+02] [-7.68541509e-02 9.97042284e-01 3.51650269e-04 -1.95834806e+01] [ 3.65020869e-03 -7.13251954e-05 9.99993335e-01 -2.59139250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13401273899999 meters Centerline goodness [0,1] 0.9948619550154568 Centerline is valid? [True, True] Translation: X:172.60, Y:-19.59, Z:-2.59 [[ 9.97139577e-01 7.54967588e-02 -3.59199341e-03 1.72598447e+02] [-7.54959969e-02 9.97146044e-01 3.47422754e-04 -1.95919466e+01] [ 3.60797131e-03 -7.52478550e-05 9.99993488e-01 -2.59239850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.164012739 meters Centerline goodness [0,1] 0.9926248028307115 Centerline is valid? [True, True] Translation: X:172.63, Y:-19.60, Z:-2.59 [[ 9.97301600e-01 7.33903926e-02 -1.83552162e-03 1.72628598e+02] [-7.33901900e-02 9.97303288e-01 1.77566883e-04 -1.95980441e+01] [ 1.84360345e-03 -4.23784555e-05 9.99998300e-01 -2.58884392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.194012739 meters Centerline goodness [0,1] 0.9915765949674452 Centerline is valid? [True, True] Translation: X:172.66, Y:-19.60, Z:-2.59 [[ 9.97323628e-01 7.31123324e-02 -4.10129934e-04 1.72659940e+02] [-7.31123222e-02 9.97323712e-01 3.98102062e-05 -1.96022023e+01] [ 4.11942925e-04 -9.71810738e-06 9.99999915e-01 -2.58658182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.224012739 meters Centerline goodness [0,1] 0.9906204597897615 Centerline is valid? [True, True] Translation: X:172.69, Y:-19.61, Z:-2.58 [[ 9.97345995e-01 7.27933271e-02 1.44827804e-03 1.72690644e+02] [-7.27932004e-02 9.97347046e-01 -1.40044219e-04 -1.96056127e+01] [-1.45463011e-03 3.42477471e-05 9.99998941e-01 -2.58280830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.254012739 meters Centerline goodness [0,1] 0.9888572783309626 Centerline is valid? [True, True] Translation: X:172.72, Y:-19.61, Z:-2.58 [[ 9.97373074e-01 7.23637750e-02 3.23044622e-03 1.72721221e+02] [-7.23631427e-02 9.97378302e-01 -3.12320031e-04 -1.96123903e+01] [-3.24457762e-03 7.77343488e-05 9.99994733e-01 -2.57928088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.284012739 meters Centerline goodness [0,1] 0.9893543956043956 Centerline is valid? [True, True] Translation: X:172.75, Y:-19.62, Z:-2.58 [[ 9.97348994e-01 7.27387643e-02 2.01427966e-03 1.72753598e+02] [-7.27385195e-02 9.97351026e-01 -1.94616614e-04 -1.96194789e+01] [-2.02310006e-03 4.75849631e-05 9.99997952e-01 -2.58144912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.314012739 meters Centerline goodness [0,1] 0.9896272703796161 Centerline is valid? [True, True] Translation: X:172.79, Y:-19.63, Z:-2.58 [[ 9.97342038e-01 7.28477608e-02 1.43640088e-03 1.72786044e+02] [-7.28476364e-02 9.97343072e-01 -1.38755579e-04 -1.96252913e+01] [-1.44269250e-03 3.37483622e-05 9.99998959e-01 -2.58275512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.344012739 meters Centerline goodness [0,1] 0.9894719003537611 Centerline is valid? [True, True] Translation: X:172.82, Y:-19.63, Z:-2.58 [[ 9.97346335e-01 7.27964155e-02 9.85011389e-04 1.72817328e+02] [-7.27963571e-02 9.97346821e-01 -9.50732568e-05 -1.96309780e+01] [-9.89318970e-04 2.31157233e-05 9.99999510e-01 -2.58319471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.374012739 meters Centerline goodness [0,1] 0.9882400909890771 Centerline is valid? [True, True] Translation: X:172.85, Y:-19.64, Z:-2.58 [[ 9.97459360e-01 7.12213251e-02 1.53231626e-03 1.72847871e+02] [-7.12211802e-02 9.97460536e-01 -1.49019459e-04 -1.96405421e+01] [-1.53903836e-03 3.95074816e-05 9.99998815e-01 -2.58276299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.404012739 meters Centerline goodness [0,1] 0.9876737365579972 Centerline is valid? [True, True] Translation: X:172.88, Y:-19.65, Z:-2.58 [[ 9.97528997e-01 7.02413902e-02 1.43064894e-03 1.72879287e+02] [-7.02412632e-02 9.97530022e-01 -1.38919536e-04 -1.96492806e+01] [-1.43687318e-03 3.80856766e-05 9.99998967e-01 -2.58263334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.434012739 meters Centerline goodness [0,1] 0.987142917961599 Centerline is valid? [True, True] Translation: X:172.91, Y:-19.66, Z:-2.58 [[ 9.97621069e-01 6.89058540e-02 2.04620740e-03 1.72910490e+02] [-6.89055899e-02 9.97623165e-01 -1.99364732e-04 -1.96590003e+01] [-2.05508130e-03 5.78953292e-05 9.99997887e-01 -2.58142462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46401273899997 meters Centerline goodness [0,1] 0.9879395019340258 Centerline is valid? [True, True] Translation: X:172.94, Y:-19.66, Z:-2.58 [[ 9.97583006e-01 6.94410135e-02 2.46832991e-03 1.72942492e+02] [-6.94406289e-02 9.97586057e-01 -2.41286189e-04 -1.96624881e+01] [-2.47912666e-03 6.93006202e-05 9.99996925e-01 -2.58096593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49401273899997 meters Centerline goodness [0,1] 0.9890677325267365 Centerline is valid? [True, True] Translation: X:172.97, Y:-19.67, Z:-2.58 [[ 9.97373104e-01 7.24244665e-02 1.26015380e-03 1.72973450e+02] [-7.24243685e-02 9.97373900e-01 -1.23333074e-04 -1.96657300e+01] [-1.26577685e-03 3.17432474e-05 9.99999198e-01 -2.58293495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52401273899997 meters Centerline goodness [0,1] 0.9906339283796266 Centerline is valid? [True, True] Translation: X:173.00, Y:-19.67, Z:-2.58 [[ 9.97237517e-01 7.42747912e-02 7.68034210e-04 1.73004246e+02] [-7.42747556e-02 9.97237813e-01 -7.48067491e-05 -1.96710689e+01] [-7.71469011e-04 1.75545435e-05 9.99999702e-01 -2.58413184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55401273899997 meters Centerline goodness [0,1] 0.9903718601566177 Centerline is valid? [True, True] Translation: X:173.04, Y:-19.68, Z:-2.59 [[ 9.97118395e-01 7.58571178e-02 7.76602246e-04 1.73035100e+02] [-7.58570821e-02 9.97118698e-01 -7.53972158e-05 -1.96801295e+01] [-7.80084036e-04 1.62691705e-05 9.99999696e-01 -2.58512552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58401273899997 meters Centerline goodness [0,1] 0.9916534351800197 Centerline is valid? [True, True] Translation: X:173.07, Y:-19.68, Z:-2.58 [[ 9.96904045e-01 7.86156318e-02 1.38139988e-03 1.73067113e+02] [-7.86155194e-02 9.96905001e-01 -1.35548084e-04 -1.96800584e+01] [-1.38778065e-03 2.65289640e-05 9.99999037e-01 -2.58271062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61401273899997 meters Centerline goodness [0,1] 0.9943348901574122 Centerline is valid? [True, True] Translation: X:173.10, Y:-19.68, Z:-2.58 [[ 9.96565433e-01 8.28076610e-02 4.78580582e-04 1.73099481e+02] [-8.28076481e-02 9.96565548e-01 -4.67832035e-05 -1.96771517e+01] [-4.80810927e-04 6.99239108e-06 9.99999884e-01 -2.58374706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64401273899998 meters Centerline goodness [0,1] 0.9945679118794594 Centerline is valid? [True, True] Translation: X:173.13, Y:-19.68, Z:-2.59 [[ 9.96330037e-01 8.55947233e-02 3.62886151e-05 1.73130019e+02] [-8.55947232e-02 9.96330037e-01 -2.70864592e-06 -1.96821275e+01] [-3.63872830e-05 -4.07408682e-07 9.99999999e-01 -2.58602415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67401273899998 meters Centerline goodness [0,1] 0.9962074950183197 Centerline is valid? [True, True] Translation: X:173.16, Y:-19.68, Z:-2.59 [[ 9.96056989e-01 8.87156361e-02 1.05907024e-04 1.73161879e+02] [-8.87156356e-02 9.96056994e-01 -9.61581399e-06 -1.96814248e+01] [-1.06342505e-04 1.82289738e-07 9.99999994e-01 -2.58610039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70401273899998 meters Centerline goodness [0,1] 0.9981581821686334 Centerline is valid? [True, True] Translation: X:173.19, Y:-19.67, Z:-2.58 [[ 9.95456591e-01 9.52123651e-02 8.83741370e-04 1.73194021e+02] [-9.52123254e-02 9.95456983e-01 -8.70438309e-05 -1.96732136e+01] [-8.88014167e-04 2.50528433e-06 9.99999606e-01 -2.58342418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73401273899998 meters Centerline goodness [0,1] 0.998517149488524 Centerline is valid? [True, True] Translation: X:173.23, Y:-19.67, Z:-2.58 [[ 9.95198851e-01 9.78721079e-02 5.45821785e-04 1.73225223e+02] [-9.78720934e-02 9.95199000e-01 -5.33738786e-05 -1.96727552e+01] [-5.48425109e-04 -3.03097997e-07 9.99999850e-01 -2.58483094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76401273899998 meters Centerline goodness [0,1] 0.9986112594808247 Centerline is valid? [True, True] Translation: X:173.26, Y:-19.67, Z:-2.59 [[ 9.94848141e-01 1.01368754e-01 -1.24617978e-03 1.73257267e+02] [-1.01368679e-01 9.94848921e-01 1.23202615e-04 -1.96705175e+01] [ 1.25224951e-03 3.75570585e-06 9.99999216e-01 -2.58769172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79401273899998 meters Centerline goodness [0,1] 0.9986112594808247 Centerline is valid? [True, True] Translation: X:173.29, Y:-19.67, Z:-2.59 [[ 9.94845756e-01 1.01392152e-01 -1.24617693e-03 1.73287947e+02] [-1.01392077e-01 9.94846537e-01 1.23231530e-04 -1.96735921e+01] [ 1.25224951e-03 3.75610306e-06 9.99999216e-01 -2.58786258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82401273899998 meters Centerline goodness [0,1] 0.9988511616032678 Centerline is valid? [True, True] Translation: X:173.32, Y:-19.67, Z:-2.59 [[ 9.94680407e-01 1.02994720e-01 -1.72498234e-03 1.73317705e+02] [-1.02994580e-01 9.94681903e-01 1.70398222e-04 -1.96725725e+01] [ 1.73335883e-03 8.17205882e-06 9.99998498e-01 -2.58978944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85401273899998 meters Centerline goodness [0,1] 0.9979190150004336 Centerline is valid? [True, True] Translation: X:173.35, Y:-19.67, Z:-2.58 [[ 9.94274549e-01 1.06855407e-01 2.08144454e-04 1.73347853e+02] [-1.06855405e-01 9.94274571e-01 -2.06887235e-05 -1.96675905e+01] [-2.09163439e-04 -1.67108867e-06 9.99999978e-01 -2.58466550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88401273899999 meters Centerline goodness [0,1] 0.9971045964531307 Centerline is valid? [True, True] Translation: X:173.38, Y:-19.66, Z:-2.58 [[ 9.94035411e-01 1.09043186e-01 1.78448113e-03 1.73377442e+02] [-1.09043045e-01 9.94037013e-01 -1.76366011e-04 -1.96607408e+01] [-1.79307180e-03 -1.92711960e-05 9.99998392e-01 -2.58284770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.914012739 meters Centerline goodness [0,1] 0.9957501609787508 Centerline is valid? [True, True] Translation: X:173.41, Y:-19.66, Z:-2.58 [[ 9.93696537e-01 1.12055377e-01 3.28389297e-03 1.73408263e+02] [-1.12054917e-01 9.93701963e-01 -3.24195058e-04 -1.96586527e+01] [-3.29953869e-03 -4.58248492e-05 9.99994555e-01 -2.57871359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.944012739 meters Centerline goodness [0,1] 0.9946636618760099 Centerline is valid? [True, True] Translation: X:173.44, Y:-19.65, Z:-2.58 [[ 9.93573028e-01 1.13142728e-01 3.37065702e-03 1.73437806e+02] [-1.13142250e-01 9.93578744e-01 -3.32810749e-04 -1.96543579e+01] [-3.38666829e-03 -5.06919348e-05 9.99994264e-01 -2.57895816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.974012739 meters Centerline goodness [0,1] 0.9951557241763659 Centerline is valid? [True, True] Translation: X:173.47, Y:-19.66, Z:-2.58 [[ 9.93515342e-01 1.13623025e-01 4.13199797e-03 1.73466992e+02] [-1.13622312e-01 9.93523932e-01 -4.07857807e-04 -1.96580175e+01] [-4.15158091e-03 -6.42741725e-05 9.99991380e-01 -2.57742384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.004012739 meters Centerline goodness [0,1] 0.9943295672564485 Centerline is valid? [True, True] Translation: X:173.50, Y:-19.66, Z:-2.58 [[ 9.93479679e-01 1.13912239e-01 4.70416292e-03 1.73497621e+02] [-1.13911318e-01 9.93490813e-01 -4.64188955e-04 -1.96582438e+01] [-4.72641945e-03 -7.46951030e-05 9.99988828e-01 -2.57523662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.034012739 meters Centerline goodness [0,1] 0.9942629516572492 Centerline is valid? [True, True] Translation: X:173.53, Y:-19.66, Z:-2.58 [[ 9.93526123e-01 1.13523527e-01 4.27227903e-03 1.73528384e+02] [-1.13522763e-01 9.93535306e-01 -4.21572290e-04 -1.96594863e+01] [-4.29251842e-03 -6.61578378e-05 9.99990785e-01 -2.57628444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.064012739 meters Centerline goodness [0,1] 0.9944649049126661 Centerline is valid? [True, True] Translation: X:173.56, Y:-19.65, Z:-2.58 [[ 9.93635125e-01 1.12592097e-01 3.50106100e-03 1.73558198e+02] [-1.12591579e-01 9.93641292e-01 -3.45543512e-04 -1.96527817e+01] [-3.51770424e-03 -5.08458128e-05 9.99993812e-01 -2.57940237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.094012739 meters Centerline goodness [0,1] 0.9955174180327869 Centerline is valid? [True, True] Translation: X:173.59, Y:-19.66, Z:-2.58 [[ 9.93653404e-01 1.12445531e-01 2.98572607e-03 1.73587393e+02] [-1.12445153e-01 9.93657889e-01 -2.94572583e-04 -1.96575481e+01] [-2.99991364e-03 -4.30273756e-05 9.99995499e-01 -2.58009228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.124012739 meters Centerline goodness [0,1] 0.9957673083058598 Centerline is valid? [True, True] Translation: X:173.62, Y:-19.65, Z:-2.58 [[ 9.93601791e-01 1.12932810e-01 1.28924579e-03 1.73616104e+02] [-1.12932740e-01 9.93602627e-01 -1.27339172e-04 -1.96536054e+01] [-1.29537877e-03 -1.90736308e-05 9.99999161e-01 -2.58283925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.154012739 meters Centerline goodness [0,1] 0.9962487406486463 Centerline is valid? [True, True] Translation: X:173.65, Y:-19.65, Z:-2.58 [[ 9.93543594e-01 1.13450787e-01 2.13442531e-04 1.73645761e+02] [-1.13450785e-01 9.93543617e-01 -2.12878215e-05 -1.96511864e+01] [-2.14479584e-04 -3.06484397e-06 9.99999977e-01 -2.58448600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.184012739 meters Centerline goodness [0,1] 0.9961160075972598 Centerline is valid? [True, True] Translation: X:173.67, Y:-19.65, Z:-2.58 [[ 9.93473129e-01 1.14063783e-01 7.71201233e-04 1.73674268e+02] [-1.14063758e-01 9.93473429e-01 -7.62590918e-05 -1.96450085e+01] [-7.74866333e-04 -1.22047522e-05 9.99999700e-01 -2.58337231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21401273899997 meters Centerline goodness [0,1] 0.9949897225077081 Centerline is valid? [True, True] Translation: X:173.70, Y:-19.65, Z:-2.58 [[ 9.93565663e-01 1.13225373e-01 2.69960586e-03 1.73702648e+02] [-1.13225068e-01 9.93569330e-01 -2.65947719e-04 -1.96471503e+01] [-2.71235762e-03 -4.14265372e-05 9.99996321e-01 -2.58020294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24401273899997 meters Centerline goodness [0,1] 0.9950576960268174 Centerline is valid? [True, True] Translation: X:173.73, Y:-19.65, Z:-2.58 [[ 9.93709840e-01 1.11912116e-01 4.05372788e-03 1.73730919e+02] [-1.11911420e-01 9.93718106e-01 -3.99026431e-04 -1.96500263e+01] [-4.07291869e-03 -5.71419512e-05 9.99991704e-01 -2.57803472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27401273899997 meters Centerline goodness [0,1] 0.9944395731303065 Centerline is valid? [True, True] Translation: X:173.76, Y:-19.65, Z:-2.58 [[ 9.93973031e-01 1.09522234e-01 4.74270653e-03 1.73760070e+02] [-1.09521254e-01 9.93984345e-01 -4.66561531e-04 -1.96515187e+01] [-4.76527491e-03 -5.56775875e-05 9.99988644e-01 -2.57653280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30401273899997 meters Centerline goodness [0,1] 0.9956026512795212 Centerline is valid? [True, True] Translation: X:173.79, Y:-19.65, Z:-2.58 [[ 9.94045867e-01 1.08882555e-01 4.17181381e-03 1.73789850e+02] [-1.08881792e-01 9.94054620e-01 -4.10318393e-04 -1.96533200e+01] [-4.19168730e-03 -4.63592605e-05 9.99991214e-01 -2.57761841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33401273899997 meters Centerline goodness [0,1] 0.9966437899356726 Centerline is valid? [True, True] Translation: X:173.82, Y:-19.65, Z:-2.58 [[ 9.94047909e-01 1.08937465e-01 1.17625732e-03 1.73818628e+02] [-1.08937405e-01 9.94048605e-01 -1.15857052e-04 -1.96505384e+01] [-1.18187812e-03 -1.29709588e-05 9.99999301e-01 -2.58240403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36401273899997 meters Centerline goodness [0,1] 0.9967103848634702 Centerline is valid? [True, True] Translation: X:173.85, Y:-19.65, Z:-2.58 [[ 9.93930786e-01 1.10005706e-01 5.80095356e-04 1.73847833e+02] [-1.10005691e-01 9.93930956e-01 -5.72498744e-05 -1.96499410e+01] [-5.82872545e-04 -6.91137790e-06 9.99999830e-01 -2.58312484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39401273899998 meters Centerline goodness [0,1] 0.9950050378373744 Centerline is valid? [True, True] Translation: X:173.88, Y:-19.64, Z:-2.58 [[ 9.93628698e-01 1.12686235e-01 1.95510193e-03 1.73876574e+02] [-1.12686075e-01 9.93630621e-01 -1.92262031e-04 -1.96394914e+01] [-1.96431443e-03 -2.92756897e-05 9.99998070e-01 -2.58282993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42401273899998 meters Centerline goodness [0,1] 0.9952267303102625 Centerline is valid? [True, True] Translation: X:173.91, Y:-19.64, Z:-2.58 [[ 9.93619979e-01 1.12750711e-01 2.57190524e-03 1.73905881e+02] [-1.12750435e-01 9.93623307e-01 -2.52619105e-04 -1.96398185e+01] [-2.58398797e-03 -3.89760450e-05 9.99996661e-01 -2.58147914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45401273899998 meters Centerline goodness [0,1] 0.995672294112606 Centerline is valid? [True, True] Translation: X:173.93, Y:-19.64, Z:-2.58 [[ 9.93879994e-01 1.10447159e-01 1.99578151e-03 1.73934840e+02] [-1.10446988e-01 9.93881997e-01 -1.95997710e-04 -1.96423927e+01] [-2.00521870e-03 -2.56298540e-05 9.99997989e-01 -2.58243769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48401273899998 meters Centerline goodness [0,1] 0.9964985843041476 Centerline is valid? [True, True] Translation: X:173.96, Y:-19.65, Z:-2.58 [[ 9.94131921e-01 1.08163143e-01 1.56768189e-03 1.73962430e+02] [-1.08163034e-01 9.94133157e-01 -1.53983991e-04 -1.96458514e+01] [-1.57513994e-03 -1.64848291e-05 9.99998759e-01 -2.58401960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51401273899998 meters Centerline goodness [0,1] 0.9975847494177521 Centerline is valid? [True, True] Translation: X:173.99, Y:-19.65, Z:-2.58 [[ 9.94401368e-01 1.05661328e-01 1.26639353e-03 1.73990681e+02] [-1.05661255e-01 9.94402174e-01 -1.24321057e-04 -1.96510581e+01] [-1.27244041e-03 -1.01837009e-05 9.99999190e-01 -2.58461100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54401273899998 meters Centerline goodness [0,1] 0.9985099408233641 Centerline is valid? [True, True] Translation: X:174.02, Y:-19.66, Z:-2.59 [[ 9.94938472e-01 1.00485119e-01 -4.22450625e-04 1.74018590e+02] [-1.00485111e-01 9.94938561e-01 4.11060009e-05 -1.96592590e+01] [ 4.24442959e-04 1.55205622e-06 9.99999910e-01 -2.58802644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57401273899998 meters Centerline goodness [0,1] 0.9987951288781789 Centerline is valid? [True, True] Translation: X:174.05, Y:-19.67, Z:-2.59 [[ 9.95636993e-01 9.33065614e-02 -9.29074915e-04 1.74046597e+02] [-9.33065174e-02 9.95637427e-01 9.06703672e-05 -1.96704435e+01] [ 9.33481898e-04 -3.58602710e-06 9.99999564e-01 -2.58924623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60401273899998 meters Centerline goodness [0,1] 0.9982021401031062 Centerline is valid? [True, True] Translation: X:174.08, Y:-19.68, Z:-2.59 [[ 9.95990920e-01 8.94510080e-02 -7.77060385e-04 1.74075147e+02] [-8.94509761e-02 9.95991223e-01 7.58312497e-05 -1.96780625e+01] [ 7.80728505e-04 -6.01842629e-06 9.99999695e-01 -2.58787372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63401273899999 meters Centerline goodness [0,1] 0.9973938140777118 Centerline is valid? [True, True] Translation: X:174.10, Y:-19.69, Z:-2.59 [[ 9.96282579e-01 8.61435993e-02 -5.50309239e-04 1.74104149e+02] [-8.61435828e-02 9.96282731e-01 5.36975364e-05 -1.96851859e+01] [ 5.52889291e-04 -6.09231057e-06 9.99999847e-01 -2.58745745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.664012739 meters Centerline goodness [0,1] 0.995897903372835 Centerline is valid? [True, True] Translation: X:174.13, Y:-19.69, Z:-2.59 [[ 9.96715540e-01 8.09717910e-02 -1.30470642e-03 1.74133373e+02] [-8.09716933e-02 9.96716393e-01 1.27613228e-04 -1.96949805e+01] [ 1.31075535e-03 -2.15497995e-05 9.99999141e-01 -2.58864620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.694012739 meters Centerline goodness [0,1] 0.9956616052060737 Centerline is valid? [True, True] Translation: X:174.16, Y:-19.70, Z:-2.59 [[ 9.96887014e-01 7.88359519e-02 -1.08389838e-03 1.74162358e+02] [-7.88358834e-02 9.96887603e-01 1.05858293e-04 -1.97019090e+01] [ 1.08887030e-03 -2.00786713e-05 9.99999407e-01 -2.58899102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.724012739 meters Centerline goodness [0,1] 0.993685682448819 Centerline is valid? [True, True] Translation: X:174.19, Y:-19.71, Z:-2.59 [[ 9.97234298e-01 7.43214033e-02 2.90401592e-04 1.74191066e+02] [-7.43213982e-02 9.97234340e-01 -2.84606572e-05 -1.97141376e+01] [-2.91713676e-04 6.79889119e-06 9.99999957e-01 -2.58620891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.754012739 meters Centerline goodness [0,1] 0.9914358009472524 Centerline is valid? [True, True] Translation: X:174.22, Y:-19.72, Z:-2.59 [[ 9.97384032e-01 7.22836522e-02 4.07764562e-04 1.74220831e+02] [-7.22836420e-02 9.97384115e-01 -3.98084901e-05 -1.97248615e+01] [-4.09575400e-04 1.02296447e-05 9.99999916e-01 -2.58573481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.784012739 meters Centerline goodness [0,1] 0.9915553342138882 Centerline is valid? [True, True] Translation: X:174.25, Y:-19.74, Z:-2.59 [[ 9.97613887e-01 6.90387780e-02 -4.24721982e-04 1.74251428e+02] [-6.90387665e-02 9.97613977e-01 4.16730393e-05 -1.97351802e+01] [ 4.26585641e-04 -1.22513209e-05 9.99999909e-01 -2.58591547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.814012739 meters Centerline goodness [0,1] 0.9886171555726726 Centerline is valid? [True, True] Translation: X:174.28, Y:-19.75, Z:-2.59 [[ 9.97691679e-01 6.79066403e-02 3.72139876e-05 1.74280171e+02] [-6.79066402e-02 9.97691680e-01 -3.63995559e-06 -1.97477398e+01] [-3.73752629e-05 1.10447653e-06 9.99999999e-01 -2.58570821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.844012739 meters Centerline goodness [0,1] 0.9890967074642303 Centerline is valid? [True, True] Translation: X:174.31, Y:-19.75, Z:-2.58 [[ 9.97755595e-01 6.69407224e-02 1.64680154e-03 1.74311272e+02] [-6.69405478e-02 9.97756953e-01 -1.60984715e-04 -1.97511521e+01] [-1.65388412e-03 5.03856031e-05 9.99998631e-01 -2.58272971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.874012739 meters Centerline goodness [0,1] 0.9869306087696892 Centerline is valid? [True, True] Translation: X:174.34, Y:-19.77, Z:-2.58 [[ 9.97845204e-01 6.53905036e-02 5.38803135e-03 1.74340703e+02] [-6.53886095e-02 9.97859736e-01 -5.27135717e-04 -1.97655748e+01] [-5.41096921e-03 1.73683969e-04 9.99985346e-01 -2.57643216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.904012739 meters Centerline goodness [0,1] 0.9846696600384862 Centerline is valid? [True, True] Translation: X:174.37, Y:-19.78, Z:-2.58 [[ 9.97886538e-01 6.47476376e-02 5.49550995e-03 1.74371267e+02] [-6.47456567e-02 9.97901654e-01 -5.37781138e-04 -1.97759145e+01] [-5.51879853e-03 1.80834157e-04 9.99984755e-01 -2.57587532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.934012739 meters Centerline goodness [0,1] 0.9854690413425062 Centerline is valid? [True, True] Translation: X:174.40, Y:-19.79, Z:-2.58 [[ 9.97901723e-01 6.47105928e-02 2.16585568e-03 1.74402104e+02] [-6.47102854e-02 9.97904071e-01 -2.11786407e-04 -1.97857685e+01] [-2.17502103e-03 7.11888814e-05 9.99997632e-01 -2.58128579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96401273899997 meters Centerline goodness [0,1] 0.9885292471914948 Centerline is valid? [True, True] Translation: X:174.43, Y:-19.79, Z:-2.58 [[ 9.97902223e-01 6.47390168e-02 1.12292504e-04 1.74434277e+02] [-6.47390161e-02 9.97902230e-01 -1.01460250e-05 -1.97896169e+01] [-1.12713784e-04 2.85503466e-06 9.99999994e-01 -2.58475782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99401273899997 meters Centerline goodness [0,1] 0.984227937253228 Centerline is valid? [True, True] Translation: X:174.46, Y:-19.80, Z:-2.59 [[ 9.97931471e-01 6.42764940e-02 -1.14483153e-03 1.74464504e+02] [-6.42764065e-02 9.97932127e-01 1.13131634e-04 -1.98002301e+01] [ 1.14973587e-03 -3.93119614e-05 9.99999338e-01 -2.58820301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02401273899997 meters Centerline goodness [0,1] 0.9883535004321521 Centerline is valid? [True, True] Translation: X:174.50, Y:-19.81, Z:-2.59 [[ 9.98015096e-01 6.29621224e-02 -1.28002467e-03 1.74495670e+02] [-6.29620112e-02 9.98015916e-01 1.27011318e-04 -1.98058396e+01] [ 1.28548190e-03 -4.61662847e-05 9.99999173e-01 -2.58631166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05401273899997 meters Centerline goodness [0,1] 0.988004338394794 Centerline is valid? [True, True] Translation: X:174.53, Y:-19.81, Z:-2.58 [[ 9.97981582e-01 6.34959971e-02 1.01009297e-03 1.74527191e+02] [-6.34959295e-02 9.97982093e-01 -9.88015583e-05 -1.98147185e+01] [-1.01432820e-03 3.44653434e-05 9.99999485e-01 -2.58185776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08401273899997 meters Centerline goodness [0,1] 0.9869970241945918 Centerline is valid? [True, True] Translation: X:174.56, Y:-19.82, Z:-2.58 [[ 9.97939821e-01 6.41406678e-02 1.44540182e-03 1.74557544e+02] [-6.41405293e-02 9.97940866e-01 -1.42022920e-04 -1.98225886e+01] [-1.45153499e-03 4.90214893e-05 9.99998945e-01 -2.58147415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11401273899997 meters Centerline goodness [0,1] 0.9882207738778338 Centerline is valid? [True, True] Translation: X:174.59, Y:-19.83, Z:-2.58 [[ 9.97863336e-01 6.53209833e-02 1.38963164e-03 1.74589762e+02] [-6.53208561e-02 9.97864303e-01 -1.36733579e-04 -1.98274442e+01] [-1.39559538e-03 4.56694973e-05 9.99999025e-01 -2.58191403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14401273899998 meters Centerline goodness [0,1] 0.9889320969189351 Centerline is valid? [True, True] Translation: X:174.62, Y:-19.84, Z:-2.59 [[ 9.97727033e-01 6.73851374e-02 1.01891732e-04 1.74619354e+02] [-6.73851367e-02 9.97727038e-01 -1.00293250e-05 -1.98365314e+01] [-1.02335963e-04 3.14054043e-06 9.99999995e-01 -2.58528415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17401273899998 meters Centerline goodness [0,1] 0.9899508323988614 Centerline is valid? [True, True] Translation: X:174.65, Y:-19.84, Z:-2.59 [[ 9.97673024e-01 6.81697023e-02 -1.19497679e-03 1.74651050e+02] [-6.81696080e-02 9.97673739e-01 1.19479368e-04 -1.98424985e+01] [ 1.20034184e-03 -3.77402433e-05 9.99999279e-01 -2.58712456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20401273899998 meters Centerline goodness [0,1] 0.9919636542871225 Centerline is valid? [True, True] Translation: X:174.68, Y:-19.85, Z:-2.59 [[ 9.97498629e-01 7.06617141e-02 -1.84597647e-03 1.74682760e+02] [-7.06614955e-02 9.97500336e-01 1.83441273e-04 -1.98466541e+01] [ 1.85432442e-03 -5.25429601e-05 9.99998279e-01 -2.58792946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23401273899998 meters Centerline goodness [0,1] 0.9916252570253599 Centerline is valid? [True, True] Translation: X:174.71, Y:-19.85, Z:-2.59 [[ 9.97366553e-01 7.25204164e-02 -8.64973359e-04 1.74714158e+02] [-7.25203683e-02 9.97366928e-01 8.69093478e-05 -1.98511046e+01] [ 8.68998524e-04 -2.39522900e-05 9.99999622e-01 -2.58676307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26401273899998 meters Centerline goodness [0,1] 0.9912920988602895 Centerline is valid? [True, True] Translation: X:174.74, Y:-19.86, Z:-2.58 [[ 9.97242291e-01 7.42142951e-02 2.24908447e-04 1.74744920e+02] [-7.42142921e-02 9.97242317e-01 -2.18692886e-05 -1.98564385e+01] [-2.25911235e-04 5.11755827e-06 9.99999974e-01 -2.58478550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29401273899998 meters Centerline goodness [0,1] 0.9929484448231786 Centerline is valid? [True, True] Translation: X:174.78, Y:-19.86, Z:-2.59 [[ 9.97042173e-01 7.68562083e-02 1.70368908e-04 1.74775644e+02] [-7.68562065e-02 9.97042187e-01 -1.68323034e-05 -1.98619092e+01] [-1.71158656e-04 3.68860839e-06 9.99999985e-01 -2.58533123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32401273899998 meters Centerline goodness [0,1] 0.9933913043478261 Centerline is valid? [True, True] Translation: X:174.81, Y:-19.86, Z:-2.59 [[ 9.96927158e-01 7.83324683e-02 -5.15050677e-04 1.74807642e+02] [-7.83324517e-02 9.96927291e-01 5.22721409e-05 -1.98649655e+01] [ 5.17562682e-04 -1.17663346e-05 9.99999866e-01 -2.58633310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35401273899998 meters Centerline goodness [0,1] 0.9953203510814949 Centerline is valid? [True, True] Translation: X:174.84, Y:-19.87, Z:-2.59 [[ 9.96564549e-01 8.28108949e-02 -1.20634553e-03 1.74837763e+02] [-8.28108097e-02 9.96565279e-01 1.20448537e-04 -1.98701429e+01] [ 1.21217652e-03 -2.01362920e-05 9.99999265e-01 -2.58746427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38401273899999 meters Centerline goodness [0,1] 0.9959201982228298 Centerline is valid? [True, True] Translation: X:174.87, Y:-19.87, Z:-2.59 [[ 9.96323133e-01 8.56711175e-02 -8.20772198e-04 1.74869201e+02] [-8.56710783e-02 9.96323471e-01 8.28137953e-05 -1.98723129e+01] [ 8.24849355e-04 -1.21928608e-05 9.99999660e-01 -2.58643256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.414012739 meters Centerline goodness [0,1] 0.9962928637627433 Centerline is valid? [True, True] Translation: X:174.90, Y:-19.87, Z:-2.59 [[ 9.96065185e-01 8.86222019e-02 -5.03140658e-04 1.74901157e+02] [-8.86221874e-02 9.96065312e-01 5.12518697e-05 -1.98726442e+01] [ 5.05703010e-04 -6.46077744e-06 9.99999872e-01 -2.58505934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.444012739 meters Centerline goodness [0,1] 0.9971721532649758 Centerline is valid? [True, True] Translation: X:174.93, Y:-19.87, Z:-2.58 [[ 9.95771528e-01 9.18639558e-02 -2.77307643e-04 1.74933445e+02] [-9.18639513e-02 9.95771567e-01 2.87002927e-05 -1.98732896e+01] [ 2.78771589e-04 -3.10435848e-06 9.99999961e-01 -2.58480120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.474012739 meters Centerline goodness [0,1] 0.9972642281676791 Centerline is valid? [True, True] Translation: X:174.97, Y:-19.87, Z:-2.58 [[ 9.95134236e-01 9.85180573e-02 1.42977810e-03 1.74965530e+02] [-9.85179541e-02 9.95135263e-01 -1.42618827e-04 -1.98696379e+01] [-1.43687314e-03 1.06606380e-06 9.99998968e-01 -2.58256066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.504012739 meters Centerline goodness [0,1] 0.9967400162999185 Centerline is valid? [True, True] Translation: X:175.00, Y:-19.87, Z:-2.58 [[ 9.94835299e-01 1.01485092e-01 1.87201550e-03 1.74998389e+02] [-1.01484919e-01 9.94837060e-01 -1.87238041e-04 -1.98692129e+01] [-1.88135227e-03 -3.71032970e-06 9.99998230e-01 -2.58161671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.534012739 meters Centerline goodness [0,1] 0.9960788492274907 Centerline is valid? [True, True] Translation: X:175.03, Y:-19.87, Z:-2.58 [[ 9.94401861e-01 1.05653696e-01 1.49533353e-03 1.75029804e+02] [-1.05653590e-01 9.94402985e-01 -1.49778953e-04 -1.98665964e+01] [-1.50278883e-03 -9.04688674e-06 9.99998871e-01 -2.58251017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.564012739 meters Centerline goodness [0,1] 0.9958194876192518 Centerline is valid? [True, True] Translation: X:175.06, Y:-19.87, Z:-2.58 [[ 9.94252316e-01 1.07059235e-01 8.07283041e-04 1.75062350e+02] [-1.07059205e-01 9.94252644e-01 -8.05564165e-05 -1.98688078e+01] [-8.11267606e-04 -6.33367692e-06 9.99999671e-01 -2.58402855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.594012739 meters Centerline goodness [0,1] 0.9961522840469421 Centerline is valid? [True, True] Translation: X:175.09, Y:-19.87, Z:-2.59 [[ 9.94183521e-01 1.07697774e-01 -5.62054600e-04 1.75092939e+02] [-1.07697759e-01 9.94183680e-01 5.71855645e-05 -1.98708224e+01] [ 5.64944269e-04 3.67907485e-06 9.99999840e-01 -2.58759105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.624012739 meters Centerline goodness [0,1] 0.9959363431343347 Centerline is valid? [True, True] Translation: X:175.13, Y:-19.87, Z:-2.59 [[ 9.94130290e-01 1.08189492e-01 3.67053718e-05 1.75125381e+02] [-1.08189492e-01 9.94130290e-01 -2.86621075e-06 -1.98746295e+01] [-3.68000158e-05 -1.12174859e-06 9.99999999e-01 -2.58571223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.654012739 meters Centerline goodness [0,1] 0.995314662975189 Centerline is valid? [True, True] Translation: X:175.16, Y:-19.88, Z:-2.58 [[ 9.94076258e-01 1.08678645e-01 1.16021889e-03 1.75156509e+02] [-1.08678583e-01 9.94076935e-01 -1.17214831e-04 -1.98780919e+01] [-1.16608559e-03 -9.57046414e-06 9.99999320e-01 -2.58341239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.684012739 meters Centerline goodness [0,1] 0.994350762434694 Centerline is valid? [True, True] Translation: X:175.19, Y:-19.88, Z:-2.58 [[ 9.93979070e-01 1.09561326e-01 1.38712803e-03 1.75188688e+02] [-1.09561238e-01 9.93980038e-01 -1.39638926e-04 -1.98812055e+01] [-1.39407660e-03 -1.31772952e-05 9.99999028e-01 -2.58370867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71401273899997 meters Centerline goodness [0,1] 0.994350762434694 Centerline is valid? [True, True] Translation: X:175.22, Y:-19.88, Z:-2.58 [[ 9.93962072e-01 1.09715433e-01 1.38710602e-03 1.75220183e+02] [-1.09715345e-01 9.93963039e-01 -1.39856761e-04 -1.98845489e+01] [-1.39407656e-03 -1.31744991e-05 9.99999028e-01 -2.58388422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74401273899997 meters Centerline goodness [0,1] 0.9947694278394534 Centerline is valid? [True, True] Translation: X:175.25, Y:-19.89, Z:-2.59 [[ 9.93936960e-01 1.09948927e-01 7.43012952e-04 1.75251925e+02] [-1.09948902e-01 9.93937238e-01 -7.45802852e-05 -1.98872602e+01] [-7.46708264e-04 -7.56535640e-06 9.99999721e-01 -2.58571882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77401273899997 meters Centerline goodness [0,1] 0.9956377632845076 Centerline is valid? [True, True] Translation: X:175.28, Y:-19.89, Z:-2.59 [[ 9.93839270e-01 1.10827367e-01 -8.94698892e-04 1.75283298e+02] [-1.10827329e-01 9.93839672e-01 9.18416496e-05 -1.98895429e+01] [ 8.99365822e-04 7.88125091e-06 9.99999596e-01 -2.58934018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80401273899997 meters Centerline goodness [0,1] 0.9952825154225458 Centerline is valid? [True, True] Translation: X:175.31, Y:-19.89, Z:-2.59 [[ 9.93761925e-01 1.11521979e-01 -2.89995960e-04 1.75314694e+02] [-1.11521976e-01 9.93761968e-01 2.96378679e-05 -1.98919125e+01] [ 2.91492229e-04 2.88793765e-06 9.99999958e-01 -2.58842415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83401273899997 meters Centerline goodness [0,1] 0.9946632672903658 Centerline is valid? [True, True] Translation: X:175.35, Y:-19.89, Z:-2.59 [[ 9.93725517e-01 1.11843178e-01 8.37010189e-04 1.75346292e+02] [-1.11843146e-01 9.93725869e-01 -8.50900965e-05 -1.98942955e+01] [-8.41275424e-04 -9.05765231e-06 9.99999646e-01 -2.58629425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86401273899997 meters Centerline goodness [0,1] 0.9941997346004023 Centerline is valid? [True, True] Translation: X:175.38, Y:-19.90, Z:-2.58 [[ 9.93758667e-01 1.11524126e-01 2.46598369e-03 1.75378369e+02] [-1.11523848e-01 9.93761726e-01 -2.50554759e-04 -1.98995791e+01] [-2.47854311e-03 -2.60250257e-05 9.99996928e-01 -2.58277208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89401273899998 meters Centerline goodness [0,1] 0.9945038234271811 Centerline is valid? [True, True] Translation: X:175.41, Y:-19.91, Z:-2.58 [[ 9.93826205e-01 1.10938671e-01 1.44407962e-03 1.75410519e+02] [-1.10938575e-01 9.93827254e-01 -1.46496416e-04 -1.99052430e+01] [-1.45141780e-03 -1.46121573e-05 9.99998947e-01 -2.58458815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92401273899998 meters Centerline goodness [0,1] 0.9964396019217571 Centerline is valid? [True, True] Translation: X:175.44, Y:-19.91, Z:-2.59 [[ 9.94065774e-01 1.08776718e-01 -9.29178196e-04 1.75441922e+02] [-1.08776676e-01 9.94066208e-01 9.59631112e-05 -1.99149211e+01] [ 9.34103198e-04 5.67927082e-06 9.99999564e-01 -2.58912724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95401273899998 meters Centerline goodness [0,1] 0.9964575330772514 Centerline is valid? [True, True] Translation: X:175.47, Y:-19.92, Z:-2.59 [[ 9.94146996e-01 1.08034805e-01 -4.81751881e-04 1.75472397e+02] [-1.08034793e-01 9.94147112e-01 5.01919213e-05 -1.99189340e+01] [ 4.84354716e-04 2.14781710e-06 9.99999883e-01 -2.59047244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98401273899998 meters Centerline goodness [0,1] 0.99643056809874 Centerline is valid? [True, True] Translation: X:175.50, Y:-19.92, Z:-2.59 [[ 9.94233480e-01 1.07233674e-01 8.52621848e-04 1.75504032e+02] [-1.07233639e-01 9.94233845e-01 -8.66598664e-05 -1.99246734e+01] [-8.56998355e-04 -5.26960335e-06 9.99999633e-01 -2.58770209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01401273899998 meters Centerline goodness [0,1] 0.9953614392543622 Centerline is valid? [True, True] Translation: X:175.54, Y:-19.93, Z:-2.58 [[ 9.94229604e-01 1.07239840e-01 2.66675714e-03 1.75535726e+02] [-1.07239493e-01 9.94233180e-01 -2.73171765e-04 -1.99311770e+01] [-2.68067333e-03 -1.43862281e-05 9.99996407e-01 -2.58253496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04401273899998 meters Centerline goodness [0,1] 0.9951560818083961 Centerline is valid? [True, True] Translation: X:175.57, Y:-19.93, Z:-2.58 [[ 9.94132634e-01 1.08147247e-01 2.11624266e-03 1.75567541e+02] [-1.08147031e-01 9.94134887e-01 -2.16902415e-04 -1.99334896e+01] [-2.12728805e-03 -1.32355904e-05 9.99997737e-01 -2.58320621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07401273899998 meters Centerline goodness [0,1] 0.9954914142721546 Centerline is valid? [True, True] Translation: X:175.60, Y:-19.93, Z:-2.59 [[ 9.93890195e-01 1.10372420e-01 4.56339848e-04 1.75599824e+02] [-1.10372410e-01 9.93890300e-01 -4.61449993e-05 -1.99335888e+01] [-4.58644884e-04 -4.50426657e-06 9.99999895e-01 -2.58669303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10401273899998 meters Centerline goodness [0,1] 0.995197848636189 Centerline is valid? [True, True] Translation: X:175.63, Y:-19.94, Z:-2.59 [[ 9.93795731e-01 1.11217757e-01 8.09809458e-04 1.75631502e+02] [-1.11217727e-01 9.93796061e-01 -8.26782963e-05 -1.99353113e+01] [-8.13980744e-04 -7.89982913e-06 9.99999669e-01 -2.58791889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13401273899999 meters Centerline goodness [0,1] 0.9949408700849592 Centerline is valid? [True, True] Translation: X:175.66, Y:-19.94, Z:-2.59 [[ 9.93749483e-01 1.11615675e-01 1.97630107e-03 1.75664203e+02] [-1.11615491e-01 9.93751448e-01 -2.03503968e-04 -1.99407400e+01] [-1.98666628e-03 -1.83538521e-05 9.99998026e-01 -2.58513027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.164012739 meters Centerline goodness [0,1] 0.9942633693573685 Centerline is valid? [True, True] Translation: X:175.70, Y:-19.94, Z:-2.58 [[ 9.93657162e-01 1.12387668e-01 3.80226070e-03 1.75697325e+02] [-1.12386987e-01 9.93664436e-01 -3.93196787e-04 -1.99442165e+01] [-3.82236170e-03 -3.66218197e-05 9.99992694e-01 -2.58150561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.194012739 meters Centerline goodness [0,1] 0.9942572741194488 Centerline is valid? [True, True] Translation: X:175.73, Y:-19.95, Z:-2.58 [[ 9.93593422e-01 1.12950997e-01 3.76611099e-03 1.75728852e+02] [-1.12950329e-01 9.93600559e-01 -3.90178616e-04 -1.99470547e+01] [-3.78608105e-03 -3.77045706e-05 9.99992832e-01 -2.58153766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.224012739 meters Centerline goodness [0,1] 0.9935861922011506 Centerline is valid? [True, True] Translation: X:175.76, Y:-19.95, Z:-2.58 [[ 9.93426256e-01 1.14431460e-01 3.11675463e-03 1.75760832e+02] [-1.14431009e-01 9.93431145e-01 -3.23307325e-04 -1.99508258e+01] [-3.13327765e-03 -3.54713906e-05 9.99995091e-01 -2.58274120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.254012739 meters Centerline goodness [0,1] 0.9934861123054433 Centerline is valid? [True, True] Translation: X:175.79, Y:-19.95, Z:-2.58 [[ 9.93209658e-01 1.16315673e-01 2.28902959e-03 1.75793261e+02] [-1.16315435e-01 9.93212295e-01 -2.37581120e-04 -1.99519877e+01] [-2.30112674e-03 -3.02816088e-05 9.99997352e-01 -2.58359195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.284012739 meters Centerline goodness [0,1] 0.9936717007036211 Centerline is valid? [True, True] Translation: X:175.82, Y:-19.95, Z:-2.59 [[ 9.92925215e-01 1.18735117e-01 1.22065107e-03 1.75824259e+02] [-1.18735050e-01 9.92925965e-01 -1.27070790e-04 -1.99498959e+01] [-1.22710391e-03 -1.87622751e-05 9.99999247e-01 -2.58536770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.314012739 meters Centerline goodness [0,1] 0.9928012987567821 Centerline is valid? [True, True] Translation: X:175.86, Y:-19.94, Z:-2.59 [[ 9.92066237e-01 1.25716116e-01 -1.98553226e-04 1.75856304e+02] [-1.25716114e-01 9.92066257e-01 2.07575291e-05 -1.99387294e+01] [ 1.99587511e-04 4.36849619e-06 9.99999980e-01 -2.58773283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.344012739 meters Centerline goodness [0,1] 0.9925276990466375 Centerline is valid? [True, True] Translation: X:175.89, Y:-19.93, Z:-2.59 [[ 9.91558058e-01 1.29663110e-01 3.10298586e-04 1.75887483e+02] [-1.29663106e-01 9.91558106e-01 -3.23386392e-05 -1.99347026e+01] [-3.11872207e-04 -8.16864024e-06 9.99999951e-01 -2.58720490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.374012739 meters Centerline goodness [0,1] 0.9884998613155818 Centerline is valid? [True, True] Translation: X:175.92, Y:-19.92, Z:-2.58 [[ 9.90669493e-01 1.36262344e-01 2.55540181e-03 1.75918831e+02] [-1.36262110e-01 9.90672785e-01 -2.66313708e-04 -1.99217819e+01] [-2.56785556e-03 -8.43755764e-05 9.99996699e-01 -2.58425636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.404012739 meters Centerline goodness [0,1] 0.9871065685939103 Centerline is valid? [True, True] Translation: X:175.95, Y:-19.92, Z:-2.58 [[ 9.90395598e-01 1.38224515e-01 3.24701291e-03 1.75949198e+02] [-1.38224147e-01 9.90400914e-01 -3.38453858e-04 -1.99197454e+01] [-3.26262718e-03 -1.13612380e-04 9.99994671e-01 -2.58366009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.434012739 meters Centerline goodness [0,1] 0.9870236424484509 Centerline is valid? [True, True] Translation: X:175.98, Y:-19.92, Z:-2.58 [[ 9.90206416e-01 1.39566278e-01 3.53656960e-03 1.75979180e+02] [-1.39565851e-01 9.90212723e-01 -3.68543692e-04 -1.99190016e+01] [-3.55339249e-03 -1.28650016e-04 9.99993678e-01 -2.58316628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46401273899997 meters Centerline goodness [0,1] 0.9805829413407221 Centerline is valid? [True, True] Translation: X:176.01, Y:-19.91, Z:-2.59 [[ 9.90142972e-01 1.40047416e-01 1.90184012e-03 1.76008238e+02] [-1.40047294e-01 9.90144796e-01 -1.98287863e-04 -1.99115790e+01] [-1.91086680e-03 -7.00142280e-05 9.99998172e-01 -2.58689731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49401273899997 meters Centerline goodness [0,1] 0.9825322819758073 Centerline is valid? [True, True] Translation: X:176.04, Y:-19.91, Z:-2.59 [[ 9.90175135e-01 1.39831948e-01 4.78181398e-04 1.76036707e+02] [-1.39831940e-01 9.90175250e-01 -5.00242276e-05 -1.99133743e+01] [-4.80478371e-04 -1.73322862e-05 9.99999884e-01 -2.58894244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52401273899997 meters Centerline goodness [0,1] 0.9803649260746945 Centerline is valid? [True, True] Translation: X:176.07, Y:-19.91, Z:-2.59 [[ 9.90132450e-01 1.40134417e-01 2.75899080e-04 1.76065120e+02] [-1.40134415e-01 9.90132489e-01 -2.90166500e-05 -1.99078571e+01] [-2.77242874e-04 -9.93262940e-06 9.99999962e-01 -2.58815504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55401273899997 meters Centerline goodness [0,1] 0.9775471982433858 Centerline is valid? [True, True] Translation: X:176.09, Y:-19.90, Z:-2.59 [[ 9.90088339e-01 1.40433598e-01 1.86678909e-03 1.76093204e+02] [-1.40433481e-01 9.90090097e-01 -1.94396948e-04 -1.99037705e+01] [-1.87558925e-03 -6.96895381e-05 9.99998239e-01 -2.58566323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58401273899997 meters Centerline goodness [0,1] 0.9877723241195212 Centerline is valid? [True, True] Translation: X:176.12, Y:-19.91, Z:-2.58 [[ 9.90033562e-01 1.40790237e-01 3.41405487e-03 1.76121807e+02] [-1.40789848e-01 9.90039440e-01 -3.55044240e-04 -1.99075280e+01] [-3.43003574e-03 -1.29158554e-04 9.99994109e-01 -2.58286928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61401273899997 meters Centerline goodness [0,1] 0.9851883561643836 Centerline is valid? [True, True] Translation: X:176.15, Y:-19.90, Z:-2.58 [[ 9.90043943e-01 1.40723277e-01 3.15451566e-03 1.76150205e+02] [-1.40722946e-01 9.90048961e-01 -3.27951369e-04 -1.99045306e+01] [-3.16927534e-03 -1.19226469e-04 9.99994971e-01 -2.58423654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64401273899998 meters Centerline goodness [0,1] 0.9759988073941562 Centerline is valid? [True, True] Translation: X:176.18, Y:-19.90, Z:-2.59 [[ 9.90055294e-01 1.40667298e-01 1.79589482e-03 1.76178835e+02] [-1.40667191e-01 9.90056921e-01 -1.86736718e-04 -1.99022526e+01] [-1.80430585e-03 -6.77438031e-05 9.99998370e-01 -2.58764611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67401273899998 meters Centerline goodness [0,1] 0.9795021649638461 Centerline is valid? [True, True] Translation: X:176.21, Y:-19.90, Z:-2.59 [[ 9.90006155e-01 1.41020651e-01 9.94474476e-04 1.76207548e+02] [-1.41020618e-01 9.90006654e-01 -1.03487423e-04 -1.98998898e+01] [-9.99130212e-04 -3.77882189e-05 9.99999500e-01 -2.58930967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70401273899998 meters Centerline goodness [0,1] 0.9632946924082367 Centerline is valid? [True, True] Translation: X:176.24, Y:-19.90, Z:-2.59 [[ 9.89993840e-01 1.41087568e-01 2.54856570e-03 1.76235156e+02] [-1.41087353e-01 9.89997115e-01 -2.64635268e-04 -1.98951228e+01] [-2.56040943e-03 -9.75831040e-05 9.99996717e-01 -2.58732714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73401273899998 meters Centerline goodness [0,1] 0.9880908875943163 Centerline is valid? [True, True] Translation: X:176.26, Y:-19.91, Z:-2.58 [[ 9.90023552e-01 1.40826151e-01 4.62180389e-03 1.76263484e+02] [-1.40825446e-01 9.90034325e-01 -4.79145500e-04 -1.99065406e+01] [-4.64322071e-03 -1.76502265e-04 9.99989205e-01 -2.58301533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76401273899998 meters Centerline goodness [0,1] 0.98799545542241 Centerline is valid? [True, True] Translation: X:176.29, Y:-19.91, Z:-2.58 [[ 9.90244082e-01 1.39219074e-01 5.89131408e-03 1.76291891e+02] [-1.39217902e-01 9.90261583e-01 -6.10486059e-04 -1.99056270e+01] [-5.91893331e-03 -2.15646181e-04 9.99982460e-01 -2.58000123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79401273899998 meters Centerline goodness [0,1] 0.9888884122012956 Centerline is valid? [True, True] Translation: X:176.32, Y:-19.91, Z:-2.58 [[ 9.90349998e-01 1.38526822e-01 4.14741094e-03 1.76321025e+02] [-1.38526236e-01 9.90358671e-01 -4.29654316e-04 -1.99080687e+01] [-4.16694303e-03 -1.49017074e-04 9.99991307e-01 -2.58319629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82401273899998 meters Centerline goodness [0,1] 0.9861134848743804 Centerline is valid? [True, True] Translation: X:176.35, Y:-19.90, Z:-2.59 [[ 9.90284085e-01 1.39038330e-01 2.40282413e-03 1.76349556e+02] [-1.39038135e-01 9.90286996e-01 -2.48954277e-04 -1.99049842e+01] [-2.41409968e-03 -8.75487273e-05 9.99997082e-01 -2.58748845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85401273899998 meters Centerline goodness [0,1] 0.9748351155791766 Centerline is valid? [True, True] Translation: X:176.38, Y:-19.90, Z:-2.59 [[ 9.90186760e-01 1.39697746e-01 3.83665223e-03 1.76378306e+02] [-1.39697255e-01 9.90194183e-01 -3.97099292e-04 -1.99008802e+01] [-3.85450460e-03 -1.42767323e-04 9.99992561e-01 -2.58578434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88401273899999 meters Centerline goodness [0,1] 0.9844732452200693 Centerline is valid? [True, True] Translation: X:176.41, Y:-19.90, Z:-2.58 [[ 9.90135366e-01 1.40032732e-01 4.77407983e-03 1.76406569e+02] [-1.40031977e-01 9.90146859e-01 -4.93720518e-04 -1.99038520e+01] [-4.79617718e-03 -1.79673691e-04 9.99988482e-01 -2.58298384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.914012739 meters Centerline goodness [0,1] 0.9853630228259468 Centerline is valid? [True, True] Translation: X:176.44, Y:-19.91, Z:-2.58 [[ 9.90142453e-01 1.40007049e-01 3.99361012e-03 1.76435115e+02] [-1.40006521e-01 9.90150495e-01 -4.12866126e-04 -1.99050849e+01] [-4.01207921e-03 -1.50335181e-04 9.99991940e-01 -2.58493635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.944012739 meters Centerline goodness [0,1] 0.9731556462411528 Centerline is valid? [True, True] Translation: X:176.46, Y:-19.90, Z:-2.59 [[ 9.90123017e-01 1.40176218e-01 2.65320936e-03 1.76463111e+02] [-1.40175985e-01 9.90126567e-01 -2.74288172e-04 -1.99018104e+01] [-2.66546175e-03 -1.00337204e-04 9.99996443e-01 -2.58859750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.974012739 meters Centerline goodness [0,1] 0.9662173690496503 Centerline is valid? [True, True] Translation: X:176.49, Y:-19.90, Z:-2.59 [[ 9.89905263e-01 1.41729524e-01 5.58529580e-04 1.76492874e+02] [-1.41729514e-01 9.89905421e-01 -5.77876255e-05 -1.99031163e+01] [-5.61081672e-04 -2.19558512e-05 9.99999842e-01 -2.59131020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.004012739 meters Centerline goodness [0,1] 0.9445856743073209 Centerline is valid? [True, False] Translation: X:176.49, Y:-19.90, Z:-2.59 [[ 9.89945858e-01 1.41446191e-01 4.16437143e-04 1.76493719e+02] [-1.41445808e-01 9.89945644e-01 -8.39501642e-04 -1.98992360e+01] [-5.30994446e-04 7.72157885e-04 9.99999561e-01 -2.59171775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.034012739 meters Centerline goodness [0,1] 0.9360190085322388 Centerline is valid? [False, False] Translation: X:176.49, Y:-19.90, Z:-2.59 [[ 9.89392832e-01 1.45261573e-01 9.48838614e-04 1.76494331e+02] [-1.45263603e-01 9.89389501e-01 2.62706826e-03 -1.98955670e+01] [-5.57158896e-04 -2.73703422e-03 9.99996099e-01 -2.59213187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.064012739 meters Centerline goodness [0,1] 0.966875849129844 Centerline is valid? [False, True] Translation: X:176.49, Y:-19.89, Z:-2.59 [[ 9.89999017e-01 1.41073839e-01 3.44064770e-04 1.76494722e+02] [-1.41072170e-01 9.89994686e-01 -3.02721197e-03 -1.98870747e+01] [-7.67682708e-04 2.94839891e-03 9.99995359e-01 -2.59201110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.094012739 meters Centerline goodness [0,1] 0.9417876761912873 Centerline is valid? [True, False] Translation: X:176.50, Y:-19.88, Z:-2.59 [[ 9.90582815e-01 1.36913763e-01 -5.55832015e-04 1.76496150e+02] [-1.36913506e-01 9.90546381e-01 -8.51818833e-03 -1.98795702e+01] [-6.15679823e-04 8.51407188e-03 9.99963565e-01 -2.59207991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.124012739 meters Centerline goodness [0,1] 0.9154116788947526 Centerline is valid? [False, False] Translation: X:176.49, Y:-19.88, Z:-2.59 [[ 9.90282630e-01 1.39069272e-01 2.25105200e-04 1.76493128e+02] [-1.39065147e-01 9.90263403e-01 -6.26719276e-03 -1.98755316e+01] [-1.09448738e-03 6.17498784e-03 9.99980336e-01 -2.58975240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.154012739 meters Centerline goodness [0,1] 0.91434023757451 Centerline is valid? [False, False] Translation: X:176.49, Y:-19.87, Z:-2.59 [[ 9.90340097e-01 1.38659544e-01 1.53302255e-04 1.76493291e+02] [-1.38654726e-01 9.90313773e-01 -7.31417864e-03 -1.98703139e+01] [-1.16599801e-03 7.22226830e-03 9.99973239e-01 -2.58921646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.184012739 meters Centerline goodness [0,1] 0.9628536712376323 Centerline is valid? [False, True] Translation: X:176.49, Y:-19.87, Z:-2.59 [[ 9.89812414e-01 1.42374852e-01 8.87431911e-04 1.76492405e+02] [-1.42370182e-01 9.89805197e-01 -4.05014462e-03 -1.98656239e+01] [-1.45502346e-03 3.88253958e-03 9.99991404e-01 -2.58805452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21401273899997 meters Centerline goodness [0,1] 0.9587018078849924 Centerline is valid? [True, True] Translation: X:176.52, Y:-19.86, Z:-2.59 [[ 9.89624330e-01 1.43659666e-01 2.36351699e-03 1.76522374e+02] [-1.43659526e-01 9.89627146e-01 -2.29817751e-04 -1.98642174e+01] [-2.37201611e-03 -1.12108493e-04 9.99997180e-01 -2.58701140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24401273899997 meters Centerline goodness [0,1] 0.9470100524100009 Centerline is valid? [True, False] Translation: X:176.52, Y:-19.86, Z:-2.59 [[ 9.89698456e-01 1.43150948e-01 2.18464382e-03 1.76523263e+02] [-1.43147587e-01 9.89700019e-01 -1.62536237e-03 -1.98572651e+01] [-2.39481420e-03 1.29589213e-03 9.99996293e-01 -2.58705156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27401273899997 meters Centerline goodness [0,1] 0.9389822454533673 Centerline is valid? [False, False] Translation: X:176.53, Y:-19.84, Z:-2.59 [[ 9.89832262e-01 1.42228580e-01 1.76764755e-03 1.76525114e+02] [-1.42219961e-01 9.89825734e-01 -4.30096105e-03 -1.98436289e+01] [-2.36138261e-03 4.00583524e-03 9.99989189e-01 -2.58693577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30401273899997 meters Centerline goodness [0,1] 0.9365637255952508 Centerline is valid? [False, False] Translation: X:176.53, Y:-19.83, Z:-2.59 [[ 9.90433614e-01 1.37985603e-01 1.10873589e-03 1.76525832e+02] [-1.37967245e-01 9.90384010e-01 -1.02250964e-02 -1.98332251e+01] [-2.50899039e-03 9.97430997e-03 9.99947108e-01 -2.58672270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33401273899997 meters Centerline goodness [0,1] 0.930724946695096 Centerline is valid? [False, False] Translation: X:176.53, Y:-19.83, Z:-2.59 [[ 9.90540168e-01 1.37220964e-01 7.63795620e-04 1.76527253e+02] [-1.37202595e-01 9.90473084e-01 -1.17693383e-02 -1.98258592e+01] [-2.37151895e-03 1.15532076e-02 9.99930447e-01 -2.58671456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36401273899997 meters Centerline goodness [0,1] 0.9519170806184547 Centerline is valid? [False, True] Translation: X:176.52, Y:-19.82, Z:-2.58 [[ 9.90390045e-01 1.38298069e-01 1.09662843e-03 1.76523717e+02] [-1.38278729e-01 9.90336034e-01 -1.06551505e-02 -1.98245416e+01] [-2.55961739e-03 1.04011146e-02 9.99942631e-01 -2.58326765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39401273899998 meters Centerline goodness [0,1] 0.9488538039182174 Centerline is valid? [True, False] Translation: X:176.52, Y:-19.82, Z:-2.58 [[ 9.90440771e-01 1.37934839e-01 1.02896174e-03 1.76523863e+02] [-1.37914462e-01 9.90379121e-01 -1.13489281e-02 -1.98212991e+01] [-2.58447479e-03 1.10985324e-02 9.99935069e-01 -2.58293869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42401273899998 meters Centerline goodness [0,1] 0.9693052269305227 Centerline is valid? [False, True] Translation: X:176.51, Y:-19.81, Z:-2.59 [[ 9.90843975e-01 1.34922968e-01 4.90001906e-03 1.76512393e+02] [-1.34854662e-01 9.90789047e-01 -1.22997479e-02 -1.98144448e+01] [-6.51440369e-03 1.15263407e-02 9.99912349e-01 -2.58676310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45401273899998 meters Centerline goodness [0,1] 0.9773448804613092 Centerline is valid? [True, True] Translation: X:176.54, Y:-19.83, Z:-2.59 [[ 9.91018363e-01 1.33612497e-01 5.50505702e-03 1.76540352e+02] [-1.33611705e-01 9.91033627e-01 -5.13093410e-04 -1.98258512e+01] [-5.52425231e-03 -2.27055062e-04 9.99984715e-01 -2.58880924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48401273899998 meters Centerline goodness [0,1] 0.9780139402805267 Centerline is valid? [True, True] Translation: X:176.57, Y:-19.82, Z:-2.59 [[ 9.91105265e-01 1.32997418e-01 4.69480975e-03 1.76569442e+02] [-1.32996835e-01 9.91116366e-01 -4.37401856e-04 -1.98242851e+01] [-4.71127609e-03 -1.90883557e-04 9.99988884e-01 -2.59065353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51401273899998 meters Centerline goodness [0,1] 0.9806345193976136 Centerline is valid? [True, True] Translation: X:176.60, Y:-19.83, Z:-2.59 [[ 9.91161290e-01 1.32593788e-01 4.26426714e-03 1.76598641e+02] [-1.32593304e-01 9.91170448e-01 -3.97120284e-04 -1.98258913e+01] [-4.27927126e-03 -1.71803017e-04 9.99990829e-01 -2.59171457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54401273899998 meters Centerline goodness [0,1] 0.9836125665739482 Centerline is valid? [True, True] Translation: X:176.63, Y:-19.83, Z:-2.59 [[ 9.91308682e-01 1.31480468e-01 4.47039329e-03 1.76627318e+02] [-1.31479926e-01 9.91318746e-01 -4.16093407e-04 -1.98275931e+01] [-4.48629282e-03 -1.75289972e-04 9.99989921e-01 -2.59171708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57401273899998 meters Centerline goodness [0,1] 0.9826059118557251 Centerline is valid? [True, True] Translation: X:176.66, Y:-19.83, Z:-2.59 [[ 9.91707361e-01 1.28414893e-01 5.11128917e-03 1.76656313e+02] [-1.28414146e-01 9.91720516e-01 -4.75448448e-04 -1.98263745e+01] [-5.13002499e-03 -1.84856107e-04 9.99986824e-01 -2.59063107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60401273899998 meters Centerline goodness [0,1] 0.9826059118557251 Centerline is valid? [True, True] Translation: X:176.68, Y:-19.83, Z:-2.59 [[ 9.91715968e-01 1.28348405e-01 5.11130155e-03 1.76683710e+02] [-1.28347658e-01 9.91729123e-01 -4.75315317e-04 -1.98287841e+01] [-5.13003257e-03 -1.84645792e-04 9.99986824e-01 -2.59080959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63401273899999 meters Centerline goodness [0,1] 0.9878649088262991 Centerline is valid? [True, True] Translation: X:176.71, Y:-19.84, Z:-2.59 [[ 9.92018619e-01 1.25964492e-01 5.65737428e-03 1.76712993e+02] [-1.25963541e-01 9.92034732e-01 -5.25631374e-04 -1.98365083e+01] [-5.67852267e-03 -1.91186784e-04 9.99983859e-01 -2.59024998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.664012739 meters Centerline goodness [0,1] 0.9906111337377548 Centerline is valid? [True, True] Translation: X:176.74, Y:-19.85, Z:-2.59 [[ 9.92852777e-01 1.19239038e-01 5.04135494e-03 1.76742826e+02] [-1.19238196e-01 9.92865567e-01 -4.68265191e-04 -1.98454393e+01] [-5.06122322e-03 -1.36203673e-04 9.99987183e-01 -2.59218309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.694012739 meters Centerline goodness [0,1] 0.992075697381349 Centerline is valid? [True, True] Translation: X:176.77, Y:-19.85, Z:-2.59 [[ 9.93290613e-01 1.15567395e-01 4.23506227e-03 1.76771984e+02] [-1.15566768e-01 9.93299636e-01 -3.93414202e-04 -1.98530724e+01] [-4.25215167e-03 -9.86578252e-05 9.99990955e-01 -2.59458668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.724012739 meters Centerline goodness [0,1] 0.9922377846680209 Centerline is valid? [True, True] Translation: X:176.80, Y:-19.86, Z:-2.60 [[ 9.93697206e-01 1.12044564e-01 3.44645551e-03 1.76799594e+02] [-1.12044127e-01 9.93703181e-01 -3.20210164e-04 -1.98584901e+01] [-3.46063161e-03 -6.79631523e-05 9.99994010e-01 -2.59653091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.754012739 meters Centerline goodness [0,1] 0.9936691262966527 Centerline is valid? [True, True] Translation: X:176.83, Y:-19.87, Z:-2.60 [[ 9.94387582e-01 1.05754984e-01 3.03643210e-03 1.76828155e+02] [-1.05754616e-01 9.94392217e-01 -2.81856792e-04 -1.98684536e+01] [-3.04921221e-03 -4.08418164e-05 9.99995350e-01 -2.59653275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.784012739 meters Centerline goodness [0,1] 0.9943956020449636 Centerline is valid? [True, True] Translation: X:176.86, Y:-19.88, Z:-2.59 [[ 9.94890919e-01 1.00881150e-01 3.87976654e-03 1.76855711e+02] [-1.00880513e-01 9.94898483e-01 -3.60070654e-04 -1.98807525e+01] [-3.89629819e-03 -3.31618147e-05 9.99992409e-01 -2.59407090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.814012739 meters Centerline goodness [0,1] 0.9942440193435187 Centerline is valid? [True, True] Translation: X:176.88, Y:-19.89, Z:-2.60 [[ 9.95081632e-01 9.89913015e-02 3.64240799e-03 1.76883697e+02] [-9.89907278e-02 9.95088298e-01 -3.37889713e-04 -1.98855598e+01] [-3.65796571e-03 -2.43367708e-05 9.99993309e-01 -2.59548246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.844012739 meters Centerline goodness [0,1] 0.9945476704654793 Centerline is valid? [True, True] Translation: X:176.91, Y:-19.89, Z:-2.60 [[ 9.95274570e-01 9.70423999e-02 3.36188221e-03 1.76911746e+02] [-9.70419005e-02 9.95280248e-01 -3.11734028e-04 -1.98939913e+01] [-3.37626638e-03 -1.59824887e-05 9.99994300e-01 -2.59642374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.874012739 meters Centerline goodness [0,1] 0.9950003218676909 Centerline is valid? [True, True] Translation: X:176.94, Y:-19.90, Z:-2.60 [[ 9.95485410e-01 9.48610940e-02 3.18930946e-03 1.76939805e+02] [-9.48606338e-02 9.95490519e-01 -2.95606025e-04 -1.99016663e+01] [-3.20296884e-03 -8.26843185e-06 9.99994870e-01 -2.59648983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.904012739 meters Centerline goodness [0,1] 0.9936213457879259 Centerline is valid? [True, True] Translation: X:176.97, Y:-19.91, Z:-2.59 [[ 9.95837426e-01 9.10476108e-02 4.26067994e-03 1.76966525e+02] [-9.10467557e-02 9.95846541e-01 -3.94628150e-04 -1.99129045e+01] [-4.27891333e-03 5.06439546e-06 9.99990845e-01 -2.59475673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.934012739 meters Centerline goodness [0,1] 0.9926318955146932 Centerline is valid? [True, True] Translation: X:176.99, Y:-19.92, Z:-2.59 [[ 9.96029368e-01 8.88673457e-02 5.30020905e-03 1.76993543e+02] [-8.88659937e-02 9.96043470e-01 -4.90503317e-04 -1.99243213e+01] [-5.32282834e-03 1.75473645e-05 9.99985833e-01 -2.59225776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96401273899997 meters Centerline goodness [0,1] 0.9931830769886243 Centerline is valid? [True, True] Translation: X:177.02, Y:-19.93, Z:-2.59 [[ 9.96086112e-01 8.82850704e-02 4.26667974e-03 1.77020996e+02] [-8.82841898e-02 9.96095249e-01 -3.94680508e-04 -1.99308184e+01] [-4.28486382e-03 1.64554088e-05 9.99990820e-01 -2.59449609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99401273899997 meters Centerline goodness [0,1] 0.9947387479498158 Centerline is valid? [True, True] Translation: X:177.05, Y:-19.94, Z:-2.60 [[ 9.96153087e-01 8.75909794e-02 2.61696530e-03 1.77049418e+02] [-8.75906458e-02 9.96156524e-01 -2.42026172e-04 -1.99364000e+01] [-2.62810637e-03 1.18734379e-05 9.99996546e-01 -2.59712362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02401273899997 meters Centerline goodness [0,1] 0.9955247210980493 Centerline is valid? [True, True] Translation: X:177.08, Y:-19.94, Z:-2.60 [[ 9.96197807e-01 8.71147658e-02 9.73052526e-04 1.77078023e+02] [-8.71147193e-02 9.96198282e-01 -9.01398176e-05 -1.99418131e+01] [-9.77205765e-04 5.02989093e-06 9.99999523e-01 -2.59987027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05401273899997 meters Centerline goodness [0,1] 0.9956659551070574 Centerline is valid? [True, True] Translation: X:177.11, Y:-19.95, Z:-2.60 [[ 9.96188556e-01 8.72177045e-02 1.19671634e-03 1.77106876e+02] [-8.72176343e-02 9.96189275e-01 -1.10900413e-04 -1.99482781e+01] [-1.20182847e-03 6.10295357e-06 9.99999278e-01 -2.59987970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08401273899997 meters Centerline goodness [0,1] 0.9936788604864715 Centerline is valid? [True, True] Translation: X:177.13, Y:-19.95, Z:-2.59 [[ 9.95921435e-01 9.01092597e-02 4.56242343e-03 1.77134849e+02] [-9.01082768e-02 9.95931886e-01 -4.20961676e-04 -1.99503364e+01] [-4.58179552e-03 8.13264319e-06 9.99989503e-01 -2.59379746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11401273899997 meters Centerline goodness [0,1] 0.9943916895035371 Centerline is valid? [True, True] Translation: X:177.16, Y:-19.95, Z:-2.59 [[ 9.95697754e-01 9.25372672e-02 4.77888513e-03 1.77164085e+02] [-9.25362183e-02 9.95709222e-01 -4.40609484e-04 -1.99493212e+01] [-4.79915279e-03 -3.50608365e-06 9.99988484e-01 -2.59335533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14401273899998 meters Centerline goodness [0,1] 0.9945376344086021 Centerline is valid? [True, True] Translation: X:177.19, Y:-19.95, Z:-2.60 [[ 9.95480134e-01 9.48774642e-02 4.19153411e-03 1.77193486e+02] [-9.48766786e-02 9.95488959e-01 -3.86301988e-04 -1.99474979e+01] [-4.20927728e-03 -1.31228798e-05 9.99991141e-01 -2.59519657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17401273899998 meters Centerline goodness [0,1] 0.9949683389122231 Centerline is valid? [True, True] Translation: X:177.22, Y:-19.94, Z:-2.60 [[ 9.95178951e-01 9.80307243e-02 2.97183358e-03 1.77221719e+02] [-9.80303434e-02 9.95183389e-01 -2.73896455e-04 -1.99427779e+01] [-2.98436968e-03 -1.87538792e-05 9.99995547e-01 -2.59799172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20401273899998 meters Centerline goodness [0,1] 0.9948704796101564 Centerline is valid? [True, True] Translation: X:177.25, Y:-19.94, Z:-2.60 [[ 9.95129785e-01 9.85104555e-02 3.52141118e-03 1.77250565e+02] [-9.85099250e-02 9.95136016e-01 -3.24213238e-04 -1.99442974e+01] [-3.53622149e-03 -2.42597011e-05 9.99993747e-01 -2.59752226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23401273899998 meters Centerline goodness [0,1] 0.9945007917148115 Centerline is valid? [True, True] Translation: X:177.28, Y:-19.95, Z:-2.60 [[ 9.95299593e-01 9.67523109e-02 4.20837182e-03 1.77279552e+02] [-9.67515385e-02 9.95308490e-01 -3.87220073e-04 -1.99490035e+01] [-4.22609264e-03 -2.17664673e-05 9.99991070e-01 -2.59527418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26401273899998 meters Centerline goodness [0,1] 0.9950589292207653 Centerline is valid? [True, True] Translation: X:177.31, Y:-19.95, Z:-2.60 [[ 9.95515488e-01 9.45083262e-02 4.13383930e-03 1.77307033e+02] [-9.45075622e-02 9.95524071e-01 -3.80196016e-04 -1.99532542e+01] [-4.15126822e-03 -1.21880522e-05 9.99991383e-01 -2.59566766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29401273899998 meters Centerline goodness [0,1] 0.9949146772203072 Centerline is valid? [True, True] Translation: X:177.34, Y:-19.96, Z:-2.60 [[ 9.95799000e-01 9.14852560e-02 3.84695277e-03 1.77335325e+02] [-9.14845728e-02 9.95806431e-01 -3.53574960e-04 -1.99594949e+01] [-3.86316720e-03 1.52760871e-07 9.99992538e-01 -2.59696743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32401273899998 meters Centerline goodness [0,1] 0.9946018605445079 Centerline is valid? [True, True] Translation: X:177.36, Y:-19.97, Z:-2.60 [[ 9.96295988e-01 8.59220123e-02 3.42224907e-03 1.77363398e+02] [-8.59214392e-02 9.96301866e-01 -3.14415924e-04 -1.99718453e+01] [-3.43660838e-03 1.92067591e-05 9.99994095e-01 -2.59813144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35401273899998 meters Centerline goodness [0,1] 0.9920832535274213 Centerline is valid? [True, True] Translation: X:177.39, Y:-19.98, Z:-2.60 [[ 9.96492862e-01 8.36133052e-02 3.28511280e-03 1.77390676e+02] [-8.36127649e-02 9.96498276e-01 -3.01711000e-04 -1.99791136e+01] [-3.29883629e-03 2.59754939e-05 9.99994558e-01 -2.59782758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38401273899999 meters Centerline goodness [0,1] 0.9860147418023042 Centerline is valid? [True, True] Translation: X:177.42, Y:-19.99, Z:-2.59 [[ 9.96708082e-01 8.10605449e-02 1.47870425e-03 1.77420228e+02] [-8.10604327e-02 9.96709179e-01 -1.35754513e-04 -1.99867051e+01] [-1.48484243e-03 1.54432140e-05 9.99998898e-01 -2.58715412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.414012739 meters Centerline goodness [0,1] 0.9928141675702107 Centerline is valid? [True, True] Translation: X:177.45, Y:-19.99, Z:-2.60 [[ 9.96781798e-01 8.01538787e-02 1.18461041e-03 1.77447981e+02] [-8.01538059e-02 9.96782502e-01 -1.08939245e-04 -1.99913007e+01] [-1.18953083e-03 1.36376243e-05 9.99999292e-01 -2.60078566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.444012739 meters Centerline goodness [0,1] 0.9933959812922224 Centerline is valid? [True, True] Translation: X:177.48, Y:-20.00, Z:-2.60 [[ 9.96819796e-01 7.96841163e-02 8.58394853e-04 1.77476904e+02] [-7.96840779e-02 9.96820165e-01 -7.89284418e-05 -1.99954570e+01] [-8.61954642e-04 1.02770309e-05 9.99999628e-01 -2.60217457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.474012739 meters Centerline goodness [0,1] 0.9918001116215172 Centerline is valid? [True, True] Translation: X:177.51, Y:-20.00, Z:-2.60 [[ 9.96724708e-01 8.08236584e-02 2.71911751e-03 1.77505325e+02] [-8.08232791e-02 9.96728416e-01 -2.49247006e-04 -1.99980823e+01] [-2.73036675e-03 2.86626556e-05 9.99996272e-01 -2.59784667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.504012739 meters Centerline goodness [0,1] 0.9913457840078636 Centerline is valid? [True, True] Translation: X:177.53, Y:-20.00, Z:-2.60 [[ 9.96618239e-01 8.21016856e-02 3.37636342e-03 1.77533102e+02] [-8.21011088e-02 9.96623957e-01 -3.09296010e-04 -1.99992821e+01] [-3.39035839e-03 3.10468641e-05 9.99994252e-01 -2.59679933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.534012739 meters Centerline goodness [0,1] 0.995144910636674 Centerline is valid? [True, True] Translation: X:177.56, Y:-20.00, Z:-2.60 [[ 9.96291841e-01 8.60206385e-02 1.73703997e-03 1.77560980e+02] [-8.60204917e-02 9.96293355e-01 -1.59199790e-04 -1.99956648e+01] [-1.74429585e-03 9.18841977e-06 9.99998479e-01 -2.60091262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.564012739 meters Centerline goodness [0,1] 0.9963342479849082 Centerline is valid? [True, True] Translation: X:177.59, Y:-19.99, Z:-2.60 [[ 9.96107737e-01 8.81380512e-02 1.03000700e-03 1.77589989e+02] [-8.81380008e-02 9.96108269e-01 -9.43696580e-05 -1.99946806e+01] [-1.03431605e-03 3.21958876e-06 9.99999465e-01 -2.60273482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.594012739 meters Centerline goodness [0,1] 0.9972788527988943 Centerline is valid? [True, True] Translation: X:177.62, Y:-19.99, Z:-2.60 [[ 9.95970891e-01 8.96766363e-02 2.93452159e-04 1.77619376e+02] [-8.96766322e-02 9.95970934e-01 -2.71093099e-05 -1.99938027e+01] [-2.94700892e-04 6.84282220e-07 9.99999957e-01 -2.60443783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.624012739 meters Centerline goodness [0,1] 0.9967905513832723 Centerline is valid? [True, True] Translation: X:177.65, Y:-19.99, Z:-2.60 [[ 9.95822044e-01 9.13140227e-02 4.53553527e-04 1.77647393e+02] [-9.13140131e-02 9.95822147e-01 -4.18077873e-05 -1.99891847e+01] [-4.55476285e-04 2.17323452e-07 9.99999896e-01 -2.60392685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.654012739 meters Centerline goodness [0,1] 0.9967172578444747 Centerline is valid? [True, True] Translation: X:177.68, Y:-19.99, Z:-2.60 [[ 9.95778075e-01 9.17929458e-02 2.85029734e-04 1.77675939e+02] [-9.17929420e-02 9.95778115e-01 -2.64477536e-05 -1.99886054e+01] [-2.86254088e-04 1.72375403e-07 9.99999959e-01 -2.60408236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.684012739 meters Centerline goodness [0,1] 0.9953218123170914 Centerline is valid? [True, True] Translation: X:177.70, Y:-19.99, Z:-2.60 [[ 9.95789200e-01 9.16704981e-02 6.23936682e-04 1.77703835e+02] [-9.16704802e-02 9.95789395e-01 -5.73291063e-05 -1.99899759e+01] [-6.26564919e-04 -1.08870378e-07 9.99999804e-01 -2.60290909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71401273899997 meters Centerline goodness [0,1] 0.9949613062335233 Centerline is valid? [True, True] Translation: X:177.73, Y:-19.99, Z:-2.60 [[ 9.95814761e-01 9.13848456e-02 1.33124632e-03 1.77731561e+02] [-9.13847647e-02 9.95815651e-01 -1.21648393e-04 -1.99915795e+01] [-1.33679274e-03 -5.16366266e-07 9.99999106e-01 -2.60137734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74401273899997 meters Centerline goodness [0,1] 0.993936815232422 Centerline is valid? [True, True] Translation: X:177.76, Y:-19.99, Z:-2.60 [[ 9.95801270e-01 9.15109983e-02 2.35944817e-03 1.77759671e+02] [-9.15107453e-02 9.95804066e-01 -2.15169426e-04 -1.99909686e+01] [-2.36923845e-03 -1.64887309e-06 9.99997193e-01 -2.59888399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77401273899997 meters Centerline goodness [0,1] 0.9922800679526053 Centerline is valid? [True, True] Translation: X:177.79, Y:-19.99, Z:-2.60 [[ 9.95786406e-01 9.16181920e-02 3.94221300e-03 1.77788454e+02] [-9.16174887e-02 9.95794209e-01 -3.59012553e-04 -1.99898942e+01] [-3.95852496e-03 -3.67583504e-06 9.99992165e-01 -2.59679255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80401273899997 meters Centerline goodness [0,1] 0.9900566041796699 Centerline is valid? [True, True] Translation: X:177.82, Y:-19.99, Z:-2.59 [[ 9.95884498e-01 9.04284899e-02 6.06254984e-03 1.77817730e+02] [-9.04268071e-02 9.95902951e-01 -5.51677655e-04 -1.99906439e+01] [-6.08759865e-03 1.19020039e-06 9.99981470e-01 -2.59375588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83401273899997 meters Centerline goodness [0,1] 0.9911956216064205 Centerline is valid? [True, True] Translation: X:177.85, Y:-20.00, Z:-2.60 [[ 9.96186502e-01 8.71509848e-02 4.14225015e-03 1.77845039e+02] [-8.71501712e-02 9.96195114e-01 -3.76863619e-04 -1.99963283e+01] [-4.15933340e-03 1.44286407e-05 9.99991350e-01 -2.59724208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86401273899997 meters Centerline goodness [0,1] 0.992583885445608 Centerline is valid? [True, True] Translation: X:177.87, Y:-20.00, Z:-2.60 [[ 9.96369100e-01 8.51057141e-02 2.37370248e-03 1.77873816e+02] [-8.51054412e-02 9.96371927e-01 -2.15928496e-04 -2.00005083e+01] [-2.38346727e-03 1.31294843e-05 9.99997159e-01 -2.60102281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89401273899998 meters Centerline goodness [0,1] 0.9925994251147625 Centerline is valid? [True, True] Translation: X:177.90, Y:-20.00, Z:-2.60 [[ 9.96557403e-01 8.28970928e-02 1.18906892e-03 1.77901861e+02] [-8.28970225e-02 9.96558113e-01 -1.08321711e-04 -2.00046159e+01] [-1.19395583e-03 9.37852987e-06 9.99999287e-01 -2.60273694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92401273899998 meters Centerline goodness [0,1] 0.9915392544236385 Centerline is valid? [True, True] Translation: X:177.93, Y:-20.01, Z:-2.60 [[ 9.96685206e-01 8.13425529e-02 1.41029904e-03 1.77930249e+02] [-8.13424528e-02 9.96686204e-01 -1.28270994e-04 -2.00096266e+01] [-1.41605948e-03 1.31286189e-05 9.99998997e-01 -2.60243019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95401273899998 meters Centerline goodness [0,1] 0.9895990678002676 Centerline is valid? [True, True] Translation: X:177.96, Y:-20.02, Z:-2.60 [[ 9.96816294e-01 7.96940543e-02 2.47648471e-03 1.77956988e+02] [-7.96937413e-02 9.96819370e-01 -2.24969855e-04 -2.00180033e+01] [-2.48653669e-03 2.68932854e-05 9.99996908e-01 -2.59955263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98401273899998 meters Centerline goodness [0,1] 0.9879969830837194 Centerline is valid? [True, True] Translation: X:177.99, Y:-20.02, Z:-2.60 [[ 9.97004582e-01 7.72465693e-02 3.85109432e-03 1.77985715e+02] [-7.72457961e-02 9.97012018e-01 -3.49349299e-04 -2.00236679e+01] [-3.86657336e-03 5.08220054e-05 9.99992523e-01 -2.59711051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01401273899998 meters Centerline goodness [0,1] 0.9868373333333333 Centerline is valid? [True, True] Translation: X:178.02, Y:-20.03, Z:-2.60 [[ 9.97085602e-01 7.61684636e-02 4.32051077e-03 1.78015161e+02] [-7.61674815e-02 9.97094961e-01 -3.91646566e-04 -2.00283105e+01] [-4.33779063e-03 6.14227286e-05 9.99990590e-01 -2.59626974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04401273899998 meters Centerline goodness [0,1] 0.9849387265404062 Centerline is valid? [True, True] Translation: X:178.04, Y:-20.04, Z:-2.60 [[ 9.97150441e-01 7.52833944e-02 4.83830148e-03 1.78043141e+02] [-7.52821530e-02 9.97162176e-01 -4.38455270e-04 -2.00366970e+01] [-4.85757963e-03 7.29681132e-05 9.99988199e-01 -2.59639352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07401273899998 meters Centerline goodness [0,1] 0.9855078677700124 Centerline is valid? [True, True] Translation: X:178.07, Y:-20.05, Z:-2.60 [[ 9.97227262e-01 7.42364435e-02 5.17090512e-03 1.78072096e+02] [-7.42350122e-02 9.97240665e-01 -4.68450879e-04 -2.00463630e+01] [-5.19141299e-03 8.32897828e-05 9.99986521e-01 -2.59566274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10401273899998 meters Centerline goodness [0,1] 0.9857106241189286 Centerline is valid? [True, True] Translation: X:178.10, Y:-20.05, Z:-2.60 [[ 9.97198785e-01 7.46183655e-02 5.16550093e-03 1.78100472e+02] [-7.46169428e-02 9.97212160e-01 -4.67857950e-04 -2.00514181e+01] [-5.18601114e-03 8.11134915e-05 9.99986549e-01 -2.59606771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13401273899999 meters Centerline goodness [0,1] 0.9869482013460339 Centerline is valid? [True, True] Translation: X:178.13, Y:-20.05, Z:-2.60 [[ 9.97126694e-01 7.55798187e-02 5.10370338e-03 1.78130812e+02] [-7.55784435e-02 9.97139752e-01 -4.62058188e-04 -2.00508485e+01] [-5.12402780e-03 7.50005959e-05 9.99986869e-01 -2.59586565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.164012739 meters Centerline goodness [0,1] 0.9893357838946828 Centerline is valid? [True, True] Translation: X:178.16, Y:-20.05, Z:-2.60 [[ 9.96837797e-01 7.93803197e-02 3.62927744e-03 1.78159326e+02] [-7.93796493e-02 9.96844403e-01 -3.28617775e-04 -2.00517372e+01] [-3.64391069e-03 3.94878482e-05 9.99993360e-01 -2.59856003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.194012739 meters Centerline goodness [0,1] 0.991714071052914 Centerline is valid? [True, True] Translation: X:178.19, Y:-20.05, Z:-2.60 [[ 9.96660193e-01 8.16026264e-02 3.07747685e-03 1.78188143e+02] [-8.16021551e-02 9.96664944e-01 -2.78621603e-04 -2.00527231e+01] [-3.08994955e-03 2.65623180e-05 9.99995226e-01 -2.59943831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.224012739 meters Centerline goodness [0,1] 0.9918566073505968 Centerline is valid? [True, True] Translation: X:178.22, Y:-20.05, Z:-2.60 [[ 9.96304461e-01 8.58257632e-02 3.37045964e-03 1.78215929e+02] [-8.58252226e-02 9.96310162e-01 -3.04995613e-04 -2.00504638e+01] [-3.38419967e-03 1.45980412e-05 9.99994273e-01 -2.59844023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.254012739 meters Centerline goodness [0,1] 0.9932397295891836 Centerline is valid? [True, True] Translation: X:178.25, Y:-20.05, Z:-2.60 [[ 9.96110177e-01 8.80360029e-02 3.76528768e-03 1.78245278e+02] [-8.80353450e-02 9.96117293e-01 -3.40429363e-04 -2.00490151e+01] [-3.78063822e-03 7.62675292e-06 9.99992853e-01 -2.59884435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.284012739 meters Centerline goodness [0,1] 0.9926724971528031 Centerline is valid? [True, True] Translation: X:178.27, Y:-20.04, Z:-2.60 [[ 9.95731521e-01 9.22078322e-02 4.05644179e-03 1.78274412e+02] [-9.22071041e-02 9.95739783e-01 -3.66540715e-04 -2.00437401e+01] [-4.07295840e-03 -9.05660717e-06 9.99991705e-01 -2.59865035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.314012739 meters Centerline goodness [0,1] 0.9927614911328266 Centerline is valid? [True, True] Translation: X:178.30, Y:-20.04, Z:-2.60 [[ 9.95619627e-01 9.33962570e-02 4.32399009e-03 1.78302573e+02] [-9.33954418e-02 9.95629017e-01 -3.90519451e-04 -2.00426851e+01] [-4.34156306e-03 -1.50321344e-05 9.99990575e-01 -2.59865223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.344012739 meters Centerline goodness [0,1] 0.9932312616236322 Centerline is valid? [True, True] Translation: X:178.33, Y:-20.04, Z:-2.60 [[ 9.95599484e-01 9.36162515e-02 4.20308018e-03 1.78331984e+02] [-9.36154843e-02 9.95608355e-01 -3.79339047e-04 -2.00430302e+01] [-4.22013405e-03 -1.58036280e-05 9.99991095e-01 -2.59800768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.374012739 meters Centerline goodness [0,1] 0.9925084012928359 Centerline is valid? [True, True] Translation: X:178.36, Y:-20.04, Z:-2.59 [[ 9.95721831e-01 9.22123771e-02 5.90866346e-03 1.78360118e+02] [-9.22108384e-02 9.95739362e-01 -5.32886052e-04 -2.00435837e+01] [-5.93262747e-03 -1.42365353e-05 9.99982402e-01 -2.59362394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.404012739 meters Centerline goodness [0,1] 0.9916725235874172 Centerline is valid? [True, True] Translation: X:178.39, Y:-20.05, Z:-2.59 [[ 9.95818357e-01 9.10702467e-02 7.21179436e-03 1.78389098e+02] [-9.10679285e-02 9.95844471e-01 -6.49866757e-04 -2.00465404e+01] [-7.24100906e-03 -9.61392635e-06 9.99973784e-01 -2.59183572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.434012739 meters Centerline goodness [0,1] 0.9886501307147867 Centerline is valid? [True, True] Translation: X:178.42, Y:-20.05, Z:-2.59 [[ 9.96147290e-01 8.73468624e-02 7.81674342e-03 1.78416843e+02] [-8.73440271e-02 9.96177959e-01 -7.04022779e-04 -2.00529553e+01] [-7.84836168e-03 1.85645356e-05 9.99969201e-01 -2.59295015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46401273899997 meters Centerline goodness [0,1] 0.9890906743555536 Centerline is valid? [True, True] Translation: X:178.45, Y:-20.06, Z:-2.60 [[ 9.96340261e-01 8.51891351e-02 6.99254054e-03 1.78446447e+02] [-8.51868141e-02 9.96364798e-01 -6.29633588e-04 -2.00584735e+01] [-7.02075918e-03 3.16570420e-05 9.99975354e-01 -2.59531515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49401273899997 meters Centerline goodness [0,1] 0.9896746666666667 Centerline is valid? [True, True] Translation: X:178.47, Y:-20.07, Z:-2.60 [[ 9.96673192e-01 8.13394586e-02 5.14197843e-03 1.78474124e+02] [-8.13381528e-02 9.96686456e-01 -4.62890821e-04 -2.00657561e+01] [-5.16259155e-03 4.31118440e-05 9.99986673e-01 -2.59845158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52401273899997 meters Centerline goodness [0,1] 0.9896746666666667 Centerline is valid? [True, True] Translation: X:178.50, Y:-20.07, Z:-2.60 [[ 9.96676766e-01 8.12956587e-02 5.14197188e-03 1.78502345e+02] [-8.12943521e-02 9.96690029e-01 -4.62963651e-04 -2.00682058e+01] [-5.16258904e-03 4.34118425e-05 9.99986673e-01 -2.59863542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55401273899997 meters Centerline goodness [0,1] 0.9895311690554308 Centerline is valid? [True, True] Translation: X:178.53, Y:-20.07, Z:-2.60 [[ 9.96820811e-01 7.95581658e-02 4.33242543e-03 1.78531516e+02] [-7.95572226e-02 9.96830224e-01 -3.89884655e-04 -2.00710093e+01] [-4.34971112e-03 4.39694030e-05 9.99990539e-01 -2.59959683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58401273899997 meters Centerline goodness [0,1] 0.9902140804908082 Centerline is valid? [True, True] Translation: X:178.56, Y:-20.08, Z:-2.60 [[ 9.96981054e-01 7.75732533e-02 3.34180897e-03 1.78560651e+02] [-7.75726811e-02 9.96986654e-01 -3.00692959e-04 -2.00758252e+01] [-3.35506467e-03 4.05521016e-05 9.99994371e-01 -2.60153828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61401273899997 meters Centerline goodness [0,1] 0.9889492134062927 Centerline is valid? [True, True] Translation: X:178.59, Y:-20.08, Z:-2.60 [[ 9.97155755e-01 7.53262359e-02 2.52145063e-03 1.78589228e+02] [-7.53259029e-02 9.97158943e-01 -2.26902362e-04 -2.00826186e+01] [-2.53137875e-03 3.63264505e-05 9.99996795e-01 -2.60336786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64401273899998 meters Centerline goodness [0,1] 0.9867977647911956 Centerline is valid? [True, True] Translation: X:178.62, Y:-20.09, Z:-2.60 [[ 9.97340695e-01 7.28060677e-02 3.28855089e-03 1.78617701e+02] [-7.28054882e-02 9.97346115e-01 -2.95740213e-04 -2.00900573e+01] [-3.30135514e-03 5.55291959e-05 9.99994549e-01 -2.60267828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67401273899998 meters Centerline goodness [0,1] 0.9866765830854228 Centerline is valid? [True, True] Translation: X:178.65, Y:-20.09, Z:-2.60 [[ 9.97190902e-01 7.47161927e-02 5.27212302e-03 1.78647673e+02] [-7.47147318e-02 9.97204836e-01 -4.73790858e-04 -2.00911501e+01] [-5.29278642e-03 7.85546758e-05 9.99985990e-01 -2.59860097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70401273899998 meters Centerline goodness [0,1] 0.9870806551495868 Centerline is valid? [True, True] Translation: X:178.68, Y:-20.09, Z:-2.60 [[ 9.97105287e-01 7.58346193e-02 5.49150802e-03 1.78677052e+02] [-7.58330519e-02 9.97120406e-01 -4.93380374e-04 -2.00907528e+01] [-5.51311002e-03 7.55143674e-05 9.99984800e-01 -2.59814066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73401273899998 meters Centerline goodness [0,1] 0.9877447285101983 Centerline is valid? [True, True] Translation: X:178.71, Y:-20.09, Z:-2.60 [[ 9.97048779e-01 7.65616979e-02 5.66020589e-03 1.78706746e+02] [-7.65600452e-02 9.97064843e-01 -5.08402274e-04 -2.00913305e+01] [-5.68251644e-03 7.35562475e-05 9.99983852e-01 -2.59849851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76401273899998 meters Centerline goodness [0,1] 0.9875993571645746 Centerline is valid? [True, True] Translation: X:178.74, Y:-20.09, Z:-2.60 [[ 9.97029813e-01 7.68066896e-02 5.68186786e-03 1.78736714e+02] [-7.68050290e-02 9.97046001e-01 -5.10208111e-04 -2.00911442e+01] [-5.70427102e-03 7.22966721e-05 9.99983728e-01 -2.59903341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79401273899998 meters Centerline goodness [0,1] 0.9879603551695225 Centerline is valid? [True, True] Translation: X:178.77, Y:-20.09, Z:-2.60 [[ 9.97044523e-01 7.66627516e-02 5.00423070e-03 1.78765524e+02] [-7.66614617e-02 9.97057079e-01 -4.49343585e-04 -2.00937062e+01] [-5.02395156e-03 6.43839200e-05 9.99987378e-01 -2.60078166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82401273899998 meters Centerline goodness [0,1] 0.9878367942337395 Centerline is valid? [True, True] Translation: X:178.80, Y:-20.10, Z:-2.60 [[ 9.97017904e-01 7.70029147e-02 5.08439523e-03 1.78795428e+02] [-7.70015886e-02 9.97030866e-01 -4.56339989e-04 -2.00960320e+01] [-5.10443848e-03 6.34726298e-05 9.99986970e-01 -2.60082747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85401273899998 meters Centerline goodness [0,1] 0.9894034281751793 Centerline is valid? [True, True] Translation: X:178.82, Y:-20.10, Z:-2.60 [[ 9.96958694e-01 7.78126284e-02 4.30789230e-03 1.78824974e+02] [-7.78116844e-02 9.96968000e-01 -3.86571622e-04 -2.00968048e+01] [-4.32491093e-03 5.01915836e-05 9.99990646e-01 -2.60101280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88401273899999 meters Centerline goodness [0,1] 0.990163512847438 Centerline is valid? [True, True] Translation: X:178.85, Y:-20.10, Z:-2.60 [[ 9.96942829e-01 7.80587401e-02 3.43943813e-03 1.78853253e+02] [-7.80581398e-02 9.96948761e-01 -3.08625380e-04 -2.01001159e+01] [-3.45303449e-03 3.92057170e-05 9.99994037e-01 -2.60285583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.914012739 meters Centerline goodness [0,1] 0.9905945439843384 Centerline is valid? [True, True] Translation: X:178.88, Y:-20.10, Z:-2.60 [[ 9.96954919e-01 7.79340093e-02 2.67939775e-03 1.78882341e+02] [-7.79336446e-02 9.96958519e-01 -2.40421067e-04 -2.01038373e+01] [-2.68998539e-03 3.08737341e-05 9.99996382e-01 -2.60479046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.944012739 meters Centerline goodness [0,1] 0.9882638173704085 Centerline is valid? [True, True] Translation: X:178.91, Y:-20.11, Z:-2.60 [[ 9.97135827e-01 7.54986277e-02 4.48322440e-03 1.78910796e+02] [-7.54975838e-02 9.97145904e-01 -4.01882054e-04 -2.01112496e+01] [-4.50077039e-03 6.22583851e-05 9.99989870e-01 -2.60262285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.974012739 meters Centerline goodness [0,1] 0.986331692849928 Centerline is valid? [True, True] Translation: X:178.94, Y:-20.12, Z:-2.60 [[ 9.97356253e-01 7.22568836e-02 7.71021393e-03 1.78940162e+02] [-7.22537032e-02 9.97386046e-01 -6.90614687e-04 -2.01189422e+01] [-7.73996145e-03 1.31697367e-04 9.99970037e-01 -2.59704595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.004012739 meters Centerline goodness [0,1] 0.9853240583644384 Centerline is valid? [True, True] Translation: X:178.97, Y:-20.13, Z:-2.60 [[ 9.97466018e-01 7.07409830e-02 7.56677410e-03 1.78968858e+02] [-7.07378775e-02 9.97494709e-01 -6.77604996e-04 -2.01268296e+01] [-7.59575157e-03 1.40630417e-04 9.99971142e-01 -2.59714594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.034012739 meters Centerline goodness [0,1] 0.9856724894587385 Centerline is valid? [True, True] Translation: X:179.00, Y:-20.13, Z:-2.60 [[ 9.97588685e-01 6.90927402e-02 6.55818355e-03 1.78998804e+02] [-6.90903722e-02 9.97610232e-01 -5.87220404e-04 -2.01316345e+01] [-6.58308368e-03 1.32697087e-04 9.99978322e-01 -2.59926462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.064012739 meters Centerline goodness [0,1] 0.9845932046564672 Centerline is valid? [True, True] Translation: X:179.03, Y:-20.15, Z:-2.60 [[ 9.97858362e-01 6.52376269e-02 4.76886791e-03 1.79027188e+02] [-6.52363313e-02 9.97869750e-01 -4.26906259e-04 -2.01471519e+01] [-4.78655938e-03 1.14888534e-04 9.99988538e-01 -2.60349896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.094012739 meters Centerline goodness [0,1] 0.9850424587266693 Centerline is valid? [True, True] Translation: X:179.06, Y:-20.15, Z:-2.60 [[ 9.97963361e-01 6.35938067e-02 4.99585340e-03 1.79057209e+02] [-6.35923622e-02 9.97975857e-01 -4.47619945e-04 -2.01542915e+01] [-5.01420693e-03 1.29010185e-04 9.99987420e-01 -2.60343157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.124012739 meters Centerline goodness [0,1] 0.9833070253205614 Centerline is valid? [True, True] Translation: X:179.09, Y:-20.17, Z:-2.60 [[ 9.98032034e-01 6.23322938e-02 6.83694039e-03 1.79088023e+02] [-6.23295587e-02 9.98055435e-01 -6.12610644e-04 -2.01660756e+01] [-6.86183094e-03 1.85261570e-04 9.99976440e-01 -2.60015881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.154012739 meters Centerline goodness [0,1] 0.9835074098698179 Centerline is valid? [True, True] Translation: X:179.12, Y:-20.17, Z:-2.60 [[ 9.98006955e-01 6.26460890e-02 7.58849350e-03 1.79119387e+02] [-6.26427222e-02 9.98035784e-01 -6.80773009e-04 -2.01740598e+01] [-7.61623583e-03 2.04052307e-04 9.99970975e-01 -2.59900695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.184012739 meters Centerline goodness [0,1] 0.9836465602123379 Centerline is valid? [True, True] Translation: X:179.15, Y:-20.18, Z:-2.60 [[ 9.97965048e-01 6.32859635e-02 7.78773727e-03 1.79151032e+02] [-6.32824264e-02 9.97995413e-01 -7.00023519e-04 -2.01787779e+01] [-7.81642774e-03 2.05772094e-04 9.99969430e-01 -2.59904056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21401273899997 meters Centerline goodness [0,1] 0.9846985660248327 Centerline is valid? [True, True] Translation: X:179.18, Y:-20.18, Z:-2.60 [[ 9.97827146e-01 6.56000456e-02 6.13362220e-03 1.79182739e+02] [-6.55978904e-02 9.97845986e-01 -5.52109797e-04 -2.01824997e+01] [-6.15662872e-03 1.48557466e-04 9.99981037e-01 -2.60250482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24401273899997 meters Centerline goodness [0,1] 0.984804006216543 Centerline is valid? [True, True] Translation: X:179.21, Y:-20.19, Z:-2.60 [[ 9.97759132e-01 6.66462713e-02 5.91515180e-03 1.79214930e+02] [-6.66442797e-02 9.97776656e-01 -5.33370439e-04 -2.01875520e+01] [-5.93754753e-03 1.37964195e-04 9.99982363e-01 -2.60300043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27401273899997 meters Centerline goodness [0,1] 0.9846809065426653 Centerline is valid? [True, True] Translation: X:179.25, Y:-20.20, Z:-2.60 [[ 9.97657510e-01 6.79537289e-02 7.86018717e-03 1.79245435e+02] [-6.79502402e-02 9.97688459e-01 -7.10362985e-04 -2.01957909e+01] [-7.89028984e-03 1.74597361e-04 9.99968856e-01 -2.60020539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30401273899997 meters Centerline goodness [0,1] 0.9849010274193896 Centerline is valid? [True, True] Translation: X:179.28, Y:-20.20, Z:-2.60 [[ 9.97541224e-01 6.96219184e-02 8.01844628e-03 1.79277943e+02] [-6.96183330e-02 9.97573436e-01 -7.25749000e-04 -2.01982545e+01] [-8.04951704e-03 1.65733683e-04 9.99967588e-01 -2.59985683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33401273899997 meters Centerline goodness [0,1] 0.9855568470446425 Centerline is valid? [True, True] Translation: X:179.31, Y:-20.20, Z:-2.60 [[ 9.97397878e-01 7.17366742e-02 7.16393423e-03 1.79310015e+02] [-7.17338635e-02 9.97423597e-01 -6.48854966e-04 -2.01998562e+01] [-7.19202375e-03 1.33269886e-04 9.99974128e-01 -2.60114455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36401273899997 meters Centerline goodness [0,1] 0.9895942394393282 Centerline is valid? [True, True] Translation: X:179.34, Y:-20.20, Z:-2.61 [[ 9.97139439e-01 7.54817065e-02 3.93071281e-03 1.79341026e+02] [-7.54808874e-02 9.97147185e-01 -3.56529943e-04 -2.02024109e+01] [-3.94641070e-03 5.88163766e-05 9.99992211e-01 -2.60690737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39401273899998 meters Centerline goodness [0,1] 0.9893006041010806 Centerline is valid? [True, True] Translation: X:179.37, Y:-20.21, Z:-2.60 [[ 9.96928675e-01 7.81366676e-02 5.28003327e-03 1.79369797e+02] [-7.81352257e-02 9.96942655e-01 -4.79134081e-04 -2.02084306e+01] [-5.30132833e-03 6.51059134e-05 9.99985946e-01 -2.60446460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42401273899998 meters Centerline goodness [0,1] 0.9879896010141159 Centerline is valid? [True, True] Translation: X:179.40, Y:-20.21, Z:-2.60 [[ 9.96850885e-01 7.89625191e-02 7.29615921e-03 1.79401549e+02] [-7.89597885e-02 9.96877582e-01 -6.62001888e-04 -2.02094822e+01] [-7.32565089e-03 8.38139801e-05 9.99973164e-01 -2.60120925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45401273899998 meters Centerline goodness [0,1] 0.9877652292950034 Centerline is valid? [True, True] Translation: X:179.43, Y:-20.21, Z:-2.60 [[ 9.96762346e-01 7.99390644e-02 8.63546860e-03 1.79432729e+02] [-7.99352740e-02 9.96799748e-01 -7.83743488e-04 -2.02117661e+01] [-8.67048464e-03 9.09274490e-05 9.99962407e-01 -2.59910876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48401273899998 meters Centerline goodness [0,1] 0.9924408366619422 Centerline is valid? [True, True] Translation: X:179.47, Y:-20.21, Z:-2.61 [[ 9.96506822e-01 8.33045265e-02 5.87440385e-03 1.79465167e+02] [-8.33028309e-02 9.96524136e-01 -5.33157267e-04 -2.02133360e+01] [-5.89839964e-03 4.19403835e-05 9.99982603e-01 -2.60583901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51401273899998 meters Centerline goodness [0,1] 0.99521959964147 Centerline is valid? [True, True] Translation: X:179.50, Y:-20.22, Z:-2.61 [[ 9.96343681e-01 8.53588878e-02 3.62339434e-03 1.79495152e+02] [-8.53582546e-02 9.96350270e-01 -3.29328996e-04 -2.02159898e+01] [-3.63828108e-03 1.88382479e-05 9.99993381e-01 -2.60997450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54401273899998 meters Centerline goodness [0,1] 0.9957899788408263 Centerline is valid? [True, True] Translation: X:179.52, Y:-20.22, Z:-2.61 [[ 9.95995657e-01 8.93253092e-02 3.69321595e-03 1.79524767e+02] [-8.93246769e-02 9.96002505e-01 -3.36136127e-04 -2.02168212e+01] [-3.70847780e-03 4.89480106e-06 9.99993124e-01 -2.60923456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57401273899998 meters Centerline goodness [0,1] 0.9951159423421866 Centerline is valid? [True, True] Translation: X:179.55, Y:-20.22, Z:-2.61 [[ 9.95813098e-01 9.12959051e-02 4.61853107e-03 1.79554324e+02] [-9.12949381e-02 9.95823809e-01 -4.20212145e-04 -2.02180830e+01] [-4.63760684e-03 -3.19574975e-06 9.99989246e-01 -2.60718195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60401273899998 meters Centerline goodness [0,1] 0.995374309964871 Centerline is valid? [True, True] Translation: X:179.58, Y:-20.22, Z:-2.61 [[ 9.95652374e-01 9.29940435e-02 5.33455166e-03 1.79584882e+02] [-9.29927788e-02 9.95666665e-01 -4.85181714e-04 -2.02191636e+01] [-5.35655427e-03 -1.30024565e-05 9.99985653e-01 -2.60696622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63401273899999 meters Centerline goodness [0,1] 0.995300572011823 Centerline is valid? [True, True] Translation: X:179.61, Y:-20.22, Z:-2.61 [[ 9.95337396e-01 9.63600515e-02 4.26708784e-03 1.79614188e+02] [-9.63592729e-02 9.95346543e-01 -3.88147124e-04 -2.02164878e+01] [-4.28463301e-03 -2.48361344e-05 9.99990821e-01 -2.60997391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.664012739 meters Centerline goodness [0,1] 0.9947725527012033 Centerline is valid? [True, True] Translation: X:179.64, Y:-20.21, Z:-2.61 [[ 9.94934395e-01 1.00482328e-01 2.97519275e-03 1.79643752e+02] [-1.00481968e-01 9.94938843e-01 -2.70648311e-04 -2.02119838e+01] [-2.98733021e-03 -2.96759109e-05 9.99995537e-01 -2.61259783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.694012739 meters Centerline goodness [0,1] 0.9942171586397376 Centerline is valid? [True, True] Translation: X:179.67, Y:-20.21, Z:-2.61 [[ 9.94730280e-01 1.02481771e-01 3.02597821e-03 1.79673290e+02] [-1.02481408e-01 9.94734882e-01 -2.75117209e-04 -2.02137814e+01] [-3.03824058e-03 -3.64390899e-05 9.99995384e-01 -2.61227134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.724012739 meters Centerline goodness [0,1] 0.9939399130602369 Centerline is valid? [True, True] Translation: X:179.70, Y:-20.22, Z:-2.61 [[ 9.94615315e-01 1.03598414e-01 2.78277896e-03 1.79701686e+02] [-1.03598112e-01 9.94619207e-01 -2.53039608e-04 -2.02151380e+01] [-2.79401991e-03 -3.66135776e-05 9.99996096e-01 -2.61226732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.754012739 meters Centerline goodness [0,1] 0.9931814791928576 Centerline is valid? [True, True] Translation: X:179.73, Y:-20.21, Z:-2.61 [[ 9.94455825e-01 1.05102603e-01 3.32486975e-03 1.79729709e+02] [-1.05102180e-01 9.94461382e-01 -3.02153242e-04 -2.02095703e+01] [-3.33821166e-03 -4.89730078e-05 9.99994427e-01 -2.61278147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.784012739 meters Centerline goodness [0,1] 0.9936344086021506 Centerline is valid? [True, True] Translation: X:179.76, Y:-20.21, Z:-2.61 [[ 9.94427835e-01 1.05322211e-01 4.52911403e-03 1.79758778e+02] [-1.05321430e-01 9.94438147e-01 -4.11167993e-04 -2.02127012e+01] [-4.54722889e-03 -6.81358711e-05 9.99989659e-01 -2.61009465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.814012739 meters Centerline goodness [0,1] 0.9914776985503523 Centerline is valid? [True, True] Translation: X:179.79, Y:-20.21, Z:-2.61 [[ 9.94407274e-01 1.05376110e-01 7.07446575e-03 1.79786559e+02] [-1.05374211e-01 9.94432433e-01 -6.41728316e-04 -2.02147467e+01] [-7.10270103e-03 -1.07326941e-04 9.99974770e-01 -2.60538526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.844012739 meters Centerline goodness [0,1] 0.9923897153667556 Centerline is valid? [True, True] Translation: X:179.82, Y:-20.22, Z:-2.61 [[ 9.94448061e-01 1.04986296e-01 7.13667705e-03 1.79815901e+02] [-1.04984356e-01 9.94473663e-01 -6.46932627e-04 -2.02191445e+01] [-7.16515643e-03 -1.05898549e-04 9.99974324e-01 -2.60595500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.874012739 meters Centerline goodness [0,1] 0.9927406268682211 Centerline is valid? [True, True] Translation: X:179.84, Y:-20.22, Z:-2.61 [[ 9.94489251e-01 1.04642858e-01 6.40333832e-03 1.79844391e+02] [-1.04641291e-01 9.94509861e-01 -5.80320006e-04 -2.02204002e+01] [-6.42890944e-03 -9.29315778e-05 9.99979330e-01 -2.60755619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.904012739 meters Centerline goodness [0,1] 0.9936821747072097 Centerline is valid? [True, True] Translation: X:179.87, Y:-20.22, Z:-2.61 [[ 9.94714676e-01 1.02609202e-01 3.75022674e-03 1.79873166e+02] [-1.02608650e-01 9.94721745e-01 -3.39803921e-04 -2.02248497e+01] [-3.76529910e-03 -4.67977567e-05 9.99992910e-01 -2.61406828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.934012739 meters Centerline goodness [0,1] 0.994026539232837 Centerline is valid? [True, True] Translation: X:179.90, Y:-20.23, Z:-2.62 [[ 9.94817495e-01 1.01625878e-01 3.21428707e-03 1.79901259e+02] [-1.01625468e-01 9.94822687e-01 -2.91317156e-04 -2.02281178e+01] [-3.22725106e-03 -3.68460232e-05 9.99994792e-01 -2.61572738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96401273899997 meters Centerline goodness [0,1] 0.9939278278972935 Centerline is valid? [True, True] Translation: X:179.93, Y:-20.24, Z:-2.61 [[ 9.95030638e-01 9.94357840e-02 5.15312366e-03 1.79930315e+02] [-9.94347018e-02 9.95043980e-01 -4.66415608e-04 -2.02367818e+01] [-5.17396308e-03 -4.83014948e-05 9.99986614e-01 -2.61074921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99401273899997 meters Centerline goodness [0,1] 0.9942596693397545 Centerline is valid? [True, True] Translation: X:179.96, Y:-20.24, Z:-2.61 [[ 9.95161377e-01 9.80431464e-02 6.43241199e-03 1.79959286e+02] [-9.80414324e-02 9.95182164e-01 -5.82014170e-04 -2.02390101e+01] [-6.45848418e-03 -5.14448624e-05 9.99979142e-01 -2.60864253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02401273899997 meters Centerline goodness [0,1] 0.9942333347678272 Centerline is valid? [True, True] Translation: X:179.99, Y:-20.24, Z:-2.61 [[ 9.95208345e-01 9.75106739e-02 7.21241436e-03 1.79988240e+02] [-9.75085071e-02 9.95234478e-01 -6.52305336e-04 -2.02412897e+01] [-7.24165017e-03 -5.40920432e-05 9.99973777e-01 -2.60786782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05401273899997 meters Centerline goodness [0,1] 0.9945395985751765 Centerline is valid? [True, True] Translation: X:180.02, Y:-20.24, Z:-2.61 [[ 9.95170967e-01 9.80213116e-02 5.15456554e-03 1.80018115e+02] [-9.80202126e-02 9.95184315e-01 -4.66011296e-04 -2.02432810e+01] [-5.17542181e-03 -4.14906979e-05 9.99986607e-01 -2.61248376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08401273899997 meters Centerline goodness [0,1] 0.9949230966967996 Centerline is valid? [True, True] Translation: X:180.05, Y:-20.25, Z:-2.62 [[ 9.95153560e-01 9.82849615e-02 3.07554489e-03 1.80047853e+02] [-9.82845711e-02 9.95158312e-01 -2.78179119e-04 -2.02478158e+01] [-3.08799489e-03 -2.54476700e-05 9.99995232e-01 -2.61656977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11401273899997 meters Centerline goodness [0,1] 0.9953389921104958 Centerline is valid? [True, True] Translation: X:180.08, Y:-20.25, Z:-2.62 [[ 9.95275145e-01 9.70559904e-02 2.74232234e-03 1.80076651e+02] [-9.70556753e-02 9.95278923e-01 -2.48034494e-04 -2.02500917e+01] [-2.75344886e-03 -1.92953800e-05 9.99996209e-01 -2.61732455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14401273899998 meters Centerline goodness [0,1] 0.9956819695374767 Centerline is valid? [True, True] Translation: X:180.11, Y:-20.25, Z:-2.61 [[ 9.95377029e-01 9.59425916e-02 4.42605277e-03 1.80105660e+02] [-9.59417612e-02 9.95386869e-01 -4.00047112e-04 -2.02535467e+01] [-4.44401637e-03 -2.64455927e-05 9.99990125e-01 -2.61380164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17401273899998 meters Centerline goodness [0,1] 0.9950614644575093 Centerline is valid? [True, True] Translation: X:180.14, Y:-20.26, Z:-2.61 [[ 9.95457988e-01 9.50072541e-02 6.08398205e-03 1.80135104e+02] [-9.50056700e-02 9.95476580e-01 -5.49505055e-04 -2.02577222e+01] [-6.10866861e-03 -3.10035944e-05 9.99981341e-01 -2.60991589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20401273899998 meters Centerline goodness [0,1] 0.9937032579730078 Centerline is valid? [True, True] Translation: X:180.17, Y:-20.26, Z:-2.61 [[ 9.95306483e-01 9.65314181e-02 6.83296303e-03 1.80165121e+02] [-9.65294571e-02 9.95329937e-01 -6.16980565e-04 -2.02581296e+01] [-6.86061067e-03 -4.54974544e-05 9.99976465e-01 -2.60872354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23401273899998 meters Centerline goodness [0,1] 0.9940015315238663 Centerline is valid? [True, True] Translation: X:180.19, Y:-20.26, Z:-2.61 [[ 9.95155045e-01 9.81535550e-02 5.68466661e-03 1.80193867e+02] [-9.81522247e-02 9.95171280e-01 -5.13199468e-04 -2.02554244e+01] [-5.70758930e-03 -4.72496343e-05 9.99983710e-01 -2.61083807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26401273899998 meters Centerline goodness [0,1] 0.9949063670411985 Centerline is valid? [True, True] Translation: X:180.22, Y:-20.25, Z:-2.62 [[ 9.94831315e-01 1.01497489e-01 2.98579401e-03 1.80223904e+02] [-1.01497137e-01 9.94835795e-01 -2.69514936e-04 -2.02493699e+01] [-2.99772985e-03 -3.49276462e-05 9.99995506e-01 -2.61712930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29401273899998 meters Centerline goodness [0,1] 0.9941773344179475 Centerline is valid? [True, True] Translation: X:180.25, Y:-20.25, Z:-2.62 [[ 9.94758529e-01 1.02217121e-01 2.67007342e-03 1.80252367e+02] [-1.02216842e-01 9.94762112e-01 -2.41058554e-04 -2.02518084e+01] [-2.68072818e-03 -3.31314198e-05 9.99996406e-01 -2.61836688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32401273899998 meters Centerline goodness [0,1] 0.9940575792680311 Centerline is valid? [True, True] Translation: X:180.28, Y:-20.26, Z:-2.61 [[ 9.94812603e-01 1.01633188e-01 4.31056487e-03 1.80281070e+02] [-1.01632457e-01 9.94821940e-01 -3.88788611e-04 -2.02569287e+01] [-4.32775834e-03 -5.13214896e-05 9.99990634e-01 -2.61480729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35401273899998 meters Centerline goodness [0,1] 0.9943994356683269 Centerline is valid? [True, True] Translation: X:180.31, Y:-20.26, Z:-2.62 [[ 9.94918412e-01 1.00592667e-01 4.29755350e-03 1.80308621e+02] [-1.00591932e-01 9.94927692e-01 -3.87437715e-04 -2.02571252e+01] [-4.31472838e-03 -4.68302930e-05 9.99990690e-01 -2.61540346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38401273899999 meters Centerline goodness [0,1] 0.9953084985043149 Centerline is valid? [True, True] Translation: X:180.34, Y:-20.26, Z:-2.62 [[ 9.95055103e-01 9.92432770e-02 4.01417296e-03 1.80337184e+02] [-9.92426255e-02 9.95063199e-01 -3.61649055e-04 -2.02638907e+01] [-4.03024702e-03 -3.85163257e-05 9.99991878e-01 -2.61589440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.414012739 meters Centerline goodness [0,1] 0.9953084985043149 Centerline is valid? [True, True] Translation: X:180.37, Y:-20.27, Z:-2.62 [[ 9.95059712e-01 9.91970544e-02 4.01418972e-03 1.80365407e+02] [-9.91964033e-02 9.95067808e-01 -3.61462854e-04 -2.02663406e+01] [-4.03024702e-03 -3.85160584e-05 9.99991878e-01 -2.61607827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.444012739 meters Centerline goodness [0,1] 0.9957365352823457 Centerline is valid? [True, True] Translation: X:180.39, Y:-20.28, Z:-2.62 [[ 9.95506267e-01 9.46180011e-02 3.83486965e-03 1.80393141e+02] [-9.46173738e-02 9.95513653e-01 -3.45076038e-04 -2.02805013e+01] [-3.85031550e-03 -1.93199359e-05 9.99992587e-01 -2.61660309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.474012739 meters Centerline goodness [0,1] 0.9960369596588339 Centerline is valid? [True, True] Translation: X:180.42, Y:-20.29, Z:-2.62 [[ 9.95785684e-01 9.15912337e-02 4.68164591e-03 1.80422139e+02] [-9.15902658e-02 9.95796689e-01 -4.21165532e-04 -2.02894866e+01] [-4.70054257e-03 -9.40258666e-06 9.99988952e-01 -2.61523835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.504012739 meters Centerline goodness [0,1] 0.9931228643270078 Centerline is valid? [True, True] Translation: X:180.45, Y:-20.30, Z:-2.61 [[ 9.96174226e-01 8.71062717e-02 7.02913285e-03 1.80451186e+02] [-8.71039798e-02 9.96199025e-01 -6.32126758e-04 -2.03004199e+01] [-7.05747749e-03 1.74429385e-05 9.99975096e-01 -2.61117091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.534012739 meters Centerline goodness [0,1] 0.9933895649561093 Centerline is valid? [True, True] Translation: X:180.48, Y:-20.31, Z:-2.61 [[ 9.96273302e-01 8.59727363e-02 6.94241934e-03 1.80481474e+02] [-8.59704720e-02 9.96297490e-01 -6.24474930e-04 -2.03075514e+01] [-6.97040278e-03 2.53046329e-05 9.99975706e-01 -2.61158537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.564012739 meters Centerline goodness [0,1] 0.9942909043726482 Centerline is valid? [True, True] Translation: X:180.51, Y:-20.32, Z:-2.62 [[ 9.96447603e-01 8.40763963e-02 4.83062350e-03 1.80513385e+02] [-8.40752759e-02 9.96459311e-01 -4.34912444e-04 -2.03169564e+01] [-4.85008564e-03 2.72314586e-05 9.99988238e-01 -2.61530682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.594012739 meters Centerline goodness [0,1] 0.9949168605152063 Centerline is valid? [True, True] Translation: X:180.54, Y:-20.32, Z:-2.62 [[ 9.96485036e-01 8.36700885e-02 4.10963534e-03 1.80543175e+02] [-8.36692704e-02 9.96493510e-01 -3.70912344e-04 -2.03209975e+01] [-4.12625922e-03 2.57584098e-05 9.99991487e-01 -2.61578780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.624012739 meters Centerline goodness [0,1] 0.9945847211776082 Centerline is valid? [True, True] Translation: X:180.57, Y:-20.32, Z:-2.62 [[ 9.96520634e-01 8.32573933e-02 3.85134649e-03 1.80573524e+02] [-8.32566715e-02 9.96528076e-01 -3.47642840e-04 -2.03247683e+01] [-3.86691875e-03 2.57829738e-05 9.99992523e-01 -2.61644845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.654012739 meters Centerline goodness [0,1] 0.9937313627756132 Centerline is valid? [True, True] Translation: X:180.60, Y:-20.33, Z:-2.62 [[ 9.96589929e-01 8.24013480e-02 4.30474220e-03 1.80604871e+02] [-8.24004381e-02 9.96599226e-01 -3.88602296e-04 -2.03310516e+01] [-4.32212409e-03 3.25644918e-05 9.99990659e-01 -2.61612601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.684012739 meters Centerline goodness [0,1] 0.993740152450709 Centerline is valid? [True, True] Translation: X:180.64, Y:-20.34, Z:-2.62 [[ 9.96575121e-01 8.25632912e-02 4.61850807e-03 1.80635658e+02] [-8.25622456e-02 9.96585823e-01 -4.16921147e-04 -2.03391049e+01] [-4.63716205e-03 3.41788447e-05 9.99989248e-01 -2.61637035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71401273899997 meters Centerline goodness [0,1] 0.9889670956041109 Centerline is valid? [True, True] Translation: X:180.67, Y:-20.34, Z:-2.61 [[ 9.96461279e-01 8.38981943e-02 5.10015944e-03 1.80667149e+02] [-8.38969334e-02 9.96474331e-01 -4.61057886e-04 -2.03411142e+01] [-5.12085989e-03 3.15385940e-05 9.99986888e-01 -2.60547051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74401273899997 meters Centerline goodness [0,1] 0.9936726448771938 Centerline is valid? [True, True] Translation: X:180.70, Y:-20.34, Z:-2.61 [[ 9.96372086e-01 8.48923198e-02 5.99676629e-03 1.80697911e+02] [-8.48905935e-02 9.96390131e-01 -5.42279263e-04 -2.03426574e+01] [-6.02115409e-03 3.12428710e-05 9.99981872e-01 -2.61267127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77401273899997 meters Centerline goodness [0,1] 0.9935062160892041 Centerline is valid? [True, True] Translation: X:180.73, Y:-20.34, Z:-2.61 [[ 9.96299297e-01 8.57138716e-02 6.39077960e-03 1.80728684e+02] [-8.57119269e-02 9.96319794e-01 -5.78063268e-04 -2.03449943e+01] [-6.41680825e-03 2.81579935e-05 9.99979412e-01 -2.61288341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80401273899997 meters Centerline goodness [0,1] 0.9931977182219353 Centerline is valid? [True, True] Translation: X:180.76, Y:-20.35, Z:-2.61 [[ 9.96235508e-01 8.64365275e-02 6.59843647e-03 1.80761016e+02] [-8.64344661e-02 9.96257359e-01 -5.97473220e-04 -2.03474625e+01] [-6.62538440e-03 2.48917034e-05 9.99978052e-01 -2.61300712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83401273899997 meters Centerline goodness [0,1] 0.9936729153752432 Centerline is valid? [True, True] Translation: X:180.79, Y:-20.35, Z:-2.61 [[ 9.96145806e-01 8.74508059e-02 6.77425564e-03 1.80793214e+02] [-8.74486487e-02 9.96168839e-01 -6.14550533e-04 -2.03489291e+01] [-6.80204532e-03 1.97824338e-05 9.99976866e-01 -2.61184606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86401273899997 meters Centerline goodness [0,1] 0.9945039549970903 Centerline is valid? [True, True] Translation: X:180.83, Y:-20.35, Z:-2.61 [[ 9.96126630e-01 8.77034313e-02 6.31227329e-03 1.80825829e+02] [-8.77015572e-02 9.96146630e-01 -5.73617631e-04 -2.03505607e+01] [-6.33825800e-03 1.77996006e-05 9.99979913e-01 -2.61301799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89401273899998 meters Centerline goodness [0,1] 0.99519727773949 Centerline is valid? [True, True] Translation: X:180.86, Y:-20.35, Z:-2.61 [[ 9.96167921e-01 8.72789774e-02 5.64384392e-03 1.80857404e+02] [-8.72774671e-02 9.96183909e-01 -5.13815008e-04 -2.03529438e+01] [-5.66715174e-03 1.92656271e-05 9.99983941e-01 -2.61454140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92401273899998 meters Centerline goodness [0,1] 0.9952066976098556 Centerline is valid? [True, True] Translation: X:180.89, Y:-20.36, Z:-2.62 [[ 9.96280248e-01 8.60464300e-02 4.65613907e-03 1.80888522e+02] [-8.60453894e-02 9.96291128e-01 -4.23716981e-04 -2.03607087e+01] [-4.67532938e-03 2.15015593e-05 9.99989070e-01 -2.61685843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95401273899998 meters Centerline goodness [0,1] 0.994204682955824 Centerline is valid? [True, True] Translation: X:180.92, Y:-20.37, Z:-2.62 [[ 9.96373134e-01 8.49720865e-02 4.50812084e-03 1.80919406e+02] [-8.49710966e-02 9.96383332e-01 -4.10994427e-04 -2.03670986e+01] [-4.52673952e-03 2.64438340e-05 9.99989754e-01 -2.61708783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98401273899998 meters Centerline goodness [0,1] 0.9937291957478793 Centerline is valid? [True, True] Translation: X:180.95, Y:-20.37, Z:-2.62 [[ 9.96578887e-01 8.25379125e-02 4.24436945e-03 1.80951395e+02] [-8.25370106e-02 9.96587925e-01 -3.87527778e-04 -2.03725692e+01] [-4.26187307e-03 3.58844360e-05 9.99990918e-01 -2.61722297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01401273899998 meters Centerline goodness [0,1] 0.9933185335258745 Centerline is valid? [True, True] Translation: X:180.98, Y:-20.38, Z:-2.62 [[ 9.96645963e-01 8.17384212e-02 3.95664476e-03 1.80983052e+02] [-8.17376288e-02 9.96653816e-01 -3.61844388e-04 -2.03767617e+01] [-3.97298169e-03 3.72239879e-05 9.99992107e-01 -2.61764458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04401273899998 meters Centerline goodness [0,1] 0.9932857019884652 Centerline is valid? [True, True] Translation: X:181.01, Y:-20.38, Z:-2.62 [[ 9.96654298e-01 8.16475147e-02 3.72741117e-03 1.81014186e+02] [-8.16468072e-02 9.96661267e-01 -3.41828826e-04 -2.03817830e+01] [-3.74287581e-03 3.63539476e-05 9.99992995e-01 -2.61831651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07401273899998 meters Centerline goodness [0,1] 0.9940595338025441 Centerline is valid? [True, True] Translation: X:181.05, Y:-20.39, Z:-2.62 [[ 9.96614998e-01 8.21472052e-02 3.22229857e-03 1.81045944e+02] [-8.21466805e-02 9.96620206e-01 -2.95092014e-04 -2.03866326e+01] [-3.23564885e-03 2.93919959e-05 9.99994765e-01 -2.61947918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10401273899998 meters Centerline goodness [0,1] 0.9955094622046402 Centerline is valid? [True, True] Translation: X:181.08, Y:-20.39, Z:-2.62 [[ 9.96472764e-01 8.38809264e-02 2.45381831e-03 1.81076620e+02] [-8.38806268e-02 9.96475785e-01 -2.24921020e-04 -2.03912032e+01] [-2.46403711e-03 1.82998523e-05 9.99996964e-01 -2.62156158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13401273899999 meters Centerline goodness [0,1] 0.9957700813776222 Centerline is valid? [True, True] Translation: X:181.11, Y:-20.39, Z:-2.62 [[ 9.96344633e-01 8.54067603e-02 1.74848043e-03 1.81106860e+02] [-8.54066098e-02 9.96346167e-01 -1.60700696e-04 -2.03929734e+01] [-1.75581670e-03 1.07814905e-05 9.99998458e-01 -2.62366287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.164012739 meters Centerline goodness [0,1] 0.9974023743586441 Centerline is valid? [True, True] Translation: X:181.14, Y:-20.39, Z:-2.62 [[ 9.96067641e-01 8.85821228e-02 1.56904484e-03 1.81137078e+02] [-8.85820051e-02 9.96068877e-01 -1.44504564e-04 -2.03934336e+01] [-1.57567725e-03 4.94718230e-06 9.99998759e-01 -2.62426116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.194012739 meters Centerline goodness [0,1] 0.9971618396439399 Centerline is valid? [True, True] Translation: X:181.17, Y:-20.40, Z:-2.62 [[ 9.95953597e-01 8.98432773e-02 2.14882133e-03 1.81167688e+02] [-8.98430592e-02 9.95955915e-01 -1.98003341e-04 -2.03958262e+01] [-2.15792058e-03 4.14545799e-06 9.99997672e-01 -2.62323910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.224012739 meters Centerline goodness [0,1] 0.996711949467855 Centerline is valid? [True, True] Translation: X:181.20, Y:-20.40, Z:-2.62 [[ 9.95691574e-01 9.26700872e-02 3.24720168e-03 1.81198207e+02] [-9.26696042e-02 9.95696869e-01 -2.99213701e-04 -2.03959877e+01] [-3.26095671e-03 -2.99233373e-06 9.99994683e-01 -2.61996999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.254012739 meters Centerline goodness [0,1] 0.9967004477963705 Centerline is valid? [True, True] Translation: X:181.23, Y:-20.39, Z:-2.62 [[ 9.95450569e-01 9.51914472e-02 4.09297013e-03 1.81228623e+02] [-9.51907017e-02 9.95458984e-01 -3.77012458e-04 -2.03946204e+01] [-4.11027225e-03 -1.43154334e-05 9.99991553e-01 -2.61939722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.284012739 meters Centerline goodness [0,1] 0.9955558390745939 Centerline is valid? [True, True] Translation: X:181.26, Y:-20.39, Z:-2.62 [[ 9.95159071e-01 9.81897632e-02 4.14647218e-03 1.81258313e+02] [-9.81890225e-02 9.95167709e-01 -3.82339844e-04 -2.03918907e+01] [-4.16397708e-03 -2.66490862e-05 9.99991330e-01 -2.61913180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.314012739 meters Centerline goodness [0,1] 0.9945417427742559 Centerline is valid? [True, True] Translation: X:181.29, Y:-20.38, Z:-2.62 [[ 9.94579989e-01 1.03914812e-01 3.51526475e-03 1.81288618e+02] [-1.03914315e-01 9.94586200e-01 -3.24107169e-04 -2.03829455e+01] [-3.52991334e-03 -4.29358249e-05 9.99993769e-01 -2.62221745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.344012739 meters Centerline goodness [0,1] 0.9939162846493295 Centerline is valid? [True, True] Translation: X:181.32, Y:-20.38, Z:-2.62 [[ 9.94441770e-01 1.05234347e-01 3.36117034e-03 1.81318585e+02] [-1.05233901e-01 9.94447450e-01 -3.09900323e-04 -2.03820359e+01] [-3.37511943e-03 -4.55312404e-05 9.99994303e-01 -2.62247885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.374012739 meters Centerline goodness [0,1] 0.9939015288824445 Centerline is valid? [True, True] Translation: X:181.35, Y:-20.38, Z:-2.62 [[ 9.94357220e-01 1.06030714e-01 3.34764723e-03 1.81347196e+02] [-1.06030275e-01 9.94362854e-01 -3.08611466e-04 -2.03802722e+01] [-3.36149835e-03 -4.80819181e-05 9.99994349e-01 -2.62234762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.404012739 meters Centerline goodness [0,1] 0.9942720865362094 Centerline is valid? [True, True] Translation: X:181.38, Y:-20.38, Z:-2.62 [[ 9.94340239e-01 1.06181340e-01 3.60717484e-03 1.81375438e+02] [-1.06180833e-01 9.94346781e-01 -3.32457827e-04 -2.03786299e+01] [-3.62208350e-03 -5.24366326e-05 9.99993439e-01 -2.62200036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.434012739 meters Centerline goodness [0,1] 0.9940881828148849 Centerline is valid? [True, True] Translation: X:181.40, Y:-20.38, Z:-2.62 [[ 9.94405235e-01 1.05555928e-01 4.02164908e-03 1.81404078e+02] [-1.05555294e-01 9.94413366e-01 -3.70358008e-04 -2.03785871e+01] [-4.03827509e-03 -5.62204075e-05 9.99991845e-01 -2.62156263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46401273899997 meters Centerline goodness [0,1] 0.9940820762228583 Centerline is valid? [True, True] Translation: X:181.43, Y:-20.38, Z:-2.62 [[ 9.94482160e-01 1.04839961e-01 3.71712532e-03 1.81433327e+02] [-1.04839414e-01 9.94489105e-01 -3.42108437e-04 -2.03810655e+01] [-3.73250726e-03 -4.94805029e-05 9.99993033e-01 -2.62148518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49401273899997 meters Centerline goodness [0,1] 0.9946836212134363 Centerline is valid? [True, True] Translation: X:181.46, Y:-20.38, Z:-2.62 [[ 9.94534447e-01 1.04355063e-01 3.35467060e-03 1.81462998e+02] [-1.04354615e-01 9.94540104e-01 -3.08687872e-04 -2.03822485e+01] [-3.36856759e-03 -4.30746368e-05 9.99994325e-01 -2.62264918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52401273899997 meters Centerline goodness [0,1] 0.9953156031430792 Centerline is valid? [True, True] Translation: X:181.49, Y:-20.38, Z:-2.62 [[ 9.94739217e-01 1.02394802e-01 3.03220243e-03 1.81492227e+02] [-1.02394427e-01 9.94743838e-01 -2.78997544e-04 -2.03787716e+01] [-3.04483258e-03 -3.29508333e-05 9.99995364e-01 -2.62376619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55401273899997 meters Centerline goodness [0,1] 0.9954703758306092 Centerline is valid? [True, True] Translation: X:181.52, Y:-20.38, Z:-2.62 [[ 9.94893945e-01 1.00870284e-01 3.35023629e-03 1.81520146e+02] [-1.00869818e-01 9.94899585e-01 -3.08184420e-04 -2.03794548e+01] [-3.36423535e-03 -3.13269115e-05 9.99994340e-01 -2.62326917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58401273899997 meters Centerline goodness [0,1] 0.9960409673810139 Centerline is valid? [True, True] Translation: X:181.55, Y:-20.38, Z:-2.62 [[ 9.95057632e-01 9.92183680e-02 4.00310555e-03 1.81549257e+02] [-9.92176908e-02 9.95065684e-01 -3.67900692e-04 -2.03813879e+01] [-4.01985546e-03 -3.10964976e-05 9.99991920e-01 -2.62246947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61401273899997 meters Centerline goodness [0,1] 0.9965929900770836 Centerline is valid? [True, True] Translation: X:181.58, Y:-20.38, Z:-2.62 [[ 9.95485978e-01 9.47818953e-02 4.90513897e-03 1.81577935e+02] [-9.47808262e-02 9.95498062e-01 -4.50478965e-04 -2.03848655e+01] [-4.92575359e-03 -1.64676316e-05 9.99987868e-01 -2.62141576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64401273899998 meters Centerline goodness [0,1] 0.9967131240262096 Centerline is valid? [True, True] Translation: X:181.61, Y:-20.39, Z:-2.62 [[ 9.95776775e-01 9.16781785e-02 4.87100025e-03 1.81607625e+02] [-9.16770880e-02 9.95788688e-01 -4.47153788e-04 -2.03904566e+01] [-4.89148119e-03 -1.29376142e-06 9.99988037e-01 -2.62172032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67401273899998 meters Centerline goodness [0,1] 0.9953840869079823 Centerline is valid? [True, True] Translation: X:181.64, Y:-20.40, Z:-2.62 [[ 9.96358182e-01 8.51368958e-02 4.69921146e-03 1.81637177e+02] [-8.51358089e-02 9.96369263e-01 -4.31214919e-04 -2.04007055e+01] [-4.71886216e-03 2.95733429e-05 9.99988866e-01 -2.62201742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70401273899998 meters Centerline goodness [0,1] 0.9944702642223944 Centerline is valid? [True, True] Translation: X:181.67, Y:-20.41, Z:-2.62 [[ 9.96623701e-01 8.19875644e-02 4.38604324e-03 1.81666768e+02] [-8.19865868e-02 9.96633352e-01 -4.02524748e-04 -2.04074823e+01] [-4.40427900e-03 4.15689897e-05 9.99990300e-01 -2.62277447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73401273899998 meters Centerline goodness [0,1] 0.9944807584087269 Centerline is valid? [True, True] Translation: X:181.70, Y:-20.41, Z:-2.62 [[ 9.96847011e-01 7.92240835e-02 4.42512573e-03 1.81698139e+02] [-7.92230611e-02 9.96856831e-01 -4.06138195e-04 -2.04114878e+01] [-4.44339274e-03 5.42856391e-05 9.99990127e-01 -2.62238913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76401273899998 meters Centerline goodness [0,1] 0.9924457437954802 Centerline is valid? [True, True] Translation: X:181.73, Y:-20.42, Z:-2.62 [[ 9.97217251e-01 7.44500036e-02 3.86656754e-03 1.81727893e+02] [-7.44491868e-02 9.97224745e-01 -3.54947203e-04 -2.04234784e+01] [-3.88226266e-03 6.60966653e-05 9.99992462e-01 -2.62439088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79401273899998 meters Centerline goodness [0,1] 0.9913896762002921 Centerline is valid? [True, True] Translation: X:181.76, Y:-20.43, Z:-2.63 [[ 9.97355794e-01 7.25991260e-02 3.28437328e-03 1.81757982e+02] [-7.25985263e-02 9.97361200e-01 -3.01597692e-04 -2.04314144e+01] [-3.29760221e-03 6.23595459e-05 9.99994561e-01 -2.62577406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82401273899998 meters Centerline goodness [0,1] 0.9903033157094848 Centerline is valid? [True, True] Translation: X:181.79, Y:-20.44, Z:-2.62 [[ 9.97493900e-01 7.06657727e-02 3.50268955e-03 1.81788669e+02] [-7.06650787e-02 9.97500047e-01 -3.21656829e-04 -2.04376333e+01] [-3.51666311e-03 7.33328927e-05 9.99993814e-01 -2.62464358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85401273899998 meters Centerline goodness [0,1] 0.9905219423526357 Centerline is valid? [True, True] Translation: X:181.82, Y:-20.44, Z:-2.62 [[ 9.97548672e-01 6.98312331e-02 4.49954374e-03 1.81819786e+02] [-6.98300788e-02 9.97558815e-01 -4.13343026e-04 -2.04389694e+01] [-4.51742377e-03 9.81262929e-05 9.99989792e-01 -2.62245949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88401273899999 meters Centerline goodness [0,1] 0.9883653660731504 Centerline is valid? [True, True] Translation: X:181.85, Y:-20.45, Z:-2.62 [[ 9.97597397e-01 6.90540648e-02 5.56503237e-03 1.81849949e+02] [-6.90522865e-02 9.97612911e-01 -5.11296029e-04 -2.04460113e+01] [-5.58705521e-03 1.25789378e-04 9.99984384e-01 -2.62037508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.914012739 meters Centerline goodness [0,1] 0.988019460339913 Centerline is valid? [True, True] Translation: X:181.88, Y:-20.45, Z:-2.62 [[ 9.97639095e-01 6.83694124e-02 6.46986986e-03 1.81881950e+02] [-6.83669879e-02 9.97660063e-01 -5.95426327e-04 -2.04513464e+01] [-6.49543972e-03 1.51695068e-04 9.99978893e-01 -2.61920942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.944012739 meters Centerline goodness [0,1] 0.9884997725943734 Centerline is valid? [True, True] Translation: X:181.91, Y:-20.46, Z:-2.62 [[ 9.97635896e-01 6.82960109e-02 7.63368095e-03 1.81914248e+02] [-6.82926223e-02 9.97665085e-01 -7.04001496e-04 -2.04563037e+01] [-7.66393745e-03 1.81013074e-04 9.99970615e-01 -2.61720409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.974012739 meters Centerline goodness [0,1] 0.9869679833326247 Centerline is valid? [True, True] Translation: X:181.95, Y:-20.46, Z:-2.62 [[ 9.97630341e-01 6.84365845e-02 7.08068758e-03 1.81945726e+02] [-6.84336637e-02 9.97655454e-01 -6.54256778e-04 -2.04646209e+01] [-7.10886169e-03 1.68149020e-04 9.99974718e-01 -2.61866873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.004012739 meters Centerline goodness [0,1] 0.9894478421914032 Centerline is valid? [True, True] Translation: X:181.98, Y:-20.47, Z:-2.63 [[ 9.97644851e-01 6.84945422e-02 3.64000162e-03 1.81979007e+02] [-6.84937705e-02 9.97651487e-01 -3.36399234e-04 -2.04670553e+01] [-3.65449454e-03 8.62895285e-05 9.99993319e-01 -2.62532948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.034012739 meters Centerline goodness [0,1] 0.9912549096195994 Centerline is valid? [True, True] Translation: X:182.01, Y:-20.47, Z:-2.63 [[ 9.97615379e-01 6.89830403e-02 2.21283648e-03 1.82010675e+02] [-6.89827563e-02 9.97617831e-01 -2.04518807e-04 -2.04689699e+01] [-2.22167346e-03 5.13835475e-05 9.99997531e-01 -2.62748045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.064012739 meters Centerline goodness [0,1] 0.9919792403868837 Centerline is valid? [True, True] Translation: X:182.04, Y:-20.47, Z:-2.63 [[ 9.97535174e-01 7.01533327e-02 1.44476954e-03 1.82041201e+02] [-7.01532125e-02 9.97536219e-01 -1.33760172e-04 -2.04742085e+01] [-1.45059366e-03 3.20752518e-05 9.99998947e-01 -2.62860325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.094012739 meters Centerline goodness [0,1] 0.9935703722754452 Centerline is valid? [True, True] Translation: X:182.07, Y:-20.47, Z:-2.63 [[ 9.97239186e-01 7.42308185e-02 1.94711264e-03 1.82072047e+02] [-7.42306063e-02 9.97241086e-01 -1.81108426e-04 -2.04727529e+01] [-1.95518455e-03 3.60730673e-05 9.99998088e-01 -2.62747934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.124012739 meters Centerline goodness [0,1] 0.993612028506866 Centerline is valid? [True, True] Translation: X:182.10, Y:-20.47, Z:-2.63 [[ 9.97047412e-01 7.67334635e-02 2.90404015e-03 1.82101832e+02] [-7.67330020e-02 9.97051640e-01 -2.70157905e-04 -2.04734429e+01] [-2.91620815e-03 4.65245217e-05 9.99995747e-01 -2.62646674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.154012739 meters Centerline goodness [0,1] 0.9937634362827527 Centerline is valid? [True, True] Translation: X:182.13, Y:-20.47, Z:-2.62 [[ 9.96855633e-01 7.91339439e-02 4.08229123e-03 1.82132601e+02] [-7.91330525e-02 9.96863991e-01 -3.79661424e-04 -2.04732097e+01] [-4.09953323e-03 5.54234628e-05 9.99991595e-01 -2.62492452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.184012739 meters Centerline goodness [0,1] 0.9942577808137301 Centerline is valid? [True, True] Translation: X:182.16, Y:-20.47, Z:-2.62 [[ 9.96546174e-01 8.28434272e-02 5.71753301e-03 1.82163887e+02] [-8.28417397e-02 9.96562574e-01 -5.31742250e-04 -2.04697611e+01] [-5.74193076e-03 5.62553230e-05 9.99983513e-01 -2.62112847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21401273899997 meters Centerline goodness [0,1] 0.9950388265746333 Centerline is valid? [True, True] Translation: X:182.20, Y:-20.47, Z:-2.62 [[ 9.96423732e-01 8.42940987e-02 5.85247494e-03 1.82195672e+02] [-8.42923558e-02 9.96440918e-01 -5.44270539e-04 -2.04703604e+01] [-5.87752429e-03 4.90051819e-05 9.99982726e-01 -2.62083830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24401273899997 meters Centerline goodness [0,1] 0.9965778485644182 Centerline is valid? [True, True] Translation: X:182.23, Y:-20.47, Z:-2.62 [[ 9.96223459e-01 8.67288411e-02 4.11442440e-03 1.82225944e+02] [-8.67279999e-02 9.96231955e-01 -3.82767874e-04 -2.04685783e+01] [-4.13211808e-03 2.44865360e-05 9.99991462e-01 -2.62497834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27401273899997 meters Centerline goodness [0,1] 0.9979770154521586 Centerline is valid? [True, True] Translation: X:182.26, Y:-20.47, Z:-2.63 [[ 9.96159549e-01 8.75050634e-02 3.00272516e-03 1.82256834e+02] [-8.75046188e-02 9.96164075e-01 -2.79401405e-04 -2.04697790e+01] [-3.01565597e-03 1.55760566e-05 9.99995453e-01 -2.62794454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30401273899997 meters Centerline goodness [0,1] 0.9979278817397249 Centerline is valid? [True, True] Translation: X:182.29, Y:-20.47, Z:-2.63 [[ 9.96123578e-01 8.79308068e-02 2.44773897e-03 1.82287523e+02] [-8.79305126e-02 9.96126585e-01 -2.27760341e-04 -2.04728565e+01] [-2.45828501e-03 1.16465031e-05 9.99996978e-01 -2.62960464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33401273899997 meters Centerline goodness [0,1] 0.9979278817397249 Centerline is valid? [True, True] Translation: X:182.32, Y:-20.48, Z:-2.63 [[ 9.96125618e-01 8.79076929e-02 2.44773030e-03 1.82316567e+02] [-8.79073984e-02 9.96128625e-01 -2.27853486e-04 -2.04755142e+01] [-2.45828429e-03 1.17970918e-05 9.99996978e-01 -2.62979391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36401273899997 meters Centerline goodness [0,1] 0.9973674072171568 Centerline is valid? [True, True] Translation: X:182.35, Y:-20.48, Z:-2.63 [[ 9.96126495e-01 8.78573399e-02 3.61845575e-03 1.82346082e+02] [-8.78566969e-02 9.96133067e-01 -3.36570647e-04 -2.04802275e+01] [-3.63403362e-03 1.73613691e-05 9.99993397e-01 -2.62669405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39401273899998 meters Centerline goodness [0,1] 0.9971032663914049 Centerline is valid? [True, True] Translation: X:182.38, Y:-20.48, Z:-2.62 [[ 9.96018373e-01 8.90280150e-02 4.62736311e-03 1.82377134e+02] [-8.90269756e-02 9.96029122e-01 -4.30528525e-04 -2.04808411e+01] [-4.64731752e-03 1.68541781e-05 9.99989201e-01 -2.62379518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42401273899998 meters Centerline goodness [0,1] 0.9971490896524913 Centerline is valid? [True, True] Translation: X:182.41, Y:-20.48, Z:-2.62 [[ 9.95812168e-01 9.12621633e-02 5.41701179e-03 1.82408198e+02] [-9.12607719e-02 9.95826901e-01 -5.03997209e-04 -2.04791773e+01] [-5.44040194e-03 7.52587599e-06 9.99985201e-01 -2.62238209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45401273899998 meters Centerline goodness [0,1] 0.9966687309146042 Centerline is valid? [True, True] Translation: X:182.44, Y:-20.47, Z:-2.62 [[ 9.95325343e-01 9.64198238e-02 5.53893040e-03 1.82437151e+02] [-9.64184488e-02 9.95340754e-01 -5.15372897e-04 -2.04738632e+01] [-5.56281533e-03 -2.10913713e-05 9.99984527e-01 -2.62342448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48401273899998 meters Centerline goodness [0,1] 0.9966358284272497 Centerline is valid? [True, True] Translation: X:182.47, Y:-20.47, Z:-2.62 [[ 9.95073148e-01 9.90037100e-02 5.26262623e-03 1.82467136e+02] [-9.90025058e-02 9.95087064e-01 -4.89478164e-04 -2.04742228e+01] [-5.28523144e-03 -3.39466063e-05 9.99986032e-01 -2.62417613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51401273899998 meters Centerline goodness [0,1] 0.994796351021457 Centerline is valid? [True, True] Translation: X:182.50, Y:-20.47, Z:-2.63 [[ 9.94594274e-01 1.03728149e-01 4.76464650e-03 1.82496054e+02] [-1.03727216e-01 9.94605685e-01 -4.43031659e-04 -2.04677832e+01] [-4.78489935e-03 -5.35867672e-05 9.99988551e-01 -2.62584852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54401273899998 meters Centerline goodness [0,1] 0.9942191544434857 Centerline is valid? [True, True] Translation: X:182.52, Y:-20.47, Z:-2.63 [[ 9.94449217e-01 1.05122687e-01 4.46932525e-03 1.82524682e+02] [-1.05121880e-01 9.94459259e-01 -4.15608505e-04 -2.04685399e+01] [-4.48825176e-03 -5.65223220e-05 9.99989926e-01 -2.62629661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57401273899998 meters Centerline goodness [0,1] 0.9937713310580205 Centerline is valid? [True, True] Translation: X:182.55, Y:-20.47, Z:-2.63 [[ 9.94354814e-01 1.06026006e-01 4.12196923e-03 1.82552861e+02] [-1.06025329e-01 9.94363356e-01 -3.83163765e-04 -2.04681478e+01] [-4.13936048e-03 -5.60324079e-05 9.99991431e-01 -2.62697694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60401273899998 meters Centerline goodness [0,1] 0.9942247793735941 Centerline is valid? [True, True] Translation: X:182.58, Y:-20.47, Z:-2.63 [[ 9.94337456e-01 1.06198960e-01 3.84769575e-03 1.82581313e+02] [-1.06198372e-01 9.94344899e-01 -3.57440498e-04 -2.04716296e+01] [-3.86389645e-03 -5.32025485e-05 9.99992534e-01 -2.62671982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63401273899999 meters Centerline goodness [0,1] 0.9945677744984815 Centerline is valid? [True, True] Translation: X:182.61, Y:-20.47, Z:-2.63 [[ 9.94399754e-01 1.05638104e-01 3.11778637e-03 1.82609691e+02] [-1.05637716e-01 9.94404641e-01 -2.89582197e-04 -2.04689447e+01] [-3.13093214e-03 -4.13953640e-05 9.99995098e-01 -2.62944098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.664012739 meters Centerline goodness [0,1] 0.9950268931955947 Centerline is valid? [True, True] Translation: X:182.64, Y:-20.47, Z:-2.63 [[ 9.94420874e-01 1.05449273e-01 2.75245673e-03 1.82638546e+02] [-1.05448970e-01 9.94424683e-01 -2.55479190e-04 -2.04693991e+01] [-2.76405100e-03 -3.61898877e-05 9.99996179e-01 -2.63043907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.694012739 meters Centerline goodness [0,1] 0.9945266398700077 Centerline is valid? [True, True] Translation: X:182.67, Y:-20.47, Z:-2.63 [[ 9.94501081e-01 1.04668722e-01 3.47268288e-03 1.82667907e+02] [-1.04668235e-01 9.94507143e-01 -3.22097818e-04 -2.04694727e+01] [-3.48732150e-03 -4.31529601e-05 9.99993918e-01 -2.62951713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.724012739 meters Centerline goodness [0,1] 0.9952645755495699 Centerline is valid? [True, True] Translation: X:182.70, Y:-20.47, Z:-2.63 [[ 9.94550445e-01 1.04164995e-01 4.36650083e-03 1.82696356e+02] [-1.04164222e-01 9.94560029e-01 -4.04727541e-04 -2.04719194e+01] [-4.38490563e-03 -5.23112071e-05 9.99990385e-01 -2.62759779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.754012739 meters Centerline goodness [0,1] 0.9944249388232791 Centerline is valid? [True, True] Translation: X:182.72, Y:-20.47, Z:-2.63 [[ 9.94607069e-01 1.03580068e-01 5.28658077e-03 1.82724345e+02] [-1.03578928e-01 9.94621117e-01 -4.89711749e-04 -2.04727333e+01] [-5.30886924e-03 -6.05075995e-05 9.99985906e-01 -2.62583332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.784012739 meters Centerline goodness [0,1] 0.9951618105580046 Centerline is valid? [True, True] Translation: X:182.75, Y:-20.48, Z:-2.63 [[ 9.94799311e-01 1.01722071e-01 5.19141083e-03 1.82752981e+02] [-1.01720949e-01 9.94812856e-01 -4.80543456e-04 -2.04790427e+01] [-5.21336411e-03 -5.00309360e-05 9.99986409e-01 -2.62669046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.814012739 meters Centerline goodness [0,1] 0.9952823108099415 Centerline is valid? [True, True] Translation: X:182.78, Y:-20.48, Z:-2.63 [[ 9.94975922e-01 1.00019367e-01 4.36351053e-03 1.82780287e+02] [-1.00018558e-01 9.94985490e-01 -4.03775830e-04 -2.04838469e+01] [-4.38201506e-03 -3.46848011e-05 9.99990398e-01 -2.62868214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.844012739 meters Centerline goodness [0,1] 0.9972162278808805 Centerline is valid? [True, True] Translation: X:182.81, Y:-20.49, Z:-2.63 [[ 9.95308263e-01 9.67108045e-02 2.91250451e-03 1.82808810e+02] [-9.67104302e-02 9.95312524e-01 -2.69421064e-04 -2.04911976e+01] [-2.92490814e-03 -1.35125528e-05 9.99995722e-01 -2.63149468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.874012739 meters Centerline goodness [0,1] 0.9976348155156102 Centerline is valid? [True, True] Translation: X:182.84, Y:-20.50, Z:-2.63 [[ 9.95461882e-01 9.51232222e-02 2.68584406e-03 1.82837421e+02] [-9.51228984e-02 9.95465505e-01 -2.48351452e-04 -2.04970792e+01] [-2.69728911e-03 -8.26086752e-06 9.99996362e-01 -2.63212310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.904012739 meters Centerline goodness [0,1] 0.9976025798786439 Centerline is valid? [True, True] Translation: X:182.87, Y:-20.50, Z:-2.63 [[ 9.95627833e-01 9.33604810e-02 3.00655882e-03 1.82866047e+02] [-9.33600680e-02 9.95632372e-01 -2.77751391e-04 -2.05043694e+01] [-3.01935830e-03 -4.15552116e-06 9.99995442e-01 -2.63185706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.934012739 meters Centerline goodness [0,1] 0.9972149024144654 Centerline is valid? [True, True] Translation: X:182.89, Y:-20.52, Z:-2.63 [[ 9.95958979e-01 8.97100070e-02 4.22228258e-03 1.82894643e+02] [-8.97091602e-02 9.95967928e-01 -3.89904767e-04 -2.05181124e+01] [-4.24023639e-03 9.55172870e-06 9.99991010e-01 -2.62843080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96401273899997 meters Centerline goodness [0,1] 0.9972787940306244 Centerline is valid? [True, True] Translation: X:182.92, Y:-20.53, Z:-2.63 [[ 9.96100894e-01 8.81016253e-02 4.59491635e-03 1.82924367e+02] [-8.81006060e-02 9.96111491e-01 -4.24154020e-04 -2.05266297e+01] [-4.61441764e-03 1.76852834e-05 9.99989353e-01 -2.62777279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99401273899997 meters Centerline goodness [0,1] 0.9957874478776862 Centerline is valid? [True, True] Translation: X:182.95, Y:-20.54, Z:-2.63 [[ 9.96400309e-01 8.45671974e-02 5.90034287e-03 1.82953940e+02] [-8.45654549e-02 9.96417777e-01 -5.44644426e-04 -2.05431738e+01] [-5.92526558e-03 4.37186961e-05 9.99982445e-01 -2.62565781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02401273899997 meters Centerline goodness [0,1] 0.9938324481754326 Centerline is valid? [True, True] Translation: X:182.98, Y:-20.55, Z:-2.62 [[ 9.96510973e-01 8.31959839e-02 6.65645147e-03 1.82984646e+02] [-8.31937342e-02 9.96533203e-01 -6.14632646e-04 -2.05537454e+01] [-6.68450987e-03 5.87131215e-05 9.99977657e-01 -2.62418145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05401273899997 meters Centerline goodness [0,1] 0.9933598937583001 Centerline is valid? [True, True] Translation: X:183.02, Y:-20.56, Z:-2.62 [[ 9.96588486e-01 8.22704866e-02 6.55417417e-03 1.83015956e+02] [-8.22682792e-02 9.96610035e-01 -6.06139147e-04 -2.05627056e+01] [-6.58182311e-03 6.48706640e-05 9.99978337e-01 -2.62431489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08401273899997 meters Centerline goodness [0,1] 0.9942818127507042 Centerline is valid? [True, True] Translation: X:183.05, Y:-20.57, Z:-2.63 [[ 9.96578999e-01 8.24477683e-02 5.71528643e-03 1.83048113e+02] [-8.24460884e-02 9.96595385e-01 -5.29309814e-04 -2.05693971e+01] [-5.73946849e-03 5.62960343e-05 9.99983528e-01 -2.62587002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11401273899997 meters Centerline goodness [0,1] 0.9966448690002991 Centerline is valid? [True, True] Translation: X:183.08, Y:-20.57, Z:-2.63 [[ 9.96189626e-01 8.71179962e-02 4.08460680e-03 1.83079569e+02] [-8.71171755e-02 9.96198000e-01 -3.78771114e-04 -2.05707682e+01] [-4.10207491e-03 2.14884465e-05 9.99991586e-01 -2.62860866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14401273899998 meters Centerline goodness [0,1] 0.9974099864130435 Centerline is valid? [True, True] Translation: X:183.11, Y:-20.57, Z:-2.63 [[ 9.95821339e-01 9.12118951e-02 4.50001528e-03 1.83109914e+02] [-9.12109360e-02 9.95831507e-01 -4.18328375e-04 -2.05697126e+01] [-4.51941352e-03 6.12971682e-06 9.99989787e-01 -2.62764348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17401273899998 meters Centerline goodness [0,1] 0.9955414835874903 Centerline is valid? [True, True] Translation: X:183.14, Y:-20.56, Z:-2.62 [[ 9.95038555e-01 9.92928195e-02 6.26185223e-03 1.83140702e+02] [-9.92911222e-02 9.95058257e-01 -5.82115893e-04 -2.05633938e+01] [-6.28870769e-03 -4.25185778e-05 9.99980225e-01 -2.62430621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20401273899998 meters Centerline goodness [0,1] 0.9937332139659804 Centerline is valid? [True, True] Translation: X:183.17, Y:-20.56, Z:-2.62 [[ 9.94646451e-01 1.03105523e-01 6.90573028e-03 1.83171892e+02] [-1.03103552e-01 9.94670421e-01 -6.41814357e-04 -2.05615567e+01] [-6.93510025e-03 -7.36269479e-05 9.99975949e-01 -2.62308762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23401273899998 meters Centerline goodness [0,1] 0.9929569904017521 Centerline is valid? [True, True] Translation: X:183.20, Y:-20.56, Z:-2.62 [[ 9.94262950e-01 1.06747624e-01 6.79204844e-03 1.83203055e+02] [-1.06745802e-01 9.94286144e-01 -6.31248836e-04 -2.05596491e+01] [-6.82062396e-03 -9.73953280e-05 9.99976735e-01 -2.62330217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26401273899998 meters Centerline goodness [0,1] 0.9906035958904109 Centerline is valid? [True, True] Translation: X:183.23, Y:-20.55, Z:-2.63 [[ 9.93258180e-01 1.15823884e-01 4.79743626e-03 1.83234206e+02] [-1.15823080e-01 9.93269760e-01 -4.45890868e-04 -2.05459196e+01] [-4.81679318e-03 -1.12769092e-04 9.99988393e-01 -2.62681625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29401273899998 meters Centerline goodness [0,1] 0.9888177550149381 Centerline is valid? [True, True] Translation: X:183.27, Y:-20.54, Z:-2.63 [[ 9.92667757e-01 1.20814672e-01 3.81305233e-03 1.83265014e+02] [-1.20814201e-01 9.92675074e-01 -3.54365585e-04 -2.05382571e+01] [-3.82793457e-03 -1.08903581e-04 9.99992668e-01 -2.62958641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32401273899998 meters Centerline goodness [0,1] 0.9793904704952694 Centerline is valid? [True, True] Translation: X:183.30, Y:-20.53, Z:-2.63 [[ 9.92044202e-01 1.25852088e-01 3.09081643e-03 1.83296810e+02] [-1.25851804e-01 9.92049011e-01 -2.87197253e-04 -2.05294478e+01] [-3.10238576e-03 -1.04072453e-04 9.99995182e-01 -2.63191011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35401273899998 meters Centerline goodness [0,1] 0.9075235778602825 Centerline is valid? [True, False] Translation: X:183.30, Y:-20.52, Z:-2.63 [[ 9.91500507e-01 1.30059206e-01 3.36868399e-03 1.83298144e+02] [-1.30069074e-01 9.91500702e-01 2.89712627e-03 -2.05231102e+01] [-2.96325460e-03 -3.31066377e-03 9.99990129e-01 -2.63217901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38401273899999 meters Centerline goodness [0,1] 0.8601179033704985 Centerline is valid? [False, False] Translation: X:183.30, Y:-20.52, Z:-2.63 [[ 9.91537672e-01 1.29779874e-01 3.19843491e-03 1.83298888e+02] [-1.29786085e-01 9.91540353e-01 1.81661552e-03 -2.05174288e+01] [-2.93561715e-03 -2.21635506e-03 9.99993235e-01 -2.63216092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.414012739 meters Centerline goodness [0,1] 0.8427242181442234 Centerline is valid? [False, False] Translation: X:183.30, Y:-20.51, Z:-2.63 [[ 9.91600946e-01 1.29295676e-01 3.19240593e-03 1.83298991e+02] [-1.29295912e-01 9.91606045e-01 -1.33375940e-04 -2.05069731e+01] [-3.18285395e-03 -2.80509327e-04 9.99994895e-01 -2.63158212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.444012739 meters Centerline goodness [0,1] 0.848523197700607 Centerline is valid? [False, False] Translation: X:183.30, Y:-20.50, Z:-2.63 [[ 9.92155401e-01 1.24982730e-01 2.64134005e-03 1.83299356e+02] [-1.24964872e-01 9.92142447e-01 -6.09474700e-03 -2.04969017e+01] [-3.38232369e-03 5.71686144e-03 9.99977938e-01 -2.63137006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.474012739 meters Centerline goodness [0,1] 0.9015091342335186 Centerline is valid? [False, False] Translation: X:183.30, Y:-20.49, Z:-2.63 [[ 9.92206102e-01 1.24581646e-01 2.54249288e-03 1.83299741e+02] [-1.24561519e-01 9.92187571e-01 -6.94637768e-03 -2.04928281e+01] [-3.38802100e-03 6.57554154e-03 9.99972641e-01 -2.63123836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.504012739 meters Centerline goodness [0,1] 0.8463054827459221 Centerline is valid? [False, False] Translation: X:183.30, Y:-20.49, Z:-2.63 [[ 9.91739996e-01 1.28234740e-01 2.76248070e-03 1.83300872e+02] [-1.28225784e-01 9.91739817e-01 -3.20688535e-03 -2.04910895e+01] [-3.15089621e-03 2.82617521e-03 9.99991042e-01 -2.63141874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.534012739 meters Centerline goodness [0,1] 0.8475145255003228 Centerline is valid? [False, False] Translation: X:183.30, Y:-20.48, Z:-2.63 [[ 9.92275290e-01 1.24036482e-01 2.16774566e-03 1.83301493e+02] [-1.24012350e-01 9.92239745e-01 -9.01247468e-03 -2.04812481e+01] [-3.26879905e-03 8.67402870e-03 9.99957037e-01 -2.63123258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.564012739 meters Centerline goodness [0,1] 0.8756724318995264 Centerline is valid? [False, False] Translation: X:183.30, Y:-20.47, Z:-2.63 [[ 9.92369789e-01 1.23280019e-01 2.05887561e-03 1.83301705e+02] [-1.23252026e-01 9.92319835e-01 -1.05015642e-02 -2.04742188e+01] [-3.33769615e-03 1.01676745e-02 9.99942737e-01 -2.63058696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.594012739 meters Centerline goodness [0,1] 0.9074972105398678 Centerline is valid? [False, False] Translation: X:183.30, Y:-20.47, Z:-2.63 [[ 9.92404334e-01 1.23002814e-01 1.98634514e-03 1.83301811e+02] [-1.22974367e-01 9.92350332e-01 -1.08684830e-02 -2.04726995e+01] [-3.30800426e-03 1.05416601e-02 9.99938963e-01 -2.63028094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.624012739 meters Centerline goodness [0,1] 0.9248760047887805 Centerline is valid? [False, False] Translation: X:183.30, Y:-20.48, Z:-2.63 [[ 9.93109036e-01 1.17174844e-01 2.12098519e-03 1.83300573e+02] [-1.17181027e-01 9.93105817e-01 3.07308251e-03 -2.04777219e+01] [-1.74627476e-03 -3.30044523e-03 9.99993029e-01 -2.62919900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.654012739 meters Centerline goodness [0,1] 0.9718297799469132 Centerline is valid? [False, True] Translation: X:183.30, Y:-20.47, Z:-2.63 [[ 9.93692359e-01 1.12129080e-01 1.60187113e-03 1.83300483e+02] [-1.12123903e-01 9.93689641e-01 -3.02133600e-03 -2.04688933e+01] [-1.93054237e-03 2.82267045e-03 9.99994153e-01 -2.62842090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.684012739 meters Centerline goodness [0,1] 0.981214278011431 Centerline is valid? [True, True] Translation: X:183.33, Y:-20.48, Z:-2.63 [[ 9.94002523e-01 1.09328528e-01 2.50163364e-03 1.83330171e+02] [-1.09328384e-01 9.94005667e-01 -1.94587749e-04 -2.04757334e+01] [-2.50791201e-03 -8.00788500e-05 9.99996852e-01 -2.62664074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71401273899997 meters Centerline goodness [0,1] 0.9885455400264991 Centerline is valid? [True, True] Translation: X:183.36, Y:-20.49, Z:-2.63 [[ 9.94648715e-01 1.03284386e-01 2.50385485e-03 1.83360031e+02] [-1.03284223e-01 9.94651864e-01 -1.94737269e-04 -2.04854991e+01] [-2.51057722e-03 -6.49135279e-05 9.99996846e-01 -2.62758324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74401273899997 meters Centerline goodness [0,1] 0.9889913716155906 Centerline is valid? [True, True] Translation: X:183.39, Y:-20.49, Z:-2.63 [[ 9.94945526e-01 1.00404697e-01 1.51533362e-03 1.83388760e+02] [-1.00404633e-01 9.94946680e-01 -1.17868759e-04 -2.04917879e+01] [-1.51951073e-03 -3.48735221e-05 9.99998845e-01 -2.63046344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77401273899997 meters Centerline goodness [0,1] 0.9910186666666667 Centerline is valid? [True, True] Translation: X:183.42, Y:-20.50, Z:-2.63 [[ 9.95221017e-01 9.76479479e-02 -6.99082238e-05 1.83417555e+02] [-9.76479478e-02 9.95221020e-01 5.37261779e-06 -2.04988019e+01] [ 7.00987589e-05 1.47945245e-06 9.99999998e-01 -2.63404555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80401273899997 meters Centerline goodness [0,1] 0.9940537523613258 Centerline is valid? [True, True] Translation: X:183.45, Y:-20.52, Z:-2.64 [[ 9.95679291e-01 9.28332992e-02 -2.17419509e-03 1.83445949e+02] [-9.28331520e-02 9.95681665e-01 1.68785939e-04 -2.05160820e+01] [ 2.18047515e-03 3.37807190e-05 9.99997622e-01 -2.63775441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83401273899997 meters Centerline goodness [0,1] 0.9944432525209183 Centerline is valid? [True, True] Translation: X:183.47, Y:-20.52, Z:-2.64 [[ 9.95880910e-01 9.06429714e-02 -2.25040453e-03 1.83474171e+02] [-9.06428083e-02 9.95883452e-01 1.74559090e-04 -2.05217252e+01] [ 2.25696319e-03 3.01429213e-05 9.99997453e-01 -2.63795691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86401273899997 meters Centerline goodness [0,1] 0.9950073609422005 Centerline is valid? [True, True] Translation: X:183.50, Y:-20.52, Z:-2.64 [[ 9.96050781e-01 8.87602313e-02 -2.11261682e-03 1.83501672e+02] [-8.87600837e-02 9.96053021e-01 1.63700326e-04 -2.05227018e+01] [ 2.11880844e-03 2.44622075e-05 9.99997755e-01 -2.64026267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89401273899998 meters Centerline goodness [0,1] 0.9961555712180432 Centerline is valid? [True, True] Translation: X:183.53, Y:-20.53, Z:-2.64 [[ 9.96244796e-01 8.65485489e-02 -2.37800339e-03 1.83529663e+02] [-8.65483558e-02 9.96247634e-01 1.84204317e-04 -2.05325985e+01] [ 2.38502287e-03 2.22996916e-05 9.99997156e-01 -2.63920682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92401273899998 meters Centerline goodness [0,1] 0.9962952592241584 Centerline is valid? [True, True] Translation: X:183.56, Y:-20.53, Z:-2.64 [[ 9.96236827e-01 8.66498422e-02 -1.99717979e-03 1.83557620e+02] [-8.66497066e-02 9.96238829e-01 1.54514392e-04 -2.05346314e+01] [ 2.00305670e-03 1.91221157e-05 9.99997994e-01 -2.63877690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95401273899998 meters Centerline goodness [0,1] 0.9948702539116997 Centerline is valid? [True, True] Translation: X:183.59, Y:-20.53, Z:-2.64 [[ 9.95988608e-01 8.94652799e-02 -1.62964273e-03 1.83587084e+02] [-8.94651935e-02 9.95989941e-01 1.26021785e-04 -2.05325122e+01] [ 1.63438234e-03 2.02800398e-05 9.99998664e-01 -2.63756176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98401273899998 meters Centerline goodness [0,1] 0.9944313742418683 Centerline is valid? [True, True] Translation: X:183.62, Y:-20.53, Z:-2.64 [[ 9.95792996e-01 9.16195607e-02 -1.47122087e-03 1.83616232e+02] [-9.16194927e-02 9.95794083e-01 1.13687985e-04 -2.05320531e+01] [ 1.47544908e-03 2.15828105e-05 9.99998911e-01 -2.63688302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01401273899998 meters Centerline goodness [0,1] 0.9932685917636719 Centerline is valid? [True, True] Translation: X:183.64, Y:-20.53, Z:-2.64 [[ 9.95599488e-01 9.37028208e-02 -1.20062224e-03 1.83644729e+02] [-9.37027772e-02 9.95600211e-01 9.26674834e-05 -2.05267237e+01] [ 1.20402296e-03 2.02419396e-05 9.99999275e-01 -2.63711566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04401273899998 meters Centerline goodness [0,1] 0.9925083240843507 Centerline is valid? [True, True] Translation: X:183.67, Y:-20.53, Z:-2.64 [[ 9.95408858e-01 9.57132090e-02 -4.31445099e-04 1.83673870e+02] [-9.57132036e-02 9.95408952e-01 3.32344839e-05 -2.05275296e+01] [ 4.32645293e-04 8.21309286e-06 9.99999906e-01 -2.63554949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07401273899998 meters Centerline goodness [0,1] 0.9935593658452525 Centerline is valid? [True, True] Translation: X:183.70, Y:-20.53, Z:-2.63 [[ 9.95494241e-01 9.48220131e-02 3.45919123e-05 1.83702748e+02] [-9.48220130e-02 9.95494242e-01 -2.75741024e-06 -2.05327985e+01] [-3.46975127e-05 -5.35088746e-07 9.99999999e-01 -2.63462142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10401273899998 meters Centerline goodness [0,1] 0.9932592418780264 Centerline is valid? [True, True] Translation: X:183.73, Y:-20.53, Z:-2.63 [[ 9.95643006e-01 9.32447120e-02 6.55034534e-04 1.83731050e+02] [-9.32446989e-02 9.95643221e-01 -5.06118067e-05 -2.05331293e+01] [-6.56899977e-04 -1.06872066e-05 9.99999784e-01 -2.63460112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13401273899999 meters Centerline goodness [0,1] 0.9944424178700942 Centerline is valid? [True, True] Translation: X:183.76, Y:-20.55, Z:-2.63 [[ 9.96129006e-01 8.78899587e-02 1.53578752e-03 1.83758809e+02] [-8.78898805e-02 9.96130190e-01 -1.18473258e-04 -2.05472953e+01] [-1.54025693e-03 -1.69655334e-05 9.99998814e-01 -2.63338323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.164012739 meters Centerline goodness [0,1] 0.9948424807667512 Centerline is valid? [True, True] Translation: X:183.79, Y:-20.55, Z:-2.63 [[ 9.96377221e-01 8.50286771e-02 1.59915379e-03 1.83786302e+02] [-8.50285888e-02 9.96378504e-01 -1.23285094e-04 -2.05544283e+01] [-1.60384523e-03 -1.31353302e-05 9.99998714e-01 -2.63353541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.194012739 meters Centerline goodness [0,1] 0.9973640221164973 Centerline is valid? [True, True] Translation: X:183.81, Y:-20.57, Z:-2.64 [[ 9.96738296e-01 8.07014091e-02 -2.29515324e-04 1.83814723e+02] [-8.07014072e-02 9.96738322e-01 1.75788169e-05 -2.05651302e+01] [ 2.30185355e-04 1.00072962e-06 9.99999974e-01 -2.63558037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.224012739 meters Centerline goodness [0,1] 0.9973640221164973 Centerline is valid? [True, True] Translation: X:183.84, Y:-20.57, Z:-2.64 [[ 9.96742139e-01 8.06539301e-02 -2.29516163e-04 1.83842974e+02] [-8.06539282e-02 9.96742165e-01 1.75678901e-05 -2.05672171e+01] [ 2.30185357e-04 1.00072376e-06 9.99999974e-01 -2.63563242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.254012739 meters Centerline goodness [0,1] 0.9980521166998528 Centerline is valid? [True, True] Translation: X:183.87, Y:-20.57, Z:-2.64 [[ 9.96816398e-01 7.97156167e-02 -1.57775916e-03 1.83871077e+02] [-7.97155247e-02 9.96817647e-01 1.21205820e-04 -2.05714341e+01] [ 1.58240017e-03 4.95195050e-06 9.99998748e-01 -2.63804457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.284012739 meters Centerline goodness [0,1] 0.9980775392502403 Centerline is valid? [True, True] Translation: X:183.90, Y:-20.58, Z:-2.64 [[ 9.96847559e-01 7.92978557e-02 -2.60646025e-03 1.83898573e+02] [-7.92976035e-02 9.96850967e-01 2.00112842e-04 -2.05750917e+01] [ 2.61412094e-03 7.20405320e-06 9.99996583e-01 -2.64032006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.314012739 meters Centerline goodness [0,1] 0.9985184548987611 Centerline is valid? [True, True] Translation: X:183.93, Y:-20.58, Z:-2.64 [[ 9.96858442e-01 7.91704434e-02 -2.29963959e-03 1.83926741e+02] [-7.91702470e-02 9.96861094e-01 1.76460592e-04 -2.05782569e+01] [ 2.30639170e-03 6.15680349e-06 9.99997340e-01 -2.64032802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.344012739 meters Centerline goodness [0,1] 0.9974643831789759 Centerline is valid? [True, True] Translation: X:183.96, Y:-20.58, Z:-2.63 [[ 9.96762659e-01 8.03985047e-02 5.31937755e-04 1.83955580e+02] [-8.03984944e-02 9.96762800e-01 -4.08980653e-05 -2.05802223e+01] [-5.33503910e-04 -2.00133031e-06 9.99999858e-01 -2.63459629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.374012739 meters Centerline goodness [0,1] 0.9965407529200743 Centerline is valid? [True, True] Translation: X:183.98, Y:-20.58, Z:-2.63 [[ 9.96683865e-01 8.13405756e-02 2.23266747e-03 1.83983362e+02] [-8.13403960e-02 9.96686365e-01 -1.71277141e-04 -2.05821420e+01] [-2.23920101e-03 -1.08968935e-05 9.99997493e-01 -2.63216853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.404012739 meters Centerline goodness [0,1] 0.9962746829173755 Centerline is valid? [True, True] Translation: X:184.01, Y:-20.59, Z:-2.63 [[ 9.96703810e-01 8.10933938e-02 2.31870433e-03 1.84012420e+02] [-8.10931998e-02 9.96706507e-01 -1.77728717e-04 -2.05861339e+01] [-2.32548032e-03 -1.08882637e-05 9.99997296e-01 -2.63210416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.434012739 meters Centerline goodness [0,1] 0.9965411558669002 Centerline is valid? [True, True] Translation: X:184.04, Y:-20.59, Z:-2.63 [[ 9.96733911e-01 8.07347293e-02 1.84785051e-03 1.84040769e+02] [-8.07346057e-02 9.96735624e-01 -1.41521176e-04 -2.05904225e+01] [-1.85324411e-03 -8.12652692e-06 9.99998283e-01 -2.63319384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46401273899997 meters Centerline goodness [0,1] 0.9978763976770391 Centerline is valid? [True, True] Translation: X:184.07, Y:-20.60, Z:-2.63 [[ 9.96985849e-01 7.75764343e-02 1.05567252e-03 1.84068750e+02] [-7.75763922e-02 9.96986408e-01 -8.08283479e-05 -2.05992855e+01] [-1.05876153e-03 -1.31054640e-06 9.99999440e-01 -2.63426203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49401273899997 meters Centerline goodness [0,1] 0.9981946354883081 Centerline is valid? [True, True] Translation: X:184.10, Y:-20.61, Z:-2.63 [[ 9.97150949e-01 7.54239597e-02 1.10034213e-03 1.84098265e+02] [-7.54239127e-02 9.97151556e-01 -8.41976718e-05 -2.06059662e+01] [-1.10355839e-03 9.65679497e-07 9.99999391e-01 -2.63429177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52401273899997 meters Centerline goodness [0,1] 0.9978566729622478 Centerline is valid? [True, True] Translation: X:184.13, Y:-20.61, Z:-2.63 [[ 9.97298971e-01 7.34393634e-02 1.19259544e-03 1.84126188e+02] [-7.34393068e-02 9.97299684e-01 -9.12328152e-05 -2.06124845e+01] [-1.19607514e-03 3.40301007e-06 9.99999285e-01 -2.63411082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55401273899997 meters Centerline goodness [0,1] 0.9971815949610334 Centerline is valid? [True, True] Translation: X:184.15, Y:-20.62, Z:-2.63 [[ 9.97491268e-01 7.07742759e-02 1.47364588e-03 1.84154998e+02] [-7.07741867e-02 9.97492357e-01 -1.12662618e-04 -2.06214825e+01] [-1.47792412e-03 8.08388884e-06 9.99998908e-01 -2.63370069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58401273899997 meters Centerline goodness [0,1] 0.996890613942916 Centerline is valid? [True, True] Translation: X:184.18, Y:-20.63, Z:-2.63 [[ 9.97499101e-01 7.06583720e-02 1.71421213e-03 1.84184759e+02] [-7.06582512e-02 9.97500574e-01 -1.31007914e-04 -2.06251677e+01] [-1.71918439e-03 9.55704470e-06 9.99998522e-01 -2.63315132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61401273899997 meters Centerline goodness [0,1] 0.9983487733745068 Centerline is valid? [True, True] Translation: X:184.21, Y:-20.63, Z:-2.63 [[ 9.97346208e-01 7.27968756e-02 1.07497404e-03 1.84213149e+02] [-7.27968294e-02 9.97346788e-01 -8.21442145e-05 -2.06261513e+01] [-1.07810175e-03 3.67151895e-06 9.99999419e-01 -2.63371725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64401273899998 meters Centerline goodness [0,1] 0.9985907673912116 Centerline is valid? [True, True] Translation: X:184.24, Y:-20.63, Z:-2.63 [[ 9.97223548e-01 7.44645925e-02 4.68526243e-04 1.84243397e+02] [-7.44645839e-02 9.97223658e-01 -3.58168333e-05 -2.06257132e+01] [-4.69892540e-04 8.28777814e-07 9.99999890e-01 -2.63453357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67401273899998 meters Centerline goodness [0,1] 0.9984186344694946 Centerline is valid? [True, True] Translation: X:184.27, Y:-20.62, Z:-2.63 [[ 9.97108996e-01 7.59831401e-02 4.60073539e-04 1.84271854e+02] [-7.59831319e-02 9.97109103e-01 -3.51763478e-05 -2.06249606e+01] [-4.61416323e-04 1.16824445e-07 9.99999894e-01 -2.63494663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70401273899998 meters Centerline goodness [0,1] 0.9975994290533965 Centerline is valid? [True, True] Translation: X:184.30, Y:-20.62, Z:-2.63 [[ 9.96968776e-01 7.78012276e-02 4.78488417e-04 1.84300682e+02] [-7.78012190e-02 9.96968891e-01 -3.65808444e-05 -2.06240349e+01] [-4.79884101e-04 -7.57022495e-07 9.99999885e-01 -2.63485496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73401273899998 meters Centerline goodness [0,1] 0.9961376779122122 Centerline is valid? [True, True] Translation: X:184.33, Y:-20.62, Z:-2.63 [[ 9.96701795e-01 8.11391388e-02 1.40426823e-03 1.84328752e+02] [-8.11390683e-02 9.96702784e-01 -1.07135717e-04 -2.06206339e+01] [-1.40833096e-03 -7.15865510e-06 9.99999008e-01 -2.63193274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76401273899998 meters Centerline goodness [0,1] 0.9957328781736718 Centerline is valid? [True, True] Translation: X:184.36, Y:-20.62, Z:-2.63 [[ 9.96644019e-01 8.18278412e-02 2.21428019e-03 1.84357694e+02] [-8.18276682e-02 9.96646479e-01 -1.68752379e-04 -2.06221990e+01] [-2.22066320e-03 -1.30033358e-05 9.99997534e-01 -2.63024379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79401273899998 meters Centerline goodness [0,1] 0.9949996794666325 Centerline is valid? [True, True] Translation: X:184.39, Y:-20.62, Z:-2.63 [[ 9.96664382e-01 8.14992454e-02 4.24052745e-03 1.84385510e+02] [-8.14986093e-02 9.96673403e-01 -3.22884887e-04 -2.06248285e+01] [-4.25273580e-03 -2.37892235e-05 9.99990957e-01 -2.62690029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82401273899998 meters Centerline goodness [0,1] 0.9944607293732218 Centerline is valid? [True, True] Translation: X:184.42, Y:-20.63, Z:-2.63 [[ 9.96641490e-01 8.17236533e-02 5.19477279e-03 1.84415433e+02] [-8.17227027e-02 9.96655027e-01 -3.95343824e-04 -2.06280258e+01] [-5.20970536e-03 -3.05148150e-05 9.99986429e-01 -2.62580183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85401273899998 meters Centerline goodness [0,1] 0.9943334263452747 Centerline is valid? [True, True] Translation: X:184.44, Y:-20.63, Z:-2.63 [[ 9.96563994e-01 8.26560856e-02 5.30819563e-03 1.84444911e+02] [-8.26551069e-02 9.96578131e-01 -4.03856171e-04 -2.06285729e+01] [-5.32341285e-03 -3.62809589e-05 9.99985830e-01 -2.62562613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88401273899999 meters Centerline goodness [0,1] 0.9943619096619289 Centerline is valid? [True, True] Translation: X:184.47, Y:-20.63, Z:-2.63 [[ 9.96386436e-01 8.48500323e-02 3.81336485e-03 1.84474554e+02] [-8.48495436e-02 9.96393733e-01 -2.90053337e-04 -2.06253419e+01] [-3.82422387e-03 -3.45570563e-05 9.99992687e-01 -2.62860377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.914012739 meters Centerline goodness [0,1] 0.9948068045819798 Centerline is valid? [True, True] Translation: X:184.50, Y:-20.62, Z:-2.63 [[ 9.96257086e-01 8.64024438e-02 2.53679393e-03 1.84503373e+02] [-8.64022327e-02 9.96260316e-01 -1.92894677e-04 -2.06240641e+01] [-2.54397369e-03 -2.70119697e-05 9.99996764e-01 -2.63076498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.944012739 meters Centerline goodness [0,1] 0.9940872609289617 Centerline is valid? [True, True] Translation: X:184.53, Y:-20.62, Z:-2.64 [[ 9.95881606e-01 9.06629161e-02 2.48644793e-04 1.84532312e+02] [-9.06629142e-02 9.95881637e-01 -1.89432029e-05 -2.06168352e+01] [-2.49338230e-04 -3.67767421e-06 9.99999969e-01 -2.63534997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.974012739 meters Centerline goodness [0,1] 0.9943251699212429 Centerline is valid? [True, True] Translation: X:184.56, Y:-20.62, Z:-2.64 [[ 9.95697362e-01 9.26643398e-02 -2.87507332e-04 1.84561566e+02] [-9.26643374e-02 9.95697404e-01 2.17432933e-05 -2.06162325e+01] [ 2.88285132e-04 4.99193665e-06 9.99999958e-01 -2.63659976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.004012739 meters Centerline goodness [0,1] 0.9933641578902304 Centerline is valid? [True, True] Translation: X:184.59, Y:-20.61, Z:-2.64 [[ 9.95304321e-01 9.67876643e-02 -1.20689995e-03 1.84590856e+02] [-9.67876245e-02 9.95305052e-01 9.15320464e-05 -2.06070421e+01] [ 1.21009279e-03 2.57107375e-05 9.99999268e-01 -2.63940673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.034012739 meters Centerline goodness [0,1] 0.9923366698955979 Centerline is valid? [True, True] Translation: X:184.62, Y:-20.60, Z:-2.64 [[ 9.95169509e-01 9.81670739e-02 -9.34454118e-04 1.84618757e+02] [-9.81670507e-02 9.95169948e-01 7.07583987e-05 -2.06020084e+01] [ 9.36886801e-04 2.13160039e-05 9.99999561e-01 -2.63932407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.064012739 meters Centerline goodness [0,1] 0.9927195316657796 Centerline is valid? [True, True] Translation: X:184.65, Y:-20.60, Z:-2.64 [[ 9.95096778e-01 9.89053252e-02 -3.73977087e-04 1.84647251e+02] [-9.89053216e-02 9.95096848e-01 2.82593779e-05 -2.06017871e+01] [ 3.74938424e-04 8.86750815e-06 9.99999930e-01 -2.63753004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.094012739 meters Centerline goodness [0,1] 0.9924890867071814 Centerline is valid? [True, True] Translation: X:184.68, Y:-20.60, Z:-2.64 [[ 9.95131290e-01 9.85549451e-02 7.98983789e-04 1.84676580e+02] [-9.85549282e-02 9.95131611e-01 -6.06025394e-05 -2.06015128e+01] [-8.01066705e-04 -1.84363068e-05 9.99999679e-01 -2.63527628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.124012739 meters Centerline goodness [0,1] 0.9930443743157081 Centerline is valid? [True, True] Translation: X:184.71, Y:-20.60, Z:-2.64 [[ 9.95328642e-01 9.65443038e-02 3.04502543e-04 1.84706035e+02] [-9.65443012e-02 9.95328688e-01 -2.31673208e-05 -2.06016565e+01] [-3.05316789e-04 -6.33888724e-06 9.99999953e-01 -2.63711169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.154012739 meters Centerline goodness [0,1] 0.9931028592171852 Centerline is valid? [True, True] Translation: X:184.73, Y:-20.60, Z:-2.64 [[ 9.95440780e-01 9.53618361e-02 -1.94272706e-03 1.84734248e+02] [-9.53617312e-02 9.95442675e-01 1.46798689e-04 -2.06014787e+01] [ 1.94787241e-03 3.91324140e-05 9.99998102e-01 -2.64167919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.184012739 meters Centerline goodness [0,1] 0.9952847375527788 Centerline is valid? [True, True] Translation: X:184.76, Y:-20.60, Z:-2.65 [[ 9.95674982e-01 9.27933615e-02 -4.55220866e-03 1.84761970e+02] [-9.27927589e-02 9.95685385e-01 3.43864176e-04 -2.05998469e+01] [ 4.56447594e-03 8.00350435e-05 9.99989580e-01 -2.64846940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21401273899997 meters Centerline goodness [0,1] 0.9953084985043149 Centerline is valid? [True, True] Translation: X:184.79, Y:-20.61, Z:-2.64 [[ 9.95834771e-01 9.11152587e-02 -3.33433891e-03 1.84789995e+02] [-9.11149266e-02 9.95840352e-01 2.51700985e-04 -2.06065483e+01] [ 3.34340303e-03 5.31554516e-05 9.99994409e-01 -2.64447402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24401273899997 meters Centerline goodness [0,1] 0.9955582258652876 Centerline is valid? [True, True] Translation: X:184.82, Y:-20.61, Z:-2.64 [[ 9.95975349e-01 8.96205779e-02 -1.12110418e-03 1.84817585e+02] [-8.96205395e-02 9.95975980e-01 8.44847007e-05 -2.06085523e+01] [ 1.12416440e-03 1.63292820e-05 9.99999368e-01 -2.63943331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27401273899997 meters Centerline goodness [0,1] 0.994572997457428 Centerline is valid? [True, True] Translation: X:184.85, Y:-20.61, Z:-2.63 [[ 9.96087435e-01 8.83545814e-02 1.81392870e-03 1.84845280e+02] [-8.83544787e-02 9.96089086e-01 -1.36870473e-04 -2.06081882e+01] [-1.81892771e-03 -2.39337657e-05 9.99998345e-01 -2.63368487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30401273899997 meters Centerline goodness [0,1] 0.9934745725845043 Centerline is valid? [True, True] Translation: X:184.87, Y:-20.61, Z:-2.63 [[ 9.96123381e-01 8.79548277e-02 1.46929358e-03 1.84874474e+02] [-8.79547600e-02 9.96124464e-01 -1.10796549e-04 -2.06099749e+01] [-1.47334437e-03 -1.88643317e-05 9.99998914e-01 -2.63091595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33401273899997 meters Centerline goodness [0,1] 0.9944951344790967 Centerline is valid? [True, True] Translation: X:184.90, Y:-20.61, Z:-2.64 [[ 9.96045745e-01 8.88346436e-02 1.13144740e-03 1.84902471e+02] [-8.88346040e-02 9.96046387e-01 -8.52951066e-05 -2.06059743e+01] [-1.13455125e-03 -1.55538537e-05 9.99999356e-01 -2.63590090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36401273899997 meters Centerline goodness [0,1] 0.9938491978149597 Centerline is valid? [True, True] Translation: X:184.93, Y:-20.61, Z:-2.64 [[ 9.95971658e-01 8.96594766e-02 1.27875723e-03 1.84930979e+02] [-8.96594268e-02 9.95972478e-01 -9.63056190e-05 -2.06051942e+01] [-1.28224172e-03 -1.87349732e-05 9.99999178e-01 -2.63585256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39401273899998 meters Centerline goodness [0,1] 0.9938502274134654 Centerline is valid? [True, True] Translation: X:184.96, Y:-20.60, Z:-2.64 [[ 9.95904292e-01 9.04026504e-02 1.41469857e-03 1.84958645e+02] [-9.04025903e-02 9.95905297e-01 -1.06474600e-04 -2.06045055e+01] [-1.41853138e-03 -2.18539038e-05 9.99998994e-01 -2.63552764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42401273899998 meters Centerline goodness [0,1] 0.9937441284482023 Centerline is valid? [True, True] Translation: X:184.99, Y:-20.60, Z:-2.63 [[ 9.95907021e-01 9.03706321e-02 1.53436861e-03 1.84986503e+02] [-9.03705616e-02 9.95908203e-01 -1.15388388e-04 -2.06027186e+01] [-1.53851801e-03 -2.37456470e-05 9.99998816e-01 -2.63474286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45401273899998 meters Centerline goodness [0,1] 0.994276123257015 Centerline is valid? [True, True] Translation: X:185.01, Y:-20.60, Z:-2.64 [[ 9.95973508e-01 8.96395377e-02 1.23503484e-03 1.85014965e+02] [-8.96394915e-02 9.95974273e-01 -9.28045994e-05 -2.06035155e+01] [-1.23838189e-03 -1.82769732e-05 9.99999233e-01 -2.63565933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48401273899998 meters Centerline goodness [0,1] 0.9948781689989927 Centerline is valid? [True, True] Translation: X:185.04, Y:-20.61, Z:-2.64 [[ 9.96100386e-01 8.82260743e-02 4.24770334e-04 1.85043662e+02] [-8.82260687e-02 9.96100477e-01 -3.19539203e-05 -2.06055471e+01] [-4.25933101e-04 -5.64650429e-06 9.99999909e-01 -2.63769528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51401273899998 meters Centerline goodness [0,1] 0.9959878132509441 Centerline is valid? [True, True] Translation: X:185.07, Y:-20.61, Z:-2.64 [[ 9.96392550e-01 8.48629059e-02 -4.16522997e-04 1.85072063e+02] [-8.48629003e-02 9.96392637e-01 3.11479333e-05 -2.06084342e+01] [ 4.17663752e-04 4.31178087e-06 9.99999913e-01 -2.63862389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54401273899998 meters Centerline goodness [0,1] 0.9964288769138654 Centerline is valid? [True, True] Translation: X:185.10, Y:-20.61, Z:-2.64 [[ 9.96501713e-01 8.35722114e-02 -1.48059360e-04 1.85101070e+02] [-8.35722107e-02 9.96501724e-01 1.10099388e-05 -2.06091159e+01] [ 1.48461532e-04 1.40222517e-06 9.99999989e-01 -2.63725372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57401273899998 meters Centerline goodness [0,1] 0.9964248249876902 Centerline is valid? [True, True] Translation: X:185.13, Y:-20.61, Z:-2.64 [[ 9.96604096e-01 8.23345828e-02 1.13697562e-03 1.85129210e+02] [-8.23345391e-02 9.96604744e-01 -8.52482414e-05 -2.06057515e+01] [-1.14013417e-03 -8.65361679e-06 9.99999350e-01 -2.63523637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60401273899998 meters Centerline goodness [0,1] 0.9958233000191787 Centerline is valid? [True, True] Translation: X:185.16, Y:-20.61, Z:-2.63 [[ 9.96621089e-01 8.21233027e-02 1.47252813e-03 1.85157330e+02] [-8.21232294e-02 9.96622177e-01 -1.10274465e-04 -2.06052140e+01] [-1.47661029e-03 -1.10269082e-05 9.99998910e-01 -2.63464008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63401273899999 meters Centerline goodness [0,1] 0.9963593783265915 Centerline is valid? [True, True] Translation: X:185.19, Y:-20.60, Z:-2.64 [[ 9.96620169e-01 8.21388111e-02 1.20586722e-03 1.85185195e+02] [-8.21387621e-02 9.96620899e-01 -9.02474119e-05 -2.06041157e+01] [-1.20920528e-03 -9.10604951e-06 9.99999269e-01 -2.63518302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.664012739 meters Centerline goodness [0,1] 0.9970458221024259 Centerline is valid? [True, True] Translation: X:185.21, Y:-20.60, Z:-2.64 [[ 9.96653376e-01 8.17148961e-02 -2.17324979e-03 1.85213373e+02] [-8.17147367e-02 9.96655746e-01 1.62206849e-04 -2.05999341e+01] [ 2.17923661e-03 1.59225311e-05 9.99997625e-01 -2.64313632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.694012739 meters Centerline goodness [0,1] 0.9977319411160561 Centerline is valid? [True, True] Translation: X:185.24, Y:-20.60, Z:-2.65 [[ 9.96718783e-01 8.08490912e-02 -3.88478230e-03 1.85241515e+02] [-8.08485757e-02 9.96726354e-01 2.89821381e-04 -2.06012143e+01] [ 3.89549669e-03 2.52087019e-05 9.99992412e-01 -2.64619248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.724012739 meters Centerline goodness [0,1] 0.9987058087616747 Centerline is valid? [True, True] Translation: X:185.27, Y:-20.61, Z:-2.64 [[ 9.96952658e-01 7.79332671e-02 -3.43549222e-03 1.85270451e+02] [-7.79328472e-02 9.96958578e-01 2.56143442e-04 -2.06055846e+01] [ 3.44500553e-03 1.23748044e-05 9.99994066e-01 -2.64379272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.754012739 meters Centerline goodness [0,1] 0.9985485268630849 Centerline is valid? [True, True] Translation: X:185.30, Y:-20.61, Z:-2.64 [[ 9.97077973e-01 7.63757683e-02 -1.50273279e-03 1.85298039e+02] [-7.63756865e-02 9.97079105e-01 1.11824978e-04 -2.06078750e+01] [ 1.50688418e-03 3.27402628e-06 9.99998865e-01 -2.64052985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.784012739 meters Centerline goodness [0,1] 0.9985929605389388 Centerline is valid? [True, True] Translation: X:185.33, Y:-20.61, Z:-2.64 [[ 9.97196120e-01 7.48324452e-02 -5.29224973e-05 1.85326405e+02] [-7.48324451e-02 9.97196122e-01 3.85542433e-06 -2.06105798e+01] [ 5.30626199e-05 1.15705696e-07 9.99999999e-01 -2.63802042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.814012739 meters Centerline goodness [0,1] 0.9987004829871564 Centerline is valid? [True, True] Translation: X:185.35, Y:-20.62, Z:-2.64 [[ 9.97435439e-01 7.15718377e-02 -1.31254842e-04 1.85354875e+02] [-7.15718371e-02 9.97435448e-01 9.67922125e-06 -2.06164633e+01] [ 1.31610992e-04 -2.60248134e-07 9.99999991e-01 -2.63872851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.844012739 meters Centerline goodness [0,1] 0.9987299537186525 Centerline is valid? [True, True] Translation: X:185.38, Y:-20.62, Z:-2.64 [[ 9.97533319e-01 7.01900626e-02 -7.95890699e-04 1.85383779e+02] [-7.01900378e-02 9.97533636e-01 5.90996791e-05 -2.06201656e+01] [ 7.98075953e-04 -3.09030088e-06 9.99999682e-01 -2.63993731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.874012739 meters Centerline goodness [0,1] 0.998272324802937 Centerline is valid? [True, True] Translation: X:185.41, Y:-20.62, Z:-2.64 [[ 9.97601157e-01 6.92220428e-02 -4.90213227e-04 1.85412253e+02] [-6.92220333e-02 9.97601277e-01 3.63448927e-05 -2.06225044e+01] [ 4.91553209e-04 -2.32415076e-06 9.99999879e-01 -2.63903231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.904012739 meters Centerline goodness [0,1] 0.9978024819027922 Centerline is valid? [True, True] Translation: X:185.44, Y:-20.62, Z:-2.64 [[ 9.97691353e-01 6.79102335e-02 4.05562037e-04 1.85440439e+02] [-6.79102269e-02 9.97691435e-01 -3.02244133e-05 -2.06247450e+01] [-4.06678318e-04 2.61282589e-06 9.99999917e-01 -2.63593295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.934012739 meters Centerline goodness [0,1] 0.9976149914821124 Centerline is valid? [True, True] Translation: X:185.47, Y:-20.63, Z:-2.64 [[ 9.97740574e-01 6.71821525e-02 5.52505095e-04 1.85467708e+02] [-6.71821400e-02 9.97740727e-01 -4.11026328e-05 -2.06282555e+01] [-5.54018198e-04 3.89128979e-06 9.99999847e-01 -2.63593837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96401273899997 meters Centerline goodness [0,1] 0.9964784974922634 Centerline is valid? [True, True] Translation: X:185.50, Y:-20.63, Z:-2.63 [[ 9.97909186e-01 6.46115890e-02 1.61206998e-03 1.85496193e+02] [-6.46114800e-02 9.97910488e-01 -1.19627473e-04 -2.06339656e+01] [-1.61643086e-03 1.52191270e-05 9.99998693e-01 -2.63457162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99401273899997 meters Centerline goodness [0,1] 0.9952973961508317 Centerline is valid? [True, True] Translation: X:185.52, Y:-20.64, Z:-2.63 [[ 9.98038000e-01 6.25739394e-02 2.15682756e-03 1.85524621e+02] [-6.25737399e-02 9.98040331e-01 -1.59926285e-04 -2.06387769e+01] [-2.16260810e-03 2.46517437e-05 9.99997661e-01 -2.63368680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02401273899997 meters Centerline goodness [0,1] 0.9942464094133934 Centerline is valid? [True, True] Translation: X:185.55, Y:-20.65, Z:-2.63 [[ 9.98166036e-01 6.04923040e-02 2.29015644e-03 1.85552001e+02] [-6.04920739e-02 9.98168663e-01 -1.69696527e-04 -2.06451585e+01] [-2.29622772e-03 3.08489975e-05 9.99997363e-01 -2.63334210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05401273899997 meters Centerline goodness [0,1] 0.9929026620345702 Centerline is valid? [True, True] Translation: X:185.58, Y:-20.65, Z:-2.63 [[ 9.98278226e-01 5.86086357e-02 2.36861951e-03 1.85580513e+02] [-5.86083845e-02 9.98281036e-01 -1.75377487e-04 -2.06521035e+01] [-2.37482658e-03 3.62545636e-05 9.99997179e-01 -2.63232299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08401273899997 meters Centerline goodness [0,1] 0.9919910916955759 Centerline is valid? [True, True] Translation: X:185.61, Y:-20.66, Z:-2.63 [[ 9.98478439e-01 5.51115473e-02 1.87754143e-03 1.85608946e+02] [-5.51113834e-02 9.98480203e-01 -1.38949364e-04 -2.06635533e+01] [-1.88234567e-03 3.52640384e-05 9.99998228e-01 -2.63325482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11401273899997 meters Centerline goodness [0,1] 0.9917952013710368 Centerline is valid? [True, True] Translation: X:185.64, Y:-20.67, Z:-2.63 [[ 9.98552341e-01 5.37752758e-02 1.20097640e-03 1.85637202e+02] [-5.37752078e-02 9.98553063e-01 -8.88608182e-05 -2.06702622e+01] [-1.20401718e-03 2.41494225e-05 9.99999275e-01 -2.63475868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14401273899998 meters Centerline goodness [0,1] 0.9917952013710368 Centerline is valid? [True, True] Translation: X:185.67, Y:-20.67, Z:-2.63 [[ 9.98554745e-01 5.37306055e-02 1.20097889e-03 1.85665463e+02] [-5.37305375e-02 9.98555467e-01 -8.88271977e-05 -2.06722645e+01] [-1.20401677e-03 2.41695785e-05 9.99999275e-01 -2.63481074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17401273899998 meters Centerline goodness [0,1] 0.9926064435704 Centerline is valid? [True, True] Translation: X:185.69, Y:-20.68, Z:-2.64 [[ 9.98573725e-01 5.33886452e-02 -4.09792314e-04 1.85694593e+02] [-5.33886373e-02 9.98573809e-01 3.02308212e-05 -2.06792359e+01] [ 4.10821855e-04 -8.30945050e-06 9.99999916e-01 -2.63713539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20401273899998 meters Centerline goodness [0,1] 0.994602562157241 Centerline is valid? [True, True] Translation: X:185.72, Y:-20.68, Z:-2.64 [[ 9.98470350e-01 5.52775588e-02 -1.16231651e-03 1.85723271e+02] [-5.52774964e-02 9.98471027e-01 8.57275448e-05 -2.06803910e+01] [ 1.16527816e-03 -2.13464652e-05 9.99999321e-01 -2.63819643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23401273899998 meters Centerline goodness [0,1] 0.9974043246953835 Centerline is valid? [True, True] Translation: X:185.75, Y:-20.68, Z:-2.64 [[ 9.98163699e-01 6.05312356e-02 -2.28033826e-03 1.85751946e+02] [-6.05310093e-02 9.98166303e-01 1.68211728e-04 -2.06779650e+01] [ 2.28633887e-03 -2.98716643e-05 9.99997386e-01 -2.64012489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26401273899998 meters Centerline goodness [0,1] 0.9977946686650252 Centerline is valid? [True, True] Translation: X:185.78, Y:-20.68, Z:-2.64 [[ 9.98037253e-01 6.25938039e-02 -1.91231397e-03 1.85780916e+02] [-6.25936487e-02 9.98039085e-01 1.40948359e-04 -2.06780929e+01] [ 1.91738658e-03 -2.09730043e-05 9.99998162e-01 -2.63934029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29401273899998 meters Centerline goodness [0,1] 0.9976615784345567 Centerline is valid? [True, True] Translation: X:185.81, Y:-20.68, Z:-2.63 [[ 9.97836877e-01 6.57372518e-02 4.24310779e-04 1.85809568e+02] [-6.57372444e-02 9.97836968e-01 -3.13580462e-05 -2.06768956e+01] [-4.25454373e-04 3.39719352e-06 9.99999909e-01 -2.63454264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32401273899998 meters Centerline goodness [0,1] 0.9977273214553719 Centerline is valid? [True, True] Translation: X:185.84, Y:-20.68, Z:-2.63 [[ 9.97743237e-01 6.71350488e-02 1.14840819e-03 1.85837499e+02] [-6.71349958e-02 9.97743898e-01 -8.46794887e-05 -2.06787124e+01] [-1.15150222e-03 7.39000835e-06 9.99999337e-01 -2.63333160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35401273899998 meters Centerline goodness [0,1] 0.997891793051522 Centerline is valid? [True, True] Translation: X:185.87, Y:-20.68, Z:-2.63 [[ 9.97641002e-01 6.86379690e-02 1.12309200e-03 1.85866178e+02] [-6.86379194e-02 9.97641634e-01 -8.27411889e-05 -2.06784822e+01] [-1.12612252e-03 5.45930470e-06 9.99999366e-01 -2.63294207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38401273899999 meters Centerline goodness [0,1] 0.9982206024225533 Centerline is valid? [True, True] Translation: X:185.89, Y:-20.68, Z:-2.63 [[ 9.97548222e-01 6.99804391e-02 5.32053161e-04 1.85893854e+02] [-6.99804281e-02 9.97548364e-01 -3.92377342e-05 -2.06800899e+01] [-5.33494634e-04 1.90822406e-06 9.99999858e-01 -2.63432424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.414012739 meters Centerline goodness [0,1] 0.9987280645022205 Centerline is valid? [True, True] Translation: X:185.92, Y:-20.68, Z:-2.64 [[ 9.97561242e-01 6.97964955e-02 1.34690997e-04 1.85922698e+02] [-6.97964947e-02 9.97561251e-01 -9.98319422e-06 -2.06815961e+01] [-1.35059312e-04 5.57888137e-07 9.99999991e-01 -2.63546450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.444012739 meters Centerline goodness [0,1] 0.998210710177651 Centerline is valid? [True, True] Translation: X:185.95, Y:-20.68, Z:-2.64 [[ 9.97559704e-01 6.98181689e-02 2.47448247e-04 1.85950667e+02] [-6.98181665e-02 9.97559734e-01 -1.82832914e-05 -2.06830301e+01] [-2.48120913e-04 9.62291808e-07 9.99999969e-01 -2.63545396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.474012739 meters Centerline goodness [0,1] 0.9977614671000237 Centerline is valid? [True, True] Translation: X:185.98, Y:-20.68, Z:-2.63 [[ 9.97524770e-01 7.03037581e-02 1.30953145e-03 1.85979668e+02] [-7.03036925e-02 9.97525630e-01 -9.61784247e-05 -2.06839215e+01] [-1.31305289e-03 3.87546459e-06 9.99999138e-01 -2.63392596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.504012739 meters Centerline goodness [0,1] 0.9975285495142322 Centerline is valid? [True, True] Translation: X:186.01, Y:-20.69, Z:-2.63 [[ 9.97511709e-01 7.04925560e-02 1.09084990e-03 1.86007595e+02] [-7.04925105e-02 9.97512305e-01 -8.00897819e-05 -2.06852837e+01] [-1.09378193e-03 2.99374737e-06 9.99999402e-01 -2.63349115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.534012739 meters Centerline goodness [0,1] 0.9976385458642055 Centerline is valid? [True, True] Translation: X:186.04, Y:-20.69, Z:-2.64 [[ 9.97564229e-01 6.97538994e-02 -5.34152217e-05 1.86036152e+02] [-6.97538993e-02 9.97564230e-01 3.82834575e-06 -2.06878431e+01] [ 5.35521566e-05 -9.31007743e-08 9.99999999e-01 -2.63549657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.564012739 meters Centerline goodness [0,1] 0.9979425650799151 Centerline is valid? [True, True] Translation: X:186.06, Y:-20.69, Z:-2.64 [[ 9.97661668e-01 6.83429386e-02 -6.62218528e-04 1.86063413e+02] [-6.83429215e-02 9.97661888e-01 4.83811088e-05 -2.06920284e+01] [ 6.63976694e-04 -3.01002887e-06 9.99999780e-01 -2.63725190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.594012739 meters Centerline goodness [0,1] 0.9974273769964627 Centerline is valid? [True, True] Translation: X:186.09, Y:-20.70, Z:-2.64 [[ 9.97777601e-01 6.66285035e-02 -7.07806201e-04 1.86091917e+02] [-6.66284836e-02 9.97777852e-01 5.17053317e-05 -2.06950030e+01] [ 7.09678400e-04 -4.43036796e-06 9.99999748e-01 -2.63750812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.624012739 meters Centerline goodness [0,1] 0.9967941775332496 Centerline is valid? [True, True] Translation: X:186.12, Y:-20.70, Z:-2.64 [[ 9.98066470e-01 6.21433853e-02 -1.23299657e-03 1.86120459e+02] [-6.21433214e-02 9.98067232e-01 9.00765363e-05 -2.07023222e+01] [ 1.23621113e-03 -1.32798687e-05 9.99999236e-01 -2.63941420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.654012739 meters Centerline goodness [0,1] 0.9959040248345442 Centerline is valid? [True, True] Translation: X:186.15, Y:-20.71, Z:-2.64 [[ 9.98222414e-01 5.95659471e-02 -1.97748588e-03 1.86148397e+02] [-5.95657780e-02 9.98224372e-01 1.44380239e-04 -2.07082623e+01] [ 1.98257474e-03 -2.63331062e-05 9.99998034e-01 -2.64016928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.684012739 meters Centerline goodness [0,1] 0.995405063019346 Centerline is valid? [True, True] Translation: X:186.18, Y:-20.72, Z:-2.64 [[ 9.98425175e-01 5.59981256e-02 -3.37349268e-03 1.86176139e+02] [-5.59976126e-02 9.98430872e-01 2.46392523e-04 -2.07169134e+01] [ 3.38199675e-03 -5.70969618e-05 9.99994279e-01 -2.64206157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71401273899997 meters Centerline goodness [0,1] 0.9948282862821363 Centerline is valid? [True, True] Translation: X:186.20, Y:-20.72, Z:-2.64 [[ 9.98464336e-01 5.52916895e-02 -3.43492695e-03 1.86203375e+02] [-5.52911544e-02 9.98470243e-01 2.50611038e-04 -2.07240835e+01] [ 3.44352905e-03 -6.03051071e-05 9.99994069e-01 -2.64293366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74401273899997 meters Centerline goodness [0,1] 0.995013874436351 Centerline is valid? [True, True] Translation: X:186.23, Y:-20.72, Z:-2.64 [[ 9.98475597e-01 5.51234559e-02 -2.80828101e-03 1.86232160e+02] [-5.51230979e-02 9.98479545e-01 2.04763184e-04 -2.07241708e+01] [ 2.81529840e-03 -4.96498935e-05 9.99996036e-01 -2.64123167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77401273899997 meters Centerline goodness [0,1] 0.9944993793073926 Centerline is valid? [True, True] Translation: X:186.26, Y:-20.73, Z:-2.64 [[ 9.98428582e-01 5.60313196e-02 -9.26193073e-04 1.86259985e+02] [-5.60312812e-02 9.98429011e-01 6.74024290e-05 -2.07278569e+01] [ 9.28514681e-04 -1.54007271e-05 9.99999569e-01 -2.63874259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80401273899997 meters Centerline goodness [0,1] 0.9942436498255975 Centerline is valid? [True, True] Translation: X:186.29, Y:-20.73, Z:-2.64 [[ 9.98384635e-01 5.68130322e-02 -6.32930918e-04 1.86288016e+02] [-5.68130145e-02 9.98384835e-01 4.59880023e-05 -2.07302515e+01] [ 6.34521348e-04 -9.95500146e-06 9.99999799e-01 -2.63919735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83401273899997 meters Centerline goodness [0,1] 0.9952159268873491 Centerline is valid? [True, True] Translation: X:186.32, Y:-20.73, Z:-2.64 [[ 9.98324623e-01 5.78402156e-02 -1.56730416e-03 1.86317089e+02] [-5.78401079e-02 9.98325853e-01 1.13990860e-04 -2.07303763e+01] [ 1.57127352e-03 -2.31468404e-05 9.99998765e-01 -2.64076272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86401273899997 meters Centerline goodness [0,1] 0.9952134706611394 Centerline is valid? [True, True] Translation: X:186.35, Y:-20.73, Z:-2.64 [[ 9.98329030e-01 5.77546705e-02 -1.88301911e-03 1.86345621e+02] [-5.77545150e-02 9.98330806e-01 1.36884602e-04 -2.07329806e+01] [ 1.88778171e-03 -2.79030159e-05 9.99998218e-01 -2.64092517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89401273899998 meters Centerline goodness [0,1] 0.9951936368856469 Centerline is valid? [True, True] Translation: X:186.37, Y:-20.74, Z:-2.64 [[ 9.98346111e-01 5.74645922e-02 -1.69209621e-03 1.86373245e+02] [-5.74644664e-02 9.98347545e-01 1.22882399e-04 -2.07385877e+01] [ 1.69636149e-03 -2.54437591e-05 9.99998561e-01 -2.64073352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92401273899998 meters Centerline goodness [0,1] 0.9943696608853223 Centerline is valid? [True, True] Translation: X:186.40, Y:-20.75, Z:-2.64 [[ 9.98427347e-01 5.60593851e-02 -4.20900794e-04 1.86401309e+02] [-5.60593772e-02 9.98427436e-01 3.04907888e-05 -2.07454962e+01] [ 4.21948196e-04 -6.84740098e-06 9.99999911e-01 -2.63920488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95401273899998 meters Centerline goodness [0,1] 0.9939898088062367 Centerline is valid? [True, True] Translation: X:186.43, Y:-20.75, Z:-2.64 [[ 9.98498899e-01 5.47716320e-02 1.27231102e-04 1.86431044e+02] [-5.47716313e-02 9.98498908e-01 -9.28162479e-06 -2.07500491e+01] [-1.27548486e-04 2.29903714e-06 9.99999992e-01 -2.63905014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98401273899998 meters Centerline goodness [0,1] 0.9925168904472762 Centerline is valid? [True, True] Translation: X:186.46, Y:-20.76, Z:-2.64 [[ 9.98682029e-01 5.13243197e-02 -1.38295117e-04 1.86459145e+02] [-5.13243188e-02 9.98682039e-01 9.98625486e-06 -2.07627657e+01] [ 1.38625387e-04 -2.87519061e-06 9.99999990e-01 -2.63960542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01401273899998 meters Centerline goodness [0,1] 0.9926905299365796 Centerline is valid? [True, True] Translation: X:186.49, Y:-20.77, Z:-2.64 [[ 9.98765493e-01 4.96709206e-02 -5.37254651e-04 1.86488250e+02] [-4.96709068e-02 9.98765638e-01 3.89414864e-05 -2.07674721e+01] [ 5.38525744e-04 -1.22074872e-05 9.99999855e-01 -2.63959386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04401273899998 meters Centerline goodness [0,1] 0.9914765444757755 Centerline is valid? [True, True] Translation: X:186.52, Y:-20.78, Z:-2.64 [[ 9.98827233e-01 4.84150201e-02 -3.79991476e-04 1.86515970e+02] [-4.84150131e-02 9.98827305e-01 2.75080451e-05 -2.07768967e+01] [ 3.80877665e-04 -9.07849232e-06 9.99999927e-01 -2.64002752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07401273899998 meters Centerline goodness [0,1] 0.9898062107002596 Centerline is valid? [True, True] Translation: X:186.54, Y:-20.79, Z:-2.64 [[ 9.98847123e-01 4.79971068e-02 8.38593541e-04 1.86544713e+02] [-4.79970726e-02 9.98847475e-01 -6.08364435e-05 -2.07862880e+01] [-8.40547013e-04 2.05162715e-05 9.99999647e-01 -2.63852149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10401273899998 meters Centerline goodness [0,1] 0.9910806396148556 Centerline is valid? [True, True] Translation: X:186.58, Y:-20.79, Z:-2.64 [[ 9.98772636e-01 4.95204372e-02 9.73647135e-04 1.86575037e+02] [-4.95203919e-02 9.98773110e-01 -7.06204727e-05 -2.07850972e+01] [-9.75949734e-04 2.23184080e-05 9.99999524e-01 -2.63754096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13401273899999 meters Centerline goodness [0,1] 0.9918250868986825 Centerline is valid? [True, True] Translation: X:186.60, Y:-20.79, Z:-2.64 [[ 9.98675934e-01 5.14405821e-02 4.95324349e-04 1.86604595e+02] [-5.14405706e-02 9.98676057e-01 -3.59160438e-05 -2.07909683e+01] [-4.96516110e-04 1.03887215e-05 9.99999877e-01 -2.63816051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.164012739 meters Centerline goodness [0,1] 0.9935226492793411 Centerline is valid? [True, True] Translation: X:186.63, Y:-20.79, Z:-2.64 [[ 9.98463345e-01 5.54156315e-02 -2.35739741e-04 1.86634964e+02] [-5.54156290e-02 9.98463373e-01 1.70697904e-05 -2.07905708e+01] [ 2.36323430e-04 -3.97989401e-06 9.99999972e-01 -2.63845536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.194012739 meters Centerline goodness [0,1] 0.9937477013607944 Centerline is valid? [True, True] Translation: X:186.66, Y:-20.79, Z:-2.64 [[ 9.98358127e-01 5.72764971e-02 6.73137769e-04 1.86663474e+02] [-5.72764771e-02 9.98358354e-01 -4.88413929e-05 -2.07945051e+01] [-6.74830179e-04 1.02062415e-05 9.99999772e-01 -2.63736518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.224012739 meters Centerline goodness [0,1] 0.9943258175302374 Centerline is valid? [True, True] Translation: X:186.69, Y:-20.80, Z:-2.64 [[ 9.98247560e-01 5.91571551e-02 1.49660168e-03 1.86692214e+02] [-5.91570589e-02 9.98248682e-01 -1.08457756e-04 -2.08008472e+01] [-1.50039671e-03 1.97331361e-05 9.99998874e-01 -2.63680085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.254012739 meters Centerline goodness [0,1] 0.9945280144202914 Centerline is valid? [True, True] Translation: X:186.72, Y:-20.81, Z:-2.64 [[ 9.98206908e-01 5.98408364e-02 1.42927952e-03 1.86722517e+02] [-5.98407495e-02 9.98207931e-01 -1.03540002e-04 -2.08052570e+01] [-1.43291407e-03 1.78251878e-05 9.99998973e-01 -2.63764362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.284012739 meters Centerline goodness [0,1] 0.9950877948938921 Centerline is valid? [True, True] Translation: X:186.75, Y:-20.81, Z:-2.64 [[ 9.98157413e-01 6.06643249e-02 1.27200855e-03 1.86753114e+02] [-6.06642567e-02 9.98158224e-01 -9.21469637e-05 -2.08097402e+01] [-1.27525583e-03 1.48117218e-05 9.99999187e-01 -2.63766847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.314012739 meters Centerline goodness [0,1] 0.9964379211192652 Centerline is valid? [True, True] Translation: X:186.78, Y:-20.81, Z:-2.64 [[ 9.97969368e-01 6.36946825e-02 3.57381688e-04 1.86782395e+02] [-6.36946773e-02 9.97969432e-01 -2.59060442e-05 -2.08130703e+01] [-3.58306078e-04 3.09012725e-06 9.99999936e-01 -2.63800931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.344012739 meters Centerline goodness [0,1] 0.9965776420386856 Centerline is valid? [True, True] Translation: X:186.81, Y:-20.81, Z:-2.64 [[ 9.97788480e-01 6.64689393e-02 -1.71617984e-04 1.86812324e+02] [-6.64689382e-02 9.97788495e-01 1.23843019e-05 -2.08128709e+01] [ 1.72061621e-04 -9.49648576e-07 9.99999985e-01 -2.63892787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.374012739 meters Centerline goodness [0,1] 0.9957606146032839 Centerline is valid? [True, True] Translation: X:186.84, Y:-20.81, Z:-2.64 [[ 9.97368999e-01 7.24912695e-02 -3.10159466e-04 1.86841299e+02] [-7.24912660e-02 9.97369047e-01 2.23842631e-05 -2.08082053e+01] [ 3.10966115e-04 1.58482330e-07 9.99999952e-01 -2.63967826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.404012739 meters Centerline goodness [0,1] 0.9945837168975188 Centerline is valid? [True, True] Translation: X:186.87, Y:-20.81, Z:-2.64 [[ 9.97141058e-01 7.55625950e-02 7.50752920e-05 1.86869398e+02] [-7.55625948e-02 9.97141060e-01 -5.53124751e-06 -2.08050995e+01] [-7.52786117e-05 -1.57449877e-07 9.99999997e-01 -2.63916131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.434012739 meters Centerline goodness [0,1] 0.9942376076432029 Centerline is valid? [True, True] Translation: X:186.90, Y:-20.80, Z:-2.64 [[ 9.96949401e-01 7.80503458e-02 1.88802310e-04 1.86898566e+02] [-7.80503446e-02 9.96949419e-01 -1.37267684e-05 -2.08031324e+01] [-1.89297732e-04 -1.05119187e-06 9.99999982e-01 -2.63930135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46401273899997 meters Centerline goodness [0,1] 0.9934038634514071 Centerline is valid? [True, True] Translation: X:186.93, Y:-20.80, Z:-2.64 [[ 9.96779424e-01 8.01920369e-02 1.32448863e-04 1.86927041e+02] [-8.01920364e-02 9.96779433e-01 -9.65069479e-06 -2.08031509e+01] [-1.32796211e-04 -1.00173004e-06 9.99999991e-01 -2.63993716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49401273899997 meters Centerline goodness [0,1] 0.9931710658703145 Centerline is valid? [True, True] Translation: X:186.95, Y:-20.80, Z:-2.64 [[ 9.96778598e-01 8.02016243e-02 -3.54415703e-04 1.86954952e+02] [-8.02016203e-02 9.96778661e-01 2.54731682e-05 -2.08039028e+01] [ 3.55317000e-04 3.03360476e-06 9.99999937e-01 -2.64110432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52401273899997 meters Centerline goodness [0,1] 0.9938176866042671 Centerline is valid? [True, True] Translation: X:186.98, Y:-20.81, Z:-2.64 [[ 9.96895703e-01 7.87327794e-02 -3.26256827e-04 1.86983852e+02] [-7.87327759e-02 9.96895757e-01 2.34431688e-05 -2.08085089e+01] [ 3.27089792e-04 2.31671144e-06 9.99999947e-01 -2.64063153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55401273899997 meters Centerline goodness [0,1] 0.994075419477599 Centerline is valid? [True, True] Translation: X:187.01, Y:-20.81, Z:-2.64 [[ 9.97004840e-01 7.73387278e-02 2.63845878e-04 1.87011229e+02] [-7.73387255e-02 9.97004875e-01 -1.91218611e-05 -2.08112839e+01] [-2.64534487e-04 -1.34091592e-06 9.99999965e-01 -2.63994875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58401273899997 meters Centerline goodness [0,1] 0.9941375519968964 Centerline is valid? [True, True] Translation: X:187.04, Y:-20.81, Z:-2.64 [[ 9.97097574e-01 7.61230632e-02 1.30679244e-03 1.87039328e+02] [-7.61230051e-02 9.97098430e-01 -9.42017537e-05 -2.08149635e+01] [-1.31017161e-03 -5.54862720e-06 9.99999142e-01 -2.63733717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61401273899997 meters Centerline goodness [0,1] 0.9935594675826535 Centerline is valid? [True, True] Translation: X:187.07, Y:-20.82, Z:-2.63 [[ 9.97172218e-01 7.50980882e-02 2.80095308e-03 1.87067441e+02] [-7.50978180e-02 9.97176151e-01 -2.01654779e-04 -2.08175334e+01] [-2.80818750e-03 -9.26092198e-06 9.99996057e-01 -2.63436270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64401273899998 meters Centerline goodness [0,1] 0.993996478499756 Centerline is valid? [True, True] Translation: X:187.10, Y:-20.82, Z:-2.64 [[ 9.97174829e-01 7.50700360e-02 2.61745822e-03 1.87096810e+02] [-7.50698002e-02 9.97178264e-01 -1.88368732e-04 -2.08194359e+01] [-2.62421329e-03 -8.65550762e-06 9.99996557e-01 -2.63542340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67401273899998 meters Centerline goodness [0,1] 0.9943739397453242 Centerline is valid? [True, True] Translation: X:187.13, Y:-20.82, Z:-2.64 [[ 9.97202428e-01 7.47366294e-02 1.32407788e-03 1.87125202e+02] [-7.47365688e-02 9.97203307e-01 -9.52852589e-05 -2.08241745e+01] [-1.32749614e-03 -3.93834613e-06 9.99999119e-01 -2.63798997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70401273899998 meters Centerline goodness [0,1] 0.9939827405297758 Centerline is valid? [True, True] Translation: X:187.15, Y:-20.83, Z:-2.64 [[ 9.97222823e-01 7.44664350e-02 1.17996009e-03 1.87153747e+02] [-7.44663866e-02 9.97223521e-01 -8.48810022e-05 -2.08280104e+01] [-1.18300475e-03 -3.22209204e-06 9.99999300e-01 -2.63791176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73401273899998 meters Centerline goodness [0,1] 0.9944506823285542 Centerline is valid? [True, True] Translation: X:187.18, Y:-20.83, Z:-2.64 [[ 9.97244833e-01 7.41758889e-02 8.24894381e-04 1.87182693e+02] [-7.41758652e-02 9.97245174e-01 -5.93187852e-05 -2.08322095e+01] [-8.27021964e-04 -2.03190236e-06 9.99999658e-01 -2.63887481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76401273899998 meters Centerline goodness [0,1] 0.9948360053584547 Centerline is valid? [True, True] Translation: X:187.21, Y:-20.84, Z:-2.64 [[ 9.97255930e-01 7.40307230e-02 2.48286966e-04 1.87210964e+02] [-7.40307208e-02 9.97255961e-01 -1.78944409e-05 -2.08353534e+01] [-2.48930395e-04 -5.35525733e-07 9.99999969e-01 -2.63988450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79401273899998 meters Centerline goodness [0,1] 0.9949098530701286 Centerline is valid? [True, True] Translation: X:187.24, Y:-20.84, Z:-2.64 [[ 9.97226605e-01 7.44244788e-02 -3.07817129e-04 1.87238975e+02] [-7.44244755e-02 9.97226653e-01 2.20163996e-05 -2.08383575e+01] [ 3.08602005e-04 9.53788995e-07 9.99999952e-01 -2.64116018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82401273899998 meters Centerline goodness [0,1] 0.9941539183682178 Centerline is valid? [True, True] Translation: X:187.27, Y:-20.84, Z:-2.64 [[ 9.97113464e-01 7.59254569e-02 -2.53624675e-04 1.87266271e+02] [-7.59254547e-02 9.97113497e-01 1.80934410e-05 -2.08402882e+01] [ 2.54266340e-04 1.21535521e-06 9.99999968e-01 -2.64143091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85401273899998 meters Centerline goodness [0,1] 0.9936869494742679 Centerline is valid? [True, True] Translation: X:187.30, Y:-20.84, Z:-2.64 [[ 9.96941717e-01 7.81460119e-02 6.42570714e-04 1.87295315e+02] [-7.81459984e-02 9.96941924e-01 -4.61434831e-05 -2.08386556e+01] [-6.44211613e-04 -4.21196669e-06 9.99999792e-01 -2.63927639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88401273899999 meters Centerline goodness [0,1] 0.9921903416992961 Centerline is valid? [True, True] Translation: X:187.32, Y:-20.83, Z:-2.64 [[ 9.96432409e-01 8.43658358e-02 2.20475882e-03 1.87324949e+02] [-8.43656925e-02 9.96434847e-01 -1.58040484e-04 -2.08318386e+01] [-2.21023174e-03 -2.85293453e-05 9.99997557e-01 -2.63586206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.914012739 meters Centerline goodness [0,1] 0.9912687291150156 Centerline is valid? [True, True] Translation: X:187.35, Y:-20.82, Z:-2.64 [[ 9.96181282e-01 8.72744204e-02 2.45534372e-03 1.87353630e+02] [-8.72742519e-02 9.96184307e-01 -1.75889347e-04 -2.08242487e+01] [-2.46132552e-03 -3.90706105e-05 9.99996970e-01 -2.63569380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.944012739 meters Centerline goodness [0,1] 0.9914131764806904 Centerline is valid? [True, True] Translation: X:187.38, Y:-20.82, Z:-2.64 [[ 9.95968338e-01 8.96722513e-02 2.44053136e-03 1.87382648e+02] [-8.96720924e-02 9.95971328e-01 -1.74676533e-04 -2.08246798e+01] [-2.44636290e-03 -4.48752574e-05 9.99997007e-01 -2.63563931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.974012739 meters Centerline goodness [0,1] 0.9903940781310171 Centerline is valid? [True, True] Translation: X:187.41, Y:-20.81, Z:-2.64 [[ 9.95490543e-01 9.48355720e-02 2.18917130e-03 1.87413386e+02] [-9.48354567e-02 9.95492949e-01 -1.56604516e-04 -2.08075476e+01] [-2.19415627e-03 -5.17127456e-05 9.99997591e-01 -2.63636486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.004012739 meters Centerline goodness [0,1] 0.9906610907672639 Centerline is valid? [True, True] Translation: X:187.44, Y:-20.81, Z:-2.64 [[ 9.95349397e-01 9.63134039e-02 1.81804821e-03 1.87441609e+02] [-9.63133269e-02 9.95351057e-01 -1.30039001e-04 -2.08110859e+01] [-1.82212071e-03 -4.56680302e-05 9.99998339e-01 -2.63727292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.034012739 meters Centerline goodness [0,1] 0.9906610907672639 Centerline is valid? [True, True] Translation: X:187.47, Y:-20.81, Z:-2.64 [[ 9.95353878e-01 9.62670835e-02 1.81805578e-03 1.87469879e+02] [-9.62670066e-02 9.95355538e-01 -1.29933133e-04 -2.08130169e+01] [-1.82212017e-03 -4.56893399e-05 9.99998339e-01 -2.63732499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.064012739 meters Centerline goodness [0,1] 0.9900739629113517 Centerline is valid? [True, True] Translation: X:187.50, Y:-20.81, Z:-2.64 [[ 9.95249435e-01 9.73495365e-02 1.27705135e-03 1.87498148e+02] [-9.73494995e-02 9.95250253e-01 -9.12406453e-05 -2.08086138e+01] [-1.27986792e-03 -3.35131094e-05 9.99999180e-01 -2.63810123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.094012739 meters Centerline goodness [0,1] 0.9897319126997766 Centerline is valid? [True, True] Translation: X:187.53, Y:-20.81, Z:-2.64 [[ 9.95243767e-01 9.74066258e-02 1.33910227e-03 1.87526519e+02] [-9.74065853e-02 9.95244667e-01 -9.55951491e-05 -2.08077476e+01] [-1.34204600e-03 -3.52969035e-05 9.99999099e-01 -2.63844731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.124012739 meters Centerline goodness [0,1] 0.9905695066294637 Centerline is valid? [True, True] Translation: X:187.56, Y:-20.81, Z:-2.64 [[ 9.95217471e-01 9.76759608e-02 1.26199754e-03 1.87555294e+02] [-9.76759251e-02 9.95218270e-01 -9.00033632e-05 -2.08118292e+01] [-1.26475417e-03 -3.36938577e-05 9.99999200e-01 -2.63829279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.154012739 meters Centerline goodness [0,1] 0.9898005099745013 Centerline is valid? [True, True] Translation: X:187.58, Y:-20.80, Z:-2.64 [[ 9.95107760e-01 9.87949508e-02 3.22299845e-04 1.87583615e+02] [-9.87949485e-02 9.95107812e-01 -2.30624954e-05 -2.07992255e+01] [-3.23001551e-04 -8.89192847e-06 9.99999948e-01 -2.64080618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.184012739 meters Centerline goodness [0,1] 0.9905829596412556 Centerline is valid? [True, True] Translation: X:187.61, Y:-20.80, Z:-2.64 [[ 9.95053620e-01 9.93387467e-02 -3.26647955e-04 1.87612258e+02] [-9.93387444e-02 9.95053674e-01 2.31494250e-05 -2.07998549e+01] [ 3.27331883e-04 9.41387854e-06 9.99999946e-01 -2.64217534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21401273899997 meters Centerline goodness [0,1] 0.9837316901558603 Centerline is valid? [True, True] Translation: X:187.64, Y:-20.78, Z:-2.64 [[ 9.95021144e-01 9.96605985e-02 -8.29781922e-04 1.87640924e+02] [-9.96605840e-02 9.95021489e-01 5.88700942e-05 -2.07833909e+01] [ 8.31517873e-04 2.41195626e-05 9.99999654e-01 -2.64404424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24401273899997 meters Centerline goodness [0,1] 0.9895328385740637 Centerline is valid? [True, True] Translation: X:187.67, Y:-20.79, Z:-2.64 [[ 9.95035469e-01 9.95182005e-02 -7.36636742e-04 1.87669440e+02] [-9.95181891e-02 9.95035742e-01 5.22414266e-05 -2.07896034e+01] [ 7.38178860e-04 2.13266821e-05 9.99999727e-01 -2.64323099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27401273899997 meters Centerline goodness [0,1] 0.9902569593147752 Centerline is valid? [True, True] Translation: X:187.70, Y:-20.79, Z:-2.64 [[ 9.95075075e-01 9.91238275e-02 -2.50163617e-04 1.87698159e+02] [-9.91238262e-02 9.95075106e-01 1.76723740e-05 -2.07903539e+01] [ 2.50683341e-04 7.21183597e-06 9.99999969e-01 -2.64183415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30401273899997 meters Centerline goodness [0,1] 0.9906367041198502 Centerline is valid? [True, True] Translation: X:187.73, Y:-20.78, Z:-2.64 [[ 9.95217637e-01 9.76768054e-02 1.04700333e-03 1.87726723e+02] [-9.76767812e-02 9.95218188e-01 -7.43660858e-05 -2.07845779e+01] [-1.04926060e-03 -2.82574748e-05 9.99999449e-01 -2.63930996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33401273899997 meters Centerline goodness [0,1] 0.9905505077498664 Centerline is valid? [True, True] Translation: X:187.76, Y:-20.79, Z:-2.64 [[ 9.95330521e-01 9.65129627e-02 1.55002485e-03 1.87755789e+02] [-9.65129084e-02 9.95331727e-01 -1.09950460e-04 -2.07860491e+01] [-1.55340055e-03 -4.01603578e-05 9.99998793e-01 -2.63882915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36401273899997 meters Centerline goodness [0,1] 0.9908109497493895 Centerline is valid? [True, True] Translation: X:187.78, Y:-20.79, Z:-2.64 [[ 9.95622440e-01 9.34401815e-02 2.21125658e-03 1.87784655e+02] [-9.34400638e-02 9.95624894e-01 -1.56715422e-04 -2.07873664e+01] [-2.21622562e-03 -5.05905657e-05 9.99997543e-01 -2.63774617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39401273899998 meters Centerline goodness [0,1] 0.9913724477721121 Centerline is valid? [True, True] Translation: X:187.81, Y:-20.79, Z:-2.64 [[ 9.95794896e-01 9.15804856e-02 2.35385563e-03 1.87812465e+02] [-9.15803473e-02 9.95797676e-01 -1.66698937e-04 -2.07870267e+01] [-2.35923034e-03 -4.95689653e-05 9.99997216e-01 -2.63714936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42401273899998 meters Centerline goodness [0,1] 0.9920313548862086 Centerline is valid? [True, True] Translation: X:187.84, Y:-20.79, Z:-2.64 [[ 9.95995043e-01 8.93805957e-02 2.23240168e-03 1.87841779e+02] [-8.93804661e-02 9.95997544e-01 -1.57981153e-04 -2.07884011e+01] [-2.23758704e-03 -4.21846568e-05 9.99997496e-01 -2.63737007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45401273899998 meters Centerline goodness [0,1] 0.9920882333971148 Centerline is valid? [True, True] Translation: X:187.87, Y:-20.80, Z:-2.64 [[ 9.96438375e-01 8.43143711e-02 1.28521335e-03 1.87871262e+02] [-8.43143239e-02 9.96439204e-01 -9.09205605e-05 -2.07956910e+01] [-1.28830288e-03 -1.77651595e-05 9.99999170e-01 -2.63875532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48401273899998 meters Centerline goodness [0,1] 0.990906562252605 Centerline is valid? [True, True] Translation: X:187.90, Y:-20.80, Z:-2.64 [[ 9.96743580e-01 8.06071567e-02 2.17324890e-03 1.87898760e+02] [-8.06070132e-02 9.96745948e-01 -1.53686147e-04 -2.08022465e+01] [-2.17856524e-03 -2.19934230e-05 9.99997627e-01 -2.63707941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51401273899998 meters Centerline goodness [0,1] 0.9905426657187789 Centerline is valid? [True, True] Translation: X:187.93, Y:-20.81, Z:-2.63 [[ 9.97063019e-01 7.64881655e-02 3.85952565e-03 1.87927552e+02] [-7.64876830e-02 9.97070489e-01 -2.72670286e-04 -2.08102024e+01] [-3.86907518e-03 -2.33367160e-05 9.99992515e-01 -2.63419013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54401273899998 meters Centerline goodness [0,1] 0.9913522516174492 Centerline is valid? [True, True] Translation: X:187.95, Y:-20.82, Z:-2.63 [[ 9.97615612e-01 6.88797110e-02 4.32147662e-03 1.87954708e+02] [-6.88790357e-02 9.97624972e-01 -3.05087759e-04 -2.08220445e+01] [-4.33222735e-03 6.70116994e-06 9.99990616e-01 -2.63379320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57401273899998 meters Centerline goodness [0,1] 0.9916661324443875 Centerline is valid? [True, True] Translation: X:187.98, Y:-20.83, Z:-2.64 [[ 9.97842106e-01 6.55862533e-02 3.09418313e-03 1.87982825e+02] [-6.55858916e-02 9.97846904e-01 -2.18323317e-04 -2.08303473e+01] [-3.10184007e-03 1.49174391e-05 9.99995189e-01 -2.63679050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60401273899998 meters Centerline goodness [0,1] 0.9915744223535734 Centerline is valid? [True, True] Translation: X:188.01, Y:-20.85, Z:-2.64 [[ 9.98250157e-01 5.91013972e-02 1.91015037e-03 1.88011696e+02] [-5.91012476e-02 9.98251984e-01 -1.34738441e-04 -2.08450991e+01] [-1.91477463e-03 2.16104000e-05 9.99998167e-01 -2.63932108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63401273899999 meters Centerline goodness [0,1] 0.9912155745489079 Centerline is valid? [True, True] Translation: X:188.04, Y:-20.85, Z:-2.64 [[ 9.98393969e-01 5.66146542e-02 2.06462972e-03 1.88040731e+02] [-5.66144742e-02 9.98396104e-01 -1.45584028e-04 -2.08504671e+01] [-2.06956046e-03 2.84622890e-05 9.99997858e-01 -2.63865832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.664012739 meters Centerline goodness [0,1] 0.9895748248140664 Centerline is valid? [True, True] Translation: X:188.07, Y:-20.86, Z:-2.64 [[ 9.98518995e-01 5.43637646e-02 2.09727166e-03 1.88068871e+02] [-5.43635740e-02 9.98521197e-01 -1.47832769e-04 -2.08569240e+01] [-2.10220695e-03 3.35986449e-05 9.99997790e-01 -2.63856722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.694012739 meters Centerline goodness [0,1] 0.9884563246632212 Centerline is valid? [True, True] Translation: X:188.10, Y:-20.87, Z:-2.64 [[ 9.98784121e-01 4.92320838e-02 2.54586430e-03 1.88098237e+02] [-4.92317865e-02 9.98787364e-01 -1.79375303e-04 -2.08725399e+01] [-2.55160811e-03 5.38197564e-05 9.99996743e-01 -2.63971511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.724012739 meters Centerline goodness [0,1] 0.9880275495097303 Centerline is valid? [True, True] Translation: X:188.13, Y:-20.88, Z:-2.64 [[ 9.98915734e-01 4.64949824e-02 2.36087194e-03 1.88127720e+02] [-4.64947190e-02 9.98918522e-01 -1.66335025e-04 -2.08825629e+01] [-2.36605245e-03 5.63865963e-05 9.99997199e-01 -2.64001315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.754012739 meters Centerline goodness [0,1] 0.9874739488215198 Centerline is valid? [True, True] Translation: X:188.16, Y:-20.90, Z:-2.64 [[ 9.99084265e-01 4.27715527e-02 1.10735306e-03 1.88157684e+02] [-4.27714925e-02 9.99084878e-01 -7.79998839e-05 -2.08969631e+01] [-1.10967587e-03 3.05653136e-05 9.99999384e-01 -2.64097494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.784012739 meters Centerline goodness [0,1] 0.9869122426868906 Centerline is valid? [True, True] Translation: X:188.19, Y:-20.91, Z:-2.64 [[ 9.99126782e-01 4.17687613e-02 1.02172338e-03 1.88187104e+02] [-4.17687095e-02 9.99127304e-01 -7.19407580e-05 -2.09052321e+01] [-1.02383660e-03 2.92018711e-05 9.99999475e-01 -2.64181287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.814012739 meters Centerline goodness [0,1] 0.987925332869202 Centerline is valid? [True, True] Translation: X:188.22, Y:-20.91, Z:-2.64 [[ 9.99140773e-01 4.14380167e-02 7.78787544e-04 1.88217649e+02] [-4.14379864e-02 9.99141076e-01 -5.49170090e-05 -2.09085164e+01] [-7.80394276e-04 2.25984352e-05 9.99999695e-01 -2.64210482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.844012739 meters Centerline goodness [0,1] 0.9871925232027345 Centerline is valid? [True, True] Translation: X:188.25, Y:-20.92, Z:-2.64 [[ 9.99157599e-01 4.10097586e-02 1.51414340e-03 1.88247368e+02] [-4.10096438e-02 9.99158745e-01 -1.06767559e-04 -2.09238219e+01] [-1.51724814e-03 4.45831358e-05 9.99998848e-01 -2.64129042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.874012739 meters Centerline goodness [0,1] 0.9871354874916359 Centerline is valid? [True, True] Translation: X:188.28, Y:-20.93, Z:-2.64 [[ 9.99148019e-01 4.12370887e-02 1.65500147e-03 1.88277346e+02] [-4.12369519e-02 9.99149388e-01 -1.16721950e-04 -2.09309037e+01] [-1.65840698e-03 4.83752897e-05 9.99998624e-01 -2.64058659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.904012739 meters Centerline goodness [0,1] 0.9869851444410759 Centerline is valid? [True, True] Translation: X:188.31, Y:-20.94, Z:-2.64 [[ 9.99061178e-01 4.32318246e-02 2.78769624e-03 1.88307576e+02] [-4.32314441e-02 9.99065065e-01 -1.96654304e-04 -2.09373791e+01] [-2.79359165e-03 7.59535470e-05 9.99996095e-01 -2.63820329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.934012739 meters Centerline goodness [0,1] 0.9875072320911994 Centerline is valid? [True, True] Translation: X:188.34, Y:-20.94, Z:-2.64 [[ 9.98984750e-01 4.49807605e-02 2.49023402e-03 1.88337922e+02] [-4.49804622e-02 9.98987851e-01 -1.75696683e-04 -2.09412092e+01] [-2.49561650e-03 6.35064295e-05 9.99996884e-01 -2.63899618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96401273899997 meters Centerline goodness [0,1] 0.9896105579195196 Centerline is valid? [True, True] Translation: X:188.37, Y:-20.94, Z:-2.64 [[ 9.98892110e-01 4.70588290e-02 1.39106328e-04 1.88369252e+02] [-4.70588281e-02 9.98892120e-01 -9.77537333e-06 -2.09425532e+01] [-1.39412233e-04 3.21836249e-06 9.99999990e-01 -2.64365965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99401273899997 meters Centerline goodness [0,1] 0.99070176945542 Centerline is valid? [True, True] Translation: X:188.40, Y:-20.95, Z:-2.65 [[ 9.98846303e-01 4.80157789e-02 -7.39666845e-04 1.88399259e+02] [-4.80157532e-02 9.98846577e-01 5.23720527e-05 -2.09479588e+01] [ 7.41328381e-04 -1.67959705e-05 9.99999725e-01 -2.64515559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02401273899997 meters Centerline goodness [0,1] 0.9903732003712578 Centerline is valid? [True, True] Translation: X:188.43, Y:-20.95, Z:-2.64 [[ 9.98754736e-01 4.98881949e-02 -3.80821775e-04 1.88428875e+02] [-4.98881883e-02 9.98754809e-01 2.68534238e-05 -2.09475677e+01] [ 3.81687247e-04 -7.82147584e-06 9.99999927e-01 -2.64465596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05401273899997 meters Centerline goodness [0,1] 0.9906630727762803 Centerline is valid? [True, True] Translation: X:188.46, Y:-20.95, Z:-2.64 [[ 9.98702105e-01 5.09323298e-02 -5.37612796e-05 1.88458515e+02] [-5.09323296e-02 9.98702107e-01 3.77507941e-06 -2.09497068e+01] [ 5.38837768e-05 -1.03199254e-06 9.99999999e-01 -2.64438828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08401273899997 meters Centerline goodness [0,1] 0.9917776540619245 Centerline is valid? [True, True] Translation: X:188.49, Y:-20.95, Z:-2.64 [[ 9.98646474e-01 5.20115314e-02 1.41586388e-04 1.88489071e+02] [-5.20115305e-02 9.98646484e-01 -9.99805735e-06 -2.09507261e+01] [-1.41914763e-04 2.62039996e-06 9.99999990e-01 -2.64448799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11401273899997 meters Centerline goodness [0,1] 0.9921104962822065 Centerline is valid? [True, True] Translation: X:188.52, Y:-20.95, Z:-2.64 [[ 9.98551873e-01 5.37972896e-02 -9.25330908e-05 1.88518839e+02] [-5.37972893e-02 9.98551877e-01 6.57225245e-06 -2.09534197e+01] [ 9.27526609e-05 -1.58470554e-06 9.99999996e-01 -2.64419449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14401273899998 meters Centerline goodness [0,1] 0.9919576220296817 Centerline is valid? [True, True] Translation: X:188.55, Y:-20.96, Z:-2.64 [[ 9.98534079e-01 5.41252083e-02 -3.94451530e-04 1.88549450e+02] [-5.41252015e-02 9.98534157e-01 2.78618120e-05 -2.09555672e+01] [ 3.95381352e-04 -6.47120021e-06 9.99999922e-01 -2.64434772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17401273899998 meters Centerline goodness [0,1] 0.9917710504264874 Centerline is valid? [True, True] Translation: X:188.58, Y:-20.96, Z:-2.64 [[ 9.98516925e-01 5.44349712e-02 8.85732243e-04 1.88579269e+02] [-5.44349371e-02 9.98517318e-01 -6.25739762e-05 -2.09581495e+01] [-8.87825196e-04 1.42663954e-05 9.99999606e-01 -2.64286919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20401273899998 meters Centerline goodness [0,1] 0.9913998131317421 Centerline is valid? [True, True] Translation: X:188.61, Y:-20.96, Z:-2.64 [[ 9.98504248e-01 5.46669317e-02 8.90367973e-04 1.88609943e+02] [-5.46668974e-02 9.98504645e-01 -6.28802910e-05 -2.09606008e+01] [-8.92474029e-04 1.41125831e-05 9.99999602e-01 -2.64272967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23401273899998 meters Centerline goodness [0,1] 0.9920941786370019 Centerline is valid? [True, True] Translation: X:188.64, Y:-20.96, Z:-2.64 [[ 9.98469110e-01 5.53057602e-02 8.41858872e-04 1.88640230e+02] [-5.53057297e-02 9.98469465e-01 -5.94544419e-05 -2.09610946e+01] [-8.43858551e-04 1.28038045e-05 9.99999644e-01 -2.64316297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26401273899998 meters Centerline goodness [0,1] 0.9914715790371412 Centerline is valid? [True, True] Translation: X:188.67, Y:-20.96, Z:-2.64 [[ 9.98386067e-01 5.67756512e-02 1.33700962e-03 1.88670568e+02] [-5.67755757e-02 9.98386962e-01 -9.44233804e-05 -2.09606613e+01] [-1.34021392e-03 1.83614968e-05 9.99999102e-01 -2.64125755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29401273899998 meters Centerline goodness [0,1] 0.9919055430840961 Centerline is valid? [True, True] Translation: X:188.70, Y:-20.96, Z:-2.64 [[ 9.98355699e-01 5.72552469e-02 2.78107535e-03 1.88701030e+02] [-5.72549218e-02 9.98359572e-01 -1.96407365e-04 -2.09624145e+01] [-2.78775855e-03 3.68541605e-05 9.99996114e-01 -2.63864392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32401273899998 meters Centerline goodness [0,1] 0.9913478466228691 Centerline is valid? [True, True] Translation: X:188.73, Y:-20.96, Z:-2.64 [[ 9.98237916e-01 5.92176615e-02 3.78578351e-03 1.88732423e+02] [-5.92170732e-02 9.98245094e-01 -2.67407936e-04 -2.09626442e+01] [-3.79497509e-03 4.27537216e-05 9.99992798e-01 -2.63622210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35401273899998 meters Centerline goodness [0,1] 0.9923556842620787 Centerline is valid? [True, True] Translation: X:188.76, Y:-20.96, Z:-2.64 [[ 9.98182661e-01 6.01738110e-02 3.23857140e-03 1.88763585e+02] [-6.01733847e-02 9.98187914e-01 -2.29003177e-04 -2.09645785e+01] [-3.24648282e-03 3.37111984e-05 9.99994730e-01 -2.63822886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38401273899999 meters Centerline goodness [0,1] 0.9929278037732624 Centerline is valid? [True, True] Translation: X:188.79, Y:-20.97, Z:-2.64 [[ 9.98145871e-01 6.08286976e-02 2.16580598e-03 1.88794778e+02] [-6.08285081e-02 9.98148220e-01 -1.53338602e-04 -2.09650673e+01] [-2.17112277e-03 2.13115461e-05 9.99997643e-01 -2.64035610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.414012739 meters Centerline goodness [0,1] 0.9938824231572665 Centerline is valid? [True, True] Translation: X:188.82, Y:-20.97, Z:-2.64 [[ 9.98120537e-01 6.12668628e-02 1.32828929e-03 1.88824265e+02] [-6.12667919e-02 9.98121421e-01 -9.40383649e-05 -2.09717788e+01] [-1.33155543e-03 1.24815996e-05 9.99999113e-01 -2.64291669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.444012739 meters Centerline goodness [0,1] 0.9932042351036408 Centerline is valid? [True, True] Translation: X:188.85, Y:-20.98, Z:-2.64 [[ 9.98146497e-01 6.08325295e-02 1.72459668e-03 1.88854597e+02] [-6.08324091e-02 9.98147987e-01 -1.22240491e-04 -2.09767630e+01] [-1.72883890e-03 1.71025467e-05 9.99998505e-01 -2.64125302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.474012739 meters Centerline goodness [0,1] 0.9920870425321464 Centerline is valid? [True, True] Translation: X:188.88, Y:-20.98, Z:-2.64 [[ 9.98171347e-01 6.03555119e-02 3.34268609e-03 1.88884562e+02] [-6.03550569e-02 9.98176944e-01 -2.36931679e-04 -2.09813495e+01] [-3.35089231e-03 3.47504045e-05 9.99994385e-01 -2.63718126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.504012739 meters Centerline goodness [0,1] 0.9916673825272743 Centerline is valid? [True, True] Translation: X:188.92, Y:-20.99, Z:-2.64 [[ 9.98154010e-01 6.06529009e-02 3.13004784e-03 1.88915545e+02] [-6.06525028e-02 9.98158918e-01 -2.22053940e-04 -2.09852835e+01] [-3.13775338e-03 3.17987955e-05 9.99995077e-01 -2.63737871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.534012739 meters Centerline goodness [0,1] 0.9931217961196548 Centerline is valid? [True, True] Translation: X:188.95, Y:-20.99, Z:-2.64 [[ 9.98085224e-01 6.18078256e-02 2.38290019e-03 1.88946632e+02] [-6.18075976e-02 9.98088068e-01 -1.69271093e-04 -2.09853360e+01] [-2.38880652e-03 2.16656405e-05 9.99997147e-01 -2.63974091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.564012739 meters Centerline goodness [0,1] 0.9951642632549063 Centerline is valid? [True, True] Translation: X:188.98, Y:-20.99, Z:-2.64 [[ 9.97933651e-01 6.42477848e-02 8.05982340e-04 1.88976781e+02] [-6.42477595e-02 9.97933977e-01 -5.72681190e-05 -2.09860240e+01] [-8.07996511e-04 5.36722364e-06 9.99999674e-01 -2.64325406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.594012739 meters Centerline goodness [0,1] 0.9954993387654111 Centerline is valid? [True, True] Translation: X:189.01, Y:-20.99, Z:-2.64 [[ 9.97859263e-01 6.53979310e-02 -5.21235654e-05 1.89006708e+02] [-6.53979309e-02 9.97859264e-01 3.68113990e-06 -2.09871891e+01] [ 5.22527215e-05 -2.64486221e-07 9.99999999e-01 -2.64403823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.624012739 meters Centerline goodness [0,1] 0.9959905660377358 Centerline is valid? [True, True] Translation: X:189.04, Y:-20.99, Z:-2.65 [[ 9.97760752e-01 6.68734533e-02 -1.19308971e-03 1.89036368e+02] [-6.68733998e-02 9.97761465e-01 8.46882560e-05 -2.09879633e+01] [ 1.19608233e-03 -4.71265272e-06 9.99999285e-01 -2.64658534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.654012739 meters Centerline goodness [0,1] 0.9962053039009476 Centerline is valid? [True, True] Translation: X:189.07, Y:-20.99, Z:-2.65 [[ 9.97749928e-01 6.70321220e-02 -1.33274109e-03 1.89065950e+02] [-6.70320555e-02 9.97750818e-01 9.45735574e-05 -2.09906285e+01] [ 1.33608298e-03 -5.02438547e-06 9.99999107e-01 -2.64717278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.684012739 meters Centerline goodness [0,1] 0.9963288653632716 Centerline is valid? [True, True] Translation: X:189.09, Y:-20.99, Z:-2.65 [[ 9.97756189e-01 6.69409228e-02 -1.22502034e-03 1.89094827e+02] [-6.69408666e-02 9.97756941e-01 8.68608661e-05 -2.09944515e+01] [ 1.22808709e-03 -4.66204361e-06 9.99999246e-01 -2.64754380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71401273899997 meters Centerline goodness [0,1] 0.9956265081006549 Centerline is valid? [True, True] Translation: X:189.12, Y:-21.00, Z:-2.64 [[ 9.97789136e-01 6.64579488e-02 4.26565270e-04 1.89124630e+02] [-6.64579420e-02 9.97789227e-01 -3.03013511e-05 -2.09978311e+01] [-4.27635997e-04 1.88570895e-06 9.99999909e-01 -2.64414816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74401273899997 meters Centerline goodness [0,1] 0.994637142115734 Centerline is valid? [True, True] Translation: X:189.16, Y:-21.00, Z:-2.64 [[ 9.97806030e-01 6.61945139e-02 1.18848561e-03 1.89155520e+02] [-6.61944605e-02 9.97806738e-01 -8.43059890e-05 -2.10003374e+01] [-1.19145955e-03 5.44986021e-06 9.99999290e-01 -2.64219727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77401273899997 meters Centerline goodness [0,1] 0.9949042385507308 Centerline is valid? [True, True] Translation: X:189.18, Y:-21.01, Z:-2.64 [[ 9.97828026e-01 6.58631871e-02 1.12718272e-03 1.89184821e+02] [-6.58631388e-02 9.97828663e-01 -7.99492045e-05 -2.10062739e+01] [-1.13000093e-03 5.53576523e-06 9.99999362e-01 -2.64272944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80401273899997 meters Centerline goodness [0,1] 0.9958278389070235 Centerline is valid? [True, True] Translation: X:189.21, Y:-21.01, Z:-2.64 [[ 9.97809358e-01 6.61538865e-02 3.85762052e-04 1.89213840e+02] [-6.61538809e-02 9.97809432e-01 -2.73855153e-05 -2.10091099e+01] [-3.86728673e-04 1.80586662e-06 9.99999925e-01 -2.64384186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83401273899997 meters Centerline goodness [0,1] 0.9956994741436205 Centerline is valid? [True, True] Translation: X:189.24, Y:-21.01, Z:-2.64 [[ 9.97747212e-01 6.70854702e-02 -2.02465644e-04 1.89244333e+02] [-6.70854686e-02 9.97747232e-01 1.43620477e-05 -2.10102998e+01] [ 2.02973021e-04 -7.47190443e-07 9.99999979e-01 -2.64470989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86401273899997 meters Centerline goodness [0,1] 0.9956808560930013 Centerline is valid? [True, True] Translation: X:189.27, Y:-21.00, Z:-2.64 [[ 9.97440012e-01 7.15077015e-02 2.67365612e-04 1.89274236e+02] [-7.15076990e-02 9.97440048e-01 -1.90227385e-05 -2.10029889e+01] [-2.68041441e-04 -1.44659193e-07 9.99999964e-01 -2.64367672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89401273899998 meters Centerline goodness [0,1] 0.9946911404376048 Centerline is valid? [True, True] Translation: X:189.30, Y:-21.00, Z:-2.64 [[ 9.97239375e-01 7.42448311e-02 1.15458838e-03 1.89303069e+02] [-7.42447860e-02 9.97240044e-01 -8.18841531e-05 -2.09989155e+01] [-1.15748124e-03 -4.06406544e-06 9.99999330e-01 -2.64217598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92401273899998 meters Centerline goodness [0,1] 0.9938199576472622 Centerline is valid? [True, True] Translation: X:189.33, Y:-20.99, Z:-2.64 [[ 9.96922261e-01 7.83767940e-02 1.75624499e-03 1.89333696e+02] [-7.83766963e-02 9.96923808e-01 -1.24454762e-04 -2.09906727e+01] [-1.76059680e-03 -1.35769575e-05 9.99998450e-01 -2.64066833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95401273899998 meters Centerline goodness [0,1] 0.9938199576472622 Centerline is valid? [True, True] Translation: X:189.36, Y:-20.99, Z:-2.64 [[ 9.96924150e-01 7.83527581e-02 1.75624799e-03 1.89362791e+02] [-7.83526605e-02 9.96925697e-01 -1.24412419e-04 -2.09926898e+01] [-1.76059680e-03 -1.35769575e-05 9.99998450e-01 -2.64072192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98401273899998 meters Centerline goodness [0,1] 0.9943459264970445 Centerline is valid? [True, True] Translation: X:189.39, Y:-20.99, Z:-2.64 [[ 9.96790933e-01 8.00476175e-02 4.63640540e-04 1.89391723e+02] [-8.00476109e-02 9.96791041e-01 -3.28820299e-05 -2.09891171e+01] [-4.64784864e-04 -4.33680825e-06 9.99999892e-01 -2.64325139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01401273899998 meters Centerline goodness [0,1] 0.9943873791877953 Centerline is valid? [True, True] Translation: X:189.42, Y:-20.99, Z:-2.65 [[ 9.96735061e-01 8.07329591e-02 -1.18610683e-03 1.89420089e+02] [-8.07329166e-02 9.96735767e-01 8.37713269e-05 -2.09862270e+01] [ 1.18899821e-03 1.22600450e-05 9.99999293e-01 -2.64673483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04401273899998 meters Centerline goodness [0,1] 0.9958808212745976 Centerline is valid? [True, True] Translation: X:189.45, Y:-20.99, Z:-2.65 [[ 9.96858312e-01 7.91513915e-02 -2.92614586e-03 1.89447835e+02] [-7.91511259e-02 9.96862607e-01 2.06658098e-04 -2.09869204e+01] [ 2.93332267e-03 2.55988963e-05 9.99995697e-01 -2.65083354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07401273899998 meters Centerline goodness [0,1] 0.9961928659499448 Centerline is valid? [True, True] Translation: X:189.48, Y:-20.99, Z:-2.65 [[ 9.97056239e-01 7.66184174e-02 -2.91103107e-03 1.89475259e+02] [-7.66181441e-02 9.97060489e-01 2.05423631e-04 -2.09903638e+01] [ 2.91821329e-03 1.82188849e-05 9.99995742e-01 -2.65104019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10401273899998 meters Centerline goodness [0,1] 0.9965811235282805 Centerline is valid? [True, True] Translation: X:189.50, Y:-21.00, Z:-2.65 [[ 9.97568019e-01 6.96850889e-02 -1.42657488e-03 1.89503360e+02] [-6.96850163e-02 9.97569039e-01 1.00567248e-04 -2.09967342e+01] [ 1.43011497e-03 -9.11776638e-07 9.99998977e-01 -2.64636100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13401273899999 meters Centerline goodness [0,1] 0.9959930944819796 Centerline is valid? [True, True] Translation: X:189.53, Y:-21.00, Z:-2.64 [[ 9.97804457e-01 6.62271794e-02 -4.76559640e-04 1.89531374e+02] [-6.62271709e-02 9.97804570e-01 3.35430279e-05 -2.10011929e+01] [ 4.77734847e-04 -1.90818594e-06 9.99999886e-01 -2.64485769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.164012739 meters Centerline goodness [0,1] 0.9938845138724974 Centerline is valid? [True, True] Translation: X:189.56, Y:-21.00, Z:-2.64 [[ 9.97992368e-01 6.33335539e-02 3.08705358e-04 1.89560524e+02] [-6.33335501e-02 9.97992415e-01 -2.18058805e-05 -2.10049104e+01] [-3.09466649e-04 2.21069606e-06 9.99999952e-01 -2.64351714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.194012739 meters Centerline goodness [0,1] 0.9927363887639005 Centerline is valid? [True, True] Translation: X:189.59, Y:-21.01, Z:-2.65 [[ 9.98288253e-01 5.84844769e-02 -3.60194762e-04 1.89589565e+02] [-5.84844716e-02 9.98288318e-01 2.53673352e-05 -2.10135443e+01] [ 3.61061818e-04 -4.25811247e-06 9.99999935e-01 -2.64574806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.224012739 meters Centerline goodness [0,1] 0.9920968878826067 Centerline is valid? [True, True] Translation: X:189.62, Y:-21.02, Z:-2.65 [[ 9.98486316e-01 5.49689363e-02 -1.86883755e-03 1.89618033e+02] [-5.49687862e-02 9.98488065e-01 1.31641836e-04 -2.10231535e+01] [ 1.87324820e-03 -2.87148402e-05 9.99998245e-01 -2.64883511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.254012739 meters Centerline goodness [0,1] 0.9914378378378378 Centerline is valid? [True, True] Translation: X:189.65, Y:-21.03, Z:-2.65 [[ 9.98575329e-01 5.33198871e-02 -2.07414739e-03 1.89647168e+02] [-5.33196987e-02 9.98577482e-01 1.46058608e-04 -2.10274434e+01] [ 2.07898470e-03 -3.52576087e-05 9.99997838e-01 -2.64774387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.284012739 meters Centerline goodness [0,1] 0.9915549883003616 Centerline is valid? [True, True] Translation: X:189.68, Y:-21.03, Z:-2.65 [[ 9.98622192e-01 5.24261861e-02 -2.28317170e-03 1.89676600e+02] [-5.24259553e-02 9.98624801e-01 1.60855062e-04 -2.10320858e+01] [ 2.28846490e-03 -4.09359774e-05 9.99997381e-01 -2.64753406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.314012739 meters Centerline goodness [0,1] 0.9879356278022049 Centerline is valid? [True, True] Translation: X:189.71, Y:-21.04, Z:-2.64 [[ 9.98557868e-01 5.35352189e-02 -4.02054129e-03 1.89705317e+02] [-5.35345129e-02 9.98565960e-01 2.83100729e-04 -2.10358261e+01] [ 4.02993153e-03 -6.74547407e-05 9.99991878e-01 -2.64172856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.344012739 meters Centerline goodness [0,1] 0.9925557257103964 Centerline is valid? [True, True] Translation: X:189.74, Y:-21.03, Z:-2.65 [[ 9.98491850e-01 5.48231883e-02 -2.90568853e-03 1.89735713e+02] [-5.48228250e-02 9.98496077e-01 2.04576021e-04 -2.10340320e+01] [ 2.91253410e-03 -4.49694366e-05 9.99995758e-01 -2.64930194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.374012739 meters Centerline goodness [0,1] 0.9912846099488212 Centerline is valid? [True, True] Translation: X:189.77, Y:-21.03, Z:-2.64 [[ 9.98395836e-01 5.66188345e-02 -2.50489954e-04 1.89765765e+02] [-5.66188319e-02 9.98395867e-01 1.75890624e-05 -2.10347964e+01] [ 2.51084007e-04 -3.37839808e-06 9.99999968e-01 -2.64416310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.404012739 meters Centerline goodness [0,1] 0.9902798871772619 Centerline is valid? [True, True] Translation: X:189.80, Y:-21.04, Z:-2.64 [[ 9.98360853e-01 5.72261651e-02 8.79851583e-04 1.89796036e+02] [-5.72261327e-02 9.98361240e-01 -6.19320750e-05 -2.10361272e+01] [-8.81953853e-04 1.14800558e-05 9.99999611e-01 -2.64216351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.434012739 meters Centerline goodness [0,1] 0.9900661547297441 Centerline is valid? [True, True] Translation: X:189.83, Y:-21.04, Z:-2.64 [[ 9.98327392e-01 5.77989399e-02 1.30397875e-03 1.89825683e+02] [-5.77988693e-02 9.98328244e-01 -9.17794456e-05 -2.10403000e+01] [-1.30710357e-03 1.62574372e-05 9.99999146e-01 -2.64148655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46401273899997 meters Centerline goodness [0,1] 0.9912071026122589 Centerline is valid? [True, True] Translation: X:189.85, Y:-21.05, Z:-2.64 [[ 9.98298511e-01 5.83094509e-02 3.01233380e-04 1.89854823e+02] [-5.83094472e-02 9.98298557e-01 -2.12251174e-05 -2.10460677e+01] [-3.01958474e-04 3.62425121e-06 9.99999954e-01 -2.64348374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49401273899997 meters Centerline goodness [0,1] 0.9912780730327447 Centerline is valid? [True, True] Translation: X:189.89, Y:-21.05, Z:-2.64 [[ 9.98348437e-01 5.74462593e-02 5.70373213e-04 1.89885226e+02] [-5.74462458e-02 9.98348600e-01 -4.01486479e-05 -2.10503745e+01] [-5.71737688e-04 7.31654010e-06 9.99999837e-01 -2.64224834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52401273899997 meters Centerline goodness [0,1] 0.9861577542409369 Centerline is valid? [True, True] Translation: X:189.91, Y:-21.06, Z:-2.63 [[ 9.98392227e-01 5.66829151e-02 8.67643485e-05 1.89914705e+02] [-5.66829148e-02 9.98392231e-01 -6.12804462e-06 -2.10553104e+01] [-8.69722070e-05 1.20013594e-06 9.99999996e-01 -2.63244227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55401273899997 meters Centerline goodness [0,1] 0.9902698772507592 Centerline is valid? [True, True] Translation: X:189.94, Y:-21.06, Z:-2.64 [[ 9.98399938e-01 5.65469481e-02 7.98231269e-05 1.89944149e+02] [-5.65469478e-02 9.98399941e-01 -5.63839067e-06 -2.10605498e+01] [-8.00142390e-05 1.11561470e-06 9.99999997e-01 -2.64208251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58401273899997 meters Centerline goodness [0,1] 0.9913284920973943 Centerline is valid? [True, True] Translation: X:189.97, Y:-21.07, Z:-2.64 [[ 9.98371413e-01 5.70389675e-02 -1.03827973e-03 1.89974267e+02] [-5.70389224e-02 9.98371953e-01 7.30601618e-05 -2.10652123e+01] [ 1.04075664e-03 -1.37188201e-05 9.99999458e-01 -2.64407925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61401273899997 meters Centerline goodness [0,1] 0.9929180299638367 Centerline is valid? [True, True] Translation: X:190.00, Y:-21.07, Z:-2.65 [[ 9.98234052e-01 5.93710229e-02 -1.96436532e-03 1.90004575e+02] [-5.93708658e-02 9.98235985e-01 1.38225609e-04 -2.10685366e+01] [ 1.96910674e-03 -2.13554401e-05 9.99998061e-01 -2.64608338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64401273899998 meters Centerline goodness [0,1] 0.9917873771339886 Centerline is valid? [True, True] Translation: X:190.03, Y:-21.07, Z:-2.64 [[ 9.97990342e-01 6.33327475e-02 -2.05916790e-03 1.90033199e+02] [-6.33325836e-02 9.97992466e-01 1.44760105e-04 -2.10659448e+01] [ 2.06420210e-03 -1.40567642e-05 9.99997869e-01 -2.63841039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67401273899998 meters Centerline goodness [0,1] 0.9961788878215391 Centerline is valid? [True, True] Translation: X:190.06, Y:-21.06, Z:-2.64 [[ 9.97783210e-01 6.65249899e-02 -1.75830727e-03 1.90063207e+02] [-6.65248754e-02 9.97784759e-01 1.23580533e-04 -2.10627735e+01] [ 1.76263339e-03 -6.33540879e-06 9.99998447e-01 -2.64495785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70401273899998 meters Centerline goodness [0,1] 0.9964070819445046 Centerline is valid? [True, True] Translation: X:190.09, Y:-21.06, Z:-2.65 [[ 9.97539591e-01 7.00695881e-02 -2.23981119e-03 1.90093355e+02] [-7.00694113e-02 9.97542106e-01 1.57377840e-04 -2.10589523e+01] [ 2.24533337e-03 -4.83748949e-08 9.99997479e-01 -2.64505292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73401273899998 meters Centerline goodness [0,1] 0.9972631079887077 Centerline is valid? [True, True] Translation: X:190.12, Y:-21.05, Z:-2.65 [[ 9.97256783e-01 7.39627278e-02 -2.90243045e-03 1.90122569e+02] [-7.39624478e-02 9.97261006e-01 2.03821860e-04 -2.10545161e+01] [ 2.90955593e-03 1.14081286e-05 9.99995767e-01 -2.64655479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76401273899998 meters Centerline goodness [0,1] 0.9958922573329625 Centerline is valid? [True, True] Translation: X:190.15, Y:-21.05, Z:-2.65 [[ 9.96775813e-01 8.01861655e-02 -2.85630041e-03 1.90152090e+02] [-8.01859204e-02 9.96779904e-01 2.00428695e-04 -2.10461452e+01] [ 2.86317446e-03 2.92526016e-05 9.99995901e-01 -2.64682155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79401273899998 meters Centerline goodness [0,1] 0.994994822229893 Centerline is valid? [True, True] Translation: X:190.18, Y:-21.04, Z:-2.65 [[ 9.96637605e-01 8.18927212e-02 -2.65843494e-03 1.90181350e+02] [-8.18925152e-02 9.96641150e-01 1.86412479e-04 -2.10448775e+01] [ 2.66477148e-03 3.19202373e-05 9.99996449e-01 -2.64600499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82401273899998 meters Centerline goodness [0,1] 0.9952996981457525 Centerline is valid? [True, True] Translation: X:190.21, Y:-21.04, Z:-2.65 [[ 9.96573003e-01 8.26464481e-02 -3.43728675e-03 1.90210707e+02] [-8.26461088e-02 9.96578929e-01 2.40888608e-04 -2.10434941e+01] [ 3.44543613e-03 4.40152910e-05 9.99994063e-01 -2.64662441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85401273899998 meters Centerline goodness [0,1] 0.9945992284612087 Centerline is valid? [True, True] Translation: X:190.24, Y:-21.04, Z:-2.65 [[ 9.96647961e-01 8.17484785e-02 -3.16675899e-03 1.90238668e+02] [-8.17481866e-02 9.96652991e-01 2.21705360e-04 -2.10447429e+01] [ 3.17428389e-03 3.79146101e-05 9.99994961e-01 -2.64671468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88401273899999 meters Centerline goodness [0,1] 0.9955419990614734 Centerline is valid? [True, True] Translation: X:190.27, Y:-21.05, Z:-2.65 [[ 9.96775981e-01 8.02018638e-02 -2.30301905e-03 1.90266921e+02] [-8.02017056e-02 9.96778642e-01 1.61124263e-04 -2.10479713e+01] [ 2.30852266e-03 2.41012603e-05 9.99997335e-01 -2.64570916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.914012739 meters Centerline goodness [0,1] 0.9952132660911189 Centerline is valid? [True, True] Translation: X:190.30, Y:-21.05, Z:-2.64 [[ 9.97029102e-01 7.70245122e-02 -4.39927849e-04 1.90295126e+02] [-7.70245061e-02 9.97029199e-01 3.06874978e-05 -2.10530612e+01] [ 4.40984600e-04 3.28889685e-06 9.99999903e-01 -2.64345719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.944012739 meters Centerline goodness [0,1] 0.9951167728237792 Centerline is valid? [True, True] Translation: X:190.32, Y:-21.06, Z:-2.64 [[ 9.97151460e-01 7.54251919e-02 -7.78587975e-05 1.90323203e+02] [-7.54251917e-02 9.97151463e-01 5.37937996e-06 -2.10558805e+01] [ 7.80427546e-05 5.08458146e-07 9.99999997e-01 -2.64262966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.974012739 meters Centerline goodness [0,1] 0.9949740109111216 Centerline is valid? [True, True] Translation: X:190.35, Y:-21.06, Z:-2.64 [[ 9.97384710e-01 7.22714543e-02 -7.59185665e-04 1.90352373e+02] [-7.22714349e-02 9.97384999e-01 5.30194182e-05 -2.10609077e+01] [ 7.61032185e-04 1.98668027e-06 9.99999710e-01 -2.64363333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.004012739 meters Centerline goodness [0,1] 0.9961186581646798 Centerline is valid? [True, True] Translation: X:190.38, Y:-21.06, Z:-2.65 [[ 9.97397772e-01 7.20746496e-02 -1.71134116e-03 1.90381378e+02] [-7.20745507e-02 9.97399240e-01 1.19488096e-04 -2.10620519e+01] [ 1.71550243e-03 4.16698400e-06 9.99998529e-01 -2.64546078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.034012739 meters Centerline goodness [0,1] 0.9965452867841126 Centerline is valid? [True, True] Translation: X:190.41, Y:-21.06, Z:-2.65 [[ 9.97336669e-01 7.28898173e-02 -2.57761945e-03 1.90409193e+02] [-7.28895961e-02 9.97339999e-01 1.79794504e-04 -2.10609222e+01] [ 2.58386817e-03 8.56598857e-06 9.99996662e-01 -2.64741733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.064012739 meters Centerline goodness [0,1] 0.9959899321701292 Centerline is valid? [True, True] Translation: X:190.44, Y:-21.05, Z:-2.65 [[ 9.97162364e-01 7.52183230e-02 -3.06992450e-03 1.90437276e+02] [-7.52180206e-02 9.97167089e-01 2.13993792e-04 -2.10548404e+01] [ 3.07732393e-03 1.75270891e-05 9.99995265e-01 -2.64785855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.094012739 meters Centerline goodness [0,1] 0.9961351827199725 Centerline is valid? [True, True] Translation: X:190.47, Y:-21.06, Z:-2.65 [[ 9.97127157e-01 7.56985189e-02 -2.67705813e-03 1.90466261e+02] [-7.56982911e-02 9.97130751e-01 1.86488496e-04 -2.10550374e+01] [ 2.68349389e-03 1.66959818e-05 9.99996399e-01 -2.64660560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.124012739 meters Centerline goodness [0,1] 0.9943607818007049 Centerline is valid? [True, True] Translation: X:190.49, Y:-21.05, Z:-2.64 [[ 9.97121767e-01 7.58097804e-02 -1.02883060e-03 1.90494640e+02] [-7.58097469e-02 9.97122298e-01 7.15363659e-05 -2.10538418e+01] [ 1.03129309e-03 6.66491972e-06 9.99999468e-01 -2.64369051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.154012739 meters Centerline goodness [0,1] 0.9946532102211725 Centerline is valid? [True, True] Translation: X:190.52, Y:-21.05, Z:-2.64 [[ 9.97172740e-01 7.51425502e-02 -3.52915006e-04 1.90523571e+02] [-7.51425463e-02 9.97172802e-01 2.44728251e-05 -2.10548786e+01] [ 3.53756196e-04 2.11529810e-06 9.99999937e-01 -2.64216411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.184012739 meters Centerline goodness [0,1] 0.9944011112298322 Centerline is valid? [True, True] Translation: X:190.55, Y:-21.06, Z:-2.64 [[ 9.97204623e-01 7.47182367e-02 3.54793642e-04 1.90552365e+02] [-7.47182327e-02 9.97204686e-01 -2.47589174e-05 -2.10553115e+01] [-3.55651825e-04 -1.81984705e-06 9.99999937e-01 -2.64154525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21401273899997 meters Centerline goodness [0,1] 0.9937726813974962 Centerline is valid? [True, True] Translation: X:190.58, Y:-21.06, Z:-2.64 [[ 9.97300532e-01 7.34171100e-02 1.25562327e-03 1.90581497e+02] [-7.34170582e-02 9.97301323e-01 -8.73453632e-05 -2.10573268e+01] [-1.25864739e-03 -5.07458929e-06 9.99999208e-01 -2.64063435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24401273899997 meters Centerline goodness [0,1] 0.9936229912422413 Centerline is valid? [True, True] Translation: X:190.61, Y:-21.06, Z:-2.64 [[ 9.97397259e-01 7.20962853e-02 9.12729978e-04 1.90610522e+02] [-7.20962574e-02 9.97397677e-01 -6.34511726e-05 -2.10614611e+01] [-9.14929354e-04 -2.51838984e-06 9.99999581e-01 -2.64108803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27401273899997 meters Centerline goodness [0,1] 0.9966712898751734 Centerline is valid? [True, True] Translation: X:190.64, Y:-21.07, Z:-2.65 [[ 9.97671339e-01 6.81708163e-02 -2.15377288e-03 1.90638560e+02] [-6.81706525e-02 9.97673664e-01 1.49483209e-04 -2.10696785e+01] [ 2.15895287e-03 -2.31101075e-06 9.99997669e-01 -2.64662265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30401273899997 meters Centerline goodness [0,1] 0.9966542189220109 Centerline is valid? [True, True] Translation: X:190.67, Y:-21.07, Z:-2.65 [[ 9.97775126e-01 6.65943824e-02 -3.16001354e-03 1.90667590e+02] [-6.65940222e-02 9.97780130e-01 2.19174350e-04 -2.10737635e+01] [ 3.16759451e-03 -8.24870300e-06 9.99994983e-01 -2.64754823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33401273899997 meters Centerline goodness [0,1] 0.9972772909044499 Centerline is valid? [True, True] Translation: X:190.70, Y:-21.08, Z:-2.65 [[ 9.97800293e-01 6.62274574e-02 -2.91524306e-03 1.90695377e+02] [-6.62271499e-02 9.97804552e-01 2.01969505e-04 -2.10775490e+01] [ 2.92221872e-03 -8.45699229e-06 9.99995730e-01 -2.64796589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36401273899997 meters Centerline goodness [0,1] 0.9943022384063404 Centerline is valid? [True, True] Translation: X:190.72, Y:-21.08, Z:-2.64 [[ 9.97748788e-01 6.70490057e-02 1.33688930e-03 1.90723574e+02] [-6.70489416e-02 9.97749683e-01 -9.27046209e-05 -2.10784206e+01] [-1.34009663e-03 2.85891061e-06 9.99999102e-01 -2.63810142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39401273899998 meters Centerline goodness [0,1] 0.9929175430312915 Centerline is valid? [True, True] Translation: X:190.75, Y:-21.08, Z:-2.63 [[ 9.97650384e-01 6.84155159e-02 3.60962356e-03 1.90753029e+02] [-6.84150593e-02 9.97656914e-01 -2.49969192e-04 -2.10775067e+01] [-3.61826767e-03 2.42924980e-06 9.99993454e-01 -2.63368079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42401273899998 meters Centerline goodness [0,1] 0.9918377757939039 Centerline is valid? [True, True] Translation: X:190.78, Y:-21.08, Z:-2.63 [[ 9.97489359e-01 7.06456812e-02 4.91587890e-03 1.90783060e+02] [-7.06448618e-02 9.97501473e-01 -3.40334146e-04 -2.10762855e+01] [-4.92763958e-03 -7.80189698e-06 9.99987859e-01 -2.63199842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45401273899998 meters Centerline goodness [0,1] 0.9924705183676932 Centerline is valid? [True, True] Translation: X:190.81, Y:-21.08, Z:-2.63 [[ 9.97466101e-01 7.10266368e-02 4.07367313e-03 1.90812927e+02] [-7.10260775e-02 9.97474419e-01 -2.81983534e-04 -2.10782409e+01] [-4.08341308e-03 -8.06800747e-06 9.99991663e-01 -2.63385096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48401273899998 meters Centerline goodness [0,1] 0.9933394335326537 Centerline is valid? [True, True] Translation: X:190.84, Y:-21.08, Z:-2.64 [[ 9.97476743e-01 7.09513104e-02 2.46127956e-03 1.90843016e+02] [-7.09511060e-02 9.97479780e-01 -1.70344781e-04 -2.10799730e+01] [-2.46716278e-03 -4.71554915e-06 9.99996957e-01 -2.63718318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51401273899998 meters Centerline goodness [0,1] 0.9951279969229454 Centerline is valid? [True, True] Translation: X:190.87, Y:-21.08, Z:-2.64 [[ 9.97455626e-01 7.12859251e-02 -7.68399009e-04 1.90871268e+02] [-7.12859053e-02 9.97455922e-01 5.31046100e-05 -2.10812910e+01] [ 7.70229753e-04 1.80652696e-06 9.99999703e-01 -2.64368345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54401273899998 meters Centerline goodness [0,1] 0.9953027585617901 Centerline is valid? [True, True] Translation: X:190.90, Y:-21.08, Z:-2.64 [[ 9.97432877e-01 7.15945265e-02 -1.37136765e-03 1.90898795e+02] [-7.15944640e-02 9.97433819e-01 9.46709902e-05 -2.10837341e+01] [ 1.37462639e-03 3.75437348e-06 9.99999055e-01 -2.64456223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57401273899998 meters Centerline goodness [0,1] 0.9948540559007537 Centerline is valid? [True, True] Translation: X:190.93, Y:-21.09, Z:-2.64 [[ 9.97395968e-01 7.21087419e-02 -1.26967980e-03 1.90927692e+02] [-7.21086888e-02 9.97396776e-01 8.76029326e-05 -2.10862091e+01] [ 1.27269148e-03 4.18013398e-06 9.99999190e-01 -2.64276460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60401273899998 meters Centerline goodness [0,1] 0.9938225583129193 Centerline is valid? [True, True] Translation: X:190.96, Y:-21.08, Z:-2.64 [[ 9.97203965e-01 7.47277207e-02 -1.43796078e-04 1.90956301e+02] [-7.47277201e-02 9.97203975e-01 9.81604733e-06 -2.10820064e+01] [ 1.44127552e-04 9.56951764e-07 9.99999990e-01 -2.63972649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63401273899999 meters Centerline goodness [0,1] 0.9941746301871973 Centerline is valid? [True, True] Translation: X:190.99, Y:-21.07, Z:-2.64 [[ 9.96845391e-01 7.93451794e-02 -1.89959583e-03 1.90985619e+02] [-7.93450740e-02 9.96847201e-01 1.30909656e-04 -2.10723517e+01] [ 1.90399383e-03 2.02268844e-05 9.99998187e-01 -2.64382106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.664012739 meters Centerline goodness [0,1] 0.9934349806470928 Centerline is valid? [True, True] Translation: X:191.01, Y:-21.07, Z:-2.65 [[ 9.96621993e-01 8.20852868e-02 -2.57088581e-03 1.91014660e+02] [-8.20851031e-02 9.96625308e-01 1.77082056e-04 -2.10694693e+01] [ 2.57674569e-03 3.45475553e-05 9.99996680e-01 -2.64569456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.694012739 meters Centerline goodness [0,1] 0.992684539424574 Centerline is valid? [True, True] Translation: X:191.04, Y:-21.07, Z:-2.65 [[ 9.96444315e-01 8.42101320e-02 -2.71685168e-03 1.91042939e+02] [-8.42099352e-02 9.96448018e-01 1.86964053e-04 -2.10678081e+01] [ 2.72294574e-03 4.24866365e-05 9.99996292e-01 -2.64619408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.724012739 meters Centerline goodness [0,1] 0.9916817745547617 Centerline is valid? [True, True] Translation: X:191.07, Y:-21.07, Z:-2.65 [[ 9.96279555e-01 8.61524679e-02 -2.19093734e-03 1.91070970e+02] [-8.61523449e-02 9.96281963e-01 1.50627406e-04 -2.10651511e+01] [ 2.19576827e-03 3.86873836e-05 9.99997589e-01 -2.64568461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.754012739 meters Centerline goodness [0,1] 0.9920834220046818 Centerline is valid? [True, True] Translation: X:191.10, Y:-21.07, Z:-2.65 [[ 9.96277769e-01 8.61750516e-02 -2.11344989e-03 1.91099474e+02] [-8.61749376e-02 9.96280010e-01 1.45133161e-04 -2.10654197e+01] [ 2.11809473e-03 3.75334697e-05 9.99997756e-01 -2.64533430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.784012739 meters Centerline goodness [0,1] 0.9919510211071627 Centerline is valid? [True, True] Translation: X:191.13, Y:-21.07, Z:-2.65 [[ 9.96278922e-01 8.61541050e-02 -2.40392060e-03 1.91127159e+02] [-8.61539576e-02 9.96281822e-01 1.64983138e-04 -2.10660965e+01] [ 2.40919637e-03 4.27380508e-05 9.99997097e-01 -2.64601155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.814012739 meters Centerline goodness [0,1] 0.9913451760174827 Centerline is valid? [True, True] Translation: X:191.16, Y:-21.07, Z:-2.65 [[ 9.96248239e-01 8.65028811e-02 -2.58813707e-03 1.91155531e+02] [-8.65027117e-02 9.96251599e-01 1.77537785e-04 -2.10678223e+01] [ 2.59379323e-03 4.70091689e-05 9.99996635e-01 -2.64590305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.844012739 meters Centerline goodness [0,1] 0.9913451760174827 Centerline is valid? [True, True] Translation: X:191.18, Y:-21.07, Z:-2.65 [[ 9.96254071e-01 8.64356880e-02 -2.58815188e-03 1.91182971e+02] [-8.64355189e-02 9.96257431e-01 1.77321898e-04 -2.10695667e+01] [ 2.59379248e-03 4.70505876e-05 9.99996635e-01 -2.64595357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.874012739 meters Centerline goodness [0,1] 0.9916084511841881 Centerline is valid? [True, True] Translation: X:191.21, Y:-21.07, Z:-2.65 [[ 9.96131491e-01 8.78435717e-02 -2.35778620e-03 1.91210615e+02] [-8.78434357e-02 9.96134280e-01 1.61416519e-04 -2.10687925e+01] [ 2.36285106e-03 4.63239621e-05 9.99997207e-01 -2.64540584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.904012739 meters Centerline goodness [0,1] 0.9904619332763045 Centerline is valid? [True, True] Translation: X:191.24, Y:-21.06, Z:-2.64 [[ 9.95850398e-01 9.09869096e-02 -1.83505084e-03 1.91239581e+02] [-9.09868326e-02 9.95852088e-01 1.25586740e-04 -2.10630376e+01] [ 1.83886596e-03 4.18998589e-05 9.99998308e-01 -2.64435386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.934012739 meters Centerline goodness [0,1] 0.9897415116874253 Centerline is valid? [True, True] Translation: X:191.27, Y:-21.06, Z:-2.65 [[ 9.95607361e-01 9.35949524e-02 -2.44304176e-03 1.91268376e+02] [-9.35948240e-02 9.95610356e-01 1.67081035e-04 -2.10587843e+01] [ 2.44795561e-03 6.23089552e-05 9.99997002e-01 -2.64538495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96401273899997 meters Centerline goodness [0,1] 0.9893436459340423 Centerline is valid? [True, True] Translation: X:191.30, Y:-21.06, Z:-2.64 [[ 9.95164867e-01 9.81734348e-02 -2.97717781e-03 1.91298670e+02] [-9.81732645e-02 9.95169317e-01 2.03641839e-04 -2.10582478e+01] [ 2.98278822e-03 8.96220603e-05 9.99995547e-01 -2.64437387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99401273899997 meters Centerline goodness [0,1] 0.988812873800611 Centerline is valid? [True, True] Translation: X:191.33, Y:-21.06, Z:-2.64 [[ 9.95042120e-01 9.94223446e-02 -2.52505793e-03 1.91327053e+02] [-9.94222267e-02 9.95045321e-01 1.72486100e-04 -2.10560445e+01] [ 2.52969605e-03 7.94159477e-05 9.99996797e-01 -2.64378243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02401273899997 meters Centerline goodness [0,1] 0.9862969908788679 Centerline is valid? [True, True] Translation: X:191.36, Y:-21.05, Z:-2.64 [[ 9.94982581e-01 1.00040743e-01 -1.23030756e-03 1.91355620e+02] [-1.00040716e-01 9.94983341e-01 8.39166711e-05 -2.10512949e+01] [ 1.23253061e-03 3.95852227e-05 9.99999240e-01 -2.64254906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05401273899997 meters Centerline goodness [0,1] 0.9885315222962583 Centerline is valid? [True, True] Translation: X:191.38, Y:-21.06, Z:-2.64 [[ 9.95189860e-01 9.79586516e-02 1.11558975e-03 1.91383879e+02] [-9.79586277e-02 9.95190485e-01 -7.62212689e-05 -2.10590726e+01] [-1.11769084e-03 -3.34270074e-05 9.99999375e-01 -2.63941284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08401273899997 meters Centerline goodness [0,1] 0.9893541822855307 Centerline is valid? [True, True] Translation: X:191.41, Y:-21.06, Z:-2.64 [[ 9.95425351e-01 9.55366581e-02 1.05736432e-03 1.91412906e+02] [-9.55366353e-02 9.95425912e-01 -7.22151763e-05 -2.10636548e+01] [-1.05942704e-03 -2.91322119e-05 9.99999438e-01 -2.63937995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11401273899997 meters Centerline goodness [0,1] 0.9906727567659865 Centerline is valid? [True, True] Translation: X:191.44, Y:-21.07, Z:-2.64 [[ 9.95906892e-01 9.03850031e-02 -1.18733562e-04 1.91441232e+02] [-9.03850028e-02 9.95906899e-01 8.02815181e-06 -2.10684808e+01] [ 1.18973199e-04 2.73644166e-06 9.99999993e-01 -2.64045528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14401273899998 meters Centerline goodness [0,1] 0.9913722621455312 Centerline is valid? [True, True] Translation: X:191.47, Y:-21.07, Z:-2.64 [[ 9.96186428e-01 8.72501377e-02 1.15751958e-04 1.91470071e+02] [-8.72501374e-02 9.96186435e-01 -7.94676849e-06 -2.10742256e+01] [-1.16003887e-04 -2.18291135e-06 9.99999993e-01 -2.64001827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17401273899998 meters Centerline goodness [0,1] 0.9921097327628835 Centerline is valid? [True, True] Translation: X:191.50, Y:-21.08, Z:-2.64 [[ 9.96481445e-01 8.38108682e-02 6.84640004e-04 1.91498225e+02] [-8.38108559e-02 9.96481680e-01 -4.66869030e-05 -2.10827981e+01] [-6.86144092e-04 -1.08576322e-05 9.99999765e-01 -2.63834380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20401273899998 meters Centerline goodness [0,1] 0.9924867882080778 Centerline is valid? [True, True] Translation: X:191.53, Y:-21.09, Z:-2.64 [[ 9.96958654e-01 7.79138033e-02 1.69754738e-03 1.91527172e+02] [-7.79137195e-02 9.96960099e-01 -1.15546483e-04 -2.10892255e+01] [-1.70138967e-03 -1.70671644e-05 9.99998552e-01 -2.63614478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23401273899998 meters Centerline goodness [0,1] 0.9928215396412899 Centerline is valid? [True, True] Translation: X:191.56, Y:-21.09, Z:-2.64 [[ 9.97117079e-01 7.58595349e-02 1.69147289e-03 1.91555624e+02] [-7.58594488e-02 9.97118514e-01 -1.15096387e-04 -2.10913893e+01] [-1.69533010e-03 -1.35496286e-05 9.99998563e-01 -2.63602938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26401273899998 meters Centerline goodness [0,1] 0.9940931202223766 Centerline is valid? [True, True] Translation: X:191.58, Y:-21.09, Z:-2.64 [[ 9.97355246e-01 7.26751342e-02 9.15430638e-04 1.91584757e+02] [-7.26751076e-02 9.97355666e-01 -6.22895543e-05 -2.10933386e+01] [-9.17536835e-04 -4.40420636e-06 9.99999579e-01 -2.63728366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29401273899998 meters Centerline goodness [0,1] 0.9940388750505631 Centerline is valid? [True, True] Translation: X:191.61, Y:-21.10, Z:-2.64 [[ 9.97457571e-01 7.12619294e-02 3.61710421e-04 1.91612056e+02] [-7.12619252e-02 9.97457637e-01 -2.46721293e-05 -2.10959694e+01] [-3.62549005e-04 -1.16677876e-06 9.99999934e-01 -2.63933613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32401273899998 meters Centerline goodness [0,1] 0.994234465086483 Centerline is valid? [True, True] Translation: X:191.64, Y:-21.10, Z:-2.64 [[ 9.97603090e-01 6.91955742e-02 -2.16510191e-04 1.91641029e+02] [-6.91955727e-02 9.97603114e-01 1.46014166e-05 -2.11010377e+01] [ 2.17001594e-04 4.15128276e-07 9.99999976e-01 -2.63978544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35401273899998 meters Centerline goodness [0,1] 0.9945535846737449 Centerline is valid? [True, True] Translation: X:191.67, Y:-21.11, Z:-2.64 [[ 9.97841835e-01 6.56632856e-02 -6.59576365e-05 1.91668782e+02] [-6.56632854e-02 9.97841838e-01 4.36413337e-06 -2.11064634e+01] [ 6.61018526e-05 -2.37197412e-08 9.99999998e-01 -2.63940006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38401273899999 meters Centerline goodness [0,1] 0.9940442673365963 Centerline is valid? [True, True] Translation: X:191.70, Y:-21.11, Z:-2.64 [[ 9.97915029e-01 6.45406645e-02 3.12547123e-04 1.91697509e+02] [-6.45406610e-02 9.97915078e-01 -2.12558133e-05 -2.11096099e+01] [-3.13267351e-04 1.03949759e-06 9.99999951e-01 -2.63845998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.414012739 meters Centerline goodness [0,1] 0.9944693864272236 Centerline is valid? [True, True] Translation: X:191.73, Y:-21.12, Z:-2.64 [[ 9.97996300e-01 6.32718291e-02 2.46442965e-04 1.91727180e+02] [-6.32718268e-02 9.97996330e-01 -1.67291021e-05 -2.11165985e+01] [-2.47007655e-04 1.10268540e-06 9.99999969e-01 -2.63872635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.444012739 meters Centerline goodness [0,1] 0.9947862356621481 Centerline is valid? [True, True] Translation: X:191.76, Y:-21.12, Z:-2.64 [[ 9.98025935e-01 6.28008194e-02 -5.38559401e-04 1.91755922e+02] [-6.28008090e-02 9.98026080e-01 3.63794208e-05 -2.11206353e+01] [ 5.39780986e-04 -2.48563938e-06 9.99999854e-01 -2.64001558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.474012739 meters Centerline goodness [0,1] 0.9950006409434687 Centerline is valid? [True, True] Translation: X:191.78, Y:-21.12, Z:-2.64 [[ 9.98036678e-01 6.26204517e-02 -1.21160796e-03 1.91784252e+02] [-6.26203985e-02 9.98037414e-01 8.18470437e-05 -2.11218987e+01] [ 1.21435538e-03 -5.81497808e-06 9.99999263e-01 -2.64032873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.504012739 meters Centerline goodness [0,1] 0.9958791208791209 Centerline is valid? [True, True] Translation: X:191.81, Y:-21.12, Z:-2.64 [[ 9.97933295e-01 6.42395302e-02 -1.55602194e-03 1.91812534e+02] [-6.42394445e-02 9.97934508e-01 1.05065545e-04 -2.11235873e+01] [ 1.55955735e-03 -4.89042034e-06 9.99998784e-01 -2.64149920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.534012739 meters Centerline goodness [0,1] 0.9955725190839695 Centerline is valid? [True, True] Translation: X:191.84, Y:-21.13, Z:-2.64 [[ 9.97877690e-01 6.51100187e-02 -8.94813720e-04 1.91841101e+02] [-6.51099908e-02 9.97878091e-01 6.03368381e-05 -2.11258989e+01] [ 8.96843540e-04 -1.94747160e-06 9.99999598e-01 -2.64022655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.564012739 meters Centerline goodness [0,1] 0.9946785591175457 Centerline is valid? [True, True] Translation: X:191.87, Y:-21.13, Z:-2.64 [[ 9.97837009e-01 6.57358550e-02 3.19107854e-04 1.91868583e+02] [-6.57358515e-02 9.97837060e-01 -2.16464161e-05 -2.11281524e+01] [-3.19840589e-04 6.22768533e-07 9.99999949e-01 -2.63817433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.594012739 meters Centerline goodness [0,1] 0.9949186775805251 Centerline is valid? [True, True] Translation: X:191.90, Y:-21.13, Z:-2.64 [[ 9.97876060e-01 6.51395539e-02 4.55795500e-04 1.91897034e+02] [-6.51395467e-02 9.97876164e-01 -3.07961498e-05 -2.11301487e+01] [-4.56833513e-04 1.04042832e-06 9.99999896e-01 -2.63801195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.624012739 meters Centerline goodness [0,1] 0.9943997948016415 Centerline is valid? [True, True] Translation: X:191.93, Y:-21.14, Z:-2.64 [[ 9.98058188e-01 6.22883662e-02 1.08918652e-04 1.91926700e+02] [-6.22883658e-02 9.98058194e-01 -7.38508127e-06 -2.11359139e+01] [-1.09167158e-04 5.86375993e-07 9.99999994e-01 -2.63763888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.654012739 meters Centerline goodness [0,1] 0.994610944256289 Centerline is valid? [True, True] Translation: X:191.96, Y:-21.14, Z:-2.64 [[ 9.98162192e-01 6.05989859e-02 2.86645148e-05 1.91955416e+02] [-6.05989858e-02 9.98162193e-01 -1.99543464e-06 -2.11412918e+01] [-2.87327562e-05 2.54726892e-07 1.00000000e+00 -2.63772962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.684012739 meters Centerline goodness [0,1] 0.993733748241613 Centerline is valid? [True, True] Translation: X:191.99, Y:-21.14, Z:-2.64 [[ 9.98263739e-01 5.89022164e-02 1.88548536e-04 1.91985296e+02] [-5.89022150e-02 9.98263757e-01 -1.27413693e-05 -2.11429609e+01] [-1.88971665e-04 1.61332048e-06 9.99999982e-01 -2.63716214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71401273899997 meters Centerline goodness [0,1] 0.9933600359843211 Centerline is valid? [True, True] Translation: X:192.01, Y:-21.14, Z:-2.64 [[ 9.98349238e-01 5.74316818e-02 6.33427749e-04 1.92014605e+02] [-5.74316663e-02 9.98349439e-01 -4.26882535e-05 -2.11448200e+01] [-6.34833896e-04 6.23897429e-06 9.99999798e-01 -2.63738588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74401273899997 meters Centerline goodness [0,1] 0.9930379612084567 Centerline is valid? [True, True] Translation: X:192.04, Y:-21.15, Z:-2.64 [[ 9.98517968e-01 5.44198797e-02 5.86227750e-04 1.92044260e+02] [-5.44198659e-02 9.98518140e-01 -3.94967656e-05 -2.11498532e+01] [-5.87508452e-04 7.53579460e-06 9.99999827e-01 -2.63812985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77401273899997 meters Centerline goodness [0,1] 0.9923153883815484 Centerline is valid? [True, True] Translation: X:192.07, Y:-21.16, Z:-2.64 [[ 9.98696153e-01 5.10489215e-02 3.09122356e-05 1.92073135e+02] [-5.10489215e-02 9.98696154e-01 -2.10119436e-06 -2.11610184e+01] [-3.09791945e-05 5.20418437e-07 1.00000000e+00 -2.63880905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80401273899997 meters Centerline goodness [0,1] 0.9918560442409056 Centerline is valid? [True, True] Translation: X:192.10, Y:-21.16, Z:-2.64 [[ 9.98770435e-01 4.95713906e-02 5.42890841e-04 1.92102647e+02] [-4.95713780e-02 9.98770583e-01 -3.65608098e-05 -2.11616958e+01] [-5.44035772e-04 9.60400876e-06 9.99999852e-01 -2.63769998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83401273899997 meters Centerline goodness [0,1] 0.9906435760424044 Centerline is valid? [True, True] Translation: X:192.13, Y:-21.16, Z:-2.64 [[ 9.98831391e-01 4.83189789e-02 1.06274878e-03 1.92131904e+02] [-4.83189302e-02 9.98831956e-01 -7.15059449e-05 -2.11644675e+01] [-1.06496254e-03 2.00714982e-05 9.99999433e-01 -2.63656007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86401273899997 meters Centerline goodness [0,1] 0.9908835601641823 Centerline is valid? [True, True] Translation: X:192.16, Y:-21.17, Z:-2.64 [[ 9.98880124e-01 4.72744934e-02 1.90265127e-03 1.92162000e+02] [-4.72743354e-02 9.98881935e-01 -1.27943258e-04 -2.11674180e+01] [-1.90657243e-03 3.78534030e-05 9.99998182e-01 -2.63590208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89401273899998 meters Centerline goodness [0,1] 0.9902695089943025 Centerline is valid? [True, True] Translation: X:192.19, Y:-21.17, Z:-2.64 [[ 9.98936490e-01 4.60683992e-02 1.89533303e-03 1.92191417e+02] [-4.60682403e-02 9.98938287e-01 -1.27450439e-04 -2.11744424e+01] [-1.89919217e-03 4.00002370e-05 9.99998196e-01 -2.63607911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92401273899998 meters Centerline goodness [0,1] 0.9900064061499039 Centerline is valid? [True, True] Translation: X:192.22, Y:-21.18, Z:-2.64 [[ 9.98979965e-01 4.51450551e-02 9.76490196e-04 1.92221229e+02] [-4.51450125e-02 9.98980442e-01 -6.56430672e-05 -2.11799115e+01] [-9.78458068e-04 2.14924468e-05 9.99999521e-01 -2.63724011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95401273899998 meters Centerline goodness [0,1] 0.9906903743200534 Centerline is valid? [True, True] Translation: X:192.25, Y:-21.18, Z:-2.64 [[ 9.98988334e-01 4.49696437e-02 2.01578897e-04 1.92251168e+02] [-4.49696419e-02 9.98988354e-01 -1.35914824e-05 -2.11824996e+01] [-2.01986175e-04 4.51280154e-06 9.99999980e-01 -2.63926082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98401273899998 meters Centerline goodness [0,1] 0.9910407645214275 Centerline is valid? [True, True] Translation: X:192.28, Y:-21.18, Z:-2.64 [[ 9.98981697e-01 4.51168748e-02 -1.93608923e-04 1.92281039e+02] [-4.51168732e-02 9.98981715e-01 1.29683075e-05 -2.11834659e+01] [ 1.93996864e-04 -4.22007264e-06 9.99999981e-01 -2.63992093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01401273899998 meters Centerline goodness [0,1] 0.9899349109875426 Centerline is valid? [True, True] Translation: X:192.31, Y:-21.19, Z:-2.64 [[ 9.99042900e-01 4.37215313e-02 1.30811487e-03 1.92309413e+02] [-4.37214537e-02 9.99043756e-01 -8.78865286e-05 -2.11936809e+01] [-1.31070652e-03 3.06097288e-05 9.99999141e-01 -2.63749797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04401273899998 meters Centerline goodness [0,1] 0.9885850638462531 Centerline is valid? [True, True] Translation: X:192.34, Y:-21.20, Z:-2.64 [[ 9.99126708e-01 4.17407715e-02 1.87860496e-03 1.92339726e+02] [-4.17406077e-02 9.99128473e-01 -1.26307004e-04 -2.12002740e+01] [-1.88223986e-03 4.77825878e-05 9.99998227e-01 -2.63629902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07401273899998 meters Centerline goodness [0,1] 0.9835493413352061 Centerline is valid? [True, True] Translation: X:192.37, Y:-21.21, Z:-2.64 [[ 9.99344950e-01 3.61804764e-02 8.01980371e-04 1.92368364e+02] [-3.61804448e-02 9.99345272e-01 -5.39380778e-05 -2.12149299e+01] [-8.03406797e-04 2.48867392e-05 9.99999677e-01 -2.63939512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10401273899998 meters Centerline goodness [0,1] 0.9781109962082041 Centerline is valid? [True, True] Translation: X:192.40, Y:-21.22, Z:-2.64 [[ 9.99451674e-01 3.31083453e-02 -4.34446088e-04 1.92398617e+02] [-3.31083357e-02 9.99451768e-01 2.92571104e-05 -2.12244870e+01] [ 4.35176565e-04 -1.48572811e-05 9.99999905e-01 -2.64260063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13401273899999 meters Centerline goodness [0,1] 0.9627980990473732 Centerline is valid? [True, True] Translation: X:192.43, Y:-21.24, Z:-2.64 [[ 9.99528070e-01 3.06877945e-02 -1.37726795e-03 1.92427572e+02] [-3.06876956e-02 9.99529017e-01 9.28602112e-05 -2.12358536e+01] [ 1.37946896e-03 -5.05512080e-05 9.99999047e-01 -2.64438411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.164012739 meters Centerline goodness [0,1] 0.952277798236683 Centerline is valid? [True, True] Translation: X:192.46, Y:-21.25, Z:-2.64 [[ 9.99619218e-01 2.75491421e-02 -1.56970996e-03 1.92457950e+02] [-2.75490100e-02 9.99620448e-01 1.05759548e-04 -2.12494478e+01] [ 1.57202776e-03 -6.24753210e-05 9.99998762e-01 -2.64316295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.194012739 meters Centerline goodness [0,1] 0.9446516613076099 Centerline is valid? [True, False] Translation: X:192.46, Y:-21.25, Z:-2.64 [[ 9.99610613e-01 2.78583763e-02 -1.59179556e-03 1.92457768e+02] [-2.78568092e-02 9.99611425e-01 9.98293892e-04 -2.12540652e+01] [ 1.61898788e-03 -9.53562824e-04 9.99998235e-01 -2.64279502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.224012739 meters Centerline goodness [0,1] 0.973741935483871 Centerline is valid? [False, True] Translation: X:192.45, Y:-21.26, Z:-2.64 [[ 9.99678592e-01 2.53395204e-02 -7.88844660e-04 1.92452314e+02] [-2.53407194e-02 9.99677672e-01 -1.54890831e-03 -2.12577980e+01] [ 7.49341800e-04 1.56840037e-03 9.99998489e-01 -2.63944379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.254012739 meters Centerline goodness [0,1] 0.9674857656577764 Centerline is valid? [True, True] Translation: X:192.48, Y:-21.27, Z:-2.64 [[ 9.99644271e-01 2.66664561e-02 4.80605153e-04 1.92482031e+02] [-2.66664440e-02 9.99644387e-01 -3.14958680e-05 -2.12677648e+01] [-4.81274126e-04 1.86686336e-05 9.99999884e-01 -2.63730710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.284012739 meters Centerline goodness [0,1] 0.9785841760856633 Centerline is valid? [True, True] Translation: X:192.51, Y:-21.27, Z:-2.64 [[ 9.99574927e-01 2.91458855e-02 6.94151593e-04 1.92513402e+02] [-2.91458608e-02 9.99575168e-01 -4.55568686e-05 -2.12669295e+01] [-6.95184491e-04 2.53058578e-05 9.99999758e-01 -2.63700452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.314012739 meters Centerline goodness [0,1] 0.9842313585291114 Centerline is valid? [True, True] Translation: X:192.54, Y:-21.27, Z:-2.64 [[ 9.99385249e-01 3.50588326e-02 -4.97869138e-05 1.92542640e+02] [-3.50588325e-02 9.99385250e-01 3.27417566e-06 -2.12677386e+01] [ 4.98710961e-05 -1.52669179e-06 9.99999999e-01 -2.63878716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.344012739 meters Centerline goodness [0,1] 0.9839996549790831 Centerline is valid? [True, True] Translation: X:192.57, Y:-21.26, Z:-2.63 [[ 9.99278037e-01 3.79823520e-02 -8.63475949e-04 1.92573900e+02] [-3.79823173e-02 9.99278410e-01 5.65998003e-05 -2.12647250e+01] [ 8.65002667e-04 -2.37621199e-05 9.99999626e-01 -2.63112409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.374012739 meters Centerline goodness [0,1] 0.9911400008581113 Centerline is valid? [True, True] Translation: X:192.60, Y:-21.27, Z:-2.64 [[ 9.99107599e-01 4.21812357e-02 -2.17920792e-03 1.92603398e+02] [-4.21810244e-02 9.99109974e-01 1.42858279e-04 -2.12667196e+01] [ 2.18329431e-03 -5.08095691e-05 9.99997615e-01 -2.64268623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.404012739 meters Centerline goodness [0,1] 0.9908299823408012 Centerline is valid? [True, True] Translation: X:192.63, Y:-21.27, Z:-2.64 [[ 9.98999140e-01 4.46093023e-02 -3.27553760e-03 1.92633329e+02] [-4.46088379e-02 9.99004507e-01 2.14738349e-04 -2.12722960e+01] [ 3.28185615e-03 -6.84055002e-05 9.99994612e-01 -2.64430704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43401273899997 meters Centerline goodness [0,1] 0.9931872228292307 Centerline is valid? [True, True] Translation: X:192.66, Y:-21.27, Z:-2.64 [[ 9.98879573e-01 4.71852840e-02 -3.62584772e-03 1.92663629e+02] [-4.71847321e-02 9.98886152e-01 2.37654975e-04 -2.12683001e+01] [ 3.63302290e-03 -6.63040468e-05 9.99993398e-01 -2.64398919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46401273899997 meters Centerline goodness [0,1] 0.9942687874299697 Centerline is valid? [True, True] Translation: X:192.69, Y:-21.27, Z:-2.64 [[ 9.98645727e-01 5.20086835e-02 -1.34488690e-03 1.92694181e+02] [-5.20086120e-02 9.98646632e-01 8.81374778e-05 -2.12653037e+01] [ 1.34765069e-03 -1.80724147e-05 9.99999092e-01 -2.64056027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49401273899997 meters Centerline goodness [0,1] 0.9931502464630946 Centerline is valid? [True, True] Translation: X:192.72, Y:-21.27, Z:-2.64 [[ 9.98555818e-01 5.37240056e-02 -9.36093069e-05 1.92723787e+02] [-5.37240053e-02 9.98555823e-01 6.11879678e-06 -2.12668551e+01] [ 9.38028448e-05 -1.08089323e-06 9.99999996e-01 -2.63917902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52401273899997 meters Centerline goodness [0,1] 0.9935621858624746 Centerline is valid? [True, True] Translation: X:192.75, Y:-21.27, Z:-2.64 [[ 9.98502322e-01 5.47081609e-02 -3.61154515e-04 1.92754981e+02] [-5.47081560e-02 9.98502387e-01 2.36582490e-05 -2.12713156e+01] [ 3.61907944e-04 -3.86471906e-06 9.99999935e-01 -2.64097282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55401273899997 meters Centerline goodness [0,1] 0.9951082857450706 Centerline is valid? [True, True] Translation: X:192.79, Y:-21.28, Z:-2.64 [[ 9.98525366e-01 5.42698503e-02 -1.37026407e-03 1.92786184e+02] [-5.42697780e-02 9.98526306e-01 8.98540184e-05 -2.12766888e+01] [ 1.37312108e-03 -1.53575897e-05 9.99999057e-01 -2.64274804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58401273899997 meters Centerline goodness [0,1] 0.994561959407382 Centerline is valid? [True, True] Translation: X:192.82, Y:-21.29, Z:-2.64 [[ 9.98622827e-01 5.24171017e-02 -2.21291990e-03 1.92815502e+02] [-5.24169086e-02 9.98625278e-01 1.45209001e-04 -2.12891304e+01] [ 2.21748918e-03 -2.90146031e-05 9.99997541e-01 -2.64293232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61401273899997 meters Centerline goodness [0,1] 0.9941158655302211 Centerline is valid? [True, True] Translation: X:192.85, Y:-21.29, Z:-2.64 [[ 9.98639438e-01 5.21282145e-02 -1.38639915e-03 1.92845392e+02] [-5.21281384e-02 9.98640400e-01 9.10034097e-05 -2.12936074e+01] [ 1.38925805e-03 -1.86091872e-05 9.99999035e-01 -2.64132043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64401273899998 meters Centerline goodness [0,1] 0.9936879493324204 Centerline is valid? [True, True] Translation: X:192.88, Y:-21.30, Z:-2.64 [[ 9.98632954e-01 5.22655400e-02 -7.32279914e-04 1.92876515e+02] [-5.22655189e-02 9.98633223e-01 4.80466557e-05 -2.12987586e+01] [ 7.33790235e-04 -9.70798402e-06 9.99999731e-01 -2.64073490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67401273899998 meters Centerline goodness [0,1] 0.994161143904362 Centerline is valid? [True, True] Translation: X:192.91, Y:-21.31, Z:-2.64 [[ 9.98580987e-01 5.32520757e-02 -4.77444797e-04 1.92908356e+02] [-5.32520669e-02 9.98581102e-01 3.13052266e-05 -2.13069479e+01] [ 4.78434420e-04 -5.83588178e-06 9.99999886e-01 -2.64038260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70401273899998 meters Centerline goodness [0,1] 0.994662413609782 Centerline is valid? [True, True] Translation: X:192.94, Y:-21.31, Z:-2.64 [[ 9.98508839e-01 5.45807946e-02 -1.01758069e-03 1.92939695e+02] [-5.45807546e-02 9.98509357e-01 6.70619561e-05 -2.13110106e+01] [ 1.01972414e-03 -1.14216338e-05 9.99999480e-01 -2.64065891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73401273899998 meters Centerline goodness [0,1] 0.9955026962508259 Centerline is valid? [True, True] Translation: X:192.97, Y:-21.31, Z:-2.64 [[ 9.98302415e-01 5.82211174e-02 -1.60905270e-03 1.92971049e+02] [-5.82210216e-02 9.98303712e-01 1.06328780e-04 -2.13122006e+01] [ 1.61251387e-03 -1.24675862e-05 9.99998700e-01 -2.64057435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76401273899998 meters Centerline goodness [0,1] 0.9955026962508259 Centerline is valid? [True, True] Translation: X:193.00, Y:-21.31, Z:-2.64 [[ 9.98301085e-01 5.82439209e-02 -1.60904591e-03 1.93001813e+02] [-5.82438250e-02 9.98302382e-01 1.06431453e-04 -2.13142810e+01] [ 1.61251335e-03 -1.25336465e-05 9.99998700e-01 -2.64054483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79401273899998 meters Centerline goodness [0,1] 0.9958864664747018 Centerline is valid? [True, True] Translation: X:193.03, Y:-21.32, Z:-2.64 [[ 9.98209873e-01 5.97944647e-02 -1.29272251e-03 1.93032812e+02] [-5.97944040e-02 9.98210710e-01 8.55757568e-05 -2.13166637e+01] [ 1.29552641e-03 -8.12499324e-06 9.99999161e-01 -2.64085525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82401273899998 meters Centerline goodness [0,1] 0.9956919420216039 Centerline is valid? [True, True] Translation: X:193.06, Y:-21.32, Z:-2.64 [[ 9.98179305e-01 6.03069457e-02 -1.07076428e-03 1.93063697e+02] [-6.03069043e-02 9.98179880e-01 7.10026074e-05 -2.13208623e+01] [ 1.07309731e-03 -6.29885447e-06 9.99999424e-01 -2.64072396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85401273899998 meters Centerline goodness [0,1] 0.9954229494171747 Centerline is valid? [True, True] Translation: X:193.10, Y:-21.33, Z:-2.64 [[ 9.98170202e-01 6.04668426e-02 9.40915709e-05 1.93095447e+02] [-6.04668423e-02 9.98170206e-01 -6.40809273e-06 -2.13291661e+01] [-9.43068799e-05 7.06947032e-07 9.99999996e-01 -2.63843774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88401273899999 meters Centerline goodness [0,1] 0.9947257836284893 Centerline is valid? [True, True] Translation: X:193.13, Y:-21.34, Z:-2.64 [[ 9.98163679e-01 6.05741238e-02 -2.14228754e-04 1.93126583e+02] [-6.05741222e-02 9.98163702e-01 1.41176684e-05 -2.13361282e+01] [ 2.14690532e-04 -1.11502508e-06 9.99999977e-01 -2.63822444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.914012739 meters Centerline goodness [0,1] 0.9918771007498061 Centerline is valid? [True, True] Translation: X:193.16, Y:-21.34, Z:-2.63 [[ 9.98125806e-01 6.11866269e-02 -1.03581077e-03 1.93159656e+02] [-6.11865882e-02 9.98126343e-01 6.90631597e-05 -2.13372815e+01] [ 1.03809576e-03 -5.55599491e-06 9.99999461e-01 -2.63053305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.944012739 meters Centerline goodness [0,1] 0.9958606416005519 Centerline is valid? [True, True] Translation: X:193.19, Y:-21.34, Z:-2.64 [[ 9.98159329e-01 6.06366751e-02 -1.07140911e-03 1.93191088e+02] [-6.06366331e-02 9.98159904e-01 7.16493542e-05 -2.13440428e+01] [ 1.07378219e-03 -6.55083015e-06 9.99999423e-01 -2.63941648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.974012739 meters Centerline goodness [0,1] 0.9957902384819215 Centerline is valid? [True, True] Translation: X:193.22, Y:-21.35, Z:-2.64 [[ 9.98135155e-01 6.10301976e-02 -1.23550063e-03 1.93222968e+02] [-6.10301418e-02 9.98135920e-01 8.28545904e-05 -2.13486765e+01] [ 1.23825419e-03 -7.29730081e-06 9.99999233e-01 -2.63993856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.004012739 meters Centerline goodness [0,1] 0.9964421252371917 Centerline is valid? [True, True] Translation: X:193.26, Y:-21.35, Z:-2.64 [[ 9.97995074e-01 6.32708694e-02 -1.62133252e-03 1.93255038e+02] [-6.32707758e-02 9.97996391e-01 1.08986016e-04 -2.13509276e+01] [ 1.62497964e-03 -6.18454056e-06 9.99998680e-01 -2.64045258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.034012739 meters Centerline goodness [0,1] 0.9964061864932509 Centerline is valid? [True, True] Translation: X:193.29, Y:-21.35, Z:-2.64 [[ 9.97876226e-01 6.51220176e-02 -1.47005267e-03 1.93286739e+02] [-6.51219423e-02 9.97877308e-01 9.90552521e-05 -2.13527200e+01] [ 1.47338288e-03 -3.11219578e-06 9.99998915e-01 -2.64039560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.064012739 meters Centerline goodness [0,1] 0.9966537248761235 Centerline is valid? [True, True] Translation: X:193.32, Y:-21.35, Z:-2.64 [[ 9.97739612e-01 6.71796496e-02 -1.60043670e-03 1.93317993e+02] [-6.71795626e-02 9.97740896e-01 1.08123676e-04 -2.13535788e+01] [ 1.60408486e-03 -3.62636904e-07 9.99998713e-01 -2.64067141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.094012739 meters Centerline goodness [0,1] 0.996670060235853 Centerline is valid? [True, True] Translation: X:193.35, Y:-21.35, Z:-2.64 [[ 9.97476417e-01 7.09374844e-02 -2.94449430e-03 1.93349816e+02] [-7.09372047e-02 9.97480763e-01 1.99470958e-04 -2.13521604e+01] [ 2.95122639e-03 9.90661837e-06 9.99995645e-01 -2.64447691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.124012739 meters Centerline goodness [0,1] 0.9972201432695392 Centerline is valid? [True, True] Translation: X:193.38, Y:-21.35, Z:-2.65 [[ 9.97332749e-01 7.28871178e-02 -3.85439471e-03 1.93380799e+02] [-7.28866520e-02 9.97340197e-01 2.61356625e-04 -2.13533009e+01] [ 3.86319231e-03 2.02744049e-05 9.99992538e-01 -2.64511428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.154012739 meters Centerline goodness [0,1] 0.9953874735740673 Centerline is valid? [True, True] Translation: X:193.41, Y:-21.35, Z:-2.64 [[ 9.96949794e-01 7.79977851e-02 -2.73013795e-03 1.93410651e+02] [-7.79975706e-02 9.96953532e-01 1.85118806e-04 -2.13474642e+01] [ 2.73625953e-03 2.83899720e-05 9.99996256e-01 -2.64369169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18401273899997 meters Centerline goodness [0,1] 0.9949626467449306 Centerline is valid? [True, True] Translation: X:193.44, Y:-21.35, Z:-2.64 [[ 9.96675319e-01 8.14698584e-02 -9.85301732e-04 1.93442402e+02] [-8.14698322e-02 9.96675806e-01 6.68057230e-05 -2.13470559e+01] [ 9.87469051e-04 1.36887515e-05 9.99999512e-01 -2.63965624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21401273899997 meters Centerline goodness [0,1] 0.9937633067377794 Centerline is valid? [True, True] Translation: X:193.47, Y:-21.35, Z:-2.64 [[ 9.96343825e-01 8.54317414e-02 6.32501058e-04 1.93473910e+02] [-8.54317314e-02 9.96344026e-01 -4.29368684e-05 -2.13450790e+01] [-6.33856821e-04 -1.12557767e-05 9.99999799e-01 -2.63708991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24401273899997 meters Centerline goodness [0,1] 0.989575272977388 Centerline is valid? [True, True] Translation: X:193.51, Y:-21.32, Z:-2.64 [[ 9.95570869e-01 9.40073013e-02 1.12808011e-03 1.93505091e+02] [-9.40072749e-02 9.95571507e-01 -7.65608704e-05 -2.13247360e+01] [-1.13028170e-03 -2.98259650e-05 9.99999361e-01 -2.63524805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27401273899997 meters Centerline goodness [0,1] 0.9884290828503239 Centerline is valid? [True, True] Translation: X:193.54, Y:-21.32, Z:-2.64 [[ 9.95223868e-01 9.76186273e-02 -2.37707123e-04 1.93535327e+02] [-9.76186263e-02 9.95223896e-01 1.61383856e-05 -2.13212321e+01] [ 2.38147216e-04 7.14333630e-06 9.99999972e-01 -2.63860621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30401273899997 meters Centerline goodness [0,1] 0.9843403311145247 Centerline is valid? [True, True] Translation: X:193.57, Y:-21.31, Z:-2.64 [[ 9.94664770e-01 1.03113226e-01 -3.10775718e-03 1.93566483e+02] [-1.03113070e-01 9.94669619e-01 2.10854416e-04 -2.13128651e+01] [ 3.11293353e-03 1.10720925e-04 9.99995149e-01 -2.64385616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33401273899997 meters Centerline goodness [0,1] 0.986454957874271 Centerline is valid? [True, True] Translation: X:193.60, Y:-21.31, Z:-2.64 [[ 9.94441290e-01 1.05241383e-01 -3.28201407e-03 1.93596430e+02] [-1.05241221e-01 9.94446698e-01 2.22622072e-04 -2.13124436e+01] [ 3.28721712e-03 1.24018588e-04 9.99994589e-01 -2.64392116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36401273899997 meters Centerline goodness [0,1] 0.8993000725534548 Centerline is valid? [True, False] Translation: X:193.60, Y:-21.30, Z:-2.64 [[ 9.94458923e-01 1.05070631e-01 -3.40773589e-03 1.93597150e+02] [-1.05075600e-01 9.94463370e-01 -1.31294338e-03 -2.13036112e+01] [ 3.25091673e-03 1.66373815e-03 9.99993332e-01 -2.64380450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39401273899998 meters Centerline goodness [0,1] 0.9507840564434598 Centerline is valid? [False, True] Translation: X:193.60, Y:-21.30, Z:-2.64 [[ 9.94494589e-01 1.04732183e-01 -3.41799317e-03 1.93597332e+02] [-1.04740150e-01 9.94497098e-01 -2.24117013e-03 -2.12989143e+01] [ 3.16446165e-03 2.58683268e-03 9.99991647e-01 -2.64381855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42401273899998 meters Centerline goodness [0,1] 0.9589781958101753 Centerline is valid? [True, True] Translation: X:193.63, Y:-21.30, Z:-2.64 [[ 9.94428137e-01 1.05371083e-01 -3.10095106e-03 1.93626176e+02] [-1.05370991e-01 9.94432962e-01 1.93402737e-04 -2.12998235e+01] [ 3.10406701e-03 1.34425163e-04 9.99995173e-01 -2.64307428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45401273899998 meters Centerline goodness [0,1] 0.9725889843182498 Centerline is valid? [True, True] Translation: X:193.66, Y:-21.30, Z:-2.64 [[ 9.94280905e-01 1.06754845e-01 -2.98068576e-03 1.93656425e+02] [-1.06754767e-01 9.94285364e-01 1.85780299e-04 -2.12950642e+01] [ 2.98348518e-03 1.33484610e-04 9.99995540e-01 -2.64306297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48401273899998 meters Centerline goodness [0,1] 0.9314204097294763 Centerline is valid? [True, False] Translation: X:193.66, Y:-21.29, Z:-2.64 [[ 9.94706664e-01 1.02699444e-01 -3.38766344e-03 1.93656804e+02] [-1.02717097e-01 9.94695241e-01 -5.52950670e-03 -2.12852142e+01] [ 2.80181544e-03 5.84820812e-03 9.99978974e-01 -2.64320893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51401273899998 meters Centerline goodness [0,1] 0.9518386359265828 Centerline is valid? [False, True] Translation: X:193.66, Y:-21.28, Z:-2.64 [[ 9.94793678e-01 1.01847793e-01 -3.54484003e-03 1.93657561e+02] [-1.01872158e-01 9.94768839e-01 -7.55115255e-03 -2.12751320e+01] [ 2.75722818e-03 7.87295932e-03 9.99965206e-01 -2.64304494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54401273899998 meters Centerline goodness [0,1] 0.951503415402294 Centerline is valid? [True, True] Translation: X:193.69, Y:-21.28, Z:-2.64 [[ 9.94871895e-01 1.01082679e-01 -3.49348094e-03 1.93686153e+02] [-1.01082608e-01 9.94878016e-01 1.97291310e-04 -2.12763680e+01] [ 3.49553012e-03 1.56850585e-04 9.99993878e-01 -2.64464216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57401273899998 meters Centerline goodness [0,1] 0.9722793274328623 Centerline is valid? [True, True] Translation: X:193.72, Y:-21.28, Z:-2.65 [[ 9.95095169e-01 9.88219668e-02 -4.45238516e-03 1.93716375e+02] [-9.88218299e-02 9.95105111e-01 2.51257394e-04 -2.12751207e+01] [ 4.45542098e-03 1.89967830e-04 9.99990057e-01 -2.64658016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60401273899998 meters Centerline goodness [0,1] 0.9425140792689406 Centerline is valid? [True, False] Translation: X:193.74, Y:-21.28, Z:-2.64 [[ 9.95431298e-01 9.54058907e-02 -3.77458188e-03 1.93735849e+02] [-9.53755411e-02 9.95412829e-01 7.53695584e-03 -2.12757786e+01] [ 4.47633721e-03 -7.14251894e-03 9.99964473e-01 -2.64349666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63401273899999 meters Centerline goodness [0,1] 0.9850014913289872 Centerline is valid? [False, True] Translation: X:193.74, Y:-21.27, Z:-2.64 [[ 9.95877640e-01 9.06144055e-02 -4.09348655e-03 1.93735469e+02] [-9.06076248e-02 9.95885019e-01 1.81299036e-03 -2.12684738e+01] [ 4.24092497e-03 -1.43461547e-03 9.99989978e-01 -2.64301021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.664012739 meters Centerline goodness [0,1] 0.9891674068938623 Centerline is valid? [True, True] Translation: X:193.77, Y:-21.27, Z:-2.64 [[ 9.96490196e-01 8.36875095e-02 -1.92092154e-03 1.93765438e+02] [-8.36874674e-02 9.96492046e-01 1.02425321e-04 -2.12698374e+01] [ 1.92275476e-03 5.86912309e-05 9.99998150e-01 -2.63869186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.694012739 meters Centerline goodness [0,1] 0.9906025547288289 Centerline is valid? [True, True] Translation: X:193.79, Y:-21.27, Z:-2.64 [[ 9.96771154e-01 8.02785377e-02 -1.61967377e-03 1.93794706e+02] [-8.02785033e-02 9.96772469e-01 8.63643492e-05 -2.12706268e+01] [ 1.62137943e-03 4.39394943e-05 9.99998685e-01 -2.63744654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.724012739 meters Centerline goodness [0,1] 0.991163098465282 Centerline is valid? [True, True] Translation: X:193.82, Y:-21.27, Z:-2.64 [[ 9.97345177e-01 7.27890602e-02 -2.08588302e-03 1.93824015e+02] [-7.27889869e-02 9.97347357e-01 1.11121908e-04 -2.12738296e+01] [ 2.08843837e-03 4.10024129e-05 9.99997818e-01 -2.63844279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.754012739 meters Centerline goodness [0,1] 0.9928139102166521 Centerline is valid? [True, True] Translation: X:193.85, Y:-21.28, Z:-2.64 [[ 9.97635138e-01 6.86756528e-02 -2.79019277e-03 1.93853254e+02] [-6.86755057e-02 9.97639039e-01 1.48599074e-04 -2.12816629e+01] [ 2.79381038e-03 4.33702422e-05 9.99996096e-01 -2.63967845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.784012739 meters Centerline goodness [0,1] 0.9954644645072954 Centerline is valid? [True, True] Translation: X:193.88, Y:-21.29, Z:-2.64 [[ 9.98129881e-01 6.10261850e-02 -3.54208197e-03 1.93881790e+02] [-6.10259002e-02 9.98136165e-01 1.88533450e-04 -2.12913878e+01] [ 3.54698559e-03 2.79778712e-05 9.99993709e-01 -2.64038430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.814012739 meters Centerline goodness [0,1] 0.9960775862068966 Centerline is valid? [True, True] Translation: X:193.91, Y:-21.30, Z:-2.64 [[ 9.98306810e-01 5.80520157e-02 -3.67099358e-03 1.93910684e+02] [-5.80516899e-02 9.98313560e-01 1.95326837e-04 -2.12956635e+01] [ 3.67614178e-03 1.81112694e-05 9.99993243e-01 -2.64008688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.844012739 meters Centerline goodness [0,1] 0.9966598150051388 Centerline is valid? [True, True] Translation: X:193.94, Y:-21.30, Z:-2.64 [[ 9.98479334e-01 5.50239527e-02 -3.37409717e-03 1.93938955e+02] [-5.50236607e-02 9.98485035e-01 1.79388068e-04 -2.12998382e+01] [ 3.37885617e-03 6.53989935e-06 9.99994292e-01 -2.63909701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.874012739 meters Centerline goodness [0,1] 0.9961217636225761 Centerline is valid? [True, True] Translation: X:193.97, Y:-21.31, Z:-2.64 [[ 9.98748216e-01 4.99936098e-02 -1.62495331e-03 1.93967635e+02] [-4.99935354e-02 9.98749538e-01 8.63914998e-05 -2.13075210e+01] [ 1.62724039e-03 -5.04619540e-06 9.99998676e-01 -2.63624640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.904012739 meters Centerline goodness [0,1] 0.994620097777588 Centerline is valid? [True, True] Translation: X:194.00, Y:-21.31, Z:-2.64 [[ 9.98857800e-01 4.77607214e-02 -1.41729490e-03 1.93995818e+02] [-4.77606627e-02 9.98858806e-01 7.53196821e-05 -2.13127068e+01] [ 1.41927481e-03 -7.54270859e-06 9.99998993e-01 -2.63591594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93401273899997 meters Centerline goodness [0,1] 0.993717924146596 Centerline is valid? [True, True] Translation: X:194.02, Y:-21.32, Z:-2.64 [[ 9.98918130e-01 4.64547298e-02 -2.12777445e-03 1.94024631e+02] [-4.64545947e-02 9.98920396e-01 1.12893071e-04 -2.13168305e+01] [ 2.13072172e-03 -1.39260352e-05 9.99997730e-01 -2.63670631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96401273899997 meters Centerline goodness [0,1] 0.9945646312792529 Centerline is valid? [True, True] Translation: X:194.05, Y:-21.32, Z:-2.64 [[ 9.98902041e-01 4.67938308e-02 -2.24729066e-03 1.94054403e+02] [-4.67936811e-02 9.98904569e-01 1.19179663e-04 -2.13175228e+01] [ 2.25040578e-03 -1.38898054e-05 9.99997468e-01 -2.63668964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99401273899997 meters Centerline goodness [0,1] 0.9947044387996727 Centerline is valid? [True, True] Translation: X:194.08, Y:-21.32, Z:-2.64 [[ 9.98874417e-01 4.73633573e-02 -2.57126494e-03 1.94082689e+02] [-4.73631634e-02 9.98877726e-01 1.36308159e-04 -2.13201333e+01] [ 2.57483529e-03 -1.43714910e-05 9.99996685e-01 -2.63669268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02401273899997 meters Centerline goodness [0,1] 0.9960156774431043 Centerline is valid? [True, True] Translation: X:194.11, Y:-21.32, Z:-2.64 [[ 9.98845580e-01 4.78180806e-02 -4.57594198e-03 1.94111946e+02] [-4.78174724e-02 9.98856061e-01 2.42300335e-04 -2.13224459e+01] [ 4.58229372e-03 -2.32106390e-05 9.99989501e-01 -2.64057258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05401273899997 meters Centerline goodness [0,1] 0.9959461477735817 Centerline is valid? [True, True] Translation: X:194.14, Y:-21.33, Z:-2.64 [[ 9.98853824e-01 4.75957212e-02 -5.06801534e-03 1.94139968e+02] [-4.75949729e-02 9.98866681e-01 2.68205547e-04 -2.13250247e+01] [ 5.07503710e-03 -2.66860837e-05 9.99987122e-01 -2.64226107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08401273899997 meters Centerline goodness [0,1] 0.996494095885402 Centerline is valid? [True, True] Translation: X:194.17, Y:-21.32, Z:-2.64 [[ 9.98788937e-01 4.88708795e-02 -5.68291081e-03 1.94168450e+02] [-4.88699613e-02 9.98805104e-01 3.00396806e-04 -2.13241349e+01] [ 5.69080098e-03 -2.23093749e-05 9.99983807e-01 -2.64439935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11401273899997 meters Centerline goodness [0,1] 0.996976600591905 Centerline is valid? [True, True] Translation: X:194.20, Y:-21.33, Z:-2.65 [[ 9.98724211e-01 5.00660688e-02 -6.58320637e-03 1.94196106e+02] [-5.00648651e-02 9.98745908e-01 3.47624576e-04 -2.13251702e+01] [ 6.59235462e-03 -1.75937420e-05 9.99978270e-01 -2.64587799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14401273899998 meters Centerline goodness [0,1] 0.9976391517961588 Centerline is valid? [True, True] Translation: X:194.22, Y:-21.32, Z:-2.65 [[ 9.98593188e-01 5.24225456e-02 -7.97003410e-03 1.94224775e+02] [-5.24208598e-02 9.98624993e-01 4.20420211e-04 -2.13229920e+01] [ 7.98111475e-03 -2.03271800e-06 9.99968150e-01 -2.64794149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17401273899998 meters Centerline goodness [0,1] 0.9974597617726166 Centerline is valid? [True, True] Translation: X:194.25, Y:-21.32, Z:-2.65 [[ 9.98565830e-01 5.29088600e-02 -8.18138411e-03 1.94252746e+02] [-5.29071029e-02 9.98599345e-01 4.31192489e-04 -2.13224098e+01] [ 8.19273872e-03 2.27924540e-06 9.99966439e-01 -2.64923066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20401273899998 meters Centerline goodness [0,1] 0.9977463458607886 Centerline is valid? [True, True] Translation: X:194.28, Y:-21.32, Z:-2.65 [[ 9.98539860e-01 5.34414301e-02 -7.88426622e-03 1.94281415e+02] [-5.34398182e-02 9.98570986e-01 4.15130039e-04 -2.13219196e+01] [ 7.89518464e-03 6.80986225e-06 9.99968833e-01 -2.64775855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23401273899998 meters Centerline goodness [0,1] 0.9972350628591178 Centerline is valid? [True, True] Translation: X:194.31, Y:-21.32, Z:-2.64 [[ 9.98489044e-01 5.46331875e-02 -5.90280294e-03 1.94309980e+02] [-5.46323061e-02 9.98506492e-01 3.10584973e-04 -2.13222592e+01] [ 5.91095531e-03 1.23680437e-05 9.99982530e-01 -2.64447892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26401273899998 meters Centerline goodness [0,1] 0.9964688509855116 Centerline is valid? [True, True] Translation: X:194.34, Y:-21.32, Z:-2.64 [[ 9.98478778e-01 5.49202597e-02 -4.88818134e-03 1.94338180e+02] [-5.49196596e-02 9.98490744e-01 2.57000513e-04 -2.13232737e+01] [ 4.89491835e-03 1.18476969e-05 9.99988020e-01 -2.64236685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29401273899998 meters Centerline goodness [0,1] 0.9966597876731272 Centerline is valid? [True, True] Translation: X:194.37, Y:-21.32, Z:-2.64 [[ 9.98460301e-01 5.53099954e-02 -4.22274436e-03 1.94366374e+02] [-5.53095521e-02 9.98469231e-01 2.21787082e-04 -2.13229447e+01] [ 4.22854735e-03 1.21125029e-05 9.99991060e-01 -2.64142736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32401273899998 meters Centerline goodness [0,1] 0.9971221785537874 Centerline is valid? [True, True] Translation: X:194.39, Y:-21.33, Z:-2.64 [[ 9.98449615e-01 5.54003794e-02 -5.40037727e-03 1.94394634e+02] [-5.53996576e-02 9.98464220e-01 2.83264740e-04 -2.13252751e+01] [ 5.40777645e-03 1.63534818e-05 9.99985378e-01 -2.64292643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35401273899998 meters Centerline goodness [0,1] 0.9970956926559463 Centerline is valid? [True, True] Translation: X:194.42, Y:-21.33, Z:-2.64 [[ 9.98446890e-01 5.53148056e-02 -6.63929422e-03 1.94422763e+02] [-5.53137153e-02 9.98468964e-01 3.47865493e-04 -2.13274328e+01] [ 6.64837133e-03 1.99188103e-05 9.99977899e-01 -2.64470979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38401273899999 meters Centerline goodness [0,1] 0.9975212311936889 Centerline is valid? [True, True] Translation: X:194.45, Y:-21.33, Z:-2.64 [[ 9.98393980e-01 5.62442681e-02 -6.78550123e-03 1.94451447e+02] [-5.62431534e-02 9.98417038e-01 3.55149683e-04 -2.13280280e+01] [ 6.79473517e-03 2.70586810e-05 9.99976915e-01 -2.64426493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.414012739 meters Centerline goodness [0,1] 0.9970457583991029 Centerline is valid? [True, True] Translation: X:194.48, Y:-21.33, Z:-2.64 [[ 9.98361331e-01 5.69345381e-02 -5.75426833e-03 1.94480354e+02] [-5.69337493e-02 9.98377913e-01 3.00935097e-04 -2.13289869e+01] [ 5.76206801e-03 2.71701062e-05 9.99983399e-01 -2.64191896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.444012739 meters Centerline goodness [0,1] 0.9967844271316658 Centerline is valid? [True, True] Translation: X:194.51, Y:-21.33, Z:-2.64 [[ 9.98377263e-01 5.67804503e-02 -4.33825995e-03 1.94508091e+02] [-5.67800012e-02 9.98386689e-01 2.26727286e-04 -2.13331920e+01] [ 4.34413467e-03 1.99670380e-05 9.99990564e-01 -2.64052641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.474012739 meters Centerline goodness [0,1] 0.9966098034981645 Centerline is valid? [True, True] Translation: X:194.54, Y:-21.34, Z:-2.64 [[ 9.98446318e-01 5.55555357e-02 -4.30486638e-03 1.94536195e+02] [-5.55550832e-02 9.98455599e-01 2.24724800e-04 -2.13384361e+01] [ 4.31070264e-03 1.47815599e-05 9.99990709e-01 -2.64034034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.504012739 meters Centerline goodness [0,1] 0.9969362216276862 Centerline is valid? [True, True] Translation: X:194.56, Y:-21.34, Z:-2.64 [[ 9.98509653e-01 5.44182774e-02 -4.13799876e-03 1.94564235e+02] [-5.44178503e-02 9.98518228e-01 2.15823803e-04 -2.13424194e+01] [ 4.14361194e-03 9.67884618e-06 9.99991415e-01 -2.64023999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.534012739 meters Centerline goodness [0,1] 0.9970186657449015 Centerline is valid? [True, True] Translation: X:194.59, Y:-21.35, Z:-2.64 [[ 9.98520079e-01 5.42325430e-02 -4.06004284e-03 1.94592829e+02] [-5.42321313e-02 9.98528333e-01 2.11510702e-04 -2.13455955e+01] [ 4.06553857e-03 8.98709374e-06 9.99991736e-01 -2.63783922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.564012739 meters Centerline goodness [0,1] 0.9968311356869417 Centerline is valid? [True, True] Translation: X:194.62, Y:-21.35, Z:-2.64 [[ 9.98453545e-01 5.54391649e-02 -4.12532052e-03 1.94620826e+02] [-5.54387509e-02 9.98462067e-01 2.14718440e-04 -2.13454352e+01] [ 4.13087987e-03 1.43162291e-05 9.99991468e-01 -2.63753623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.594012739 meters Centerline goodness [0,1] 0.9961389128559103 Centerline is valid? [True, True] Translation: X:194.65, Y:-21.34, Z:-2.64 [[ 9.98242114e-01 5.90002256e-02 -5.62637287e-03 1.94650103e+02] [-5.89995146e-02 9.98257969e-01 2.92399247e-04 -2.13417106e+01] [ 5.63382317e-03 4.00680257e-05 9.99984129e-01 -2.64054026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.624012739 meters Centerline goodness [0,1] 0.9962458138691581 Centerline is valid? [True, True] Translation: X:194.68, Y:-21.34, Z:-2.64 [[ 9.98093496e-01 6.13720723e-02 -6.54536188e-03 1.94677662e+02] [-6.13711637e-02 9.98114956e-01 3.39766922e-04 -2.13377836e+01] [ 6.55387579e-03 6.25773206e-05 9.99978521e-01 -2.64282794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.654012739 meters Centerline goodness [0,1] 0.9962458138691581 Centerline is valid? [True, True] Translation: X:194.71, Y:-21.34, Z:-2.64 [[ 9.98096349e-01 6.13256638e-02 -6.54538327e-03 1.94705959e+02] [-6.13247569e-02 9.98117808e-01 3.39354478e-04 -2.13391604e+01] [ 6.55387474e-03 6.26855726e-05 9.99978521e-01 -2.64270038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68401273899997 meters Centerline goodness [0,1] 0.9946298673513051 Centerline is valid? [True, True] Translation: X:194.73, Y:-21.33, Z:-2.64 [[ 9.97914629e-01 6.41659354e-02 -7.00901999e-03 1.94734526e+02] [-6.41649681e-02 9.97939239e-01 3.63022071e-04 -2.13345244e+01] [ 7.01786973e-03 8.74685092e-05 9.99975371e-01 -2.64317508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71401273899997 meters Centerline goodness [0,1] 0.993199170213221 Centerline is valid? [True, True] Translation: X:194.76, Y:-21.33, Z:-2.64 [[ 9.97642402e-01 6.83245729e-02 -6.43356260e-03 1.94763104e+02] [-6.83238465e-02 9.97663140e-01 3.32888247e-04 -2.13262139e+01] [ 6.44127271e-03 1.07462313e-04 9.99979249e-01 -2.64199425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74401273899997 meters Centerline goodness [0,1] 0.9932083144074578 Centerline is valid? [True, True] Translation: X:194.79, Y:-21.33, Z:-2.64 [[ 9.97573899e-01 6.93591279e-02 -5.96893199e-03 1.94791477e+02] [-6.93585228e-02 9.97591750e-01 3.08556154e-04 -2.13253560e+01] [ 5.97595850e-03 1.06188740e-04 9.99982138e-01 -2.64145503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77401273899997 meters Centerline goodness [0,1] 0.9925464242112704 Centerline is valid? [True, True] Translation: X:194.82, Y:-21.32, Z:-2.64 [[ 9.97614068e-01 6.87448751e-02 -6.34935025e-03 1.94819197e+02] [-6.87441808e-02 9.97634267e-01 3.27790428e-04 -2.13236502e+01] [ 6.35686329e-03 1.09472539e-04 9.99979789e-01 -2.64254499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80401273899997 meters Centerline goodness [0,1] 0.9929434839149807 Centerline is valid? [True, True] Translation: X:194.85, Y:-21.33, Z:-2.64 [[ 9.97698793e-01 6.74775239e-02 -6.62584585e-03 1.94847729e+02] [-6.74767424e-02 9.97720789e-01 3.41685737e-04 -2.13269790e+01] [ 6.63380026e-03 1.06191047e-04 9.99977990e-01 -2.64358806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83401273899997 meters Centerline goodness [0,1] 0.9952124218244555 Centerline is valid? [True, True] Translation: X:194.88, Y:-21.33, Z:-2.65 [[ 9.97958584e-01 6.34119740e-02 -7.58859238e-03 1.94876651e+02] [-6.34108340e-02 9.97987431e-01 3.90982475e-04 -2.13334444e+01] [ 7.59811278e-03 9.10146549e-05 9.99971130e-01 -2.64583892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86401273899997 meters Centerline goodness [0,1] 0.9953702720496103 Centerline is valid? [True, True] Translation: X:194.90, Y:-21.34, Z:-2.65 [[ 9.98110945e-01 6.09853413e-02 -7.43844501e-03 1.94904911e+02] [-6.09841808e-02 9.98138659e-01 3.82947809e-04 -2.13355688e+01] [ 7.44795373e-03 7.14030760e-05 9.99972261e-01 -2.64509841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89401273899998 meters Centerline goodness [0,1] 0.9964242125773505 Centerline is valid? [True, True] Translation: X:194.93, Y:-21.34, Z:-2.64 [[ 9.98235173e-01 5.89695735e-02 -7.00918334e-03 1.94933719e+02] [-5.89684956e-02 9.98259779e-01 3.60526451e-04 -2.13388622e+01] [ 7.01824590e-03 5.34308124e-05 9.99975370e-01 -2.64218239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92401273899998 meters Centerline goodness [0,1] 0.9954855687969362 Centerline is valid? [True, True] Translation: X:194.96, Y:-21.34, Z:-2.64 [[ 9.98179240e-01 5.99052189e-02 -7.04062096e-03 1.94962146e+02] [-5.99041571e-02 9.98204068e-01 3.61776810e-04 -2.13372217e+01] [ 7.04964880e-03 6.06443626e-05 9.99975149e-01 -2.64223887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95401273899998 meters Centerline goodness [0,1] 0.9944619743705325 Centerline is valid? [True, True] Translation: X:194.99, Y:-21.33, Z:-2.64 [[ 9.98092689e-01 6.13428736e-02 -6.93087352e-03 1.94989923e+02] [-6.13418822e-02 9.98116750e-01 3.55732805e-04 -2.13347208e+01] [ 6.93964262e-03 7.00985147e-05 9.99975918e-01 -2.64194066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98401273899998 meters Centerline goodness [0,1] 0.9941617659592602 Centerline is valid? [True, True] Translation: X:195.02, Y:-21.33, Z:-2.64 [[ 9.97937301e-01 6.39325421e-02 -5.81149557e-03 1.95019172e+02] [-6.39318906e-02 9.97954220e-01 2.97998937e-04 -2.13280520e+01] [ 5.81865836e-03 7.41556439e-05 9.99983069e-01 -2.63961979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01401273899998 meters Centerline goodness [0,1] 0.9937089482214451 Centerline is valid? [True, True] Translation: X:195.05, Y:-21.33, Z:-2.64 [[ 9.97876979e-01 6.49287485e-02 -5.07865198e-03 1.95047829e+02] [-6.49282649e-02 9.97889900e-01 2.60210829e-04 -2.13253805e+01] [ 5.08483068e-03 7.00896652e-05 9.99987070e-01 -2.63835521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04401273899998 meters Centerline goodness [0,1] 0.9921679399114078 Centerline is valid? [True, True] Translation: X:195.08, Y:-21.32, Z:-2.63 [[ 9.97873930e-01 6.51332446e-02 -2.29768141e-03 1.95075934e+02] [-6.51331460e-02 9.97876575e-01 1.17757081e-04 -2.13241462e+01] [ 2.30047236e-03 3.21484973e-05 9.99997353e-01 -2.63222874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07401273899998 meters Centerline goodness [0,1] 0.9922259207559325 Centerline is valid? [True, True] Translation: X:195.11, Y:-21.33, Z:-2.63 [[ 9.97907859e-01 6.46411205e-02 -1.19589392e-03 1.95105013e+02] [-6.46410934e-02 9.97908576e-01 6.13071342e-05 -2.13254381e+01] [ 1.19735576e-03 1.61250195e-05 9.99999283e-01 -2.62990668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10401273899998 meters Centerline goodness [0,1] 0.9922735666829403 Centerline is valid? [True, True] Translation: X:195.13, Y:-21.33, Z:-2.63 [[ 9.97940061e-01 6.41422406e-02 -1.18606699e-03 1.95133099e+02] [-6.41422136e-02 9.97940766e-01 6.07873204e-05 -2.13254279e+01] [ 1.18752364e-03 1.54148602e-05 9.99999295e-01 -2.62958848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13401273899999 meters Centerline goodness [0,1] 0.9933824155247255 Centerline is valid? [True, True] Translation: X:195.16, Y:-21.32, Z:-2.64 [[ 9.97950973e-01 6.38264072e-02 -4.47708875e-03 1.95162390e+02] [-6.38260244e-02 9.97961014e-01 2.28485132e-04 -2.13239638e+01] [ 4.48254341e-03 5.77378160e-05 9.99989952e-01 -2.63593223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.164012739 meters Centerline goodness [0,1] 0.9940205743677668 Centerline is valid? [True, True] Translation: X:195.19, Y:-21.33, Z:-2.64 [[ 9.97986977e-01 6.31082330e-02 -6.27251331e-03 1.95191053e+02] [-6.31074696e-02 9.98006686e-01 3.19743769e-04 -2.13262828e+01] [ 6.28018869e-03 7.67423262e-05 9.99980276e-01 -2.63888371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.194012739 meters Centerline goodness [0,1] 0.9943681497205736 Centerline is valid? [True, True] Translation: X:195.22, Y:-21.33, Z:-2.64 [[ 9.98052046e-01 6.19721986e-02 -7.18046890e-03 1.95219887e+02] [-6.19711715e-02 9.98077873e-01 3.65657247e-04 -2.13253332e+01] [ 7.18932771e-03 8.00371058e-05 9.99974153e-01 -2.63974450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.224012739 meters Centerline goodness [0,1] 0.9946445746262131 Centerline is valid? [True, True] Translation: X:195.25, Y:-21.32, Z:-2.64 [[ 9.98060664e-01 6.19130936e-02 -6.45602189e-03 1.95248566e+02] [-6.19122639e-02 9.98081542e-01 3.28481142e-04 -2.13248998e+01] [ 6.46397356e-03 7.18628240e-05 9.99979106e-01 -2.63845901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.254012739 meters Centerline goodness [0,1] 0.993590428373037 Centerline is valid? [True, True] Translation: X:195.28, Y:-21.32, Z:-2.64 [[ 9.98036632e-01 6.24072756e-02 -5.31151450e-03 1.95276753e+02] [-6.24067222e-02 9.98050764e-01 2.70024756e-04 -2.13215030e+01] [ 5.31801262e-03 6.19796120e-05 9.99985857e-01 -2.63644511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.284012739 meters Centerline goodness [0,1] 0.9932727311434228 Centerline is valid? [True, True] Translation: X:195.31, Y:-21.32, Z:-2.63 [[ 9.97998305e-01 6.30700831e-02 -4.64203344e-03 1.95305628e+02] [-6.30696687e-02 9.98009099e-01 2.35750927e-04 -2.13201060e+01] [ 4.64766044e-03 5.74924850e-05 9.99989198e-01 -2.63491814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.314012739 meters Centerline goodness [0,1] 0.9932710121164371 Centerline is valid? [True, True] Translation: X:195.33, Y:-21.32, Z:-2.63 [[ 9.97951583e-01 6.38336939e-02 -4.23047692e-03 1.95334821e+02] [-6.38333573e-02 9.97960549e-01 2.14674827e-04 -2.13186479e+01] [ 4.23555255e-03 5.58104608e-05 9.99991028e-01 -2.63406076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.344012739 meters Centerline goodness [0,1] 0.9932294025055524 Centerline is valid? [True, True] Translation: X:195.36, Y:-21.32, Z:-2.64 [[ 9.97927418e-01 6.41523454e-02 -5.03441316e-03 1.95363651e+02] [-6.41518741e-02 9.97940114e-01 2.55198326e-04 -2.13167952e+01] [ 5.04041442e-03 6.82976332e-05 9.99987295e-01 -2.63599692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.374012739 meters Centerline goodness [0,1] 0.9934673901478881 Centerline is valid? [True, True] Translation: X:195.39, Y:-21.32, Z:-2.64 [[ 9.97940265e-01 6.39007441e-02 -5.65004776e-03 1.95392895e+02] [-6.39001481e-02 9.97956256e-01 2.86117829e-04 -2.13185124e+01] [ 5.65678365e-03 7.55103868e-05 9.99983997e-01 -2.63768408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.404012739 meters Centerline goodness [0,1] 0.9942767726999914 Centerline is valid? [True, True] Translation: X:195.42, Y:-21.32, Z:-2.64 [[ 9.98042927e-01 6.21229801e-02 -7.14499375e-03 1.95422020e+02] [-6.21219847e-02 9.98068499e-01 3.61370740e-04 -2.13231801e+01] [ 7.15364261e-03 8.31976817e-05 9.99974409e-01 -2.64021625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43401273899997 meters Centerline goodness [0,1] 0.9948822707235782 Centerline is valid? [True, True] Translation: X:195.45, Y:-21.33, Z:-2.64 [[ 9.98123614e-01 6.08533018e-02 -6.79163169e-03 1.95450631e+02] [-6.08523759e-02 9.98146718e-01 3.43087103e-04 -2.13277776e+01] [ 6.79992286e-03 7.08435857e-05 9.99976878e-01 -2.63942606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46401273899997 meters Centerline goodness [0,1] 0.9954300671544123 Centerline is valid? [True, True] Translation: X:195.48, Y:-21.33, Z:-2.64 [[ 9.98217908e-01 5.93137566e-02 -6.54874845e-03 1.95478284e+02] [-5.93128648e-02 9.98239388e-01 3.30490414e-04 -2.13311024e+01] [ 6.55682127e-03 5.85235815e-05 9.99978502e-01 -2.63876244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49401273899997 meters Centerline goodness [0,1] 0.9955978202799445 Centerline is valid? [True, True] Translation: X:195.51, Y:-21.34, Z:-2.64 [[ 9.98361800e-01 5.69642271e-02 -5.36600816e-03 1.95507021e+02] [-5.69635957e-02 9.98376219e-01 2.70544851e-04 -2.13369809e+01] [ 5.37270632e-03 3.55654755e-05 9.99985566e-01 -2.63658420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52401273899997 meters Centerline goodness [0,1] 0.9958423093494183 Centerline is valid? [True, True] Translation: X:195.53, Y:-21.34, Z:-2.64 [[ 9.98394131e-01 5.63579246e-02 -5.73962633e-03 1.95534700e+02] [-5.63571939e-02 9.98410629e-01 2.89093195e-04 -2.13384922e+01] [ 5.74679663e-03 3.48402846e-05 9.99983486e-01 -2.63701765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55401273899997 meters Centerline goodness [0,1] 0.9968075238896439 Centerline is valid? [True, True] Translation: X:195.56, Y:-21.34, Z:-2.64 [[ 9.98399125e-01 5.61142462e-02 -7.09779415e-03 1.95563618e+02] [-5.61131257e-02 9.98424353e-01 3.57068968e-04 -2.13414167e+01] [ 7.10664719e-03 4.17820704e-05 9.99974747e-01 -2.64029398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58401273899997 meters Centerline goodness [0,1] 0.9967111627007158 Centerline is valid? [True, True] Translation: X:195.59, Y:-21.34, Z:-2.64 [[ 9.98384938e-01 5.63390554e-02 -7.30939760e-03 1.95592417e+02] [-5.63378756e-02 9.98411693e-01 3.67371092e-04 -2.13448633e+01] [ 7.31848537e-03 4.50181683e-05 9.99973219e-01 -2.64071199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61401273899997 meters Centerline goodness [0,1] 0.9962524911186206 Centerline is valid? [True, True] Translation: X:195.62, Y:-21.35, Z:-2.64 [[ 9.98368605e-01 5.66156186e-02 -7.40267113e-03 1.95621316e+02] [-5.66144188e-02 9.98396048e-01 3.71706162e-04 -2.13473298e+01] [ 7.41184198e-03 4.79981605e-05 9.99972531e-01 -2.64023330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64401273899998 meters Centerline goodness [0,1] 0.996193675973377 Centerline is valid? [True, True] Translation: X:195.65, Y:-21.35, Z:-2.64 [[ 9.98322848e-01 5.73529166e-02 -7.88251901e-03 1.95649171e+02] [-5.73515825e-02 9.98353965e-01 3.95375224e-04 -2.13488901e+01] [ 7.89222003e-03 5.73628200e-05 9.99968854e-01 -2.64060840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67401273899998 meters Centerline goodness [0,1] 0.996488824184294 Centerline is valid? [True, True] Translation: X:195.68, Y:-21.35, Z:-2.64 [[ 9.98286464e-01 5.78272608e-02 -8.95230551e-03 1.95677143e+02] [-5.78255640e-02 9.98326601e-01 4.48475525e-04 -2.13489759e+01] [ 8.96325884e-03 6.99650685e-05 9.99959827e-01 -2.64279318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70401273899998 meters Centerline goodness [0,1] 0.9965984225184429 Centerline is valid? [True, True] Translation: X:195.71, Y:-21.35, Z:-2.64 [[ 9.98231533e-01 5.87408570e-02 -9.12783656e-03 1.95705513e+02] [-5.87391357e-02 9.98273262e-01 4.56789856e-04 -2.13498404e+01] [ 9.13890741e-03 8.01791916e-05 9.99958236e-01 -2.64288334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73401273899998 meters Centerline goodness [0,1] 0.995857035526457 Centerline is valid? [True, True] Translation: X:195.73, Y:-21.35, Z:-2.64 [[ 9.98265827e-01 5.84689936e-02 -6.83486925e-03 1.95734273e+02] [-5.84680239e-02 9.98289223e-01 3.41777484e-04 -2.13524497e+01] [ 6.84315970e-03 5.84365157e-05 9.99976584e-01 -2.63818349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76401273899998 meters Centerline goodness [0,1] 0.9950193691200886 Centerline is valid? [True, True] Translation: X:195.76, Y:-21.35, Z:-2.63 [[ 9.98325407e-01 5.76713290e-02 -4.51651134e-03 1.95761792e+02] [-5.76708981e-02 9.98335623e-01 2.25708161e-04 -2.13549567e+01] [ 4.52201106e-03 3.51410737e-05 9.99989775e-01 -2.63226113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79401273899998 meters Centerline goodness [0,1] 0.9947234079063083 Centerline is valid? [True, True] Translation: X:195.79, Y:-21.36, Z:-2.63 [[ 9.98401979e-01 5.64659604e-02 -2.25463483e-03 1.95790508e+02] [-5.64658499e-02 9.98404525e-01 1.12648341e-04 -2.13593666e+01] [ 2.25739841e-03 1.48415454e-05 9.99997452e-01 -2.62815016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82401273899998 meters Centerline goodness [0,1] 0.9947849038932289 Centerline is valid? [True, True] Translation: X:195.82, Y:-21.36, Z:-2.63 [[ 9.98435707e-01 5.58333519e-02 -2.96248138e-03 1.95819086e+02] [-5.58331591e-02 9.98440102e-01 1.47809638e-04 -2.13622569e+01] [ 2.96611292e-03 1.78262742e-05 9.99995601e-01 -2.62981553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85401273899998 meters Centerline goodness [0,1] 0.9967186394149312 Centerline is valid? [True, True] Translation: X:195.85, Y:-21.37, Z:-2.64 [[ 9.98549935e-01 5.35596217e-02 -5.42156998e-03 1.95846275e+02] [-5.35589448e-02 9.98564653e-01 2.70068570e-04 -2.13682616e+01] [ 5.42825292e-03 2.06966138e-05 9.99985267e-01 -2.63539891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88401273899999 meters Centerline goodness [0,1] 0.9976533333333333 Centerline is valid? [True, True] Translation: X:195.87, Y:-21.37, Z:-2.64 [[ 9.98618754e-01 5.21549994e-02 -6.35927963e-03 1.95873515e+02] [-5.21540422e-02 9.98639002e-01 3.16368144e-04 -2.13715387e+01] [ 6.36712484e-03 1.57309763e-05 9.99979730e-01 -2.63678956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.914012739 meters Centerline goodness [0,1] 0.9978752173073209 Centerline is valid? [True, True] Translation: X:195.90, Y:-21.37, Z:-2.64 [[ 9.98649916e-01 5.15372007e-02 -6.50095147e-03 1.95901747e+02] [-5.15361896e-02 9.98671075e-01 3.23061703e-04 -2.13745263e+01] [ 6.50896189e-03 1.24087255e-05 9.99978816e-01 -2.63621757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.944012739 meters Centerline goodness [0,1] 0.9970751430169039 Centerline is valid? [True, True] Translation: X:195.93, Y:-21.38, Z:-2.64 [[ 9.98589229e-01 5.26934035e-02 -6.55422877e-03 1.95930882e+02] [-5.26924026e-02 9.98610737e-01 3.25408467e-04 -2.13752430e+01] [ 6.56227011e-03 2.04086719e-05 9.99978468e-01 -2.63551150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.974012739 meters Centerline goodness [0,1] 0.9972976450907219 Centerline is valid? [True, True] Translation: X:195.96, Y:-21.37, Z:-2.64 [[ 9.98532355e-01 5.36946729e-02 -7.07228709e-03 1.95959918e+02] [-5.36935351e-02 9.98557400e-01 3.50788845e-04 -2.13746923e+01] [ 7.08092010e-03 2.94620833e-05 9.99974930e-01 -2.63629330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.004012739 meters Centerline goodness [0,1] 0.9971864609088584 Centerline is valid? [True, True] Translation: X:195.99, Y:-21.37, Z:-2.64 [[ 9.98399818e-01 5.60284468e-02 -7.65615128e-03 1.95987467e+02] [-5.60271848e-02 9.98429172e-01 3.79387464e-04 -2.13705723e+01] [ 7.66538127e-03 5.01722275e-05 9.99970619e-01 -2.63870579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.034012739 meters Centerline goodness [0,1] 0.9970642437749111 Centerline is valid? [True, True] Translation: X:196.02, Y:-21.37, Z:-2.64 [[ 9.98381025e-01 5.64393206e-02 -7.06619091e-03 1.96016137e+02] [-5.64382580e-02 9.98406030e-01 3.49849940e-04 -2.13721433e+01] [ 7.07467290e-03 4.95199634e-05 9.99974973e-01 -2.63803220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.064012739 meters Centerline goodness [0,1] 0.996215825502785 Centerline is valid? [True, True] Translation: X:196.04, Y:-21.37, Z:-2.64 [[ 9.98408060e-01 5.61187717e-02 -5.65945041e-03 1.96043774e+02] [-5.61180863e-02 9.98424099e-01 2.79962504e-04 -2.13732277e+01] [ 5.66624283e-03 3.80807069e-05 9.99983946e-01 -2.63546954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.094012739 meters Centerline goodness [0,1] 0.9963274773420385 Centerline is valid? [True, True] Translation: X:196.07, Y:-21.38, Z:-2.63 [[ 9.98526496e-01 5.41816593e-02 -3.03053611e-03 1.96072643e+02] [-5.41814540e-02 9.98531095e-01 1.49843154e-04 -2.13788004e+01] [ 3.03420329e-03 1.45764935e-05 9.99995397e-01 -2.63086707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.124012739 meters Centerline goodness [0,1] 0.9967034387658364 Centerline is valid? [True, True] Translation: X:196.10, Y:-21.38, Z:-2.63 [[ 9.98644237e-01 5.19624855e-02 -3.09634651e-03 1.96101284e+02] [-5.19622610e-02 9.98649037e-01 1.52945128e-04 -2.13832840e+01] [ 3.10011087e-03 8.15539423e-06 9.99995195e-01 -2.63124981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.154012739 meters Centerline goodness [0,1] 0.9978020571038368 Centerline is valid? [True, True] Translation: X:196.13, Y:-21.39, Z:-2.64 [[ 9.98908319e-01 4.61873735e-02 -6.99258627e-03 1.96129894e+02] [-4.61860913e-02 9.98932794e-01 3.44824366e-04 -2.13947686e+01] [ 7.00105027e-03 -2.14876997e-05 9.99975492e-01 -2.63827919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18401273899997 meters Centerline goodness [0,1] 0.998030358175084 Centerline is valid? [True, True] Translation: X:196.16, Y:-21.40, Z:-2.64 [[ 9.99035033e-01 4.30486043e-02 -8.70744122e-03 1.96158836e+02] [-4.30465003e-02 9.99072978e-01 4.28991360e-04 -2.14016570e+01] [ 8.71783670e-03 -5.37525273e-05 9.99961997e-01 -2.64093374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21401273899997 meters Centerline goodness [0,1] 0.9967504703266632 Centerline is valid? [True, True] Translation: X:196.19, Y:-21.41, Z:-2.64 [[ 9.99170599e-01 3.97570946e-02 -8.80266417e-03 1.96186839e+02] [-3.97548207e-02 9.99209371e-01 4.33218886e-04 -2.14089970e+01] [ 8.81292805e-03 -8.29112381e-05 9.99961162e-01 -2.64083417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24401273899997 meters Centerline goodness [0,1] 0.9942025862068965 Centerline is valid? [True, True] Translation: X:196.22, Y:-21.42, Z:-2.64 [[ 9.99413138e-01 3.36731172e-02 -6.28499635e-03 1.96215928e+02] [-3.36718392e-02 9.99432895e-01 3.09083251e-04 -2.14221767e+01] [ 6.29183989e-03 -9.72744750e-05 9.99980201e-01 -2.63589379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27401273899997 meters Centerline goodness [0,1] 0.9923657574197976 Centerline is valid? [True, True] Translation: X:196.24, Y:-21.43, Z:-2.63 [[ 9.99493015e-01 3.14897832e-02 -4.70179315e-03 1.96243980e+02] [-3.14890442e-02 9.99504070e-01 2.31137717e-04 -2.14291275e+01] [ 4.70673987e-03 -8.29655613e-05 9.99988920e-01 -2.63224383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30401273899997 meters Centerline goodness [0,1] 0.9915891233524263 Centerline is valid? [True, True] Translation: X:196.27, Y:-21.44, Z:-2.63 [[ 9.99568106e-01 2.91390273e-02 -3.81024053e-03 1.96272052e+02] [-2.91385253e-02 9.99575365e-01 1.87204743e-04 -2.14390849e+01] [ 3.81407753e-03 -7.60991005e-05 9.99992723e-01 -2.63117082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33401273899997 meters Centerline goodness [0,1] 0.9906244020664583 Centerline is valid? [True, True] Translation: X:196.30, Y:-21.45, Z:-2.63 [[ 9.99576432e-01 2.86878417e-02 -4.89528695e-03 1.96300306e+02] [-2.86870087e-02 9.99588414e-01 2.40305162e-04 -2.14482942e+01] [ 4.90016596e-03 -9.97722375e-05 9.99987989e-01 -2.63319867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36401273899997 meters Centerline goodness [0,1] 0.994756797746723 Centerline is valid? [True, True] Translation: X:196.33, Y:-21.45, Z:-2.64 [[ 9.99523097e-01 2.99743784e-02 -7.42396967e-03 1.96329258e+02] [-2.99725003e-02 9.99550657e-01 3.64130257e-04 -2.14454876e+01] [ 7.43154835e-03 -1.41441669e-04 9.99972376e-01 -2.63784009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39401273899998 meters Centerline goodness [0,1] 0.995968433693601 Centerline is valid? [True, True] Translation: X:196.36, Y:-21.45, Z:-2.64 [[ 9.99460015e-01 3.18591541e-02 -8.04195884e-03 1.96356899e+02] [-3.18570148e-02 9.99492359e-01 3.93999762e-04 -2.14468609e+01] [ 8.05042891e-03 -1.37594205e-04 9.99967585e-01 -2.63841877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42401273899998 meters Centerline goodness [0,1] 0.9961350167482608 Centerline is valid? [True, True] Translation: X:196.38, Y:-21.45, Z:-2.64 [[ 9.99387739e-01 3.39372156e-02 -8.50951210e-03 1.96384723e+02] [-3.39349000e-02 9.99423959e-01 4.16393319e-04 -2.14461867e+01] [ 8.51874150e-03 -1.27368936e-04 9.99963707e-01 -2.63774966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45401273899998 meters Centerline goodness [0,1] 0.9970646840785893 Centerline is valid? [True, True] Translation: X:196.41, Y:-21.44, Z:-2.64 [[ 9.99212570e-01 3.89392454e-02 -7.61413617e-03 1.96414052e+02] [-3.89375396e-02 9.99241577e-01 3.72202902e-04 -2.14400721e+01] [ 7.62285473e-03 -7.54340897e-05 9.99970943e-01 -2.63591574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48401273899998 meters Centerline goodness [0,1] 0.9973103240521582 Centerline is valid? [True, True] Translation: X:196.44, Y:-21.44, Z:-2.63 [[ 9.99148330e-01 4.07773799e-02 -6.31025632e-03 1.96443142e+02] [-4.07762466e-02 9.99168255e-01 3.08207766e-04 -2.14398450e+01] [ 6.31757570e-03 -5.06367068e-05 9.99980043e-01 -2.63403560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51401273899998 meters Centerline goodness [0,1] 0.9967159977822323 Centerline is valid? [True, True] Translation: X:196.47, Y:-21.44, Z:-2.63 [[ 9.99128835e-01 4.15569879e-02 -3.81933204e-03 1.96471924e+02] [-4.15565788e-02 9.99136135e-01 1.86450677e-04 -2.14438640e+01] [ 3.82378098e-03 -2.75698749e-05 9.99992689e-01 -2.62986694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54401273899998 meters Centerline goodness [0,1] 0.9963604631363868 Centerline is valid? [True, True] Translation: X:196.50, Y:-21.45, Z:-2.63 [[ 9.99139186e-01 4.13574654e-02 -3.23208685e-03 1.96501699e+02] [-4.13571719e-02 9.99144414e-01 1.57634414e-04 -2.14473837e+01] [ 3.23584088e-03 -2.38287486e-05 9.99994764e-01 -2.62839089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57401273899998 meters Centerline goodness [0,1] 0.9963604631363868 Centerline is valid? [True, True] Translation: X:196.53, Y:-21.45, Z:-2.63 [[ 9.99140149e-01 4.13341968e-02 -3.23209054e-03 1.96530832e+02] [-4.13339034e-02 9.99145377e-01 1.57558776e-04 -2.14487598e+01] [ 3.23584089e-03 -2.38283810e-05 9.99994764e-01 -2.62825957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60401273899998 meters Centerline goodness [0,1] 0.9966289737572007 Centerline is valid? [True, True] Translation: X:196.56, Y:-21.45, Z:-2.63 [[ 9.99117390e-01 4.18825572e-02 -3.20803175e-03 1.96560290e+02] [-4.18822712e-02 9.99122540e-01 1.56311891e-04 -2.14517096e+01] [ 3.21176357e-03 -2.18142731e-05 9.99994842e-01 -2.62757100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63401273899999 meters Centerline goodness [0,1] 0.9967736384754367 Centerline is valid? [True, True] Translation: X:196.59, Y:-21.45, Z:-2.63 [[ 9.99074767e-01 4.28810276e-02 -3.29056393e-03 1.96590245e+02] [-4.28807324e-02 9.99080186e-01 1.60253936e-04 -2.14544655e+01] [ 3.29440908e-03 -1.90038726e-05 9.99994573e-01 -2.62718292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.664012739 meters Centerline goodness [0,1] 0.9974332981040916 Centerline is valid? [True, True] Translation: X:196.62, Y:-21.46, Z:-2.63 [[ 9.98982521e-01 4.49959678e-02 -3.04710780e-03 1.96619215e+02] [-4.49957247e-02 9.98987168e-01 1.48333154e-04 -2.14588473e+01] [ 3.05069599e-03 -1.10754041e-05 9.99995347e-01 -2.62705072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.694012739 meters Centerline goodness [0,1] 0.9976102307957285 Centerline is valid? [True, True] Translation: X:196.65, Y:-21.46, Z:-2.63 [[ 9.98910577e-01 4.65325750e-02 -3.51843815e-03 1.96648945e+02] [-4.65322607e-02 9.98916773e-01 1.71178056e-04 -2.14600586e+01] [ 3.52259224e-03 -7.27068915e-06 9.99993796e-01 -2.62793528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.724012739 meters Centerline goodness [0,1] 0.9980322960111218 Centerline is valid? [True, True] Translation: X:196.68, Y:-21.46, Z:-2.63 [[ 9.98719244e-01 5.03173173e-02 -5.29528141e-03 1.96677055e+02] [-5.03166596e-02 9.98733281e-01 2.57430107e-04 -2.14605436e+01] [ 5.30152697e-03 9.34047069e-06 9.99985947e-01 -2.63151245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.754012739 meters Centerline goodness [0,1] 0.9979375305649465 Centerline is valid? [True, True] Translation: X:196.71, Y:-21.46, Z:-2.63 [[ 9.98609254e-01 5.24125005e-02 -5.69970867e-03 1.96706176e+02] [-5.24117743e-02 9.98625520e-01 2.76811547e-04 -2.14618015e+01] [ 5.70638292e-03 2.23052717e-05 9.99983718e-01 -2.63220662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.784012739 meters Centerline goodness [0,1] 0.997019691325173 Centerline is valid? [True, True] Translation: X:196.73, Y:-21.46, Z:-2.63 [[ 9.98482197e-01 5.47904957e-02 -5.59492455e-03 1.96734975e+02] [-5.47898346e-02 9.98497872e-01 2.71478797e-04 -2.14617075e+01] [ 5.60139471e-03 3.54782444e-05 9.99984311e-01 -2.63166346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.814012739 meters Centerline goodness [0,1] 0.994331983805668 Centerline is valid? [True, True] Translation: X:196.76, Y:-21.46, Z:-2.63 [[ 9.98212495e-01 5.96130352e-02 -4.25452561e-03 1.96764850e+02] [-5.96126972e-02 9.98221560e-01 2.06326463e-04 -2.14598674e+01] [ 4.25925894e-03 4.76660933e-05 9.99990928e-01 -2.62955292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.844012739 meters Centerline goodness [0,1] 0.9939282627484874 Centerline is valid? [True, True] Translation: X:196.79, Y:-21.46, Z:-2.63 [[ 9.98090376e-01 6.15992105e-02 -4.59772420e-03 1.96794273e+02] [-6.15988373e-02 9.98100964e-01 2.22855532e-04 -2.14594590e+01] [ 4.60272067e-03 6.07845036e-05 9.99989406e-01 -2.62986259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.874012739 meters Centerline goodness [0,1] 0.9930807744375443 Centerline is valid? [True, True] Translation: X:196.82, Y:-21.45, Z:-2.63 [[ 9.97802379e-01 6.59212236e-02 -6.69363293e-03 1.96823908e+02] [-6.59205314e-02 9.97824824e-01 3.24213974e-04 -2.14543881e+01] [ 6.70044568e-03 1.17746365e-04 9.99977545e-01 -2.63353250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.904012739 meters Centerline goodness [0,1] 0.9927166788055353 Centerline is valid? [True, True] Translation: X:196.85, Y:-21.45, Z:-2.64 [[ 9.97724415e-01 6.70296761e-02 -7.28102376e-03 1.96851932e+02] [-6.70288892e-02 9.97750973e-01 3.52325534e-04 -2.14504830e+01] [ 7.28826480e-03 1.36515147e-04 9.99973431e-01 -2.63548208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93401273899997 meters Centerline goodness [0,1] 0.9925395340928413 Centerline is valid? [True, True] Translation: X:196.88, Y:-21.45, Z:-2.64 [[ 9.97713840e-01 6.71534786e-02 -7.58313347e-03 1.96880291e+02] [-6.71526321e-02 9.97742647e-01 3.66479536e-04 -2.14502466e+01] [ 7.59062604e-03 1.43585667e-04 9.99971180e-01 -2.63635123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96401273899997 meters Centerline goodness [0,1] 0.9924322945452999 Centerline is valid? [True, True] Translation: X:196.91, Y:-21.45, Z:-2.63 [[ 9.97868349e-01 6.49214593e-02 -6.63037671e-03 1.96907971e+02] [-6.49207652e-02 9.97890371e-01 3.20076976e-04 -2.14528548e+01] [ 6.63716894e-03 1.11054447e-04 9.99977968e-01 -2.63356177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99401273899997 meters Centerline goodness [0,1] 0.9928712787010832 Centerline is valid? [True, True] Translation: X:196.94, Y:-21.46, Z:-2.63 [[ 9.97985420e-01 6.31567438e-02 -6.02720510e-03 1.96936617e+02] [-6.31561399e-02 9.98003616e-01 2.90661437e-04 -2.14572450e+01] [ 6.03352971e-03 9.05791322e-05 9.99981794e-01 -2.63170953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02401273899997 meters Centerline goodness [0,1] 0.9939622969333681 Centerline is valid? [True, True] Translation: X:196.97, Y:-21.46, Z:-2.63 [[ 9.98238559e-01 5.90751299e-02 -5.46891452e-03 1.96965609e+02] [-5.90745726e-02 9.98253538e-01 2.63526384e-04 -2.14641915e+01] [ 5.47493112e-03 6.00115892e-05 9.99985011e-01 -2.63130781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05401273899997 meters Centerline goodness [0,1] 0.9946580743629966 Centerline is valid? [True, True] Translation: X:196.99, Y:-21.47, Z:-2.63 [[ 9.98360651e-01 5.69822040e-02 -5.38876595e-03 1.96994102e+02] [-5.69816331e-02 9.98375193e-01 2.59539253e-04 -2.14667876e+01] [ 5.39479936e-03 4.79469065e-05 9.99985447e-01 -2.63108308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08401273899997 meters Centerline goodness [0,1] 0.9951843491346878 Centerline is valid? [True, True] Translation: X:197.02, Y:-21.47, Z:-2.63 [[ 9.98473866e-01 5.49839840e-02 -5.16723858e-03 1.97023225e+02] [-5.49834329e-02 9.98487236e-01 2.48763746e-04 -2.14709854e+01] [ 5.17309979e-03 3.57284165e-05 9.99986619e-01 -2.62987399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11401273899997 meters Centerline goodness [0,1] 0.99608773730118 Centerline is valid? [True, True] Translation: X:197.05, Y:-21.47, Z:-2.63 [[ 9.98624893e-01 5.21966010e-02 -4.88244718e-03 1.97051914e+02] [-5.21960762e-02 9.98636828e-01 2.34941766e-04 -2.14717010e+01] [ 4.88805473e-03 2.02258890e-05 9.99988053e-01 -2.62925598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14401273899998 meters Centerline goodness [0,1] 0.9962466945321163 Centerline is valid? [True, True] Translation: X:197.08, Y:-21.47, Z:-2.63 [[ 9.98667739e-01 5.13532679e-02 -5.05856936e-03 1.97079514e+02] [-5.13526947e-02 9.98680550e-01 2.43224166e-04 -2.14714835e+01] [ 5.06438519e-03 1.68710403e-05 9.99987176e-01 -2.62962542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17401273899998 meters Centerline goodness [0,1] 0.9961227025405938 Centerline is valid? [True, True] Translation: X:197.11, Y:-21.47, Z:-2.63 [[ 9.98676348e-01 5.12204860e-02 -4.69194945e-03 1.97108236e+02] [-5.12199926e-02 9.98687369e-01 2.25349878e-04 -2.14723421e+01] [ 4.69733319e-03 1.52700231e-05 9.99988967e-01 -2.62925935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20401273899998 meters Centerline goodness [0,1] 0.9959317045725044 Centerline is valid? [True, True] Translation: X:197.14, Y:-21.47, Z:-2.63 [[ 9.98683459e-01 5.10878297e-02 -4.62417860e-03 1.97136668e+02] [-5.10873500e-02 9.98694164e-01 2.21881656e-04 -2.14733953e+01] [ 4.62947564e-03 1.46474913e-05 9.99989284e-01 -2.62863828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23401273899998 meters Centerline goodness [0,1] 0.9963404658371723 Centerline is valid? [True, True] Translation: X:197.17, Y:-21.47, Z:-2.63 [[ 9.98690623e-01 5.08777044e-02 -5.33833655e-03 1.97165257e+02] [-5.08770636e-02 9.98704891e-01 2.55865111e-04 -2.14718083e+01] [ 5.34444065e-03 1.60688014e-05 9.99985718e-01 -2.62975821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26401273899998 meters Centerline goodness [0,1] 0.9964836757309692 Centerline is valid? [True, True] Translation: X:197.19, Y:-21.47, Z:-2.63 [[ 9.98692328e-01 5.08089334e-02 -5.66450236e-03 1.97193196e+02] [-5.08082124e-02 9.98708392e-01 2.71205066e-04 -2.14714419e+01] [ 5.67096568e-03 1.69528198e-05 9.99983920e-01 -2.63061187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29401273899998 meters Centerline goodness [0,1] 0.9961753771206359 Centerline is valid? [True, True] Translation: X:197.22, Y:-21.47, Z:-2.63 [[ 9.98716186e-01 5.03617575e-02 -5.44726260e-03 1.97221941e+02] [-5.03610857e-02 9.98731041e-01 2.60506509e-04 -2.14725229e+01] [ 5.45346982e-03 1.41579913e-05 9.99985130e-01 -2.63066035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32401273899998 meters Centerline goodness [0,1] 0.9972138279860263 Centerline is valid? [True, True] Translation: X:197.25, Y:-21.48, Z:-2.63 [[ 9.98877724e-01 4.71031163e-02 -4.95878007e-03 1.97251289e+02] [-4.71025204e-02 9.98890032e-01 2.36943318e-04 -2.14793470e+01] [ 4.96443675e-03 -3.10636338e-06 9.99987677e-01 -2.63098250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35401273899998 meters Centerline goodness [0,1] 0.996710034395095 Centerline is valid? [True, True] Translation: X:197.28, Y:-21.48, Z:-2.63 [[ 9.99007139e-01 4.42956463e-02 -4.75721406e-03 1.97278445e+02] [-4.42950666e-02 9.99018466e-01 2.27193349e-04 -2.14846125e+01] [ 4.76260837e-03 -1.62466645e-05 9.99988659e-01 -2.63043705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38401273899999 meters Centerline goodness [0,1] 0.995583864118896 Centerline is valid? [True, True] Translation: X:197.31, Y:-21.49, Z:-2.63 [[ 9.99231889e-01 3.88689246e-02 -4.98378731e-03 1.97306386e+02] [-3.88682225e-02 9.99244317e-01 2.37694073e-04 -2.14941716e+01] [ 4.98926006e-03 -4.38005436e-05 9.99987553e-01 -2.63024049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.414012739 meters Centerline goodness [0,1] 0.9949782174818121 Centerline is valid? [True, True] Translation: X:197.34, Y:-21.50, Z:-2.63 [[ 9.99338459e-01 3.60822890e-02 -4.55116030e-03 1.97335494e+02] [-3.60816752e-02 9.99348821e-01 2.16916542e-04 -2.15000288e+01] [ 4.55602352e-03 -5.25595553e-05 9.99989620e-01 -2.62979761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.444012739 meters Centerline goodness [0,1] 0.9926108374384236 Centerline is valid? [True, True] Translation: X:197.36, Y:-21.52, Z:-2.63 [[ 9.99545413e-01 2.98305708e-02 -4.37093755e-03 1.97363634e+02] [-2.98299454e-02 9.99554966e-01 2.08222181e-04 -2.15150886e+01] [ 4.37520373e-03 -7.77426972e-05 9.99990426e-01 -2.62984124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.474012739 meters Centerline goodness [0,1] 0.9914496780168423 Centerline is valid? [True, True] Translation: X:197.39, Y:-21.52, Z:-2.63 [[ 9.99616391e-01 2.73370002e-02 -4.44519926e-03 1.97392251e+02] [-2.73363283e-02 9.99626270e-01 2.11844854e-04 -2.15216344e+01] [ 4.44932916e-03 -9.02481622e-05 9.99990098e-01 -2.62951101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.504012739 meters Centerline goodness [0,1] 0.9912461928393431 Centerline is valid? [True, True] Translation: X:197.42, Y:-21.52, Z:-2.63 [[ 9.99646180e-01 2.61579348e-02 -4.82468990e-03 1.97421929e+02] [-2.61571302e-02 9.99657817e-01 2.29808558e-04 -2.15235858e+01] [ 4.82905030e-03 -1.03527205e-04 9.99988335e-01 -2.62889921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.534012739 meters Centerline goodness [0,1] 0.9916090502386712 Centerline is valid? [True, True] Translation: X:197.45, Y:-21.53, Z:-2.63 [[ 9.99624917e-01 2.67963518e-02 -5.65519374e-03 1.97451038e+02] [-2.67952574e-02 9.99640906e-01 2.69217684e-04 -2.15253301e+01] [ 5.66037705e-03 -1.17584333e-04 9.99983973e-01 -2.62948248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.564012739 meters Centerline goodness [0,1] 0.9935140243116705 Centerline is valid? [True, True] Translation: X:197.48, Y:-21.53, Z:-2.63 [[ 9.99588135e-01 2.78957493e-02 -6.73700947e-03 1.97480462e+02] [-2.78942223e-02 9.99610829e-01 3.20541544e-04 -2.15253905e+01] [ 6.74332937e-03 -1.32485885e-04 9.99977255e-01 -2.63143554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.594012739 meters Centerline goodness [0,1] 0.994316967910097 Centerline is valid? [True, True] Translation: X:197.51, Y:-21.53, Z:-2.63 [[ 9.99550887e-01 2.88551537e-02 -8.08729803e-03 1.97508766e+02] [-2.88529870e-02 9.99583592e-01 3.84492709e-04 -2.15268887e+01] [ 8.09502501e-03 -1.50977323e-04 9.99967223e-01 -2.63384246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.624012739 meters Centerline goodness [0,1] 0.9937213128951242 Centerline is valid? [True, True] Translation: X:197.54, Y:-21.52, Z:-2.63 [[ 9.99507914e-01 3.03485972e-02 -7.93042778e-03 1.97538082e+02] [-3.03465636e-02 9.99539366e-01 3.76668867e-04 -2.15242384e+01] [ 7.93820613e-03 -1.35822283e-04 9.99968483e-01 -2.63338040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.654012739 meters Centerline goodness [0,1] 0.9932713666458194 Centerline is valid? [True, True] Translation: X:197.57, Y:-21.52, Z:-2.63 [[ 9.99498626e-01 3.09933326e-02 -6.47372638e-03 1.97567057e+02] [-3.09919927e-02 9.99519586e-01 3.07214651e-04 -2.15221176e+01] [ 6.48013791e-03 -1.06426941e-04 9.99978998e-01 -2.63034231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68401273899997 meters Centerline goodness [0,1] 0.9930362712009227 Centerline is valid? [True, True] Translation: X:197.60, Y:-21.52, Z:-2.63 [[ 9.99472439e-01 3.21836814e-02 -4.36517309e-03 1.97595469e+02] [-3.21830841e-02 9.99481969e-01 2.07011043e-04 -2.15233175e+01] [ 4.36957417e-03 -6.64170997e-05 9.99990451e-01 -2.62598368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71401273899997 meters Centerline goodness [0,1] 0.9940924657534247 Centerline is valid? [True, True] Translation: X:197.62, Y:-21.53, Z:-2.63 [[ 9.99477890e-01 3.19531185e-02 -4.79025747e-03 1.97623742e+02] [-3.19523975e-02 9.99489366e-01 2.26984495e-04 -2.15253021e+01] [ 4.79506427e-03 -7.38057734e-05 9.99988501e-01 -2.62677929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74401273899997 meters Centerline goodness [0,1] 0.9935323062377791 Centerline is valid? [True, True] Translation: X:197.65, Y:-21.53, Z:-2.63 [[ 9.99504600e-01 3.08382024e-02 -6.28959954e-03 1.97653334e+02] [-3.08369387e-02 9.99524384e-01 2.97820628e-04 -2.15275699e+01] [ 6.29579236e-03 -1.03721092e-04 9.99980176e-01 -2.62719654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77401273899997 meters Centerline goodness [0,1] 0.9941313301606949 Centerline is valid? [True, True] Translation: X:197.68, Y:-21.53, Z:-2.64 [[ 9.99563673e-01 2.80867983e-02 -9.14310317e-03 1.97681486e+02] [-2.80840161e-02 9.99605473e-01 4.32566903e-04 -2.15327831e+01] [ 9.15164539e-03 -1.75603106e-04 9.99958107e-01 -2.63606075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80401273899997 meters Centerline goodness [0,1] 0.9941118743866536 Centerline is valid? [True, True] Translation: X:197.71, Y:-21.54, Z:-2.64 [[ 9.99600630e-01 2.67523419e-02 -9.10455308e-03 1.97710612e+02] [-2.67495317e-02 9.99642075e-01 4.30319501e-04 -2.15359236e+01] [ 9.11280639e-03 -1.86605113e-04 9.99958460e-01 -2.63567963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83401273899997 meters Centerline goodness [0,1] 0.9925012354698008 Centerline is valid? [True, True] Translation: X:197.74, Y:-21.54, Z:-2.63 [[ 9.99666774e-01 2.48657982e-02 -6.93063784e-03 1.97739009e+02] [-2.48641264e-02 9.99690786e-01 3.27298532e-04 -2.15409434e+01] [ 6.93663333e-03 -1.54865212e-04 9.99975929e-01 -2.63071196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86401273899997 meters Centerline goodness [0,1] 0.9916421907394609 Centerline is valid? [True, True] Translation: X:197.77, Y:-21.54, Z:-2.63 [[ 9.99687037e-01 2.41872650e-02 -6.38786224e-03 1.97767772e+02] [-2.41858327e-02 9.99707435e-01 3.01384461e-04 -2.15439430e+01] [ 6.39328304e-03 -1.46794371e-04 9.99979552e-01 -2.62992132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89401273899998 meters Centerline goodness [0,1] 0.9917593737124022 Centerline is valid? [True, True] Translation: X:197.80, Y:-21.55, Z:-2.63 [[ 9.99701196e-01 2.34847283e-02 -6.78133594e-03 1.97796242e+02] [-2.34831002e-02 9.99724183e-01 3.19620045e-04 -2.15468740e+01] [ 6.78697172e-03 -1.60277750e-04 9.99976955e-01 -2.63022956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92401273899998 meters Centerline goodness [0,1] 0.9916508295786979 Centerline is valid? [True, True] Translation: X:197.82, Y:-21.55, Z:-2.63 [[ 9.99711339e-01 2.27243792e-02 -7.80004166e-03 1.97824189e+02] [-2.27222038e-02 9.99741750e-01 3.67410948e-04 -2.15526229e+01] [ 7.80637648e-03 -1.90070754e-04 9.99969512e-01 -2.63160844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95401273899998 meters Centerline goodness [0,1] 0.9913689453795946 Centerline is valid? [True, True] Translation: X:197.85, Y:-21.55, Z:-2.63 [[ 9.99715131e-01 2.27525172e-02 -7.20975383e-03 1.97852832e+02] [-2.27506600e-02 9.99741113e-01 3.39503101e-04 -2.15546433e+01] [ 7.21561186e-03 -1.75379729e-04 9.99973952e-01 -2.63021604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98401273899998 meters Centerline goodness [0,1] 0.9899675546448088 Centerline is valid? [True, True] Translation: X:197.88, Y:-21.56, Z:-2.62 [[ 9.99737426e-01 2.25296295e-02 -4.18256722e-03 1.97880134e+02] [-2.25290030e-02 9.99746170e-01 1.96852475e-04 -2.15628514e+01] [ 4.18594057e-03 -1.02571717e-04 9.99991234e-01 -2.62443465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01401273899998 meters Centerline goodness [0,1] 0.9903112091524471 Centerline is valid? [True, True] Translation: X:197.91, Y:-21.57, Z:-2.62 [[ 9.99760166e-01 2.15651346e-02 -3.81518485e-03 1.97909602e+02] [-2.15646072e-02 9.99767441e-01 1.79342510e-04 -2.15682971e+01] [ 3.81816514e-03 -9.70265349e-05 9.99992706e-01 -2.62412955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04401273899998 meters Centerline goodness [0,1] 0.990538308052093 Centerline is valid? [True, True] Translation: X:197.94, Y:-21.57, Z:-2.63 [[ 9.99779435e-01 2.03294754e-02 -5.27192360e-03 1.97939447e+02] [-2.03284519e-02 9.99793325e-01 2.47670202e-04 -2.15718417e+01] [ 5.27586903e-03 -1.40445529e-04 9.99986073e-01 -2.62680982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07401273899998 meters Centerline goodness [0,1] 0.9908478967150107 Centerline is valid? [True, True] Translation: X:197.97, Y:-21.59, Z:-2.64 [[ 9.99775756e-01 1.86175985e-02 -1.00906970e-02 1.97967215e+02] [-1.86137643e-02 9.99826637e-01 4.73762338e-04 -2.15869533e+01] [ 1.00977680e-02 -2.85830244e-04 9.99948975e-01 -2.63603495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10401273899998 meters Centerline goodness [0,1] 0.991649851886833 Centerline is valid? [True, True] Translation: X:198.00, Y:-21.59, Z:-2.63 [[ 9.99769028e-01 1.93941416e-02 -9.26052369e-03 1.97995317e+02] [-1.93909490e-02 9.99811883e-01 4.34423381e-04 -2.15942530e+01] [ 9.26720690e-03 -2.54752699e-04 9.99957026e-01 -2.63290488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13401273899999 meters Centerline goodness [0,1] 0.9906933757468942 Centerline is valid? [True, True] Translation: X:198.02, Y:-21.60, Z:-2.63 [[ 9.99751975e-01 2.08361479e-02 -7.86407092e-03 1.98022469e+02] [-2.08338931e-02 9.99782883e-01 3.68539579e-04 -2.16010361e+01] [ 7.87004244e-03 -2.04608959e-04 9.99969010e-01 -2.63064916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.164012739 meters Centerline goodness [0,1] 0.9907632161192619 Centerline is valid? [True, True] Translation: X:198.05, Y:-21.60, Z:-2.63 [[ 9.99715725e-01 2.27817550e-02 -7.03285435e-03 1.98051882e+02] [-2.27800020e-02 9.99740448e-01 3.29266445e-04 -2.16023710e+01] [ 7.03853022e-03 -1.68964407e-04 9.99975215e-01 -2.62876681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.194012739 meters Centerline goodness [0,1] 0.9920798824756755 Centerline is valid? [True, True] Translation: X:198.08, Y:-21.60, Z:-2.63 [[ 9.99653039e-01 2.54431834e-02 -6.81518191e-03 1.98080069e+02] [-2.54416006e-02 9.99676259e-01 3.18851670e-04 -2.16034612e+01] [ 6.82108816e-03 -1.45351905e-04 9.99976726e-01 -2.62796883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.224012739 meters Centerline goodness [0,1] 0.9946492016608878 Centerline is valid? [True, True] Translation: X:198.11, Y:-21.60, Z:-2.63 [[ 9.99418308e-01 3.34454892e-02 -6.66668358e-03 1.98110256e+02] [-3.34441537e-02 9.99440539e-01 3.11731728e-04 -2.15953251e+01] [ 6.67337985e-03 -8.85888057e-05 9.99977729e-01 -2.62639441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.254012739 meters Centerline goodness [0,1] 0.9969528550889466 Centerline is valid? [True, True] Translation: X:198.14, Y:-21.58, Z:-2.62 [[ 9.99057059e-01 4.30552822e-02 -5.58883813e-03 1.98140456e+02] [-4.30544943e-02 9.99072691e-01 2.61274645e-04 -2.15843140e+01] [ 5.59490480e-03 -2.04036799e-05 9.99984348e-01 -2.62383836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.284012739 meters Centerline goodness [0,1] 0.9970448795628973 Centerline is valid? [True, True] Translation: X:198.17, Y:-21.58, Z:-2.62 [[ 9.98876295e-01 4.70971729e-02 -5.29192247e-03 1.98169244e+02] [-4.70965236e-02 9.98890312e-01 2.47315683e-04 -2.15796375e+01] [ 5.29769795e-03 2.19337797e-06 9.99985967e-01 -2.62359423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.314012739 meters Centerline goodness [0,1] 0.9962116347759086 Centerline is valid? [True, True] Translation: X:198.20, Y:-21.58, Z:-2.62 [[ 9.98731134e-01 5.00194909e-02 -5.84566216e-03 1.98198903e+02] [-5.00187499e-02 9.98748242e-01 2.72986363e-04 -2.15766309e+01] [ 5.85199944e-03 1.97527340e-05 9.99982877e-01 -2.62444741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.344012739 meters Centerline goodness [0,1] 0.9955925352597179 Centerline is valid? [True, True] Translation: X:198.23, Y:-21.57, Z:-2.63 [[ 9.98593493e-01 5.26090324e-02 -6.58216803e-03 1.98227804e+02] [-5.26081504e-02 9.98615185e-01 3.07184912e-04 -2.15739826e+01] [ 6.58921364e-03 3.95228310e-05 9.99978290e-01 -2.62558539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.374012739 meters Centerline goodness [0,1] 0.9947116108089515 Centerline is valid? [True, True] Translation: X:198.26, Y:-21.57, Z:-2.62 [[ 9.98395525e-01 5.61810525e-02 -7.07564547e-03 1.98257471e+02] [-5.61801246e-02 9.98420595e-01 3.29982450e-04 -2.15681919e+01] [ 7.08300892e-03 6.80576420e-05 9.99974913e-01 -2.62483253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.404012739 meters Centerline goodness [0,1] 0.9940397912866415 Centerline is valid? [True, True] Translation: X:198.29, Y:-21.56, Z:-2.62 [[ 9.98256430e-01 5.87769605e-02 -5.41931087e-03 1.98287884e+02] [-5.87764550e-02 9.98271138e-01 2.52635252e-04 -2.15616382e+01] [ 5.42479076e-03 6.63331172e-05 9.99985284e-01 -2.62184417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43401273899997 meters Centerline goodness [0,1] 0.9926533768688778 Centerline is valid? [True, True] Translation: X:198.32, Y:-21.56, Z:-2.62 [[ 9.98157939e-01 6.04860368e-02 -4.70829583e-03 1.98316507e+02] [-6.04856747e-02 9.98169041e-01 2.19391170e-04 -2.15574839e+01] [ 4.71294524e-03 6.57974118e-05 9.99988892e-01 -2.62087564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46401273899997 meters Centerline goodness [0,1] 0.9926533768688778 Centerline is valid? [True, True] Translation: X:198.35, Y:-21.56, Z:-2.62 [[ 9.98159308e-01 6.04634401e-02 -4.70830331e-03 1.98345646e+02] [-6.04630786e-02 9.98170410e-01 2.19230621e-04 -2.15587952e+01] [ 4.71294448e-03 6.58514280e-05 9.99988892e-01 -2.62074432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49401273899997 meters Centerline goodness [0,1] 0.9917485011925994 Centerline is valid? [True, True] Translation: X:198.38, Y:-21.56, Z:-2.62 [[ 9.98029554e-01 6.25902456e-02 -4.41265051e-03 1.98375737e+02] [-6.25899492e-02 9.98039306e-01 2.05370657e-04 -2.15563564e+01] [ 4.41685285e-03 7.12215861e-05 9.99990243e-01 -2.62042919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52401273899997 meters Centerline goodness [0,1] 0.9915813621312788 Centerline is valid? [True, True] Translation: X:198.40, Y:-21.55, Z:-2.62 [[ 9.97840868e-01 6.54768687e-02 -5.13628095e-03 1.98404967e+02] [-6.54765061e-02 9.97854083e-01 2.38902676e-04 -2.15487632e+01] [ 5.14090151e-03 9.79188777e-05 9.99986781e-01 -2.62142594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55401273899997 meters Centerline goodness [0,1] 0.9909443171843891 Centerline is valid? [True, True] Translation: X:198.44, Y:-21.53, Z:-2.63 [[ 9.97397476e-01 7.16355647e-02 -8.16210135e-03 1.98436041e+02] [-7.16348575e-02 9.97430851e-01 3.79333286e-04 -2.15331252e+01] [ 8.16830546e-03 2.06344905e-04 9.99966618e-01 -2.62590353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58401273899997 meters Centerline goodness [0,1] 0.9905541157067278 Centerline is valid? [True, True] Translation: X:198.47, Y:-21.53, Z:-2.63 [[ 9.97215535e-01 7.40078555e-02 -9.16591943e-03 1.98465546e+02] [-7.40070664e-02 9.97257626e-01 4.25706820e-04 -2.15268718e+01] [ 9.17228870e-03 2.53821353e-04 9.99957901e-01 -2.62702086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61401273899997 meters Centerline goodness [0,1] 0.9898508877779694 Centerline is valid? [True, True] Translation: X:198.50, Y:-21.52, Z:-2.63 [[ 9.97070840e-01 7.61017694e-02 -7.63289102e-03 1.98495138e+02] [-7.61012858e-02 9.97100030e-01 3.54201213e-04 -2.15175323e+01] [ 7.63771120e-03 2.27709120e-04 9.99970806e-01 -2.62502314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64401273899998 meters Centerline goodness [0,1] 0.9889346976267276 Centerline is valid? [True, True] Translation: X:198.52, Y:-21.51, Z:-2.62 [[ 9.97079303e-01 7.61362398e-02 -6.01134189e-03 1.98523119e+02] [-7.61359420e-02 9.97097408e-01 2.78705237e-04 -2.15119755e+01] [ 6.01511298e-03 1.79787953e-04 9.99981893e-01 -2.62251736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67401273899998 meters Centerline goodness [0,1] 0.9890367716065183 Centerline is valid? [True, True] Translation: X:198.55, Y:-21.51, Z:-2.62 [[ 9.97130373e-01 7.55336348e-02 -5.06838329e-03 1.98551537e+02] [-7.55334165e-02 9.97143243e-01 2.34743525e-04 -2.15122370e+01] [ 5.07163519e-03 1.48762407e-04 9.99987128e-01 -2.62034777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70401273899998 meters Centerline goodness [0,1] 0.9898948635806584 Centerline is valid? [True, True] Translation: X:198.58, Y:-21.51, Z:-2.62 [[ 9.97306112e-01 7.32070945e-02 -4.60861289e-03 1.98581083e+02] [-7.32068901e-02 9.97316753e-01 2.13257936e-04 -2.15094697e+01] [ 4.61185884e-03 1.24698775e-04 9.99989358e-01 -2.62017277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73401273899998 meters Centerline goodness [0,1] 0.9906510065678283 Centerline is valid? [True, True] Translation: X:198.61, Y:-21.51, Z:-2.62 [[ 9.97447041e-01 7.12146322e-02 -5.27989597e-03 1.98609999e+02] [-7.12143371e-02 9.97461006e-01 2.44107486e-04 -2.15102466e+01] [ 5.28387437e-03 1.32520002e-04 9.99986031e-01 -2.62077927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76401273899998 meters Centerline goodness [0,1] 0.9908629008155074 Centerline is valid? [True, True] Translation: X:198.64, Y:-21.51, Z:-2.62 [[ 9.97745203e-01 6.68838365e-02 -5.57333772e-03 1.98638528e+02] [-6.68834416e-02 9.97760762e-01 2.57418441e-04 -2.15082647e+01] [ 5.57807483e-03 1.15925993e-04 9.99984436e-01 -2.62077345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79401273899998 meters Centerline goodness [0,1] 0.9919009977970714 Centerline is valid? [True, True] Translation: X:198.67, Y:-21.51, Z:-2.62 [[ 9.97834187e-01 6.55419538e-02 -5.58458447e-03 1.98666852e+02] [-6.55415375e-02 9.97849809e-01 2.57731085e-04 -2.15110002e+01] [ 5.58946874e-03 1.08849365e-04 9.99984373e-01 -2.62058530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82401273899998 meters Centerline goodness [0,1] 0.9922001249703734 Centerline is valid? [True, True] Translation: X:198.70, Y:-21.51, Z:-2.62 [[ 9.97873021e-01 6.48672586e-02 -6.45540506e-03 1.98695645e+02] [-6.48666904e-02 9.97893894e-01 2.97582368e-04 -2.15097622e+01] [ 6.46111265e-03 1.21791345e-04 9.99979119e-01 -2.62113917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85401273899998 meters Centerline goodness [0,1] 0.9927567381679061 Centerline is valid? [True, True] Translation: X:198.72, Y:-21.50, Z:-2.62 [[ 9.97922210e-01 6.40396851e-02 -7.08386514e-03 1.98723974e+02] [-6.40389827e-02 9.97947344e-01 3.26165884e-04 -2.15024159e+01] [ 7.09021196e-03 1.28155337e-04 9.99974856e-01 -2.62287996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88401273899999 meters Centerline goodness [0,1] 0.992342178081898 Centerline is valid? [True, True] Translation: X:198.75, Y:-21.50, Z:-2.62 [[ 9.97994410e-01 6.30502801e-02 -5.64088870e-03 1.98752404e+02] [-6.30498204e-02 9.98010347e-01 2.59449818e-04 -2.14975072e+01] [ 5.64602368e-03 9.67275521e-05 9.99984056e-01 -2.62015124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.914012739 meters Centerline goodness [0,1] 0.9913752615174416 Centerline is valid? [True, True] Translation: X:198.78, Y:-21.50, Z:-2.62 [[ 9.97996642e-01 6.30779660e-02 -4.88603465e-03 1.98781679e+02] [-6.30776226e-02 9.98008599e-01 2.24493981e-04 -2.14960085e+01] [ 4.89046522e-03 8.41552111e-05 9.99988038e-01 -2.61797238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.944012739 meters Centerline goodness [0,1] 0.9914522572054465 Centerline is valid? [True, True] Translation: X:198.81, Y:-21.49, Z:-2.62 [[ 9.97973152e-01 6.34657753e-02 -4.65660490e-03 1.98809938e+02] [-6.34654686e-02 9.97984012e-01 2.13753969e-04 -2.14930833e+01] [ 4.66078330e-03 8.22128897e-05 9.99989135e-01 -2.61685244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.974012739 meters Centerline goodness [0,1] 0.991176533884262 Centerline is valid? [True, True] Translation: X:198.84, Y:-21.48, Z:-2.62 [[ 9.97925952e-01 6.41673448e-02 -5.13278216e-03 1.98838770e+02] [-6.41669829e-02 9.97939148e-01 2.35311501e-04 -2.14849743e+01] [ 5.13730357e-03 9.45316909e-05 9.99986800e-01 -2.61779631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.004012739 meters Centerline goodness [0,1] 0.9915109995319348 Centerline is valid? [True, True] Translation: X:198.87, Y:-21.48, Z:-2.62 [[ 9.97928392e-01 6.40940261e-02 -5.55697904e-03 1.98867698e+02] [-6.40936023e-02 9.97943859e-01 2.54498862e-04 -2.14819509e+01] [ 5.56186496e-03 1.02195165e-04 9.99984527e-01 -2.61863962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.034012739 meters Centerline goodness [0,1] 0.9922038656732535 Centerline is valid? [True, True] Translation: X:198.90, Y:-21.48, Z:-2.62 [[ 9.98000857e-01 6.29971465e-02 -5.06444039e-03 1.98896826e+02] [-6.29967814e-02 9.98013703e-01 2.31736302e-04 -2.14809942e+01] [ 5.06897964e-03 8.77704162e-05 9.99987149e-01 -2.61791566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.064012739 meters Centerline goodness [0,1] 0.9921180361668314 Centerline is valid? [True, True] Translation: X:198.93, Y:-21.48, Z:-2.62 [[ 9.98104093e-01 6.13731286e-02 -4.64310287e-03 1.98925424e+02] [-6.13728051e-02 9.98114890e-01 2.12261084e-04 -2.14823467e+01] [ 4.64737724e-03 7.31015913e-05 9.99989198e-01 -2.61664044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.094012739 meters Centerline goodness [0,1] 0.9928390720809571 Centerline is valid? [True, True] Translation: X:198.95, Y:-21.48, Z:-2.62 [[ 9.98233639e-01 5.92333484e-02 -4.58403302e-03 1.98953797e+02] [-5.92330115e-02 9.98244162e-01 2.09350179e-04 -2.14829996e+01] [ 4.58838472e-03 6.25456902e-05 9.99989471e-01 -2.61628664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.124012739 meters Centerline goodness [0,1] 0.9943796304181214 Centerline is valid? [True, True] Translation: X:198.98, Y:-21.48, Z:-2.62 [[ 9.98512038e-01 5.42538439e-02 -5.49827988e-03 1.98981521e+02] [-5.42532854e-02 9.98527174e-01 2.50796888e-04 -2.14825742e+01] [ 5.50378856e-03 4.78760352e-05 9.99984853e-01 -2.61862400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.154012739 meters Centerline goodness [0,1] 0.9957356076759062 Centerline is valid? [True, True] Translation: X:199.01, Y:-21.49, Z:-2.62 [[ 9.98666341e-01 5.12893483e-02 -5.91118505e-03 1.99010573e+02] [-5.12886528e-02 9.98683835e-01 2.69296186e-04 -2.14855350e+01] [ 5.91721698e-03 3.42396811e-05 9.99982493e-01 -2.61963350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18401273899997 meters Centerline goodness [0,1] 0.9981148837511646 Centerline is valid? [True, True] Translation: X:199.04, Y:-21.49, Z:-2.62 [[ 9.98996724e-01 4.43410057e-02 -6.27859267e-03 1.99038540e+02] [-4.43400854e-02 9.99016454e-01 2.85757505e-04 -2.14937162e+01] [ 6.28508816e-03 -7.07747578e-06 9.99980249e-01 -2.62096068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21401273899997 meters Centerline goodness [0,1] 0.9979061618665072 Centerline is valid? [True, True] Translation: X:199.07, Y:-21.50, Z:-2.62 [[ 9.99164575e-01 4.02965386e-02 -6.80745203e-03 1.99067447e+02] [-4.02953650e-02 9.99187764e-01 3.09525871e-04 -2.15006071e+01] [ 6.81439559e-03 -3.49585213e-05 9.99976781e-01 -2.62142305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24401273899997 meters Centerline goodness [0,1] 0.9974163517178058 Centerline is valid? [True, True] Translation: X:199.10, Y:-21.51, Z:-2.62 [[ 9.99316505e-01 3.62115249e-02 -7.43291801e-03 1.99096009e+02] [-3.62100152e-02 9.99344145e-01 3.37624484e-04 -2.15056073e+01] [ 7.44026899e-03 -6.82476454e-05 9.99972318e-01 -2.62108031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27401273899997 meters Centerline goodness [0,1] 0.9961285327138986 Centerline is valid? [True, True] Translation: X:199.12, Y:-21.52, Z:-2.62 [[ 9.99559859e-01 2.84820623e-02 -8.29820163e-03 1.99124187e+02] [-2.84799173e-02 9.99594294e-01 3.76568192e-04 -2.15190117e+01] [ 8.30556044e-03 -1.40070353e-04 9.99965498e-01 -2.62237672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30401273899997 meters Centerline goodness [0,1] 0.9902539493799898 Centerline is valid? [True, True] Translation: X:199.15, Y:-21.54, Z:-2.62 [[ 9.99773723e-01 2.03643889e-02 -6.14767722e-03 1.99152555e+02] [-2.03630589e-02 9.99792613e-01 2.78867005e-04 -2.15404409e+01] [ 6.15208123e-03 -1.53618391e-04 9.99981064e-01 -2.61924783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33401273899997 meters Centerline goodness [0,1] 0.9914465786314526 Centerline is valid? [True, True] Translation: X:199.18, Y:-21.54, Z:-2.62 [[ 9.99849498e-01 1.66324976e-02 -4.93373891e-03 1.99181945e+02] [-1.66315956e-02 9.99861660e-01 2.23789689e-04 -2.15382514e+01] [ 4.93677856e-03 -1.41700058e-04 9.99987804e-01 -2.61657684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36401273899997 meters Centerline goodness [0,1] 0.9779363220104356 Centerline is valid? [True, True] Translation: X:199.21, Y:-21.56, Z:-2.61 [[ 9.99897300e-01 1.36875430e-02 -4.24744564e-03 1.99209382e+02] [-1.36868485e-02 9.99906312e-01 1.92538037e-04 -2.15592892e+01] [ 4.24968308e-03 -1.34384118e-04 9.99990961e-01 -2.61453798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39401273899998 meters Centerline goodness [0,1] 0.9895238095238095 Centerline is valid? [True, True] Translation: X:199.24, Y:-21.55, Z:-2.61 [[ 9.99931033e-01 1.10929834e-02 -3.85692233e-03 1.99239313e+02] [-1.10923921e-02 9.99938462e-01 1.74664218e-04 -2.15529162e+01] [ 3.85862253e-03 -1.31869677e-04 9.99992547e-01 -2.61339489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42401273899998 meters Centerline goodness [0,1] 0.983592584700618 Centerline is valid? [True, True] Translation: X:199.27, Y:-21.57, Z:-2.61 [[ 9.99963034e-01 7.03804805e-03 -4.93919599e-03 1.99268324e+02] [-7.03702964e-03 9.99975215e-01 2.23538057e-04 -2.15667372e+01] [ 4.94064684e-03 -1.88772525e-04 9.99987777e-01 -2.61430450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45401273899998 meters Centerline goodness [0,1] 0.9623599701269604 Centerline is valid? [True, True] Translation: X:199.30, Y:-21.58, Z:-2.62 [[ 9.99960180e-01 5.21758334e-03 -7.23979982e-03 1.99296538e+02] [-5.21534881e-03 9.99986346e-01 3.27489942e-04 -2.15832355e+01] [ 7.24140968e-03 -2.89718820e-04 9.99973739e-01 -2.61949379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48401273899998 meters Centerline goodness [0,1] 0.9780652418447694 Centerline is valid? [True, True] Translation: X:199.33, Y:-21.59, Z:-2.62 [[ 9.99959905e-01 5.70340870e-03 -6.90356277e-03 1.99325530e+02] [-5.70139023e-03 9.99983698e-01 3.12024967e-04 -2.15851275e+01] [ 6.90522983e-03 -2.72652551e-04 9.99976121e-01 -2.61870854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51401273899998 meters Centerline goodness [0,1] 0.9842016661630768 Centerline is valid? [True, True] Translation: X:199.35, Y:-21.59, Z:-2.62 [[ 9.99955763e-01 7.52088618e-03 -5.64867323e-03 1.99354183e+02] [-7.51956504e-03 9.99971695e-01 2.55087592e-04 -2.15882892e+01] [ 5.65043183e-03 -2.12600742e-04 9.99984014e-01 -2.61554027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54401273899998 meters Centerline goodness [0,1] 0.9901429063360881 Centerline is valid? [True, True] Translation: X:199.38, Y:-21.59, Z:-2.61 [[ 9.99895655e-01 1.40224696e-02 -3.47133862e-03 1.99384705e+02] [-1.40220102e-02 9.99901675e-01 1.56642761e-04 -2.15866244e+01] [ 3.47319381e-03 -1.07951270e-04 9.99993963e-01 -2.61088432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57401273899998 meters Centerline goodness [0,1] 0.9914513515818197 Centerline is valid? [True, True] Translation: X:199.41, Y:-21.58, Z:-2.61 [[ 9.99824091e-01 1.84007675e-02 -3.63309996e-03 1.99414642e+02] [-1.84002932e-02 9.99830687e-01 1.63927839e-04 -2.15845309e+01] [ 3.63550122e-03 -9.70488985e-05 9.99993387e-01 -2.61106934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60401273899998 meters Centerline goodness [0,1] 0.9955547993279027 Centerline is valid? [True, True] Translation: X:199.44, Y:-21.58, Z:-2.61 [[ 9.99566958e-01 2.89159012e-02 -5.45594561e-03 1.99443395e+02] [-2.89149887e-02 9.99581844e-01 2.46071387e-04 -2.15801828e+01] [ 5.46077955e-03 -8.82062216e-05 9.99985086e-01 -2.61426622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63401273899999 meters Centerline goodness [0,1] 0.9976201100699092 Centerline is valid? [True, True] Translation: X:199.47, Y:-21.58, Z:-2.62 [[ 9.99387742e-01 3.43183026e-02 -6.81141635e-03 1.99473857e+02] [-3.43170070e-02 9.99410951e-01 3.07020835e-04 -2.15752326e+01] [ 6.81794053e-03 -7.30854360e-05 9.99976755e-01 -2.61668020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.664012739 meters Centerline goodness [0,1] 0.9987710749859859 Centerline is valid? [True, True] Translation: X:199.50, Y:-21.57, Z:-2.62 [[ 9.99183996e-01 3.97064812e-02 -7.39850941e-03 1.99503455e+02] [-3.97051015e-02 9.99211386e-01 3.33329135e-04 -2.15691324e+01] [ 7.40591016e-03 -3.92985706e-05 9.99972575e-01 -2.61770792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.694012739 meters Centerline goodness [0,1] 0.9985650954104469 Centerline is valid? [True, True] Translation: X:199.53, Y:-21.56, Z:-2.62 [[ 9.98962545e-01 4.49258878e-02 -7.44978200e-03 1.99532521e+02] [-4.49246362e-02 9.98990323e-01 3.35342778e-04 -2.15632586e+01] [ 7.45732570e-03 -3.16128632e-07 9.99972194e-01 -2.61746623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.724012739 meters Centerline goodness [0,1] 0.9958487481717284 Centerline is valid? [True, True] Translation: X:199.56, Y:-21.55, Z:-2.62 [[ 9.98582275e-01 5.28060795e-02 -6.70507748e-03 1.99560933e+02] [-5.28052454e-02 9.98604784e-01 3.01499123e-04 -2.15546471e+01] [ 6.71164344e-03 5.29915819e-05 9.99977475e-01 -2.61620217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.754012739 meters Centerline goodness [0,1] 0.9933771967794996 Centerline is valid? [True, True] Translation: X:199.59, Y:-21.55, Z:-2.61 [[ 9.98259147e-01 5.87142908e-02 -5.59537296e-03 1.99590672e+02] [-5.87138040e-02 9.98274825e-01 2.51353283e-04 -2.15467791e+01] [ 5.60047799e-03 7.76099177e-05 9.99984314e-01 -2.61360099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.784012739 meters Centerline goodness [0,1] 0.9925753166723724 Centerline is valid? [True, True] Translation: X:199.62, Y:-21.54, Z:-2.61 [[ 9.98094088e-01 6.15081473e-02 -4.99388002e-03 1.99618716e+02] [-6.15077951e-02 9.98106578e-01 2.24209098e-04 -2.15422829e+01] [ 4.99821518e-03 8.33807739e-05 9.99987505e-01 -2.61209799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.814012739 meters Centerline goodness [0,1] 0.9921932126112951 Centerline is valid? [True, True] Translation: X:199.65, Y:-21.54, Z:-2.61 [[ 9.97922286e-01 6.42225008e-02 -5.15577993e-03 1.99648038e+02] [-6.42221632e-02 9.97935599e-01 2.31173184e-04 -2.15392859e+01] [ 5.15998286e-03 1.00422469e-04 9.99986682e-01 -2.61219768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.844012739 meters Centerline goodness [0,1] 0.9908079549847515 Centerline is valid? [True, True] Translation: X:199.68, Y:-21.53, Z:-2.61 [[ 9.97550506e-01 6.96857610e-02 -6.07317283e-03 1.99677247e+02] [-6.96853954e-02 9.97568981e-01 2.72045649e-04 -2.15301298e+01] [ 6.07736654e-03 1.51832175e-04 9.99981521e-01 -2.61389163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.874012739 meters Centerline goodness [0,1] 0.9881626678546427 Centerline is valid? [True, True] Translation: X:199.71, Y:-21.52, Z:-2.61 [[ 9.97391709e-01 7.19202330e-02 -6.10406145e-03 1.99705832e+02] [-7.19199060e-02 9.97410373e-01 2.73339793e-04 -2.15204841e+01] [ 6.10791287e-03 1.66376683e-04 9.99981333e-01 -2.61488878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.904012739 meters Centerline goodness [0,1] 0.9891877921126881 Centerline is valid? [True, True] Translation: X:199.74, Y:-21.52, Z:-2.61 [[ 9.97188568e-01 7.47376468e-02 -5.40770814e-03 1.99735152e+02] [-7.47374326e-02 9.97203218e-01 2.41958197e-04 -2.15184010e+01] [ 5.41066734e-03 1.62880275e-04 9.99985349e-01 -2.61334271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93401273899997 meters Centerline goodness [0,1] 0.9880114952389123 Centerline is valid? [True, True] Translation: X:199.76, Y:-21.51, Z:-2.61 [[ 9.97134578e-01 7.54642060e-02 -5.27132754e-03 1.99763432e+02] [-7.54640140e-02 9.97148498e-01 2.35595064e-04 -2.15122771e+01] [ 5.27407533e-03 1.62875551e-04 9.99986079e-01 -2.61266045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96401273899997 meters Centerline goodness [0,1] 0.9881212276871709 Centerline is valid? [True, True] Translation: X:199.79, Y:-21.51, Z:-2.61 [[ 9.97117154e-01 7.56511551e-02 -5.85523089e-03 1.99792462e+02] [-7.56509235e-02 9.97134329e-01 2.61336422e-04 -2.15119166e+01] [ 5.85822213e-03 1.82370595e-04 9.99982824e-01 -2.61405987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99401273899997 meters Centerline goodness [0,1] 0.9890135677105555 Centerline is valid? [True, True] Translation: X:199.82, Y:-21.51, Z:-2.61 [[ 9.97295109e-01 7.32455119e-02 -6.12861817e-03 1.99820272e+02] [-7.32452147e-02 9.97313924e-01 2.73228424e-04 -2.15105096e+01] [ 6.13216900e-03 1.76402583e-04 9.99981183e-01 -2.61486324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02401273899997 meters Centerline goodness [0,1] 0.9900380833530563 Centerline is valid? [True, True] Translation: X:199.85, Y:-21.51, Z:-2.61 [[ 9.97436679e-01 7.12998881e-02 -6.03295657e-03 1.99849612e+02] [-7.12995664e-02 9.97454911e-01 2.68657530e-04 -2.15116525e+01] [ 6.03675741e-03 1.62178313e-04 9.99981765e-01 -2.61423361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05401273899997 meters Centerline goodness [0,1] 0.9914753107734806 Centerline is valid? [True, True] Translation: X:199.88, Y:-21.52, Z:-2.61 [[ 9.97700701e-01 6.74841798e-02 -6.26067541e-03 1.99879604e+02] [-6.74837596e-02 9.97720334e-01 2.78583918e-04 -2.15162432e+01] [ 6.26520317e-03 1.44550543e-04 9.99980363e-01 -2.61387882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08401273899997 meters Centerline goodness [0,1] 0.9915754361956893 Centerline is valid? [True, True] Translation: X:199.91, Y:-21.51, Z:-2.61 [[ 9.97845135e-01 6.52836281e-02 -6.56770713e-03 1.99907750e+02] [-6.52831198e-02 9.97866739e-01 2.91971362e-04 -2.15146700e+01] [ 6.57275745e-03 1.37418208e-04 9.99978390e-01 -2.61442083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11401273899997 meters Centerline goodness [0,1] 0.9925016746980141 Centerline is valid? [True, True] Translation: X:199.94, Y:-21.52, Z:-2.61 [[ 9.97986725e-01 6.30743969e-02 -6.64202233e-03 1.99936561e+02] [-6.30738306e-02 9.98008820e-01 2.94903051e-04 -2.15182563e+01] [ 6.64739770e-03 1.24628461e-04 9.99977898e-01 -2.61468281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14401273899998 meters Centerline goodness [0,1] 0.9937196197358799 Centerline is valid? [True, True] Translation: X:199.96, Y:-21.52, Z:-2.62 [[ 9.98240569e-01 5.89391192e-02 -6.47654840e-03 1.99964206e+02] [-5.89384959e-02 9.98261575e-01 2.87229794e-04 -2.15176788e+01] [ 6.48221848e-03 9.49935883e-05 9.99978986e-01 -2.61502948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17401273899998 meters Centerline goodness [0,1] 0.994714946724965 Centerline is valid? [True, True] Translation: X:199.99, Y:-21.52, Z:-2.62 [[ 9.98412571e-01 5.59566913e-02 -6.41776831e-03 1.99992323e+02] [-5.59560199e-02 9.98433194e-01 2.84268561e-04 -2.15202314e+01] [ 6.42361964e-03 7.52954665e-05 9.99979366e-01 -2.61524925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20401273899998 meters Centerline goodness [0,1] 0.9962908333694851 Centerline is valid? [True, True] Translation: X:200.02, Y:-21.53, Z:-2.61 [[ 9.98794271e-01 4.86892107e-02 -6.27415965e-03 2.00020722e+02] [-4.86884274e-02 9.98813977e-01 2.77619575e-04 -2.15285460e+01] [ 6.28023543e-03 2.81941258e-05 9.99980279e-01 -2.61475816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23401273899998 meters Centerline goodness [0,1] 0.9979329500678251 Centerline is valid? [True, True] Translation: X:200.05, Y:-21.53, Z:-2.61 [[ 9.99002465e-01 4.41970918e-02 -6.37905056e-03 2.00048869e+02] [-4.41961923e-02 9.99022831e-01 2.81961177e-04 -2.15349445e+01] [ 6.38527901e-03 2.49834807e-07 9.99979614e-01 -2.61460166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26401273899998 meters Centerline goodness [0,1] 0.9983436942072318 Centerline is valid? [True, True] Translation: X:200.08, Y:-21.54, Z:-2.61 [[ 9.99189968e-01 3.97275389e-02 -6.41337483e-03 2.00076584e+02] [-3.97265398e-02 9.99210549e-01 2.83156722e-04 -2.15424729e+01] [ 6.41956090e-03 -2.81461650e-05 9.99979394e-01 -2.61480822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29401273899998 meters Centerline goodness [0,1] 0.996599155204159 Centerline is valid? [True, True] Translation: X:200.10, Y:-21.56, Z:-2.62 [[ 9.99503186e-01 3.07284585e-02 -7.01015859e-03 2.00104313e+02] [-3.07270459e-02 9.99527765e-01 3.09135453e-04 -2.15591804e+01] [ 7.01634741e-03 -9.35804052e-05 9.99975381e-01 -2.61591477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32401273899998 meters Centerline goodness [0,1] 0.9957872111767867 Centerline is valid? [True, True] Translation: X:200.13, Y:-21.57, Z:-2.62 [[ 9.99609540e-01 2.68814027e-02 -7.62618140e-03 2.00133235e+02] [-2.68796212e-02 9.99638621e-01 3.36021925e-04 -2.15661365e+01] [ 7.63245820e-03 -1.30901854e-04 9.99970864e-01 -2.61624855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35401273899998 meters Centerline goodness [0,1] 0.9942681244029297 Centerline is valid? [True, True] Translation: X:200.16, Y:-21.58, Z:-2.62 [[ 9.99731150e-01 2.17669442e-02 -7.98917376e-03 2.00160832e+02] [-2.17648280e-02 9.99763056e-01 3.51737585e-04 -2.15785929e+01] [ 7.99493703e-03 -1.77760027e-04 9.99968024e-01 -2.61576276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38401273899999 meters Centerline goodness [0,1] 0.9942681244029297 Centerline is valid? [True, True] Translation: X:200.19, Y:-21.58, Z:-2.62 [[ 9.99732142e-01 2.17213658e-02 -7.98918698e-03 2.00189144e+02] [-2.17192505e-02 9.99764047e-01 3.51437164e-04 -2.15797516e+01] [ 7.99493560e-03 -1.77823875e-04 9.99968024e-01 -2.61563517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.414012739 meters Centerline goodness [0,1] 0.9931862357690583 Centerline is valid? [True, True] Translation: X:200.22, Y:-21.59, Z:-2.62 [[ 9.99747749e-01 2.10604476e-02 -7.80353015e-03 2.00216552e+02] [-2.10584124e-02 9.99778188e-01 3.42881791e-04 -2.15863736e+01] [ 7.80902048e-03 -1.78465343e-04 9.99969493e-01 -2.61617955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.444012739 meters Centerline goodness [0,1] 0.9933469140083218 Centerline is valid? [True, True] Translation: X:200.25, Y:-21.59, Z:-2.61 [[ 9.99755450e-01 2.08950970e-02 -7.24125767e-03 2.00245595e+02] [-2.08933429e-02 9.99781660e-01 3.17811504e-04 -2.15871523e+01] [ 7.24631731e-03 -1.66439704e-04 9.99973731e-01 -2.61461886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.474012739 meters Centerline goodness [0,1] 0.9930640818524502 Centerline is valid? [True, True] Translation: X:200.27, Y:-21.59, Z:-2.61 [[ 9.99738505e-01 2.22938447e-02 -5.08979442e-03 2.00274155e+02] [-2.22929971e-02 9.99751455e-01 2.23211938e-04 -2.15930388e+01] [ 5.09350564e-03 -1.09686797e-04 9.99987022e-01 -2.61048379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.504012739 meters Centerline goodness [0,1] 0.992128329503872 Centerline is valid? [True, True] Translation: X:200.30, Y:-21.60, Z:-2.61 [[ 9.99719632e-01 2.32640734e-02 -4.40913123e-03 2.00302198e+02] [-2.32634476e-02 9.99729351e-01 1.93186676e-04 -2.15966788e+01] [ 4.41243221e-03 -9.05609192e-05 9.99990261e-01 -2.60951568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.534012739 meters Centerline goodness [0,1] 0.9937830545062062 Centerline is valid? [True, True] Translation: X:200.33, Y:-21.60, Z:-2.61 [[ 9.99659550e-01 2.55428470e-02 -5.32412723e-03 2.00331038e+02] [-2.55419686e-02 9.99673724e-01 2.32926215e-04 -2.15967776e+01] [ 5.32833970e-03 -9.68582247e-05 9.99985800e-01 -2.61192942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.564012739 meters Centerline goodness [0,1] 0.9950999607996864 Centerline is valid? [True, True] Translation: X:200.36, Y:-21.60, Z:-2.61 [[ 9.99624611e-01 2.67122844e-02 -6.09025228e-03 2.00359488e+02] [-2.67111586e-02 9.99643158e-01 2.66125336e-04 -2.15962608e+01] [ 6.09518784e-03 -1.03347740e-04 9.99981419e-01 -2.61305604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.594012739 meters Centerline goodness [0,1] 0.9967695776602202 Centerline is valid? [True, True] Translation: X:200.39, Y:-21.60, Z:-2.61 [[ 9.99527905e-01 2.98304642e-02 -7.35594781e-03 2.00387430e+02] [-2.98289093e-02 9.99554968e-01 3.21026514e-04 -2.15971586e+01] [ 7.36225054e-03 -1.01455059e-04 9.99972893e-01 -2.61406329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.624012739 meters Centerline goodness [0,1] 0.9972627346991146 Centerline is valid? [True, True] Translation: X:200.42, Y:-21.60, Z:-2.61 [[ 9.99461009e-01 3.19570130e-02 -7.51265919e-03 2.00415184e+02] [-3.19554543e-02 9.99489240e-01 3.27456996e-04 -2.15976596e+01] [ 7.51928658e-03 -8.72100626e-05 9.99971726e-01 -2.61467643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.654012739 meters Centerline goodness [0,1] 0.9980143313476647 Centerline is valid? [True, True] Translation: X:200.44, Y:-21.60, Z:-2.61 [[ 9.99407731e-01 3.36661976e-02 -7.12562095e-03 2.00443915e+02] [-3.36648416e-02 9.99433130e-01 3.10200930e-04 -2.15954931e+01] [ 7.13202494e-03 -7.01343073e-05 9.99974564e-01 -2.61373976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68401273899997 meters Centerline goodness [0,1] 0.9981219238407737 Centerline is valid? [True, True] Translation: X:200.47, Y:-21.60, Z:-2.61 [[ 9.99357825e-01 3.52716556e-02 -6.31247059e-03 2.00471812e+02] [-3.52706253e-02 9.99377760e-01 2.74505937e-04 -2.15972842e+01] [ 6.31822500e-03 -5.16848713e-05 9.99980038e-01 -2.61278001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71401273899997 meters Centerline goodness [0,1] 0.9976544006886163 Centerline is valid? [True, True] Translation: X:200.50, Y:-21.60, Z:-2.61 [[ 9.99353136e-01 3.54670723e-02 -5.94950645e-03 2.00500258e+02] [-3.54661624e-02 9.99370844e-01 2.58402905e-04 -2.16000135e+01] [ 5.95492808e-03 -4.72295912e-05 9.99982268e-01 -2.61217034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74401273899997 meters Centerline goodness [0,1] 0.9983365378383633 Centerline is valid? [True, True] Translation: X:200.53, Y:-21.60, Z:-2.61 [[ 9.99306398e-01 3.68003936e-02 -5.69692261e-03 2.00529550e+02] [-3.67995824e-02 9.99322635e-01 2.47185609e-04 -2.16018838e+01] [ 5.70216025e-03 -3.73697872e-05 9.99983742e-01 -2.61150800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77401273899997 meters Centerline goodness [0,1] 0.998727213892784 Centerline is valid? [True, True] Translation: X:200.56, Y:-21.60, Z:-2.61 [[ 9.99242320e-01 3.83636211e-02 -6.55877685e-03 2.00558151e+02] [-3.83625814e-02 9.99263845e-01 2.84297284e-04 -2.16015205e+01] [ 6.56485524e-03 -3.24702671e-05 9.99978451e-01 -2.61299824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80401273899997 meters Centerline goodness [0,1] 0.9988709152100749 Centerline is valid? [True, True] Translation: X:200.59, Y:-21.60, Z:-2.61 [[ 9.99158912e-01 4.02784352e-02 -7.68874501e-03 2.00587228e+02] [-4.02770662e-02 9.99188494e-01 3.32869522e-04 -2.16009626e+01] [ 7.69591302e-03 -2.29094573e-05 9.99970386e-01 -2.61494121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83401273899997 meters Centerline goodness [0,1] 0.9987327906527202 Centerline is valid? [True, True] Translation: X:200.61, Y:-21.60, Z:-2.62 [[ 9.99012293e-01 4.37143032e-02 -7.96860570e-03 2.00614729e+02] [-4.37129455e-02 9.99044073e-01 3.44550200e-04 -2.15990391e+01] [ 7.97605006e-03 4.12134082e-06 9.99968191e-01 -2.61618123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86401273899997 meters Centerline goodness [0,1] 0.9982401545230175 Centerline is valid? [True, True] Translation: X:200.64, Y:-21.60, Z:-2.61 [[ 9.98974686e-01 4.46822031e-02 -7.28548629e-03 2.00642668e+02] [-4.46810970e-02 9.99001252e-01 3.14602580e-04 -2.15988355e+01] [ 7.29226706e-03 1.12435059e-05 9.99973411e-01 -2.61446097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89401273899998 meters Centerline goodness [0,1] 0.9975930304385797 Centerline is valid? [True, True] Translation: X:200.67, Y:-21.60, Z:-2.61 [[ 9.98945806e-01 4.53832088e-02 -6.90221131e-03 2.00671586e+02] [-4.53822352e-02 9.98969651e-01 2.97692000e-04 -2.16001080e+01] [ 6.90860984e-03 1.58596022e-05 9.99976135e-01 -2.61330273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92401273899998 meters Centerline goodness [0,1] 0.9981081540685316 Centerline is valid? [True, True] Translation: X:200.70, Y:-21.60, Z:-2.61 [[ 9.98962165e-01 4.49971744e-02 -7.06025811e-03 2.00698953e+02] [-4.49961486e-02 9.98987114e-01 3.04145701e-04 -2.16035904e+01] [ 7.06679257e-03 1.38543751e-05 9.99975030e-01 -2.61434117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95401273899998 meters Centerline goodness [0,1] 0.9980850331353817 Centerline is valid? [True, True] Translation: X:200.73, Y:-21.61, Z:-2.61 [[ 9.99004818e-01 4.40345173e-02 -7.09466907e-03 2.00727172e+02] [-4.40334599e-02 9.99030010e-01 3.05245347e-04 -2.16087135e+01] [ 7.10122865e-03 7.46125369e-06 9.99974786e-01 -2.61403566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98401273899998 meters Centerline goodness [0,1] 0.9983214977404777 Centerline is valid? [True, True] Translation: X:200.76, Y:-21.62, Z:-2.61 [[ 9.99087950e-01 4.23442048e-02 -5.49884701e-03 2.00755825e+02] [-4.23435452e-02 9.99103082e-01 2.36375002e-04 -2.16161722e+01] [ 5.50392410e-03 -3.31873923e-06 9.99984853e-01 -2.61043902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01401273899998 meters Centerline goodness [0,1] 0.9968471173644475 Centerline is valid? [True, True] Translation: X:200.78, Y:-21.62, Z:-2.61 [[ 9.99025134e-01 4.39890394e-02 -3.70756268e-03 2.00784066e+02] [-4.39887512e-02 9.99032014e-01 1.59275293e-04 -2.16162114e+01] [ 3.71098018e-03 3.97103148e-06 9.99993114e-01 -2.60553110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04401273899998 meters Centerline goodness [0,1] 0.9966556617930797 Centerline is valid? [True, True] Translation: X:200.81, Y:-21.61, Z:-2.61 [[ 9.98939357e-01 4.59052272e-02 -3.58770373e-03 2.00813161e+02] [-4.59049705e-02 9.98945799e-01 1.53907279e-04 -2.16145902e+01] [ 3.59098671e-03 1.09493960e-05 9.99993552e-01 -2.60546742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07401273899998 meters Centerline goodness [0,1] 0.9957094435148238 Centerline is valid? [True, True] Translation: X:200.84, Y:-21.61, Z:-2.61 [[ 9.98811357e-01 4.85711272e-02 -4.08874759e-03 2.00841682e+02] [-4.85708170e-02 9.98819726e-01 1.75183722e-04 -2.16114573e+01] [ 4.09243062e-03 2.36183204e-05 9.99991626e-01 -2.60576000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10401273899998 meters Centerline goodness [0,1] 0.9942098603933006 Centerline is valid? [True, True] Translation: X:200.87, Y:-21.60, Z:-2.61 [[ 9.98489739e-01 5.45898391e-02 -6.17987212e-03 2.00870317e+02] [-5.45892485e-02 9.98508860e-01 2.64335262e-04 -2.16028008e+01] [ 6.18508708e-03 7.34185279e-05 9.99980869e-01 -2.61047243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13401273899999 meters Centerline goodness [0,1] 0.9933074873838557 Centerline is valid? [True, True] Translation: X:200.90, Y:-21.60, Z:-2.61 [[ 9.98334095e-01 5.71978744e-02 -7.57881665e-03 2.00898818e+02] [-5.71970638e-02 9.98362855e-01 3.23844020e-04 -2.15999155e+01] [ 7.58493223e-03 1.10181532e-04 9.99971228e-01 -2.61332372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.164012739 meters Centerline goodness [0,1] 0.9935413033649809 Centerline is valid? [True, True] Translation: X:200.93, Y:-21.60, Z:-2.61 [[ 9.98198422e-01 5.94075379e-02 -8.40562391e-03 2.00927852e+02] [-5.94066231e-02 9.98233803e-01 3.58692712e-04 -2.15985503e+01] [ 8.41208697e-03 1.41303232e-04 9.99964608e-01 -2.61437815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.194012739 meters Centerline goodness [0,1] 0.9925458591707539 Centerline is valid? [True, True] Translation: X:200.96, Y:-21.59, Z:-2.61 [[ 9.98020682e-01 6.23508421e-02 -8.19087552e-03 2.00957084e+02] [-6.23500757e-02 9.98054280e-01 3.49137727e-04 -2.15931197e+01] [ 8.19670740e-03 1.62255036e-04 9.99966393e-01 -2.61314880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.224012739 meters Centerline goodness [0,1] 0.9923736892278361 Centerline is valid? [True, True] Translation: X:200.99, Y:-21.59, Z:-2.61 [[ 9.97995834e-01 6.28326427e-02 -7.50828478e-03 2.00985427e+02] [-6.28320153e-02 9.98024066e-01 3.19656793e-04 -2.15930536e+01] [ 7.51353378e-03 1.52744517e-04 9.99971761e-01 -2.61206065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.254012739 meters Centerline goodness [0,1] 0.9914208082839477 Centerline is valid? [True, True] Translation: X:201.01, Y:-21.59, Z:-2.61 [[ 9.97953836e-01 6.36342866e-02 -6.23050760e-03 2.01013046e+02] [-6.36338720e-02 9.97973276e-01 2.64946597e-04 -2.15874888e+01] [ 6.23473977e-03 1.32066851e-04 9.99980555e-01 -2.60889921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.284012739 meters Centerline goodness [0,1] 0.9912252472592307 Centerline is valid? [True, True] Translation: X:201.04, Y:-21.58, Z:-2.61 [[ 9.97907606e-01 6.43980070e-02 -5.77119648e-03 2.01041176e+02] [-6.43976657e-02 9.97924286e-01 2.45145621e-04 -2.15819730e+01] [ 5.77500401e-03 1.27018901e-04 9.99983316e-01 -2.60782962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.314012739 meters Centerline goodness [0,1] 0.9912896097487718 Centerline is valid? [True, True] Translation: X:201.07, Y:-21.58, Z:-2.61 [[ 9.97764251e-01 6.65626254e-02 -5.99308835e-03 2.01069903e+02] [-6.65622985e-02 9.97782239e-01 2.54205109e-04 -2.15769817e+01] [ 5.99671767e-03 1.45276966e-04 9.99982009e-01 -2.60817511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.344012739 meters Centerline goodness [0,1] 0.9907195552229231 Centerline is valid? [True, True] Translation: X:201.10, Y:-21.57, Z:-2.61 [[ 9.97697192e-01 6.75361865e-02 -6.25906730e-03 2.01098191e+02] [-6.75358515e-02 9.97716813e-01 2.65105643e-04 -2.15735280e+01] [ 6.26268090e-03 1.58216284e-04 9.99980377e-01 -2.60817341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.374012739 meters Centerline goodness [0,1] 0.9906335259618896 Centerline is valid? [True, True] Translation: X:201.13, Y:-21.57, Z:-2.61 [[ 9.97643675e-01 6.82939243e-02 -6.56026949e-03 2.01127435e+02] [-6.82935751e-02 9.97665230e-01 2.77489889e-04 -2.15707920e+01] [ 6.56390365e-03 1.71188225e-04 9.99978443e-01 -2.60861369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.404012739 meters Centerline goodness [0,1] 0.9905326205963805 Centerline is valid? [True, True] Translation: X:201.16, Y:-21.56, Z:-2.61 [[ 9.97599224e-01 6.89217800e-02 -6.75104504e-03 2.01156659e+02] [-6.89214267e-02 9.97622050e-01 2.85240474e-04 -2.15644876e+01] [ 6.75465067e-03 1.80735980e-04 9.99977171e-01 -2.61009538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43401273899997 meters Centerline goodness [0,1] 0.9908846608620875 Centerline is valid? [True, True] Translation: X:201.19, Y:-21.56, Z:-2.61 [[ 9.97634221e-01 6.84338443e-02 -6.53991852e-03 2.01185600e+02] [-6.84335042e-02 9.97655642e-01 2.76023523e-04 -2.15639517e+01] [ 6.54347595e-03 1.72179029e-04 9.99978576e-01 -2.60920071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46401273899997 meters Centerline goodness [0,1] 0.9911664974838557 Centerline is valid? [True, True] Translation: X:201.21, Y:-21.57, Z:-2.60 [[ 9.97834612e-01 6.55795500e-02 -5.04070607e-03 2.01214133e+02] [-6.55793126e-02 9.97847337e-01 2.12559785e-04 -2.15668644e+01] [ 5.04379470e-03 1.18466528e-04 9.99987273e-01 -2.60476670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49401273899997 meters Centerline goodness [0,1] 0.9911825726141079 Centerline is valid? [True, True] Translation: X:201.24, Y:-21.56, Z:-2.60 [[ 9.97939307e-01 6.39864678e-02 -4.78235340e-03 2.01241928e+02] [-6.39862368e-02 9.97950761e-01 2.01439227e-04 -2.15627600e+01] [ 4.78544260e-03 1.04980674e-04 9.99988544e-01 -2.60362121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52401273899997 meters Centerline goodness [0,1] 0.9915122791900043 Centerline is valid? [True, True] Translation: X:201.27, Y:-21.56, Z:-2.60 [[ 9.98017036e-01 6.28068305e-02 -4.15911791e-03 2.01270441e+02] [-6.28066465e-02 9.98025698e-01 1.74965626e-04 -2.15614631e+01] [ 4.16189559e-03 8.66015729e-05 9.99991336e-01 -2.60232262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55401273899997 meters Centerline goodness [0,1] 0.9913236265961756 Centerline is valid? [True, True] Translation: X:201.30, Y:-21.56, Z:-2.60 [[ 9.98107711e-01 6.13508207e-02 -4.13209284e-03 2.01298926e+02] [-6.13506274e-02 9.98116261e-01 1.73640041e-04 -2.15603086e+01] [ 4.13496201e-03 8.01950243e-05 9.99991448e-01 -2.60197789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58401273899997 meters Centerline goodness [0,1] 0.9916378996119127 Centerline is valid? [True, True] Translation: X:201.33, Y:-21.56, Z:-2.60 [[ 9.98180266e-01 6.01217952e-02 -4.63971048e-03 2.01326532e+02] [-6.01215394e-02 9.98191045e-01 1.94725054e-04 -2.15595592e+01] [ 4.64302467e-03 8.45758303e-05 9.99989218e-01 -2.60255580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61401273899997 meters Centerline goodness [0,1] 0.9929707968560292 Centerline is valid? [True, True] Translation: X:201.36, Y:-21.56, Z:-2.60 [[ 9.98350276e-01 5.71482703e-02 -5.54983964e-03 2.01355331e+02] [-5.71478603e-02 9.98365699e-01 2.32559116e-04 -2.15558595e+01] [ 5.55405988e-03 8.49860021e-05 9.99984572e-01 -2.60390462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64401273899998 meters Centerline goodness [0,1] 0.9930988231221876 Centerline is valid? [True, True] Translation: X:201.38, Y:-21.55, Z:-2.60 [[ 9.98428580e-01 5.57796388e-02 -5.38539022e-03 2.01384527e+02] [-5.57792342e-02 9.98443101e-01 2.25422464e-04 -2.15539923e+01] [ 5.38957969e-03 7.53247111e-05 9.99985473e-01 -2.60338578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67401273899998 meters Centerline goodness [0,1] 0.9939370650271124 Centerline is valid? [True, True] Translation: X:201.41, Y:-21.55, Z:-2.60 [[ 9.98630643e-01 5.19885683e-02 -5.83336114e-03 2.01412850e+02] [-5.19880306e-02 9.98647678e-01 2.43882658e-04 -2.15535594e+01] [ 5.83815167e-03 5.97162617e-05 9.99982956e-01 -2.60451232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70401273899998 meters Centerline goodness [0,1] 0.9945831822737838 Centerline is valid? [True, True] Translation: X:201.44, Y:-21.56, Z:-2.61 [[ 9.98772377e-01 4.91580631e-02 -6.10116852e-03 2.01441209e+02] [-4.91574239e-02 9.98791011e-01 2.54785356e-04 -2.15574023e+01] [ 6.10631703e-03 4.54451514e-05 9.99981355e-01 -2.60502773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73401273899998 meters Centerline goodness [0,1] 0.9959630663517286 Centerline is valid? [True, True] Translation: X:201.47, Y:-21.56, Z:-2.61 [[ 9.98947245e-01 4.54068673e-02 -6.52823303e-03 2.01469616e+02] [-4.54060574e-02 9.98968576e-01 2.72302571e-04 -2.15622235e+01] [ 6.53386406e-03 2.44054206e-05 9.99978654e-01 -2.60552702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76401273899998 meters Centerline goodness [0,1] 0.9973204831773883 Centerline is valid? [True, True] Translation: X:201.50, Y:-21.57, Z:-2.61 [[ 9.99293037e-01 3.69621090e-02 -6.87228057e-03 2.01497991e+02] [-3.69610139e-02 9.99316667e-01 2.86323015e-04 -2.15726730e+01] [ 6.87816762e-03 -3.21141376e-05 9.99976345e-01 -2.60625114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79401273899998 meters Centerline goodness [0,1] 0.9957887424837736 Centerline is valid? [True, True] Translation: X:201.53, Y:-21.58, Z:-2.61 [[ 9.99434322e-01 3.29817837e-02 -6.57561418e-03 2.01526451e+02] [-3.29806970e-02 9.99455951e-01 2.73666023e-04 -2.15788610e+01] [ 6.58106272e-03 -5.66428770e-05 9.99978343e-01 -2.60584864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82401273899998 meters Centerline goodness [0,1] 0.9931706898032815 Centerline is valid? [True, True] Translation: X:201.56, Y:-21.59, Z:-2.60 [[ 9.99627861e-01 2.65937687e-02 -6.07542911e-03 2.01555084e+02] [-2.65927245e-02 9.99646319e-01 2.52600732e-04 -2.15885153e+01] [ 6.07999795e-03 -9.09445165e-05 9.99981513e-01 -2.60476462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85401273899998 meters Centerline goodness [0,1] 0.9921637199663235 Centerline is valid? [True, True] Translation: X:201.58, Y:-21.59, Z:-2.60 [[ 9.99679090e-01 2.47117989e-02 -5.57164286e-03 2.01582601e+02] [-2.47108927e-02 9.99694612e-01 2.31446205e-04 -2.15948211e+01] [ 5.57566081e-03 -9.36916629e-05 9.99984451e-01 -2.60390925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88401273899999 meters Centerline goodness [0,1] 0.9922352941176471 Centerline is valid? [True, True] Translation: X:201.61, Y:-21.60, Z:-2.60 [[ 9.99686478e-01 2.43913108e-02 -5.65763973e-03 2.01610972e+02] [-2.43903731e-02 9.99702483e-01 2.34698415e-04 -2.15973069e+01] [ 5.66168109e-03 -9.66328884e-05 9.99983968e-01 -2.60342360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.914012739 meters Centerline goodness [0,1] 0.9927481816816495 Centerline is valid? [True, True] Translation: X:201.64, Y:-21.60, Z:-2.60 [[ 9.99672373e-01 2.47968917e-02 -6.34509737e-03 2.01639688e+02] [-2.47957224e-02 9.99692504e-01 2.62898712e-04 -2.15986961e+01] [ 6.34966535e-03 -1.05481307e-04 9.99979835e-01 -2.60424453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.944012739 meters Centerline goodness [0,1] 0.9932509173510397 Centerline is valid? [True, True] Translation: X:201.67, Y:-21.60, Z:-2.61 [[ 9.99661750e-01 2.49430350e-02 -7.36418216e-03 2.01667673e+02] [-2.49414669e-02 9.99688867e-01 3.04717639e-04 -2.16000658e+01] [ 7.36949150e-03 -1.20941063e-04 9.99972838e-01 -2.60536557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.974012739 meters Centerline goodness [0,1] 0.993566336289341 Centerline is valid? [True, True] Translation: X:201.70, Y:-21.60, Z:-2.61 [[ 9.99662377e-01 2.46627252e-02 -8.17811380e-03 2.01696403e+02] [-2.46607856e-02 9.99695819e-01 3.37941619e-04 -2.16018945e+01] [ 8.18396074e-03 -1.36148811e-04 9.99966502e-01 -2.60684521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.004012739 meters Centerline goodness [0,1] 0.9928378815661741 Centerline is valid? [True, True] Translation: X:201.72, Y:-21.60, Z:-2.61 [[ 9.99672218e-01 2.46201527e-02 -7.02167004e-03 2.01724961e+02] [-2.46187239e-02 9.99696871e-01 2.89862333e-04 -2.16044653e+01] [ 7.02667802e-03 -1.16902766e-04 9.99975306e-01 -2.60505012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.034012739 meters Centerline goodness [0,1] 0.9921544047721967 Centerline is valid? [True, True] Translation: X:201.75, Y:-21.61, Z:-2.60 [[ 9.99660912e-01 2.57498818e-02 -3.87357107e-03 2.01752628e+02] [-2.57494557e-02 9.99668415e-01 1.59828912e-04 -2.16074353e+01] [ 3.87640222e-03 -6.00323693e-05 9.99992485e-01 -2.59882692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.064012739 meters Centerline goodness [0,1] 0.9916775422006375 Centerline is valid? [True, True] Translation: X:201.78, Y:-21.61, Z:-2.60 [[ 9.99634495e-01 2.68278659e-02 -3.33810453e-03 2.01780851e+02] [-2.68275561e-02 9.99640067e-01 1.37572740e-04 -2.16074327e+01] [ 3.34059381e-03 -4.79692697e-05 9.99994419e-01 -2.59696449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.094012739 meters Centerline goodness [0,1] 0.992726646725915 Centerline is valid? [True, True] Translation: X:201.81, Y:-21.61, Z:-2.60 [[ 9.99587771e-01 2.84783091e-02 -3.64329980e-03 2.01809588e+02] [-2.84779518e-02 9.99594410e-01 1.49913475e-04 -2.16058902e+01] [ 3.64609140e-03 -4.60979602e-05 9.99993352e-01 -2.59748290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.124012739 meters Centerline goodness [0,1] 0.9942552055525894 Centerline is valid? [True, True] Translation: X:201.84, Y:-21.60, Z:-2.60 [[ 9.99484404e-01 3.17294461e-02 -4.91604226e-03 2.01837332e+02] [-3.17288364e-02 9.99496493e-01 2.01988494e-04 -2.16024057e+01] [ 4.91997599e-03 -4.59040487e-05 9.99987896e-01 -2.60018122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.154012739 meters Centerline goodness [0,1] 0.9949636142469963 Centerline is valid? [True, True] Translation: X:201.87, Y:-21.60, Z:-2.60 [[ 9.99441890e-01 3.30217076e-02 -5.04729014e-03 2.01866482e+02] [-3.30210828e-02 9.99454634e-01 2.07098320e-04 -2.16020603e+01] [ 5.05137626e-03 -4.03157508e-05 9.99987241e-01 -2.60109384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18401273899997 meters Centerline goodness [0,1] 0.9946190638879399 Centerline is valid? [True, True] Translation: X:201.89, Y:-21.60, Z:-2.60 [[ 9.99391974e-01 3.46391389e-02 -3.97651401e-03 2.01894305e+02] [-3.46387644e-02 9.99399885e-01 1.63033485e-04 -2.16018978e+01] [ 3.97977498e-03 -2.51928245e-05 9.99992080e-01 -2.59872100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21401273899997 meters Centerline goodness [0,1] 0.9943203655463979 Centerline is valid? [True, True] Translation: X:201.92, Y:-21.60, Z:-2.60 [[ 9.99396122e-01 3.45351501e-02 -3.83591771e-03 2.01922339e+02] [-3.45348017e-02 9.99403483e-01 1.57065350e-04 -2.16042906e+01] [ 3.83905380e-03 -2.44978446e-05 9.99992631e-01 -2.59808708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24401273899997 meters Centerline goodness [0,1] 0.9944320471434452 Centerline is valid? [True, True] Translation: X:201.95, Y:-21.61, Z:-2.60 [[ 9.99403719e-01 3.43100692e-02 -3.87628240e-03 2.01950836e+02] [-3.43097125e-02 9.99411236e-01 1.58491124e-04 -2.16061664e+01] [ 3.87943803e-03 -2.54024844e-05 9.99992475e-01 -2.59831316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27401273899997 meters Centerline goodness [0,1] 0.9944320471434452 Centerline is valid? [True, True] Translation: X:201.98, Y:-21.61, Z:-2.60 [[ 9.99405222e-01 3.42662725e-02 -3.87628933e-03 2.01979142e+02] [-3.42659162e-02 9.99412739e-01 1.58321472e-04 -2.16072317e+01] [ 3.87943802e-03 -2.54027002e-05 9.99992475e-01 -2.59818560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30401273899997 meters Centerline goodness [0,1] 0.9946442725851025 Centerline is valid? [True, True] Translation: X:202.01, Y:-21.61, Z:-2.60 [[ 9.99474023e-01 3.20279821e-02 -5.08789675e-03 2.02006941e+02] [-3.20273407e-02 9.99486972e-01 2.07516465e-04 -2.16149740e+01] [ 5.09193285e-03 -4.44555129e-05 9.99987035e-01 -2.60139622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33401273899997 meters Centerline goodness [0,1] 0.9935662161578652 Centerline is valid? [True, True] Translation: X:202.04, Y:-21.62, Z:-2.60 [[ 9.99593734e-01 2.80007855e-02 -5.32187732e-03 2.02036324e+02] [-2.80000281e-02 9.99607899e-01 2.16784788e-04 -2.16248752e+01] [ 5.32586075e-03 -6.76840014e-05 9.99985815e-01 -2.60156052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36401273899997 meters Centerline goodness [0,1] 0.9928613530683084 Centerline is valid? [True, True] Translation: X:202.06, Y:-21.63, Z:-2.60 [[ 9.99620534e-01 2.69934790e-02 -5.48991099e-03 2.02064098e+02] [-2.69926587e-02 9.99635607e-01 2.23475180e-04 -2.16286940e+01] [ 5.49394287e-03 -7.52030853e-05 9.99984905e-01 -2.60135333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39401273899998 meters Centerline goodness [0,1] 0.9932354540511147 Centerline is valid? [True, True] Translation: X:202.09, Y:-21.63, Z:-2.60 [[ 9.99617996e-01 2.70855479e-02 -5.49865603e-03 2.02092518e+02] [-2.70847279e-02 9.99633116e-01 2.23544955e-04 -2.16305898e+01] [ 5.50269350e-03 -7.45299572e-05 9.99984857e-01 -2.60126271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42401273899998 meters Centerline goodness [0,1] 0.9938087841919061 Centerline is valid? [True, True] Translation: X:202.12, Y:-21.63, Z:-2.60 [[ 9.99582240e-01 2.82450041e-02 -6.12904252e-03 2.02120638e+02] [-2.82440090e-02 9.99601027e-01 2.48869972e-04 -2.16303407e+01] [ 6.13362653e-03 -7.56572720e-05 9.99981186e-01 -2.60252864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45401273899998 meters Centerline goodness [0,1] 0.9963713206258404 Centerline is valid? [True, True] Translation: X:202.15, Y:-21.62, Z:-2.60 [[ 9.99434521e-01 3.27825790e-02 -7.47929094e-03 2.02149224e+02] [-3.27812271e-02 9.99462505e-01 3.03307092e-04 -2.16228951e+01] [ 7.48521405e-03 -5.79552437e-05 9.99971984e-01 -2.60416412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48401273899998 meters Centerline goodness [0,1] 0.9979616536085101 Centerline is valid? [True, True] Translation: X:202.18, Y:-21.62, Z:-2.61 [[ 9.99353380e-01 3.50028102e-02 -8.22339805e-03 2.02177894e+02] [-3.50012536e-02 9.99387213e-01 3.33166124e-04 -2.16180584e+01] [ 8.23002061e-03 -4.51214519e-05 9.99966132e-01 -2.60554406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51401273899998 meters Centerline goodness [0,1] 0.9979575602519726 Centerline is valid? [True, True] Translation: X:202.21, Y:-21.61, Z:-2.61 [[ 9.99236468e-01 3.84190958e-02 -7.10313957e-03 2.02207116e+02] [-3.84180227e-02 9.99261714e-01 2.87503140e-04 -2.16112862e+01] [ 7.10894103e-03 -1.43950446e-05 9.99974731e-01 -2.60547032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54401273899998 meters Centerline goodness [0,1] 0.9973481719775681 Centerline is valid? [True, True] Translation: X:202.24, Y:-21.61, Z:-2.60 [[ 9.99226173e-01 3.88080947e-02 -6.40210519e-03 2.02235364e+02] [-3.88072327e-02 9.99246682e-01 2.58855458e-04 -2.16119886e+01] [ 6.40732805e-03 -1.02071622e-05 9.99979473e-01 -2.60498741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57401273899998 meters Centerline goodness [0,1] 0.9973662622511982 Centerline is valid? [True, True] Translation: X:202.26, Y:-21.61, Z:-2.61 [[ 9.99249592e-01 3.81042145e-02 -6.95144137e-03 2.02263679e+02] [-3.81031837e-02 9.99273771e-01 2.80704377e-04 -2.16146883e+01] [ 6.95708905e-03 -1.56216863e-05 9.99975799e-01 -2.60576351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60401273899998 meters Centerline goodness [0,1] 0.9979652159013023 Centerline is valid? [True, True] Translation: X:202.29, Y:-21.62, Z:-2.61 [[ 9.99298736e-01 3.63573434e-02 -8.95434360e-03 2.02292894e+02] [-3.63555670e-02 9.99338853e-01 3.61139430e-04 -2.16152533e+01] [ 8.96155352e-03 -3.53459382e-05 9.99959844e-01 -2.60892909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63401273899999 meters Centerline goodness [0,1] 0.9986498360515206 Centerline is valid? [True, True] Translation: X:202.32, Y:-21.62, Z:-2.61 [[ 9.99326202e-01 3.54999420e-02 -9.32185486e-03 2.02320985e+02] [-3.54979842e-02 9.99369677e-01 3.75438909e-04 -2.16173720e+01] [ 9.32930715e-03 -4.42788821e-05 9.99956480e-01 -2.61134063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.664012739 meters Centerline goodness [0,1] 0.9977431973520182 Centerline is valid? [True, True] Translation: X:202.35, Y:-21.62, Z:-2.61 [[ 9.99436623e-01 3.25397433e-02 -8.22201890e-03 2.02349481e+02] [-3.25381235e-02 9.99470440e-01 3.30731105e-04 -2.16227718e+01] [ 8.22842676e-03 -6.30157121e-05 9.99966144e-01 -2.60854643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.694012739 meters Centerline goodness [0,1] 0.9958175316935746 Centerline is valid? [True, True] Translation: X:202.38, Y:-21.63, Z:-2.61 [[ 9.99502457e-01 3.08132631e-02 -6.73660058e-03 2.02377740e+02] [-3.08121381e-02 9.99525157e-01 2.70735165e-04 -2.16257011e+01] [ 6.74174398e-03 -6.30313950e-05 9.99977272e-01 -2.60509748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.724012739 meters Centerline goodness [0,1] 0.9949569925337292 Centerline is valid? [True, True] Translation: X:202.41, Y:-21.62, Z:-2.60 [[ 9.99548819e-01 2.94820256e-02 -5.74175580e-03 2.02406433e+02] [-2.94811877e-02 9.99565309e-01 2.30539145e-04 -2.16245436e+01] [ 5.74605667e-03 -6.11613499e-05 9.99983489e-01 -2.60172403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.754012739 meters Centerline goodness [0,1] 0.9944528058482047 Centerline is valid? [True, True] Translation: X:202.43, Y:-21.63, Z:-2.60 [[ 9.99599255e-01 2.77289774e-02 -5.69507176e-03 2.02434728e+02] [-2.77281261e-02 9.99615475e-01 2.28408364e-04 -2.16285475e+01] [ 5.69921539e-03 -7.04031630e-05 9.99983757e-01 -2.60127824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.784012739 meters Centerline goodness [0,1] 0.9937927156328402 Centerline is valid? [True, True] Translation: X:202.46, Y:-21.63, Z:-2.60 [[ 9.99622833e-01 2.69313501e-02 -5.37524987e-03 2.02463178e+02] [-2.69305814e-02 9.99637283e-01 2.15349801e-04 -2.16319907e+01] [ 5.37909983e-03 -7.05099744e-05 9.99985530e-01 -2.60086327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.814012739 meters Centerline goodness [0,1] 0.9936763499805759 Centerline is valid? [True, True] Translation: X:202.49, Y:-21.63, Z:-2.60 [[ 9.99668529e-01 2.53979801e-02 -4.21611183e-03 2.02492033e+02] [-2.53974942e-02 9.99677417e-01 1.68765729e-04 -2.16323604e+01] [ 4.21903810e-03 -6.16311128e-05 9.99991098e-01 -2.59826854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.844012739 meters Centerline goodness [0,1] 0.9924784639780568 Centerline is valid? [True, True] Translation: X:202.52, Y:-21.63, Z:-2.60 [[ 9.99677447e-01 2.51621526e-02 -3.44500264e-03 2.02519842e+02] [-2.51618272e-02 9.99683382e-01 1.37786813e-04 -2.16338466e+01] [ 3.44737890e-03 -5.10598086e-05 9.99994056e-01 -2.59665201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.874012739 meters Centerline goodness [0,1] 0.9920585786563627 Centerline is valid? [True, True] Translation: X:202.55, Y:-21.63, Z:-2.60 [[ 9.99669265e-01 2.55845209e-02 -2.60636217e-03 2.02547703e+02] [-2.55843363e-02 9.99672662e-01 1.04150514e-04 -2.16341613e+01] [ 2.60817365e-03 -3.74340218e-05 9.99996598e-01 -2.59537480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.904012739 meters Centerline goodness [0,1] 0.9921667095888059 Centerline is valid? [True, True] Translation: X:202.58, Y:-21.63, Z:-2.59 [[ 9.99629479e-01 2.71424514e-02 -2.04750375e-03 2.02576311e+02] [-2.71423410e-02 9.99631575e-01 8.16683720e-05 -2.16337869e+01] [ 2.04896608e-03 -2.60640670e-05 9.99997901e-01 -2.59417012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93401273899997 meters Centerline goodness [0,1] 0.9943876224321747 Centerline is valid? [True, True] Translation: X:202.61, Y:-21.63, Z:-2.60 [[ 9.99616031e-01 2.72371507e-02 -5.09196956e-03 2.02605243e+02] [-2.72364707e-02 9.99628998e-01 2.02851001e-04 -2.16347019e+01] [ 5.09560551e-03 -6.40858332e-05 9.99987015e-01 -2.60004550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96401273899997 meters Centerline goodness [0,1] 0.9950911341614377 Centerline is valid? [True, True] Translation: X:202.63, Y:-21.64, Z:-2.60 [[ 9.99619066e-01 2.67206347e-02 -6.90869079e-03 2.02634081e+02] [-2.67193733e-02 9.99642936e-01 2.74840641e-04 -2.16366665e+01] [ 6.91356786e-03 -9.01400572e-05 9.99976097e-01 -2.60335570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99401273899997 meters Centerline goodness [0,1] 0.9951035701360356 Centerline is valid? [True, True] Translation: X:202.66, Y:-21.64, Z:-2.60 [[ 9.99623880e-01 2.64523599e-02 -7.23681626e-03 2.02662522e+02] [-2.64509711e-02 9.99650070e-01 2.87560137e-04 -2.16374873e+01] [ 7.24189053e-03 -9.60311615e-05 9.99973773e-01 -2.60379327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02401273899997 meters Centerline goodness [0,1] 0.9947822290142998 Centerline is valid? [True, True] Translation: X:202.69, Y:-21.64, Z:-2.60 [[ 9.99630150e-01 2.65272179e-02 -5.98919964e-03 2.02691434e+02] [-2.65262695e-02 9.99648088e-01 2.37748909e-04 -2.16354225e+01] [ 5.99339879e-03 -7.87898536e-05 9.99982036e-01 -2.60126310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05401273899997 meters Centerline goodness [0,1] 0.9929716293820177 Centerline is valid? [True, True] Translation: X:202.72, Y:-21.63, Z:-2.59 [[ 9.99624494e-01 2.73094239e-02 -2.25094751e-03 2.02719460e+02] [-2.73092918e-02 9.99627028e-01 8.94062809e-05 -2.16324251e+01] [ 2.25254960e-03 -2.79009261e-05 9.99997463e-01 -2.59408409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08401273899997 meters Centerline goodness [0,1] 0.9925542871856493 Centerline is valid? [True, True] Translation: X:202.75, Y:-21.63, Z:-2.60 [[ 9.99610836e-01 2.77589643e-02 -2.75989749e-03 2.02747891e+02] [-2.77587682e-02 9.99614645e-01 1.09359153e-04 -2.16311836e+01] [ 2.76186965e-03 -3.27052398e-05 9.99996185e-01 -2.59580920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11401273899997 meters Centerline goodness [0,1] 0.9940448037150106 Centerline is valid? [True, True] Translation: X:202.78, Y:-21.63, Z:-2.60 [[ 9.99607367e-01 2.75849830e-02 -4.91731602e-03 2.02777014e+02] [-2.75843597e-02 9.99619460e-01 1.94550718e-04 -2.16320054e+01] [ 4.92081146e-03 -5.88333169e-05 9.99987891e-01 -2.59986518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14401273899998 meters Centerline goodness [0,1] 0.9943149153625039 Centerline is valid? [True, True] Translation: X:202.81, Y:-21.64, Z:-2.60 [[ 9.99624247e-01 2.65914114e-02 -6.65289049e-03 2.02805150e+02] [-2.65902511e-02 9.99646382e-01 2.62807891e-04 -2.16351102e+01] [ 6.65752634e-03 -8.58071118e-05 9.99977835e-01 -2.60300130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17401273899998 meters Centerline goodness [0,1] 0.9939718831406489 Centerline is valid? [True, True] Translation: X:202.83, Y:-21.64, Z:-2.60 [[ 9.99675288e-01 2.45967128e-02 -6.65735092e-03 2.02834189e+02] [-2.45955092e-02 9.99697450e-01 2.62604484e-04 -2.16366050e+01] [ 6.66179595e-03 -9.87782768e-05 9.99977805e-01 -2.60260625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20401273899998 meters Centerline goodness [0,1] 0.9904950242408778 Centerline is valid? [True, True] Translation: X:202.86, Y:-21.65, Z:-2.60 [[ 9.99800887e-01 1.94959594e-02 -4.25380212e-03 2.02862227e+02] [-1.94954224e-02 9.99809932e-01 1.67673768e-04 -2.16466393e+01] [ 4.25626257e-03 -8.47107127e-05 9.99990938e-01 -2.59766859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23401273899998 meters Centerline goodness [0,1] 0.9891362346061084 Centerline is valid? [True, True] Translation: X:202.89, Y:-21.66, Z:-2.60 [[ 9.99913706e-01 1.27686164e-02 -3.08925247e-03 2.02891824e+02] [-1.27683015e-02 9.99918475e-01 1.21631273e-04 -2.16608769e+01] [ 3.09055368e-03 -8.21762702e-05 9.99995221e-01 -2.59566664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26401273899998 meters Centerline goodness [0,1] 0.9875841886686894 Centerline is valid? [True, True] Translation: X:202.92, Y:-21.67, Z:-2.60 [[ 9.99951428e-01 9.28139410e-03 -3.31624313e-03 2.02920926e+02] [-9.28101215e-03 9.99956922e-01 1.30548157e-04 -2.16702576e+01] [ 3.31731194e-03 -9.97637228e-05 9.99994493e-01 -2.59622021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29401273899998 meters Centerline goodness [0,1] 0.9865699588920216 Centerline is valid? [True, True] Translation: X:202.95, Y:-21.68, Z:-2.60 [[ 9.99972398e-01 6.12614165e-03 -4.20398800e-03 2.02951332e+02] [-6.12550023e-03 9.99981225e-01 1.65431668e-04 -2.16791792e+01] [ 4.20492253e-03 -1.39675572e-04 9.99991150e-01 -2.59738252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32401273899998 meters Centerline goodness [0,1] 0.9834486588074491 Centerline is valid? [True, True] Translation: X:202.98, Y:-21.69, Z:-2.60 [[ 9.99979985e-01 3.94657789e-03 -4.94506534e-03 2.02980246e+02] [-3.94566386e-03 9.99992197e-01 1.94579105e-04 -2.16860837e+01] [ 4.94579467e-03 -1.75063645e-04 9.99987754e-01 -2.59794340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35401273899998 meters Centerline goodness [0,1] 0.9865390043205454 Centerline is valid? [True, True] Translation: X:203.01, Y:-21.69, Z:-2.60 [[ 9.99984171e-01 2.22594558e-03 -5.16755683e-03 2.03010183e+02] [-2.22492540e-03 9.99997504e-01 2.03162033e-04 -2.16879684e+01] [ 5.16799616e-03 -1.91661388e-04 9.99986627e-01 -2.59814272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38401273899999 meters Centerline goodness [0,1] 0.9800163307404701 Centerline is valid? [True, True] Translation: X:203.04, Y:-21.70, Z:-2.60 [[ 9.99981475e-01 3.04616626e-03 -5.26976321e-03 2.03037421e+02] [-3.04511750e-03 9.99995342e-01 2.07026488e-04 -2.17004067e+01] [ 5.27036930e-03 -1.90975604e-04 9.99986093e-01 -2.59810003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.414012739 meters Centerline goodness [0,1] 0.9847066100718811 Centerline is valid? [True, True] Translation: X:203.07, Y:-21.70, Z:-2.60 [[ 9.99967617e-01 6.53395032e-03 -4.69822185e-03 2.03066992e+02] [-6.53315630e-03 9.99978642e-01 1.84332724e-04 -2.17028373e+01] [ 4.69932593e-03 -1.53632537e-04 9.99988946e-01 -2.59669653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.444012739 meters Centerline goodness [0,1] 0.9880421433650055 Centerline is valid? [True, True] Translation: X:203.10, Y:-21.70, Z:-2.60 [[ 9.99954648e-01 8.59111416e-03 -4.11022076e-03 2.03096368e+02] [-8.59052411e-03 9.99963088e-01 1.61190432e-04 -2.16990440e+01] [ 4.11145384e-03 -1.25874171e-04 9.99991540e-01 -2.59579056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.474012739 meters Centerline goodness [0,1] 0.9883007041044135 Centerline is valid? [True, True] Translation: X:203.12, Y:-21.70, Z:-2.60 [[ 9.99932725e-01 1.08955372e-02 -3.97916064e-03 2.03124726e+02] [-1.08950029e-02 9.99940636e-01 1.55924354e-04 -2.17028679e+01] [ 3.98062330e-03 -1.12560897e-04 9.99992071e-01 -2.59516348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.504012739 meters Centerline goodness [0,1] 0.9911223431829964 Centerline is valid? [True, True] Translation: X:203.16, Y:-21.70, Z:-2.60 [[ 9.99872040e-01 1.55337481e-02 -3.82189022e-03 2.03155134e+02] [-1.55332898e-02 9.99879340e-01 1.49573139e-04 -2.17016327e+01] [ 3.82375250e-03 -9.01874709e-05 9.99992685e-01 -2.59555439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.534012739 meters Centerline goodness [0,1] 0.9919250645994832 Centerline is valid? [True, True] Translation: X:203.18, Y:-21.70, Z:-2.60 [[ 9.99832386e-01 1.77957853e-02 -4.30237649e-03 2.03183456e+02] [-1.77952257e-02 9.99841638e-01 1.68325384e-04 -2.17038143e+01] [ 4.30469064e-03 -9.17354097e-05 9.99990731e-01 -2.59669622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.564012739 meters Centerline goodness [0,1] 0.9944985005717244 Centerline is valid? [True, True] Translation: X:203.21, Y:-21.70, Z:-2.60 [[ 9.99765196e-01 2.09879841e-02 -5.39053867e-03 2.03212066e+02] [-2.09871533e-02 9.99779723e-01 2.10659284e-04 -2.17047772e+01] [ 5.39377258e-03 -9.74777592e-05 9.99985449e-01 -2.59991920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.594012739 meters Centerline goodness [0,1] 0.9950327192622508 Centerline is valid? [True, True] Translation: X:203.24, Y:-21.71, Z:-2.60 [[ 9.99739281e-01 2.19605333e-02 -6.25332144e-03 2.03239517e+02] [-2.19594364e-02 9.99758833e-01 2.44023145e-04 -2.17106894e+01] [ 6.25717222e-03 -1.06640110e-04 9.99980418e-01 -2.60262447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.624012739 meters Centerline goodness [0,1] 0.9961731128931697 Centerline is valid? [True, True] Translation: X:203.27, Y:-21.72, Z:-2.60 [[ 9.99702819e-01 2.31829947e-02 -7.53805154e-03 2.03267556e+02] [-2.31814391e-02 9.99731231e-01 2.93692945e-04 -2.17206324e+01] [ 7.54283423e-03 -1.18862782e-04 9.99971545e-01 -2.60477451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.654012739 meters Centerline goodness [0,1] 0.9965623187160261 Centerline is valid? [True, True] Translation: X:203.30, Y:-21.72, Z:-2.60 [[ 9.99668309e-01 2.46983899e-02 -7.29805031e-03 2.03296054e+02] [-2.46969745e-02 9.99694943e-01 2.84005896e-04 -2.17222887e+01] [ 7.30283848e-03 -1.03671931e-04 9.99973329e-01 -2.60358503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68401273899997 meters Centerline goodness [0,1] 0.9970423143350604 Centerline is valid? [True, True] Translation: X:203.32, Y:-21.72, Z:-2.60 [[ 9.99604635e-01 2.71451255e-02 -7.32913375e-03 2.03324719e+02] [-2.71437664e-02 9.99631500e-01 2.84865488e-04 -2.17223485e+01] [ 7.33416567e-03 -8.58125684e-05 9.99973101e-01 -2.60294633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71401273899997 meters Centerline goodness [0,1] 0.997950289117114 Centerline is valid? [True, True] Translation: X:203.35, Y:-21.72, Z:-2.60 [[ 9.99374196e-01 3.46800765e-02 -6.96487352e-03 2.03352784e+02] [-3.46790345e-02 9.99398465e-01 2.70356124e-04 -2.17181711e+01] [ 6.97005987e-03 -2.86518447e-05 9.99975708e-01 -2.60201417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74401273899997 meters Centerline goodness [0,1] 0.9970870015535992 Centerline is valid? [True, True] Translation: X:203.38, Y:-21.71, Z:-2.60 [[ 9.99214468e-01 3.90868983e-02 -6.53161727e-03 2.03381193e+02] [-3.90860786e-02 9.99235815e-01 2.53159258e-04 -2.17143208e+01] [ 6.53652112e-03 2.33491247e-06 9.99978637e-01 -2.60120409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77401273899997 meters Centerline goodness [0,1] 0.9937574824696426 Centerline is valid? [True, True] Translation: X:203.41, Y:-21.70, Z:-2.60 [[ 9.98816095e-01 4.82833479e-02 -5.92681232e-03 2.03410137e+02] [-4.82828368e-02 9.98833677e-01 2.29378910e-04 -2.17012608e+01] [ 5.93097493e-03 5.70559648e-05 9.99982410e-01 -2.59911163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80401273899997 meters Centerline goodness [0,1] 0.9929999355822293 Centerline is valid? [True, True] Translation: X:203.44, Y:-21.70, Z:-2.60 [[ 9.98616354e-01 5.22719848e-02 -5.74604982e-03 2.03439222e+02] [-5.22715722e-02 9.98632882e-01 2.22072743e-04 -2.16956880e+01] [ 5.74980247e-03 7.85895848e-05 9.99983467e-01 -2.59913156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83401273899997 meters Centerline goodness [0,1] 0.9917711346833815 Centerline is valid? [True, True] Translation: X:203.47, Y:-21.69, Z:-2.60 [[ 9.98396449e-01 5.63548389e-02 -5.35373492e-03 2.03468787e+02] [-5.63545405e-02 9.98410799e-01 2.06695186e-04 -2.16921167e+01] [ 5.35687503e-03 9.53435317e-05 9.99985647e-01 -2.59864590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86401273899997 meters Centerline goodness [0,1] 0.9893248331336643 Centerline is valid? [True, True] Translation: X:203.50, Y:-21.68, Z:-2.60 [[ 9.97975560e-01 6.34632379e-02 -4.14717948e-03 2.03498608e+02] [-6.34631204e-02 9.97984172e-01 1.60033896e-04 -2.16814411e+01] [ 4.14897575e-03 1.03483034e-04 9.99991388e-01 -2.59568344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89401273899998 meters Centerline goodness [0,1] 0.9877370444344222 Centerline is valid? [True, True] Translation: X:203.53, Y:-21.68, Z:-2.59 [[ 9.97791006e-01 6.63382433e-02 -3.51374297e-03 2.03528200e+02] [-6.63381769e-02 9.97797188e-01 1.35587750e-04 -2.16755455e+01] [ 3.51499750e-03 9.78070653e-05 9.99993818e-01 -2.59426318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92401273899998 meters Centerline goodness [0,1] 0.985538916382801 Centerline is valid? [True, True] Translation: X:203.56, Y:-21.66, Z:-2.59 [[ 9.97469756e-01 7.10359288e-02 -2.82519207e-03 2.03558842e+02] [-7.10359051e-02 9.97473753e-01 1.08874581e-04 -2.16612408e+01] [ 2.82578894e-03 9.20909733e-05 9.99996003e-01 -2.59312282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95401273899998 meters Centerline goodness [0,1] 0.9842752474399075 Centerline is valid? [True, True] Translation: X:203.59, Y:-21.66, Z:-2.59 [[ 9.97351431e-01 7.26843976e-02 -2.66498067e-03 2.03589063e+02] [-7.26843824e-02 9.97354987e-01 1.02693522e-04 -2.16554942e+01] [ 2.66539598e-03 9.12809430e-05 9.99996444e-01 -2.59293245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98401273899998 meters Centerline goodness [0,1] 0.9832453769253873 Centerline is valid? [True, True] Translation: X:203.62, Y:-21.65, Z:-2.59 [[ 9.97271254e-01 7.37829399e-02 -2.47464184e-03 2.03618265e+02] [-7.37829302e-02 9.97274320e-01 9.53556062e-05 -2.16505054e+01] [ 2.47493238e-03 8.74909214e-05 9.99996934e-01 -2.59241972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01401273899998 meters Centerline goodness [0,1] 0.9819402985074627 Centerline is valid? [True, True] Translation: X:203.65, Y:-21.64, Z:-2.59 [[ 9.97192935e-01 7.47973399e-02 -3.40709388e-03 2.03646996e+02] [-7.47973281e-02 9.97198748e-01 1.31062118e-04 -2.16361262e+01] [ 3.40735285e-03 1.24147301e-04 9.99994187e-01 -2.59420695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04401273899998 meters Centerline goodness [0,1] 0.9817339960069665 Centerline is valid? [True, True] Translation: X:203.68, Y:-21.63, Z:-2.60 [[ 9.97208334e-01 7.45470370e-02 -4.27522447e-03 2.03676129e+02] [-7.45470175e-02 9.97217486e-01 1.64143195e-04 -2.16299598e+01] [ 4.27556499e-03 1.55020272e-04 9.99990848e-01 -2.59569917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07401273899998 meters Centerline goodness [0,1] 0.9861567745284652 Centerline is valid? [True, True] Translation: X:203.71, Y:-21.63, Z:-2.60 [[ 9.97385895e-01 7.21558132e-02 -3.86196775e-03 2.03706164e+02] [-7.21557801e-02 9.97393363e-01 1.48098443e-04 -2.16278809e+01] [ 3.86258716e-03 1.30951997e-04 9.99992532e-01 -2.59651782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10401273899998 meters Centerline goodness [0,1] 0.9844889129259059 Centerline is valid? [True, True] Translation: X:203.73, Y:-21.62, Z:-2.59 [[ 9.97535379e-01 7.01003562e-02 -3.01774509e-03 2.03734416e+02] [-7.01003265e-02 9.97539939e-01 1.15770638e-04 -2.16217722e+01] [ 3.01843682e-03 9.60596084e-05 9.99995440e-01 -2.59400125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13401273899999 meters Centerline goodness [0,1] 0.9853627951223731 Centerline is valid? [True, True] Translation: X:203.76, Y:-21.62, Z:-2.59 [[ 9.97683639e-01 6.79866784e-02 -2.27326489e-03 2.03762215e+02] [-6.79866562e-02 9.97686227e-01 8.71333761e-05 -2.16188502e+01] [ 2.27392898e-03 6.76201351e-05 9.99997412e-01 -2.59180181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.164012739 meters Centerline goodness [0,1] 0.987495165656826 Centerline is valid? [True, True] Translation: X:203.79, Y:-21.61, Z:-2.59 [[ 9.97978912e-01 6.35065329e-02 -2.23871741e-03 2.03791807e+02] [-6.35065006e-02 9.97981421e-01 8.55842074e-05 -2.16126862e+01] [ 2.23963353e-03 5.67618740e-05 9.99997490e-01 -2.59179484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.194012739 meters Centerline goodness [0,1] 0.987495165656826 Centerline is valid? [True, True] Translation: X:203.82, Y:-21.61, Z:-2.59 [[ 9.97983186e-01 6.34393348e-02 -2.23871352e-03 2.03819287e+02] [-6.34393021e-02 9.97985695e-01 8.56860255e-05 -2.16135966e+01] [ 2.23963993e-03 5.65092107e-05 9.99997490e-01 -2.59167104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.224012739 meters Centerline goodness [0,1] 0.98868330464716 Centerline is valid? [True, True] Translation: X:203.85, Y:-21.61, Z:-2.59 [[ 9.98117897e-01 6.12574460e-02 -2.86177171e-03 2.03848803e+02] [-6.12573844e-02 9.98121997e-01 1.09255229e-04 -2.16123981e+01] [ 2.86308999e-03 6.62550500e-05 9.99995899e-01 -2.59274934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.254012739 meters Centerline goodness [0,1] 0.9917496751840623 Centerline is valid? [True, True] Translation: X:203.88, Y:-21.62, Z:-2.60 [[ 9.98401227e-01 5.63392509e-02 -4.56929223e-03 2.03878135e+02] [-5.63390445e-02 9.98411680e-01 1.73961147e-04 -2.16162151e+01] [ 4.57183558e-03 8.37465358e-05 9.99989546e-01 -2.59636369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.284012739 meters Centerline goodness [0,1] 0.9923131125488438 Centerline is valid? [True, True] Translation: X:203.91, Y:-21.61, Z:-2.60 [[ 9.98566538e-01 5.33404695e-02 -4.43442365e-03 2.03906207e+02] [-5.33402460e-02 9.98576381e-01 1.68725698e-04 -2.16132158e+01] [ 4.43711063e-03 6.80494125e-05 9.99990154e-01 -2.59573500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.314012739 meters Centerline goodness [0,1] 0.9940021344717183 Centerline is valid? [True, True] Translation: X:203.93, Y:-21.62, Z:-2.59 [[ 9.98965611e-01 4.53114857e-02 -3.81814145e-03 2.03934819e+02] [-4.53112623e-02 9.98972907e-01 1.45031887e-04 -2.16207959e+01] [ 3.82079148e-03 2.81229409e-05 9.99992700e-01 -2.59464588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.344012739 meters Centerline goodness [0,1] 0.9948709032426324 Centerline is valid? [True, True] Translation: X:203.96, Y:-21.63, Z:-2.59 [[ 9.99166856e-01 4.06371039e-02 -3.77095707e-03 2.03963241e+02] [-4.06368530e-02 9.99173972e-01 1.43173640e-04 -2.16280194e+01] [ 3.77366032e-03 1.01854728e-05 9.99992880e-01 -2.59440480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.374012739 meters Centerline goodness [0,1] 0.9960141336665661 Centerline is valid? [True, True] Translation: X:203.99, Y:-21.64, Z:-2.60 [[ 9.99432784e-01 3.34147373e-02 -4.19116617e-03 2.03991432e+02] [-3.34143646e-02 9.99441572e-01 1.58924144e-04 -2.16367569e+01] [ 4.19413611e-03 -1.87888448e-05 9.99991204e-01 -2.59635013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.404012739 meters Centerline goodness [0,1] 0.9963933222469387 Centerline is valid? [True, True] Translation: X:204.02, Y:-21.64, Z:-2.60 [[ 9.99508819e-01 3.10536191e-02 -4.21815730e-03 2.04019890e+02] [-3.10532215e-02 9.99517720e-01 1.59743848e-04 -2.16382015e+01] [ 4.22108359e-03 -2.86780119e-05 9.99991091e-01 -2.59569520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43401273899997 meters Centerline goodness [0,1] 0.9907478962733985 Centerline is valid? [True, True] Translation: X:204.05, Y:-21.64, Z:-2.58 [[ 9.99544739e-01 2.97350956e-02 -5.11255730e-03 2.04048000e+02] [-2.97344957e-02 9.99557813e-01 1.93319514e-04 -2.16399872e+01] [ 5.11604497e-03 -4.12121903e-05 9.99986912e-01 -2.58484786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46401273899997 meters Centerline goodness [0,1] 0.9946134620356805 Centerline is valid? [True, True] Translation: X:204.08, Y:-21.64, Z:-2.59 [[ 9.99583592e-01 2.86571359e-02 -3.37803851e-03 2.04077255e+02] [-2.86568683e-02 9.99589299e-01 1.27609291e-04 -2.16366354e+01] [ 3.38030806e-03 -3.07521494e-05 9.99994286e-01 -2.59256519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49401273899997 meters Centerline goodness [0,1] 0.9949013617881807 Centerline is valid? [True, True] Translation: X:204.11, Y:-21.63, Z:-2.59 [[ 9.99572148e-01 2.90925282e-02 -3.02424938e-03 2.04106490e+02] [-2.90923160e-02 9.99576722e-01 1.14128533e-04 -2.16347719e+01] [ 3.02628957e-03 -2.60972844e-05 9.99995420e-01 -2.59154332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52401273899997 meters Centerline goodness [0,1] 0.9949571897598763 Centerline is valid? [True, True] Translation: X:204.13, Y:-21.63, Z:-2.59 [[ 9.99493899e-01 3.16301151e-02 -3.38842227e-03 2.04134828e+02] [-3.16298639e-02 9.99499643e-01 1.27697677e-04 -2.16310339e+01] [ 3.39076594e-03 -2.04577134e-05 9.99994251e-01 -2.59225925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55401273899997 meters Centerline goodness [0,1] 0.9956794124000864 Centerline is valid? [True, True] Translation: X:204.16, Y:-21.63, Z:-2.59 [[ 9.99465037e-01 3.24503518e-02 -4.07598112e-03 2.04164193e+02] [-3.24499964e-02 9.99473348e-01 1.53309718e-04 -2.16266055e+01] [ 4.07880945e-03 -2.09621301e-05 9.99991681e-01 -2.59386144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58401273899997 meters Centerline goodness [0,1] 0.9965053293727066 Centerline is valid? [True, True] Translation: X:204.19, Y:-21.62, Z:-2.60 [[ 9.99457051e-01 3.26245479e-02 -4.60898534e-03 2.04192736e+02] [-3.26240965e-02 9.99467677e-01 1.73112620e-04 -2.16244185e+01] [ 4.61217959e-03 -2.26546464e-05 9.99989364e-01 -2.59518801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61401273899997 meters Centerline goodness [0,1] 0.9961847604758333 Centerline is valid? [True, True] Translation: X:204.22, Y:-21.62, Z:-2.59 [[ 9.99480381e-01 3.19533088e-02 -4.23724362e-03 2.04221110e+02] [-3.19529220e-02 9.99489362e-01 1.58964706e-04 -2.16230761e+01] [ 4.24015937e-03 -2.34897898e-05 9.99991010e-01 -2.59460437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64401273899998 meters Centerline goodness [0,1] 0.9963234508261548 Centerline is valid? [True, True] Translation: X:204.25, Y:-21.62, Z:-2.59 [[ 9.99515567e-01 3.09061216e-02 -3.66652308e-03 2.04248717e+02] [-3.09058257e-02 9.99522291e-01 1.37344245e-04 -2.16242457e+01] [ 3.66901633e-03 -2.39607876e-05 9.99993269e-01 -2.59296107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67401273899998 meters Centerline goodness [0,1] 0.9942304794299369 Centerline is valid? [True, True] Translation: X:204.28, Y:-21.63, Z:-2.59 [[ 9.99599075e-01 2.81243057e-02 -3.27305597e-03 2.04275921e+02] [-2.81240556e-02 9.99604433e-01 1.22431846e-04 -2.16282123e+01] [ 3.27520456e-03 -3.03311521e-05 9.99994636e-01 -2.59292832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70401273899998 meters Centerline goodness [0,1] 0.993190410723492 Centerline is valid? [True, True] Translation: X:204.30, Y:-21.63, Z:-2.59 [[ 9.99645135e-01 2.64455657e-02 -3.19927895e-03 2.04304203e+02] [-2.64453186e-02 9.99650254e-01 1.19509774e-04 -2.16314677e+01] [ 3.20132052e-03 -3.48614127e-05 9.99994875e-01 -2.59287790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73401273899998 meters Centerline goodness [0,1] 0.9925898800163712 Centerline is valid? [True, True] Translation: X:204.33, Y:-21.63, Z:-2.59 [[ 9.99696688e-01 2.44758299e-02 -2.73249911e-03 2.04332516e+02] [-2.44756426e-02 9.99700421e-01 1.01981527e-04 -2.16347902e+01] [ 2.73417660e-03 -3.50709228e-05 9.99996262e-01 -2.59288295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76401273899998 meters Centerline goodness [0,1] 0.9914642012470436 Centerline is valid? [True, True] Translation: X:204.36, Y:-21.64, Z:-2.59 [[ 9.99803466e-01 1.96522478e-02 -2.61120755e-03 2.04361306e+02] [-1.96520606e-02 9.99806875e-01 9.73224786e-05 -2.16441838e+01] [ 2.61261586e-03 -4.59877423e-05 9.99996586e-01 -2.59250227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79401273899998 meters Centerline goodness [0,1] 0.99036267883414 Centerline is valid? [True, True] Translation: X:204.39, Y:-21.65, Z:-2.59 [[ 9.99847927e-01 1.70975706e-02 -3.43460556e-03 2.04389517e+02] [-1.70972323e-02 9.99853823e-01 1.27843164e-04 -2.16510025e+01] [ 3.43628931e-03 -6.91014734e-05 9.99994094e-01 -2.59343286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82401273899998 meters Centerline goodness [0,1] 0.9895162852775924 Centerline is valid? [True, True] Translation: X:204.42, Y:-21.66, Z:-2.59 [[ 9.99893688e-01 1.40107800e-02 -4.03870361e-03 2.04417771e+02] [-1.40102877e-02 9.99901840e-01 1.50162492e-04 -2.16588782e+01] [ 4.04041107e-03 -9.35631281e-05 9.99991833e-01 -2.59434071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85401273899998 meters Centerline goodness [0,1] 0.9877471636952998 Centerline is valid? [True, True] Translation: X:204.45, Y:-21.67, Z:-2.59 [[ 9.99962447e-01 7.77333814e-03 -3.83133174e-03 2.04447699e+02] [-7.77284990e-03 9.99969781e-01 1.42309873e-04 -2.16716902e+01] [ 3.83232218e-03 -1.12524162e-04 9.99992650e-01 -2.59382355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88401273899999 meters Centerline goodness [0,1] 0.9870889738109118 Centerline is valid? [True, True] Translation: X:204.48, Y:-21.68, Z:-2.59 [[ 9.99980156e-01 5.34213557e-03 -3.33896656e-03 2.04476769e+02] [-5.34175115e-03 9.99985725e-01 1.24040748e-04 -2.16780862e+01] [ 3.33958154e-03 -1.06202358e-04 9.99994418e-01 -2.59321142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.914012739 meters Centerline goodness [0,1] 0.9863143806933472 Centerline is valid? [True, True] Translation: X:204.51, Y:-21.69, Z:-2.59 [[ 9.99991531e-01 1.59772627e-03 -3.79271149e-03 2.04505569e+02] [-1.59720406e-03 9.99998715e-01 1.40714479e-04 -2.16928347e+01] [ 3.79293144e-03 -1.34655553e-04 9.99992798e-01 -2.59317239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.944012739 meters Centerline goodness [0,1] 0.9855672337197963 Centerline is valid? [True, True] Translation: X:204.53, Y:-21.70, Z:-2.59 [[ 9.99988071e-01 -1.85262335e-04 -4.88101129e-03 2.04534400e+02] [ 1.86148529e-04 9.99999966e-01 1.81105801e-04 -2.17009924e+01] [ 4.88097757e-03 -1.82012234e-04 9.99988071e-01 -2.59492178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.974012739 meters Centerline goodness [0,1] 0.9829744294394229 Centerline is valid? [True, True] Translation: X:204.56, Y:-21.71, Z:-2.60 [[ 9.99978007e-01 -1.69648823e-03 -6.41156271e-03 2.04563243e+02] [ 1.69804663e-03 9.99998530e-01 2.37625010e-04 -2.17094039e+01] [ 6.41115016e-03 -2.48506917e-04 9.99979417e-01 -2.59720647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.004012739 meters Centerline goodness [0,1] 0.9778731480083677 Centerline is valid? [True, True] Translation: X:204.59, Y:-21.73, Z:-2.60 [[ 9.99963924e-01 -4.76261565e-03 -7.03341888e-03 2.04593203e+02] [ 4.76456553e-03 9.99988615e-01 2.60501726e-04 -2.17258356e+01] [ 7.03209813e-03 -2.94003513e-04 9.99975231e-01 -2.59845110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.034012739 meters Centerline goodness [0,1] 0.9801292897739599 Centerline is valid? [True, True] Translation: X:204.62, Y:-21.73, Z:-2.60 [[ 9.99962458e-01 -6.09130730e-03 -6.16265991e-03 2.04621656e+02] [ 6.09282777e-03 9.99981413e-01 2.27978191e-04 -2.17327898e+01] [ 6.16115667e-03 -2.65517657e-04 9.99980985e-01 -2.59659996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.064012739 meters Centerline goodness [0,1] 0.9720164964480815 Centerline is valid? [True, True] Translation: X:204.65, Y:-21.75, Z:-2.59 [[ 9.99969923e-01 -6.70664728e-03 -3.89531984e-03 2.04648683e+02] [ 6.70725773e-03 9.99977496e-01 1.43670481e-04 -2.17512999e+01] [ 3.89426864e-03 -1.69793074e-04 9.99992403e-01 -2.59278727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.094012739 meters Centerline goodness [0,1] 0.9765459335575214 Centerline is valid? [True, True] Translation: X:204.68, Y:-21.76, Z:-2.58 [[ 9.99965842e-01 -6.88556268e-03 -4.57201955e-03 2.04676784e+02] [ 6.88640405e-03 9.99976274e-01 1.68308037e-04 -2.17570877e+01] [ 4.57075218e-03 -1.99787062e-04 9.99989534e-01 -2.58207174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.124012739 meters Centerline goodness [0,1] 0.9784651273300646 Centerline is valid? [True, True] Translation: X:204.71, Y:-21.76, Z:-2.59 [[ 9.99965784e-01 -6.86947818e-03 -4.60881544e-03 2.04705749e+02] [ 6.87032910e-03 9.99976385e-01 1.68822223e-04 -2.17612117e+01] [ 4.60754688e-03 -2.00480526e-04 9.99989365e-01 -2.59325863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.154012739 meters Centerline goodness [0,1] 0.9789975824555345 Centerline is valid? [True, True] Translation: X:204.73, Y:-21.77, Z:-2.60 [[ 9.99962185e-01 -6.11711681e-03 -6.18133055e-03 2.04733984e+02] [ 6.11862536e-03 9.99981256e-01 2.25168562e-04 -2.17730130e+01] [ 6.17983731e-03 -2.62981293e-04 9.99980870e-01 -2.59590257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18401273899997 meters Centerline goodness [0,1] 0.9783341564492924 Centerline is valid? [True, True] Translation: X:204.76, Y:-21.78, Z:-2.58 [[ 9.99961472e-01 -5.37538672e-03 -6.93971837e-03 2.04761786e+02] [ 5.37726316e-03 9.99985511e-01 2.51759845e-04 -2.17818801e+01] [ 6.93826451e-03 -2.89066837e-04 9.99975888e-01 -2.58387456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21401273899997 meters Centerline goodness [0,1] 0.9760807408355737 Centerline is valid? [True, True] Translation: X:204.79, Y:-21.80, Z:-2.59 [[ 9.99975840e-01 -4.89883874e-03 -4.93156631e-03 2.04789526e+02] [ 4.89977905e-03 9.99987980e-01 1.78607726e-04 -2.17952939e+01] [ 4.93063206e-03 -2.02766996e-04 9.99987824e-01 -2.59454419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24401273899997 meters Centerline goodness [0,1] 0.9687688074972057 Centerline is valid? [True, True] Translation: X:204.82, Y:-21.80, Z:-2.59 [[ 9.99977507e-01 -4.55130954e-03 -4.92659906e-03 2.04817544e+02] [ 4.55224216e-03 9.99989623e-01 1.78106610e-04 -2.18039052e+01] [ 4.92573732e-03 -2.00529676e-04 9.99987848e-01 -2.59454716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27401273899997 meters Centerline goodness [0,1] 0.9796617472799741 Centerline is valid? [True, True] Translation: X:204.85, Y:-21.81, Z:-2.59 [[ 9.99978850e-01 -3.76473429e-03 -5.30336917e-03 2.04846895e+02] [ 3.76579934e-03 9.99992891e-01 1.90853424e-04 -2.18051307e+01] [ 5.30261295e-03 -2.10820812e-04 9.99985919e-01 -2.59462036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30401273899997 meters Centerline goodness [0,1] 0.983367357902654 Centerline is valid? [True, True] Translation: X:204.87, Y:-21.82, Z:-2.59 [[ 9.99986011e-01 -1.81116470e-03 -4.96966985e-03 2.04874948e+02] [ 1.81207268e-03 9.99998342e-01 1.78207680e-04 -2.18154389e+01] [ 4.96933885e-03 -1.87210590e-04 9.99987635e-01 -2.59393327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33401273899997 meters Centerline goodness [0,1] 0.9843175217812198 Centerline is valid? [True, True] Translation: X:204.90, Y:-21.82, Z:-2.59 [[ 9.99992019e-01 -4.38818069e-04 -3.97095062e-03 2.04903558e+02] [ 4.39386583e-04 9.99999893e-01 1.42296909e-04 -2.18189457e+01] [ 3.97088775e-03 -1.44040556e-04 9.99992106e-01 -2.59206193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36401273899997 meters Centerline goodness [0,1] 0.986929224967323 Centerline is valid? [True, True] Translation: X:204.93, Y:-21.82, Z:-2.59 [[ 9.99993389e-01 2.94600397e-03 -2.13136987e-03 2.04933057e+02] [-2.94584798e-03 9.99995658e-01 7.63223530e-05 -2.18233094e+01] [ 2.13158547e-03 -7.00431568e-05 9.99997726e-01 -2.58890538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39401273899998 meters Centerline goodness [0,1] 0.9834717766777846 Centerline is valid? [True, True] Translation: X:204.96, Y:-21.84, Z:-2.59 [[ 9.99985021e-01 5.14145354e-03 -1.87690364e-03 2.04960913e+02] [-5.14133646e-03 9.99986781e-01 6.71975080e-05 -2.18372838e+01] [ 1.87722432e-03 -5.75467084e-05 9.99998236e-01 -2.58709844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42401273899998 meters Centerline goodness [0,1] 0.9881576647439259 Centerline is valid? [True, True] Translation: X:204.99, Y:-21.83, Z:-2.59 [[ 9.99963801e-01 8.31320046e-03 -1.81306001e-03 2.04990900e+02] [-8.31309661e-03 9.99965444e-01 6.48107672e-05 -2.18274214e+01] [ 1.81353614e-03 -4.97362781e-05 9.99998354e-01 -2.58846702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45401273899998 meters Centerline goodness [0,1] 0.9912333867266981 Centerline is valid? [True, True] Translation: X:205.02, Y:-21.82, Z:-2.59 [[ 9.99858172e-01 1.63134187e-02 -4.18423886e-03 2.05020642e+02] [-1.63129360e-02 9.99866924e-01 1.49454930e-04 -2.18236954e+01] [ 4.18612016e-03 -8.11765124e-05 9.99991235e-01 -2.59199254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48401273899998 meters Centerline goodness [0,1] 0.9928135652098395 Centerline is valid? [True, True] Translation: X:205.05, Y:-21.82, Z:-2.59 [[ 9.99778883e-01 2.02943073e-02 -5.50687618e-03 2.05049491e+02] [-2.02935323e-02 9.99794046e-01 1.96578714e-04 -2.18223866e+01] [ 5.50973144e-03 -8.47812777e-05 9.99984818e-01 -2.59465941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51401273899998 meters Centerline goodness [0,1] 0.9965133689839573 Centerline is valid? [True, True] Translation: X:205.08, Y:-21.82, Z:-2.60 [[ 9.99614034e-01 2.68887316e-02 -6.98422091e-03 2.05079342e+02] [-2.68876475e-02 9.99638431e-01 2.49086633e-04 -2.18185450e+01] [ 6.98839325e-03 -6.12012236e-05 9.99975579e-01 -2.59611498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54401273899998 meters Centerline goodness [0,1] 0.9972247321543823 Centerline is valid? [True, True] Translation: X:205.11, Y:-21.82, Z:-2.60 [[ 9.99542563e-01 2.94037101e-02 -7.07715070e-03 2.05107888e+02] [-2.94026612e-02 9.99567616e-01 2.52228347e-04 -2.18170129e+01] [ 7.08150711e-03 -4.40259039e-05 9.99974925e-01 -2.59622865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57401273899998 meters Centerline goodness [0,1] 0.9973869088416724 Centerline is valid? [True, True] Translation: X:205.14, Y:-21.81, Z:-2.60 [[ 9.99410695e-01 3.36262719e-02 -6.89461522e-03 2.05136308e+02] [-3.36253793e-02 9.99434477e-01 2.45375941e-04 -2.18125829e+01] [ 6.89896723e-03 -1.33972880e-05 9.99976202e-01 -2.59615807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60401273899998 meters Centerline goodness [0,1] 0.9965277038110049 Centerline is valid? [True, True] Translation: X:205.17, Y:-21.81, Z:-2.59 [[ 9.99343088e-01 3.56719462e-02 -6.39562787e-03 2.05165295e+02] [-3.56712221e-02 9.99363554e-01 2.27280059e-04 -2.18105731e+01] [ 6.39966491e-03 1.00910673e-06 9.99979522e-01 -2.59473399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63401273899999 meters Centerline goodness [0,1] 0.9959442930409219 Centerline is valid? [True, True] Translation: X:205.19, Y:-21.81, Z:-2.59 [[ 9.99281270e-01 3.74957688e-02 -5.56865007e-03 2.05193341e+02] [-3.74952496e-02 9.99296786e-01 1.97650022e-04 -2.18086117e+01] [ 5.57214516e-03 1.12899589e-05 9.99984475e-01 -2.59333117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.664012739 meters Centerline goodness [0,1] 0.9944339784209625 Centerline is valid? [True, True] Translation: X:205.22, Y:-21.80, Z:-2.59 [[ 9.99206934e-01 3.95008977e-02 -5.01821727e-03 2.05222168e+02] [-3.95005027e-02 9.99219535e-01 1.77856336e-04 -2.18048097e+01] [ 5.02132621e-03 2.05068202e-05 9.99987393e-01 -2.59225781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.694012739 meters Centerline goodness [0,1] 0.9951884867361186 Centerline is valid? [True, True] Translation: X:205.25, Y:-21.80, Z:-2.59 [[ 9.99191236e-01 3.98107993e-02 -5.65452709e-03 2.05251262e+02] [-3.98103042e-02 9.99207236e-01 2.00121765e-04 -2.18038319e+01] [ 5.65801139e-03 2.51485302e-05 9.99983993e-01 -2.59330976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.724012739 meters Centerline goodness [0,1] 0.994938709264084 Centerline is valid? [True, True] Translation: X:205.28, Y:-21.80, Z:-2.59 [[ 9.99185314e-01 3.99124446e-02 -5.97531403e-03 2.05279171e+02] [-3.99118954e-02 9.99203181e-01 2.11172088e-04 -2.18033422e+01] [ 5.97898117e-03 2.74860594e-05 9.99982125e-01 -2.59394129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.754012739 meters Centerline goodness [0,1] 0.9950050595302172 Centerline is valid? [True, True] Translation: X:205.31, Y:-21.81, Z:-2.59 [[ 9.99189426e-01 3.99484333e-02 -4.96129137e-03 2.05307894e+02] [-3.99480563e-02 9.99201742e-01 1.75099796e-04 -2.18053493e+01] [ 4.96432595e-03 2.32360822e-05 9.99987677e-01 -2.59274104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.784012739 meters Centerline goodness [0,1] 0.9949151081616823 Centerline is valid? [True, True] Translation: X:205.34, Y:-21.81, Z:-2.59 [[ 9.99187089e-01 4.00661832e-02 -4.45670723e-03 2.05336204e+02] [-4.00658810e-02 9.99197028e-01 1.57101094e-04 -2.18065002e+01] [ 4.45942306e-03 2.15885163e-05 9.99990056e-01 -2.59077415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.814012739 meters Centerline goodness [0,1] 0.9933407802027839 Centerline is valid? [True, True] Translation: X:205.37, Y:-21.80, Z:-2.59 [[ 9.99109184e-01 4.19999974e-02 -4.10342083e-03 2.05365353e+02] [-4.19997583e-02 9.99117610e-01 1.44463272e-04 -2.18044418e+01] [ 4.10586747e-03 2.80081006e-05 9.99991570e-01 -2.58907179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.844012739 meters Centerline goodness [0,1] 0.9924869967251011 Centerline is valid? [True, True] Translation: X:205.39, Y:-21.80, Z:-2.59 [[ 9.99038387e-01 4.36635007e-02 -3.97481455e-03 2.05394341e+02] [-4.36632901e-02 9.99046294e-01 1.39804917e-04 -2.18021707e+01] [ 3.97712811e-03 3.38830020e-05 9.99992091e-01 -2.58896034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.874012739 meters Centerline goodness [0,1] 0.9924878384777649 Centerline is valid? [True, True] Translation: X:205.42, Y:-21.80, Z:-2.59 [[ 9.98966536e-01 4.53130734e-02 -3.54762145e-03 2.05423608e+02] [-4.53129166e-02 9.98972834e-01 1.24623213e-04 -2.17989708e+01] [ 3.54962451e-03 3.62586556e-05 9.99993699e-01 -2.58798388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.904012739 meters Centerline goodness [0,1] 0.990460229470156 Centerline is valid? [True, True] Translation: X:205.45, Y:-21.79, Z:-2.59 [[ 9.98832175e-01 4.82158072e-02 -3.08580713e-03 2.05452148e+02] [-4.82157026e-02 9.98836941e-01 1.08328434e-04 -2.17904739e+01] [ 3.08744130e-03 4.05824334e-05 9.99995233e-01 -2.58664025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93401273899997 meters Centerline goodness [0,1] 0.9907916585797157 Centerline is valid? [True, True] Translation: X:205.48, Y:-21.79, Z:-2.59 [[ 9.98798428e-01 4.89009695e-02 -3.22403721e-03 2.05481946e+02] [-4.89008594e-02 9.98803631e-01 1.12988789e-04 -2.17884098e+01] [ 3.22570533e-03 4.48051658e-05 9.99994796e-01 -2.58691892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96401273899997 meters Centerline goodness [0,1] 0.9903258873275531 Centerline is valid? [True, True] Translation: X:205.51, Y:-21.79, Z:-2.59 [[ 9.98762716e-01 4.96274227e-02 -3.18672003e-03 2.05511087e+02] [-4.96273191e-02 9.98767799e-01 1.11626234e-04 -2.17860368e+01] [ 3.18833308e-03 4.66602513e-05 9.99994916e-01 -2.58631425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99401273899997 meters Centerline goodness [0,1] 0.9901028443564698 Centerline is valid? [True, True] Translation: X:205.54, Y:-21.79, Z:-2.58 [[ 9.98710934e-01 5.07401497e-02 -1.38107606e-03 2.05540565e+02] [-5.07401313e-02 9.98711889e-01 4.83850358e-05 -2.17855642e+01] [ 1.38175214e-03 2.17533161e-05 9.99999045e-01 -2.58329143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02401273899997 meters Centerline goodness [0,1] 0.9890719823769518 Centerline is valid? [True, True] Translation: X:205.57, Y:-21.78, Z:-2.58 [[ 9.98713731e-01 5.06953782e-02 -9.28837982e-04 2.05569324e+02] [-5.06953698e-02 9.98714163e-01 3.25943026e-05 -2.17809728e+01] [ 9.29296028e-04 1.45354075e-05 9.99999568e-01 -2.58129965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05401273899997 meters Centerline goodness [0,1] 0.9906810190478245 Centerline is valid? [True, True] Translation: X:205.60, Y:-21.78, Z:-2.59 [[ 9.98736328e-01 5.01919342e-02 -2.55294744e-03 2.05599013e+02] [-5.01918701e-02 9.98739590e-01 8.92064196e-05 -2.17815624e+01] [ 2.55420712e-03 3.90435142e-05 9.99996737e-01 -2.58518333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08401273899997 meters Centerline goodness [0,1] 0.9906810190478245 Centerline is valid? [True, True] Translation: X:205.63, Y:-21.78, Z:-2.59 [[ 9.98738702e-01 5.01446579e-02 -2.55294793e-03 2.05627330e+02] [-5.01445937e-02 9.98741965e-01 8.91924598e-05 -2.17824618e+01] [ 2.55420875e-03 3.89365749e-05 9.99996737e-01 -2.58505576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11401273899997 meters Centerline goodness [0,1] 0.9913310417882699 Centerline is valid? [True, True] Translation: X:205.65, Y:-21.78, Z:-2.59 [[ 9.98762255e-01 4.96532579e-02 -2.91750670e-03 2.05654816e+02] [-4.96531723e-02 9.98766515e-01 1.01778613e-04 -2.17795496e+01] [ 2.91896164e-03 4.32108258e-05 9.99995739e-01 -2.58518290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14401273899998 meters Centerline goodness [0,1] 0.9904394855634102 Centerline is valid? [True, True] Translation: X:205.68, Y:-21.77, Z:-2.59 [[ 9.98785633e-01 4.91278837e-02 -3.70262007e-03 2.05683097e+02] [-4.91277435e-02 9.98792495e-01 1.28877484e-04 -2.17698672e+01] [ 3.70448061e-03 5.31803894e-05 9.99993137e-01 -2.58621199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17401273899998 meters Centerline goodness [0,1] 0.9912756170773317 Centerline is valid? [True, True] Translation: X:205.71, Y:-21.77, Z:-2.59 [[ 9.98806946e-01 4.86655403e-02 -4.04356903e-03 2.05712199e+02] [-4.86653703e-02 9.98815129e-01 1.40480114e-04 -2.17712927e+01] [ 4.04561446e-03 5.64692702e-05 9.99991815e-01 -2.58727670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20401273899998 meters Centerline goodness [0,1] 0.9917141266646684 Centerline is valid? [True, True] Translation: X:205.74, Y:-21.77, Z:-2.59 [[ 9.98856481e-01 4.76022209e-02 -4.44515492e-03 2.05740028e+02] [-4.76020060e-02 9.98866370e-01 1.54203996e-04 -2.17683161e+01] [ 4.44745621e-03 5.75706298e-05 9.99990108e-01 -2.58764700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23401273899998 meters Centerline goodness [0,1] 0.9933363524616678 Centerline is valid? [True, True] Translation: X:205.77, Y:-21.77, Z:-2.59 [[ 9.98935150e-01 4.59155055e-02 -4.50905836e-03 2.05769023e+02] [-4.59152684e-02 9.98945326e-01 1.56155361e-04 -2.17681703e+01] [ 4.51147272e-03 5.10455456e-05 9.99989822e-01 -2.58802295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26401273899998 meters Centerline goodness [0,1] 0.994465063394332 Centerline is valid? [True, True] Translation: X:205.80, Y:-21.77, Z:-2.59 [[ 9.99203658e-01 3.96794991e-02 -4.19376112e-03 2.05797383e+02] [-3.96792396e-02 9.99212458e-01 1.45104819e-04 -2.17738880e+01] [ 4.19621604e-03 2.14159865e-05 9.99991196e-01 -2.58754348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29401273899998 meters Centerline goodness [0,1] 0.9957282213673943 Centerline is valid? [True, True] Translation: X:205.83, Y:-21.78, Z:-2.59 [[ 9.99378577e-01 3.50343038e-02 -3.88043170e-03 2.05825316e+02] [-3.50340472e-02 9.99386110e-01 1.34105756e-04 -2.17813896e+01] [ 3.88274785e-03 1.92480817e-06 9.99992462e-01 -2.58719035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32401273899998 meters Centerline goodness [0,1] 0.9933218486143899 Centerline is valid? [True, True] Translation: X:205.85, Y:-21.80, Z:-2.58 [[ 9.99671543e-01 2.54180850e-02 -3.27511824e-03 2.05853136e+02] [-2.54178512e-02 9.99676908e-01 1.13009303e-04 -2.17978241e+01] [ 3.27693255e-03 -2.97257164e-05 9.99994630e-01 -2.58497508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35401273899998 meters Centerline goodness [0,1] 0.989463250662587 Centerline is valid? [True, True] Translation: X:205.88, Y:-21.80, Z:-2.58 [[ 9.99771679e-01 2.11951241e-02 -2.71228145e-03 2.05883010e+02] [-2.11949484e-02 9.99775357e-01 9.35061362e-05 -2.18019092e+01] [ 2.71365403e-03 -3.59981214e-05 9.99996317e-01 -2.57803877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38401273899999 meters Centerline goodness [0,1] 0.9905285539399927 Centerline is valid? [True, True] Translation: X:205.91, Y:-21.81, Z:-2.58 [[ 9.99839382e-01 1.77792788e-02 -2.26003541e-03 2.05911822e+02] [-1.77791484e-02 9.99841935e-01 7.77535479e-05 -2.18099716e+01] [ 2.26106058e-03 -3.75595543e-05 9.99997443e-01 -2.58395312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.414012739 meters Centerline goodness [0,1] 0.9903945332645694 Centerline is valid? [True, True] Translation: X:205.94, Y:-21.82, Z:-2.59 [[ 9.99889841e-01 1.44141275e-02 -3.54098833e-03 2.05941583e+02] [-1.44137855e-02 9.99896109e-01 1.22070141e-04 -2.18179696e+01] [ 3.54237999e-03 -7.10176472e-05 9.99993723e-01 -2.58627498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.444012739 meters Centerline goodness [0,1] 0.9906066705625176 Centerline is valid? [True, True] Translation: X:205.97, Y:-21.82, Z:-2.59 [[ 9.99895806e-01 1.37774366e-02 -4.30815266e-03 2.05970970e+02] [-1.37769251e-02 9.99905083e-01 1.48391202e-04 -2.18217645e+01] [ 4.30978819e-03 -8.90226441e-05 9.99990709e-01 -2.58711953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.474012739 meters Centerline goodness [0,1] 0.9896855619627897 Centerline is valid? [True, True] Translation: X:206.00, Y:-21.83, Z:-2.59 [[ 9.99898263e-01 1.35817308e-02 -4.35892183e-03 2.05999346e+02] [-1.35812058e-02 9.99907760e-01 1.50036715e-04 -2.18260205e+01] [ 4.36055752e-03 -9.08220361e-05 9.99990489e-01 -2.58655256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.504012739 meters Centerline goodness [0,1] 0.9883785873861488 Centerline is valid? [True, True] Translation: X:206.03, Y:-21.83, Z:-2.58 [[ 9.99897693e-01 1.40541781e-02 -2.66167957e-03 2.06027507e+02] [-1.40539840e-02 9.99901234e-01 9.15833319e-05 -2.18346482e+01] [ 2.66270382e-03 -5.41667600e-05 9.99996454e-01 -2.58270497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.534012739 meters Centerline goodness [0,1] 0.9887664400059685 Centerline is valid? [True, True] Translation: X:206.06, Y:-21.84, Z:-2.58 [[ 9.99899037e-01 1.40916375e-02 -1.82800907e-03 2.06055887e+02] [-1.40915461e-02 9.99900707e-01 6.28822410e-05 -2.18406963e+01] [ 1.82871368e-03 -3.71164181e-05 9.99998327e-01 -2.58232578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.564012739 meters Centerline goodness [0,1] 0.9887452834280261 Centerline is valid? [True, True] Translation: X:206.09, Y:-21.84, Z:-2.58 [[ 9.99901233e-01 1.39316249e-02 -1.85321809e-03 2.06085796e+02] [-1.39315308e-02 9.99902949e-01 6.36544512e-05 -2.18444480e+01] [ 1.85392504e-03 -3.78299992e-05 9.99998281e-01 -2.58268181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.594012739 meters Centerline goodness [0,1] 0.98758438571459 Centerline is valid? [True, True] Translation: X:206.11, Y:-21.85, Z:-2.58 [[ 9.99923392e-01 1.22949303e-02 -1.42979119e-03 2.06115000e+02] [-1.22948727e-02 9.99924414e-01 4.90646148e-05 -2.18549314e+01] [ 1.43028636e-03 -3.14817554e-05 9.99998977e-01 -2.58251476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.624012739 meters Centerline goodness [0,1] 0.9873390465526893 Centerline is valid? [True, True] Translation: X:206.15, Y:-21.86, Z:-2.58 [[ 9.99935787e-01 1.11352496e-02 -2.10447721e-03 2.06145547e+02] [-1.11351224e-02 9.99938000e-01 7.21391178e-05 -2.18592513e+01] [ 2.10515002e-03 -4.87008741e-05 9.99997783e-01 -2.58392370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.654012739 meters Centerline goodness [0,1] 0.9883525663107131 Centerline is valid? [True, True] Translation: X:206.18, Y:-21.87, Z:-2.59 [[ 9.99943956e-01 9.82788709e-03 -3.93663293e-03 2.06175237e+02] [-9.82743189e-03 9.99951701e-01 1.34956657e-04 -2.18658979e+01] [ 3.93776914e-03 -9.62621017e-05 9.99992242e-01 -2.58600267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68401273899997 meters Centerline goodness [0,1] 0.9885962059620597 Centerline is valid? [True, True] Translation: X:206.20, Y:-21.87, Z:-2.59 [[ 9.99938064e-01 9.65588837e-03 -5.53453597e-03 2.06203596e+02] [-9.65498711e-03 9.99953372e-01 1.89537854e-04 -2.18731516e+01] [ 5.53610806e-03 -1.36090241e-04 9.99984666e-01 -2.58734301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71401273899997 meters Centerline goodness [0,1] 0.9882393560777714 Centerline is valid? [True, True] Translation: X:206.23, Y:-21.88, Z:-2.59 [[ 9.99935314e-01 1.03174008e-02 -4.78746746e-03 2.06232705e+02] [-1.03167349e-02 9.99946768e-01 1.63754855e-04 -2.18757693e+01] [ 4.78890214e-03 -1.14353230e-04 9.99988527e-01 -2.58599438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74401273899997 meters Centerline goodness [0,1] 0.9877701748669491 Centerline is valid? [True, True] Translation: X:206.26, Y:-21.88, Z:-2.58 [[ 9.99918458e-01 1.24369316e-02 -2.89832986e-03 2.06260809e+02] [-1.24366966e-02 9.99922656e-01 9.90831352e-05 -2.18825895e+01] [ 2.89933798e-03 -6.30294066e-05 9.99995795e-01 -2.58298043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77401273899997 meters Centerline goodness [0,1] 0.98463326446281 Centerline is valid? [True, True] Translation: X:206.29, Y:-21.89, Z:-2.57 [[ 9.99891325e-01 1.41073869e-02 -4.28021046e-03 2.06289333e+02] [-1.41068911e-02 9.99900482e-01 1.46020312e-04 -2.18852468e+01] [ 4.28184447e-03 -8.56239804e-05 9.99990829e-01 -2.57037619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80401273899997 meters Centerline goodness [0,1] 0.9916330754984203 Centerline is valid? [True, True] Translation: X:206.32, Y:-21.88, Z:-2.59 [[ 9.99824794e-01 1.78255072e-02 -5.71244349e-03 2.06318920e+02] [-1.78246862e-02 9.99841109e-01 1.94597947e-04 -2.18842072e+01] [ 5.71500464e-03 -9.27413397e-05 9.99983665e-01 -2.58711981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83401273899997 meters Centerline goodness [0,1] 0.9919070925639705 Centerline is valid? [True, True] Translation: X:206.35, Y:-21.89, Z:-2.59 [[ 9.99776288e-01 1.99925126e-02 -6.90453857e-03 2.06346426e+02] [-1.99913682e-02 9.99800125e-01 2.34728041e-04 -2.18863517e+01] [ 6.90785133e-03 -9.66443572e-05 9.99976136e-01 -2.58929655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86401273899997 meters Centerline goodness [0,1] 0.9927956384405694 Centerline is valid? [True, True] Translation: X:206.37, Y:-21.89, Z:-2.59 [[ 9.99727102e-01 2.21570910e-02 -7.40173932e-03 2.06374382e+02] [-2.21558386e-02 9.99754498e-01 2.51170027e-04 -2.18872483e+01] [ 7.40548737e-03 -8.71097412e-05 9.99972575e-01 -2.59067558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89401273899998 meters Centerline goodness [0,1] 0.995003768708948 Centerline is valid? [True, True] Translation: X:206.40, Y:-21.89, Z:-2.59 [[ 9.99615637e-01 2.65950905e-02 -7.82812126e-03 2.06403561e+02] [-2.65938290e-02 9.99646286e-01 2.65209852e-04 -2.18854032e+01] [ 7.83240563e-03 -5.69281963e-05 9.99969325e-01 -2.59075540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92401273899998 meters Centerline goodness [0,1] 0.9960060124543698 Centerline is valid? [True, True] Translation: X:206.43, Y:-21.88, Z:-2.59 [[ 9.99545654e-01 2.92353475e-02 -7.33350381e-03 2.06432791e+02] [-2.92343138e-02 9.99572555e-01 2.48128420e-04 -2.18821595e+01] [ 7.33762326e-03 -3.36257318e-05 9.99973079e-01 -2.58955002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95401273899998 meters Centerline goodness [0,1] 0.9966616734431842 Centerline is valid? [True, True] Translation: X:206.46, Y:-21.88, Z:-2.59 [[ 9.99390465e-01 3.43436603e-02 -6.26182803e-03 2.06460862e+02] [-3.43430087e-02 9.99410082e-01 2.11589054e-04 -2.18757978e+01] [ 6.26540081e-03 3.58993109e-06 9.99980372e-01 -2.58754044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98401273899998 meters Centerline goodness [0,1] 0.995289878665538 Centerline is valid? [True, True] Translation: X:206.49, Y:-21.87, Z:-2.59 [[ 9.99300295e-01 3.68973343e-02 -6.12430823e-03 2.06489763e+02] [-3.68967609e-02 9.99319061e-01 2.06612709e-04 -2.18742632e+01] [ 6.12776141e-03 1.94989952e-05 9.99981225e-01 -2.58691682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01401273899998 meters Centerline goodness [0,1] 0.9944482551659093 Centerline is valid? [True, True] Translation: X:206.52, Y:-21.87, Z:-2.59 [[ 9.99221175e-01 3.90207470e-02 -5.86731808e-03 2.06518938e+02] [-3.90202590e-02 9.99238400e-01 1.97676482e-04 -2.18725165e+01] [ 5.87056301e-03 3.14217440e-05 9.99982768e-01 -2.58637570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04401273899998 meters Centerline goodness [0,1] 0.9932343625433626 Centerline is valid? [True, True] Translation: X:206.55, Y:-21.87, Z:-2.59 [[ 9.99142254e-01 4.10319844e-02 -5.57956574e-03 2.06547460e+02] [-4.10315758e-02 9.99157833e-01 1.87730823e-04 -2.18698626e+01] [ 5.58256978e-03 4.13685769e-05 9.99984416e-01 -2.58580131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07401273899998 meters Centerline goodness [0,1] 0.9914453713727738 Centerline is valid? [True, True] Translation: X:206.58, Y:-21.86, Z:-2.59 [[ 9.98943362e-01 4.56339947e-02 -5.44956203e-03 2.06576423e+02] [-4.56336747e-02 9.98958224e-01 1.83117754e-04 -2.18596239e+01] [ 5.45224120e-03 6.57592757e-05 9.99985134e-01 -2.58557265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10401273899998 meters Centerline goodness [0,1] 0.9911988790612137 Centerline is valid? [True, True] Translation: X:206.61, Y:-21.86, Z:-2.59 [[ 9.98814181e-01 4.83376221e-02 -5.80575123e-03 2.06605852e+02] [-4.83373057e-02 9.98831050e-01 1.94886998e-04 -2.18582200e+01] [ 5.80838497e-03 8.59784744e-05 9.99983127e-01 -2.58589268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13401273899999 meters Centerline goodness [0,1] 0.9891469875383394 Centerline is valid? [True, True] Translation: X:206.63, Y:-21.85, Z:-2.59 [[ 9.98534211e-01 5.37832790e-02 -6.06528615e-03 2.06634697e+02] [-5.37830352e-02 9.98552624e-01 2.03408221e-04 -2.18461209e+01] [ 6.06744737e-03 1.23099431e-04 9.99981585e-01 -2.58529931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.164012739 meters Centerline goodness [0,1] 0.9881561757083807 Centerline is valid? [True, True] Translation: X:206.66, Y:-21.84, Z:-2.58 [[ 9.98405237e-01 5.61975192e-02 -5.36851477e-03 2.06663999e+02] [-5.61973643e-02 9.98419663e-01 1.79817001e-04 -2.18367382e+01] [ 5.37013598e-03 1.22166145e-04 9.99985573e-01 -2.58365238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.194012739 meters Centerline goodness [0,1] 0.9884665962446375 Centerline is valid? [True, True] Translation: X:206.69, Y:-21.83, Z:-2.58 [[ 9.98289618e-01 5.83052866e-02 -4.28163859e-03 2.06693470e+02] [-5.83052080e-02 9.98298794e-01 1.43291961e-04 -2.18349760e+01] [ 4.28270932e-03 1.06594951e-04 9.99990823e-01 -2.58135229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.224012739 meters Centerline goodness [0,1] 0.9850017214666896 Centerline is valid? [True, True] Translation: X:206.72, Y:-21.82, Z:-2.58 [[ 9.98091649e-01 6.16225114e-02 -3.96556755e-03 2.06722272e+02] [-6.16224704e-02 9.98099521e-01 1.32641419e-04 -2.18223115e+01] [ 3.96620477e-03 1.11979777e-04 9.99992128e-01 -2.58190824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.254012739 meters Centerline goodness [0,1] 0.9859843127169859 Centerline is valid? [True, True] Translation: X:206.75, Y:-21.82, Z:-2.58 [[ 9.98021272e-01 6.27098717e-02 -4.58403391e-03 2.06751529e+02] [-6.27098294e-02 9.98031790e-01 1.53081871e-04 -2.18225403e+01] [ 4.58461132e-03 1.34685021e-04 9.99989482e-01 -2.58359078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.284012739 meters Centerline goodness [0,1] 0.9713929814011426 Centerline is valid? [True, True] Translation: X:206.78, Y:-21.81, Z:-2.59 [[ 9.97893142e-01 6.44926516e-02 -7.06925527e-03 2.06780770e+02] [-6.44925989e-02 9.97918158e-01 2.35649131e-04 -2.18079744e+01] [ 7.06973583e-03 2.20761993e-04 9.99974985e-01 -2.58802822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.314012739 meters Centerline goodness [0,1] 0.9832814432550007 Centerline is valid? [True, True] Translation: X:206.81, Y:-21.81, Z:-2.59 [[ 9.97869343e-01 6.48093717e-02 -7.51792399e-03 2.06809049e+02] [-6.48093238e-02 9.97897634e-01 2.50240680e-04 -2.18100143e+01] [ 7.51833651e-03 2.37524067e-04 9.99971709e-01 -2.58846390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.344012739 meters Centerline goodness [0,1] 0.9858487518039072 Centerline is valid? [True, True] Translation: X:206.84, Y:-21.81, Z:-2.59 [[ 9.97924799e-01 6.39889473e-02 -7.17708819e-03 2.06837911e+02] [-6.39888850e-02 9.97950583e-01 2.38556198e-04 -2.18066157e+01] [ 7.17764431e-03 2.21192724e-04 9.99974216e-01 -2.58840292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.374012739 meters Centerline goodness [0,1] 0.9879974048442907 Centerline is valid? [True, True] Translation: X:206.87, Y:-21.81, Z:-2.59 [[ 9.97974611e-01 6.32458527e-02 -6.82914835e-03 2.06866451e+02] [-6.32457806e-02 9.97997956e-01 2.26727741e-04 -2.18094460e+01] [ 6.82981569e-03 2.05646290e-04 9.99976655e-01 -2.58773311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.404012739 meters Centerline goodness [0,1] 0.9874505758982294 Centerline is valid? [True, True] Translation: X:206.89, Y:-21.81, Z:-2.59 [[ 9.98042188e-01 6.21778967e-02 -6.76020467e-03 2.06894511e+02] [-6.21778040e-02 9.98065063e-01 2.24084965e-04 -2.18069293e+01] [ 6.76105724e-03 1.96688433e-04 9.99977124e-01 -2.58705666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43401273899997 meters Centerline goodness [0,1] 0.9871041879468846 Centerline is valid? [True, True] Translation: X:206.92, Y:-21.80, Z:-2.59 [[ 9.98103958e-01 6.11735074e-02 -6.80378397e-03 2.06922529e+02] [-6.11733929e-02 9.98127129e-01 2.25119820e-04 -2.18047687e+01] [ 6.80481273e-03 1.91517567e-04 9.99976829e-01 -2.58760063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46401273899997 meters Centerline goodness [0,1] 0.988292514957173 Centerline is valid? [True, True] Translation: X:206.95, Y:-21.80, Z:-2.59 [[ 9.98175545e-01 5.99569921e-02 -7.12322514e-03 2.06951504e+02] [-5.99568385e-02 9.98200943e-01 2.35290012e-04 -2.18021102e+01] [ 7.12451733e-03 1.92225323e-04 9.99974602e-01 -2.58809720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49401273899997 meters Centerline goodness [0,1] 0.9872122762148338 Centerline is valid? [True, True] Translation: X:206.98, Y:-21.80, Z:-2.59 [[ 9.98205402e-01 5.95252946e-02 -6.53558161e-03 2.06979404e+02] [-5.95251581e-02 9.98226782e-01 2.15569818e-04 -2.17981456e+01] [ 6.53682446e-03 1.73848571e-04 9.99978620e-01 -2.58723384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52401273899997 meters Centerline goodness [0,1] 0.9889105479748754 Centerline is valid? [True, True] Translation: X:207.01, Y:-21.80, Z:-2.58 [[ 9.98332432e-01 5.74921365e-02 -5.19705301e-03 2.07008383e+02] [-5.74920239e-02 9.98345951e-01 1.71179799e-04 -2.18005086e+01] [ 5.19829833e-03 1.27894751e-04 9.99986481e-01 -2.58427560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55401273899997 meters Centerline goodness [0,1] 0.9891401368640286 Centerline is valid? [True, True] Translation: X:207.04, Y:-21.80, Z:-2.58 [[ 9.98437396e-01 5.56609433e-02 -4.96251505e-03 2.07036769e+02] [-5.56608191e-02 9.98449722e-01 1.63231663e-04 -2.18000496e+01] [ 4.96390740e-03 1.13241056e-04 9.99987673e-01 -2.58372718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58401273899997 meters Centerline goodness [0,1] 0.9898613742035475 Centerline is valid? [True, True] Translation: X:207.07, Y:-21.80, Z:-2.58 [[ 9.98558786e-01 5.34121012e-02 -5.24388017e-03 2.07065974e+02] [-5.34119329e-02 9.98572549e-01 1.72239286e-04 -2.18036383e+01] [ 5.24559445e-03 1.08094724e-04 9.99986236e-01 -2.58397900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61401273899997 meters Centerline goodness [0,1] 0.9912902177445564 Centerline is valid? [True, True] Translation: X:207.10, Y:-21.81, Z:-2.58 [[ 9.98806398e-01 4.85935424e-02 -4.94430528e-03 2.07095704e+02] [-4.85933345e-02 9.98818633e-01 1.62245743e-04 -2.18129413e+01] [ 4.94634833e-03 7.82081943e-05 9.99987764e-01 -2.58330492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64401273899998 meters Centerline goodness [0,1] 0.990755471470955 Centerline is valid? [True, True] Translation: X:207.12, Y:-21.82, Z:-2.58 [[ 9.98906423e-01 4.66246687e-02 -3.47823307e-03 2.07123540e+02] [-4.66245537e-02 9.98912478e-01 1.14160084e-04 -2.18166953e+01] [ 3.47977309e-03 4.81358234e-05 9.99993944e-01 -2.58047671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67401273899998 meters Centerline goodness [0,1] 0.9906708798177167 Centerline is valid? [True, True] Translation: X:207.15, Y:-21.82, Z:-2.58 [[ 9.98994539e-01 4.47862229e-02 -2.02639454e-03 2.07152097e+02] [-4.47861802e-02 9.98996593e-01 6.64691252e-05 -2.18212888e+01] [ 2.02733814e-03 2.43521778e-05 9.99997945e-01 -2.57814028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70401273899998 meters Centerline goodness [0,1] 0.9912420891133414 Centerline is valid? [True, True] Translation: X:207.18, Y:-21.82, Z:-2.58 [[ 9.99094181e-01 4.25143608e-02 -1.82955369e-03 2.07182089e+02] [-4.25143225e-02 9.99095856e-01 5.98528304e-05 -2.18249053e+01] [ 1.83044412e-03 1.79836211e-05 9.99998325e-01 -2.57748548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73401273899998 meters Centerline goodness [0,1] 0.9919210634034944 Centerline is valid? [True, True] Translation: X:207.21, Y:-21.83, Z:-2.58 [[ 9.99110444e-01 4.20929667e-02 -2.55005501e-03 2.07210945e+02] [-4.20928909e-02 9.99113698e-01 8.34183464e-05 -2.18250877e+01] [ 2.55130622e-03 2.39950463e-05 9.99996745e-01 -2.57867752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76401273899998 meters Centerline goodness [0,1] 0.9924990891751141 Centerline is valid? [True, True] Translation: X:207.24, Y:-21.82, Z:-2.58 [[ 9.99045147e-01 4.34246347e-02 -4.80573024e-03 2.07240041e+02] [-4.34243824e-02 9.99056704e-01 1.56891924e-04 -2.18229597e+01] [ 4.80800999e-03 5.19437524e-05 9.99988440e-01 -2.58251979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79401273899998 meters Centerline goodness [0,1] 0.9926165304113341 Centerline is valid? [True, True] Translation: X:207.27, Y:-21.82, Z:-2.58 [[ 9.98980780e-01 4.47318304e-02 -6.03854579e-03 2.07268936e+02] [-4.47314579e-02 9.98999028e-01 1.96800303e-04 -2.18207066e+01] [ 6.04130461e-03 7.35132362e-05 9.99981748e-01 -2.58446422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82401273899998 meters Centerline goodness [0,1] 0.9923182084499707 Centerline is valid? [True, True] Translation: X:207.30, Y:-21.82, Z:-2.59 [[ 9.98907775e-01 4.62158759e-02 -6.88108798e-03 2.07297393e+02] [-4.62154300e-02 9.98931471e-01 2.23876152e-04 -2.18175224e+01] [ 6.88408197e-03 9.43808110e-05 9.99976300e-01 -2.58582820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85401273899998 meters Centerline goodness [0,1] 0.9924102343582025 Centerline is valid? [True, True] Translation: X:207.32, Y:-21.81, Z:-2.59 [[ 9.98790448e-01 4.85847478e-02 -7.56068407e-03 2.07324975e+02] [-4.85842813e-02 9.98819056e-01 2.45475617e-04 -2.18109980e+01] [ 7.56368170e-03 1.22151700e-04 9.99971387e-01 -2.58710160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88401273899999 meters Centerline goodness [0,1] 0.9907480778703446 Centerline is valid? [True, True] Translation: X:207.35, Y:-21.81, Z:-2.59 [[ 9.98627205e-01 5.18865121e-02 -7.17600711e-03 2.07354293e+02] [-5.18861798e-02 9.98652978e-01 2.32588936e-04 -2.18060948e+01] [ 7.17840910e-03 1.40065956e-04 9.99974225e-01 -2.58671214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.914012739 meters Centerline goodness [0,1] 0.9904843918191604 Centerline is valid? [True, True] Translation: X:207.38, Y:-21.80, Z:-2.59 [[ 9.98608831e-01 5.23180188e-02 -6.57481843e-03 2.07382035e+02] [-5.23177510e-02 9.98630466e-01 2.12827779e-04 -2.18040598e+01] [ 6.57694872e-03 1.31448014e-04 9.99978363e-01 -2.58552972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.944012739 meters Centerline goodness [0,1] 0.9908219237247873 Centerline is valid? [True, True] Translation: X:207.41, Y:-21.80, Z:-2.58 [[ 9.98625430e-01 5.21159939e-02 -5.58333615e-03 2.07411283e+02] [-5.21157993e-02 9.98641032e-01 1.80441515e-04 -2.18018972e+01] [ 5.58515246e-03 1.10786540e-04 9.99984397e-01 -2.58351919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.974012739 meters Centerline goodness [0,1] 0.9910820959208057 Centerline is valid? [True, True] Translation: X:207.44, Y:-21.80, Z:-2.58 [[ 9.98654424e-01 5.15111698e-02 -5.99500252e-03 2.07439463e+02] [-5.15109365e-02 9.98672412e-01 1.93420445e-04 -2.18006824e+01] [ 5.99700693e-03 1.15648010e-04 9.99982011e-01 -2.58407195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.004012739 meters Centerline goodness [0,1] 0.9910820959208057 Centerline is valid? [True, True] Translation: X:207.47, Y:-21.80, Z:-2.58 [[ 9.98656838e-01 5.14643614e-02 -5.99501400e-03 2.07467783e+02] [-5.14641294e-02 9.98674825e-01 1.93063762e-04 -2.18015040e+01] [ 5.99700547e-03 1.15723730e-04 9.99982011e-01 -2.58394436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.034012739 meters Centerline goodness [0,1] 0.9915567168368999 Centerline is valid? [True, True] Translation: X:207.50, Y:-21.81, Z:-2.59 [[ 9.98698399e-01 5.04813553e-02 -7.28971432e-03 2.07496583e+02] [-5.04809890e-02 9.98724995e-01 2.34367949e-04 -2.18052108e+01] [ 7.29225111e-03 1.33929092e-04 9.99973402e-01 -2.58623608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.064012739 meters Centerline goodness [0,1] 0.9916797454475093 Centerline is valid? [True, True] Translation: X:207.53, Y:-21.81, Z:-2.59 [[ 9.98703749e-01 5.02991920e-02 -7.79821320e-03 2.07525741e+02] [-5.02987702e-02 9.98734184e-01 2.50327676e-04 -2.18070335e+01] [ 7.80093338e-03 1.42237345e-04 9.99969562e-01 -2.58705265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.094012739 meters Centerline goodness [0,1] 0.9918335768933207 Centerline is valid? [True, True] Translation: X:207.55, Y:-21.81, Z:-2.59 [[ 9.98708986e-01 5.01627589e-02 -8.00373853e-03 2.07553493e+02] [-5.01623136e-02 9.98741046e-01 2.56495253e-04 -2.18067820e+01] [ 8.00652870e-03 1.45321928e-04 9.99967937e-01 -2.58690696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.124012739 meters Centerline goodness [0,1] 0.9910798322922906 Centerline is valid? [True, True] Translation: X:207.58, Y:-21.81, Z:-2.58 [[ 9.98734525e-01 4.99282449e-02 -6.04315454e-03 2.07581549e+02] [-4.99279885e-02 9.98752802e-01 1.93372415e-04 -2.18057575e+01] [ 6.04527227e-03 1.08594844e-04 9.99981721e-01 -2.58329010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.154012739 meters Centerline goodness [0,1] 0.9907972821880107 Centerline is valid? [True, True] Translation: X:207.61, Y:-21.81, Z:-2.58 [[ 9.98746172e-01 4.98519920e-02 -4.56748097e-03 2.07610402e+02] [-4.98518457e-02 9.98756613e-01 1.45951653e-04 -2.18088015e+01] [ 4.56907781e-03 8.19287024e-05 9.99989558e-01 -2.58057903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18401273899997 meters Centerline goodness [0,1] 0.9911094846514832 Centerline is valid? [True, True] Translation: X:207.64, Y:-21.81, Z:-2.58 [[ 9.98734374e-01 5.01419402e-02 -3.92886458e-03 2.07638905e+02] [-5.01418347e-02 9.98742099e-01 1.25393089e-04 -2.18117175e+01] [ 3.93020991e-03 7.17660907e-05 9.99992274e-01 -2.57964007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21401273899997 meters Centerline goodness [0,1] 0.9909804936992922 Centerline is valid? [True, True] Translation: X:207.67, Y:-21.81, Z:-2.58 [[ 9.98599788e-01 5.26970392e-02 -4.63513611e-03 2.07667356e+02] [-5.26969212e-02 9.98610541e-01 1.47673321e-04 -2.18101104e+01] [ 4.63647772e-03 9.67908551e-05 9.99989247e-01 -2.57993665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24401273899997 meters Centerline goodness [0,1] 0.9906778015148573 Centerline is valid? [True, True] Translation: X:207.70, Y:-21.81, Z:-2.58 [[ 9.98480879e-01 5.48623958e-02 -5.10416023e-03 2.07695810e+02] [-5.48622827e-02 9.98493918e-01 1.62281817e-04 -2.18084235e+01] [ 5.10537611e-03 1.17990590e-04 9.99986961e-01 -2.58072946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27401273899997 meters Centerline goodness [0,1] 0.9891130944681585 Centerline is valid? [True, True] Translation: X:207.73, Y:-21.80, Z:-2.58 [[ 9.98144584e-01 6.05258985e-02 -6.63364212e-03 2.07725644e+02] [-6.05258349e-02 9.98166609e-01 2.10527764e-04 -2.17976968e+01] [ 6.63422244e-03 1.91369580e-04 9.99977975e-01 -2.58193131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30401273899997 meters Centerline goodness [0,1] 0.9862800259684051 Centerline is valid? [True, True] Translation: X:207.75, Y:-21.79, Z:-2.58 [[ 9.97930812e-01 6.38515776e-02 -7.55444485e-03 2.07754021e+02] [-6.38515919e-02 9.97959376e-01 2.39539520e-04 -2.17905120e+01] [ 7.55432405e-03 2.43319462e-04 9.99971436e-01 -2.58383981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33401273899997 meters Centerline goodness [0,1] 0.9408426483233018 Centerline is valid? [True, False] Translation: X:207.76, Y:-21.78, Z:-2.58 [[ 9.97940315e-01 6.36639874e-02 -7.87552754e-03 2.07755378e+02] [-6.36733120e-02 9.97970354e-01 -9.38731969e-04 -2.17840489e+01] [ 7.79977959e-03 1.43825940e-03 9.99968547e-01 -2.58418634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36401273899997 meters Centerline goodness [0,1] 0.9531455703032266 Centerline is valid? [False, True] Translation: X:207.75, Y:-21.78, Z:-2.58 [[ 9.97689262e-01 6.75271070e-02 -7.49848308e-03 2.07754810e+02] [-6.75142265e-02 9.97716390e-01 1.95808283e-03 -2.17768290e+01] [ 7.61358314e-03 -1.44730393e-03 9.99969969e-01 -2.58351098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39401273899998 meters Centerline goodness [0,1] 0.9239577780147137 Centerline is valid? [True, False] Translation: X:207.78, Y:-21.78, Z:-2.59 [[ 9.97650231e-01 6.84721770e-02 -2.36148510e-03 2.07777266e+02] [-6.84359183e-02 9.97570667e-01 1.30111116e-02 -2.17793317e+01] [ 3.24664740e-03 -1.28189281e-02 9.99912563e-01 -2.58861983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42401273899998 meters Centerline goodness [0,1] 0.9236872413940196 Centerline is valid? [False, False] Translation: X:207.78, Y:-21.77, Z:-2.59 [[ 9.97717880e-01 6.74799353e-02 -2.34296819e-03 2.07776914e+02] [-6.74517947e-02 9.97667072e-01 1.05199378e-02 -2.17669320e+01] [ 3.04738694e-03 -1.03378927e-02 9.99941919e-01 -2.58805131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45401273899998 meters Centerline goodness [0,1] 0.9228517085888915 Centerline is valid? [False, False] Translation: X:207.78, Y:-21.76, Z:-2.59 [[ 9.98032990e-01 6.26288038e-02 -2.78980392e-03 2.07777644e+02] [-6.26168351e-02 9.98028850e-01 4.18877113e-03 -2.17561090e+01] [ 3.04664252e-03 -4.00584308e-03 9.99987336e-01 -2.58813022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48401273899998 meters Centerline goodness [0,1] 0.965475935828877 Centerline is valid? [False, True] Translation: X:207.78, Y:-21.75, Z:-2.59 [[ 9.98329263e-01 5.76881510e-02 -3.28035152e-03 2.07778478e+02] [-5.76946901e-02 9.98332399e-01 -1.93491740e-03 -2.17467722e+01] [ 3.16325940e-03 2.12094352e-03 9.99992748e-01 -2.58803318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51401273899998 meters Centerline goodness [0,1] 0.9809839044652129 Centerline is valid? [True, True] Translation: X:207.81, Y:-21.75, Z:-2.59 [[ 9.98571716e-01 5.33049385e-02 -3.62092152e-03 2.07808472e+02] [-5.33050538e-02 9.98578273e-01 6.47198540e-05 -2.17507328e+01] [ 3.61922345e-03 1.28386001e-04 9.99993442e-01 -2.58934269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54401273899998 meters Centerline goodness [0,1] 0.9894240296385646 Centerline is valid? [True, True] Translation: X:207.84, Y:-21.75, Z:-2.59 [[ 9.99027821e-01 4.39347642e-02 -3.62612709e-03 2.07837931e+02] [-4.39348181e-02 9.99034398e-01 6.48293736e-05 -2.17542510e+01] [ 3.62547396e-03 9.45468864e-05 9.99993423e-01 -2.58956598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57401273899998 meters Centerline goodness [0,1] 0.9917014241566356 Centerline is valid? [True, True] Translation: X:207.87, Y:-21.76, Z:-2.59 [[ 9.99313270e-01 3.68182723e-02 -4.17171741e-03 2.07868308e+02] [-3.68182818e-02 9.99321974e-01 7.45368438e-05 -2.17575078e+01] [ 4.17163320e-03 7.91098100e-05 9.99991296e-01 -2.58997267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60401273899998 meters Centerline goodness [0,1] 0.9929516933127042 Centerline is valid? [True, True] Translation: X:207.90, Y:-21.76, Z:-2.59 [[ 9.99411878e-01 3.39238318e-02 -5.00709318e-03 2.07896574e+02] [-3.39238099e-02 9.99424418e-01 8.93262655e-05 -2.17571871e+01] [ 5.00724147e-03 8.05859465e-05 9.99987460e-01 -2.59113746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63401273899999 meters Centerline goodness [0,1] 0.9936309830159548 Centerline is valid? [True, True] Translation: X:207.92, Y:-21.76, Z:-2.59 [[ 9.99482819e-01 3.15667263e-02 -6.13478302e-03 2.07924646e+02] [-3.15666513e-02 9.99501643e-01 1.09088934e-04 -2.17569173e+01] [ 6.13516929e-03 8.46220408e-05 9.99981176e-01 -2.59320269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.664012739 meters Centerline goodness [0,1] 0.9950512092262673 Centerline is valid? [True, True] Translation: X:207.95, Y:-21.76, Z:-2.59 [[ 9.99540451e-01 2.95692845e-02 -6.67410465e-03 2.07953655e+02] [-2.95691535e-02 9.99562730e-01 1.18320824e-04 -2.17589234e+01] [ 6.67468493e-03 7.90811748e-05 9.99977721e-01 -2.59361738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.694012739 meters Centerline goodness [0,1] 0.9943054839264226 Centerline is valid? [True, True] Translation: X:207.98, Y:-21.76, Z:-2.59 [[ 9.99648867e-01 2.58642671e-02 -5.76038568e-03 2.07981371e+02] [-2.58641097e-02 9.99665463e-01 1.01833006e-04 -2.17592230e+01] [ 5.76109245e-03 4.71899985e-05 9.99983404e-01 -2.58703427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.724012739 meters Centerline goodness [0,1] 0.9960623958806603 Centerline is valid? [True, True] Translation: X:208.01, Y:-21.76, Z:-2.59 [[ 9.99703338e-01 2.38586734e-02 -4.89903093e-03 2.08010289e+02] [-2.38585366e-02 9.99715341e-01 8.63682313e-05 -2.17618044e+01] [ 4.89969701e-03 3.05410999e-05 9.99987996e-01 -2.58986369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.754012739 meters Centerline goodness [0,1] 0.9963926989955719 Centerline is valid? [True, True] Translation: X:208.04, Y:-21.77, Z:-2.59 [[ 9.99807981e-01 1.91663095e-02 -4.08089296e-03 2.08039379e+02] [-1.91661762e-02 9.99816309e-01 7.17762742e-05 -2.17664257e+01] [ 4.08151902e-03 6.45262159e-06 9.99991671e-01 -2.58882678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.784012739 meters Centerline goodness [0,1] 0.9969687784177024 Centerline is valid? [True, True] Translation: X:208.07, Y:-21.77, Z:-2.59 [[ 9.99851997e-01 1.65570851e-02 -4.67414413e-03 2.08068212e+02] [-1.65568828e-02 9.99862922e-01 8.19729560e-05 -2.17696543e+01] [ 4.67486064e-03 -4.57156711e-06 9.99989073e-01 -2.59002770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.814012739 meters Centerline goodness [0,1] 0.9972221016537176 Centerline is valid? [True, True] Translation: X:208.10, Y:-21.77, Z:-2.59 [[ 9.99891510e-01 1.37514130e-02 -5.27895689e-03 2.08096464e+02] [-1.37511175e-02 9.99905445e-01 9.22799521e-05 -2.17732768e+01] [ 5.27972671e-03 -1.96783842e-05 9.99986062e-01 -2.59196874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.844012739 meters Centerline goodness [0,1] 0.9952416837119173 Centerline is valid? [True, True] Translation: X:208.12, Y:-21.78, Z:-2.59 [[ 9.99948513e-01 8.86641302e-03 -4.93538072e-03 2.08123943e+02] [-8.86609661e-03 9.99960692e-01 8.59867618e-05 -2.17827879e+01] [ 4.93594911e-03 -4.22247724e-05 9.99987817e-01 -2.59106288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.874012739 meters Centerline goodness [0,1] 0.9937369519832986 Centerline is valid? [True, True] Translation: X:208.15, Y:-21.79, Z:-2.59 [[ 9.99968930e-01 6.37876714e-03 -4.63152243e-03 2.08152324e+02] [-6.37846294e-03 9.99979654e-01 8.04483353e-05 -2.17874347e+01] [ 4.63194136e-03 -5.09038415e-05 9.99989271e-01 -2.59010144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.904012739 meters Centerline goodness [0,1] 0.9925157819380871 Centerline is valid? [True, True] Translation: X:208.18, Y:-21.80, Z:-2.59 [[ 9.99986223e-01 1.64925105e-03 -4.98333129e-03 2.08182054e+02] [-1.64884113e-03 9.99998637e-01 8.63659447e-05 -2.17978374e+01] [ 4.98346693e-03 -7.81480333e-05 9.99987579e-01 -2.59046581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93401273899997 meters Centerline goodness [0,1] 0.9859316494599918 Centerline is valid? [True, True] Translation: X:208.21, Y:-21.81, Z:-2.58 [[ 9.99980825e-01 -7.88366186e-04 -6.14227781e-03 2.08209979e+02] [ 7.89033200e-04 9.99999683e-01 1.06171474e-04 -2.18055718e+01] [ 6.14219216e-03 -1.11015899e-04 9.99981130e-01 -2.57934056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96401273899997 meters Centerline goodness [0,1] 0.9906385176576925 Centerline is valid? [True, True] Translation: X:208.24, Y:-21.82, Z:-2.59 [[ 9.99972455e-01 -3.84645280e-03 -6.34774248e-03 2.08239770e+02] [ 3.84722518e-03 9.99992593e-01 1.09472145e-04 -2.18179295e+01] [ 6.34727439e-03 -1.33890325e-04 9.99979847e-01 -2.59317226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99401273899997 meters Centerline goodness [0,1] 0.9892265015160312 Centerline is valid? [True, True] Translation: X:208.27, Y:-21.82, Z:-2.59 [[ 9.99968648e-01 -4.74612489e-03 -6.33849763e-03 2.08267142e+02] [ 4.74691071e-03 9.99988727e-01 1.08937771e-04 -2.18241191e+01] [ 6.33790915e-03 -1.39022638e-04 9.99979906e-01 -2.59298039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02401273899997 meters Centerline goodness [0,1] 0.9858232429870297 Centerline is valid? [True, True] Translation: X:208.29, Y:-21.83, Z:-2.58 [[ 9.99970249e-01 -4.93202022e-03 -5.93093001e-03 2.08294574e+02] [ 4.93270675e-03 9.99987829e-01 1.01130894e-04 -2.18280674e+01] [ 5.93035905e-03 -1.30383424e-04 9.99982407e-01 -2.58204706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05401273899997 meters Centerline goodness [0,1] 0.9892859461916409 Centerline is valid? [True, True] Translation: X:208.32, Y:-21.83, Z:-2.59 [[ 9.99981107e-01 -4.09052689e-03 -4.58833683e-03 2.08323796e+02] [ 4.09092574e-03 9.99991629e-01 7.75461738e-05 -2.18292218e+01] [ 4.58798122e-03 -9.63152540e-05 9.99989471e-01 -2.58967157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08401273899997 meters Centerline goodness [0,1] 0.9916213719466346 Centerline is valid? [True, True] Translation: X:208.35, Y:-21.83, Z:-2.59 [[ 9.99986480e-01 -8.32450365e-04 -5.13301146e-03 2.08351359e+02] [ 8.32903294e-04 9.99999649e-01 8.61012501e-05 -2.18340822e+01] [ 5.13293798e-03 -9.03753881e-05 9.99986822e-01 -2.59041986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11401273899997 meters Centerline goodness [0,1] 0.9938556067588326 Centerline is valid? [True, True] Translation: X:208.38, Y:-21.83, Z:-2.59 [[ 9.99981430e-01 1.42798008e-03 -5.92457639e-03 2.08380453e+02] [-1.42742062e-03 9.99998976e-01 9.86584540e-05 -2.18332276e+01] [ 5.92471121e-03 -9.01997594e-05 9.99982445e-01 -2.59174348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14401273899998 meters Centerline goodness [0,1] 0.9965024264416561 Centerline is valid? [True, True] Translation: X:208.41, Y:-21.83, Z:-2.59 [[ 9.99952778e-01 7.38627990e-03 -6.31548496e-03 2.08409872e+02] [-7.38576665e-03 9.99972719e-01 1.04587032e-04 -2.18296335e+01] [ 6.31608518e-03 -5.79373945e-05 9.99980052e-01 -2.59138233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17401273899998 meters Centerline goodness [0,1] 0.9977598088370208 Centerline is valid? [True, True] Translation: X:208.44, Y:-21.83, Z:-2.59 [[ 9.99923658e-01 1.08546737e-02 -5.90381879e-03 2.08437362e+02] [-1.08542871e-02 9.99941086e-01 9.75180644e-05 -2.18270805e+01] [ 5.90452950e-03 -3.34288756e-05 9.99982568e-01 -2.59052382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20401273899998 meters Centerline goodness [0,1] 0.9976388016376752 Centerline is valid? [True, True] Translation: X:208.46, Y:-21.82, Z:-2.59 [[ 9.99892752e-01 1.37455777e-02 -5.05406175e-03 2.08464925e+02] [-1.37453327e-02 9.99905525e-01 8.32063593e-05 -2.18243266e+01] [ 5.05472798e-03 -1.37276755e-05 9.99987225e-01 -2.58973414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23401273899998 meters Centerline goodness [0,1] 0.997446516318692 Centerline is valid? [True, True] Translation: X:208.49, Y:-21.82, Z:-2.59 [[ 9.99823645e-01 1.82148802e-02 -4.57126127e-03 2.08494019e+02] [-1.82147276e-02 9.99834095e-01 7.50283741e-05 -2.18199209e+01] [ 4.57186951e-03 8.24913626e-06 9.99989549e-01 -2.58824165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26401273899998 meters Centerline goodness [0,1] 0.9968108946733322 Centerline is valid? [True, True] Translation: X:208.52, Y:-21.82, Z:-2.59 [[ 9.99797228e-01 1.93784695e-02 -5.47525070e-03 2.08523304e+02] [-1.93782695e-02 9.99812220e-01 8.95824262e-05 -2.18184877e+01] [ 5.47595853e-03 1.65366223e-05 9.99985007e-01 -2.58940480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29401273899998 meters Centerline goodness [0,1] 0.9971184654753457 Centerline is valid? [True, True] Translation: X:208.55, Y:-21.82, Z:-2.59 [[ 9.99772328e-01 2.01995714e-02 -6.87525488e-03 2.08552481e+02] [-2.01992779e-02 9.99795967e-01 1.12128659e-04 -2.18170269e+01] [ 6.87611705e-03 2.67720539e-05 9.99976359e-01 -2.59130825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32401273899998 meters Centerline goodness [0,1] 0.9974072944354874 Centerline is valid? [True, True] Translation: X:208.58, Y:-21.82, Z:-2.59 [[ 9.99745837e-01 2.13994679e-02 -7.09396540e-03 2.08581087e+02] [-2.13991881e-02 9.99771005e-01 1.15355533e-04 -2.18159355e+01] [ 7.09480946e-03 3.64788860e-05 9.99974831e-01 -2.59197131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35401273899998 meters Centerline goodness [0,1] 0.9964839311365049 Centerline is valid? [True, True] Translation: X:208.61, Y:-21.81, Z:-2.59 [[ 9.99745988e-01 2.17791088e-02 -5.79908012e-03 2.08608913e+02] [-2.17789298e-02 9.99762807e-01 9.40137954e-05 -2.18149299e+01] [ 5.79975215e-03 3.23078440e-05 9.99983181e-01 -2.58944496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38401273899999 meters Centerline goodness [0,1] 0.9956644593516102 Centerline is valid? [True, True] Translation: X:208.64, Y:-21.81, Z:-2.59 [[ 9.99731711e-01 2.27949232e-02 -4.11063114e-03 2.08637874e+02] [-2.27948426e-02 9.99740162e-01 6.64629051e-05 -2.18102277e+01] [ 4.11107806e-03 2.72561161e-05 9.99991549e-01 -2.58568325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.414012739 meters Centerline goodness [0,1] 0.9953161087008138 Centerline is valid? [True, True] Translation: X:208.67, Y:-21.81, Z:-2.59 [[ 9.99711137e-01 2.36514421e-02 -4.27210497e-03 2.08665469e+02] [-2.36513638e-02 9.99720265e-01 6.88523029e-05 -2.18079023e+01] [ 4.27253837e-03 3.22086950e-05 9.99990872e-01 -2.58596701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.444012739 meters Centerline goodness [0,1] 0.9942686644056155 Centerline is valid? [True, True] Translation: X:208.69, Y:-21.80, Z:-2.59 [[ 9.99666646e-01 2.54225403e-02 -4.50464731e-03 2.08693540e+02] [-2.54224724e-02 9.99676794e-01 7.23309270e-05 -2.18033015e+01] [ 4.50503022e-03 4.22124569e-05 9.99989851e-01 -2.58622849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.474012739 meters Centerline goodness [0,1] 0.9945878879928124 Centerline is valid? [True, True] Translation: X:208.72, Y:-21.80, Z:-2.59 [[ 9.99647191e-01 2.61881642e-02 -4.43555500e-03 2.08722784e+02] [-2.61881070e-02 9.99657030e-01 7.09880191e-05 -2.18015247e+01] [ 4.43589279e-03 4.51958153e-05 9.99990160e-01 -2.58636342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.504012739 meters Centerline goodness [0,1] 0.994295592048401 Centerline is valid? [True, True] Translation: X:208.75, Y:-21.80, Z:-2.59 [[ 9.99639233e-01 2.65045892e-02 -4.34852916e-03 2.08752063e+02] [-2.65045380e-02 9.99648691e-01 6.93976985e-05 -2.17997545e+01] [ 4.34884083e-03 4.58830943e-05 9.99990543e-01 -2.58605011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.534012739 meters Centerline goodness [0,1] 0.9946463370237917 Centerline is valid? [True, True] Translation: X:208.78, Y:-21.80, Z:-2.59 [[ 9.99660517e-01 2.56909943e-02 -4.33850727e-03 2.08780027e+02] [-2.56909366e-02 9.99669931e-01 6.90208473e-05 -2.17987259e+01] [ 4.33884848e-03 4.24628995e-05 9.99990586e-01 -2.58502388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.564012739 meters Centerline goodness [0,1] 0.9948367109848973 Centerline is valid? [True, True] Translation: X:208.81, Y:-21.80, Z:-2.58 [[ 9.99694665e-01 2.43608306e-02 -4.13853081e-03 2.08809047e+02] [-2.43607677e-02 9.99703230e-01 6.56231704e-05 -2.18017471e+01] [ 4.13890125e-03 3.52146543e-05 9.99991434e-01 -2.58479016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.594012739 meters Centerline goodness [0,1] 0.9961345771788892 Centerline is valid? [True, True] Translation: X:208.84, Y:-21.81, Z:-2.59 [[ 9.99754292e-01 2.15388636e-02 -5.23773974e-03 2.08837728e+02] [-2.15387256e-02 9.99768011e-01 8.27666180e-05 -2.18055276e+01] [ 5.23830734e-03 3.00679574e-05 9.99986280e-01 -2.58641171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.624012739 meters Centerline goodness [0,1] 0.9964589850538755 Centerline is valid? [True, True] Translation: X:208.87, Y:-21.81, Z:-2.59 [[ 9.99773423e-01 2.05718566e-02 -5.46813961e-03 2.08866585e+02] [-2.05716932e-02 9.99788377e-01 8.61378649e-05 -2.18058943e+01] [ 5.46875444e-03 2.63705422e-05 9.99985046e-01 -2.58669974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.654012739 meters Centerline goodness [0,1] 0.9965279266149428 Centerline is valid? [True, True] Translation: X:208.89, Y:-21.81, Z:-2.59 [[ 9.99793820e-01 1.96170336e-02 -5.24301523e-03 2.08894698e+02] [-1.96168716e-02 9.99807567e-01 8.23163296e-05 -2.18054156e+01] [ 5.24362111e-03 2.05521992e-05 9.99986252e-01 -2.58648868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68401273899997 meters Centerline goodness [0,1] 0.9971309618827793 Centerline is valid? [True, True] Translation: X:208.92, Y:-21.81, Z:-2.58 [[ 9.99835829e-01 1.73148721e-02 -5.33957143e-03 2.08923968e+02] [-1.73146728e-02 9.99850086e-01 8.35433199e-05 -2.18076303e+01] [ 5.34021750e-03 8.92332793e-06 9.99985741e-01 -2.58492932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71401273899997 meters Centerline goodness [0,1] 0.99785149535923 Centerline is valid? [True, True] Translation: X:208.95, Y:-21.81, Z:-2.59 [[ 9.99859766e-01 1.56769119e-02 -5.88914352e-03 2.08952249e+02] [-1.56766431e-02 9.99877110e-01 9.18167271e-05 -2.18098431e+01] [ 5.88985921e-03 5.18149680e-07 9.99982655e-01 -2.58571311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74401273899997 meters Centerline goodness [0,1] 0.997282201630679 Centerline is valid? [True, True] Translation: X:208.98, Y:-21.81, Z:-2.59 [[ 9.99889671e-01 1.34580812e-02 -6.28698855e-03 2.08981470e+02] [-1.34577330e-02 9.99909436e-01 9.76934654e-05 -2.18128217e+01] [ 6.28773394e-03 -1.30740739e-05 9.99980232e-01 -2.58661002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77401273899997 meters Centerline goodness [0,1] 0.9935345290516593 Centerline is valid? [True, True] Translation: X:209.01, Y:-21.82, Z:-2.58 [[ 9.99951286e-01 7.16770569e-03 -6.78594245e-03 2.09010010e+02] [-7.16715730e-03 9.99974310e-01 1.05127766e-04 -2.18197486e+01] [ 6.78652164e-03 -5.64867274e-05 9.99976970e-01 -2.58220745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80401273899997 meters Centerline goodness [0,1] 0.9943823866214376 Centerline is valid? [True, True] Translation: X:209.04, Y:-21.83, Z:-2.59 [[ 9.99974444e-01 3.51025113e-03 -6.22817113e-03 2.09038217e+02] [-3.50972025e-03 9.99993836e-01 9.61663941e-05 -2.18264263e+01] [ 6.22847031e-03 -7.43047980e-05 9.99980600e-01 -2.58642949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83401273899997 meters Centerline goodness [0,1] 0.9919120652197294 Centerline is valid? [True, True] Translation: X:209.07, Y:-21.84, Z:-2.59 [[ 9.99981768e-01 -2.42507763e-03 -5.53008521e-03 2.09066235e+02] [ 2.42558541e-03 9.99997055e-01 8.51167572e-05 -2.18403084e+01] [ 5.52986251e-03 -9.85288994e-05 9.99984705e-01 -2.58565913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86401273899997 meters Centerline goodness [0,1] 0.9908551120357127 Centerline is valid? [True, True] Translation: X:209.09, Y:-21.85, Z:-2.58 [[ 9.99973725e-01 -4.85875359e-03 -5.37973228e-03 2.09094930e+02] [ 4.85926802e-03 9.99988190e-01 8.25572565e-05 -2.18457833e+01] [ 5.37926762e-03 -1.08696648e-04 9.99985526e-01 -2.58457194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89401273899998 meters Centerline goodness [0,1] 0.9908551120357127 Centerline is valid? [True, True] Translation: X:209.12, Y:-21.85, Z:-2.58 [[ 9.99972807e-01 -5.04419653e-03 -5.37974164e-03 2.09122409e+02] [ 5.04471034e-03 9.99987272e-01 8.19436275e-05 -2.18460268e+01] [ 5.37925982e-03 -1.09080638e-04 9.99985526e-01 -2.58449614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92401273899998 meters Centerline goodness [0,1] 0.9899024620805225 Centerline is valid? [True, True] Translation: X:209.15, Y:-21.85, Z:-2.58 [[ 9.99960009e-01 -7.08174681e-03 -5.46160467e-03 2.09150444e+02] [ 7.08230308e-03 9.99974917e-01 8.25155242e-05 -2.18515785e+01] [ 5.46088332e-03 -1.21192964e-04 9.99985082e-01 -2.58427297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95401273899998 meters Centerline goodness [0,1] 0.9883643258850654 Centerline is valid? [True, True] Translation: X:209.18, Y:-21.86, Z:-2.59 [[ 9.99923156e-01 -1.08714992e-02 -5.95754257e-03 2.09180101e+02] [ 1.08722269e-02 9.99940892e-01 8.97615927e-05 -2.18622097e+01] [ 5.95621458e-03 -1.54526449e-04 9.99982250e-01 -2.58552940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98401273899998 meters Centerline goodness [0,1] 0.9860726030047069 Centerline is valid? [True, True] Translation: X:209.21, Y:-21.87, Z:-2.58 [[ 9.99895653e-01 -1.26309830e-02 -7.01004227e-03 2.09207400e+02] [ 1.26320311e-02 9.99920207e-01 1.05254100e-04 -2.18708010e+01] [ 7.00815346e-03 -1.93794189e-04 9.99975424e-01 -2.58004738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01401273899998 meters Centerline goodness [0,1] 0.9883272626578908 Centerline is valid? [True, True] Translation: X:209.24, Y:-21.88, Z:-2.59 [[ 9.99859179e-01 -1.49774718e-02 -7.56955001e-03 2.09236948e+02] [ 1.49787587e-02 9.99887806e-01 1.13341311e-04 -2.18838048e+01] [ 7.56700319e-03 -2.26707813e-04 9.99971344e-01 -2.58820544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04401273899998 meters Centerline goodness [0,1] 0.9874618126272913 Centerline is valid? [True, True] Translation: X:209.26, Y:-21.89, Z:-2.59 [[ 9.99865944e-01 -1.46835739e-02 -7.24472958e-03 2.09264413e+02] [ 1.46847427e-02 9.99892168e-01 1.08162475e-04 -2.18924599e+01] [ 7.24236015e-03 -2.14534964e-04 9.99973751e-01 -2.58811379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07401273899998 meters Centerline goodness [0,1] 0.9885210376123759 Centerline is valid? [True, True] Translation: X:209.29, Y:-21.89, Z:-2.59 [[ 9.99889774e-01 -1.32702360e-02 -6.65893909e-03 2.09293254e+02] [ 1.32711871e-02 9.99911929e-01 9.86495607e-05 -2.18916450e+01] [ 6.65704353e-03 -1.87010713e-04 9.99977824e-01 -2.58593195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10401273899998 meters Centerline goodness [0,1] 0.9909016251728907 Centerline is valid? [True, True] Translation: X:209.32, Y:-21.89, Z:-2.58 [[ 9.99969275e-01 -6.51591587e-03 -4.35803383e-03 2.09323495e+02] [ 6.51625782e-03 9.99978767e-01 6.42702106e-05 -2.18918157e+01] [ 4.35752251e-03 -9.26663079e-05 9.99990502e-01 -2.58046000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13401273899999 meters Centerline goodness [0,1] 0.9915508136652657 Centerline is valid? [True, True] Translation: X:209.35, Y:-21.89, Z:-2.58 [[ 9.99989745e-01 -2.40643445e-03 -3.83658058e-03 2.09352512e+02] [ 2.40666911e-03 9.99997102e-01 5.65484726e-05 -2.18926665e+01] [ 3.83643339e-03 -6.57812726e-05 9.99992639e-01 -2.58006226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.164012739 meters Centerline goodness [0,1] 0.9946669569003047 Centerline is valid? [True, True] Translation: X:209.38, Y:-21.89, Z:-2.58 [[ 9.99987508e-01 1.74652087e-03 -4.68326141e-03 2.09381628e+02] [-1.74621754e-03 9.99998473e-01 6.88573708e-05 -2.18879791e+01] [ 4.68337452e-03 -6.06785174e-05 9.99989031e-01 -2.58158623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.194012739 meters Centerline goodness [0,1] 0.9979911003585777 Centerline is valid? [True, True] Translation: X:209.41, Y:-21.88, Z:-2.59 [[ 9.99936405e-01 8.74873833e-03 -7.11649822e-03 2.09409694e+02] [-8.74821845e-03 9.99961728e-01 1.04177955e-04 -2.18837976e+01] [ 7.11713728e-03 -4.19146490e-05 9.99974672e-01 -2.58661874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.224012739 meters Centerline goodness [0,1] 0.9985480323703372 Centerline is valid? [True, True] Translation: X:209.44, Y:-21.88, Z:-2.58 [[ 9.99877114e-01 1.41457052e-02 -6.75694283e-03 2.09439056e+02] [-1.41453647e-02 9.99899945e-01 9.81802480e-05 -2.18785572e+01] [ 6.75765559e-03 -2.58876246e-06 9.99977167e-01 -2.58490776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.254012739 meters Centerline goodness [0,1] 0.9972630858706808 Centerline is valid? [True, True] Translation: X:209.47, Y:-21.88, Z:-2.58 [[ 9.99845031e-01 1.65970620e-02 -5.86948290e-03 2.09467818e+02] [-1.65968502e-02 9.99862259e-01 8.47905009e-05 -2.18759275e+01] [ 5.87008170e-03 1.26375676e-05 9.99982771e-01 -2.58247809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.284012739 meters Centerline goodness [0,1] 0.9968273023495112 Centerline is valid? [True, True] Translation: X:209.50, Y:-21.87, Z:-2.58 [[ 9.99810408e-01 1.89129942e-02 -4.63102417e-03 2.09496949e+02] [-1.89128881e-02 9.99821133e-01 6.67082001e-05 -2.18724960e+01] [ 4.63145749e-03 2.08904893e-05 9.99989275e-01 -2.58050135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.314012739 meters Centerline goodness [0,1] 0.99572557779878 Centerline is valid? [True, True] Translation: X:209.53, Y:-21.86, Z:-2.58 [[ 9.99710366e-01 2.36310524e-02 -4.55600034e-03 2.09525479e+02] [-2.36309998e-02 9.99720747e-01 6.53927717e-05 -2.18631138e+01] [ 4.55627337e-03 4.22890113e-05 9.99989619e-01 -2.58022344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.344012739 meters Centerline goodness [0,1] 0.9953737731851788 Centerline is valid? [True, True] Translation: X:209.55, Y:-21.86, Z:-2.58 [[ 9.99662394e-01 2.54779037e-02 -5.09645147e-03 2.09554093e+02] [-2.54778633e-02 9.99675384e-01 7.28547551e-05 -2.18594354e+01] [ 5.09665327e-03 5.70165348e-05 9.99987010e-01 -2.58146633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.374012739 meters Centerline goodness [0,1] 0.995068587548722 Centerline is valid? [True, True] Translation: X:209.58, Y:-21.85, Z:-2.58 [[ 9.99599989e-01 2.77494441e-02 -5.46171023e-03 2.09582057e+02] [-2.77494333e-02 9.99614907e-01 7.77722953e-05 -2.18548852e+01] [ 5.46176510e-03 7.38181784e-05 9.99985082e-01 -2.58193046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.404012739 meters Centerline goodness [0,1] 0.9942668891455954 Centerline is valid? [True, True] Translation: X:209.61, Y:-21.84, Z:-2.58 [[ 9.99448084e-01 3.25989334e-02 -6.39033693e-03 2.09612177e+02] [-3.25990195e-02 9.99468507e-01 9.07156545e-05 -2.18444452e+01] [ 6.38989775e-03 1.17653131e-04 9.99979577e-01 -2.58291499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43401273899997 meters Centerline goodness [0,1] 0.9943198868264244 Centerline is valid? [True, True] Translation: X:209.64, Y:-21.84, Z:-2.58 [[ 9.99387005e-01 3.42608475e-02 -7.19780027e-03 2.09641166e+02] [-3.42610019e-02 9.99412914e-01 1.01893125e-04 -2.18396985e+01] [ 7.19706548e-03 1.44773184e-04 9.99974090e-01 -2.58446035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46401273899997 meters Centerline goodness [0,1] 0.9945608598608794 Centerline is valid? [True, True] Translation: X:209.67, Y:-21.83, Z:-2.59 [[ 9.99322938e-01 3.57157700e-02 -8.83450764e-03 2.09670008e+02] [-3.57160634e-02 9.99361970e-01 1.24605808e-04 -2.18349201e+01] [ 8.83332135e-03 1.91012393e-04 9.99960967e-01 -2.58779592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49401273899997 meters Centerline goodness [0,1] 0.994385164787884 Centerline is valid? [True, True] Translation: X:209.70, Y:-21.83, Z:-2.59 [[ 9.99318882e-01 3.57548318e-02 -9.13037553e-03 2.09698365e+02] [-3.57551516e-02 9.99360572e-01 1.28255348e-04 -2.18309324e+01] [ 9.12912306e-03 1.98289971e-04 9.99958309e-01 -2.58864770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52401273899997 meters Centerline goodness [0,1] 0.9939816008941621 Centerline is valid? [True, True] Translation: X:209.73, Y:-21.83, Z:-2.59 [[ 9.99333811e-01 3.54308543e-02 -8.75155123e-03 2.09726768e+02] [-3.54311396e-02 9.99372113e-01 1.22487850e-04 -2.18298439e+01] [ 8.75039609e-03 1.87671183e-04 9.99961697e-01 -2.58748526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55401273899997 meters Centerline goodness [0,1] 0.9940281835366902 Centerline is valid? [True, True] Translation: X:209.75, Y:-21.83, Z:-2.58 [[ 9.99394445e-01 3.39412874e-02 -7.66363648e-03 2.09754749e+02] [-3.39414656e-02 9.99423817e-01 1.06854233e-04 -2.18258404e+01] [ 7.66284759e-03 1.53325526e-04 9.99970628e-01 -2.58473942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58401273899997 meters Centerline goodness [0,1] 0.9945180838990129 Centerline is valid? [True, True] Translation: X:209.78, Y:-21.82, Z:-2.58 [[ 9.99436432e-01 3.28035588e-02 -7.12356230e-03 2.09783429e+02] [-3.28036863e-02 9.99461809e-01 9.89690177e-05 -2.18241479e+01] [ 7.12297500e-03 1.34765861e-04 9.99974622e-01 -2.58278777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61401273899997 meters Centerline goodness [0,1] 0.995182024413957 Centerline is valid? [True, True] Translation: X:209.81, Y:-21.82, Z:-2.58 [[ 9.99517045e-01 3.01200433e-02 -7.64584929e-03 2.09811981e+02] [-3.01201145e-02 9.99546281e-01 1.05858189e-04 -2.18222501e+01] [ 7.64556868e-03 1.24486792e-04 9.99970764e-01 -2.58416602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64401273899998 meters Centerline goodness [0,1] 0.9958049403747871 Centerline is valid? [True, True] Translation: X:209.84, Y:-21.82, Z:-2.59 [[ 9.99564887e-01 2.83480132e-02 -8.15026723e-03 2.09839941e+02] [-2.83480390e-02 9.99598107e-01 1.12387817e-04 -2.18216869e+01] [ 8.15017767e-03 1.18705178e-04 9.99966780e-01 -2.58530210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67401273899998 meters Centerline goodness [0,1] 0.9956505902770338 Centerline is valid? [True, True] Translation: X:209.87, Y:-21.82, Z:-2.58 [[ 9.99600289e-01 2.70937053e-02 -8.07422987e-03 2.09868543e+02] [-2.70936930e-02 9.99632892e-01 1.10930289e-04 -2.18221128e+01] [ 8.07427127e-03 1.07874756e-04 9.99967397e-01 -2.58495081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70401273899998 meters Centerline goodness [0,1] 0.995657034743722 Centerline is valid? [True, True] Translation: X:209.90, Y:-21.82, Z:-2.58 [[ 9.99641848e-01 2.59298561e-02 -6.61957904e-03 2.09896270e+02] [-2.59298245e-02 9.99663761e-01 9.06146434e-05 -2.18172144e+01] [ 6.61970290e-03 8.10623330e-05 9.99978086e-01 -2.58221189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73401273899998 meters Centerline goodness [0,1] 0.9960075963572015 Centerline is valid? [True, True] Translation: X:209.92, Y:-21.81, Z:-2.58 [[ 9.99652373e-01 2.57583386e-02 -5.62499379e-03 2.09924736e+02] [-2.57583146e-02 9.99668197e-01 7.67302493e-05 -2.18146909e+01] [ 5.62510384e-03 6.81867838e-05 9.99984177e-01 -2.58022934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76401273899998 meters Centerline goodness [0,1] 0.995702067305626 Centerline is valid? [True, True] Translation: X:209.95, Y:-21.81, Z:-2.58 [[ 9.99672203e-01 2.49599951e-02 -5.69966624e-03 2.09953164e+02] [-2.49599589e-02 9.99688449e-01 7.74800521e-05 -2.18092738e+01] [ 5.69982440e-03 6.48087809e-05 9.99983754e-01 -2.57852762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79401273899998 meters Centerline goodness [0,1] 0.9960410525636336 Centerline is valid? [True, True] Translation: X:209.98, Y:-21.81, Z:-2.58 [[ 9.99683918e-01 2.41550057e-02 -6.97138488e-03 2.09981098e+02] [-2.41549350e-02 9.99708223e-01 9.43616277e-05 -2.18060926e+01] [ 6.97163010e-03 7.40615468e-05 9.99975695e-01 -2.58059295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82401273899998 meters Centerline goodness [0,1] 0.9971400309650783 Centerline is valid? [True, True] Translation: X:210.01, Y:-21.80, Z:-2.58 [[ 9.99701121e-01 2.29939175e-02 -8.30352678e-03 2.10009938e+02] [-2.29937808e-02 9.99735602e-01 1.11941118e-04 -2.18039147e+01] [ 8.30390530e-03 7.90218136e-05 9.99965519e-01 -2.58364681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85401273899998 meters Centerline goodness [0,1] 0.9979506428509793 Centerline is valid? [True, True] Translation: X:210.04, Y:-21.81, Z:-2.58 [[ 9.99806884e-01 1.80949113e-02 -7.66614482e-03 2.10038878e+02] [-1.80946535e-02 9.99836273e-01 1.02996191e-04 -2.18059779e+01] [ 7.66675337e-03 3.57399331e-05 9.99970609e-01 -2.58325140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88401273899999 meters Centerline goodness [0,1] 0.9978666211545846 Centerline is valid? [True, True] Translation: X:210.07, Y:-21.81, Z:-2.58 [[ 9.99882518e-01 1.41149928e-02 -5.97644992e-03 2.10066870e+02] [-1.41147667e-02 9.99900379e-01 8.00025988e-05 -2.18109562e+01] [ 5.97698377e-03 4.36299655e-06 9.99982138e-01 -2.58017675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.914012739 meters Centerline goodness [0,1] 0.9942048893563135 Centerline is valid? [True, True] Translation: X:210.09, Y:-21.83, Z:-2.58 [[ 9.99980577e-01 4.63232319e-03 -4.16975585e-03 2.10094799e+02] [-4.63213157e-03 9.99989270e-01 5.56117241e-05 -2.18262121e+01] [ 4.16996872e-03 -3.62957862e-05 9.99991305e-01 -2.57567453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.944012739 meters Centerline goodness [0,1] 0.9928698370554354 Centerline is valid? [True, True] Translation: X:210.12, Y:-21.83, Z:-2.58 [[ 9.99990309e-01 -2.60220173e-04 -4.39488118e-03 2.10124592e+02] [ 2.60479294e-04 9.99999964e-01 5.83872790e-05 -2.18337058e+01] [ 4.39486583e-03 -5.95314887e-05 9.99990341e-01 -2.57590126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.974012739 meters Centerline goodness [0,1] 0.9913715195593235 Centerline is valid? [True, True] Translation: X:210.15, Y:-21.84, Z:-2.58 [[ 9.99978612e-01 -4.70878048e-03 -4.53909152e-03 2.10154022e+02] [ 4.70910223e-03 9.99988910e-01 6.01988226e-05 -2.18406498e+01] [ 4.53875772e-03 -8.15725811e-05 9.99989696e-01 -2.57678923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.004012739 meters Centerline goodness [0,1] 0.9882449366952095 Centerline is valid? [True, True] Translation: X:210.18, Y:-21.85, Z:-2.58 [[ 9.99918485e-01 -1.18207872e-02 -4.82616083e-03 2.10184238e+02] [ 1.18212334e-02 9.99930125e-01 6.39186860e-05 -2.18530464e+01] [ 4.82506803e-03 -1.20964649e-04 9.99988352e-01 -2.57741012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.034012739 meters Centerline goodness [0,1] 0.9883695839806663 Centerline is valid? [True, True] Translation: X:210.21, Y:-21.86, Z:-2.58 [[ 9.99884360e-01 -1.43606997e-02 -5.00367787e-03 2.10214157e+02] [ 1.43612106e-02 9.99896870e-01 6.61883798e-05 -2.18579354e+01] [ 5.00221133e-03 -1.38039598e-04 9.99987479e-01 -2.57778272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.064012739 meters Centerline goodness [0,1] 0.9870243881549365 Centerline is valid? [True, True] Translation: X:210.24, Y:-21.87, Z:-2.58 [[ 9.99816152e-01 -1.80528027e-02 -6.46206891e-03 2.10243451e+02] [ 1.80537311e-02 9.99837014e-01 8.53553061e-05 -2.18739501e+01] [ 6.45947478e-03 -2.02004068e-04 9.99979117e-01 -2.57847458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.094012739 meters Centerline goodness [0,1] 0.9863693768235857 Centerline is valid? [True, True] Translation: X:210.27, Y:-21.88, Z:-2.58 [[ 9.99794144e-01 -1.91744494e-02 -6.63398249e-03 2.10272617e+02] [ 1.91754483e-02 9.99816130e-01 8.69897843e-05 -2.18777696e+01] [ 6.63109472e-03 -2.14181465e-04 9.99977991e-01 -2.57825211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.124012739 meters Centerline goodness [0,1] 0.9839872586789489 Centerline is valid? [True, True] Translation: X:210.30, Y:-21.88, Z:-2.57 [[ 9.99781215e-01 -1.97605833e-02 -6.85864453e-03 2.10301353e+02] [ 1.97616572e-02 9.99804715e-01 8.88442209e-05 -2.18803081e+01] [ 6.85554953e-03 -2.24362965e-04 9.99976475e-01 -2.56964206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.154012739 meters Centerline goodness [0,1] 0.9877932232841008 Centerline is valid? [True, True] Translation: X:210.33, Y:-21.88, Z:-2.58 [[ 9.99784176e-01 -2.00069650e-02 -5.59671899e-03 2.10329005e+02] [ 2.00076790e-02 9.99799824e-01 7.16044172e-05 -2.18795718e+01] [ 5.59416607e-03 -1.83566320e-04 9.99984336e-01 -2.57575077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18401273899997 meters Centerline goodness [0,1] 0.9862134129319046 Centerline is valid? [True, True] Translation: X:210.36, Y:-21.89, Z:-2.58 [[ 9.99820225e-01 -1.81377863e-02 -5.52611604e-03 2.10357176e+02] [ 1.81384503e-02 9.99835482e-01 7.00550016e-05 -2.18926294e+01] [ 5.52393626e-03 -1.70277588e-04 9.99984728e-01 -2.57707173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21401273899997 meters Centerline goodness [0,1] 0.9899865203158097 Centerline is valid? [True, True] Translation: X:210.39, Y:-21.89, Z:-2.58 [[ 9.99872132e-01 -1.44901521e-02 -6.76424873e-03 2.10387381e+02] [ 1.44910617e-02 9.99894995e-01 8.54735039e-05 -2.18867482e+01] [ 6.76229993e-03 -1.83483720e-04 9.99977119e-01 -2.57865660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24401273899997 meters Centerline goodness [0,1] 0.9906968731156861 Centerline is valid? [True, True] Translation: X:210.42, Y:-21.89, Z:-2.58 [[ 9.99888982e-01 -1.28069230e-02 -7.61618251e-03 2.10415086e+02] [ 1.28080206e-02 9.99917969e-01 9.53567678e-05 -2.18895334e+01] [ 7.61433652e-03 -1.92894404e-04 9.99970992e-01 -2.58031968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27401273899997 meters Centerline goodness [0,1] 0.9919372178026231 Centerline is valid? [True, True] Translation: X:210.44, Y:-21.89, Z:-2.58 [[ 9.99908695e-01 -1.06409576e-02 -8.32899086e-03 2.10443105e+02] [ 1.06421885e-02 9.99943365e-01 1.03474106e-04 -2.18936943e+01] [ 8.32741808e-03 -1.92103350e-04 9.99965308e-01 -2.58267694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30401273899997 meters Centerline goodness [0,1] 0.9945186932215234 Centerline is valid? [True, True] Translation: X:210.47, Y:-21.89, Z:-2.58 [[ 9.99938192e-01 -6.14341768e-03 -9.26660963e-03 2.10473467e+02] [ 6.14474590e-03 9.99981114e-01 1.14869923e-04 -2.18874064e+01] [ 9.26572893e-03 -1.71803785e-04 9.99957057e-01 -2.58225196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33401273899997 meters Centerline goodness [0,1] 0.9951737659707409 Centerline is valid? [True, True] Translation: X:210.50, Y:-21.89, Z:-2.58 [[ 9.99954735e-01 -3.86050394e-03 -8.69626322e-03 2.10501683e+02] [ 3.86157912e-03 9.99992538e-01 1.06849083e-04 -2.18891391e+01] [ 8.69578584e-03 -1.40425555e-04 9.99962181e-01 -2.58168174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36401273899997 meters Centerline goodness [0,1] 0.9959270295183177 Centerline is valid? [True, True] Translation: X:210.53, Y:-21.88, Z:-2.58 [[ 9.99981695e-01 1.93765335e-03 -5.73202731e-03 2.10531744e+02] [-1.93728329e-03 9.99998121e-01 7.01119699e-05 -2.18845942e+01] [ 5.73215239e-03 -5.90061258e-05 9.99983569e-01 -2.57620104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39401273899998 meters Centerline goodness [0,1] 0.9964057594457075 Centerline is valid? [True, True] Translation: X:210.56, Y:-21.88, Z:-2.57 [[ 9.99976875e-01 4.89027083e-03 -4.72586078e-03 2.10560919e+02] [-4.89005378e-03 9.99988042e-01 5.74815125e-05 -2.18827232e+01] [ 4.72608537e-03 -3.43704699e-05 9.99988831e-01 -2.57456427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42401273899998 meters Centerline goodness [0,1] 0.9973461176269155 Centerline is valid? [True, True] Translation: X:210.59, Y:-21.88, Z:-2.57 [[ 9.99962165e-01 7.49336126e-03 -4.41785566e-03 2.10589741e+02] [-7.49319992e-03 9.99971924e-01 5.30707287e-05 -2.18809448e+01] [ 4.41812930e-03 -1.99648451e-05 9.99990240e-01 -2.57370141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45401273899998 meters Centerline goodness [0,1] 0.9977117194183063 Centerline is valid? [True, True] Translation: X:210.62, Y:-21.88, Z:-2.57 [[ 9.99918306e-01 1.20492717e-02 -4.26565298e-03 2.10617756e+02] [-1.20491650e-02 9.99927405e-01 5.07116388e-05 -2.18798157e+01] [ 4.26595435e-03 6.90060602e-07 9.99990901e-01 -2.57345095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48401273899998 meters Centerline goodness [0,1] 0.997827078942222 Centerline is valid? [True, True] Translation: X:210.65, Y:-21.88, Z:-2.57 [[ 9.99889085e-01 1.41466968e-02 -4.65702708e-03 2.10646143e+02] [-1.41465936e-02 9.99899930e-01 5.50960712e-05 -2.18797628e+01] [ 4.65734048e-03 1.07911095e-05 9.99989154e-01 -2.57411243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51401273899998 meters Centerline goodness [0,1] 0.9973713455291503 Centerline is valid? [True, True] Translation: X:210.67, Y:-21.88, Z:-2.58 [[ 9.99822527e-01 1.77076555e-02 -6.43065039e-03 2.10674179e+02] [-1.77075347e-02 9.99843206e-01 7.57211796e-05 -2.18784109e+01] [ 6.43098295e-03 3.81632241e-05 9.99979320e-01 -2.57647342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54401273899998 meters Centerline goodness [0,1] 0.9970866091129154 Centerline is valid? [True, True] Translation: X:210.70, Y:-21.88, Z:-2.58 [[ 9.99783252e-01 1.97978414e-02 -6.44163947e-03 2.10703248e+02] [-1.97977656e-02 9.99804002e-01 7.55476371e-05 -2.18768473e+01] [ 6.44187261e-03 5.19988061e-05 9.99979250e-01 -2.57619971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57401273899998 meters Centerline goodness [0,1] 0.9961892869445401 Centerline is valid? [True, True] Translation: X:210.73, Y:-21.87, Z:-2.57 [[ 9.99740805e-01 2.20379258e-02 -5.71419804e-03 2.10731758e+02] [-2.20379041e-02 9.99757134e-01 6.67642373e-05 -2.18744737e+01] [ 5.71428160e-03 5.91820161e-05 9.99983672e-01 -2.57448606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60401273899998 meters Centerline goodness [0,1] 0.9947593376146395 Centerline is valid? [True, True] Translation: X:210.76, Y:-21.86, Z:-2.57 [[ 9.99599935e-01 2.79113031e-02 -4.57472509e-03 2.10761011e+02] [-2.79113515e-02 9.99610401e-01 5.32827778e-05 -2.18647659e+01] [ 4.57442998e-03 7.44252988e-05 9.99989534e-01 -2.57214893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63401273899999 meters Centerline goodness [0,1] 0.9943771812658883 Centerline is valid? [True, True] Translation: X:210.79, Y:-21.86, Z:-2.57 [[ 9.99501190e-01 3.12263373e-02 -4.72098979e-03 2.10790037e+02] [-3.12264266e-02 9.99512335e-01 5.48160283e-05 -2.18566031e+01] [ 4.72039923e-03 9.26309558e-05 9.99988855e-01 -2.57230514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.664012739 meters Centerline goodness [0,1] 0.9943152454780362 Centerline is valid? [True, True] Translation: X:210.82, Y:-21.85, Z:-2.58 [[ 9.99358311e-01 3.53091214e-02 -6.01929190e-03 2.10819447e+02] [-3.53093420e-02 9.99376428e-01 6.96503143e-05 -2.18476822e+01] [ 6.01799774e-03 1.42931616e-04 9.99981881e-01 -2.57511883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.694012739 meters Centerline goodness [0,1] 0.994330505744658 Centerline is valid? [True, True] Translation: X:210.85, Y:-21.84, Z:-2.58 [[ 9.99327550e-01 3.60112859e-02 -6.90186179e-03 2.10847086e+02] [-3.60115952e-02 9.99351369e-01 7.95052669e-05 -2.18430449e+01] [ 6.90024811e-03 1.69095249e-04 9.99976179e-01 -2.57666812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.724012739 meters Centerline goodness [0,1] 0.9941983686925991 Centerline is valid? [True, True] Translation: X:210.88, Y:-21.84, Z:-2.58 [[ 9.99345980e-01 3.55470204e-02 -6.63481001e-03 2.10875820e+02] [-3.55472982e-02 9.99367992e-01 7.60898234e-05 -2.18426650e+01] [ 6.63332152e-03 1.59809511e-04 9.99977987e-01 -2.57638768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.754012739 meters Centerline goodness [0,1] 0.9945051393108798 Centerline is valid? [True, True] Translation: X:210.90, Y:-21.85, Z:-2.57 [[ 9.99506489e-01 3.10659217e-02 -4.65699090e-03 2.10904777e+02] [-3.10660105e-02 9.99517334e-01 5.32721289e-05 -2.18452183e+01] [ 4.65639808e-03 9.14282898e-05 9.99989155e-01 -2.57210817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.784012739 meters Centerline goodness [0,1] 0.9949598936215845 Centerline is valid? [True, True] Translation: X:210.93, Y:-21.85, Z:-2.57 [[ 9.99601335e-01 2.79454973e-02 -4.02733284e-03 2.10933603e+02] [-2.79455389e-02 9.99609446e-01 4.59536336e-05 -2.18488373e+01] [ 4.02704415e-03 6.66106730e-05 9.99991889e-01 -2.57098612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.814012739 meters Centerline goodness [0,1] 0.9949598936215845 Centerline is valid? [True, True] Translation: X:210.96, Y:-21.85, Z:-2.57 [[ 9.99602658e-01 2.78981532e-02 -4.02733501e-03 2.10961932e+02] [-2.78981952e-02 9.99610769e-01 4.57629618e-05 -2.18490699e+01] [ 4.02704415e-03 6.66106000e-05 9.99991889e-01 -2.57090797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.844012739 meters Centerline goodness [0,1] 0.9963888829181266 Centerline is valid? [True, True] Translation: X:210.99, Y:-21.86, Z:-2.58 [[ 9.99746892e-01 2.16649120e-02 -6.06502235e-03 2.10990651e+02] [-2.16648945e-02 9.99765286e-01 6.86037525e-05 -2.18555465e+01] [ 6.06508510e-03 6.28116809e-05 9.99981605e-01 -2.57582042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.874012739 meters Centerline goodness [0,1] 0.9974143503555268 Centerline is valid? [True, True] Translation: X:211.02, Y:-21.86, Z:-2.58 [[ 9.99793831e-01 1.90712448e-02 -6.97010473e-03 2.11019450e+02] [-1.90711607e-02 9.99818126e-01 7.85300392e-05 -2.18601450e+01] [ 6.97033472e-03 5.44141388e-05 9.99975705e-01 -2.57682612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.904012739 meters Centerline goodness [0,1] 0.9973222191029434 Centerline is valid? [True, True] Translation: X:211.05, Y:-21.86, Z:-2.58 [[ 9.99826881e-01 1.71959410e-02 -7.10685783e-03 2.11048413e+02] [-1.71958086e-02 9.99852138e-01 7.97323365e-05 -2.18627399e+01] [ 7.10717807e-03 4.24896338e-05 9.99974743e-01 -2.57657188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93401273899997 meters Centerline goodness [0,1] 0.9978084926334975 Centerline is valid? [True, True] Translation: X:211.08, Y:-21.87, Z:-2.57 [[ 9.99880310e-01 1.42550702e-02 -6.01328882e-03 2.11077118e+02] [-1.42549238e-02 9.99898391e-01 6.71989819e-05 -2.18662642e+01] [ 6.01363574e-03 1.85280352e-05 9.99981918e-01 -2.57476780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96401273899997 meters Centerline goodness [0,1] 0.9982036964896334 Centerline is valid? [True, True] Translation: X:211.10, Y:-21.87, Z:-2.58 [[ 9.99899550e-01 1.28173669e-02 -6.05025941e-03 2.11104726e+02] [-1.28171944e-02 9.99917854e-01 6.72870654e-05 -2.18688321e+01] [ 6.05062485e-03 1.02670446e-05 9.99981695e-01 -2.57570687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99401273899997 meters Centerline goodness [0,1] 0.9990372066154604 Centerline is valid? [True, True] Translation: X:211.13, Y:-21.88, Z:-2.58 [[ 9.99930731e-01 8.61587564e-03 -8.01869988e-03 2.11133198e+02] [-8.61544113e-03 9.99962882e-01 8.87286678e-05 -2.18800914e+01] [ 8.01916672e-03 -1.96378849e-05 9.99967846e-01 -2.58000651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02401273899997 meters Centerline goodness [0,1] 0.9984632367264777 Centerline is valid? [True, True] Translation: X:211.16, Y:-21.89, Z:-2.58 [[ 9.99947338e-01 6.16352252e-03 -8.20557840e-03 2.11161881e+02] [-6.16298815e-03 9.99981005e-01 9.04075678e-05 -2.18862027e+01] [ 8.20597976e-03 -3.98319243e-05 9.99966330e-01 -2.57992878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05401273899997 meters Centerline goodness [0,1] 0.997829170786227 Centerline is valid? [True, True] Translation: X:211.19, Y:-21.89, Z:-2.58 [[ 9.99961489e-01 3.58713661e-03 -8.00957642e-03 2.11189605e+02] [-3.58654838e-03 9.99993564e-01 8.78029777e-05 -2.18940518e+01] [ 8.00983983e-03 -5.90728630e-05 9.99967919e-01 -2.57981702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08401273899997 meters Centerline goodness [0,1] 0.995758971819767 Centerline is valid? [True, True] Translation: X:211.22, Y:-21.91, Z:-2.58 [[ 9.99973249e-01 -4.67062362e-04 -7.29947012e-03 2.11217871e+02] [ 4.67655859e-04 9.99999887e-01 7.96002729e-05 -2.19067319e+01] [ 7.29943212e-03 -8.30117835e-05 9.99973355e-01 -2.57741022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11401273899997 meters Centerline goodness [0,1] 0.9955682722715832 Centerline is valid? [True, True] Translation: X:211.25, Y:-21.91, Z:-2.58 [[ 9.99968822e-01 -1.59729044e-03 -7.73331759e-03 2.11245542e+02] [ 1.59798680e-03 9.99998720e-01 8.38679106e-05 -2.19129299e+01] [ 7.73317373e-03 -9.62230352e-05 9.99970094e-01 -2.57770919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14401273899998 meters Centerline goodness [0,1] 0.9957810471657291 Centerline is valid? [True, True] Translation: X:211.27, Y:-21.92, Z:-2.58 [[ 9.99965961e-01 -1.92660889e-03 -8.02283415e-03 2.11273724e+02] [ 1.92735967e-03 9.99998139e-01 8.58500622e-05 -2.19196732e+01] [ 8.02265382e-03 -1.01310027e-04 9.99967813e-01 -2.57782930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17401273899998 meters Centerline goodness [0,1] 0.9956786822120013 Centerline is valid? [True, True] Translation: X:211.30, Y:-21.92, Z:-2.58 [[ 9.99973067e-01 -5.86851061e-04 -7.31575808e-03 2.11301687e+02] [ 5.87434085e-04 9.99999824e-01 7.75457308e-05 -2.19207675e+01] [ 7.31571129e-03 -8.18411680e-05 9.99973236e-01 -2.57602873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20401273899998 meters Centerline goodness [0,1] 0.9959049076448908 Centerline is valid? [True, True] Translation: X:211.33, Y:-21.92, Z:-2.57 [[ 9.99980024e-01 1.84778299e-03 -6.04463839e-03 2.11329775e+02] [-1.84743138e-03 9.99998291e-01 6.37513142e-05 -2.19194826e+01] [ 6.04474586e-03 -5.25829860e-05 9.99981729e-01 -2.57345051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23401273899998 meters Centerline goodness [0,1] 0.9969795638575897 Centerline is valid? [True, True] Translation: X:211.36, Y:-21.92, Z:-2.57 [[ 9.99962492e-01 7.62049496e-03 -4.11602416e-03 2.11358671e+02] [-7.62038217e-03 9.99970964e-01 4.30833660e-05 -2.19152394e+01] [ 4.11623296e-03 -1.17160730e-05 9.99991528e-01 -2.56977494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26401273899998 meters Centerline goodness [0,1] 0.9972528651757737 Centerline is valid? [True, True] Translation: X:211.39, Y:-21.91, Z:-2.57 [[ 9.99937129e-01 1.03072266e-02 -4.41573347e-03 2.11386531e+02] [-1.03071255e-02 9.99946879e-01 4.56653582e-05 -2.19132714e+01] [ 4.41596958e-03 -1.48968148e-07 9.99990250e-01 -2.57093443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29401273899998 meters Centerline goodness [0,1] 0.9972999827198894 Centerline is valid? [True, True] Translation: X:211.42, Y:-21.91, Z:-2.58 [[ 9.99860868e-01 1.51789767e-02 -6.91694949e-03 2.11415472e+02] [-1.51788478e-02 9.99884792e-01 7.11323097e-05 -2.19086138e+01] [ 6.91723232e-03 3.38689109e-05 9.99976075e-01 -2.57594705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32401273899998 meters Centerline goodness [0,1] 0.9970858067997841 Centerline is valid? [True, True] Translation: X:211.44, Y:-21.91, Z:-2.58 [[ 9.99817760e-01 1.77557654e-02 -7.01282334e-03 2.11443401e+02] [-1.77556991e-02 9.99842353e-01 7.17273266e-05 -2.19054845e+01] [ 7.01299136e-03 5.28033258e-05 9.99975407e-01 -2.57557473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35401273899998 meters Centerline goodness [0,1] 0.9959497685582033 Centerline is valid? [True, True] Translation: X:211.47, Y:-21.90, Z:-2.57 [[ 9.99761196e-01 2.08424527e-02 -6.56836748e-03 2.11471543e+02] [-2.08424636e-02 9.99782770e-01 6.67982160e-05 -2.18998924e+01] [ 6.56833287e-03 7.01186958e-05 9.99978426e-01 -2.57426806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38401273899999 meters Centerline goodness [0,1] 0.994457691564091 Centerline is valid? [True, True] Translation: X:211.50, Y:-21.89, Z:-2.57 [[ 9.99611083e-01 2.74950718e-02 -4.65872328e-03 2.11501320e+02] [-2.74951503e-02 9.99621936e-01 4.72157302e-05 -2.18899918e+01] [ 4.65826018e-03 8.08949294e-05 9.99989147e-01 -2.56963084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.414012739 meters Centerline goodness [0,1] 0.9940854041640488 Centerline is valid? [True, True] Translation: X:211.53, Y:-21.88, Z:-2.57 [[ 9.99518734e-01 3.06678917e-02 -4.66690692e-03 2.11530879e+02] [-3.06680056e-02 9.99529625e-01 4.71875868e-05 -2.18843743e+01] [ 4.66615887e-03 9.59598504e-05 9.99989109e-01 -2.56953271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.444012739 meters Centerline goodness [0,1] 0.9928124867094799 Centerline is valid? [True, True] Translation: X:211.56, Y:-21.87, Z:-2.57 [[ 9.99376158e-01 3.48668404e-02 -5.62122741e-03 2.11559594e+02] [-3.48670729e-02 9.99391957e-01 5.66556747e-05 -2.18710201e+01] [ 5.61978487e-03 1.39375416e-04 9.99984199e-01 -2.57323401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.474012739 meters Centerline goodness [0,1] 0.9926963395772469 Centerline is valid? [True, True] Translation: X:211.59, Y:-21.87, Z:-2.57 [[ 9.99354158e-01 3.54843303e-02 -5.66829847e-03 2.11588370e+02] [-3.54845780e-02 9.99370222e-01 5.68954622e-05 -2.18712579e+01] [ 5.66674760e-03 1.44278462e-04 9.99983933e-01 -2.57345228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.504012739 meters Centerline goodness [0,1] 0.9930674426566244 Centerline is valid? [True, True] Translation: X:211.62, Y:-21.87, Z:-2.57 [[ 9.99429732e-01 3.31966426e-02 -6.18005576e-03 2.11616294e+02] [-3.31968954e-02 9.99448829e-01 6.16935311e-05 -2.18729882e+01] [ 6.17869752e-03 1.43500316e-04 9.99980901e-01 -2.57384367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.534012739 meters Centerline goodness [0,1] 0.9935650761074055 Centerline is valid? [True, True] Translation: X:211.64, Y:-21.87, Z:-2.58 [[ 9.99507413e-01 3.05542494e-02 -7.16720386e-03 2.11644618e+02] [-3.05545243e-02 9.99533099e-01 7.11607596e-05 -2.18727531e+01] [ 7.16603174e-03 1.47864798e-04 9.99974313e-01 -2.57592731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.564012739 meters Centerline goodness [0,1] 0.9958482247950864 Centerline is valid? [True, True] Translation: X:211.67, Y:-21.88, Z:-2.58 [[ 9.99660752e-01 2.48033322e-02 -7.94829423e-03 2.11674730e+02] [-2.48034902e-02 9.99692343e-01 7.87159908e-05 -2.18846697e+01] [ 7.94780130e-03 1.18456151e-04 9.99968409e-01 -2.57718752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.594012739 meters Centerline goodness [0,1] 0.9958040445549908 Centerline is valid? [True, True] Translation: X:211.70, Y:-21.89, Z:-2.58 [[ 9.99724846e-01 2.21743389e-02 -7.65059950e-03 2.11703709e+02] [-2.21744102e-02 9.99754115e-01 7.55114067e-05 -2.18885866e+01] [ 7.65039275e-03 9.41569023e-05 9.99970731e-01 -2.57692090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.624012739 meters Centerline goodness [0,1] 0.9966861053129908 Centerline is valid? [True, True] Translation: X:211.73, Y:-21.89, Z:-2.58 [[ 9.99794566e-01 1.90918068e-02 -6.80657137e-03 2.11732560e+02] [-1.90917939e-02 9.99817733e-01 6.68785974e-05 -2.18939765e+01] [ 6.80660759e-03 6.30847995e-05 9.99976833e-01 -2.57542643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.654012739 meters Centerline goodness [0,1] 0.9976089953472342 Centerline is valid? [True, True] Translation: X:211.76, Y:-21.91, Z:-2.57 [[ 9.99914419e-01 1.22497250e-02 -4.59337365e-03 2.11761666e+02] [-1.22496476e-02 9.99924969e-01 4.49805080e-05 -2.19054851e+01] [ 4.59358000e-03 1.12905502e-05 9.99989449e-01 -2.57084541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68401273899997 meters Centerline goodness [0,1] 0.9973126370555102 Centerline is valid? [True, True] Translation: X:211.79, Y:-21.91, Z:-2.57 [[ 9.99952946e-01 9.07339047e-03 -3.43212708e-03 2.11789731e+02] [-9.07332894e-03 9.99958836e-01 3.34962727e-05 -2.19117171e+01] [ 3.43228972e-03 -2.35387858e-06 9.99994110e-01 -2.56895006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71401273899997 meters Centerline goodness [0,1] 0.9961899431720338 Centerline is valid? [True, True] Translation: X:211.82, Y:-21.92, Z:-2.57 [[ 9.99983618e-01 4.73576436e-03 -3.21497459e-03 2.11818692e+02] [-4.73568849e-03 9.99988786e-01 3.12128063e-05 -2.19215663e+01] [ 3.21508635e-03 -1.59871769e-05 9.99994831e-01 -2.56780041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74401273899997 meters Centerline goodness [0,1] 0.9955902598520048 Centerline is valid? [True, True] Translation: X:211.85, Y:-21.92, Z:-2.57 [[ 9.99987379e-01 3.63005297e-03 -3.47347806e-03 2.11847262e+02] [-3.62995813e-03 9.99993411e-01 3.36078590e-05 -2.19241839e+01] [ 3.47357717e-03 -2.09988549e-05 9.99993967e-01 -2.56854260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77401273899997 meters Centerline goodness [0,1] 0.9957400583612005 Centerline is valid? [True, True] Translation: X:211.88, Y:-21.93, Z:-2.57 [[ 9.99989295e-01 2.78476757e-03 -3.69536823e-03 2.11875768e+02] [-2.78465524e-03 9.99996122e-01 3.55440697e-05 -2.19259935e+01] [ 3.69545289e-03 -2.52533626e-05 9.99993171e-01 -2.56929694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80401273899997 meters Centerline goodness [0,1] 0.9962336432506887 Centerline is valid? [True, True] Translation: X:211.90, Y:-21.93, Z:-2.57 [[ 9.99986762e-01 2.41408907e-03 -4.54399668e-03 2.11904135e+02] [-2.41391700e-03 9.99997086e-01 4.33510679e-05 -2.19280351e+01] [ 4.54408809e-03 -3.23816631e-05 9.99989675e-01 -2.56999216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83401273899997 meters Centerline goodness [0,1] 0.9967346409186255 Centerline is valid? [True, True] Translation: X:211.93, Y:-21.93, Z:-2.57 [[ 9.99984751e-01 2.13844345e-03 -5.09156264e-03 2.11932786e+02] [-2.13822517e-03 9.99997713e-01 4.83137265e-05 -2.19293375e+01] [ 5.09165431e-03 -3.74260823e-05 9.99987037e-01 -2.57050010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86401273899997 meters Centerline goodness [0,1] 0.9932359888340133 Centerline is valid? [True, True] Translation: X:211.96, Y:-21.93, Z:-2.56 [[ 9.99982183e-01 3.30784851e-03 -4.96917557e-03 2.11960878e+02] [-3.30765633e-03 9.99994529e-01 4.68912629e-05 -2.19269227e+01] [ 4.96930349e-03 -3.04541024e-05 9.99987652e-01 -2.56281692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89401273899998 meters Centerline goodness [0,1] 0.9962346157156382 Centerline is valid? [True, True] Translation: X:211.99, Y:-21.92, Z:-2.57 [[ 9.99981225e-01 5.05402887e-03 -3.46507675e-03 2.11989605e+02] [-5.05394642e-03 9.99987228e-01 3.25499700e-05 -2.19243737e+01] [ 3.46519700e-03 -1.50370466e-05 9.99993996e-01 -2.56734505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92401273899998 meters Centerline goodness [0,1] 0.9959225497939928 Centerline is valid? [True, True] Translation: X:212.02, Y:-21.92, Z:-2.57 [[ 9.99961192e-01 8.47576886e-03 -2.40317180e-03 2.12017018e+02] [-8.47573925e-03 9.99964080e-01 2.25058044e-05 -2.19201391e+01] [ 2.40327624e-03 -2.13627338e-06 9.99997112e-01 -2.56530238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95401273899998 meters Centerline goodness [0,1] 0.9958991007924133 Centerline is valid? [True, True] Translation: X:212.05, Y:-21.92, Z:-2.57 [[ 9.99945060e-01 1.00256175e-02 -3.05996198e-03 2.12045981e+02] [-1.00255774e-02 9.99949742e-01 2.84413179e-05 -2.19171034e+01] [ 3.06009334e-03 2.23813035e-06 9.99995318e-01 -2.56651248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98401273899998 meters Centerline goodness [0,1] 0.9966716770453081 Centerline is valid? [True, True] Translation: X:212.07, Y:-21.91, Z:-2.57 [[ 9.99918616e-01 1.19758665e-02 -4.39779240e-03 2.12074559e+02] [-1.19758035e-02 9.99928287e-01 4.06617323e-05 -2.19129105e+01] [ 4.39796398e-03 1.20086746e-05 9.99990329e-01 -2.56843321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01401273899998 meters Centerline goodness [0,1] 0.9962054684620222 Centerline is valid? [True, True] Translation: X:212.10, Y:-21.91, Z:-2.57 [[ 9.99869708e-01 1.50962815e-02 -5.71566752e-03 2.12103614e+02] [-1.50962278e-02 9.99886044e-01 5.25330920e-05 -2.19061453e+01] [ 5.71580924e-03 3.37587718e-05 9.99983664e-01 -2.57116410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04401273899998 meters Centerline goodness [0,1] 0.9959794696321642 Centerline is valid? [True, True] Translation: X:212.13, Y:-21.90, Z:-2.57 [[ 9.99861848e-01 1.56254621e-02 -5.66837009e-03 2.12131204e+02] [-1.56254196e-02 9.99877914e-01 5.17866691e-05 -2.19035445e+01] [ 5.66848725e-03 3.67911461e-05 9.99983933e-01 -2.57128086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07401273899998 meters Centerline goodness [0,1] 0.9967102396514161 Centerline is valid? [True, True] Translation: X:212.16, Y:-21.90, Z:-2.57 [[ 9.99858177e-01 1.58248928e-02 -5.76188425e-03 2.12160453e+02] [-1.58248540e-02 9.99874778e-01 5.23211498e-05 -2.19030976e+01] [ 5.76199071e-03 3.88672476e-05 9.99983399e-01 -2.57069178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10401273899998 meters Centerline goodness [0,1] 0.996520885359971 Centerline is valid? [True, True] Translation: X:212.19, Y:-21.90, Z:-2.57 [[ 9.99849976e-01 1.59922157e-02 -6.65394816e-03 2.12188077e+02] [-1.59921705e-02 9.99872115e-01 6.00039941e-05 -2.19009007e+01] [ 6.65405682e-03 4.64160812e-05 9.99977860e-01 -2.57176959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13401273899999 meters Centerline goodness [0,1] 0.9963198898119054 Centerline is valid? [True, True] Translation: X:212.22, Y:-21.90, Z:-2.57 [[ 9.99842965e-01 1.64971572e-02 -6.47212411e-03 2.12215520e+02] [-1.64971276e-02 9.99863911e-01 5.79698338e-05 -2.18997455e+01] [ 6.47219966e-03 4.88107265e-05 9.99979054e-01 -2.57182788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.164012739 meters Centerline goodness [0,1] 0.9958141754142448 Centerline is valid? [True, True] Translation: X:212.24, Y:-21.90, Z:-2.57 [[ 9.99832064e-01 1.74049650e-02 -5.73683099e-03 2.12243894e+02] [-1.74049583e-02 9.99848521e-01 5.10996617e-05 -2.18987177e+01] [ 5.73685137e-03 4.87582239e-05 9.99983543e-01 -2.57011221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.194012739 meters Centerline goodness [0,1] 0.9948736726473819 Centerline is valid? [True, True] Translation: X:212.27, Y:-21.89, Z:-2.57 [[ 9.99803570e-01 1.93536196e-02 -4.27311674e-03 2.12272010e+02] [-1.93536345e-02 9.99812700e-01 3.78736086e-05 -2.18912869e+01] [ 4.27304937e-03 4.48341702e-05 9.99990869e-01 -2.56669399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.224012739 meters Centerline goodness [0,1] 0.9948437065405764 Centerline is valid? [True, True] Translation: X:212.30, Y:-21.88, Z:-2.56 [[ 9.99766900e-01 2.14415982e-02 -2.53070753e-03 2.12301032e+02] [-2.14416104e-02 9.99770102e-01 2.23399527e-05 -2.18832493e+01] [ 2.53060473e-03 3.19276996e-05 9.99996798e-01 -2.56280637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.254012739 meters Centerline goodness [0,1] 0.9944096841471544 Centerline is valid? [True, True] Translation: X:212.33, Y:-21.88, Z:-2.56 [[ 9.99755213e-01 2.20268135e-02 -2.08167575e-03 2.12329442e+02] [-2.20268231e-02 9.99757380e-01 1.83397973e-05 -2.18825571e+01] [ 2.08157466e-03 2.75173955e-05 9.99997833e-01 -2.56228749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.284012739 meters Centerline goodness [0,1] 0.9943713197090406 Centerline is valid? [True, True] Translation: X:212.36, Y:-21.88, Z:-2.56 [[ 9.99760526e-01 2.17991832e-02 -1.91987036e-03 2.12358268e+02] [-2.17991911e-02 9.99762369e-01 1.68348224e-05 -2.18834967e+01] [ 1.91978113e-03 2.50208300e-05 9.99998157e-01 -2.56251376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.314012739 meters Centerline goodness [0,1] 0.9937390486772939 Centerline is valid? [True, True] Translation: X:212.39, Y:-21.88, Z:-2.56 [[ 9.99778630e-01 2.09175271e-02 -2.26914621e-03 2.12387115e+02] [-2.09175362e-02 9.99781204e-01 1.97565090e-05 -2.18836187e+01] [ 2.26906299e-03 2.77128123e-05 9.99997425e-01 -2.56313921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.344012739 meters Centerline goodness [0,1] 0.9943701921010787 Centerline is valid? [True, True] Translation: X:212.42, Y:-21.89, Z:-2.56 [[ 9.99815216e-01 1.90415288e-02 -2.63691299e-03 2.12416863e+02] [-1.90415347e-02 9.99818693e-01 2.28451092e-05 -2.18854980e+01] [ 2.63686990e-03 2.73699824e-05 9.99996523e-01 -2.56440753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.374012739 meters Centerline goodness [0,1] 0.9942311816427193 Centerline is valid? [True, True] Translation: X:212.45, Y:-21.89, Z:-2.56 [[ 9.99859734e-01 1.66406950e-02 -1.89745121e-03 2.12445923e+02] [-1.66406938e-02 9.99861534e-01 1.64216475e-05 -2.18883075e+01] [ 1.89746174e-03 1.51555605e-05 9.99998200e-01 -2.56286303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.404012739 meters Centerline goodness [0,1] 0.9940623453735774 Centerline is valid? [True, True] Translation: X:212.47, Y:-21.89, Z:-2.56 [[ 9.99886847e-01 1.49056557e-02 -2.02864759e-03 2.12474148e+02] [-1.49056509e-02 9.99888904e-01 1.74662894e-05 -2.18916552e+01] [ 2.02868256e-03 1.27739997e-05 9.99997942e-01 -2.56266921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43401273899997 meters Centerline goodness [0,1] 0.9941842932839358 Centerline is valid? [True, True] Translation: X:212.50, Y:-21.90, Z:-2.56 [[ 9.99910722e-01 1.31319881e-02 -2.46976313e-03 2.12503849e+02] [-1.31319759e-02 9.99913772e-01 2.11926818e-05 -2.18953690e+01] [ 2.46982847e-03 1.12420801e-05 9.99996950e-01 -2.56348042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46401273899997 meters Centerline goodness [0,1] 0.9950590113707467 Centerline is valid? [True, True] Translation: X:212.53, Y:-21.90, Z:-2.56 [[ 9.99935311e-01 1.08867249e-02 -3.29451183e-03 2.12533703e+02] [-1.08866912e-02 9.99940738e-01 2.81705828e-05 -2.18984043e+01] [ 3.29462328e-03 7.69757243e-06 9.99994573e-01 -2.56485735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49401273899997 meters Centerline goodness [0,1] 0.9950133339114975 Centerline is valid? [True, True] Translation: X:212.56, Y:-21.90, Z:-2.56 [[ 9.99937343e-01 1.08649807e-02 -2.69489868e-03 2.12562455e+02] [-1.08649582e-02 9.99940974e-01 2.29925179e-05 -2.18982161e+01] [ 2.69498942e-03 6.28888422e-06 9.99996368e-01 -2.56393893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52401273899997 meters Centerline goodness [0,1] 0.9933973459920163 Centerline is valid? [True, True] Translation: X:212.59, Y:-21.90, Z:-2.56 [[ 9.99927878e-01 1.19692707e-02 -9.87814254e-04 2.12589930e+02] [-1.19692682e-02 9.99928366e-01 8.48471320e-06 -2.18976763e+01] [ 9.87845049e-04 3.33931248e-06 9.99999512e-01 -2.56081493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55401273899997 meters Centerline goodness [0,1] 0.9936494221838211 Centerline is valid? [True, True] Translation: X:212.62, Y:-21.90, Z:-2.56 [[ 9.99917864e-01 1.27738001e-02 -1.04635482e-03 2.12619904e+02] [-1.27737978e-02 9.99918412e-01 8.85445681e-06 -2.18962523e+01] [ 1.04638256e-03 4.51219538e-06 9.99999453e-01 -2.56099793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58401273899997 meters Centerline goodness [0,1] 0.9937206660808813 Centerline is valid? [True, True] Translation: X:212.65, Y:-21.89, Z:-2.56 [[ 9.99901336e-01 1.38497180e-02 -2.34600871e-03 2.12649930e+02] [-1.38497098e-02 9.99904088e-01 1.97158543e-05 -2.18931664e+01] [ 2.34605676e-03 1.27776309e-05 9.99997248e-01 -2.56332212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61401273899997 meters Centerline goodness [0,1] 0.9949911097619151 Centerline is valid? [True, True] Translation: X:212.68, Y:-21.89, Z:-2.57 [[ 9.99848481e-01 1.63904739e-02 -5.86241420e-03 2.12678773e+02] [-1.63904684e-02 9.99865666e-01 4.89962841e-05 -2.18871281e+01] [ 5.86242975e-03 4.70988544e-05 9.99982815e-01 -2.57089263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64401273899998 meters Centerline goodness [0,1] 0.9939990502093856 Centerline is valid? [True, True] Translation: X:212.71, Y:-21.88, Z:-2.57 [[ 9.99823301e-01 1.77311024e-02 -6.24293867e-03 2.12706462e+02] [-1.77311241e-02 9.99842790e-01 5.18704477e-05 -2.18849758e+01] [ 6.24287694e-03 5.88330380e-05 9.99980511e-01 -2.57171637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67401273899998 meters Centerline goodness [0,1] 0.9931043427509133 Centerline is valid? [True, True] Translation: X:212.74, Y:-21.88, Z:-2.57 [[ 9.99772001e-01 2.07840722e-02 -4.89570902e-03 2.12735357e+02] [-2.07841233e-02 9.99783986e-01 4.04488729e-05 -2.18795607e+01] [ 4.89549217e-03 6.13133691e-05 9.99988015e-01 -2.56791594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70401273899998 meters Centerline goodness [0,1] 0.9931043427509133 Centerline is valid? [True, True] Translation: X:212.76, Y:-21.88, Z:-2.57 [[ 9.99772993e-01 2.07362876e-02 -4.89571094e-03 2.12763686e+02] [-2.07363392e-02 9.99784978e-01 4.02151601e-05 -2.18797052e+01] [ 4.89549217e-03 6.13130918e-05 9.99988015e-01 -2.56783780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73401273899998 meters Centerline goodness [0,1] 0.9926514008267174 Centerline is valid? [True, True] Translation: X:212.79, Y:-21.88, Z:-2.57 [[ 9.99752520e-01 2.19437812e-02 -3.65627481e-03 2.12792244e+02] [-2.19438186e-02 9.99759205e-01 2.98926267e-05 -2.18763154e+01] [ 3.65605036e-03 5.03474024e-05 9.99993315e-01 -2.56643908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76401273899998 meters Centerline goodness [0,1] 0.9923933009184225 Centerline is valid? [True, True] Translation: X:212.82, Y:-21.87, Z:-2.57 [[ 9.99741233e-01 2.24955648e-02 -3.37875698e-03 2.12820522e+02] [-2.24956004e-02 9.99746942e-01 2.74650930e-05 -2.18742847e+01] [ 3.37851980e-03 4.85491809e-05 9.99994292e-01 -2.56556880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79401273899998 meters Centerline goodness [0,1] 0.9922707602213275 Centerline is valid? [True, True] Translation: X:212.85, Y:-21.87, Z:-2.57 [[ 9.99764914e-01 2.14830376e-02 -2.93176242e-03 2.12849381e+02] [-2.14830605e-02 9.99769212e-01 2.36831456e-05 -2.18738803e+01] [ 2.93159459e-03 3.93056515e-05 9.99995702e-01 -2.56539214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82401273899998 meters Centerline goodness [0,1] 0.9921762182899756 Centerline is valid? [True, True] Translation: X:212.88, Y:-21.87, Z:-2.57 [[ 9.99792425e-01 2.01846139e-02 -2.77269616e-03 2.12878204e+02] [-2.01846296e-02 9.99796269e-01 2.23055673e-05 -2.18742016e+01] [ 2.77258151e-03 3.36649079e-05 9.99996156e-01 -2.56548459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85401273899998 meters Centerline goodness [0,1] 0.9929663805897916 Centerline is valid? [True, True] Translation: X:212.91, Y:-21.88, Z:-2.56 [[ 9.99856142e-01 1.68743716e-02 -1.71773959e-03 2.12907703e+02] [-1.68743728e-02 9.99857618e-01 1.37822644e-05 -2.18784939e+01] [ 1.71772758e-03 1.52054966e-05 9.99998525e-01 -2.56402976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88401273899999 meters Centerline goodness [0,1] 0.9923798863440675 Centerline is valid? [True, True] Translation: X:212.94, Y:-21.88, Z:-2.56 [[ 9.99884374e-01 1.51832171e-02 -8.41816413e-04 2.12936125e+02] [-1.51832168e-02 9.99884728e-01 6.78825475e-06 -2.18809003e+01] [ 8.41822443e-04 5.99401123e-06 9.99999646e-01 -2.56196246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.914012739 meters Centerline goodness [0,1] 0.9929932311152441 Centerline is valid? [True, True] Translation: X:212.97, Y:-21.89, Z:-2.56 [[ 9.99904885e-01 1.37871170e-02 -3.70340923e-04 2.12966018e+02] [-1.37871169e-02 9.99904953e-01 3.00087460e-06 -2.18852264e+01] [ 3.70347097e-04 2.10534441e-06 9.99999931e-01 -2.55989354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.944012739 meters Centerline goodness [0,1] 0.9926518262373027 Centerline is valid? [True, True] Translation: X:213.00, Y:-21.88, Z:-2.56 [[ 9.99892969e-01 1.46267350e-02 -3.30326447e-04 2.12996048e+02] [-1.46267349e-02 9.99893024e-01 2.67669282e-06 -2.18845577e+01] [ 3.30330261e-04 2.15519105e-06 9.99999945e-01 -2.55967090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.974012739 meters Centerline goodness [0,1] 0.9921125051463737 Centerline is valid? [True, True] Translation: X:213.03, Y:-21.88, Z:-2.56 [[ 9.99868348e-01 1.62259641e-02 -6.46718386e-05 2.13025352e+02] [-1.62259641e-02 9.99868350e-01 5.74805292e-07 -2.18824254e+01] [ 6.46726514e-05 4.74633312e-07 9.99999998e-01 -2.55942545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.004012739 meters Centerline goodness [0,1] 0.9914314624642081 Centerline is valid? [True, True] Translation: X:213.05, Y:-21.88, Z:-2.56 [[ 9.99806724e-01 1.96513360e-02 5.83076150e-04 2.13054952e+02] [-1.96513367e-02 9.99806894e-01 -4.51795214e-06 -2.18772463e+01] [-5.83052338e-04 -6.94114680e-06 9.99999830e-01 -2.55830177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.034012739 meters Centerline goodness [0,1] 0.9890128792276763 Centerline is valid? [True, True] Translation: X:213.08, Y:-21.87, Z:-2.55 [[ 9.99774987e-01 2.12117598e-02 -1.93726835e-04 2.13083859e+02] [-2.12117599e-02 9.99775005e-01 1.58255919e-06 -2.18740528e+01] [ 1.93716817e-04 2.52708403e-06 9.99999981e-01 -2.54870908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.064012739 meters Centerline goodness [0,1] 0.9909814438340758 Centerline is valid? [True, True] Translation: X:213.11, Y:-21.87, Z:-2.56 [[ 9.99741352e-01 2.27415199e-02 2.27299644e-04 2.13113599e+02] [-2.27415201e-02 9.99741378e-01 -1.71155099e-06 -2.18718878e+01] [-2.27279783e-04 -3.45803112e-06 9.99999974e-01 -2.55905267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.094012739 meters Centerline goodness [0,1] 0.9911439905650262 Centerline is valid? [True, True] Translation: X:213.14, Y:-21.87, Z:-2.56 [[ 9.99752271e-01 2.22495986e-02 -5.93997213e-04 2.13143400e+02] [-2.22495998e-02 9.99752447e-01 4.66598636e-06 -2.18733452e+01] [ 5.93953984e-04 8.55136982e-06 9.99999824e-01 -2.56073883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.124012739 meters Centerline goodness [0,1] 0.9918843303504687 Centerline is valid? [True, True] Translation: X:213.17, Y:-21.88, Z:-2.56 [[ 9.99776802e-01 2.10562151e-02 -1.72676896e-03 2.13172864e+02] [-2.10562232e-02 9.99778293e-01 1.34953153e-05 -2.18770700e+01] [ 1.72667028e-03 2.28669294e-05 9.99998509e-01 -2.56302317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.154012739 meters Centerline goodness [0,1] 0.9933789070897288 Centerline is valid? [True, True] Translation: X:213.20, Y:-21.88, Z:-2.57 [[ 9.99841156e-01 1.74929110e-02 -3.41484981e-03 2.13201732e+02] [-1.74929224e-02 9.99846987e-01 2.65384431e-05 -2.18840765e+01] [ 3.41479153e-03 3.32014750e-05 9.99994169e-01 -2.56611160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18401273899997 meters Centerline goodness [0,1] 0.993850439254339 Centerline is valid? [True, True] Translation: X:213.23, Y:-21.89, Z:-2.57 [[ 9.99869524e-01 1.58135455e-02 -3.29638354e-03 2.13230077e+02] [-1.58135473e-02 9.99874958e-01 2.55002649e-05 -2.18879272e+01] [ 3.29637460e-03 2.66305793e-05 9.99994567e-01 -2.56536562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21401273899997 meters Centerline goodness [0,1] 0.9939375890748974 Centerline is valid? [True, True] Translation: X:213.26, Y:-21.89, Z:-2.56 [[ 9.99897761e-01 1.40666598e-02 -2.56820207e-03 2.13258774e+02] [-1.40666554e-02 9.99901060e-01 1.97735100e-05 -2.18928843e+01] [ 2.56822612e-03 1.63545251e-05 9.99996702e-01 -2.56379320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24401273899997 meters Centerline goodness [0,1] 0.9933512912604755 Centerline is valid? [True, True] Translation: X:213.29, Y:-21.89, Z:-2.56 [[ 9.99893844e-01 1.43218602e-02 -2.68048395e-03 2.13288574e+02] [-1.43218566e-02 9.99897437e-01 2.05401360e-05 -2.18945838e+01] [ 2.68050320e-03 1.78515512e-05 9.99996407e-01 -2.56407388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27401273899997 meters Centerline goodness [0,1] 0.9931290782593665 Centerline is valid? [True, True] Translation: X:213.32, Y:-21.89, Z:-2.57 [[ 9.99881488e-01 1.50296256e-02 -3.33473632e-03 2.13316993e+02] [-1.50296243e-02 9.99887048e-01 2.54567410e-05 -2.18948676e+01] [ 3.33474226e-03 2.46661098e-05 9.99994439e-01 -2.56505765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30401273899997 meters Centerline goodness [0,1] 0.9929148059086225 Centerline is valid? [True, True] Translation: X:213.35, Y:-21.89, Z:-2.57 [[ 9.99811532e-01 1.89058858e-02 -4.41221177e-03 2.13345182e+02] [-1.89059221e-02 9.99821267e-01 3.34851527e-05 -2.18896488e+01] [ 4.41205622e-03 4.99380899e-05 9.99990266e-01 -2.56737946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33401273899997 meters Centerline goodness [0,1] 0.9928247653010805 Centerline is valid? [True, True] Translation: X:213.37, Y:-21.89, Z:-2.57 [[ 9.99758008e-01 2.16515147e-02 -3.89055482e-03 2.13374443e+02] [-2.16515643e-02 9.99765577e-01 2.93667617e-05 -2.18851335e+01] [ 3.89027862e-03 5.48769427e-05 9.99992431e-01 -2.56613172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36401273899997 meters Centerline goodness [0,1] 0.9921694480102696 Centerline is valid? [True, True] Translation: X:213.40, Y:-21.88, Z:-2.56 [[ 9.99711806e-01 2.38678777e-02 -2.57492557e-03 2.13402332e+02] [-2.38679069e-02 9.99715121e-01 1.93642551e-05 -2.18810436e+01] [ 2.57465421e-03 4.20994096e-05 9.99996685e-01 -2.56368627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39401273899998 meters Centerline goodness [0,1] 0.9908456468358248 Centerline is valid? [True, True] Translation: X:213.43, Y:-21.88, Z:-2.56 [[ 9.99698740e-01 2.44943742e-02 -1.56677035e-03 2.13430943e+02] [-2.44943859e-02 9.99699967e-01 1.17280322e-05 -2.18800596e+01] [ 1.56658754e-03 2.66525786e-05 9.99998773e-01 -2.56156241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42401273899998 meters Centerline goodness [0,1] 0.9912904064476991 Centerline is valid? [True, True] Translation: X:213.46, Y:-21.88, Z:-2.56 [[ 9.99728463e-01 2.31969750e-02 -2.21380821e-03 2.13460373e+02] [-2.31969955e-02 9.99730913e-01 1.64545032e-05 -2.18832470e+01] [ 2.21359420e-03 3.49036638e-05 9.99997549e-01 -2.56366048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45401273899998 meters Centerline goodness [0,1] 0.9915165979605121 Centerline is valid? [True, True] Translation: X:213.49, Y:-21.89, Z:-2.56 [[ 9.99796235e-01 2.00947866e-02 -1.92028577e-03 2.13489844e+02] [-2.00947964e-02 9.99798079e-01 1.42391395e-05 -2.18911589e+01] [ 1.92018416e-03 2.43515135e-05 9.99998156e-01 -2.56224633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48401273899998 meters Centerline goodness [0,1] 0.9911682142085942 Centerline is valid? [True, True] Translation: X:213.52, Y:-21.89, Z:-2.56 [[ 9.99810318e-01 1.94243257e-02 -1.42248206e-03 2.13518096e+02] [-1.94243303e-02 9.99811330e-01 1.05319618e-05 -2.18913191e+01] [ 1.42241826e-03 1.71007973e-05 9.99998988e-01 -2.56051647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51401273899998 meters Centerline goodness [0,1] 0.991186714237173 Centerline is valid? [True, True] Translation: X:213.55, Y:-21.89, Z:-2.56 [[ 9.99818384e-01 1.90207328e-02 -1.18783962e-03 2.13547968e+02] [-1.90207358e-02 9.99819089e-01 8.75784297e-06 -2.18926461e+01] [ 1.18779131e-03 1.38373312e-05 9.99999294e-01 -2.55936725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54401273899998 meters Centerline goodness [0,1] 0.9908954584404456 Centerline is valid? [True, True] Translation: X:213.58, Y:-21.89, Z:-2.56 [[ 9.99808561e-01 1.95464033e-02 -8.83400236e-04 2.13577635e+02] [-1.95464052e-02 9.99808951e-01 6.51098395e-06 -2.18935939e+01] [ 8.83358729e-04 1.07575615e-05 9.99999610e-01 -2.55877713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57401273899998 meters Centerline goodness [0,1] 0.9910343789641161 Centerline is valid? [True, True] Translation: X:213.61, Y:-21.89, Z:-2.56 [[ 9.99793560e-01 2.03044361e-02 -7.52907979e-04 2.13607733e+02] [-2.03044377e-02 9.99793844e-01 5.56711591e-06 -2.18928219e+01] [ 7.52865799e-04 9.72140650e-06 9.99999717e-01 -2.55868365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60401273899998 meters Centerline goodness [0,1] 0.9909364261168385 Centerline is valid? [True, True] Translation: X:213.64, Y:-21.89, Z:-2.56 [[ 9.99744938e-01 2.25264160e-02 -1.61826781e-03 2.13637248e+02] [-2.25264263e-02 9.99746248e-01 1.18343678e-05 -2.18898971e+01] [ 1.61812376e-03 2.46224414e-05 9.99998691e-01 -2.56069123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63401273899999 meters Centerline goodness [0,1] 0.991016295025729 Centerline is valid? [True, True] Translation: X:213.67, Y:-21.89, Z:-2.56 [[ 9.99721340e-01 2.34954064e-02 -2.28224702e-03 2.13665639e+02] [-2.34954294e-02 9.99723944e-01 1.67184962e-05 -2.18894435e+01] [ 2.28200980e-03 3.69085362e-05 9.99997396e-01 -2.56239139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.664012739 meters Centerline goodness [0,1] 0.990648005478514 Centerline is valid? [True, True] Translation: X:213.70, Y:-21.89, Z:-2.56 [[ 9.99718111e-01 2.35817608e-02 -2.75682325e-03 2.13695332e+02] [-2.35817950e-02 9.99721911e-01 2.00891952e-05 -2.18935899e+01] [ 2.75653034e-03 4.49273085e-05 9.99996200e-01 -2.56419564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.694012739 meters Centerline goodness [0,1] 0.9906604259704569 Centerline is valid? [True, True] Translation: X:213.72, Y:-21.90, Z:-2.56 [[ 9.99733832e-01 2.29647751e-02 -2.20988200e-03 2.13724514e+02] [-2.29647957e-02 9.99736274e-01 1.60691871e-05 -2.18984800e+01] [ 2.20966822e-03 3.46845786e-05 9.99997558e-01 -2.56291596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.724012739 meters Centerline goodness [0,1] 0.990872385206821 Centerline is valid? [True, True] Translation: X:213.75, Y:-21.90, Z:-2.56 [[ 9.99726770e-01 2.32504582e-02 -2.40851018e-03 2.13754082e+02] [-2.32504836e-02 9.99729671e-01 1.74553229e-05 -2.19000543e+01] [ 2.40826493e-03 3.85484729e-05 9.99997099e-01 -2.56343401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.754012739 meters Centerline goodness [0,1] 0.9910939264923103 Centerline is valid? [True, True] Translation: X:213.78, Y:-21.90, Z:-2.56 [[ 9.99709447e-01 2.39259883e-02 -2.92736731e-03 2.13782688e+02] [-2.39260290e-02 9.99713731e-01 2.11314964e-05 -2.19004348e+01] [ 2.92703489e-03 4.89149186e-05 9.99995715e-01 -2.56430281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.784012739 meters Centerline goodness [0,1] 0.9910515026108812 Centerline is valid? [True, True] Translation: X:213.81, Y:-21.89, Z:-2.56 [[ 9.99667997e-01 2.55679498e-02 -3.18990945e-03 2.13810987e+02] [-2.55680069e-02 9.99673085e-01 2.28833908e-05 -2.18937423e+01] [ 3.18945170e-03 5.86838333e-05 9.99994912e-01 -2.56479529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.814012739 meters Centerline goodness [0,1] 0.9900742814081172 Centerline is valid? [True, True] Translation: X:213.84, Y:-21.88, Z:-2.57 [[ 9.99524096e-01 3.05688262e-02 -4.13852610e-03 2.13840789e+02] [-3.05689652e-02 9.99532660e-01 2.96787262e-05 -2.18793773e+01] [ 4.13749924e-03 9.68458581e-05 9.99991436e-01 -2.56656220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.844012739 meters Centerline goodness [0,1] 0.9906145732429232 Centerline is valid? [True, True] Translation: X:213.87, Y:-21.88, Z:-2.57 [[ 9.99444061e-01 3.29813366e-02 -4.87850957e-03 2.13870802e+02] [-3.29815589e-02 9.99455960e-01 3.48941747e-05 -2.18808313e+01] [ 4.87700632e-03 1.26026075e-04 9.99988099e-01 -2.56714176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.874012739 meters Centerline goodness [0,1] 0.9895686800701192 Centerline is valid? [True, True] Translation: X:213.90, Y:-21.87, Z:-2.57 [[ 9.99350058e-01 3.57622950e-02 -4.52996338e-03 2.13898884e+02] [-3.57625159e-02 9.99360316e-01 3.22569291e-05 -2.18725286e+01] [ 4.52821922e-03 1.29766924e-04 9.99989739e-01 -2.56693643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.904012739 meters Centerline goodness [0,1] 0.9894575715764057 Centerline is valid? [True, True] Translation: X:213.93, Y:-21.87, Z:-2.57 [[ 9.99342148e-01 3.60622792e-02 -3.84495181e-03 2.13926718e+02] [-3.60624413e-02 9.99349538e-01 2.72052061e-05 -2.18694791e+01] [ 3.84343190e-03 1.11471040e-04 9.99992608e-01 -2.56606127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93401273899997 meters Centerline goodness [0,1] 0.9879286401025531 Centerline is valid? [True, True] Translation: X:213.95, Y:-21.87, Z:-2.57 [[ 9.99364646e-01 3.54629558e-02 -3.56127839e-03 2.13954212e+02] [-3.54630917e-02 9.99370986e-01 2.50022928e-05 -2.18654731e+01] [ 3.55992495e-03 1.01307535e-04 9.99993658e-01 -2.56548561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96401273899997 meters Centerline goodness [0,1] 0.9897139392364495 Centerline is valid? [True, True] Translation: X:213.98, Y:-21.87, Z:-2.56 [[ 9.99521547e-01 3.07941213e-02 -2.89823427e-03 2.13984563e+02] [-3.07941920e-02 9.99525746e-01 2.02157855e-05 -2.18722934e+01] [ 2.89748230e-03 6.90426694e-05 9.99995800e-01 -2.56466536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99401273899997 meters Centerline goodness [0,1] 0.9905639960178332 Centerline is valid? [True, True] Translation: X:214.01, Y:-21.88, Z:-2.56 [[ 9.99621775e-01 2.73864275e-02 -2.50809062e-03 2.14014869e+02] [-2.73864698e-02 9.99624920e-01 1.74697900e-05 -2.18766593e+01] [ 2.50762832e-03 5.12245654e-05 9.99996855e-01 -2.56399024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02401273899997 meters Centerline goodness [0,1] 0.9911458781053898 Centerline is valid? [True, True] Translation: X:214.04, Y:-21.88, Z:-2.56 [[ 9.99776813e-01 2.10103996e-02 -2.21053609e-03 2.14044238e+02] [-2.10104169e-02 9.99779257e-01 1.53815776e-05 -2.18818328e+01] [ 2.21037130e-03 3.10661402e-05 9.99997557e-01 -2.56272113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05401273899997 meters Centerline goodness [0,1] 0.9916101968376896 Centerline is valid? [True, True] Translation: X:214.07, Y:-21.89, Z:-2.56 [[ 9.99823535e-01 1.86793539e-02 -1.99519407e-03 2.14073571e+02] [-1.86793634e-02 9.99825525e-01 1.38425939e-05 -2.18872760e+01] [ 1.99510453e-03 2.34288040e-05 9.99998010e-01 -2.56195473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08401273899997 meters Centerline goodness [0,1] 0.9912280701754386 Centerline is valid? [True, True] Translation: X:214.10, Y:-21.89, Z:-2.56 [[ 9.99855629e-01 1.69907357e-02 -1.89743381e-04 2.14103458e+02] [-1.69907358e-02 9.99855647e-01 1.37338769e-06 -2.18922836e+01] [ 1.89739326e-04 1.85069025e-06 9.99999982e-01 -2.55816204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11401273899997 meters Centerline goodness [0,1] 0.9910704726011264 Centerline is valid? [True, True] Translation: X:214.13, Y:-21.89, Z:-2.56 [[ 9.99845878e-01 1.75551351e-02 -1.91409459e-04 2.14131905e+02] [-1.75551351e-02 9.99845897e-01 1.41134081e-06 -2.18882248e+01] [ 1.91404738e-04 1.94909562e-06 9.99999982e-01 -2.55736097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14401273899998 meters Centerline goodness [0,1] 0.9907463200482052 Centerline is valid? [True, True] Translation: X:214.16, Y:-21.89, Z:-2.56 [[ 9.99824390e-01 1.87188379e-02 -8.90699593e-04 2.14161606e+02] [-1.87188399e-02 9.99824787e-01 6.14107074e-06 -2.18866237e+01] [ 8.90658485e-04 1.05328707e-05 9.99999603e-01 -2.55904045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17401273899998 meters Centerline goodness [0,1] 0.9913681024744773 Centerline is valid? [True, True] Translation: X:214.19, Y:-21.88, Z:-2.56 [[ 9.99760462e-01 2.16744523e-02 -3.03930739e-03 2.14189947e+02] [-2.16744895e-02 9.99765080e-01 2.07185558e-05 -2.18798791e+01] [ 3.03904246e-03 4.51618430e-05 9.99995381e-01 -2.56338303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20401273899998 meters Centerline goodness [0,1] 0.9903798664347527 Centerline is valid? [True, True] Translation: X:214.22, Y:-21.88, Z:-2.56 [[ 9.99736450e-01 2.28117536e-02 -2.57974355e-03 2.14218232e+02] [-2.28117845e-02 9.99739777e-01 1.74814683e-05 -2.18772253e+01] [ 2.57947103e-03 4.13716928e-05 9.99996672e-01 -2.56233072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23401273899998 meters Centerline goodness [0,1] 0.989753572345341 Centerline is valid? [True, True] Translation: X:214.25, Y:-21.87, Z:-2.56 [[ 9.99710686e-01 2.40128109e-02 -1.38927133e-03 2.14246671e+02] [-2.40128210e-02 9.99711651e-01 9.40990995e-06 -2.18731918e+01] [ 1.38909669e-03 2.39531361e-05 9.99999035e-01 -2.55822212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26401273899998 meters Centerline goodness [0,1] 0.9897314879775496 Centerline is valid? [True, True] Translation: X:214.28, Y:-21.87, Z:-2.56 [[ 9.99713502e-01 2.38636425e-02 -1.85482250e-03 2.14275765e+02] [-2.38636605e-02 9.99715222e-01 1.24660056e-05 -2.18684793e+01] [ 1.85459177e-03 3.18004202e-05 9.99998280e-01 -2.55955495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29401273899998 meters Centerline goodness [0,1] 0.9905360061946141 Centerline is valid? [True, True] Translation: X:214.31, Y:-21.88, Z:-2.56 [[ 9.99727663e-01 2.31367302e-02 -3.04829295e-03 2.14305622e+02] [-2.31367757e-02 9.99732309e-01 2.03240000e-05 -2.18754183e+01] [ 3.04794718e-03 5.02092052e-05 9.99995354e-01 -2.56247958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32401273899998 meters Centerline goodness [0,1] 0.9908758734160986 Centerline is valid? [True, True] Translation: X:214.33, Y:-21.88, Z:-2.57 [[ 9.99777574e-01 2.05459260e-02 -4.76097584e-03 2.14334532e+02] [-2.05460086e-02 9.99788908e-01 3.15685551e-05 -2.18791055e+01] [ 4.76061944e-03 6.62575170e-05 9.99988666e-01 -2.56578202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35401273899998 meters Centerline goodness [0,1] 0.9907612231620039 Centerline is valid? [True, True] Translation: X:214.36, Y:-21.88, Z:-2.56 [[ 9.99802649e-01 1.94674125e-02 -3.96027478e-03 2.14363075e+02] [-1.94674617e-02 9.99810491e-01 2.61202380e-05 -2.18800053e+01] [ 3.96003277e-03 5.09814146e-05 9.99992158e-01 -2.56418875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38401273899999 meters Centerline goodness [0,1] 0.9907305847689098 Centerline is valid? [True, True] Translation: X:214.39, Y:-21.88, Z:-2.56 [[ 9.99837308e-01 1.79231559e-02 -2.02946622e-03 2.14391620e+02] [-1.79231657e-02 9.99839367e-01 1.33528692e-05 -2.18803498e+01] [ 2.02937955e-03 2.30237626e-05 9.99997941e-01 -2.56084786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.414012739 meters Centerline goodness [0,1] 0.9903769391762142 Centerline is valid? [True, True] Translation: X:214.42, Y:-21.88, Z:-2.56 [[ 9.99847537e-01 1.73620883e-02 -1.86012110e-03 2.14420173e+02] [-1.73620957e-02 9.99849267e-01 1.21607391e-05 -2.18806568e+01] [ 1.86005185e-03 2.01367155e-05 9.99998270e-01 -2.56040231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.444012739 meters Centerline goodness [0,1] 0.9903979515630001 Centerline is valid? [True, True] Translation: X:214.45, Y:-21.88, Z:-2.56 [[ 9.99851514e-01 1.70563441e-02 -2.45568452e-03 2.14448363e+02] [-1.70563565e-02 9.99854530e-01 1.58932173e-05 -2.18802575e+01] [ 2.45559837e-03 2.59941733e-05 9.99996985e-01 -2.56148876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.474012739 meters Centerline goodness [0,1] 0.9916857736730452 Centerline is valid? [True, True] Translation: X:214.48, Y:-21.88, Z:-2.57 [[ 9.99847781e-01 1.66516516e-02 -5.20932657e-03 2.14477674e+02] [-1.66517036e-02 9.99861350e-01 3.33951513e-05 -2.18784109e+01] [ 5.20916038e-03 5.33540940e-05 9.99986431e-01 -2.56561756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.504012739 meters Centerline goodness [0,1] 0.9919131038071286 Centerline is valid? [True, True] Translation: X:214.51, Y:-21.88, Z:-2.57 [[ 9.99843946e-01 1.67111591e-02 -5.72891437e-03 2.14506641e+02] [-1.67112246e-02 9.99860357e-01 3.64434521e-05 -2.18780435e+01] [ 5.72872338e-03 5.92994096e-05 9.99983589e-01 -2.56687281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.534012739 meters Centerline goodness [0,1] 0.9914902807775378 Centerline is valid? [True, True] Translation: X:214.53, Y:-21.88, Z:-2.56 [[ 9.99874651e-01 1.51692365e-02 -4.53621307e-03 2.14534602e+02] [-1.51692627e-02 9.99884940e-01 2.86458927e-05 -2.18802935e+01] [ 4.53612567e-03 4.01687056e-05 9.99989711e-01 -2.56446269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.564012739 meters Centerline goodness [0,1] 0.9908453572883391 Centerline is valid? [True, True] Translation: X:214.56, Y:-21.88, Z:-2.56 [[ 9.99907860e-01 1.31341622e-02 -3.42997301e-03 2.14562756e+02] [-1.31341658e-02 9.99913743e-01 2.14968077e-05 -2.18828952e+01] [ 3.42995949e-03 2.35550070e-05 9.99994117e-01 -2.56163352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.594012739 meters Centerline goodness [0,1] 0.9914710316605643 Centerline is valid? [True, True] Translation: X:214.59, Y:-21.89, Z:-2.56 [[ 9.99935779e-01 1.11311920e-02 -2.12947406e-03 2.14591563e+02] [-1.11311889e-02 9.99938046e-01 1.32763914e-05 -2.18867188e+01] [ 2.12948992e-03 1.04280394e-05 9.99997733e-01 -2.55930771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.624012739 meters Centerline goodness [0,1] 0.9914710316605643 Centerline is valid? [True, True] Translation: X:214.62, Y:-21.89, Z:-2.56 [[ 9.99936311e-01 1.10833094e-02 -2.12947469e-03 2.14619890e+02] [-1.10833065e-02 9.99938578e-01 1.31745410e-05 -2.18868065e+01] [ 2.12948991e-03 1.04279187e-05 9.99997733e-01 -2.55922958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.654012739 meters Centerline goodness [0,1] 0.9921270005162622 Centerline is valid? [True, True] Translation: X:214.65, Y:-21.89, Z:-2.56 [[ 9.99964598e-01 8.34300141e-03 -1.09379224e-03 2.14648575e+02] [-8.34299901e-03 9.99965197e-01 6.75865102e-06 -2.18911506e+01] [ 1.09381056e-03 2.36709582e-06 9.99999402e-01 -2.55873479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68401273899997 meters Centerline goodness [0,1] 0.9927800936868796 Centerline is valid? [True, True] Translation: X:214.68, Y:-21.89, Z:-2.56 [[ 9.99971348e-01 7.30263531e-03 -1.99353063e-03 2.14678427e+02] [-7.30262558e-03 9.99973335e-01 1.21563498e-05 -2.18933804e+01] [ 1.99356624e-03 2.40200623e-06 9.99998013e-01 -2.56009876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71401273899997 meters Centerline goodness [0,1] 0.9946850689012238 Centerline is valid? [True, True] Translation: X:214.71, Y:-21.90, Z:-2.57 [[ 9.99967879e-01 6.61202008e-03 -4.53004710e-03 2.14706845e+02] [-6.61196373e-03 9.99978140e-01 2.74169470e-05 -2.18950271e+01] [ 4.53012936e-03 2.53644077e-06 9.99989739e-01 -2.56515967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74401273899997 meters Centerline goodness [0,1] 0.9941820226663206 Centerline is valid? [True, True] Translation: X:214.74, Y:-21.90, Z:-2.57 [[ 9.99963509e-01 6.81746450e-03 -5.14808385e-03 2.14735530e+02] [-6.81739557e-03 9.99976761e-01 3.09385171e-05 -2.18952568e+01] [ 5.14817514e-03 4.15913593e-06 9.99986748e-01 -2.56589391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77401273899997 meters Centerline goodness [0,1] 0.9942465812241043 Centerline is valid? [True, True] Translation: X:214.76, Y:-21.89, Z:-2.57 [[ 9.99946258e-01 8.87304843e-03 -5.36186652e-03 2.14764787e+02] [-8.87300456e-03 9.99960634e-01 3.19710987e-05 -2.18942113e+01] [ 5.36193913e-03 1.56064856e-05 9.99985625e-01 -2.56598507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80401273899997 meters Centerline goodness [0,1] 0.993237131165195 Centerline is valid? [True, True] Translation: X:214.79, Y:-21.89, Z:-2.57 [[ 9.99932415e-01 1.04518837e-02 -5.09152431e-03 2.14792856e+02] [-1.04518659e-02 9.99945377e-01 3.01053372e-05 -2.18918647e+01] [ 5.09156085e-03 2.31126268e-05 9.99987038e-01 -2.56522098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83401273899997 meters Centerline goodness [0,1] 0.9920522404089874 Centerline is valid? [True, True] Translation: X:214.82, Y:-21.89, Z:-2.56 [[ 9.99910333e-01 1.23972728e-02 -5.06297325e-03 2.14821329e+02] [-1.23972815e-02 9.99923150e-01 2.96726949e-05 -2.18881548e+01] [ 5.06295203e-03 3.30970704e-05 9.99987183e-01 -2.56462913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86401273899997 meters Centerline goodness [0,1] 0.9915032959506892 Centerline is valid? [True, True] Translation: X:214.85, Y:-21.88, Z:-2.57 [[ 9.99851412e-01 1.62129845e-02 -5.85606353e-03 2.14849117e+02] [-1.62130635e-02 9.99868559e-01 3.39939352e-05 -2.18784605e+01] [ 5.85584494e-03 6.09558455e-05 9.99982853e-01 -2.56664223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89401273899998 meters Centerline goodness [0,1] 0.9911394879145221 Centerline is valid? [True, True] Translation: X:214.88, Y:-21.87, Z:-2.57 [[ 9.99820687e-01 1.79995383e-02 -5.88313455e-03 2.14877585e+02] [-1.79996506e-02 9.99837993e-01 3.38469827e-05 -2.18741170e+01] [ 5.88279067e-03 7.20534531e-05 9.99982694e-01 -2.56695930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92401273899998 meters Centerline goodness [0,1] 0.9895413279278891 Centerline is valid? [True, True] Translation: X:214.91, Y:-21.86, Z:-2.56 [[ 9.99737433e-01 2.24379244e-02 -4.64810637e-03 2.14906048e+02] [-2.24380434e-02 9.99748235e-01 2.65600658e-05 -2.18617843e+01] [ 4.64753209e-03 7.77413203e-05 9.99989197e-01 -2.56438932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95401273899998 meters Centerline goodness [0,1] 0.9891026878606517 Centerline is valid? [True, True] Translation: X:214.93, Y:-21.85, Z:-2.56 [[ 9.99705210e-01 2.39133760e-02 -4.20053435e-03 2.14933505e+02] [-2.39134869e-02 9.99714031e-01 2.38137491e-05 -2.18543031e+01] [ 4.19990260e-03 7.66426943e-05 9.99991177e-01 -2.56344911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98401273899998 meters Centerline goodness [0,1] 0.9888449315779233 Centerline is valid? [True, True] Translation: X:214.96, Y:-21.85, Z:-2.56 [[ 9.99690857e-01 2.44957625e-02 -4.25998961e-03 2.14962373e+02] [-2.44958828e-02 9.99699931e-01 2.39212234e-05 -2.18527741e+01] [ 4.25929729e-03 8.04383781e-05 9.99990926e-01 -2.56345316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01401273899998 meters Centerline goodness [0,1] 0.9898812707241417 Centerline is valid? [True, True] Translation: X:214.99, Y:-21.85, Z:-2.57 [[ 9.99719996e-01 2.29591047e-02 -5.72796204e-03 2.14990744e+02] [-2.29592990e-02 9.99736400e-01 3.18514850e-05 -2.18493373e+01] [ 5.72718343e-03 9.96674266e-05 9.99983595e-01 -2.56523584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04401273899998 meters Centerline goodness [0,1] 0.9902396890520406 Centerline is valid? [True, True] Translation: X:215.02, Y:-21.85, Z:-2.56 [[ 9.99763941e-01 2.10440757e-02 -5.40457203e-03 2.15020102e+02] [-2.10442218e-02 9.99778545e-01 2.98357586e-05 -2.18517530e+01] [ 5.40400303e-03 8.39062973e-05 9.99985395e-01 -2.56407550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07401273899998 meters Centerline goodness [0,1] 0.9905429147777802 Centerline is valid? [True, True] Translation: X:215.05, Y:-21.86, Z:-2.56 [[ 9.99876278e-01 1.54057044e-02 -3.17699841e-03 2.15049156e+02] [-1.54057267e-02 9.99881325e-01 1.74528608e-05 -2.18583900e+01] [ 3.17689025e-03 3.14932676e-05 9.99994953e-01 -2.56033755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10401273899998 meters Centerline goodness [0,1] 0.990733607259031 Centerline is valid? [True, True] Translation: X:215.08, Y:-21.86, Z:-2.56 [[ 9.99916361e-01 1.26778362e-02 -2.55788023e-03 2.15077011e+02] [-1.26778420e-02 9.99919633e-01 1.39215374e-05 -2.18609538e+01] [ 2.55785116e-03 1.85080285e-05 9.99996729e-01 -2.55960293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13401273899999 meters Centerline goodness [0,1] 0.9911322452126976 Centerline is valid? [True, True] Translation: X:215.11, Y:-21.86, Z:-2.56 [[ 9.99942893e-01 1.04303699e-02 -2.32783711e-03 2.15105516e+02] [-1.04303689e-02 9.99945602e-01 1.25297133e-05 -2.18638611e+01] [ 2.32784117e-03 1.17512021e-05 9.99997291e-01 -2.55924497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.164012739 meters Centerline goodness [0,1] 0.9924397001653815 Centerline is valid? [True, True] Translation: X:215.14, Y:-21.87, Z:-2.56 [[ 9.99972020e-01 6.79389581e-03 -3.13081775e-03 2.15135388e+02] [-6.79387678e-03 9.99976921e-01 1.67138113e-05 -2.18699572e+01] [ 3.13085904e-03 4.55704633e-06 9.99995099e-01 -2.56129876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.194012739 meters Centerline goodness [0,1] 0.9937930448091149 Centerline is valid? [True, True] Translation: X:215.16, Y:-21.87, Z:-2.56 [[ 9.99977694e-01 5.23279615e-03 -4.15081890e-03 2.15163376e+02] [-5.23274992e-03 9.99986309e-01 2.19984978e-05 -2.18725369e+01] [ 4.15087718e-03 -2.77809819e-07 9.99991385e-01 -2.56239308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.224012739 meters Centerline goodness [0,1] 0.9940668353546811 Centerline is valid? [True, True] Translation: X:215.19, Y:-21.88, Z:-2.56 [[ 9.99979457e-01 3.88917027e-03 -5.09517979e-03 2.15192160e+02] [-3.88908471e-03 9.99992437e-01 2.67009322e-05 -2.18755841e+01] [ 5.09524510e-03 -6.88479783e-06 9.99987019e-01 -2.56274952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.254012739 meters Centerline goodness [0,1] 0.9945319760530809 Centerline is valid? [True, True] Translation: X:215.22, Y:-21.88, Z:-2.56 [[ 9.99980365e-01 3.98030611e-03 -4.84020893e-03 2.15221028e+02] [-3.98023106e-03 9.99992079e-01 2.51380389e-05 -2.18757965e+01] [ 4.84027064e-03 -5.87239540e-06 9.99988286e-01 -2.56246965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.284012739 meters Centerline goodness [0,1] 0.9936478740696382 Centerline is valid? [True, True] Translation: X:215.25, Y:-21.87, Z:-2.56 [[ 9.99981795e-01 4.97449329e-03 -3.41516151e-03 2.15248695e+02] [-4.97446218e-03 9.99987627e-01 1.76036485e-05 -2.18718840e+01] [ 3.41520682e-03 -6.14736310e-07 9.99994168e-01 -2.56029153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.314012739 meters Centerline goodness [0,1] 0.9932149747458325 Centerline is valid? [True, True] Translation: X:215.28, Y:-21.87, Z:-2.56 [[ 9.99982463e-01 5.03200123e-03 -3.12289470e-03 2.15277402e+02] [-5.03197602e-03 9.99987339e-01 1.59290298e-05 -2.18699879e+01] [ 3.12293531e-03 -2.14419173e-07 9.99995124e-01 -2.56031471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.344012739 meters Centerline goodness [0,1] 0.9933330437804031 Centerline is valid? [True, True] Translation: X:215.31, Y:-21.87, Z:-2.56 [[ 9.99982480e-01 4.62684006e-03 -3.69228988e-03 2.15306579e+02] [-4.62680279e-03 9.99989296e-01 1.86374766e-05 -2.18695278e+01] [ 3.69233659e-03 -1.55365296e-06 9.99993183e-01 -2.56067944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.374012739 meters Centerline goodness [0,1] 0.9939796598507815 Centerline is valid? [True, True] Translation: X:215.34, Y:-21.87, Z:-2.56 [[ 9.99987595e-01 2.99401657e-03 -3.98059503e-03 2.15335355e+02] [-2.99396110e-03 9.99995518e-01 1.98941925e-05 -2.18722967e+01] [ 3.98063675e-03 -7.97619904e-06 9.99992077e-01 -2.56091754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.404012739 meters Centerline goodness [0,1] 0.9936706144867834 Centerline is valid? [True, True] Translation: X:215.36, Y:-21.87, Z:-2.56 [[ 9.99991948e-01 1.84222649e-03 -3.56517260e-03 2.15363548e+02] [-1.84217528e-03 9.99998303e-01 1.76504503e-05 -2.18740443e+01] [ 3.56519907e-03 -1.10826354e-05 9.99993645e-01 -2.56005894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43401273899997 meters Centerline goodness [0,1] 0.996909912051343 Centerline is valid? [True, True] Translation: X:215.39, Y:-21.88, Z:-2.56 [[ 9.99988087e-01 -1.56901887e-03 -4.62220472e-03 2.15392505e+02] [ 1.56914006e-03 9.99998769e-01 2.25916435e-05 -2.18793797e+01] [ 4.62216358e-03 -2.98442609e-05 9.99989317e-01 -2.56248493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46401273899997 meters Centerline goodness [0,1] 0.9975499761502103 Centerline is valid? [True, True] Translation: X:215.42, Y:-21.88, Z:-2.57 [[ 9.99974754e-01 -3.53339110e-03 -6.16491193e-03 2.15421115e+02] [ 3.53364225e-03 9.99993756e-01 2.98462065e-05 -2.18834886e+01] [ 6.16476798e-03 -5.16300463e-05 9.99980996e-01 -2.56564883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49401273899997 meters Centerline goodness [0,1] 0.9979962078772732 Centerline is valid? [True, True] Translation: X:215.45, Y:-21.89, Z:-2.57 [[ 9.99954403e-01 -5.69924647e-03 -7.66222312e-03 2.15448921e+02] [ 5.69969409e-03 9.99983756e-01 3.65838347e-05 -2.18887547e+01] [ 7.66189015e-03 -8.02544944e-05 9.99970644e-01 -2.56803356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52401273899997 meters Centerline goodness [0,1] 0.9974792088593959 Centerline is valid? [True, True] Translation: X:215.48, Y:-21.90, Z:-2.57 [[ 9.99934130e-01 -8.80094470e-03 -7.36738324e-03 2.15477229e+02] [ 8.80143933e-03 9.99961266e-01 3.47182352e-05 -2.18957672e+01] [ 7.36679232e-03 -9.95595250e-05 9.99972860e-01 -2.56631499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55401273899997 meters Centerline goodness [0,1] 0.9973330465641467 Centerline is valid? [True, True] Translation: X:215.50, Y:-21.90, Z:-2.56 [[ 9.99939607e-01 -9.48972565e-03 -5.54320963e-03 2.15504583e+02] [ 9.49001434e-03 9.99954968e-01 2.57778451e-05 -2.18986024e+01] [ 5.54271538e-03 -7.83814271e-05 9.99984636e-01 -2.56287235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58401273899997 meters Centerline goodness [0,1] 0.9970832975894313 Centerline is valid? [True, True] Translation: X:215.53, Y:-21.90, Z:-2.56 [[ 9.99955203e-01 -9.11007496e-03 -2.56876748e-03 2.15533021e+02] [ 9.11013552e-03 9.99958502e-01 1.18742023e-05 -2.18983905e+01] [ 2.56855271e-03 -3.52754902e-05 9.99996701e-01 -2.55671009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61401273899997 meters Centerline goodness [0,1] 0.9973893156123241 Centerline is valid? [True, True] Translation: X:215.56, Y:-21.90, Z:-2.56 [[ 9.99963673e-01 -8.26436443e-03 -2.08660852e-03 2.15562602e+02] [ 8.26440180e-03 9.99965849e-01 9.29111789e-06 -2.18982246e+01] [ 2.08646048e-03 -2.65353516e-05 9.99997823e-01 -2.55674181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64401273899998 meters Centerline goodness [0,1] 0.9967482494743003 Centerline is valid? [True, True] Translation: X:215.59, Y:-21.90, Z:-2.56 [[ 9.99979107e-01 -6.12222083e-03 -2.07463989e-03 2.15591014e+02] [ 6.12225309e-03 9.99981259e-01 9.19899150e-06 -2.18969175e+01] [ 2.07454469e-03 -2.19002698e-05 9.99997848e-01 -2.55640962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67401273899998 meters Centerline goodness [0,1] 0.9969330416505813 Centerline is valid? [True, True] Translation: X:215.62, Y:-21.90, Z:-2.56 [[ 9.99980891e-01 -5.44012030e-03 -2.93643128e-03 2.15619238e+02] [ 5.44018154e-03 9.99985202e-01 1.28675201e-05 -2.18974751e+01] [ 2.93631783e-03 -2.88419935e-05 9.99995689e-01 -2.55715352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70401273899998 meters Centerline goodness [0,1] 0.9976739678232216 Centerline is valid? [True, True] Translation: X:215.65, Y:-21.90, Z:-2.56 [[ 9.99977745e-01 -3.95011975e-03 -5.37647591e-03 2.15647040e+02] [ 3.95030031e-03 9.99992197e-01 2.29645243e-05 -2.18980490e+01] [ 5.37634324e-03 -4.42027076e-05 9.99985546e-01 -2.56062672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73401273899998 meters Centerline goodness [0,1] 0.9974599621146891 Centerline is valid? [True, True] Translation: X:215.68, Y:-21.90, Z:-2.56 [[ 9.99978410e-01 -3.13512102e-03 -5.77504046e-03 2.15675219e+02] [ 3.13530981e-03 9.99995085e-01 2.36384181e-05 -2.18972538e+01] [ 5.77493797e-03 -4.17444487e-05 9.99983324e-01 -2.56074296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76401273899998 meters Centerline goodness [0,1] 0.9972927678226118 Centerline is valid? [True, True] Translation: X:215.70, Y:-21.90, Z:-2.56 [[ 9.99986153e-01 -1.89502838e-03 -4.90939858e-03 2.15703412e+02] [ 1.89514716e-03 9.99998204e-01 1.95421247e-05 -2.18967005e+01] [ 4.90935273e-03 -2.88458869e-05 9.99987949e-01 -2.56014662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79401273899998 meters Centerline goodness [0,1] 0.9943259972489684 Centerline is valid? [True, True] Translation: X:215.73, Y:-21.89, Z:-2.55 [[ 9.99996993e-01 9.43688445e-04 -2.26345418e-03 2.15732128e+02] [-9.43670454e-04 9.99999555e-01 9.01635863e-06 -2.18933022e+01] [ 2.26346168e-03 -6.88037668e-06 9.99997438e-01 -2.55478141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82401273899998 meters Centerline goodness [0,1] 0.9924410466243135 Centerline is valid? [True, True] Translation: X:215.76, Y:-21.89, Z:-2.55 [[ 9.99996950e-01 2.28248388e-03 -9.43052855e-04 2.15760665e+02] [-2.28248126e-03 9.99997395e-01 3.86238692e-06 -2.18920029e+01] [ 9.43059215e-04 -1.70987467e-06 9.99999555e-01 -2.55225750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85401273899998 meters Centerline goodness [0,1] 0.9914387992754248 Centerline is valid? [True, True] Translation: X:215.79, Y:-21.89, Z:-2.55 [[ 9.99981127e-01 6.06961929e-03 -9.51982897e-04 2.15789888e+02] [-6.06961872e-03 9.99981580e-01 3.49631013e-06 -2.18876752e+01] [ 9.51986583e-04 2.28192907e-06 9.99999547e-01 -2.55269411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88401273899999 meters Centerline goodness [0,1] 0.9907662505380973 Centerline is valid? [True, True] Translation: X:215.82, Y:-21.88, Z:-2.56 [[ 9.99960849e-01 8.58855253e-03 -2.13017848e-03 2.15818915e+02] [-8.58855562e-03 9.99963118e-01 7.69796342e-06 -2.18838051e+01] [ 2.13016603e-03 1.05974943e-05 9.99997731e-01 -2.55523339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.914012739 meters Centerline goodness [0,1] 0.9898449118334396 Centerline is valid? [True, True] Translation: X:215.85, Y:-21.88, Z:-2.56 [[ 9.99931692e-01 1.12317033e-02 -3.23414739e-03 2.15847753e+02] [-1.12317246e-02 9.99936922e-01 1.15769078e-05 -2.18790684e+01] [ 3.23407342e-03 2.47489358e-05 9.99994770e-01 -2.55686235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.944012739 meters Centerline goodness [0,1] 0.9891259789855229 Centerline is valid? [True, True] Translation: X:215.88, Y:-21.87, Z:-2.56 [[ 9.99856551e-01 1.65468118e-02 -3.61672094e-03 2.15877046e+02] [-1.65468737e-02 9.99863091e-01 1.28134641e-05 -2.18682772e+01] [ 3.61643780e-03 4.70337984e-05 9.99993460e-01 -2.55603412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.974012739 meters Centerline goodness [0,1] 0.9888566204151877 Centerline is valid? [True, True] Translation: X:215.91, Y:-21.86, Z:-2.55 [[ 9.99819301e-01 1.86628441e-02 -3.61424021e-03 2.15905898e+02] [-1.86629202e-02 9.99825832e-01 1.26734388e-05 -2.18617474e+01] [ 3.61384725e-03 5.47811279e-05 9.99993469e-01 -2.55493185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.004012739 meters Centerline goodness [0,1] 0.9887311099531005 Centerline is valid? [True, True] Translation: X:215.94, Y:-21.85, Z:-2.56 [[ 9.99743349e-01 2.23221504e-02 -3.86747528e-03 2.15935721e+02] [-2.23222655e-02 9.99750827e-01 1.34027092e-05 -2.18536367e+01] [ 3.86681079e-03 7.29315406e-05 9.99992521e-01 -2.55532989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.034012739 meters Centerline goodness [0,1] 0.9871913746630728 Centerline is valid? [True, True] Translation: X:215.96, Y:-21.85, Z:-2.56 [[ 9.99710865e-01 2.37429637e-02 -3.80237417e-03 2.15963854e+02] [-2.37430858e-02 9.99718093e-01 1.30501896e-05 -2.18452541e+01] [ 3.80161210e-03 7.72336796e-05 9.99992771e-01 -2.55568514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.064012739 meters Centerline goodness [0,1] 0.9877224892815383 Centerline is valid? [True, True] Translation: X:215.99, Y:-21.85, Z:-2.55 [[ 9.99687782e-01 2.47546198e-02 -3.39818783e-03 2.15992141e+02] [-2.47547237e-02 9.99693555e-01 1.14779036e-05 -2.18453028e+01] [ 3.39743060e-03 7.26468809e-05 9.99994226e-01 -2.55442611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.094012739 meters Centerline goodness [0,1] 0.9879175550817342 Centerline is valid? [True, True] Translation: X:216.02, Y:-21.84, Z:-2.55 [[ 9.99667474e-01 2.55631290e-02 -3.38656967e-03 2.16021029e+02] [-2.55632376e-02 9.99673207e-01 1.12427778e-05 -2.18408008e+01] [ 3.38575036e-03 7.53326458e-05 9.99994265e-01 -2.55393842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.124012739 meters Centerline goodness [0,1] 0.9874381015670218 Centerline is valid? [True, True] Translation: X:216.05, Y:-21.83, Z:-2.55 [[ 9.99656059e-01 2.59636843e-02 -3.69479144e-03 2.16049128e+02] [-2.59638169e-02 9.99662883e-01 1.20648844e-05 -2.18277350e+01] [ 3.69385911e-03 8.38701537e-05 9.99993174e-01 -2.55444386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.154012739 meters Centerline goodness [0,1] 0.9873115036622145 Centerline is valid? [True, True] Translation: X:216.08, Y:-21.83, Z:-2.56 [[ 9.99695130e-01 2.43318378e-02 -4.19634261e-03 2.16078468e+02] [-2.43319955e-02 9.99703933e-01 1.34679491e-05 -2.18287641e+01] [ 4.19542791e-03 8.86415466e-05 9.99991195e-01 -2.55623934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18401273899997 meters Centerline goodness [0,1] 0.9877962161813134 Centerline is valid? [True, True] Translation: X:216.11, Y:-21.83, Z:-2.56 [[ 9.99727967e-01 2.29474137e-02 -4.17226372e-03 2.16107441e+02] [-2.29475582e-02 9.99736670e-01 1.32391563e-05 -2.18294853e+01] [ 4.17146884e-03 8.25077097e-05 9.99991296e-01 -2.55537871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21401273899997 meters Centerline goodness [0,1] 0.9889239487410652 Centerline is valid? [True, True] Translation: X:216.14, Y:-21.83, Z:-2.55 [[ 9.99758617e-01 2.16629860e-02 -3.66376497e-03 2.16136594e+02] [-2.16630893e-02 9.99765328e-01 1.14784601e-05 -2.18315873e+01] [ 3.66315385e-03 6.78927785e-05 9.99993288e-01 -2.55386915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24401273899997 meters Centerline goodness [0,1] 0.9885912062556083 Centerline is valid? [True, True] Translation: X:216.16, Y:-21.82, Z:-2.55 [[ 9.99784103e-01 2.06737709e-02 -2.08386132e-03 2.16164522e+02] [-2.06738022e-02 9.99786274e-01 6.49662626e-06 -2.18246544e+01] [ 2.08355025e-03 3.65861131e-05 9.99997829e-01 -2.54991832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27401273899997 meters Centerline goodness [0,1] 0.9884164097293594 Centerline is valid? [True, True] Translation: X:216.19, Y:-21.83, Z:-2.55 [[ 9.99788287e-01 2.05626880e-02 -7.46307397e-04 2.16192953e+02] [-2.05626920e-02 9.99788565e-01 2.35970782e-06 -2.18260883e+01] [ 7.46198124e-04 1.29868809e-05 9.99999722e-01 -2.54743479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30401273899997 meters Centerline goodness [0,1] 0.9882169805201825 Centerline is valid? [True, True] Translation: X:216.22, Y:-21.83, Z:-2.55 [[ 9.99809664e-01 1.94960792e-02 -7.33338413e-04 2.16222178e+02] [-1.94960828e-02 9.99809933e-01 2.24165491e-06 -2.18254717e+01] [ 7.33242734e-04 1.20559982e-05 9.99999731e-01 -2.54767593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33401273899997 meters Centerline goodness [0,1] 0.9893090690070556 Centerline is valid? [True, True] Translation: X:216.25, Y:-21.83, Z:-2.55 [[ 9.99825148e-01 1.85401653e-02 -2.43648456e-03 2.16251766e+02] [-1.85402027e-02 9.99828116e-01 7.24287541e-06 -2.18256247e+01] [ 2.43620005e-03 3.79313086e-05 9.99997032e-01 -2.55089404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36401273899997 meters Centerline goodness [0,1] 0.9899547103393505 Centerline is valid? [True, True] Translation: X:216.28, Y:-21.82, Z:-2.55 [[ 9.99845646e-01 1.70942500e-02 -4.05852126e-03 2.16280014e+02] [-1.70943426e-02 9.99853881e-01 1.18754558e-05 -2.18197893e+01] [ 4.05813123e-03 5.75041303e-05 9.99991764e-01 -2.55401552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39401273899998 meters Centerline goodness [0,1] 0.9906782245066864 Centerline is valid? [True, True] Translation: X:216.31, Y:-21.83, Z:-2.56 [[ 9.99879935e-01 1.45321453e-02 -5.37891029e-03 2.16308623e+02] [-1.45322727e-02 9.99894401e-01 1.53876970e-05 -2.18257504e+01] [ 5.37856590e-03 6.27819419e-05 9.99985533e-01 -2.55514689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42401273899998 meters Centerline goodness [0,1] 0.990777849601379 Centerline is valid? [True, True] Translation: X:216.34, Y:-21.83, Z:-2.55 [[ 9.99894462e-01 1.35979339e-02 -5.11485621e-03 2.16336789e+02] [-1.35980384e-02 9.99907542e-01 1.43561182e-05 -2.18253137e+01] [ 5.11457852e-03 5.51974081e-05 9.99986919e-01 -2.55467901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45401273899998 meters Centerline goodness [0,1] 0.9915230352303523 Centerline is valid? [True, True] Translation: X:216.37, Y:-21.82, Z:-2.55 [[ 9.99915541e-01 1.23249073e-02 -4.12397196e-03 2.16365774e+02] [-1.23249652e-02 9.99924045e-01 1.13689060e-05 -2.18228094e+01] [ 4.12379885e-03 3.94598650e-05 9.99991496e-01 -2.55283492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48401273899998 meters Centerline goodness [0,1] 0.991864450904673 Centerline is valid? [True, True] Translation: X:216.39, Y:-21.82, Z:-2.55 [[ 9.99914542e-01 1.23320890e-02 -4.33914373e-03 2.16393886e+02] [-1.23321542e-02 9.99923956e-01 1.17278564e-05 -2.18199882e+01] [ 4.33895840e-03 4.17841356e-05 9.99990586e-01 -2.55298921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51401273899998 meters Centerline goodness [0,1] 0.991864450904673 Centerline is valid? [True, True] Translation: X:216.42, Y:-21.82, Z:-2.55 [[ 9.99915129e-01 1.22843713e-02 -4.33914437e-03 2.16422211e+02] [-1.22844371e-02 9.99924543e-01 1.14874691e-05 -2.18199766e+01] [ 4.33895807e-03 4.18174521e-05 9.99990586e-01 -2.55291106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54401273899998 meters Centerline goodness [0,1] 0.9913447010576301 Centerline is valid? [True, True] Translation: X:216.45, Y:-21.82, Z:-2.55 [[ 9.99907288e-01 1.27731068e-02 -4.71828924e-03 2.16450251e+02] [-1.27731913e-02 9.99918419e-01 1.22208696e-05 -2.18172817e+01] [ 4.71806041e-03 4.80478745e-05 9.99988869e-01 -2.55368445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57401273899998 meters Centerline goodness [0,1] 0.9906523728591973 Centerline is valid? [True, True] Translation: X:216.48, Y:-21.81, Z:-2.56 [[ 9.99878790e-01 1.44868040e-02 -5.70423990e-03 2.16479388e+02] [-1.44869575e-02 9.99895058e-01 1.44174296e-05 -2.18108764e+01] [ 5.70385015e-03 6.82213988e-05 9.99983731e-01 -2.55503747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60401273899998 meters Centerline goodness [0,1] 0.9909282428307322 Centerline is valid? [True, True] Translation: X:216.51, Y:-21.81, Z:-2.55 [[ 9.99873548e-01 1.49183676e-02 -5.50725681e-03 2.16507619e+02] [-1.49185188e-02 9.99888713e-01 1.36284476e-05 -2.18057346e+01] [ 5.50684723e-03 6.85333899e-05 9.99984835e-01 -2.55410397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63401273899999 meters Centerline goodness [0,1] 0.9913047221385218 Centerline is valid? [True, True] Translation: X:216.54, Y:-21.80, Z:-2.55 [[ 9.99872633e-01 1.51859580e-02 -4.90960123e-03 2.16535464e+02] [-1.51860828e-02 9.99884685e-01 1.18762560e-05 -2.17953597e+01] [ 4.90921543e-03 6.26828673e-05 9.99987948e-01 -2.55414466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.664012739 meters Centerline goodness [0,1] 0.9910775862068966 Centerline is valid? [True, True] Translation: X:216.56, Y:-21.80, Z:-2.55 [[ 9.99876192e-01 1.47953848e-02 -5.35695713e-03 2.16564137e+02] [-1.47955293e-02 9.99890540e-01 1.26578399e-05 -2.17973514e+01] [ 5.35655804e-03 6.66027432e-05 9.99985651e-01 -2.55469350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.694012739 meters Centerline goodness [0,1] 0.9916804240159874 Centerline is valid? [True, True] Translation: X:216.59, Y:-21.80, Z:-2.56 [[ 9.99912761e-01 1.17206496e-02 -6.09078621e-03 2.16592383e+02] [-1.17207812e-02 9.99931309e-01 1.40852126e-05 -2.17979579e+01] [ 6.09053291e-03 5.73047888e-05 9.99981451e-01 -2.55522022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.724012739 meters Centerline goodness [0,1] 0.9930456258936695 Centerline is valid? [True, True] Translation: X:216.62, Y:-21.80, Z:-2.55 [[ 9.99935253e-01 9.62305440e-03 -6.07348642e-03 2.16620446e+02] [-9.62314856e-03 9.99953696e-01 1.37214143e-05 -2.17982548e+01] [ 6.07333723e-03 4.47255362e-05 9.99981556e-01 -2.55461094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.754012739 meters Centerline goodness [0,1] 0.9908316394931453 Centerline is valid? [True, True] Translation: X:216.65, Y:-21.80, Z:-2.54 [[ 9.99954149e-01 7.59595986e-03 -5.83099495e-03 2.16649427e+02] [-7.59601391e-03 9.99971150e-01 1.28775932e-05 -2.17985447e+01] [ 5.83092454e-03 3.14153159e-05 9.99983000e-01 -2.54445569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.784012739 meters Centerline goodness [0,1] 0.9933661040542892 Centerline is valid? [True, True] Translation: X:216.68, Y:-21.80, Z:-2.55 [[ 9.99984323e-01 3.47709486e-03 -4.38898835e-03 2.16677971e+02] [-3.47708655e-03 9.99993955e-01 9.52248736e-06 -2.18043606e+01] [ 4.38899493e-03 5.73855431e-06 9.99990368e-01 -2.55166967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.814012739 meters Centerline goodness [0,1] 0.9941559418172443 Centerline is valid? [True, True] Translation: X:216.71, Y:-21.81, Z:-2.55 [[ 9.99992387e-01 1.30085051e-03 -3.67882458e-03 2.16706211e+02] [-1.30083054e-03 9.99999154e-01 7.82272819e-06 -2.18074813e+01] [ 3.67883165e-03 -3.03714128e-06 9.99993233e-01 -2.55066461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.844012739 meters Centerline goodness [0,1] 0.9947767770780044 Centerline is valid? [True, True] Translation: X:216.74, Y:-21.81, Z:-2.55 [[ 9.99992660e-01 -2.47595591e-03 -2.92382676e-03 2.16735269e+02] [ 2.47598429e-03 9.99996935e-01 6.08448150e-06 -2.18119187e+01] [ 2.92380273e-03 -1.33237860e-05 9.99995726e-01 -2.54860114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.874012739 meters Centerline goodness [0,1] 0.9949223223352995 Centerline is valid? [True, True] Translation: X:216.76, Y:-21.81, Z:-2.55 [[ 9.99987948e-01 -3.87830441e-03 -3.01037139e-03 2.16764365e+02] [ 3.87834042e-03 9.99992479e-01 6.12223855e-06 -2.18139922e+01] [ 3.01032500e-03 -1.77974098e-05 9.99995469e-01 -2.54906039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.904012739 meters Centerline goodness [0,1] 0.992314169131458 Centerline is valid? [True, True] Translation: X:216.79, Y:-21.82, Z:-2.54 [[ 9.99974754e-01 -5.88623831e-03 -3.98039753e-03 2.16793403e+02] [ 5.88631634e-03 9.99982675e-01 7.88874324e-06 -2.18195217e+01] [ 3.98028214e-03 -3.13184231e-05 9.99992078e-01 -2.54213665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93401273899997 meters Centerline goodness [0,1] 0.9956632432898939 Centerline is valid? [True, True] Translation: X:216.82, Y:-21.82, Z:-2.55 [[ 9.99968922e-01 -7.00246419e-03 -3.62227869e-03 2.16822436e+02] [ 7.00253535e-03 9.99975482e-01 6.96388442e-06 -2.18220797e+01] [ 3.62214111e-03 -3.23288026e-05 9.99993440e-01 -2.55032701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96401273899997 meters Centerline goodness [0,1] 0.9955151177013368 Centerline is valid? [True, True] Translation: X:216.85, Y:-21.83, Z:-2.55 [[ 9.99961058e-01 -7.90742793e-03 -3.91857692e-03 2.16851359e+02] [ 7.90751604e-03 9.99968735e-01 6.99238008e-06 -2.18251317e+01] [ 3.91839911e-03 -3.79783176e-05 9.99992322e-01 -2.55031254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99401273899997 meters Centerline goodness [0,1] 0.9953869368398361 Centerline is valid? [True, True] Translation: X:216.88, Y:-21.83, Z:-2.55 [[ 9.99944166e-01 -9.61704134e-03 -4.37912055e-03 2.16880068e+02] [ 9.61716600e-03 9.99953754e-01 7.40959914e-06 -2.18274301e+01] [ 4.37884678e-03 -4.95239147e-05 9.99990412e-01 -2.55098234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02401273899997 meters Centerline goodness [0,1] 0.9959804827719623 Centerline is valid? [True, True] Translation: X:216.91, Y:-21.83, Z:-2.55 [[ 9.99934032e-01 -1.04318353e-02 -4.80710177e-03 2.16908214e+02] [ 1.04319922e-02 9.99945585e-01 7.54937067e-06 -2.18321996e+01] [ 4.80676144e-03 -5.76965206e-05 9.99988446e-01 -2.55191202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05401273899997 meters Centerline goodness [0,1] 0.9960158509157117 Centerline is valid? [True, True] Translation: X:216.94, Y:-21.84, Z:-2.55 [[ 9.99924953e-01 -1.11385170e-02 -5.10120337e-03 2.16935592e+02] [ 1.11387011e-02 9.99937963e-01 7.67588985e-06 -2.18358581e+01] [ 5.10080141e-03 -6.44960932e-05 9.99986989e-01 -2.55291737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08401273899997 meters Centerline goodness [0,1] 0.9954393890502312 Centerline is valid? [True, True] Translation: X:216.96, Y:-21.84, Z:-2.55 [[ 9.99916693e-01 -1.20228673e-02 -4.69660915e-03 2.16964795e+02] [ 1.20230306e-02 9.99927721e-01 6.54682974e-06 -2.18387386e+01] [ 4.69619097e-03 -6.30137600e-05 9.99988971e-01 -2.55225663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11401273899997 meters Centerline goodness [0,1] 0.9951975644791287 Centerline is valid? [True, True] Translation: X:216.99, Y:-21.84, Z:-2.55 [[ 9.99919310e-01 -1.19096309e-02 -4.41983170e-03 2.16993851e+02] [ 1.19097714e-02 9.99929076e-01 5.48328300e-06 -2.18373411e+01] [ 4.41945293e-03 -5.81220259e-05 9.99990232e-01 -2.55117278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14401273899998 meters Centerline goodness [0,1] 0.9951743897972812 Centerline is valid? [True, True] Translation: X:217.02, Y:-21.83, Z:-2.55 [[ 9.99953048e-01 -8.71137339e-03 -4.24429629e-03 2.17022503e+02] [ 8.71147214e-03 9.99962054e-01 4.78000738e-06 -2.18349375e+01] [ 4.24409360e-03 -4.17538518e-05 9.99990993e-01 -2.55064281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17401273899998 meters Centerline goodness [0,1] 0.995451493426325 Centerline is valid? [True, True] Translation: X:217.05, Y:-21.83, Z:-2.55 [[ 9.99968239e-01 -6.66173518e-03 -4.37507690e-03 2.17051606e+02] [ 6.66181891e-03 9.99977810e-01 4.56545457e-06 -2.18318803e+01] [ 4.37494940e-03 -3.37112796e-05 9.99990429e-01 -2.55075602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20401273899998 meters Centerline goodness [0,1] 0.994614236584258 Centerline is valid? [True, True] Translation: X:217.08, Y:-21.83, Z:-2.55 [[ 9.99980841e-01 -4.28876459e-03 -4.46370904e-03 2.17080457e+02] [ 4.28882482e-03 9.99990803e-01 3.92323593e-06 -2.18275105e+01] [ 4.46365116e-03 -2.30672269e-05 9.99990038e-01 -2.55085079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23401273899998 meters Centerline goodness [0,1] 0.9939477481746323 Centerline is valid? [True, True] Translation: X:217.11, Y:-21.82, Z:-2.55 [[ 9.99987034e-01 -9.22898896e-04 -5.00803968e-03 2.17108527e+02] [ 9.22929335e-04 9.99999574e-01 3.76690938e-06 -2.18212982e+01] [ 5.00803407e-03 -8.38892727e-06 9.99987460e-01 -2.55187629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26401273899998 meters Centerline goodness [0,1] 0.993915736217725 Centerline is valid? [True, True] Translation: X:217.14, Y:-21.82, Z:-2.55 [[ 9.99986125e-01 -6.39832989e-04 -5.22889401e-03 2.17136428e+02] [ 6.39859059e-04 9.99999795e-01 3.31282863e-06 -2.18213546e+01] [ 5.22889082e-03 -6.65853786e-06 9.99986329e-01 -2.55219620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29401273899998 meters Centerline goodness [0,1] 0.9940568142808102 Centerline is valid? [True, True] Translation: X:217.16, Y:-21.82, Z:-2.55 [[ 9.99983610e-01 -7.86814379e-04 -5.67106961e-03 2.17164181e+02] [ 7.86841276e-04 9.99999690e-01 2.51164554e-06 -2.18228976e+01] [ 5.67106588e-03 -6.97383602e-06 9.99983919e-01 -2.55287747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32401273899998 meters Centerline goodness [0,1] 0.9950587178335365 Centerline is valid? [True, True] Translation: X:217.19, Y:-21.83, Z:-2.55 [[ 9.99985257e-01 -2.37204937e-03 -4.88465429e-03 2.17191901e+02] [ 2.37208552e-03 9.99997187e-01 1.60769311e-06 -2.18290385e+01] [ 4.88463674e-03 -1.31944871e-05 9.99988070e-01 -2.55197385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35401273899998 meters Centerline goodness [0,1] 0.9942263527290679 Centerline is valid? [True, True] Translation: X:217.22, Y:-21.83, Z:-2.55 [[ 9.99984437e-01 -3.64776545e-03 -4.22132730e-03 2.17220483e+02] [ 3.64780296e-03 9.99993347e-01 1.18549282e-06 -2.18318456e+01] [ 4.22129489e-03 -1.65840446e-05 9.99991090e-01 -2.55015970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38401273899999 meters Centerline goodness [0,1] 0.9951010936593541 Centerline is valid? [True, True] Translation: X:217.25, Y:-21.84, Z:-2.55 [[ 9.99976413e-01 -5.78365505e-03 -3.70448479e-03 2.17248544e+02] [ 5.78369797e-03 9.99983274e-01 8.72731130e-07 -2.18413866e+01] [ 3.70441779e-03 -2.22983317e-05 9.99993138e-01 -2.54983570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.414012739 meters Centerline goodness [0,1] 0.9946911711404388 Centerline is valid? [True, True] Translation: X:217.28, Y:-21.84, Z:-2.55 [[ 9.99972187e-01 -6.26580065e-03 -4.04528906e-03 2.17277784e+02] [ 6.26585425e-03 9.99980369e-01 5.76600198e-07 -2.18442687e+01] [ 4.04520603e-03 -2.59237758e-05 9.99991818e-01 -2.54984271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.444012739 meters Centerline goodness [0,1] 0.9946104955767414 Centerline is valid? [True, True] Translation: X:217.31, Y:-21.84, Z:-2.55 [[ 9.99983894e-01 -3.37990115e-03 -4.55948590e-03 2.17306875e+02] [ 3.37993570e-03 9.99994288e-01 -1.27376520e-07 -2.18427701e+01] [ 4.55946029e-03 -1.52833947e-05 9.99989605e-01 -2.54945605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.474012739 meters Centerline goodness [0,1] 0.9940623987908885 Centerline is valid? [True, True] Translation: X:217.34, Y:-21.84, Z:-2.55 [[ 9.99987954e-01 -1.03148018e-04 -4.90736217e-03 2.17335130e+02] [ 1.03145642e-04 9.99999995e-01 -7.37245625e-07 -2.18391565e+01] [ 4.90736222e-03 2.31063723e-07 9.99987959e-01 -2.54970292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.504012739 meters Centerline goodness [0,1] 0.9929727427597955 Centerline is valid? [True, True] Translation: X:217.36, Y:-21.83, Z:-2.55 [[ 9.99977172e-01 3.99049442e-03 -5.45270793e-03 2.17362768e+02] [-3.99055998e-03 9.99992038e-01 -1.14441408e-06 -2.18337035e+01] [ 5.45265995e-03 2.29037460e-05 9.99985134e-01 -2.55064685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.534012739 meters Centerline goodness [0,1] 0.9917827566283623 Centerline is valid? [True, True] Translation: X:217.39, Y:-21.82, Z:-2.55 [[ 9.99913746e-01 1.23262395e-02 -4.53488929e-03 2.17392741e+02] [-1.23263713e-02 9.99924027e-01 -1.11834023e-06 -2.18213704e+01] [ 4.53453098e-03 5.70169730e-05 9.99989717e-01 -2.54908383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.564012739 meters Centerline goodness [0,1] 0.9911330262332663 Centerline is valid? [True, True] Translation: X:217.42, Y:-21.81, Z:-2.55 [[ 9.99866394e-01 1.60832237e-02 -2.91946442e-03 2.17422434e+02] [-1.60832945e-02 9.99870655e-01 -7.62752750e-07 -2.18147833e+01] [ 2.91907454e-03 4.77172568e-05 9.99995738e-01 -2.54578582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.594012739 meters Centerline goodness [0,1] 0.9897428178221228 Centerline is valid? [True, True] Translation: X:217.45, Y:-21.81, Z:-2.54 [[ 9.99815898e-01 1.91097061e-02 -1.72906642e-03 2.17452167e+02] [-1.91097355e-02 9.99817392e-01 -4.64725308e-07 -2.18095735e+01] [ 1.72874180e-03 3.35066417e-05 9.99998505e-01 -2.54289621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.624012739 meters Centerline goodness [0,1] 0.9887419932279423 Centerline is valid? [True, True] Translation: X:217.48, Y:-21.80, Z:-2.54 [[ 9.99734362e-01 2.29960107e-02 -1.54572807e-03 2.17481494e+02] [-2.29960388e-02 9.99735556e-01 -4.29833885e-07 -2.18009030e+01] [ 1.54530943e-03 3.59753424e-05 9.99998805e-01 -2.54422336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.654012739 meters Centerline goodness [0,1] 0.9889224137931034 Centerline is valid? [True, True] Translation: X:217.51, Y:-21.80, Z:-2.55 [[ 9.99712528e-01 2.38055252e-02 -2.85611220e-03 2.17510118e+02] [-2.38056251e-02 9.99716606e-01 -9.72509171e-07 -2.17993702e+01] [ 2.85527965e-03 6.89637659e-05 9.99995921e-01 -2.54614651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68401273899997 meters Centerline goodness [0,1] 0.9886926096603516 Centerline is valid? [True, True] Translation: X:217.54, Y:-21.79, Z:-2.55 [[ 9.99699755e-01 2.39671034e-02 -5.09693896e-03 2.17537887e+02] [-2.39674255e-02 9.99712740e-01 -2.11082225e-06 -2.17896660e+01] [ 5.09542422e-03 1.24270693e-04 9.99987011e-01 -2.55096485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71401273899997 meters Centerline goodness [0,1] 0.9901114902310216 Centerline is valid? [True, True] Translation: X:217.57, Y:-21.79, Z:-2.55 [[ 9.99695027e-01 2.40016448e-02 -5.81146114e-03 2.17566472e+02] [-2.40020661e-02 9.99711909e-01 -2.75358022e-06 -2.17939101e+01] [ 5.80972082e-03 1.42239815e-04 9.99983113e-01 -2.54867439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74401273899997 meters Centerline goodness [0,1] 0.989396551724138 Centerline is valid? [True, True] Translation: X:217.59, Y:-21.78, Z:-2.55 [[ 9.99700419e-01 2.37821258e-02 -5.78647798e-03 2.17594252e+02] [-2.37825417e-02 9.99717155e-01 -3.05772481e-06 -2.17834541e+01] [ 5.78476858e-03 1.40673962e-04 9.99983258e-01 -2.55335809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77401273899997 meters Centerline goodness [0,1] 0.9902511141583819 Centerline is valid? [True, True] Translation: X:217.62, Y:-21.78, Z:-2.55 [[ 9.99748809e-01 2.16125755e-02 -5.93423842e-03 2.17623414e+02] [-2.16129763e-02 9.99766412e-01 -3.40842204e-06 -2.17834375e+01] [ 5.93277859e-03 1.31664120e-04 9.99982392e-01 -2.55404504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80401273899997 meters Centerline goodness [0,1] 0.9913578913254835 Centerline is valid? [True, True] Translation: X:217.65, Y:-21.79, Z:-2.55 [[ 9.99788317e-01 1.97014511e-02 -5.93078549e-03 2.17652486e+02] [-1.97018192e-02 9.99805900e-01 -3.64296332e-06 -2.17896077e+01] [ 5.92956255e-03 1.20489456e-04 9.99982413e-01 -2.55274793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83401273899997 meters Centerline goodness [0,1] 0.9918414411278392 Centerline is valid? [True, True] Translation: X:217.68, Y:-21.79, Z:-2.55 [[ 9.99842581e-01 1.68332605e-02 -5.60840980e-03 2.17680597e+02] [-1.68335461e-02 9.99858306e-01 -3.72210402e-06 -2.17901724e+01] [ 5.60755246e-03 9.81309428e-05 9.99984273e-01 -2.55207082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86401273899997 meters Centerline goodness [0,1] 0.9917501976960397 Centerline is valid? [True, True] Translation: X:217.71, Y:-21.79, Z:-2.55 [[ 9.99858051e-01 1.57154910e-02 -6.07463168e-03 2.17708690e+02] [-1.57158076e-02 9.99876499e-01 -4.38293268e-06 -2.17900187e+01] [ 6.07381258e-03 9.98500530e-05 9.99981549e-01 -2.55223860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89401273899998 meters Centerline goodness [0,1] 0.9918032786885246 Centerline is valid? [True, True] Translation: X:217.74, Y:-21.79, Z:-2.55 [[ 9.99869136e-01 1.50684174e-02 -5.88672925e-03 2.17737278e+02] [-1.50687053e-02 9.99886461e-01 -4.54384971e-06 -2.17908746e+01] [ 5.88599241e-03 9.32486432e-05 9.99982673e-01 -2.55216758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92401273899998 meters Centerline goodness [0,1] 0.9920041604368459 Centerline is valid? [True, True] Translation: X:217.77, Y:-21.79, Z:-2.55 [[ 9.99891214e-01 1.41460342e-02 -4.17731262e-03 2.17765353e+02] [-1.41461718e-02 9.99899938e-01 -3.39639064e-06 -2.17871575e+01] [ 4.17684659e-03 6.24890031e-05 9.99991275e-01 -2.54846468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95401273899998 meters Centerline goodness [0,1] 0.9918730650154799 Centerline is valid? [True, True] Translation: X:217.79, Y:-21.79, Z:-2.55 [[ 9.99904310e-01 1.34141818e-02 -3.38100574e-03 2.17794469e+02] [-1.34142682e-02 9.99910025e-01 -2.90528343e-06 -2.17865870e+01] [ 3.38066256e-03 4.82587234e-05 9.99994284e-01 -2.54664551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98401273899998 meters Centerline goodness [0,1] 0.9922475612119646 Centerline is valid? [True, True] Translation: X:217.82, Y:-21.79, Z:-2.54 [[ 9.99942331e-01 1.05694973e-02 -1.90253295e-03 2.17822891e+02] [-1.05695196e-02 9.99944141e-01 -1.66561021e-06 -2.17907490e+01] [ 1.90240907e-03 2.17743735e-05 9.99998190e-01 -2.54399956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01401273899998 meters Centerline goodness [0,1] 0.9925369896298868 Centerline is valid? [True, True] Translation: X:217.85, Y:-21.79, Z:-2.54 [[ 9.99964075e-01 8.41810313e-03 -9.92520155e-04 2.17851709e+02] [-8.41810813e-03 9.99964567e-01 -8.52885542e-07 -2.17941617e+01] [ 9.92477808e-04 9.20799689e-06 9.99999507e-01 -2.54258127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04401273899998 meters Centerline goodness [0,1] 0.9924582626071635 Centerline is valid? [True, True] Translation: X:217.88, Y:-21.80, Z:-2.54 [[ 9.99981306e-01 6.05412522e-03 -8.57632137e-04 2.17880008e+02] [-6.05412811e-03 9.99981674e-01 -7.81559015e-07 -2.17975488e+01] [ 8.57611688e-04 5.97375923e-06 9.99999632e-01 -2.54152760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07401273899998 meters Centerline goodness [0,1] 0.9930865681896256 Centerline is valid? [True, True] Translation: X:217.91, Y:-21.81, Z:-2.54 [[ 9.99999465e-01 2.49457463e-04 -1.00418019e-03 2.17908250e+02] [-2.49458560e-04 9.99999969e-01 -9.67182943e-07 -2.18078608e+01] [ 1.00417992e-03 1.21768377e-06 9.99999496e-01 -2.54284305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10401273899998 meters Centerline goodness [0,1] 0.99299920786144 Centerline is valid? [True, True] Translation: X:217.94, Y:-21.81, Z:-2.54 [[ 9.99996773e-01 -2.16322032e-03 -1.33204408e-03 2.17937936e+02] [ 2.16322039e-03 9.99997660e-01 -1.39139500e-06 -2.18126249e+01] [ 1.33204397e-03 -1.49011439e-06 9.99999113e-01 -2.54328352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13401273899999 meters Centerline goodness [0,1] 0.9939993934404922 Centerline is valid? [True, True] Translation: X:217.97, Y:-21.82, Z:-2.55 [[ 9.99978424e-01 -6.04151360e-03 -2.57911964e-03 2.17967935e+02] [ 6.04152660e-03 9.99981750e-01 -2.75216793e-06 -2.18177035e+01] [ 2.57908920e-03 -1.28297113e-05 9.99996674e-01 -2.54530178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.164012739 meters Centerline goodness [0,1] 0.9945476231044471 Centerline is valid? [True, True] Translation: X:218.00, Y:-21.82, Z:-2.55 [[ 9.99964672e-01 -7.71291475e-03 -3.34161595e-03 2.17996459e+02] [ 7.71294568e-03 9.99970255e-01 -3.63060535e-06 -2.18196729e+01] [ 3.34154456e-03 -2.21432253e-05 9.99994417e-01 -2.54646732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.194012739 meters Centerline goodness [0,1] 0.9946817599316531 Centerline is valid? [True, True] Translation: X:218.03, Y:-21.82, Z:-2.55 [[ 9.99950265e-01 -9.13576193e-03 -4.00064134e-03 2.18025535e+02] [ 9.13581693e-03 9.99958268e-01 -4.52633052e-06 -2.18234840e+01] [ 4.00051574e-03 -3.20230215e-05 9.99991997e-01 -2.54796295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.224012739 meters Centerline goodness [0,1] 0.9948206571962778 Centerline is valid? [True, True] Translation: X:218.05, Y:-21.83, Z:-2.55 [[ 9.99933687e-01 -1.04359621e-02 -4.86953967e-03 2.18054547e+02] [ 1.04360568e-02 9.99945543e-01 -5.96738924e-06 -2.18264134e+01] [ 4.86933676e-03 -4.48517991e-05 9.99988144e-01 -2.54935742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.254012739 meters Centerline goodness [0,1] 0.9950867363430664 Centerline is valid? [True, True] Translation: X:218.08, Y:-21.83, Z:-2.55 [[ 9.99933077e-01 -1.03958628e-02 -5.07611528e-03 2.18083425e+02] [ 1.03959608e-02 9.99945961e-01 -7.07323251e-06 -2.18276336e+01] [ 5.07591450e-03 -4.56983363e-05 9.99987116e-01 -2.54969839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.284012739 meters Centerline goodness [0,1] 0.9946195402550251 Centerline is valid? [True, True] Translation: X:218.11, Y:-21.83, Z:-2.55 [[ 9.99936290e-01 -1.00983378e-02 -5.04375854e-03 2.18111847e+02] [ 1.00984266e-02 9.99949010e-01 -7.85733271e-06 -2.18282276e+01] [ 5.04358070e-03 -4.30771933e-05 9.99987280e-01 -2.54954273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.314012739 meters Centerline goodness [0,1] 0.9944243585834386 Centerline is valid? [True, True] Translation: X:218.14, Y:-21.83, Z:-2.55 [[ 9.99932623e-01 -1.04449616e-02 -5.06474847e-03 2.18141085e+02] [ 1.04450513e-02 9.99945449e-01 -8.73310256e-06 -2.18294294e+01] [ 5.06456340e-03 -4.41690436e-05 9.99987174e-01 -2.54968266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.344012739 meters Centerline goodness [0,1] 0.9909654104284977 Centerline is valid? [True, True] Translation: X:218.17, Y:-21.83, Z:-2.54 [[ 9.99923581e-01 -1.07572038e-02 -6.09219854e-03 2.18168876e+02] [ 1.07573349e-02 9.99942138e-01 -1.12509398e-05 -2.18315560e+01] [ 6.09196707e-03 -5.42857402e-05 9.99981442e-01 -2.53995881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.374012739 meters Centerline goodness [0,1] 0.9949853650137741 Centerline is valid? [True, True] Translation: X:218.20, Y:-21.84, Z:-2.55 [[ 9.99913986e-01 -1.20974690e-02 -5.06667558e-03 2.18196932e+02] [ 1.20975755e-02 9.99926822e-01 -9.62607365e-06 -2.18382644e+01] [ 5.06642126e-03 -5.16692450e-05 9.99987164e-01 -2.55011328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.404012739 meters Centerline goodness [0,1] 0.9947414736751733 Centerline is valid? [True, True] Translation: X:218.23, Y:-21.84, Z:-2.55 [[ 9.99907807e-01 -1.25848017e-02 -5.09896116e-03 2.18225761e+02] [ 1.25849131e-02 9.99920807e-01 -1.02272973e-05 -2.18404988e+01] [ 5.09868607e-03 -5.39436289e-05 9.99987000e-01 -2.55019487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43401273899997 meters Centerline goodness [0,1] 0.9947414736751733 Centerline is valid? [True, True] Translation: X:218.25, Y:-21.84, Z:-2.55 [[ 9.99905763e-01 -1.27461871e-02 -5.09895941e-03 2.18254065e+02] [ 1.27462964e-02 9.99918763e-01 -1.10509160e-05 -2.18403050e+01] [ 5.09868604e-03 -5.39429735e-05 9.99987000e-01 -2.55011676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46401273899997 meters Centerline goodness [0,1] 0.9956463640674167 Centerline is valid? [True, True] Translation: X:218.28, Y:-21.85, Z:-2.55 [[ 9.99906171e-01 -1.24752216e-02 -5.65846148e-03 2.18282934e+02] [ 1.24753465e-02 9.99922180e-01 -1.32237895e-05 -2.18450677e+01] [ 5.65818611e-03 -5.73687189e-05 9.99983991e-01 -2.55109960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49401273899997 meters Centerline goodness [0,1] 0.995053231530272 Centerline is valid? [True, True] Translation: X:218.31, Y:-21.85, Z:-2.55 [[ 9.99906337e-01 -1.25669885e-02 -5.42110164e-03 2.18311041e+02] [ 1.25670996e-02 9.99921031e-01 -1.35865783e-05 -2.18476573e+01] [ 5.42084428e-03 -5.45422183e-05 9.99985306e-01 -2.55080821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52401273899997 meters Centerline goodness [0,1] 0.9955157931577566 Centerline is valid? [True, True] Translation: X:218.34, Y:-21.85, Z:-2.55 [[ 9.99906297e-01 -1.27369513e-02 -5.01672787e-03 2.18339260e+02] [ 1.27370440e-02 9.99918880e-01 -1.34727409e-05 -2.18495806e+01] [ 5.01649252e-03 -5.04268052e-05 9.99987416e-01 -2.54998865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55401273899997 meters Centerline goodness [0,1] 0.994579945799458 Centerline is valid? [True, True] Translation: X:218.37, Y:-21.85, Z:-2.55 [[ 9.99912345e-01 -1.26498619e-02 -3.90945633e-03 2.18368504e+02] [ 1.26499152e-02 9.99919987e-01 -1.10993021e-05 -2.18536618e+01] [ 3.90928393e-03 -3.83559618e-05 9.99992358e-01 -2.54781229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58401273899997 meters Centerline goodness [0,1] 0.99381339629241 Centerline is valid? [True, True] Translation: X:218.40, Y:-21.86, Z:-2.55 [[ 9.99916654e-01 -1.26099702e-02 -2.77028741e-03 2.18397440e+02] [ 1.26099959e-02 9.99920491e-01 -8.19399665e-06 -2.18587000e+01] [ 2.77017048e-03 -2.67399992e-05 9.99996163e-01 -2.54586277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61401273899997 meters Centerline goodness [0,1] 0.9941068537506745 Centerline is valid? [True, True] Translation: X:218.43, Y:-21.86, Z:-2.54 [[ 9.99917542e-01 -1.27161343e-02 -1.79161196e-03 2.18427561e+02] [ 1.27161451e-02 9.99919147e-01 -5.34142555e-06 -2.18627326e+01] [ 1.79153502e-03 -1.74414126e-05 9.99998395e-01 -2.54390790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64401273899998 meters Centerline goodness [0,1] 0.9934407956786419 Centerline is valid? [True, True] Translation: X:218.46, Y:-21.87, Z:-2.54 [[ 9.99922123e-01 -1.24426846e-02 -9.62924365e-04 2.18458212e+02] [ 1.24426876e-02 9.99922587e-01 -2.90423863e-06 -2.18698343e+01] [ 9.62885959e-04 -9.07735462e-06 9.99999536e-01 -2.54205538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67401273899998 meters Centerline goodness [0,1] 0.9943292838331492 Centerline is valid? [True, True] Translation: X:218.49, Y:-21.87, Z:-2.54 [[ 9.99939042e-01 -1.08678450e-02 -1.94981532e-03 2.18487515e+02] [ 1.08678542e-02 9.99940943e-01 -5.87174269e-06 -2.18725590e+01] [ 1.94976398e-03 -1.53189239e-05 9.99998099e-01 -2.54329281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70401273899998 meters Centerline goodness [0,1] 0.9945252315415909 Centerline is valid? [True, True] Translation: X:218.52, Y:-21.87, Z:-2.54 [[ 9.99953596e-01 -9.37536038e-03 -2.21551839e-03 2.18517202e+02] [ 9.37536856e-03 9.99956050e-01 -6.69423669e-06 -2.18714792e+01] [ 2.21548378e-03 -1.40773754e-05 9.99997546e-01 -2.54374489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73401273899998 meters Centerline goodness [0,1] 0.994514831465508 Centerline is valid? [True, True] Translation: X:218.55, Y:-21.87, Z:-2.54 [[ 9.99969956e-01 -7.08656035e-03 -3.14137253e-03 2.18546687e+02] [ 7.08656520e-03 9.99974890e-01 -9.58714291e-06 -2.18710545e+01] [ 3.14136159e-03 -1.26746864e-05 9.99995066e-01 -2.54497205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76401273899998 meters Centerline goodness [0,1] 0.9951785445231279 Centerline is valid? [True, True] Translation: X:218.58, Y:-21.87, Z:-2.55 [[ 9.99981032e-01 -4.81567361e-03 -3.83981567e-03 2.18575808e+02] [ 4.81566332e-03 9.99988405e-01 -1.19254311e-05 -2.18694655e+01] [ 3.83982858e-03 -6.56605458e-06 9.99992628e-01 -2.54582701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79401273899998 meters Centerline goodness [0,1] 0.9941203075531434 Centerline is valid? [True, True] Translation: X:218.60, Y:-21.87, Z:-2.54 [[ 9.99997328e-01 1.69005908e-04 -2.30549837e-03 2.18603719e+02] [-1.69023400e-04 9.99999986e-01 -7.39211703e-06 -2.18660316e+01] [ 2.30549708e-03 7.78178045e-06 9.99997342e-01 -2.54305809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82401273899998 meters Centerline goodness [0,1] 0.99352876464117 Centerline is valid? [True, True] Translation: X:218.63, Y:-21.87, Z:-2.54 [[ 9.99997878e-01 1.85450706e-03 -8.97237058e-04 2.18632929e+02] [-1.85451041e-03 9.99998280e-01 -2.89289144e-06 -2.18662944e+01] [ 8.97230150e-04 4.55682076e-06 9.99999597e-01 -2.54071740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85401273899998 meters Centerline goodness [0,1] 0.9924162447484649 Centerline is valid? [True, True] Translation: X:218.66, Y:-21.87, Z:-2.54 [[ 9.99995552e-01 2.61737053e-03 1.43025418e-03 2.18662210e+02] [-2.61738009e-03 9.99996575e-01 4.81114992e-06 -2.18708023e+01] [-1.43023669e-03 -8.55464734e-06 9.99998977e-01 -2.53740578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88401273899999 meters Centerline goodness [0,1] 0.9924286421027726 Centerline is valid? [True, True] Translation: X:218.69, Y:-21.87, Z:-2.54 [[ 9.99997094e-01 2.00519012e-03 1.33821437e-03 2.18692621e+02] [-2.00519780e-03 9.99997990e-01 4.39351670e-06 -2.18733672e+01] [-1.33820287e-03 -7.07688844e-06 9.99999105e-01 -2.53742433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.914012739 meters Centerline goodness [0,1] 0.9932476022536665 Centerline is valid? [True, True] Translation: X:218.72, Y:-21.88, Z:-2.54 [[ 9.99999446e-01 9.21444820e-04 5.07885412e-04 2.18723125e+02] [-9.21445774e-04 9.99999575e-01 1.64410120e-06 -2.18779038e+01] [-5.07883681e-04 -2.11208916e-06 9.99999871e-01 -2.53889107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.944012739 meters Centerline goodness [0,1] 0.9945407835581246 Centerline is valid? [True, True] Translation: X:218.75, Y:-21.89, Z:-2.54 [[ 9.99995334e-01 -2.81262247e-03 -1.19252572e-03 2.18754205e+02] [ 2.81261978e-03 9.99996045e-01 -3.93444533e-06 -2.18924943e+01] [ 1.19253207e-03 5.80305523e-07 9.99999289e-01 -2.54330751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.974012739 meters Centerline goodness [0,1] 0.9949011424022719 Centerline is valid? [True, True] Translation: X:218.78, Y:-21.90, Z:-2.54 [[ 9.99986494e-01 -4.77160876e-03 -2.05993104e-03 2.18783590e+02] [ 4.77160495e-03 9.99988616e-01 -6.76874943e-06 -2.18998077e+01] [ 2.05993989e-03 -3.06051913e-06 9.99997878e-01 -2.54494692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.004012739 meters Centerline goodness [0,1] 0.9949075372763956 Centerline is valid? [True, True] Translation: X:218.81, Y:-21.91, Z:-2.54 [[ 9.99979586e-01 -5.76378677e-03 -2.75779063e-03 2.18812565e+02] [ 5.76378346e-03 9.99983389e-01 -9.14911990e-06 -2.19088612e+01] [ 2.75779756e-03 -6.74637491e-06 9.99996197e-01 -2.54488879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.034012739 meters Centerline goodness [0,1] 0.9953576929659421 Centerline is valid? [True, True] Translation: X:218.84, Y:-21.91, Z:-2.54 [[ 9.99983419e-01 -5.01157332e-03 -2.83669075e-03 2.18840781e+02] [ 5.01156555e-03 9.99987442e-01 -9.84864085e-06 -2.19106095e+01] [ 2.83670448e-03 -4.36778409e-06 9.99995977e-01 -2.54421692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.064012739 meters Centerline goodness [0,1] 0.9950842999439438 Centerline is valid? [True, True] Translation: X:218.87, Y:-21.91, Z:-2.54 [[ 9.99987674e-01 -3.99984504e-03 -2.94150565e-03 2.18869842e+02] [ 3.99983192e-03 9.99992001e-01 -1.03437193e-05 -2.19112173e+01] [ 2.94152349e-03 -1.42193636e-06 9.99995674e-01 -2.54435582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.094012739 meters Centerline goodness [0,1] 0.9946874865574052 Centerline is valid? [True, True] Translation: X:218.90, Y:-21.91, Z:-2.55 [[ 9.99992240e-01 -1.50296688e-03 -3.64157012e-03 2.18898196e+02] [ 1.50292765e-03 9.99998871e-01 -1.35094724e-05 -2.19119765e+01] [ 3.64158631e-03 8.03635117e-06 9.99993369e-01 -2.54616710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.124012739 meters Centerline goodness [0,1] 0.9946860216447411 Centerline is valid? [True, True] Translation: X:218.93, Y:-21.91, Z:-2.55 [[ 9.99992019e-01 -6.29355816e-04 -3.94526670e-03 2.18926935e+02] [ 6.29300246e-04 9.99999802e-01 -1.53267774e-05 -2.19132554e+01] [ 3.94527557e-03 1.28438978e-05 9.99992217e-01 -2.54738452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.154012739 meters Centerline goodness [0,1] 0.9945839381269092 Centerline is valid? [True, True] Translation: X:218.95, Y:-21.92, Z:-2.55 [[ 9.99991506e-01 1.17405306e-03 -3.95079329e-03 2.18954600e+02] [-1.17412499e-03 9.99999311e-01 -1.58870229e-05 -2.19153228e+01] [ 3.95077191e-03 2.05256131e-05 9.99992195e-01 -2.54635378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18401273899997 meters Centerline goodness [0,1] 0.994096256684492 Centerline is valid? [True, True] Translation: X:218.98, Y:-21.92, Z:-2.55 [[ 9.99989348e-01 1.82974684e-03 -4.23737442e-03 2.18982523e+02] [-1.82983660e-03 9.99998326e-01 -1.73058245e-05 -2.19154419e+01] [ 4.23733566e-03 2.50593429e-05 9.99991022e-01 -2.54640829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21401273899997 meters Centerline goodness [0,1] 0.9941089837997055 Centerline is valid? [True, True] Translation: X:219.01, Y:-21.92, Z:-2.55 [[ 9.99986578e-01 2.37810998e-03 -4.60299211e-03 2.19011086e+02] [-2.37822293e-03 9.99997172e-01 -1.90654596e-05 -2.19162384e+01] [ 4.60293375e-03 3.00121452e-05 9.99989406e-01 -2.54664729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24401273899997 meters Centerline goodness [0,1] 0.9935587417076824 Centerline is valid? [True, True] Translation: X:219.04, Y:-21.92, Z:-2.55 [[ 9.99985998e-01 3.64404146e-03 -3.83737655e-03 2.19040131e+02] [-3.64412990e-03 9.99993360e-01 -1.60544054e-05 -2.19190680e+01] [ 3.83729257e-03 3.00380792e-05 9.99992637e-01 -2.54621140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27401273899997 meters Centerline goodness [0,1] 0.9936370522670707 Centerline is valid? [True, True] Translation: X:219.07, Y:-21.92, Z:-2.54 [[ 9.99987592e-01 4.29118372e-03 -2.53005363e-03 2.19068748e+02] [-4.29122443e-03 9.99990793e-01 -1.06606786e-05 -2.19198029e+01] [ 2.52998458e-03 2.15175743e-05 9.99996799e-01 -2.54381950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30401273899997 meters Centerline goodness [0,1] 0.9927593498366047 Centerline is valid? [True, True] Translation: X:219.10, Y:-21.92, Z:-2.54 [[ 9.99978515e-01 6.51999915e-03 -6.77640615e-04 2.19097110e+02] [-6.52000255e-03 9.99978745e-01 -2.81690587e-06 -2.19177560e+01] [ 6.77607845e-04 7.23506389e-06 9.99999770e-01 -2.53998879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33401273899997 meters Centerline goodness [0,1] 0.9923736686326614 Centerline is valid? [True, True] Translation: X:219.13, Y:-21.92, Z:-2.54 [[ 9.99970833e-01 7.63566492e-03 -1.70681479e-04 2.19127163e+02] [-7.63566515e-03 9.99970848e-01 -6.71997922e-07 -2.19162904e+01] [ 1.70671372e-04 1.97524495e-06 9.99999985e-01 -2.53936598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36401273899997 meters Centerline goodness [0,1] 0.9922801330717393 Centerline is valid? [True, True] Translation: X:219.16, Y:-21.91, Z:-2.54 [[ 9.99961457e-01 8.77974537e-03 -1.90528087e-05 2.19156674e+02] [-8.77974537e-03 9.99961457e-01 -4.97488222e-08 -2.19137437e+01] [ 1.90516376e-05 2.17025715e-07 1.00000000e+00 -2.53959443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39401273899998 meters Centerline goodness [0,1] 0.9902452619843924 Centerline is valid? [True, True] Translation: X:219.19, Y:-21.91, Z:-2.53 [[ 9.99957120e-01 9.19966520e-03 -1.06030199e-03 2.19186055e+02] [-9.19967522e-03 9.99957682e-01 -4.57830823e-06 -2.19108190e+01] [ 1.06021500e-03 1.43325458e-05 9.99999438e-01 -2.53331182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42401273899998 meters Centerline goodness [0,1] 0.9916373616948281 Centerline is valid? [True, True] Translation: X:219.22, Y:-21.91, Z:-2.54 [[ 9.99961857e-01 8.69531464e-03 -8.21901398e-04 2.19215956e+02] [-8.69532050e-03 9.99962195e-01 -3.55174567e-06 -2.19103768e+01] [ 8.21839443e-04 1.06983063e-05 9.99999662e-01 -2.54070973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45401273899998 meters Centerline goodness [0,1] 0.9921886671646569 Centerline is valid? [True, True] Translation: X:219.25, Y:-21.91, Z:-2.54 [[ 9.99971381e-01 7.52450451e-03 -7.87021155e-04 2.19245096e+02] [-7.52450950e-03 9.99971690e-01 -3.38655869e-06 -2.19087244e+01] [ 7.86973392e-04 9.30840993e-06 9.99999690e-01 -2.54050869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48401273899998 meters Centerline goodness [0,1] 0.9924583593699497 Centerline is valid? [True, True] Translation: X:219.27, Y:-21.91, Z:-2.54 [[ 9.99974355e-01 7.15370617e-03 -3.38466959e-04 2.19274809e+02] [-7.15370706e-03 9.99974412e-01 -1.42671071e-06 -2.19089357e+01] [ 3.38448092e-04 3.84796759e-06 9.99999943e-01 -2.53979512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51401273899998 meters Centerline goodness [0,1] 0.9923715116905506 Centerline is valid? [True, True] Translation: X:219.30, Y:-21.90, Z:-2.54 [[ 9.99968410e-01 7.94484649e-03 -2.42193329e-04 2.19303865e+02] [-7.94484697e-03 9.99968439e-01 -1.03774739e-06 -2.19043633e+01] [ 2.42177440e-04 2.96190354e-06 9.99999971e-01 -2.53906174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54401273899998 meters Centerline goodness [0,1] 0.9924734420024945 Centerline is valid? [True, True] Translation: X:219.33, Y:-21.90, Z:-2.54 [[ 9.99959740e-01 8.94357035e-03 -7.28966814e-04 2.19333899e+02] [-8.94357508e-03 9.99960005e-01 -3.22019319e-06 -2.19007453e+01] [ 7.28908859e-04 9.73963298e-06 9.99999734e-01 -2.53970012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57401273899998 meters Centerline goodness [0,1] 0.9922468998308025 Centerline is valid? [True, True] Translation: X:219.36, Y:-21.90, Z:-2.54 [[ 9.99942826e-01 1.06063317e-02 -1.36014072e-03 2.19363142e+02] [-1.06063496e-02 9.99943751e-01 -5.99220573e-06 -2.18953789e+01] [ 1.36000066e-03 2.04179912e-05 9.99999075e-01 -2.54058416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60401273899998 meters Centerline goodness [0,1] 0.9919198865345769 Centerline is valid? [True, True] Translation: X:219.39, Y:-21.88, Z:-2.54 [[ 9.99890987e-01 1.46202364e-02 -2.06449482e-03 2.19393079e+02] [-1.46202864e-02 9.99893118e-01 -9.12769730e-06 -2.18832693e+01] [ 2.06414071e-03 3.93102078e-05 9.99997869e-01 -2.54241843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63401273899999 meters Centerline goodness [0,1] 0.9907920940491232 Centerline is valid? [True, True] Translation: X:219.42, Y:-21.88, Z:-2.54 [[ 9.99865449e-01 1.62373812e-02 -2.33035366e-03 2.19421600e+02] [-1.62374494e-02 9.99868164e-01 -1.03630646e-05 -2.18757798e+01] [ 2.32987816e-03 4.82006698e-05 9.99997285e-01 -2.54386107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.664012739 meters Centerline goodness [0,1] 0.9908899035148173 Centerline is valid? [True, True] Translation: X:219.45, Y:-21.88, Z:-2.54 [[ 9.99851516e-01 1.70198474e-02 -2.69661045e-03 2.19450484e+02] [-1.70199419e-02 9.99855150e-01 -1.20794728e-05 -2.18750305e+01] [ 2.69601426e-03 5.79738323e-05 9.99996364e-01 -2.54359455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.694012739 meters Centerline goodness [0,1] 0.9908223670201439 Centerline is valid? [True, True] Translation: X:219.48, Y:-21.87, Z:-2.54 [[ 9.99866442e-01 1.60800192e-02 -2.92072938e-03 2.19479305e+02] [-1.60801264e-02 9.99870706e-01 -1.32319538e-05 -2.18699214e+01] [ 2.92013898e-03 6.01958842e-05 9.99995735e-01 -2.54368426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.724012739 meters Centerline goodness [0,1] 0.9919501035911602 Centerline is valid? [True, True] Translation: X:219.51, Y:-21.87, Z:-2.54 [[ 9.99895988e-01 1.41076163e-02 -2.99817511e-03 2.19509302e+02] [-1.41077208e-02 9.99900481e-01 -1.36895220e-05 -2.18740977e+01] [ 2.99768361e-03 5.59855155e-05 9.99995505e-01 -2.54361445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.754012739 meters Centerline goodness [0,1] 0.9920885044230476 Centerline is valid? [True, True] Translation: X:219.54, Y:-21.88, Z:-2.54 [[ 9.99936626e-01 1.11203496e-02 -1.75541745e-03 2.19538880e+02] [-1.11203808e-02 9.99938167e-01 -8.02936819e-06 -2.18763884e+01] [ 1.75521962e-03 2.75497699e-05 9.99998459e-01 -2.54200345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.784012739 meters Centerline goodness [0,1] 0.990434651177855 Centerline is valid? [True, True] Translation: X:219.57, Y:-21.87, Z:-2.54 [[ 9.99945905e-01 1.03446840e-02 -1.08376710e-03 2.19567132e+02] [-1.03446954e-02 9.99946492e-01 -4.93759425e-06 -2.18702589e+01] [ 1.08365803e-03 1.61485677e-05 9.99999413e-01 -2.54010302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.814012739 meters Centerline goodness [0,1] 0.9913329605574434 Centerline is valid? [True, True] Translation: X:219.60, Y:-21.87, Z:-2.54 [[ 9.99958023e-01 9.06930683e-03 -1.30414074e-03 2.19596610e+02] [-9.06932241e-03 9.99958873e-01 -6.02859882e-06 -2.18704016e+01] [ 1.30403243e-03 1.78560186e-05 9.99999150e-01 -2.54044713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.844012739 meters Centerline goodness [0,1] 0.9919693493224815 Centerline is valid? [True, True] Translation: X:219.63, Y:-21.87, Z:-2.54 [[ 9.99960779e-01 8.66523676e-03 -1.83164447e-03 2.19626476e+02] [-8.66526693e-03 9.99962456e-01 -8.53734391e-06 -2.18685061e+01] [ 1.83150173e-03 2.44086973e-05 9.99998323e-01 -2.54131446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.874012739 meters Centerline goodness [0,1] 0.9920714852036772 Centerline is valid? [True, True] Translation: X:219.66, Y:-21.87, Z:-2.54 [[ 9.99967462e-01 7.76379036e-03 -2.19070504e-03 2.19655130e+02] [-7.76383151e-03 9.99969861e-01 -1.02763683e-05 -2.18662432e+01] [ 2.19055923e-03 2.72842987e-05 9.99997600e-01 -2.54155179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.904012739 meters Centerline goodness [0,1] 0.9916256898069614 Centerline is valid? [True, True] Translation: X:219.68, Y:-21.87, Z:-2.54 [[ 9.99974402e-01 7.00680717e-03 -1.44887182e-03 2.19683705e+02] [-7.00682436e-03 9.99975452e-01 -6.79379936e-06 -2.18655528e+01] [ 1.44878865e-03 1.69456158e-05 9.99998950e-01 -2.54064242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93401273899997 meters Centerline goodness [0,1] 0.9918471881336036 Centerline is valid? [True, True] Translation: X:219.71, Y:-21.86, Z:-2.54 [[ 9.99980721e-01 6.15350156e-03 -8.31382741e-04 2.19713808e+02] [-6.15350693e-03 9.99981067e-01 -3.90906611e-06 -2.18645092e+01] [ 8.31342946e-04 9.02491021e-06 9.99999654e-01 -2.53945216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96401273899997 meters Centerline goodness [0,1] 0.9919228709159079 Centerline is valid? [True, True] Translation: X:219.74, Y:-21.87, Z:-2.54 [[ 9.99993145e-01 3.69045863e-03 2.99281505e-04 2.19743479e+02] [-3.69045924e-03 9.99993190e-01 1.46618641e-06 -2.18665739e+01] [-2.99274056e-04 -2.57066255e-06 9.99999955e-01 -2.53847575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99401273899997 meters Centerline goodness [0,1] 0.99259809166139 Centerline is valid? [True, True] Translation: X:219.77, Y:-21.87, Z:-2.54 [[ 9.99998363e-01 1.80844666e-03 6.69391707e-05 2.19774065e+02] [-1.80844668e-03 9.99998365e-01 3.20665810e-07 -2.18703325e+01] [-6.69384813e-05 -4.41721206e-07 9.99999998e-01 -2.53955380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02401273899997 meters Centerline goodness [0,1] 0.9929710269158237 Centerline is valid? [True, True] Translation: X:219.80, Y:-21.87, Z:-2.54 [[ 9.99999410e-01 1.81548175e-04 -1.07134123e-03 2.19803724e+02] [-1.81553755e-04 9.99999984e-01 -5.11154520e-06 -2.18715529e+01] [ 1.07134028e-03 5.30604820e-06 9.99999426e-01 -2.54058277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05401273899997 meters Centerline goodness [0,1] 0.9948713565261988 Centerline is valid? [True, True] Translation: X:219.83, Y:-21.87, Z:-2.54 [[ 9.99993084e-01 -1.55479675e-03 -3.37851702e-03 2.19832989e+02] [ 1.55475084e-03 9.99998791e-01 -1.62165168e-05 -2.18717247e+01] [ 3.37853815e-03 1.09636525e-05 9.99994293e-01 -2.54371643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08401273899997 meters Centerline goodness [0,1] 0.994998819463822 Centerline is valid? [True, True] Translation: X:219.86, Y:-21.87, Z:-2.54 [[ 9.99993301e-01 -1.56693274e-03 -3.30808027e-03 2.19860914e+02] [ 1.56688882e-03 9.99998772e-01 -1.58699888e-05 -2.18706732e+01] [ 3.30810108e-03 1.06864885e-05 9.99994528e-01 -2.54374462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11401273899997 meters Centerline goodness [0,1] 0.993885957008624 Centerline is valid? [True, True] Translation: X:219.89, Y:-21.87, Z:-2.54 [[ 9.99997915e-01 -1.16732646e-03 -1.67529665e-03 2.19889413e+02] [ 1.16731479e-03 9.99999319e-01 -7.94053958e-06 -2.18703633e+01] [ 1.67530478e-03 5.98492446e-06 9.99998597e-01 -2.54063567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14401273899998 meters Centerline goodness [0,1] 0.9931632016855503 Centerline is valid? [True, True] Translation: X:219.92, Y:-21.87, Z:-2.54 [[ 9.99999353e-01 -7.60549508e-04 -8.45851946e-04 2.19918206e+02] [ 7.60546252e-04 9.99999711e-01 -4.17058187e-06 -2.18697116e+01] [ 8.45854873e-04 3.52726964e-06 9.99999642e-01 -2.53844070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17401273899998 meters Centerline goodness [0,1] 0.9929597055487792 Centerline is valid? [True, True] Translation: X:219.95, Y:-21.87, Z:-2.54 [[ 9.99999439e-01 -5.04896410e-04 -9.30888800e-04 2.19948177e+02] [ 5.04892297e-04 9.99999873e-01 -4.65330207e-06 -2.18688481e+01] [ 9.30891030e-04 4.18330087e-06 9.99999567e-01 -2.53799321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20401273899998 meters Centerline goodness [0,1] 0.99399237742512 Centerline is valid? [True, True] Translation: X:219.98, Y:-21.87, Z:-2.54 [[ 9.99998398e-01 -7.71545047e-04 -1.61490837e-03 2.19978028e+02] [ 7.71532861e-04 9.99999702e-01 -8.16883463e-06 -2.18694023e+01] [ 1.61491419e-03 6.92286667e-06 9.99998696e-01 -2.53943269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23401273899998 meters Centerline goodness [0,1] 0.9934719120426043 Centerline is valid? [True, True] Translation: X:220.01, Y:-21.87, Z:-2.54 [[ 9.99999163e-01 -9.84214150e-04 -8.39878393e-04 2.20007045e+02] [ 9.84210973e-04 9.99999516e-01 -4.19679932e-06 -2.18692815e+01] [ 8.39882116e-04 3.37017827e-06 9.99999647e-01 -2.53818450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26401273899998 meters Centerline goodness [0,1] 0.9928522218394764 Centerline is valid? [True, True] Translation: X:220.04, Y:-21.87, Z:-2.54 [[ 9.99999525e-01 -9.73407293e-04 5.63201919e-05 2.20037411e+02] [ 9.73407278e-04 9.99999526e-01 2.88057205e-07 -2.18685482e+01] [-5.63204456e-05 -2.33234583e-07 9.99999998e-01 -2.53689310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29401273899998 meters Centerline goodness [0,1] 0.9924427841470222 Centerline is valid? [True, True] Translation: X:220.07, Y:-21.87, Z:-2.54 [[ 9.99999310e-01 -9.08731936e-04 -7.45106238e-04 2.20068207e+02] [ 9.08729331e-04 9.99999587e-01 -3.83506992e-06 -2.18676652e+01] [ 7.45109415e-04 3.15796737e-06 9.99999722e-01 -2.53753333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32401273899998 meters Centerline goodness [0,1] 0.9924427841470222 Centerline is valid? [True, True] Translation: X:220.10, Y:-21.87, Z:-2.54 [[ 9.99999310e-01 -9.08731845e-04 -7.45106407e-04 2.20098207e+02] [ 9.08729264e-04 9.99999587e-01 -3.80201756e-06 -2.18675121e+01] [ 7.45109554e-04 3.12491494e-06 9.99999722e-01 -2.53745058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35401273899998 meters Centerline goodness [0,1] 0.9932670866619039 Centerline is valid? [True, True] Translation: X:220.13, Y:-21.87, Z:-2.54 [[ 9.99998109e-01 -5.09539648e-04 -1.87689892e-03 2.20128480e+02] [ 5.09522570e-04 9.99999870e-01 -9.57715916e-06 -2.18668107e+01] [ 1.87690356e-03 8.62081868e-06 9.99998239e-01 -2.53976111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38401273899999 meters Centerline goodness [0,1] 0.9937732699961485 Centerline is valid? [True, True] Translation: X:220.16, Y:-21.87, Z:-2.54 [[ 9.99993598e-01 -3.78257260e-05 -3.57817777e-03 2.20157198e+02] [ 3.77605319e-05 9.99999999e-01 -1.82874744e-05 -2.18654065e+01] [ 3.57817846e-03 1.81522434e-05 9.99993598e-01 -2.54294595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.414012739 meters Centerline goodness [0,1] 0.9936931683189701 Centerline is valid? [True, True] Translation: X:220.19, Y:-21.86, Z:-2.54 [[ 9.99994403e-01 -4.18673840e-05 -3.34557995e-03 2.20185841e+02] [ 4.18097839e-05 9.99999999e-01 -1.72867111e-05 -2.18646972e+01] [ 3.34558067e-03 1.71467363e-05 9.99994403e-01 -2.54286375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.444012739 meters Centerline goodness [0,1] 0.9937630834969895 Centerline is valid? [True, True] Translation: X:220.21, Y:-21.86, Z:-2.54 [[ 9.99998084e-01 -5.89183917e-05 -1.95666902e-03 2.20214670e+02] [ 5.88982805e-05 9.99999998e-01 -1.03359056e-05 -2.18631192e+01] [ 1.95666962e-03 1.02206414e-05 9.99998086e-01 -2.53892337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.474012739 meters Centerline goodness [0,1] 0.9933895259284614 Centerline is valid? [True, True] Translation: X:220.24, Y:-21.86, Z:-2.54 [[ 9.99999501e-01 -5.95137166e-04 -8.01820748e-04 2.20243809e+02] [ 5.95133974e-04 9.99999823e-01 -4.21985967e-06 -2.18628651e+01] [ 8.01823118e-04 3.74266680e-06 9.99999679e-01 -2.53689440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.504012739 meters Centerline goodness [0,1] 0.9930002153779883 Centerline is valid? [True, True] Translation: X:220.27, Y:-21.87, Z:-2.54 [[ 9.99996579e-01 -2.60121077e-03 2.74936520e-04 2.20274418e+02] [ 2.60121046e-03 9.99996617e-01 1.48018349e-06 -2.18664316e+01] [-2.74939440e-04 -7.65010680e-07 9.99999962e-01 -2.53602337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.534012739 meters Centerline goodness [0,1] 0.9934279988795277 Centerline is valid? [True, True] Translation: X:220.30, Y:-21.87, Z:-2.54 [[ 9.99992041e-01 -3.98897279e-03 8.03693184e-05 2.20304642e+02] [ 3.98897276e-03 9.99992044e-01 4.32686566e-07 -2.18687503e+01] [-8.03704049e-05 -1.12092100e-07 9.99999997e-01 -2.53679926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.564012739 meters Centerline goodness [0,1] 0.9938372342709899 Centerline is valid? [True, True] Translation: X:220.34, Y:-21.87, Z:-2.54 [[ 9.99985781e-01 -5.27161236e-03 -8.04483341e-04 2.20335115e+02] [ 5.27161059e-03 9.99986105e-01 -4.33111964e-06 -2.18712360e+01] [ 8.04494995e-04 9.01351621e-08 9.99999676e-01 -2.53861793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.594012739 meters Centerline goodness [0,1] 0.9946300075179895 Centerline is valid? [True, True] Translation: X:220.36, Y:-21.87, Z:-2.54 [[ 9.99969932e-01 -7.43435439e-03 -2.20574670e-03 2.20364165e+02] [ 7.43434628e-03 9.99972365e-01 -1.18765901e-05 -2.18749241e+01] [ 2.20577404e-03 -4.52205179e-06 9.99997567e-01 -2.54094440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.624012739 meters Centerline goodness [0,1] 0.995611770779556 Centerline is valid? [True, True] Translation: X:220.39, Y:-21.88, Z:-2.54 [[ 9.99961668e-01 -8.26122897e-03 -2.90094887e-03 2.20393936e+02] [ 8.26121844e-03 9.99965875e-01 -1.56136558e-05 -2.18758166e+01] [ 2.90097886e-03 -8.35231502e-06 9.99995792e-01 -2.54184828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.654012739 meters Centerline goodness [0,1] 0.9955529524057443 Centerline is valid? [True, True] Translation: X:220.42, Y:-21.88, Z:-2.54 [[ 9.99952944e-01 -8.92689558e-03 -3.79734730e-03 2.20422787e+02] [ 8.92688137e-03 9.99960154e-01 -2.06928243e-05 -2.18759341e+01] [ 3.79738071e-03 -1.32066183e-05 9.99992790e-01 -2.54386442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68401273899997 meters Centerline goodness [0,1] 0.9954414484152583 Centerline is valid? [True, True] Translation: X:220.45, Y:-21.88, Z:-2.54 [[ 9.99952174e-01 -8.98094394e-03 -3.87191561e-03 2.20451308e+02] [ 8.98092709e-03 9.99959670e-01 -2.17404016e-05 -2.18753858e+01] [ 3.87195471e-03 -1.30340299e-05 9.99992504e-01 -2.54371702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71401273899997 meters Centerline goodness [0,1] 0.9949830975604504 Centerline is valid? [True, True] Translation: X:220.48, Y:-21.87, Z:-2.54 [[ 9.99969173e-01 -7.43614776e-03 -2.52118960e-03 2.20480332e+02] [ 7.43613506e-03 9.99972351e-01 -1.44102331e-05 -2.18730268e+01] [ 2.52122705e-03 -4.33811749e-06 9.99996822e-01 -2.54036232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74401273899997 meters Centerline goodness [0,1] 0.9940161990041245 Centerline is valid? [True, True] Translation: X:220.51, Y:-21.87, Z:-2.54 [[ 9.99977882e-01 -6.42156823e-03 -1.73156184e-03 2.20508769e+02] [ 6.42156025e-03 9.99979382e-01 -1.01697945e-05 -2.18717028e+01] [ 1.73159144e-03 -9.49759071e-07 9.99998501e-01 -2.53775017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77401273899997 meters Centerline goodness [0,1] 0.9935795576551428 Centerline is valid? [True, True] Translation: X:220.54, Y:-21.87, Z:-2.54 [[ 9.99983124e-01 -5.76534000e-03 -7.16266950e-04 2.20538029e+02] [ 5.76533848e-03 9.99983380e-01 -4.19863490e-06 -2.18704901e+01] [ 7.16279252e-04 6.90426372e-08 9.99999743e-01 -2.53567081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80401273899997 meters Centerline goodness [0,1] 0.9933149064729704 Centerline is valid? [True, True] Translation: X:220.57, Y:-21.87, Z:-2.54 [[ 9.99986383e-01 -5.21852234e-03 -2.97496749e-05 2.20567177e+02] [ 5.21852234e-03 9.99986383e-01 -1.81075611e-07 -2.18686324e+01] [ 2.97502148e-05 2.58238025e-08 1.00000000e+00 -2.53553036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83401273899997 meters Centerline goodness [0,1] 0.9933921653034868 Centerline is valid? [True, True] Translation: X:220.60, Y:-21.87, Z:-2.54 [[ 9.99986631e-01 -5.10088235e-03 -8.47389147e-04 2.20597735e+02] [ 5.10087989e-03 9.99986990e-01 -5.06396943e-06 -2.18681542e+01] [ 8.47403954e-04 7.41471469e-07 9.99999641e-01 -2.53708260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86401273899997 meters Centerline goodness [0,1] 0.9946912242686891 Centerline is valid? [True, True] Translation: X:220.63, Y:-21.87, Z:-2.54 [[ 9.99983187e-01 -4.87426558e-03 -3.14129061e-03 2.20628413e+02] [ 4.87423102e-03 9.99988121e-01 -1.86552481e-05 -2.18690268e+01] [ 3.14134422e-03 3.34355836e-06 9.99995066e-01 -2.54096906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89401273899998 meters Centerline goodness [0,1] 0.994788400406548 Centerline is valid? [True, True] Translation: X:220.66, Y:-21.87, Z:-2.54 [[ 9.99981113e-01 -4.79222390e-03 -3.84812001e-03 2.20657582e+02] [ 4.79217075e-03 9.99988517e-01 -2.30322736e-05 -2.18687994e+01] [ 3.84818620e-03 4.59099041e-06 9.99992596e-01 -2.54159239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92401273899998 meters Centerline goodness [0,1] 0.9947573107582561 Centerline is valid? [True, True] Translation: X:220.69, Y:-21.87, Z:-2.54 [[ 9.99984052e-01 -4.28460443e-03 -3.67951706e-03 2.20685304e+02] [ 4.28455060e-03 9.99990821e-01 -2.25111565e-05 -2.18672826e+01] [ 3.67957974e-03 6.74572042e-06 9.99993230e-01 -2.54068724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95401273899998 meters Centerline goodness [0,1] 0.9938884313640501 Centerline is valid? [True, True] Translation: X:220.71, Y:-21.86, Z:-2.54 [[ 9.99988703e-01 -3.73274977e-03 -2.94288053e-03 2.20714308e+02] [ 3.73271247e-03 9.99993033e-01 -1.81646265e-05 -2.18649830e+01] [ 2.94292783e-03 7.17949442e-06 9.99995670e-01 -2.53913153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98401273899998 meters Centerline goodness [0,1] 0.99433038398763 Centerline is valid? [True, True] Translation: X:220.74, Y:-21.86, Z:-2.54 [[ 9.99989472e-01 -3.92303345e-03 -2.38042528e-03 2.20742821e+02] [ 3.92300886e-03 9.99992305e-01 -1.49999353e-05 -2.18644429e+01] [ 2.38046581e-03 5.66134797e-06 9.99997167e-01 -2.53797253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01401273899998 meters Centerline goodness [0,1] 0.9937865338817926 Centerline is valid? [True, True] Translation: X:220.77, Y:-21.87, Z:-2.54 [[ 9.99985447e-01 -5.22801346e-03 -1.33163125e-03 2.20771197e+02] [ 5.22800664e-03 9.99986334e-01 -8.60011341e-06 -2.18668764e+01] [ 1.33165801e-03 1.63821125e-06 9.99999113e-01 -2.53581073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04401273899998 meters Centerline goodness [0,1] 0.9934353543832461 Centerline is valid? [True, True] Translation: X:220.80, Y:-21.87, Z:-2.54 [[ 9.99981913e-01 -5.95836480e-03 -8.19520351e-04 2.20800570e+02] [ 5.95836244e-03 9.99982249e-01 -5.33038431e-06 -2.18681017e+01] [ 8.19537564e-04 4.47288623e-07 9.99999664e-01 -2.53513858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07401273899998 meters Centerline goodness [0,1] 0.9923564424270972 Centerline is valid? [True, True] Translation: X:220.83, Y:-21.87, Z:-2.53 [[ 9.99979687e-01 -6.36090530e-03 4.04742853e-04 2.20830452e+02] [ 6.36090474e-03 9.99979769e-01 2.68569066e-06 -2.18683760e+01] [-4.04751748e-04 -1.11105373e-07 9.99999918e-01 -2.53216908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10401273899998 meters Centerline goodness [0,1] 0.9928099120498171 Centerline is valid? [True, True] Translation: X:220.86, Y:-21.87, Z:-2.53 [[ 9.99983549e-01 -5.70511096e-03 5.94746907e-04 2.20861508e+02] [ 5.70510970e-03 9.99983726e-01 3.82321315e-06 -2.18670720e+01] [-5.94759040e-04 -4.30053909e-07 9.99999823e-01 -2.53105914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13401273899999 meters Centerline goodness [0,1] 0.9929392517328971 Centerline is valid? [True, True] Translation: X:220.89, Y:-21.86, Z:-2.53 [[ 9.99990834e-01 -4.24667075e-03 5.44883957e-04 2.20891596e+02] [ 4.24666946e-03 9.99990983e-01 3.52270855e-06 -2.18625981e+01] [-5.44894004e-04 -1.20873419e-06 9.99999852e-01 -2.53133348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.164012739 meters Centerline goodness [0,1] 0.9932670796764757 Centerline is valid? [True, True] Translation: X:220.92, Y:-21.86, Z:-2.53 [[ 9.99993659e-01 -3.56045174e-03 7.30875461e-05 2.20922829e+02] [ 3.56045172e-03 9.99993662e-01 4.11009097e-07 -2.18604423e+01] [-7.30885462e-05 -1.50781811e-07 9.99999997e-01 -2.53246384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.194012739 meters Centerline goodness [0,1] 0.9937668680118237 Centerline is valid? [True, True] Translation: X:220.95, Y:-21.86, Z:-2.53 [[ 9.99993431e-01 -3.58022051e-03 -5.65155308e-04 2.20953000e+02] [ 3.58021899e-03 9.99993591e-01 -3.69827911e-06 -2.18592638e+01] [ 5.65164926e-04 1.67487505e-06 9.99999840e-01 -2.53359510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.224012739 meters Centerline goodness [0,1] 0.9939194598922381 Centerline is valid? [True, True] Translation: X:220.98, Y:-21.86, Z:-2.54 [[ 9.99984648e-01 -5.35176002e-03 -1.43607362e-03 2.20983076e+02] [ 5.35175216e-03 9.99985679e-01 -9.31610902e-06 -2.18627112e+01] [ 1.43610291e-03 1.63045591e-06 9.99998969e-01 -2.53599113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.254012739 meters Centerline goodness [0,1] 0.9940920530648808 Centerline is valid? [True, True] Translation: X:221.01, Y:-21.86, Z:-2.54 [[ 9.99975297e-01 -6.85829203e-03 -1.53898744e-03 2.21012161e+02] [ 6.85828478e-03 9.99976482e-01 -9.98724781e-06 -2.18649373e+01] [ 1.53901974e-03 -5.67813036e-07 9.99998816e-01 -2.53529456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.284012739 meters Centerline goodness [0,1] 0.993118131572722 Centerline is valid? [True, True] Translation: X:221.04, Y:-21.87, Z:-2.53 [[ 9.99943012e-01 -1.06757774e-02 4.36539561e-06 2.21041550e+02] [ 1.06757774e-02 9.99943012e-01 1.63266302e-09 -2.18721978e+01] [-4.36516427e-06 4.49714221e-08 1.00000000e+00 -2.53287093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.314012739 meters Centerline goodness [0,1] 0.9932708998564173 Centerline is valid? [True, True] Translation: X:221.07, Y:-21.88, Z:-2.53 [[ 9.99922050e-01 -1.24855254e-02 8.07909124e-05 2.21072125e+02] [ 1.24855254e-02 9.99922053e-01 5.23094403e-07 -2.18759041e+01] [-8.07911460e-05 4.85663360e-07 9.99999997e-01 -2.53280817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.344012739 meters Centerline goodness [0,1] 0.9930867611475976 Centerline is valid? [True, True] Translation: X:221.10, Y:-21.88, Z:-2.53 [[ 9.99900478e-01 -1.41064741e-02 -2.02263784e-04 2.21102785e+02] [ 1.41064741e-02 9.99900499e-01 -1.30959101e-06 -2.18790802e+01] [ 2.02262133e-04 -1.54376816e-06 9.99999980e-01 -2.53332260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.374012739 meters Centerline goodness [0,1] 0.9924415349498256 Centerline is valid? [True, True] Translation: X:221.13, Y:-21.88, Z:-2.53 [[ 9.99890367e-01 -1.47963055e-02 -5.67808592e-04 2.21133070e+02] [ 1.47963058e-02 9.99890529e-01 -3.75775020e-06 -2.18812343e+01] [ 5.67802034e-04 -4.64413133e-06 9.99999839e-01 -2.53292633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40401273899997 meters Centerline goodness [0,1] 0.9927575397254351 Centerline is valid? [True, True] Translation: X:221.16, Y:-21.88, Z:-2.53 [[ 9.99914601e-01 -1.30169940e-02 -1.16157966e-03 2.21162173e+02] [ 1.30169941e-02 9.99915275e-01 -7.45982605e-06 -2.18790904e+01] [ 1.16157835e-03 -7.66108658e-06 9.99999325e-01 -2.53252929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43401273899997 meters Centerline goodness [0,1] 0.9929901518083688 Centerline is valid? [True, True] Translation: X:221.19, Y:-21.87, Z:-2.53 [[ 9.99942756e-01 -1.05781746e-02 -1.60860102e-03 2.21192276e+02] [ 1.05781717e-02 9.99944050e-01 -1.03600834e-05 -2.18734865e+01] [ 1.60862061e-03 -6.65656738e-06 9.99998706e-01 -2.53427749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46401273899997 meters Centerline goodness [0,1] 0.9948377899693291 Centerline is valid? [True, True] Translation: X:221.22, Y:-21.87, Z:-2.54 [[ 9.99979769e-01 -5.56410497e-03 -3.08271258e-03 2.21221824e+02] [ 5.56406999e-03 9.99984520e-01 -1.99228473e-05 -2.18655011e+01] [ 3.08277571e-03 2.77001567e-06 9.99995248e-01 -2.53673109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49401273899997 meters Centerline goodness [0,1] 0.993974611887812 Centerline is valid? [True, True] Translation: X:221.25, Y:-21.86, Z:-2.54 [[ 9.99988429e-01 -3.65528343e-03 -3.12747267e-03 2.21250868e+02] [ 3.65523769e-03 9.99993319e-01 -2.03399225e-05 -2.18614902e+01] [ 3.12752613e-03 8.90803113e-06 9.99995109e-01 -2.53630839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52401273899997 meters Centerline goodness [0,1] 0.9941667742907573 Centerline is valid? [True, True] Translation: X:221.28, Y:-21.86, Z:-2.53 [[ 9.99994887e-01 -2.03381720e-03 -2.46764507e-03 2.21279185e+02] [ 2.03378292e-03 9.99997932e-01 -1.64013901e-05 -2.18572675e+01] [ 2.46767332e-03 1.13826518e-05 9.99996955e-01 -2.53452454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55401273899997 meters Centerline goodness [0,1] 0.9935807681537169 Centerline is valid? [True, True] Translation: X:221.31, Y:-21.85, Z:-2.53 [[ 9.99999372e-01 -1.03293344e-03 -4.35327937e-04 2.21308364e+02] [ 1.03293229e-03 9.99999467e-01 -2.85579654e-06 -2.18522930e+01] [ 4.35330655e-04 2.40613046e-06 9.99999905e-01 -2.53141161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58401273899997 meters Centerline goodness [0,1] 0.9929651928098229 Centerline is valid? [True, True] Translation: X:221.34, Y:-21.85, Z:-2.53 [[ 9.99998551e-01 -1.69982831e-03 9.61302297e-05 2.21339092e+02] [ 1.69982825e-03 9.99998555e-01 6.45035275e-07 -2.18526118e+01] [-9.61311873e-05 -4.81629459e-07 9.99999995e-01 -2.53052769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61401273899997 meters Centerline goodness [0,1] 0.9927411818399148 Centerline is valid? [True, True] Translation: X:221.37, Y:-21.86, Z:-2.53 [[ 9.99985556e-01 -5.37287396e-03 -1.38994842e-04 2.21369697e+02] [ 5.37287388e-03 9.99985566e-01 -9.32657457e-07 -2.18575972e+01] [ 1.38997847e-04 1.85842229e-07 9.99999990e-01 -2.53160083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64401273899998 meters Centerline goodness [0,1] 0.9917582417582418 Centerline is valid? [True, True] Translation: X:221.40, Y:-21.86, Z:-2.53 [[ 9.99967372e-01 -8.07772860e-03 6.79464680e-05 2.21400195e+02] [ 8.07772859e-03 9.99967375e-01 4.22073184e-07 -2.18613749e+01] [-6.79476606e-05 1.26793715e-07 9.99999998e-01 -2.53081420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67401273899998 meters Centerline goodness [0,1] 0.9911866878243342 Centerline is valid? [True, True] Translation: X:221.43, Y:-21.87, Z:-2.53 [[ 9.99900690e-01 -1.40407188e-02 1.21193544e-03 2.21430447e+02] [ 1.40407193e-02 9.99901424e-01 8.11758869e-06 -2.18716561e+01] [-1.21192995e-03 8.89966276e-06 9.99999266e-01 -2.52897025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70401273899998 meters Centerline goodness [0,1] 0.99092492634567 Centerline is valid? [True, True] Translation: X:221.46, Y:-21.88, Z:-2.53 [[ 9.99850391e-01 -1.72045497e-02 1.78832784e-03 2.21461330e+02] [ 1.72045559e-02 9.99851991e-01 1.19247774e-05 -2.18772176e+01] [-1.78826831e-03 1.88443930e-05 9.99998401e-01 -2.52897894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73401273899998 meters Centerline goodness [0,1] 0.9881032498968804 Centerline is valid? [True, True] Translation: X:221.49, Y:-21.88, Z:-2.52 [[ 9.99797732e-01 -2.01102106e-02 2.71204691e-04 2.21492152e+02] [ 2.01102108e-02 9.99797769e-01 1.77790713e-06 -2.18835006e+01] [-2.71185599e-04 3.67643600e-06 9.99999963e-01 -2.51999649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76401273899998 meters Centerline goodness [0,1] 0.9897637288353828 Centerline is valid? [True, True] Translation: X:221.52, Y:-21.89, Z:-2.53 [[ 9.99739649e-01 -2.28172812e-02 8.17733196e-05 2.21523031e+02] [ 2.28172812e-02 9.99739652e-01 5.45801600e-07 -2.18887980e+01] [-8.17644837e-05 1.32018533e-06 9.99999997e-01 -2.53207730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79401273899998 meters Centerline goodness [0,1] 0.9892604764052667 Centerline is valid? [True, True] Translation: X:221.55, Y:-21.90, Z:-2.54 [[ 9.99630438e-01 -2.70832744e-02 -2.34181205e-03 2.21552698e+02] [ 2.70833121e-02 9.99633180e-01 -1.56257328e-05 -2.19027562e+01] [ 2.34137623e-03 -4.78040686e-05 9.99997258e-01 -2.53683852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82401273899998 meters Centerline goodness [0,1] 0.9888684334460761 Centerline is valid? [True, True] Translation: X:221.58, Y:-21.91, Z:-2.54 [[ 9.99599803e-01 -2.81741584e-02 -2.53981879e-03 2.21581777e+02] [ 2.81742062e-02 9.99603028e-01 -1.69465940e-05 -2.19059159e+01] [ 2.53928801e-03 -5.46175662e-05 9.99996775e-01 -2.53653886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85401273899998 meters Centerline goodness [0,1] 0.9887388842236721 Centerline is valid? [True, True] Translation: X:221.61, Y:-21.91, Z:-2.54 [[ 9.99610289e-01 -2.78179747e-02 -2.33020858e-03 2.21609714e+02] [ 2.78180131e-02 9.99613004e-01 -1.59203706e-05 -2.19135149e+01] [ 2.32974967e-03 -4.89076065e-05 9.99997285e-01 -2.53512189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88401273899999 meters Centerline goodness [0,1] 0.9886703719538265 Centerline is valid? [True, True] Translation: X:221.64, Y:-21.91, Z:-2.53 [[ 9.99654457e-01 -2.61793207e-02 -2.36852234e-03 2.21639017e+02] [ 2.61793554e-02 9.99657262e-01 -1.63612594e-05 -2.19133848e+01] [ 2.36813889e-03 -4.56507822e-05 9.99997195e-01 -2.53434902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.914012739 meters Centerline goodness [0,1] 0.9899721569651092 Centerline is valid? [True, True] Translation: X:221.67, Y:-21.91, Z:-2.53 [[ 9.99710347e-01 -2.39189637e-02 -2.66544447e-03 2.21668037e+02] [ 2.39189984e-02 9.99713900e-01 -1.88400512e-05 -2.19095829e+01] [ 2.66513252e-03 -4.49201680e-05 9.99996448e-01 -2.53481029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.944012739 meters Centerline goodness [0,1] 0.9916789349036677 Centerline is valid? [True, True] Translation: X:221.70, Y:-21.91, Z:-2.54 [[ 9.99814486e-01 -1.89819708e-02 -3.26775731e-03 2.21696252e+02] [ 1.89819948e-02 9.99819825e-01 -2.36672223e-05 -2.19093215e+01] [ 3.26761780e-03 -3.83657207e-05 9.99994661e-01 -2.53583081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.974012739 meters Centerline goodness [0,1] 0.9918660698915476 Centerline is valid? [True, True] Translation: X:221.73, Y:-21.91, Z:-2.54 [[ 9.99849155e-01 -1.70904414e-02 -3.09569774e-03 2.21725265e+02] [ 1.70904533e-02 9.99853947e-01 -2.25948636e-05 -2.19066214e+01] [ 3.09563176e-03 -3.03154224e-05 9.99995208e-01 -2.53510188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.004012739 meters Centerline goodness [0,1] 0.9924091347700225 Centerline is valid? [True, True] Translation: X:221.75, Y:-21.90, Z:-2.53 [[ 9.99911978e-01 -1.29853408e-02 -2.72329590e-03 2.21752851e+02] [ 1.29853337e-02 9.99915687e-01 -2.02559690e-05 -2.19027377e+01] [ 2.72332932e-03 -1.51087201e-05 9.99996292e-01 -2.53450342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.034012739 meters Centerline goodness [0,1] 0.9935345290516593 Centerline is valid? [True, True] Translation: X:221.78, Y:-21.90, Z:-2.54 [[ 9.99929138e-01 -1.14433276e-02 -3.28161874e-03 2.21781925e+02] [ 1.14433071e-02 9.99934523e-01 -2.50169524e-05 -2.19010155e+01] [ 3.28169015e-03 -1.25373914e-05 9.99994615e-01 -2.53582680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.064012739 meters Centerline goodness [0,1] 0.9938118811881188 Centerline is valid? [True, True] Translation: X:221.81, Y:-21.90, Z:-2.54 [[ 9.99939740e-01 -1.00647284e-02 -4.38371712e-03 2.21809582e+02] [ 1.00646755e-02 9.99949349e-01 -3.41478435e-05 -2.19001998e+01] [ 4.38383877e-03 -9.97490433e-06 9.99990391e-01 -2.53751868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.094012739 meters Centerline goodness [0,1] 0.9940745829665729 Centerline is valid? [True, True] Translation: X:221.84, Y:-21.90, Z:-2.54 [[ 9.99963456e-01 -7.19050982e-03 -4.62420289e-03 2.21837868e+02] [ 7.19041741e-03 9.99974148e-01 -3.66084679e-05 -2.18961910e+01] [ 4.62434658e-03 3.35718102e-06 9.99989308e-01 -2.53745434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.124012739 meters Centerline goodness [0,1] 0.9936939432028803 Centerline is valid? [True, True] Translation: X:221.87, Y:-21.89, Z:-2.54 [[ 9.99979533e-01 -5.25721295e-03 -3.64625647e-03 2.21865593e+02] [ 5.25714102e-03 9.99986181e-01 -2.93110717e-05 -2.18927023e+01] [ 3.64636018e-03 1.01415873e-05 9.99993352e-01 -2.53566492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15401273899997 meters Centerline goodness [0,1] 0.9934402332361516 Centerline is valid? [True, True] Translation: X:221.89, Y:-21.89, Z:-2.53 [[ 9.99991539e-01 -3.01705509e-03 -2.79645107e-03 2.21893950e+02] [ 3.01700367e-03 9.99995449e-01 -2.26051560e-05 -2.18892289e+01] [ 2.79650654e-03 1.41680616e-05 9.99996090e-01 -2.53395854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18401273899997 meters Centerline goodness [0,1] 0.9929731249054075 Centerline is valid? [True, True] Translation: X:221.92, Y:-21.88, Z:-2.53 [[ 9.99995835e-01 1.47910474e-03 -2.47826003e-03 2.21922708e+02] [-1.47915987e-03 9.99998906e-01 -2.04151754e-05 -2.18817860e+01] [ 2.47822712e-03 2.40808332e-05 9.99996929e-01 -2.53425810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21401273899997 meters Centerline goodness [0,1] 0.994114247800869 Centerline is valid? [True, True] Translation: X:221.95, Y:-21.88, Z:-2.54 [[ 9.99978650e-01 4.72162914e-03 -4.51733502e-03 2.21951558e+02] [-4.72184750e-03 9.99988851e-01 -3.76722778e-05 -2.18773587e+01] [ 4.51710679e-03 5.90016405e-05 9.99989796e-01 -2.53805393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24401273899997 meters Centerline goodness [0,1] 0.994114247800869 Centerline is valid? [True, True] Translation: X:221.98, Y:-21.88, Z:-2.54 [[ 9.99978870e-01 4.67485549e-03 -4.51733052e-03 2.21979887e+02] [-4.67507577e-03 9.99989071e-01 -3.82055315e-05 -2.18770290e+01] [ 4.51710255e-03 5.93235867e-05 9.99989796e-01 -2.53797577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27401273899997 meters Centerline goodness [0,1] 0.9943388509804766 Centerline is valid? [True, True] Translation: X:222.01, Y:-21.87, Z:-2.54 [[ 9.99972079e-01 5.35200266e-03 -5.21509259e-03 2.22007645e+02] [-5.35230698e-03 9.99985675e-01 -4.43987726e-05 -2.18740563e+01] [ 5.21478026e-03 7.23103094e-05 9.99986400e-01 -2.53998844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30401273899997 meters Centerline goodness [0,1] 0.9940785082147241 Centerline is valid? [True, True] Translation: X:222.04, Y:-21.88, Z:-2.54 [[ 9.99970041e-01 5.40871466e-03 -5.53735847e-03 2.22036163e+02] [-5.40906028e-03 9.99985370e-01 -4.74410837e-05 -2.18763401e+01] [ 5.53702086e-03 7.73915681e-05 9.99984668e-01 -2.53989348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33401273899997 meters Centerline goodness [0,1] 0.9940888399887817 Centerline is valid? [True, True] Translation: X:222.06, Y:-21.88, Z:-2.54 [[ 9.99975318e-01 5.03317337e-03 -4.90200917e-03 2.22064213e+02] [-5.03344087e-03 9.99987331e-01 -4.22335686e-05 -2.18777202e+01] [ 4.90173449e-03 6.69064995e-05 9.99987984e-01 -2.53923041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36401273899997 meters Centerline goodness [0,1] 0.9933266528793467 Centerline is valid? [True, True] Translation: X:222.09, Y:-21.88, Z:-2.53 [[ 9.99985909e-01 4.75190356e-03 -2.36667444e-03 2.22092503e+02] [-4.75196526e-03 9.99988709e-01 -2.04489360e-05 -2.18760072e+01] [ 2.36655054e-03 3.16950025e-05 9.99997199e-01 -2.53369059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39401273899998 meters Centerline goodness [0,1] 0.9929738877107298 Centerline is valid? [True, True] Translation: X:222.12, Y:-21.87, Z:-2.53 [[ 9.99984054e-01 5.41025243e-03 -1.61916757e-03 2.22121719e+02] [-5.41028223e-03 9.99985364e-01 -1.40242158e-05 -2.18744375e+01] [ 1.61906800e-03 2.27841458e-05 9.99998689e-01 -2.53237419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42401273899998 meters Centerline goodness [0,1] 0.9927797051170859 Centerline is valid? [True, True] Translation: X:222.15, Y:-21.87, Z:-2.53 [[ 9.99965438e-01 8.10047222e-03 -1.87227978e-03 2.22150701e+02] [-8.10051710e-03 9.99967190e-01 -1.63888114e-05 -2.18687269e+01] [ 1.87208560e-03 3.15546794e-05 9.99998247e-01 -2.53278608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45401273899998 meters Centerline goodness [0,1] 0.9923307266421078 Centerline is valid? [True, True] Translation: X:222.18, Y:-21.86, Z:-2.53 [[ 9.99954318e-01 9.25260942e-03 -2.39818380e-03 2.22178853e+02] [-9.25268606e-03 9.99957193e-01 -2.08644477e-05 -2.18645967e+01] [ 2.39788809e-03 4.30531364e-05 9.99997124e-01 -2.53394629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48401273899998 meters Centerline goodness [0,1] 0.9926378513752753 Centerline is valid? [True, True] Translation: X:222.21, Y:-21.86, Z:-2.53 [[ 9.99944737e-01 1.00602721e-02 -3.05174499e-03 2.22207938e+02] [-1.00604005e-02 9.99949393e-01 -2.67210829e-05 -2.18645723e+01] [ 3.05132172e-03 5.74213831e-05 9.99995343e-01 -2.53445220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51401273899998 meters Centerline goodness [0,1] 0.9931754487302912 Centerline is valid? [True, True] Translation: X:222.24, Y:-21.86, Z:-2.54 [[ 9.99946685e-01 9.58642813e-03 -3.83770300e-03 2.22236389e+02] [-9.58662845e-03 9.99954047e-01 -3.38042927e-05 -2.18610907e+01] [ 3.83720259e-03 7.05931232e-05 9.99992635e-01 -2.53649167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54401273899998 meters Centerline goodness [0,1] 0.9930470872644033 Centerline is valid? [True, True] Translation: X:222.26, Y:-21.86, Z:-2.54 [[ 9.99962003e-01 7.87272623e-03 -3.74323986e-03 2.22263927e+02] [-7.87290536e-03 9.99969008e-01 -3.31238663e-05 -2.18609367e+01] [ 3.74286307e-03 6.25927808e-05 9.99992994e-01 -2.53743682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57401273899998 meters Centerline goodness [0,1] 0.993728595890411 Centerline is valid? [True, True] Translation: X:222.29, Y:-21.87, Z:-2.54 [[ 9.99987158e-01 2.45875687e-03 -4.43155675e-03 2.22293225e+02] [-2.45895580e-03 9.99996976e-01 -3.94414525e-05 -2.18684569e+01] [ 4.43144637e-03 5.03379481e-05 9.99990180e-01 -2.53887466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60401273899998 meters Centerline goodness [0,1] 0.9941471927808283 Centerline is valid? [True, True] Translation: X:222.32, Y:-21.87, Z:-2.54 [[ 9.99989285e-01 -3.64317125e-04 -4.61493587e-03 2.22321856e+02] [ 3.64130757e-04 9.99999933e-01 -4.12238357e-05 -2.18742586e+01] [ 4.61495058e-03 3.95429539e-05 9.99989350e-01 -2.53849662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63401273899999 meters Centerline goodness [0,1] 0.9924382347189327 Centerline is valid? [True, True] Translation: X:222.35, Y:-21.88, Z:-2.54 [[ 9.99985726e-01 -4.09429507e-03 -3.43294383e-03 2.22350454e+02] [ 4.09421348e-03 9.99991618e-01 -3.07923149e-05 -2.18796338e+01] [ 3.43304113e-03 1.67366704e-05 9.99994107e-01 -2.53669799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.664012739 meters Centerline goodness [0,1] 0.9926551988418633 Centerline is valid? [True, True] Translation: X:222.38, Y:-21.88, Z:-2.54 [[ 9.99981054e-01 -4.95673994e-03 -3.64992637e-03 2.22379740e+02] [ 4.95665242e-03 9.99987715e-01 -3.30246603e-05 -2.18800804e+01] [ 3.65004522e-03 1.49326183e-05 9.99993338e-01 -2.53651881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.694012739 meters Centerline goodness [0,1] 0.9929690681871771 Centerline is valid? [True, True] Translation: X:222.41, Y:-21.88, Z:-2.54 [[ 9.99978074e-01 -5.22823749e-03 -4.06418919e-03 2.22408005e+02] [ 5.22812884e-03 9.99986333e-01 -3.73567933e-05 -2.18787765e+01] [ 4.06432895e-03 1.61078695e-05 9.99991740e-01 -2.53778671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.724012739 meters Centerline goodness [0,1] 0.9927544115407211 Centerline is valid? [True, True] Translation: X:222.44, Y:-21.88, Z:-2.54 [[ 9.99978788e-01 -5.02592960e-03 -4.14293307e-03 2.22435902e+02] [ 5.02581319e-03 9.99987370e-01 -3.85080319e-05 -2.18770881e+01] [ 4.14307428e-03 1.76856074e-05 9.99991417e-01 -2.53804194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.754012739 meters Centerline goodness [0,1] 0.9926575435758827 Centerline is valid? [True, True] Translation: X:222.46, Y:-21.87, Z:-2.54 [[ 9.99979059e-01 -5.36843412e-03 -3.61395933e-03 2.22463306e+02] [ 5.36834585e-03 9.99985590e-01 -3.41258735e-05 -2.18737415e+01] [ 3.61409046e-03 1.47241753e-05 9.99993469e-01 -2.53629781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.784012739 meters Centerline goodness [0,1] 0.9927103759911331 Centerline is valid? [True, True] Translation: X:222.49, Y:-21.87, Z:-2.54 [[ 9.99974235e-01 -6.07693406e-03 -3.82093196e-03 2.22491448e+02] [ 6.07683931e-03 9.99981535e-01 -3.64070523e-05 -2.18732762e+01] [ 3.82108265e-03 1.31869248e-05 9.99992700e-01 -2.53664366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.814012739 meters Centerline goodness [0,1] 0.9933794635229797 Centerline is valid? [True, True] Translation: X:222.52, Y:-21.88, Z:-2.54 [[ 9.99954082e-01 -8.22753560e-03 -4.91338588e-03 2.22519910e+02] [ 8.22740222e-03 9.99966153e-01 -4.73592663e-05 -2.18767955e+01] [ 4.91360923e-03 6.93268980e-06 9.99987928e-01 -2.53988215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.844012739 meters Centerline goodness [0,1] 0.9932276997828564 Centerline is valid? [True, True] Translation: X:222.55, Y:-21.88, Z:-2.54 [[ 9.99938486e-01 -9.89883353e-03 -5.00381295e-03 2.22547026e+02] [ 9.89871297e-03 9.99951005e-01 -4.88604944e-05 -2.18784906e+01] [ 5.00405145e-03 -6.73819303e-07 9.99987480e-01 -2.53979483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.874012739 meters Centerline goodness [0,1] 0.993283776734481 Centerline is valid? [True, True] Translation: X:222.58, Y:-21.88, Z:-2.54 [[ 9.99921406e-01 -1.17111831e-02 -4.47541401e-03 2.22575090e+02] [ 1.17111024e-02 9.99931422e-01 -4.42324512e-05 -2.18794418e+01] [ 4.47562511e-03 -8.18305708e-06 9.99989984e-01 -2.53874591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90401273899997 meters Centerline goodness [0,1] 0.9921307637278068 Centerline is valid? [True, True] Translation: X:222.60, Y:-21.88, Z:-2.54 [[ 9.99889695e-01 -1.44350545e-02 -3.49667667e-03 2.22603062e+02] [ 1.44350203e-02 9.99895809e-01 -3.50453355e-05 -2.18816396e+01] [ 3.49681823e-03 -1.54331287e-05 9.99993886e-01 -2.53638583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93401273899997 meters Centerline goodness [0,1] 0.9922265408106608 Centerline is valid? [True, True] Translation: X:222.63, Y:-21.88, Z:-2.54 [[ 9.99866928e-01 -1.59257574e-02 -3.53517935e-03 2.22630525e+02] [ 1.59257306e-02 9.99873177e-01 -3.57256592e-05 -2.18838901e+01] [ 3.53529997e-03 -2.05794088e-05 9.99993751e-01 -2.53627179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96401273899997 meters Centerline goodness [0,1] 0.9923755933077039 Centerline is valid? [True, True] Translation: X:222.66, Y:-21.89, Z:-2.54 [[ 9.99837886e-01 -1.76243929e-02 -3.68539142e-03 2.22659187e+02] [ 1.76243742e-02 9.99844678e-01 -3.75509875e-05 -2.18861166e+01] [ 3.68548081e-03 -2.74078174e-05 9.99993208e-01 -2.53662543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99401273899997 meters Centerline goodness [0,1] 0.9918281327283284 Centerline is valid? [True, True] Translation: X:222.69, Y:-21.89, Z:-2.54 [[ 9.99775913e-01 -2.07508512e-02 -4.18641027e-03 2.22687274e+02] [ 2.07508521e-02 9.99784677e-01 -4.32292360e-05 -2.18926697e+01] [ 4.18640588e-03 -4.36520313e-05 9.99991236e-01 -2.53790500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02401273899997 meters Centerline goodness [0,1] 0.9915041722512863 Centerline is valid? [True, True] Translation: X:222.72, Y:-21.90, Z:-2.54 [[ 9.99749936e-01 -2.20008812e-02 -4.00338067e-03 2.22716138e+02] [ 2.20008907e-02 9.99757950e-01 -4.16801384e-05 -2.18950129e+01] [ 4.00332865e-03 -4.64082248e-05 9.99991986e-01 -2.53712526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05401273899997 meters Centerline goodness [0,1] 0.9912903916113845 Centerline is valid? [True, True] Translation: X:222.75, Y:-21.90, Z:-2.54 [[ 9.99726059e-01 -2.31245096e-02 -3.61441035e-03 2.22745447e+02] [ 2.31245228e-02 9.99732592e-01 -3.81494156e-05 -2.18974512e+01] [ 3.61432602e-03 -4.54425498e-05 9.99993467e-01 -2.53633904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08401273899997 meters Centerline goodness [0,1] 0.9910296495956873 Centerline is valid? [True, True] Translation: X:222.77, Y:-21.90, Z:-2.54 [[ 9.99718578e-01 -2.34588022e-02 -3.52831337e-03 2.22772460e+02] [ 2.34588149e-02 9.99724803e-01 -3.77912662e-05 -2.18999998e+01] [ 3.52822893e-03 -4.49894193e-05 9.99993775e-01 -2.53563107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11401273899997 meters Centerline goodness [0,1] 0.9919253853793342 Centerline is valid? [True, True] Translation: X:222.80, Y:-21.90, Z:-2.54 [[ 9.99728253e-01 -2.28805619e-02 -4.46095702e-03 2.22800923e+02] [ 2.28805725e-02 9.99738204e-01 -4.86713261e-05 -2.18974169e+01] [ 4.46090279e-03 -5.34111506e-05 9.99990049e-01 -2.53706427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14401273899998 meters Centerline goodness [0,1] 0.9926760442022273 Centerline is valid? [True, True] Translation: X:222.83, Y:-21.90, Z:-2.54 [[ 9.99774297e-01 -2.05931745e-02 -5.22273892e-03 2.22829298e+02] [ 2.05931529e-02 9.99787937e-01 -5.79111541e-05 -2.18962511e+01] [ 5.22282394e-03 -4.96545776e-05 9.99986360e-01 -2.53907006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17401273899998 meters Centerline goodness [0,1] 0.9928994336708427 Centerline is valid? [True, True] Translation: X:222.86, Y:-21.90, Z:-2.54 [[ 9.99807327e-01 -1.90913041e-02 -4.56416689e-03 2.22857130e+02] [ 1.90912697e-02 9.99817744e-01 -5.11047881e-05 -2.18963693e+01] [ 4.56431070e-03 -3.60407996e-05 9.99989583e-01 -2.53845794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20401273899998 meters Centerline goodness [0,1] 0.9930665053891181 Centerline is valid? [True, True] Translation: X:222.89, Y:-21.89, Z:-2.54 [[ 9.99835470e-01 -1.76349951e-02 -4.24739448e-03 2.22886026e+02] [ 1.76349505e-02 9.99844491e-01 -4.79460427e-05 -2.18946018e+01] [ 4.24757950e-03 -2.69644374e-05 9.99990979e-01 -2.53653140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23401273899998 meters Centerline goodness [0,1] 0.9929769210822025 Centerline is valid? [True, True] Translation: X:222.91, Y:-21.89, Z:-2.54 [[ 9.99890157e-01 -1.43310093e-02 -3.78111579e-03 2.22914439e+02] [ 1.43309483e-02 9.99897306e-01 -4.32326966e-05 -2.18922982e+01] [ 3.78134706e-03 -1.09590272e-05 9.99992851e-01 -2.53571200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26401273899998 meters Centerline goodness [0,1] 0.9935208395292519 Centerline is valid? [True, True] Translation: X:222.94, Y:-21.89, Z:-2.54 [[ 9.99908626e-01 -1.29877086e-02 -3.74944767e-03 2.22941795e+02] [ 1.29876374e-02 9.99915656e-01 -4.33412905e-05 -2.18912315e+01] [ 3.74969433e-03 -5.35913639e-06 9.99992970e-01 -2.53547271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29401273899998 meters Centerline goodness [0,1] 0.9928446733765814 Centerline is valid? [True, True] Translation: X:222.97, Y:-21.89, Z:-2.53 [[ 9.99921540e-01 -1.21335174e-02 -3.11305764e-03 2.22969650e+02] [ 1.21334636e-02 9.99926386e-01 -3.61856334e-05 -2.18905835e+01] [ 3.11326753e-03 -1.58937712e-06 9.99995154e-01 -2.53455877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32401273899998 meters Centerline goodness [0,1] 0.9926009749303621 Centerline is valid? [True, True] Translation: X:223.00, Y:-21.89, Z:-2.53 [[ 9.99925700e-01 -1.19762847e-02 -2.27240157e-03 2.22998331e+02] [ 1.19762549e-02 9.99928282e-01 -2.67150768e-05 -2.18919310e+01] [ 2.27255854e-03 -5.01768600e-07 9.99997418e-01 -2.53358225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35401273899998 meters Centerline goodness [0,1] 0.9920042987641053 Centerline is valid? [True, True] Translation: X:223.03, Y:-21.90, Z:-2.53 [[ 9.99925228e-01 -1.20849226e-02 -1.86904415e-03 2.23027191e+02] [ 1.20849020e-02 9.99926975e-01 -2.23256135e-05 -2.18979883e+01] [ 1.86917747e-03 -2.63271138e-07 9.99998253e-01 -2.53327088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38401273899999 meters Centerline goodness [0,1] 0.9922408776429511 Centerline is valid? [True, True] Translation: X:223.06, Y:-21.90, Z:-2.54 [[ 9.99921283e-01 -1.22870259e-02 -2.54099382e-03 2.23056138e+02] [ 1.22869881e-02 9.99924512e-01 -3.04799258e-05 -2.19002949e+01] [ 2.54117651e-03 -7.43634240e-07 9.99996771e-01 -2.53506075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.414012739 meters Centerline goodness [0,1] 0.9932594882363043 Centerline is valid? [True, True] Translation: X:223.08, Y:-21.90, Z:-2.54 [[ 9.99916417e-01 -1.21572578e-02 -4.40003273e-03 2.23083842e+02] [ 1.21571414e-02 9.99926098e-01 -5.32081118e-05 -2.19029842e+01] [ 4.40035442e-03 -2.88155343e-07 9.99990318e-01 -2.53828225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.444012739 meters Centerline goodness [0,1] 0.9939959537949488 Centerline is valid? [True, True] Translation: X:223.11, Y:-21.90, Z:-2.54 [[ 9.99917034e-01 -1.20010788e-02 -4.67967088e-03 2.23112127e+02] [ 1.20009415e-02 9.99927984e-01 -5.74212129e-05 -2.19034768e+01] [ 4.68002298e-03 1.25599258e-06 9.99989049e-01 -2.53832559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.474012739 meters Centerline goodness [0,1] 0.9936847531898441 Centerline is valid? [True, True] Translation: X:223.14, Y:-21.90, Z:-2.54 [[ 9.99919878e-01 -1.18300653e-02 -4.50412417e-03 2.23139464e+02] [ 1.18299334e-02 9.99930022e-01 -5.59225602e-05 -2.19039637e+01] [ 4.50447055e-03 2.63459070e-06 9.99989855e-01 -2.53759094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.504012739 meters Centerline goodness [0,1] 0.9928950891893059 Centerline is valid? [True, True] Translation: X:223.17, Y:-21.91, Z:-2.53 [[ 9.99921701e-01 -1.20284965e-02 -3.45071553e-03 2.23167412e+02] [ 1.20284192e-02 9.99927655e-01 -4.31505801e-05 -2.19068361e+01] [ 3.45098492e-03 1.64054865e-06 9.99994045e-01 -2.53499652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.534012739 meters Centerline goodness [0,1] 0.9932531155994843 Centerline is valid? [True, True] Translation: X:223.20, Y:-21.91, Z:-2.54 [[ 9.99920072e-01 -1.21341330e-02 -3.55130075e-03 2.23195285e+02] [ 1.21340498e-02 9.99926379e-01 -4.49927669e-05 -2.19074907e+01] [ 3.55158525e-03 1.89751066e-06 9.99993693e-01 -2.53519531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.564012739 meters Centerline goodness [0,1] 0.9929356525450859 Centerline is valid? [True, True] Translation: X:223.22, Y:-21.91, Z:-2.54 [[ 9.99919658e-01 -1.20947175e-02 -3.79404344e-03 2.23222949e+02] [ 1.20946213e-02 9.99926856e-01 -4.82977791e-05 -2.19079166e+01] [ 3.79435008e-03 2.40638003e-06 9.99992801e-01 -2.53576566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.594012739 meters Centerline goodness [0,1] 0.9943472351075535 Centerline is valid? [True, True] Translation: X:223.25, Y:-21.91, Z:-2.54 [[ 9.99915157e-01 -1.23211178e-02 -4.22712743e-03 2.23250633e+02] [ 1.23209986e-02 9.99924092e-01 -5.42504960e-05 -2.19087800e+01] [ 4.22747498e-03 2.16346230e-06 9.99991064e-01 -2.53668812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.624012739 meters Centerline goodness [0,1] 0.9944341372912802 Centerline is valid? [True, True] Translation: X:223.28, Y:-21.91, Z:-2.54 [[ 9.99909737e-01 -1.27468991e-02 -4.24680220e-03 2.23277681e+02] [ 1.27467799e-02 9.99918755e-01 -5.51389306e-05 -2.19095006e+01] [ 4.24716002e-03 1.00090077e-06 9.99990981e-01 -2.53595757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65401273899997 meters Centerline goodness [0,1] 0.993631669535284 Centerline is valid? [True, True] Translation: X:223.31, Y:-21.91, Z:-2.53 [[ 9.99904395e-01 -1.31393808e-02 -4.30776125e-03 2.23305291e+02] [ 1.31392596e-02 9.99913675e-01 -5.64412958e-05 -2.19109140e+01] [ 4.30813098e-03 -1.64893541e-07 9.99990720e-01 -2.53486454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68401273899997 meters Centerline goodness [0,1] 0.9939784671688157 Centerline is valid? [True, True] Translation: X:223.33, Y:-21.91, Z:-2.53 [[ 9.99903516e-01 -1.32020269e-02 -4.32025588e-03 2.23332918e+02] [ 1.32019021e-02 9.99912849e-01 -5.74008137e-05 -2.19103763e+01] [ 4.32063718e-03 3.59680201e-07 9.99990666e-01 -2.53474818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71401273899997 meters Centerline goodness [0,1] 0.9934255906190722 Centerline is valid? [True, True] Translation: X:223.36, Y:-21.91, Z:-2.53 [[ 9.99905018e-01 -1.33397618e-02 -3.46490604e-03 2.23361244e+02] [ 1.33396805e-02 9.99911021e-01 -4.65727373e-05 -2.19094465e+01] [ 3.46521901e-03 3.47574221e-07 9.99993996e-01 -2.53363308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74401273899997 meters Centerline goodness [0,1] 0.9929324053524101 Centerline is valid? [True, True] Translation: X:223.39, Y:-21.91, Z:-2.53 [[ 9.99912509e-01 -1.30060783e-02 -2.41189675e-03 2.23389441e+02] [ 1.30060373e-02 9.99915417e-01 -3.27073927e-05 -2.19079584e+01] [ 2.41211814e-03 1.33531213e-06 9.99997091e-01 -2.53128552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77401273899997 meters Centerline goodness [0,1] 0.9917719096823574 Centerline is valid? [True, True] Translation: X:223.42, Y:-21.90, Z:-2.53 [[ 9.99938357e-01 -1.10504545e-02 -1.08124197e-03 2.23418246e+02] [ 1.10504449e-02 9.99938942e-01 -1.48322274e-05 -2.19043366e+01] [ 1.08133986e-03 2.88310832e-06 9.99999415e-01 -2.52843042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80401273899997 meters Centerline goodness [0,1] 0.9922718588326214 Centerline is valid? [True, True] Translation: X:223.45, Y:-21.90, Z:-2.53 [[ 9.99948878e-01 -1.00909004e-02 -6.44301613e-04 2.23447527e+02] [ 1.00908968e-02 9.99949086e-01 -8.84684509e-06 -2.19014152e+01] [ 6.44358081e-04 2.34481176e-06 9.99999792e-01 -2.52714165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83401273899997 meters Centerline goodness [0,1] 0.9932785499013465 Centerline is valid? [True, True] Translation: X:223.48, Y:-21.90, Z:-2.53 [[ 9.99968297e-01 -7.96096410e-03 -1.69892397e-04 2.23477252e+02] [ 7.96096383e-03 9.99968311e-01 -2.29044720e-06 -2.18953158e+01] [ 1.69905247e-04 9.37867359e-07 9.99999986e-01 -2.52654083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86401273899997 meters Centerline goodness [0,1] 0.9934544828180174 Centerline is valid? [True, True] Translation: X:223.51, Y:-21.89, Z:-2.53 [[ 9.99973148e-01 -7.27451452e-03 -8.86304208e-04 2.23507071e+02] [ 7.27450649e-03 9.99973540e-01 -1.22796086e-05 -2.18929000e+01] [ 8.86370085e-04 5.83185311e-06 9.99999607e-01 -2.52784256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89401273899998 meters Centerline goodness [0,1] 0.9939751230888831 Centerline is valid? [True, True] Translation: X:223.54, Y:-21.89, Z:-2.53 [[ 9.99974563e-01 -6.67556815e-03 -2.51192251e-03 2.23536302e+02] [ 6.67550184e-03 9.99977718e-01 -3.47828225e-05 -2.18898649e+01] [ 2.51209873e-03 1.80135944e-05 9.99996845e-01 -2.53086036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92401273899998 meters Centerline goodness [0,1] 0.9940816982952718 Centerline is valid? [True, True] Translation: X:223.57, Y:-21.89, Z:-2.53 [[ 9.99971941e-01 -6.90725306e-03 -2.89953868e-03 2.23565433e+02] [ 6.90716551e-03 9.99976144e-01 -4.02079623e-05 -2.18883289e+01] [ 2.89974724e-03 2.01792405e-05 9.99995796e-01 -2.53166672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95401273899998 meters Centerline goodness [0,1] 0.9940541588573645 Centerline is valid? [True, True] Translation: X:223.59, Y:-21.89, Z:-2.53 [[ 9.99970803e-01 -7.17098390e-03 -2.64011765e-03 2.23594545e+02] [ 7.17091121e-03 9.99974288e-01 -3.69983963e-05 -2.18868782e+01] [ 2.64031508e-03 1.80652668e-05 9.99996514e-01 -2.53121782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98401273899998 meters Centerline goodness [0,1] 0.9937523988229775 Centerline is valid? [True, True] Translation: X:223.62, Y:-21.88, Z:-2.53 [[ 9.99978418e-01 -6.42366582e-03 -1.37831742e-03 2.23623163e+02] [ 6.42364529e-03 9.99979368e-01 -1.93181507e-05 -2.18835752e+01] [ 1.37841307e-03 1.04639116e-05 9.99999050e-01 -2.52944554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01401273899998 meters Centerline goodness [0,1] 0.9936125677046244 Centerline is valid? [True, True] Translation: X:223.65, Y:-21.88, Z:-2.53 [[ 9.99982608e-01 -5.78314320e-03 -1.15738811e-03 2.23653077e+02] [ 5.78312825e-03 9.99983277e-01 -1.62604830e-05 -2.18823101e+01] [ 1.15746280e-03 9.56687626e-06 9.99999330e-01 -2.52939346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04401273899998 meters Centerline goodness [0,1] 0.9936909880517685 Centerline is valid? [True, True] Translation: X:223.68, Y:-21.88, Z:-2.53 [[ 9.99986340e-01 -4.90521905e-03 -1.80512678e-03 2.23682326e+02] [ 4.90518112e-03 9.99987969e-01 -2.54385685e-05 -2.18784733e+01] [ 1.80522984e-03 1.65837472e-05 9.99998370e-01 -2.53040288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07401273899998 meters Centerline goodness [0,1] 0.994283865401208 Centerline is valid? [True, True] Translation: X:223.71, Y:-21.87, Z:-2.53 [[ 9.99986386e-01 -3.65879994e-03 -3.72046929e-03 2.23711040e+02] [ 3.65862958e-03 9.99993306e-01 -5.25956214e-05 -2.18710113e+01] [ 3.72063682e-03 3.89830864e-05 9.99993078e-01 -2.53470847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10401273899998 meters Centerline goodness [0,1] 0.9945224900115994 Centerline is valid? [True, True] Translation: X:223.74, Y:-21.87, Z:-2.54 [[ 9.99985506e-01 -3.59253446e-03 -4.01029410e-03 2.23738759e+02] [ 3.59233529e-03 9.99993546e-01 -5.68672110e-05 -2.18668578e+01] [ 4.01047252e-03 4.24600657e-05 9.99991957e-01 -2.53612650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13401273899999 meters Centerline goodness [0,1] 0.9945224900115994 Centerline is valid? [True, True] Translation: X:223.77, Y:-21.87, Z:-2.54 [[ 9.99984871e-01 -3.76511370e-03 -4.01028878e-03 2.23766236e+02] [ 3.76491442e-03 9.99992911e-01 -5.72402977e-05 -2.18662518e+01] [ 4.01047587e-03 4.21410376e-05 9.99991957e-01 -2.53605070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.164012739 meters Centerline goodness [0,1] 0.9945362188927306 Centerline is valid? [True, True] Translation: X:223.79, Y:-21.87, Z:-2.54 [[ 9.99977418e-01 -5.79709564e-03 -3.39958211e-03 2.23794913e+02] [ 5.79696248e-03 9.99983196e-01 -4.90234771e-05 -2.18687494e+01] [ 3.39980918e-03 2.93151201e-05 9.99994220e-01 -2.53524900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.194012739 meters Centerline goodness [0,1] 0.9945763295525472 Centerline is valid? [True, True] Translation: X:223.82, Y:-21.87, Z:-2.54 [[ 9.99962226e-01 -7.87810444e-03 -3.67175146e-03 2.23823396e+02] [ 7.87796095e-03 9.99968967e-01 -5.35406086e-05 -2.18733040e+01] [ 3.67205931e-03 2.46126715e-05 9.99993258e-01 -2.53534741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.224012739 meters Centerline goodness [0,1] 0.9949717694684138 Centerline is valid? [True, True] Translation: X:223.85, Y:-21.88, Z:-2.54 [[ 9.99937996e-01 -1.02400477e-02 -4.37550562e-03 2.23851489e+02] [ 1.02398637e-02 9.99947569e-01 -6.44588145e-05 -2.18756952e+01] [ 4.37593627e-03 1.96502366e-05 9.99990425e-01 -2.53670216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.254012739 meters Centerline goodness [0,1] 0.9948278441514031 Centerline is valid? [True, True] Translation: X:223.88, Y:-21.88, Z:-2.54 [[ 9.99914164e-01 -1.22237958e-02 -4.71622439e-03 2.23879665e+02] [ 1.22236012e-02 9.99925287e-01 -7.00793025e-05 -2.18790730e+01] [ 4.71672866e-03 1.24240410e-05 9.99988876e-01 -2.53769375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.284012739 meters Centerline goodness [0,1] 0.9940491480434969 Centerline is valid? [True, True] Translation: X:223.91, Y:-21.88, Z:-2.54 [[ 9.99886889e-01 -1.46534995e-02 -3.38881388e-03 2.23908111e+02] [ 1.46534114e-02 9.99892632e-01 -5.08229803e-05 -2.18826854e+01] [ 3.38919476e-03 1.15954786e-06 9.99994257e-01 -2.53530519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.314012739 meters Centerline goodness [0,1] 0.9929958061308314 Centerline is valid? [True, True] Translation: X:223.94, Y:-21.88, Z:-2.53 [[ 9.99881376e-01 -1.52349004e-02 -2.26512450e-03 2.23936490e+02] [ 1.52348620e-02 9.99883942e-01 -3.42234853e-05 -2.18828724e+01] [ 2.26538301e-03 -2.89433595e-07 9.99997434e-01 -2.53290835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.344012739 meters Centerline goodness [0,1] 0.9879787349462948 Centerline is valid? [True, True] Translation: X:223.97, Y:-21.88, Z:-2.52 [[ 9.99876610e-01 -1.55813658e-02 -1.99623218e-03 2.23965146e+02] [ 1.55813361e-02 9.99878603e-01 -3.04111057e-05 -2.18844170e+01] [ 1.99646369e-03 -6.96611241e-07 9.99998007e-01 -2.51910788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.374012739 meters Centerline goodness [0,1] 0.9890275711914462 Centerline is valid? [True, True] Translation: X:223.99, Y:-21.89, Z:-2.52 [[ 9.99870648e-01 -1.58645287e-02 -2.64665937e-03 2.23993802e+02] [ 1.58644759e-02 9.99874150e-01 -4.09452602e-05 -2.18858328e+01] [ 2.64697587e-03 -1.04790001e-06 9.99996497e-01 -2.52082013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40401273899997 meters Centerline goodness [0,1] 0.9931148740237107 Centerline is valid? [True, True] Translation: X:224.02, Y:-21.89, Z:-2.53 [[ 9.99858048e-01 -1.66301855e-02 -2.70557654e-03 2.24021447e+02] [ 1.66301328e-02 9.99861709e-01 -4.19567145e-05 -2.18877251e+01] [ 2.70590014e-03 -3.04333871e-06 9.99996339e-01 -2.53359356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43401273899997 meters Centerline goodness [0,1] 0.9937104245463432 Centerline is valid? [True, True] Translation: X:224.05, Y:-21.89, Z:-2.53 [[ 9.99852613e-01 -1.69000711e-02 -3.02335198e-03 2.24049534e+02] [ 1.69000060e-02 9.99857184e-01 -4.70851123e-05 -2.18901992e+01] [ 3.02371593e-03 -4.01649384e-06 9.99995429e-01 -2.53394781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46401273899997 meters Centerline goodness [0,1] 0.9929170186496848 Centerline is valid? [True, True] Translation: X:224.08, Y:-21.90, Z:-2.53 [[ 9.99842643e-01 -1.76476501e-02 -1.80242132e-03 2.24077199e+02] [ 1.76476281e-02 9.99844268e-01 -2.81083519e-05 -2.18956823e+01] [ 1.80263668e-03 -3.70453239e-06 9.99998375e-01 -2.53088516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49401273899997 meters Centerline goodness [0,1] 0.9928377855207123 Centerline is valid? [True, True] Translation: X:224.11, Y:-21.90, Z:-2.53 [[ 9.99828100e-01 -1.84788381e-02 -1.51737554e-03 2.24105622e+02] [ 1.84788236e-02 9.99829252e-01 -2.35824274e-05 -2.18979122e+01] [ 1.51755222e-03 -4.46094129e-06 9.99998849e-01 -2.53063642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52401273899997 meters Centerline goodness [0,1] 0.9926248598292072 Centerline is valid? [True, True] Translation: X:224.13, Y:-21.90, Z:-2.53 [[ 9.99817031e-01 -1.91081187e-02 -8.86011951e-04 2.24134696e+02] [ 1.91081140e-02 9.99817423e-01 -1.37229838e-05 -2.19024101e+01] [ 8.86112406e-04 -3.20954443e-06 9.99999607e-01 -2.52865612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55401273899997 meters Centerline goodness [0,1] 0.9925565232313699 Centerline is valid? [True, True] Translation: X:224.16, Y:-21.90, Z:-2.53 [[ 9.99820000e-01 -1.89601691e-02 -6.93000743e-04 2.24163092e+02] [ 1.89601660e-02 9.99820240e-01 -1.10022385e-05 -2.19046720e+01] [ 6.93084773e-04 -2.13915108e-06 9.99999760e-01 -2.52725599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58401273899997 meters Centerline goodness [0,1] 0.9929404674787998 Centerline is valid? [True, True] Translation: X:224.19, Y:-21.90, Z:-2.53 [[ 9.99828290e-01 -1.85160038e-02 -7.40035787e-04 2.24193252e+02] [ 1.85160002e-02 9.99828564e-01 -1.18341952e-05 -2.19048241e+01] [ 7.40128041e-04 -1.87033965e-06 9.99999726e-01 -2.52773390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61401273899997 meters Centerline goodness [0,1] 0.9923458387235877 Centerline is valid? [True, True] Translation: X:224.22, Y:-21.91, Z:-2.53 [[ 9.99844143e-01 -1.76542031e-02 -1.37532096e-04 2.24221910e+02] [ 1.76542029e-02 9.99844152e-01 -2.11915842e-06 -2.19083929e+01] [ 1.37548074e-04 -3.09191403e-07 9.99999991e-01 -2.52718954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64401273899998 meters Centerline goodness [0,1] 0.988045157967033 Centerline is valid? [True, True] Translation: X:224.25, Y:-21.91, Z:-2.52 [[ 9.99855689e-01 -1.69876675e-02 -1.42416287e-04 2.24250752e+02] [ 1.69876674e-02 9.99855699e-01 -2.20378280e-06 -2.19115051e+01] [ 1.42433173e-04 -2.15855744e-07 9.99999990e-01 -2.51577688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67401273899998 meters Centerline goodness [0,1] 0.992569752253699 Centerline is valid? [True, True] Translation: X:224.28, Y:-21.92, Z:-2.53 [[ 9.99887810e-01 -1.49741009e-02 3.79977360e-04 2.24280682e+02] [ 1.49740996e-02 9.99887882e-01 6.20997557e-06 -2.19151979e+01] [-3.80027746e-04 -5.19460031e-07 9.99999928e-01 -2.52656801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70401273899998 meters Centerline goodness [0,1] 0.9925632979409362 Centerline is valid? [True, True] Translation: X:224.31, Y:-21.91, Z:-2.53 [[ 9.99914153e-01 -1.31022209e-02 -1.37982510e-04 2.24310594e+02] [ 1.31022207e-02 9.99914162e-01 -2.20114323e-06 -2.19147127e+01] [ 1.37999506e-04 3.93076954e-07 9.99999990e-01 -2.52705354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73401273899998 meters Centerline goodness [0,1] 0.9936926978347097 Centerline is valid? [True, True] Translation: X:224.34, Y:-21.91, Z:-2.53 [[ 9.99941102e-01 -1.08289097e-02 -7.26034077e-04 2.24340034e+02] [ 1.08289040e-02 9.99941366e-01 -1.17036671e-05 -2.19125915e+01] [ 7.26118244e-04 3.84082448e-06 9.99999736e-01 -2.52711215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76401273899998 meters Centerline goodness [0,1] 0.9958445473140274 Centerline is valid? [True, True] Translation: X:224.37, Y:-21.91, Z:-2.53 [[ 9.99982501e-01 -5.33733740e-03 -2.55144883e-03 2.24369988e+02] [ 5.33724926e-03 9.99985756e-01 -4.13510558e-05 -2.19075526e+01] [ 2.55163320e-03 2.77326138e-05 9.99996744e-01 -2.53109632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79401273899998 meters Centerline goodness [0,1] 0.9956131862460487 Centerline is valid? [True, True] Translation: X:224.40, Y:-21.90, Z:-2.53 [[ 9.99989498e-01 -2.97961710e-03 -3.48232373e-03 2.24398755e+02] [ 2.97943806e-03 9.99995560e-01 -5.66014991e-05 -2.19047642e+01] [ 3.48247692e-03 4.62255368e-05 9.99993935e-01 -2.53319694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82401273899998 meters Centerline goodness [0,1] 0.9954756005601637 Centerline is valid? [True, True] Translation: X:224.43, Y:-21.90, Z:-2.53 [[ 9.99992438e-01 5.66868027e-04 -3.84753428e-03 2.24427721e+02] [-5.67115468e-04 9.99999837e-01 -6.32208494e-05 -2.19014755e+01] [ 3.84749781e-03 6.54023675e-05 9.99992596e-01 -2.53389767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85401273899998 meters Centerline goodness [0,1] 0.9948925716009741 Centerline is valid? [True, True] Translation: X:224.46, Y:-21.90, Z:-2.53 [[ 9.99991992e-01 1.91787301e-03 -3.51249558e-03 2.24455904e+02] [-1.91808914e-03 9.99998159e-01 -5.81638421e-05 -2.18987285e+01] [ 3.51237756e-03 6.49006560e-05 9.99993829e-01 -2.53281604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88401273899999 meters Centerline goodness [0,1] 0.9948128296014525 Centerline is valid? [True, True] Translation: X:224.49, Y:-21.90, Z:-2.53 [[ 9.99991979e-01 2.65208594e-03 -3.00152740e-03 2.24485002e+02] [-2.65224738e-03 9.99996482e-01 -4.98068786e-05 -2.18983372e+01] [ 3.00138475e-03 5.77672723e-05 9.99995494e-01 -2.53166432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.914012739 meters Centerline goodness [0,1] 0.9949827397671477 Centerline is valid? [True, True] Translation: X:224.51, Y:-21.89, Z:-2.53 [[ 9.99988302e-01 3.40029931e-03 -3.44003645e-03 2.24513106e+02] [-3.40051642e-03 9.99994217e-01 -5.72654208e-05 -2.18941472e+01] [ 3.43982184e-03 6.89626514e-05 9.99994081e-01 -2.53194588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.944012739 meters Centerline goodness [0,1] 0.9950447916215865 Centerline is valid? [True, True] Translation: X:224.54, Y:-21.89, Z:-2.53 [[ 9.99983477e-01 4.42363386e-03 -3.67117924e-03 2.24541951e+02] [-4.42388869e-03 9.99990213e-01 -6.12951034e-05 -2.18919226e+01] [ 3.67087217e-03 7.75349789e-05 9.99993259e-01 -2.53277433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.974012739 meters Centerline goodness [0,1] 0.9950795260806699 Centerline is valid? [True, True] Translation: X:224.57, Y:-21.89, Z:-2.53 [[ 9.99973901e-01 5.89487232e-03 -4.17714738e-03 2.24570702e+02] [-5.89521597e-03 9.99982621e-01 -6.99588151e-05 -2.18886225e+01] [ 4.17666239e-03 9.45821751e-05 9.99991273e-01 -2.53306904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.004012739 meters Centerline goodness [0,1] 0.9947340139709834 Centerline is valid? [True, True] Translation: X:224.60, Y:-21.88, Z:-2.53 [[ 9.99947469e-01 9.54359655e-03 -3.73880930e-03 2.24600090e+02] [-9.54389787e-03 9.99954454e-01 -6.27582221e-05 -2.18786787e+01] [ 3.73804007e-03 9.84377394e-05 9.99993009e-01 -2.53106773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.034012739 meters Centerline goodness [0,1] 0.9937770911119694 Centerline is valid? [True, True] Translation: X:224.63, Y:-21.87, Z:-2.53 [[ 9.99925978e-01 1.17502891e-02 -3.15745306e-03 2.24628112e+02] [-1.17505152e-02 9.99930959e-01 -5.30622186e-05 -2.18706934e+01] [ 3.15661157e-03 9.01599910e-05 9.99995014e-01 -2.52957504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.064012739 meters Centerline goodness [0,1] 0.9935886328192688 Centerline is valid? [True, True] Translation: X:224.66, Y:-21.86, Z:-2.53 [[ 9.99892622e-01 1.45215986e-02 -1.96656485e-03 2.24657563e+02] [-1.45216916e-02 9.99894554e-01 -3.30618142e-05 -2.18629660e+01] [ 1.96587737e-03 6.16161124e-05 9.99998066e-01 -2.52866905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.094012739 meters Centerline goodness [0,1] 0.9925078356446696 Centerline is valid? [True, True] Translation: X:224.69, Y:-21.86, Z:-2.53 [[ 9.99888892e-01 1.48284195e-02 -1.52400076e-03 2.24686036e+02] [-1.48284758e-02 9.99890052e-01 -2.56285295e-05 -2.18576101e+01] [ 1.52345317e-03 4.82242903e-05 9.99998838e-01 -2.52779839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.124012739 meters Centerline goodness [0,1] 0.9917656070471084 Centerline is valid? [True, True] Translation: X:224.71, Y:-21.85, Z:-2.53 [[ 9.99896495e-01 1.43362142e-02 -1.21338972e-03 2.24714474e+02] [-1.43362495e-02 9.99897230e-01 -2.04292639e-05 -2.18527000e+01] [ 1.21297214e-03 3.78226072e-05 9.99999264e-01 -2.52658150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15401273899997 meters Centerline goodness [0,1] 0.9929890560875513 Centerline is valid? [True, True] Translation: X:224.74, Y:-21.85, Z:-2.53 [[ 9.99914477e-01 1.30535248e-02 -8.02329706e-04 2.24744238e+02] [-1.30535398e-02 9.99914799e-01 -1.35265137e-05 -2.18538413e+01] [ 8.02084778e-04 2.39985997e-05 9.99999678e-01 -2.52556199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18401273899997 meters Centerline goodness [0,1] 0.9942653875175165 Centerline is valid? [True, True] Translation: X:224.77, Y:-21.85, Z:-2.52 [[ 9.99951177e-01 9.87185050e-03 -4.36263057e-04 2.24774519e+02] [-9.87185468e-03 9.99951272e-01 -7.41729177e-06 -2.18539045e+01] [ 4.36168577e-04 1.17236551e-05 9.99999905e-01 -2.52499356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21401273899997 meters Centerline goodness [0,1] 0.9938272932573395 Centerline is valid? [True, True] Translation: X:224.80, Y:-21.85, Z:-2.52 [[ 9.99964602e-01 8.41150539e-03 -2.03723229e-04 2.24804139e+02] [-8.41150626e-03 9.99964623e-01 -3.41791991e-06 -2.18521519e+01] [ 2.03687272e-04 5.13141814e-06 9.99999979e-01 -2.52485013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24401273899997 meters Centerline goodness [0,1] 0.9940755741307251 Centerline is valid? [True, True] Translation: X:224.83, Y:-21.85, Z:-2.52 [[ 9.99976508e-01 6.85445117e-03 -2.40265402e-05 2.24833298e+02] [-6.85445118e-03 9.99976508e-01 -3.75057567e-07 -2.18498222e+01] [ 2.40234049e-05 5.39737503e-07 1.00000000e+00 -2.52422743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27401273899997 meters Centerline goodness [0,1] 0.993746776689015 Centerline is valid? [True, True] Translation: X:224.86, Y:-21.85, Z:-2.52 [[ 9.99975712e-01 6.96952382e-03 -2.06476031e-05 2.24862968e+02] [-6.96952383e-03 9.99975713e-01 -3.18184223e-07 -2.18466594e+01] [ 2.06448840e-05 4.62080457e-07 1.00000000e+00 -2.52418030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30401273899997 meters Centerline goodness [0,1] 0.9917699019713455 Centerline is valid? [True, True] Translation: X:224.89, Y:-21.85, Z:-2.51 [[ 9.99966911e-01 8.08859172e-03 -8.66611145e-04 2.24893067e+02] [-8.08860749e-03 9.99967287e-01 -1.46993086e-05 -2.18463371e+01] [ 8.66463899e-04 2.17084996e-05 9.99999624e-01 -2.51341576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33401273899997 meters Centerline goodness [0,1] 0.9940082600415142 Centerline is valid? [True, True] Translation: X:224.92, Y:-21.84, Z:-2.53 [[ 9.99963550e-01 8.43397089e-03 -1.32885351e-03 2.24922431e+02] [-8.43400826e-03 9.99964433e-01 -2.25226897e-05 -2.18372421e+01] [ 1.32861629e-03 3.37294303e-05 9.99999117e-01 -2.52673595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36401273899997 meters Centerline goodness [0,1] 0.991426782127972 Centerline is valid? [True, True] Translation: X:224.95, Y:-21.83, Z:-2.52 [[ 9.99961165e-01 8.44834204e-03 -2.50886340e-03 2.24950733e+02] [-8.44847543e-03 9.99964310e-01 -4.25762371e-05 -2.18321909e+01] [ 2.50841416e-03 6.37706545e-05 9.99996852e-01 -2.51935939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39401273899998 meters Centerline goodness [0,1] 0.9943751475987033 Centerline is valid? [True, True] Translation: X:224.98, Y:-21.83, Z:-2.53 [[ 9.99971416e-01 7.16462347e-03 -2.41571813e-03 2.24980696e+02] [-7.16474361e-03 9.99974332e-01 -4.10801472e-05 -2.18327668e+01] [ 2.41536179e-03 5.83869739e-05 9.99997081e-01 -2.52900606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42401273899998 meters Centerline goodness [0,1] 0.9943806970509383 Centerline is valid? [True, True] Translation: X:225.01, Y:-21.83, Z:-2.53 [[ 9.99987254e-01 4.09761443e-03 -2.94968025e-03 2.25009089e+02] [-4.09778046e-03 9.99991603e-01 -5.02465012e-05 -2.18288236e+01] [ 2.94944959e-03 6.23330029e-05 9.99995648e-01 -2.52974867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45401273899998 meters Centerline goodness [0,1] 0.9952315784971988 Centerline is valid? [True, True] Translation: X:225.04, Y:-21.83, Z:-2.53 [[ 9.99993792e-01 1.85070872e-03 -2.99862475e-03 2.25038527e+02] [-1.85087052e-03 9.99998286e-01 -5.11849350e-05 -2.18333393e+01] [ 2.99852488e-03 5.67346834e-05 9.99995503e-01 -2.52991088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48401273899998 meters Centerline goodness [0,1] 0.9952982094551076 Centerline is valid? [True, True] Translation: X:225.07, Y:-21.84, Z:-2.53 [[ 9.99991509e-01 -2.81080436e-03 -3.01339085e-03 2.25068371e+02] [ 2.81066191e-03 9.99996049e-01 -5.15076039e-05 -2.18389385e+01] [ 3.01352372e-03 4.30375437e-05 9.99995458e-01 -2.52888930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51401273899998 meters Centerline goodness [0,1] 0.9955924293492352 Centerline is valid? [True, True] Translation: X:225.10, Y:-21.84, Z:-2.53 [[ 9.99983550e-01 -4.84681758e-03 -3.06726017e-03 2.25096685e+02] [ 4.84667932e-03 9.99988253e-01 -5.25066287e-05 -2.18394150e+01] [ 3.06747863e-03 3.76397385e-05 9.99995295e-01 -2.52920604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54401273899998 meters Centerline goodness [0,1] 0.9956633748389867 Centerline is valid? [True, True] Translation: X:225.12, Y:-21.84, Z:-2.53 [[ 9.99972066e-01 -6.53816518e-03 -3.62216278e-03 2.25124942e+02] [ 6.53798253e-03 9.99978625e-01 -6.22655962e-05 -2.18386935e+01] [ 3.62249245e-03 3.85822199e-05 9.99993438e-01 -2.52977037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57401273899998 meters Centerline goodness [0,1] 0.995568334125989 Centerline is valid? [True, True] Translation: X:225.15, Y:-21.84, Z:-2.53 [[ 9.99954848e-01 -8.80472352e-03 -3.57473525e-03 2.25154112e+02] [ 8.80455801e-03 9.99961237e-01 -6.20349777e-05 -2.18399035e+01] [ 3.57514289e-03 3.05582128e-05 9.99993609e-01 -2.52979917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60401273899998 meters Centerline goodness [0,1] 0.9954478453134483 Centerline is valid? [True, True] Translation: X:225.18, Y:-21.84, Z:-2.53 [[ 9.99949485e-01 -9.56412495e-03 -3.09106187e-03 2.25183328e+02] [ 9.56400344e-03 9.99954262e-01 -5.40864282e-05 -2.18410595e+01] [ 3.09143778e-03 2.45207696e-05 9.99995221e-01 -2.52839644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63401273899999 meters Centerline goodness [0,1] 0.9948591094859109 Centerline is valid? [True, True] Translation: X:225.21, Y:-21.84, Z:-2.53 [[ 9.99948728e-01 -9.76033136e-03 -2.69764383e-03 2.25211793e+02] [ 9.76023842e-03 9.99952367e-01 -4.76146050e-05 -2.18390625e+01] [ 2.69798006e-03 2.12825168e-05 9.99996360e-01 -2.52801648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.664012739 meters Centerline goodness [0,1] 0.9950196423588005 Centerline is valid? [True, True] Translation: X:225.24, Y:-21.84, Z:-2.53 [[ 9.99945296e-01 -1.00771569e-02 -2.80297325e-03 2.25240463e+02] [ 1.00770575e-02 9.99949224e-01 -4.95861983e-05 -2.18399834e+01] [ 2.80333061e-03 2.13377631e-05 9.99996070e-01 -2.52785114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.694012739 meters Centerline goodness [0,1] 0.9944461252539223 Centerline is valid? [True, True] Translation: X:225.27, Y:-21.84, Z:-2.53 [[ 9.99946782e-01 -1.00747936e-02 -2.22090190e-03 2.25269039e+02] [ 1.00747305e-02 9.99949248e-01 -3.96239625e-05 -2.18399320e+01] [ 2.22118839e-03 1.72468657e-05 9.99997533e-01 -2.52696612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.724012739 meters Centerline goodness [0,1] 0.9946338930240609 Centerline is valid? [True, True] Translation: X:225.30, Y:-21.84, Z:-2.52 [[ 9.99949471e-01 -9.99345269e-03 -1.08894933e-03 2.25298747e+02] [ 9.99343744e-03 9.99950064e-01 -1.94478127e-05 -2.18405786e+01] [ 1.08908930e-03 8.56448306e-06 9.99999407e-01 -2.52453390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.754012739 meters Centerline goodness [0,1] 0.9944202154951257 Centerline is valid? [True, True] Translation: X:225.33, Y:-21.84, Z:-2.52 [[ 9.99953938e-01 -9.51972061e-03 -1.22341989e-03 2.25328186e+02] [ 9.51970094e-03 9.99954686e-01 -2.19056054e-05 -2.18362410e+01] [ 1.22357299e-03 1.02580049e-05 9.99999251e-01 -2.52369747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.784012739 meters Centerline goodness [0,1] 0.9945797729881393 Centerline is valid? [True, True] Translation: X:225.36, Y:-21.83, Z:-2.52 [[ 9.99960547e-01 -8.74008940e-03 -1.58594653e-03 2.25358154e+02] [ 8.74005533e-03 9.99961805e-01 -2.84131776e-05 -2.18343024e+01] [ 1.58613429e-03 1.45507962e-05 9.99998742e-01 -2.52476017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.814012739 meters Centerline goodness [0,1] 0.9943165976794561 Centerline is valid? [True, True] Translation: X:225.39, Y:-21.83, Z:-2.53 [[ 9.99967938e-01 -7.80417525e-03 -1.79377301e-03 2.25387740e+02] [ 7.80413007e-03 9.99969547e-01 -3.21836613e-05 -2.18332378e+01] [ 1.79396955e-03 1.81837916e-05 9.99998391e-01 -2.52569259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.844012739 meters Centerline goodness [0,1] 0.9950796876671302 Centerline is valid? [True, True] Translation: X:225.42, Y:-21.83, Z:-2.53 [[ 9.99975199e-01 -6.67426427e-03 -2.24830230e-03 2.25416441e+02] [ 6.67419030e-03 9.99977727e-01 -4.04030023e-05 -2.18292893e+01] [ 2.24852189e-03 2.53964029e-05 9.99997472e-01 -2.52670508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.874012739 meters Centerline goodness [0,1] 0.9950882181865185 Centerline is valid? [True, True] Translation: X:225.45, Y:-21.83, Z:-2.53 [[ 9.99972407e-01 -7.12532390e-03 -2.10139435e-03 2.25446573e+02] [ 7.12526011e-03 9.99974614e-01 -3.78386356e-05 -2.18289037e+01] [ 2.10161062e-03 2.28646101e-05 9.99997791e-01 -2.52671232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90401273899997 meters Centerline goodness [0,1] 0.9946617697300991 Centerline is valid? [True, True] Translation: X:225.48, Y:-21.83, Z:-2.53 [[ 9.99965266e-01 -8.08920746e-03 -2.00786717e-03 2.25475084e+02] [ 8.08915110e-03 9.99967282e-01 -3.61903884e-05 -2.18286659e+01] [ 2.00809423e-03 1.99471905e-05 9.99997984e-01 -2.52648414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93401273899997 meters Centerline goodness [0,1] 0.994782683684029 Centerline is valid? [True, True] Translation: X:225.50, Y:-21.83, Z:-2.53 [[ 9.99928118e-01 -1.18578931e-02 -1.77446449e-03 2.25504558e+02] [ 1.18578551e-02 9.99929693e-01 -3.19189857e-05 -2.18345009e+01] [ 1.77471822e-03 1.08753485e-05 9.99998425e-01 -2.52686263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96401273899997 meters Centerline goodness [0,1] 0.9937581841990397 Centerline is valid? [True, True] Translation: X:225.53, Y:-21.84, Z:-2.53 [[ 9.99898548e-01 -1.41124475e-02 -1.93195245e-03 2.25532993e+02] [ 1.41124059e-02 9.99900414e-01 -3.51833826e-05 -2.18376249e+01] [ 1.93225658e-03 7.91531603e-06 9.99998133e-01 -2.52707123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99401273899997 meters Centerline goodness [0,1] 0.9927240345771252 Centerline is valid? [True, True] Translation: X:225.56, Y:-21.84, Z:-2.53 [[ 9.99815568e-01 -1.88858468e-02 -3.48629025e-03 2.25562505e+02] [ 1.88857396e-02 9.99821646e-01 -6.36821872e-05 -2.18447165e+01] [ 3.48687115e-03 -2.17072747e-06 9.99993921e-01 -2.53005701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02401273899997 meters Centerline goodness [0,1] 0.992886921390811 Centerline is valid? [True, True] Translation: X:225.59, Y:-21.85, Z:-2.53 [[ 9.99768941e-01 -2.10513283e-02 -4.34803622e-03 2.25590072e+02] [ 2.10511812e-02 9.99778396e-01 -7.96014754e-05 -2.18481505e+01] [ 4.34874839e-03 -1.19482155e-05 9.99990544e-01 -2.53145304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05401273899997 meters Centerline goodness [0,1] 0.992886921390811 Centerline is valid? [True, True] Translation: X:225.62, Y:-21.85, Z:-2.53 [[ 9.99765020e-01 -2.12367623e-02 -4.34802775e-03 2.25617548e+02] [ 2.12366149e-02 9.99774474e-01 -8.00613187e-05 -2.18474548e+01] [ 4.34874741e-03 -1.22948853e-05 9.99990544e-01 -2.53137724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08401273899997 meters Centerline goodness [0,1] 0.9926708342315154 Centerline is valid? [True, True] Translation: X:225.65, Y:-21.85, Z:-2.53 [[ 9.99715524e-01 -2.33380037e-02 -4.92026527e-03 2.25646693e+02] [ 2.33378358e-02 9.99727631e-01 -9.15304815e-05 -2.18505373e+01] [ 4.92106129e-03 -2.33239001e-05 9.99987891e-01 -2.53292233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11401273899997 meters Centerline goodness [0,1] 0.9920398861618128 Centerline is valid? [True, True] Translation: X:225.67, Y:-21.85, Z:-2.53 [[ 9.99683462e-01 -2.46008660e-02 -5.26997806e-03 2.25674358e+02] [ 2.46006877e-02 9.99697352e-01 -9.86646052e-05 -2.18542969e+01] [ 5.27081034e-03 -3.10117102e-05 9.99986109e-01 -2.53433137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14401273899998 meters Centerline goodness [0,1] 0.9917665157194548 Centerline is valid? [True, True] Translation: X:225.70, Y:-21.85, Z:-2.53 [[ 9.99664764e-01 -2.51283192e-02 -6.23922375e-03 2.25702236e+02] [ 2.51280742e-02 9.99684233e-01 -1.17657742e-04 -2.18531204e+01] [ 6.24021015e-03 -3.91613790e-05 9.99980529e-01 -2.53444337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17401273899998 meters Centerline goodness [0,1] 0.9925023227674423 Centerline is valid? [True, True] Translation: X:225.73, Y:-21.85, Z:-2.53 [[ 9.99683860e-01 -2.43911209e-02 -6.10357693e-03 2.25729874e+02] [ 2.43908685e-02 9.99702492e-01 -1.15805355e-04 -2.18520433e+01] [ 6.10458569e-03 -3.31027978e-05 9.99981366e-01 -2.53428556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20401273899998 meters Centerline goodness [0,1] 0.9928486550718375 Centerline is valid? [True, True] Translation: X:225.76, Y:-21.85, Z:-2.53 [[ 9.99744151e-01 -2.20391872e-02 -5.08986144e-03 2.25757702e+02] [ 2.20389798e-02 9.99757107e-01 -9.68429937e-05 -2.18495908e+01] [ 5.09075949e-03 -1.53571368e-05 9.99987042e-01 -2.53252759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23401273899998 meters Centerline goodness [0,1] 0.9936058655526664 Centerline is valid? [True, True] Translation: X:225.79, Y:-21.85, Z:-2.53 [[ 9.99778216e-01 -2.05199211e-02 -4.73840849e-03 2.25785178e+02] [ 2.05197230e-02 9.99789444e-01 -9.04205175e-05 -2.18464492e+01] [ 4.73926621e-03 -6.83036594e-06 9.99988770e-01 -2.53174785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26401273899998 meters Centerline goodness [0,1] 0.9946600060290255 Centerline is valid? [True, True] Translation: X:225.81, Y:-21.84, Z:-2.53 [[ 9.99830928e-01 -1.78884979e-02 -4.25635257e-03 2.25812547e+02] [ 1.78883125e-02 9.99839988e-01 -8.16251719e-05 -2.18392493e+01] [ 4.25713165e-03 5.47240637e-06 9.99990938e-01 -2.53028775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29401273899998 meters Centerline goodness [0,1] 0.9946084056904055 Centerline is valid? [True, True] Translation: X:225.84, Y:-21.84, Z:-2.53 [[ 9.99846905e-01 -1.71181772e-02 -3.62414589e-03 2.25840318e+02] [ 1.71180356e-02 9.99853473e-01 -7.00704108e-05 -2.18365329e+01] [ 3.62481433e-03 8.02142494e-06 9.99993430e-01 -2.52931424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32401273899998 meters Centerline goodness [0,1] 0.9948370787720389 Centerline is valid? [True, True] Translation: X:225.87, Y:-21.83, Z:-2.53 [[ 9.99857018e-01 -1.65998953e-02 -3.22290867e-03 2.25868153e+02] [ 1.65997791e-02 9.99862212e-01 -6.27960358e-05 -2.18349770e+01] [ 3.22350700e-03 9.28748505e-06 9.99994804e-01 -2.52873765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35401273899998 meters Centerline goodness [0,1] 0.9937406272413118 Centerline is valid? [True, True] Translation: X:225.90, Y:-21.84, Z:-2.53 [[ 9.99848776e-01 -1.71988732e-02 -2.57353457e-03 2.25896347e+02] [ 1.71988009e-02 9.99852088e-01 -5.02376346e-05 -2.18364048e+01] [ 2.57401795e-03 5.96832882e-06 9.99996687e-01 -2.52889719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38401273899999 meters Centerline goodness [0,1] 0.9942829000899319 Centerline is valid? [True, True] Translation: X:225.92, Y:-21.84, Z:-2.53 [[ 9.99828824e-01 -1.81451375e-02 -3.61610882e-03 2.25924774e+02] [ 1.81449982e-02 9.99835363e-01 -7.13253350e-05 -2.18377923e+01] [ 3.61680769e-03 5.69883765e-06 9.99993459e-01 -2.53058005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.414012739 meters Centerline goodness [0,1] 0.9934725284225997 Centerline is valid? [True, True] Translation: X:225.95, Y:-21.84, Z:-2.53 [[ 9.99792447e-01 -1.99184709e-02 -4.27994023e-03 2.25952838e+02] [ 1.99182903e-02 9.99801608e-01 -8.48277593e-05 -2.18397981e+01] [ 4.28078076e-03 -4.38938840e-07 9.99990837e-01 -2.53140896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.444012739 meters Centerline goodness [0,1] 0.9912713391095479 Centerline is valid? [True, True] Translation: X:225.98, Y:-21.84, Z:-2.53 [[ 9.99739809e-01 -2.25984240e-02 -3.10245798e-03 2.25980875e+02] [ 2.25983408e-02 9.99744623e-01 -6.18916204e-05 -2.18439141e+01] [ 3.10306433e-03 -8.23488583e-06 9.99995185e-01 -2.52885982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.474012739 meters Centerline goodness [0,1] 0.9901472522260311 Centerline is valid? [True, True] Translation: X:226.01, Y:-21.85, Z:-2.53 [[ 9.99701612e-01 -2.43838693e-02 -1.45358753e-03 2.26009909e+02] [ 2.43838531e-02 9.99702669e-01 -2.88560600e-05 -2.18455579e+01] [ 1.45385895e-03 -6.59661500e-06 9.99998943e-01 -2.52553251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.504012739 meters Centerline goodness [0,1] 0.9890013103907542 Centerline is valid? [True, True] Translation: X:226.04, Y:-21.85, Z:-2.52 [[ 9.99660475e-01 -2.60562701e-02 7.06223944e-05 2.26038840e+02] [ 2.60562700e-02 9.99660478e-01 1.52477137e-06 -2.18490272e+01] [-7.06381464e-05 3.15902508e-07 9.99999998e-01 -2.52294942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.534012739 meters Centerline goodness [0,1] 0.988251705573356 Centerline is valid? [True, True] Translation: X:226.07, Y:-21.86, Z:-2.52 [[ 9.99570228e-01 -2.93036199e-02 8.11151708e-04 2.26069089e+02] [ 2.93036162e-02 9.99570557e-01 1.64733418e-05 -2.18582575e+01] [-8.11286093e-04 7.30341632e-06 9.99999671e-01 -2.52263152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.564012739 meters Centerline goodness [0,1] 0.9882611411463157 Centerline is valid? [True, True] Translation: X:226.10, Y:-21.86, Z:-2.52 [[ 9.99528113e-01 -3.07161101e-02 -2.68166454e-04 2.26097886e+02] [ 3.07161097e-02 9.99528149e-01 -5.33658235e-06 -2.18630985e+01] [ 2.68203838e-04 -2.90296614e-06 9.99999964e-01 -2.52383851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.594012739 meters Centerline goodness [0,1] 0.9882171141587792 Centerline is valid? [True, True] Translation: X:226.13, Y:-21.87, Z:-2.52 [[ 9.99494958e-01 -3.17553833e-02 -1.19353608e-03 2.26126324e+02] [ 3.17553772e-02 9.99495671e-01 -2.40934223e-05 -2.18706504e+01] [ 1.19369925e-03 -1.38199345e-05 9.99999287e-01 -2.52431568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.624012739 meters Centerline goodness [0,1] 0.988313856427379 Centerline is valid? [True, True] Translation: X:226.15, Y:-21.87, Z:-2.52 [[ 9.99519076e-01 -3.09617800e-02 -1.72756085e-03 2.26154703e+02] [ 3.09617658e-02 9.99520569e-01 -3.49406943e-05 -2.18718263e+01] [ 1.72781443e-03 -1.85644441e-05 9.99998507e-01 -2.52439300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65401273899997 meters Centerline goodness [0,1] 0.9888000343952879 Centerline is valid? [True, True] Translation: X:226.18, Y:-21.87, Z:-2.52 [[ 9.99552602e-01 -2.98491755e-02 -1.90332658e-03 2.26183637e+02] [ 2.98491556e-02 9.99554414e-01 -3.88470728e-05 -2.18715421e+01] [ 1.90363803e-03 -1.79829985e-05 9.99998188e-01 -2.52451984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68401273899997 meters Centerline goodness [0,1] 0.9910662011839452 Centerline is valid? [True, True] Translation: X:226.21, Y:-21.87, Z:-2.53 [[ 9.99665079e-01 -2.56664220e-02 -3.31127091e-03 2.26212450e+02] [ 2.56663361e-02 9.99670563e-01 -6.84526072e-05 -2.18697769e+01] [ 3.31193699e-03 -1.65585111e-05 9.99994515e-01 -2.52824114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71401273899997 meters Centerline goodness [0,1] 0.9925760305641783 Centerline is valid? [True, True] Translation: X:226.24, Y:-21.87, Z:-2.53 [[ 9.99732792e-01 -2.27029331e-02 -4.34978541e-03 2.26240473e+02] [ 2.27027538e-02 9.99742255e-01 -9.06116584e-05 -2.18669129e+01] [ 4.35072143e-03 -8.16466080e-06 9.99990536e-01 -2.52975765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74401273899997 meters Centerline goodness [0,1] 0.9963783135158721 Centerline is valid? [True, True] Translation: X:226.27, Y:-21.86, Z:-2.53 [[ 9.99865719e-01 -1.56071506e-02 -4.99612128e-03 2.26269575e+02] [ 1.56068227e-02 9.99878201e-01 -1.04621239e-04 -2.18592303e+01] [ 4.99714559e-03 2.66336110e-05 9.99987514e-01 -2.52988536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77401273899997 meters Centerline goodness [0,1] 0.9966901027582477 Centerline is valid? [True, True] Translation: X:226.30, Y:-21.85, Z:-2.53 [[ 9.99920346e-01 -1.17806643e-02 -4.52956096e-03 2.26297174e+02] [ 1.17803532e-02 9.99930605e-01 -9.53621331e-05 -2.18533119e+01] [ 4.53037006e-03 4.19947092e-05 9.99989737e-01 -2.52843735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80401273899997 meters Centerline goodness [0,1] 0.9967067737144579 Centerline is valid? [True, True] Translation: X:226.33, Y:-21.85, Z:-2.53 [[ 9.99963341e-01 -7.56394832e-03 -4.01288601e-03 2.26326137e+02] [ 7.56366874e-03 9.99971391e-01 -8.48427504e-05 -2.18478933e+01] [ 4.01341295e-03 5.44874997e-05 9.99991945e-01 -2.52720688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83401273899997 meters Centerline goodness [0,1] 0.9959206700516425 Centerline is valid? [True, True] Translation: X:226.36, Y:-21.84, Z:-2.53 [[ 9.99993135e-01 1.91966718e-03 -3.16925924e-03 2.26356522e+02] [-1.91989032e-03 9.99998155e-01 -6.73686180e-05 -2.18357033e+01] [ 3.16912407e-03 7.34527856e-05 9.99994976e-01 -2.52525921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86401273899997 meters Centerline goodness [0,1] 0.9945354015619285 Centerline is valid? [True, True] Translation: X:226.39, Y:-21.82, Z:-2.53 [[ 9.99968485e-01 7.29177691e-03 -3.13981781e-03 2.26385726e+02] [-7.29202246e-03 9.99973411e-01 -6.67643899e-05 -2.18219930e+01] [ 3.13924750e-03 8.96579079e-05 9.99995069e-01 -2.52589293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89401273899998 meters Centerline goodness [0,1] 0.9749449695714101 Centerline is valid? [True, True] Translation: X:226.41, Y:-21.80, Z:-2.53 [[ 9.99851927e-01 1.68815689e-02 -3.33723507e-03 2.26414235e+02] [-1.68818998e-02 9.99857488e-01 -7.10119658e-05 -2.18002003e+01] [ 3.33556068e-03 1.27340319e-04 9.99994429e-01 -2.52634612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92401273899998 meters Centerline goodness [0,1] 0.9437019820517787 Centerline is valid? [True, False] Translation: X:226.41, Y:-21.79, Z:-2.53 [[ 9.99853975e-01 1.67524111e-02 -3.37422631e-03 2.26414417e+02] [-1.67559470e-02 9.99859087e-01 -1.02238346e-03 -2.17949254e+01] [ 3.35662344e-03 1.07877252e-03 9.99993785e-01 -2.52646344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95401273899998 meters Centerline goodness [0,1] 0.9795291266337748 Centerline is valid? [False, True] Translation: X:226.41, Y:-21.79, Z:-2.53 [[ 9.99858709e-01 1.64839451e-02 -3.29271352e-03 2.26414128e+02] [-1.64903802e-02 9.99862148e-01 -1.93684993e-03 -2.17901945e+01] [ 3.26033269e-03 1.99087437e-03 9.99992703e-01 -2.52641751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98401273899998 meters Centerline goodness [0,1] 0.9684757604157792 Centerline is valid? [True, True] Translation: X:226.44, Y:-21.78, Z:-2.53 [[ 9.99846669e-01 1.72497205e-02 -3.01417040e-03 2.26442126e+02] [-1.72500468e-02 9.99851203e-01 -8.23037415e-05 -2.17838649e+01] [ 3.01230218e-03 1.34285702e-04 9.99995454e-01 -2.52512209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01401273899998 meters Centerline goodness [0,1] 0.9719064841126324 Centerline is valid? [True, True] Translation: X:226.47, Y:-21.78, Z:-2.53 [[ 9.99864099e-01 1.63440840e-02 -2.15722887e-03 2.26470578e+02] [-1.63442490e-02 9.99866422e-01 -5.88658179e-05 -2.17798102e+01] [ 2.15597860e-03 9.41161037e-05 9.99997671e-01 -2.52506659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04401273899998 meters Centerline goodness [0,1] 0.9785325560885371 Centerline is valid? [True, True] Translation: X:226.50, Y:-21.78, Z:-2.53 [[ 9.99884227e-01 1.49379990e-02 -2.89617609e-03 2.26500188e+02] [-1.49382910e-02 9.99888414e-01 -7.91814249e-05 -2.17797232e+01] [ 2.89467010e-03 1.22436179e-04 9.99995803e-01 -2.52668288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07401273899998 meters Centerline goodness [0,1] 0.9881217199749476 Centerline is valid? [True, True] Translation: X:226.53, Y:-21.78, Z:-2.53 [[ 9.99935494e-01 1.08394874e-02 -3.39319471e-03 2.26530821e+02] [-1.08398648e-02 9.99941243e-01 -9.28661893e-05 -2.17831504e+01] [ 3.39198872e-03 1.29641971e-04 9.99994239e-01 -2.52773976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10401273899998 meters Centerline goodness [0,1] 0.9855534628884514 Centerline is valid? [True, True] Translation: X:226.56, Y:-21.78, Z:-2.53 [[ 9.99953293e-01 9.04583257e-03 -3.40374853e-03 2.26559600e+02] [-9.04620206e-03 9.99959078e-01 -9.31738494e-05 -2.17782875e+01] [ 3.40276640e-03 1.23960494e-04 9.99994203e-01 -2.52667810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13401273899999 meters Centerline goodness [0,1] 0.9917794031976179 Centerline is valid? [True, True] Translation: X:226.59, Y:-21.78, Z:-2.53 [[ 9.99967337e-01 7.51877026e-03 -2.96521433e-03 2.26589674e+02] [-7.51904400e-03 9.99971728e-01 -8.11807414e-05 -2.17813526e+01] [ 2.96452012e-03 1.03473667e-04 9.99995600e-01 -2.52576577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.164012739 meters Centerline goodness [0,1] 0.9911426610620229 Centerline is valid? [True, True] Translation: X:226.62, Y:-21.78, Z:-2.53 [[ 9.99976880e-01 6.19198093e-03 -2.81064379e-03 2.26618053e+02] [-6.19222179e-03 9.99980825e-01 -7.70005310e-05 -2.17772644e+01] [ 2.81011311e-03 9.44028805e-05 9.99996047e-01 -2.52525815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.194012739 meters Centerline goodness [0,1] 0.9920682558737781 Centerline is valid? [True, True] Translation: X:226.65, Y:-21.78, Z:-2.53 [[ 9.99978434e-01 5.83626413e-03 -3.01167935e-03 2.26647322e+02] [-5.83653939e-03 9.99982964e-01 -8.26145491e-05 -2.17770530e+01] [ 3.01114588e-03 1.00190553e-04 9.99995461e-01 -2.52591917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.224012739 meters Centerline goodness [0,1] 0.9929410240911838 Centerline is valid? [True, True] Translation: X:226.68, Y:-21.78, Z:-2.53 [[ 9.99977441e-01 5.85231939e-03 -3.29657925e-03 2.26676114e+02] [-5.85264982e-03 9.99982869e-01 -9.05964174e-05 -2.17771344e+01] [ 3.29599257e-03 1.09888098e-04 9.99994562e-01 -2.52679123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.254012739 meters Centerline goodness [0,1] 0.9941120027913468 Centerline is valid? [True, True] Translation: X:226.71, Y:-21.78, Z:-2.53 [[ 9.99980421e-01 4.90390478e-03 -3.88696521e-03 2.26705540e+02] [-4.90435786e-03 9.99987968e-01 -1.07039703e-04 -2.17783282e+01] [ 3.88639353e-03 1.26100676e-04 9.99992440e-01 -2.52712605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.284012739 meters Centerline goodness [0,1] 0.9927676611132636 Centerline is valid? [True, True] Translation: X:226.73, Y:-21.77, Z:-2.53 [[ 9.99980842e-01 4.45303468e-03 -4.29948191e-03 2.26733140e+02] [-4.45358629e-03 9.99990076e-01 -1.18731064e-04 -2.17747695e+01] [ 4.29891053e-03 1.37876903e-04 9.99990750e-01 -2.52714022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.314012739 meters Centerline goodness [0,1] 0.9939239302008779 Centerline is valid? [True, True] Translation: X:226.76, Y:-21.77, Z:-2.53 [[ 9.99984853e-01 3.14484254e-03 -4.51701229e-03 2.26762205e+02] [-3.14543929e-03 9.99995045e-01 -1.25013399e-04 -2.17724228e+01] [ 4.51659676e-03 1.39219493e-04 9.99989790e-01 -2.52708257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.344012739 meters Centerline goodness [0,1] 0.9929938882855257 Centerline is valid? [True, True] Translation: X:226.79, Y:-21.77, Z:-2.53 [[ 9.99985270e-01 3.02010900e-03 -4.50982214e-03 2.26789832e+02] [-3.02070356e-03 9.99995430e-01 -1.25032676e-04 -2.17661559e+01] [ 4.50942392e-03 1.38653670e-04 9.99989823e-01 -2.52656236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.374012739 meters Centerline goodness [0,1] 0.9940551095682361 Centerline is valid? [True, True] Translation: X:226.82, Y:-21.77, Z:-2.53 [[ 9.99987712e-01 2.95455494e-03 -3.98082876e-03 2.26818271e+02] [-2.95501848e-03 9.99995628e-01 -1.10566863e-04 -2.17656132e+01] [ 3.98048468e-03 1.22328927e-04 9.99992070e-01 -2.52534585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40401273899997 meters Centerline goodness [0,1] 0.9933669636148975 Centerline is valid? [True, True] Translation: X:226.85, Y:-21.76, Z:-2.52 [[ 9.99985895e-01 3.53626442e-03 -3.96288301e-03 2.26846339e+02] [-3.53672909e-03 9.99993740e-01 -1.10254381e-04 -2.17580235e+01] [ 3.96246831e-03 1.24268469e-04 9.99992142e-01 -2.52472754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43401273899997 meters Centerline goodness [0,1] 0.9919927870682438 Centerline is valid? [True, True] Translation: X:226.87, Y:-21.75, Z:-2.52 [[ 9.99984483e-01 4.03179905e-03 -3.84414337e-03 2.26873722e+02] [-4.03224078e-03 9.99991865e-01 -1.07165492e-04 -2.17516749e+01] [ 3.84368003e-03 1.22664341e-04 9.99992606e-01 -2.52434038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46401273899997 meters Centerline goodness [0,1] 0.9923460612315101 Centerline is valid? [True, True] Translation: X:226.90, Y:-21.75, Z:-2.52 [[ 9.99983583e-01 4.47915292e-03 -3.57364894e-03 2.26902038e+02] [-4.47953820e-03 9.99989962e-01 -9.98134061e-05 -2.17478729e+01] [ 3.57316598e-03 1.15820064e-04 9.99993610e-01 -2.52382692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49401273899997 meters Centerline goodness [0,1] 0.9927601422267918 Centerline is valid? [True, True] Translation: X:226.93, Y:-21.75, Z:-2.52 [[ 9.99984153e-01 4.62769732e-03 -3.20589242e-03 2.26930726e+02] [-4.62800855e-03 9.99989287e-01 -8.96693740e-05 -2.17452688e+01] [ 3.20544311e-03 1.04504851e-04 9.99994857e-01 -2.52301472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52401273899997 meters Centerline goodness [0,1] 0.9925303857861445 Centerline is valid? [True, True] Translation: X:226.96, Y:-21.74, Z:-2.52 [[ 9.99989769e-01 3.97739546e-03 -2.15466981e-03 2.26959327e+02] [-3.97753463e-03 9.99992088e-01 -6.03109650e-05 -2.17403849e+01] [ 2.15441289e-03 6.88806218e-05 9.99997677e-01 -2.52189473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55401273899997 meters Centerline goodness [0,1] 0.9938530799532488 Centerline is valid? [True, True] Translation: X:226.99, Y:-21.74, Z:-2.52 [[ 9.99993634e-01 2.93950025e-03 -2.02287397e-03 2.26988268e+02] [-2.93962096e-03 9.99995678e-01 -5.67040351e-05 -2.17390674e+01] [ 2.02269855e-03 6.26501568e-05 9.99997952e-01 -2.52183565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58401273899997 meters Centerline goodness [0,1] 0.9940955448201825 Centerline is valid? [True, True] Translation: X:227.02, Y:-21.73, Z:-2.52 [[ 9.99998753e-01 2.95751525e-04 -1.55139141e-03 2.27017223e+02] [-2.95819473e-04 9.99999955e-01 -4.35685807e-05 -2.17340905e+01] [ 1.55137846e-03 4.40274582e-05 9.99998796e-01 -2.52104381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61401273899997 meters Centerline goodness [0,1] 0.994277172752509 Centerline is valid? [True, True] Translation: X:227.05, Y:-21.73, Z:-2.52 [[ 9.99998011e-01 -1.48238430e-03 -1.33421134e-03 2.27046691e+02] [ 1.48233560e-03 9.99998901e-01 -3.74896734e-05 -2.17347289e+01] [ 1.33426544e-03 3.55118499e-05 9.99999109e-01 -2.52057889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64401273899998 meters Centerline goodness [0,1] 0.9945244155455265 Centerline is valid? [True, True] Translation: X:227.08, Y:-21.74, Z:-2.52 [[ 9.99992619e-01 -3.60508769e-03 -1.32885121e-03 2.27076710e+02] [ 3.60504121e-03 9.99993501e-01 -3.73674662e-05 -2.17377363e+01] [ 1.32897729e-03 3.25766270e-05 9.99999116e-01 -2.52097292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67401273899998 meters Centerline goodness [0,1] 0.9956277194099543 Centerline is valid? [True, True] Translation: X:227.11, Y:-21.74, Z:-2.52 [[ 9.99972919e-01 -6.64342458e-03 -3.16628103e-03 2.27105913e+02] [ 6.64317535e-03 9.99977930e-01 -8.92247252e-05 -2.17377911e+01] [ 3.16680390e-03 6.81881489e-05 9.99994983e-01 -2.52488615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70401273899998 meters Centerline goodness [0,1] 0.9961202715809894 Centerline is valid? [True, True] Translation: X:227.14, Y:-21.74, Z:-2.53 [[ 9.99964360e-01 -7.44569855e-03 -3.97996540e-03 2.27135066e+02] [ 7.44531046e-03 9.99972277e-01 -1.12318811e-04 -2.17362073e+01] [ 3.98069136e-03 8.26827304e-05 9.99992074e-01 -2.52657039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73401273899998 meters Centerline goodness [0,1] 0.9958391721461679 Centerline is valid? [True, True] Translation: X:227.16, Y:-21.73, Z:-2.53 [[ 9.99960888e-01 -7.52188789e-03 -4.65234595e-03 2.27163757e+02] [ 7.52135449e-03 9.99971705e-01 -1.32136675e-04 -2.17318930e+01] [ 4.65320823e-03 9.71395634e-05 9.99989169e-01 -2.52720595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76401273899998 meters Centerline goodness [0,1] 0.9960434791857224 Centerline is valid? [True, True] Translation: X:227.19, Y:-21.73, Z:-2.53 [[ 9.99964475e-01 -6.66509723e-03 -5.15994145e-03 2.27191325e+02] [ 6.66442566e-03 9.99977782e-01 -1.47335027e-04 -2.17268270e+01] [ 5.16080881e-03 1.12941747e-04 9.99986677e-01 -2.52699823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79401273899998 meters Centerline goodness [0,1] 0.9954427645788337 Centerline is valid? [True, True] Translation: X:227.22, Y:-21.72, Z:-2.53 [[ 9.99973156e-01 -5.27475885e-03 -5.08564577e-03 2.27220302e+02] [ 5.27408568e-03 9.99986081e-01 -1.45768709e-04 -2.17190792e+01] [ 5.08634388e-03 1.18942664e-04 9.99987057e-01 -2.52682141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82401273899998 meters Centerline goodness [0,1] 0.9956349718315917 Centerline is valid? [True, True] Translation: X:227.25, Y:-21.72, Z:-2.53 [[ 9.99975065e-01 -5.08683870e-03 -4.89831936e-03 2.27248065e+02] [ 5.08620891e-03 9.99987055e-01 -1.41022674e-04 -2.17158079e+01] [ 4.89897332e-03 1.16105282e-04 9.99987993e-01 -2.52661893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85401273899998 meters Centerline goodness [0,1] 0.995693182307593 Centerline is valid? [True, True] Translation: X:227.28, Y:-21.71, Z:-2.52 [[ 9.99976286e-01 -5.59511601e-03 -4.01528392e-03 2.27276391e+02] [ 5.59469599e-03 9.99984343e-01 -1.15831807e-04 -2.17134979e+01] [ 4.01586914e-03 9.33647677e-05 9.99991932e-01 -2.52437387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88401273899999 meters Centerline goodness [0,1] 0.9961803394776936 Centerline is valid? [True, True] Translation: X:227.31, Y:-21.71, Z:-2.52 [[ 9.99966697e-01 -8.00981348e-03 -1.56475719e-03 2.27305195e+02] [ 8.00975283e-03 9.99967920e-01 -4.50228698e-05 -2.17141095e+01] [ 1.56506762e-03 3.24880520e-05 9.99998775e-01 -2.51945337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.914012739 meters Centerline goodness [0,1] 0.9960533126293996 Centerline is valid? [True, True] Translation: X:227.34, Y:-21.71, Z:-2.52 [[ 9.99947813e-01 -1.00232009e-02 -1.97638374e-03 2.27335336e+02] [ 1.00231066e-02 9.99949766e-01 -5.76011595e-05 -2.17131239e+01] [ 1.97686180e-03 3.77886485e-05 9.99998045e-01 -2.52005024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.944012739 meters Centerline goodness [0,1] 0.9960533126293996 Centerline is valid? [True, True] Translation: X:227.36, Y:-21.71, Z:-2.52 [[ 9.99947576e-01 -1.00468522e-02 -1.97638362e-03 2.27364490e+02] [ 1.00467580e-02 9.99949528e-01 -5.76051391e-05 -2.17122286e+01] [ 1.97686262e-03 3.77458713e-05 9.99998045e-01 -2.51994517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.974012739 meters Centerline goodness [0,1] 0.9961549201984834 Centerline is valid? [True, True] Translation: X:227.39, Y:-21.71, Z:-2.52 [[ 9.99920358e-01 -1.22729886e-02 -2.94119169e-03 2.27394222e+02] [ 1.22727892e-02 9.99924683e-01 -8.58452307e-05 -2.17095492e+01] [ 2.94202374e-03 4.97417682e-05 9.99995671e-01 -2.52209262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.004012739 meters Centerline goodness [0,1] 0.9967206748505966 Centerline is valid? [True, True] Translation: X:227.42, Y:-21.71, Z:-2.52 [[ 9.99860780e-01 -1.61701276e-02 -4.11684290e-03 2.27423696e+02] [ 1.61697696e-02 9.99869254e-01 -1.20230784e-04 -2.17140276e+01] [ 4.11824879e-03 5.36456438e-05 9.99991519e-01 -2.52386246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.034012739 meters Centerline goodness [0,1] 0.9965487674169347 Centerline is valid? [True, True] Translation: X:227.45, Y:-21.71, Z:-2.52 [[ 9.99842431e-01 -1.73625525e-02 -3.69517307e-03 2.27451965e+02] [ 1.73622719e-02 9.99849259e-01 -1.08008037e-04 -2.17116741e+01] [ 3.69649135e-03 4.38344183e-05 9.99993167e-01 -2.52202521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.064012739 meters Centerline goodness [0,1] 0.9963691376701966 Centerline is valid? [True, True] Translation: X:227.48, Y:-21.71, Z:-2.52 [[ 9.99823064e-01 -1.86500304e-02 -2.45276887e-03 2.27481733e+02] [ 1.86499098e-02 9.99826073e-01 -7.20598283e-05 -2.17072916e+01] [ 2.45368619e-03 2.63031602e-05 9.99996989e-01 -2.51872966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.094012739 meters Centerline goodness [0,1] 0.9939595872742907 Centerline is valid? [True, True] Translation: X:227.51, Y:-21.71, Z:-2.51 [[ 9.99815151e-01 -1.90961805e-02 -2.23587581e-03 2.27511473e+02] [ 1.90960812e-02 9.99817651e-01 -6.57488878e-05 -2.17066883e+01] [ 2.23672365e-03 2.30402682e-05 9.99997498e-01 -2.51213673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.124012739 meters Centerline goodness [0,1] 0.9960003459160289 Centerline is valid? [True, True] Translation: X:227.54, Y:-21.71, Z:-2.52 [[ 9.99783256e-01 -2.07109433e-02 -2.12095788e-03 2.27541857e+02] [ 2.07108575e-02 9.99785505e-01 -6.24094154e-05 -2.17061644e+01] [ 2.12179551e-03 1.84690319e-05 9.99997749e-01 -2.51922749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15401273899997 meters Centerline goodness [0,1] 0.9953660995859525 Centerline is valid? [True, True] Translation: X:227.57, Y:-21.71, Z:-2.52 [[ 9.99736719e-01 -2.28032359e-02 -2.55039278e-03 2.27571887e+02] [ 2.28031186e-02 9.99739972e-01 -7.50455837e-05 -2.17077074e+01] [ 2.55144089e-03 1.68689165e-05 9.99996745e-01 -2.51988802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18401273899997 meters Centerline goodness [0,1] 0.9939303932330341 Centerline is valid? [True, True] Translation: X:227.60, Y:-21.71, Z:-2.52 [[ 9.99617383e-01 -2.74829320e-02 -3.12678741e-03 2.27601680e+02] [ 2.74827787e-02 9.99622273e-01 -9.19947793e-05 -2.17129820e+01] [ 3.12813462e-03 6.02677405e-06 9.99995107e-01 -2.52100985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21401273899997 meters Centerline goodness [0,1] 0.9930741348062484 Centerline is valid? [True, True] Translation: X:227.63, Y:-21.72, Z:-2.52 [[ 9.99559925e-01 -2.94993631e-02 -3.12148102e-03 2.27631194e+02] [ 2.94992199e-02 9.99564799e-01 -9.19128141e-05 -2.17150779e+01] [ 3.12283392e-03 -2.08889410e-07 9.99995124e-01 -2.52074113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24401273899997 meters Centerline goodness [0,1] 0.9918043366029943 Centerline is valid? [True, True] Translation: X:227.66, Y:-21.72, Z:-2.52 [[ 9.99474087e-01 -3.23036781e-02 -2.83213429e-03 2.27661146e+02] [ 3.23035713e-02 9.99478100e-01 -8.34615869e-05 -2.17192350e+01] [ 2.83335231e-03 -8.07035850e-06 9.99995986e-01 -2.51934833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27401273899997 meters Centerline goodness [0,1] 0.9914507715949181 Centerline is valid? [True, True] Translation: X:227.69, Y:-21.72, Z:-2.52 [[ 9.99454778e-01 -3.29145912e-02 -2.60328745e-03 2.27690263e+02] [ 3.29145033e-02 9.99458168e-01 -7.65962646e-05 -2.17184622e+01] [ 2.60439804e-03 -9.13141080e-06 9.99996609e-01 -2.51859204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30401273899997 meters Centerline goodness [0,1] 0.9910592808551992 Centerline is valid? [True, True] Translation: X:227.72, Y:-21.72, Z:-2.52 [[ 9.99459273e-01 -3.27827165e-02 -2.54076540e-03 2.27720251e+02] [ 3.27826310e-02 9.99462502e-01 -7.52966925e-05 -2.17158637e+01] [ 2.54186818e-03 -8.03699716e-06 9.99996769e-01 -2.51863512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33401273899997 meters Centerline goodness [0,1] 0.991313672922252 Centerline is valid? [True, True] Translation: X:227.75, Y:-21.71, Z:-2.52 [[ 9.99479302e-01 -3.21571656e-02 -2.65362357e-03 2.27748511e+02] [ 3.21570700e-02 9.99482825e-01 -7.86969553e-05 -2.17131089e+01] [ 2.65478185e-03 -6.67678084e-06 9.99996476e-01 -2.51873244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36401273899997 meters Centerline goodness [0,1] 0.9914603454580654 Centerline is valid? [True, True] Translation: X:227.78, Y:-21.71, Z:-2.52 [[ 9.99519362e-01 -3.08947107e-02 -2.56159997e-03 2.27777161e+02] [ 3.08946172e-02 9.99522644e-01 -7.60538994e-05 -2.17100624e+01] [ 2.56272684e-03 -3.12230550e-06 9.99996716e-01 -2.51783100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39401273899998 meters Centerline goodness [0,1] 0.991216822669573 Centerline is valid? [True, True] Translation: X:227.81, Y:-21.71, Z:-2.52 [[ 9.99508137e-01 -3.12465932e-02 -2.67122320e-03 2.27806529e+02] [ 3.12464925e-02 9.99511706e-01 -7.94187780e-05 -2.17101643e+01] [ 2.67240042e-03 -4.08664095e-06 9.99996429e-01 -2.51737807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42401273899998 meters Centerline goodness [0,1] 0.991164296896781 Centerline is valid? [True, True] Translation: X:227.84, Y:-21.72, Z:-2.52 [[ 9.99402072e-01 -3.44053939e-02 -3.43038024e-03 2.27836225e+02] [ 3.44052462e-02 9.99407959e-01 -1.02093823e-04 -2.17159899e+01] [ 3.43186189e-03 -1.59902977e-05 9.99994111e-01 -2.51843763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45401273899998 meters Centerline goodness [0,1] 0.9905135123559895 Centerline is valid? [True, True] Translation: X:227.87, Y:-21.72, Z:-2.52 [[ 9.99314677e-01 -3.68641319e-02 -3.34835783e-03 2.27866233e+02] [ 3.68640046e-02 9.99320287e-01 -9.97291415e-05 -2.17197593e+01] [ 3.34975834e-03 -2.37730838e-05 9.99994389e-01 -2.51850776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48401273899998 meters Centerline goodness [0,1] 0.9849006280650434 Centerline is valid? [True, True] Translation: X:227.90, Y:-21.73, Z:-2.51 [[ 9.99137289e-01 -4.14777871e-02 -2.06671073e-03 2.27895531e+02] [ 4.14777485e-02 9.99139426e-01 -6.15544636e-05 -2.17324466e+01] [ 2.06748532e-03 -2.42211483e-05 9.99997862e-01 -2.50888260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51401273899998 meters Centerline goodness [0,1] 0.987671203142975 Centerline is valid? [True, True] Translation: X:227.92, Y:-21.73, Z:-2.52 [[ 9.99025517e-01 -4.40855077e-02 -2.11786079e-03 2.27924324e+02] [ 4.40854732e-02 9.99027761e-01 -6.29600562e-05 -2.17338688e+01] [ 2.11857735e-03 -3.04681924e-05 9.99997755e-01 -2.51781463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54401273899998 meters Centerline goodness [0,1] 0.987188658385901 Centerline is valid? [True, True] Translation: X:227.95, Y:-21.74, Z:-2.52 [[ 9.98947809e-01 -4.57576953e-02 -3.08348009e-03 2.27953388e+02] [ 4.57576279e-02 9.98952567e-01 -9.24559918e-05 -2.17371122e+01] [ 3.08448093e-03 -4.87340241e-05 9.99995242e-01 -2.51885617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57401273899998 meters Centerline goodness [0,1] 0.9870258194784551 Centerline is valid? [True, True] Translation: X:227.98, Y:-21.74, Z:-2.52 [[ 9.98916320e-01 -4.63288190e-02 -4.45275752e-03 2.27981615e+02] [ 4.63286798e-02 9.98926241e-01 -1.34458737e-04 -2.17436487e+01] [ 4.45420564e-03 -7.19773502e-05 9.99990077e-01 -2.52095643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60401273899998 meters Centerline goodness [0,1] 0.9879621668099742 Centerline is valid? [True, True] Translation: X:228.01, Y:-21.75, Z:-2.52 [[ 9.98953694e-01 -4.54903045e-02 -4.70635558e-03 2.28009706e+02] [ 4.54901378e-02 9.98964778e-01 -1.42517253e-04 -2.17452307e+01] [ 4.70796661e-03 -7.17246274e-05 9.99988915e-01 -2.52129211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63401273899999 meters Centerline goodness [0,1] 0.9883876249569115 Centerline is valid? [True, True] Translation: X:228.04, Y:-21.74, Z:-2.52 [[ 9.99018452e-01 -4.40939318e-02 -4.22576800e-03 2.28038842e+02] [ 4.40937837e-02 9.99027388e-01 -1.28252307e-04 -2.17445311e+01] [ 4.22731311e-03 -5.82036793e-05 9.99991063e-01 -2.52033132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.664012739 meters Centerline goodness [0,1] 0.9898457583547557 Centerline is valid? [True, True] Translation: X:228.07, Y:-21.74, Z:-2.52 [[ 9.99218255e-01 -3.94597144e-02 -2.41042158e-03 2.28066871e+02] [ 3.94596521e-02 9.99221162e-01 -7.34213805e-05 -2.17428997e+01] [ 2.41144144e-03 -2.17504134e-05 9.99997092e-01 -2.51669881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.694012739 meters Centerline goodness [0,1] 0.9894529662195409 Centerline is valid? [True, True] Translation: X:228.10, Y:-21.74, Z:-2.52 [[ 9.99303096e-01 -3.72863213e-02 -1.74730275e-03 2.28095635e+02] [ 3.72862855e-02 9.99304623e-01 -5.30750932e-05 -2.17414857e+01] [ 1.74806669e-03 -1.21123242e-05 9.99998472e-01 -2.51528084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.724012739 meters Centerline goodness [0,1] 0.9919563529716208 Centerline is valid? [True, True] Translation: X:228.12, Y:-21.74, Z:-2.52 [[ 9.99435520e-01 -3.35082861e-02 -2.41585046e-03 2.28124512e+02] [ 3.35082052e-02 9.99438440e-01 -7.39860241e-05 -2.17397611e+01] [ 2.41697296e-03 -7.00655228e-06 9.99997079e-01 -2.51782530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.754012739 meters Centerline goodness [0,1] 0.9931193153718795 Centerline is valid? [True, True] Translation: X:228.15, Y:-21.74, Z:-2.52 [[ 9.99489061e-01 -3.18197387e-02 -3.02025659e-03 2.28152052e+02] [ 3.18196025e-02 9.99493624e-01 -9.31479050e-05 -2.17387440e+01] [ 3.02169114e-03 -3.00305194e-06 9.99995435e-01 -2.51871365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.784012739 meters Centerline goodness [0,1] 0.9937455670900768 Centerline is valid? [True, True] Translation: X:228.18, Y:-21.74, Z:-2.52 [[ 9.99559453e-01 -2.95464731e-02 -2.81169620e-03 2.28179771e+02] [ 2.95463446e-02 9.99563408e-01 -8.72247463e-05 -2.17369569e+01] [ 2.81304581e-03 4.11097501e-06 9.99996043e-01 -2.51783863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.814012739 meters Centerline goodness [0,1] 0.9947725072604066 Centerline is valid? [True, True] Translation: X:228.21, Y:-21.73, Z:-2.51 [[ 9.99689008e-01 -2.49212643e-02 -9.04502488e-04 2.28208332e+02] [ 2.49212495e-02 9.99689417e-01 -2.76835346e-05 -2.17313417e+01] [ 9.04911474e-04 5.13359301e-06 9.99999591e-01 -2.51321161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.844012739 meters Centerline goodness [0,1] 0.9950929752066116 Centerline is valid? [True, True] Translation: X:228.24, Y:-21.73, Z:-2.51 [[ 9.99750790e-01 -2.23164155e-02 -5.79635945e-04 2.28237485e+02] [ 2.23164087e-02 9.99750958e-01 -1.80852927e-05 -2.17259580e+01] [ 5.79895191e-04 5.14539301e-06 9.99999832e-01 -2.51249051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.874012739 meters Centerline goodness [0,1] 0.9957815947735041 Centerline is valid? [True, True] Translation: X:228.27, Y:-21.72, Z:-2.51 [[ 9.99803187e-01 -1.98161855e-02 -9.52089484e-04 2.28266877e+02] [ 1.98161662e-02 9.99803640e-01 -2.97133274e-05 -2.17204216e+01] [ 9.52491337e-04 1.08407160e-05 9.99999546e-01 -2.51365474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90401273899997 meters Centerline goodness [0,1] 0.9963252574456266 Centerline is valid? [True, True] Translation: X:228.30, Y:-21.71, Z:-2.52 [[ 9.99864616e-01 -1.63961721e-02 -1.38384656e-03 2.28295888e+02] [ 1.63961279e-02 9.99865574e-01 -4.32848701e-05 -2.17128527e+01] [ 1.38437024e-03 2.05892848e-05 9.99999042e-01 -2.51555773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93401273899997 meters Centerline goodness [0,1] 0.9957985909120289 Centerline is valid? [True, True] Translation: X:228.33, Y:-21.71, Z:-2.51 [[ 9.99876645e-01 -1.56738161e-02 -1.01352059e-03 2.28326607e+02] [ 1.56737920e-02 9.99877158e-01 -3.17323416e-05 -2.17102861e+01] [ 1.01389345e-03 1.58427163e-05 9.99999486e-01 -2.51466226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96401273899997 meters Centerline goodness [0,1] 0.9963473675110227 Centerline is valid? [True, True] Translation: X:228.36, Y:-21.71, Z:-2.51 [[ 9.99889302e-01 -1.48394455e-02 -1.08400052e-03 2.28357272e+02] [ 1.48394174e-02 9.99889889e-01 -3.39684836e-05 -2.17050627e+01] [ 1.08438523e-03 1.78787872e-05 9.99999412e-01 -2.51430398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99401273899997 meters Centerline goodness [0,1] 0.9958652898581773 Centerline is valid? [True, True] Translation: X:228.39, Y:-21.70, Z:-2.51 [[ 9.99884222e-01 -1.51360259e-02 -1.56324002e-03 2.28387377e+02] [ 1.51359679e-02 9.99885443e-01 -4.89252052e-05 -2.17029202e+01] [ 1.56380148e-03 2.52583899e-05 9.99998777e-01 -2.51475415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02401273899997 meters Centerline goodness [0,1] 0.996570023297955 Centerline is valid? [True, True] Translation: X:228.42, Y:-21.70, Z:-2.52 [[ 9.99869598e-01 -1.60832968e-02 -1.45444452e-03 2.28417769e+02] [ 1.60832476e-02 9.99870655e-01 -4.55201988e-05 -2.17014954e+01] [ 1.45498851e-03 2.21220714e-05 9.99998941e-01 -2.51538227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05401273899997 meters Centerline goodness [0,1] 0.9960584130266219 Centerline is valid? [True, True] Translation: X:228.45, Y:-21.70, Z:-2.52 [[ 9.99810868e-01 -1.93920891e-02 -1.47479915e-03 2.28447361e+02] [ 1.93920420e-02 9.99811956e-01 -4.61812655e-05 -2.17013597e+01] [ 1.47541738e-03 1.75731640e-05 9.99998911e-01 -2.51513414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08401273899997 meters Centerline goodness [0,1] 0.9957238326492898 Centerline is valid? [True, True] Translation: X:228.48, Y:-21.70, Z:-2.51 [[ 9.99784532e-01 -2.07208468e-02 -1.23917060e-03 2.28478066e+02] [ 2.07208147e-02 9.99785300e-01 -3.87687007e-05 -2.17004056e+01] [ 1.23970787e-03 1.30837229e-05 9.99999231e-01 -2.51398308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11401273899997 meters Centerline goodness [0,1] 0.9957246686618213 Centerline is valid? [True, True] Translation: X:228.51, Y:-21.70, Z:-2.51 [[ 9.99720923e-01 -2.35638101e-02 -1.68019759e-03 2.28508057e+02] [ 2.35637550e-02 9.99722335e-01 -5.25666742e-05 -2.16979220e+01] [ 1.68096973e-03 1.29602397e-05 9.99998587e-01 -2.51421477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14401273899998 meters Centerline goodness [0,1] 0.9955573766956372 Centerline is valid? [True, True] Translation: X:228.54, Y:-21.70, Z:-2.52 [[ 9.99678771e-01 -2.52280408e-02 -2.42933833e-03 2.28538514e+02] [ 2.52279306e-02 9.99681722e-01 -7.60042972e-05 -2.16983009e+01] [ 2.43048257e-03 1.46927035e-05 9.99997046e-01 -2.51587064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17401273899998 meters Centerline goodness [0,1] 0.9951983118728737 Centerline is valid? [True, True] Translation: X:228.57, Y:-21.70, Z:-2.52 [[ 9.99630346e-01 -2.69824304e-02 -3.33477459e-03 2.28567720e+02] [ 2.69822325e-02 9.99635908e-01 -1.04325345e-04 -2.16981149e+01] [ 3.33637537e-03 1.43071175e-05 9.99994434e-01 -2.51716245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20401273899998 meters Centerline goodness [0,1] 0.9933929265448892 Centerline is valid? [True, True] Translation: X:228.60, Y:-21.70, Z:-2.52 [[ 9.99466954e-01 -3.25013540e-02 -3.07725455e-03 2.28596965e+02] [ 3.25012114e-02 9.99471691e-01 -9.63306871e-05 -2.17017428e+01] [ 3.07875969e-03 -3.73516221e-06 9.99995261e-01 -2.51607734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23401273899998 meters Centerline goodness [0,1] 0.9909126230357451 Centerline is valid? [True, True] Translation: X:228.63, Y:-21.70, Z:-2.51 [[ 9.99362557e-01 -3.56373045e-02 -2.11227376e-03 2.28626655e+02] [ 3.56372442e-02 9.99364789e-01 -6.61769589e-05 -2.17047082e+01] [ 2.11329039e-03 -9.14084084e-06 9.99997767e-01 -2.51431841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26401273899998 meters Centerline goodness [0,1] 0.9893491883568236 Centerline is valid? [True, True] Translation: X:228.66, Y:-21.71, Z:-2.51 [[ 9.99139662e-01 -4.14475787e-02 -1.42634621e-03 2.28655981e+02] [ 4.14475571e-02 9.99140680e-01 -4.46676250e-05 -2.17111861e+01] [ 1.42697188e-03 -1.44893702e-05 9.99998982e-01 -2.51202909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29401273899998 meters Centerline goodness [0,1] 0.9882976659985776 Centerline is valid? [True, True] Translation: X:228.68, Y:-21.71, Z:-2.51 [[ 9.99013751e-01 -4.43689719e-02 -1.70877593e-03 2.28684508e+02] [ 4.43689451e-02 9.99015212e-01 -5.35982546e-05 -2.17144113e+01] [ 1.70947125e-03 -2.22711922e-05 9.99998539e-01 -2.51239684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32401273899998 meters Centerline goodness [0,1] 0.9879201567580371 Centerline is valid? [True, True] Translation: X:228.71, Y:-21.72, Z:-2.51 [[ 9.98895577e-01 -4.69229228e-02 -2.42203502e-03 2.28713203e+02] [ 4.69228766e-02 9.98898512e-01 -7.59580208e-05 -2.17163675e+01] [ 2.42293135e-03 -3.77747195e-05 9.99997064e-01 -2.51321868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35401273899998 meters Centerline goodness [0,1] 0.9871681701724546 Centerline is valid? [True, True] Translation: X:228.74, Y:-21.72, Z:-2.51 [[ 9.98800056e-01 -4.88990665e-02 -2.70723959e-03 2.28742309e+02] [ 4.88990145e-02 9.98803724e-01 -8.54094737e-05 -2.17172607e+01] [ 2.70817743e-03 -4.70743611e-05 9.99996332e-01 -2.51332651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38401273899999 meters Centerline goodness [0,1] 0.98650956284153 Centerline is valid? [True, True] Translation: X:228.77, Y:-21.72, Z:-2.51 [[ 9.98649019e-01 -5.19400903e-02 -1.53778055e-03 2.28771320e+02] [ 5.19400768e-02 9.98650202e-01 -4.87498650e-05 -2.17218770e+01] [ 1.53823693e-03 -3.11884352e-05 9.99998816e-01 -2.51189522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.414012739 meters Centerline goodness [0,1] 0.9857645141926078 Centerline is valid? [True, True] Translation: X:228.80, Y:-21.72, Z:-2.51 [[ 9.98555823e-01 -5.37102506e-02 -1.21567052e-03 2.28800239e+02] [ 5.37102438e-02 9.98556562e-01 -3.82908918e-05 -2.17242930e+01] [ 1.21597239e-03 -2.70583668e-05 9.99999260e-01 -2.51123947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.444012739 meters Centerline goodness [0,1] 0.9852903446506457 Centerline is valid? [True, True] Translation: X:228.83, Y:-21.73, Z:-2.51 [[ 9.98365841e-01 -5.70799142e-02 -2.74442489e-03 2.28829223e+02] [ 5.70798886e-02 9.98369610e-01 -8.77289896e-05 -2.17315548e+01] [ 2.74495797e-03 -6.90658403e-05 9.99996230e-01 -2.51340901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.474012739 meters Centerline goodness [0,1] 0.9854831751509923 Centerline is valid? [True, True] Translation: X:228.86, Y:-21.73, Z:-2.52 [[ 9.98252934e-01 -5.89692572e-02 -3.70210065e-03 2.28857969e+02] [ 5.89692229e-02 9.98259794e-01 -1.18526467e-04 -2.17333471e+01] [ 3.70264765e-03 -9.99906045e-05 9.99993140e-01 -2.51566783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.504012739 meters Centerline goodness [0,1] 0.9842266560939543 Centerline is valid? [True, True] Translation: X:228.89, Y:-21.74, Z:-2.52 [[ 9.98132613e-01 -6.09499590e-02 -4.04849551e-03 2.28886433e+02] [ 6.09499315e-02 9.98140816e-01 -1.30278758e-04 -2.17378772e+01] [ 4.04890909e-03 -1.16720047e-04 9.99991796e-01 -2.51647334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.534012739 meters Centerline goodness [0,1] 0.9833655453972941 Centerline is valid? [True, True] Translation: X:228.92, Y:-21.74, Z:-2.51 [[ 9.97909755e-01 -6.45386293e-02 -3.29952602e-03 2.28917069e+02] [ 6.45386302e-02 9.97915204e-01 -1.06312911e-04 -2.17438909e+01] [ 3.29950847e-03 -1.06856199e-04 9.99994551e-01 -2.51473650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.564012739 meters Centerline goodness [0,1] 0.9823596644454509 Centerline is valid? [True, True] Translation: X:228.95, Y:-21.75, Z:-2.51 [[ 9.97839029e-01 -6.56476565e-02 -2.76718366e-03 2.28945418e+02] [ 6.56476615e-02 9.97842862e-01 -8.91124006e-05 -2.17479829e+01] [ 2.76706448e-03 -9.27393048e-05 9.99996167e-01 -2.51310892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.594012739 meters Centerline goodness [0,1] 0.9824282863824583 Centerline is valid? [True, True] Translation: X:228.97, Y:-21.75, Z:-2.51 [[ 9.97764738e-01 -6.67952826e-02 -1.97943212e-03 2.28973947e+02] [ 6.67952877e-02 9.97766699e-01 -6.36279831e-05 -2.17484669e+01] [ 1.97926150e-03 -6.87309801e-05 9.99998039e-01 -2.51107287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.624012739 meters Centerline goodness [0,1] 0.9800713103272635 Centerline is valid? [True, True] Translation: X:229.00, Y:-21.76, Z:-2.51 [[ 9.97709189e-01 -6.76441607e-02 -8.01677710e-04 2.29002292e+02] [ 6.76441617e-02 9.97709510e-01 -2.58460907e-05 -2.17560043e+01] [ 8.01589813e-04 -2.84419345e-05 9.99999678e-01 -2.50852158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65401273899997 meters Centerline goodness [0,1] 0.9771658110111057 Centerline is valid? [True, True] Translation: X:229.03, Y:-21.76, Z:-2.51 [[ 9.97685324e-01 -6.79952293e-02 -8.01298190e-04 2.29030474e+02] [ 6.79952304e-02 9.97685646e-01 -2.58840176e-05 -2.17610685e+01] [ 8.01203691e-04 -2.86603506e-05 9.99999679e-01 -2.50813880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68401273899997 meters Centerline goodness [0,1] 0.9828776760395697 Centerline is valid? [True, True] Translation: X:229.06, Y:-21.76, Z:-2.51 [[ 9.97619845e-01 -6.89151715e-02 -2.31186544e-03 2.29059630e+02] [ 6.89151824e-02 9.97622520e-01 -7.50520607e-05 -2.17599785e+01] [ 2.31154125e-03 -8.44492033e-05 9.99997325e-01 -2.51105164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71401273899997 meters Centerline goodness [0,1] 0.9818193512424158 Centerline is valid? [True, True] Translation: X:229.09, Y:-21.77, Z:-2.51 [[ 9.97613334e-01 -6.89268078e-02 -4.09033853e-03 2.29087100e+02] [ 6.89268375e-02 9.97621708e-01 -1.33881513e-04 -2.17661991e+01] [ 4.08983853e-03 -1.48372116e-04 9.99991626e-01 -2.51381949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74401273899997 meters Centerline goodness [0,1] 0.9816443431783821 Centerline is valid? [True, True] Translation: X:229.12, Y:-21.77, Z:-2.52 [[ 9.97616634e-01 -6.87996338e-02 -5.25937177e-03 2.29115610e+02] [ 6.87996777e-02 9.97630480e-01 -1.72789314e-04 -2.17687834e+01] [ 5.25879742e-03 -1.89465589e-04 9.99986154e-01 -2.51605100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77401273899997 meters Centerline goodness [0,1] 0.9847287254607157 Centerline is valid? [True, True] Translation: X:229.14, Y:-21.77, Z:-2.51 [[ 9.97767626e-01 -6.66248568e-02 -4.57079840e-03 2.29144797e+02] [ 6.66248642e-02 9.97778084e-01 -1.50811603e-04 -2.17682507e+01] [ 4.57069027e-03 -1.54053887e-04 9.99989542e-01 -2.51334355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80401273899997 meters Centerline goodness [0,1] 0.979235988073117 Centerline is valid? [True, True] Translation: X:229.17, Y:-21.77, Z:-2.50 [[ 9.97872931e-01 -6.50678879e-02 -3.97277022e-03 2.29172468e+02] [ 6.50678792e-02 9.97880831e-01 -1.31572726e-04 -2.17709192e+01] [ 3.97291241e-03 -1.27206871e-04 9.99992100e-01 -2.50231948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83401273899997 meters Centerline goodness [0,1] 0.985739026319728 Centerline is valid? [True, True] Translation: X:229.20, Y:-21.77, Z:-2.51 [[ 9.98034586e-01 -6.25836160e-02 -3.20241513e-03 2.29201968e+02] [ 6.25835970e-02 9.98039720e-01 -1.06218216e-04 -2.17677434e+01] [ 3.20278502e-03 -9.44092043e-05 9.99994867e-01 -2.51106298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86401273899997 meters Centerline goodness [0,1] 0.985739026319728 Centerline is valid? [True, True] Translation: X:229.23, Y:-21.77, Z:-2.51 [[ 9.98023023e-01 -6.27677477e-02 -3.20241481e-03 2.29229449e+02] [ 6.27677296e-02 9.98028156e-01 -1.06228075e-04 -2.17666540e+01] [ 3.20276784e-03 -9.49902428e-05 9.99994867e-01 -2.51096391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89401273899998 meters Centerline goodness [0,1] 0.986957451357708 Centerline is valid? [True, True] Translation: X:229.26, Y:-21.77, Z:-2.51 [[ 9.98254418e-01 -5.89732909e-02 -3.20447116e-03 2.29258027e+02] [ 5.89732512e-02 9.98259558e-01 -1.06948059e-04 -2.17697556e+01] [ 3.20520104e-03 -8.22167103e-05 9.99994860e-01 -2.51143528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92401273899998 meters Centerline goodness [0,1] 0.987295864718127 Centerline is valid? [True, True] Translation: X:229.29, Y:-21.77, Z:-2.51 [[ 9.98392290e-01 -5.65724056e-02 -3.52119048e-03 2.29286563e+02] [ 5.65723424e-02 9.98398496e-01 -1.17650990e-04 -2.17683840e+01] [ 3.52220708e-03 -8.17401518e-05 9.99993794e-01 -2.51266560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95401273899998 meters Centerline goodness [0,1] 0.9891946685070957 Centerline is valid? [True, True] Translation: X:229.32, Y:-21.76, Z:-2.51 [[ 9.98721092e-01 -5.04602407e-02 -3.15355861e-03 2.29316412e+02] [ 5.04601590e-02 9.98726069e-01 -1.05502878e-04 -2.17625609e+01] [ 3.15486489e-03 -5.37611196e-05 9.99995022e-01 -2.51095379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98401273899998 meters Centerline goodness [0,1] 0.9902268236102758 Centerline is valid? [True, True] Translation: X:229.35, Y:-21.76, Z:-2.51 [[ 9.98907129e-01 -4.66658256e-02 -2.61705343e-03 2.29345640e+02] [ 4.66657564e-02 9.98910556e-01 -8.75490373e-05 -2.17571604e+01] [ 2.61828785e-03 -3.46734205e-05 9.99996572e-01 -2.50958873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01401273899998 meters Centerline goodness [0,1] 0.9916054564533053 Centerline is valid? [True, True] Translation: X:229.37, Y:-21.75, Z:-2.51 [[ 9.99088793e-01 -4.26020875e-02 -2.57779453e-03 2.29373637e+02] [ 4.26020065e-02 9.99092119e-01 -8.63612938e-05 -2.17503700e+01] [ 2.57913337e-03 -2.35366183e-05 9.99996674e-01 -2.50876426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04401273899998 meters Centerline goodness [0,1] 0.9946936388642221 Centerline is valid? [True, True] Translation: X:229.40, Y:-21.73, Z:-2.51 [[ 9.99409552e-01 -3.41428881e-02 -3.84833087e-03 2.29401847e+02] [ 3.41426413e-02 9.99416962e-01 -1.29826652e-04 -2.17347699e+01] [ 3.85051980e-03 -1.64218465e-06 9.99992587e-01 -2.51252678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07401273899998 meters Centerline goodness [0,1] 0.9961070245623092 Centerline is valid? [True, True] Translation: X:229.43, Y:-21.73, Z:-2.51 [[ 9.99537570e-01 -3.01022463e-02 -4.30135561e-03 2.29430735e+02] [ 3.01018974e-02 9.99546825e-01 -1.45827265e-04 -2.17260428e+01] [ 4.30379607e-03 1.62808643e-05 9.99990738e-01 -2.51343344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10401273899998 meters Centerline goodness [0,1] 0.996908146175978 Centerline is valid? [True, True] Translation: X:229.46, Y:-21.72, Z:-2.51 [[ 9.99630713e-01 -2.68420229e-02 -4.23604627e-03 2.29459340e+02] [ 2.68416524e-02 9.99639688e-01 -1.44291773e-04 -2.17177769e+01] [ 4.23839306e-03 3.05360060e-05 9.99991018e-01 -2.51337280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13401273899999 meters Centerline goodness [0,1] 0.9973556917123508 Centerline is valid? [True, True] Translation: X:229.49, Y:-21.70, Z:-2.51 [[ 9.99743817e-01 -2.24440448e-02 -2.92673909e-03 2.29486797e+02] [ 2.24438481e-02 9.99748100e-01 -1.00056054e-04 -2.17046052e+01] [ 2.92824751e-03 3.43431334e-05 9.99995712e-01 -2.51093019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.164012739 meters Centerline goodness [0,1] 0.9974961687064258 Centerline is valid? [True, True] Translation: X:229.52, Y:-21.70, Z:-2.51 [[ 9.99754248e-01 -2.19901290e-02 -2.80683819e-03 2.29515465e+02] [ 2.19899461e-02 9.99758187e-01 -9.60221841e-05 -2.17018295e+01] [ 2.80827100e-03 3.42763660e-05 9.99996056e-01 -2.51067324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.194012739 meters Centerline goodness [0,1] 0.9969724947931204 Centerline is valid? [True, True] Translation: X:229.54, Y:-21.70, Z:-2.51 [[ 9.99705158e-01 -2.39298647e-02 -4.11815958e-03 2.29544318e+02] [ 2.39294836e-02 9.99713639e-01 -1.41792153e-04 -2.16990988e+01] [ 4.12037336e-03 4.32049141e-05 9.99991510e-01 -2.51283571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.224012739 meters Centerline goodness [0,1] 0.9940548253199585 Centerline is valid? [True, True] Translation: X:229.57, Y:-21.70, Z:-2.51 [[ 9.99641027e-01 -2.63331195e-02 -4.93797199e-03 2.29573462e+02] [ 2.63325990e-02 9.99653222e-01 -1.70399300e-04 -2.17012178e+01] [ 4.94074676e-03 4.03084951e-05 9.99987794e-01 -2.50522925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.254012739 meters Centerline goodness [0,1] 0.9965657129365301 Centerline is valid? [True, True] Translation: X:229.60, Y:-21.70, Z:-2.51 [[ 9.99580508e-01 -2.85655701e-02 -4.77670384e-03 2.29600924e+02] [ 2.85651055e-02 9.99591920e-01 -1.65490266e-04 -2.16989427e+01] [ 4.77948189e-03 2.89737948e-05 9.99988578e-01 -2.51436979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.284012739 meters Centerline goodness [0,1] 0.9947037759718679 Centerline is valid? [True, True] Translation: X:229.63, Y:-21.70, Z:-2.51 [[ 9.99409115e-01 -3.42039210e-02 -3.39299362e-03 2.29629625e+02] [ 3.42037186e-02 9.99414875e-01 -1.17669348e-04 -2.17011933e+01] [ 3.39503304e-03 1.54682011e-06 9.99994237e-01 -2.51198625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.314012739 meters Centerline goodness [0,1] 0.9943447153078274 Centerline is valid? [True, True] Translation: X:229.66, Y:-21.70, Z:-2.51 [[ 9.99330002e-01 -3.64462118e-02 -3.34967182e-03 2.29657581e+02] [ 3.64460253e-02 9.99335616e-01 -1.16714518e-04 -2.17011724e+01] [ 3.35170015e-03 -5.44590406e-06 9.99994383e-01 -2.51192561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.344012739 meters Centerline goodness [0,1] 0.9937340400420592 Centerline is valid? [True, True] Translation: X:229.69, Y:-21.70, Z:-2.51 [[ 9.99215036e-01 -3.93898680e-02 -4.21309284e-03 2.29685836e+02] [ 3.93895954e-02 9.99223918e-01 -1.47694918e-04 -2.17019033e+01] [ 4.21564082e-03 -1.83730398e-05 9.99991114e-01 -2.51424671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.374012739 meters Centerline goodness [0,1] 0.9928121222586772 Centerline is valid? [True, True] Translation: X:229.71, Y:-21.70, Z:-2.51 [[ 9.99144650e-01 -4.11744188e-02 -3.82568347e-03 2.29713642e+02] [ 4.11742063e-02 9.99151974e-01 -1.34318843e-04 -2.17029141e+01] [ 3.82796969e-03 -2.33155273e-05 9.99992673e-01 -2.51340993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40401273899997 meters Centerline goodness [0,1] 0.9921050373294431 Centerline is valid? [True, True] Translation: X:229.74, Y:-21.70, Z:-2.51 [[ 9.99083066e-01 -4.26746744e-02 -3.44945771e-03 2.29741272e+02] [ 4.26745099e-02 9.99089021e-01 -1.21290738e-04 -2.17038248e+01] [ 3.45149137e-03 -2.60243948e-05 9.99994043e-01 -2.51172283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43401273899997 meters Centerline goodness [0,1] 0.991746072902487 Centerline is valid? [True, True] Translation: X:229.77, Y:-21.71, Z:-2.51 [[ 9.98942925e-01 -4.58375621e-02 -3.45688094e-03 2.29769554e+02] [ 4.58374152e-02 9.98948906e-01 -1.21751983e-04 -2.17072105e+01] [ 3.45882825e-03 -3.68312051e-05 9.99994018e-01 -2.51137894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46401273899997 meters Centerline goodness [0,1] 0.9907561391762597 Centerline is valid? [True, True] Translation: X:229.80, Y:-21.71, Z:-2.51 [[ 9.98873039e-01 -4.73374504e-02 -3.43778814e-03 2.29797045e+02] [ 4.73373134e-02 9.98878954e-01 -1.21276124e-04 -2.17088428e+01] [ 3.43967512e-03 -4.15962044e-05 9.99994083e-01 -2.51089950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49401273899997 meters Centerline goodness [0,1] 0.9896580699373021 Centerline is valid? [True, True] Translation: X:229.83, Y:-21.71, Z:-2.51 [[ 9.98727458e-01 -5.03470309e-02 -2.93967036e-03 2.29825808e+02] [ 5.03469435e-02 9.98731783e-01 -1.03772557e-04 -2.17106353e+01] [ 2.94116686e-03 -4.43629155e-05 9.99995674e-01 -2.50983635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52401273899997 meters Centerline goodness [0,1] 0.9893890605752815 Centerline is valid? [True, True] Translation: X:229.85, Y:-21.71, Z:-2.51 [[ 9.98645492e-01 -5.19588626e-02 -2.73085297e-03 2.29854693e+02] [ 5.19587921e-02 9.98649225e-01 -9.68009513e-05 -2.17108782e+01] [ 2.73219387e-03 -4.52219882e-05 9.99996267e-01 -2.50936676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55401273899997 meters Centerline goodness [0,1] 0.9888525850470882 Centerline is valid? [True, True] Translation: X:229.88, Y:-21.71, Z:-2.51 [[ 9.98570440e-01 -5.34014376e-02 -2.31565526e-03 2.29883849e+02] [ 5.34013901e-02 9.98573124e-01 -8.23711808e-05 -2.17116547e+01] [ 2.31674985e-03 -4.14057836e-05 9.99997315e-01 -2.50861445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58401273899997 meters Centerline goodness [0,1] 0.9890091018375408 Centerline is valid? [True, True] Translation: X:229.91, Y:-21.71, Z:-2.51 [[ 9.98411093e-01 -5.63121606e-02 -2.05680197e-03 2.29912386e+02] [ 5.63121285e-02 9.98413210e-01 -7.35899849e-05 -2.17146631e+01] [ 2.05768227e-03 -4.23498397e-05 9.99997882e-01 -2.50798374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61401273899997 meters Centerline goodness [0,1] 0.9872242824376755 Centerline is valid? [True, True] Translation: X:229.94, Y:-21.72, Z:-2.51 [[ 9.98317265e-01 -5.79391682e-02 -2.38554027e-03 2.29939904e+02] [ 5.79391292e-02 9.98320114e-01 -8.55104074e-05 -2.17203863e+01] [ 2.38648724e-03 -5.28496101e-05 9.99997151e-01 -2.50777423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64401273899998 meters Centerline goodness [0,1] 0.9878117301292302 Centerline is valid? [True, True] Translation: X:229.97, Y:-21.72, Z:-2.51 [[ 9.98163643e-01 -6.04439075e-02 -3.98437178e-03 2.29969253e+02] [ 6.04438170e-02 9.98171591e-01 -1.43257017e-04 -2.17216676e+01] [ 3.98574573e-03 -9.78366928e-05 9.99992052e-01 -2.51029843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67401273899998 meters Centerline goodness [0,1] 0.9876641721840023 Centerline is valid? [True, True] Translation: X:230.00, Y:-21.72, Z:-2.51 [[ 9.98079074e-01 -6.17643547e-02 -4.82978062e-03 2.29998227e+02] [ 6.17642354e-02 9.98090752e-01 -1.74005244e-04 -2.17232739e+01] [ 4.83130669e-03 -1.24636714e-04 9.99988321e-01 -2.51211151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70401273899998 meters Centerline goodness [0,1] 0.9871933967281469 Centerline is valid? [True, True] Translation: X:230.03, Y:-21.73, Z:-2.51 [[ 9.98034583e-01 -6.24461628e-02 -5.23906846e-03 2.30026451e+02] [ 6.24460280e-02 9.98048324e-01 -1.89481081e-04 -2.17268681e+01] [ 5.24067586e-03 -1.38050344e-04 9.99986258e-01 -2.51335934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73401273899998 meters Centerline goodness [0,1] 0.9872143338624454 Centerline is valid? [True, True] Translation: X:230.06, Y:-21.73, Z:-2.51 [[ 9.98008546e-01 -6.27422368e-02 -6.50801902e-03 2.30055385e+02] [ 6.27420301e-02 9.98029750e-01 -2.36112899e-04 -2.17285430e+01] [ 6.51001085e-03 -1.72683635e-04 9.99978795e-01 -2.51089803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76401273899998 meters Centerline goodness [0,1] 0.9877478951788291 Centerline is valid? [True, True] Translation: X:230.08, Y:-21.73, Z:-2.51 [[ 9.98029118e-01 -6.24217882e-02 -6.43433656e-03 2.30083053e+02] [ 6.24215748e-02 9.98049845e-01 -2.34192125e-04 -2.17320870e+01] [ 6.43640730e-03 -1.67910861e-04 9.99979272e-01 -2.51479260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79401273899998 meters Centerline goodness [0,1] 0.9879033125982049 Centerline is valid? [True, True] Translation: X:230.11, Y:-21.73, Z:-2.51 [[ 9.98113032e-01 -6.11743394e-02 -5.29868907e-03 2.30112030e+02] [ 6.11741747e-02 9.98127088e-01 -1.93308191e-04 -2.17297486e+01] [ 5.30059059e-03 -1.31199506e-04 9.99985943e-01 -2.51190627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82401273899998 meters Centerline goodness [0,1] 0.9876724454327598 Centerline is valid? [True, True] Translation: X:230.14, Y:-21.73, Z:-2.51 [[ 9.98162174e-01 -6.04711365e-02 -3.93896108e-03 2.30140857e+02] [ 6.04710381e-02 9.98169942e-01 -1.44195192e-04 -2.17278734e+01] [ 3.94047220e-03 -9.42628787e-05 9.99992232e-01 -2.50939405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85401273899998 meters Centerline goodness [0,1] 0.9875826374391092 Centerline is valid? [True, True] Translation: X:230.17, Y:-21.73, Z:-2.51 [[ 9.98246867e-01 -5.91279720e-02 -2.66002397e-03 2.30168925e+02] [ 5.91279214e-02 9.98250409e-01 -9.77233021e-05 -2.17273376e+01] [ 2.66114820e-03 -5.97297083e-05 9.99996457e-01 -2.50656932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88401273899999 meters Centerline goodness [0,1] 0.9882757139789564 Centerline is valid? [True, True] Translation: X:230.20, Y:-21.73, Z:-2.51 [[ 9.98415886e-01 -5.61783643e-02 -3.11604370e-03 2.30197162e+02] [ 5.61782798e-02 9.98420747e-01 -1.14701082e-04 -2.17262450e+01] [ 3.11756640e-03 -6.05345919e-05 9.99995139e-01 -2.50806518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.914012739 meters Centerline goodness [0,1] 0.9891080175302913 Centerline is valid? [True, True] Translation: X:230.23, Y:-21.72, Z:-2.51 [[ 9.98494925e-01 -5.46837826e-02 -4.19141587e-03 2.30226245e+02] [ 5.46836153e-02 9.98503720e-01 -1.54602396e-04 -2.17235459e+01] [ 4.19359858e-03 -7.48320649e-05 9.99991204e-01 -2.50984776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.944012739 meters Centerline goodness [0,1] 0.9898179774309309 Centerline is valid? [True, True] Translation: X:230.26, Y:-21.72, Z:-2.51 [[ 9.98571328e-01 -5.31887573e-02 -5.12439554e-03 2.30255046e+02] [ 5.31884826e-02 9.98584473e-01 -1.89958063e-04 -2.17197931e+01] [ 5.12724545e-03 -8.28721477e-05 9.99986852e-01 -2.51150136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.974012739 meters Centerline goodness [0,1] 0.9904578106572317 Centerline is valid? [True, True] Translation: X:230.28, Y:-21.72, Z:-2.51 [[ 9.98718756e-01 -5.03681918e-02 -4.88797200e-03 2.30282960e+02] [ 5.03679051e-02 9.98730715e-01 -1.81822247e-04 -2.17173920e+01] [ 4.89092583e-03 -6.46076216e-05 9.99988037e-01 -2.51063139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.004012739 meters Centerline goodness [0,1] 0.9898664707661726 Centerline is valid? [True, True] Translation: X:230.31, Y:-21.72, Z:-2.51 [[ 9.98787785e-01 -4.90656761e-02 -3.93960624e-03 2.30310479e+02] [ 4.90654790e-02 9.98795553e-01 -1.46730647e-04 -2.17173154e+01] [ 3.94206063e-03 -4.67458896e-05 9.99992229e-01 -2.50853368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.034012739 meters Centerline goodness [0,1] 0.9911944869831547 Centerline is valid? [True, True] Translation: X:230.34, Y:-21.71, Z:-2.51 [[ 9.98883587e-01 -4.71784791e-02 -2.40236098e-03 2.30338942e+02] [ 4.71784005e-02 9.98886475e-01 -8.94046958e-05 -2.17109357e+01] [ 2.40390387e-03 -2.40346655e-05 9.99997110e-01 -2.50580672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.064012739 meters Centerline goodness [0,1] 0.9914283271343679 Centerline is valid? [True, True] Translation: X:230.37, Y:-21.71, Z:-2.51 [[ 9.98933913e-01 -4.60991749e-02 -2.42992441e-03 2.30367870e+02] [ 4.60990903e-02 9.98936868e-01 -9.08263231e-05 -2.17074364e+01] [ 2.43152810e-03 -2.12878107e-05 9.99997044e-01 -2.50587104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.094012739 meters Centerline goodness [0,1] 0.9897309869662527 Centerline is valid? [True, True] Translation: X:230.40, Y:-21.70, Z:-2.50 [[ 9.98988991e-01 -4.48536355e-02 -3.02450647e-03 2.30396262e+02] [ 4.48534969e-02 9.98993569e-01 -1.13687183e-04 -2.17046921e+01] [ 3.02656180e-03 -2.20874476e-05 9.99995420e-01 -2.50182630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.124012739 meters Centerline goodness [0,1] 0.9933871209365035 Centerline is valid? [True, True] Translation: X:230.42, Y:-21.70, Z:-2.51 [[ 9.99100178e-01 -4.22781501e-02 -3.37515641e-03 2.30424212e+02] [ 4.22779605e-02 9.99105879e-01 -1.27523487e-04 -2.16999203e+01] [ 3.37753007e-03 -1.52859907e-05 9.99994296e-01 -2.50754223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15401273899997 meters Centerline goodness [0,1] 0.9931918902138774 Centerline is valid? [True, True] Translation: X:230.45, Y:-21.70, Z:-2.51 [[ 9.99125942e-01 -4.17025062e-02 -2.87281907e-03 2.30452551e+02] [ 4.17023661e-02 9.99130072e-01 -1.08679474e-04 -2.16972823e+01] [ 2.87485213e-03 -1.12188705e-05 9.99995868e-01 -2.50703867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18401273899997 meters Centerline goodness [0,1] 0.9938160267972173 Centerline is valid? [True, True] Translation: X:230.48, Y:-21.70, Z:-2.51 [[ 9.99129716e-01 -4.15732993e-02 -3.38688389e-03 2.30480116e+02] [ 4.15731012e-02 9.99135457e-01 -1.28895630e-04 -2.16959904e+01] [ 3.38931440e-03 -1.20198128e-05 9.99994256e-01 -2.50809030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21401273899997 meters Centerline goodness [0,1] 0.9939773238742311 Centerline is valid? [True, True] Translation: X:230.51, Y:-21.70, Z:-2.51 [[ 9.99110698e-01 -4.19126397e-02 -4.59831655e-03 2.30507581e+02] [ 4.19122732e-02 9.99121279e-01 -1.76078013e-04 -2.16960904e+01] [ 4.60165581e-03 -1.68044732e-05 9.99989412e-01 -2.51026921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24401273899997 meters Centerline goodness [0,1] 0.9948838702772129 Centerline is valid? [True, True] Translation: X:230.54, Y:-21.70, Z:-2.51 [[ 9.99086334e-01 -4.23285985e-02 -5.89810943e-03 2.30535284e+02] [ 4.23279965e-02 9.99103743e-01 -2.26916344e-04 -2.16958229e+01] [ 5.90242826e-03 -2.29461369e-05 9.99982580e-01 -2.51271963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27401273899997 meters Centerline goodness [0,1] 0.9950010820168794 Centerline is valid? [True, True] Translation: X:230.56, Y:-21.70, Z:-2.52 [[ 9.99084291e-01 -4.22142064e-02 -6.96708569e-03 2.30563281e+02] [ 4.22133567e-02 9.99108583e-01 -2.69033432e-04 -2.16950383e+01] [ 6.97223214e-03 -2.53169979e-05 9.99975693e-01 -2.51530881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30401273899997 meters Centerline goodness [0,1] 0.9949058884475911 Centerline is valid? [True, True] Translation: X:230.59, Y:-21.69, Z:-2.51 [[ 9.99108364e-01 -4.18087890e-02 -5.87388840e-03 2.30591041e+02] [ 4.18081744e-02 9.99125630e-01 -2.27428346e-04 -2.16922166e+01] [ 5.87826095e-03 -1.83509882e-05 9.99982723e-01 -2.51309094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33401273899997 meters Centerline goodness [0,1] 0.9949380721593969 Centerline is valid? [True, True] Translation: X:230.62, Y:-21.69, Z:-2.51 [[ 9.99152828e-01 -4.08768071e-02 -4.76578148e-03 2.30618161e+02] [ 4.08763886e-02 9.99164194e-01 -1.85231592e-04 -2.16900780e+01] [ 4.76936988e-03 -9.73326684e-06 9.99988626e-01 -2.51086542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36401273899997 meters Centerline goodness [0,1] 0.9959987022818211 Centerline is valid? [True, True] Translation: X:230.64, Y:-21.69, Z:-2.51 [[ 9.99258994e-01 -3.83248815e-02 -3.55897416e-03 2.30644891e+02] [ 3.83246307e-02 9.99265332e-01 -1.38673043e-04 -2.16865462e+01] [ 3.56167412e-03 2.17391493e-06 9.99993657e-01 -2.50810423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39401273899998 meters Centerline goodness [0,1] 0.9960833832719801 Centerline is valid? [True, True] Translation: X:230.67, Y:-21.68, Z:-2.51 [[ 9.99281302e-01 -3.77413386e-02 -3.53143842e-03 2.30673317e+02] [ 3.77410870e-02 9.99287542e-01 -1.37878521e-04 -2.16845453e+01] [ 3.53412614e-03 4.49910279e-06 9.99993755e-01 -2.50827112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42401273899998 meters Centerline goodness [0,1] 0.9951890034364261 Centerline is valid? [True, True] Translation: X:230.70, Y:-21.69, Z:-2.51 [[ 9.99239376e-01 -3.88445184e-02 -3.43113122e-03 2.30700547e+02] [ 3.88442852e-02 9.99245267e-01 -1.34600891e-04 -2.16853179e+01] [ 3.43377014e-03 1.21867041e-06 9.99994105e-01 -2.50874117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45401273899998 meters Centerline goodness [0,1] 0.9908165904975424 Centerline is valid? [True, True] Translation: X:230.73, Y:-21.69, Z:-2.50 [[ 9.99154525e-01 -4.09508614e-02 -3.64178514e-03 2.30728380e+02] [ 4.09506115e-02 9.99161162e-01 -1.43182320e-04 -2.16898700e+01] [ 3.64459371e-03 -6.07206581e-06 9.99993358e-01 -2.49870425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48401273899998 meters Centerline goodness [0,1] 0.9943293300847367 Centerline is valid? [True, True] Translation: X:230.76, Y:-21.69, Z:-2.51 [[ 9.99102332e-01 -4.22774763e-02 -2.67296800e-03 2.30756196e+02] [ 4.22773456e-02 9.99105908e-01 -1.05412350e-04 -2.16908723e+01] [ 2.67503469e-03 -7.68826674e-06 9.99996422e-01 -2.50662804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51401273899998 meters Centerline goodness [0,1] 0.9934185384909345 Centerline is valid? [True, True] Translation: X:230.78, Y:-21.70, Z:-2.51 [[ 9.99015577e-01 -4.42918148e-02 -2.47235673e-03 2.30784478e+02] [ 4.42917078e-02 9.99018636e-01 -9.80613222e-05 -2.16976039e+01] [ 2.47427376e-03 -1.15401133e-05 9.99996939e-01 -2.50559926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54401273899998 meters Centerline goodness [0,1] 0.9906079125120617 Centerline is valid? [True, True] Translation: X:230.81, Y:-21.70, Z:-2.50 [[ 9.98967591e-01 -4.52449811e-02 -4.07963201e-03 2.30812625e+02] [ 4.52446958e-02 9.98975921e-01 -1.62247976e-04 -2.16992049e+01] [ 4.08279505e-03 -2.25012398e-05 9.99991665e-01 -2.49735350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57401273899998 meters Centerline goodness [0,1] 0.9947683593834447 Centerline is valid? [True, True] Translation: X:230.84, Y:-21.70, Z:-2.51 [[ 9.99029740e-01 -4.36830771e-02 -5.60059601e-03 2.30840260e+02] [ 4.36825089e-02 9.99045439e-01 -2.23801713e-04 -2.16973033e+01] [ 5.60502625e-03 -2.10635179e-05 9.99984291e-01 -2.51128159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60401273899998 meters Centerline goodness [0,1] 0.9959409515264158 Centerline is valid? [True, True] Translation: X:230.87, Y:-21.70, Z:-2.51 [[ 9.99088674e-01 -4.22837647e-02 -5.82285269e-03 2.30868217e+02] [ 4.22831247e-02 9.99105642e-01 -2.33029450e-04 -2.16952770e+01] [ 5.82749833e-03 -1.33913228e-05 9.99983020e-01 -2.51127205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63401273899999 meters Centerline goodness [0,1] 0.9959244638856289 Centerline is valid? [True, True] Translation: X:230.90, Y:-21.69, Z:-2.51 [[ 9.99154401e-01 -4.08101279e-02 -5.00162757e-03 2.30896507e+02] [ 4.08096350e-02 9.99166920e-01 -2.00595758e-04 -2.16920865e+01] [ 5.00564715e-03 -3.68846127e-06 9.99987472e-01 -2.50930402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.664012739 meters Centerline goodness [0,1] 0.9952017636760542 Centerline is valid? [True, True] Translation: X:230.92, Y:-21.69, Z:-2.50 [[ 9.99262881e-01 -3.83332411e-02 -2.06325298e-03 2.30923919e+02] [ 3.83331521e-02 9.99265011e-01 -8.27242931e-05 -2.16877559e+01] [ 2.06490760e-03 3.57232521e-06 9.99997868e-01 -2.50364319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.694012739 meters Centerline goodness [0,1] 0.9957078781895831 Centerline is valid? [True, True] Translation: X:230.95, Y:-21.69, Z:-2.50 [[ 9.99273385e-01 -3.80727911e-02 -1.77896382e-03 2.30951112e+02] [ 3.80727236e-02 9.99274968e-01 -7.17774284e-05 -2.16861384e+01] [ 1.78040678e-03 3.99527603e-06 9.99998415e-01 -2.50305987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.724012739 meters Centerline goodness [0,1] 0.996170499793294 Centerline is valid? [True, True] Translation: X:230.98, Y:-21.69, Z:-2.51 [[ 9.99221026e-01 -3.93671377e-02 -2.75116220e-03 2.30979583e+02] [ 3.93669804e-02 9.99224814e-01 -1.11308807e-04 -2.16883411e+01] [ 2.75341144e-03 2.91715193e-06 9.99996209e-01 -2.50609362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.754012739 meters Centerline goodness [0,1] 0.996170499793294 Centerline is valid? [True, True] Translation: X:231.01, Y:-21.69, Z:-2.51 [[ 9.99213349e-01 -3.95615316e-02 -2.75114044e-03 2.31007041e+02] [ 3.95613736e-02 9.99217136e-01 -1.11843617e-04 -2.16870380e+01] [ 2.75341137e-03 2.91673998e-06 9.99996209e-01 -2.50599462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.784012739 meters Centerline goodness [0,1] 0.9954090239371357 Centerline is valid? [True, True] Translation: X:231.03, Y:-21.69, Z:-2.51 [[ 9.99175955e-01 -4.04591559e-02 -3.23535547e-03 2.31034082e+02] [ 4.04589395e-02 9.99181193e-01 -1.32322693e-04 -2.16869048e+01] [ 3.23806001e-03 1.31460182e-06 9.99994757e-01 -2.50612627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.814012739 meters Centerline goodness [0,1] 0.9956317782750904 Centerline is valid? [True, True] Translation: X:231.06, Y:-21.68, Z:-2.50 [[ 9.99156880e-01 -4.09761212e-02 -2.54704654e-03 2.31061994e+02] [ 4.09759887e-02 9.99160126e-01 -1.04208786e-04 -2.16846810e+01] [ 2.54917741e-03 -2.46824645e-07 9.99996751e-01 -2.50391720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.844012739 meters Centerline goodness [0,1] 0.9955501530313225 Centerline is valid? [True, True] Translation: X:231.09, Y:-21.68, Z:-2.50 [[ 9.99182974e-01 -4.03209556e-02 -2.75756821e-03 2.31090120e+02] [ 4.03207961e-02 9.99186780e-01 -1.13410284e-04 -2.16816077e+01] [ 2.75989851e-03 2.13027880e-06 9.99996191e-01 -2.50421818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.874012739 meters Centerline goodness [0,1] 0.9964778080297334 Centerline is valid? [True, True] Translation: X:231.12, Y:-21.68, Z:-2.51 [[ 9.99233658e-01 -3.89638020e-02 -3.73076238e-03 2.31117076e+02] [ 3.89634972e-02 9.99240623e-01 -1.54385299e-04 -2.16781858e+01] [ 3.73394476e-03 8.90343754e-06 9.99993029e-01 -2.50563621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90401273899997 meters Centerline goodness [0,1] 0.9966715252246177 Centerline is valid? [True, True] Translation: X:231.15, Y:-21.67, Z:-2.51 [[ 9.99368415e-01 -3.52730894e-02 -4.31041662e-03 2.31145390e+02] [ 3.52726461e-02 9.99377711e-01 -1.78841264e-04 -2.16695735e+01] [ 4.31404258e-03 2.66885101e-05 9.99990694e-01 -2.50677910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93401273899997 meters Centerline goodness [0,1] 0.9973755539302156 Centerline is valid? [True, True] Translation: X:231.17, Y:-21.66, Z:-2.51 [[ 9.99442738e-01 -3.31746869e-02 -3.69496137e-03 2.31173075e+02] [ 3.31743449e-02 9.99449568e-01 -1.53830615e-04 -2.16629598e+01] [ 3.69803083e-03 3.11669680e-05 9.99993162e-01 -2.50594327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96401273899997 meters Centerline goodness [0,1] 0.9968798751950078 Centerline is valid? [True, True] Translation: X:231.20, Y:-21.65, Z:-2.50 [[ 9.99562970e-01 -2.94174032e-02 -2.91312389e-03 2.31201107e+02] [ 2.94171745e-02 9.99567214e-01 -1.21337228e-04 -2.16521912e+01] [ 2.91543256e-03 3.55883256e-05 9.99995749e-01 -2.50416498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99401273899997 meters Centerline goodness [0,1] 0.9964182773821635 Centerline is valid? [True, True] Translation: X:231.23, Y:-21.65, Z:-2.50 [[ 9.99604192e-01 -2.79677008e-02 -3.04423368e-03 2.31228642e+02] [ 2.79674426e-02 9.99608826e-01 -1.27385550e-04 -2.16459471e+01] [ 3.04660554e-03 4.21956993e-05 9.99995358e-01 -2.50357761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02401273899997 meters Centerline goodness [0,1] 0.9966391292092196 Centerline is valid? [True, True] Translation: X:231.26, Y:-21.64, Z:-2.50 [[ 9.99615160e-01 -2.75426505e-02 -3.30671320e-03 2.31257709e+02] [ 2.75423429e-02 9.99620628e-01 -1.38548985e-04 -2.16435684e+01] [ 3.30927473e-03 4.74210375e-05 9.99994523e-01 -2.50434216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05401273899997 meters Centerline goodness [0,1] 0.9970438917807339 Centerline is valid? [True, True] Translation: X:231.29, Y:-21.64, Z:-2.50 [[ 9.99605448e-01 -2.78568081e-02 -3.59824965e-03 2.31285605e+02] [ 2.78564435e-02 9.99611923e-01 -1.51409836e-04 -2.16372322e+01] [ 3.60107105e-03 5.11156582e-05 9.99993515e-01 -2.50453577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08401273899997 meters Centerline goodness [0,1] 0.99682532872863 Centerline is valid? [True, True] Translation: X:231.31, Y:-21.63, Z:-2.50 [[ 9.99587654e-01 -2.85211194e-02 -3.32689705e-03 2.31313904e+02] [ 2.85208109e-02 9.99593189e-01 -1.40136569e-04 -2.16348074e+01] [ 3.32954048e-03 4.51929826e-05 9.99994456e-01 -2.50368929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11401273899997 meters Centerline goodness [0,1] 0.9970884123155813 Centerline is valid? [True, True] Translation: X:231.34, Y:-21.63, Z:-2.50 [[ 9.99558499e-01 -2.95611234e-02 -2.99129899e-03 2.31342974e+02] [ 2.95608772e-02 9.99562974e-01 -1.26499007e-04 -2.16328541e+01] [ 2.99373117e-03 3.80177355e-05 9.99995518e-01 -2.50353080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14401273899998 meters Centerline goodness [0,1] 0.9971905292957022 Centerline is valid? [True, True] Translation: X:231.37, Y:-21.63, Z:-2.50 [[ 9.99546915e-01 -2.99165348e-02 -3.31141250e-03 2.31371242e+02] [ 2.99162331e-02 9.99552399e-01 -1.40631738e-04 -2.16309110e+01] [ 3.31413752e-03 4.15030315e-05 9.99994507e-01 -2.50415234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17401273899998 meters Centerline goodness [0,1] 0.9968605172671551 Centerline is valid? [True, True] Translation: X:231.40, Y:-21.63, Z:-2.50 [[ 9.99541862e-01 -3.00527199e-02 -3.59173157e-03 2.31399544e+02] [ 3.00523635e-02 9.99548314e-01 -1.53166124e-04 -2.16285832e+01] [ 3.59471230e-03 4.51559299e-05 9.99993538e-01 -2.50482683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20401273899998 meters Centerline goodness [0,1] 0.9973277589811004 Centerline is valid? [True, True] Translation: X:231.43, Y:-21.63, Z:-2.50 [[ 9.99536485e-01 -3.01849293e-02 -3.96057706e-03 2.31427749e+02] [ 3.01844938e-02 9.99544330e-01 -1.69700082e-04 -2.16269684e+01] [ 3.96389473e-03 5.00734093e-05 9.99992142e-01 -2.50454086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23401273899998 meters Centerline goodness [0,1] 0.9970146707608325 Centerline is valid? [True, True] Translation: X:231.46, Y:-21.62, Z:-2.50 [[ 9.99533296e-01 -3.03899082e-02 -3.10533313e-03 2.31455952e+02] [ 3.03896399e-02 9.99538119e-01 -1.33567418e-04 -2.16242367e+01] [ 3.10795794e-03 3.91351261e-05 9.99995170e-01 -2.50288393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26401273899998 meters Centerline goodness [0,1] 0.9968135038539379 Centerline is valid? [True, True] Translation: X:231.48, Y:-21.62, Z:-2.50 [[ 9.99550064e-01 -2.99182727e-02 -2.13706905e-03 2.31484841e+02] [ 2.99181448e-02 9.99552348e-01 -9.18258793e-05 -2.16226596e+01] [ 2.13885966e-03 2.78474224e-05 9.99997712e-01 -2.50041332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29401273899998 meters Centerline goodness [0,1] 0.9967428115360556 Centerline is valid? [True, True] Translation: X:231.51, Y:-21.62, Z:-2.50 [[ 9.99553726e-01 -2.98067285e-02 -1.97703803e-03 2.31513365e+02] [ 2.98066182e-02 9.99555680e-01 -8.52306754e-05 -2.16210703e+01] [ 1.97870004e-03 2.62638214e-05 9.99998042e-01 -2.50033008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32401273899998 meters Centerline goodness [0,1] 0.9971592771452921 Centerline is valid? [True, True] Translation: X:231.54, Y:-21.62, Z:-2.50 [[ 9.99557344e-01 -2.96217677e-02 -2.76882167e-03 2.31542933e+02] [ 2.96215484e-02 9.99561178e-01 -1.20181618e-04 -2.16190804e+01] [ 2.77116665e-03 3.81116340e-05 9.99996160e-01 -2.50215845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35401273899998 meters Centerline goodness [0,1] 0.9970957124109889 Centerline is valid? [True, True] Translation: X:231.57, Y:-21.62, Z:-2.50 [[ 9.99562780e-01 -2.93851753e-02 -3.28015425e-03 2.31571590e+02] [ 2.93848659e-02 9.99568161e-01 -1.42468301e-04 -2.16150085e+01] [ 3.28292421e-03 4.60191183e-05 9.99994610e-01 -2.50318416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38401273899999 meters Centerline goodness [0,1] 0.9966071504304678 Centerline is valid? [True, True] Translation: X:231.60, Y:-21.61, Z:-2.50 [[ 9.99581901e-01 -2.87141182e-02 -3.39447295e-03 2.31599383e+02] [ 2.87137827e-02 9.99587663e-01 -1.47557368e-04 -2.16100103e+01] [ 3.39731027e-03 5.00275153e-05 9.99994228e-01 -2.50292365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.414012739 meters Centerline goodness [0,1] 0.9964330991211672 Centerline is valid? [True, True] Translation: X:231.63, Y:-21.61, Z:-2.50 [[ 9.99655589e-01 -2.61418066e-02 -2.30426485e-03 2.31627599e+02] [ 2.61416450e-02 9.99658244e-01 -1.00230196e-04 -2.16068305e+01] [ 2.30609755e-03 3.99584015e-05 9.99997340e-01 -2.50071851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.444012739 meters Centerline goodness [0,1] 0.9960051546391753 Centerline is valid? [True, True] Translation: X:231.66, Y:-21.60, Z:-2.50 [[ 9.99691231e-01 -2.47550843e-02 -2.15128594e-03 2.31655777e+02] [ 2.47549399e-02 9.99693545e-01 -9.37227189e-05 -2.16015244e+01] [ 2.15294678e-03 4.04388260e-05 9.99997682e-01 -2.50042829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.474012739 meters Centerline goodness [0,1] 0.9960902255639098 Centerline is valid? [True, True] Translation: X:231.69, Y:-21.59, Z:-2.50 [[ 9.99730257e-01 -2.29389256e-02 -3.63566198e-03 2.31685095e+02] [ 2.29385004e-02 9.99736865e-01 -1.58604819e-04 -2.15936964e+01] [ 3.63834354e-03 7.51654029e-05 9.99993378e-01 -2.50297981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.504012739 meters Centerline goodness [0,1] 0.9963277680515821 Centerline is valid? [True, True] Translation: X:231.71, Y:-21.59, Z:-2.50 [[ 9.99742758e-01 -2.22067414e-02 -4.61291093e-03 2.31713602e+02] [ 2.22060479e-02 9.99753395e-01 -2.01507953e-04 -2.15896669e+01] [ 4.61624820e-03 9.90215956e-05 9.99989340e-01 -2.50437523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.534012739 meters Centerline goodness [0,1] 0.9960188671080531 Centerline is valid? [True, True] Translation: X:231.74, Y:-21.58, Z:-2.51 [[ 9.99758316e-01 -2.13722371e-02 -5.15134273e-03 2.31741825e+02] [ 2.13713566e-02 9.99771581e-01 -2.25935737e-04 -2.15845878e+01] [ 5.15499481e-03 1.15789949e-04 9.99986706e-01 -2.50548386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.564012739 meters Centerline goodness [0,1] 0.9952777777777778 Centerline is valid? [True, True] Translation: X:231.77, Y:-21.57, Z:-2.51 [[ 9.99808662e-01 -1.88608724e-02 -5.18717630e-03 2.31770432e+02] [ 1.88599424e-02 9.99822109e-01 -2.28149500e-04 -2.15746682e+01] [ 5.19055664e-03 1.30276000e-04 9.99986520e-01 -2.50607390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.594012739 meters Centerline goodness [0,1] 0.9946560789784311 Centerline is valid? [True, True] Translation: X:231.80, Y:-21.57, Z:-2.51 [[ 9.99831115e-01 -1.76629573e-02 -5.07559134e-03 2.31798004e+02] [ 1.76620504e-02 9.99843989e-01 -2.23447093e-04 -2.15685210e+01] [ 5.07874622e-03 1.33764006e-04 9.99987094e-01 -2.50602947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.624012739 meters Centerline goodness [0,1] 0.9943832361201124 Centerline is valid? [True, True] Translation: X:231.83, Y:-21.56, Z:-2.51 [[ 9.99853955e-01 -1.63149216e-02 -5.08848699e-03 2.31826203e+02] [ 1.63139904e-02 9.99866893e-01 -2.24463108e-04 -2.15604765e+01] [ 5.09147177e-03 1.41416799e-04 9.99987028e-01 -2.50636228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65401273899997 meters Centerline goodness [0,1] 0.9942943841353962 Centerline is valid? [True, True] Translation: X:231.85, Y:-21.55, Z:-2.51 [[ 9.99862706e-01 -1.56277213e-02 -5.50855571e-03 2.31854863e+02] [ 1.56266144e-02 9.99877867e-01 -2.43937138e-04 -2.15528670e+01] [ 5.51169512e-03 1.57823571e-04 9.99984798e-01 -2.50660886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68401273899997 meters Centerline goodness [0,1] 0.9950750672567907 Centerline is valid? [True, True] Translation: X:231.88, Y:-21.55, Z:-2.51 [[ 9.99868673e-01 -1.51038252e-02 -5.87455600e-03 2.31883799e+02] [ 1.51025514e-02 9.99885916e-01 -2.61146130e-04 -2.15486095e+01] [ 5.87783011e-03 1.72391050e-04 9.99982711e-01 -2.50782442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71401273899997 meters Centerline goodness [0,1] 0.9931451268471855 Centerline is valid? [True, True] Translation: X:231.91, Y:-21.53, Z:-2.51 [[ 9.99880530e-01 -1.45272325e-02 -5.28058587e-03 2.31911180e+02] [ 1.45261918e-02 9.99894462e-01 -2.35381956e-04 -2.15349139e+01] [ 5.28344801e-03 1.58647031e-04 9.99986030e-01 -2.50672620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74401273899997 meters Centerline goodness [0,1] 0.9943489522015541 Centerline is valid? [True, True] Translation: X:231.94, Y:-21.53, Z:-2.51 [[ 9.99868726e-01 -1.55388657e-02 -4.59069057e-03 2.31940464e+02] [ 1.55380883e-02 9.99879256e-01 -2.04964260e-04 -2.15340365e+01] [ 4.59332118e-03 1.33606798e-04 9.99989442e-01 -2.50569179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77401273899997 meters Centerline goodness [0,1] 0.9951814969482814 Centerline is valid? [True, True] Translation: X:231.97, Y:-21.53, Z:-2.50 [[ 9.99781634e-01 -2.05444034e-02 -3.82257546e-03 2.31970974e+02] [ 2.05438992e-02 9.99788937e-01 -1.71121546e-04 -2.15345760e+01] [ 3.82528425e-03 9.25535743e-05 9.99992679e-01 -2.50377386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80401273899997 meters Centerline goodness [0,1] 0.9960760769346227 Centerline is valid? [True, True] Translation: X:232.00, Y:-21.54, Z:-2.50 [[ 9.99696770e-01 -2.43449722e-02 -3.69992585e-03 2.32000508e+02] [ 2.43445257e-02 9.99703614e-01 -1.65673522e-04 -2.15376521e+01] [ 3.70286256e-03 7.55503453e-05 9.99993142e-01 -2.50345188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83401273899997 meters Centerline goodness [0,1] 0.9964819890790582 Centerline is valid? [True, True] Translation: X:232.03, Y:-21.54, Z:-2.50 [[ 9.99580669e-01 -2.87259532e-02 -3.64772137e-03 2.32030196e+02] [ 2.87255481e-02 9.99587323e-01 -1.63419565e-04 -2.15421594e+01] [ 3.65091043e-03 5.85682421e-05 9.99993334e-01 -2.50321227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86401273899997 meters Centerline goodness [0,1] 0.9983412725416808 Centerline is valid? [True, True] Translation: X:232.06, Y:-21.55, Z:-2.51 [[ 9.99288757e-01 -3.74542840e-02 -4.37688663e-03 2.32059327e+02] [ 3.74537839e-02 9.99298342e-01 -1.96215609e-04 -2.15534057e+01] [ 4.38116467e-03 3.21450863e-05 9.99990402e-01 -2.50520557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89401273899998 meters Centerline goodness [0,1] 0.998027655697288 Centerline is valid? [True, True] Translation: X:232.09, Y:-21.56, Z:-2.50 [[ 9.99017224e-01 -4.41511401e-02 -3.90672221e-03 2.32088452e+02] [ 4.41507921e-02 9.99024863e-01 -1.75301249e-04 -2.15643371e+01] [ 3.91065237e-03 2.64408659e-06 9.99992353e-01 -2.50462439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92401273899998 meters Centerline goodness [0,1] 0.997300157670792 Centerline is valid? [True, True] Translation: X:232.12, Y:-21.57, Z:-2.50 [[ 9.98906002e-01 -4.66711836e-02 -2.93243297e-03 2.32117079e+02] [ 4.66709975e-02 9.98910307e-01 -1.31896830e-04 -2.15683878e+01] [ 2.93539330e-03 -5.10703654e-06 9.99995692e-01 -2.50245960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95401273899998 meters Centerline goodness [0,1] 0.9969399189725023 Centerline is valid? [True, True] Translation: X:232.14, Y:-21.57, Z:-2.50 [[ 9.98814777e-01 -4.85887384e-02 -2.85919197e-03 2.32144876e+02] [ 4.85885679e-02 9.98818870e-01 -1.29114318e-04 -2.15715411e+01] [ 2.86208839e-03 -9.96275432e-06 9.99995904e-01 -2.50148590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98401273899998 meters Centerline goodness [0,1] 0.996901226597805 Centerline is valid? [True, True] Translation: X:232.17, Y:-21.57, Z:-2.50 [[ 9.98762168e-01 -4.96112072e-02 -3.58613118e-03 2.32172572e+02] [ 4.96109426e-02 9.98768606e-01 -1.62773275e-04 -2.15733651e+01] [ 3.58979062e-03 -1.53395587e-05 9.99993557e-01 -2.50217719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01401273899998 meters Centerline goodness [0,1] 0.9977187798731207 Centerline is valid? [True, True] Translation: X:232.20, Y:-21.57, Z:-2.51 [[ 9.98757210e-01 -4.94494823e-02 -6.22763987e-03 2.32200901e+02] [ 4.94486756e-02 9.98776626e-01 -2.83533299e-04 -2.15743936e+01] [ 6.23404171e-03 -2.47676170e-05 9.99980568e-01 -2.50757363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04401273899998 meters Centerline goodness [0,1] 0.9983129751430768 Centerline is valid? [True, True] Translation: X:232.23, Y:-21.58, Z:-2.51 [[ 9.98850623e-01 -4.75585024e-02 -5.96839660e-03 2.32228768e+02] [ 4.75577230e-02 9.98868454e-01 -2.72532849e-04 -2.15766835e+01] [ 5.97460434e-03 -1.16237461e-05 9.99982152e-01 -2.50758081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07401273899998 meters Centerline goodness [0,1] 0.9981341282947649 Centerline is valid? [True, True] Translation: X:232.26, Y:-21.58, Z:-2.51 [[ 9.98893219e-01 -4.67587108e-02 -5.09514139e-03 2.32256775e+02] [ 4.67581300e-02 9.98906213e-01 -2.33109570e-04 -2.15763345e+01] [ 5.10046830e-03 -5.38771538e-06 9.99986993e-01 -2.50520433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10401273899998 meters Centerline goodness [0,1] 0.9982153607981422 Centerline is valid? [True, True] Translation: X:232.29, Y:-21.57, Z:-2.50 [[ 9.98963791e-01 -4.52707358e-02 -4.68026131e-03 2.32285023e+02] [ 4.52702257e-02 9.98974755e-01 -2.14927079e-04 -2.15742364e+01] [ 4.68519280e-03 2.82788319e-06 9.99989024e-01 -2.50379046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13401273899999 meters Centerline goodness [0,1] 0.9988171534259538 Centerline is valid? [True, True] Translation: X:232.31, Y:-21.57, Z:-2.50 [[ 9.99018229e-01 -4.40225030e-02 -4.95965093e-03 2.32313322e+02] [ 4.40219100e-02 9.99030540e-01 -2.28735350e-04 -2.15720819e+01] [ 4.96491225e-03 1.01774777e-05 9.99987675e-01 -2.50469385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.164012739 meters Centerline goodness [0,1] 0.9988936876369593 Centerline is valid? [True, True] Translation: X:232.34, Y:-21.57, Z:-2.51 [[ 9.99106818e-01 -4.16871216e-02 -6.91013074e-03 2.32341235e+02] [ 4.16859066e-02 9.99130714e-01 -3.19833193e-04 -2.15690157e+01] [ 6.91745679e-03 3.14924594e-05 9.99976074e-01 -2.50932157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.194012739 meters Centerline goodness [0,1] 0.9990168209117918 Centerline is valid? [True, True] Translation: X:232.37, Y:-21.57, Z:-2.51 [[ 9.99146599e-01 -4.08488749e-02 -6.11902160e-03 2.32369392e+02] [ 4.08479044e-02 9.99165336e-01 -2.83546897e-04 -2.15674331e+01] [ 6.12549685e-03 3.33557080e-05 9.99981238e-01 -2.50772684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.224012739 meters Centerline goodness [0,1] 0.9992262224610424 Centerline is valid? [True, True] Translation: X:232.40, Y:-21.57, Z:-2.51 [[ 9.99146436e-01 -4.09824275e-02 -5.18064562e-03 2.32397615e+02] [ 4.09817312e-02 9.99159867e-01 -2.40533736e-04 -2.15671178e+01] [ 5.18615084e-03 2.80165987e-05 9.99986551e-01 -2.50546362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.254012739 meters Centerline goodness [0,1] 0.998533225628162 Centerline is valid? [True, True] Translation: X:232.42, Y:-21.56, Z:-2.50 [[ 9.99147066e-01 -4.10753695e-02 -4.23737974e-03 2.32424220e+02] [ 4.10749018e-02 9.99156051e-01 -1.97375703e-04 -2.15649165e+01] [ 4.24191088e-03 2.31573974e-05 9.99991003e-01 -2.50348095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.284012739 meters Centerline goodness [0,1] 0.9984107553207482 Centerline is valid? [True, True] Translation: X:232.45, Y:-21.57, Z:-2.50 [[ 9.99107356e-01 -4.20215423e-02 -4.32214560e-03 2.32452417e+02] [ 4.20210618e-02 9.99116705e-01 -2.01950355e-04 -2.15673092e+01] [ 4.32681413e-03 2.01489377e-05 9.99990639e-01 -2.50394328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.314012739 meters Centerline goodness [0,1] 0.9988730196571379 Centerline is valid? [True, True] Translation: X:232.48, Y:-21.57, Z:-2.50 [[ 9.99069739e-01 -4.28967422e-02 -4.41886050e-03 2.32479832e+02] [ 4.28962453e-02 9.99079511e-01 -2.07217727e-04 -2.15675680e+01] [ 4.42368195e-03 1.74724364e-05 9.99990215e-01 -2.50449412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.344012739 meters Centerline goodness [0,1] 0.9987838248707814 Centerline is valid? [True, True] Translation: X:232.51, Y:-21.57, Z:-2.50 [[ 9.99071538e-01 -4.29216434e-02 -3.71410866e-03 2.32507456e+02] [ 4.29212915e-02 9.99078442e-01 -1.74434731e-04 -2.15689141e+01] [ 3.71817291e-03 1.48584342e-05 9.99993087e-01 -2.50170271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.374012739 meters Centerline goodness [0,1] 0.9986202436132371 Centerline is valid? [True, True] Translation: X:232.54, Y:-21.57, Z:-2.50 [[ 9.99118449e-01 -4.18622945e-02 -3.14205769e-03 2.32536518e+02] [ 4.18620359e-02 9.99123390e-01 -1.48063568e-04 -2.15658478e+01] [ 3.14550161e-03 1.64001112e-05 9.99995053e-01 -2.50024638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40401273899997 meters Centerline goodness [0,1] 0.9983401595171373 Centerline is valid? [True, True] Translation: X:232.56, Y:-21.56, Z:-2.50 [[ 9.99206157e-01 -3.97353042e-02 -2.85695958e-03 2.32564405e+02] [ 3.97350803e-02 9.99210241e-01 -1.35098065e-04 -2.15604174e+01] [ 2.86007143e-03 2.14693003e-05 9.99995910e-01 -2.49919043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43401273899997 meters Centerline goodness [0,1] 0.9979558902635826 Centerline is valid? [True, True] Translation: X:232.59, Y:-21.55, Z:-2.50 [[ 9.99434708e-01 -3.33978403e-02 -3.85347610e-03 2.32591943e+02] [ 3.33973842e-02 9.99442135e-01 -1.82651107e-04 -2.15461230e+01] [ 3.85742653e-03 5.38518340e-05 9.99992559e-01 -2.50004520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46401273899997 meters Centerline goodness [0,1] 0.9976009336906717 Centerline is valid? [True, True] Translation: X:232.62, Y:-21.54, Z:-2.50 [[ 9.99536363e-01 -3.00732058e-02 -4.76035461e-03 2.32620602e+02] [ 3.00724702e-02 9.99547695e-01 -2.26040676e-04 -2.15406601e+01] [ 4.76499925e-03 8.27802528e-05 9.99988644e-01 -2.50116529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49401273899997 meters Centerline goodness [0,1] 0.9958104159504985 Centerline is valid? [True, True] Translation: X:232.65, Y:-21.52, Z:-2.50 [[ 9.99700090e-01 -2.39388045e-02 -5.16376664e-03 2.32648505e+02] [ 2.39378535e-02 9.99713418e-01 -2.45902632e-04 -2.15227847e+01] [ 5.16817341e-03 1.22219394e-04 9.99986637e-01 -2.50257848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52401273899997 meters Centerline goodness [0,1] 0.9952760618173269 Centerline is valid? [True, True] Translation: X:232.68, Y:-21.52, Z:-2.50 [[ 9.99759809e-01 -2.14496696e-02 -4.49840445e-03 2.32677402e+02] [ 2.14489222e-02 9.99769922e-01 -2.14324450e-04 -2.15175605e+01] [ 4.50196666e-03 1.17787044e-04 9.99989859e-01 -2.50150744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55401273899997 meters Centerline goodness [0,1] 0.9947650746461578 Centerline is valid? [True, True] Translation: X:232.71, Y:-21.51, Z:-2.50 [[ 9.99794302e-01 -1.99433660e-02 -3.68984156e-03 2.32706261e+02] [ 1.99428525e-02 9.99801106e-01 -1.75904428e-04 -2.15119991e+01] [ 3.69261580e-03 1.02282279e-04 9.99993177e-01 -2.50027046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58401273899997 meters Centerline goodness [0,1] 0.9953508394317693 Centerline is valid? [True, True] Translation: X:232.74, Y:-21.51, Z:-2.50 [[ 9.99820627e-01 -1.85792794e-02 -3.67756461e-03 2.32736183e+02] [ 1.85787596e-02 9.99827385e-01 -1.75443042e-04 -2.15081576e+01] [ 3.68018941e-03 1.07086983e-04 9.99993222e-01 -2.50029258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61401273899997 meters Centerline goodness [0,1] 0.9951468819790414 Centerline is valid? [True, True] Translation: X:232.76, Y:-21.50, Z:-2.50 [[ 9.99826127e-01 -1.81235621e-02 -4.38770844e-03 2.32764661e+02] [ 1.81228173e-02 9.99835746e-01 -2.09461430e-04 -2.15017255e+01] [ 4.39078393e-03 1.29907372e-04 9.99990352e-01 -2.50158583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64401273899998 meters Centerline goodness [0,1] 0.9927049584826314 Centerline is valid? [True, True] Translation: X:232.79, Y:-21.49, Z:-2.50 [[ 9.99834751e-01 -1.73522813e-02 -5.41935169e-03 2.32792475e+02] [ 1.73511322e-02 9.99849424e-01 -2.58980955e-04 -2.14890986e+01] [ 5.42302958e-03 1.64906271e-04 9.99985282e-01 -2.50366089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67401273899998 meters Centerline goodness [0,1] 0.9927049584826314 Centerline is valid? [True, True] Translation: X:232.82, Y:-21.49, Z:-2.50 [[ 9.99832101e-01 -1.75043249e-02 -5.41933241e-03 2.32820754e+02] [ 1.75031759e-02 9.99846774e-01 -2.59383832e-04 -2.14875866e+01] [ 5.42304236e-03 1.64484754e-04 9.99985282e-01 -2.50355887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70401273899998 meters Centerline goodness [0,1] 0.9954615847887809 Centerline is valid? [True, True] Translation: X:232.85, Y:-21.49, Z:-2.51 [[ 9.99832756e-01 -1.64760238e-02 -7.93726671e-03 2.32849465e+02] [ 1.64735145e-02 9.99864230e-01 -3.81426996e-04 -2.14857045e+01] [ 7.94247346e-03 2.50608527e-04 9.99968427e-01 -2.50806858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73401273899998 meters Centerline goodness [0,1] 0.994370666608707 Centerline is valid? [True, True] Translation: X:232.88, Y:-21.48, Z:-2.51 [[ 9.99865947e-01 -1.48180256e-02 -6.96524056e-03 2.32876347e+02] [ 1.48160477e-02 9.99890180e-01 -3.35483148e-04 -2.14754060e+01] [ 6.96944683e-03 2.32240839e-04 9.99975686e-01 -2.50599796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76401273899998 meters Centerline goodness [0,1] 0.9936622612532716 Centerline is valid? [True, True] Translation: X:232.90, Y:-21.47, Z:-2.50 [[ 9.99885574e-01 -1.40908496e-02 -5.50336452e-03 2.32904537e+02] [ 1.40896010e-02 9.99900701e-01 -2.65592347e-04 -2.14706381e+01] [ 5.50656047e-03 1.88021747e-04 9.99984821e-01 -2.50261576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79401273899998 meters Centerline goodness [0,1] 0.9920856811045636 Centerline is valid? [True, True] Translation: X:232.93, Y:-21.46, Z:-2.50 [[ 9.99900013e-01 -1.33265898e-02 -4.72930638e-03 2.32932342e+02] [ 1.33256564e-02 9.99911183e-01 -2.28807275e-04 -2.14621113e+01] [ 4.73193556e-03 1.65763285e-04 9.99988791e-01 -2.50088484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82401273899998 meters Centerline goodness [0,1] 0.9865686988560901 Centerline is valid? [True, True] Translation: X:232.96, Y:-21.45, Z:-2.50 [[ 9.99910515e-01 -1.24355823e-02 -4.93136196e-03 2.32960705e+02] [ 1.24345555e-02 9.99922659e-01 -2.38822698e-04 -2.14490284e+01] [ 4.93395046e-03 1.77482033e-04 9.99987812e-01 -2.50153132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85401273899998 meters Centerline goodness [0,1] 0.9906074967686342 Centerline is valid? [True, True] Translation: X:232.99, Y:-21.44, Z:-2.50 [[ 9.99930239e-01 -1.07244254e-02 -4.95007217e-03 2.32989476e+02] [ 1.07233688e-02 9.99942474e-01 -2.39941345e-04 -2.14414823e+01] [ 4.95236065e-03 1.86843157e-04 9.99987720e-01 -2.50263384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88401273899999 meters Centerline goodness [0,1] 0.9898298497149767 Centerline is valid? [True, True] Translation: X:233.02, Y:-21.43, Z:-2.50 [[ 9.99935773e-01 -1.00938085e-02 -5.15415801e-03 2.33017368e+02] [ 1.00926527e-02 9.99949037e-01 -2.50220765e-04 -2.14290993e+01] [ 5.15642102e-03 1.98185568e-04 9.99986686e-01 -2.50257486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.914012739 meters Centerline goodness [0,1] 0.989964898679932 Centerline is valid? [True, True] Translation: X:233.05, Y:-21.42, Z:-2.50 [[ 9.99929560e-01 -1.05013696e-02 -5.53145764e-03 2.33046314e+02] [ 1.05000393e-02 9.99944837e-01 -2.69492314e-04 -2.14235919e+01] [ 5.53398254e-03 2.11392808e-04 9.99984665e-01 -2.50263093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.944012739 meters Centerline goodness [0,1] 0.9913069803650203 Centerline is valid? [True, True] Translation: X:233.07, Y:-21.42, Z:-2.50 [[ 9.99919251e-01 -1.12502996e-02 -5.90951638e-03 2.33074802e+02] [ 1.12487882e-02 9.99936689e-01 -2.88931637e-04 -2.14194360e+01] [ 5.91239281e-03 2.22433408e-04 9.99982497e-01 -2.50313135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.974012739 meters Centerline goodness [0,1] 0.9911228613188892 Centerline is valid? [True, True] Translation: X:233.10, Y:-21.41, Z:-2.50 [[ 9.99901434e-01 -1.24789151e-02 -6.43412697e-03 2.33102395e+02] [ 1.24771436e-02 9.99922108e-01 -3.15401626e-04 -2.14138930e+01] [ 6.43756167e-03 2.35091012e-04 9.99979251e-01 -2.50370229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.004012739 meters Centerline goodness [0,1] 0.9934318201395469 Centerline is valid? [True, True] Translation: X:233.13, Y:-21.41, Z:-2.50 [[ 9.99863312e-01 -1.53705705e-02 -6.09128517e-03 2.33131780e+02] [ 1.53690348e-02 9.99881845e-01 -2.98855510e-04 -2.14086813e+01] [ 6.09515903e-03 2.05197486e-04 9.99981403e-01 -2.50301673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.034012739 meters Centerline goodness [0,1] 0.9946141962063342 Centerline is valid? [True, True] Translation: X:233.16, Y:-21.41, Z:-2.50 [[ 9.99848215e-01 -1.67419714e-02 -4.82210371e-03 2.33160416e+02] [ 1.67410236e-02 9.99859831e-01 -2.36856715e-04 -2.14064627e+01] [ 4.82539325e-03 1.56093812e-04 9.99988346e-01 -2.50040182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.064012739 meters Centerline goodness [0,1] 0.9939968679310944 Centerline is valid? [True, True] Translation: X:233.19, Y:-21.41, Z:-2.49 [[ 9.99825825e-01 -1.85301264e-02 -2.22596785e-03 2.33190210e+02] [ 1.85299283e-02 9.99828300e-01 -1.09579343e-04 -2.14069888e+01] [ 2.22761618e-03 6.83132325e-05 9.99997517e-01 -2.48706087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.094012739 meters Centerline goodness [0,1] 0.9936463727751426 Centerline is valid? [True, True] Translation: X:233.22, Y:-21.40, Z:-2.49 [[ 9.99809706e-01 -1.93986182e-02 -2.06027518e-03 2.33219924e+02] [ 1.93984502e-02 9.99811827e-01 -1.01525760e-04 -2.14004043e+01] [ 2.06185695e-03 6.15402948e-05 9.99997872e-01 -2.48818508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.124012739 meters Centerline goodness [0,1] 0.9949573648443925 Centerline is valid? [True, True] Translation: X:233.25, Y:-21.40, Z:-2.50 [[ 9.99797754e-01 -1.99411066e-02 -2.60824565e-03 2.33250315e+02] [ 1.99408392e-02 9.99801153e-01 -1.28471542e-04 -2.13953595e+01] [ 2.61028888e-03 7.64349520e-05 9.99996590e-01 -2.49565647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15401273899997 meters Centerline goodness [0,1] 0.9958078109387897 Centerline is valid? [True, True] Translation: X:233.28, Y:-21.39, Z:-2.50 [[ 9.99766561e-01 -2.09631803e-02 -5.23150938e-03 2.33279981e+02] [ 2.09621188e-02 9.99780237e-01 -2.57663098e-04 -2.13878583e+01] [ 5.23576113e-03 1.47939428e-04 9.99986282e-01 -2.49971065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18401273899997 meters Centerline goodness [0,1] 0.9957724909949744 Centerline is valid? [True, True] Translation: X:233.31, Y:-21.39, Z:-2.50 [[ 9.99752452e-01 -2.13554628e-02 -6.24327023e-03 2.33310080e+02] [ 2.13539590e-02 9.99771931e-01 -3.07442681e-04 -2.13852617e+01] [ 6.24841191e-03 1.74048037e-04 9.99980463e-01 -2.50222840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21401273899997 meters Centerline goodness [0,1] 0.995672294112606 Centerline is valid? [True, True] Translation: X:233.34, Y:-21.38, Z:-2.50 [[ 9.99688552e-01 -2.40690747e-02 -6.59379668e-03 2.33338785e+02] [ 2.40674555e-02 9.99710284e-01 -3.24811055e-04 -2.13829725e+01] [ 6.59970425e-03 1.66013986e-04 9.99978208e-01 -2.50277641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24401273899997 meters Centerline goodness [0,1] 0.9963206024744486 Centerline is valid? [True, True] Translation: X:233.37, Y:-21.38, Z:-2.50 [[ 9.99635397e-01 -2.63866193e-02 -5.72890140e-03 2.33367951e+02] [ 2.63854342e-02 9.99651804e-01 -2.82367103e-04 -2.13825895e+01] [ 5.73435733e-03 1.31104600e-04 9.99983550e-01 -2.50137028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27401273899997 meters Centerline goodness [0,1] 0.9968703779125849 Centerline is valid? [True, True] Translation: X:233.40, Y:-21.39, Z:-2.50 [[ 9.99478634e-01 -3.21356368e-02 -3.12425030e-03 2.33397706e+02] [ 3.21353123e-02 9.99483516e-01 -1.54028405e-04 -2.13862619e+01] [ 3.12758648e-03 5.35493408e-05 9.99995108e-01 -2.49599968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30401273899997 meters Centerline goodness [0,1] 0.9975639726647552 Centerline is valid? [True, True] Translation: X:233.43, Y:-21.39, Z:-2.49 [[ 9.99380600e-01 -3.51028900e-02 -2.49081436e-03 2.33429098e+02] [ 3.51026928e-02 9.99383703e-01 -1.22845750e-04 -2.13918100e+01] [ 2.49359152e-03 3.53353683e-05 9.99996890e-01 -2.49497704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33401273899997 meters Centerline goodness [0,1] 0.9974964389001597 Centerline is valid? [True, True] Translation: X:233.46, Y:-21.39, Z:-2.49 [[ 9.99286372e-01 -3.76769395e-02 -2.68217912e-03 2.33459362e+02] [ 3.76767202e-02 9.99289972e-01 -1.32280200e-04 -2.13927676e+01] [ 2.68525861e-03 3.11300893e-05 9.99996394e-01 -2.49492198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36401273899997 meters Centerline goodness [0,1] 0.9981902012323868 Centerline is valid? [True, True] Translation: X:233.49, Y:-21.40, Z:-2.50 [[ 9.99138013e-01 -4.11484474e-02 -5.48049912e-03 2.33490935e+02] [ 4.11475859e-02 9.99153043e-01 -2.69894434e-04 -2.13978306e+01] [ 5.48696311e-03 4.41524802e-05 9.99984946e-01 -2.50035206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39401273899998 meters Centerline goodness [0,1] 0.9987436369544027 Centerline is valid? [True, True] Translation: X:233.52, Y:-21.40, Z:-2.50 [[ 9.99080962e-01 -4.23997106e-02 -6.28450613e-03 2.33521950e+02] [ 4.23986032e-02 9.99100727e-01 -3.09392388e-04 -2.13994775e+01] [ 6.29197279e-03 4.26537635e-05 9.99980204e-01 -2.50174182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42401273899998 meters Centerline goodness [0,1] 0.9983478979174818 Centerline is valid? [True, True] Translation: X:233.55, Y:-21.40, Z:-2.50 [[ 9.98975600e-01 -4.49707258e-02 -5.03820817e-03 2.33551287e+02] [ 4.49700467e-02 9.98988305e-01 -2.48053263e-04 -2.14028435e+01] [ 5.04426617e-03 2.12307004e-05 9.99987277e-01 -2.49905645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45401273899998 meters Centerline goodness [0,1] 0.9982146314181849 Centerline is valid? [True, True] Translation: X:233.58, Y:-21.40, Z:-2.50 [[ 9.98940587e-01 -4.58535249e-02 -3.89331696e-03 2.33581204e+02] [ 4.58531259e-02 9.98948174e-01 -1.91722214e-04 -2.14022436e+01] [ 3.89801301e-03 1.29983478e-05 9.99992403e-01 -2.49644385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48401273899998 meters Centerline goodness [0,1] 0.9978104540088011 Centerline is valid? [True, True] Translation: X:233.61, Y:-21.40, Z:-2.50 [[ 9.98918986e-01 -4.63440032e-02 -3.61846019e-03 2.33611710e+02] [ 4.63436617e-02 9.98925539e-01 -1.78227142e-04 -2.14020136e+01] [ 3.62283205e-03 1.03417809e-05 9.99993437e-01 -2.49553118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51401273899998 meters Centerline goodness [0,1] 0.998924869909259 Centerline is valid? [True, True] Translation: X:233.64, Y:-21.40, Z:-2.50 [[ 9.98900267e-01 -4.65064595e-02 -5.95032798e-03 2.33641689e+02] [ 4.65055386e-02 9.98917989e-01 -2.93110766e-04 -2.14023597e+01] [ 5.95752121e-03 1.60652142e-05 9.99982254e-01 -2.50065063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54401273899998 meters Centerline goodness [0,1] 0.9988161095206319 Centerline is valid? [True, True] Translation: X:233.67, Y:-21.40, Z:-2.50 [[ 9.98906432e-01 -4.62313228e-02 -6.97171741e-03 2.33671532e+02] [ 4.62300510e-02 9.98930761e-01 -3.43553288e-04 -2.14027163e+01] [ 6.98014590e-03 2.08747379e-05 9.99975638e-01 -2.50232993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57401273899998 meters Centerline goodness [0,1] 0.9985328068699161 Centerline is valid? [True, True] Translation: X:233.70, Y:-21.40, Z:-2.50 [[ 9.98946445e-01 -4.54327323e-02 -6.47039087e-03 2.33700839e+02] [ 4.54316191e-02 9.98967400e-01 -3.18996633e-04 -2.14031955e+01] [ 6.47820243e-03 2.47002190e-05 9.99979016e-01 -2.50088356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60401273899998 meters Centerline goodness [0,1] 0.9984974994097319 Centerline is valid? [True, True] Translation: X:233.73, Y:-21.40, Z:-2.50 [[ 9.98968241e-01 -4.49975126e-02 -6.13825197e-03 2.33729006e+02] [ 4.49965015e-02 9.98987099e-01 -3.02794237e-04 -2.14018103e+01] [ 6.14565951e-03 2.62819625e-05 9.99981115e-01 -2.49992055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63401273899999 meters Centerline goodness [0,1] 0.9984045878878037 Centerline is valid? [True, True] Translation: X:233.76, Y:-21.40, Z:-2.50 [[ 9.98987217e-01 -4.45346485e-02 -6.41917601e-03 2.33758986e+02] [ 4.45335319e-02 9.99007840e-01 -3.16854058e-04 -2.13996784e+01] [ 6.42691815e-03 3.06645739e-05 9.99979347e-01 -2.49985462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.664012739 meters Centerline goodness [0,1] 0.9985290669167963 Centerline is valid? [True, True] Translation: X:233.79, Y:-21.40, Z:-2.50 [[ 9.99061679e-01 -4.27739146e-02 -6.79365535e-03 2.33788325e+02] [ 4.27726225e-02 9.99084776e-01 -3.35436878e-04 -2.13951802e+01] [ 6.80178559e-03 4.45396742e-05 9.99976867e-01 -2.50152641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.694012739 meters Centerline goodness [0,1] 0.9983626599135484 Centerline is valid? [True, True] Translation: X:233.82, Y:-21.39, Z:-2.50 [[ 9.99109473e-01 -4.17187697e-02 -6.30906402e-03 2.33817646e+02] [ 4.17176338e-02 9.99129392e-01 -3.11584502e-04 -2.13946886e+01] [ 6.31657022e-03 4.81078053e-05 9.99980049e-01 -2.49971899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.724012739 meters Centerline goodness [0,1] 0.9982692224481848 Centerline is valid? [True, True] Translation: X:233.85, Y:-21.39, Z:-2.50 [[ 9.99165869e-01 -4.06101755e-02 -4.28717267e-03 2.33846503e+02] [ 4.06096405e-02 9.99175066e-01 -2.11798692e-04 -2.13898641e+01] [ 4.29223722e-03 3.75214827e-05 9.99990788e-01 -2.49604087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.754012739 meters Centerline goodness [0,1] 0.9981336079289483 Centerline is valid? [True, True] Translation: X:233.88, Y:-21.39, Z:-2.50 [[ 9.99165503e-01 -4.06222578e-02 -4.25785379e-03 2.33876507e+02] [ 4.06217301e-02 9.99174575e-01 -2.10386510e-04 -2.13874100e+01] [ 4.26288562e-03 3.72495559e-05 9.99990913e-01 -2.49562830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.784012739 meters Centerline goodness [0,1] 0.9979486958023839 Centerline is valid? [True, True] Translation: X:233.91, Y:-21.39, Z:-2.50 [[ 9.99155465e-01 -4.08132157e-02 -4.75795879e-03 2.33906730e+02] [ 4.08125591e-02 9.99166793e-01 -2.35049939e-04 -2.13861428e+01] [ 4.76358757e-03 4.06669570e-05 9.99988653e-01 -2.49635161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.814012739 meters Centerline goodness [0,1] 0.9969428177747158 Centerline is valid? [True, True] Translation: X:233.94, Y:-21.39, Z:-2.49 [[ 9.99064960e-01 -4.29020745e-02 -5.34952134e-03 2.33937200e+02] [ 4.29012744e-02 9.99079282e-01 -2.64273971e-04 -2.13887514e+01] [ 5.35593384e-03 3.45255818e-05 9.99985656e-01 -2.49050038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.844012739 meters Centerline goodness [0,1] 0.9984078831300157 Centerline is valid? [True, True] Translation: X:233.97, Y:-21.39, Z:-2.50 [[ 9.99004688e-01 -4.43425822e-02 -4.83415823e-03 2.33966522e+02] [ 4.43419456e-02 9.99016384e-01 -2.38843783e-04 -2.13883730e+01] [ 4.83999423e-03 2.42500773e-05 9.99988287e-01 -2.49624962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.874012739 meters Centerline goodness [0,1] 0.9972005684999354 Centerline is valid? [True, True] Translation: X:234.00, Y:-21.39, Z:-2.49 [[ 9.98815498e-01 -4.85535646e-02 -3.18640254e-03 2.33996227e+02] [ 4.85533092e-02 9.98820580e-01 -1.57483938e-04 -2.13939340e+01] [ 3.19029084e-03 2.58700996e-06 9.99994911e-01 -2.49412174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90401273899997 meters Centerline goodness [0,1] 0.9972154467157381 Centerline is valid? [True, True] Translation: X:234.03, Y:-21.40, Z:-2.49 [[ 9.98678559e-01 -5.12886689e-02 -3.25698528e-03 2.34026962e+02] [ 5.12884165e-02 9.98683870e-01 -1.61015923e-04 -2.13986550e+01] [ 3.26095696e-03 -6.24246813e-06 9.99994683e-01 -2.49429720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93401273899997 meters Centerline goodness [0,1] 0.9970951028637083 Centerline is valid? [True, True] Translation: X:234.06, Y:-21.40, Z:-2.49 [[ 9.98533045e-01 -5.40354853e-02 -3.45317563e-03 2.34057560e+02] [ 5.40352180e-02 9.98539016e-01 -1.70715005e-04 -2.14038686e+01] [ 3.45735526e-03 -1.61285238e-05 9.99994023e-01 -2.49479284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96401273899997 meters Centerline goodness [0,1] 0.996185439649754 Centerline is valid? [True, True] Translation: X:234.09, Y:-21.41, Z:-2.50 [[ 9.98317043e-01 -5.77903353e-02 -4.83307348e-03 2.34087079e+02] [ 5.77898556e-02 9.98328741e-01 -2.38962654e-04 -2.14140633e+01] [ 4.83880589e-03 -4.07421286e-05 9.99988292e-01 -2.49582196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99401273899997 meters Centerline goodness [0,1] 0.9930668048985939 Centerline is valid? [True, True] Translation: X:234.12, Y:-21.42, Z:-2.49 [[ 9.98239883e-01 -5.90912619e-02 -5.03570649e-03 2.34116127e+02] [ 5.90907560e-02 9.98252583e-01 -2.49307308e-04 -2.14174146e+01] [ 5.04163890e-03 -4.86952057e-05 9.99987290e-01 -2.48813450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02401273899997 meters Centerline goodness [0,1] 0.9957872111767867 Centerline is valid? [True, True] Translation: X:234.15, Y:-21.42, Z:-2.49 [[ 9.98264457e-01 -5.87260566e-02 -4.39591674e-03 2.34145151e+02] [ 5.87256647e-02 9.98274135e-01 -2.18279800e-04 -2.14193485e+01] [ 4.40114870e-03 -4.02521668e-05 9.99990314e-01 -2.49456336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05401273899997 meters Centerline goodness [0,1] 0.9964570038204598 Centerline is valid? [True, True] Translation: X:234.17, Y:-21.42, Z:-2.49 [[ 9.98353714e-01 -5.71957097e-02 -4.30268587e-03 2.34172732e+02] [ 5.71953174e-02 9.98362985e-01 -2.14269172e-04 -2.14186256e+01] [ 4.30789759e-03 -3.21770602e-05 9.99990720e-01 -2.49457660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08401273899997 meters Centerline goodness [0,1] 0.9972317596566523 Centerline is valid? [True, True] Translation: X:234.20, Y:-21.42, Z:-2.49 [[ 9.98465850e-01 -5.51755553e-02 -4.64815116e-03 2.34200999e+02] [ 5.51750738e-02 9.98476668e-01 -2.31868431e-04 -2.14165613e+01] [ 4.65386396e-03 -2.49493735e-05 9.99989170e-01 -2.49497165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11401273899997 meters Centerline goodness [0,1] 0.9984263849967665 Centerline is valid? [True, True] Translation: X:234.23, Y:-21.41, Z:-2.50 [[ 9.98591086e-01 -5.27769325e-02 -5.51714242e-03 2.34230068e+02] [ 5.27762118e-02 9.98606326e-01 -2.76223050e-04 -2.14133497e+01] [ 5.52403153e-03 -1.53400019e-05 9.99984742e-01 -2.49642995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14401273899998 meters Centerline goodness [0,1] 0.9988358556461001 Centerline is valid? [True, True] Translation: X:234.26, Y:-21.41, Z:-2.50 [[ 9.98848296e-01 -4.74877991e-02 -6.85495994e-03 2.34257821e+02] [ 4.74865557e-02 9.98871818e-01 -3.44128596e-04 -2.14065333e+01] [ 6.86356820e-03 1.82138246e-05 9.99976445e-01 -2.49923203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17401273899998 meters Centerline goodness [0,1] 0.9990288328729282 Centerline is valid? [True, True] Translation: X:234.29, Y:-21.40, Z:-2.50 [[ 9.98946320e-01 -4.53272886e-02 -7.18933700e-03 2.34286759e+02] [ 4.53258592e-02 9.98972190e-01 -3.61725329e-04 -2.14028803e+01] [ 7.19834376e-03 3.54813097e-05 9.99974091e-01 -2.49926955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20401273899998 meters Centerline goodness [0,1] 0.9985856036208547 Centerline is valid? [True, True] Translation: X:234.32, Y:-21.40, Z:-2.50 [[ 9.99100368e-01 -4.18932226e-02 -6.58886102e-03 2.34315374e+02] [ 4.18919404e-02 9.99122092e-01 -3.32564814e-04 -2.13998902e+01] [ 6.59700881e-03 5.62454555e-05 9.99978238e-01 -2.49740397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23401273899998 meters Centerline goodness [0,1] 0.9978420186740167 Centerline is valid? [True, True] Translation: X:234.34, Y:-21.40, Z:-2.50 [[ 9.99167322e-01 -4.03205907e-02 -6.23802135e-03 2.34343475e+02] [ 4.03194056e-02 9.99186792e-01 -3.15680618e-04 -2.13960164e+01] [ 6.24567697e-03 6.39044450e-05 9.99980494e-01 -2.49706643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26401273899998 meters Centerline goodness [0,1] 0.9969337650363446 Centerline is valid? [True, True] Translation: X:234.37, Y:-21.39, Z:-2.50 [[ 9.99304244e-01 -3.69267060e-02 -5.23899112e-03 2.34371342e+02] [ 3.69258216e-02 9.99317974e-01 -2.65477228e-04 -2.13882027e+01] [ 5.24522119e-03 7.18384693e-05 9.99986241e-01 -2.49612256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29401273899998 meters Centerline goodness [0,1] 0.997022662040012 Centerline is valid? [True, True] Translation: X:234.40, Y:-21.38, Z:-2.50 [[ 9.99359763e-01 -3.53690233e-02 -5.39413454e-03 2.34400335e+02] [ 3.53680606e-02 9.99374317e-01 -2.73800372e-04 -2.13843455e+01] [ 5.40044357e-03 8.28449975e-05 9.99985414e-01 -2.49654073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32401273899998 meters Centerline goodness [0,1] 0.9965854915603659 Centerline is valid? [True, True] Translation: X:234.43, Y:-21.38, Z:-2.50 [[ 9.99399392e-01 -3.41898296e-02 -5.64890943e-03 2.34428704e+02] [ 3.41887510e-02 9.99415352e-01 -2.87413806e-04 -2.13791240e+01] [ 5.65543344e-03 9.41120251e-05 9.99984003e-01 -2.49740048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35401273899998 meters Centerline goodness [0,1] 0.9967209601371625 Centerline is valid? [True, True] Translation: X:234.46, Y:-21.38, Z:-2.50 [[ 9.99434119e-01 -3.30386055e-02 -6.31608467e-03 2.34457250e+02] [ 3.30372305e-02 9.99454070e-01 -3.21939374e-04 -2.13780763e+01] [ 6.32327295e-03 1.13091249e-04 9.99980002e-01 -2.49810752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38401273899999 meters Centerline goodness [0,1] 0.996358417411049 Centerline is valid? [True, True] Translation: X:234.48, Y:-21.38, Z:-2.50 [[ 9.99438194e-01 -3.29587104e-02 -6.08436409e-03 2.34484488e+02] [ 3.29574286e-02 9.99456708e-01 -3.10833424e-04 -2.13754703e+01] [ 6.09130317e-03 1.10133801e-04 9.99981442e-01 -2.49736518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.414012739 meters Centerline goodness [0,1] 0.9964008092854861 Centerline is valid? [True, True] Translation: X:234.51, Y:-21.37, Z:-2.50 [[ 9.99434490e-01 -3.31477508e-02 -5.65030492e-03 2.34513384e+02] [ 3.31466455e-02 9.99450457e-01 -2.89177940e-04 -2.13738002e+01] [ 5.65678543e-03 1.01725752e-04 9.99983995e-01 -2.49618341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.444012739 meters Centerline goodness [0,1] 0.9963965509845137 Centerline is valid? [True, True] Translation: X:234.54, Y:-21.38, Z:-2.49 [[ 9.99430441e-01 -3.33787756e-02 -4.96500397e-03 2.34543649e+02] [ 3.33779224e-02 9.99442769e-01 -2.54641314e-04 -2.13760876e+01] [ 4.97073694e-03 8.87747632e-05 9.99987642e-01 -2.49450084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.474012739 meters Centerline goodness [0,1] 0.9957105358629079 Centerline is valid? [True, True] Translation: X:234.57, Y:-21.37, Z:-2.49 [[ 9.99427671e-01 -3.35511952e-02 -4.31829266e-03 2.34572109e+02] [ 3.35505509e-02 9.99436997e-01 -2.21574590e-04 -2.13715876e+01] [ 4.32329554e-03 7.65666784e-05 9.99990652e-01 -2.49346695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.504012739 meters Centerline goodness [0,1] 0.9962487873234882 Centerline is valid? [True, True] Translation: X:234.60, Y:-21.37, Z:-2.49 [[ 9.99442825e-01 -3.32384235e-02 -3.04084117e-03 2.34602180e+02] [ 3.32381023e-02 9.99447449e-01 -1.56105471e-04 -2.13719034e+01] [ 3.04434965e-03 5.49467032e-05 9.99995364e-01 -2.49124236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.534012739 meters Centerline goodness [0,1] 0.9958855714962733 Centerline is valid? [True, True] Translation: X:234.63, Y:-21.37, Z:-2.49 [[ 9.99461598e-01 -3.26530162e-02 -3.20856999e-03 2.34631611e+02] [ 3.26526554e-02 9.99466746e-01 -1.64802147e-04 -2.13685061e+01] [ 3.21224030e-03 5.99450869e-05 9.99994839e-01 -2.49144761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.564012739 meters Centerline goodness [0,1] 0.9958855714962733 Centerline is valid? [True, True] Translation: X:234.66, Y:-21.37, Z:-2.49 [[ 9.99461598e-01 -3.26530164e-02 -3.20856780e-03 2.34661577e+02] [ 3.26526554e-02 9.99466746e-01 -1.64844810e-04 -2.13669665e+01] [ 3.21223950e-03 5.99877982e-05 9.99994839e-01 -2.49133952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.594012739 meters Centerline goodness [0,1] 0.9953097684731165 Centerline is valid? [True, True] Translation: X:234.69, Y:-21.36, Z:-2.49 [[ 9.99475407e-01 -3.21600700e-02 -3.82637743e-03 2.34690670e+02] [ 3.21595530e-02 9.99482728e-01 -1.96588353e-04 -2.13623895e+01] [ 3.83072045e-03 7.34306368e-05 9.99992660e-01 -2.49252910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.624012739 meters Centerline goodness [0,1] 0.9955537329218018 Centerline is valid? [True, True] Translation: X:234.72, Y:-21.36, Z:-2.49 [[ 9.99479784e-01 -3.19602224e-02 -4.32487855e-03 2.34720305e+02] [ 3.19595598e-02 9.99489138e-01 -2.22264650e-04 -2.13636816e+01] [ 4.32977276e-03 8.39278100e-05 9.99990623e-01 -2.49384100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65401273899997 meters Centerline goodness [0,1] 0.9957203380717865 Centerline is valid? [True, True] Translation: X:234.75, Y:-21.36, Z:-2.50 [[ 9.99451636e-01 -3.26131904e-02 -5.72776752e-03 2.34750442e+02] [ 3.26120378e-02 9.99468043e-01 -2.94525327e-04 -2.13646188e+01] [ 5.73432600e-03 1.07569648e-04 9.99983553e-01 -2.49646759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68401273899997 meters Centerline goodness [0,1] 0.9960304618902768 Centerline is valid? [True, True] Translation: X:234.78, Y:-21.36, Z:-2.50 [[ 9.99428010e-01 -3.32030492e-02 -6.41958393e-03 2.34779374e+02] [ 3.32016123e-02 9.99448620e-01 -3.30297019e-04 -2.13632668e+01] [ 6.42701117e-03 1.16967555e-04 9.99979340e-01 -2.49717798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71401273899997 meters Centerline goodness [0,1] 0.9958831936178836 Centerline is valid? [True, True] Translation: X:234.81, Y:-21.36, Z:-2.50 [[ 9.99405823e-01 -3.38136161e-02 -6.68129133e-03 2.34807505e+02] [ 3.38120712e-02 9.99428149e-01 -3.44079567e-04 -2.13632267e+01] [ 6.68910520e-03 1.17966825e-04 9.99977621e-01 -2.49724922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74401273899997 meters Centerline goodness [0,1] 0.9957240962294303 Centerline is valid? [True, True] Translation: X:234.84, Y:-21.36, Z:-2.50 [[ 9.99406375e-01 -3.38835008e-02 -6.22940451e-03 2.34836155e+02] [ 3.38821553e-02 9.99425783e-01 -3.21439581e-04 -2.13619365e+01] [ 6.23671898e-03 1.10183116e-04 9.99980545e-01 -2.49611661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77401273899997 meters Centerline goodness [0,1] 0.9952254984192529 Centerline is valid? [True, True] Translation: X:234.87, Y:-21.36, Z:-2.49 [[ 9.99408475e-01 -3.39483033e-02 -5.49660567e-03 2.34865130e+02] [ 3.39472521e-02 9.99423585e-01 -2.84461633e-04 -2.13600428e+01] [ 5.50309433e-03 9.76987083e-05 9.99984853e-01 -2.49456986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80401273899997 meters Centerline goodness [0,1] 0.9957964172540904 Centerline is valid? [True, True] Translation: X:234.89, Y:-21.36, Z:-2.49 [[ 9.99424575e-01 -3.35308476e-02 -5.11870103e-03 2.34893406e+02] [ 3.35299264e-02 9.99437679e-01 -2.65708825e-04 -2.13567709e+01] [ 5.12473212e-03 9.39262606e-05 9.99986864e-01 -2.49340342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83401273899997 meters Centerline goodness [0,1] 0.9955292205014118 Centerline is valid? [True, True] Translation: X:234.92, Y:-21.35, Z:-2.49 [[ 9.99437786e-01 -3.30787345e-02 -5.46890289e-03 2.34921919e+02] [ 3.30776723e-02 9.99452744e-01 -2.84592190e-04 -2.13531356e+01] [ 5.47532395e-03 1.03533611e-04 9.99985005e-01 -2.49388199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86401273899997 meters Centerline goodness [0,1] 0.9952277657266811 Centerline is valid? [True, True] Translation: X:234.95, Y:-21.35, Z:-2.50 [[ 9.99472044e-01 -3.19144134e-02 -6.09127127e-03 2.34950342e+02] [ 3.19130706e-02 9.99490598e-01 -3.17528502e-04 -2.13495121e+01] [ 6.09830210e-03 1.22969690e-04 9.99981398e-01 -2.49515225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89401273899998 meters Centerline goodness [0,1] 0.9956773561602998 Centerline is valid? [True, True] Translation: X:234.98, Y:-21.35, Z:-2.49 [[ 9.99469803e-01 -3.19459432e-02 -6.29046779e-03 2.34978036e+02] [ 3.19445070e-02 9.99489590e-01 -3.28676263e-04 -2.13463073e+01] [ 6.29775694e-03 1.27556107e-04 9.99980161e-01 -2.49476224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92401273899998 meters Centerline goodness [0,1] 0.9954128440366973 Centerline is valid? [True, True] Translation: X:235.01, Y:-21.34, Z:-2.49 [[ 9.99443564e-01 -3.30472607e-02 -4.52122782e-03 2.35007856e+02] [ 3.30465293e-02 9.99453786e-01 -2.36405395e-04 -2.13443307e+01] [ 4.52657081e-03 8.68629629e-05 9.99989751e-01 -2.49111447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95401273899998 meters Centerline goodness [0,1] 0.9953324299326751 Centerline is valid? [True, True] Translation: X:235.04, Y:-21.34, Z:-2.49 [[ 9.99412414e-01 -3.40153686e-02 -4.21687148e-03 2.35037908e+02] [ 3.40147406e-02 9.99421307e-01 -2.20584106e-04 -2.13432478e+01] [ 4.22193446e-03 7.70187038e-05 9.99991085e-01 -2.49088828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98401273899998 meters Centerline goodness [0,1] 0.9954765681944862 Centerline is valid? [True, True] Translation: X:235.07, Y:-21.34, Z:-2.49 [[ 9.99375442e-01 -3.49701322e-02 -5.08085533e-03 2.35067464e+02] [ 3.49692322e-02 9.99388354e-01 -2.65897794e-04 -2.13401141e+01] [ 5.08704612e-03 8.80581160e-05 9.99987057e-01 -2.49213021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01401273899998 meters Centerline goodness [0,1] 0.9958606939297402 Centerline is valid? [True, True] Translation: X:235.10, Y:-21.34, Z:-2.49 [[ 9.99327227e-01 -3.61599160e-02 -6.12812412e-03 2.35097447e+02] [ 3.61586284e-02 9.99346011e-01 -3.20814310e-04 -2.13399041e+01] [ 6.13571702e-03 9.90139118e-05 9.99981171e-01 -2.49352272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04401273899998 meters Centerline goodness [0,1] 0.995992026465349 Centerline is valid? [True, True] Translation: X:235.13, Y:-21.34, Z:-2.49 [[ 9.99320852e-01 -3.63561311e-02 -6.00561204e-03 2.35125517e+02] [ 3.63548970e-02 9.99338893e-01 -3.14566385e-04 -2.13354719e+01] [ 6.01307810e-03 9.60193401e-05 9.99981917e-01 -2.49329811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07401273899998 meters Centerline goodness [0,1] 0.9961146082049056 Centerline is valid? [True, True] Translation: X:235.15, Y:-21.33, Z:-2.49 [[ 9.99294111e-01 -3.71305253e-02 -5.70996539e-03 2.35154585e+02] [ 3.71294197e-02 9.99310420e-01 -2.99540300e-04 -2.13328363e+01] [ 5.71715000e-03 8.73211568e-05 9.99983653e-01 -2.49250677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10401273899998 meters Centerline goodness [0,1] 0.99585313174946 Centerline is valid? [True, True] Translation: X:235.18, Y:-21.33, Z:-2.49 [[ 9.99276548e-01 -3.75839630e-02 -5.81610140e-03 2.35183532e+02] [ 3.75828181e-02 9.99293469e-01 -3.06056065e-04 -2.13299772e+01] [ 5.82349494e-03 8.72491666e-05 9.99983040e-01 -2.49229954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13401273899999 meters Centerline goodness [0,1] 0.9960956773570739 Centerline is valid? [True, True] Translation: X:235.21, Y:-21.33, Z:-2.49 [[ 9.99276772e-01 -3.76478915e-02 -5.34510829e-03 2.35213012e+02] [ 3.76469224e-02 9.99291064e-01 -2.81843274e-04 -2.13263154e+01] [ 5.35192975e-03 8.04125601e-05 9.99985675e-01 -2.49149600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.164012739 meters Centerline goodness [0,1] 0.9946521757881571 Centerline is valid? [True, True] Translation: X:235.24, Y:-21.32, Z:-2.48 [[ 9.99280575e-01 -3.76427656e-02 -4.62110588e-03 2.35242267e+02] [ 3.76420408e-02 9.99291258e-01 -2.43762783e-04 -2.13246100e+01] [ 4.62700661e-03 6.96395577e-05 9.99989293e-01 -2.47825284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.194012739 meters Centerline goodness [0,1] 0.9958186951742569 Centerline is valid? [True, True] Translation: X:235.27, Y:-21.32, Z:-2.49 [[ 9.99292851e-01 -3.73351952e-02 -4.45882079e-03 2.35271504e+02] [ 3.73345168e-02 9.99302796e-01 -2.35295366e-04 -2.13201567e+01] [ 4.46449688e-03 6.86610569e-05 9.99990032e-01 -2.48857976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.224012739 meters Centerline goodness [0,1] 0.9963708632161065 Centerline is valid? [True, True] Translation: X:235.30, Y:-21.31, Z:-2.49 [[ 9.99313727e-01 -3.65716386e-02 -5.88140445e-03 2.35300984e+02] [ 3.65704448e-02 9.99331029e-01 -3.10425568e-04 -2.13143289e+01] [ 5.88882273e-03 9.51269543e-05 9.99982656e-01 -2.49032342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.254012739 meters Centerline goodness [0,1] 0.9965988591109676 Centerline is valid? [True, True] Translation: X:235.33, Y:-21.31, Z:-2.49 [[ 9.99305963e-01 -3.67923824e-02 -5.82340825e-03 2.35330515e+02] [ 3.67912155e-02 9.99322927e-01 -3.07421580e-04 -2.13113258e+01] [ 5.83077614e-03 9.29579507e-05 9.99982997e-01 -2.49036832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.284012739 meters Centerline goodness [0,1] 0.9964990180172487 Centerline is valid? [True, True] Translation: X:235.36, Y:-21.31, Z:-2.49 [[ 9.99283730e-01 -3.74506446e-02 -5.42919047e-03 2.35359136e+02] [ 3.74496394e-02 9.99298475e-01 -2.86732201e-04 -2.13069237e+01] [ 5.43612006e-03 8.32055977e-05 9.99985221e-01 -2.49001271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.314012739 meters Centerline goodness [0,1] 0.9968152176267955 Centerline is valid? [True, True] Translation: X:235.39, Y:-21.31, Z:-2.49 [[ 9.99151072e-01 -4.10366743e-02 -3.62317711e-03 2.35388781e+02] [ 4.10362500e-02 9.99157640e-01 -1.91411008e-04 -2.13113981e+01] [ 3.62797997e-03 4.25669120e-05 9.99993418e-01 -2.48664810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.344012739 meters Centerline goodness [0,1] 0.9968561584840655 Centerline is valid? [True, True] Translation: X:235.42, Y:-21.31, Z:-2.49 [[ 9.99047705e-01 -4.34926544e-02 -3.47441221e-03 2.35419823e+02] [ 4.34922772e-02 9.99053746e-01 -1.84067183e-04 -2.13138450e+01] [ 3.47913011e-03 3.27817975e-05 9.99993947e-01 -2.48606435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.374012739 meters Centerline goodness [0,1] 0.9976191497576251 Centerline is valid? [True, True] Translation: X:235.45, Y:-21.32, Z:-2.49 [[ 9.98813343e-01 -4.84021657e-02 -5.39788052e-03 2.35449906e+02] [ 4.84013269e-02 9.98827928e-01 -2.85990047e-04 -2.13185069e+01] [ 5.40539636e-03 2.43860947e-05 9.99985390e-01 -2.48934762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40401273899997 meters Centerline goodness [0,1] 0.997790246755779 Centerline is valid? [True, True] Translation: X:235.48, Y:-21.32, Z:-2.49 [[ 9.98737700e-01 -4.98289914e-02 -6.33076521e-03 2.35479576e+02] [ 4.98278656e-02 9.98757764e-01 -3.35532354e-04 -2.13200600e+01] [ 6.33962014e-03 1.96602938e-05 9.99979904e-01 -2.49069905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43401273899997 meters Centerline goodness [0,1] 0.9977647569444444 Centerline is valid? [True, True] Translation: X:235.51, Y:-21.32, Z:-2.49 [[ 9.98707641e-01 -5.04057699e-02 -6.50431962e-03 2.35507965e+02] [ 5.04045923e-02 9.98728821e-01 -3.44952386e-04 -2.13207673e+01] [ 6.51343905e-03 1.66590052e-05 9.99978787e-01 -2.49117908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46401273899997 meters Centerline goodness [0,1] 0.9977642582281746 Centerline is valid? [True, True] Translation: X:235.54, Y:-21.32, Z:-2.49 [[ 9.98730713e-01 -4.99439950e-02 -6.52377159e-03 2.35536572e+02] [ 4.99427988e-02 9.98752020e-01 -3.46252553e-04 -2.13196740e+01] [ 6.53292328e-03 1.99976474e-05 9.99978660e-01 -2.49008764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49401273899997 meters Centerline goodness [0,1] 0.9974747474747475 Centerline is valid? [True, True] Translation: X:235.57, Y:-21.32, Z:-2.49 [[ 9.98724305e-01 -5.00751482e-02 -6.49938035e-03 2.35565121e+02] [ 5.00739596e-02 9.98745453e-01 -3.45581514e-04 -2.13177017e+01] [ 6.50853162e-03 1.96909485e-05 9.99978819e-01 -2.48931069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52401273899997 meters Centerline goodness [0,1] 0.9976969436074042 Centerline is valid? [True, True] Translation: X:235.59, Y:-21.32, Z:-2.49 [[ 9.98728760e-01 -5.00013436e-02 -6.38199762e-03 2.35593857e+02] [ 5.00001915e-02 9.98749150e-01 -3.40045390e-04 -2.13154748e+01] [ 6.39101743e-03 2.05120080e-05 9.99979577e-01 -2.48901238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55401273899997 meters Centerline goodness [0,1] 0.9974887853877358 Centerline is valid? [True, True] Translation: X:235.62, Y:-21.32, Z:-2.49 [[ 9.98691485e-01 -5.08181595e-02 -5.72993398e-03 2.35622158e+02] [ 5.08172432e-02 9.98707923e-01 -3.05494809e-04 -2.13167807e+01] [ 5.73805514e-03 1.39156158e-05 9.99983537e-01 -2.48817085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58401273899997 meters Centerline goodness [0,1] 0.9970998925886144 Centerline is valid? [True, True] Translation: X:235.65, Y:-21.32, Z:-2.49 [[ 9.98659727e-01 -5.14625017e-02 -5.51003614e-03 2.35650768e+02] [ 5.14616630e-02 9.98674928e-01 -2.93975325e-04 -2.13175737e+01] [ 5.51786365e-03 1.00256944e-05 9.99984776e-01 -2.48793228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61401273899997 meters Centerline goodness [0,1] 0.9976418128028127 Centerline is valid? [True, True] Translation: X:235.68, Y:-21.32, Z:-2.49 [[ 9.98582320e-01 -5.29789885e-02 -5.15533839e-03 2.35679947e+02] [ 5.29782735e-02 9.98595627e-01 -2.75251317e-04 -2.13210021e+01] [ 5.16268091e-03 1.74017091e-06 9.99986673e-01 -2.48738725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64401273899998 meters Centerline goodness [0,1] 0.9970927102401206 Centerline is valid? [True, True] Translation: X:235.71, Y:-21.32, Z:-2.49 [[ 9.98560274e-01 -5.33996492e-02 -5.08496780e-03 2.35710085e+02] [ 5.33989582e-02 9.98573221e-01 -2.71651150e-04 -2.13211790e+01] [ 5.09221875e-03 -2.71936580e-07 9.99987035e-01 -2.48635324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67401273899998 meters Centerline goodness [0,1] 0.9974629195940672 Centerline is valid? [True, True] Translation: X:235.74, Y:-21.32, Z:-2.49 [[ 9.98556070e-01 -5.34941096e-02 -4.91479312e-03 2.35739598e+02] [ 5.34934647e-02 9.98568165e-01 -2.62673539e-04 -2.13200399e+01] [ 4.92180743e-03 -6.15055773e-07 9.99987888e-01 -2.48569172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70401273899998 meters Centerline goodness [0,1] 0.9973507366244507 Centerline is valid? [True, True] Translation: X:235.77, Y:-21.32, Z:-2.49 [[ 9.98577043e-01 -5.30702622e-02 -5.23806190e-03 2.35768771e+02] [ 5.30695231e-02 9.98590781e-01 -2.80080661e-04 -2.13182070e+01] [ 5.24554428e-03 1.70067111e-06 9.99986242e-01 -2.48618739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73401273899998 meters Centerline goodness [0,1] 0.9943881594448133 Centerline is valid? [True, True] Translation: X:235.80, Y:-21.32, Z:-2.48 [[ 9.98597688e-01 -5.25862155e-02 -6.11126309e-03 2.35797503e+02] [ 5.25851993e-02 9.98616388e-01 -3.26959762e-04 -2.13171088e+01] [ 6.12000105e-03 5.13927433e-06 9.99981273e-01 -2.47637159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76401273899998 meters Centerline goodness [0,1] 0.9976631005724331 Centerline is valid? [True, True] Translation: X:235.83, Y:-21.31, Z:-2.49 [[ 9.98602850e-01 -5.24859889e-02 -6.12928140e-03 2.35826714e+02] [ 5.24849615e-02 9.98621661e-01 -3.28462492e-04 -2.13147160e+01] [ 6.13807285e-03 6.30848195e-06 9.99981162e-01 -2.48712718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79401273899998 meters Centerline goodness [0,1] 0.9979440789473685 Centerline is valid? [True, True] Translation: X:235.86, Y:-21.31, Z:-2.49 [[ 9.98658073e-01 -5.13951090e-02 -6.37147959e-03 2.35855304e+02] [ 5.13939698e-02 9.98678398e-01 -3.42513765e-04 -2.13136464e+01] [ 6.38066256e-03 1.45985067e-05 9.99979643e-01 -2.48775676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82401273899998 meters Centerline goodness [0,1] 0.9974626929858513 Centerline is valid? [True, True] Translation: X:235.88, Y:-21.31, Z:-2.49 [[ 9.98696947e-01 -5.06565595e-02 -6.19032056e-03 2.35883533e+02] [ 5.06554653e-02 9.98716132e-01 -3.33516024e-04 -2.13121312e+01] [ 6.19926778e-03 1.95078668e-05 9.99980784e-01 -2.48774923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85401273899998 meters Centerline goodness [0,1] 0.9971350380569571 Centerline is valid? [True, True] Translation: X:235.91, Y:-21.31, Z:-2.49 [[ 9.98718461e-01 -5.02658485e-02 -5.89739897e-03 2.35911198e+02] [ 5.02648462e-02 9.98735873e-01 -3.18134100e-04 -2.13109150e+01] [ 5.90593519e-03 2.12945469e-05 9.99982560e-01 -2.48708971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88401273899999 meters Centerline goodness [0,1] 0.9976213644718348 Centerline is valid? [True, True] Translation: X:235.94, Y:-21.31, Z:-2.49 [[ 9.98739526e-01 -4.98820011e-02 -5.58082367e-03 2.35939497e+02] [ 4.98810941e-02 9.98755118e-01 -3.01670618e-04 -2.13100831e+01] [ 5.58892414e-03 2.29127795e-05 9.99984382e-01 -2.48565818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.914012739 meters Centerline goodness [0,1] 0.9976613758905177 Centerline is valid? [True, True] Translation: X:235.97, Y:-21.31, Z:-2.49 [[ 9.98737304e-01 -4.98653807e-02 -6.10251022e-03 2.35968266e+02] [ 4.98642895e-02 9.98755948e-01 -3.30928340e-04 -2.13094423e+01] [ 6.11142025e-03 2.62131422e-05 9.99981325e-01 -2.48614963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.944012739 meters Centerline goodness [0,1] 0.9974439933844534 Centerline is valid? [True, True] Translation: X:236.00, Y:-21.31, Z:-2.49 [[ 9.98740257e-01 -4.97771626e-02 -6.33513654e-03 2.35996922e+02] [ 4.97759780e-02 9.98760348e-01 -3.44610375e-04 -2.13090873e+01] [ 6.34443690e-03 2.88386372e-05 9.99979873e-01 -2.48672974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.974012739 meters Centerline goodness [0,1] 0.9976183774655206 Centerline is valid? [True, True] Translation: X:236.03, Y:-21.31, Z:-2.49 [[ 9.98737333e-01 -4.99096649e-02 -5.72410405e-03 2.36025472e+02] [ 4.99086946e-02 9.98753736e-01 -3.12305985e-04 -2.13118707e+01] [ 5.73255739e-03 2.62290852e-05 9.99983568e-01 -2.48546764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.004012739 meters Centerline goodness [0,1] 0.9951978982729661 Centerline is valid? [True, True] Translation: X:236.05, Y:-21.32, Z:-2.47 [[ 9.98673016e-01 -5.11800274e-02 -5.72810837e-03 2.36054064e+02] [ 5.11790708e-02 9.98689443e-01 -3.13548120e-04 -2.13154453e+01] [ 5.73664876e-03 1.99727830e-05 9.99983545e-01 -2.47471705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.034012739 meters Centerline goodness [0,1] 0.9947767663632423 Centerline is valid? [True, True] Translation: X:236.08, Y:-21.32, Z:-2.48 [[ 9.98559911e-01 -5.33326058e-02 -5.80834774e-03 2.36082047e+02] [ 5.33316545e-02 9.98576804e-01 -3.18665969e-04 -2.13237820e+01] [ 5.81707661e-03 8.43826744e-06 9.99983081e-01 -2.47618227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.064012739 meters Centerline goodness [0,1] 0.9974813270800764 Centerline is valid? [True, True] Translation: X:236.11, Y:-21.33, Z:-2.49 [[ 9.98520262e-01 -5.40781334e-02 -5.73072946e-03 2.36110654e+02] [ 5.40772160e-02 9.98536707e-01 -3.15017820e-04 -2.13255077e+01] [ 5.73937930e-03 4.64978097e-06 9.99983530e-01 -2.48540878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.094012739 meters Centerline goodness [0,1] 0.9975539105246218 Centerline is valid? [True, True] Translation: X:236.14, Y:-21.33, Z:-2.48 [[ 9.98525293e-01 -5.40104011e-02 -5.48775445e-03 2.36137558e+02] [ 5.40095545e-02 9.98540373e-01 -3.02468897e-04 -2.13272337e+01] [ 5.49608085e-03 5.63167127e-06 9.99984896e-01 -2.48479285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.124012739 meters Centerline goodness [0,1] 0.9973799883073858 Centerline is valid? [True, True] Translation: X:236.17, Y:-21.33, Z:-2.48 [[ 9.98646745e-01 -5.16793877e-02 -5.82399998e-03 2.36166802e+02] [ 5.16783905e-02 9.98663727e-01 -3.21678362e-04 -2.13284026e+01] [ 5.83284167e-03 2.02681039e-05 9.99982989e-01 -2.48486507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15401273899997 meters Centerline goodness [0,1] 0.9964934170897514 Centerline is valid? [True, True] Translation: X:236.19, Y:-21.33, Z:-2.48 [[ 9.98745503e-01 -4.96593091e-02 -6.43215679e-03 2.36194685e+02] [ 4.96580452e-02 9.98766215e-01 -3.56164729e-04 -2.13273406e+01] [ 6.44190778e-03 3.63095894e-05 9.99979250e-01 -2.47764614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18401273899997 meters Centerline goodness [0,1] 0.9972285974104707 Centerline is valid? [True, True] Translation: X:236.22, Y:-21.32, Z:-2.49 [[ 9.98855462e-01 -4.73778141e-02 -6.56572001e-03 2.36223457e+02] [ 4.73764427e-02 9.98877039e-01 -3.64339624e-04 -2.13237169e+01] [ 6.57560858e-03 5.28621653e-05 9.99978379e-01 -2.48527560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21401273899997 meters Centerline goodness [0,1] 0.9971402769416015 Centerline is valid? [True, True] Translation: X:236.25, Y:-21.32, Z:-2.48 [[ 9.99099322e-01 -4.19247141e-02 -6.54706066e-03 2.36251720e+02] [ 4.19232291e-02 9.99120769e-01 -3.63960920e-04 -2.13154002e+01] [ 6.55656323e-03 8.91591845e-05 9.99978502e-01 -2.48418910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24401273899997 meters Centerline goodness [0,1] 0.9967609078038526 Centerline is valid? [True, True] Translation: X:236.28, Y:-21.31, Z:-2.48 [[ 9.99210822e-01 -3.93313153e-02 -5.54801377e-03 2.36279937e+02] [ 3.93302077e-02 9.99226220e-01 -3.08642108e-04 -2.13108529e+01] [ 5.55586013e-03 9.01940008e-05 9.99984562e-01 -2.48216446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27401273899997 meters Centerline goodness [0,1] 0.9960447969734099 Centerline is valid? [True, True] Translation: X:236.31, Y:-21.30, Z:-2.48 [[ 9.99392036e-01 -3.47398232e-02 -2.94996197e-03 2.36308398e+02] [ 3.47394898e-02 9.99396388e-01 -1.64196902e-04 -2.13031054e+01] [ 2.95388551e-03 6.16169024e-05 9.99995635e-01 -2.47745906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30401273899997 meters Centerline goodness [0,1] 0.9953614224971009 Centerline is valid? [True, True] Translation: X:236.34, Y:-21.30, Z:-2.48 [[ 9.99466106e-01 -3.25722432e-02 -2.55961015e-03 2.36338051e+02] [ 3.25719849e-02 9.99469382e-01 -1.42552562e-04 -2.12971108e+01] [ 2.56289523e-03 5.91048704e-05 9.99996714e-01 -2.47662455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33401273899997 meters Centerline goodness [0,1] 0.9953347029618216 Centerline is valid? [True, True] Translation: X:236.37, Y:-21.29, Z:-2.48 [[ 9.99529915e-01 -3.04584603e-02 -3.49743634e-03 2.36367503e+02] [ 3.04579647e-02 9.99536030e-01 -1.94891389e-04 -2.12923981e+01] [ 3.50174973e-03 8.82749808e-05 9.99993865e-01 -2.47838221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36401273899997 meters Centerline goodness [0,1] 0.9951945971687086 Centerline is valid? [True, True] Translation: X:236.40, Y:-21.28, Z:-2.48 [[ 9.99615568e-01 -2.71162169e-02 -5.78166950e-03 2.36395943e+02] [ 2.71148055e-02 9.99632274e-01 -3.22365934e-04 -2.12803814e+01] [ 5.78828478e-03 1.65473162e-04 9.99983234e-01 -2.48265917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39401273899998 meters Centerline goodness [0,1] 0.9949280034386417 Centerline is valid? [True, True] Translation: X:236.42, Y:-21.28, Z:-2.48 [[ 9.99632786e-01 -2.64805634e-02 -5.75089513e-03 2.36424876e+02] [ 2.64791556e-02 9.99649314e-01 -3.20806431e-04 -2.12757890e+01] [ 5.75737351e-03 1.68409780e-04 9.99983412e-01 -2.48261091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42401273899998 meters Centerline goodness [0,1] 0.9949376863510586 Centerline is valid? [True, True] Translation: X:236.45, Y:-21.27, Z:-2.48 [[ 9.99612488e-01 -2.74503923e-02 -4.62068935e-03 2.36453624e+02] [ 2.74494932e-02 9.99623158e-01 -2.57895884e-04 -2.12711282e+01] [ 4.62602742e-03 1.30960365e-04 9.99989291e-01 -2.48095927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45401273899998 meters Centerline goodness [0,1] 0.9954579379464762 Centerline is valid? [True, True] Translation: X:236.48, Y:-21.27, Z:-2.48 [[ 9.99560682e-01 -2.92955447e-02 -4.49592825e-03 2.36483593e+02] [ 2.92947115e-02 9.99570786e-01 -2.51079279e-04 -2.12702631e+01] [ 4.50135404e-03 1.19262055e-04 9.99989862e-01 -2.48051067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48401273899998 meters Centerline goodness [0,1] 0.9954579379464762 Centerline is valid? [True, True] Translation: X:236.51, Y:-21.27, Z:-2.48 [[ 9.99560017e-01 -2.93182302e-02 -4.49592255e-03 2.36512718e+02] [ 2.93173968e-02 9.99570121e-01 -2.51181315e-04 -2.12685901e+01] [ 4.50135404e-03 1.19262055e-04 9.99989862e-01 -2.48040558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51401273899998 meters Centerline goodness [0,1] 0.9957356995175741 Centerline is valid? [True, True] Translation: X:236.54, Y:-21.27, Z:-2.48 [[ 9.99486486e-01 -3.17385252e-02 -4.40800616e-03 2.36542957e+02] [ 3.17377472e-02 9.99496200e-01 -2.46359013e-04 -2.12685767e+01] [ 4.41360448e-03 1.06332319e-04 9.99990254e-01 -2.48058403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54401273899998 meters Centerline goodness [0,1] 0.9954897602451499 Centerline is valid? [True, True] Translation: X:236.57, Y:-21.27, Z:-2.47 [[ 9.99296953e-01 -3.70496557e-02 -5.73783415e-03 2.36573638e+02] [ 3.70484244e-02 9.99313420e-01 -3.20759996e-04 -2.12748030e+01] [ 5.74577872e-03 1.07956772e-04 9.99983487e-01 -2.47233865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57401273899998 meters Centerline goodness [0,1] 0.9967773604234249 Centerline is valid? [True, True] Translation: X:236.60, Y:-21.27, Z:-2.48 [[ 9.99219101e-01 -3.90754335e-02 -5.85654586e-03 2.36600951e+02] [ 3.90741845e-02 9.99236259e-01 -3.27572437e-04 -2.12708996e+01] [ 5.86487301e-03 9.84768821e-05 9.99982797e-01 -2.48282498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60401273899998 meters Centerline goodness [0,1] 0.9969753926588459 Centerline is valid? [True, True] Translation: X:236.63, Y:-21.27, Z:-2.48 [[ 9.99149291e-01 -4.08861741e-02 -5.38661501e-03 2.36630253e+02] [ 4.08851413e-02 9.99163807e-01 -3.01759510e-04 -2.12698624e+01] [ 5.39444856e-03 8.12702845e-05 9.99985447e-01 -2.48153539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63401273899999 meters Centerline goodness [0,1] 0.9970430049926076 Centerline is valid? [True, True] Translation: X:236.66, Y:-21.27, Z:-2.48 [[ 9.99142164e-01 -4.10726238e-02 -5.28912210e-03 2.36658284e+02] [ 4.10716275e-02 9.99156161e-01 -2.96904648e-04 -2.12660841e+01] [ 5.29685358e-03 7.94171003e-05 9.99985968e-01 -2.48076306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.664012739 meters Centerline goodness [0,1] 0.9970359945411122 Centerline is valid? [True, True] Translation: X:236.69, Y:-21.26, Z:-2.48 [[ 9.99135615e-01 -4.12489279e-02 -5.15253428e-03 2.36686037e+02] [ 4.12479827e-02 9.99148898e-01 -2.89617495e-04 -2.12594640e+01] [ 5.16009536e-03 7.68355089e-05 9.99986684e-01 -2.48081164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.694012739 meters Centerline goodness [0,1] 0.9967731526298806 Centerline is valid? [True, True] Translation: X:236.72, Y:-21.26, Z:-2.48 [[ 9.99137749e-01 -4.11640272e-02 -5.41125673e-03 2.36715216e+02] [ 4.11629799e-02 9.99152399e-01 -3.04822841e-04 -2.12568833e+01] [ 5.41921788e-03 8.18165557e-05 9.99985313e-01 -2.48104495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.724012739 meters Centerline goodness [0,1] 0.9964677249133085 Centerline is valid? [True, True] Translation: X:236.74, Y:-21.25, Z:-2.48 [[ 9.99152512e-01 -4.08258812e-02 -5.24447420e-03 2.36744436e+02] [ 4.08248922e-02 9.99166273e-01 -2.95549550e-04 -2.12545183e+01] [ 5.25216781e-03 8.11939815e-05 9.99986204e-01 -2.48020360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.754012739 meters Centerline goodness [0,1] 0.9967629269954852 Centerline is valid? [True, True] Translation: X:236.77, Y:-21.25, Z:-2.48 [[ 9.99135786e-01 -4.13478619e-02 -4.24676383e-03 2.36772541e+02] [ 4.13472177e-02 9.99144809e-01 -2.39417411e-04 -2.12499941e+01] [ 4.25303144e-03 6.36186344e-05 9.99990954e-01 -2.47855338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.784012739 meters Centerline goodness [0,1] 0.99676707988096 Centerline is valid? [True, True] Translation: X:236.80, Y:-21.25, Z:-2.48 [[ 9.99112031e-01 -4.20070855e-02 -3.24873068e-03 2.36802266e+02] [ 4.20067117e-02 9.99117312e-01 -1.83246302e-04 -2.12472379e+01] [ 3.25356070e-03 4.66150925e-05 9.99994706e-01 -2.47668324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.814012739 meters Centerline goodness [0,1] 0.9967416236146541 Centerline is valid? [True, True] Translation: X:236.83, Y:-21.25, Z:-2.48 [[ 9.99076354e-01 -4.28862163e-02 -2.68527520e-03 2.36832669e+02] [ 4.28859640e-02 9.99079962e-01 -1.51499128e-04 -2.12464150e+01] [ 2.68930187e-03 3.61985809e-05 9.99996383e-01 -2.47583219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.844012739 meters Centerline goodness [0,1] 0.9966307423165807 Centerline is valid? [True, True] Translation: X:236.86, Y:-21.25, Z:-2.48 [[ 9.98959167e-01 -4.55458871e-02 -2.48074229e-03 2.36863301e+02] [ 4.55456799e-02 9.98962247e-01 -1.39959693e-04 -2.12492488e+01] [ 2.48454248e-03 2.68269245e-05 9.99996913e-01 -2.47605507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.874012739 meters Centerline goodness [0,1] 0.9969193248186894 Centerline is valid? [True, True] Translation: X:236.89, Y:-21.25, Z:-2.48 [[ 9.98892053e-01 -4.69685979e-02 -2.93538799e-03 2.36893853e+02] [ 4.69683140e-02 9.98896366e-01 -1.65610110e-04 -2.12485367e+01] [ 2.93992687e-03 2.75563980e-05 9.99995678e-01 -2.47587991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90401273899997 meters Centerline goodness [0,1] 0.9971949809430003 Centerline is valid? [True, True] Translation: X:236.92, Y:-21.25, Z:-2.48 [[ 9.98835606e-01 -4.81162041e-02 -3.50185398e-03 2.36922980e+02] [ 4.81158071e-02 9.98841744e-01 -1.97569686e-04 -2.12461550e+01] [ 3.50730424e-03 2.88451063e-05 9.99993849e-01 -2.47625719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93401273899997 meters Centerline goodness [0,1] 0.9976873166448961 Centerline is valid? [True, True] Translation: X:236.95, Y:-21.24, Z:-2.48 [[ 9.98761014e-01 -4.94728153e-02 -5.37376093e-03 2.36951926e+02] [ 4.94719003e-02 9.98775470e-01 -3.03147638e-04 -2.12435960e+01] [ 5.38217817e-03 3.69218776e-05 9.99985515e-01 -2.48001444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96401273899997 meters Centerline goodness [0,1] 0.9970437017994859 Centerline is valid? [True, True] Translation: X:236.98, Y:-21.24, Z:-2.48 [[ 9.98763771e-01 -4.94101496e-02 -5.43753616e-03 2.36981793e+02] [ 4.94092117e-02 9.98778572e-01 -3.06772990e-04 -2.12427089e+01] [ 5.44605230e-03 3.77293739e-05 9.99985169e-01 -2.47964819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99401273899997 meters Centerline goodness [0,1] 0.9969874369711991 Centerline is valid? [True, True] Translation: X:237.01, Y:-21.24, Z:-2.48 [[ 9.98787978e-01 -4.91054437e-02 -3.35117159e-03 2.37009971e+02] [ 4.91050856e-02 9.98793600e-01 -1.89108135e-04 -2.12388187e+01] [ 3.35641498e-03 2.43193638e-05 9.99994367e-01 -2.47532426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02401273899997 meters Centerline goodness [0,1] 0.9968693041706872 Centerline is valid? [True, True] Translation: X:237.04, Y:-21.24, Z:-2.47 [[ 9.98792294e-01 -4.90733672e-02 -2.39973897e-03 2.37040661e+02] [ 4.90731832e-02 9.98795176e-01 -1.35507555e-04 -2.12350385e+01] [ 2.40349752e-03 1.75810717e-05 9.99997111e-01 -2.47357265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05401273899997 meters Centerline goodness [0,1] 0.996299802082437 Centerline is valid? [True, True] Translation: X:237.07, Y:-21.23, Z:-2.47 [[ 9.98793586e-01 -4.90679685e-02 -1.92512260e-03 2.37069664e+02] [ 4.90678501e-02 9.98795442e-01 -1.08687642e-04 -2.12311201e+01] [ 1.92813676e-03 1.40948922e-05 9.99998141e-01 -2.47295113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08401273899997 meters Centerline goodness [0,1] 0.9969111969111969 Centerline is valid? [True, True] Translation: X:237.10, Y:-21.23, Z:-2.47 [[ 9.98780392e-01 -4.93160084e-02 -2.37903317e-03 2.37100053e+02] [ 4.93158282e-02 9.98783225e-01 -1.34366041e-04 -2.12292903e+01] [ 2.38276482e-03 1.68781762e-05 9.99997161e-01 -2.47398703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11401273899997 meters Centerline goodness [0,1] 0.9963343898915411 Centerline is valid? [True, True] Translation: X:237.13, Y:-21.23, Z:-2.48 [[ 9.98758343e-01 -4.97004802e-02 -3.41105890e-03 2.37129727e+02] [ 4.97001121e-02 9.98764167e-01 -1.92654690e-04 -2.12275199e+01] [ 3.41641843e-03 2.28854691e-05 9.99994164e-01 -2.47574450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14401273899998 meters Centerline goodness [0,1] 0.9961736064833724 Centerline is valid? [True, True] Translation: X:237.16, Y:-21.23, Z:-2.48 [[ 9.98723108e-01 -5.04010387e-02 -3.44793380e-03 2.37159542e+02] [ 5.04006668e-02 9.98729060e-01 -1.94723973e-04 -2.12262771e+01] [ 3.45336597e-03 2.06971689e-05 9.99994037e-01 -2.47555120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17401273899998 meters Centerline goodness [0,1] 0.996124196090123 Centerline is valid? [True, True] Translation: X:237.19, Y:-21.23, Z:-2.48 [[ 9.98544220e-01 -5.37980162e-02 -3.90049933e-03 2.37189433e+02] [ 5.37975660e-02 9.98551838e-01 -2.20333285e-04 -2.12293525e+01] [ 3.90670427e-03 1.01751586e-05 9.99992369e-01 -2.47553220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20401273899998 meters Centerline goodness [0,1] 0.9960110333121154 Centerline is valid? [True, True] Translation: X:237.22, Y:-21.23, Z:-2.48 [[ 9.98429819e-01 -5.58111620e-02 -4.79689753e-03 2.37218816e+02] [ 5.58105039e-02 9.98441342e-01 -2.71047196e-04 -2.12316189e+01] [ 4.80454827e-03 2.90433424e-06 9.99988458e-01 -2.47663228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23401273899998 meters Centerline goodness [0,1] 0.9959704354946453 Centerline is valid? [True, True] Translation: X:237.25, Y:-21.24, Z:-2.48 [[ 9.98237791e-01 -5.90651385e-02 -5.71153059e-03 2.37248603e+02] [ 5.90642579e-02 9.98254131e-01 -3.22876939e-04 -2.12361719e+01] [ 5.72062978e-03 -1.50393534e-05 9.99983637e-01 -2.47808190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26401273899998 meters Centerline goodness [0,1] 0.9957938784754428 Centerline is valid? [True, True] Translation: X:237.28, Y:-21.24, Z:-2.48 [[ 9.98200992e-01 -5.97699229e-02 -4.72600940e-03 2.37277670e+02] [ 5.97693273e-02 9.98212180e-01 -2.67288604e-04 -2.12357232e+01] [ 4.73353596e-03 -1.56626529e-05 9.99988797e-01 -2.47612089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29401273899998 meters Centerline goodness [0,1] 0.9948367109848973 Centerline is valid? [True, True] Translation: X:237.31, Y:-21.23, Z:-2.47 [[ 9.98219713e-01 -5.95224749e-02 -3.80516490e-03 2.37306740e+02] [ 5.95220863e-02 9.98226966e-01 -2.15375651e-04 -2.12331766e+01] [ 3.81123790e-03 -1.14991331e-05 9.99992737e-01 -2.47390056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32401273899998 meters Centerline goodness [0,1] 0.9956021796026945 Centerline is valid? [True, True] Translation: X:237.34, Y:-21.23, Z:-2.47 [[ 9.98383261e-01 -5.67399830e-02 -3.38221552e-03 2.37336131e+02] [ 5.67396582e-02 9.98388989e-01 -1.91960006e-04 -2.12285288e+01] [ 3.38765855e-03 -2.56096081e-07 9.99994262e-01 -2.47326348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35401273899998 meters Centerline goodness [0,1] 0.9957399676237539 Centerline is valid? [True, True] Translation: X:237.36, Y:-21.23, Z:-2.47 [[ 9.98456583e-01 -5.54131225e-02 -3.71999252e-03 2.37364549e+02] [ 5.54127202e-02 9.98463513e-01 -2.11229524e-04 -2.12252631e+01] [ 3.72598168e-03 4.76860449e-06 9.99993058e-01 -2.47397129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38401273899999 meters Centerline goodness [0,1] 0.9959824844826121 Centerline is valid? [True, True] Translation: X:237.39, Y:-21.22, Z:-2.47 [[ 9.98594275e-01 -5.28407747e-02 -4.16250669e-03 2.37392514e+02] [ 5.28402477e-02 9.98602950e-01 -2.36554982e-04 -2.12189233e+01] [ 4.16919121e-03 1.62745656e-05 9.99991309e-01 -2.47412033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.414012739 meters Centerline goodness [0,1] 0.9963367622942091 Centerline is valid? [True, True] Translation: X:237.42, Y:-21.21, Z:-2.47 [[ 9.98639988e-01 -5.19801252e-02 -4.03010135e-03 2.37420706e+02] [ 5.19796238e-02 9.98648119e-01 -2.29125624e-04 -2.12146523e+01] [ 4.03656311e-03 1.93308582e-05 9.99991853e-01 -2.47347008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.444012739 meters Centerline goodness [0,1] 0.9966293591461043 Centerline is valid? [True, True] Translation: X:237.45, Y:-21.21, Z:-2.47 [[ 9.98655992e-01 -5.16886377e-02 -3.80715020e-03 2.37450586e+02] [ 5.16881876e-02 9.98663249e-01 -2.16572086e-04 -2.12130771e+01] [ 3.81325530e-03 1.94963179e-05 9.99992729e-01 -2.47359261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.474012739 meters Centerline goodness [0,1] 0.9962659184113966 Centerline is valid? [True, True] Translation: X:237.48, Y:-21.21, Z:-2.47 [[ 9.98637118e-01 -5.20457054e-02 -3.89255990e-03 2.37480206e+02] [ 5.20452373e-02 9.98644704e-01 -2.21523687e-04 -2.12122428e+01] [ 3.89881368e-03 1.86325722e-05 9.99992399e-01 -2.47474232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.504012739 meters Centerline goodness [0,1] 0.9969117268593978 Centerline is valid? [True, True] Translation: X:237.51, Y:-21.21, Z:-2.48 [[ 9.98611371e-01 -5.25040691e-02 -4.31887734e-03 2.37508443e+02] [ 5.25034966e-02 9.98620710e-01 -2.45902874e-04 -2.12110293e+01] [ 4.32583126e-03 1.88052443e-05 9.99990643e-01 -2.47588890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.534012739 meters Centerline goodness [0,1] 0.9967902457939295 Centerline is valid? [True, True] Translation: X:237.54, Y:-21.21, Z:-2.48 [[ 9.98578081e-01 -5.30789602e-02 -4.94378428e-03 2.37536618e+02] [ 5.30782162e-02 9.98590318e-01 -2.81671104e-04 -2.12099576e+01] [ 4.95176593e-03 1.88633399e-05 9.99987740e-01 -2.47690910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.564012739 meters Centerline goodness [0,1] 0.9963558274223987 Centerline is valid? [True, True] Translation: X:237.57, Y:-21.21, Z:-2.48 [[ 9.98546373e-01 -5.36563205e-02 -5.11275157e-03 2.37566669e+02] [ 5.36555315e-02 9.98559462e-01 -2.91459367e-04 -2.12096495e+01] [ 5.12102510e-03 1.67082907e-05 9.99986887e-01 -2.47679982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.594012739 meters Centerline goodness [0,1] 0.9961950882047734 Centerline is valid? [True, True] Translation: X:237.60, Y:-21.21, Z:-2.48 [[ 9.98491306e-01 -5.46839671e-02 -4.97747971e-03 2.37596570e+02] [ 5.46832315e-02 9.98503712e-01 -2.83863374e-04 -2.12092245e+01] [ 4.98555474e-03 1.12504359e-05 9.99987572e-01 -2.47603043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.624012739 meters Centerline goodness [0,1] 0.9951067330498515 Centerline is valid? [True, True] Translation: X:237.63, Y:-21.21, Z:-2.48 [[ 9.98359374e-01 -5.71112057e-02 -4.10735634e-03 2.37625372e+02] [ 5.71107249e-02 9.98367823e-01 -2.34328499e-04 -2.12118362e+01] [ 4.11403519e-03 -6.30044607e-07 9.99991537e-01 -2.47507234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65401273899997 meters Centerline goodness [0,1] 0.9947179696390612 Centerline is valid? [True, True] Translation: X:237.65, Y:-21.21, Z:-2.47 [[ 9.98279663e-01 -5.85038342e-02 -3.87509171e-03 2.37653762e+02] [ 5.85034163e-02 9.98287184e-01 -2.21206409e-04 -2.12128461e+01] [ 3.88139581e-03 -5.88024348e-06 9.99992467e-01 -2.47483565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68401273899997 meters Centerline goodness [0,1] 0.9943068296560466 Centerline is valid? [True, True] Translation: X:237.68, Y:-21.22, Z:-2.48 [[ 9.98187066e-01 -6.00422020e-02 -4.18500555e-03 2.37682704e+02] [ 6.00417271e-02 9.98195839e-01 -2.39124136e-04 -2.12150258e+01] [ 4.19181267e-03 -1.25843416e-05 9.99991214e-01 -2.47537054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71401273899997 meters Centerline goodness [0,1] 0.9950607165196385 Centerline is valid? [True, True] Translation: X:237.71, Y:-21.21, Z:-2.48 [[ 9.98158017e-01 -6.04979584e-02 -4.53550206e-03 2.37711392e+02] [ 6.04974019e-02 9.98168321e-01 -2.59920166e-04 -2.12143372e+01] [ 4.54291911e-03 -1.49446935e-05 9.99989681e-01 -2.47589908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74401273899997 meters Centerline goodness [0,1] 0.9946451048578072 Centerline is valid? [True, True] Translation: X:237.74, Y:-21.21, Z:-2.48 [[ 9.98155036e-01 -6.05392309e-02 -4.63956726e-03 2.37739511e+02] [ 6.05386460e-02 9.98165819e-01 -2.66533538e-04 -2.12130981e+01] [ 4.64719319e-03 -1.48313266e-05 9.99989202e-01 -2.47554206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77401273899997 meters Centerline goodness [0,1] 0.9947986942328618 Centerline is valid? [True, True] Translation: X:237.77, Y:-21.21, Z:-2.48 [[ 9.98208144e-01 -5.96689909e-02 -4.48473261e-03 2.37767201e+02] [ 5.96684345e-02 9.98218218e-01 -2.57886771e-04 -2.12097891e+01] [ 4.49212963e-03 -1.01722982e-05 9.99989910e-01 -2.47511003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80401273899997 meters Centerline goodness [0,1] 0.9952614764467506 Centerline is valid? [True, True] Translation: X:237.80, Y:-21.21, Z:-2.48 [[ 9.98224839e-01 -5.93481310e-02 -4.99705732e-03 2.37795911e+02] [ 5.93474339e-02 9.98237346e-01 -2.87794533e-04 -2.12071659e+01] [ 5.00532931e-03 -9.27887762e-06 9.99987473e-01 -2.47622817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83401273899997 meters Centerline goodness [0,1] 0.9955041336401602 Centerline is valid? [True, True] Translation: X:237.82, Y:-21.21, Z:-2.48 [[ 9.98146597e-01 -6.05950761e-02 -5.62207499e-03 2.37823589e+02] [ 6.05942093e-02 9.98162430e-01 -3.24544671e-04 -2.12075970e+01] [ 5.63140984e-03 -1.67220294e-05 9.99984143e-01 -2.47769230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86401273899997 meters Centerline goodness [0,1] 0.9949204709326102 Centerline is valid? [True, True] Translation: X:237.85, Y:-21.21, Z:-2.48 [[ 9.98081648e-01 -6.16634922e-02 -5.53504531e-03 2.37851382e+02] [ 6.16626654e-02 9.98096996e-01 -3.20068231e-04 -2.12072579e+01] [ 5.54424862e-03 -2.18514196e-05 9.99984630e-01 -2.47662716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89401273899998 meters Centerline goodness [0,1] 0.9947344666766963 Centerline is valid? [True, True] Translation: X:237.88, Y:-21.21, Z:-2.48 [[ 9.98004328e-01 -6.29423945e-02 -5.06122204e-03 2.37879852e+02] [ 6.29417153e-02 9.98017161e-01 -2.93522217e-04 -2.12076403e+01] [ 5.06966145e-03 -2.56255543e-05 9.99987149e-01 -2.47556712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92401273899998 meters Centerline goodness [0,1] 0.9941081256069926 Centerline is valid? [True, True] Translation: X:237.91, Y:-21.21, Z:-2.48 [[ 9.97854280e-01 -6.52271187e-02 -5.67974965e-03 2.37907420e+02] [ 6.52262955e-02 9.97870443e-01 -3.30253823e-04 -2.12112470e+01] [ 5.68919580e-03 -4.09238378e-05 9.99983816e-01 -2.47685416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95401273899998 meters Centerline goodness [0,1] 0.9940640560109587 Centerline is valid? [True, True] Translation: X:237.94, Y:-21.21, Z:-2.48 [[ 9.97758214e-01 -6.66857683e-02 -5.61735904e-03 2.37936200e+02] [ 6.66849830e-02 9.97774026e-01 -3.27197815e-04 -2.12102111e+01] [ 5.62667438e-03 -4.81291851e-05 9.99984169e-01 -2.47681271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98401273899998 meters Centerline goodness [0,1] 0.9928271033025212 Centerline is valid? [True, True] Translation: X:237.96, Y:-21.22, Z:-2.48 [[ 9.97612006e-01 -6.88844337e-02 -5.02206447e-03 2.37964173e+02] [ 6.88838305e-02 9.97624645e-01 -2.93181944e-04 -2.12170252e+01] [ 5.03033096e-03 -5.34572110e-05 9.99987346e-01 -2.47565081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01401273899998 meters Centerline goodness [0,1] 0.9926551124283229 Centerline is valid? [True, True] Translation: X:237.99, Y:-21.22, Z:-2.47 [[ 9.97601288e-01 -6.90758730e-02 -4.49387479e-03 2.37991548e+02] [ 6.90753904e-02 9.97611408e-01 -2.62699857e-04 -2.12181909e+01] [ 4.50128698e-03 -4.83464396e-05 9.99989868e-01 -2.47404289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04401273899998 meters Centerline goodness [0,1] 0.9922730199613651 Centerline is valid? [True, True] Translation: X:238.02, Y:-21.22, Z:-2.47 [[ 9.97617792e-01 -6.88726960e-02 -3.91054933e-03 2.38019224e+02] [ 6.88723279e-02 9.97625456e-01 -2.28891870e-04 -2.12160238e+01] [ 3.91702796e-03 -4.09820339e-05 9.99992328e-01 -2.47276788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07401273899998 meters Centerline goodness [0,1] 0.9927444456370076 Centerline is valid? [True, True] Translation: X:238.05, Y:-21.21, Z:-2.47 [[ 9.97791362e-01 -6.63129312e-02 -3.87213322e-03 2.38046496e+02] [ 6.63125485e-02 9.97798875e-01 -2.27272617e-04 -2.12113729e+01] [ 3.87868128e-03 -3.00003680e-05 9.99992477e-01 -2.47308518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10401273899998 meters Centerline goodness [0,1] 0.9943291270751715 Centerline is valid? [True, True] Translation: X:238.07, Y:-21.21, Z:-2.47 [[ 9.97874618e-01 -6.50056613e-02 -4.52896339e-03 2.38074845e+02] [ 6.50051226e-02 9.97884895e-01 -2.66210424e-04 -2.12061316e+01] [ 4.53668934e-03 -2.87611954e-05 9.99989709e-01 -2.47422521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13401273899999 meters Centerline goodness [0,1] 0.9946428190297313 Centerline is valid? [True, True] Translation: X:238.10, Y:-21.20, Z:-2.47 [[ 9.98039493e-01 -6.24279232e-02 -4.46364449e-03 2.38102547e+02] [ 6.24273711e-02 9.98049475e-01 -2.63029041e-04 -2.12042511e+01] [ 4.47135839e-03 -1.61402198e-05 9.99990003e-01 -2.47426115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.164012739 meters Centerline goodness [0,1] 0.9944591143240552 Centerline is valid? [True, True] Translation: X:238.13, Y:-21.20, Z:-2.47 [[ 9.98096420e-01 -6.15464165e-02 -3.94655569e-03 2.38131585e+02] [ 6.15459770e-02 9.98104222e-01 -2.32810961e-04 -2.11996769e+01] [ 3.95340258e-03 -1.05268392e-05 9.99992185e-01 -2.47297238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.194012739 meters Centerline goodness [0,1] 0.9948214362456487 Centerline is valid? [True, True] Translation: X:238.16, Y:-21.20, Z:-2.47 [[ 9.98129402e-01 -6.10176536e-02 -3.81343124e-03 2.38159240e+02] [ 6.10172372e-02 9.98136687e-01 -2.25556325e-04 -2.11981910e+01] [ 3.82008854e-03 -7.55063879e-06 9.99992703e-01 -2.47316016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.224012739 meters Centerline goodness [0,1] 0.9950621561917963 Centerline is valid? [True, True] Translation: X:238.19, Y:-21.20, Z:-2.47 [[ 9.98109570e-01 -6.13662461e-02 -3.38690022e-03 2.38187704e+02] [ 6.13659191e-02 9.98115316e-01 -2.00485301e-04 -2.11978732e+01] [ 3.39282002e-03 -7.73394762e-06 9.99994244e-01 -2.47223797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.254012739 meters Centerline goodness [0,1] 0.9944487311385459 Centerline is valid? [True, True] Translation: X:238.22, Y:-21.20, Z:-2.47 [[ 9.98068022e-01 -6.20408615e-02 -3.33988624e-03 2.38215091e+02] [ 6.20405455e-02 9.98073610e-01 -1.98261376e-04 -2.11977152e+01] [ 3.34575263e-03 -9.33002443e-06 9.99994403e-01 -2.47160761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.284012739 meters Centerline goodness [0,1] 0.9946559642872472 Centerline is valid? [True, True] Translation: X:238.24, Y:-21.20, Z:-2.47 [[ 9.98018774e-01 -6.28183574e-02 -3.51865829e-03 2.38243143e+02] [ 6.28180103e-02 9.98024977e-01 -2.09190094e-04 -2.11984354e+01] [ 3.52484984e-03 -1.22594719e-05 9.99993788e-01 -2.47185466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.314012739 meters Centerline goodness [0,1] 0.9946439068997801 Centerline is valid? [True, True] Translation: X:238.27, Y:-21.20, Z:-2.47 [[ 9.97968309e-01 -6.35879777e-02 -3.97793639e-03 2.38272108e+02] [ 6.35875390e-02 9.97976237e-01 -2.36794139e-04 -2.11968381e+01] [ 3.98494324e-03 -1.66341390e-05 9.99992060e-01 -2.47258523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.344012739 meters Centerline goodness [0,1] 0.9945409429280397 Centerline is valid? [True, True] Translation: X:238.30, Y:-21.20, Z:-2.47 [[ 9.97974241e-01 -6.35027749e-02 -3.84866724e-03 2.38299477e+02] [ 6.35023613e-02 9.97981662e-01 -2.29703105e-04 -2.11963866e+01] [ 3.85548611e-03 -1.51616756e-05 9.99992567e-01 -2.47258172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.374012739 meters Centerline goodness [0,1] 0.9945409429280397 Centerline is valid? [True, True] Translation: X:238.33, Y:-21.19, Z:-2.47 [[ 9.97963833e-01 -6.36661239e-02 -3.84865188e-03 2.38327726e+02] [ 6.36657105e-02 9.97971254e-01 -2.29960181e-04 -2.11945618e+01] [ 3.85548461e-03 -1.55352127e-05 9.99992567e-01 -2.47247974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40401273899997 meters Centerline goodness [0,1] 0.9948333049838408 Centerline is valid? [True, True] Translation: X:238.36, Y:-21.19, Z:-2.47 [[ 9.98011047e-01 -6.29487719e-02 -3.37662584e-03 2.38355218e+02] [ 6.29484479e-02 9.98016759e-01 -2.02256560e-04 -2.11941054e+01] [ 3.38266098e-03 -1.06990739e-05 9.99994279e-01 -2.47151499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43401273899997 meters Centerline goodness [0,1] 0.9951300809488767 Centerline is valid? [True, True] Translation: X:238.38, Y:-21.19, Z:-2.47 [[ 9.98064391e-01 -6.21043809e-02 -3.24311733e-03 2.38383090e+02] [ 6.21040769e-02 9.98069660e-01 -1.94474330e-04 -2.11910998e+01] [ 3.24893472e-03 -7.31290495e-06 9.99994722e-01 -2.47091786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46401273899997 meters Centerline goodness [0,1] 0.9954456594126619 Centerline is valid? [True, True] Translation: X:238.41, Y:-21.19, Z:-2.47 [[ 9.98123077e-01 -6.11380729e-02 -3.52962170e-03 2.38411188e+02] [ 6.11377041e-02 9.98129318e-01 -2.12396792e-04 -2.11883593e+01] [ 3.53600443e-03 -3.79482741e-06 9.99993748e-01 -2.47101634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49401273899997 meters Centerline goodness [0,1] 0.9959565819062446 Centerline is valid? [True, True] Translation: X:238.44, Y:-21.19, Z:-2.47 [[ 9.98200806e-01 -5.98227378e-02 -4.04858615e-03 2.38439169e+02] [ 5.98222404e-02 9.98209016e-01 -2.43954928e-04 -2.11854479e+01] [ 4.05592925e-03 1.32051154e-06 9.99991775e-01 -2.47208074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52401273899997 meters Centerline goodness [0,1] 0.9953448825592518 Centerline is valid? [True, True] Translation: X:238.47, Y:-21.18, Z:-2.47 [[ 9.98221599e-01 -5.94588482e-02 -4.27599970e-03 2.38466551e+02] [ 5.94582868e-02 9.98230758e-01 -2.58415685e-04 -2.11841379e+01] [ 4.28379952e-03 3.71250193e-06 9.99990824e-01 -2.47204506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55401273899997 meters Centerline goodness [0,1] 0.9962563026119322 Centerline is valid? [True, True] Translation: X:238.50, Y:-21.18, Z:-2.47 [[ 9.98205082e-01 -5.97489980e-02 -4.08313179e-03 2.38495636e+02] [ 5.97484874e-02 9.98213433e-01 -2.47041238e-04 -2.11830265e+01] [ 4.09059747e-03 2.63687141e-06 9.99991633e-01 -2.47184944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58401273899997 meters Centerline goodness [0,1] 0.9951873496046751 Centerline is valid? [True, True] Translation: X:238.52, Y:-21.18, Z:-2.47 [[ 9.98151381e-01 -6.07043138e-02 -2.96763394e-03 2.38523826e+02] [ 6.07040471e-02 9.98155793e-01 -1.79942103e-04 -2.11844173e+01] [ 2.97308427e-03 -5.37931617e-07 9.99995580e-01 -2.47003993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61401273899997 meters Centerline goodness [0,1] 0.9952422983358808 Centerline is valid? [True, True] Translation: X:238.55, Y:-21.18, Z:-2.47 [[ 9.98110935e-01 -6.13791914e-02 -2.67517119e-03 2.38551913e+02] [ 6.13789767e-02 9.98114520e-01 -1.62344644e-04 -2.11848650e+01] [ 2.68009179e-03 -2.16130555e-06 9.99996409e-01 -2.46920441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64401273899998 meters Centerline goodness [0,1] 0.9960720341711563 Centerline is valid? [True, True] Translation: X:238.58, Y:-21.19, Z:-2.47 [[ 9.97982667e-01 -6.33795702e-02 -3.69127735e-03 2.38580426e+02] [ 6.33791741e-02 9.97989494e-01 -2.24300390e-04 -2.11879673e+01] [ 3.69807208e-03 -1.01022080e-05 9.99993162e-01 -2.47093960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67401273899998 meters Centerline goodness [0,1] 0.9955809441690019 Centerline is valid? [True, True] Translation: X:238.61, Y:-21.19, Z:-2.47 [[ 9.97922913e-01 -6.42797869e-02 -4.23904366e-03 2.38608121e+02] [ 6.42792712e-02 9.97931916e-01 -2.57940908e-04 -2.11879280e+01] [ 4.24685735e-03 -1.50774952e-05 9.99990982e-01 -2.47183325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70401273899998 meters Centerline goodness [0,1] 0.9953465536747284 Centerline is valid? [True, True] Translation: X:238.64, Y:-21.19, Z:-2.47 [[ 9.97890330e-01 -6.47875672e-02 -4.17853752e-03 2.38636329e+02] [ 6.47870673e-02 9.97899079e-01 -2.55017383e-04 -2.11875423e+01] [ 4.18628070e-03 -1.62358115e-05 9.99991237e-01 -2.47172267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73401273899998 meters Centerline goodness [0,1] 0.9949688548155247 Centerline is valid? [True, True] Translation: X:238.66, Y:-21.19, Z:-2.47 [[ 9.97909374e-01 -6.45607426e-02 -2.96521904e-03 2.38664622e+02] [ 6.45604889e-02 9.97913779e-01 -1.81319946e-04 -2.11860425e+01] [ 2.97073908e-03 -1.04951172e-05 9.99995587e-01 -2.46852830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76401273899998 meters Centerline goodness [0,1] 0.9944983818770227 Centerline is valid? [True, True] Translation: X:238.69, Y:-21.18, Z:-2.47 [[ 9.97905011e-01 -6.46558388e-02 -2.28280175e-03 2.38691705e+02] [ 6.46556877e-02 9.97907622e-01 -1.39998014e-04 -2.11844725e+01] [ 2.28707695e-03 -7.89139700e-06 9.99997385e-01 -2.46726266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79401273899998 meters Centerline goodness [0,1] 0.9950848876392436 Centerline is valid? [True, True] Translation: X:238.72, Y:-21.18, Z:-2.47 [[ 9.97867726e-01 -6.52343095e-02 -2.11807328e-03 2.38718362e+02] [ 6.52341805e-02 9.97869974e-01 -1.30045724e-04 -2.11840897e+01] [ 2.12204518e-03 -8.40234426e-06 9.99997748e-01 -2.46669067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82401273899998 meters Centerline goodness [0,1] 0.9947158993667636 Centerline is valid? [True, True] Translation: X:238.75, Y:-21.18, Z:-2.47 [[ 9.97836128e-01 -6.57252720e-02 -1.80284684e-03 2.38746142e+02] [ 6.57251795e-02 9.97837757e-01 -1.10615088e-04 -2.11830677e+01] [ 1.80621886e-03 -8.11670124e-06 9.99998369e-01 -2.46625233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85401273899998 meters Centerline goodness [0,1] 0.9940747395666217 Centerline is valid? [True, True] Translation: X:238.77, Y:-21.18, Z:-2.47 [[ 9.97825520e-01 -6.58951183e-02 -1.43689688e-03 2.38774202e+02] [ 6.58950595e-02 9.97826555e-01 -8.82835247e-05 -2.11814399e+01] [ 1.43959132e-03 -6.59285150e-06 9.99998964e-01 -2.46530798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88401273899999 meters Centerline goodness [0,1] 0.994151543820418 Centerline is valid? [True, True] Translation: X:238.80, Y:-21.18, Z:-2.46 [[ 9.97876284e-01 -6.51312854e-02 -9.15503450e-04 2.38802278e+02] [ 6.51312613e-02 9.97876704e-01 -5.61784563e-05 -2.11780086e+01] [ 9.17218540e-04 -3.56874520e-06 9.99999579e-01 -2.46454779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.914012739 meters Centerline goodness [0,1] 0.9935352233676976 Centerline is valid? [True, True] Translation: X:238.83, Y:-21.17, Z:-2.46 [[ 9.97935425e-01 -6.42138687e-02 -1.21063046e-03 2.38830851e+02] [ 6.42138252e-02 9.97936160e-01 -7.47708464e-05 -2.11738058e+01] [ 1.21293324e-03 -3.12273655e-06 9.99999264e-01 -2.46461758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.944012739 meters Centerline goodness [0,1] 0.9940953001193965 Centerline is valid? [True, True] Translation: X:238.86, Y:-21.17, Z:-2.47 [[ 9.97986280e-01 -6.33927567e-02 -2.17803542e-03 2.38859450e+02] [ 6.33926124e-02 9.97988656e-01 -1.35319682e-04 -2.11691662e+01] [ 2.18223293e-03 -3.02416839e-06 9.99997619e-01 -2.46631107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.974012739 meters Centerline goodness [0,1] 0.9948497111077449 Centerline is valid? [True, True] Translation: X:238.89, Y:-21.16, Z:-2.47 [[ 9.98083324e-01 -6.17144090e-02 -4.58377376e-03 2.38886397e+02] [ 6.17137461e-02 9.98093849e-01 -2.86038120e-04 -2.11617647e+01] [ 4.59268907e-03 2.60802785e-06 9.99989454e-01 -2.47058106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.004012739 meters Centerline goodness [0,1] 0.9945266744755618 Centerline is valid? [True, True] Translation: X:238.91, Y:-21.16, Z:-2.47 [[ 9.98100048e-01 -6.13857532e-02 -5.29947308e-03 2.38912894e+02] [ 6.13848602e-02 9.98114116e-01 -3.31143767e-04 -2.11578718e+01] [ 5.30980640e-03 5.20719596e-06 9.99985903e-01 -2.47182443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.034012739 meters Centerline goodness [0,1] 0.9940846221686851 Centerline is valid? [True, True] Translation: X:238.94, Y:-21.15, Z:-2.47 [[ 9.98078218e-01 -6.18633783e-02 -3.57661929e-03 2.38941106e+02] [ 6.18629736e-02 9.98084627e-01 -2.23785182e-04 -2.11535693e+01] [ 3.58361283e-03 2.09481101e-06 9.99993579e-01 -2.46905300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.064012739 meters Centerline goodness [0,1] 0.9935281343395902 Centerline is valid? [True, True] Translation: X:238.97, Y:-21.15, Z:-2.47 [[ 9.98018850e-01 -6.28587330e-02 -2.67486232e-03 2.38968815e+02] [ 6.28585090e-02 9.98022434e-01 -1.67818554e-04 -2.11515647e+01] [ 2.68012146e-03 -6.51776514e-07 9.99996408e-01 -2.46705201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.094012739 meters Centerline goodness [0,1] 0.993663953263601 Centerline is valid? [True, True] Translation: X:239.00, Y:-21.15, Z:-2.47 [[ 9.97853387e-01 -6.54557460e-02 -2.04045538e-03 2.38997157e+02] [ 6.54556213e-02 9.97855473e-01 -1.27898713e-04 -2.11513411e+01] [ 2.04445128e-03 -5.93511033e-06 9.99997910e-01 -2.46594311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.124012739 meters Centerline goodness [0,1] 0.9939538448437367 Centerline is valid? [True, True] Translation: X:239.02, Y:-21.15, Z:-2.47 [[ 9.97728233e-01 -6.73147005e-02 -2.66531019e-03 2.39024701e+02] [ 6.73144923e-02 9.97731793e-01 -1.67857832e-04 -2.11516719e+01] [ 2.67056401e-03 -1.19375035e-05 9.99996434e-01 -2.46703980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15401273899997 meters Centerline goodness [0,1] 0.9933860161484281 Centerline is valid? [True, True] Translation: X:239.05, Y:-21.15, Z:-2.47 [[ 9.97583748e-01 -6.94054506e-02 -3.09014842e-03 2.39053117e+02] [ 6.94051801e-02 9.97588534e-01 -1.94804189e-04 -2.11523453e+01] [ 3.09621710e-03 -2.01388140e-05 9.99995207e-01 -2.46785479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18401273899997 meters Centerline goodness [0,1] 0.9927776944343242 Centerline is valid? [True, True] Translation: X:239.08, Y:-21.16, Z:-2.47 [[ 9.97274704e-01 -7.36562622e-02 -4.23307565e-03 2.39082312e+02] [ 7.36557908e-02 9.97283687e-01 -2.67362420e-04 -2.11551915e+01] [ 4.24127021e-03 -4.51567555e-05 9.99991005e-01 -2.47049866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21401273899997 meters Centerline goodness [0,1] 0.9921557671229932 Centerline is valid? [True, True] Translation: X:239.11, Y:-21.16, Z:-2.47 [[ 9.97089290e-01 -7.60934419e-02 -4.76829909e-03 2.39110305e+02] [ 7.60928681e-02 9.97100689e-01 -3.01888023e-04 -2.11600139e+01] [ 4.77744601e-03 -6.18242393e-05 9.99988586e-01 -2.47162599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24401273899997 meters Centerline goodness [0,1] 0.9915845206835694 Centerline is valid? [True, True] Translation: X:239.14, Y:-21.17, Z:-2.47 [[ 9.96761444e-01 -8.02618663e-02 -4.96548080e-03 2.39139362e+02] [ 8.02612945e-02 9.96773809e-01 -3.14630346e-04 -2.11685822e+01] [ 4.97471403e-03 -8.49245185e-05 9.99987622e-01 -2.47150640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27401273899997 meters Centerline goodness [0,1] 0.9916584677246867 Centerline is valid? [True, True] Translation: X:239.17, Y:-21.17, Z:-2.47 [[ 9.96624864e-01 -8.19736461e-02 -4.38200701e-03 2.39167570e+02] [ 8.19732167e-02 9.96634494e-01 -2.77807007e-04 -2.11658595e+01] [ 4.39003219e-03 -8.23378400e-05 9.99990360e-01 -2.46918502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30401273899997 meters Centerline goodness [0,1] 0.989868980699767 Centerline is valid? [True, True] Translation: X:239.20, Y:-21.17, Z:-2.47 [[ 9.96529738e-01 -8.31764669e-02 -3.18705278e-03 2.39195307e+02] [ 8.31762456e-02 9.96534832e-01 -2.02160840e-04 -2.11709748e+01] [ 3.19282413e-03 -6.36277960e-05 9.99994901e-01 -2.46640279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33401273899997 meters Centerline goodness [0,1] 0.9899444988573294 Centerline is valid? [True, True] Translation: X:239.22, Y:-21.16, Z:-2.46 [[ 9.96480247e-01 -8.38159444e-02 -1.41587136e-03 2.39223493e+02] [ 8.38159017e-02 9.96481253e-01 -8.96157712e-05 -2.11644168e+01] [ 1.41840050e-03 -2.93721891e-05 9.99998994e-01 -2.46354828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36401273899997 meters Centerline goodness [0,1] 0.9899059171470821 Centerline is valid? [True, True] Translation: X:239.25, Y:-21.16, Z:-2.46 [[ 9.96486505e-01 -8.37408390e-02 -1.45524765e-03 2.39250424e+02] [ 8.37407933e-02 9.96487567e-01 -9.24286429e-05 -2.11642558e+01] [ 1.45787625e-03 -2.97596977e-05 9.99998937e-01 -2.46335344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39401273899998 meters Centerline goodness [0,1] 0.9900688530919542 Centerline is valid? [True, True] Translation: X:239.28, Y:-21.17, Z:-2.46 [[ 9.96528548e-01 -8.32230397e-02 -2.18583797e-03 2.39278662e+02] [ 8.32229339e-02 9.96530945e-01 -1.39463694e-04 -2.11656598e+01] [ 2.18986177e-03 -4.29322959e-05 9.99997601e-01 -2.46433648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42401273899998 meters Centerline goodness [0,1] 0.9895389383959705 Centerline is valid? [True, True] Translation: X:239.31, Y:-21.17, Z:-2.47 [[ 9.96536581e-01 -8.31172480e-02 -2.52307048e-03 2.39306341e+02] [ 8.31171062e-02 9.96539774e-01 -1.61158454e-04 -2.11661783e+01] [ 2.52773514e-03 -4.91100229e-05 9.99996804e-01 -2.46527628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45401273899998 meters Centerline goodness [0,1] 0.989850003218815 Centerline is valid? [True, True] Translation: X:239.33, Y:-21.16, Z:-2.47 [[ 9.96502189e-01 -8.35104962e-02 -3.06341623e-03 2.39334491e+02] [ 8.35102886e-02 9.96506896e-01 -1.95821738e-04 -2.11623025e+01] [ 3.06906857e-03 -6.06899838e-05 9.99995289e-01 -2.46596297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48401273899998 meters Centerline goodness [0,1] 0.9896798606781192 Centerline is valid? [True, True] Translation: X:239.36, Y:-21.16, Z:-2.47 [[ 9.96448970e-01 -8.41450945e-02 -3.00894178e-03 2.39363007e+02] [ 8.41448953e-02 9.96453511e-01 -1.92953026e-04 -2.11637860e+01] [ 3.01450665e-03 -6.09192475e-05 9.99995455e-01 -2.46569109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51401273899998 meters Centerline goodness [0,1] 0.986736421655885 Centerline is valid? [True, True] Translation: X:239.39, Y:-21.16, Z:-2.45 [[ 9.96407597e-01 -8.46228836e-02 -3.29656830e-03 2.39391579e+02] [ 8.46226465e-02 9.96413048e-01 -2.11572488e-04 -2.11619076e+01] [ 3.30264755e-03 -6.81519001e-05 9.99994544e-01 -2.45438220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54401273899998 meters Centerline goodness [0,1] 0.9899852661698447 Centerline is valid? [True, True] Translation: X:239.42, Y:-21.16, Z:-2.47 [[ 9.96452492e-01 -8.40964763e-02 -3.19593840e-03 2.39419869e+02] [ 8.40962490e-02 9.96457615e-01 -2.05667638e-04 -2.11629844e+01] [ 3.20191308e-03 -6.38284013e-05 9.99994872e-01 -2.46529831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57401273899998 meters Centerline goodness [0,1] 0.9902556287695048 Centerline is valid? [True, True] Translation: X:239.45, Y:-21.16, Z:-2.47 [[ 9.96455765e-01 -8.40311930e-02 -3.82987511e-03 2.39447647e+02] [ 8.40308650e-02 9.96463122e-01 -2.46758896e-04 -2.11593378e+01] [ 3.83706475e-03 -7.59433940e-05 9.99992636e-01 -2.46682049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60401273899998 meters Centerline goodness [0,1] 0.9903370154996866 Centerline is valid? [True, True] Translation: X:239.48, Y:-21.16, Z:-2.47 [[ 9.96411182e-01 -8.45390291e-02 -4.23191124e-03 2.39476254e+02] [ 8.45386297e-02 9.96420165e-01 -2.73494811e-04 -2.11569002e+01] [ 4.23988268e-03 -8.52466886e-05 9.99991008e-01 -2.46775423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63401273899999 meters Centerline goodness [0,1] 0.9897832152822494 Centerline is valid? [True, True] Translation: X:239.50, Y:-21.16, Z:-2.47 [[ 9.96379454e-01 -8.48801683e-02 -4.83122316e-03 2.39503894e+02] [ 8.48796482e-02 9.96391162e-01 -3.12971934e-04 -2.11599828e+01] [ 4.84035317e-03 -9.82337171e-05 9.99988281e-01 -2.46853167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.664012739 meters Centerline goodness [0,1] 0.9903808825432429 Centerline is valid? [True, True] Translation: X:239.53, Y:-21.16, Z:-2.47 [[ 9.96371737e-01 -8.49953625e-02 -4.37611857e-03 2.39531690e+02] [ 8.49949354e-02 9.96381343e-01 -2.83822915e-04 -2.11576815e+01] [ 4.38440653e-03 -8.91547839e-05 9.99990384e-01 -2.46711336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.694012739 meters Centerline goodness [0,1] 0.9899987095109046 Centerline is valid? [True, True] Translation: X:239.56, Y:-21.15, Z:-2.46 [[ 9.96359500e-01 -8.51881052e-02 -3.27616807e-03 2.39559785e+02] [ 8.51878654e-02 9.96364884e-01 -2.12914533e-04 -2.11544599e+01] [ 3.28239661e-03 -6.69503473e-05 9.99994611e-01 -2.46437622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.724012739 meters Centerline goodness [0,1] 0.990002375245622 Centerline is valid? [True, True] Translation: X:239.59, Y:-21.15, Z:-2.46 [[ 9.96347056e-01 -8.53884084e-02 -1.16782494e-03 2.39587660e+02] [ 8.53883783e-02 9.96347740e-01 -7.56688352e-05 -2.11518171e+01] [ 1.17002098e-03 -2.43262563e-05 9.99999315e-01 -2.46114997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.754012739 meters Centerline goodness [0,1] 0.9892361037248186 Centerline is valid? [True, True] Translation: X:239.62, Y:-21.15, Z:-2.46 [[ 9.96390105e-01 -8.48869230e-02 -9.84146422e-04 2.39615892e+02] [ 8.48869010e-02 9.96390591e-01 -6.41973824e-05 -2.11531797e+01] [ 9.86043753e-04 -1.95755033e-05 9.99999514e-01 -2.46114110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.784012739 meters Centerline goodness [0,1] 0.9897591137446863 Centerline is valid? [True, True] Translation: X:239.64, Y:-21.15, Z:-2.46 [[ 9.96539161e-01 -8.31114832e-02 -1.47714392e-03 2.39644133e+02] [ 8.31114314e-02 9.96540255e-01 -9.65595531e-05 -2.11528321e+01] [ 1.48005859e-03 -2.65421698e-05 9.99998904e-01 -2.46236549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.814012739 meters Centerline goodness [0,1] 0.9900556030795552 Centerline is valid? [True, True] Translation: X:239.67, Y:-21.15, Z:-2.46 [[ 9.96622526e-01 -8.20922922e-02 -2.09679840e-03 2.39673093e+02] [ 8.20921853e-02 9.96624731e-01 -1.37135473e-04 -2.11474247e+01] [ 2.10097891e-03 -3.54584617e-05 9.99997792e-01 -2.46350019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.844012739 meters Centerline goodness [0,1] 0.991096008258775 Centerline is valid? [True, True] Translation: X:239.70, Y:-21.14, Z:-2.46 [[ 9.96696149e-01 -8.11811663e-02 -2.53083838e-03 2.39701663e+02] [ 8.11810065e-02 9.96699361e-01 -1.65979728e-04 -2.11417189e+01] [ 2.53595943e-03 -4.00246514e-05 9.99996784e-01 -2.46464969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.874012739 meters Centerline goodness [0,1] 0.9916986636349986 Centerline is valid? [True, True] Translation: X:239.73, Y:-21.14, Z:-2.47 [[ 9.96919424e-01 -7.83608985e-02 -3.35123161e-03 2.39729898e+02] [ 7.83605999e-02 9.96925056e-01 -2.20526621e-04 -2.11361177e+01] [ 3.35820742e-03 -4.27572468e-05 9.99994360e-01 -2.46566099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90401273899997 meters Centerline goodness [0,1] 0.992326870996862 Centerline is valid? [True, True] Translation: X:239.76, Y:-21.13, Z:-2.47 [[ 9.97047521e-01 -7.67160766e-02 -3.29926791e-03 2.39758936e+02] [ 7.67157764e-02 9.97052979e-01 -2.17642567e-04 -2.11311015e+01] [ 3.30624159e-03 -3.61059179e-05 9.99994534e-01 -2.46518625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93401273899997 meters Centerline goodness [0,1] 0.9921339597431145 Centerline is valid? [True, True] Translation: X:239.79, Y:-21.13, Z:-2.47 [[ 9.97161577e-01 -7.52310498e-02 -3.01317904e-03 2.39787558e+02] [ 7.52307914e-02 9.97166129e-01 -1.99175119e-04 -2.11255030e+01] [ 3.01962423e-03 -2.80740676e-05 9.99995441e-01 -2.46522786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96401273899997 meters Centerline goodness [0,1] 0.9927081750906053 Centerline is valid? [True, True] Translation: X:239.82, Y:-21.12, Z:-2.47 [[ 9.97306579e-01 -7.32376909e-02 -3.97841947e-03 2.39816107e+02] [ 7.32372212e-02 9.97314514e-01 -2.63826801e-04 -2.11175802e+01] [ 3.98705754e-03 -2.82521817e-05 9.99992051e-01 -2.46766044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99401273899997 meters Centerline goodness [0,1] 0.9922021009215699 Centerline is valid? [True, True] Translation: X:239.84, Y:-21.11, Z:-2.47 [[ 9.97352687e-01 -7.25696043e-02 -4.61200954e-03 2.39844106e+02] [ 7.25689624e-02 9.97363350e-01 -3.06594149e-04 -2.11146833e+01] [ 4.62209870e-03 -2.89062491e-05 9.99989318e-01 -2.46940222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02401273899997 meters Centerline goodness [0,1] 0.9929568363918325 Centerline is valid? [True, True] Translation: X:239.87, Y:-21.11, Z:-2.47 [[ 9.97340533e-01 -7.26819621e-02 -5.40314614e-03 2.39872204e+02] [ 7.26810796e-02 9.97355168e-01 -3.59778410e-04 -2.11115343e+01] [ 5.41500513e-03 -3.38849030e-05 9.99985338e-01 -2.47033556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05401273899997 meters Centerline goodness [0,1] 0.9930295817749065 Centerline is valid? [True, True] Translation: X:239.90, Y:-21.11, Z:-2.47 [[ 9.97329026e-01 -7.28702634e-02 -4.97385216e-03 2.39899196e+02] [ 7.28695141e-02 9.97341428e-01 -3.31936387e-04 -2.11104475e+01] [ 4.98481711e-03 -3.13923970e-05 9.99987575e-01 -2.46987100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08401273899997 meters Centerline goodness [0,1] 0.9930651572761839 Centerline is valid? [True, True] Translation: X:239.93, Y:-21.11, Z:-2.47 [[ 9.97287543e-01 -7.34815816e-02 -4.24427976e-03 2.39927098e+02] [ 7.34810400e-02 9.97296574e-01 -2.83623499e-04 -2.11060702e+01] [ 4.25364676e-03 -2.90199079e-05 9.99990953e-01 -2.46833056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11401273899997 meters Centerline goodness [0,1] 0.9918020473421035 Centerline is valid? [True, True] Translation: X:239.96, Y:-21.11, Z:-2.47 [[ 9.97236411e-01 -7.42283669e-02 -3.11280146e-03 2.39955283e+02] [ 7.42280778e-02 9.97241269e-01 -2.08480103e-04 -2.11053059e+01] [ 3.11968922e-03 -2.31533193e-05 9.99995133e-01 -2.46584629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14401273899998 meters Centerline goodness [0,1] 0.9924506387921022 Centerline is valid? [True, True] Translation: X:239.98, Y:-21.10, Z:-2.47 [[ 9.97204977e-01 -7.46205243e-02 -3.74325242e-03 2.39983116e+02] [ 7.46201078e-02 9.97212002e-01 -2.50983672e-04 -2.11014831e+01] [ 3.75154477e-03 -2.90397329e-05 9.99992963e-01 -2.46692758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17401273899998 meters Centerline goodness [0,1] 0.9925925925925926 Centerline is valid? [True, True] Translation: X:240.01, Y:-21.10, Z:-2.47 [[ 9.97189143e-01 -7.47978669e-02 -4.36937824e-03 2.40010595e+02] [ 7.47972973e-02 9.97198715e-01 -2.93868529e-04 -2.10984468e+01] [ 4.37911910e-03 -3.37751761e-05 9.99990411e-01 -2.46840003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20401273899998 meters Centerline goodness [0,1] 0.9923940445153089 Centerline is valid? [True, True] Translation: X:240.04, Y:-21.10, Z:-2.47 [[ 9.97159325e-01 -7.51822167e-02 -4.57333071e-03 2.40038800e+02] [ 7.51815927e-02 9.97169812e-01 -3.08457378e-04 -2.10960397e+01] [ 4.58357783e-03 -3.62491364e-05 9.99989495e-01 -2.46907716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23401273899998 meters Centerline goodness [0,1] 0.9920476711036804 Centerline is valid? [True, True] Translation: X:240.07, Y:-21.09, Z:-2.47 [[ 9.97137539e-01 -7.54768836e-02 -4.46852141e-03 2.40067111e+02] [ 7.54762872e-02 9.97147551e-01 -3.02193411e-04 -2.10941392e+01] [ 4.47858379e-03 -3.59390105e-05 9.99989970e-01 -2.46800052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26401273899998 meters Centerline goodness [0,1] 0.9921640832405584 Centerline is valid? [True, True] Translation: X:240.09, Y:-21.09, Z:-2.47 [[ 9.97119497e-01 -7.57510082e-02 -3.80691292e-03 2.40094567e+02] [ 7.57505750e-02 9.97126764e-01 -2.58050991e-04 -2.10906334e+01] [ 3.81552238e-03 -3.10681678e-05 9.99992720e-01 -2.46622434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29401273899998 meters Centerline goodness [0,1] 0.9921640832405584 Centerline is valid? [True, True] Translation: X:240.12, Y:-21.09, Z:-2.47 [[ 9.97105738e-01 -7.59319160e-02 -3.80686572e-03 2.40121966e+02] [ 7.59314815e-02 9.97113004e-01 -2.58745394e-04 -2.10885828e+01] [ 3.81552235e-03 -3.10644375e-05 9.99992720e-01 -2.46612533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32401273899998 meters Centerline goodness [0,1] 0.9921308803979587 Centerline is valid? [True, True] Translation: X:240.15, Y:-21.09, Z:-2.47 [[ 9.97123263e-01 -7.57000262e-02 -3.83471855e-03 2.40148802e+02] [ 7.56995810e-02 9.97130636e-01 -2.61317438e-04 -2.10852265e+01] [ 3.84349709e-03 -2.97208915e-05 9.99992613e-01 -2.46619443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35401273899998 meters Centerline goodness [0,1] 0.9919664763228174 Centerline is valid? [True, True] Translation: X:240.18, Y:-21.08, Z:-2.47 [[ 9.97139382e-01 -7.55010630e-02 -3.55553694e-03 2.40176676e+02] [ 7.55006781e-02 9.97145721e-01 -2.42549198e-04 -2.10809610e+01] [ 3.56370116e-03 -2.65900921e-05 9.99993650e-01 -2.46598052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38401273899999 meters Centerline goodness [0,1] 0.9918027523917556 Centerline is valid? [True, True] Translation: X:240.20, Y:-21.08, Z:-2.46 [[ 9.97165742e-01 -7.51984158e-02 -2.38355996e-03 2.40203113e+02] [ 7.51982411e-02 9.97168591e-01 -1.62964523e-04 -2.10779803e+01] [ 2.38906580e-03 -1.67368777e-05 9.99997146e-01 -2.46387057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.414012739 meters Centerline goodness [0,1] 0.9913847083972103 Centerline is valid? [True, True] Translation: X:240.23, Y:-21.07, Z:-2.46 [[ 9.97136464e-01 -7.55989185e-02 -1.91714589e-03 2.40231325e+02] [ 7.55988063e-02 9.97138307e-01 -1.31000613e-04 -2.10747310e+01] [ 1.92156311e-03 -1.43084531e-05 9.99998154e-01 -2.46332797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.444012739 meters Centerline goodness [0,1] 0.9912723041117145 Centerline is valid? [True, True] Translation: X:240.26, Y:-21.07, Z:-2.46 [[ 9.97053885e-01 -7.66676005e-02 -2.37254048e-03 2.40258964e+02] [ 7.66674300e-02 9.97056708e-01 -1.62890685e-04 -2.10731509e+01] [ 2.37804583e-03 -1.94857899e-05 9.99997172e-01 -2.46418854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.474012739 meters Centerline goodness [0,1] 0.9910173206687584 Centerline is valid? [True, True] Translation: X:240.29, Y:-21.07, Z:-2.47 [[ 9.96997254e-01 -7.73807485e-02 -2.94889389e-03 2.40287240e+02] [ 7.73804874e-02 9.97001614e-01 -2.02686336e-04 -2.10727360e+01] [ 2.95573599e-03 -2.61091262e-05 9.99995631e-01 -2.46503949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.504012739 meters Centerline goodness [0,1] 0.9912119707209639 Centerline is valid? [True, True] Translation: X:240.32, Y:-21.07, Z:-2.47 [[ 9.96967247e-01 -7.77627245e-02 -3.04430282e-03 2.40315477e+02] [ 7.77624475e-02 9.96971894e-01 -2.09429377e-04 -2.10724109e+01] [ 3.05137015e-03 -2.79382091e-05 9.99995344e-01 -2.46531474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.534012739 meters Centerline goodness [0,1] 0.9910446482132145 Centerline is valid? [True, True] Translation: X:240.34, Y:-21.07, Z:-2.46 [[ 9.97078485e-01 -7.63440956e-02 -2.46437318e-03 2.40343841e+02] [ 7.63439098e-02 9.97081531e-01 -1.69518852e-04 -2.10665857e+01] [ 2.47012275e-03 -1.91162840e-05 9.99996949e-01 -2.46282122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.564012739 meters Centerline goodness [0,1] 0.9908099287125312 Centerline is valid? [True, True] Translation: X:240.37, Y:-21.06, Z:-2.46 [[ 9.97290607e-01 -7.35483639e-02 -1.44361771e-03 2.40371090e+02] [ 7.35482969e-02 9.97291651e-01 -9.95201691e-05 -2.10609356e+01] [ 1.44702744e-03 -6.92509420e-06 9.99998953e-01 -2.46060898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.594012739 meters Centerline goodness [0,1] 0.9911775412749738 Centerline is valid? [True, True] Translation: X:240.40, Y:-21.06, Z:-2.46 [[ 9.97384893e-01 -7.22578526e-02 -1.47558863e-03 2.40398585e+02] [ 7.22577815e-02 9.97385985e-01 -1.01548487e-04 -2.10559142e+01] [ 1.47906910e-03 -5.33983375e-06 9.99998906e-01 -2.46103589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.624012739 meters Centerline goodness [0,1] 0.9915160770340206 Centerline is valid? [True, True] Translation: X:240.43, Y:-21.05, Z:-2.46 [[ 9.97473871e-01 -7.10056781e-02 -2.01736744e-03 2.40427239e+02] [ 7.10055412e-02 9.97475911e-01 -1.39471383e-04 -2.10507029e+01] [ 2.02217868e-03 -4.12520672e-06 9.99997955e-01 -2.46215342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65401273899997 meters Centerline goodness [0,1] 0.991337140394354 Centerline is valid? [True, True] Translation: X:240.46, Y:-21.04, Z:-2.46 [[ 9.97630574e-01 -6.87691516e-02 -2.01048578e-03 2.40455510e+02] [ 6.87690105e-02 9.97632600e-01 -1.39321723e-04 -2.10434973e+01] [ 2.01530719e-03 7.32492830e-07 9.99997969e-01 -2.46160162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68401273899997 meters Centerline goodness [0,1] 0.9914107794717629 Centerline is valid? [True, True] Translation: X:240.48, Y:-21.04, Z:-2.46 [[ 9.97713431e-01 -6.75603474e-02 -1.87335580e-03 2.40482723e+02] [ 6.75602219e-02 9.97715190e-01 -1.30262695e-04 -2.10391696e+01] [ 1.87787613e-03 3.40050679e-06 9.99998237e-01 -2.46078860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71401273899997 meters Centerline goodness [0,1] 0.9921535568380779 Centerline is valid? [True, True] Translation: X:240.51, Y:-21.03, Z:-2.46 [[ 9.97792205e-01 -6.63693916e-02 -2.41249154e-03 2.40511485e+02] [ 6.63691798e-02 9.97795121e-01 -1.67842020e-04 -2.10347024e+01] [ 2.41831186e-03 7.35637409e-06 9.99997076e-01 -2.46196626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74401273899997 meters Centerline goodness [0,1] 0.9926354322351463 Centerline is valid? [True, True] Translation: X:240.54, Y:-21.03, Z:-2.46 [[ 9.97760023e-01 -6.68260028e-02 -3.03665499e-03 2.40540596e+02] [ 6.68256676e-02 9.97764644e-01 -2.11850032e-04 -2.10311900e+01] [ 3.04402408e-03 8.44899623e-06 9.99995367e-01 -2.46355580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77401273899997 meters Centerline goodness [0,1] 0.9924560836297015 Centerline is valid? [True, True] Translation: X:240.57, Y:-21.03, Z:-2.47 [[ 9.97695913e-01 -6.77116426e-02 -4.24256331e-03 2.40568001e+02] [ 6.77109926e-02 9.97704933e-01 -2.96827643e-04 -2.10289277e+01] [ 4.25292503e-03 8.87555410e-06 9.99990956e-01 -2.46560587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80401273899997 meters Centerline goodness [0,1] 0.9920623066254134 Centerline is valid? [True, True] Translation: X:240.60, Y:-21.03, Z:-2.47 [[ 9.97357255e-01 -7.24728698e-02 -5.11754371e-03 2.40595371e+02] [ 7.24719848e-02 9.97370384e-01 -3.58413338e-04 -2.10343756e+01] [ 5.13006178e-03 -1.34124074e-05 9.99986841e-01 -2.46802844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83401273899997 meters Centerline goodness [0,1] 0.9916383646446842 Centerline is valid? [True, True] Translation: X:240.62, Y:-21.04, Z:-2.47 [[ 9.97102565e-01 -7.59277404e-02 -4.63168581e-03 2.40624609e+02] [ 7.59270508e-02 9.97113322e-01 -3.24806255e-04 -2.10374097e+01] [ 4.64297743e-03 -2.78050935e-05 9.99989221e-01 -2.46671925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86401273899997 meters Centerline goodness [0,1] 0.9896867345623308 Centerline is valid? [True, True] Translation: X:240.65, Y:-21.04, Z:-2.47 [[ 9.96580330e-01 -8.24932460e-02 -4.74453331e-03 2.40654641e+02] [ 8.24925939e-02 9.96591622e-01 -3.33326215e-04 -2.10440754e+01] [ 4.75585931e-03 -5.92025103e-05 9.99988689e-01 -2.46619762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89401273899998 meters Centerline goodness [0,1] 0.9887227626045958 Centerline is valid? [True, True] Translation: X:240.68, Y:-21.05, Z:-2.47 [[ 9.96325149e-01 -8.54853107e-02 -5.33467265e-03 2.40683139e+02] [ 8.54845280e-02 9.96339428e-01 -3.74977305e-04 -2.10483735e+01] [ 5.34719975e-03 -8.24326548e-05 9.99985700e-01 -2.46740431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92401273899998 meters Centerline goodness [0,1] 0.9885165022116366 Centerline is valid? [True, True] Translation: X:240.71, Y:-21.05, Z:-2.47 [[ 9.96087471e-01 -8.82021210e-02 -5.48954146e-03 2.40712356e+02] [ 8.82013307e-02 9.96102593e-01 -3.86364220e-04 -2.10519199e+01] [ 5.50222463e-03 -9.93323032e-05 9.99984858e-01 -2.46862625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95401273899998 meters Centerline goodness [0,1] 0.9873627556512379 Centerline is valid? [True, True] Translation: X:240.74, Y:-21.06, Z:-2.47 [[ 9.95686862e-01 -9.26671585e-02 -4.52436857e-03 2.40742246e+02] [ 9.26666656e-02 9.95697136e-01 -3.18910300e-04 -2.10569773e+01] [ 4.53445334e-03 -1.01723353e-04 9.99989714e-01 -2.46580829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98401273899998 meters Centerline goodness [0,1] 0.9870228182113118 Centerline is valid? [True, True] Translation: X:240.77, Y:-21.06, Z:-2.46 [[ 9.95559470e-01 -9.40609531e-02 -3.72555391e-03 2.40771239e+02] [ 9.40606283e-02 9.95566436e-01 -2.62692863e-04 -2.10576981e+01] [ 3.73374557e-03 -8.89015736e-05 9.99993026e-01 -2.46479053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01401273899998 meters Centerline goodness [0,1] 0.9866283804054343 Centerline is valid? [True, True] Translation: X:240.80, Y:-21.06, Z:-2.47 [[ 9.95399629e-01 -9.57087381e-02 -4.40636341e-03 2.40799628e+02] [ 9.57082967e-02 9.95409376e-01 -3.11424916e-04 -2.10643469e+01] [ 4.41594154e-03 -1.11733291e-04 9.99990243e-01 -2.46588872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04401273899998 meters Centerline goodness [0,1] 0.9869250021575904 Centerline is valid? [True, True] Translation: X:240.83, Y:-21.07, Z:-2.47 [[ 9.95357404e-01 -9.61374962e-02 -4.60643802e-03 2.40827462e+02] [ 9.61370171e-02 9.95368056e-01 -3.25835693e-04 -2.10672841e+01] [ 4.61642629e-03 -1.18526242e-04 9.99989337e-01 -2.46633781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07401273899998 meters Centerline goodness [0,1] 0.9878517040154456 Centerline is valid? [True, True] Translation: X:240.86, Y:-21.07, Z:-2.47 [[ 9.95341937e-01 -9.62807564e-02 -4.94420336e-03 2.40855663e+02] [ 9.62802040e-02 9.95354208e-01 -3.50187698e-04 -2.10678060e+01] [ 4.95494996e-03 -1.27472407e-04 9.99987716e-01 -2.46603310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10401273899998 meters Centerline goodness [0,1] 0.9870982926098678 Centerline is valid? [True, True] Translation: X:240.88, Y:-21.07, Z:-2.47 [[ 9.95394369e-01 -9.56973082e-02 -5.66358071e-03 2.40883645e+02] [ 9.56965690e-02 9.95410471e-01 -4.01997179e-04 -2.10677443e+01] [ 5.67605758e-03 -1.41839513e-04 9.99983881e-01 -2.46657213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13401273899999 meters Centerline goodness [0,1] 0.9869393366557828 Centerline is valid? [True, True] Translation: X:240.91, Y:-21.06, Z:-2.47 [[ 9.95489393e-01 -9.47075115e-02 -5.59956782e-03 2.40912771e+02] [ 9.47067712e-02 9.95505133e-01 -3.97818490e-04 -2.10645373e+01] [ 5.61207490e-03 -1.34292901e-04 9.99984243e-01 -2.46624318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.164012739 meters Centerline goodness [0,1] 0.9880707615865673 Centerline is valid? [True, True] Translation: X:240.94, Y:-21.06, Z:-2.46 [[ 9.95820167e-01 -9.12261009e-02 -4.47138491e-03 2.40941593e+02] [ 9.12255925e-02 9.95830201e-01 -3.17935574e-04 -2.10634249e+01] [ 4.48174416e-03 -9.12980813e-05 9.99989953e-01 -2.46446374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.194012739 meters Centerline goodness [0,1] 0.9888154222661114 Centerline is valid? [True, True] Translation: X:240.97, Y:-21.06, Z:-2.46 [[ 9.95989236e-01 -8.93841285e-02 -3.98994803e-03 2.40970371e+02] [ 8.93837083e-02 9.95997225e-01 -2.83872649e-04 -2.10598270e+01] [ 3.99935087e-03 -7.39022483e-05 9.99992000e-01 -2.46323795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.224012739 meters Centerline goodness [0,1] 0.9894748055821881 Centerline is valid? [True, True] Translation: X:241.00, Y:-21.05, Z:-2.46 [[ 9.96178602e-01 -8.72673465e-02 -3.55014770e-03 2.40998672e+02] [ 8.72669986e-02 9.96184926e-01 -2.53075377e-04 -2.10539998e+01] [ 3.55868884e-03 -5.77024595e-05 9.99993666e-01 -2.46265258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.254012739 meters Centerline goodness [0,1] 0.9896936113327153 Centerline is valid? [True, True] Translation: X:241.03, Y:-21.05, Z:-2.46 [[ 9.96458697e-01 -8.40322302e-02 -2.94095942e-03 2.41027508e+02] [ 8.40319763e-02 9.96463036e-01 -2.10026883e-04 -2.10499285e+01] [ 2.94820638e-03 -3.78515184e-05 9.99995653e-01 -2.46261296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.284012739 meters Centerline goodness [0,1] 0.9897735728712661 Centerline is valid? [True, True] Translation: X:241.06, Y:-21.05, Z:-2.46 [[ 9.96523676e-01 -8.32488360e-02 -3.19284431e-03 2.41055452e+02] [ 8.32485308e-02 9.96528790e-01 -2.28596086e-04 -2.10504200e+01] [ 3.20079163e-03 -3.79981855e-05 9.99994877e-01 -2.46301400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.314012739 meters Centerline goodness [0,1] 0.9878422734732659 Centerline is valid? [True, True] Translation: X:241.08, Y:-21.05, Z:-2.45 [[ 9.96559214e-01 -8.27659757e-02 -4.41894754e-03 2.41083931e+02] [ 8.27653839e-02 9.96569010e-01 -3.16934901e-04 -2.10476548e+01] [ 4.43001760e-03 -4.98914936e-05 9.99990186e-01 -2.45249095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.344012739 meters Centerline goodness [0,1] 0.9915268743580965 Centerline is valid? [True, True] Translation: X:241.11, Y:-21.05, Z:-2.47 [[ 9.96669162e-01 -8.14072105e-02 -4.84229146e-03 2.41112069e+02] [ 8.14064805e-02 9.96680924e-01 -3.47982899e-04 -2.10467903e+01] [ 4.85454784e-03 -4.73700811e-05 9.99988215e-01 -2.46587735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.374012739 meters Centerline goodness [0,1] 0.9909494571798848 Centerline is valid? [True, True] Translation: X:241.14, Y:-21.05, Z:-2.47 [[ 9.96769784e-01 -8.01829003e-02 -4.54980094e-03 2.41139411e+02] [ 8.01822420e-02 9.96780167e-01 -3.27220839e-04 -2.10455754e+01] [ 4.56138885e-03 -3.86493948e-05 9.99989596e-01 -2.46540297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40401273899997 meters Centerline goodness [0,1] 0.9919664010338144 Centerline is valid? [True, True] Translation: X:241.17, Y:-21.04, Z:-2.46 [[ 9.97002099e-01 -7.73172759e-02 -2.97543709e-03 2.41167672e+02] [ 7.73169813e-02 9.97006539e-01 -2.14076510e-04 -2.10403882e+01] [ 2.98308204e-03 -1.66170835e-05 9.99995550e-01 -2.46256193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43401273899997 meters Centerline goodness [0,1] 0.9916385819717589 Centerline is valid? [True, True] Translation: X:241.20, Y:-21.04, Z:-2.46 [[ 9.97112615e-01 -7.58938247e-02 -2.56141020e-03 2.41195362e+02] [ 7.58936012e-02 9.97115905e-01 -1.84466476e-04 -2.10377257e+01] [ 2.56802271e-03 -1.04607938e-05 9.99996703e-01 -2.46094152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46401273899997 meters Centerline goodness [0,1] 0.9925874700149115 Centerline is valid? [True, True] Translation: X:241.22, Y:-21.03, Z:-2.46 [[ 9.97236089e-01 -7.42610883e-02 -2.33974185e-03 2.41223091e+02] [ 7.42608972e-02 9.97238833e-01 -1.68570471e-04 -2.10339564e+01] [ 2.34579966e-03 -5.64677151e-06 9.99997249e-01 -2.46046268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49401273899997 meters Centerline goodness [0,1] 0.9931961071397812 Centerline is valid? [True, True] Translation: X:241.25, Y:-21.03, Z:-2.46 [[ 9.97506588e-01 -7.05487647e-02 -1.86502287e-03 2.41249845e+02] [ 7.05486362e-02 9.97508332e-01 -1.34659360e-04 -2.10267265e+01] [ 1.86987591e-03 2.74877806e-06 9.99998252e-01 -2.45832171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52401273899997 meters Centerline goodness [0,1] 0.9935349953512509 Centerline is valid? [True, True] Translation: X:241.28, Y:-21.02, Z:-2.46 [[ 9.97608277e-01 -6.91131400e-02 -1.04884344e-03 2.41278611e+02] [ 6.91130987e-02 9.97608828e-01 -7.55662452e-05 -2.10225810e+01] [ 1.05155810e-03 2.89669127e-06 9.99999447e-01 -2.45757191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55401273899997 meters Centerline goodness [0,1] 0.9937344433954167 Centerline is valid? [True, True] Translation: X:241.31, Y:-21.02, Z:-2.46 [[ 9.97720994e-01 -6.74642979e-02 -1.17779740e-03 2.41305797e+02] [ 6.74642442e-02 9.97721689e-01 -8.53046342e-05 -2.10183661e+01] [ 1.18086903e-03 5.65101287e-06 9.99999303e-01 -2.45868829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58401273899997 meters Centerline goodness [0,1] 0.9939629990262902 Centerline is valid? [True, True] Translation: X:241.33, Y:-21.02, Z:-2.46 [[ 9.97692876e-01 -6.78748877e-02 -1.38731046e-03 2.41334141e+02] [ 6.78748136e-02 9.97693841e-01 -1.00458634e-04 -2.10166428e+01] [ 1.39092972e-03 6.06342432e-06 9.99999033e-01 -2.45929552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61401273899997 meters Centerline goodness [0,1] 0.9942012919180506 Centerline is valid? [True, True] Translation: X:241.36, Y:-21.01, Z:-2.46 [[ 9.97648929e-01 -6.85095881e-02 -1.74640016e-03 2.41361166e+02] [ 6.85094704e-02 9.97650458e-01 -1.27164609e-04 -2.10136144e+01] [ 1.75100892e-03 7.22068622e-06 9.99998467e-01 -2.45911443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64401273899998 meters Centerline goodness [0,1] 0.9944517605405756 Centerline is valid? [True, True] Translation: X:241.39, Y:-21.01, Z:-2.46 [[ 9.97493806e-01 -7.06899207e-02 -3.00707317e-03 2.41389949e+02] [ 7.06895806e-02 9.97498338e-01 -2.19371894e-04 -2.10128908e+01] [ 3.01505787e-03 6.25336411e-06 9.99995455e-01 -2.46200841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67401273899998 meters Centerline goodness [0,1] 0.9943848130790661 Centerline is valid? [True, True] Translation: X:241.42, Y:-21.01, Z:-2.46 [[ 9.97407642e-01 -7.18502148e-02 -3.94240720e-03 2.41416747e+02] [ 7.18496359e-02 9.97415433e-01 -2.88443495e-04 -2.10119762e+01] [ 3.95294251e-03 4.43522431e-06 9.99992187e-01 -2.46351806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70401273899998 meters Centerline goodness [0,1] 0.9910702758531652 Centerline is valid? [True, True] Translation: X:241.44, Y:-21.01, Z:-2.46 [[ 9.97188482e-01 -7.46854215e-02 -6.10074034e-03 2.41444740e+02] [ 7.46840810e-02 9.97207144e-01 -4.47569537e-04 -2.10129474e+01] [ 6.11712877e-03 -9.31699905e-06 9.99981290e-01 -2.45712460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73401273899998 meters Centerline goodness [0,1] 0.9941611108751964 Centerline is valid? [True, True] Translation: X:241.47, Y:-21.01, Z:-2.47 [[ 9.97034456e-01 -7.67335790e-02 -5.85250386e-03 2.41472124e+02] [ 7.67323759e-02 9.97051632e-01 -4.30150363e-04 -2.10112530e+01] [ 5.86825551e-03 -2.02017934e-05 9.99982781e-01 -2.46719322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76401273899998 meters Centerline goodness [0,1] 0.9930585311509127 Centerline is valid? [True, True] Translation: X:241.50, Y:-21.01, Z:-2.47 [[ 9.96868994e-01 -7.88786035e-02 -5.51130883e-03 2.41500993e+02] [ 7.88775667e-02 9.96884228e-01 -4.05584396e-04 -2.10091873e+01] [ 5.52612878e-03 -3.04041211e-05 9.99984730e-01 -2.46652620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79401273899998 meters Centerline goodness [0,1] 0.9915551821452423 Centerline is valid? [True, True] Translation: X:241.53, Y:-21.01, Z:-2.46 [[ 9.96472026e-01 -8.38020234e-02 -4.55206345e-03 2.41528511e+02] [ 8.38013648e-02 9.96482423e-01 -3.35573074e-04 -2.10112891e+01] [ 4.56417292e-03 -4.70799489e-05 9.99989583e-01 -2.46485633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82401273899998 meters Centerline goodness [0,1] 0.9906866208491233 Centerline is valid? [True, True] Translation: X:241.56, Y:-21.01, Z:-2.47 [[ 9.96238732e-01 -8.65264570e-02 -4.64349183e-03 2.41556709e+02] [ 8.65257991e-02 9.96249551e-01 -3.42752992e-04 -2.10125154e+01] [ 4.65573385e-03 -6.03180347e-05 9.99989160e-01 -2.46522005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85401273899998 meters Centerline goodness [0,1] 0.9894856310762774 Centerline is valid? [True, True] Translation: X:241.59, Y:-21.02, Z:-2.46 [[ 9.95742390e-01 -9.20617578e-02 -4.66111798e-03 2.41586604e+02] [ 9.20611545e-02 9.95753295e-01 -3.44283389e-04 -2.10152404e+01] [ 4.67301892e-03 -8.62903377e-05 9.99989078e-01 -2.46495378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88401273899999 meters Centerline goodness [0,1] 0.9885698355171453 Centerline is valid? [True, True] Translation: X:241.62, Y:-21.02, Z:-2.46 [[ 9.95517191e-01 -9.44867509e-02 -4.21617185e-03 2.41615418e+02] [ 9.44862782e-02 9.95526115e-01 -3.11594275e-04 -2.10156682e+01] [ 4.22675071e-03 -8.81729286e-05 9.99991063e-01 -2.46467162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.914012739 meters Centerline goodness [0,1] 0.9886039274600279 Centerline is valid? [True, True] Translation: X:241.64, Y:-21.01, Z:-2.46 [[ 9.95275357e-01 -9.69989033e-02 -4.26328463e-03 2.41643833e+02] [ 9.69984403e-02 9.95284483e-01 -3.15703569e-04 -2.10138619e+01] [ 4.27380394e-03 -9.93199778e-05 9.99990862e-01 -2.46447051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.944012739 meters Centerline goodness [0,1] 0.9872180611569895 Centerline is valid? [True, True] Translation: X:241.67, Y:-21.02, Z:-2.47 [[ 9.94750597e-01 -1.02181737e-01 -5.49012940e-03 2.41673246e+02] [ 1.02181047e-01 9.94765735e-01 -4.06851190e-04 -2.10209239e+01] [ 5.50296537e-03 -1.56271705e-04 9.99984846e-01 -2.46648004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.974012739 meters Centerline goodness [0,1] 0.9864922997504947 Centerline is valid? [True, True] Translation: X:241.70, Y:-21.02, Z:-2.47 [[ 9.94422054e-01 -1.05265529e-01 -6.62922621e-03 2.41701905e+02] [ 1.05264590e-01 9.94444128e-01 -4.91451556e-04 -2.10244536e+01] [ 6.64412798e-03 -2.09112513e-04 9.99977906e-01 -2.46752828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.004012739 meters Centerline goodness [0,1] 0.9835435976656368 Centerline is valid? [True, True] Translation: X:241.73, Y:-21.03, Z:-2.47 [[ 9.93895674e-01 -1.10105211e-01 -6.94495869e-03 2.41732935e+02] [ 1.10104297e-01 9.93919905e-01 -5.15051434e-04 -2.10313669e+01] [ 6.95944253e-03 -2.52762402e-04 9.99975751e-01 -2.46775256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.034012739 meters Centerline goodness [0,1] 0.9804374812722059 Centerline is valid? [True, True] Translation: X:241.76, Y:-21.04, Z:-2.47 [[ 9.93718666e-01 -1.11750040e-01 -5.92804392e-03 2.41762038e+02] [ 1.11749402e-01 9.93736322e-01 -4.39733355e-04 -2.10363798e+01] [ 5.94005278e-03 -2.25484120e-04 9.99982332e-01 -2.46631717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.064012739 meters Centerline goodness [0,1] 0.9675730197222997 Centerline is valid? [True, True] Translation: X:241.79, Y:-21.05, Z:-2.46 [[ 9.93414087e-01 -1.14533152e-01 -3.25716661e-03 2.41792786e+02] [ 1.14532974e-01 9.93419418e-01 -2.41676475e-04 -2.10500279e+01] [ 3.26341253e-03 -1.32968165e-04 9.99994666e-01 -2.46126381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.094012739 meters Centerline goodness [0,1] 0.9784601480461353 Centerline is valid? [True, True] Translation: X:241.82, Y:-21.05, Z:-2.46 [[ 9.93342816e-01 -1.15150742e-01 -3.21803069e-03 2.41821447e+02] [ 1.15150572e-01 9.93348020e-01 -2.38752454e-04 -2.10463456e+01] [ 3.22411694e-03 -1.33395039e-04 9.99994794e-01 -2.46043962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.124012739 meters Centerline goodness [0,1] 0.9619265666073095 Centerline is valid? [True, True] Translation: X:241.85, Y:-21.06, Z:-2.46 [[ 9.93449526e-01 -1.14191477e-01 -4.28323602e-03 2.41849878e+02] [ 1.14191162e-01 9.93458744e-01 -3.18669684e-04 -2.10562279e+01] [ 4.29160765e-03 -1.72525454e-04 9.99990776e-01 -2.46275598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15401273899997 meters Centerline goodness [0,1] 0.9668093301947357 Centerline is valid? [True, True] Translation: X:241.88, Y:-21.05, Z:-2.46 [[ 9.93599047e-01 -1.12845740e-01 -5.17420252e-03 2.41878386e+02] [ 1.12845259e-01 9.93612499e-01 -3.85727386e-04 -2.10549728e+01] [ 5.18467999e-03 -2.00625863e-04 9.99986539e-01 -2.46359848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18401273899997 meters Centerline goodness [0,1] 0.9668093301947357 Centerline is valid? [True, True] Translation: X:241.91, Y:-21.05, Z:-2.46 [[ 9.93579247e-01 -1.13019944e-01 -5.17417004e-03 2.41905808e+02] [ 1.13019463e-01 9.93592699e-01 -3.86162513e-04 -2.10527403e+01] [ 5.18466165e-03 -2.01098862e-04 9.99986539e-01 -2.46349938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21401273899997 meters Centerline goodness [0,1] 0.9824017899401919 Centerline is valid? [True, True] Translation: X:241.93, Y:-21.04, Z:-2.46 [[ 9.93798535e-01 -1.11059184e-01 -5.50729964e-03 2.41934562e+02] [ 1.11058604e-01 9.93813774e-01 -4.11987124e-04 -2.10446654e+01] [ 5.51898519e-03 -2.02200809e-04 9.99984750e-01 -2.46401952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24401273899997 meters Centerline goodness [0,1] 0.9849533294531031 Centerline is valid? [True, True] Translation: X:241.96, Y:-21.04, Z:-2.46 [[ 9.94270502e-01 -1.06738358e-01 -5.75250751e-03 2.41964264e+02] [ 1.06737650e-01 9.94287126e-01 -4.30894165e-04 -2.10405187e+01] [ 5.76563709e-03 -1.85583773e-04 9.99983361e-01 -2.46397277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27401273899997 meters Centerline goodness [0,1] 0.9853412144008598 Centerline is valid? [True, True] Translation: X:241.99, Y:-21.04, Z:-2.46 [[ 9.94521358e-01 -1.04369223e-01 -5.85947453e-03 2.41992318e+02] [ 1.04368446e-01 9.94538604e-01 -4.39011213e-04 -2.10383267e+01] [ 5.87329288e-03 -1.74938226e-04 9.99982737e-01 -2.46313080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30401273899997 meters Centerline goodness [0,1] 0.986239026810172 Centerline is valid? [True, True] Translation: X:242.02, Y:-21.04, Z:-2.46 [[ 9.94966282e-01 -1.00033047e-01 -5.95707309e-03 2.42021436e+02] [ 1.00032165e-01 9.94984104e-01 -4.46549583e-04 -2.10359319e+01] [ 5.97186274e-03 -1.51597139e-04 9.99982157e-01 -2.46379285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33401273899997 meters Centerline goodness [0,1] 0.9871695513648497 Centerline is valid? [True, True] Translation: X:242.05, Y:-21.03, Z:-2.46 [[ 9.95106907e-01 -9.86357446e-02 -5.76480719e-03 2.42049657e+02] [ 9.86348928e-02 9.95123596e-01 -4.32584959e-04 -2.10287224e+01] [ 5.77936400e-03 -1.38142859e-04 9.99983290e-01 -2.46306495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36401273899997 meters Centerline goodness [0,1] 0.9876224417934655 Centerline is valid? [True, True] Translation: X:242.08, Y:-21.03, Z:-2.46 [[ 9.95211560e-01 -9.75977641e-02 -5.35044623e-03 2.42077235e+02] [ 9.75970117e-02 9.95225935e-01 -4.02159864e-04 -2.10258437e+01] [ 5.36415276e-03 -1.21953418e-04 9.99985605e-01 -2.46251215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39401273899998 meters Centerline goodness [0,1] 0.9861167561554752 Centerline is valid? [True, True] Translation: X:242.10, Y:-21.03, Z:-2.46 [[ 9.95415145e-01 -9.55786472e-02 -3.66207562e-03 2.42104969e+02] [ 9.55782806e-02 9.95421879e-01 -2.75406710e-04 -2.10257228e+01] [ 3.67163319e-03 -7.58708811e-05 9.99993257e-01 -2.45972869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42401273899998 meters Centerline goodness [0,1] 0.9872313718700629 Centerline is valid? [True, True] Translation: X:242.13, Y:-21.02, Z:-2.46 [[ 9.95497940e-01 -9.47192493e-02 -3.48081887e-03 2.42133522e+02] [ 9.47189121e-02 9.95504023e-01 -2.61967375e-04 -2.10214752e+01] [ 3.48998254e-03 -6.89113936e-05 9.99993908e-01 -2.45936873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45401273899998 meters Centerline goodness [0,1] 0.9873575307476014 Centerline is valid? [True, True] Translation: X:242.16, Y:-21.02, Z:-2.46 [[ 9.95574704e-01 -9.38533350e-02 -4.74974620e-03 2.42161594e+02] [ 9.38526947e-02 9.95586030e-01 -3.58009922e-04 -2.10209552e+01] [ 4.76238139e-03 -8.93508577e-05 9.99988656e-01 -2.46188129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48401273899998 meters Centerline goodness [0,1] 0.9878027719010405 Centerline is valid? [True, True] Translation: X:242.19, Y:-21.02, Z:-2.46 [[ 9.95523410e-01 -9.43584094e-02 -5.44346501e-03 2.42190706e+02] [ 9.43575723e-02 9.95538286e-01 -4.10968906e-04 -2.10201598e+01] [ 5.45795620e-03 -1.04502977e-04 9.99985100e-01 -2.46380471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51401273899998 meters Centerline goodness [0,1] 0.987254312934512 Centerline is valid? [True, True] Translation: X:242.22, Y:-21.02, Z:-2.46 [[ 9.95439144e-01 -9.52287346e-02 -5.69197695e-03 2.42219419e+02] [ 9.52278280e-02 9.95455411e-01 -4.30696733e-04 -2.10204494e+01] [ 5.70712396e-03 -1.13302214e-04 9.99983708e-01 -2.46417019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54401273899998 meters Centerline goodness [0,1] 0.9874900757461966 Centerline is valid? [True, True] Translation: X:242.25, Y:-21.02, Z:-2.46 [[ 9.95389047e-01 -9.57512998e-02 -5.68634401e-03 2.42247531e+02] [ 9.57503995e-02 9.95405282e-01 -4.30985024e-04 -2.10216512e+01] [ 5.70148424e-03 -1.15471939e-04 9.99983740e-01 -2.46366930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57401273899998 meters Centerline goodness [0,1] 0.98722440608443 Centerline is valid? [True, True] Translation: X:242.28, Y:-21.02, Z:-2.46 [[ 9.95507796e-01 -9.45427346e-02 -5.08909825e-03 2.42276360e+02] [ 9.45419955e-02 9.95520799e-01 -3.86150511e-04 -2.10209573e+01] [ 5.10281089e-03 -9.67176597e-05 9.99986976e-01 -2.46071686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60401273899998 meters Centerline goodness [0,1] 0.9877890079382293 Centerline is valid? [True, True] Translation: X:242.31, Y:-21.02, Z:-2.46 [[ 9.95665682e-01 -9.29023978e-02 -4.35815583e-03 2.42305443e+02] [ 9.29018373e-02 9.95675218e-01 -3.31307291e-04 -2.10171704e+01] [ 4.37008700e-03 -7.50093839e-05 9.99990448e-01 -2.45956507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63401273899999 meters Centerline goodness [0,1] 0.9896116798410436 Centerline is valid? [True, True] Translation: X:242.33, Y:-21.01, Z:-2.46 [[ 9.96227156e-01 -8.66619551e-02 -4.59984710e-03 2.42334418e+02] [ 8.66612614e-02 9.96237774e-01 -3.50278031e-04 -2.10064339e+01] [ 4.61289722e-03 -4.96720653e-05 9.99989359e-01 -2.46016096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.664012739 meters Centerline goodness [0,1] 0.9912557739821678 Centerline is valid? [True, True] Translation: X:242.36, Y:-21.00, Z:-2.46 [[ 9.96524947e-01 -8.31111178e-02 -5.52920147e-03 2.42361481e+02] [ 8.31100597e-02 9.96540285e-01 -4.21262433e-04 -2.09994129e+01] [ 5.54508361e-03 -3.97337412e-05 9.99984625e-01 -2.46196730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.694012739 meters Centerline goodness [0,1] 0.9954882716445357 Centerline is valid? [True, True] Translation: X:242.39, Y:-20.99, Z:-2.46 [[ 9.97076294e-01 -7.60878276e-02 -7.03610696e-03 2.42389375e+02] [ 7.60859333e-02 9.97101119e-01 -5.36902710e-04 -2.09863427e+01] [ 7.05656189e-03 -1.58006223e-08 9.99975102e-01 -2.46493583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.724012739 meters Centerline goodness [0,1] 0.9967768101092896 Centerline is valid? [True, True] Translation: X:242.42, Y:-20.98, Z:-2.46 [[ 9.97301888e-01 -7.30792507e-02 -6.95461218e-03 2.42416253e+02] [ 7.30773214e-02 9.97326137e-01 -5.31462346e-04 -2.09788079e+01] [ 6.97485537e-03 2.18039717e-05 9.99975675e-01 -2.46452076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.754012739 meters Centerline goodness [0,1] 0.9967526265520534 Centerline is valid? [True, True] Translation: X:242.45, Y:-20.97, Z:-2.46 [[ 9.97475653e-01 -7.07375053e-02 -6.20696820e-03 2.42445012e+02] [ 7.07359195e-02 9.97494964e-01 -4.74931498e-04 -2.09720807e+01] [ 6.22501499e-03 3.46770040e-05 9.99980624e-01 -2.46365344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.784012739 meters Centerline goodness [0,1] 0.9972546476437527 Centerline is valid? [True, True] Translation: X:242.47, Y:-20.96, Z:-2.46 [[ 9.97677883e-01 -6.79001072e-02 -5.33081811e-03 2.42473515e+02] [ 6.78988928e-02 9.97692124e-01 -4.08663159e-04 -2.09646438e+01] [ 5.34626351e-03 4.57575474e-05 9.99985708e-01 -2.46109456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.814012739 meters Centerline goodness [0,1] 0.9969912531430659 Centerline is valid? [True, True] Translation: X:242.50, Y:-20.96, Z:-2.46 [[ 9.97693083e-01 -6.76737007e-02 -5.36497937e-03 2.42501555e+02] [ 6.76724637e-02 9.97707506e-01 -4.11966821e-04 -2.09606615e+01] [ 5.38055950e-03 4.79550760e-05 9.99985524e-01 -2.46133455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.844012739 meters Centerline goodness [0,1] 0.9965765148921603 Centerline is valid? [True, True] Translation: X:242.53, Y:-20.96, Z:-2.46 [[ 9.97611031e-01 -6.89562450e-02 -4.15525734e-03 2.42529220e+02] [ 6.89555133e-02 9.97619685e-01 -3.19265986e-04 -2.09582052e+01] [ 4.16738190e-03 3.19753667e-05 9.99991316e-01 -2.46014981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.874012739 meters Centerline goodness [0,1] 0.9959780621572212 Centerline is valid? [True, True] Translation: X:242.56, Y:-20.96, Z:-2.46 [[ 9.97510049e-01 -7.04492322e-02 -3.25705431e-03 2.42557731e+02] [ 7.04487902e-02 9.97515366e-01 -2.50358086e-04 -2.09575083e+01] [ 3.26659926e-03 2.02791704e-05 9.99994664e-01 -2.45862359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90401273899997 meters Centerline goodness [0,1] 0.9954334990017416 Centerline is valid? [True, True] Translation: X:242.59, Y:-20.95, Z:-2.46 [[ 9.97435899e-01 -7.15011460e-02 -3.03546221e-03 2.42585349e+02] [ 7.15007654e-02 9.97440517e-01 -2.33847443e-04 -2.09548357e+01] [ 3.04441336e-03 1.62099631e-05 9.99995366e-01 -2.45757593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93401273899997 meters Centerline goodness [0,1] 0.9947884139119199 Centerline is valid? [True, True] Translation: X:242.61, Y:-20.95, Z:-2.46 [[ 9.97351140e-01 -7.26691453e-02 -3.14609384e-03 2.42613540e+02] [ 7.26687418e-02 9.97356102e-01 -2.42504532e-04 -2.09512301e+01] [ 3.15539849e-03 1.32394897e-05 9.99995022e-01 -2.45801019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96401273899997 meters Centerline goodness [0,1] 0.9960800274183874 Centerline is valid? [True, True] Translation: X:242.64, Y:-20.95, Z:-2.46 [[ 9.97329401e-01 -7.29109420e-02 -4.24964715e-03 2.42640235e+02] [ 7.29102039e-02 9.97338455e-01 -3.28548180e-04 -2.09460591e+01] [ 4.26229128e-03 1.78281194e-05 9.99990916e-01 -2.45939619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99401273899997 meters Centerline goodness [0,1] 0.9957792346916913 Centerline is valid? [True, True] Translation: X:242.67, Y:-20.94, Z:-2.46 [[ 9.97277783e-01 -7.35616523e-02 -5.07012345e-03 2.42667569e+02] [ 7.35606069e-02 9.97290671e-01 -3.92616117e-04 -2.09410214e+01] [ 5.08526831e-03 1.85859723e-05 9.99987070e-01 -2.46011348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02401273899997 meters Centerline goodness [0,1] 0.9956897480657745 Centerline is valid? [True, True] Translation: X:242.70, Y:-20.94, Z:-2.46 [[ 9.97231564e-01 -7.42257934e-02 -4.44298104e-03 2.42695090e+02] [ 7.42249938e-02 9.97241461e-01 -3.44813562e-04 -2.09382395e+01] [ 4.45631897e-03 1.40787271e-05 9.99990070e-01 -2.45869885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05401273899997 meters Centerline goodness [0,1] 0.9942275331757088 Centerline is valid? [True, True] Translation: X:242.72, Y:-20.94, Z:-2.46 [[ 9.97168618e-01 -7.50974190e-02 -3.88916855e-03 2.42721901e+02] [ 7.50968104e-02 9.97176202e-01 -3.02489522e-04 -2.09359373e+01] [ 3.90090251e-03 9.56890454e-06 9.99992391e-01 -2.45709465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08401273899997 meters Centerline goodness [0,1] 0.9913229322504808 Centerline is valid? [True, True] Translation: X:242.75, Y:-20.94, Z:-2.45 [[ 9.96878567e-01 -7.89370918e-02 -1.43445817e-03 2.42750359e+02] [ 7.89370133e-02 9.96879599e-01 -1.11347615e-04 -2.09373396e+01] [ 1.43877155e-03 -2.23179338e-06 9.99998965e-01 -2.45350925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11401273899997 meters Centerline goodness [0,1] 0.99054913171481 Centerline is valid? [True, True] Translation: X:242.78, Y:-20.94, Z:-2.45 [[ 9.96705577e-01 -8.11003056e-02 -8.55850928e-04 2.42778863e+02] [ 8.11002785e-02 9.96705945e-01 -6.63772215e-05 -2.09375729e+01] [ 8.58414920e-04 -3.25120165e-06 9.99999632e-01 -2.45233004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14401273899998 meters Centerline goodness [0,1] 0.9890170586110935 Centerline is valid? [True, True] Translation: X:242.81, Y:-20.94, Z:-2.45 [[ 9.96328277e-01 -8.55851318e-02 -2.26919140e-03 2.42807559e+02] [ 8.55849495e-02 9.96330861e-01 -1.77503716e-04 -2.09436703e+01] [ 2.27605710e-03 -1.73566595e-05 9.99997410e-01 -2.45420170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17401273899998 meters Centerline goodness [0,1] 0.9899582485815224 Centerline is valid? [True, True] Translation: X:242.84, Y:-20.94, Z:-2.46 [[ 9.96123770e-01 -8.79022634e-02 -3.25985545e-03 2.42836563e+02] [ 8.79018987e-02 9.96129104e-01 -2.55247498e-04 -2.09444790e+01] [ 3.26967372e-03 -3.22893837e-05 9.99994654e-01 -2.45557773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20401273899998 meters Centerline goodness [0,1] 0.9892415392544236 Centerline is valid? [True, True] Translation: X:242.87, Y:-20.95, Z:-2.46 [[ 9.95839344e-01 -9.10242498e-02 -4.31114527e-03 2.42865498e+02] [ 9.10236373e-02 9.95848675e-01 -3.38466029e-04 -2.09462595e+01] [ 4.32405692e-03 -5.53583359e-05 9.99990650e-01 -2.45805529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23401273899998 meters Centerline goodness [0,1] 0.9887145847269275 Centerline is valid? [True, True] Translation: X:242.89, Y:-20.94, Z:-2.46 [[ 9.95774510e-01 -9.17426071e-02 -4.05201221e-03 2.42893549e+02] [ 9.17420697e-02 9.95782753e-01 -3.18706304e-04 -2.09449979e+01] [ 4.06416282e-03 -5.43803725e-05 9.99991740e-01 -2.45808253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26401273899998 meters Centerline goodness [0,1] 0.988227656351439 Centerline is valid? [True, True] Translation: X:242.92, Y:-20.94, Z:-2.46 [[ 9.95715367e-01 -9.24045230e-02 -3.50890770e-03 2.42922176e+02] [ 9.24041235e-02 9.95721548e-01 -2.76157940e-04 -2.09431052e+01] [ 3.51941325e-03 -4.92628360e-05 9.99993806e-01 -2.45765567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29401273899998 meters Centerline goodness [0,1] 0.9885491272462152 Centerline is valid? [True, True] Translation: X:242.95, Y:-20.94, Z:-2.46 [[ 9.95663992e-01 -9.29530719e-02 -3.59729632e-03 2.42950552e+02] [ 9.29526534e-02 9.95670490e-01 -2.83729616e-04 -2.09437510e+01] [ 3.60809533e-03 -5.18788753e-05 9.99993489e-01 -2.45665231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32401273899998 meters Centerline goodness [0,1] 0.9885630435251721 Centerline is valid? [True, True] Translation: X:242.98, Y:-20.94, Z:-2.46 [[ 9.95624649e-01 -9.33308086e-02 -4.57356755e-03 2.42978757e+02] [ 9.33301339e-02 9.95635152e-01 -3.61189365e-04 -2.09432980e+01] [ 4.58731472e-03 -6.72426367e-05 9.99989476e-01 -2.45835055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35401273899998 meters Centerline goodness [0,1] 0.9883947915996311 Centerline is valid? [True, True] Translation: X:243.01, Y:-20.94, Z:-2.46 [[ 9.95615670e-01 -9.34240556e-02 -4.62428950e-03 2.43005709e+02] [ 9.34233632e-02 9.95626406e-01 -3.65974975e-04 -2.09426493e+01] [ 4.63825560e-03 -6.76462578e-05 9.99989241e-01 -2.45864508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38401273899999 meters Centerline goodness [0,1] 0.9878171501980516 Centerline is valid? [True, True] Translation: X:243.03, Y:-20.94, Z:-2.46 [[ 9.95634279e-01 -9.32553514e-02 -3.97769635e-03 2.43034018e+02] [ 9.32548367e-02 9.95642223e-01 -3.15082476e-04 -2.09422915e+01] [ 3.98974557e-03 -5.72325097e-05 9.99992039e-01 -2.45812012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.414012739 meters Centerline goodness [0,1] 0.9881361426256078 Centerline is valid? [True, True] Translation: X:243.06, Y:-20.94, Z:-2.46 [[ 9.95664938e-01 -9.29683290e-02 -2.86740229e-03 2.43062442e+02] [ 9.29680603e-02 9.95669066e-01 -2.27157482e-04 -2.09402807e+01] [ 2.87610221e-03 -4.04040889e-05 9.99995863e-01 -2.45620096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.444012739 meters Centerline goodness [0,1] 0.9886400449214954 Centerline is valid? [True, True] Translation: X:243.09, Y:-20.94, Z:-2.46 [[ 9.95767104e-01 -9.18562754e-02 -3.20935900e-03 2.43091396e+02] [ 9.18559309e-02 9.95772275e-01 -2.54897733e-04 -2.09369116e+01] [ 3.21920467e-03 -4.09798813e-05 9.99994818e-01 -2.45626408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.474012739 meters Centerline goodness [0,1] 0.9908692555097459 Centerline is valid? [True, True] Translation: X:243.12, Y:-20.93, Z:-2.46 [[ 9.95974934e-01 -8.94861469e-02 -5.11477424e-03 2.43119694e+02] [ 8.94852344e-02 9.95988066e-01 -4.07429967e-04 -2.09289338e+01] [ 5.13071344e-03 -5.19067372e-05 9.99986836e-01 -2.45959761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.504012739 meters Centerline goodness [0,1] 0.9909207434308909 Centerline is valid? [True, True] Translation: X:243.15, Y:-20.92, Z:-2.46 [[ 9.96121419e-01 -8.78320980e-02 -5.25747701e-03 2.43147383e+02] [ 8.78311071e-02 9.96135292e-01 -4.19507601e-04 -2.09236772e+01] [ 5.27400463e-03 -4.38895188e-05 9.99986091e-01 -2.45926837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.534012739 meters Centerline goodness [0,1] 0.9915544152234338 Centerline is valid? [True, True] Translation: X:243.18, Y:-20.92, Z:-2.46 [[ 9.96227288e-01 -8.66808568e-02 -4.19754738e-03 2.43175344e+02] [ 8.66802140e-02 9.96236131e-01 -3.35155793e-04 -2.09189186e+01] [ 4.21079995e-03 -2.99529589e-05 9.99991134e-01 -2.45711447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.564012739 meters Centerline goodness [0,1] 0.9912218421222487 Centerline is valid? [True, True] Translation: X:243.20, Y:-20.91, Z:-2.45 [[ 9.96334922e-01 -8.54972999e-02 -2.63343573e-03 2.43203778e+02] [ 8.54970427e-02 9.96338402e-01 -2.10305699e-04 -2.09123729e+01] [ 2.64177372e-03 -1.56160547e-05 9.99996510e-01 -2.45383645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.594012739 meters Centerline goodness [0,1] 0.9915806332922105 Centerline is valid? [True, True] Translation: X:243.23, Y:-20.91, Z:-2.45 [[ 9.96318856e-01 -8.56723302e-02 -2.99807956e-03 2.43230727e+02] [ 8.56719956e-02 9.96323367e-01 -2.40064629e-04 -2.09098764e+01] [ 3.00762362e-03 -1.76705426e-05 9.99995477e-01 -2.45466763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.624012739 meters Centerline goodness [0,1] 0.991491908762479 Centerline is valid? [True, True] Translation: X:243.26, Y:-20.91, Z:-2.46 [[ 9.96142219e-01 -8.76245531e-02 -4.75567036e-03 2.43258322e+02] [ 8.76237310e-02 9.96153571e-01 -3.81357240e-04 -2.09114757e+01] [ 4.77079426e-03 -3.68235330e-05 9.99988619e-01 -2.45708785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65401273899997 meters Centerline goodness [0,1] 0.991352473192667 Centerline is valid? [True, True] Translation: X:243.29, Y:-20.91, Z:-2.46 [[ 9.96024817e-01 -8.89621547e-02 -4.50540646e-03 2.43286809e+02] [ 8.89614287e-02 9.96035006e-01 -3.61682178e-04 -2.09102488e+01] [ 4.51971857e-03 -4.05629696e-05 9.99989785e-01 -2.45707287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68401273899997 meters Centerline goodness [0,1] 0.9898894493935816 Centerline is valid? [True, True] Translation: X:243.31, Y:-20.91, Z:-2.45 [[ 9.95964482e-01 -8.96920456e-02 -3.17605669e-03 2.43314932e+02] [ 8.96916872e-02 9.95969546e-01 -2.55363216e-04 -2.09092648e+01] [ 3.18615979e-03 -3.05331902e-05 9.99994924e-01 -2.45390501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71401273899997 meters Centerline goodness [0,1] 0.9887633248595415 Centerline is valid? [True, True] Translation: X:243.34, Y:-20.91, Z:-2.45 [[ 9.96008770e-01 -8.92540531e-02 4.93697362e-04 2.43342926e+02] [ 8.92540443e-02 9.96008893e-01 3.99665609e-05 -2.09056240e+01] [-4.95294141e-04 4.25744107e-06 9.99999877e-01 -2.44674165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74401273899997 meters Centerline goodness [0,1] 0.988899127788612 Centerline is valid? [True, True] Translation: X:243.37, Y:-20.90, Z:-2.45 [[ 9.96131979e-01 -8.78627757e-02 1.10123043e-03 2.43371003e+02] [ 8.78627305e-02 9.96132588e-01 8.94427173e-05 -2.09005159e+01] [-1.10483020e-03 7.66036149e-06 9.99999390e-01 -2.44552168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77401273899997 meters Centerline goodness [0,1] 0.9913624546099138 Centerline is valid? [True, True] Translation: X:243.40, Y:-20.89, Z:-2.45 [[ 9.96482645e-01 -8.37983746e-02 -4.11989901e-04 2.43398817e+02] [ 8.37983683e-02 9.96482731e-01 -3.27076812e-05 -2.08899199e+01] [ 4.13281672e-04 -1.93144483e-06 9.99999915e-01 -2.44927289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80401273899997 meters Centerline goodness [0,1] 0.9921127489009568 Centerline is valid? [True, True] Translation: X:243.43, Y:-20.88, Z:-2.45 [[ 9.96614935e-01 -8.22041020e-02 -1.07526349e-03 2.43426575e+02] [ 8.22040562e-02 9.96615515e-01 -8.67944492e-05 -2.08843777e+01] [ 1.07875914e-03 -1.89037617e-06 9.99999418e-01 -2.45054246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83401273899997 meters Centerline goodness [0,1] 0.9934636320774934 Centerline is valid? [True, True] Translation: X:243.45, Y:-20.88, Z:-2.45 [[ 9.96706997e-01 -8.10715218e-02 -1.60340644e-03 2.43453656e+02] [ 8.10714182e-02 9.96708286e-01 -1.29580935e-04 -2.08801808e+01] [ 1.60863381e-03 -8.36209790e-07 9.99998706e-01 -2.45066785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86401273899997 meters Centerline goodness [0,1] 0.9937717451999485 Centerline is valid? [True, True] Translation: X:243.48, Y:-20.87, Z:-2.45 [[ 9.96867907e-01 -7.90675935e-02 -1.64064741e-03 2.43480994e+02] [ 7.90674825e-02 9.96869257e-01 -1.32524733e-04 -2.08738023e+01] [ 1.64598938e-03 2.38779300e-06 9.99998645e-01 -2.45126965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89401273899998 meters Centerline goodness [0,1] 0.9939956683035619 Centerline is valid? [True, True] Translation: X:243.51, Y:-20.87, Z:-2.45 [[ 9.96948868e-01 -7.80217149e-02 -2.35957313e-03 2.43507205e+02] [ 7.80214803e-02 9.96951660e-01 -1.91478496e-04 -2.08687916e+01] [ 2.36731983e-03 6.79688092e-06 9.99997198e-01 -2.45224685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92401273899998 meters Centerline goodness [0,1] 0.9954786037242591 Centerline is valid? [True, True] Translation: X:243.53, Y:-20.86, Z:-2.45 [[ 9.96989673e-01 -7.74712938e-02 -3.12912564e-03 2.43534440e+02] [ 7.74708774e-02 9.96994583e-01 -2.54234709e-04 -2.08642532e+01] [ 3.13941721e-03 1.10532696e-05 9.99995072e-01 -2.45402572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95401273899998 meters Centerline goodness [0,1] 0.9958653659797144 Centerline is valid? [True, True] Translation: X:243.56, Y:-20.86, Z:-2.45 [[ 9.97015356e-01 -7.70885715e-02 -4.21097046e-03 2.43561519e+02] [ 7.70878100e-02 9.97024248e-01 -3.43081727e-04 -2.08602074e+01] [ 4.22488734e-03 1.74432598e-05 9.99991075e-01 -2.45467923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98401273899998 meters Centerline goodness [0,1] 0.9952534035254267 Centerline is valid? [True, True] Translation: X:243.59, Y:-20.86, Z:-2.45 [[ 9.96959723e-01 -7.78847897e-02 -2.29554776e-03 2.43589629e+02] [ 7.78845657e-02 9.96962366e-01 -1.86945258e-04 -2.08588025e+01] [ 2.30313492e-03 7.58915235e-06 9.99997348e-01 -2.45068162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01401273899998 meters Centerline goodness [0,1] 0.9942517682757441 Centerline is valid? [True, True] Translation: X:243.62, Y:-20.86, Z:-2.45 [[ 9.96896805e-01 -7.87132242e-02 -9.94578361e-04 2.43617666e+02] [ 7.87131828e-02 9.96897301e-01 -8.08059218e-05 -2.08573778e+01] [ 9.97852978e-04 2.26873694e-06 9.99999502e-01 -2.44840805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04401273899998 meters Centerline goodness [0,1] 0.9932059992308678 Centerline is valid? [True, True] Translation: X:243.65, Y:-20.86, Z:-2.45 [[ 9.96848047e-01 -7.93320016e-02 -6.35547891e-04 2.43645464e+02] [ 7.93319849e-02 9.96848250e-01 -5.15159369e-05 -2.08558144e+01] [ 6.37631665e-04 9.34285470e-07 9.99999797e-01 -2.44800315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07401273899998 meters Centerline goodness [0,1] 0.9892128154336405 Centerline is valid? [True, True] Translation: X:243.67, Y:-20.85, Z:-2.44 [[ 9.96837108e-01 -7.94507031e-02 -1.83489263e-03 2.43673125e+02] [ 7.94505611e-02 9.96838796e-01 -1.50314311e-04 -2.08548359e+01] [ 1.84103474e-03 4.05563348e-06 9.99998305e-01 -2.43889203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10401273899998 meters Centerline goodness [0,1] 0.9892128154336405 Centerline is valid? [True, True] Translation: X:243.70, Y:-20.85, Z:-2.44 [[ 9.96822636e-01 -7.96320588e-02 -1.83486529e-03 2.43700499e+02] [ 7.96319164e-02 9.96824325e-01 -1.50646996e-04 -2.08523806e+01] [ 1.84103469e-03 4.05449669e-06 9.99998305e-01 -2.43879303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13401273899999 meters Centerline goodness [0,1] 0.9957543528604511 Centerline is valid? [True, True] Translation: X:243.73, Y:-20.85, Z:-2.45 [[ 9.96914083e-01 -7.83969428e-02 -4.02872125e-03 2.43728107e+02] [ 7.83962401e-02 9.96922223e-01 -3.32292512e-04 -2.08463857e+01] [ 4.04237246e-03 1.54304861e-05 9.99991829e-01 -2.45445764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.164012739 meters Centerline goodness [0,1] 0.9968673415023974 Centerline is valid? [True, True] Translation: X:243.76, Y:-20.84, Z:-2.45 [[ 9.97100137e-01 -7.59456373e-02 -4.85560976e-03 2.43755275e+02] [ 7.59445832e-02 9.97111959e-01 -4.01362872e-04 -2.08393665e+01] [ 4.87206832e-03 3.14417145e-05 9.99988131e-01 -2.45439341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.194012739 meters Centerline goodness [0,1] 0.9971399694643356 Centerline is valid? [True, True] Translation: X:243.78, Y:-20.84, Z:-2.45 [[ 9.97161270e-01 -7.51554424e-02 -4.58921915e-03 2.43783714e+02] [ 7.51544908e-02 9.97171830e-01 -3.79696105e-04 -2.08350680e+01] [ 4.60477628e-03 3.37178224e-05 9.99989397e-01 -2.45390632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.224012739 meters Centerline goodness [0,1] 0.9969411714021067 Centerline is valid? [True, True] Translation: X:243.81, Y:-20.83, Z:-2.45 [[ 9.97250652e-01 -7.39836845e-02 -4.18945966e-03 2.43811742e+02] [ 7.39828785e-02 9.97259451e-01 -3.47240931e-04 -2.08299232e+01] [ 4.20366841e-03 3.63379597e-05 9.99991164e-01 -2.45269669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.254012739 meters Centerline goodness [0,1] 0.9964314541824206 Centerline is valid? [True, True] Translation: X:243.84, Y:-20.82, Z:-2.45 [[ 9.97485543e-01 -7.08067842e-02 -2.99861286e-03 2.43839231e+02] [ 7.08063559e-02 9.97490049e-01 -2.48895168e-04 -2.08199468e+01] [ 3.00870995e-03 3.59484824e-05 9.99995473e-01 -2.44944630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.284012739 meters Centerline goodness [0,1] 0.9962107426516238 Centerline is valid? [True, True] Translation: X:243.87, Y:-20.81, Z:-2.45 [[ 9.97571399e-01 -6.96072315e-02 -2.47748012e-03 2.43867722e+02] [ 6.96069352e-02 9.97574475e-01 -2.05733049e-04 -2.08133745e+01] [ 2.48579143e-03 3.27836075e-05 9.99996910e-01 -2.44851580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.314012739 meters Centerline goodness [0,1] 0.9958981370705863 Centerline is valid? [True, True] Translation: X:243.89, Y:-20.80, Z:-2.45 [[ 9.97682877e-01 -6.79934438e-02 -2.40178481e-03 2.43894495e+02] [ 6.79931595e-02 9.97685767e-01 -1.99931001e-04 -2.08031935e+01] [ 2.40982052e-03 3.61627986e-05 9.99997096e-01 -2.44882984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.344012739 meters Centerline goodness [0,1] 0.9955094622046402 Centerline is valid? [True, True] Translation: X:243.92, Y:-20.80, Z:-2.45 [[ 9.97675344e-01 -6.81101222e-02 -2.21804158e-03 2.43922293e+02] [ 6.81098801e-02 9.97677809e-01 -1.84575676e-04 -2.07994732e+01] [ 2.22546234e-03 3.30760549e-05 9.99997523e-01 -2.44825581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.374012739 meters Centerline goodness [0,1] 0.9954508564350092 Centerline is valid? [True, True] Translation: X:243.95, Y:-20.80, Z:-2.45 [[ 9.97648491e-01 -6.84943312e-02 -2.45258089e-03 2.43949640e+02] [ 6.84940352e-02 9.97651505e-01 -2.04601464e-04 -2.07956899e+01] [ 2.46083505e-03 3.61331806e-05 9.99996971e-01 -2.44872066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40401273899997 meters Centerline goodness [0,1] 0.9962029906781288 Centerline is valid? [True, True] Translation: X:243.98, Y:-20.79, Z:-2.45 [[ 9.97513580e-01 -7.03971791e-02 -3.30083857e-03 2.43977423e+02] [ 7.03966504e-02 9.97519040e-01 -2.76215249e-04 -2.07912368e+01] [ 3.31209410e-03 4.31604826e-05 9.99994514e-01 -2.45034288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43401273899997 meters Centerline goodness [0,1] 0.9972334813099144 Centerline is valid? [True, True] Translation: X:244.01, Y:-20.79, Z:-2.45 [[ 9.97404496e-01 -7.19133427e-02 -3.56978424e-03 2.44006650e+02] [ 7.19127334e-02 9.97410883e-01 -2.98932937e-04 -2.07913351e+01] [ 3.58203892e-03 4.14441131e-05 9.99993584e-01 -2.45080836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46401273899997 meters Centerline goodness [0,1] 0.9966359545746732 Centerline is valid? [True, True] Translation: X:244.03, Y:-20.79, Z:-2.45 [[ 9.97209108e-01 -7.46057580e-02 -2.82417199e-03 2.44034834e+02] [ 7.46053861e-02 9.97213107e-01 -2.36922923e-04 -2.07903770e+01] [ 2.83397714e-03 2.55632544e-05 9.99995984e-01 -2.44944643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49401273899997 meters Centerline goodness [0,1] 0.9932573170993579 Centerline is valid? [True, True] Translation: X:244.06, Y:-20.79, Z:-2.44 [[ 9.97097765e-01 -7.60698172e-02 -3.07091319e-03 2.44064102e+02] [ 7.60693841e-02 9.97102493e-01 -2.57766663e-04 -2.07922804e+01] [ 3.08162346e-03 2.34160888e-05 9.99995252e-01 -2.43813306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52401273899997 meters Centerline goodness [0,1] 0.9923721854877048 Centerline is valid? [True, True] Translation: X:244.09, Y:-20.79, Z:-2.43 [[ 9.97023141e-01 -7.70730258e-02 -2.14604246e-03 2.44091074e+02] [ 7.70728161e-02 9.97025450e-01 -1.80361294e-04 -2.07899817e+01] [ 2.15355994e-03 1.44228476e-05 9.99997681e-01 -2.43477334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55401273899997 meters Centerline goodness [0,1] 0.9957195445595411 Centerline is valid? [True, True] Translation: X:244.12, Y:-20.79, Z:-2.45 [[ 9.97053767e-01 -7.66981379e-02 -1.08666827e-03 2.44120100e+02] [ 7.66980841e-02 9.97054359e-01 -9.11601653e-05 -2.07854337e+01] [ 1.09045915e-03 7.54621170e-06 9.99999405e-01 -2.44566649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58401273899997 meters Centerline goodness [0,1] 0.9961888448774221 Centerline is valid? [True, True] Translation: X:244.15, Y:-20.78, Z:-2.45 [[ 9.97055009e-01 -7.66834905e-02 -9.75012993e-04 2.44147538e+02] [ 7.66834472e-02 9.97055486e-01 -8.18352564e-05 -2.07826735e+01] [ 9.78417467e-04 6.82689500e-06 9.99999521e-01 -2.44558825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61401273899997 meters Centerline goodness [0,1] 0.9961632969780575 Centerline is valid? [True, True] Translation: X:244.18, Y:-20.78, Z:-2.45 [[ 9.97017468e-01 -7.71623949e-02 -1.46085350e-03 2.44175335e+02] [ 7.71622972e-02 9.97018538e-01 -1.23198816e-04 -2.07830394e+01] [ 1.46600433e-03 1.01085595e-05 9.99998925e-01 -2.44654808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64401273899998 meters Centerline goodness [0,1] 0.996094672016823 Centerline is valid? [True, True] Translation: X:244.20, Y:-20.78, Z:-2.45 [[ 9.97001256e-01 -7.73177900e-02 -3.23332319e-03 2.44202014e+02] [ 7.73173074e-02 9.97006499e-01 -2.74164521e-04 -2.07831350e+01] [ 3.24484203e-03 2.33505296e-05 9.99994735e-01 -2.44846024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67401273899998 meters Centerline goodness [0,1] 0.9964871696011652 Centerline is valid? [True, True] Translation: X:244.23, Y:-20.78, Z:-2.45 [[ 9.96999042e-01 -7.73203250e-02 -3.80502147e-03 2.44230237e+02] [ 7.73196552e-02 9.97006302e-01 -3.23033153e-04 -2.07826548e+01] [ 3.81860741e-03 2.78607956e-05 9.99992709e-01 -2.44879452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70401273899998 meters Centerline goodness [0,1] 0.9962039513415581 Centerline is valid? [True, True] Translation: X:244.26, Y:-20.78, Z:-2.45 [[ 9.97017659e-01 -7.70584863e-02 -4.21622243e-03 2.44258214e+02] [ 7.70576582e-02 9.97026574e-01 -3.58743526e-04 -2.07795473e+01] [ 4.23133004e-03 3.27814033e-05 9.99991047e-01 -2.44883242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73401273899998 meters Centerline goodness [0,1] 0.9966737483636988 Centerline is valid? [True, True] Translation: X:244.29, Y:-20.77, Z:-2.45 [[ 9.97198949e-01 -7.47433249e-02 -2.77336430e-03 2.44286413e+02] [ 7.47429576e-02 9.97202805e-01 -2.35978930e-04 -2.07731612e+01] [ 2.78324451e-03 2.80284912e-05 9.99996126e-01 -2.44669809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76401273899998 meters Centerline goodness [0,1] 0.9962204994953507 Centerline is valid? [True, True] Translation: X:244.31, Y:-20.77, Z:-2.44 [[ 9.97316298e-01 -7.31985571e-02 -1.47396613e-03 2.44313389e+02] [ 7.31984514e-02 9.97317387e-01 -1.25610931e-04 -2.07669192e+01] [ 1.47920659e-03 1.73817902e-05 9.99998906e-01 -2.44431560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79401273899998 meters Centerline goodness [0,1] 0.9962771680654186 Centerline is valid? [True, True] Translation: X:244.34, Y:-20.76, Z:-2.44 [[ 9.97532240e-01 -7.02079549e-02 -5.23514201e-04 2.44341913e+02] [ 7.02079414e-02 9.97532377e-01 -4.41770529e-05 -2.07585161e+01] [ 5.25323946e-04 7.31318024e-06 9.99999862e-01 -2.44228341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82401273899998 meters Centerline goodness [0,1] 0.9958448753462604 Centerline is valid? [True, True] Translation: X:244.37, Y:-20.75, Z:-2.44 [[ 9.97629164e-01 -6.88048649e-02 -1.39368768e-03 2.44369534e+02] [ 6.88047656e-02 9.97630137e-01 -1.19075101e-04 -2.07503840e+01] [ 1.39857778e-03 2.29004392e-05 9.99999022e-01 -2.44337615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85401273899998 meters Centerline goodness [0,1] 0.9962217712336456 Centerline is valid? [True, True] Translation: X:244.40, Y:-20.74, Z:-2.45 [[ 9.97690707e-01 -6.78785295e-02 -2.39968529e-03 2.44397181e+02] [ 6.78782320e-02 9.97693592e-01 -2.05325460e-04 -2.07420009e+01] [ 2.40808782e-03 4.19649086e-05 9.99997100e-01 -2.44549089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88401273899999 meters Centerline goodness [0,1] 0.9961154630325142 Centerline is valid? [True, True] Translation: X:244.43, Y:-20.74, Z:-2.45 [[ 9.97698078e-01 -6.77510224e-02 -2.88870882e-03 2.44425329e+02] [ 6.77505903e-02 9.97702258e-01 -2.47284299e-04 -2.07393027e+01] [ 2.89882508e-03 5.10033418e-05 9.99995797e-01 -2.44640585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.914012739 meters Centerline goodness [0,1] 0.9961814247528533 Centerline is valid? [True, True] Translation: X:244.45, Y:-20.74, Z:-2.44 [[ 9.97646948e-01 -6.85189689e-02 -2.39115954e-03 2.44453981e+02] [ 6.85186742e-02 9.97649813e-01 -2.05054990e-04 -2.07364357e+01] [ 2.39959002e-03 4.07334039e-05 9.99997120e-01 -2.44484253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.944012739 meters Centerline goodness [0,1] 0.9964422667234768 Centerline is valid? [True, True] Translation: X:244.48, Y:-20.73, Z:-2.44 [[ 9.97496558e-01 -7.06939357e-02 -1.72770359e-03 2.44481626e+02] [ 7.06937846e-02 9.97498054e-01 -1.48477285e-04 -2.07325535e+01] [ 1.73387741e-03 2.59676751e-05 9.99998496e-01 -2.44321537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.974012739 meters Centerline goodness [0,1] 0.9964085249145143 Centerline is valid? [True, True] Translation: X:244.51, Y:-20.73, Z:-2.44 [[ 9.97407444e-01 -7.19263821e-02 -2.23317865e-03 2.44510040e+02] [ 7.19261326e-02 9.97409943e-01 -1.91964394e-04 -2.07307277e+01] [ 2.24120189e-03 3.08428120e-05 9.99997488e-01 -2.44443160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.004012739 meters Centerline goodness [0,1] 0.9965052956562754 Centerline is valid? [True, True] Translation: X:244.54, Y:-20.73, Z:-2.44 [[ 9.97341836e-01 -7.28196247e-02 -2.56230758e-03 2.44537891e+02] [ 7.28192975e-02 9.97345126e-01 -2.20870979e-04 -2.07274320e+01] [ 2.57158872e-03 3.36984294e-05 9.99996693e-01 -2.44474777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.034012739 meters Centerline goodness [0,1] 0.9968383212785309 Centerline is valid? [True, True] Translation: X:244.57, Y:-20.72, Z:-2.44 [[ 9.97290337e-01 -7.35285145e-02 -2.35412105e-03 2.44565602e+02] [ 7.35282404e-02 9.97293115e-01 -2.02890389e-04 -2.07229644e+01] [ 2.36266694e-03 2.92462463e-05 9.99997208e-01 -2.44388688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.064012739 meters Centerline goodness [0,1] 0.9967418331475607 Centerline is valid? [True, True] Translation: X:244.59, Y:-20.72, Z:-2.44 [[ 9.97285503e-01 -7.36027192e-02 -2.06510252e-03 2.44593233e+02] [ 7.36025079e-02 9.97287641e-01 -1.78264292e-04 -2.07204887e+01] [ 2.07262196e-03 2.57836693e-05 9.99997852e-01 -2.44312806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.094012739 meters Centerline goodness [0,1] 0.9967366567907596 Centerline is valid? [True, True] Translation: X:244.62, Y:-20.71, Z:-2.44 [[ 9.97329939e-01 -7.30246269e-02 -6.30137793e-04 2.44621757e+02] [ 7.30246073e-02 9.97330138e-01 -5.41088496e-05 -2.07136234e+01] [ 6.32406690e-04 7.94881080e-06 9.99999800e-01 -2.43995323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.124012739 meters Centerline goodness [0,1] 0.9968902805181437 Centerline is valid? [True, True] Translation: X:244.65, Y:-20.71, Z:-2.44 [[ 9.97326297e-01 -7.30767022e-02 2.29998259e-04 2.44650813e+02] [ 7.30766994e-02 9.97326324e-01 2.06102322e-05 -2.07097571e+01] [-2.30889446e-04 -3.74761296e-06 9.99999973e-01 -2.43841398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15401273899997 meters Centerline goodness [0,1] 0.9967037228541882 Centerline is valid? [True, True] Translation: X:244.68, Y:-20.71, Z:-2.44 [[ 9.97284231e-01 -7.36462006e-02 6.32407439e-04 2.44680797e+02] [ 7.36461804e-02 9.97284431e-01 5.51180470e-05 -2.07073706e+01] [-6.34749328e-04 -8.39396681e-06 9.99999799e-01 -2.43829680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18401273899997 meters Centerline goodness [0,1] 0.9970141614059034 Centerline is valid? [True, True] Translation: X:244.71, Y:-20.70, Z:-2.44 [[ 9.97108760e-01 -7.59875471e-02 -1.19895305e-04 2.44709620e+02] [ 7.59875464e-02 9.97108767e-01 -1.03483671e-05 -2.07024117e+01] [ 1.20335007e-04 1.20789746e-06 9.99999993e-01 -2.43816816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21401273899997 meters Centerline goodness [0,1] 0.9973818088933353 Centerline is valid? [True, True] Translation: X:244.74, Y:-20.70, Z:-2.44 [[ 9.96958921e-01 -7.79280802e-02 -3.51903858e-04 2.44739040e+02] [ 7.79280744e-02 9.96958983e-01 -3.01407012e-05 -2.07024001e+01] [ 3.53182520e-04 2.62585089e-06 9.99999938e-01 -2.43931663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24401273899997 meters Centerline goodness [0,1] 0.9963295269168027 Centerline is valid? [True, True] Translation: X:244.77, Y:-20.71, Z:-2.44 [[ 9.96477014e-01 -8.38597164e-02 -1.05298380e-03 2.44768595e+02] [ 8.38596666e-02 9.96477570e-01 -9.13883745e-05 -2.07100137e+01] [ 1.05693855e-03 2.76354385e-06 9.99999441e-01 -2.44084157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27401273899997 meters Centerline goodness [0,1] 0.9963249433784881 Centerline is valid? [True, True] Translation: X:244.80, Y:-20.71, Z:-2.44 [[ 9.96258172e-01 -8.64184822e-02 -1.22482190e-03 2.44797053e+02] [ 8.64184162e-02 9.96258925e-01 -1.06860016e-04 -2.07125688e+01] [ 1.22947443e-03 6.12995404e-07 9.99999244e-01 -2.44151281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30401273899997 meters Centerline goodness [0,1] 0.9951051212938006 Centerline is valid? [True, True] Translation: X:244.83, Y:-20.72, Z:-2.44 [[ 9.95936157e-01 -9.00577780e-02 -8.76244919e-04 2.44825665e+02] [ 9.00577459e-02 9.95936542e-01 -7.60904041e-05 -2.07164941e+01] [ 8.79536868e-04 -3.13145761e-06 9.99999613e-01 -2.44048583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33401273899997 meters Centerline goodness [0,1] 0.9947811520123706 Centerline is valid? [True, True] Translation: X:244.85, Y:-20.72, Z:-2.44 [[ 9.95876959e-01 -9.07086869e-02 -1.00840284e-03 2.44852256e+02] [ 9.07086441e-02 9.95877469e-01 -8.81316272e-05 -2.07153499e+01] [ 1.01223998e-03 -3.70259775e-06 9.99999488e-01 -2.44027558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36401273899997 meters Centerline goodness [0,1] 0.9949318836499101 Centerline is valid? [True, True] Translation: X:244.88, Y:-20.71, Z:-2.44 [[ 9.95824754e-01 -9.12687122e-02 -1.75516416e-03 2.44879925e+02] [ 9.12685833e-02 9.95826301e-01 -1.53562514e-04 -2.07137102e+01] [ 1.76185409e-03 -7.26999360e-06 9.99998448e-01 -2.44193516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39401273899998 meters Centerline goodness [0,1] 0.9955994884134313 Centerline is valid? [True, True] Translation: X:244.91, Y:-20.72, Z:-2.44 [[ 9.95785825e-01 -9.16495567e-02 -3.30914253e-03 2.44907868e+02] [ 9.16490965e-02 9.95791323e-01 -2.90745752e-04 -2.07157639e+01] [ 3.32186214e-03 -1.37594243e-05 9.99994483e-01 -2.44499653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42401273899998 meters Centerline goodness [0,1] 0.9950920245398773 Centerline is valid? [True, True] Translation: X:244.94, Y:-20.72, Z:-2.44 [[ 9.95738673e-01 -9.21571632e-02 -3.39889162e-03 2.44935760e+02] [ 9.21566785e-02 9.95744474e-01 -2.99291342e-04 -2.07161555e+01] [ 3.41200939e-03 -1.52145987e-05 9.99994179e-01 -2.44442622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45401273899998 meters Centerline goodness [0,1] 0.9910284888610925 Centerline is valid? [True, True] Translation: X:244.96, Y:-20.72, Z:-2.43 [[ 9.95664852e-01 -9.29663259e-02 -2.96049709e-03 2.44963631e+02] [ 9.29659600e-02 9.95669253e-01 -2.61251605e-04 -2.07207470e+01] [ 2.97196352e-03 -1.51064134e-05 9.99995584e-01 -2.43119227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48401273899998 meters Centerline goodness [0,1] 0.995683731317643 Centerline is valid? [True, True] Translation: X:244.99, Y:-20.72, Z:-2.44 [[ 9.95745618e-01 -9.21234406e-02 -1.98391231e-03 2.44991276e+02] [ 9.21232749e-02 9.95747594e-01 -1.74912802e-04 -2.07184019e+01] [ 1.99158948e-03 -8.59584292e-06 9.99998017e-01 -2.44148575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51401273899998 meters Centerline goodness [0,1] 0.9949056360431624 Centerline is valid? [True, True] Translation: X:245.02, Y:-20.72, Z:-2.44 [[ 9.95824066e-01 -9.12732422e-02 -1.90380136e-03 2.45018654e+02] [ 9.12730871e-02 9.95825886e-01 -1.68361831e-04 -2.07163486e+01] [ 1.91122161e-03 -6.10706486e-06 9.99998174e-01 -2.44172496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54401273899998 meters Centerline goodness [0,1] 0.9964925870935812 Centerline is valid? [True, True] Translation: X:245.05, Y:-20.71, Z:-2.44 [[ 9.96050146e-01 -8.87485067e-02 -2.79434875e-03 2.45045377e+02] [ 8.87481618e-02 9.96054066e-01 -2.47401503e-04 -2.07131220e+01] [ 2.80527895e-03 -1.56901231e-06 9.99996065e-01 -2.44310870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57401273899998 meters Centerline goodness [0,1] 0.9967191176153165 Centerline is valid? [True, True] Translation: X:245.07, Y:-20.71, Z:-2.44 [[ 9.96190438e-01 -8.71412786e-02 -3.31782784e-03 2.45072993e+02] [ 8.71407811e-02 9.96195963e-01 -2.94495112e-04 -2.07088139e+01] [ 3.33086938e-03 4.25510553e-06 9.99994453e-01 -2.44381740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60401273899998 meters Centerline goodness [0,1] 0.9969662413666975 Centerline is valid? [True, True] Translation: X:245.10, Y:-20.70, Z:-2.44 [[ 9.96363736e-01 -8.51228864e-02 -3.66049905e-03 2.45100895e+02] [ 8.51222644e-02 9.96370460e-01 -3.25657973e-04 -2.07038929e+01] [ 3.67493407e-03 1.28838271e-05 9.99993247e-01 -2.44368315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63401273899999 meters Centerline goodness [0,1] 0.9966227048286771 Centerline is valid? [True, True] Translation: X:245.13, Y:-20.70, Z:-2.44 [[ 9.96606565e-01 -8.22690120e-02 -2.67658337e-03 2.45128926e+02] [ 8.22686692e-02 9.96610159e-01 -2.38122708e-04 -2.06986076e+01] [ 2.68710030e-03 1.71157017e-05 9.99996390e-01 -2.44204005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.664012739 meters Centerline goodness [0,1] 0.9968650018251701 Centerline is valid? [True, True] Translation: X:245.16, Y:-20.69, Z:-2.44 [[ 9.96821824e-01 -7.96469780e-02 -1.61585295e-03 2.45156160e+02] [ 7.96468492e-02 9.96823133e-01 -1.44000779e-04 -2.06906154e+01] [ 1.62218883e-03 1.48455231e-05 9.99998684e-01 -2.43995234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.694012739 meters Centerline goodness [0,1] 0.9968765376633935 Centerline is valid? [True, True] Translation: X:245.18, Y:-20.69, Z:-2.44 [[ 9.96926561e-01 -7.83248556e-02 -1.62782071e-03 2.45184206e+02] [ 7.83247229e-02 9.96927889e-01 -1.45169497e-04 -2.06859460e+01] [ 1.63419024e-03 1.72247217e-05 9.99998665e-01 -2.43991330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.724012739 meters Centerline goodness [0,1] 0.9969602260564285 Centerline is valid? [True, True] Translation: X:245.21, Y:-20.68, Z:-2.44 [[ 9.96988054e-01 -7.75220053e-02 -2.27119215e-03 2.45211598e+02] [ 7.75217445e-02 9.96990641e-01 -2.02759725e-04 -2.06817434e+01] [ 2.28007566e-03 2.60822466e-05 9.99997400e-01 -2.44145373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.754012739 meters Centerline goodness [0,1] 0.9966745333619395 Centerline is valid? [True, True] Translation: X:245.24, Y:-20.68, Z:-2.44 [[ 9.96995999e-01 -7.73911593e-02 -3.09618900e-03 2.45238804e+02] [ 7.73906734e-02 9.97000806e-01 -2.76627961e-04 -2.06790305e+01] [ 3.10831149e-03 3.61808189e-05 9.99995169e-01 -2.44269283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.784012739 meters Centerline goodness [0,1] 0.9964225273665945 Centerline is valid? [True, True] Translation: X:245.27, Y:-20.68, Z:-2.44 [[ 9.97038479e-01 -7.69010819e-02 -7.03574191e-04 2.45267421e+02] [ 7.69010570e-02 9.97038727e-01 -6.24860412e-05 -2.06769386e+01] [ 7.06295960e-04 8.19538852e-06 9.99999751e-01 -2.43778186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.814012739 meters Centerline goodness [0,1] 0.996458999506406 Centerline is valid? [True, True] Translation: X:245.30, Y:-20.67, Z:-2.44 [[ 9.97065523e-01 -7.65527467e-02 -1.43602914e-04 2.45295552e+02] [ 7.65527457e-02 9.97065533e-01 -1.22996257e-05 -2.06731920e+01] [ 1.44123086e-04 1.27033532e-06 9.99999990e-01 -2.43656109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.844012739 meters Centerline goodness [0,1] 0.9960072516942202 Centerline is valid? [True, True] Translation: X:245.32, Y:-20.67, Z:-2.44 [[ 9.97061295e-01 -7.66068242e-02 -4.09350640e-04 2.45322716e+02] [ 7.66068158e-02 9.97061379e-01 -3.61692293e-05 -2.06690203e+01] [ 4.10918523e-04 4.70388952e-06 9.99999916e-01 -2.43679266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.874012739 meters Centerline goodness [0,1] 0.9965717242717609 Centerline is valid? [True, True] Translation: X:245.35, Y:-20.67, Z:-2.44 [[ 9.97071678e-01 -7.64634902e-02 -1.18472948e-03 2.45350854e+02] [ 7.64634180e-02 9.97072382e-01 -1.06199573e-04 -2.06653565e+01] [ 1.18938143e-03 1.53001215e-05 9.99999293e-01 -2.43789326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90401273899997 meters Centerline goodness [0,1] 0.9966651702687103 Centerline is valid? [True, True] Translation: X:245.38, Y:-20.66, Z:-2.44 [[ 9.97063890e-01 -7.65728979e-02 -4.35779924e-04 2.45379128e+02] [ 7.65728883e-02 9.97063986e-01 -3.87126372e-05 -2.06632337e+01] [ 4.37464806e-04 5.23004523e-06 9.99999904e-01 -2.43684911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93401273899997 meters Centerline goodness [0,1] 0.9961140452574176 Centerline is valid? [True, True] Translation: X:245.41, Y:-20.66, Z:-2.43 [[ 9.96898760e-01 -7.86827893e-02 1.37134752e-03 2.45406811e+02] [ 7.86826928e-02 9.96899703e-01 1.24263372e-04 -2.06645267e+01] [-1.37687332e-03 -1.59766863e-05 9.99999052e-01 -2.43366802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96401273899997 meters Centerline goodness [0,1] 0.9961331070484866 Centerline is valid? [True, True] Translation: X:245.44, Y:-20.67, Z:-2.43 [[ 9.96728527e-01 -8.08124410e-02 1.26221489e-03 2.45435434e+02] [ 8.08123602e-02 9.96729326e-01 1.14974187e-04 -2.06658652e+01] [-1.26737794e-03 -1.25954877e-05 9.99999197e-01 -2.43373841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99401273899997 meters Centerline goodness [0,1] 0.9961331070484866 Centerline is valid? [True, True] Translation: X:245.46, Y:-20.66, Z:-2.43 [[ 9.96713505e-01 -8.09975035e-02 1.26218603e-03 2.45462784e+02] [ 8.09974225e-02 9.96714304e-01 1.15291686e-04 -2.06631899e+01] [-1.26737721e-03 -1.26789653e-05 9.99999197e-01 -2.43363941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024012739 meters Centerline goodness [0,1] 0.9957253996751304 Centerline is valid? [True, True] Translation: X:245.49, Y:-20.67, Z:-2.43 [[ 9.96486913e-01 -8.37459256e-02 6.72405880e-04 2.45492181e+02] [ 8.37459030e-02 9.96487140e-01 6.17571662e-05 -2.06658903e+01] [-6.75215723e-04 -5.22897032e-06 9.99999772e-01 -2.43455173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05401273900003 meters Centerline goodness [0,1] 0.9956224233924094 Centerline is valid? [True, True] Translation: X:245.52, Y:-20.67, Z:-2.44 [[ 9.96032788e-01 -8.89846784e-02 -6.42615649e-04 2.45522066e+02] [ 8.89846595e-02 9.96032995e-01 -5.79716378e-05 -2.06748514e+01] [ 6.45224977e-04 5.58717298e-07 9.99999792e-01 -2.43705039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084012739 meters Centerline goodness [0,1] 0.99517875207163 Centerline is valid? [True, True] Translation: X:245.55, Y:-20.68, Z:-2.44 [[ 9.95873437e-01 -9.07519162e-02 -4.31810154e-04 2.45549951e+02] [ 9.07519080e-02 9.95873531e-01 -3.87527197e-05 -2.06763578e+01] [ 4.33545186e-04 -5.94791126e-07 9.99999906e-01 -2.43658477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11401273900003 meters Centerline goodness [0,1] 0.9950776139381248 Centerline is valid? [True, True] Translation: X:245.58, Y:-20.68, Z:-2.44 [[ 9.95880101e-01 -9.06794189e-02 2.58634963e-04 2.45578115e+02] [ 9.06794156e-02 9.95880135e-01 2.43703590e-05 -2.06756575e+01] [-2.59779312e-04 -8.17088265e-07 9.99999966e-01 -2.43523901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144012739 meters Centerline goodness [0,1] 0.9950584782702516 Centerline is valid? [True, True] Translation: X:245.61, Y:-20.67, Z:-2.43 [[ 9.95989651e-01 -8.94666766e-02 5.73805853e-04 2.45605582e+02] [ 8.94666611e-02 9.95989816e-01 5.27701128e-05 -2.06721365e+01] [-5.76225953e-04 -1.22199250e-06 9.99999834e-01 -2.43392438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17401273900003 meters Centerline goodness [0,1] 0.9954483680997476 Centerline is valid? [True, True] Translation: X:245.63, Y:-20.66, Z:-2.43 [[ 9.96315811e-01 -8.57526253e-02 1.13633594e-03 2.45633553e+02] [ 8.57525615e-02 9.96316459e-01 1.04845884e-04 -2.06644026e+01] [-1.14114101e-03 -7.01589508e-06 9.99999349e-01 -2.43394452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204012739 meters Centerline goodness [0,1] 0.9958106318782696 Centerline is valid? [True, True] Translation: X:245.66, Y:-20.66, Z:-2.43 [[ 9.96448369e-01 -8.41955302e-02 1.32712714e-03 2.45661997e+02] [ 8.41954416e-02 9.96449252e-01 1.22603823e-04 -2.06593948e+01] [-1.33273754e-03 -1.04303241e-05 9.99999112e-01 -2.43361105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23401273900004 meters Centerline goodness [0,1] 0.9960756562017499 Centerline is valid? [True, True] Translation: X:245.69, Y:-20.65, Z:-2.43 [[ 9.96601392e-01 -8.23594739e-02 1.60688862e-03 2.45689013e+02] [ 8.23593419e-02 9.96602688e-01 1.48201579e-04 -2.06525162e+01] [-1.61363532e-03 -1.53556110e-05 9.99998698e-01 -2.43242506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.264012739 meters Centerline goodness [0,1] 0.9955592561754094 Centerline is valid? [True, True] Translation: X:245.72, Y:-20.65, Z:-2.43 [[ 9.96788377e-01 -8.00652078e-02 1.57918550e-03 2.45717092e+02] [ 8.00650767e-02 9.96789628e-01 1.46157286e-04 -2.06463093e+01] [-1.58581784e-03 -1.92502754e-05 9.99998742e-01 -2.43320719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.294012739 meters Centerline goodness [0,1] 0.9955184134750699 Centerline is valid? [True, True] Translation: X:245.75, Y:-20.64, Z:-2.43 [[ 9.96803223e-01 -7.98847962e-02 1.32452306e-03 2.45745192e+02] [ 7.98847033e-02 9.96804103e-01 1.23040954e-04 -2.06442707e+01] [-1.33011913e-03 -1.68384877e-05 9.99999115e-01 -2.43425535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.324012739 meters Centerline goodness [0,1] 0.99544638276039 Centerline is valid? [True, True] Translation: X:245.77, Y:-20.64, Z:-2.43 [[ 9.96719622e-01 -8.09251543e-02 1.05557215e-03 2.45773395e+02] [ 8.09250961e-02 9.96720181e-01 9.77835444e-05 -2.06432042e+01] [-1.06002322e-03 -1.20404994e-05 9.99999438e-01 -2.43470236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.354012739 meters Centerline goodness [0,1] 0.995668501685657 Centerline is valid? [True, True] Translation: X:245.80, Y:-20.64, Z:-2.43 [[ 9.96627241e-01 -8.20525551e-02 1.23301279e-03 2.45801955e+02] [ 8.20524759e-02 9.96628004e-01 1.14768932e-04 -2.06415840e+01] [-1.23827216e-03 -1.32100921e-05 9.99999233e-01 -2.43395696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.384012739 meters Centerline goodness [0,1] 0.9953947650259178 Centerline is valid? [True, True] Translation: X:245.83, Y:-20.64, Z:-2.43 [[ 9.96523153e-01 -8.33052587e-02 1.35613093e-03 2.45830671e+02] [ 8.33051639e-02 9.96524076e-01 1.26393498e-04 -2.06404859e+01] [-1.36194637e-03 -1.29813374e-05 9.99999072e-01 -2.43390236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.414012739 meters Centerline goodness [0,1] 0.9950547584684608 Centerline is valid? [True, True] Translation: X:245.86, Y:-20.64, Z:-2.43 [[ 9.96422606e-01 -8.45005856e-02 1.28145119e-03 2.45858312e+02] [ 8.45005022e-02 9.96423430e-01 1.19157490e-04 -2.06401718e+01] [-1.28693687e-03 -1.04479473e-05 9.99999172e-01 -2.43429448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.444012739 meters Centerline goodness [0,1] 0.9945191719800855 Centerline is valid? [True, True] Translation: X:245.89, Y:-20.64, Z:-2.44 [[ 9.96242683e-01 -8.66046811e-02 3.81124164e-04 2.45887332e+02] [ 8.66046737e-02 9.96242756e-01 3.60658597e-05 -2.06431075e+01] [-3.82815660e-04 -2.92321499e-06 9.99999927e-01 -2.43628984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.474012739 meters Centerline goodness [0,1] 0.9954113476719657 Centerline is valid? [True, True] Translation: X:245.92, Y:-20.64, Z:-2.44 [[ 9.96229949e-01 -8.67434660e-02 -1.20794556e-03 2.45915481e+02] [ 8.67433941e-02 9.96230682e-01 -1.11863652e-04 -2.06388407e+01] [ 1.21309587e-03 6.66062200e-06 9.99999264e-01 -2.43888705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.504012739 meters Centerline goodness [0,1] 0.9954567649618921 Centerline is valid? [True, True] Translation: X:245.94, Y:-20.63, Z:-2.44 [[ 9.96269518e-01 -8.62811428e-02 -1.61637699e-03 2.45943414e+02] [ 8.62810122e-02 9.96270829e-01 -1.50514962e-04 -2.06337164e+01] [ 1.62333585e-03 1.04908250e-05 9.99998682e-01 -2.43895306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.534012739 meters Centerline goodness [0,1] 0.9953436948525504 Centerline is valid? [True, True] Translation: X:245.97, Y:-20.63, Z:-2.44 [[ 9.96311296e-01 -8.58037408e-02 -1.23257718e-03 2.45970575e+02] [ 8.58036645e-02 9.96312059e-01 -1.14746993e-04 -2.06289257e+01] [ 1.23787722e-03 8.56408639e-06 9.99999234e-01 -2.43816918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.564012739 meters Centerline goodness [0,1] 0.9951344979101918 Centerline is valid? [True, True] Translation: X:246.00, Y:-20.62, Z:-2.44 [[ 9.96481819e-01 -8.38084007e-02 -3.68506385e-04 2.45998567e+02] [ 8.38083939e-02 9.96481887e-01 -3.38665572e-05 -2.06204876e+01] [ 3.70048240e-04 2.86348030e-06 9.99999932e-01 -2.43534892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.594012739 meters Centerline goodness [0,1] 0.9957649205108158 Centerline is valid? [True, True] Translation: X:246.03, Y:-20.61, Z:-2.43 [[ 9.96565616e-01 -8.28067483e-02 -1.25281233e-04 2.46026773e+02] [ 8.28067476e-02 9.96565624e-01 -1.11276498e-05 -2.06142013e+01] [ 1.25772415e-04 7.15301737e-07 9.99999992e-01 -2.43499393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.624012739 meters Centerline goodness [0,1] 0.9954411543341289 Centerline is valid? [True, True] Translation: X:246.05, Y:-20.60, Z:-2.44 [[ 9.96698507e-01 -8.11911119e-02 2.98607637e-04 2.46054636e+02] [ 8.11911070e-02 9.96698552e-01 2.86427114e-05 -2.06047301e+01] [-2.99947333e-04 -4.30386310e-06 9.99999955e-01 -2.43521958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.654012739 meters Centerline goodness [0,1] 0.9950868834676819 Centerline is valid? [True, True] Translation: X:246.08, Y:-20.60, Z:-2.44 [[ 9.96714763e-01 -8.09893171e-02 6.41790477e-04 2.46082348e+02] [ 8.09892949e-02 9.96714970e-01 6.06216984e-05 -2.05982304e+01] [-6.44591886e-04 -8.44438355e-06 9.99999792e-01 -2.43510396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.684012739 meters Centerline goodness [0,1] 0.9951525031101197 Centerline is valid? [True, True] Translation: X:246.11, Y:-20.60, Z:-2.43 [[ 9.96655560e-01 -8.17128728e-02 8.36873802e-04 2.46110045e+02] [ 8.17128349e-02 9.96655912e-01 7.94584840e-05 -2.05954154e+01] [-8.40568003e-04 -1.08094091e-05 9.99999647e-01 -2.43468548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.714012739 meters Centerline goodness [0,1] 0.994829501751987 Centerline is valid? [True, True] Translation: X:246.14, Y:-20.59, Z:-2.43 [[ 9.96462071e-01 -8.40194584e-02 2.01784637e-03 2.46138796e+02] [ 8.40192441e-02 9.96464114e-01 1.90888088e-04 -2.05925451e+01] [-2.02674981e-03 -2.06748128e-05 9.99997946e-01 -2.43413106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.744012739 meters Centerline goodness [0,1] 0.9945880037648669 Centerline is valid? [True, True] Translation: X:246.17, Y:-20.59, Z:-2.43 [[ 9.96336330e-01 -8.54955729e-02 2.10353316e-03 2.46166410e+02] [ 8.54953436e-02 9.96338550e-01 1.98851355e-04 -2.05882156e+01] [-2.11283209e-03 -1.82805383e-05 9.99997768e-01 -2.43296901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.774012739 meters Centerline goodness [0,1] 0.9954181233849427 Centerline is valid? [True, True] Translation: X:246.19, Y:-20.59, Z:-2.44 [[ 9.96019784e-01 -8.91146103e-02 1.78202510e-03 2.46194966e+02] [ 8.91144503e-02 9.96021378e-01 1.69110577e-04 -2.05871854e+01] [-1.79000532e-03 -9.63329256e-06 9.99998398e-01 -2.43512951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80401273900003 meters Centerline goodness [0,1] 0.9943164822016153 Centerline is valid? [True, True] Translation: X:246.22, Y:-20.58, Z:-2.43 [[ 9.95875663e-01 -9.07159825e-02 1.50781443e-03 2.46222236e+02] [ 9.07158702e-02 9.95876805e-01 1.42878239e-04 -2.05844734e+01] [-1.51455876e-03 -5.50626237e-06 9.99998853e-01 -2.43440941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.834012739 meters Centerline goodness [0,1] 0.9941580316404418 Centerline is valid? [True, True] Translation: X:246.25, Y:-20.58, Z:-2.43 [[ 9.95712188e-01 -9.24921046e-02 1.56501769e-03 2.46249955e+02] [ 9.24919846e-02 9.95713418e-01 1.49000851e-04 -2.05826947e+01] [-1.57209051e-03 -3.61037156e-06 9.99998764e-01 -2.43443397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86401273900003 meters Centerline goodness [0,1] 0.9931400129842025 Centerline is valid? [True, True] Translation: X:246.28, Y:-20.58, Z:-2.43 [[ 9.95403879e-01 -9.57136416e-02 3.16488623e-03 2.46279089e+02] [ 9.57131679e-02 9.95408910e-01 3.01128754e-04 -2.05811394e+01] [-3.17917809e-03 3.17655730e-06 9.99994946e-01 -2.43310859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.894012739 meters Centerline goodness [0,1] 0.992771555092472 Centerline is valid? [True, True] Translation: X:246.31, Y:-20.58, Z:-2.43 [[ 9.95265386e-01 -9.71166591e-02 3.89444537e-03 2.46307702e+02] [ 9.71159506e-02 9.95273005e-01 3.71065179e-04 -2.05779970e+01] [-3.91207296e-03 8.90443622e-06 9.99992348e-01 -2.43214171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92401273900003 meters Centerline goodness [0,1] 0.9922895695009638 Centerline is valid? [True, True] Translation: X:246.34, Y:-20.58, Z:-2.43 [[ 9.95018640e-01 -9.95936565e-02 4.36003823e-03 2.46335170e+02] [ 9.95927932e-02 9.95028192e-01 4.15227433e-04 -2.05752107e+01] [-4.37971498e-03 2.10693499e-05 9.99990409e-01 -2.43091411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.954012739 meters Centerline goodness [0,1] 0.9927438626982403 Centerline is valid? [True, True] Translation: X:246.36, Y:-20.57, Z:-2.43 [[ 9.94869759e-01 -1.01086963e-01 3.94825155e-03 2.46363023e+02] [ 1.01086262e-01 9.94877593e-01 3.77282026e-04 -2.05713601e+01] [-3.96616529e-03 2.37675135e-05 9.99992134e-01 -2.43317519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98401273900004 meters Centerline goodness [0,1] 0.9924449654813078 Centerline is valid? [True, True] Translation: X:246.39, Y:-20.57, Z:-2.44 [[ 9.94646604e-01 -1.03300482e-01 2.67282467e-03 2.46390801e+02] [ 1.03300169e-01 9.94650195e-01 2.55311490e-04 -2.05677924e+01] [-2.68489938e-03 2.21585324e-05 9.99996395e-01 -2.43502143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.014012739 meters Centerline goodness [0,1] 0.9924289947868221 Centerline is valid? [True, True] Translation: X:246.42, Y:-20.56, Z:-2.43 [[ 9.94541625e-01 -1.04303146e-01 2.79461875e-03 2.46419076e+02] [ 1.04302805e-01 9.94545551e-01 2.67788528e-04 -2.05646577e+01] [-2.80730683e-03 2.51597365e-05 9.99996059e-01 -2.43458197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044012739 meters Centerline goodness [0,1] 0.9922507244821295 Centerline is valid? [True, True] Translation: X:246.45, Y:-20.56, Z:-2.43 [[ 9.94538768e-01 -1.04273045e-01 4.44654848e-03 2.46446313e+02] [ 1.04272183e-01 9.94548707e-01 4.25846794e-04 -2.05588142e+01] [-4.46671339e-03 4.01301723e-05 9.99990023e-01 -2.43097005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.074012739 meters Centerline goodness [0,1] 0.9915747581447533 Centerline is valid? [True, True] Translation: X:246.47, Y:-20.55, Z:-2.43 [[ 9.94541224e-01 -1.04196039e-01 5.56238257e-03 2.46474778e+02] [ 1.04194683e-01 9.94556777e-01 5.33804775e-04 -2.05524629e+01] [-5.58772563e-03 4.86798341e-05 9.99984387e-01 -2.42894723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104012739 meters Centerline goodness [0,1] 0.9912519109903176 Centerline is valid? [True, True] Translation: X:246.50, Y:-20.55, Z:-2.43 [[ 9.94553654e-01 -1.04025686e-01 6.45652696e-03 2.46502506e+02] [ 1.04023854e-01 9.94574609e-01 6.19845901e-04 -2.05474793e+01] [-6.48597767e-03 5.51628099e-05 9.99978964e-01 -2.42662394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.134012739 meters Centerline goodness [0,1] 0.9911074324037523 Centerline is valid? [True, True] Translation: X:246.53, Y:-20.54, Z:-2.43 [[ 9.94493170e-01 -1.04612451e-01 6.29045792e-03 2.46530189e+02] [ 1.04610714e-01 9.94513063e-01 6.05407387e-04 -2.05441555e+01] [-6.31927573e-03 5.59757814e-05 9.99980032e-01 -2.42807048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164012739 meters Centerline goodness [0,1] 0.9911899925157703 Centerline is valid? [True, True] Translation: X:246.56, Y:-20.54, Z:-2.43 [[ 9.94378060e-01 -1.05719594e-01 5.96995428e-03 2.46558770e+02] [ 1.05718044e-01 9.94395979e-01 5.75500774e-04 -2.05434294e+01] [-5.99734024e-03 5.88665465e-05 9.99982014e-01 -2.42985294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.194012739 meters Centerline goodness [0,1] 0.990613733814024 Centerline is valid? [True, True] Translation: X:246.59, Y:-20.55, Z:-2.43 [[ 9.94050481e-01 -1.08757943e-01 5.94572336e-03 2.46587365e+02] [ 1.08756458e-01 9.94068259e-01 5.73408566e-04 -2.05474922e+01] [-5.97281760e-03 7.66387525e-05 9.99982160e-01 -2.43022663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224012739 meters Centerline goodness [0,1] 0.9856113560597913 Centerline is valid? [True, True] Translation: X:246.62, Y:-20.55, Z:-2.42 [[ 9.93882523e-01 -1.10338928e-01 4.78026874e-03 2.46616164e+02] [ 1.10337982e-01 9.93894017e-01 4.62116118e-04 -2.05485692e+01] [-4.80206989e-03 6.81560706e-05 9.99988468e-01 -2.42072110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.254012739 meters Centerline goodness [0,1] 0.9902082088915436 Centerline is valid? [True, True] Translation: X:246.65, Y:-20.55, Z:-2.43 [[ 9.93714532e-01 -1.11837028e-01 4.88963685e-03 2.46645598e+02] [ 1.11836052e-01 9.93726559e-01 4.73460692e-04 -2.05488307e+01] [-4.91191244e-03 7.63529130e-05 9.99987934e-01 -2.43178615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284012739 meters Centerline goodness [0,1] 0.9905442409721034 Centerline is valid? [True, True] Translation: X:246.67, Y:-20.55, Z:-2.43 [[ 9.93553026e-01 -1.13311434e-01 3.59226065e-03 2.46674725e+02] [ 1.13310914e-01 9.93559518e-01 3.48566523e-04 -2.05508554e+01] [-3.60862133e-03 6.07230152e-05 9.99993487e-01 -2.43495342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.314012739 meters Centerline goodness [0,1] 0.9912113189531704 Centerline is valid? [True, True] Translation: X:246.70, Y:-20.55, Z:-2.44 [[ 9.93593326e-01 -1.12962708e-01 3.42486481e-03 2.46703654e+02] [ 1.12962231e-01 9.93599227e-01 3.32948471e-04 -2.05465873e+01] [-3.44055378e-03 5.60649910e-05 9.99994080e-01 -2.43655066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344012739 meters Centerline goodness [0,1] 0.9911141784928611 Centerline is valid? [True, True] Translation: X:246.73, Y:-20.54, Z:-2.44 [[ 9.93941332e-01 -1.09848794e-01 3.72435126e-03 2.46731133e+02] [ 1.09848209e-01 9.93948309e-01 3.61845036e-04 -2.05438874e+01] [-3.74156088e-03 4.94605794e-05 9.99992999e-01 -2.43530169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.374012739 meters Centerline goodness [0,1] 0.9914588170142069 Centerline is valid? [True, True] Translation: X:246.76, Y:-20.54, Z:-2.44 [[ 9.94168913e-01 -1.07768927e-01 3.74577294e-03 2.46759181e+02] [ 1.07768317e-01 9.94175969e-01 3.64885111e-04 -2.05393293e+01] [-3.76328071e-03 4.09182119e-05 9.99992918e-01 -2.43533700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404012739 meters Centerline goodness [0,1] 0.9934670312974779 Centerline is valid? [True, True] Translation: X:246.79, Y:-20.53, Z:-2.44 [[ 9.94548696e-01 -1.04220621e-01 3.30947258e-03 2.46787475e+02] [ 1.04220123e-01 9.94554202e-01 3.23060009e-04 -2.05314181e+01] [-3.32511938e-03 2.36147302e-05 9.99994471e-01 -2.43778357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.434012739 meters Centerline goodness [0,1] 0.9932496109759572 Centerline is valid? [True, True] Translation: X:246.82, Y:-20.53, Z:-2.44 [[ 9.94585005e-01 -1.03870819e-01 3.39415855e-03 2.46815762e+02] [ 1.03870291e-01 9.94590796e-01 3.32080350e-04 -2.05284165e+01] [-3.41029232e-03 2.22700997e-05 9.99994185e-01 -2.43869343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464012739 meters Centerline goodness [0,1] 0.9918575824927338 Centerline is valid? [True, True] Translation: X:246.84, Y:-20.53, Z:-2.44 [[ 9.94567214e-01 -1.04046523e-01 3.22137021e-03 2.46843028e+02] [ 1.04046048e-01 9.94572431e-01 3.15087271e-04 -2.05277065e+01] [-3.23666974e-03 2.17953698e-05 9.99994762e-01 -2.43745051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.494012739 meters Centerline goodness [0,1] 0.9915195867412828 Centerline is valid? [True, True] Translation: X:246.87, Y:-20.53, Z:-2.44 [[ 9.94419207e-01 -1.05428444e-01 3.90941614e-03 2.46872207e+02] [ 1.05427752e-01 9.94426891e-01 3.83253759e-04 -2.05295973e+01] [-3.92803438e-03 3.10460545e-05 9.99992285e-01 -2.43671036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524012739 meters Centerline goodness [0,1] 0.9917904529183547 Centerline is valid? [True, True] Translation: X:246.90, Y:-20.53, Z:-2.44 [[ 9.94364500e-01 -1.05955070e-01 3.57270133e-03 2.46900145e+02] [ 1.05954493e-01 9.94370918e-01 3.51059834e-04 -2.05283459e+01] [-3.58978687e-03 2.94623209e-05 9.99993556e-01 -2.43708541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55401273900003 meters Centerline goodness [0,1] 0.9913688641340165 Centerline is valid? [True, True] Translation: X:246.93, Y:-20.52, Z:-2.44 [[ 9.94542724e-01 -1.04284892e-01 3.07118604e-03 2.46928044e+02] [ 1.04284456e-01 9.94547465e-01 3.02294683e-04 -2.05226334e+01] [-3.08596506e-03 1.96319871e-05 9.99995238e-01 -2.43805291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584012739 meters Centerline goodness [0,1] 0.9918711361156866 Centerline is valid? [True, True] Translation: X:246.95, Y:-20.51, Z:-2.44 [[ 9.94809785e-01 -1.01712201e-01 2.84942836e-03 2.46954930e+02] [ 1.01711815e-01 9.94813866e-01 2.80289156e-04 -2.05146921e+01] [-2.86315967e-03 1.09861363e-05 9.99995901e-01 -2.43840161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61401273900003 meters Centerline goodness [0,1] 0.9932737850639098 Centerline is valid? [True, True] Translation: X:246.98, Y:-20.50, Z:-2.44 [[ 9.95394094e-01 -9.57785083e-02 4.13218610e-03 2.46981458e+02] [ 9.57776413e-02 9.95402671e-01 4.07647247e-04 -2.04996726e+01] [-4.15223292e-03 -9.99862421e-06 9.99991379e-01 -2.43689868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644012739 meters Centerline goodness [0,1] 0.9938453536754508 Centerline is valid? [True, True] Translation: X:247.01, Y:-20.49, Z:-2.44 [[ 9.95605206e-01 -9.35235102e-02 4.86069358e-03 2.47010060e+02] [ 9.35222807e-02 9.95617071e-01 4.80120220e-04 -2.04924146e+01] [-4.88429203e-03 -2.34270411e-05 9.99988072e-01 -2.43549114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67401273900003 meters Centerline goodness [0,1] 0.9935475572895454 Centerline is valid? [True, True] Translation: X:247.04, Y:-20.49, Z:-2.43 [[ 9.95710575e-01 -9.23765087e-02 5.19922806e-03 2.47037763e+02] [ 9.23750870e-02 9.95724148e-01 5.13439891e-04 -2.04866757e+01] [-5.22442672e-03 -3.09583837e-05 9.99986352e-01 -2.43348014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704012739 meters Centerline goodness [0,1] 0.992986230636833 Centerline is valid? [True, True] Translation: X:247.07, Y:-20.49, Z:-2.43 [[ 9.95581251e-01 -9.36595772e-02 6.77168755e-03 2.47066906e+02] [ 9.36571854e-02 9.95604280e-01 6.70164981e-04 -2.04870126e+01] [-6.80468848e-03 -3.29864942e-05 9.99976847e-01 -2.43299145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73401273900004 meters Centerline goodness [0,1] 0.9922631804543506 Centerline is valid? [True, True] Translation: X:247.10, Y:-20.49, Z:-2.43 [[ 9.95428361e-01 -9.51863363e-02 7.87015620e-03 2.47095531e+02] [ 9.51831437e-02 9.95459472e-01 7.80069863e-04 -2.04865081e+01] [-7.90867353e-03 -2.73974564e-05 9.99968726e-01 -2.43057386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.764012739 meters Centerline goodness [0,1] 0.9904460640776284 Centerline is valid? [True, True] Translation: X:247.12, Y:-20.49, Z:-2.43 [[ 9.95300053e-01 -9.63943976e-02 9.26952445e-03 2.47123475e+02] [ 9.63900206e-02 9.95343217e-01 9.18829157e-04 -2.04858311e+01] [-9.31492826e-03 -2.10210561e-05 9.99956615e-01 -2.42821295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.794012739 meters Centerline goodness [0,1] 0.990739748344087 Centerline is valid? [True, True] Translation: X:247.15, Y:-20.48, Z:-2.43 [[ 9.95308326e-01 -9.63118398e-02 9.23934413e-03 2.47153312e+02] [ 9.63074868e-02 9.95351209e-01 9.15935638e-04 -2.04822969e+01] [-9.28460779e-03 -2.18203531e-05 9.99956897e-01 -2.42926029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.824012739 meters Centerline goodness [0,1] 0.9913351628168283 Centerline is valid? [True, True] Translation: X:247.18, Y:-20.48, Z:-2.43 [[ 9.95429593e-01 -9.50695080e-02 9.03960912e-03 2.47182685e+02] [ 9.50652881e-02 9.95470636e-01 8.96352421e-04 -2.04772125e+01] [-9.08388123e-03 -3.29026802e-05 9.99958740e-01 -2.43082605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.854012739 meters Centerline goodness [0,1] 0.9935585365335148 Centerline is valid? [True, True] Translation: X:247.21, Y:-20.47, Z:-2.43 [[ 9.95794166e-01 -9.13847887e-02 6.54207838e-03 2.47211416e+02] [ 9.13824985e-02 9.95815655e-01 6.48760062e-04 -2.04676747e+01] [-6.57399087e-03 -4.82000170e-05 9.99978390e-01 -2.43346248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.884012739 meters Centerline goodness [0,1] 0.9942205161015142 Centerline is valid? [True, True] Translation: X:247.24, Y:-20.46, Z:-2.44 [[ 9.95973470e-01 -8.94454759e-02 6.02935127e-03 2.47240087e+02] [ 8.94434858e-02 9.95991719e-01 5.99443317e-04 -2.04622957e+01] [-6.05880142e-03 -5.77434464e-05 9.99981644e-01 -2.43513305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.914012739 meters Centerline goodness [0,1] 0.9942205161015142 Centerline is valid? [True, True] Translation: X:247.27, Y:-20.46, Z:-2.44 [[ 9.95971406e-01 -8.94684605e-02 6.02938674e-03 2.47269105e+02] [ 8.94664730e-02 9.95989654e-01 5.99086134e-04 -2.04593682e+01] [-6.05880613e-03 -5.72446934e-05 9.99981644e-01 -2.43502796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.944012739 meters Centerline goodness [0,1] 0.9942597927505697 Centerline is valid? [True, True] Translation: X:247.30, Y:-20.46, Z:-2.44 [[ 9.96205459e-01 -8.68067769e-02 6.26638806e-03 2.47298355e+02] [ 8.68045765e-02 9.96225164e-01 6.22787733e-04 -2.04554780e+01] [-6.29679567e-03 -7.64733773e-05 9.99980172e-01 -2.43685744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.974012739 meters Centerline goodness [0,1] 0.9934247645501497 Centerline is valid? [True, True] Translation: X:247.33, Y:-20.45, Z:-2.44 [[ 9.96215919e-01 -8.66382115e-02 6.90388443e-03 2.47327598e+02] [ 8.66355355e-02 9.96239837e-01 6.86304791e-04 -2.04529120e+01] [-6.93738492e-03 -8.55860332e-05 9.99975932e-01 -2.43658786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.004012739 meters Centerline goodness [0,1] 0.9935271624190896 Centerline is valid? [True, True] Translation: X:247.36, Y:-20.45, Z:-2.44 [[ 9.96178596e-01 -8.70974085e-02 6.49966842e-03 2.47356622e+02] [ 8.70950461e-02 9.96199797e-01 6.46161720e-04 -2.04511024e+01] [-6.53124737e-03 -7.76035538e-05 9.99978668e-01 -2.43702491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.034012739 meters Centerline goodness [0,1] 0.9937085236576747 Centerline is valid? [True, True] Translation: X:247.39, Y:-20.45, Z:-2.44 [[ 9.96111620e-01 -8.79169108e-02 5.67958995e-03 2.47386374e+02] [ 8.79151199e-02 9.96127809e-01 5.64707432e-04 -2.04505537e+01] [-5.70724482e-03 -6.31898038e-05 9.99983712e-01 -2.43901936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.064012739 meters Centerline goodness [0,1] 0.9938190033675774 Centerline is valid? [True, True] Translation: X:247.41, Y:-20.45, Z:-2.44 [[ 9.96134998e-01 -8.76809108e-02 5.20799751e-03 2.47414309e+02] [ 8.76793999e-02 9.96148611e-01 5.18173450e-04 -2.04462385e+01] [-5.23337340e-03 -5.95366128e-05 9.99986304e-01 -2.43814250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.094012739 meters Centerline goodness [0,1] 0.9935062169988077 Centerline is valid? [True, True] Translation: X:247.44, Y:-20.44, Z:-2.44 [[ 9.96324686e-01 -8.54891560e-02 5.35954861e-03 2.47442255e+02] [ 8.54875173e-02 9.96339098e-01 5.34513784e-04 -2.04370928e+01] [-5.38562296e-03 -7.43747725e-05 9.99985495e-01 -2.43818753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.124012739 meters Centerline goodness [0,1] 0.9928531570588488 Centerline is valid? [True, True] Translation: X:247.47, Y:-20.43, Z:-2.44 [[ 9.96468214e-01 -8.38047529e-02 5.27850458e-03 2.47470286e+02] [ 8.38031407e-02 9.96482191e-01 5.26268586e-04 -2.04304097e+01] [-5.30403962e-03 -8.20546556e-05 9.99985930e-01 -2.43891482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.154012739 meters Centerline goodness [0,1] 0.9925698455988146 Centerline is valid? [True, True] Translation: X:247.50, Y:-20.42, Z:-2.44 [[ 9.96586321e-01 -8.24131153e-02 4.87674602e-03 2.47499159e+02] [ 8.24117223e-02 9.96598250e-01 4.86254724e-04 -2.04240220e+01] [-4.90023031e-03 -8.26937682e-05 9.99987990e-01 -2.44012129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.184012739 meters Centerline goodness [0,1] 0.9920629840619599 Centerline is valid? [True, True] Translation: X:247.53, Y:-20.41, Z:-2.44 [[ 9.96832284e-01 -7.94560472e-02 3.48331537e-03 2.47528013e+02] [ 7.94553185e-02 9.96838368e-01 3.47305207e-04 -2.04133952e+01] [-3.49989790e-03 -6.94371114e-05 9.99993873e-01 -2.44325285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.214012739 meters Centerline goodness [0,1] 0.9926133909287257 Centerline is valid? [True, True] Translation: X:247.56, Y:-20.41, Z:-2.44 [[ 9.96972033e-01 -7.76775776e-02 3.60001763e-03 2.47557914e+02] [ 7.76767874e-02 9.96978529e-01 3.59003963e-04 -2.04099750e+01] [-3.61702684e-03 -7.82791067e-05 9.99993455e-01 -2.44492965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.244012739 meters Centerline goodness [0,1] 0.9903056618374103 Centerline is valid? [True, True] Translation: X:247.59, Y:-20.40, Z:-2.44 [[ 9.97099737e-01 -7.59050435e-02 5.52618980e-03 2.47586673e+02] [ 7.59031578e-02 9.97115042e-01 5.50482034e-04 -2.03969728e+01] [-5.55203133e-03 -1.29430236e-04 9.99984579e-01 -2.44000556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.274012739 meters Centerline goodness [0,1] 0.991348295357204 Centerline is valid? [True, True] Translation: X:247.62, Y:-20.40, Z:-2.44 [[ 9.97030245e-01 -7.67451620e-02 6.39295025e-03 2.47618367e+02] [ 7.67426555e-02 9.97050731e-01 6.36832724e-04 -2.03983410e+01] [-6.42296955e-03 -1.44329508e-04 9.99979362e-01 -2.44000860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30401273900003 meters Centerline goodness [0,1] 0.9918986469016634 Centerline is valid? [True, True] Translation: X:247.65, Y:-20.40, Z:-2.44 [[ 9.96901398e-01 -7.83795566e-02 6.65195973e-03 2.47650280e+02] [ 7.83768809e-02 9.96923581e-01 6.62370353e-04 -2.03981724e+01] [-6.68341181e-03 -1.38958075e-04 9.99977656e-01 -2.44096050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.334012739 meters Centerline goodness [0,1] 0.9925534470333894 Centerline is valid? [True, True] Translation: X:247.68, Y:-20.40, Z:-2.44 [[ 9.96570198e-01 -8.25159609e-02 6.24152634e-03 2.47681811e+02] [ 8.25136869e-02 9.96589738e-01 6.21412785e-04 -2.04000125e+01] [-6.27151757e-03 -1.04270111e-04 9.99980328e-01 -2.44330662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36401273900003 meters Centerline goodness [0,1] 0.9916222065093956 Centerline is valid? [True, True] Translation: X:247.71, Y:-20.40, Z:-2.44 [[ 9.96359821e-01 -8.50577297e-02 5.68242923e-03 2.47710764e+02] [ 8.50558852e-02 9.96376021e-01 5.65929655e-04 -2.03967373e+01] [-5.70997292e-03 -8.05455211e-05 9.99983695e-01 -2.44095116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.394012739 meters Centerline goodness [0,1] 0.9925635332916604 Centerline is valid? [True, True] Translation: X:247.74, Y:-20.40, Z:-2.44 [[ 9.95979709e-01 -8.93473883e-02 6.43915241e-03 2.47741390e+02] [ 8.93451081e-02 9.96000522e-01 6.41478287e-04 -2.04042937e+01] [-6.47071358e-03 -6.35925894e-05 9.99979063e-01 -2.44185952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42401273900003 meters Centerline goodness [0,1] 0.99311306773603 Centerline is valid? [True, True] Translation: X:247.77, Y:-20.41, Z:-2.44 [[ 9.95779629e-01 -9.15275386e-02 6.75567882e-03 2.47772457e+02] [ 9.15250794e-02 9.95802544e-01 6.72923322e-04 -2.04054457e+01] [-6.78891317e-03 -5.17692957e-05 9.99976954e-01 -2.44240266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.454012739 meters Centerline goodness [0,1] 0.9919230769230769 Centerline is valid? [True, True] Translation: X:247.80, Y:-20.40, Z:-2.44 [[ 9.95549657e-01 -9.40096253e-02 6.56279495e-03 2.47801637e+02] [ 9.40073578e-02 9.95571288e-01 6.53833263e-04 -2.04043909e+01] [-6.59519684e-03 -3.39724686e-05 9.99978251e-01 -2.44039014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48401273900004 meters Centerline goodness [0,1] 0.9930524187477147 Centerline is valid? [True, True] Translation: X:247.83, Y:-20.40, Z:-2.44 [[ 9.95537808e-01 -9.41228058e-02 6.73574443e-03 2.47830981e+02] [ 9.41204183e-02 9.95560594e-01 6.71268298e-04 -2.04019289e+01] [-6.76902338e-03 -3.43018863e-05 9.99977089e-01 -2.44200112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.514012739 meters Centerline goodness [0,1] 0.9921441873407967 Centerline is valid? [True, True] Translation: X:247.86, Y:-20.40, Z:-2.44 [[ 9.95656502e-01 -9.28388759e-02 7.00522656e-03 2.47858973e+02] [ 9.28362598e-02 9.95681144e-01 6.98414979e-04 -2.03955082e+01] [-7.03981206e-03 -4.50423820e-05 9.99975219e-01 -2.44074954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544012739 meters Centerline goodness [0,1] 0.9928363074811256 Centerline is valid? [True, True] Translation: X:247.89, Y:-20.39, Z:-2.44 [[ 9.95725406e-01 -9.20834522e-02 7.18013521e-03 2.47888075e+02] [ 9.20806832e-02 9.95751292e-01 7.15978746e-04 -2.03905384e+01] [-7.21555870e-03 -5.17664720e-05 9.99973966e-01 -2.44141331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.574012739 meters Centerline goodness [0,1] 0.9924877633539051 Centerline is valid? [True, True] Translation: X:247.92, Y:-20.38, Z:-2.44 [[ 9.95798784e-01 -9.12869423e-02 7.17460631e-03 2.47916718e+02] [ 9.12841567e-02 9.95824629e-01 7.15469958e-04 -2.03834197e+01] [-7.20996273e-03 -5.75362280e-05 9.99974006e-01 -2.44013906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604012739 meters Centerline goodness [0,1] 0.9925090351549666 Centerline is valid? [True, True] Translation: X:247.95, Y:-20.38, Z:-2.44 [[ 9.95832600e-01 -9.09022768e-02 7.36264064e-03 2.47946627e+02] [ 9.08993330e-02 9.95859816e-01 7.34177376e-04 -2.03779350e+01] [-7.39889634e-03 -6.18586424e-05 9.99972626e-01 -2.44347747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.634012739 meters Centerline goodness [0,1] 0.9920142924792286 Centerline is valid? [True, True] Translation: X:247.98, Y:-20.38, Z:-2.44 [[ 9.95752289e-01 -9.18074024e-02 6.98428357e-03 2.47975557e+02] [ 9.18047758e-02 9.95776781e-01 6.96422748e-04 -2.03750477e+01] [-7.01872417e-03 -5.22739580e-05 9.99975367e-01 -2.44361438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664012739 meters Centerline goodness [0,1] 0.991550204257149 Centerline is valid? [True, True] Translation: X:248.01, Y:-20.38, Z:-2.45 [[ 9.95407507e-01 -9.55725710e-02 5.45692855e-03 2.48005142e+02] [ 9.55710235e-02 9.95422465e-01 5.44238625e-04 -2.03763573e+01] [-5.48396355e-03 -2.02149660e-05 9.99984963e-01 -2.44623693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.694012739 meters Centerline goodness [0,1] 0.9909589996078603 Centerline is valid? [True, True] Translation: X:248.03, Y:-20.38, Z:-2.45 [[ 9.95107055e-01 -9.86563480e-02 5.37342826e-03 2.48034357e+02] [ 9.86548848e-02 9.95121563e-01 5.37340921e-04 -2.03775738e+01] [-5.40022642e-03 -4.59679565e-06 9.99985419e-01 -2.44729709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724012739 meters Centerline goodness [0,1] 0.9891649502231377 Centerline is valid? [True, True] Translation: X:248.06, Y:-20.39, Z:-2.45 [[ 9.94386083e-01 -1.05613024e-01 6.49665219e-03 2.48062645e+02] [ 1.05611034e-01 9.94407305e-01 6.49657240e-04 -2.03851425e+01] [-6.52893066e-03 4.01080348e-05 9.99978686e-01 -2.44638944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.754012739 meters Centerline goodness [0,1] 0.9885713055830572 Centerline is valid? [True, True] Translation: X:248.09, Y:-20.39, Z:-2.45 [[ 9.93985817e-01 -1.09317713e-01 6.46779393e-03 2.48091543e+02] [ 1.09315816e-01 9.94006858e-01 6.47100428e-04 -2.03890771e+01] [-6.49977106e-03 6.38235239e-05 9.99978874e-01 -2.44651137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784012739 meters Centerline goodness [0,1] 0.9884205048139474 Centerline is valid? [True, True] Translation: X:248.12, Y:-20.40, Z:-2.45 [[ 9.93244231e-01 -1.15957159e-01 4.45368332e-03 2.48121268e+02] [ 1.15956326e-01 9.93254213e-01 4.45724284e-04 -2.04000583e+01] [-4.47532464e-03 7.37196802e-05 9.99989983e-01 -2.45028220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.814012739 meters Centerline goodness [0,1] 0.987670049665299 Centerline is valid? [True, True] Translation: X:248.15, Y:-20.40, Z:-2.45 [[ 9.92994612e-01 -1.18119425e-01 3.08259277e-03 2.48150233e+02] [ 1.18119033e-01 9.92999395e-01 3.09482616e-04 -2.04025434e+01] [-3.09756866e-03 5.67983066e-05 9.99995201e-01 -2.45251416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844012739 meters Centerline goodness [0,1] 0.9877767477957187 Centerline is valid? [True, True] Translation: X:248.18, Y:-20.40, Z:-2.45 [[ 9.92849837e-01 -1.19341691e-01 2.60041494e-03 2.48178836e+02] [ 1.19341416e-01 9.92853241e-01 2.61131532e-04 -2.04034351e+01] [-2.61299428e-03 5.10728017e-05 9.99996585e-01 -2.45342431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.874012739 meters Centerline goodness [0,1] 0.9872777371162871 Centerline is valid? [True, True] Translation: X:248.21, Y:-20.40, Z:-2.45 [[ 9.93065751e-01 -1.17506587e-01 3.55201609e-03 2.48206791e+02] [ 1.17506063e-01 9.93072101e-01 3.56667125e-04 -2.04027759e+01] [-3.56931882e-03 6.31895190e-05 9.99993628e-01 -2.45202465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904012739 meters Centerline goodness [0,1] 0.987789120041349 Centerline is valid? [True, True] Translation: X:248.23, Y:-20.40, Z:-2.45 [[ 9.93356835e-01 -1.14991850e-01 4.36728413e-03 2.48233915e+02] [ 1.14991032e-01 9.93366433e-01 4.38725867e-04 -2.03976374e+01] [-4.38876335e-03 6.63871724e-05 9.99990367e-01 -2.45033648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.934012739 meters Centerline goodness [0,1] 0.9888353155469838 Centerline is valid? [True, True] Translation: X:248.26, Y:-20.38, Z:-2.45 [[ 9.94145380e-01 -1.07900871e-01 5.68909776e-03 2.48262990e+02] [ 1.07899368e-01 9.94161657e-01 5.71250469e-04 -2.03849432e+01] [-5.71752128e-03 4.59440396e-05 9.99983654e-01 -2.44685556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964012739 meters Centerline goodness [0,1] 0.9888233401265687 Centerline is valid? [True, True] Translation: X:248.29, Y:-20.38, Z:-2.45 [[ 9.94539771e-01 -1.04215314e-01 5.46000955e-03 2.48289736e+02] [ 1.04213872e-01 9.94554759e-01 5.48751756e-04 -2.03758936e+01] [-5.48746682e-03 2.32532892e-05 9.99984943e-01 -2.44726987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.994012739 meters Centerline goodness [0,1] 0.9902723313906883 Centerline is valid? [True, True] Translation: X:248.32, Y:-20.37, Z:-2.45 [[ 9.94906035e-01 -1.00701383e-01 4.60581683e-03 2.48317380e+02] [ 1.00700313e-01 9.94916696e-01 4.64125105e-04 -2.03660671e+01] [-4.62914210e-03 2.04632976e-06 9.99989285e-01 -2.45129955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024012739 meters Centerline goodness [0,1] 0.990085978133956 Centerline is valid? [True, True] Translation: X:248.34, Y:-20.35, Z:-2.45 [[ 9.95593278e-01 -9.36812855e-02 4.22382583e-03 2.48343742e+02] [ 9.36803231e-02 9.95602238e-01 4.25547168e-04 -2.03495488e+01] [-4.24511625e-03 -2.79825317e-05 9.99990989e-01 -2.45092524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05401273900003 meters Centerline goodness [0,1] 0.9911392405063291 Centerline is valid? [True, True] Translation: X:248.37, Y:-20.34, Z:-2.45 [[ 9.95838404e-01 -9.10221130e-02 4.56589568e-03 2.48371592e+02] [ 9.10209555e-02 9.95848871e-01 4.61114438e-04 -2.03422430e+01] [-4.58891367e-03 -4.36032786e-05 9.99989470e-01 -2.45205795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084012739 meters Centerline goodness [0,1] 0.9904704927139866 Centerline is valid? [True, True] Translation: X:248.40, Y:-20.33, Z:-2.45 [[ 9.96124857e-01 -8.78414898e-02 4.37520283e-03 2.48399345e+02] [ 8.78403975e-02 9.96134464e-01 4.41569449e-04 -2.03299378e+01] [-4.39707844e-03 -5.55387488e-05 9.99990331e-01 -2.45127514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11401273900003 meters Centerline goodness [0,1] 0.9907281333073981 Centerline is valid? [True, True] Translation: X:248.43, Y:-20.33, Z:-2.45 [[ 9.96155200e-01 -8.75474514e-02 3.20337076e-03 2.48429420e+02] [ 8.75468641e-02 9.96160350e-01 3.23369824e-04 -2.03287219e+01] [-3.21938114e-03 -4.16814671e-05 9.99994817e-01 -2.45496640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144012739 meters Centerline goodness [0,1] 0.9915854548576826 Centerline is valid? [True, True] Translation: X:248.46, Y:-20.33, Z:-2.46 [[ 9.96094406e-01 -8.82757013e-02 1.82598736e-03 2.48457899e+02] [ 8.82755115e-02 9.96096080e-01 1.84468554e-04 -2.03257613e+01] [-1.83514294e-03 -2.25581266e-05 9.99998316e-01 -2.45749287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17401273900003 meters Centerline goodness [0,1] 0.9919124024284476 Centerline is valid? [True, True] Translation: X:248.49, Y:-20.32, Z:-2.46 [[ 9.95860923e-01 -9.08901518e-02 -5.72681384e-05 2.48486055e+02] [ 9.08901517e-02 9.95860924e-01 -5.21219850e-06 -2.03231948e+01] [ 5.75048387e-05 -1.44849746e-08 9.99999998e-01 -2.46063332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204012739 meters Centerline goodness [0,1] 0.9927913408977067 Centerline is valid? [True, True] Translation: X:248.52, Y:-20.33, Z:-2.46 [[ 9.95705029e-01 -9.25823463e-02 -6.01096671e-05 2.48515698e+02] [ 9.25823462e-02 9.95705031e-01 -5.51187763e-06 -2.03250891e+01] [ 6.03618006e-05 -7.68897376e-08 9.99999998e-01 -2.46264959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23401273900004 meters Centerline goodness [0,1] 0.9926090808895036 Centerline is valid? [True, True] Translation: X:248.54, Y:-20.32, Z:-2.46 [[ 9.95488475e-01 -9.48821986e-02 2.52682783e-04 2.48543248e+02] [ 9.48821951e-02 9.95488507e-01 2.59307036e-05 -2.03242736e+01] [-2.54003169e-04 -1.83861950e-06 9.99999968e-01 -2.46268542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.264012739 meters Centerline goodness [0,1] 0.9931685797498715 Centerline is valid? [True, True] Translation: X:248.57, Y:-20.32, Z:-2.46 [[ 9.95366254e-01 -9.61560784e-02 1.69221109e-04 2.48570910e+02] [ 9.61560769e-02 9.95366269e-01 1.73748906e-05 -2.03233300e+01] [-1.70107685e-04 -1.02274178e-06 9.99999986e-01 -2.46260045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.294012739 meters Centerline goodness [0,1] 0.9928594403345127 Centerline is valid? [True, True] Translation: X:248.60, Y:-20.32, Z:-2.46 [[ 9.95157918e-01 -9.82888094e-02 1.70446253e-04 2.48599022e+02] [ 9.82888078e-02 9.95157932e-01 1.75031153e-05 -2.03237013e+01] [-1.71341301e-04 -6.65404707e-07 9.99999985e-01 -2.46289812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.324012739 meters Centerline goodness [0,1] 0.9935918112809926 Centerline is valid? [True, True] Translation: X:248.63, Y:-20.33, Z:-2.46 [[ 9.94657705e-01 -1.03227914e-01 -2.17574954e-04 2.48627190e+02] [ 1.03227912e-01 9.94657729e-01 -2.14300543e-05 -2.03284177e+01] [ 2.18624790e-04 -1.14423959e-06 9.99999976e-01 -2.46442462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.354012739 meters Centerline goodness [0,1] 0.9922992771187713 Centerline is valid? [True, True] Translation: X:248.66, Y:-20.33, Z:-2.46 [[ 9.94159126e-01 -1.07924029e-01 -1.88675288e-04 2.48656000e+02] [ 1.07924027e-01 9.94159144e-01 -1.89798520e-05 -2.03349287e+01] [ 1.89621645e-04 -1.49360376e-06 9.99999982e-01 -2.46461283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.384012739 meters Centerline goodness [0,1] 0.991360321635551 Centerline is valid? [True, True] Translation: X:248.68, Y:-20.34, Z:-2.46 [[ 9.93835597e-01 -1.10862423e-01 -5.73816288e-04 2.48684548e+02] [ 1.10862407e-01 9.93835763e-01 -5.82023751e-05 -2.03393820e+01] [ 5.76731605e-04 -5.77106293e-06 9.99999834e-01 -2.46448053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.414012739 meters Centerline goodness [0,1] 0.9904070018108131 Centerline is valid? [True, True] Translation: X:248.71, Y:-20.34, Z:-2.47 [[ 9.93471038e-01 -1.14080187e-01 -1.00356067e-03 2.48713440e+02] [ 1.14080142e-01 9.93471545e-01 -1.01730940e-04 -2.03417939e+01] [ 1.00861446e-03 -1.34196018e-05 9.99999491e-01 -2.46601089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.444012739 meters Centerline goodness [0,1] 0.9890523582864561 Centerline is valid? [True, True] Translation: X:248.74, Y:-20.35, Z:-2.47 [[ 9.92806597e-01 -1.19705875e-01 -2.35894885e-03 2.48742667e+02] [ 1.19705642e-01 9.92809398e-01 -2.40448105e-04 -2.03519184e+01] [ 2.37076964e-03 -4.36610208e-05 9.99997189e-01 -2.46896236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.474012739 meters Centerline goodness [0,1] 0.9875314915239762 Centerline is valid? [True, True] Translation: X:248.77, Y:-20.36, Z:-2.47 [[ 9.92478869e-01 -1.22385392e-01 -2.74049836e-03 2.48770837e+02] [ 1.22385087e-01 9.92482651e-01 -2.79483818e-04 -2.03574594e+01] [ 2.75410182e-03 -5.80143455e-05 9.99996206e-01 -2.47029768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.504012739 meters Centerline goodness [0,1] 0.9877843846949328 Centerline is valid? [True, True] Translation: X:248.80, Y:-20.36, Z:-2.47 [[ 9.92151220e-01 -1.25013343e-01 -2.76069089e-03 2.48799877e+02] [ 1.25013043e-01 9.92155058e-01 -2.81770443e-04 -2.03574211e+01] [ 2.77425850e-03 -6.55634801e-05 9.99996150e-01 -2.47028715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.534012739 meters Centerline goodness [0,1] 0.9865747146316154 Centerline is valid? [True, True] Translation: X:248.83, Y:-20.37, Z:-2.47 [[ 9.91742883e-01 -1.28230202e-01 -1.75217149e-03 2.48829479e+02] [ 1.28230085e-01 9.91744429e-01 -1.79121650e-04 -2.03684746e+01] [ 1.76067512e-03 -4.70384771e-05 9.99998449e-01 -2.46879882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.564012739 meters Centerline goodness [0,1] 0.986578050148893 Centerline is valid? [True, True] Translation: X:248.86, Y:-20.37, Z:-2.47 [[ 9.91602101e-01 -1.29317379e-01 -1.51258634e-03 2.48858382e+02] [ 1.29317293e-01 9.91603254e-01 -1.54436166e-04 -2.03703290e+01] [ 1.51985682e-03 -4.24643453e-05 9.99998844e-01 -2.46786081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.594012739 meters Centerline goodness [0,1] 0.9869286684929143 Centerline is valid? [True, True] Translation: X:248.89, Y:-20.37, Z:-2.47 [[ 9.91540832e-01 -1.29764129e-01 -2.83712049e-03 2.48887118e+02] [ 1.29763828e-01 9.91544888e-01 -2.90644054e-04 -2.03724642e+01] [ 2.85084749e-03 -7.99701669e-05 9.99995933e-01 -2.47023317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.624012739 meters Centerline goodness [0,1] 0.9868999359931726 Centerline is valid? [True, True] Translation: X:248.92, Y:-20.38, Z:-2.47 [[ 9.91653044e-01 -1.28879390e-01 -3.78735558e-03 2.48915395e+02] [ 1.28878844e-01 9.91660271e-01 -3.88795904e-04 -2.03760881e+01] [ 3.80587784e-03 -1.02559369e-04 9.99992752e-01 -2.47247084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.654012739 meters Centerline goodness [0,1] 0.9899709113011765 Centerline is valid? [True, True] Translation: X:248.94, Y:-20.37, Z:-2.47 [[ 9.92035166e-01 -1.25884842e-01 -4.38583340e-03 2.48943620e+02] [ 1.25884079e-01 9.92044856e-01 -4.50630869e-04 -2.03711603e+01] [ 4.40767106e-03 -1.05064929e-04 9.99990281e-01 -2.47309831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.684012739 meters Centerline goodness [0,1] 0.9893833344035617 Centerline is valid? [True, True] Translation: X:248.97, Y:-20.37, Z:-2.47 [[ 9.92256674e-01 -1.24116980e-01 -4.65500642e-03 2.48972310e+02] [ 1.24116099e-01 9.92267587e-01 -4.78656516e-04 -2.03725294e+01] [ 4.67842139e-03 -1.02811117e-04 9.99989051e-01 -2.47371637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.714012739 meters Centerline goodness [0,1] 0.9907667083746818 Centerline is valid? [True, True] Translation: X:249.00, Y:-20.37, Z:-2.47 [[ 9.92464658e-01 -1.22426833e-01 -5.05708286e-03 2.49001154e+02] [ 1.22425767e-01 9.92477536e-01 -5.20906332e-04 -2.03706650e+01] [ 5.08281406e-03 -1.02136126e-04 9.99987077e-01 -2.47446981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.744012739 meters Centerline goodness [0,1] 0.9932689810406026 Centerline is valid? [True, True] Translation: X:249.03, Y:-20.37, Z:-2.48 [[ 9.92918366e-01 -1.18633292e-01 -6.26579599e-03 2.49030063e+02] [ 1.18631575e-01 9.92938131e-01 -6.46259975e-04 -2.03675044e+01] [ 6.29821570e-03 -1.01637849e-04 9.99980161e-01 -2.47658368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.774012739 meters Centerline goodness [0,1] 0.9944934155763772 Centerline is valid? [True, True] Translation: X:249.06, Y:-20.37, Z:-2.48 [[ 9.93140655e-01 -1.16698454e-01 -7.28764683e-03 2.49058414e+02] [ 1.16696076e-01 9.93167388e-01 -7.52074848e-04 -2.03675761e+01] [ 7.32561914e-03 -1.03523683e-04 9.99973162e-01 -2.47903248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80401273900003 meters Centerline goodness [0,1] 0.9960507574776641 Centerline is valid? [True, True] Translation: X:249.09, Y:-20.36, Z:-2.48 [[ 9.93517262e-01 -1.13406665e-01 -7.89804193e-03 2.49087132e+02] [ 1.13403761e-01 9.93548651e-01 -8.16017170e-04 -2.03642643e+01] [ 7.93963069e-03 -8.49405125e-05 9.99968477e-01 -2.47992607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.834012739 meters Centerline goodness [0,1] 0.9960507574776641 Centerline is valid? [True, True] Translation: X:249.11, Y:-20.36, Z:-2.48 [[ 9.93495799e-01 -1.13594542e-01 -7.89789641e-03 2.49114459e+02] [ 1.13591633e-01 9.93527188e-01 -8.17423815e-04 -2.03612480e+01] [ 7.93962969e-03 -8.50278242e-05 9.99968477e-01 -2.47982706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86401273900003 meters Centerline goodness [0,1] 0.9966365087812666 Centerline is valid? [True, True] Translation: X:249.14, Y:-20.36, Z:-2.48 [[ 9.93762796e-01 -1.11220493e-01 -8.09370382e-03 2.49142140e+02] [ 1.11217351e-01 9.93795752e-01 -8.38659063e-04 -2.03581316e+01] [ 8.13676455e-03 -6.67321206e-05 9.99966894e-01 -2.48043162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.894012739 meters Centerline goodness [0,1] 0.9981729859857278 Centerline is valid? [True, True] Translation: X:249.17, Y:-20.35, Z:-2.48 [[ 9.94437527e-01 -1.05007063e-01 -8.21712905e-03 2.49170168e+02] [ 1.05003604e-01 9.94471476e-01 -8.52437515e-04 -2.03459220e+01] [ 8.26121242e-03 -1.51323116e-05 9.99965875e-01 -2.47936699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92401273900003 meters Centerline goodness [0,1] 0.997863613057597 Centerline is valid? [True, True] Translation: X:249.20, Y:-20.34, Z:-2.48 [[ 9.94818964e-01 -1.01409034e-01 -7.17197763e-03 2.49197311e+02] [ 1.01406300e-01 9.94844816e-01 -7.44749733e-04 -2.03372516e+01] [ 7.21052911e-03 1.36074444e-05 9.99974004e-01 -2.47761569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.954012739 meters Centerline goodness [0,1] 0.996719076228216 Centerline is valid? [True, True] Translation: X:249.23, Y:-20.33, Z:-2.48 [[ 9.95144249e-01 -9.82105629e-02 -6.52760648e-03 2.49225237e+02] [ 9.82082249e-02 9.95165657e-01 -6.78514830e-04 -2.03288871e+01] [ 6.56268712e-03 3.41554851e-05 9.99978465e-01 -2.47621855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98401273900004 meters Centerline goodness [0,1] 0.9932484403042475 Centerline is valid? [True, True] Translation: X:249.25, Y:-20.32, Z:-2.47 [[ 9.95651933e-01 -9.30044316e-02 -5.23494741e-03 2.49252846e+02] [ 9.30028520e-02 9.95665693e-01 -5.44891861e-04 -2.03182879e+01] [ 5.26293490e-03 5.56575951e-05 9.99986149e-01 -2.47382527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.014012739 meters Centerline goodness [0,1] 0.9923120114024101 Centerline is valid? [True, True] Translation: X:249.28, Y:-20.31, Z:-2.48 [[ 9.95912190e-01 -9.01550672e-02 -5.56540100e-03 2.49280162e+02] [ 9.01532333e-02 9.95927737e-01 -5.80027564e-04 -2.03098962e+01] [ 5.59502965e-03 7.59176257e-05 9.99984345e-01 -2.47555331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044012739 meters Centerline goodness [0,1] 0.9930407887106127 Centerline is valid? [True, True] Translation: X:249.31, Y:-20.31, Z:-2.48 [[ 9.95932776e-01 -8.98563116e-02 -6.61433503e-03 2.49308723e+02] [ 8.98537097e-02 9.95954735e-01 -6.90087868e-04 -2.03053112e+01] [ 6.64958705e-03 9.29585861e-05 9.99977887e-01 -2.47779590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.074012739 meters Centerline goodness [0,1] 0.9935359737115185 Centerline is valid? [True, True] Translation: X:249.34, Y:-20.30, Z:-2.48 [[ 9.95877517e-01 -9.04231110e-02 -7.18550205e-03 2.49336937e+02] [ 9.04200456e-02 9.95903435e-01 -7.50992999e-04 -2.03024309e+01] [ 7.22397330e-03 9.81836197e-05 9.99973902e-01 -2.47979734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104012739 meters Centerline goodness [0,1] 0.993761255466941 Centerline is valid? [True, True] Translation: X:249.37, Y:-20.30, Z:-2.48 [[ 9.95643632e-01 -9.30117638e-02 -6.52450883e-03 2.49365179e+02] [ 9.30092863e-02 9.95665007e-01 -6.82779457e-04 -2.03022608e+01] [ 6.55973165e-03 7.29651088e-05 9.99978482e-01 -2.47812692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.134012739 meters Centerline goodness [0,1] 0.9946337308347529 Centerline is valid? [True, True] Translation: X:249.39, Y:-20.30, Z:-2.48 [[ 9.95452040e-01 -9.50637931e-02 -6.17336714e-03 2.49394003e+02] [ 9.50616101e-02 9.95471181e-01 -6.46748302e-04 -2.03030410e+01] [ 6.20689142e-03 5.69566973e-05 9.99980735e-01 -2.47753215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164012739 meters Centerline goodness [0,1] 0.9958285849442019 Centerline is valid? [True, True] Translation: X:249.42, Y:-20.30, Z:-2.48 [[ 9.95259223e-01 -9.70208502e-02 -6.78480199e-03 2.49423250e+02] [ 9.70182509e-02 9.95282348e-01 -7.11972728e-04 -2.03038008e+01] [ 6.82186986e-03 5.03478015e-05 9.99976730e-01 -2.47834188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.194012739 meters Centerline goodness [0,1] 0.9973263175906913 Centerline is valid? [True, True] Translation: X:249.45, Y:-20.31, Z:-2.48 [[ 9.94991541e-01 -9.96712069e-02 -7.58182687e-03 2.49452789e+02] [ 9.96680278e-02 9.95020426e-01 -7.96932435e-04 -2.03059099e+01] [ 7.62350382e-03 3.72753006e-05 9.99970940e-01 -2.47928315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224012739 meters Centerline goodness [0,1] 0.9972918221558802 Centerline is valid? [True, True] Translation: X:249.48, Y:-20.30, Z:-2.48 [[ 9.94963865e-01 -9.99491888e-02 -7.55422633e-03 2.49479480e+02] [ 9.99460339e-02 9.94992542e-01 -7.94950556e-04 -2.03029032e+01] [ 7.59585352e-03 3.59321175e-05 9.99971150e-01 -2.48008634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.254012739 meters Centerline goodness [0,1] 0.9962104277107151 Centerline is valid? [True, True] Translation: X:249.51, Y:-20.30, Z:-2.48 [[ 9.95067985e-01 -9.90002696e-02 -6.21700205e-03 2.49507373e+02] [ 9.89981096e-02 9.95087406e-01 -6.54968393e-04 -2.03012292e+01] [ 6.25130249e-03 3.62666291e-05 9.99980460e-01 -2.47676711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284012739 meters Centerline goodness [0,1] 0.9953709656679953 Centerline is valid? [True, True] Translation: X:249.54, Y:-20.30, Z:-2.48 [[ 9.95151513e-01 -9.81809019e-02 -5.82897436e-03 2.49536362e+02] [ 9.81789833e-02 9.95168583e-01 -6.15086738e-04 -2.02980671e+01] [ 5.86120193e-03 3.98217214e-05 9.99982822e-01 -2.47616199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.314012739 meters Centerline goodness [0,1] 0.9947066038344845 Centerline is valid? [True, True] Translation: X:249.56, Y:-20.29, Z:-2.48 [[ 9.95447834e-01 -9.50414069e-02 -7.12328988e-03 2.49564115e+02] [ 9.50384545e-02 9.95473317e-01 -7.52587997e-04 -2.02935261e+01] [ 7.16257203e-03 7.21756302e-05 9.99974346e-01 -2.47911887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344012739 meters Centerline goodness [0,1] 0.9937834570885857 Centerline is valid? [True, True] Translation: X:249.59, Y:-20.29, Z:-2.48 [[ 9.95561226e-01 -9.37625131e-02 -8.15090929e-03 2.49592315e+02] [ 9.37585965e-02 9.95594587e-01 -8.62150157e-04 -2.02899797e+01] [ 8.19583854e-03 9.41054514e-05 9.99966409e-01 -2.48048483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.374012739 meters Centerline goodness [0,1] 0.9937593823718636 Centerline is valid? [True, True] Translation: X:249.62, Y:-20.28, Z:-2.48 [[ 9.95699310e-01 -9.22268850e-02 -8.77988465e-03 2.49619883e+02] [ 9.22222725e-02 9.95738012e-01 -9.29619976e-04 -2.02842731e+01] [ 8.82820084e-03 1.15921054e-04 9.99961024e-01 -2.48199996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404012739 meters Centerline goodness [0,1] 0.9926672974367796 Centerline is valid? [True, True] Translation: X:249.65, Y:-20.27, Z:-2.48 [[ 9.96039357e-01 -8.84258161e-02 -9.29920729e-03 2.49647988e+02] [ 8.84204723e-02 9.96082752e-01 -9.85024207e-04 -2.02748746e+01] [ 9.34988156e-03 1.58882577e-04 9.99956276e-01 -2.48335602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.434012739 meters Centerline goodness [0,1] 0.991091076121093 Centerline is valid? [True, True] Translation: X:249.68, Y:-20.27, Z:-2.48 [[ 9.96210249e-01 -8.65258411e-02 -8.85543034e-03 2.49675903e+02] [ 8.65209164e-02 9.96249592e-01 -9.38433278e-04 -2.02690123e+01] [ 8.90341759e-03 1.68696901e-04 9.99960350e-01 -2.48208138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464012739 meters Centerline goodness [0,1] 0.9896973877058367 Centerline is valid? [True, True] Translation: X:249.70, Y:-20.26, Z:-2.48 [[ 9.96458280e-01 -8.38362474e-02 -6.51002527e-03 2.49704109e+02] [ 8.38335244e-02 9.96479535e-01 -6.90519757e-04 -2.02637955e+01] [ 6.54499754e-03 1.42315767e-04 9.99978571e-01 -2.47638271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.494012739 meters Centerline goodness [0,1] 0.9897298696815396 Centerline is valid? [True, True] Translation: X:249.73, Y:-20.26, Z:-2.47 [[ 9.96541527e-01 -8.29005148e-02 -5.70004520e-03 2.49732249e+02] [ 8.28984083e-02 9.96557819e-01 -6.05255580e-04 -2.02602331e+01] [ 5.73060062e-03 1.30637645e-04 9.99983571e-01 -2.47412864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524012739 meters Centerline goodness [0,1] 0.989048128342246 Centerline is valid? [True, True] Translation: X:249.76, Y:-20.25, Z:-2.48 [[ 9.96501504e-01 -8.33917517e-02 -5.52887417e-03 2.49759104e+02] [ 8.33897755e-02 9.96516834e-01 -5.87412164e-04 -2.02488838e+01] [ 5.55860151e-03 1.24305529e-04 9.99984543e-01 -2.47501231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55401273900003 meters Centerline goodness [0,1] 0.9900975211582248 Centerline is valid? [True, True] Translation: X:249.79, Y:-20.25, Z:-2.48 [[ 9.96342534e-01 -8.52489229e-02 -5.84610732e-03 2.49788444e+02] [ 8.52467417e-02 9.96359677e-01 -6.21730977e-04 -2.02535786e+01] [ 5.87782750e-03 1.21095416e-04 9.99982718e-01 -2.47547710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584012739 meters Centerline goodness [0,1] 0.9905807805107786 Centerline is valid? [True, True] Translation: X:249.82, Y:-20.25, Z:-2.48 [[ 9.96154221e-01 -8.74049182e-02 -6.09492334e-03 2.49816820e+02] [ 8.74025812e-02 9.96172860e-01 -6.49249634e-04 -2.02520642e+01] [ 6.12834483e-03 1.14040731e-04 9.99981215e-01 -2.47589196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61401273900003 meters Centerline goodness [0,1] 0.9916082724542609 Centerline is valid? [True, True] Translation: X:249.85, Y:-20.25, Z:-2.48 [[ 9.95714376e-01 -9.22900542e-02 -5.95207430e-03 2.49846015e+02] [ 9.22879088e-02 9.95732162e-01 -6.34679160e-04 -2.02528478e+01] [ 5.98524639e-03 8.26546729e-05 9.99982085e-01 -2.47520210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644012739 meters Centerline goodness [0,1] 0.9933031402262337 Centerline is valid? [True, True] Translation: X:249.87, Y:-20.25, Z:-2.48 [[ 9.95483803e-01 -9.47180641e-02 -6.36281945e-03 2.49874827e+02] [ 9.47156585e-02 9.95504135e-01 -6.79028319e-04 -2.02544055e+01] [ 6.39852932e-03 7.33030597e-05 9.99979527e-01 -2.47619291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67401273900003 meters Centerline goodness [0,1] 0.9947502624868757 Centerline is valid? [True, True] Translation: X:249.90, Y:-20.26, Z:-2.48 [[ 9.95205228e-01 -9.75546684e-02 -7.04558200e-03 2.49903830e+02] [ 9.75517811e-02 9.95230166e-01 -7.53126217e-04 -2.02555648e+01] [ 7.08544672e-03 6.22060758e-05 9.99974896e-01 -2.47704059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.704012739 meters Centerline goodness [0,1] 0.99789183840296 Centerline is valid? [True, True] Translation: X:249.93, Y:-20.26, Z:-2.48 [[ 9.94604149e-01 -1.03445983e-01 -7.84317627e-03 2.49933256e+02] [ 1.03442577e-01 9.94635073e-01 -8.39764522e-04 -2.02628775e+01] [ 7.88796847e-03 2.39149127e-05 9.99968889e-01 -2.47758668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73401273900004 meters Centerline goodness [0,1] 0.9981452726017943 Centerline is valid? [True, True] Translation: X:249.96, Y:-20.26, Z:-2.48 [[ 9.94320648e-01 -1.06118238e-01 -8.08513862e-03 2.49961301e+02] [ 1.06114700e-01 9.94353518e-01 -8.66559336e-04 -2.02639371e+01] [ 8.13144378e-03 3.68578091e-06 9.99966939e-01 -2.47878745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.764012739 meters Centerline goodness [0,1] 0.9983761312951976 Centerline is valid? [True, True] Translation: X:249.99, Y:-20.26, Z:-2.48 [[ 9.93910348e-01 -1.09872210e-01 -8.38551404e-03 2.49990315e+02] [ 1.09868529e-01 9.93945721e-01 -8.99799709e-04 -2.02649375e+01] [ 8.43360878e-03 -2.69838461e-05 9.99964436e-01 -2.47881949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.794012739 meters Centerline goodness [0,1] 0.9982351928374655 Centerline is valid? [True, True] Translation: X:250.02, Y:-20.26, Z:-2.48 [[ 9.93779630e-01 -1.11041590e-01 -8.47424720e-03 2.50018559e+02] [ 1.11037859e-01 9.93815760e-01 -9.10904163e-04 -2.02629385e+01] [ 8.52298866e-03 -3.57242680e-05 9.99963678e-01 -2.47905850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.824012739 meters Centerline goodness [0,1] 0.9982027629812481 Centerline is valid? [True, True] Translation: X:250.05, Y:-20.26, Z:-2.48 [[ 9.93707961e-01 -1.11628644e-01 -9.13967901e-03 2.50046785e+02] [ 1.11624319e-01 9.93749991e-01 -9.83531211e-04 -2.02610640e+01] [ 9.19234618e-03 -4.28676546e-05 9.99957749e-01 -2.48030641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.854012739 meters Centerline goodness [0,1] 0.9988663614562895 Centerline is valid? [True, True] Translation: X:250.07, Y:-20.26, Z:-2.48 [[ 9.93613230e-01 -1.12319912e-01 -1.08160019e-02 2.50074537e+02] [ 1.12313888e-01 9.93672096e-01 -1.16462107e-03 -2.02583966e+01] [ 1.08783695e-02 -5.76043317e-05 9.99940827e-01 -2.48372601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.884012739 meters Centerline goodness [0,1] 0.9994158752136383 Centerline is valid? [True, True] Translation: X:250.10, Y:-20.25, Z:-2.48 [[ 9.93746919e-01 -1.11057483e-01 -1.15453779e-02 2.50101982e+02] [ 1.11050514e-01 9.93813983e-01 -1.24491808e-03 -2.02516260e+01] [ 1.16122155e-02 -4.49866474e-05 9.99932575e-01 -2.48493381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.914012739 meters Centerline goodness [0,1] 0.9989839156001383 Centerline is valid? [True, True] Translation: X:250.13, Y:-20.25, Z:-2.48 [[ 9.93858321e-01 -1.10085644e-01 -1.12600106e-02 2.50129973e+02] [ 1.10078928e-01 9.93922105e-01 -1.21631849e-03 -2.02469377e+01] [ 1.13254727e-02 -3.06416506e-05 9.99935864e-01 -2.48393163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.944012739 meters Centerline goodness [0,1] 0.9992403030105707 Centerline is valid? [True, True] Translation: X:250.16, Y:-20.24, Z:-2.48 [[ 9.93966312e-01 -1.09141264e-01 -1.09158635e-02 2.50157543e+02] [ 1.09134884e-01 9.94026249e-01 -1.18026901e-03 -2.02426916e+01] [ 1.09794709e-02 -1.81538526e-05 9.99939724e-01 -2.48344795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.974012739 meters Centerline goodness [0,1] 0.99870814942405 Centerline is valid? [True, True] Translation: X:250.18, Y:-20.23, Z:-2.48 [[ 9.94199240e-01 -1.07085579e-01 -1.00274300e-02 2.50184679e+02] [ 1.07080076e-01 9.94249807e-01 -1.08566019e-03 -2.02328795e+01] [ 1.00860289e-02 5.62457144e-06 9.99949135e-01 -2.48064493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.004012739 meters Centerline goodness [0,1] 0.9988226731740731 Centerline is valid? [True, True] Translation: X:250.21, Y:-20.23, Z:-2.48 [[ 9.94318353e-01 -1.06002333e-01 -9.72208426e-03 2.50210826e+02] [ 1.05997096e-01 9.94365881e-01 -1.05379357e-03 -2.02261625e+01] [ 9.77901346e-03 1.72935847e-05 9.99952184e-01 -2.48116082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.034012739 meters Centerline goodness [0,1] 0.9984207679826933 Centerline is valid? [True, True] Translation: X:250.24, Y:-20.22, Z:-2.48 [[ 9.94434943e-01 -1.04854757e-01 -1.02286115e-02 2.50238791e+02] [ 1.04848884e-01 9.94487546e-01 -1.11013723e-03 -2.02209205e+01] [ 1.02886299e-02 3.15007417e-05 9.99947070e-01 -2.48227870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.064012739 meters Centerline goodness [0,1] 0.9989716342445797 Centerline is valid? [True, True] Translation: X:250.27, Y:-20.22, Z:-2.48 [[ 9.94443492e-01 -1.04704430e-01 -1.09143285e-02 2.50266399e+02] [ 1.04697724e-01 9.94503384e-01 -1.18564387e-03 -2.02177590e+01] [ 1.09784788e-02 3.63504895e-05 9.99939734e-01 -2.48460539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.094012739 meters Centerline goodness [0,1] 0.9989205526770294 Centerline is valid? [True, True] Translation: X:250.29, Y:-20.21, Z:-2.49 [[ 9.94481338e-01 -1.04270835e-01 -1.15957739e-02 2.50294896e+02] [ 1.04263217e-01 9.94548938e-01 -1.26121962e-03 -2.02131392e+01] [ 1.16640730e-02 4.52466846e-05 9.99931971e-01 -2.48505349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.124012739 meters Centerline goodness [0,1] 0.9986370421651559 Centerline is valid? [True, True] Translation: X:250.32, Y:-20.20, Z:-2.48 [[ 9.94669275e-01 -1.02482935e-01 -1.14140799e-02 2.50323391e+02] [ 1.02475414e-01 9.94734760e-01 -1.24339037e-03 -2.02047665e+01] [ 1.14814084e-02 6.70996347e-05 9.99934084e-01 -2.48370627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.154012739 meters Centerline goodness [0,1] 0.9985454856580608 Centerline is valid? [True, True] Translation: X:250.35, Y:-20.20, Z:-2.49 [[ 9.94813919e-01 -1.01009213e-01 -1.19333695e-02 2.50350153e+02] [ 1.01000872e-01 9.94885486e-01 -1.30111631e-03 -2.01967106e+01] [ 1.20037609e-02 8.90878928e-05 9.99927948e-01 -2.48520691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.184012739 meters Centerline goodness [0,1] 0.9984526777271555 Centerline is valid? [True, True] Translation: X:250.38, Y:-20.19, Z:-2.48 [[ 9.94739187e-01 -1.01767787e-01 -1.17161224e-02 2.50377724e+02] [ 1.01759779e-01 9.94808178e-01 -1.27917264e-03 -2.01930744e+01] [ 1.17854729e-02 8.02131358e-05 9.99930546e-01 -2.48495382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.214012739 meters Centerline goodness [0,1] 0.9984569224174882 Centerline is valid? [True, True] Translation: X:250.41, Y:-20.19, Z:-2.48 [[ 9.94660011e-01 -1.02642347e-01 -1.07708664e-02 2.50406665e+02] [ 1.02635610e-01 9.94718324e-01 -1.17777479e-03 -2.01889237e+01] [ 1.08348677e-02 6.60110381e-05 9.99941299e-01 -2.48338922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.244012739 meters Centerline goodness [0,1] 0.9976745688263032 Centerline is valid? [True, True] Translation: X:250.43, Y:-20.19, Z:-2.48 [[ 9.94599451e-01 -1.03333553e-01 -9.70100817e-03 2.50434893e+02] [ 1.03328106e-01 9.94646758e-01 -1.06236877e-03 -2.01854224e+01] [ 9.75885467e-03 5.42446003e-05 9.99952380e-01 -2.48085348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.274012739 meters Centerline goodness [0,1] 0.9983927653008743 Centerline is valid? [True, True] Translation: X:250.46, Y:-20.18, Z:-2.48 [[ 9.94460984e-01 -1.04673722e-01 -9.52701035e-03 2.50462407e+02] [ 1.04668519e-01 9.94506616e-01 -1.04446044e-03 -2.01826362e+01] [ 9.58400239e-03 4.14970932e-05 9.99954072e-01 -2.48197596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30401273900003 meters Centerline goodness [0,1] 0.9990007602910829 Centerline is valid? [True, True] Translation: X:250.49, Y:-20.18, Z:-2.48 [[ 9.94345150e-01 -1.05661060e-01 -1.06519194e-02 2.50490191e+02] [ 1.05654594e-01 9.94402202e-01 -1.16950079e-03 -2.01815260e+01] [ 1.07158628e-02 3.74632242e-05 9.99942583e-01 -2.48270219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.334012739 meters Centerline goodness [0,1] 0.9994381294031205 Centerline is valid? [True, True] Translation: X:250.52, Y:-20.18, Z:-2.49 [[ 9.94020395e-01 -1.08374984e-01 -1.33535753e-02 2.50519575e+02] [ 1.08365033e-01 9.94110086e-01 -1.46862018e-03 -2.01816382e+01] [ 1.34340855e-02 1.27777794e-05 9.99909759e-01 -2.48694694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36401273900003 meters Centerline goodness [0,1] 0.99955017671629 Centerline is valid? [True, True] Translation: X:250.55, Y:-20.18, Z:-2.49 [[ 9.93871872e-01 -1.09700466e-01 -1.35834603e-02 2.50546578e+02] [ 1.09690274e-01 9.93964691e-01 -1.49534657e-03 -2.01801614e+01] [ 1.36655202e-02 -3.79058660e-06 9.99906622e-01 -2.48894865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.394012739 meters Centerline goodness [0,1] 0.9996125949680391 Centerline is valid? [True, True] Translation: X:250.58, Y:-20.18, Z:-2.49 [[ 9.93690169e-01 -1.11182728e-01 -1.47732433e-02 2.50575779e+02] [ 1.11170804e-01 9.93799980e-01 -1.62846752e-03 -2.01802954e+01] [ 1.48627064e-02 -2.41611688e-05 9.99889544e-01 -2.49106748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42401273900003 meters Centerline goodness [0,1] 0.9994990634664808 Centerline is valid? [True, True] Translation: X:250.60, Y:-20.18, Z:-2.49 [[ 9.93660525e-01 -1.11357671e-01 -1.54346968e-02 2.50604788e+02] [ 1.11344635e-01 9.93780392e-01 -1.70406220e-03 -2.01772197e+01] [ 1.55284594e-02 -2.53113438e-05 9.99879426e-01 -2.49065438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.454012739 meters Centerline goodness [0,1] 0.9996731100311635 Centerline is valid? [True, True] Translation: X:250.63, Y:-20.17, Z:-2.49 [[ 9.93696504e-01 -1.10921263e-01 -1.62398373e-02 2.50632571e+02] [ 1.10906749e-01 9.93829197e-01 -1.79440225e-03 -2.01739130e+01] [ 1.63386618e-02 -1.80163140e-05 9.99866515e-01 -2.49354336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48401273900004 meters Centerline goodness [0,1] 0.9997158718363421 Centerline is valid? [True, True] Translation: X:250.66, Y:-20.17, Z:-2.49 [[ 9.93819381e-01 -1.09869093e-01 -1.58688192e-02 2.50660521e+02] [ 1.09855060e-01 9.93946066e-01 -1.75598678e-03 -2.01714169e+01] [ 1.59656791e-02 1.86361189e-06 9.99872540e-01 -2.49253437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.514012739 meters Centerline goodness [0,1] 0.9996094512790471 Centerline is valid? [True, True] Translation: X:250.69, Y:-20.17, Z:-2.49 [[ 9.93851474e-01 -1.09763484e-01 -1.45335737e-02 2.50689150e+02] [ 1.09751664e-01 9.93957734e-01 -1.61076818e-03 -2.01697608e+01] [ 1.46225616e-02 5.78042162e-06 9.99893085e-01 -2.48861389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544012739 meters Centerline goodness [0,1] 0.9995516078062946 Centerline is valid? [True, True] Translation: X:250.72, Y:-20.17, Z:-2.49 [[ 9.93935820e-01 -1.09253814e-01 -1.24575521e-02 2.50716549e+02] [ 1.09245076e-01 9.94013885e-01 -1.38176370e-03 -2.01682262e+01] [ 1.25339427e-02 1.24582089e-05 9.99921447e-01 -2.48530622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.574012739 meters Centerline goodness [0,1] 0.9992122710662786 Centerline is valid? [True, True] Translation: X:250.74, Y:-20.17, Z:-2.48 [[ 9.93899182e-01 -1.09645284e-01 -1.19301416e-02 2.50744749e+02] [ 1.09637277e-01 9.93970780e-01 -1.32516941e-03 -2.01651821e+01] [ 1.20035107e-02 9.09655614e-06 9.99927955e-01 -2.48268314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604012739 meters Centerline goodness [0,1] 0.9993309304383485 Centerline is valid? [True, True] Translation: X:250.77, Y:-20.16, Z:-2.48 [[ 9.93908307e-01 -1.09550343e-01 -1.20415348e-02 2.50771271e+02] [ 1.09542160e-01 9.93981248e-01 -1.33901944e-03 -2.01617095e+01] [ 1.21157498e-02 1.18068054e-05 9.99926602e-01 -2.48399578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.634012739 meters Centerline goodness [0,1] 0.9994608118017513 Centerline is valid? [True, True] Translation: X:250.80, Y:-20.16, Z:-2.49 [[ 9.93911703e-01 -1.09274165e-01 -1.40955241e-02 2.50799036e+02] [ 1.09262911e-01 9.94011648e-01 -1.56841029e-03 -2.01593374e+01] [ 1.41825018e-02 1.87433489e-05 9.99899423e-01 -2.48928127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664012739 meters Centerline goodness [0,1] 0.9995490949691882 Centerline is valid? [True, True] Translation: X:250.83, Y:-20.16, Z:-2.49 [[ 9.93920999e-01 -1.09091592e-01 -1.48348248e-02 2.50827980e+02] [ 1.09079074e-01 9.94031702e-01 -1.65277558e-03 -2.01563423e+01] [ 1.49265901e-02 2.45594073e-05 9.99888592e-01 -2.49013512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.694012739 meters Centerline goodness [0,1] 0.9990680133512506 Centerline is valid? [True, True] Translation: X:250.85, Y:-20.15, Z:-2.49 [[ 9.94107194e-01 -1.07465802e-01 -1.42122300e-02 2.50854884e+02] [ 1.07454109e-01 9.94208780e-01 -1.58601527e-03 -2.01486186e+01] [ 1.43003663e-02 4.95066772e-05 9.99897743e-01 -2.48793690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724012739 meters Centerline goodness [0,1] 0.9990680133512506 Centerline is valid? [True, True] Translation: X:250.88, Y:-20.15, Z:-2.49 [[ 9.94086810e-01 -1.07654238e-01 -1.42119295e-02 2.50882181e+02] [ 1.07642527e-01 9.94188394e-01 -1.58870580e-03 -2.01453705e+01] [ 1.43003662e-02 4.95034891e-05 9.99897743e-01 -2.48783789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.754012739 meters Centerline goodness [0,1] 0.9991358264739559 Centerline is valid? [True, True] Translation: X:250.91, Y:-20.14, Z:-2.49 [[ 9.94234695e-01 -1.06321850e-01 -1.38937499e-02 2.50909576e+02] [ 1.06310489e-01 9.94331765e-01 -1.55581357e-03 -2.01383094e+01] [ 1.39804139e-02 6.97924837e-05 9.99902267e-01 -2.48677512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784012739 meters Centerline goodness [0,1] 0.9990331521388823 Centerline is valid? [True, True] Translation: X:250.94, Y:-20.13, Z:-2.49 [[ 9.94321581e-01 -1.05463763e-01 -1.42122586e-02 2.50936711e+02] [ 1.05451764e-01 9.94423143e-01 -1.59314897e-03 -2.01326093e+01] [ 1.43010184e-02 8.53946603e-05 9.99897732e-01 -2.48722904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.814012739 meters Centerline goodness [0,1] 0.9990706118831997 Centerline is valid? [True, True] Translation: X:250.96, Y:-20.13, Z:-2.49 [[ 9.94306131e-01 -1.05580383e-01 -1.44257192e-02 2.50964799e+02] [ 1.05567997e-01 9.94410768e-01 -1.61949511e-03 -2.01283316e+01] [ 1.45160774e-02 8.73796340e-05 9.99894632e-01 -2.48810714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844012739 meters Centerline goodness [0,1] 0.9990687803187803 Centerline is valid? [True, True] Translation: X:250.99, Y:-20.13, Z:-2.49 [[ 9.94229245e-01 -1.06308532e-01 -1.43772252e-02 2.50992853e+02] [ 1.06296286e-01 9.94333189e-01 -1.61538601e-03 -2.01257551e+01] [ 1.44674815e-02 7.78183685e-05 9.99895337e-01 -2.48858551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.874012739 meters Centerline goodness [0,1] 0.9993801432082933 Centerline is valid? [True, True] Translation: X:251.02, Y:-20.12, Z:-2.49 [[ 9.93945697e-01 -1.09042321e-01 -1.34804587e-02 2.51020738e+02] [ 1.09031797e-01 9.94037107e-01 -1.51541604e-03 -2.01246852e+01] [ 1.35653206e-02 3.64426277e-05 9.99907986e-01 -2.48677281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904012739 meters Centerline goodness [0,1] 0.9992644513672551 Centerline is valid? [True, True] Translation: X:251.05, Y:-20.12, Z:-2.48 [[ 9.93731435e-01 -1.11151242e-01 -1.19681075e-02 2.51049870e+02] [ 1.11143080e-01 9.93803502e-01 -1.34700810e-03 -2.01242463e+01] [ 1.20436688e-02 8.39196016e-06 9.99927472e-01 -2.48283467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.934012739 meters Centerline goodness [0,1] 0.9993512671914194 Centerline is valid? [True, True] Translation: X:251.08, Y:-20.13, Z:-2.48 [[ 9.93252034e-01 -1.15471209e-01 -1.08073091e-02 2.51078100e+02] [ 1.15464787e-01 9.93310827e-01 -1.21831890e-03 -2.01267952e+01] [ 1.08756979e-02 -3.77659227e-05 9.99940857e-01 -2.47814779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964012739 meters Centerline goodness [0,1] 0.998884383514621 Centerline is valid? [True, True] Translation: X:251.11, Y:-20.12, Z:-2.48 [[ 9.93094527e-01 -1.16795103e-01 -1.10527987e-02 2.51105886e+02] [ 1.16788455e-01 9.93156031e-01 -1.24716059e-03 -2.01247072e+01] [ 1.11228159e-02 -5.22909321e-05 9.99938138e-01 -2.47837231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.994012739 meters Centerline goodness [0,1] 0.9991430652555808 Centerline is valid? [True, True] Translation: X:251.13, Y:-20.12, Z:-2.48 [[ 9.92999101e-01 -1.17550511e-01 -1.16044526e-02 2.51133841e+02] [ 1.17543227e-01 9.93066903e-01 -1.31011603e-03 -2.01221203e+01] [ 1.16780026e-02 -6.30807645e-05 9.99931808e-01 -2.47982058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024012739 meters Centerline goodness [0,1] 0.9995303661009712 Centerline is valid? [True, True] Translation: X:251.16, Y:-20.12, Z:-2.48 [[ 9.93015795e-01 -1.17228581e-01 -1.33075527e-02 2.51162772e+02] [ 1.17218948e-01 9.93104957e-01 -1.50427594e-03 -2.01180789e+01] [ 1.33921407e-02 -6.61275641e-05 9.99910319e-01 -2.48216520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05401273900003 meters Centerline goodness [0,1] 0.9996319788712575 Centerline is valid? [True, True] Translation: X:251.19, Y:-20.11, Z:-2.48 [[ 9.93099707e-01 -1.16467691e-01 -1.37203733e-02 2.51190839e+02] [ 1.16457342e-01 9.93194479e-01 -1.55352771e-03 -2.01135037e+01] [ 1.38079348e-02 -5.50302954e-05 9.99904664e-01 -2.48188620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084012739 meters Centerline goodness [0,1] 0.9996544724225802 Centerline is valid? [True, True] Translation: X:251.22, Y:-20.11, Z:-2.48 [[ 9.93117969e-01 -1.16340665e-01 -1.34739897e-02 2.51217281e+02] [ 1.16330653e-01 9.93209367e-01 -1.52714855e-03 -2.01113609e+01] [ 1.35601623e-02 -5.07993485e-05 9.99908055e-01 -2.48129139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11401273900003 meters Centerline goodness [0,1] 0.9995002824490505 Centerline is valid? [True, True] Translation: X:251.25, Y:-20.11, Z:-2.48 [[ 9.93056160e-01 -1.16903234e-01 -1.31566586e-02 2.51245152e+02] [ 1.16893708e-01 9.93143308e-01 -1.49334418e-03 -2.01102403e+01] [ 1.32410242e-02 -5.49559806e-05 9.99912332e-01 -2.48062702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144012739 meters Centerline goodness [0,1] 0.9994322400314452 Centerline is valid? [True, True] Translation: X:251.27, Y:-20.11, Z:-2.48 [[ 9.93032213e-01 -1.17119397e-01 -1.30410868e-02 2.51273400e+02] [ 1.17110022e-01 9.93117840e-01 -1.48284180e-03 -2.01086105e+01] [ 1.31250055e-02 -5.47322846e-05 9.99913862e-01 -2.47945694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17401273900003 meters Centerline goodness [0,1] 0.9995469451156369 Centerline is valid? [True, True] Translation: X:251.30, Y:-20.11, Z:-2.48 [[ 9.93014354e-01 -1.17245398e-01 -1.32668609e-02 2.51301787e+02] [ 1.17235690e-01 9.93102972e-01 -1.50986159e-03 -2.01102077e+01] [ 1.33523834e-02 -5.60353642e-05 9.99910851e-01 -2.48145510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.204012739 meters Centerline goodness [0,1] 0.9996278947598827 Centerline is valid? [True, True] Translation: X:251.33, Y:-20.11, Z:-2.48 [[ 9.92960288e-01 -1.17688649e-01 -1.33884001e-02 2.51329797e+02] [ 1.17678772e-01 9.93050542e-01 -1.52585901e-03 -2.01082769e+01] [ 1.34749343e-02 -6.04130856e-05 9.99909207e-01 -2.48032593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23401273900004 meters Centerline goodness [0,1] 0.9997633492534744 Centerline is valid? [True, True] Translation: X:251.36, Y:-20.11, Z:-2.48 [[ 9.93038304e-01 -1.16854027e-01 -1.48344960e-02 2.51357467e+02] [ 1.16841786e-01 9.93149099e-01 -1.69214450e-03 -2.01054193e+01] [ 1.49306002e-02 -5.29247067e-05 9.99888531e-01 -2.48248145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.264012739 meters Centerline goodness [0,1] 0.9998067425381146 Centerline is valid? [True, True] Translation: X:251.38, Y:-20.10, Z:-2.48 [[ 9.93210998e-01 -1.15375246e-01 -1.48480984e-02 2.51384643e+02] [ 1.15362805e-01 9.93321978e-01 -1.69459738e-03 -2.01009410e+01] [ 1.49444570e-02 -2.98255098e-05 9.99888325e-01 -2.48344822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.294012739 meters Centerline goodness [0,1] 0.9997186390788676 Centerline is valid? [True, True] Translation: X:251.41, Y:-20.10, Z:-2.48 [[ 9.93412869e-01 -1.13737120e-01 -1.39548767e-02 2.51413451e+02] [ 1.13725941e-01 9.93510879e-01 -1.59460848e-03 -2.00959920e+01] [ 1.40456880e-02 -2.92689345e-06 9.99901354e-01 -2.48174122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.324012739 meters Centerline goodness [0,1] 0.9993545749876294 Centerline is valid? [True, True] Translation: X:251.44, Y:-20.09, Z:-2.48 [[ 9.93766825e-01 -1.10664878e-01 -1.34455604e-02 2.51440962e+02] [ 1.10654185e-01 9.93857778e-01 -1.53890827e-03 -2.00908284e+01] [ 1.35332779e-02 4.15084461e-05 9.99908420e-01 -2.48003119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.354012739 meters Centerline goodness [0,1] 0.9993032117583016 Centerline is valid? [True, True] Translation: X:251.47, Y:-20.09, Z:-2.48 [[ 9.93872264e-01 -1.09659150e-01 -1.38849955e-02 2.51468617e+02] [ 1.09647630e-01 9.93969249e-01 -1.59054393e-03 -2.00879106e+01] [ 1.39756763e-02 5.83406374e-05 9.99902334e-01 -2.48102353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.384012739 meters Centerline goodness [0,1] 0.9989715901786862 Centerline is valid? [True, True] Translation: X:251.50, Y:-20.08, Z:-2.48 [[ 9.94096026e-01 -1.07469221e-01 -1.49484758e-02 2.51497012e+02] [ 1.07455589e-01 9.94208407e-01 -1.71449689e-03 -2.00849340e+01] [ 1.50461560e-02 9.80772775e-05 9.99886795e-01 -2.48229656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.414012739 meters Centerline goodness [0,1] 0.9988678670179182 Centerline is valid? [True, True] Translation: X:251.53, Y:-20.08, Z:-2.48 [[ 9.94242916e-01 -1.06100587e-01 -1.49562366e-02 2.51525483e+02] [ 1.06086747e-01 9.94355395e-01 -1.71793858e-03 -2.00809509e+01] [ 1.50540889e-02 1.21389767e-04 9.99886673e-01 -2.48086408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.444012739 meters Centerline goodness [0,1] 0.9983237182975945 Centerline is valid? [True, True] Translation: X:251.55, Y:-20.07, Z:-2.48 [[ 9.94395940e-01 -1.04737014e-01 -1.43830511e-02 2.51552734e+02] [ 1.04724055e-01 9.94499944e-01 -1.65334809e-03 -2.00743269e+01] [ 1.44771102e-02 1.37831204e-04 9.99895192e-01 -2.48116507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.474012739 meters Centerline goodness [0,1] 0.9979486741169683 Centerline is valid? [True, True] Translation: X:251.58, Y:-20.06, Z:-2.48 [[ 9.94671353e-01 -1.01924398e-01 -1.55021568e-02 2.51579763e+02] [ 1.01908986e-01 9.94792129e-01 -1.78292232e-03 -2.00645121e+01] [ 1.56031468e-02 1.93612670e-04 9.99878245e-01 -2.48477118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.504012739 meters Centerline goodness [0,1] 0.998424279053704 Centerline is valid? [True, True] Translation: X:251.61, Y:-20.06, Z:-2.49 [[ 9.94825760e-01 -1.00096662e-01 -1.73886637e-02 2.51607531e+02] [ 1.00076974e-01 9.94977686e-01 -2.00093503e-03 -2.00574956e+01] [ 1.75016192e-02 2.50376869e-04 9.99846804e-01 -2.48836738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.534012739 meters Centerline goodness [0,1] 0.9978563313254304 Centerline is valid? [True, True] Translation: X:251.63, Y:-20.05, Z:-2.49 [[ 9.95167970e-01 -9.62329418e-02 -1.94918754e-02 2.51634327e+02] [ 9.62074420e-02 9.95358776e-01 -2.24392998e-03 -2.00457516e+01] [ 1.96173492e-02 3.57823770e-04 9.99807497e-01 -2.49149013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.564012739 meters Centerline goodness [0,1] 0.9975375310508694 Centerline is valid? [True, True] Translation: X:251.66, Y:-20.04, Z:-2.49 [[ 9.95297158e-01 -9.48561222e-02 -1.96439347e-02 2.51661605e+02] [ 9.48299333e-02 9.95490916e-01 -2.26252982e-03 -2.00379263e+01] [ 1.97699734e-02 3.89056475e-04 9.99804479e-01 -2.49154886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.594012739 meters Centerline goodness [0,1] 0.997013245606441 Centerline is valid? [True, True] Translation: X:251.69, Y:-20.03, Z:-2.49 [[ 9.95344985e-01 -9.44146169e-02 -1.93453146e-02 2.51689932e+02] [ 9.43890814e-02 9.95532885e-01 -2.23088316e-03 -2.00310641e+01] [ 1.94695248e-02 3.94511886e-04 9.99810373e-01 -2.49093662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.624012739 meters Centerline goodness [0,1] 0.9965837630828819 Centerline is valid? [True, True] Translation: X:251.72, Y:-20.03, Z:-2.49 [[ 9.95238898e-01 -9.58901111e-02 -1.74534553e-02 2.51718819e+02] [ 9.58695248e-02 9.95391871e-01 -2.01432526e-03 -2.00261262e+01] [ 1.75661814e-02 3.31480389e-04 9.99845648e-01 -2.48701509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.654012739 meters Centerline goodness [0,1] 0.9973114199605386 Centerline is valid? [True, True] Translation: X:251.75, Y:-20.02, Z:-2.49 [[ 9.95028177e-01 -9.81407023e-02 -1.69507804e-02 2.51746867e+02] [ 9.81215693e-02 9.95172508e-01 -1.95876493e-03 -2.00226293e+01] [ 1.70611852e-02 2.85789120e-04 9.99854407e-01 -2.48667490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.684012739 meters Centerline goodness [0,1] 0.9977943084508261 Centerline is valid? [True, True] Translation: X:251.78, Y:-20.02, Z:-2.48 [[ 9.94574388e-01 -1.02920958e-01 -1.51348035e-02 2.51775974e+02] [ 1.02906246e-01 9.94689521e-01 -1.74970106e-03 -2.00224989e+01] [ 1.52345114e-02 1.82742044e-04 9.99883931e-01 -2.48270492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.714012739 meters Centerline goodness [0,1] 0.9984397375339303 Centerline is valid? [True, True] Translation: X:251.81, Y:-20.02, Z:-2.48 [[ 9.94284078e-01 -1.05748400e-01 -1.47121842e-02 2.51805158e+02] [ 1.05734781e-01 9.94392909e-01 -1.70268195e-03 -2.00216920e+01] [ 1.48097475e-02 1.37359986e-04 9.99890320e-01 -2.48159973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.744012739 meters Centerline goodness [0,1] 0.9990774313973696 Centerline is valid? [True, True] Translation: X:251.83, Y:-20.02, Z:-2.48 [[ 9.94016295e-01 -1.08273016e-01 -1.44415810e-02 2.51834524e+02] [ 1.08260128e-01 9.94121192e-01 -1.67351007e-03 -2.00210681e+01] [ 1.45378777e-02 1.00048865e-04 9.99894314e-01 -2.48073236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.774012739 meters Centerline goodness [0,1] 0.9994389901823282 Centerline is valid? [True, True] Translation: X:251.86, Y:-20.02, Z:-2.48 [[ 9.93741602e-01 -1.10753009e-01 -1.45395523e-02 2.51862700e+02] [ 1.10740194e-01 9.93847960e-01 -1.68600559e-03 -2.00198685e+01] [ 1.46368346e-02 6.53410437e-05 9.99892874e-01 -2.48027943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80401273900003 meters Centerline goodness [0,1] 0.999629589279878 Centerline is valid? [True, True] Translation: X:251.89, Y:-20.01, Z:-2.48 [[ 9.93706974e-01 -1.10815736e-01 -1.63193789e-02 2.51891177e+02] [ 1.10799564e-01 9.93840967e-01 -1.89461295e-03 -2.00122654e+01] [ 1.64288202e-02 7.45100412e-05 9.99865035e-01 -2.48299446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.834012739 meters Centerline goodness [0,1] 0.9998479219622411 Centerline is valid? [True, True] Translation: X:251.92, Y:-20.01, Z:-2.49 [[ 9.93697783e-01 -1.10705739e-01 -1.75771040e-02 2.51918465e+02] [ 1.10686936e-01 9.93853225e-01 -2.04201158e-03 -2.00070616e+01] [ 1.76951239e-02 8.35866025e-05 9.99843426e-01 -2.48533194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86401273900003 meters Centerline goodness [0,1] 0.9998483371249052 Centerline is valid? [True, True] Translation: X:251.95, Y:-20.00, Z:-2.49 [[ 9.93663297e-01 -1.11002287e-01 -1.76562683e-02 2.51946308e+02] [ 1.10983314e-01 9.93820148e-01 -2.05390389e-03 -2.00031238e+01] [ 1.77751432e-02 8.13377466e-05 9.99842006e-01 -2.48598706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.894012739 meters Centerline goodness [0,1] 0.999698574688886 Centerline is valid? [True, True] Translation: X:251.98, Y:-20.00, Z:-2.48 [[ 9.93560697e-01 -1.12220664e-01 -1.56097386e-02 2.51975170e+02] [ 1.12205946e-01 9.93683309e-01 -1.81826206e-03 -2.00002895e+01] [ 1.57151833e-02 5.50482245e-05 9.99876507e-01 -2.48121756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92401273900003 meters Centerline goodness [0,1] 0.9996801023672425 Centerline is valid? [True, True] Translation: X:252.00, Y:-20.00, Z:-2.48 [[ 9.93560987e-01 -1.12363825e-01 -1.45236542e-02 2.52002693e+02] [ 1.12351083e-01 9.93667132e-01 -1.69287007e-03 -1.99956656e+01] [ 1.46218952e-02 5.02213737e-05 9.99893093e-01 -2.47876510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.954012739 meters Centerline goodness [0,1] 0.9995676797371493 Centerline is valid? [True, True] Translation: X:252.03, Y:-19.99, Z:-2.48 [[ 9.93578689e-01 -1.12275718e-01 -1.39840086e-02 2.52031555e+02] [ 1.12263883e-01 9.93677091e-01 -1.63095196e-03 -1.99901521e+01] [ 1.40787053e-02 5.05799927e-05 9.99900889e-01 -2.47807335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98401273900004 meters Centerline goodness [0,1] 0.999135097733956 Centerline is valid? [True, True] Translation: X:252.06, Y:-19.98, Z:-2.47 [[ 9.93626120e-01 -1.11975717e-01 -1.29835776e-02 2.52060123e+02] [ 1.11965465e-01 9.93710942e-01 -1.51615328e-03 -1.99835799e+01] [ 1.30716955e-02 5.27772008e-05 9.99914560e-01 -2.47269715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.014012739 meters Centerline goodness [0,1] 0.9993979530403372 Centerline is valid? [True, True] Translation: X:252.09, Y:-19.98, Z:-2.48 [[ 9.93654086e-01 -1.11795586e-01 -1.23816339e-02 2.52087263e+02] [ 1.11786234e-01 9.93731223e-01 -1.44699035e-03 -1.99771119e+01] [ 1.24657833e-02 5.37116441e-05 9.99922298e-01 -2.47521558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044012739 meters Centerline goodness [0,1] 0.9993114874023711 Centerline is valid? [True, True] Translation: X:252.12, Y:-19.97, Z:-2.47 [[ 9.93583015e-01 -1.12562818e-01 -1.10636693e-02 2.52115118e+02] [ 1.12555390e-01 9.93644610e-01 -1.29375922e-03 -1.99735549e+01] [ 1.11389846e-02 4.01815791e-05 9.99937959e-01 -2.47308462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.074012739 meters Centerline goodness [0,1] 0.9992378546697733 Centerline is valid? [True, True] Translation: X:252.14, Y:-19.97, Z:-2.47 [[ 9.93511488e-01 -1.13250517e-01 -1.04519222e-02 2.52143344e+02] [ 1.13243909e-01 9.93566464e-01 -1.22386672e-03 -1.99719206e+01] [ 1.05232829e-02 3.23091274e-05 9.99944628e-01 -2.46857144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104012739 meters Centerline goodness [0,1] 0.999419154978057 Centerline is valid? [True, True] Translation: X:252.17, Y:-19.97, Z:-2.47 [[ 9.93426661e-01 -1.13975798e-01 -1.06295594e-02 2.52170041e+02] [ 1.13968990e-01 9.93483526e-01 -1.24600403e-03 -1.99675327e+01] [ 1.07023064e-02 2.63734758e-05 9.99942728e-01 -2.47186867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.134012739 meters Centerline goodness [0,1] 0.9995002607335304 Centerline is valid? [True, True] Translation: X:252.20, Y:-19.96, Z:-2.48 [[ 9.93386318e-01 -1.14140703e-01 -1.24708732e-02 2.52197925e+02] [ 1.14131335e-01 9.93464594e-01 -1.46267945e-03 -1.99642707e+01] [ 1.25563222e-02 2.96883515e-05 9.99921166e-01 -2.47648476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164012739 meters Centerline goodness [0,1] 0.9996543679253435 Centerline is valid? [True, True] Translation: X:252.23, Y:-19.96, Z:-2.48 [[ 9.93388481e-01 -1.14022898e-01 -1.33455566e-02 2.52226162e+02] [ 1.14012135e-01 9.93478121e-01 -1.56708198e-03 -1.99615153e+01] [ 1.34372017e-02 3.51657983e-05 9.99909716e-01 -2.47514974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.194012739 meters Centerline goodness [0,1] 0.9992191566892243 Centerline is valid? [True, True] Translation: X:252.25, Y:-19.95, Z:-2.47 [[ 9.93632771e-01 -1.11925279e-01 -1.29091991e-02 2.52253205e+02] [ 1.11914999e-01 9.93716623e-01 -1.51825244e-03 -1.99536923e+01] [ 1.29980166e-02 6.38523657e-05 9.99915520e-01 -2.47124235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224012739 meters Centerline goodness [0,1] 0.9985715504008187 Centerline is valid? [True, True] Translation: X:252.28, Y:-19.94, Z:-2.47 [[ 9.93868100e-01 -1.09901225e-01 -1.21622723e-02 2.52280561e+02] [ 1.09891935e-01 9.93942510e-01 -1.43159689e-03 -1.99446373e+01] [ 1.22459337e-02 8.62828507e-05 9.99925012e-01 -2.47013740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.254012739 meters Centerline goodness [0,1] 0.9974306269270298 Centerline is valid? [True, True] Translation: X:252.31, Y:-19.94, Z:-2.47 [[ 9.94123880e-01 -1.07639681e-01 -1.14634078e-02 2.52308429e+02] [ 1.07631259e-01 9.94189965e-01 -1.35083029e-03 -1.99360198e+01] [ 1.15422080e-02 1.09071630e-04 9.99933381e-01 -2.46847932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284012739 meters Centerline goodness [0,1] 0.9959706802691929 Centerline is valid? [True, True] Translation: X:252.34, Y:-19.92, Z:-2.47 [[ 9.94663561e-01 -1.02525085e-01 -1.15328561e-02 2.52336487e+02] [ 1.02516208e-01 9.94730405e-01 -1.35988109e-03 -1.99237323e+01] [ 1.16115045e-02 1.70319497e-04 9.99932570e-01 -2.46883888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.314012739 meters Centerline goodness [0,1] 0.9949792431915495 Centerline is valid? [True, True] Translation: X:252.36, Y:-19.91, Z:-2.47 [[ 9.94982473e-01 -9.93786967e-02 -1.15651258e-02 2.52363881e+02] [ 9.93695498e-02 9.95049663e-01 -1.36428960e-03 -1.99143095e+01] [ 1.16434558e-02 2.08222896e-04 9.99932191e-01 -2.46810904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344012739 meters Centerline goodness [0,1] 0.9950481313098973 Centerline is valid? [True, True] Translation: X:252.39, Y:-19.91, Z:-2.47 [[ 9.95064876e-01 -9.84270217e-02 -1.25703714e-02 2.52390622e+02] [ 9.84161299e-02 9.95144243e-01 -1.48364079e-03 -1.99054923e+01] [ 1.26553630e-02 2.39191542e-04 9.99919889e-01 -2.47065007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.374012739 meters Centerline goodness [0,1] 0.9948017356188512 Centerline is valid? [True, True] Translation: X:252.42, Y:-19.89, Z:-2.48 [[ 9.95144058e-01 -9.74997746e-02 -1.34943611e-02 2.52416804e+02] [ 9.74871265e-02 9.95235510e-01 -1.59349896e-03 -1.98899355e+01] [ 1.35854331e-02 2.70234534e-04 9.99907677e-01 -2.47627594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404012739 meters Centerline goodness [0,1] 0.9940815713856843 Centerline is valid? [True, True] Translation: X:252.44, Y:-19.88, Z:-2.48 [[ 9.95175491e-01 -9.70140971e-02 -1.46289863e-02 2.52444496e+02] [ 9.69991526e-02 9.95282962e-01 -1.72934374e-03 -1.98817363e+01] [ 1.47277515e-02 3.02001233e-04 9.99891495e-01 -2.47921531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.434012739 meters Centerline goodness [0,1] 0.9932652711050103 Centerline is valid? [True, True] Translation: X:252.47, Y:-19.87, Z:-2.48 [[ 9.95275188e-01 -9.57224320e-02 -1.62639589e-02 2.52471918e+02] [ 9.57037474e-02 9.95408000e-01 -1.92507858e-03 -1.98681005e+01] [ 1.63735480e-02 3.59461134e-04 9.99865880e-01 -2.48372811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464012739 meters Centerline goodness [0,1] 0.9953370895667379 Centerline is valid? [True, True] Translation: X:252.50, Y:-19.87, Z:-2.48 [[ 9.95186545e-01 -9.66898755e-02 -1.59626988e-02 2.52500521e+02] [ 9.66719597e-02 9.95314499e-01 -1.89199822e-03 -1.98685396e+01] [ 1.60708426e-02 3.39745797e-04 9.99870798e-01 -2.47652599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.494012739 meters Centerline goodness [0,1] 0.9955178209714262 Centerline is valid? [True, True] Translation: X:252.53, Y:-19.86, Z:-2.48 [[ 9.95040714e-01 -9.83599310e-02 -1.48088311e-02 2.52528077e+02] [ 9.83446785e-02 9.95150862e-01 -1.75644929e-03 -1.98617621e+01] [ 1.49097852e-02 2.91368829e-04 9.99888801e-01 -2.47610697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524012739 meters Centerline goodness [0,1] 0.9956135612264743 Centerline is valid? [True, True] Translation: X:252.56, Y:-19.86, Z:-2.47 [[ 9.94798003e-01 -1.01011725e-01 -1.31743733e-02 2.52557546e+02] [ 1.00999878e-01 9.94885210e-01 -1.56323180e-03 -1.98645662e+01] [ 1.32648939e-02 2.24489772e-04 9.99911992e-01 -2.47055879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55401273900003 meters Centerline goodness [0,1] 0.9967578388493592 Centerline is valid? [True, True] Translation: X:252.59, Y:-19.87, Z:-2.46 [[ 9.94033643e-01 -1.08543665e-01 -1.07419490e-02 2.52588528e+02] [ 1.08536226e-01 9.94091677e-01 -1.27483288e-03 -1.98729280e+01] [ 1.08168571e-02 1.01336169e-04 9.99941491e-01 -2.46461072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584012739 meters Centerline goodness [0,1] 0.9982603401035097 Centerline is valid? [True, True] Translation: X:252.62, Y:-19.88, Z:-2.46 [[ 9.93557871e-01 -1.12850321e-01 -1.03712221e-02 2.52617568e+02] [ 1.12843608e-01 9.93611998e-01 -1.23204637e-03 -1.98750505e+01] [ 1.04440075e-02 5.37832489e-05 9.99945458e-01 -2.46369264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61401273900003 meters Centerline goodness [0,1] 0.9987053619592189 Centerline is valid? [True, True] Translation: X:252.65, Y:-19.88, Z:-2.47 [[ 9.92619841e-01 -1.20793472e-01 -1.07138908e-02 2.52646695e+02] [ 1.20786759e-01 9.92677660e-01 -1.27382230e-03 -1.98829285e+01] [ 1.07893094e-02 -2.96748443e-05 9.99941793e-01 -2.46597965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644012739 meters Centerline goodness [0,1] 0.9987053619592189 Centerline is valid? [True, True] Translation: X:252.67, Y:-19.88, Z:-2.47 [[ 9.92598514e-01 -1.20968619e-01 -1.07137154e-02 2.52673958e+02] [ 1.20961900e-01 9.92656331e-01 -1.27529559e-03 -1.98794850e+01] [ 1.07893082e-02 -3.00948641e-05 9.99941793e-01 -2.46588066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67401273900003 meters Centerline goodness [0,1] 0.9980095882201866 Centerline is valid? [True, True] Translation: X:252.70, Y:-19.88, Z:-2.47 [[ 9.92151573e-01 -1.24565182e-01 -1.08982643e-02 2.52703147e+02] [ 1.24558427e-01 9.92211424e-01 -1.29908352e-03 -1.98820409e+01] [ 1.09752029e-02 -6.85828908e-05 9.99939768e-01 -2.46543887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.704012739 meters Centerline goodness [0,1] 0.9964360222531293 Centerline is valid? [True, True] Translation: X:252.73, Y:-19.88, Z:-2.46 [[ 9.91760604e-01 -1.27633493e-01 -1.09815792e-02 2.52732331e+02] [ 1.27626803e-01 9.91821396e-01 -1.31077332e-03 -1.98838661e+01] [ 1.10590638e-02 -1.01570499e-04 9.99938842e-01 -2.46455557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73401273900004 meters Centerline goodness [0,1] 0.9944214113612191 Centerline is valid? [True, True] Translation: X:252.76, Y:-19.89, Z:-2.46 [[ 9.91336709e-01 -1.30914027e-01 -1.06323602e-02 2.52761944e+02] [ 1.30907926e-01 9.91393716e-01 -1.27076279e-03 -1.98871402e+01] [ 1.07072158e-02 -1.32106432e-04 9.99942667e-01 -2.46276673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.764012739 meters Centerline goodness [0,1] 0.9941463414634146 Centerline is valid? [True, True] Translation: X:252.79, Y:-19.89, Z:-2.46 [[ 9.91302214e-01 -1.31183134e-01 -1.05311798e-02 2.52789299e+02] [ 1.31177152e-01 9.91358143e-01 -1.25977992e-03 -1.98850467e+01] [ 1.06054327e-02 -1.32627538e-04 9.99943752e-01 -2.46231100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.794012739 meters Centerline goodness [0,1] 0.9951806192043718 Centerline is valid? [True, True] Translation: X:252.82, Y:-19.88, Z:-2.46 [[ 9.91413163e-01 -1.30328071e-01 -1.07020521e-02 2.52817540e+02] [ 1.30321828e-01 9.91470917e-01 -1.28169082e-03 -1.98812206e+01] [ 1.07778137e-02 -1.24025832e-04 9.99941910e-01 -2.46179015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.824012739 meters Centerline goodness [0,1] 0.995067871328183 Centerline is valid? [True, True] Translation: X:252.85, Y:-19.88, Z:-2.46 [[ 9.91456223e-01 -1.30002249e-01 -1.06758688e-02 2.52845584e+02] [ 1.29995995e-01 9.91513692e-01 -1.28054662e-03 -1.98774079e+01] [ 1.07517440e-02 -1.18214276e-04 9.99942191e-01 -2.46181284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.854012739 meters Centerline goodness [0,1] 0.9954401142102235 Centerline is valid? [True, True] Translation: X:252.87, Y:-19.88, Z:-2.46 [[ 9.91493879e-01 -1.29724115e-01 -1.05613649e-02 2.52872498e+02] [ 1.29717962e-01 9.91550120e-01 -1.26844814e-03 -1.98780906e+01] [ 1.06366709e-02 -1.12340153e-04 9.99943423e-01 -2.46272663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.884012739 meters Centerline goodness [0,1] 0.9944732371346853 Centerline is valid? [True, True] Translation: X:252.90, Y:-19.87, Z:-2.46 [[ 9.91466366e-01 -1.30011240e-01 -9.56678645e-03 2.52900400e+02] [ 1.30006190e-01 9.91512515e-01 -1.15054315e-03 -1.98744261e+01] [ 9.63517204e-03 -1.03016617e-04 9.99953575e-01 -2.46008341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.914012739 meters Centerline goodness [0,1] 0.9941766418634747 Centerline is valid? [True, True] Translation: X:252.93, Y:-19.87, Z:-2.46 [[ 9.91301826e-01 -1.31294055e-01 -9.08626003e-03 2.52929645e+02] [ 1.31289539e-01 9.91343462e-01 -1.09428981e-03 -1.98735008e+01] [ 9.15127822e-03 -1.08159402e-04 9.99958120e-01 -2.45809097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.944012739 meters Centerline goodness [0,1] 0.993038493038493 Centerline is valid? [True, True] Translation: X:252.96, Y:-19.88, Z:-2.46 [[ 9.90841154e-01 -1.34766816e-01 -8.46833460e-03 2.52959021e+02] [ 1.34763012e-01 9.90877333e-01 -1.02085169e-03 -1.98798744e+01] [ 8.52865773e-03 -1.29716410e-04 9.99963622e-01 -2.45743186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.974012739 meters Centerline goodness [0,1] 0.9923404442103415 Centerline is valid? [True, True] Translation: X:252.99, Y:-19.88, Z:-2.46 [[ 9.90524367e-01 -1.37056098e-01 -8.78086262e-03 2.52988116e+02] [ 1.37052087e-01 9.90563275e-01 -1.05977104e-03 -1.98782591e+01] [ 8.84324812e-03 -1.53706504e-04 9.99960886e-01 -2.45697088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.004012739 meters Centerline goodness [0,1] 0.991730945919959 Centerline is valid? [True, True] Translation: X:253.02, Y:-19.88, Z:-2.46 [[ 9.90286654e-01 -1.38687509e-01 -9.90545732e-03 2.53016815e+02] [ 1.38682475e-01 9.90336175e-01 -1.19660503e-03 -1.98826429e+01] [ 9.97568688e-03 -1.88731349e-04 9.99950224e-01 -2.46032506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.034012739 meters Centerline goodness [0,1] 0.9935246536442647 Centerline is valid? [True, True] Translation: X:253.05, Y:-19.88, Z:-2.46 [[ 9.90261063e-01 -1.38749604e-01 -1.14705703e-02 2.53045124e+02] [ 1.38742840e-01 9.90327471e-01 -1.38723321e-03 -1.98800613e+01] [ 1.15520989e-02 -2.17736460e-04 9.99933249e-01 -2.46289573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.064012739 meters Centerline goodness [0,1] 0.993799765043728 Centerline is valid? [True, True] Translation: X:253.07, Y:-19.87, Z:-2.46 [[ 9.90463327e-01 -1.37300585e-01 -1.14431802e-02 2.53073438e+02] [ 1.37293734e-01 9.90529409e-01 -1.38586508e-03 -1.98740608e+01] [ 1.15250866e-02 -1.98428400e-04 9.99933564e-01 -2.46203599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.094012739 meters Centerline goodness [0,1] 0.9945793020041465 Centerline is valid? [True, True] Translation: X:253.10, Y:-19.87, Z:-2.46 [[ 9.91004658e-01 -1.33421941e-01 -1.04093210e-02 2.53101029e+02] [ 1.33416048e-01 9.91059315e-01 -1.26163570e-03 -1.98702914e+01] [ 1.04845845e-02 -1.38483614e-04 9.99945026e-01 -2.45996620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.124012739 meters Centerline goodness [0,1] 0.9895470383275261 Centerline is valid? [True, True] Translation: X:253.13, Y:-19.86, Z:-2.45 [[ 9.91153245e-01 -1.32278997e-01 -1.08403072e-02 2.53128780e+02] [ 1.32272521e-01 9.91212515e-01 -1.31539093e-03 -1.98624347e+01] [ 1.09190468e-02 -1.30120777e-04 9.99940377e-01 -2.44528426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.154012739 meters Centerline goodness [0,1] 0.9960606191070737 Centerline is valid? [True, True] Translation: X:253.16, Y:-19.86, Z:-2.46 [[ 9.91256625e-01 -1.31532506e-01 -1.04643950e-02 2.53156907e+02] [ 1.31526418e-01 9.91311851e-01 -1.27082510e-03 -1.98624672e+01] [ 1.05406336e-02 -1.16630589e-04 9.99944439e-01 -2.46093332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.184012739 meters Centerline goodness [0,1] 0.9958175149604273 Centerline is valid? [True, True] Translation: X:253.19, Y:-19.86, Z:-2.46 [[ 9.91130863e-01 -1.32448501e-01 -1.08169673e-02 2.53185908e+02] [ 1.32442035e-01 9.91189880e-01 -1.31509374e-03 -1.98631222e+01] [ 1.08958507e-02 -1.29191165e-04 9.99940630e-01 -2.46126620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.214012739 meters Centerline goodness [0,1] 0.9952061154419227 Centerline is valid? [True, True] Translation: X:253.22, Y:-19.86, Z:-2.46 [[ 9.91002860e-01 -1.33400520e-01 -1.08458389e-02 2.53215239e+02] [ 1.33394057e-01 9.91062199e-01 -1.32034745e-03 -1.98635245e+01] [ 1.09250360e-02 -1.38302357e-04 9.99940310e-01 -2.46096245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.244012739 meters Centerline goodness [0,1] 0.9946673051389766 Centerline is valid? [True, True] Translation: X:253.24, Y:-19.87, Z:-2.46 [[ 9.90839995e-01 -1.34598507e-01 -1.09245773e-02 2.53243612e+02] [ 1.34592012e-01 9.90900206e-01 -1.33094124e-03 -1.98663757e+01] [ 1.10043086e-02 -1.51611028e-04 9.99939439e-01 -2.46164130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.274012739 meters Centerline goodness [0,1] 0.9947618021125243 Centerline is valid? [True, True] Translation: X:253.27, Y:-19.87, Z:-2.46 [[ 9.90851138e-01 -1.34504695e-01 -1.10683809e-02 2.53271096e+02] [ 1.34498013e-01 9.90912945e-01 -1.34930345e-03 -1.98653937e+01] [ 1.11492895e-02 -1.51716377e-04 9.99937833e-01 -2.46183102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30401273900003 meters Centerline goodness [0,1] 0.9956237262683686 Centerline is valid? [True, True] Translation: X:253.30, Y:-19.86, Z:-2.46 [[ 9.91078692e-01 -1.32837902e-01 -1.08220665e-02 2.53299712e+02] [ 1.32831398e-01 9.91137768e-01 -1.32076424e-03 -1.98634254e+01] [ 1.09016064e-02 -1.28528932e-04 9.99940567e-01 -2.46062441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.334012739 meters Centerline goodness [0,1] 0.9968675222971504 Centerline is valid? [True, True] Translation: X:253.33, Y:-19.86, Z:-2.46 [[ 9.91287614e-01 -1.31232856e-01 -1.12606793e-02 2.53327705e+02] [ 1.31225689e-01 9.91351565e-01 -1.37619392e-03 -1.98575329e+01] [ 1.13438939e-02 -1.13486405e-04 9.99935650e-01 -2.46138896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36401273900003 meters Centerline goodness [0,1] 0.9973225946887244 Centerline is valid? [True, True] Translation: X:253.35, Y:-19.85, Z:-2.46 [[ 9.91577122e-01 -1.28992439e-01 -1.16517163e-02 2.53354932e+02] [ 1.28984598e-01 9.91645573e-01 -1.42508306e-03 -1.98506257e+01] [ 1.17381978e-02 -8.98121860e-05 9.99931101e-01 -2.46207350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.394012739 meters Centerline goodness [0,1] 0.999092519770105 Centerline is valid? [True, True] Translation: X:253.38, Y:-19.84, Z:-2.46 [[ 9.92204515e-01 -1.24138816e-01 -1.09432959e-02 2.53381964e+02] [ 1.24131588e-01 9.92264861e-01 -1.33986376e-03 -1.98378182e+01] [ 1.10249771e-02 -2.89898369e-05 9.99939223e-01 -2.46168259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42401273900003 meters Centerline goodness [0,1] 0.9991929855173617 Centerline is valid? [True, True] Translation: X:253.41, Y:-19.83, Z:-2.46 [[ 9.92490827e-01 -1.21839412e-01 -1.08219893e-02 2.53408802e+02] [ 1.21832185e-01 9.92549826e-01 -1.32696751e-03 -1.98304830e+01] [ 1.09030406e-02 -1.46352602e-06 9.99940560e-01 -2.46166046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.454012739 meters Centerline goodness [0,1] 0.9987808008213552 Centerline is valid? [True, True] Translation: X:253.44, Y:-19.82, Z:-2.46 [[ 9.92852517e-01 -1.18782844e-01 -1.15980667e-02 2.53435255e+02] [ 1.18774321e-01 9.92920256e-01 -1.42341573e-03 -1.98217792e+01] [ 1.16850327e-02 3.56893933e-05 9.99931727e-01 -2.46219309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48401273900004 meters Centerline goodness [0,1] 0.9951345100691641 Centerline is valid? [True, True] Translation: X:253.46, Y:-19.82, Z:-2.45 [[ 9.92819601e-01 -1.19061610e-01 -1.15573867e-02 2.53462372e+02] [ 1.19053145e-01 9.92886868e-01 -1.42016038e-03 -1.98173610e+01] [ 1.16442641e-02 3.40198152e-05 9.99932203e-01 -2.44948185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.514012739 meters Centerline goodness [0,1] 0.998381143560189 Centerline is valid? [True, True] Translation: X:253.49, Y:-19.81, Z:-2.46 [[ 9.92622226e-01 -1.20913540e-01 -9.00182085e-03 2.53489881e+02] [ 1.20908472e-01 9.92663042e-01 -1.10711764e-03 -1.98139216e+01] [ 9.06964039e-03 1.05531756e-05 9.99958870e-01 -2.45744751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544012739 meters Centerline goodness [0,1] 0.9983182768806192 Centerline is valid? [True, True] Translation: X:253.52, Y:-19.81, Z:-2.46 [[ 9.92380985e-01 -1.22908946e-01 -8.56570278e-03 2.53518003e+02] [ 1.22904421e-01 9.92417952e-01 -1.05473004e-03 -1.98134024e+01] [ 8.63039296e-03 -6.06870315e-06 9.99962757e-01 -2.45570526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.574012739 meters Centerline goodness [0,1] 0.9976651172846179 Centerline is valid? [True, True] Translation: X:253.55, Y:-19.81, Z:-2.46 [[ 9.92135808e-01 -1.24876523e-01 -8.50832046e-03 2.53546374e+02] [ 1.24872122e-01 9.92172290e-01 -1.04864085e-03 -1.98139272e+01] [ 8.57267042e-03 -2.20578911e-05 9.99963254e-01 -2.45636134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604012739 meters Centerline goodness [0,1] 0.9981820903821887 Centerline is valid? [True, True] Translation: X:253.57, Y:-19.81, Z:-2.46 [[ 9.91908505e-01 -1.26633527e-01 -9.02589743e-03 2.53574854e+02] [ 1.26628642e-01 9.91949569e-01 -1.11296751e-03 -1.98139924e+01] [ 9.09417407e-03 -3.89751966e-05 9.99958646e-01 -2.45770194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.634012739 meters Centerline goodness [0,1] 0.9976435678128819 Centerline is valid? [True, True] Translation: X:253.60, Y:-19.81, Z:-2.46 [[ 9.91660972e-01 -1.28472792e-01 -1.01615867e-02 2.53602983e+02] [ 1.28466691e-01 9.91713032e-01 -1.25360784e-03 -1.98148266e+01] [ 1.02384324e-02 -6.22714491e-05 9.99947584e-01 -2.45933600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664012739 meters Centerline goodness [0,1] 0.9975088274158959 Centerline is valid? [True, True] Translation: X:253.63, Y:-19.81, Z:-2.46 [[ 9.91785903e-01 -1.27560807e-01 -9.43204284e-03 2.53631450e+02] [ 1.27555498e-01 9.91830751e-01 -1.16475287e-03 -1.98108252e+01] [ 9.50356695e-03 -4.79234410e-05 9.99954839e-01 -2.45677444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.694012739 meters Centerline goodness [0,1] 0.9980592463051036 Centerline is valid? [True, True] Translation: X:253.66, Y:-19.80, Z:-2.46 [[ 9.92027602e-01 -1.25687447e-01 -9.15980407e-03 2.53658945e+02] [ 1.25682352e-01 9.92069889e-01 -1.13202843e-03 -1.98047096e+01] [ 9.22944757e-03 -2.82222653e-05 9.99957407e-01 -2.45584002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724012739 meters Centerline goodness [0,1] 0.9980808211497822 Centerline is valid? [True, True] Translation: X:253.69, Y:-19.80, Z:-2.45 [[ 9.92228421e-01 -1.24103604e-01 -9.00305894e-03 2.53686304e+02] [ 1.24098605e-01 9.92269266e-01 -1.11393166e-03 -1.97979858e+01] [ 9.07170161e-03 -1.19924045e-05 9.99958851e-01 -2.45438997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.754012739 meters Centerline goodness [0,1] 0.9984395318595579 Centerline is valid? [True, True] Translation: X:253.71, Y:-19.79, Z:-2.45 [[ 9.92447393e-01 -1.22374322e-01 -8.52625574e-03 2.53712985e+02] [ 1.22369766e-01 9.92484018e-01 -1.05603049e-03 -1.97926843e+01] [ 8.59140357e-03 4.69878653e-06 9.99963093e-01 -2.45419291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784012739 meters Centerline goodness [0,1] 0.9978499761108457 Centerline is valid? [True, True] Translation: X:253.74, Y:-19.79, Z:-2.45 [[ 9.92683488e-01 -1.20499390e-01 -7.70646903e-03 2.53740873e+02] [ 1.20495602e-01 9.92713401e-01 -9.55580723e-04 -1.97889450e+01] [ 7.76546197e-03 1.99935792e-05 9.99969848e-01 -2.45242927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.814012739 meters Centerline goodness [0,1] 0.997617397331485 Centerline is valid? [True, True] Translation: X:253.77, Y:-19.79, Z:-2.45 [[ 9.92792484e-01 -1.19491387e-01 -9.21365893e-03 2.53768531e+02] [ 1.19485917e-01 9.92835237e-01 -1.14381943e-03 -1.97850414e+01] [ 9.28432181e-03 3.46728500e-05 9.99956899e-01 -2.45430601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844012739 meters Centerline goodness [0,1] 0.9980359925709285 Centerline is valid? [True, True] Translation: X:253.80, Y:-19.78, Z:-2.46 [[ 9.92860330e-01 -1.18842324e-01 -1.02404972e-02 2.53796839e+02] [ 1.18835517e-01 9.92913138e-01 -1.27277696e-03 -1.97799560e+01] [ 1.03191840e-02 4.67549660e-05 9.99946755e-01 -2.45566027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.874012739 meters Centerline goodness [0,1] 0.9981839547056939 Centerline is valid? [True, True] Translation: X:253.82, Y:-19.77, Z:-2.46 [[ 9.92955662e-01 -1.18039647e-01 -1.02807885e-02 2.53823887e+02] [ 1.18032733e-01 9.93008881e-01 -1.27878750e-03 -1.97735756e+01] [ 1.03598619e-02 5.63097261e-05 9.99946334e-01 -2.45649205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904012739 meters Centerline goodness [0,1] 0.9966086956521739 Centerline is valid? [True, True] Translation: X:253.85, Y:-19.77, Z:-2.45 [[ 9.93194004e-01 -1.16223936e-01 -7.59392979e-03 2.53851560e+02] [ 1.16220103e-01 9.93223033e-01 -9.45500201e-04 -1.97669006e+01] [ 7.65235573e-03 5.64978258e-05 9.99970719e-01 -2.45115493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.934012739 meters Centerline goodness [0,1] 0.9955366862617026 Centerline is valid? [True, True] Translation: X:253.88, Y:-19.76, Z:-2.45 [[ 9.93265216e-01 -1.15700942e-01 -6.12395431e-03 2.53879227e+02] [ 1.15698434e-01 9.93284093e-01 -7.63533630e-04 -1.97629596e+01] [ 6.17116796e-03 4.98594754e-05 9.99980957e-01 -2.44811833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964012739 meters Centerline goodness [0,1] 0.9951497617426821 Centerline is valid? [True, True] Translation: X:253.91, Y:-19.76, Z:-2.45 [[ 9.93377579e-01 -1.14762570e-01 -5.52611343e-03 2.53906134e+02] [ 1.14760509e-01 9.93392948e-01 -6.89759218e-04 -1.97558767e+01] [ 5.56876065e-03 5.10117532e-05 9.99984493e-01 -2.44699373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.994012739 meters Centerline goodness [0,1] 0.9954235867907096 Centerline is valid? [True, True] Translation: X:253.93, Y:-19.75, Z:-2.45 [[ 9.93407089e-01 -1.14498722e-01 -5.69195541e-03 2.53934274e+02] [ 1.14496527e-01 9.93423394e-01 -7.11103133e-04 -1.97523238e+01] [ 5.73594206e-03 5.47057683e-05 9.99983548e-01 -2.44646422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024012739 meters Centerline goodness [0,1] 0.9954000855798032 Centerline is valid? [True, True] Translation: X:253.96, Y:-19.75, Z:-2.45 [[ 9.93430061e-01 -1.14288960e-01 -5.89462082e-03 2.53961262e+02] [ 1.14286597e-01 9.93447548e-01 -7.37293590e-04 -1.97474446e+01] [ 5.94026112e-03 5.87734602e-05 9.99982355e-01 -2.44715125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05401273900003 meters Centerline goodness [0,1] 0.9954154354249957 Centerline is valid? [True, True] Translation: X:253.99, Y:-19.75, Z:-2.45 [[ 9.93300386e-01 -1.15411662e-01 -5.87287910e-03 2.53989685e+02] [ 1.15409332e-01 9.93317747e-01 -7.35190492e-04 -1.97450910e+01] [ 5.91848459e-03 5.24799466e-05 9.99982484e-01 -2.44634487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084012739 meters Centerline goodness [0,1] 0.9966303951237311 Centerline is valid? [True, True] Translation: X:254.02, Y:-19.74, Z:-2.45 [[ 9.93031974e-01 -1.17687969e-01 -6.08601595e-03 2.54017133e+02] [ 1.17685505e-01 9.93050623e-01 -7.62667226e-04 -1.97416024e+01] [ 6.13347869e-03 4.11170803e-05 9.99981189e-01 -2.44708540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11401273900003 meters Centerline goodness [0,1] 0.9964554060364222 Centerline is valid? [True, True] Translation: X:254.04, Y:-19.74, Z:-2.45 [[ 9.92842605e-01 -1.19232127e-01 -6.87465618e-03 2.54044231e+02] [ 1.19229017e-01 9.92866405e-01 -8.61943892e-04 -1.97377504e+01] [ 6.92838657e-03 3.61161198e-05 9.99975998e-01 -2.44907640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144012739 meters Centerline goodness [0,1] 0.997533802055165 Centerline is valid? [True, True] Translation: X:254.07, Y:-19.74, Z:-2.45 [[ 9.92610510e-01 -1.21124237e-01 -7.30034219e-03 2.54072703e+02] [ 1.21120774e-01 9.92637355e-01 -9.16271871e-04 -1.97364634e+01] [ 7.35757509e-03 2.52779902e-05 9.99972932e-01 -2.44899809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17401273900003 meters Centerline goodness [0,1] 0.9985700047666508 Centerline is valid? [True, True] Translation: X:254.10, Y:-19.73, Z:-2.45 [[ 9.92178506e-01 -1.24529714e-01 -8.61172264e-03 2.54099482e+02] [ 1.24525013e-01 9.92215879e-01 -1.08211190e-03 -1.97339753e+01] [ 8.67944304e-03 1.27329268e-06 9.99962333e-01 -2.45086148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.204012739 meters Centerline goodness [0,1] 0.9988578078531097 Centerline is valid? [True, True] Translation: X:254.13, Y:-19.73, Z:-2.45 [[ 9.91961588e-01 -1.26186326e-01 -9.44557803e-03 2.54127689e+02] [ 1.26180738e-01 9.92006558e-01 -1.18757303e-03 -1.97313017e+01] [ 9.51993083e-03 -1.38231734e-05 9.99954684e-01 -2.45200539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23401273900004 meters Centerline goodness [0,1] 0.9985750613819713 Centerline is valid? [True, True] Translation: X:254.16, Y:-19.73, Z:-2.45 [[ 9.91754721e-01 -1.27768240e-01 -9.89192632e-03 2.54156312e+02] [ 1.27762178e-01 9.91804051e-01 -1.24497693e-03 -1.97287594e+01] [ 9.96992111e-03 -2.91023055e-05 9.99950299e-01 -2.45227367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.264012739 meters Centerline goodness [0,1] 0.9979296512756367 Centerline is valid? [True, True] Translation: X:254.18, Y:-19.73, Z:-2.45 [[ 9.91411691e-01 -1.30441671e-01 -9.37173274e-03 2.54184000e+02] [ 1.30436340e-01 9.91455984e-01 -1.18042177e-03 -1.97273487e+01] [ 9.44563669e-03 -5.21305756e-05 9.99955388e-01 -2.45111340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.294012739 meters Centerline goodness [0,1] 0.9973808389973592 Centerline is valid? [True, True] Translation: X:254.21, Y:-19.72, Z:-2.45 [[ 9.91263703e-01 -1.31602962e-01 -8.77100689e-03 2.54211252e+02] [ 1.31598331e-01 9.91302505e-01 -1.10563648e-03 -1.97237226e+01] [ 8.84022614e-03 -5.82725514e-05 9.99960923e-01 -2.44953459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.324012739 meters Centerline goodness [0,1] 0.9972275950999355 Centerline is valid? [True, True] Translation: X:254.24, Y:-19.72, Z:-2.45 [[ 9.91021827e-01 -1.33377110e-01 -9.28895944e-03 2.54239168e+02] [ 1.33371986e-01 9.91065356e-01 -1.17175991e-03 -1.97218863e+01] [ 9.36225184e-03 -7.76473148e-05 9.99956170e-01 -2.45153056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.354012739 meters Centerline goodness [0,1] 0.9971068754254595 Centerline is valid? [True, True] Translation: X:254.27, Y:-19.72, Z:-2.45 [[ 9.90932695e-01 -1.34003475e-01 -9.77050680e-03 2.54267122e+02] [ 1.33997828e-01 9.90980858e-01 -1.23326775e-03 -1.97186948e+01] [ 9.84764738e-03 -8.71413542e-05 9.99951507e-01 -2.45199285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.384012739 meters Centerline goodness [0,1] 0.9961746271882429 Centerline is valid? [True, True] Translation: X:254.29, Y:-19.71, Z:-2.45 [[ 9.90800997e-01 -1.35008620e-01 -9.27667416e-03 2.54294883e+02] [ 1.35003561e-01 9.90844420e-01 -1.17229083e-03 -1.97148478e+01] [ 9.35001019e-03 -9.08771190e-05 9.99956284e-01 -2.45125643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.414012739 meters Centerline goodness [0,1] 0.9960297978612137 Centerline is valid? [True, True] Translation: X:254.32, Y:-19.72, Z:-2.45 [[ 9.90591929e-01 -1.36534389e-01 -9.27307213e-03 2.54323137e+02] [ 1.36529390e-01 9.90635326e-01 -1.17299040e-03 -1.97150129e+01] [ 9.34638636e-03 -1.04092062e-04 9.99956316e-01 -2.45091408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.444012739 meters Centerline goodness [0,1] 0.9949077570395943 Centerline is valid? [True, True] Translation: X:254.35, Y:-19.71, Z:-2.45 [[ 9.90357636e-01 -1.38235982e-01 -9.08657644e-03 2.54352360e+02] [ 1.38231243e-01 9.90399313e-01 -1.15058198e-03 -1.97135772e+01] [ 9.15839090e-03 -1.16561102e-04 9.99958054e-01 -2.45055131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.474012739 meters Centerline goodness [0,1] 0.9950564818629258 Centerline is valid? [True, True] Translation: X:254.38, Y:-19.71, Z:-2.45 [[ 9.90323000e-01 -1.38475681e-01 -9.21090970e-03 2.54379707e+02] [ 1.38470807e-01 9.90365827e-01 -1.16793731e-03 -1.97090996e+01] [ 9.28390112e-03 -1.18806912e-04 9.99956897e-01 -2.45010886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.504012739 meters Centerline goodness [0,1] 0.9957468046785148 Centerline is valid? [True, True] Translation: X:254.41, Y:-19.70, Z:-2.45 [[ 9.90346391e-01 -1.38302563e-01 -9.29656714e-03 2.54407366e+02] [ 1.38297574e-01 9.90390018e-01 -1.18052724e-03 -1.97007217e+01] [ 9.37049724e-03 -1.16561791e-04 9.99956089e-01 -2.44924306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.534012739 meters Centerline goodness [0,1] 0.9957468046785148 Centerline is valid? [True, True] Translation: X:254.43, Y:-19.70, Z:-2.45 [[ 9.90319424e-01 -1.38495547e-01 -9.29634198e-03 2.54434613e+02] [ 1.38490550e-01 9.90363049e-01 -1.18229851e-03 -1.96970850e+01] [ 9.37049667e-03 -1.16602328e-04 9.99956089e-01 -2.44914405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.564012739 meters Centerline goodness [0,1] 0.9949226462993903 Centerline is valid? [True, True] Translation: X:254.46, Y:-19.70, Z:-2.45 [[ 9.90389629e-01 -1.38068708e-01 -8.08789647e-03 2.54462378e+02] [ 1.38064903e-01 9.90422648e-01 -1.02964031e-03 -1.96965268e+01] [ 8.15259695e-03 -9.69095594e-05 9.99966762e-01 -2.44746993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.594012739 meters Centerline goodness [0,1] 0.9942648929518553 Centerline is valid? [True, True] Translation: X:254.49, Y:-19.69, Z:-2.45 [[ 9.90320331e-01 -1.38614980e-01 -7.17835632e-03 2.54489819e+02] [ 1.38611992e-01 9.90346343e-01 -9.14427450e-04 -1.96945806e+01] [ 7.23581228e-03 -8.94301751e-05 9.99973817e-01 -2.44524211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.624012739 meters Centerline goodness [0,1] 0.9936678871419341 Centerline is valid? [True, True] Translation: X:254.52, Y:-19.69, Z:-2.44 [[ 9.90209590e-01 -1.39461889e-01 -5.94559210e-03 2.54517271e+02] [ 1.39459851e-01 9.90227436e-01 -7.58069019e-04 -1.96902917e+01] [ 5.99321016e-03 -7.85241752e-05 9.99982037e-01 -2.44253005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.654012739 meters Centerline goodness [0,1] 0.9930720421288902 Centerline is valid? [True, True] Translation: X:254.55, Y:-19.69, Z:-2.44 [[ 9.90076989e-01 -1.40397584e-01 -6.00620808e-03 2.54546189e+02] [ 1.40395515e-01 9.90095203e-01 -7.66873876e-04 -1.96878455e+01] [ 6.05438505e-03 -8.39804971e-05 9.99981669e-01 -2.44301377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.684012739 meters Centerline goodness [0,1] 0.9939114551622162 Centerline is valid? [True, True] Translation: X:254.57, Y:-19.69, Z:-2.44 [[ 9.89846706e-01 -1.41982265e-01 -6.67340970e-03 2.54574447e+02] [ 1.41979741e-01 9.89869196e-01 -8.52905583e-04 -1.96855343e+01] [ 6.72690016e-03 -1.03243198e-04 9.99977369e-01 -2.44426382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.714012739 meters Centerline goodness [0,1] 0.9922945570971184 Centerline is valid? [True, True] Translation: X:254.60, Y:-19.69, Z:-2.45 [[ 9.89256937e-01 -1.45913022e-01 -8.94999469e-03 2.54604232e+02] [ 1.45908637e-01 9.89297407e-01 -1.14447128e-03 -1.96947473e+01] [ 9.02119980e-03 -1.73705371e-04 9.99959293e-01 -2.44929628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.744012739 meters Centerline goodness [0,1] 0.9930345049983876 Centerline is valid? [True, True] Translation: X:254.63, Y:-19.69, Z:-2.45 [[ 9.88926120e-01 -1.48105747e-01 -9.47721807e-03 2.54632739e+02] [ 1.48100919e-01 9.88971509e-01 -1.21310637e-03 -1.96886034e+01] [ 9.55236668e-03 -2.03912130e-04 9.99954354e-01 -2.44863522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.774012739 meters Centerline goodness [0,1] 0.9920970011908629 Centerline is valid? [True, True] Translation: X:254.66, Y:-19.69, Z:-2.45 [[ 9.88673154e-01 -1.49760082e-01 -9.86464975e-03 2.54660873e+02] [ 1.49754922e-01 9.88722340e-01 -1.26389781e-03 -1.96897340e+01] [ 9.94268102e-03 -2.27698023e-04 9.99950544e-01 -2.44887682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80401273900003 meters Centerline goodness [0,1] 0.9921937162641664 Centerline is valid? [True, True] Translation: X:254.69, Y:-19.69, Z:-2.45 [[ 9.88647406e-01 -1.49950189e-01 -9.55238793e-03 2.54688557e+02] [ 1.49945345e-01 9.88693528e-01 -1.22534889e-03 -1.96861529e+01] [ 9.62812542e-03 -2.20898099e-04 9.99953624e-01 -2.44783601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.834012739 meters Centerline goodness [0,1] 0.9921875 Centerline is valid? [True, True] Translation: X:254.72, Y:-19.68, Z:-2.45 [[ 9.88667760e-01 -1.49871854e-01 -8.63059033e-03 2.54716859e+02] [ 1.49867884e-01 9.88705410e-01 -1.10857985e-03 -1.96816238e+01] [ 8.69925628e-03 -1.97431151e-04 9.99962141e-01 -2.44564012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86401273900003 meters Centerline goodness [0,1] 0.9908443972384493 Centerline is valid? [True, True] Translation: X:254.74, Y:-19.68, Z:-2.44 [[ 9.88999077e-01 -1.47770990e-01 -6.67531705e-03 2.54744569e+02] [ 1.47768563e-01 9.89021595e-01 -8.58156353e-04 -1.96766894e+01] [ 6.72884333e-03 -1.37686165e-04 9.99977352e-01 -2.44253873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.894012739 meters Centerline goodness [0,1] 0.9919884253260776 Centerline is valid? [True, True] Translation: X:254.77, Y:-19.67, Z:-2.44 [[ 9.89199643e-01 -1.46411450e-01 -6.91038780e-03 2.54772654e+02] [ 1.46408809e-01 9.89223771e-01 -8.89232382e-04 -1.96700863e+01] [ 6.96611368e-03 -1.32113295e-04 9.99975728e-01 -2.44304183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92401273900003 meters Centerline goodness [0,1] 0.9949305614722672 Centerline is valid? [True, True] Translation: X:254.80, Y:-19.66, Z:-2.45 [[ 9.89771433e-01 -1.42369806e-01 -9.12958492e-03 2.54800690e+02] [ 1.42365015e-01 9.89813528e-01 -1.17583541e-03 -1.96611235e+01] [ 9.20399012e-03 -1.35925199e-04 9.99957633e-01 -2.44696718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.954012739 meters Centerline goodness [0,1] 0.9961060874832346 Centerline is valid? [True, True] Translation: X:254.83, Y:-19.65, Z:-2.45 [[ 9.90005335e-01 -1.40694310e-01 -9.72360132e-03 2.54828480e+02] [ 1.40688783e-01 9.90053077e-01 -1.25354738e-03 -1.96533714e+01] [ 9.80324839e-03 -1.26983041e-04 9.99951939e-01 -2.44740390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98401273900004 meters Centerline goodness [0,1] 0.9962680997163755 Centerline is valid? [True, True] Translation: X:254.86, Y:-19.65, Z:-2.45 [[ 9.90202803e-01 -1.39345384e-01 -9.01509992e-03 2.54856184e+02] [ 1.39340564e-01 9.90243835e-01 -1.16367124e-03 -1.96470213e+01] [ 9.08929933e-03 -1.03898580e-04 9.99958686e-01 -2.44691893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.014012739 meters Centerline goodness [0,1] 0.9957543164449476 Centerline is valid? [True, True] Translation: X:254.88, Y:-19.64, Z:-2.44 [[ 9.90351695e-01 -1.38422232e-01 -6.54268139e-03 2.54884870e+02] [ 1.38419667e-01 9.90373304e-01 -8.45422811e-04 -1.96399812e+01] [ 6.59672230e-03 -6.83698687e-05 9.99978239e-01 -2.44204979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044012739 meters Centerline goodness [0,1] 0.9960975609756098 Centerline is valid? [True, True] Translation: X:254.91, Y:-19.64, Z:-2.44 [[ 9.90394932e-01 -1.38124021e-01 -6.29551649e-03 2.54912385e+02] [ 1.38121634e-01 9.90414939e-01 -8.14536527e-04 -1.96361807e+01] [ 6.34768064e-03 -6.28341758e-05 9.99979851e-01 -2.44113358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.074012739 meters Centerline goodness [0,1] 0.997199603636207 Centerline is valid? [True, True] Translation: X:254.94, Y:-19.63, Z:-2.44 [[ 9.90436404e-01 -1.37733797e-01 -8.07030703e-03 2.54939925e+02] [ 1.37729847e-01 9.90469280e-01 -1.04590661e-03 -1.96327039e+01] [ 8.13744789e-03 -7.56181649e-05 9.99966888e-01 -2.44422432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104012739 meters Centerline goodness [0,1] 0.9971317662281648 Centerline is valid? [True, True] Translation: X:254.97, Y:-19.63, Z:-2.45 [[ 9.90396953e-01 -1.38005951e-01 -8.26037533e-03 2.54966880e+02] [ 1.38001808e-01 9.90431397e-01 -1.07213998e-03 -1.96308257e+01] [ 8.32929677e-03 -7.81025678e-05 9.99965308e-01 -2.44533181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.134012739 meters Centerline goodness [0,1] 0.9961364270535964 Centerline is valid? [True, True] Translation: X:254.99, Y:-19.63, Z:-2.44 [[ 9.90398095e-01 -1.38069708e-01 -6.95475264e-03 2.54994501e+02] [ 1.38066767e-01 9.90422512e-01 -9.03451773e-04 -1.96310647e+01] [ 7.01288290e-03 -6.54432998e-05 9.99975407e-01 -2.44233041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164012739 meters Centerline goodness [0,1] 0.9959589011650402 Centerline is valid? [True, True] Translation: X:255.02, Y:-19.63, Z:-2.44 [[ 9.90377373e-01 -1.38240015e-01 -6.50830245e-03 2.55022531e+02] [ 1.38237439e-01 9.90398755e-01 -8.46213313e-04 -1.96292627e+01] [ 6.56279519e-03 -6.16205473e-05 9.99978463e-01 -2.44148887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.194012739 meters Centerline goodness [0,1] 0.9964616753858511 Centerline is valid? [True, True] Translation: X:255.05, Y:-19.63, Z:-2.44 [[ 9.90343914e-01 -1.38462025e-01 -6.87022332e-03 2.55050416e+02] [ 1.38459150e-01 9.90367741e-01 -8.94627129e-04 -1.96284142e+01] [ 6.92791944e-03 -6.52567496e-05 9.99976000e-01 -2.44273273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224012739 meters Centerline goodness [0,1] 0.998148586682741 Centerline is valid? [True, True] Translation: X:255.08, Y:-19.63, Z:-2.45 [[ 9.90295501e-01 -1.38630312e-01 -9.82123135e-03 2.55078497e+02] [ 1.38624432e-01 9.90344197e-01 -1.28025798e-03 -1.96316945e+01] [ 9.90388204e-03 -9.36288917e-05 9.99950951e-01 -2.44835523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.254012739 meters Centerline goodness [0,1] 0.9983220754635804 Centerline is valid? [True, True] Translation: X:255.11, Y:-19.63, Z:-2.45 [[ 9.90419015e-01 -1.37700519e-01 -1.04279558e-02 2.55106298e+02] [ 1.37693832e-01 9.90473906e-01 -1.35997956e-03 -1.96308382e+01] [ 1.05158880e-02 -8.89155817e-05 9.99944703e-01 -2.45023643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284012739 meters Centerline goodness [0,1] 0.9994846467683057 Centerline is valid? [True, True] Translation: X:255.14, Y:-19.63, Z:-2.45 [[ 9.91010658e-01 -1.33407847e-01 -1.00110571e-02 2.55135060e+02] [ 1.33401453e-01 9.91061221e-01 -1.30679564e-03 -1.96254584e+01] [ 1.00959073e-02 -4.04411485e-05 9.99949034e-01 -2.44639698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.314012739 meters Centerline goodness [0,1] 0.999123652615897 Centerline is valid? [True, True] Translation: X:255.16, Y:-19.62, Z:-2.45 [[ 9.91364507e-01 -1.30823639e-01 -9.03268496e-03 2.55163632e+02] [ 1.30818314e-01 9.91405656e-01 -1.18047692e-03 -1.96196050e+01] [ 9.10948925e-03 -1.13576963e-05 9.99958508e-01 -2.44510977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344012739 meters Centerline goodness [0,1] 0.997687712762541 Centerline is valid? [True, True] Translation: X:255.19, Y:-19.61, Z:-2.44 [[ 9.92000131e-01 -1.25989679e-01 -7.89566426e-03 2.55190413e+02] [ 1.25985446e-01 9.92031552e-01 -1.03320832e-03 -1.96117972e+01] [ 7.96292166e-03 3.02040005e-05 9.99968295e-01 -2.44334730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.374012739 meters Centerline goodness [0,1] 0.9968602485816985 Centerline is valid? [True, True] Translation: X:255.22, Y:-19.61, Z:-2.44 [[ 9.92254462e-01 -1.23983600e-01 -7.69081241e-03 2.55218654e+02] [ 1.23979514e-01 9.92284266e-01 -1.00773255e-03 -1.96067408e+01] [ 7.75641445e-03 4.64239392e-05 9.99969917e-01 -2.44295195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404012739 meters Centerline goodness [0,1] 0.9960452954142716 Centerline is valid? [True, True] Translation: X:255.25, Y:-19.60, Z:-2.44 [[ 9.92452436e-01 -1.22389645e-01 -7.67710211e-03 2.55246710e+02] [ 1.22385515e-01 9.92482126e-01 -1.00720953e-03 -1.96024876e+01] [ 7.74265864e-03 6.00414555e-05 9.99970023e-01 -2.44179248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.434012739 meters Centerline goodness [0,1] 0.9951331912052889 Centerline is valid? [True, True] Translation: X:255.27, Y:-19.59, Z:-2.44 [[ 9.92818483e-01 -1.19358868e-01 -8.05736060e-03 2.55273852e+02] [ 1.19354211e-01 9.92851174e-01 -1.05812531e-03 -1.95937706e+01] [ 8.12605657e-03 8.88464546e-05 9.99966979e-01 -2.44107755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464012739 meters Centerline goodness [0,1] 0.9945064377682403 Centerline is valid? [True, True] Translation: X:255.30, Y:-19.59, Z:-2.44 [[ 9.92928077e-01 -1.18411408e-01 -8.51888317e-03 2.55302079e+02] [ 1.18406157e-01 9.92964616e-01 -1.11989735e-03 -1.95881256e+01] [ 8.59155818e-03 1.03289297e-04 9.99963087e-01 -2.44174331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.494012739 meters Centerline goodness [0,1] 0.9956291247430488 Centerline is valid? [True, True] Translation: X:255.33, Y:-19.58, Z:-2.44 [[ 9.92907612e-01 -1.18438214e-01 -1.03375224e-02 2.55330400e+02] [ 1.18430464e-01 9.92961416e-01 -1.36085439e-03 -1.95849770e+01] [ 1.04259380e-02 1.26925108e-04 9.99945640e-01 -2.44433051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524012739 meters Centerline goodness [0,1] 0.9962285056785494 Centerline is valid? [True, True] Translation: X:255.36, Y:-19.58, Z:-2.45 [[ 9.92760772e-01 -1.19625042e-01 -1.07656010e-02 2.55358325e+02] [ 1.19616695e-01 9.92819135e-01 -1.41827625e-03 -1.95822712e+01] [ 1.08579561e-02 1.20263418e-04 9.99941043e-01 -2.44681103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55401273900003 meters Centerline goodness [0,1] 0.9967673567253966 Centerline is valid? [True, True] Translation: X:255.39, Y:-19.58, Z:-2.45 [[ 9.92477003e-01 -1.21946307e-01 -1.08856214e-02 2.55387168e+02] [ 1.21937897e-01 9.92536694e-01 -1.43550230e-03 -1.95819470e+01] [ 1.09794329e-02 9.73332407e-05 9.99939719e-01 -2.44673304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584012739 meters Centerline goodness [0,1] 0.9990166107274943 Centerline is valid? [True, True] Translation: X:255.42, Y:-19.59, Z:-2.44 [[ 9.91686519e-01 -1.28338832e-01 -9.32693427e-03 2.55416436e+02] [ 1.28332926e-01 9.91730379e-01 -1.23139646e-03 -1.95875282e+01] [ 9.40784003e-03 2.42065025e-05 9.99955745e-01 -2.44451486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61401273900003 meters Centerline goodness [0,1] 0.9990130237947089 Centerline is valid? [True, True] Translation: X:255.44, Y:-19.59, Z:-2.44 [[ 9.91289736e-01 -1.31372752e-01 -9.26600878e-03 2.55444421e+02] [ 1.31367040e-01 9.91333042e-01 -1.22502548e-03 -1.95886207e+01] [ 9.34663564e-03 -2.89296839e-06 9.99956319e-01 -2.44326825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644012739 meters Centerline goodness [0,1] 0.9994769988450392 Centerline is valid? [True, True] Translation: X:255.47, Y:-19.59, Z:-2.45 [[ 9.90713956e-01 -1.35517682e-01 -1.09916315e-02 2.55473411e+02] [ 1.35509884e-01 9.90774927e-01 -1.45463810e-03 -1.95929626e+01] [ 1.10873621e-02 -4.83444393e-05 9.99938532e-01 -2.44603589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67401273900003 meters Centerline goodness [0,1] 0.9993324720068906 Centerline is valid? [True, True] Translation: X:255.50, Y:-19.59, Z:-2.45 [[ 9.90448802e-01 -1.37337448e-01 -1.22309600e-02 2.55502576e+02] [ 1.37327908e-01 9.90524316e-01 -1.62045254e-03 -1.95926005e+01] [ 1.23376121e-02 -7.46768757e-05 9.99923886e-01 -2.44716207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.704012739 meters Centerline goodness [0,1] 0.9993446204259967 Centerline is valid? [True, True] Translation: X:255.53, Y:-19.59, Z:-2.45 [[ 9.90199453e-01 -1.39114876e-01 -1.23326850e-02 2.55531618e+02] [ 1.39105289e-01 9.90276245e-01 -1.63601633e-03 -1.95926840e+01] [ 1.24403592e-02 -9.55592432e-05 9.99922611e-01 -2.44723901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73401273900004 meters Centerline goodness [0,1] 0.9977401373135614 Centerline is valid? [True, True] Translation: X:255.56, Y:-19.60, Z:-2.44 [[ 9.89830728e-01 -1.41931453e-01 -9.51799736e-03 2.55559784e+02] [ 1.41925861e-01 9.89876484e-01 -1.26388167e-03 -1.95964609e+01] [ 9.60102632e-03 -9.98210558e-05 9.99953904e-01 -2.44254890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.764012739 meters Centerline goodness [0,1] 0.9957740166051267 Centerline is valid? [True, True] Translation: X:255.59, Y:-19.60, Z:-2.44 [[ 9.89741043e-01 -1.42710282e-01 -6.81493510e-03 2.55588512e+02] [ 1.42707430e-01 9.89764502e-01 -9.05475318e-04 -1.95984453e+01] [ 6.87440148e-03 -7.63557896e-05 9.99976368e-01 -2.43721601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.794012739 meters Centerline goodness [0,1] 0.9964480637615871 Centerline is valid? [True, True] Translation: X:255.62, Y:-19.59, Z:-2.44 [[ 9.89731195e-01 -1.42769421e-01 -7.00384033e-03 2.55616670e+02] [ 1.42766404e-01 9.89755973e-01 -9.31461837e-04 -1.95949144e+01] [ 7.06507706e-03 -7.80162585e-05 9.99975039e-01 -2.43634940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.824012739 meters Centerline goodness [0,1] 0.9969961013229937 Centerline is valid? [True, True] Translation: X:255.64, Y:-19.59, Z:-2.44 [[ 9.89778194e-01 -1.42420751e-01 -7.44688459e-03 2.55643518e+02] [ 1.42417322e-01 9.89806205e-01 -9.91454947e-04 -1.95945657e+01] [ 7.51217634e-03 -7.92448765e-05 9.99971780e-01 -2.43650737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.854012739 meters Centerline goodness [0,1] 0.99684040838259 Centerline is valid? [True, True] Translation: X:255.67, Y:-19.59, Z:-2.44 [[ 9.89879072e-01 -1.41687206e-01 -8.00995518e-03 2.55671514e+02] [ 1.41683206e-01 9.89911476e-01 -1.06758824e-03 -1.95891501e+01] [ 8.08041014e-03 -7.80928661e-05 9.99967350e-01 -2.43627129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.884012739 meters Centerline goodness [0,1] 0.998289940575435 Centerline is valid? [True, True] Translation: X:255.70, Y:-19.58, Z:-2.43 [[ 9.90457376e-01 -1.37631269e-01 -7.19861320e-03 2.55698649e+02] [ 1.37627922e-01 9.90483535e-01 -9.60656805e-04 -1.95781023e+01] [ 7.26232426e-03 -3.92405586e-05 9.99973628e-01 -2.43416344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.914012739 meters Centerline goodness [0,1] 0.9979934131605924 Centerline is valid? [True, True] Translation: X:255.73, Y:-19.57, Z:-2.43 [[ 9.91143102e-01 -1.32680879e-01 -5.57987430e-03 2.55726389e+02] [ 1.32678785e-01 9.91158809e-01 -7.45442821e-04 -1.95692406e+01] [ 5.62944758e-03 -1.49043067e-06 9.99984155e-01 -2.43087394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.944012739 meters Centerline goodness [0,1] 0.9971935387120271 Centerline is valid? [True, True] Translation: X:255.75, Y:-19.56, Z:-2.43 [[ 9.91343881e-01 -1.31173613e-01 -5.54904059e-03 2.55752636e+02] [ 1.31171514e-01 9.91359412e-01 -7.42115381e-04 -1.95643423e+01] [ 5.59843957e-03 7.81548453e-06 9.99984329e-01 -2.43060328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.974012739 meters Centerline goodness [0,1] 0.9976753696807938 Centerline is valid? [True, True] Translation: X:255.78, Y:-19.56, Z:-2.43 [[ 9.91443638e-01 -1.30395055e-01 -6.05324769e-03 2.55780680e+02] [ 1.30392537e-01 9.91462117e-01 -8.10377858e-04 -1.95594677e+01] [ 6.10723504e-03 1.41456459e-05 9.99981351e-01 -2.43169424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.004012739 meters Centerline goodness [0,1] 0.9975248062183816 Centerline is valid? [True, True] Translation: X:255.81, Y:-19.55, Z:-2.43 [[ 9.91572526e-01 -1.29362394e-01 -7.02117436e-03 2.55809187e+02] [ 1.29358971e-01 9.91597383e-01 -9.41388314e-04 -1.95540817e+01] [ 7.08395837e-03 2.52028964e-05 9.99974908e-01 -2.43280827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.034012739 meters Centerline goodness [0,1] 0.99647349747339 Centerline is valid? [True, True] Translation: X:255.84, Y:-19.54, Z:-2.44 [[ 9.92041068e-01 -1.25642760e-01 -8.27145191e-03 2.55835519e+02] [ 1.25637871e-01 9.92075548e-01 -1.11011807e-03 -1.95444786e+01] [ 8.34538349e-03 6.20751044e-05 9.99965175e-01 -2.43552330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.064012739 meters Centerline goodness [0,1] 0.9948124071722237 Centerline is valid? [True, True] Translation: X:255.86, Y:-19.54, Z:-2.43 [[ 9.92359992e-01 -1.23131969e-01 -7.75654700e-03 2.55863753e+02] [ 1.23127586e-01 9.92390302e-01 -1.04197666e-03 -1.95384056e+01] [ 7.82582266e-03 7.89710465e-05 9.99969375e-01 -2.43320383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.094012739 meters Centerline goodness [0,1] 0.9927777415214601 Centerline is valid? [True, True] Translation: X:255.89, Y:-19.53, Z:-2.43 [[ 9.93025069e-01 -1.17684905e-01 -7.17467565e-03 2.55891807e+02] [ 1.17681007e-01 9.93050981e-01 -9.64559821e-04 -1.95270297e+01] [ 7.23833282e-03 1.13509025e-04 9.99973796e-01 -2.43167436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.124012739 meters Centerline goodness [0,1] 0.9928329339636898 Centerline is valid? [True, True] Translation: X:255.92, Y:-19.52, Z:-2.43 [[ 9.93224330e-01 -1.15968194e-01 -7.53711769e-03 2.55918366e+02] [ 1.15963839e-01 9.93252919e-01 -1.01376735e-03 -1.95198884e+01] [ 7.60382891e-03 1.32865299e-04 9.99971082e-01 -2.43282061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.154012739 meters Centerline goodness [0,1] 0.9924182220408514 Centerline is valid? [True, True] Translation: X:255.95, Y:-19.51, Z:-2.43 [[ 9.93333096e-01 -1.15038713e-01 -7.44685054e-03 2.55945635e+02] [ 1.15034432e-01 9.93360999e-01 -1.00211092e-03 -1.95141515e+01] [ 7.51269245e-03 1.38785725e-04 9.99971770e-01 -2.43329971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.184012739 meters Centerline goodness [0,1] 0.9916596805743643 Centerline is valid? [True, True] Translation: X:255.97, Y:-19.51, Z:-2.43 [[ 9.93500589e-01 -1.13639766e-01 -6.52556973e-03 2.55973466e+02] [ 1.13636446e-01 9.93522011e-01 -8.78496483e-04 -1.95085470e+01] [ 6.58312929e-03 1.31244222e-04 9.99978322e-01 -2.43111350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.214012739 meters Centerline goodness [0,1] 0.9907054439542554 Centerline is valid? [True, True] Translation: X:256.00, Y:-19.50, Z:-2.43 [[ 9.93667149e-01 -1.12206149e-01 -5.94781381e-03 2.56002005e+02] [ 1.12203362e-01 9.93684942e-01 -8.01306471e-04 -1.95023896e+01] [ 6.00016453e-03 1.28867211e-04 9.99981991e-01 -2.42982373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.244012739 meters Centerline goodness [0,1] 0.9900473831108418 Centerline is valid? [True, True] Translation: X:256.03, Y:-19.49, Z:-2.43 [[ 9.94068856e-01 -1.08553936e-01 -6.56904451e-03 2.56030531e+02] [ 1.08550451e-01 9.94090547e-01 -8.85731665e-04 -1.94934236e+01] [ 6.62637471e-03 1.67405516e-04 9.99978031e-01 -2.43077135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.274012739 meters Centerline goodness [0,1] 0.9896061851717748 Centerline is valid? [True, True] Translation: X:256.06, Y:-19.48, Z:-2.43 [[ 9.94183666e-01 -1.07436285e-01 -7.50215824e-03 2.56056789e+02] [ 1.07431706e-01 9.94211952e-01 -1.01188755e-03 -1.94826573e+01] [ 7.56744882e-03 2.00032418e-04 9.99971346e-01 -2.43314414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30401273900003 meters Centerline goodness [0,1] 0.9903796487603306 Centerline is valid? [True, True] Translation: X:256.08, Y:-19.47, Z:-2.44 [[ 9.94210706e-01 -1.07108196e-01 -8.53847790e-03 2.56084388e+02] [ 1.07102243e-01 9.94247344e-01 -1.15273781e-03 -1.94742891e+01] [ 8.61282664e-03 2.31574136e-04 9.99962882e-01 -2.43522404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.334012739 meters Centerline goodness [0,1] 0.9899780837074706 Centerline is valid? [True, True] Translation: X:256.11, Y:-19.47, Z:-2.43 [[ 9.94166895e-01 -1.07566890e-01 -7.84537914e-03 2.56111546e+02] [ 1.07561873e-01 9.94197827e-01 -1.05996104e-03 -1.94674431e+01] [ 7.91387561e-03 2.09914500e-04 9.99968663e-01 -2.43383345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36401273900003 meters Centerline goodness [0,1] 0.9900300816501933 Centerline is valid? [True, True] Translation: X:256.14, Y:-19.47, Z:-2.43 [[ 9.94049495e-01 -1.08689440e-01 -7.22539758e-03 2.56140991e+02] [ 1.08685207e-01 9.94075737e-01 -9.77016252e-04 -1.94683806e+01] [ 7.28878377e-03 1.85908677e-04 9.99973419e-01 -2.43198995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.394012739 meters Centerline goodness [0,1] 0.9914699422088584 Centerline is valid? [True, True] Translation: X:256.17, Y:-19.46, Z:-2.43 [[ 9.93668844e-01 -1.12132550e-01 -6.96553811e-03 2.56169831e+02] [ 1.12128697e-01 9.93693246e-01 -9.42549521e-04 -1.94642834e+01] [ 7.02729866e-03 1.55545384e-04 9.99975296e-01 -2.43289996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42401273900003 meters Centerline goodness [0,1] 0.9923885699542024 Centerline is valid? [True, True] Translation: X:256.20, Y:-19.46, Z:-2.43 [[ 9.93380681e-01 -1.14621729e-01 -7.52877096e-03 2.56198550e+02] [ 1.14617293e-01 9.93409199e-01 -1.01952069e-03 -1.94637962e+01] [ 7.59600955e-03 1.49844806e-04 9.99971139e-01 -2.43383470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.454012739 meters Centerline goodness [0,1] 0.9923885699542024 Centerline is valid? [True, True] Translation: X:256.23, Y:-19.46, Z:-2.43 [[ 9.93359102e-01 -1.14808599e-01 -7.52859046e-03 2.56225769e+02] [ 1.14804158e-01 9.93387620e-01 -1.02085233e-03 -1.94599205e+01] [ 7.59601118e-03 1.49759465e-04 9.99971139e-01 -2.43373567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48401273900004 meters Centerline goodness [0,1] 0.9935038570848559 Centerline is valid? [True, True] Translation: X:256.25, Y:-19.46, Z:-2.43 [[ 9.92729028e-01 -1.20045119e-01 -8.84566550e-03 2.56254693e+02] [ 1.20039181e-01 9.92768428e-01 -1.20106027e-03 -1.94632445e+01] [ 8.92587886e-03 1.30500948e-04 9.99960155e-01 -2.43494154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.514012739 meters Centerline goodness [0,1] 0.9945940006592682 Centerline is valid? [True, True] Translation: X:256.28, Y:-19.46, Z:-2.43 [[ 9.92496557e-01 -1.21962560e-01 -8.70164847e-03 2.56283970e+02] [ 1.21956875e-01 9.92534695e-01 -1.18294274e-03 -1.94630725e+01] [ 8.78096274e-03 1.12840740e-04 9.99961440e-01 -2.43439139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544012739 meters Centerline goodness [0,1] 0.9943228248247388 Centerline is valid? [True, True] Translation: X:256.31, Y:-19.46, Z:-2.43 [[ 9.92363633e-01 -1.23070865e-01 -8.24514549e-03 2.56310981e+02] [ 1.23065792e-01 9.92397880e-01 -1.12176360e-03 -1.94577011e+01] [ 8.32052132e-03 9.85020482e-05 9.99965379e-01 -2.43407413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.574012739 meters Centerline goodness [0,1] 0.9936149100478882 Centerline is valid? [True, True] Translation: X:256.34, Y:-19.44, Z:-2.43 [[ 9.92747826e-01 -1.19960108e-01 -7.83114456e-03 2.56338577e+02] [ 1.19955428e-01 9.92778706e-01 -1.06635922e-03 -1.94445505e+01] [ 7.90251413e-03 1.19237501e-04 9.99968768e-01 -2.43296640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604012739 meters Centerline goodness [0,1] 0.9928173241852487 Centerline is valid? [True, True] Translation: X:256.37, Y:-19.43, Z:-2.43 [[ 9.93080344e-01 -1.17171609e-01 -7.88955399e-03 2.56366458e+02] [ 1.17166760e-01 9.93111672e-01 -1.07563176e-03 -1.94335810e+01] [ 7.96124166e-03 1.43795273e-04 9.99968298e-01 -2.43216362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.634012739 meters Centerline goodness [0,1] 0.991806932269225 Centerline is valid? [True, True] Translation: X:256.39, Y:-19.42, Z:-2.43 [[ 9.93728042e-01 -1.11531986e-01 -8.07437759e-03 2.56393827e+02] [ 1.11526716e-01 9.93760826e-01 -1.10149102e-03 -1.94150188e+01] [ 8.14685162e-03 1.94073699e-04 9.99966795e-01 -2.43233770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664012739 meters Centerline goodness [0,1] 0.9913780096135193 Centerline is valid? [True, True] Translation: X:256.42, Y:-19.41, Z:-2.43 [[ 9.93920246e-01 -1.09805212e-01 -8.08454145e-03 2.56421759e+02] [ 1.09799865e-01 9.93953103e-01 -1.10367221e-03 -1.94079219e+01] [ 8.15684402e-03 2.09280603e-04 9.99966710e-01 -2.43182384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.694012739 meters Centerline goodness [0,1] 0.9908077575653443 Centerline is valid? [True, True] Translation: X:256.45, Y:-19.40, Z:-2.43 [[ 9.94007661e-01 -1.09044638e-01 -7.61816473e-03 2.56448684e+02] [ 1.09039861e-01 9.94036833e-01 -1.04080389e-03 -1.93998954e+01] [ 7.68623043e-03 2.03883420e-04 9.99970440e-01 -2.43119810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724012739 meters Centerline goodness [0,1] 0.9899026478921245 Centerline is valid? [True, True] Translation: X:256.48, Y:-19.39, Z:-2.43 [[ 9.93902822e-01 -1.10043454e-01 -6.90066984e-03 2.56476402e+02] [ 1.10039554e-01 9.93926761e-01 -9.43514686e-04 -1.93933426e+01] [ 6.96258804e-03 1.78415279e-04 9.99975745e-01 -2.43057121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.754012739 meters Centerline goodness [0,1] 0.9907158089739999 Centerline is valid? [True, True] Translation: X:256.51, Y:-19.39, Z:-2.43 [[ 9.93737360e-01 -1.11461895e-01 -7.89343000e-03 2.56505131e+02] [ 1.11456825e-01 9.93768690e-01 -1.08063934e-03 -1.93898736e+01] [ 7.96469369e-03 1.94095036e-04 9.99968262e-01 -2.43205670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784012739 meters Centerline goodness [0,1] 0.9915064722831463 Centerline is valid? [True, True] Translation: X:256.53, Y:-19.38, Z:-2.43 [[ 9.93579959e-01 -1.12788729e-01 -8.80727449e-03 2.56533831e+02] [ 1.12782456e-01 9.93618971e-01 -1.20728269e-03 -1.93842409e+01] [ 8.88724290e-03 2.06225834e-04 9.99960486e-01 -2.43349540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.814012739 meters Centerline goodness [0,1] 0.9920357211858404 Centerline is valid? [True, True] Translation: X:256.56, Y:-19.38, Z:-2.43 [[ 9.93346543e-01 -1.14887211e-01 -7.97329550e-03 2.56561283e+02] [ 1.14882131e-01 9.93378528e-01 -1.09376185e-03 -1.93779928e+01] [ 8.04615980e-03 1.70495376e-04 9.99967615e-01 -2.43106897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844012739 meters Centerline goodness [0,1] 0.9915005737112745 Centerline is valid? [True, True] Translation: X:256.59, Y:-19.37, Z:-2.43 [[ 9.93212056e-01 -1.16100109e-01 -7.11167424e-03 2.56589093e+02] [ 1.16096093e-01 9.93237506e-01 -9.76338820e-04 -1.93726826e+01] [ 7.17693463e-03 1.44073890e-04 9.99974235e-01 -2.42947752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.874012739 meters Centerline goodness [0,1] 0.9920293902805827 Centerline is valid? [True, True] Translation: X:256.62, Y:-19.37, Z:-2.43 [[ 9.92934629e-01 -1.18489503e-01 -6.40785590e-03 2.56618042e+02] [ 1.18486286e-01 9.92955298e-01 -8.80719299e-04 -1.93724879e+01] [ 6.46707045e-03 1.15253644e-04 9.99979082e-01 -2.42736915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904012739 meters Centerline goodness [0,1] 0.9923800503691586 Centerline is valid? [True, True] Translation: X:256.65, Y:-19.37, Z:-2.43 [[ 9.92812645e-01 -1.19488598e-01 -6.74743480e-03 2.56645354e+02] [ 1.19485047e-01 9.92835566e-01 -9.28303221e-04 -1.93655407e+01] [ 6.81001490e-03 1.15413609e-04 9.99976805e-01 -2.42796217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.934012739 meters Centerline goodness [0,1] 0.9933801617709663 Centerline is valid? [True, True] Translation: X:256.67, Y:-19.36, Z:-2.43 [[ 9.92854957e-01 -1.19087143e-01 -7.56880020e-03 2.56671860e+02] [ 1.19082659e-01 9.92883797e-01 -1.04189352e-03 -1.93555278e+01] [ 7.63901520e-03 1.33136286e-04 9.99970813e-01 -2.42970628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964012739 meters Centerline goodness [0,1] 0.9925701353601777 Centerline is valid? [True, True] Translation: X:256.70, Y:-19.35, Z:-2.43 [[ 9.92931642e-01 -1.18510903e-01 -6.47453837e-03 2.56698771e+02] [ 1.18507607e-01 9.92952744e-01 -8.91691539e-04 -1.93483099e+01] [ 6.53458581e-03 1.18106697e-04 9.99978642e-01 -2.42686794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.994012739 meters Centerline goodness [0,1] 0.9917739551423491 Centerline is valid? [True, True] Translation: X:256.73, Y:-19.34, Z:-2.42 [[ 9.92960418e-01 -1.18361446e-01 -4.49181105e-03 2.56726362e+02] [ 1.18359856e-01 9.92970574e-01 -6.19010762e-04 -1.93417243e+01] [ 4.53350321e-03 8.30030761e-05 9.99989720e-01 -2.42328888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024012739 meters Centerline goodness [0,1] 0.9911976009147592 Centerline is valid? [True, True] Translation: X:256.75, Y:-19.33, Z:-2.42 [[ 9.92980024e-01 -1.18222799e-01 -3.74725032e-03 2.56753462e+02] [ 1.18221690e-01 9.92987092e-01 -5.16965792e-04 -1.93333874e+01] [ 3.78208834e-03 7.03304385e-05 9.99992845e-01 -2.42126201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05401273900003 meters Centerline goodness [0,1] 0.9917721925821174 Centerline is valid? [True, True] Translation: X:256.78, Y:-19.33, Z:-2.42 [[ 9.92908710e-01 -1.18776091e-01 -4.95324301e-03 2.56781406e+02] [ 1.18774158e-01 9.92921060e-01 -6.83692874e-04 -1.93289802e+01] [ 4.99938567e-03 9.05273413e-05 9.99987499e-01 -2.42464833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084012739 meters Centerline goodness [0,1] 0.9930551103703229 Centerline is valid? [True, True] Translation: X:256.81, Y:-19.33, Z:-2.43 [[ 9.92705189e-01 -1.20351133e-01 -7.21199144e-03 2.56809282e+02] [ 1.20347073e-01 9.92731379e-01 -9.95969367e-04 -1.93255621e+01] [ 7.27943624e-03 1.20761901e-04 9.99973497e-01 -2.42905072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11401273900003 meters Centerline goodness [0,1] 0.9934434033713457 Centerline is valid? [True, True] Translation: X:256.84, Y:-19.32, Z:-2.43 [[ 9.92580432e-01 -1.21383984e-01 -7.07213458e-03 2.56838060e+02] [ 1.21380101e-01 9.92605619e-01 -9.77408108e-04 -1.93209810e+01] [ 7.13848221e-03 1.11739755e-04 9.99974514e-01 -2.42899358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144012739 meters Centerline goodness [0,1] 0.9933330484208727 Centerline is valid? [True, True] Translation: X:256.87, Y:-19.32, Z:-2.43 [[ 9.92522130e-01 -1.21883263e-01 -6.65514172e-03 2.56866078e+02] [ 1.21879828e-01 9.92544437e-01 -9.20869019e-04 -1.93162467e+01] [ 6.71776242e-03 1.02855353e-04 9.99977430e-01 -2.42717203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17401273900003 meters Centerline goodness [0,1] 0.9932913501698803 Centerline is valid? [True, True] Translation: X:256.89, Y:-19.31, Z:-2.43 [[ 9.92623026e-01 -1.21079213e-01 -6.27320446e-03 2.56894827e+02] [ 1.21076138e-01 9.92642843e-01 -8.69088979e-04 -1.93124251e+01] [ 6.33228012e-03 1.03142363e-04 9.99979946e-01 -2.42577154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.204012739 meters Centerline goodness [0,1] 0.9928518502375452 Centerline is valid? [True, True] Translation: X:256.92, Y:-19.31, Z:-2.43 [[ 9.92747940e-01 -1.20045344e-01 -6.37521978e-03 2.56923013e+02] [ 1.20042139e-01 9.92768403e-01 -8.84309574e-04 -1.93051017e+01] [ 6.43527401e-03 1.12601486e-04 9.99979287e-01 -2.42612524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23401273900004 meters Centerline goodness [0,1] 0.9912888621880833 Centerline is valid? [True, True] Translation: X:256.95, Y:-19.29, Z:-2.43 [[ 9.93083055e-01 -1.17185866e-01 -7.31568443e-03 2.56949424e+02] [ 1.17181563e-01 9.93109989e-01 -1.01558743e-03 -1.92874503e+01] [ 7.38429177e-03 1.51299337e-04 9.99972724e-01 -2.42801393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.264012739 meters Centerline goodness [0,1] 0.9919367009464675 Centerline is valid? [True, True] Translation: X:256.98, Y:-19.28, Z:-2.43 [[ 9.93200941e-01 -1.16187601e-01 -7.23414628e-03 2.56977872e+02] [ 1.16183361e-01 9.93227273e-01 -1.00500535e-03 -1.92834300e+01] [ 7.30192055e-03 1.57684832e-04 9.99973328e-01 -2.42666234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.294012739 meters Centerline goodness [0,1] 0.9916760600017341 Centerline is valid? [True, True] Translation: X:257.01, Y:-19.27, Z:-2.42 [[ 9.93450371e-01 -1.14108887e-01 -5.96006088e-03 2.57005103e+02] [ 1.14105967e-01 9.93468239e-01 -8.28888302e-04 -1.92706055e+01] [ 6.01571470e-03 1.43380883e-04 9.99981895e-01 -2.42422172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.324012739 meters Centerline goodness [0,1] 0.9913439439826449 Centerline is valid? [True, True] Translation: X:257.03, Y:-19.26, Z:-2.42 [[ 9.93573513e-01 -1.13038689e-01 -5.82485600e-03 2.57032574e+02] [ 1.13035877e-01 9.93590576e-01 -8.10795259e-04 -1.92623863e+01] [ 5.87917326e-03 1.47166989e-04 9.99982707e-01 -2.42383943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.354012739 meters Centerline goodness [0,1] 0.9907093478930915 Centerline is valid? [True, True] Translation: X:257.06, Y:-19.26, Z:-2.43 [[ 9.93628027e-01 -1.12569880e-01 -5.60054177e-03 2.57060411e+02] [ 1.12567270e-01 9.93643800e-01 -7.80111106e-04 -1.92556287e+01] [ 5.65276062e-03 1.44702561e-04 9.99984013e-01 -2.42518284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.384012739 meters Centerline goodness [0,1] 0.9900917903405679 Centerline is valid? [True, True] Translation: X:257.09, Y:-19.24, Z:-2.43 [[ 9.93609495e-01 -1.12664568e-01 -6.84588579e-03 2.57087282e+02] [ 1.12660664e-01 9.93633063e-01 -9.54494282e-04 -1.92447669e+01] [ 6.90983615e-03 1.77132541e-04 9.99976111e-01 -2.42722078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.414012739 meters Centerline goodness [0,1] 0.9905051760721864 Centerline is valid? [True, True] Translation: X:257.12, Y:-19.24, Z:-2.43 [[ 9.93455111e-01 -1.14006910e-01 -7.02619078e-03 2.57115299e+02] [ 1.14002826e-01 9.93479942e-01 -9.80410012e-04 -1.92379735e+01] [ 7.09215312e-03 1.72987734e-04 9.99974835e-01 -2.42813025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.444012739 meters Centerline goodness [0,1] 0.9920454545454546 Centerline is valid? [True, True] Translation: X:257.14, Y:-19.24, Z:-2.43 [[ 9.92881449e-01 -1.18956456e-01 -5.98249754e-03 2.57144006e+02] [ 1.18953581e-01 9.92899465e-01 -8.35325022e-04 -1.92351702e+01] [ 6.03938591e-03 1.17739210e-04 9.99981756e-01 -2.42635655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.474012739 meters Centerline goodness [0,1] 0.9920116194625999 Centerline is valid? [True, True] Translation: X:257.17, Y:-19.23, Z:-2.42 [[ 9.92537348e-01 -1.21819648e-01 -5.43933162e-03 2.57172907e+02] [ 1.21817313e-01 9.92552248e-01 -7.59644683e-04 -1.92340460e+01] [ 5.49136048e-03 9.13709552e-05 9.99984918e-01 -2.42495249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.504012739 meters Centerline goodness [0,1] 0.9928052890847809 Centerline is valid? [True, True] Translation: X:257.20, Y:-19.23, Z:-2.43 [[ 9.92187631e-01 -1.24637086e-01 -5.41318547e-03 2.57201960e+02] [ 1.24634814e-01 9.92202394e-01 -7.56453244e-04 -1.92320112e+01] [ 5.46525772e-03 7.58721881e-05 9.99985062e-01 -2.42519693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.534012739 meters Centerline goodness [0,1] 0.9946893595239619 Centerline is valid? [True, True] Translation: X:257.23, Y:-19.23, Z:-2.43 [[ 9.91592618e-01 -1.29215042e-01 -6.89592649e-03 2.57230981e+02] [ 1.29211456e-01 9.91616594e-01 -9.64905382e-04 -1.92295354e+01] [ 6.96279543e-03 6.57603498e-05 9.99975757e-01 -2.42843352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.564012739 meters Centerline goodness [0,1] 0.9966432778932779 Centerline is valid? [True, True] Translation: X:257.26, Y:-19.23, Z:-2.43 [[ 9.91228076e-01 -1.31986981e-01 -6.80728050e-03 2.57260045e+02] [ 1.31983544e-01 9.91251449e-01 -9.53613047e-04 -1.92282483e+01] [ 6.87359117e-03 4.67990201e-05 9.99976375e-01 -2.42825612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.594012739 meters Centerline goodness [0,1] 0.9985334713595583 Centerline is valid? [True, True] Translation: X:257.29, Y:-19.23, Z:-2.43 [[ 9.90347391e-01 -1.38473099e-01 -6.10302406e-03 2.57288179e+02] [ 1.38470455e-01 9.90366195e-01 -8.55666358e-04 -1.92294835e+01] [ 6.16271549e-03 2.31842433e-06 9.99981010e-01 -2.42673855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.624012739 meters Centerline goodness [0,1] 0.9981360071988687 Centerline is valid? [True, True] Translation: X:257.32, Y:-19.23, Z:-2.43 [[ 9.89856070e-01 -1.41951319e-01 -5.89782440e-03 2.57316264e+02] [ 1.41948908e-01 9.89873640e-01 -8.27536858e-04 -1.92296068e+01] [ 5.95557085e-03 -1.80473504e-05 9.99982265e-01 -2.42564760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.654012739 meters Centerline goodness [0,1] 0.9980751956884384 Centerline is valid? [True, True] Translation: X:257.34, Y:-19.23, Z:-2.43 [[ 9.89432031e-01 -1.44876012e-01 -5.93275641e-03 2.57344882e+02] [ 1.44873618e-01 9.89449817e-01 -8.33487553e-04 -1.92287170e+01] [ 5.99091710e-03 -3.48206051e-05 9.99982054e-01 -2.42567833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.684012739 meters Centerline goodness [0,1] 0.9978203265236345 Centerline is valid? [True, True] Translation: X:257.37, Y:-19.23, Z:-2.43 [[ 9.89153318e-01 -1.46718859e-01 -7.02067574e-03 2.57372783e+02] [ 1.46715548e-01 9.89178231e-01 -9.87227126e-04 -1.92281305e+01] [ 7.08954445e-03 -5.35232974e-05 9.99974867e-01 -2.42759732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.714012739 meters Centerline goodness [0,1] 0.9964005377509866 Centerline is valid? [True, True] Translation: X:257.40, Y:-19.23, Z:-2.43 [[ 9.88684573e-01 -1.49810288e-01 -7.72606204e-03 2.57400494e+02] [ 1.49806367e-01 9.88714757e-01 -1.08704921e-03 -1.92284788e+01] [ 7.80172271e-03 -8.26645077e-05 9.99969563e-01 -2.42911540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.744012739 meters Centerline goodness [0,1] 0.9965842090377043 Centerline is valid? [True, True] Translation: X:257.43, Y:-19.23, Z:-2.43 [[ 9.88440849e-01 -1.51411880e-01 -7.68970054e-03 2.57429161e+02] [ 1.51408037e-01 9.88470755e-01 -1.08291234e-03 -1.92267299e+01] [ 7.76500990e-03 -9.38876681e-05 9.99969847e-01 -2.42952135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.774012739 meters Centerline goodness [0,1] 0.9943326844040666 Centerline is valid? [True, True] Translation: X:257.46, Y:-19.23, Z:-2.43 [[ 9.87791659e-01 -1.55609136e-01 -7.30995034e-03 2.57459021e+02] [ 1.55605772e-01 9.87818699e-01 -1.03007880e-03 -1.92318685e+01] [ 7.38119531e-03 -1.19967218e-04 9.99972751e-01 -2.42864463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80401273900003 meters Centerline goodness [0,1] 0.9939588772141794 Centerline is valid? [True, True] Translation: X:257.49, Y:-19.23, Z:-2.43 [[ 9.87450266e-01 -1.57749992e-01 -7.54401303e-03 2.57487060e+02] [ 1.57746470e-01 9.87479073e-01 -1.06339775e-03 -1.92326705e+01] [ 7.61730598e-03 -1.39989038e-04 9.99970978e-01 -2.42890064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.834012739 meters Centerline goodness [0,1] 0.9945935425271945 Centerline is valid? [True, True] Translation: X:257.52, Y:-19.23, Z:-2.43 [[ 9.86977071e-01 -1.60633205e-01 -8.55779319e-03 2.57515726e+02] [ 1.60628771e-01 9.87014154e-01 -1.20736259e-03 -1.92282763e+01] [ 8.64060552e-03 -1.82988617e-04 9.99962653e-01 -2.42978632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86401273900003 meters Centerline goodness [0,1] 0.9944262224794735 Centerline is valid? [True, True] Translation: X:257.54, Y:-19.23, Z:-2.43 [[ 9.86740864e-01 -1.62033295e-01 -9.36373151e-03 2.57544159e+02] [ 1.62028041e-01 9.86785269e-01 -1.32207636e-03 -1.92304740e+01] [ 9.45421270e-03 -2.12640297e-04 9.99955285e-01 -2.43093947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.894012739 meters Centerline goodness [0,1] 0.9938446253860608 Centerline is valid? [True, True] Translation: X:257.57, Y:-19.23, Z:-2.43 [[ 9.86333570e-01 -1.64537296e-01 -8.57714011e-03 2.57574020e+02] [ 1.64532973e-01 9.86370839e-01 -1.21206427e-03 -1.92336618e+01] [ 8.65967067e-03 -2.15722686e-04 9.99962481e-01 -2.42956415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92401273900003 meters Centerline goodness [0,1] 0.9878350247202706 Centerline is valid? [True, True] Translation: X:257.60, Y:-19.23, Z:-2.41 [[ 9.86262635e-01 -1.64970380e-01 -8.41354595e-03 2.57601752e+02] [ 1.64966229e-01 9.86298498e-01 -1.18983242e-03 -1.92332836e+01] [ 8.49455484e-03 -2.14463688e-04 9.99963898e-01 -2.41458592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.954012739 meters Centerline goodness [0,1] 0.9922551451072532 Centerline is valid? [True, True] Translation: X:257.63, Y:-19.23, Z:-2.43 [[ 9.86339117e-01 -1.64601332e-01 -6.44582585e-03 2.57630772e+02] [ 1.64598883e-01 9.86360165e-01 -9.12213550e-04 -1.92302612e+01] [ 6.50805742e-03 -1.61223831e-04 9.99978809e-01 -2.42605547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98401273900004 meters Centerline goodness [0,1] 0.9922420480993018 Centerline is valid? [True, True] Translation: X:257.66, Y:-19.23, Z:-2.43 [[ 9.86607849e-01 -1.63014300e-01 -5.59374308e-03 2.57659407e+02] [ 1.63012426e-01 9.86623698e-01 -7.92274543e-04 -1.92339888e+01] [ 5.64807156e-03 -1.30185349e-04 9.99984041e-01 -2.42537158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.014012739 meters Centerline goodness [0,1] 0.9925196681140106 Centerline is valid? [True, True] Translation: X:257.69, Y:-19.23, Z:-2.43 [[ 9.86779264e-01 -1.61956655e-01 -6.06015773e-03 2.57687904e+02] [ 1.61954433e-01 9.86797864e-01 -8.58969961e-04 -1.92310149e+01] [ 6.11926660e-03 -1.33855661e-04 9.99981268e-01 -2.42562924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044012739 meters Centerline goodness [0,1] 0.9882147251181765 Centerline is valid? [True, True] Translation: X:257.72, Y:-19.23, Z:-2.41 [[ 9.87360947e-01 -1.58283023e-01 -8.05258807e-03 2.57715123e+02] [ 1.58278967e-01 9.87393773e-01 -1.14250547e-03 -1.92251255e+01] [ 8.13191453e-03 -1.46490032e-04 9.99966925e-01 -2.41093915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.074012739 meters Centerline goodness [0,1] 0.9956552907696652 Centerline is valid? [True, True] Translation: X:257.74, Y:-19.22, Z:-2.43 [[ 9.87818696e-01 -1.55451337e-01 -7.00759495e-03 2.57742870e+02] [ 1.55448191e-01 9.87843546e-01 -9.94659449e-04 -1.92154651e+01] [ 7.07702858e-03 -1.06774758e-04 9.99974952e-01 -2.42662073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104012739 meters Centerline goodness [0,1] 0.9963251096019943 Centerline is valid? [True, True] Translation: X:257.77, Y:-19.21, Z:-2.43 [[ 9.88291680e-01 -1.52408276e-01 -7.16044583e-03 2.57771457e+02] [ 1.52404907e-01 9.88317616e-01 -1.01709505e-03 -1.92079775e+01] [ 7.23180845e-03 -8.61005010e-05 9.99973846e-01 -2.42611161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.134012739 meters Centerline goodness [0,1] 0.9988694298086563 Centerline is valid? [True, True] Translation: X:257.80, Y:-19.19, Z:-2.42 [[ 9.89462412e-01 -1.44671841e-01 -5.84756005e-03 2.57797864e+02] [ 1.44669455e-01 9.89479691e-01 -8.31174633e-04 -1.91929774e+01] [ 5.90628947e-03 -2.35472680e-05 9.99982557e-01 -2.42403159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164012739 meters Centerline goodness [0,1] 0.9982656360405113 Centerline is valid? [True, True] Translation: X:257.83, Y:-19.18, Z:-2.42 [[ 9.90066057e-01 -1.40531782e-01 -4.47443925e-03 2.57825286e+02] [ 1.40530341e-01 9.90076168e-01 -6.36273803e-04 -1.91811252e+01] [ 4.51945235e-03 1.15861996e-06 9.99989787e-01 -2.42059238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.194012739 meters Centerline goodness [0,1] 0.9949177362391248 Centerline is valid? [True, True] Translation: X:257.85, Y:-19.16, Z:-2.42 [[ 9.91169667e-01 -1.32540203e-01 -3.97312112e-03 2.57850417e+02] [ 1.32539001e-01 9.91177630e-01 -5.65518713e-04 -1.91631365e+01] [ 4.01302274e-03 3.39314912e-05 9.99991947e-01 -2.41878652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224012739 meters Centerline goodness [0,1] 0.9947677080381085 Centerline is valid? [True, True] Translation: X:257.88, Y:-19.15, Z:-2.42 [[ 9.91533071e-01 -1.29784217e-01 -4.26928088e-03 2.57877755e+02] [ 1.29782802e-01 9.91542261e-01 -6.08020144e-04 -1.91546597e+01] [ 4.31208383e-03 4.87928463e-05 9.99990702e-01 -2.41953490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.254012739 meters Centerline goodness [0,1] 0.9904989144687345 Centerline is valid? [True, True] Translation: X:257.90, Y:-19.14, Z:-2.41 [[ 9.91733534e-01 -1.28193242e-01 -5.57581637e-03 2.57904237e+02] [ 1.28190800e-01 9.91749206e-01 -7.94656610e-04 -1.91418015e+01] [ 5.63168107e-03 7.33192497e-05 9.99984139e-01 -2.40694499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284012739 meters Centerline goodness [0,1] 0.9945207862236911 Centerline is valid? [True, True] Translation: X:257.93, Y:-19.14, Z:-2.42 [[ 9.91719202e-01 -1.28348235e-01 -4.44470541e-03 2.57931679e+02] [ 1.28346683e-01 9.91729160e-01 -6.33804717e-04 -1.91389552e+01] [ 4.48929168e-03 5.80931097e-05 9.99989921e-01 -2.42039259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.314012739 meters Centerline goodness [0,1] 0.9937074390138781 Centerline is valid? [True, True] Translation: X:257.96, Y:-19.13, Z:-2.42 [[ 9.91713324e-01 -1.28364369e-01 -5.22218228e-03 2.57959045e+02] [ 1.28362221e-01 9.91727071e-01 -7.45836036e-04 -1.91331723e+01] [ 5.27471831e-03 6.93246184e-05 9.99986086e-01 -2.42217318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344012739 meters Centerline goodness [0,1] 0.9937074390138781 Centerline is valid? [True, True] Translation: X:257.99, Y:-19.13, Z:-2.42 [[ 9.91688250e-01 -1.28557941e-01 -5.22203683e-03 2.57986217e+02] [ 1.28555790e-01 9.91701997e-01 -7.46853267e-04 -1.91290975e+01] [ 5.27471827e-03 6.93225377e-05 9.99986086e-01 -2.42207417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.374012739 meters Centerline goodness [0,1] 0.9938637004271559 Centerline is valid? [True, True] Translation: X:258.01, Y:-19.12, Z:-2.43 [[ 9.91939463e-01 -1.26499851e-01 -7.34098589e-03 2.58012791e+02] [ 1.26495535e-01 9.91966620e-01 -1.05113629e-03 -1.91158876e+01] [ 7.41498155e-03 1.14061633e-04 9.99972502e-01 -2.42642631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404012739 meters Centerline goodness [0,1] 0.9949308065792569 Centerline is valid? [True, True] Translation: X:258.04, Y:-19.11, Z:-2.43 [[ 9.92143717e-01 -1.24807102e-01 -8.60417671e-03 2.58040579e+02] [ 1.24801100e-01 9.92181014e-01 -1.23310930e-03 -1.91054976e+01] [ 8.69080157e-03 1.49610929e-04 9.99962223e-01 -2.42795155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.434012739 meters Centerline goodness [0,1] 0.9933786150625827 Centerline is valid? [True, True] Translation: X:258.07, Y:-19.09, Z:-2.43 [[ 9.92495009e-01 -1.21955755e-01 -8.96946609e-03 2.58067173e+02] [ 1.21949109e-01 9.92535521e-01 -1.28627412e-03 -1.90905498e+01] [ 9.05938223e-03 1.82802242e-04 9.99958946e-01 -2.42877609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464012739 meters Centerline goodness [0,1] 0.9934442438311409 Centerline is valid? [True, True] Translation: X:258.09, Y:-19.09, Z:-2.43 [[ 9.92535157e-01 -1.21713535e-01 -7.73164239e-03 2.58094497e+02] [ 1.21708582e-01 9.92565257e-01 -1.10968147e-03 -1.90869606e+01] [ 7.80922287e-03 1.60390648e-04 9.99969495e-01 -2.42593600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.494012739 meters Centerline goodness [0,1] 0.9931924273858921 Centerline is valid? [True, True] Translation: X:258.12, Y:-19.08, Z:-2.42 [[ 9.92497297e-01 -1.22069171e-01 -6.94506102e-03 2.58122450e+02] [ 1.22065174e-01 9.92521585e-01 -9.98026394e-04 -1.90812598e+01] [ 7.01495122e-03 1.42788416e-04 9.99975385e-01 -2.42467126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524012739 meters Centerline goodness [0,1] 0.9936024470101672 Centerline is valid? [True, True] Translation: X:258.15, Y:-19.08, Z:-2.43 [[ 9.92259125e-01 -1.24005469e-01 -6.66878776e-03 2.58151325e+02] [ 1.24001821e-01 9.92281527e-01 -9.59439474e-04 -1.90756950e+01] [ 6.73629064e-03 1.25070748e-04 9.99977303e-01 -2.42542772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55401273900003 meters Centerline goodness [0,1] 0.9930361518290848 Centerline is valid? [True, True] Translation: X:258.18, Y:-19.07, Z:-2.43 [[ 9.92039392e-01 -1.25737162e-01 -6.92898859e-03 2.58179647e+02] [ 1.25733257e-01 9.92063583e-01 -9.98031660e-04 -1.90726937e+01] [ 6.99948692e-03 1.18882416e-04 9.99975496e-01 -2.42562652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584012739 meters Centerline goodness [0,1] 0.9942573235256162 Centerline is valid? [True, True] Translation: X:258.21, Y:-19.07, Z:-2.42 [[ 9.91557944e-01 -1.29497811e-01 -6.56964580e-03 2.58207752e+02] [ 1.29494379e-01 9.91579704e-01 -9.46993499e-04 -1.90700980e+01] [ 6.63696102e-03 8.82667247e-05 9.99977971e-01 -2.42435008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61401273900003 meters Centerline goodness [0,1] 0.9951193291765211 Centerline is valid? [True, True] Translation: X:258.24, Y:-19.06, Z:-2.42 [[ 9.91383516e-01 -1.30816752e-01 -6.76030789e-03 2.58235827e+02] [ 1.30813144e-01 9.91406562e-01 -9.75188292e-04 -1.90648440e+01] [ 6.82978456e-03 8.24484714e-05 9.99976673e-01 -2.42378424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644012739 meters Centerline goodness [0,1] 0.995235413869277 Centerline is valid? [True, True] Translation: X:258.26, Y:-19.06, Z:-2.42 [[ 9.91102530e-01 -1.32992036e-01 -5.37530798e-03 2.58263637e+02] [ 1.32989783e-01 9.91117105e-01 -7.75980342e-04 -1.90614900e+01] [ 5.43075889e-03 5.42150379e-05 9.99985252e-01 -2.42183308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67401273900003 meters Centerline goodness [0,1] 0.995264148087278 Centerline is valid? [True, True] Translation: X:258.29, Y:-19.06, Z:-2.42 [[ 9.90956831e-01 -1.34106660e-01 -4.46805061e-03 2.58292347e+02] [ 1.34105114e-01 9.90966903e-01 -6.45333119e-04 -1.90589258e+01] [ 4.51423374e-03 4.03088273e-05 9.99989810e-01 -2.42022026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.704012739 meters Centerline goodness [0,1] 0.9956414793078151 Centerline is valid? [True, True] Translation: X:258.32, Y:-19.06, Z:-2.42 [[ 9.90748926e-01 -1.35642050e-01 -4.21901450e-03 2.58321086e+02] [ 1.35640683e-01 9.90757908e-01 -6.10028020e-04 -1.90560805e+01] [ 4.26276743e-03 3.21145994e-05 9.99990914e-01 -2.41885285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73401273900004 meters Centerline goodness [0,1] 0.9965680422919508 Centerline is valid? [True, True] Translation: X:258.35, Y:-19.05, Z:-2.42 [[ 9.90471313e-01 -1.37654588e-01 -4.21808792e-03 2.58348408e+02] [ 1.37653236e-01 9.90480295e-01 -6.10517735e-04 -1.90529630e+01] [ 4.26197354e-03 2.40668495e-05 9.99990917e-01 -2.41834158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.764012739 meters Centerline goodness [0,1] 0.9965061780997018 Centerline is valid? [True, True] Translation: X:258.38, Y:-19.05, Z:-2.42 [[ 9.90367648e-01 -1.38399148e-01 -4.19494988e-03 2.58375414e+02] [ 1.38397817e-01 9.90376532e-01 -6.07457221e-04 -1.90496830e+01] [ 4.23865148e-03 2.10340743e-05 9.99991017e-01 -2.41838610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.794012739 meters Centerline goodness [0,1] 0.9967468538652513 Centerline is valid? [True, True] Translation: X:258.40, Y:-19.05, Z:-2.42 [[ 9.90211699e-01 -1.39508865e-01 -4.25065207e-03 2.58403108e+02] [ 1.39507506e-01 9.90220822e-01 -6.16112382e-04 -1.90478822e+01] [ 4.29503732e-03 1.70838201e-05 9.99990776e-01 -2.41844755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.824012739 meters Centerline goodness [0,1] 0.9967495636998255 Centerline is valid? [True, True] Translation: X:258.43, Y:-19.04, Z:-2.42 [[ 9.90076967e-01 -1.40467794e-01 -4.04941804e-03 2.58431335e+02] [ 1.40466565e-01 9.90085248e-01 -5.87658803e-04 -1.90444371e+01] [ 4.09181620e-03 1.30196018e-05 9.99991628e-01 -2.41812213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.854012739 meters Centerline goodness [0,1] 0.9970094020955701 Centerline is valid? [True, True] Translation: X:258.46, Y:-19.04, Z:-2.42 [[ 9.89914721e-01 -1.41592099e-01 -4.53014120e-03 2.58459515e+02] [ 1.41590569e-01 9.89925087e-01 -6.58329297e-04 -1.90418611e+01] [ 4.57771464e-03 1.02645932e-05 9.99989522e-01 -2.41874704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.884012739 meters Centerline goodness [0,1] 0.9972995744129275 Centerline is valid? [True, True] Translation: X:258.49, Y:-19.05, Z:-2.42 [[ 9.89373653e-01 -1.45344643e-01 -3.83523021e-03 2.58488872e+02] [ 1.45343572e-01 9.89381087e-01 -5.57945469e-04 -1.90459854e+01] [ 3.87559862e-03 -5.40951126e-06 9.99992490e-01 -2.41734495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.914012739 meters Centerline goodness [0,1] 0.9967433735199603 Centerline is valid? [True, True] Translation: X:258.52, Y:-19.05, Z:-2.42 [[ 9.89000097e-01 -1.47886526e-01 -2.89529329e-03 2.58518187e+02] [ 1.47885925e-01 9.89004335e-01 -4.21589380e-04 -1.90472339e+01] [ 2.92580501e-03 -1.12211888e-05 9.99995720e-01 -2.41568199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.944012739 meters Centerline goodness [0,1] 0.9954734471108031 Centerline is valid? [True, True] Translation: X:258.55, Y:-19.05, Z:-2.41 [[ 9.88521911e-01 -1.51061834e-01 -2.18018995e-03 2.58547067e+02] [ 1.51061501e-01 9.88524315e-01 -3.17649851e-04 -1.90479338e+01] [ 2.20315555e-03 -1.53389285e-05 9.99997573e-01 -2.41461626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.974012739 meters Centerline goodness [0,1] 0.9925323203764056 Centerline is valid? [True, True] Translation: X:258.58, Y:-19.06, Z:-2.41 [[ 9.87400285e-01 -1.58229035e-01 -2.06155545e-03 2.58577771e+02] [ 1.58228752e-01 9.87402437e-01 -3.00887424e-04 -1.90616425e+01] [ 2.08319400e-03 -2.91010175e-05 9.99997830e-01 -2.41428517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.004012739 meters Centerline goodness [0,1] 0.9885154607900496 Centerline is valid? [True, True] Translation: X:258.61, Y:-19.06, Z:-2.40 [[ 9.86811096e-01 -1.61843900e-01 -3.22695861e-03 2.58607814e+02] [ 1.61843224e-01 9.86816370e-01 -4.71171162e-04 -1.90648811e+01] [ 3.26067176e-03 -5.73044549e-05 9.99994682e-01 -2.40158037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.034012739 meters Centerline goodness [0,1] 0.990455512801221 Centerline is valid? [True, True] Translation: X:258.64, Y:-19.08, Z:-2.42 [[ 9.85898444e-01 -1.67295447e-01 -4.06085252e-03 2.58639401e+02] [ 1.67294423e-01 9.85906803e-01 -5.93092175e-04 -1.90816303e+01] [ 4.10284375e-03 -9.46293262e-05 9.99991579e-01 -2.41747094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.064012739 meters Centerline goodness [0,1] 0.9906451820541978 Centerline is valid? [True, True] Translation: X:258.67, Y:-19.08, Z:-2.42 [[ 9.85597420e-01 -1.69065065e-01 -3.83788598e-03 2.58668266e+02] [ 1.69064163e-01 9.85604888e-01 -5.60588858e-04 -1.90781927e+01] [ 3.87741517e-03 -9.63340474e-05 9.99992478e-01 -2.41657812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.094012739 meters Centerline goodness [0,1] 0.9895649174248631 Centerline is valid? [True, True] Translation: X:258.70, Y:-19.08, Z:-2.41 [[ 9.85487821e-01 -1.69721904e-01 -2.86886486e-03 2.58696751e+02] [ 1.69721401e-01 9.85491994e-01 -4.19448610e-04 -1.90820122e+01] [ 2.89843297e-03 -7.35462682e-05 9.99995797e-01 -2.41468924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.124012739 meters Centerline goodness [0,1] 0.9898292693415903 Centerline is valid? [True, True] Translation: X:258.73, Y:-19.09, Z:-2.42 [[ 9.85596996e-01 -1.69066218e-01 -3.89551029e-03 2.58725960e+02] [ 1.69065286e-01 9.85604690e-01 -5.69856562e-04 -1.90891162e+01] [ 3.93577671e-03 -9.69466449e-05 9.99992250e-01 -2.41563854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.154012739 meters Centerline goodness [0,1] 0.9914490960783037 Centerline is valid? [True, True] Translation: X:258.75, Y:-19.08, Z:-2.42 [[ 9.85656107e-01 -1.68668386e-01 -5.74582677e-03 2.58753746e+02] [ 1.68666348e-01 9.85672844e-01 -8.41024899e-04 -1.90830661e+01] [ 5.80535973e-03 -1.40166288e-04 9.99983139e-01 -2.41848598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.184012739 meters Centerline goodness [0,1] 0.9920793354369245 Centerline is valid? [True, True] Translation: X:258.78, Y:-19.09, Z:-2.42 [[ 9.86054901e-01 -1.66245454e-01 -7.62762099e-03 2.58782792e+02] [ 1.66241784e-01 9.86084389e-01 -1.11708193e-03 -1.90869229e+01] [ 7.70718777e-03 -1.66525210e-04 9.99970285e-01 -2.42379623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.214012739 meters Centerline goodness [0,1] 0.9927726532826913 Centerline is valid? [True, True] Translation: X:258.81, Y:-19.08, Z:-2.42 [[ 9.86304628e-01 -1.64795460e-01 -6.75551645e-03 2.58810746e+02] [ 1.64792542e-01 9.86327754e-01 -9.90037676e-04 -1.90776785e+01] [ 6.82630708e-03 -1.36779988e-04 9.99976691e-01 -2.42097589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.244012739 meters Centerline goodness [0,1] 0.9929907045959411 Centerline is valid? [True, True] Translation: X:258.84, Y:-19.07, Z:-2.42 [[ 9.86596175e-01 -1.63088537e-01 -5.48787355e-03 2.58838299e+02] [ 1.63086581e-01 9.86611433e-01 -8.05058962e-04 -1.90747559e+01] [ 5.54569468e-03 -1.00730444e-04 9.99984617e-01 -2.41863434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.274012739 meters Centerline goodness [0,1] 0.9944466137359539 Centerline is valid? [True, True] Translation: X:258.87, Y:-19.07, Z:-2.42 [[ 9.87222619e-01 -1.59254337e-01 -5.43665578e-03 2.58865642e+02] [ 1.59252356e-01 9.87237585e-01 -7.98237131e-04 -1.90702164e+01] [ 5.49439365e-03 -7.77624894e-05 9.99984903e-01 -2.41796600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30401273900003 meters Centerline goodness [0,1] 0.9954488589793365 Centerline is valid? [True, True] Translation: X:258.89, Y:-19.07, Z:-2.42 [[ 9.87399120e-01 -1.58117772e-01 -6.46128366e-03 2.58894610e+02] [ 1.58114944e-01 9.87420257e-01 -9.49402116e-04 -1.90660790e+01] [ 6.53011972e-03 -8.41866902e-05 9.99978675e-01 -2.41998959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.334012739 meters Centerline goodness [0,1] 0.9954705040960513 Centerline is valid? [True, True] Translation: X:258.92, Y:-19.07, Z:-2.42 [[ 9.87588193e-01 -1.56917180e-01 -6.82341661e-03 2.58922841e+02] [ 1.56913992e-01 9.87611762e-01 -1.00342074e-03 -1.90658613e+01] [ 6.89634045e-03 -7.97230634e-05 9.99976217e-01 -2.42075547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36401273900003 meters Centerline goodness [0,1] 0.9952819111462181 Centerline is valid? [True, True] Translation: X:258.95, Y:-19.07, Z:-2.42 [[ 9.87688626e-01 -1.56325293e-01 -5.79494257e-03 2.58950555e+02] [ 1.56322982e-01 9.87705623e-01 -8.52483535e-04 -1.90655635e+01] [ 5.85696210e-03 -6.38944116e-05 9.99982846e-01 -2.41879588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.394012739 meters Centerline goodness [0,1] 0.9947531395148804 Centerline is valid? [True, True] Translation: X:258.98, Y:-19.06, Z:-2.42 [[ 9.87712602e-01 -1.56217863e-01 -4.44915072e-03 2.58978395e+02] [ 1.56216498e-01 9.87722621e-01 -6.54837657e-04 -1.90603044e+01] [ 4.49682415e-03 -4.82393379e-05 9.99989888e-01 -2.41563775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42401273900003 meters Centerline goodness [0,1] 0.9938637235266544 Centerline is valid? [True, True] Translation: X:259.01, Y:-19.06, Z:-2.41 [[ 9.87762726e-01 -1.55950709e-01 -2.04284344e-03 2.59005730e+02] [ 1.55950420e-01 9.87764838e-01 -3.00861649e-04 -1.90632204e+01] [ 2.06476851e-03 -2.14023693e-05 9.99997868e-01 -2.41158595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.454012739 meters Centerline goodness [0,1] 0.994364379436438 Centerline is valid? [True, True] Translation: X:259.03, Y:-19.06, Z:-2.42 [[ 9.87742029e-01 -1.56041507e-01 -4.09059824e-03 2.59033509e+02] [ 1.56040347e-01 9.87750498e-01 -6.03153643e-04 -1.90628731e+01] [ 4.13460745e-03 -4.25381671e-05 9.99991452e-01 -2.41544550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48401273900004 meters Centerline goodness [0,1] 0.9910646346500859 Centerline is valid? [True, True] Translation: X:259.06, Y:-19.06, Z:-2.41 [[ 9.87754981e-01 -1.55896451e-01 -6.03275255e-03 2.59060471e+02] [ 1.55893918e-01 9.87773402e-01 -8.90744745e-04 -1.90636441e+01] [ 6.09785645e-03 -6.06318725e-05 9.99981406e-01 -2.40721922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.514012739 meters Centerline goodness [0,1] 0.995850979211901 Centerline is valid? [True, True] Translation: X:259.09, Y:-19.06, Z:-2.42 [[ 9.87819344e-01 -1.55455045e-01 -6.83179736e-03 2.59088549e+02] [ 1.55451779e-01 9.87842966e-01 -1.00965891e-03 -1.90606434e+01] [ 6.90569954e-03 -6.46544539e-05 9.99976153e-01 -2.42064689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544012739 meters Centerline goodness [0,1] 0.9971807772380291 Centerline is valid? [True, True] Translation: X:259.12, Y:-19.05, Z:-2.42 [[ 9.88447361e-01 -1.51438975e-01 -6.16864292e-03 2.59116803e+02] [ 1.51436228e-01 9.88466608e-01 -9.12652464e-04 -1.90520075e+01] [ 6.23570870e-03 -3.20470987e-05 9.99980557e-01 -2.41722591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.574012739 meters Centerline goodness [0,1] 0.9980395113859146 Centerline is valid? [True, True] Translation: X:259.14, Y:-19.04, Z:-2.42 [[ 9.88841282e-01 -1.48852451e-01 -5.98894427e-03 2.59144135e+02] [ 1.48849811e-01 9.88859417e-01 -8.86764961e-04 -1.90449458e+01] [ 6.05422108e-03 -1.45834202e-05 9.99981673e-01 -2.41660990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604012739 meters Centerline goodness [0,1] 0.9976370612846582 Centerline is valid? [True, True] Translation: X:259.17, Y:-19.03, Z:-2.42 [[ 9.89681514e-01 -1.43110506e-01 -7.06278650e-03 2.59171227e+02] [ 1.43106681e-01 9.89706715e-01 -1.04662811e-03 -1.90313651e+01] [ 7.13987071e-03 2.50965545e-05 9.99974510e-01 -2.41847236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.634012739 meters Centerline goodness [0,1] 0.9972036997203699 Centerline is valid? [True, True] Translation: X:259.20, Y:-19.02, Z:-2.42 [[ 9.90020334e-01 -1.40714240e-01 -7.69679341e-03 2.59199190e+02] [ 1.40709614e-01 9.90050251e-01 -1.14197077e-03 -1.90224674e+01] [ 7.78090380e-03 4.75614534e-05 9.99969727e-01 -2.41989613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664012739 meters Centerline goodness [0,1] 0.9970753946066836 Centerline is valid? [True, True] Translation: X:259.23, Y:-19.01, Z:-2.42 [[ 9.90331282e-01 -1.38525938e-01 -7.38355924e-03 2.59225840e+02] [ 1.38521614e-01 9.90358804e-01 -1.09632378e-03 -1.90137088e+01] [ 7.46424218e-03 6.29411929e-05 9.99972140e-01 -2.41982553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.694012739 meters Centerline goodness [0,1] 0.9957248348231637 Centerline is valid? [True, True] Translation: X:259.25, Y:-19.00, Z:-2.42 [[ 9.90904456e-01 -1.34421475e-01 -6.26303972e-03 2.59253228e+02] [ 1.34418278e-01 9.90924246e-01 -9.30579603e-04 -1.89999504e+01] [ 6.33128779e-03 8.02484621e-05 9.99979954e-01 -2.41709952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724012739 meters Centerline goodness [0,1] 0.9952846588439809 Centerline is valid? [True, True] Translation: X:259.28, Y:-18.99, Z:-2.41 [[ 9.91069786e-01 -1.33244317e-01 -5.16049960e-03 2.59281028e+02] [ 1.33242127e-01 9.91083219e-01 -7.67346128e-04 -1.89942352e+01] [ 5.21672906e-03 7.28976185e-05 9.99986390e-01 -2.41491032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.754012739 meters Centerline goodness [0,1] 0.9952592401913465 Centerline is valid? [True, True] Translation: X:259.31, Y:-18.98, Z:-2.41 [[ 9.91113779e-01 -1.32921489e-01 -5.03545663e-03 2.59307484e+02] [ 1.32919398e-01 9.91126567e-01 -7.49107195e-04 -1.89838457e+01] [ 5.09034728e-03 7.31405980e-05 9.99987041e-01 -2.41392700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784012739 meters Centerline goodness [0,1] 0.9954976201706617 Centerline is valid? [True, True] Translation: X:259.33, Y:-18.98, Z:-2.41 [[ 9.91101487e-01 -1.33012086e-01 -5.06244762e-03 2.59334975e+02] [ 1.33009971e-01 9.91114413e-01 -7.53749153e-04 -1.89771321e+01] [ 5.11772255e-03 7.36858953e-05 9.99986902e-01 -2.41415566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.814012739 meters Centerline goodness [0,1] 0.9950287637034625 Centerline is valid? [True, True] Translation: X:259.36, Y:-18.97, Z:-2.41 [[ 9.91099755e-01 -1.33029964e-01 -4.92999751e-03 2.59361180e+02] [ 1.33027954e-01 9.91112014e-01 -7.34818328e-04 -1.89688484e+01] [ 4.98393262e-03 7.24507827e-05 9.99987578e-01 -2.41437417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844012739 meters Centerline goodness [0,1] 0.994798748246466 Centerline is valid? [True, True] Translation: X:259.39, Y:-18.96, Z:-2.41 [[ 9.91190048e-01 -1.32358110e-01 -4.85998305e-03 2.59388913e+02] [ 1.32356146e-01 9.91201960e-01 -7.24897879e-04 -1.89594686e+01] [ 4.91317084e-03 7.52629376e-05 9.99987927e-01 -2.41399383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.874012739 meters Centerline goodness [0,1] 0.9949126346971193 Centerline is valid? [True, True] Translation: X:259.42, Y:-18.95, Z:-2.41 [[ 9.91291523e-01 -1.31626240e-01 -3.95592984e-03 2.59416449e+02] [ 1.31624931e-01 9.91299414e-01 -5.90610238e-04 -1.89500012e+01] [ 3.99925073e-03 6.47679313e-05 9.99992001e-01 -2.41160411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904012739 meters Centerline goodness [0,1] 0.9945750452079566 Centerline is valid? [True, True] Translation: X:259.44, Y:-18.94, Z:-2.41 [[ 9.91284060e-01 -1.31686799e-01 -3.80775311e-03 2.59442861e+02] [ 1.31685584e-01 9.91291371e-01 -5.69094902e-04 -1.89411595e+01] [ 3.84953509e-03 6.27085139e-05 9.99992589e-01 -2.41093837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.934012739 meters Centerline goodness [0,1] 0.994488763081146 Centerline is valid? [True, True] Translation: X:259.47, Y:-18.94, Z:-2.41 [[ 9.91207306e-01 -1.32269466e-01 -3.58665507e-03 2.59470405e+02] [ 1.32268391e-01 9.91213794e-01 -5.36339155e-04 -1.89354162e+01] [ 3.62608327e-03 5.72221955e-05 9.99993424e-01 -2.41076288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964012739 meters Centerline goodness [0,1] 0.9951609418880968 Centerline is valid? [True, True] Translation: X:259.50, Y:-18.93, Z:-2.41 [[ 9.90931385e-01 -1.34303600e-01 -4.18715834e-03 2.59498377e+02] [ 1.34302149e-01 9.90940230e-01 -6.27048542e-04 -1.89304701e+01] [ 4.23343852e-03 5.90177171e-05 9.99991037e-01 -2.41265353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.994012739 meters Centerline goodness [0,1] 0.9954281504593517 Centerline is valid? [True, True] Translation: X:259.53, Y:-18.93, Z:-2.41 [[ 9.90718966e-01 -1.35833481e-01 -5.01963117e-03 2.59525848e+02] [ 1.35831411e-01 9.90731680e-01 -7.52542069e-04 -1.89262618e+01] [ 5.07532803e-03 6.37341157e-05 9.99987118e-01 -2.41346120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024012739 meters Centerline goodness [0,1] 0.9963528853209029 Centerline is valid? [True, True] Translation: X:259.55, Y:-18.92, Z:-2.42 [[ 9.90560854e-01 -1.36918772e-01 -6.51489258e-03 2.59552921e+02] [ 1.36915304e-01 9.90582275e-01 -9.77575593e-04 -1.89205670e+01] [ 6.58738556e-03 7.63596199e-05 9.99978300e-01 -2.41527010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05401273900003 meters Centerline goodness [0,1] 0.997151120127768 Centerline is valid? [True, True] Translation: X:259.58, Y:-18.92, Z:-2.42 [[ 9.90446646e-01 -1.37707496e-01 -7.21718262e-03 2.59580745e+02] [ 1.37703249e-01 9.90472937e-01 -1.08445511e-03 -1.89155859e+01] [ 7.29776167e-03 8.02654242e-05 9.99973368e-01 -2.41603149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084012739 meters Centerline goodness [0,1] 0.9969589996597482 Centerline is valid? [True, True] Translation: X:259.61, Y:-18.91, Z:-2.42 [[ 9.90381642e-01 -1.38148080e-01 -7.70133576e-03 2.59607303e+02] [ 1.38143247e-01 9.90411582e-01 -1.15851487e-03 -1.89083523e+01] [ 7.78753874e-03 8.34843247e-05 9.99969673e-01 -2.41761786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11401273900003 meters Centerline goodness [0,1] 0.9967789039683903 Centerline is valid? [True, True] Translation: X:259.64, Y:-18.90, Z:-2.42 [[ 9.90301471e-01 -1.38769004e-01 -6.79407679e-03 2.59635379e+02] [ 1.38765251e-01 9.90324774e-01 -1.02299941e-03 -1.89030352e+01] [ 6.87030318e-03 7.02960479e-05 9.99976397e-01 -2.41606609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144012739 meters Centerline goodness [0,1] 0.9964265725233564 Centerline is valid? [True, True] Translation: X:259.66, Y:-18.90, Z:-2.41 [[ 9.90303494e-01 -1.38815805e-01 -5.40011614e-03 2.59663033e+02] [ 1.38813430e-01 9.90318216e-01 -8.13938852e-04 -1.88961506e+01] [ 5.46082096e-03 5.64378458e-05 9.99985088e-01 -2.41266390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17401273900003 meters Centerline goodness [0,1] 0.9955378314291873 Centerline is valid? [True, True] Translation: X:259.69, Y:-18.88, Z:-2.41 [[ 9.90539020e-01 -1.37191234e-01 -3.31876376e-03 2.59689136e+02] [ 1.37190327e-01 9.90544579e-01 -5.00636318e-04 -1.88826297e+01] [ 3.35606637e-03 4.05975235e-05 9.99994368e-01 -2.40807968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.204012739 meters Centerline goodness [0,1] 0.9953871357130539 Centerline is valid? [True, True] Translation: X:259.72, Y:-18.88, Z:-2.41 [[ 9.90551620e-01 -1.37107812e-01 -2.98918258e-03 2.59716836e+02] [ 1.37107075e-01 9.90556130e-01 -4.51001756e-04 -1.88763678e+01] [ 3.02278899e-03 3.69024394e-05 9.99995431e-01 -2.40778055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23401273900004 meters Centerline goodness [0,1] 0.9948216340621404 Centerline is valid? [True, True] Translation: X:259.74, Y:-18.87, Z:-2.41 [[ 9.90420462e-01 -1.38040218e-01 -3.49390713e-03 2.59743883e+02] [ 1.38039215e-01 9.90426623e-01 -5.27957050e-04 -1.88717058e+01] [ 3.53333795e-03 4.06032677e-05 9.99993757e-01 -2.40889738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.264012739 meters Centerline goodness [0,1] 0.9948216340621404 Centerline is valid? [True, True] Translation: X:259.77, Y:-18.87, Z:-2.41 [[ 9.90394954e-01 -1.38223106e-01 -3.49387752e-03 2.59771022e+02] [ 1.38222103e-01 9.90401116e-01 -5.28152949e-04 -1.88674058e+01] [ 3.53334314e-03 4.01489192e-05 9.99993757e-01 -2.40879839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.294012739 meters Centerline goodness [0,1] 0.9963428620891129 Centerline is valid? [True, True] Translation: X:259.80, Y:-18.87, Z:-2.41 [[ 9.89694382e-01 -1.43096464e-01 -5.33211954e-03 2.59799878e+02] [ 1.43094191e-01 9.89708745e-01 -8.07355168e-04 -1.88680519e+01] [ 5.39277501e-03 3.60395449e-05 9.99985458e-01 -2.41410230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.324012739 meters Centerline goodness [0,1] 0.9972176688810284 Centerline is valid? [True, True] Translation: X:259.83, Y:-18.87, Z:-2.42 [[ 9.89303774e-01 -1.45707790e-01 -6.87617713e-03 2.59828505e+02] [ 1.45704063e-01 9.89327670e-01 -1.04249474e-03 -1.88666728e+01] [ 6.95469191e-03 2.94570314e-05 9.99975815e-01 -2.41610316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.354012739 meters Centerline goodness [0,1] 0.9979080391068608 Centerline is valid? [True, True] Translation: X:259.86, Y:-18.86, Z:-2.42 [[ 9.88812460e-01 -1.48943987e-01 -8.09985409e-03 2.59856172e+02] [ 1.48938917e-01 9.88845634e-01 -1.22902680e-03 -1.88647174e+01] [ 8.19256151e-03 8.89351309e-06 9.99966440e-01 -2.41766555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.384012739 meters Centerline goodness [0,1] 0.9975554391478959 Centerline is valid? [True, True] Translation: X:259.88, Y:-18.86, Z:-2.42 [[ 9.88649482e-01 -1.50023998e-01 -8.06240379e-03 2.59884006e+02] [ 1.50019001e-01 9.88682355e-01 -1.22447281e-03 -1.88614900e+01] [ 8.15485667e-03 1.06064371e-06 9.99966749e-01 -2.41550402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.414012739 meters Centerline goodness [0,1] 0.9977216550241805 Centerline is valid? [True, True] Translation: X:259.91, Y:-18.86, Z:-2.42 [[ 9.88569783e-01 -1.50548930e-01 -8.05006663e-03 2.59910763e+02] [ 1.50543956e-01 9.88602559e-01 -1.22371264e-03 -1.88576511e+01] [ 8.14254510e-03 -2.16353827e-06 9.99966849e-01 -2.41568879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.444012739 meters Centerline goodness [0,1] 0.9975302222799948 Centerline is valid? [True, True] Translation: X:259.94, Y:-18.85, Z:-2.42 [[ 9.88525130e-01 -1.50864374e-01 -7.61636658e-03 2.59938144e+02] [ 1.50859923e-01 9.88554470e-01 -1.15885700e-03 -1.88537040e+01] [ 7.70402346e-03 -3.44520626e-06 9.99970324e-01 -2.41535952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.474012739 meters Centerline goodness [0,1] 0.9967511371020144 Centerline is valid? [True, True] Translation: X:259.97, Y:-18.85, Z:-2.41 [[ 9.88427060e-01 -1.51557277e-01 -6.50685946e-03 2.59965959e+02] [ 1.51554036e-01 9.88448477e-01 -9.91194639e-04 -1.88506310e+01] [ 6.58191809e-03 -6.41720808e-06 9.99978339e-01 -2.41460321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.504012739 meters Centerline goodness [0,1] 0.9971508750883658 Centerline is valid? [True, True] Translation: X:259.99, Y:-18.85, Z:-2.42 [[ 9.88295021e-01 -1.52367434e-01 -7.55752369e-03 2.59993584e+02] [ 1.52363078e-01 9.88323917e-01 -1.15228508e-03 -1.88493792e+01] [ 7.64485214e-03 -1.26899592e-05 9.99970778e-01 -2.41627174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.534012739 meters Centerline goodness [0,1] 0.9980609831454689 Centerline is valid? [True, True] Translation: X:260.02, Y:-18.85, Z:-2.42 [[ 9.88346207e-01 -1.51996971e-01 -8.28824971e-03 2.60020468e+02] [ 1.51991709e-01 9.88380959e-01 -1.26483710e-03 -1.88455258e+01] [ 8.38419961e-03 -9.64828696e-06 9.99964852e-01 -2.41766163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.564012739 meters Centerline goodness [0,1] 0.9976409990044584 Centerline is valid? [True, True] Translation: X:260.05, Y:-18.84, Z:-2.42 [[ 9.88487797e-01 -1.51057446e-01 -8.57458927e-03 2.60047785e+02] [ 1.51051764e-01 9.88524986e-01 -1.31020222e-03 -1.88407828e+01] [ 8.67411154e-03 -8.79234887e-08 9.99962379e-01 -2.41762727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.594012739 meters Centerline goodness [0,1] 0.9978283530229326 Centerline is valid? [True, True] Translation: X:260.08, Y:-18.83, Z:-2.42 [[ 9.88872426e-01 -1.48479354e-01 -9.23069639e-03 2.60075707e+02] [ 1.48472641e-01 9.88915507e-01 -1.41213516e-03 -1.88346560e+01] [ 9.33805172e-03 2.59156522e-05 9.99956399e-01 -2.41763679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.624012739 meters Centerline goodness [0,1] 0.9975596587841485 Centerline is valid? [True, True] Translation: X:260.10, Y:-18.83, Z:-2.42 [[ 9.89099511e-01 -1.46983095e-01 -8.83893231e-03 2.60103145e+02] [ 1.46976866e-01 9.89139003e-01 -1.35377391e-03 -1.88278812e+01] [ 8.94191458e-03 3.98985398e-05 9.99960019e-01 -2.41654533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.654012739 meters Centerline goodness [0,1] 0.9972239557554499 Centerline is valid? [True, True] Translation: X:260.13, Y:-18.82, Z:-2.41 [[ 9.89660926e-01 -1.43234415e-01 -7.42657288e-03 2.60131016e+02] [ 1.43229903e-01 9.89688789e-01 -1.13864645e-03 -1.88172012e+01] [ 7.51308928e-03 6.31665944e-05 9.99971774e-01 -2.41293244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.684012739 meters Centerline goodness [0,1] 0.9962408410321758 Centerline is valid? [True, True] Translation: X:260.16, Y:-18.81, Z:-2.41 [[ 9.89936277e-01 -1.41366976e-01 -6.44561787e-03 2.60158146e+02] [ 1.41363533e-01 9.89957258e-01 -9.88919808e-04 -1.88087206e+01] [ 6.52068679e-03 6.77922773e-05 9.99978738e-01 -2.41224954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.714012739 meters Centerline goodness [0,1] 0.9960786022395538 Centerline is valid? [True, True] Translation: X:260.19, Y:-18.80, Z:-2.41 [[ 9.90087740e-01 -1.40330010e-01 -5.80987019e-03 2.60186502e+02] [ 1.40327192e-01 9.90104784e-01 -8.91969462e-04 -1.88033892e+01] [ 5.87755035e-03 6.78452602e-05 9.99982725e-01 -2.41120132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.744012739 meters Centerline goodness [0,1] 0.9962466025281504 Centerline is valid? [True, True] Translation: X:260.21, Y:-18.80, Z:-2.41 [[ 9.89965392e-01 -1.41164771e-01 -6.40551220e-03 2.60214115e+02] [ 1.41161354e-01 9.89986112e-01 -9.84666221e-04 -1.88007775e+01] [ 6.48036831e-03 7.05747018e-05 9.99979000e-01 -2.41169854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.774012739 meters Centerline goodness [0,1] 0.9968126978694276 Centerline is valid? [True, True] Translation: X:260.24, Y:-18.80, Z:-2.41 [[ 9.89738723e-01 -1.42702309e-01 -7.30151679e-03 2.60241561e+02] [ 1.42697904e-01 9.89765652e-01 -1.12344105e-03 -1.87972695e+01] [ 7.38710816e-03 7.00019663e-05 9.99972712e-01 -2.41374706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80401273900003 meters Centerline goodness [0,1] 0.9973708398349828 Centerline is valid? [True, True] Translation: X:260.27, Y:-18.80, Z:-2.41 [[ 9.89225325e-01 -1.46183060e-01 -7.98556420e-03 2.60271265e+02] [ 1.46177896e-01 9.89257555e-01 -1.22968814e-03 -1.87984417e+01] [ 8.07953929e-03 4.91256724e-05 9.99967359e-01 -2.41451543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.834012739 meters Centerline goodness [0,1] 0.997130252280807 Centerline is valid? [True, True] Translation: X:260.30, Y:-18.80, Z:-2.41 [[ 9.89046090e-01 -1.47436499e-01 -7.09302546e-03 2.60299582e+02] [ 1.47432449e-01 9.89071523e-01 -1.09338619e-03 -1.87956615e+01] [ 7.17671453e-03 3.56672194e-05 9.99974246e-01 -2.41294414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86401273900003 meters Centerline goodness [0,1] 0.9968835299933372 Centerline is valid? [True, True] Translation: X:260.33, Y:-18.79, Z:-2.41 [[ 9.88936507e-01 -1.48209322e-01 -6.21143968e-03 2.60327318e+02] [ 1.48206225e-01 9.88956013e-01 -9.58535035e-04 -1.87930069e+01] [ 6.28490445e-03 2.73562643e-05 9.99980249e-01 -2.41149681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.894012739 meters Centerline goodness [0,1] 0.9969284014709063 Centerline is valid? [True, True] Translation: X:260.36, Y:-18.79, Z:-2.41 [[ 9.88524963e-01 -1.50917960e-01 -6.49357878e-03 2.60355562e+02] [ 1.50914625e-01 9.88546291e-01 -1.00337968e-03 -1.87926780e+01] [ 6.57063123e-03 1.18898526e-05 9.99978413e-01 -2.41113830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92401273900003 meters Centerline goodness [0,1] 0.9976041755797039 Centerline is valid? [True, True] Translation: X:260.38, Y:-18.79, Z:-2.41 [[ 9.88307582e-01 -1.52311157e-01 -7.03103671e-03 2.60382394e+02] [ 1.52307274e-01 9.88332592e-01 -1.08748812e-03 -1.87903776e+01] [ 7.11463931e-03 3.89471190e-06 9.99974691e-01 -2.41206165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.954012739 meters Centerline goodness [0,1] 0.9975956284153006 Centerline is valid? [True, True] Translation: X:260.41, Y:-18.79, Z:-2.41 [[ 9.87792247e-01 -1.55572024e-01 -7.98885436e-03 2.60411448e+02] [ 1.55567110e-01 9.87824552e-01 -1.23677096e-03 -1.87922598e+01] [ 8.08399344e-03 -2.11302187e-05 9.99967324e-01 -2.41355098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98401273900004 meters Centerline goodness [0,1] 0.9975310762360721 Centerline is valid? [True, True] Translation: X:260.44, Y:-18.79, Z:-2.42 [[ 9.87487638e-01 -1.57454358e-01 -8.73440119e-03 2.60440050e+02] [ 1.57448548e-01 9.87526265e-01 -1.35321157e-03 -1.87927115e+01] [ 8.83851964e-03 -3.89390884e-05 9.99960939e-01 -2.41511474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.014012739 meters Centerline goodness [0,1] 0.996317670872992 Centerline is valid? [True, True] Translation: X:260.47, Y:-18.80, Z:-2.42 [[ 9.86832379e-01 -1.61468400e-01 -9.47685580e-03 2.60469065e+02] [ 1.61461739e-01 9.86877880e-01 -1.46884428e-03 -1.87980708e+01] [ 9.58967129e-03 -8.06465191e-05 9.99954015e-01 -2.41624776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044012739 meters Centerline goodness [0,1] 0.9960116416945133 Centerline is valid? [True, True] Translation: X:260.50, Y:-18.80, Z:-2.42 [[ 9.86529087e-01 -1.63298895e-01 -9.68664470e-03 2.60497731e+02] [ 1.63292019e-01 9.86576637e-01 -1.50195163e-03 -1.87989680e+01] [ 9.80188440e-03 -1.00032798e-04 9.99951955e-01 -2.41660541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.074012739 meters Centerline goodness [0,1] 0.9953253835998874 Centerline is valid? [True, True] Translation: X:260.53, Y:-18.80, Z:-2.42 [[ 9.86164720e-01 -1.65481109e-01 -9.75437261e-03 2.60527245e+02] [ 1.65474230e-01 9.86212953e-01 -1.51370301e-03 -1.88000058e+01] [ 9.87037786e-03 -1.21336791e-04 9.99951279e-01 -2.41568229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104012739 meters Centerline goodness [0,1] 0.9954605966696493 Centerline is valid? [True, True] Translation: X:260.56, Y:-18.80, Z:-2.41 [[ 9.86136147e-01 -1.65698406e-01 -8.91837496e-03 2.60555144e+02] [ 1.65692650e-01 9.86176468e-01 -1.38558512e-03 -1.87954044e+01] [ 9.02468076e-03 -1.11333612e-04 9.99959271e-01 -2.41369190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.134012739 meters Centerline goodness [0,1] 0.9941329578426352 Centerline is valid? [True, True] Translation: X:260.58, Y:-18.80, Z:-2.41 [[ 9.86085827e-01 -1.66054705e-01 -7.78315835e-03 2.60582934e+02] [ 1.66050325e-01 9.86116537e-01 -1.21020292e-03 -1.87981693e+01] [ 7.87606105e-03 -9.90320267e-05 9.99968978e-01 -2.41344687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164012739 meters Centerline goodness [0,1] 0.9940938092774616 Centerline is valid? [True, True] Translation: X:260.61, Y:-18.80, Z:-2.41 [[ 9.85973388e-01 -1.66709903e-01 -8.01793630e-03 2.60611662e+02] [ 1.66705267e-01 9.86005982e-01 -1.24773705e-03 -1.87969221e+01] [ 8.11374328e-03 -1.06396691e-04 9.99967077e-01 -2.41319138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.194012739 meters Centerline goodness [0,1] 0.9941514110536157 Centerline is valid? [True, True] Translation: X:260.64, Y:-18.79, Z:-2.41 [[ 9.85842792e-01 -1.67472260e-01 -8.18729823e-03 2.60640454e+02] [ 1.67467441e-01 9.85876782e-01 -1.27545059e-03 -1.87939825e+01] [ 8.28526982e-03 -1.13712115e-04 9.99965670e-01 -2.41275319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224012739 meters Centerline goodness [0,1] 0.99339282649734 Centerline is valid? [True, True] Translation: X:260.67, Y:-18.80, Z:-2.41 [[ 9.85513161e-01 -1.69403899e-01 -8.13196992e-03 2.60669572e+02] [ 1.69399203e-01 9.85546702e-01 -1.26783903e-03 -1.87970347e+01] [ 8.22921302e-03 -1.28077168e-04 9.99966131e-01 -2.41174930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.254012739 meters Centerline goodness [0,1] 0.9931107692974285 Centerline is valid? [True, True] Translation: X:260.70, Y:-18.80, Z:-2.41 [[ 9.85349245e-01 -1.70359603e-01 -8.02937888e-03 2.60697631e+02] [ 1.70355048e-01 9.85381950e-01 -1.25290896e-03 -1.87976542e+01] [ 8.12545009e-03 -1.33292330e-04 9.99966979e-01 -2.41201819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284012739 meters Centerline goodness [0,1] 0.9929712321016669 Centerline is valid? [True, True] Translation: X:260.73, Y:-18.80, Z:-2.41 [[ 9.85114128e-01 -1.71710750e-01 -8.09772409e-03 2.60726487e+02] [ 1.71706154e-01 9.85147399e-01 -1.26460224e-03 -1.87991278e+01] [ 8.19459762e-03 -1.44651523e-04 9.99966413e-01 -2.41114195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.314012739 meters Centerline goodness [0,1] 0.9926245417295665 Centerline is valid? [True, True] Translation: X:260.75, Y:-18.80, Z:-2.41 [[ 9.84936867e-01 -1.72741948e-01 -7.71924366e-03 2.60754676e+02] [ 1.72737798e-01 9.84967105e-01 -1.20607633e-03 -1.88014747e+01] [ 7.81154106e-03 -1.45496116e-04 9.99969479e-01 -2.41106692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344012739 meters Centerline goodness [0,1] 0.9918541085974806 Centerline is valid? [True, True] Translation: X:260.78, Y:-18.80, Z:-2.41 [[ 9.84731056e-01 -1.73923465e-01 -7.44145655e-03 2.60783444e+02] [ 1.73919636e-01 9.84759162e-01 -1.16355323e-03 -1.88001343e+01] [ 7.53041172e-03 -1.48428415e-04 9.99971635e-01 -2.40989015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.374012739 meters Centerline goodness [0,1] 0.9917690180695775 Centerline is valid? [True, True] Translation: X:260.81, Y:-18.81, Z:-2.41 [[ 9.84629541e-01 -1.74486225e-01 -7.69575886e-03 2.60812791e+02] [ 1.74482140e-01 9.84659602e-01 -1.20419642e-03 -1.88088222e+01] [ 7.78781855e-03 -1.57085111e-04 9.99969662e-01 -2.41069297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404012739 meters Centerline goodness [0,1] 0.9919991442935073 Centerline is valid? [True, True] Translation: X:260.84, Y:-18.81, Z:-2.41 [[ 9.84597626e-01 -1.74646523e-01 -8.13065230e-03 2.60841145e+02] [ 1.74641966e-01 9.84631182e-01 -1.27273146e-03 -1.88098278e+01] [ 8.22797191e-03 -1.66824724e-04 9.99966136e-01 -2.41129948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.434012739 meters Centerline goodness [0,1] 0.9920085698982325 Centerline is valid? [True, True] Translation: X:260.87, Y:-18.81, Z:-2.41 [[ 9.84570295e-01 -1.74771831e-01 -8.72588211e-03 2.60869515e+02] [ 1.74766575e-01 9.84608945e-01 -1.36709902e-03 -1.88107674e+01] [ 8.83051198e-03 -1.78987446e-04 9.99960994e-01 -2.41135267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464012739 meters Centerline goodness [0,1] 0.991925778429356 Centerline is valid? [True, True] Translation: X:260.90, Y:-18.81, Z:-2.41 [[ 9.84492761e-01 -1.75215506e-01 -8.57496311e-03 2.60897571e+02] [ 1.75210433e-01 9.84530088e-01 -1.34511979e-03 -1.88072964e+01] [ 8.67799503e-03 -1.78162305e-04 9.99962330e-01 -2.41044586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.494012739 meters Centerline goodness [0,1] 0.9917931181876469 Centerline is valid? [True, True] Translation: X:260.93, Y:-18.81, Z:-2.41 [[ 9.84669368e-01 -1.74267810e-01 -7.54757233e-03 2.60925692e+02] [ 1.74263845e-01 9.84698283e-01 -1.18483167e-03 -1.88098132e+01] [ 7.63855953e-03 -1.48601523e-04 9.99970815e-01 -2.40799151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524012739 meters Centerline goodness [0,1] 0.991612722854255 Centerline is valid? [True, True] Translation: X:260.95, Y:-18.81, Z:-2.41 [[ 9.84854547e-01 -1.73240850e-01 -7.00924194e-03 2.60953626e+02] [ 1.73237402e-01 9.84879480e-01 -1.10073520e-03 -1.88077182e+01] [ 7.09395087e-03 -1.30198795e-04 9.99974829e-01 -2.40591668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55401273900003 meters Centerline goodness [0,1] 0.9922300596852958 Centerline is valid? [True, True] Translation: X:260.98, Y:-18.80, Z:-2.40 [[ 9.84989573e-01 -1.72488963e-01 -6.56491604e-03 2.60981753e+02] [ 1.72485917e-01 9.85011444e-01 -1.03168243e-03 -1.88003318e+01] [ 6.64447126e-03 -1.16159122e-04 9.99977919e-01 -2.40377336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584012739 meters Centerline goodness [0,1] 0.9927787656676931 Centerline is valid? [True, True] Translation: X:261.01, Y:-18.80, Z:-2.40 [[ 9.85490613e-01 -1.69597801e-01 -6.69613683e-03 2.61009702e+02] [ 1.69594557e-01 9.85513357e-01 -1.05348396e-03 -1.87960080e+01] [ 6.77780085e-03 -9.74298062e-05 9.99977026e-01 -2.40468158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61401273900003 meters Centerline goodness [0,1] 0.9940432031420467 Centerline is valid? [True, True] Translation: X:261.04, Y:-18.79, Z:-2.41 [[ 9.85848806e-01 -1.67476442e-01 -7.33297338e-03 2.61038108e+02] [ 1.67472483e-01 9.85876074e-01 -1.15501296e-03 -1.87899890e+01] [ 7.42284047e-03 -8.94031133e-05 9.99972446e-01 -2.40632094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644012739 meters Centerline goodness [0,1] 0.9956787040455147 Centerline is valid? [True, True] Translation: X:261.07, Y:-18.79, Z:-2.41 [[ 9.86356771e-01 -1.64317439e-01 -1.00049991e-02 2.61066569e+02] [ 1.64309887e-01 9.86407508e-01 -1.57786746e-03 -1.87851981e+01] [ 1.01282774e-02 -8.75800200e-05 9.99948704e-01 -2.41134264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67401273900003 meters Centerline goodness [0,1] 0.9955600271210167 Centerline is valid? [True, True] Translation: X:261.09, Y:-18.78, Z:-2.41 [[ 9.86329588e-01 -1.64450475e-01 -1.04874096e-02 2.61094653e+02] [ 1.64442162e-01 9.86385337e-01 -1.65600137e-03 -1.87819427e+01] [ 1.06169573e-02 -9.12091561e-05 9.99943634e-01 -2.41164330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.704012739 meters Centerline goodness [0,1] 0.994576053167542 Centerline is valid? [True, True] Translation: X:261.12, Y:-18.78, Z:-2.41 [[ 9.86248719e-01 -1.65027493e-01 -8.91018848e-03 2.61122667e+02] [ 1.65021506e-01 9.86288964e-01 -1.40805189e-03 -1.87806359e+01] [ 9.02038784e-03 -8.16833531e-05 9.99959312e-01 -2.40700793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73401273900004 meters Centerline goodness [0,1] 0.99457660811132 Centerline is valid? [True, True] Translation: X:261.15, Y:-18.78, Z:-2.41 [[ 9.86170482e-01 -1.65538359e-01 -8.05186979e-03 2.61150866e+02] [ 1.65533477e-01 9.86203349e-01 -1.27358133e-03 -1.87778727e+01] [ 8.15160751e-03 -7.68856903e-05 9.99966772e-01 -2.40528631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.764012739 meters Centerline goodness [0,1] 0.9944728448464194 Centerline is valid? [True, True] Translation: X:261.18, Y:-18.77, Z:-2.40 [[ 9.86346016e-01 -1.64495256e-01 -7.92763628e-03 2.61179494e+02] [ 1.64490479e-01 9.86377872e-01 -1.25537217e-03 -1.87741807e+01] [ 8.02614777e-03 -6.57893471e-05 9.99967788e-01 -2.40499463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.794012739 meters Centerline goodness [0,1] 0.9956237262683686 Centerline is valid? [True, True] Translation: X:261.21, Y:-18.77, Z:-2.41 [[ 9.86607302e-01 -1.62926115e-01 -7.81740109e-03 2.61206696e+02] [ 1.62921410e-01 9.86638271e-01 -1.23926632e-03 -1.87682588e+01] [ 7.91485594e-03 -5.09528036e-05 9.99968676e-01 -2.40549969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.824012739 meters Centerline goodness [0,1] 0.996083131782282 Centerline is valid? [True, True] Translation: X:261.23, Y:-18.76, Z:-2.40 [[ 9.86941760e-01 -1.60897178e-01 -7.61971072e-03 2.61234051e+02] [ 1.60892641e-01 9.86971173e-01 -1.20877772e-03 -1.87610200e+01] [ 7.71492375e-03 -3.29621723e-05 9.99970239e-01 -2.40492402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.854012739 meters Centerline goodness [0,1] 0.9973994415194083 Centerline is valid? [True, True] Translation: X:261.26, Y:-18.75, Z:-2.41 [[ 9.87626398e-01 -1.56596635e-01 -8.46114668e-03 2.61260490e+02] [ 1.56590878e-01 9.87662642e-01 -1.34280112e-03 -1.87522425e+01] [ 8.56703662e-03 1.24744407e-06 9.99963302e-01 -2.40661026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.884012739 meters Centerline goodness [0,1] 0.9977021276595744 Centerline is valid? [True, True] Translation: X:261.29, Y:-18.75, Z:-2.41 [[ 9.88053918e-01 -1.53719144e-01 -1.09489689e-02 2.61288578e+02] [ 1.53709310e-01 9.88114580e-01 -1.73913209e-03 -1.87455014e+01] [ 1.10861737e-02 3.53978161e-05 9.99938546e-01 -2.41017112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.914012739 meters Centerline goodness [0,1] 0.9974537136938414 Centerline is valid? [True, True] Translation: X:261.32, Y:-18.74, Z:-2.41 [[ 9.88195729e-01 -1.52791208e-01 -1.11376807e-02 2.61316651e+02] [ 1.52780951e-01 9.88258491e-01 -1.77098838e-03 -1.87401230e+01] [ 1.12774990e-02 4.84577042e-05 9.99936406e-01 -2.41060357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.944012739 meters Centerline goodness [0,1] 0.9971095171823146 Centerline is valid? [True, True] Translation: X:261.34, Y:-18.73, Z:-2.41 [[ 9.88365519e-01 -1.51741381e-01 -1.03996782e-02 2.61344087e+02] [ 1.51732361e-01 9.88420229e-01 -1.65552095e-03 -1.87339256e+01] [ 1.05304634e-02 5.82920882e-05 9.99944551e-01 -2.40911333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.974012739 meters Centerline goodness [0,1] 0.9964515221671679 Centerline is valid? [True, True] Translation: X:261.37, Y:-18.73, Z:-2.41 [[ 9.88500091e-01 -1.50938019e-01 -9.23499582e-03 2.61371242e+02] [ 1.50930855e-01 9.88543227e-01 -1.47182085e-03 -1.87277624e+01] [ 9.35134628e-03 6.10492310e-05 9.99956273e-01 -2.40659155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.004012739 meters Centerline goodness [0,1] 0.9963292240446434 Centerline is valid? [True, True] Translation: X:261.40, Y:-18.72, Z:-2.40 [[ 9.88887916e-01 -1.48414521e-01 -8.59180094e-03 2.61397400e+02] [ 1.48408217e-01 9.88925237e-01 -1.37025129e-03 -1.87169316e+01] [ 8.70001397e-03 7.99310861e-05 9.99962151e-01 -2.40417408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.034012739 meters Centerline goodness [0,1] 0.9960621402916613 Centerline is valid? [True, True] Translation: X:261.42, Y:-18.70, Z:-2.40 [[ 9.89308946e-01 -1.45571123e-01 -8.76685807e-03 2.61424790e+02] [ 1.45564439e-01 9.89347783e-01 -1.39924697e-03 -1.87043786e+01] [ 8.87716155e-03 1.08144769e-04 9.99960591e-01 -2.40345545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.064012739 meters Centerline goodness [0,1] 0.9955536645037762 Centerline is valid? [True, True] Translation: X:261.45, Y:-18.69, Z:-2.40 [[ 9.89584521e-01 -1.43721905e-01 -8.15413205e-03 2.61452019e+02] [ 1.43716048e-01 9.89618108e-01 -1.30276298e-03 -1.86946823e+01] [ 8.25671231e-03 1.17314447e-04 9.99965906e-01 -2.40191610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.094012739 meters Centerline goodness [0,1] 0.9952048255511196 Centerline is valid? [True, True] Translation: X:261.48, Y:-18.69, Z:-2.40 [[ 9.89752061e-01 -1.42614778e-01 -7.20303462e-03 2.61480231e+02] [ 1.42610170e-01 9.89778264e-01 -1.15195981e-03 -1.86872325e+01] [ 7.29369359e-03 1.12928606e-04 9.99973394e-01 -2.40009952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.124012739 meters Centerline goodness [0,1] 0.9948700336989418 Centerline is valid? [True, True] Translation: X:261.51, Y:-18.68, Z:-2.40 [[ 9.89853113e-01 -1.41889958e-01 -7.61932788e-03 2.61506811e+02] [ 1.41884773e-01 9.89882429e-01 -1.21955683e-03 -1.86757510e+01] [ 7.71528166e-03 1.26115521e-04 9.99970229e-01 -2.40100956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.154012739 meters Centerline goodness [0,1] 0.9948700336989418 Centerline is valid? [True, True] Translation: X:261.53, Y:-18.67, Z:-2.40 [[ 9.89826984e-01 -1.42072133e-01 -7.61915726e-03 2.61533929e+02] [ 1.42066945e-01 9.89856299e-01 -1.22062210e-03 -1.86712120e+01] [ 7.71528719e-03 1.25774302e-04 9.99970229e-01 -2.40091053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.184012739 meters Centerline goodness [0,1] 0.9948583376002731 Centerline is valid? [True, True] Translation: X:261.56, Y:-18.67, Z:-2.40 [[ 9.89756318e-01 -1.42528026e-01 -8.25784801e-03 2.61559999e+02] [ 1.42521938e-01 9.89790758e-01 -1.32405666e-03 -1.86653450e+01] [ 8.36225682e-03 1.33568942e-04 9.99965027e-01 -2.40201816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.214012739 meters Centerline goodness [0,1] 0.9953139643861293 Centerline is valid? [True, True] Translation: X:261.59, Y:-18.66, Z:-2.40 [[ 9.89579555e-01 -1.43714026e-01 -8.86472473e-03 2.61587937e+02] [ 1.43707048e-01 9.89619250e-01 -1.42253562e-03 -1.86576045e+01] [ 8.97714056e-03 1.33788749e-04 9.99959696e-01 -2.40281469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.244012739 meters Centerline goodness [0,1] 0.9953777700980604 Centerline is valid? [True, True] Translation: X:261.61, Y:-18.65, Z:-2.40 [[ 9.89578214e-01 -1.43723457e-01 -8.86151801e-03 2.61614596e+02] [ 1.43716475e-01 9.89617881e-01 -1.42302431e-03 -1.86502482e+01] [ 8.97403865e-03 1.34647723e-04 9.99959723e-01 -2.40247722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.274012739 meters Centerline goodness [0,1] 0.9953885567890691 Centerline is valid? [True, True] Translation: X:261.64, Y:-18.64, Z:-2.40 [[ 9.89589000e-01 -1.43661749e-01 -8.65522910e-03 2.61641354e+02] [ 1.43655075e-01 9.89626841e-01 -1.39111936e-03 -1.86430720e+01] [ 8.76529767e-03 1.33268831e-04 9.99961575e-01 -2.40186011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30401273900003 meters Centerline goodness [0,1] 0.9945949424103983 Centerline is valid? [True, True] Translation: X:261.67, Y:-18.63, Z:-2.40 [[ 9.89555813e-01 -1.44001044e-01 -6.55688967e-03 2.61669102e+02] [ 1.43997215e-01 9.89577531e-01 -1.05486938e-03 -1.86349689e+01] [ 6.64045298e-03 9.96782719e-05 9.99977947e-01 -2.39666183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.334012739 meters Centerline goodness [0,1] 0.9946505755980657 Centerline is valid? [True, True] Translation: X:261.70, Y:-18.62, Z:-2.39 [[ 9.89527876e-01 -1.44275991e-01 -4.36120175e-03 2.61695308e+02] [ 1.44274298e-01 9.89537485e-01 -7.02103288e-04 -1.86223031e+01] [ 4.41686926e-03 6.55414554e-05 9.99990243e-01 -2.39237241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36401273900003 meters Centerline goodness [0,1] 0.9942816451598981 Centerline is valid? [True, True] Translation: X:261.72, Y:-18.62, Z:-2.39 [[ 9.89390995e-01 -1.45218215e-01 -4.13872950e-03 2.61723578e+02] [ 1.45216697e-01 9.89399650e-01 -6.66697123e-04 -1.86174619e+01] [ 4.19167408e-03 5.86115040e-05 9.99991213e-01 -2.39203954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.394012739 meters Centerline goodness [0,1] 0.9945393506714262 Centerline is valid? [True, True] Translation: X:261.75, Y:-18.61, Z:-2.39 [[ 9.89162498e-01 -1.46734151e-01 -5.16152635e-03 2.61750927e+02] [ 1.46731805e-01 9.89175962e-01 -8.32332992e-04 -1.86107648e+01] [ 5.22778946e-03 6.59525052e-05 9.99986333e-01 -2.39412895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42401273900003 meters Centerline goodness [0,1] 0.9952265250392414 Centerline is valid? [True, True] Translation: X:261.78, Y:-18.61, Z:-2.40 [[ 9.88133614e-01 -1.53403493e-01 -7.70250122e-03 2.61780315e+02] [ 1.53398467e-01 9.88163633e-01 -1.24261407e-03 -1.86117694e+01] [ 7.80195293e-03 4.63168532e-05 9.99969563e-01 -2.39814092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.454012739 meters Centerline goodness [0,1] 0.9956305429374864 Centerline is valid? [True, True] Translation: X:261.81, Y:-18.61, Z:-2.40 [[ 9.87410804e-01 -1.57973453e-01 -8.01829027e-03 2.61809499e+02] [ 1.57968150e-01 9.87443359e-01 -1.29451044e-03 -1.86105035e+01] [ 8.12210576e-03 1.15791144e-05 9.99967015e-01 -2.39838146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48401273900004 meters Centerline goodness [0,1] 0.993127957012267 Centerline is valid? [True, True] Translation: X:261.84, Y:-18.62, Z:-2.40 [[ 9.85917530e-01 -1.67094010e-01 -6.79826430e-03 2.61838842e+02] [ 1.67090409e-01 9.85940966e-01 -1.09826419e-03 -1.86162432e+01] [ 6.88620064e-03 -5.31268508e-05 9.99976288e-01 -2.39545731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.514012739 meters Centerline goodness [0,1] 0.9922581203235155 Centerline is valid? [True, True] Translation: X:261.87, Y:-18.62, Z:-2.39 [[ 9.85319451e-01 -1.70616801e-01 -5.95702843e-03 2.61867551e+02] [ 1.70614098e-01 9.85337456e-01 -9.62702336e-04 -1.86157830e+01] [ 6.03393644e-03 -6.77836960e-05 9.99981793e-01 -2.39359095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544012739 meters Centerline goodness [0,1] 0.9920981044086532 Centerline is valid? [True, True] Translation: X:261.90, Y:-18.62, Z:-2.39 [[ 9.84286001e-01 -1.76507274e-01 -5.12354328e-03 2.61897223e+02] [ 1.76505353e-01 9.84299332e-01 -8.28252376e-04 -1.86192111e+01] [ 5.18929279e-03 -8.90955976e-05 9.99986532e-01 -2.39132164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.574012739 meters Centerline goodness [0,1] 0.9908312039681346 Centerline is valid? [True, True] Translation: X:261.93, Y:-18.62, Z:-2.39 [[ 9.83869042e-01 -1.78835048e-01 -4.44234476e-03 2.61925364e+02] [ 1.78833627e-01 9.83879067e-01 -7.18300479e-04 -1.86177556e+01] [ 4.49918732e-03 -8.77270203e-05 9.99989875e-01 -2.38977798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604012739 meters Centerline goodness [0,1] 0.990481765751702 Centerline is valid? [True, True] Translation: X:261.95, Y:-18.61, Z:-2.39 [[ 9.83540863e-01 -1.80638359e-01 -4.14164735e-03 2.61953461e+02] [ 1.80637139e-01 9.83549579e-01 -6.69980521e-04 -1.86132841e+01] [ 4.19453969e-03 -8.91821082e-05 9.99991199e-01 -2.38900971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.634012739 meters Centerline goodness [0,1] 0.9910844406343764 Centerline is valid? [True, True] Translation: X:261.98, Y:-18.61, Z:-2.39 [[ 9.83606087e-01 -1.80264621e-01 -4.87156442e-03 2.61981387e+02] [ 1.80262924e-01 9.83618145e-01 -7.88846607e-04 -1.86119334e+01] [ 4.93396029e-03 -1.02248122e-04 9.99987823e-01 -2.39033670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664012739 meters Centerline goodness [0,1] 0.991885359116022 Centerline is valid? [True, True] Translation: X:262.01, Y:-18.60, Z:-2.39 [[ 9.84297736e-01 -1.76445966e-01 -4.97884466e-03 2.62009633e+02] [ 1.76444142e-01 9.84310324e-01 -8.06658855e-04 -1.86031207e+01] [ 5.04305990e-03 -8.44954900e-05 9.99987280e-01 -2.38971433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.694012739 meters Centerline goodness [0,1] 0.9919695231498518 Centerline is valid? [True, True] Translation: X:262.04, Y:-18.59, Z:-2.39 [[ 9.84697851e-01 -1.74206015e-01 -4.73364924e-03 2.62037804e+02] [ 1.74204338e-01 9.84709226e-01 -7.67643187e-04 -1.85941763e+01] [ 4.79499614e-03 -6.87256332e-05 9.99988502e-01 -2.38951748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724012739 meters Centerline goodness [0,1] 0.9923316870288537 Centerline is valid? [True, True] Translation: X:262.07, Y:-18.58, Z:-2.39 [[ 9.85089276e-01 -1.71985690e-01 -4.47667782e-03 2.62065567e+02] [ 1.71984163e-01 9.85099447e-01 -7.26654144e-04 -1.85837187e+01] [ 4.53494695e-03 -5.40984830e-05 9.99989716e-01 -2.38942510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.754012739 meters Centerline goodness [0,1] 0.9935199138858988 Centerline is valid? [True, True] Translation: X:262.09, Y:-18.57, Z:-2.39 [[ 9.85917891e-01 -1.67147935e-01 -5.24221929e-03 2.62091803e+02] [ 1.67145768e-01 9.85931827e-01 -8.51748509e-04 -1.85739414e+01] [ 5.31083885e-03 -3.64606782e-05 9.99985897e-01 -2.39113038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784012739 meters Centerline goodness [0,1] 0.9936216519059624 Centerline is valid? [True, True] Translation: X:262.12, Y:-18.57, Z:-2.39 [[ 9.86168469e-01 -1.65649321e-01 -5.66148832e-03 2.62119717e+02] [ 1.65646766e-01 9.86184720e-01 -9.20466805e-04 -1.85663569e+01] [ 5.73574797e-03 -3.00718895e-05 9.99983550e-01 -2.39161011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.814012739 meters Centerline goodness [0,1] 0.9939919171835491 Centerline is valid? [True, True] Translation: X:262.15, Y:-18.56, Z:-2.39 [[ 9.86558265e-01 -1.63250980e-01 -7.20467701e-03 2.62146861e+02] [ 1.63246768e-01 9.86584572e-01 -1.17285123e-03 -1.85566068e+01] [ 7.29949229e-03 -1.90541595e-05 9.99973358e-01 -2.39408005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844012739 meters Centerline goodness [0,1] 0.9951120959332638 Centerline is valid? [True, True] Translation: X:262.17, Y:-18.55, Z:-2.40 [[ 9.86717369e-01 -1.62253579e-01 -7.91263656e-03 2.62173707e+02] [ 1.62248458e-01 9.86749095e-01 -1.28924204e-03 -1.85503946e+01] [ 8.01697110e-03 -1.16955662e-05 9.99967864e-01 -2.39569974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.874012739 meters Centerline goodness [0,1] 0.9952783831132761 Centerline is valid? [True, True] Translation: X:262.20, Y:-18.54, Z:-2.40 [[ 9.86945711e-01 -1.60830425e-01 -8.46984913e-03 2.62200121e+02] [ 1.60824495e-01 9.86982054e-01 -1.38099272e-03 -1.85434201e+01] [ 8.58169474e-03 8.05633094e-07 9.99963177e-01 -2.39656929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904012739 meters Centerline goodness [0,1] 0.9954351599837123 Centerline is valid? [True, True] Translation: X:262.23, Y:-18.53, Z:-2.40 [[ 9.87595008e-01 -1.56784819e-01 -8.63835334e-03 2.62226208e+02] [ 1.56778490e-01 9.87632786e-01 -1.40923280e-03 -1.85295442e+01] [ 8.75246728e-03 3.74432864e-05 9.99961696e-01 -2.39610498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.934012739 meters Centerline goodness [0,1] 0.995430328756443 Centerline is valid? [True, True] Translation: X:262.25, Y:-18.52, Z:-2.39 [[ 9.87924600e-01 -1.54722357e-01 -8.12263542e-03 2.62253545e+02] [ 1.54716684e-01 9.87957990e-01 -1.32609257e-03 -1.85204891e+01] [ 8.22999873e-03 5.33722547e-05 9.99966132e-01 -2.39432510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964012739 meters Centerline goodness [0,1] 0.9951313039918999 Centerline is valid? [True, True] Translation: X:262.28, Y:-18.51, Z:-2.39 [[ 9.88629592e-01 -1.50189568e-01 -7.39078006e-03 2.62278865e+02] [ 1.50184738e-01 9.88657214e-01 -1.20741305e-03 -1.85050969e+01] [ 7.48828887e-03 8.37019027e-05 9.99971959e-01 -2.39285220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.994012739 meters Centerline goodness [0,1] 0.9953127351695371 Centerline is valid? [True, True] Translation: X:262.31, Y:-18.50, Z:-2.39 [[ 9.88804577e-01 -1.49063302e-01 -6.75571862e-03 2.62307049e+02] [ 1.49059235e-01 9.88827652e-01 -1.10442015e-03 -1.84968537e+01] [ 6.84486989e-03 8.50534491e-05 9.99976570e-01 -2.39152970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024012739 meters Centerline goodness [0,1] 0.994241141457335 Centerline is valid? [True, True] Translation: X:262.33, Y:-18.49, Z:-2.39 [[ 9.88927892e-01 -1.48323558e-01 -4.66327131e-03 2.62333459e+02] [ 1.48321610e-01 9.88938885e-01 -7.62840895e-04 -1.84863396e+01] [ 4.72483760e-03 6.27307319e-05 9.99988836e-01 -2.38782371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05401273900003 meters Centerline goodness [0,1] 0.9943098857682727 Centerline is valid? [True, True] Translation: X:262.36, Y:-18.48, Z:-2.39 [[ 9.88874347e-01 -1.48688850e-01 -4.37624426e-03 2.62360506e+02] [ 1.48687136e-01 9.88884029e-01 -7.16252547e-04 -1.84806622e+01] [ 4.43409682e-03 5.75925434e-05 9.99990168e-01 -2.38648930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084012739 meters Centerline goodness [0,1] 0.9945879775787643 Centerline is valid? [True, True] Translation: X:262.39, Y:-18.47, Z:-2.39 [[ 9.88725462e-01 -1.49631264e-01 -5.69618840e-03 2.62387089e+02] [ 1.49628369e-01 9.88741867e-01 -9.33383984e-04 -1.84710131e+01] [ 5.77172338e-03 7.05491279e-05 9.99983341e-01 -2.38857333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11401273900003 meters Centerline goodness [0,1] 0.9950634696755994 Centerline is valid? [True, True] Translation: X:262.41, Y:-18.46, Z:-2.39 [[ 9.88685746e-01 -1.49876520e-01 -6.12571013e-03 2.62412843e+02] [ 1.49873174e-01 9.88704720e-01 -1.00433101e-03 -1.84626530e+01] [ 6.20704416e-03 7.48881367e-05 9.99980733e-01 -2.38936689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144012739 meters Centerline goodness [0,1] 0.9953394606780542 Centerline is valid? [True, True] Translation: X:262.44, Y:-18.46, Z:-2.39 [[ 9.88749166e-01 -1.49478950e-01 -5.57949748e-03 2.62441282e+02] [ 1.49476164e-01 9.88764906e-01 -9.15394340e-04 -1.84558685e+01] [ 5.65364348e-03 7.10935089e-05 9.99984016e-01 -2.38769807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17401273900003 meters Centerline goodness [0,1] 0.994328596381515 Centerline is valid? [True, True] Translation: X:262.47, Y:-18.44, Z:-2.38 [[ 9.89091028e-01 -1.47253514e-01 -3.91679290e-03 2.62466893e+02] [ 1.47252121e-01 9.89098781e-01 -6.43049765e-04 -1.84419163e+01] [ 3.96878642e-03 5.92786902e-05 9.99992123e-01 -2.38350717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.204012739 meters Centerline goodness [0,1] 0.993970844727719 Centerline is valid? [True, True] Translation: X:262.49, Y:-18.43, Z:-2.38 [[ 9.89263307e-01 -1.46106556e-01 -3.31414640e-03 2.62492667e+02] [ 1.46105552e-01 9.89268857e-01 -5.44268505e-04 -1.84289620e+01] [ 3.35810302e-03 5.42096710e-05 9.99994360e-01 -2.38186280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23401273900004 meters Centerline goodness [0,1] 0.9936476023441845 Centerline is valid? [True, True] Translation: X:262.52, Y:-18.42, Z:-2.38 [[ 9.89430071e-01 -1.44986972e-01 -2.62931901e-03 2.62520674e+02] [ 1.44986336e-01 9.89433563e-01 -4.31897754e-04 -1.84199589e+01] [ 2.66415603e-03 4.61172946e-05 9.99996450e-01 -2.38100839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.264012739 meters Centerline goodness [0,1] 0.9937796588431448 Centerline is valid? [True, True] Translation: X:262.55, Y:-18.41, Z:-2.38 [[ 9.89380245e-01 -1.45331148e-01 -2.36402143e-03 2.62547856e+02] [ 1.45330634e-01 9.89383068e-01 -3.88625450e-04 -1.84127899e+01] [ 2.39540216e-03 4.09336087e-05 9.99997130e-01 -2.38077000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.294012739 meters Centerline goodness [0,1] 0.9935753292643752 Centerline is valid? [True, True] Translation: X:262.57, Y:-18.41, Z:-2.38 [[ 9.88982421e-01 -1.48012761e-01 -2.44807450e-03 2.62574845e+02] [ 1.48012217e-01 9.88985450e-01 -4.03080055e-04 -1.84076107e+01] [ 2.48077105e-03 3.62941556e-05 9.99996922e-01 -2.38098136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.324012739 meters Centerline goodness [0,1] 0.9935184392915205 Centerline is valid? [True, True] Translation: X:262.60, Y:-18.40, Z:-2.38 [[ 9.88677857e-01 -1.50036992e-01 -2.23503029e-03 2.62603440e+02] [ 1.50036544e-01 9.88680383e-01 -3.67976650e-04 -1.84029088e+01] [ 2.26494072e-03 2.84741459e-05 9.99997435e-01 -2.38018494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.354012739 meters Centerline goodness [0,1] 0.9939091084564737 Centerline is valid? [True, True] Translation: X:262.63, Y:-18.40, Z:-2.38 [[ 9.88380003e-01 -1.51991056e-01 -1.92044446e-03 2.62632060e+02] [ 1.51990728e-01 9.88381869e-01 -3.16412160e-04 -1.83984037e+01] [ 1.94622430e-03 2.08456991e-05 9.99998106e-01 -2.37961694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.384012739 meters Centerline goodness [0,1] 0.9941758382938632 Centerline is valid? [True, True] Translation: X:262.66, Y:-18.39, Z:-2.38 [[ 9.88151818e-01 -1.53458919e-01 -2.51895037e-03 2.62659555e+02] [ 1.53458358e-01 9.88155028e-01 -4.15631604e-04 -1.83895714e+01] [ 2.55289585e-03 2.41531382e-05 9.99996741e-01 -2.38081844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.414012739 meters Centerline goodness [0,1] 0.9940711036371084 Centerline is valid? [True, True] Translation: X:262.69, Y:-18.38, Z:-2.38 [[ 9.88146252e-01 -1.53476891e-01 -3.43921497e-03 2.62686597e+02] [ 1.53475843e-01 9.88152237e-01 -5.68270817e-04 -1.83829050e+01] [ 3.48568440e-03 3.36982615e-05 9.99993924e-01 -2.38217635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.444012739 meters Centerline goodness [0,1] 0.994271330613662 Centerline is valid? [True, True] Translation: X:262.71, Y:-18.37, Z:-2.39 [[ 9.87980771e-01 -1.54487332e-01 -5.25930416e-03 2.62713087e+02] [ 1.54484887e-01 9.87994768e-01 -8.70408013e-04 -1.83740874e+01] [ 5.33063200e-03 4.74633704e-05 9.99985791e-01 -2.38564202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.474012739 meters Centerline goodness [0,1] 0.9945877801204165 Centerline is valid? [True, True] Translation: X:262.74, Y:-18.37, Z:-2.39 [[ 9.87759076e-01 -1.55902013e-01 -5.15457552e-03 2.62741752e+02] [ 1.55899678e-01 9.87772525e-01 -8.54031927e-04 -1.83684467e+01] [ 5.22469337e-03 3.99811215e-05 9.99986350e-01 -2.38547614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.504012739 meters Centerline goodness [0,1] 0.9936272709597977 Centerline is valid? [True, True] Translation: X:262.77, Y:-18.37, Z:-2.38 [[ 9.87262349e-01 -1.59033360e-01 -4.63088195e-03 2.62769088e+02] [ 1.59031507e-01 9.87273209e-01 -7.67877955e-04 -1.83653874e+01] [ 4.69406389e-03 2.16408563e-05 9.99988983e-01 -2.38418774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.534012739 meters Centerline goodness [0,1] 0.9937326951557167 Centerline is valid? [True, True] Translation: X:262.80, Y:-18.36, Z:-2.38 [[ 9.87106927e-01 -1.59979435e-01 -5.14728179e-03 2.62795364e+02] [ 1.59977158e-01 9.87120347e-01 -8.53880884e-04 -1.83614886e+01] [ 5.21758997e-03 1.94242269e-05 9.99986388e-01 -2.38470128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.564012739 meters Centerline goodness [0,1] 0.9945341245028605 Centerline is valid? [True, True] Translation: X:262.82, Y:-18.35, Z:-2.39 [[ 9.87124770e-01 -1.59817602e-01 -6.55915471e-03 2.62822121e+02] [ 1.59813897e-01 9.87146561e-01 -1.08865521e-03 -1.83540725e+01] [ 6.64883328e-03 2.63944505e-05 9.99977896e-01 -2.38693711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.594012739 meters Centerline goodness [0,1] 0.9942185392175756 Centerline is valid? [True, True] Translation: X:262.85, Y:-18.35, Z:-2.39 [[ 9.87243700e-01 -1.59064608e-01 -6.95183086e-03 2.62850118e+02] [ 1.59060421e-01 9.87268175e-01 -1.15462300e-03 -1.83464800e+01] [ 7.04698102e-03 3.41331343e-05 9.99975169e-01 -2.38691574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.624012739 meters Centerline goodness [0,1] 0.9943895098882202 Centerline is valid? [True, True] Translation: X:262.88, Y:-18.34, Z:-2.39 [[ 9.87414287e-01 -1.57991050e-01 -7.20093543e-03 2.62877455e+02] [ 1.57986520e-01 9.87440543e-01 -1.19722615e-03 -1.83373509e+01] [ 7.29964661e-03 4.45074786e-05 9.99973356e-01 -2.38794614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.654012739 meters Centerline goodness [0,1] 0.9947545335816901 Centerline is valid? [True, True] Translation: X:262.91, Y:-18.33, Z:-2.39 [[ 9.87364418e-01 -1.58270812e-01 -7.86492799e-03 2.62905288e+02] [ 1.58265405e-01 9.87395740e-01 -1.30910271e-03 -1.83318710e+01] [ 7.97298914e-03 4.78154228e-05 9.99968214e-01 -2.38886919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.684012739 meters Centerline goodness [0,1] 0.9940935157542043 Centerline is valid? [True, True] Translation: X:262.93, Y:-18.33, Z:-2.39 [[ 9.87083079e-01 -1.60042252e-01 -7.31252369e-03 2.62933685e+02] [ 1.60037617e-01 9.87110164e-01 -1.21844167e-03 -1.83295148e+01] [ 7.41326861e-03 3.24242814e-05 9.99972521e-01 -2.38841812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.714012739 meters Centerline goodness [0,1] 0.9936894882434302 Centerline is valid? [True, True] Translation: X:262.96, Y:-18.33, Z:-2.39 [[ 9.86820211e-01 -1.61693867e-01 -6.40029191e-03 2.62961088e+02] [ 1.61690346e-01 9.86840967e-01 -1.06715466e-03 -1.83272253e+01] [ 6.48862261e-03 1.82243715e-05 9.99978949e-01 -2.38673822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.744012739 meters Centerline goodness [0,1] 0.992771448299672 Centerline is valid? [True, True] Translation: X:262.99, Y:-18.33, Z:-2.38 [[ 9.86299501e-01 -1.64867337e-01 -5.66174601e-03 2.62989511e+02] [ 1.64864631e-01 9.86315751e-01 -9.44616524e-04 -1.83283270e+01] [ 5.74000568e-03 -1.74686100e-06 9.99983526e-01 -2.38423625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.774012739 meters Centerline goodness [0,1] 0.9928983672681242 Centerline is valid? [True, True] Translation: X:263.02, Y:-18.33, Z:-2.39 [[ 9.86103183e-01 -1.65987699e-01 -6.97106361e-03 2.63016872e+02] [ 1.65983617e-01 9.86127823e-01 -1.16412483e-03 -1.83258436e+01] [ 7.06759019e-03 -9.13515059e-06 9.99975024e-01 -2.38610271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80401273900003 meters Centerline goodness [0,1] 0.9930853030072408 Centerline is valid? [True, True] Translation: X:263.05, Y:-18.32, Z:-2.39 [[ 9.85875014e-01 -1.67259497e-01 -8.64390581e-03 2.63045987e+02] [ 1.67253260e-01 9.85912907e-01 -1.44462182e-03 -1.83234816e+01] [ 8.76376503e-03 -2.15048665e-05 9.99961597e-01 -2.38900403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.834012739 meters Centerline goodness [0,1] 0.9932248149270532 Centerline is valid? [True, True] Translation: X:263.07, Y:-18.32, Z:-2.39 [[ 9.85787408e-01 -1.67809191e-01 -7.95376167e-03 2.63073240e+02] [ 1.67803920e-01 9.85819494e-01 -1.33022064e-03 -1.83205869e+01] [ 8.06419656e-03 -2.33576279e-05 9.99967484e-01 -2.38782007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86401273900003 meters Centerline goodness [0,1] 0.9921197285922873 Centerline is valid? [True, True] Translation: X:263.10, Y:-18.32, Z:-2.38 [[ 9.85613956e-01 -1.68921638e-01 -5.53256832e-03 2.63101192e+02] [ 1.68919102e-01 9.85629484e-01 -9.25886027e-04 -1.83178039e+01] [ 5.60946465e-03 -2.19902837e-05 9.99984267e-01 -2.38270591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.894012739 meters Centerline goodness [0,1] 0.9915999049860719 Centerline is valid? [True, True] Translation: X:263.13, Y:-18.31, Z:-2.38 [[ 9.85496196e-01 -1.69614182e-01 -5.31765914e-03 2.63128757e+02] [ 1.69611845e-01 9.85510542e-01 -8.90689889e-04 -1.83141238e+01] [ 5.39168278e-03 -2.41664836e-05 9.99985464e-01 -2.38220716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92401273900003 meters Centerline goodness [0,1] 0.9915764400173235 Centerline is valid? [True, True] Translation: X:263.16, Y:-18.31, Z:-2.38 [[ 9.85361487e-01 -1.70387361e-01 -5.55759002e-03 2.63157051e+02] [ 1.70384818e-01 9.85377159e-01 -9.31487291e-04 -1.83111209e+01] [ 5.63503593e-03 -2.90772595e-05 9.99984123e-01 -2.38306905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.954012739 meters Centerline goodness [0,1] 0.9916152096197595 Centerline is valid? [True, True] Translation: X:263.19, Y:-18.31, Z:-2.38 [[ 9.85032056e-01 -1.72281651e-01 -5.55708338e-03 2.63186446e+02] [ 1.72279132e-01 9.85047730e-01 -9.32428709e-04 -1.83117354e+01] [ 5.63463273e-03 -3.88973335e-05 9.99984125e-01 -2.38369065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98401273900004 meters Centerline goodness [0,1] 0.9913310187650429 Centerline is valid? [True, True] Translation: X:263.21, Y:-18.31, Z:-2.38 [[ 9.84733129e-01 -1.73994117e-01 -5.16846182e-03 2.63214617e+02] [ 1.73991958e-01 9.84746691e-01 -8.67884006e-04 -1.83110323e+01] [ 5.24063238e-03 -4.46366578e-05 9.99986267e-01 -2.38255842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.014012739 meters Centerline goodness [0,1] 0.9905189941144997 Centerline is valid? [True, True] Translation: X:263.24, Y:-18.31, Z:-2.38 [[ 9.83975208e-01 -1.78273418e-01 -3.37315364e-03 2.63242919e+02] [ 1.78272523e-01 9.83980989e-01 -5.66539572e-04 -1.83139188e+01] [ 3.42011800e-03 -4.38797176e-05 9.99994150e-01 -2.37875177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044012739 meters Centerline goodness [0,1] 0.9905189941144997 Centerline is valid? [True, True] Translation: X:263.27, Y:-18.31, Z:-2.38 [[ 9.83942730e-01 -1.78452587e-01 -3.37309918e-03 2.63269988e+02] [ 1.78451692e-01 9.83948511e-01 -5.66863634e-04 -1.83091765e+01] [ 3.42011420e-03 -4.41739071e-05 9.99994150e-01 -2.37865277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.074012739 meters Centerline goodness [0,1] 0.9901208891199792 Centerline is valid? [True, True] Translation: X:263.30, Y:-18.31, Z:-2.38 [[ 9.83471105e-01 -1.81043177e-01 -2.82019555e-03 2.63298760e+02] [ 1.81042561e-01 9.83475148e-01 -4.74381854e-04 -1.83084361e+01] [ 2.85947583e-03 -4.40345772e-05 9.99995911e-01 -2.37747788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104012739 meters Centerline goodness [0,1] 0.9897466698127373 Centerline is valid? [True, True] Translation: X:263.33, Y:-18.31, Z:-2.38 [[ 9.83192384e-01 -1.82546356e-01 -3.09259612e-03 2.63327537e+02] [ 1.82545621e-01 9.83197246e-01 -5.20763783e-04 -1.83060434e+01] [ 3.13569552e-03 -5.25288945e-05 9.99995082e-01 -2.37796982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.134012739 meters Centerline goodness [0,1] 0.9901725173804824 Centerline is valid? [True, True] Translation: X:263.36, Y:-18.31, Z:-2.38 [[ 9.82978716e-01 -1.83688811e-01 -3.35634117e-03 2.63356430e+02] [ 1.83687949e-01 9.82984444e-01 -5.65812493e-04 -1.83094847e+01] [ 3.40316459e-03 -6.03377894e-05 9.99994207e-01 -2.37900911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164012739 meters Centerline goodness [0,1] 0.9896896051292049 Centerline is valid? [True, True] Translation: X:263.39, Y:-18.31, Z:-2.38 [[ 9.82669640e-01 -1.85333833e-01 -3.42779201e-03 2.63385796e+02] [ 1.85332944e-01 9.82675616e-01 -5.78052857e-04 -1.83080871e+01] [ 3.47554038e-03 -6.72477923e-05 9.99993958e-01 -2.37528377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.194012739 meters Centerline goodness [0,1] 0.9902889574656337 Centerline is valid? [True, True] Translation: X:263.41, Y:-18.31, Z:-2.38 [[ 9.82520466e-01 -1.86115544e-01 -3.81291449e-03 2.63414237e+02] [ 1.86114447e-01 9.82527861e-01 -6.43701912e-04 -1.83083120e+01] [ 3.86609765e-03 -7.71881707e-05 9.99992524e-01 -2.37874209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224012739 meters Centerline goodness [0,1] 0.9899054433938155 Centerline is valid? [True, True] Translation: X:263.44, Y:-18.31, Z:-2.38 [[ 9.82396399e-01 -1.86755073e-01 -4.45627872e-03 2.63443035e+02] [ 1.86753580e-01 9.82406501e-01 -7.52626287e-04 -1.83112672e+01] [ 4.51843396e-03 -9.28486497e-05 9.99989788e-01 -2.37917538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.254012739 meters Centerline goodness [0,1] 0.990851680436005 Centerline is valid? [True, True] Translation: X:263.47, Y:-18.31, Z:-2.38 [[ 9.82359145e-01 -1.86966466e-01 -3.74853775e-03 2.63471296e+02] [ 1.86965410e-01 9.82366293e-01 -6.33314306e-04 -1.83085312e+01] [ 3.80084568e-03 -7.87047991e-05 9.99992774e-01 -2.37873564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284012739 meters Centerline goodness [0,1] 0.9906449173598358 Centerline is valid? [True, True] Translation: X:263.50, Y:-18.31, Z:-2.38 [[ 9.82454273e-01 -1.86457736e-01 -4.13686662e-03 2.63499431e+02] [ 1.86456442e-01 9.82462979e-01 -6.99753086e-04 -1.83091222e+01] [ 4.19479268e-03 -8.38700220e-05 9.99991198e-01 -2.37927515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.314012739 meters Centerline goodness [0,1] 0.9909898059848734 Centerline is valid? [True, True] Translation: X:263.53, Y:-18.30, Z:-2.38 [[ 9.83078044e-01 -1.83121896e-01 -4.89190848e-03 2.63527100e+02] [ 1.83120043e-01 9.83090212e-01 -8.27922529e-04 -1.83015025e+01] [ 4.96079809e-03 -8.18940310e-05 9.99987692e-01 -2.37957969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344012739 meters Centerline goodness [0,1] 0.9910916992799844 Centerline is valid? [True, True] Translation: X:263.55, Y:-18.30, Z:-2.38 [[ 9.83567279e-01 -1.80470505e-01 -5.07972044e-03 2.63554255e+02] [ 1.80468470e-01 9.83580394e-01 -8.60031447e-04 -1.82956492e+01] [ 5.15152375e-03 -7.08305836e-05 9.99986728e-01 -2.37944108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.374012739 meters Centerline goodness [0,1] 0.9913513282651405 Centerline is valid? [True, True] Translation: X:263.58, Y:-18.29, Z:-2.38 [[ 9.84116646e-01 -1.77445476e-01 -5.24692683e-03 2.63581289e+02] [ 1.77443258e-01 9.84130632e-01 -8.88827113e-04 -1.82890498e+01] [ 5.32137976e-03 -5.63222358e-05 9.99985840e-01 -2.37911809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404012739 meters Centerline goodness [0,1] 0.9917444442049447 Centerline is valid? [True, True] Translation: X:263.61, Y:-18.28, Z:-2.38 [[ 9.85084231e-01 -1.72017329e-01 -4.36982257e-03 2.63608839e+02] [ 1.72015736e-01 9.85093923e-01 -7.40650544e-04 -1.82788287e+01] [ 4.43209039e-03 -2.20750753e-05 9.99990178e-01 -2.37811787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.434012739 meters Centerline goodness [0,1] 0.9924041345676614 Centerline is valid? [True, True] Translation: X:263.64, Y:-18.27, Z:-2.38 [[ 9.85429480e-01 -1.70040024e-01 -3.88971475e-03 2.63635974e+02] [ 1.70038744e-01 9.85437157e-01 -6.59834217e-04 -1.82729837e+01] [ 3.94526767e-03 -1.11821222e-05 9.99992217e-01 -2.37790250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464012739 meters Centerline goodness [0,1] 0.9926776003083115 Centerline is valid? [True, True] Translation: X:263.66, Y:-18.27, Z:-2.38 [[ 9.85704475e-01 -1.68423204e-01 -4.50693374e-03 2.63662538e+02] [ 1.68421467e-01 9.85714778e-01 -7.64865764e-04 -1.82697848e+01] [ 4.57137234e-03 -5.13278535e-06 9.99989551e-01 -2.37890483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.494012739 meters Centerline goodness [0,1] 0.9920967982446797 Centerline is valid? [True, True] Translation: X:263.69, Y:-18.27, Z:-2.38 [[ 9.85604822e-01 -1.68998618e-01 -4.75422716e-03 2.63690938e+02] [ 1.68996689e-01 9.85616288e-01 -8.07370864e-04 -1.82670066e+01] [ 4.82228828e-03 -7.70003249e-06 9.99988373e-01 -2.37929230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524012739 meters Centerline goodness [0,1] 0.991857408475989 Centerline is valid? [True, True] Translation: X:263.72, Y:-18.27, Z:-2.38 [[ 9.85386838e-01 -1.70265921e-01 -4.72186969e-03 2.63718901e+02] [ 1.70264029e-01 9.85398151e-01 -8.02754824e-04 -1.82650713e+01] [ 4.78960345e-03 -1.29405178e-05 9.99988530e-01 -2.37859358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55401273900003 meters Centerline goodness [0,1] 0.9916461390168149 Centerline is valid? [True, True] Translation: X:263.75, Y:-18.27, Z:-2.38 [[ 9.84893582e-01 -1.73110344e-01 -4.17620315e-03 2.63748744e+02] [ 1.73108887e-01 9.84902436e-01 -7.10694178e-04 -1.82680826e+01] [ 4.23618117e-03 -2.29797456e-05 9.99991027e-01 -2.37847965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584012739 meters Centerline goodness [0,1] 0.9911059300995186 Centerline is valid? [True, True] Translation: X:263.78, Y:-18.27, Z:-2.38 [[ 9.84660599e-01 -1.74447870e-01 -3.38307040e-03 2.63778177e+02] [ 1.74446920e-01 9.84666411e-01 -5.76180514e-04 -1.82666977e+01] [ 3.43170925e-03 -2.28239602e-05 9.99994111e-01 -2.37716405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61401273900003 meters Centerline goodness [0,1] 0.9906945613921454 Centerline is valid? [True, True] Translation: X:263.81, Y:-18.27, Z:-2.37 [[ 9.84443303e-01 -1.75689676e-01 -2.12642719e-03 2.63807120e+02] [ 1.75689304e-01 9.84445599e-01 -3.62297381e-04 -1.82666181e+01] [ 2.15700380e-03 -1.69292822e-05 9.99997674e-01 -2.37432843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.644012739 meters Centerline goodness [0,1] 0.9906173366030494 Centerline is valid? [True, True] Translation: X:263.83, Y:-18.26, Z:-2.37 [[ 9.84415169e-01 -1.75844267e-01 -2.36001087e-03 2.63834463e+02] [ 1.75843807e-01 9.84417997e-01 -4.02604861e-04 -1.82637154e+01] [ 2.39403293e-03 -1.86629640e-05 9.99997134e-01 -2.37399988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67401273900003 meters Centerline goodness [0,1] 0.9914482285616306 Centerline is valid? [True, True] Translation: X:263.86, Y:-18.26, Z:-2.38 [[ 9.84650031e-01 -1.74507499e-01 -3.38355075e-03 2.63862470e+02] [ 1.74506543e-01 9.84655845e-01 -5.77857487e-04 -1.82561606e+01] [ 3.43247349e-03 -2.14643534e-05 9.99994109e-01 -2.37577816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.704012739 meters Centerline goodness [0,1] 0.990959349593496 Centerline is valid? [True, True] Translation: X:263.89, Y:-18.25, Z:-2.38 [[ 9.84795001e-01 -1.73676873e-01 -3.89237293e-03 2.63889905e+02] [ 1.73675599e-01 9.84802693e-01 -6.65502188e-04 -1.82508291e+01] [ 3.94880169e-03 -2.06269751e-05 9.99992203e-01 -2.37662222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73401273900004 meters Centerline goodness [0,1] 0.9912359072537757 Centerline is valid? [True, True] Translation: X:263.92, Y:-18.25, Z:-2.38 [[ 9.84890446e-01 -1.73116301e-01 -4.64285742e-03 2.63917015e+02] [ 1.73114478e-01 9.84901389e-01 -7.94732320e-04 -1.82490638e+01] [ 4.71033784e-03 -2.10215701e-05 9.99988906e-01 -2.37820211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.764012739 meters Centerline goodness [0,1] 0.9919551022150143 Centerline is valid? [True, True] Translation: X:263.94, Y:-18.25, Z:-2.38 [[ 9.84832027e-01 -1.73428688e-01 -5.32627590e-03 2.63943720e+02] [ 1.73426291e-01 9.84846429e-01 -9.12206656e-04 -1.82462530e+01] [ 5.40376660e-03 -2.53459439e-05 9.99985399e-01 -2.37889006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.794012739 meters Centerline goodness [0,1] 0.9918666211254377 Centerline is valid? [True, True] Translation: X:263.97, Y:-18.24, Z:-2.38 [[ 9.84572285e-01 -1.74874777e-01 -6.01904428e-03 2.63971928e+02] [ 1.74871738e-01 9.84590682e-01 -1.03159392e-03 -1.82429116e+01] [ 6.10669467e-03 -3.68819559e-05 9.99981353e-01 -2.38006345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.824012739 meters Centerline goodness [0,1] 0.9914238170414302 Centerline is valid? [True, True] Translation: X:264.00, Y:-18.24, Z:-2.38 [[ 9.84456851e-01 -1.75535080e-01 -5.66965186e-03 2.63999274e+02] [ 1.75532389e-01 9.84473176e-01 -9.72660177e-04 -1.82391448e+01] [ 5.75235615e-03 -3.76655609e-05 9.99983454e-01 -2.37973986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.854012739 meters Centerline goodness [0,1] 0.9911333260893187 Centerline is valid? [True, True] Translation: X:264.03, Y:-18.24, Z:-2.38 [[ 9.84280266e-01 -1.76559883e-01 -4.35488115e-03 2.64027621e+02] [ 1.76558303e-01 9.84289900e-01 -7.47770514e-04 -1.82375685e+01] [ 4.41849181e-03 -3.28746648e-05 9.99990238e-01 -2.37756017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.884012739 meters Centerline goodness [0,1] 0.9910199821704246 Centerline is valid? [True, True] Translation: X:264.06, Y:-18.23, Z:-2.38 [[ 9.84213745e-01 -1.76929703e-01 -4.38004887e-03 2.64055468e+02] [ 1.76928104e-01 9.84223490e-01 -7.52932691e-04 -1.82330534e+01] [ 4.44416314e-03 -3.39070376e-05 9.99990124e-01 -2.37711011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.914012739 meters Centerline goodness [0,1] 0.9914285714285714 Centerline is valid? [True, True] Translation: X:264.08, Y:-18.22, Z:-2.38 [[ 9.84488829e-01 -1.75363866e-01 -5.40924394e-03 2.64082022e+02] [ 1.75361399e-01 9.84503689e-01 -9.30808069e-04 -1.82248451e+01] [ 5.48865072e-03 -3.22024381e-05 9.99984937e-01 -2.37800502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.944012739 meters Centerline goodness [0,1] 0.9919439956919763 Centerline is valid? [True, True] Translation: X:264.11, Y:-18.22, Z:-2.38 [[ 9.84718451e-01 -1.74063171e-01 -5.62000230e-03 2.64109503e+02] [ 1.74060483e-01 9.84734488e-01 -9.67690015e-04 -1.82173139e+01] [ 5.70264928e-03 -2.53180992e-05 9.99983739e-01 -2.37839889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.974012739 meters Centerline goodness [0,1] 0.9888876947877485 Centerline is valid? [True, True] Translation: X:264.14, Y:-18.21, Z:-2.37 [[ 9.85291484e-01 -1.70819139e-01 -4.63829327e-03 2.64137451e+02] [ 1.70817269e-01 9.85302401e-01 -7.99396893e-04 -1.82076732e+01] [ 4.70667379e-03 -4.66163716e-06 9.99988924e-01 -2.36606357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.004012739 meters Centerline goodness [0,1] 0.9914890880246967 Centerline is valid? [True, True] Translation: X:264.16, Y:-18.20, Z:-2.37 [[ 9.85568686e-01 -1.69251134e-01 -2.90154806e-03 2.64163782e+02] [ 1.69250394e-01 9.85572957e-01 -5.00398178e-04 -1.82007851e+01] [ 2.94438026e-03 2.08862335e-06 9.99995665e-01 -2.37317654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.034012739 meters Centerline goodness [0,1] 0.9911015583019882 Centerline is valid? [True, True] Translation: X:264.19, Y:-18.19, Z:-2.37 [[ 9.85728258e-01 -1.68332681e-01 -1.97711521e-03 2.64191407e+02] [ 1.68332335e-01 9.85730241e-01 -3.41084079e-04 -1.81947913e+01] [ 2.00631785e-03 3.40379434e-06 9.99997987e-01 -2.37180270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.064012739 meters Centerline goodness [0,1] 0.9906897738023566 Centerline is valid? [True, True] Translation: X:264.22, Y:-18.19, Z:-2.37 [[ 9.85753708e-01 -1.68194949e-01 -2.94966448e-04 2.64218642e+02] [ 1.68194941e-01 9.85753752e-01 -5.02739139e-05 -1.81903321e+01] [ 2.99220101e-04 -5.41673506e-08 9.99999955e-01 -2.36953619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.094012739 meters Centerline goodness [0,1] 0.9915625265663521 Centerline is valid? [True, True] Translation: X:264.25, Y:-18.19, Z:-2.37 [[ 9.85801486e-01 -1.67910449e-01 -1.22896574e-03 2.64245128e+02] [ 1.67910315e-01 9.85802252e-01 -2.12191162e-04 -1.81851156e+01] [ 1.24714631e-03 2.82233813e-06 9.99999222e-01 -2.37101225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.124012739 meters Centerline goodness [0,1] 0.99216879166397 Centerline is valid? [True, True] Translation: X:264.27, Y:-18.18, Z:-2.38 [[ 9.86195349e-01 -1.65542358e-01 -3.80269948e-03 2.64272306e+02] [ 1.65541053e-01 9.86202681e-01 -6.57525011e-04 -1.81776395e+01] [ 3.85908066e-03 1.89452330e-05 9.99992554e-01 -2.37552533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.154012739 meters Centerline goodness [0,1] 0.9921014430876953 Centerline is valid? [True, True] Translation: X:264.30, Y:-18.17, Z:-2.38 [[ 9.86647072e-01 -1.62806955e-01 -4.63158965e-03 2.64300295e+02] [ 1.62804987e-01 9.86657942e-01 -8.01289469e-04 -1.81677944e+01] [ 4.70025021e-03 3.65440148e-05 9.99988953e-01 -2.37654991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.184012739 meters Centerline goodness [0,1] 0.9920109415365912 Centerline is valid? [True, True] Translation: X:264.33, Y:-18.15, Z:-2.38 [[ 9.87953968e-01 -1.54685684e-01 -4.39276671e-03 2.64327122e+02] [ 1.54683831e-01 9.87963731e-01 -7.60558966e-04 -1.81492753e+01] [ 4.45754177e-03 7.19072638e-05 9.99990063e-01 -2.37566218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.214012739 meters Centerline goodness [0,1] 0.9914053625393832 Centerline is valid? [True, True] Translation: X:264.35, Y:-18.14, Z:-2.38 [[ 9.88419816e-01 -1.51677025e-01 -4.51077022e-03 2.64353083e+02] [ 1.51675039e-01 9.88430105e-01 -7.81141224e-04 -1.81354181e+01] [ 4.57706226e-03 8.79242160e-05 9.99989521e-01 -2.37619898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.244012739 meters Centerline goodness [0,1] 0.9910095320623917 Centerline is valid? [True, True] Translation: X:264.38, Y:-18.13, Z:-2.38 [[ 9.88703297e-01 -1.49801248e-01 -5.03752264e-03 2.64380563e+02] [ 1.49798744e-01 9.88716124e-01 -8.72856337e-04 -1.81256254e+01] [ 5.11143483e-03 1.08381376e-04 9.99986931e-01 -2.37756980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.274012739 meters Centerline goodness [0,1] 0.9908288408256191 Centerline is valid? [True, True] Translation: X:264.41, Y:-18.12, Z:-2.38 [[ 9.88805197e-01 -1.49122445e-01 -5.17489059e-03 2.64406801e+02] [ 1.49119790e-01 9.88818731e-01 -8.97368277e-04 -1.81157431e+01] [ 5.25084650e-03 1.15643816e-04 9.99986208e-01 -2.37798526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30401273900003 meters Centerline goodness [0,1] 0.9911193854186728 Centerline is valid? [True, True] Translation: X:264.43, Y:-18.11, Z:-2.38 [[ 9.88494504e-01 -1.51209145e-01 -3.79595041e-03 2.64433994e+02] [ 1.51207731e-01 9.88501790e-01 -6.58425123e-04 -1.81101140e+01] [ 3.85186368e-03 7.68725651e-05 9.99992579e-01 -2.37565150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.334012739 meters Centerline goodness [0,1] 0.9910091625002683 Centerline is valid? [True, True] Translation: X:264.46, Y:-18.11, Z:-2.38 [[ 9.88254312e-01 -1.52774372e-01 -3.66130237e-03 2.64463288e+02] [ 1.52773066e-01 9.88261092e-01 -6.35382480e-04 -1.81093623e+01] [ 3.71539284e-03 6.85710856e-05 9.99993096e-01 -2.37534744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36401273900003 meters Centerline goodness [0,1] 0.9910197049639281 Centerline is valid? [True, True] Translation: X:264.49, Y:-18.11, Z:-2.38 [[ 9.87999305e-01 -1.54410563e-01 -3.84074747e-03 2.64491960e+02] [ 1.54409135e-01 9.88006768e-01 -6.67210149e-04 -1.81071509e+01] [ 3.89770879e-03 6.61566676e-05 9.99992402e-01 -2.37558247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.394012739 meters Centerline goodness [0,1] 0.9916520398989683 Centerline is valid? [True, True] Translation: X:264.52, Y:-18.11, Z:-2.38 [[ 9.87386400e-01 -1.58256855e-01 -4.78163888e-03 2.64520125e+02] [ 1.58254684e-01 9.87397976e-01 -8.31513610e-04 -1.81051374e+01] [ 4.85297328e-03 6.43084818e-05 9.99988222e-01 -2.37773204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42401273900003 meters Centerline goodness [0,1] 0.9922360914511217 Centerline is valid? [True, True] Translation: X:264.55, Y:-18.10, Z:-2.38 [[ 9.86896285e-01 -1.61305308e-01 -4.03980765e-03 2.64548903e+02] [ 1.61303783e-01 9.86904553e-01 -7.02782053e-04 -1.81035901e+01] [ 4.10026704e-03 4.19367410e-05 9.99991593e-01 -2.37635155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.454012739 meters Centerline goodness [0,1] 0.9917452327119151 Centerline is valid? [True, True] Translation: X:264.58, Y:-18.11, Z:-2.37 [[ 9.85795793e-01 -1.67933587e-01 -2.22816323e-03 2.64578906e+02] [ 1.67933140e-01 9.85798311e-01 -3.87730531e-04 -1.81092077e+01] [ 2.26163253e-03 8.04067908e-06 9.99997442e-01 -2.37281015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48401273900004 meters Centerline goodness [0,1] 0.9916273078574496 Centerline is valid? [True, True] Translation: X:264.61, Y:-18.11, Z:-2.37 [[ 9.85274046e-01 -1.70972042e-01 -1.90124575e-03 2.64607820e+02] [ 1.70971722e-01 9.85275881e-01 -3.31033995e-04 -1.81108281e+01] [ 1.92984914e-03 1.09994421e-06 9.99998138e-01 -2.37245245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.514012739 meters Centerline goodness [0,1] 0.9904522828698936 Centerline is valid? [True, True] Translation: X:264.64, Y:-18.11, Z:-2.37 [[ 9.84767276e-01 -1.73865431e-01 -2.05538165e-03 2.64635710e+02] [ 1.73865062e-01 9.84769421e-01 -3.58423987e-04 -1.81118361e+01] [ 2.08639454e-03 -4.39484497e-06 9.99997823e-01 -2.37249244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544012739 meters Centerline goodness [0,1] 0.9907762596439809 Centerline is valid? [True, True] Translation: X:264.66, Y:-18.11, Z:-2.37 [[ 9.84138733e-01 -1.77375806e-01 -2.96257042e-03 2.64664846e+02] [ 1.77375053e-01 9.84143192e-01 -5.17205658e-04 -1.81130873e+01] [ 3.00733328e-03 -1.64839647e-05 9.99995478e-01 -2.37397002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.574012739 meters Centerline goodness [0,1] 0.9904892189433913 Centerline is valid? [True, True] Translation: X:264.69, Y:-18.11, Z:-2.38 [[ 9.83835058e-01 -1.79034680e-01 -3.89375352e-03 2.64694368e+02] [ 1.79033389e-01 9.83842763e-01 -6.80622520e-04 -1.81129328e+01] [ 3.95269626e-03 -2.74915912e-05 9.99992188e-01 -2.37618067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604012739 meters Centerline goodness [0,1] 0.9913075284549347 Centerline is valid? [True, True] Translation: X:264.72, Y:-18.11, Z:-2.38 [[ 9.83712456e-01 -1.79689934e-01 -4.61858095e-03 2.64722229e+02] [ 1.79688119e-01 9.83723298e-01 -8.08278048e-04 -1.81113414e+01] [ 4.68864511e-03 -3.47909390e-05 9.99989008e-01 -2.37699901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.634012739 meters Centerline goodness [0,1] 0.9913537917669357 Centerline is valid? [True, True] Translation: X:264.75, Y:-18.11, Z:-2.38 [[ 9.83656303e-01 -1.79982500e-01 -5.15530710e-03 2.64749874e+02] [ 1.79980239e-01 9.83669811e-01 -9.03101645e-04 -1.81102891e+01] [ 5.23366246e-03 -3.95117779e-05 9.99986304e-01 -2.37785153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664012739 meters Centerline goodness [0,1] 0.9912926276154208 Centerline is valid? [True, True] Translation: X:264.78, Y:-18.11, Z:-2.38 [[ 9.83913304e-01 -1.78532587e-01 -6.38161182e-03 2.64777366e+02] [ 1.78529088e-01 9.83933999e-01 -1.11836459e-03 -1.81053981e+01] [ 6.47874936e-03 -3.89295431e-05 9.99979012e-01 -2.37991427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.694012739 meters Centerline goodness [0,1] 0.9919794188861986 Centerline is valid? [True, True] Translation: X:264.81, Y:-18.10, Z:-2.38 [[ 9.84246045e-01 -1.76694162e-01 -6.23673239e-03 2.64805174e+02] [ 1.76690780e-01 9.84265804e-01 -1.09364434e-03 -1.80961159e+01] [ 6.33184299e-03 -2.55579922e-05 9.99979953e-01 -2.37937667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724012739 meters Centerline goodness [0,1] 0.9914462457337884 Centerline is valid? [True, True] Translation: X:264.83, Y:-18.08, Z:-2.38 [[ 9.84928818e-01 -1.72905109e-01 -4.36428328e-03 2.64831087e+02] [ 1.72903413e-01 9.84938487e-01 -7.65779595e-04 -1.80842921e+01] [ 4.43095777e-03 -3.61083022e-07 9.99990183e-01 -2.37501750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.754012739 meters Centerline goodness [0,1] 0.991914269696839 Centerline is valid? [True, True] Translation: X:264.86, Y:-18.08, Z:-2.37 [[ 9.85215981e-01 -1.71266199e-01 -4.16642544e-03 2.64857875e+02] [ 1.71264637e-01 9.85224791e-01 -7.31390622e-04 -1.80761990e+01] [ 4.23012813e-03 7.01638810e-06 9.99991053e-01 -2.37413764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784012739 meters Centerline goodness [0,1] 0.9917076628928656 Centerline is valid? [True, True] Translation: X:264.89, Y:-18.07, Z:-2.37 [[ 9.85535660e-01 -1.69409904e-01 -4.44372991e-03 2.64885406e+02] [ 1.69408105e-01 9.85545678e-01 -7.80960582e-04 -1.80663958e+01] [ 4.51180127e-03 1.68606384e-05 9.99989822e-01 -2.37483991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.814012739 meters Centerline goodness [0,1] 0.9933336191374432 Centerline is valid? [True, True] Translation: X:264.91, Y:-18.06, Z:-2.38 [[ 9.85584186e-01 -1.69123969e-01 -4.57119740e-03 2.64912705e+02] [ 1.69122058e-01 9.85594786e-01 -8.04185115e-04 -1.80598994e+01] [ 4.64135530e-03 1.95018185e-05 9.99989229e-01 -2.37582419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844012739 meters Centerline goodness [0,1] 0.9928658916561016 Centerline is valid? [True, True] Translation: X:264.94, Y:-18.06, Z:-2.38 [[ 9.85497390e-01 -1.69613425e-01 -5.11668113e-03 2.64940036e+02] [ 1.69611031e-01 9.85510673e-01 -9.01224666e-04 -1.80551321e+01] [ 5.19540366e-03 2.03089916e-05 9.99986504e-01 -2.37717336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.874012739 meters Centerline goodness [0,1] 0.9927177209242728 Centerline is valid? [True, True] Translation: X:264.97, Y:-18.05, Z:-2.38 [[ 9.85478150e-01 -1.69729670e-01 -4.96540896e-03 2.64966750e+02] [ 1.69727414e-01 9.85490659e-01 -8.75363717e-04 -1.80498002e+01] [ 5.04193934e-03 1.98857950e-05 9.99987289e-01 -2.37707141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904012739 meters Centerline goodness [0,1] 0.9925868792046965 Centerline is valid? [True, True] Translation: X:264.99, Y:-18.04, Z:-2.38 [[ 9.85549221e-01 -1.69329797e-01 -4.48918717e-03 2.64994353e+02] [ 1.69327947e-01 9.85559445e-01 -7.91858393e-04 -1.80427093e+01] [ 4.55844604e-03 2.02705762e-05 9.99989610e-01 -2.37547882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.934012739 meters Centerline goodness [0,1] 0.9926507036789586 Centerline is valid? [True, True] Translation: X:265.02, Y:-18.03, Z:-2.37 [[ 9.85804532e-01 -1.67843796e-01 -4.22914754e-03 2.65021066e+02] [ 1.67842137e-01 9.85813603e-01 -7.46740619e-04 -1.80309208e+01] [ 4.29448695e-03 2.63111276e-05 9.99990778e-01 -2.37365967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964012739 meters Centerline goodness [0,1] 0.9926507036789586 Centerline is valid? [True, True] Translation: X:265.05, Y:-18.03, Z:-2.37 [[ 9.85773421e-01 -1.68026417e-01 -4.22902368e-03 2.65048096e+02] [ 1.68024757e-01 9.85782492e-01 -7.47441468e-04 -1.80259420e+01] [ 4.29448741e-03 2.62272595e-05 9.99990778e-01 -2.37356067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.994012739 meters Centerline goodness [0,1] 0.9926117868768203 Centerline is valid? [True, True] Translation: X:265.08, Y:-18.02, Z:-2.38 [[ 9.85862564e-01 -1.67486515e-01 -4.82420481e-03 2.65075633e+02] [ 1.67484344e-01 9.85874366e-01 -8.53619760e-04 -1.80178738e+01] [ 4.89902966e-03 3.35729887e-05 9.99987999e-01 -2.37549349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024012739 meters Centerline goodness [0,1] 0.9923931495369276 Centerline is valid? [True, True] Translation: X:265.10, Y:-18.01, Z:-2.38 [[ 9.86306031e-01 -1.64795808e-01 -6.53874698e-03 2.65102158e+02] [ 1.64791752e-01 9.86327703e-01 -1.15797565e-03 -1.80058892e+01] [ 6.64017682e-03 6.45867969e-05 9.99977952e-01 -2.37869827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05401273900003 meters Centerline goodness [0,1] 0.9916347008213597 Centerline is valid? [True, True] Translation: X:265.13, Y:-18.00, Z:-2.38 [[ 9.86636410e-01 -1.62814482e-01 -6.32760583e-03 2.65129121e+02] [ 1.62810641e-01 9.86656697e-01 -1.12094937e-03 -1.79960906e+01] [ 6.42568147e-03 7.57679036e-05 9.99979352e-01 -2.37799472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084012739 meters Centerline goodness [0,1] 0.9912567605121957 Centerline is valid? [True, True] Translation: X:265.16, Y:-17.98, Z:-2.37 [[ 9.87386251e-01 -1.58250592e-01 -5.01406637e-03 2.65155646e+02] [ 1.58248120e-01 9.87398979e-01 -8.88469325e-04 -1.79801075e+01] [ 5.09148481e-03 8.37958184e-05 9.99987035e-01 -2.37490365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11401273900003 meters Centerline goodness [0,1] 0.9904238151860031 Centerline is valid? [True, True] Translation: X:265.18, Y:-17.97, Z:-2.37 [[ 9.87711413e-01 -1.56225944e-01 -4.42935850e-03 2.65181797e+02] [ 1.56223994e-01 9.87721341e-01 -7.85022295e-04 -1.79702632e+01] [ 4.49761277e-03 8.34034039e-05 9.99989882e-01 -2.37343482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.144012739 meters Centerline goodness [0,1] 0.9896016807079345 Centerline is valid? [True, True] Translation: X:265.21, Y:-17.96, Z:-2.37 [[ 9.88208905e-01 -1.53051526e-01 -4.28829663e-03 2.65209625e+02] [ 1.53049668e-01 9.88218205e-01 -7.60236803e-04 -1.79563799e+01] [ 4.35412821e-03 9.49504043e-05 9.99990516e-01 -2.37301189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17401273900003 meters Centerline goodness [0,1] 0.9895280109645366 Centerline is valid? [True, True] Translation: X:265.24, Y:-17.95, Z:-2.37 [[ 9.88249361e-01 -1.52785984e-01 -4.43204517e-03 2.65237750e+02] [ 1.52783995e-01 9.88259295e-01 -7.85946717e-04 -1.79476051e+01] [ 4.50009148e-03 9.95657758e-05 9.99989870e-01 -2.37370391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.204012739 meters Centerline goodness [0,1] 0.9897651759577787 Centerline is valid? [True, True] Translation: X:265.26, Y:-17.94, Z:-2.37 [[ 9.88191485e-01 -1.53169708e-01 -4.07797470e-03 2.65264994e+02] [ 1.53168025e-01 9.88199895e-01 -7.23778615e-04 -1.79401046e+01] [ 4.14071513e-03 9.06165347e-05 9.99991423e-01 -2.37366927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.234012739 meters Centerline goodness [0,1] 0.9901880796976984 Centerline is valid? [True, True] Translation: X:265.29, Y:-17.93, Z:-2.37 [[ 9.87977616e-01 -1.54555441e-01 -3.58408823e-03 2.65291527e+02] [ 1.54554148e-01 9.87984114e-01 -6.36694806e-04 -1.79322359e+01] [ 3.63942689e-03 7.51045145e-05 9.99993374e-01 -2.37286152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.264012739 meters Centerline goodness [0,1] 0.9908727288200502 Centerline is valid? [True, True] Translation: X:265.32, Y:-17.93, Z:-2.37 [[ 9.87543712e-01 -1.57322480e-01 -2.65580410e-03 2.65318815e+02] [ 1.57321779e-01 9.87547282e-01 -4.71889380e-04 -1.79284005e+01] [ 2.69697093e-03 4.81955642e-05 9.99996362e-01 -2.37072207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.294012739 meters Centerline goodness [0,1] 0.9911023232822541 Centerline is valid? [True, True] Translation: X:265.35, Y:-17.92, Z:-2.37 [[ 9.87224228e-01 -1.59330699e-01 -1.43236937e-03 2.65347673e+02] [ 1.59330498e-01 9.87225267e-01 -2.54282346e-04 -1.79247504e+01] [ 1.45458622e-03 2.28135672e-05 9.99998942e-01 -2.36823631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.324012739 meters Centerline goodness [0,1] 0.9914427775762361 Centerline is valid? [True, True] Translation: X:265.38, Y:-17.92, Z:-2.37 [[ 9.86877799e-01 -1.61465478e-01 -1.05283333e-03 2.65375371e+02] [ 1.61465370e-01 9.86878361e-01 -1.87174932e-04 -1.79213119e+01] [ 1.06924072e-03 1.47226609e-05 9.99999428e-01 -2.36704006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.354012739 meters Centerline goodness [0,1] 0.9922319263535118 Centerline is valid? [True, True] Translation: X:265.40, Y:-17.92, Z:-2.37 [[ 9.86308593e-01 -1.64890770e-01 -2.52858680e-03 2.65403586e+02] [ 1.64890158e-01 9.86311834e-01 -4.49955928e-04 -1.79190907e+01] [ 2.56816866e-03 2.68563217e-05 9.99996702e-01 -2.37119190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.384012739 meters Centerline goodness [0,1] 0.993219182463697 Centerline is valid? [True, True] Translation: X:265.43, Y:-17.92, Z:-2.38 [[ 9.85989279e-01 -1.66754010e-01 -4.27103338e-03 2.65432682e+02] [ 1.66752280e-01 9.85998529e-01 -7.60464412e-04 -1.79161887e+01] [ 4.33804312e-03 3.76052034e-05 9.99990590e-01 -2.37526348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.414012739 meters Centerline goodness [0,1] 0.993404603845159 Centerline is valid? [True, True] Translation: X:265.46, Y:-17.92, Z:-2.38 [[ 9.85322323e-01 -1.70624196e-01 -5.22538873e-03 2.65461163e+02] [ 1.70621657e-01 9.85336178e-01 -9.31152631e-04 -1.79194612e+01] [ 5.30764173e-03 2.59209916e-05 9.99985914e-01 -2.37709487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.444012739 meters Centerline goodness [0,1] 0.9935534995288272 Centerline is valid? [True, True] Translation: X:265.49, Y:-17.92, Z:-2.38 [[ 9.84916447e-01 -1.72953609e-01 -5.16159379e-03 2.65489553e+02] [ 1.72951162e-01 9.84929972e-01 -9.20066129e-04 -1.79198833e+01] [ 5.24293718e-03 1.34846193e-05 9.99986256e-01 -2.37612673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.474012739 meters Centerline goodness [0,1] 0.9919436924742826 Centerline is valid? [True, True] Translation: X:265.52, Y:-17.93, Z:-2.37 [[ 9.84015149e-01 -1.78035821e-01 -4.17534447e-03 2.65519288e+02] [ 1.78034264e-01 9.84024007e-01 -7.44543417e-04 -1.79261366e+01] [ 4.24119460e-03 -1.07123798e-05 9.99991006e-01 -2.37390020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.504012739 meters Centerline goodness [0,1] 0.991527246139951 Centerline is valid? [True, True] Translation: X:265.55, Y:-17.93, Z:-2.37 [[ 9.83538494e-01 -1.80650824e-01 -4.16053947e-03 2.65548087e+02] [ 1.80649299e-01 9.83547294e-01 -7.42623288e-04 -1.79276545e+01] [ 4.22624285e-03 -2.11999500e-05 9.99991069e-01 -2.37480318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.534012739 meters Centerline goodness [0,1] 0.9916789663950031 Centerline is valid? [True, True] Translation: X:265.58, Y:-17.93, Z:-2.38 [[ 9.83134100e-01 -1.82826628e-01 -4.66527531e-03 2.65576975e+02] [ 1.82824733e-01 9.83145169e-01 -8.33121623e-04 -1.79275857e+01] [ 4.73895970e-03 -3.38574332e-05 9.99988770e-01 -2.37580547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.564012739 meters Centerline goodness [0,1] 0.9919148478658208 Centerline is valid? [True, True] Translation: X:265.61, Y:-17.93, Z:-2.38 [[ 9.82769442e-01 -1.84749193e-01 -5.65320917e-03 2.65606025e+02] [ 1.84746438e-01 9.82785700e-01 -1.01030592e-03 -1.79297666e+01] [ 5.74254634e-03 -5.15124720e-05 9.99983510e-01 -2.37800761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.594012739 meters Centerline goodness [0,1] 0.9923095150901532 Centerline is valid? [True, True] Translation: X:265.63, Y:-17.93, Z:-2.38 [[ 9.82737144e-01 -1.84920063e-01 -5.68121299e-03 2.65633810e+02] [ 1.84917280e-01 9.82753564e-01 -1.01586652e-03 -1.79278907e+01] [ 5.77108642e-03 -5.22246864e-05 9.99983346e-01 -2.37762269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.624012739 meters Centerline goodness [0,1] 0.9921236054465807 Centerline is valid? [True, True] Translation: X:265.66, Y:-17.93, Z:-2.37 [[ 9.82701438e-01 -1.85141123e-01 -4.54406156e-03 2.65661947e+02] [ 1.85139342e-01 9.82711943e-01 -8.13186520e-04 -1.79283478e+01] [ 4.61605783e-03 -4.21650053e-05 9.99989345e-01 -2.37475153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.654012739 meters Centerline goodness [0,1] 0.9917699941369351 Centerline is valid? [True, True] Translation: X:265.69, Y:-17.92, Z:-2.37 [[ 9.82765561e-01 -1.84807499e-01 -4.24748860e-03 2.65689262e+02] [ 1.84805937e-01 9.82774739e-01 -7.60799617e-04 -1.79243115e+01] [ 4.31492598e-03 -3.72734486e-05 9.99990690e-01 -2.37402170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.684012739 meters Centerline goodness [0,1] 0.9918015377426618 Centerline is valid? [True, True] Translation: X:265.72, Y:-17.92, Z:-2.37 [[ 9.82987574e-01 -1.83628679e-01 -3.99228126e-03 2.65717557e+02] [ 1.83627287e-01 9.82995680e-01 -7.15723503e-04 -1.79214062e+01] [ 4.05582260e-03 -2.95444658e-05 9.99991775e-01 -2.37338163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.714012739 meters Centerline goodness [0,1] 0.9915650558414657 Centerline is valid? [True, True] Translation: X:265.75, Y:-17.92, Z:-2.37 [[ 9.83078152e-01 -1.83152210e-01 -3.55179560e-03 2.65745132e+02] [ 1.83151103e-01 9.83084568e-01 -6.37226591e-04 -1.79172066e+01] [ 3.60842490e-03 -2.40717432e-05 9.99993489e-01 -2.37208671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.744012739 meters Centerline goodness [0,1] 0.9913568833179248 Centerline is valid? [True, True] Translation: X:265.77, Y:-17.91, Z:-2.37 [[ 9.83310829e-01 -1.81909982e-01 -2.92775641e-03 2.65773701e+02] [ 1.81909223e-01 9.83315188e-01 -5.25675553e-04 -1.79129322e+01] [ 2.97453297e-03 -1.56834299e-05 9.99995576e-01 -2.37082786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.774012739 meters Centerline goodness [0,1] 0.991785829480701 Centerline is valid? [True, True] Translation: X:265.80, Y:-17.91, Z:-2.37 [[ 9.83348409e-01 -1.81700949e-01 -3.26665986e-03 2.65800880e+02] [ 1.81700002e-01 9.83353835e-01 -5.87063291e-04 -1.79072424e+01] [ 3.31895246e-03 -1.62643493e-05 9.99994492e-01 -2.37149212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80401273900003 meters Centerline goodness [0,1] 0.9916698870711494 Centerline is valid? [True, True] Translation: X:265.83, Y:-17.91, Z:-2.37 [[ 9.83464264e-01 -1.81062185e-01 -3.81149975e-03 2.65827776e+02] [ 1.81060887e-01 9.83471649e-01 -6.85797794e-04 -1.79050810e+01] [ 3.87267399e-03 -1.56559025e-05 9.99992501e-01 -2.37236358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.834012739 meters Centerline goodness [0,1] 0.9932904608788853 Centerline is valid? [True, True] Translation: X:265.86, Y:-17.90, Z:-2.37 [[ 9.83907003e-01 -1.78611975e-01 -4.97705801e-03 2.65855657e+02] [ 1.78609728e-01 9.83919591e-01 -8.96035600e-04 -1.78979551e+01] [ 5.05706757e-03 -7.33527256e-06 9.99987213e-01 -2.37355146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86401273900003 meters Centerline goodness [0,1] 0.9932793972860751 Centerline is valid? [True, True] Translation: X:265.88, Y:-17.89, Z:-2.37 [[ 9.84597612e-01 -1.74786299e-01 -4.15836671e-03 2.65881153e+02] [ 1.74784695e-01 9.84606393e-01 -7.48997640e-04 -1.78891225e+01] [ 4.22526898e-03 1.06424317e-05 9.99991073e-01 -2.37172326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.894012739 meters Centerline goodness [0,1] 0.9931322207958921 Centerline is valid? [True, True] Translation: X:265.91, Y:-17.88, Z:-2.37 [[ 9.84953293e-01 -1.72787289e-01 -3.40056158e-03 2.65908499e+02] [ 1.72786203e-01 9.84959163e-01 -6.12874345e-04 -1.78817816e+01] [ 3.45531118e-03 1.60824813e-05 9.99994030e-01 -2.37083522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92401273900003 meters Centerline goodness [0,1] 0.9923789599521817 Centerline is valid? [True, True] Translation: X:265.94, Y:-17.87, Z:-2.37 [[ 9.85261492e-01 -1.71028294e-01 -3.01902265e-03 2.65935315e+02] [ 1.71027429e-01 9.85266118e-01 -5.44267267e-04 -1.78727858e+01] [ 3.06762583e-03 1.99098988e-05 9.99995295e-01 -2.36940292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.954012739 meters Centerline goodness [0,1] 0.9919517959418315 Centerline is valid? [True, True] Translation: X:265.96, Y:-17.86, Z:-2.37 [[ 9.85697151e-01 -1.68484097e-01 -3.77310796e-03 2.65962736e+02] [ 1.68482726e-01 9.85704371e-01 -6.80501785e-04 -1.78643170e+01] [ 3.83382274e-03 3.50651562e-05 9.99992650e-01 -2.37096938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984012739 meters Centerline goodness [0,1] 0.9925935467250596 Centerline is valid? [True, True] Translation: X:265.99, Y:-17.86, Z:-2.37 [[ 9.85876745e-01 -1.67409146e-01 -4.60659899e-03 2.65991882e+02] [ 1.67407087e-01 9.85887506e-01 -8.31649320e-04 -1.78614469e+01] [ 4.68081410e-03 4.87264048e-05 9.99989044e-01 -2.37201501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.014012739 meters Centerline goodness [0,1] 0.9916124024321876 Centerline is valid? [True, True] Translation: X:266.02, Y:-17.84, Z:-2.37 [[ 9.86622754e-01 -1.62935575e-01 -5.24790762e-03 2.66017924e+02] [ 1.62932836e-01 9.86636707e-01 -9.48137026e-04 -1.78440764e+01] [ 5.33226354e-03 8.03970915e-05 9.99985780e-01 -2.37396735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044012739 meters Centerline goodness [0,1] 0.9920298238848181 Centerline is valid? [True, True] Translation: X:266.05, Y:-17.84, Z:-2.37 [[ 9.87010026e-01 -1.60569158e-01 -5.36220723e-03 2.66046765e+02] [ 1.60566261e-01 9.87024588e-01 -9.69206105e-04 -1.78408110e+01] [ 5.44825499e-03 9.56265766e-05 9.99985154e-01 -2.37306214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.074012739 meters Centerline goodness [0,1] 0.9911701208981002 Centerline is valid? [True, True] Translation: X:266.07, Y:-17.83, Z:-2.37 [[ 9.87338599e-01 -1.58546764e-01 -5.04130205e-03 2.66074374e+02] [ 1.58544173e-01 9.87351464e-01 -9.11984282e-04 -1.78315852e+01] [ 5.12212911e-03 1.01168220e-04 9.99986877e-01 -2.37277344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104012739 meters Centerline goodness [0,1] 0.990473534018495 Centerline is valid? [True, True] Translation: X:266.10, Y:-17.82, Z:-2.37 [[ 9.88065640e-01 -1.53961481e-01 -4.70681134e-03 2.66101708e+02] [ 1.53959168e-01 9.88076843e-01 -8.52021504e-04 -1.78159938e+01] [ 4.78186979e-03 1.17196413e-04 9.99988560e-01 -2.37153771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.134012739 meters Centerline goodness [0,1] 0.9814944802501436 Centerline is valid? [True, True] Translation: X:266.13, Y:-17.79, Z:-2.37 [[ 9.88380960e-01 -1.51921493e-01 -4.78935773e-03 2.66126796e+02] [ 1.51919073e-01 9.88392555e-01 -8.67047563e-04 -1.77937108e+01] [ 4.86548869e-03 1.29378513e-04 9.99988155e-01 -2.37183012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164012739 meters Centerline goodness [0,1] 0.9898151151475835 Centerline is valid? [True, True] Translation: X:266.16, Y:-17.80, Z:-2.37 [[ 9.88531515e-01 -1.50918391e-01 -5.39284174e-03 2.66156264e+02] [ 1.50915307e-01 9.88546213e-01 -9.76729925e-04 -1.77957491e+01] [ 5.47847979e-03 1.51665946e-04 9.99984982e-01 -2.37228754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.194012739 meters Centerline goodness [0,1] 0.9893941657241629 Centerline is valid? [True, True] Translation: X:266.18, Y:-17.79, Z:-2.37 [[ 9.88484234e-01 -1.51236359e-01 -5.14618324e-03 2.66183634e+02] [ 1.51233551e-01 9.88497619e-01 -9.32684378e-04 -1.77896692e+01] [ 5.22804567e-03 1.43668236e-04 9.99986323e-01 -2.37245066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224012739 meters Centerline goodness [0,1] 0.9900679782300248 Centerline is valid? [True, True] Translation: X:266.21, Y:-17.79, Z:-2.37 [[ 9.88113082e-01 -1.53682005e-01 -3.79188306e-03 2.66212879e+02] [ 1.53680498e-01 9.88120353e-01 -6.87392096e-04 -1.77904597e+01] [ 3.85247663e-03 9.64826452e-05 9.99992575e-01 -2.37007685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.254012739 meters Centerline goodness [0,1] 0.9901695276681949 Centerline is valid? [True, True] Translation: X:266.24, Y:-17.79, Z:-2.37 [[ 9.87843910e-01 -1.55411795e-01 -3.40357326e-03 2.66240495e+02] [ 1.55410591e-01 9.87849770e-01 -6.17138498e-04 -1.77863324e+01] [ 3.45812966e-03 8.06851752e-05 9.99994017e-01 -2.36905514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284012739 meters Centerline goodness [0,1] 0.9922712327597251 Centerline is valid? [True, True] Translation: X:266.27, Y:-17.79, Z:-2.37 [[ 9.87427494e-01 -1.58005473e-01 -4.60592225e-03 2.66269493e+02] [ 1.58003294e-01 9.87438232e-01 -8.35473722e-04 -1.77855330e+01] [ 4.68007314e-03 9.72188361e-05 9.99989044e-01 -2.37073116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.314012739 meters Centerline goodness [0,1] 0.9928195618423322 Centerline is valid? [True, True] Translation: X:266.30, Y:-17.79, Z:-2.37 [[ 9.87181978e-01 -1.59510715e-01 -5.29845562e-03 2.66298488e+02] [ 1.59507850e-01 9.87196192e-01 -9.61573739e-04 -1.77853983e+01] [ 5.38399652e-03 1.04103000e-04 9.99985501e-01 -2.37180903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344012739 meters Centerline goodness [0,1] 0.9924866441053147 Centerline is valid? [True, True] Translation: X:266.33, Y:-17.78, Z:-2.37 [[ 9.87029995e-01 -1.60446183e-01 -5.36769781e-03 2.66325853e+02] [ 1.60443253e-01 9.87044585e-01 -9.74849983e-04 -1.77813450e+01] [ 5.45456801e-03 1.00995276e-04 9.99985119e-01 -2.37190147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.374012739 meters Centerline goodness [0,1] 0.9918849446604211 Centerline is valid? [True, True] Translation: X:266.35, Y:-17.77, Z:-2.37 [[ 9.87160103e-01 -1.59677545e-01 -4.24422073e-03 2.66352483e+02] [ 1.59675705e-01 9.87169223e-01 -7.71017756e-04 -1.77722790e+01] [ 4.31287830e-03 8.34190302e-05 9.99990696e-01 -2.36839165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404012739 meters Centerline goodness [0,1] 0.9928772783025973 Centerline is valid? [True, True] Translation: X:266.38, Y:-17.77, Z:-2.37 [[ 9.87299284e-01 -1.58827367e-01 -3.74048610e-03 2.66380372e+02] [ 1.58825932e-01 9.87306367e-01 -6.79719648e-04 -1.77661546e+01] [ 3.80096382e-03 7.70005317e-05 9.99992773e-01 -2.36652934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.434012739 meters Centerline goodness [0,1] 0.9908375575303824 Centerline is valid? [True, True] Translation: X:266.41, Y:-17.75, Z:-2.36 [[ 9.87685011e-01 -1.56442628e-01 -2.00586341e-03 2.66406776e+02] [ 1.56442210e-01 9.87687047e-01 -3.64738769e-04 -1.77504002e+01] [ 2.03822600e-03 4.64453103e-05 9.99997922e-01 -2.36361834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464012739 meters Centerline goodness [0,1] 0.9895568008150789 Centerline is valid? [True, True] Translation: X:266.43, Y:-17.74, Z:-2.36 [[ 9.87819707e-01 -1.55599017e-01 -1.08307015e-03 2.66434933e+02] [ 1.55598895e-01 9.87820300e-01 -1.96659247e-04 -1.77435751e+01] [ 1.10047866e-03 2.57393611e-05 9.99999394e-01 -2.36185919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.494012739 meters Centerline goodness [0,1] 0.9905627705627705 Centerline is valid? [True, True] Translation: X:266.46, Y:-17.74, Z:-2.36 [[ 9.87873919e-01 -1.55257614e-01 -4.39338673e-04 2.66463630e+02] [ 1.55257594e-01 9.87874017e-01 -7.94892046e-05 -1.77384129e+01] [ 4.46352564e-04 1.03146467e-05 9.99999900e-01 -2.36096688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524012739 meters Centerline goodness [0,1] 0.9903627273694288 Centerline is valid? [True, True] Translation: X:266.49, Y:-17.73, Z:-2.36 [[ 9.87854384e-01 -1.55378274e-01 -1.14376901e-03 2.66490006e+02] [ 1.55378137e-01 9.87855046e-01 -2.08294325e-04 -1.77290688e+01] [ 1.16224240e-03 2.80477641e-05 9.99999324e-01 -2.36208696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55401273900003 meters Centerline goodness [0,1] 0.9917597705577672 Centerline is valid? [True, True] Translation: X:266.52, Y:-17.72, Z:-2.37 [[ 9.87699864e-01 -1.56304087e-01 -4.24398640e-03 2.66517893e+02] [ 1.56302205e-01 9.87708976e-01 -7.73751128e-04 -1.77190921e+01] [ 4.31276392e-03 1.00889453e-04 9.99990695e-01 -2.36848936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584012739 meters Centerline goodness [0,1] 0.9923647704054199 Centerline is valid? [True, True] Translation: X:266.55, Y:-17.72, Z:-2.37 [[ 9.87492529e-01 -1.57580685e-01 -5.18007315e-03 2.66546777e+02] [ 1.57577893e-01 9.87506108e-01 -9.45390012e-04 -1.77175635e+01] [ 5.26432908e-03 1.17300561e-04 9.99986136e-01 -2.36968927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61401273900003 meters Centerline goodness [0,1] 0.9932593523776496 Centerline is valid? [True, True] Translation: X:266.57, Y:-17.71, Z:-2.37 [[ 9.86995994e-01 -1.60695035e-01 -4.00160772e-03 2.66572766e+02] [ 1.60693392e-01 9.87004103e-01 -7.30819806e-04 -1.77069317e+01] [ 4.06704236e-03 7.82843010e-05 9.99991726e-01 -2.36767040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.644012739 meters Centerline goodness [0,1] 0.9931493734442483 Centerline is valid? [True, True] Translation: X:266.60, Y:-17.70, Z:-2.37 [[ 9.86676356e-01 -1.62661406e-01 -3.32196126e-03 2.66599799e+02] [ 1.62660285e-01 9.86681946e-01 -6.06928476e-04 -1.77012215e+01] [ 3.37644305e-03 5.84908123e-05 9.99994298e-01 -2.36696710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67401273900003 meters Centerline goodness [0,1] 0.9941954208319896 Centerline is valid? [True, True] Translation: X:266.63, Y:-17.70, Z:-2.37 [[ 9.86294300e-01 -1.64963032e-01 -3.27887947e-03 2.66629556e+02] [ 1.64961951e-01 9.86299749e-01 -5.99308383e-04 -1.77009883e+01] [ 3.33282172e-03 5.02040873e-05 9.99994445e-01 -2.36703424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.704012739 meters Centerline goodness [0,1] 0.9941923774954627 Centerline is valid? [True, True] Translation: X:266.66, Y:-17.70, Z:-2.37 [[ 9.85279524e-01 -1.70901081e-01 -4.13276240e-03 2.66658645e+02] [ 1.70899413e-01 9.85288191e-01 -7.56110689e-04 -1.77021944e+01] [ 4.20118213e-03 3.86937120e-05 9.99991174e-01 -2.36869851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.734012739 meters Centerline goodness [0,1] 0.9953375928164393 Centerline is valid? [True, True] Translation: X:266.69, Y:-17.71, Z:-2.37 [[ 9.84223046e-01 -1.76869052e-01 -4.72598531e-03 2.66688197e+02] [ 1.76866937e-01 9.84234392e-01 -8.65042567e-04 -1.77050937e+01] [ 4.80447653e-03 1.55242846e-05 9.99988458e-01 -2.36943962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.764012739 meters Centerline goodness [0,1] 0.995293766903043 Centerline is valid? [True, True] Translation: X:266.72, Y:-17.70, Z:-2.37 [[ 9.83857221e-01 -1.78882487e-01 -5.10144955e-03 2.66715623e+02] [ 1.78880046e-01 9.83870447e-01 -9.34519637e-04 -1.77026732e+01] [ 5.18633464e-03 6.88636158e-06 9.99986551e-01 -2.37056463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.794012739 meters Centerline goodness [0,1] 0.9953381455701641 Centerline is valid? [True, True] Translation: X:266.74, Y:-17.70, Z:-2.37 [[ 9.83516703e-01 -1.80723802e-01 -5.81397479e-03 2.66744129e+02] [ 1.80720660e-01 9.83533887e-01 -1.06569764e-03 -1.77019421e+01] [ 5.91083815e-03 -2.57392849e-06 9.99982531e-01 -2.37255284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.824012739 meters Centerline goodness [0,1] 0.9960732141707616 Centerline is valid? [True, True] Translation: X:266.77, Y:-17.70, Z:-2.38 [[ 9.83136233e-01 -1.82694604e-01 -8.11355400e-03 2.66773455e+02] [ 1.82688538e-01 9.83169711e-01 -1.48884796e-03 -1.77020816e+01] [ 8.24900503e-03 -1.85129413e-05 9.99965976e-01 -2.37586564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.854012739 meters Centerline goodness [0,1] 0.9960732141707616 Centerline is valid? [True, True] Translation: X:266.80, Y:-17.70, Z:-2.38 [[ 9.83102922e-01 -1.82873782e-01 -8.11329726e-03 2.66800451e+02] [ 1.82867711e-01 9.83136399e-01 -1.49024611e-03 -1.76969256e+01] [ 8.24900479e-03 -1.85947928e-05 9.99965976e-01 -2.37576664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.884012739 meters Centerline goodness [0,1] 0.9963337359866065 Centerline is valid? [True, True] Translation: X:266.83, Y:-17.69, Z:-2.38 [[ 9.82996236e-01 -1.83465523e-01 -7.66819478e-03 2.66827450e+02] [ 1.83460110e-01 9.83026145e-01 -1.40945870e-03 -1.76936887e+01] [ 7.79662303e-03 -2.13152654e-05 9.99969606e-01 -2.37577400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.914012739 meters Centerline goodness [0,1] 0.9958317218856086 Centerline is valid? [True, True] Translation: X:266.86, Y:-17.69, Z:-2.37 [[ 9.83064901e-01 -1.83145528e-01 -6.41223120e-03 2.66855388e+02] [ 1.83141731e-01 9.83085813e-01 -1.17935410e-03 -1.76890477e+01] [ 6.51976695e-03 -1.49654998e-05 9.99978746e-01 -2.37331595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.944012739 meters Centerline goodness [0,1] 0.995713885717978 Centerline is valid? [True, True] Translation: X:266.88, Y:-17.68, Z:-2.37 [[ 9.83325717e-01 -1.81790417e-01 -4.77267233e-03 2.66882894e+02] [ 1.81788295e-01 9.83337299e-01 -8.78502071e-04 -1.76831260e+01] [ 4.85284998e-03 -3.76228449e-06 9.99988225e-01 -2.36978158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.974012739 meters Centerline goodness [0,1] 0.9952297696906905 Centerline is valid? [True, True] Translation: X:266.91, Y:-17.67, Z:-2.37 [[ 9.84090252e-01 -1.77631392e-01 -3.66938168e-03 2.66910102e+02] [ 1.77630107e-01 9.84097093e-01 -6.75962078e-04 -1.76732997e+01] [ 3.73109993e-03 1.34150329e-05 9.99993039e-01 -2.36575401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.004012739 meters Centerline goodness [0,1] 0.9956776982130185 Centerline is valid? [True, True] Translation: X:266.94, Y:-17.66, Z:-2.37 [[ 9.84529163e-01 -1.75145873e-01 -5.12355893e-03 2.66936836e+02] [ 1.75143328e-01 9.84542494e-01 -9.44802333e-04 -1.76625727e+01] [ 5.20983972e-03 3.28282888e-05 9.99986428e-01 -2.36725264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.034012739 meters Centerline goodness [0,1] 0.9959018161425305 Centerline is valid? [True, True] Translation: X:266.96, Y:-17.65, Z:-2.37 [[ 9.85521701e-01 -1.69384504e-01 -7.47436647e-03 2.66963780e+02] [ 1.69378918e-01 9.85550040e-01 -1.37871449e-03 -1.76458759e+01] [ 7.59989504e-03 9.27529465e-05 9.99971116e-01 -2.37283949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.064012739 meters Centerline goodness [0,1] 0.9950239193575944 Centerline is valid? [True, True] Translation: X:266.99, Y:-17.64, Z:-2.37 [[ 9.85956935e-01 -1.66839072e-01 -7.32433731e-03 2.66990763e+02] [ 1.66833636e-01 9.85984134e-01 -1.35135554e-03 -1.76362986e+01] [ 7.44713928e-03 1.10432547e-04 9.99972264e-01 -2.37260955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.094012739 meters Centerline goodness [0,1] 0.9936807497705002 Centerline is valid? [True, True] Translation: X:267.02, Y:-17.62, Z:-2.37 [[ 9.86667255e-01 -1.62682172e-01 -4.71590080e-03 2.67017093e+02] [ 1.62679870e-01 9.86678520e-01 -8.70275331e-04 -1.76209421e+01] [ 4.79465631e-03 9.14900435e-05 9.99988501e-01 -2.36756529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.124012739 meters Centerline goodness [0,1] 0.9938647674618157 Centerline is valid? [True, True] Translation: X:267.04, Y:-17.61, Z:-2.36 [[ 9.86857444e-01 -1.61557981e-01 -3.37695114e-03 2.67044727e+02] [ 1.61556794e-01 9.86863219e-01 -6.23248988e-04 -1.76108834e+01] [ 3.43327972e-03 6.94885031e-05 9.99994104e-01 -2.36462708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.154012739 meters Centerline goodness [0,1] 0.9936378917803264 Centerline is valid? [True, True] Translation: X:267.07, Y:-17.60, Z:-2.36 [[ 9.86923385e-01 -1.61168019e-01 -2.66507901e-03 2.67071742e+02] [ 1.61167277e-01 9.86926981e-01 -4.92286532e-04 -1.76018356e+01] [ 2.70957923e-03 5.63255631e-05 9.99996327e-01 -2.36366900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.184012739 meters Centerline goodness [0,1] 0.9931573590870705 Centerline is valid? [True, True] Translation: X:267.10, Y:-17.60, Z:-2.37 [[ 9.86607868e-01 -1.63073821e-01 -3.44146166e-03 2.67100004e+02] [ 1.63072594e-01 9.86613868e-01 -6.35955170e-04 -1.75954837e+01] [ 3.49910144e-03 6.62302950e-05 9.99993876e-01 -2.36545249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.214012739 meters Centerline goodness [0,1] 0.9938829266168884 Centerline is valid? [True, True] Translation: X:267.13, Y:-17.59, Z:-2.37 [[ 9.86363092e-01 -1.64540734e-01 -3.76798236e-03 2.67128291e+02] [ 1.64539272e-01 9.86370287e-01 -6.96979935e-04 -1.75913493e+01] [ 3.83130743e-03 6.74942088e-05 9.99992658e-01 -2.36590750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.244012739 meters Centerline goodness [0,1] 0.9947854941929367 Centerline is valid? [True, True] Translation: X:267.15, Y:-17.58, Z:-2.36 [[ 9.86028106e-01 -1.66545483e-01 -3.34316430e-03 2.67154395e+02] [ 1.66544342e-01 9.86033772e-01 -6.18934396e-04 -1.75800969e+01] [ 3.39955363e-03 5.35016116e-05 9.99994220e-01 -2.36449472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.274012739 meters Centerline goodness [0,1] 0.9953348382242287 Centerline is valid? [True, True] Translation: X:267.18, Y:-17.57, Z:-2.36 [[ 9.85781611e-01 -1.67995353e-01 -3.48955733e-03 2.67181046e+02] [ 1.67994118e-01 9.85787786e-01 -6.46262062e-04 -1.75726993e+01] [ 3.54853202e-03 5.08481517e-05 9.99993703e-01 -2.36495736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30401273900003 meters Centerline goodness [0,1] 0.995384255418714 Centerline is valid? [True, True] Translation: X:267.21, Y:-17.57, Z:-2.37 [[ 9.85489525e-01 -1.69690222e-01 -3.95291971e-03 2.67208502e+02] [ 1.69688649e-01 9.85497451e-01 -7.32343107e-04 -1.75673981e+01] [ 4.01986377e-03 5.09508525e-05 9.99991919e-01 -2.36626515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.334012739 meters Centerline goodness [0,1] 0.9961450661153465 Centerline is valid? [True, True] Translation: X:267.24, Y:-17.56, Z:-2.37 [[ 9.84738034e-01 -1.73965760e-01 -5.18836175e-03 2.67237369e+02] [ 1.73963107e-01 9.84751701e-01 -9.61784204e-04 -1.75641539e+01] [ 5.27656558e-03 4.45219551e-05 9.99986078e-01 -2.36766089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36401273900003 meters Centerline goodness [0,1] 0.9965724990952249 Centerline is valid? [True, True] Translation: X:267.26, Y:-17.55, Z:-2.37 [[ 9.84166710e-01 -1.77158723e-01 -5.53845370e-03 2.67263745e+02] [ 1.77155746e-01 9.84182293e-01 -1.02750695e-03 -1.75548283e+01] [ 5.63287988e-03 3.00692412e-05 9.99984135e-01 -2.36823272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.394012739 meters Centerline goodness [0,1] 0.9970079716184737 Centerline is valid? [True, True] Translation: X:267.29, Y:-17.55, Z:-2.37 [[ 9.83953202e-01 -1.78341837e-01 -5.50314527e-03 2.67291256e+02] [ 1.78338913e-01 9.83968591e-01 -1.02164990e-03 -1.75482041e+01] [ 5.59712501e-03 2.38307453e-05 9.99984336e-01 -2.36827588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42401273900003 meters Centerline goodness [0,1] 0.9966572274149935 Centerline is valid? [True, True] Translation: X:267.32, Y:-17.54, Z:-2.37 [[ 9.83830196e-01 -1.78998854e-01 -6.12829335e-03 2.67317365e+02] [ 1.78995234e-01 9.83849282e-01 -1.13868264e-03 -1.75414174e+01] [ 6.23313990e-03 2.33350669e-05 9.99980574e-01 -2.36959393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.454012739 meters Centerline goodness [0,1] 0.9964966247970606 Centerline is valid? [True, True] Translation: X:267.34, Y:-17.53, Z:-2.37 [[ 9.83678369e-01 -1.79790909e-01 -7.21769032e-03 2.67343575e+02] [ 1.79785901e-01 9.83704848e-01 -1.34214985e-03 -1.75315987e+01] [ 7.34138330e-03 2.26048238e-05 9.99973051e-01 -2.37093341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484012739 meters Centerline goodness [0,1] 0.9966044872345913 Centerline is valid? [True, True] Translation: X:267.37, Y:-17.52, Z:-2.37 [[ 9.83504449e-01 -1.80735302e-01 -7.33137432e-03 2.67370369e+02] [ 1.80730150e-01 9.83531774e-01 -1.36470268e-03 -1.75244729e+01] [ 7.45728954e-03 1.71907795e-05 9.99972194e-01 -2.37047448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.514012739 meters Centerline goodness [0,1] 0.9971807160981111 Centerline is valid? [True, True] Translation: X:267.40, Y:-17.52, Z:-2.37 [[ 9.83017174e-01 -1.83360426e-01 -7.49594773e-03 2.67397543e+02] [ 1.83355109e-01 9.83045754e-01 -1.39636152e-03 -1.75209207e+01] [ 7.62489703e-03 -1.77295928e-06 9.99970930e-01 -2.37070971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544012739 meters Centerline goodness [0,1] 0.9971829140461216 Centerline is valid? [True, True] Translation: X:267.43, Y:-17.52, Z:-2.37 [[ 9.82646295e-01 -1.85317642e-01 -7.97692396e-03 2.67425657e+02] [ 1.85311675e-01 9.82678671e-01 -1.48716252e-03 -1.75180949e+01] [ 8.11435049e-03 -1.68624010e-05 9.99967078e-01 -2.37091123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.574012739 meters Centerline goodness [0,1] 0.9972067039106145 Centerline is valid? [True, True] Translation: X:267.45, Y:-17.52, Z:-2.37 [[ 9.82144968e-01 -1.87968229e-01 -7.69459922e-03 2.67453489e+02] [ 1.87962751e-01 9.82175108e-01 -1.43560099e-03 -1.75168677e+01] [ 7.82729120e-03 -3.63297452e-05 9.99969366e-01 -2.37143160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604012739 meters Centerline goodness [0,1] 0.9966772423255016 Centerline is valid? [True, True] Translation: X:267.48, Y:-17.51, Z:-2.37 [[ 9.82069749e-01 -1.88417962e-01 -6.13843354e-03 2.67480890e+02] [ 1.88414482e-01 9.82088932e-01 -1.14567808e-03 -1.75119097e+01] [ 6.24435397e-03 -3.14339851e-05 9.99980503e-01 -2.36779310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.634012739 meters Centerline goodness [0,1] 0.9958119857990179 Centerline is valid? [True, True] Translation: X:267.51, Y:-17.51, Z:-2.36 [[ 9.82105795e-01 -1.88274012e-01 -4.59390161e-03 2.67508677e+02] [ 1.88272060e-01 9.82116539e-01 -8.57754841e-04 -1.75060116e+01] [ 4.67323969e-03 -2.24973167e-05 9.99989080e-01 -2.36436274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664012739 meters Centerline goodness [0,1] 0.99641870900932 Centerline is valid? [True, True] Translation: X:267.54, Y:-17.50, Z:-2.36 [[ 9.82258773e-01 -1.87487533e-01 -4.01600270e-03 2.67535231e+02] [ 1.87486031e-01 9.82266982e-01 -7.50516261e-04 -1.74983951e+01] [ 4.08549930e-03 -1.57432263e-05 9.99991654e-01 -2.36275409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.694012739 meters Centerline goodness [0,1] 0.9962667353244078 Centerline is valid? [True, True] Translation: X:267.56, Y:-17.49, Z:-2.37 [[ 9.82322595e-01 -1.87123414e-01 -5.21031524e-03 2.67560963e+02] [ 1.87120876e-01 9.82336413e-01 -9.74756534e-04 -1.74915974e+01] [ 5.30068216e-03 -1.74333824e-05 9.99985951e-01 -2.36583810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724012739 meters Centerline goodness [0,1] 0.9964170010083889 Centerline is valid? [True, True] Translation: X:267.59, Y:-17.49, Z:-2.37 [[ 9.82226728e-01 -1.87625711e-01 -5.21986145e-03 2.67588776e+02] [ 1.87623167e-01 9.82240598e-01 -9.77169639e-04 -1.74859689e+01] [ 5.31050198e-03 -1.95648017e-05 9.99985899e-01 -2.36619540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.754012739 meters Centerline goodness [0,1] 0.9959900501779817 Centerline is valid? [True, True] Translation: X:267.62, Y:-17.48, Z:-2.36 [[ 9.82052415e-01 -1.88551219e-01 -4.63593539e-03 2.67616698e+02] [ 1.88549220e-01 9.82063357e-01 -8.68529994e-04 -1.74835040e+01] [ 4.71654467e-03 -2.11600221e-05 9.99988877e-01 -2.36478120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784012739 meters Centerline goodness [0,1] 0.995530095907651 Centerline is valid? [True, True] Translation: X:267.65, Y:-17.48, Z:-2.36 [[ 9.81225848e-01 -1.92820270e-01 -4.02227066e-03 2.67645997e+02] [ 1.92818800e-01 9.81234091e-01 -7.53827562e-04 -1.74841771e+01] [ 4.09214233e-03 -3.58943123e-05 9.99991627e-01 -2.36265334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.814012739 meters Centerline goodness [0,1] 0.9958263413794587 Centerline is valid? [True, True] Translation: X:267.67, Y:-17.48, Z:-2.36 [[ 9.80686048e-01 -1.95530092e-01 -4.78104164e-03 2.67674656e+02] [ 1.95528043e-01 9.80697701e-01 -8.96817913e-04 -1.74849501e+01] [ 4.86411143e-03 -5.53309019e-05 9.99988169e-01 -2.36470163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844012739 meters Centerline goodness [0,1] 0.9948173267643483 Centerline is valid? [True, True] Translation: X:267.70, Y:-17.49, Z:-2.37 [[ 9.79864525e-01 -1.99567326e-01 -6.19635034e-03 2.67704494e+02] [ 1.99563963e-01 9.79884112e-01 -1.16266564e-03 -1.74860158e+01] [ 6.30373533e-03 -9.73134124e-05 9.99980127e-01 -2.36692900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.874012739 meters Centerline goodness [0,1] 0.9945634725284134 Centerline is valid? [True, True] Translation: X:267.73, Y:-17.49, Z:-2.37 [[ 9.79582292e-01 -2.00953126e-01 -6.03114216e-03 2.67733255e+02] [ 2.00949965e-01 9.79600853e-01 -1.13192888e-03 -1.74863172e+01] [ 6.13557665e-03 -1.03140315e-04 9.99981172e-01 -2.36665114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904012739 meters Centerline goodness [0,1] 0.9940468459107243 Centerline is valid? [True, True] Translation: X:267.76, Y:-17.48, Z:-2.36 [[ 9.79232249e-01 -2.02692385e-01 -4.47203002e-03 2.67761367e+02] [ 2.02690663e-01 9.79242457e-01 -8.39623084e-04 -1.74795871e+01] [ 4.54938687e-03 -8.42527292e-05 9.99989648e-01 -2.36237123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.934012739 meters Centerline goodness [0,1] 0.9930657790863897 Centerline is valid? [True, True] Translation: X:267.79, Y:-17.48, Z:-2.36 [[ 9.79203169e-01 -2.02842352e-01 -4.01669151e-03 2.67789115e+02] [ 2.02840962e-01 9.79211404e-01 -7.54737591e-04 -1.74804428e+01] [ 4.08628288e-03 -7.57081301e-05 9.99991648e-01 -2.36246908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964012739 meters Centerline goodness [0,1] 0.9942556040253963 Centerline is valid? [True, True] Translation: X:267.82, Y:-17.47, Z:-2.36 [[ 9.79209453e-01 -2.02801648e-01 -4.50993073e-03 2.67816748e+02] [ 2.02799892e-01 9.79219835e-01 -8.48125163e-04 -1.74746178e+01] [ 4.58821480e-03 -8.41212885e-05 9.99989471e-01 -2.36454397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.994012739 meters Centerline goodness [0,1] 0.9953067889352682 Centerline is valid? [True, True] Translation: X:267.84, Y:-17.47, Z:-2.37 [[ 9.79012829e-01 -2.03698080e-01 -6.40099295e-03 2.67844966e+02] [ 2.03694552e-01 9.79033747e-01 -1.20519992e-03 -1.74702818e+01] [ 6.51228502e-03 -1.23941209e-04 9.99978787e-01 -2.36755648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024012739 meters Centerline goodness [0,1] 0.9951106536284097 Centerline is valid? [True, True] Translation: X:267.87, Y:-17.47, Z:-2.37 [[ 9.78825468e-01 -2.04581049e-01 -6.87740346e-03 2.67872975e+02] [ 2.04576992e-01 9.78849618e-01 -1.29577647e-03 -1.74697935e+01] [ 6.99703506e-03 -1.38619507e-04 9.99975511e-01 -2.36832079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05401273900003 meters Centerline goodness [0,1] 0.9944254045377641 Centerline is valid? [True, True] Translation: X:267.90, Y:-17.47, Z:-2.37 [[ 9.78678386e-01 -2.05291218e-01 -6.64320086e-03 2.67901514e+02] [ 2.05287444e-01 9.78700923e-01 -1.25240504e-03 -1.74657948e+01] [ 6.75881457e-03 -1.38063983e-04 9.99977149e-01 -2.36722670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084012739 meters Centerline goodness [0,1] 0.994755544139053 Centerline is valid? [True, True] Translation: X:267.93, Y:-17.47, Z:-2.37 [[ 9.78609023e-01 -2.05625148e-01 -6.53289124e-03 2.67929913e+02] [ 2.05621501e-01 9.78630819e-01 -1.23240175e-03 -1.74677195e+01] [ 6.64670150e-03 -1.37263430e-04 9.99977901e-01 -2.36649425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11401273900003 meters Centerline goodness [0,1] 0.9945814489290895 Centerline is valid? [True, True] Translation: X:267.96, Y:-17.47, Z:-2.37 [[ 9.78672221e-01 -2.05306883e-01 -7.05457417e-03 2.67957905e+02] [ 2.05302618e-01 9.78697636e-01 -1.33136794e-03 -1.74663567e+01] [ 7.17763407e-03 -1.45349730e-04 9.99974230e-01 -2.36839673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.144012739 meters Centerline goodness [0,1] 0.9952687892006858 Centerline is valid? [True, True] Translation: X:267.99, Y:-17.46, Z:-2.37 [[ 9.78797841e-01 -2.04617316e-01 -9.30274209e-03 2.67985001e+02] [ 2.04609854e-01 9.78842030e-01 -1.75712468e-03 -1.74611692e+01] [ 9.46545309e-03 -1.83562853e-04 9.99955185e-01 -2.37258685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17401273900003 meters Centerline goodness [0,1] 0.9959071419290572 Centerline is valid? [True, True] Translation: X:268.01, Y:-17.46, Z:-2.37 [[ 9.78938595e-01 -2.03961030e-01 -8.89528015e-03 2.68013570e+02] [ 2.03954166e-01 9.78978994e-01 -1.68171459e-03 -1.74572440e+01] [ 9.05129665e-03 -1.67934122e-04 9.99959022e-01 -2.37141345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.204012739 meters Centerline goodness [0,1] 0.9952664496230295 Centerline is valid? [True, True] Translation: X:268.04, Y:-17.46, Z:-2.37 [[ 9.79377492e-01 -2.01944223e-01 -6.18542997e-03 2.68041332e+02] [ 2.01940860e-01 9.79397019e-01 -1.16999106e-03 -1.74558059e+01] [ 6.29426461e-03 -1.03228134e-04 9.99980186e-01 -2.36584074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.234012739 meters Centerline goodness [0,1] 0.9956807632800413 Centerline is valid? [True, True] Translation: X:268.07, Y:-17.45, Z:-2.36 [[ 9.79726153e-01 -2.00270652e-01 -5.32265784e-03 2.68068467e+02] [ 2.00268136e-01 9.79740608e-01 -1.00708976e-03 -1.74494068e+01] [ 5.41651455e-03 -7.92865868e-05 9.99985327e-01 -2.36394591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.264012739 meters Centerline goodness [0,1] 0.9963990771287492 Centerline is valid? [True, True] Translation: X:268.10, Y:-17.44, Z:-2.36 [[ 9.80157070e-01 -1.98137690e-01 -5.79433184e-03 2.68095825e+02] [ 1.98134667e-01 9.80174194e-01 -1.09694889e-03 -1.74406821e+01] [ 5.89680146e-03 -7.28757997e-05 9.99982611e-01 -2.36388772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.294012739 meters Centerline goodness [0,1] 0.997198575399583 Centerline is valid? [True, True] Translation: X:268.12, Y:-17.43, Z:-2.37 [[ 9.81333811e-01 -1.92169836e-01 -7.39638446e-03 2.68123073e+02] [ 1.92164730e-01 9.81361683e-01 -1.40162816e-03 -1.74291469e+01] [ 7.52787895e-03 -4.58591220e-05 9.99971664e-01 -2.36685294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.324012739 meters Centerline goodness [0,1] 0.9975661307884455 Centerline is valid? [True, True] Translation: X:268.15, Y:-17.42, Z:-2.37 [[ 9.81931401e-01 -1.89076075e-01 -7.80778865e-03 2.68149898e+02] [ 1.89070280e-01 9.81962442e-01 -1.48045070e-03 -1.74200603e+01] [ 7.94687302e-03 -2.25197597e-05 9.99968423e-01 -2.36731911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.354012739 meters Centerline goodness [0,1] 0.997218963194716 Centerline is valid? [True, True] Translation: X:268.18, Y:-17.41, Z:-2.37 [[ 9.82573197e-01 -1.85746766e-01 -6.93195751e-03 2.68175875e+02] [ 1.85742109e-01 9.82597649e-01 -1.31525043e-03 -1.74074468e+01] [ 7.05562866e-03 4.77341396e-06 9.99975109e-01 -2.36504631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.384012739 meters Centerline goodness [0,1] 0.9967759385480904 Centerline is valid? [True, True] Translation: X:268.20, Y:-17.40, Z:-2.36 [[ 9.82744142e-01 -1.84865416e-01 -6.22322662e-03 2.68202976e+02] [ 1.84861637e-01 9.82763847e-01 -1.18195002e-03 -1.73997298e+01] [ 6.33446381e-03 1.11185996e-05 9.99979937e-01 -2.36371183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.414012739 meters Centerline goodness [0,1] 0.9963371541842627 Centerline is valid? [True, True] Translation: X:268.23, Y:-17.39, Z:-2.36 [[ 9.82927557e-01 -1.83938243e-01 -4.48772969e-03 2.68229328e+02] [ 1.83936266e-01 9.82937802e-01 -8.52931577e-04 -1.73930934e+01] [ 4.56804589e-03 1.29137111e-05 9.99989566e-01 -2.36065348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.444012739 meters Centerline goodness [0,1] 0.9960577337354588 Centerline is valid? [True, True] Translation: X:268.26, Y:-17.39, Z:-2.36 [[ 9.82854649e-01 -1.84343496e-01 -3.77014402e-03 2.68256360e+02] [ 1.84342103e-01 9.82861880e-01 -7.16853756e-04 -1.73879867e+01] [ 3.83767817e-03 9.56677007e-06 9.99992636e-01 -2.35909455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.474012739 meters Centerline goodness [0,1] 0.9965677757041422 Centerline is valid? [True, True] Translation: X:268.28, Y:-17.39, Z:-2.36 [[ 9.82354592e-01 -1.86999663e-01 -3.25282027e-03 2.68283088e+02] [ 1.86998638e-01 9.82359978e-01 -6.19068595e-04 -1.73858554e+01] [ 3.31120607e-03 -1.28083231e-07 9.99994518e-01 -2.35954411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.504012739 meters Centerline goodness [0,1] 0.9965657263812692 Centerline is valid? [True, True] Translation: X:268.31, Y:-17.38, Z:-2.36 [[ 9.81994948e-01 -1.88867486e-01 -3.87220571e-03 2.68311394e+02] [ 1.88866047e-01 9.82002583e-01 -7.37375387e-04 -1.73840343e+01] [ 3.94178225e-03 -7.22928186e-06 9.99992231e-01 -2.36072787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.534012739 meters Centerline goodness [0,1] 0.9972084568609205 Centerline is valid? [True, True] Translation: X:268.34, Y:-17.38, Z:-2.37 [[ 9.81544964e-01 -1.91088998e-01 -7.38101170e-03 2.68339261e+02] [ 1.91083819e-01 9.81572715e-01 -1.40714229e-03 -1.73833197e+01] [ 7.51388910e-03 -2.92184729e-05 9.99971770e-01 -2.36677665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.564012739 meters Centerline goodness [0,1] 0.9979576041621877 Centerline is valid? [True, True] Translation: X:268.37, Y:-17.38, Z:-2.37 [[ 9.81339509e-01 -1.92055778e-01 -9.34597526e-03 2.68367305e+02] [ 1.92047506e-01 9.81384011e-01 -1.78303311e-03 -1.73780290e+01] [ 9.51443249e-03 -4.51104042e-05 9.99954736e-01 -2.36963717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.594012739 meters Centerline goodness [0,1] 0.9980610657746148 Centerline is valid? [True, True] Translation: X:268.39, Y:-17.37, Z:-2.37 [[ 9.81122670e-01 -1.93108061e-01 -1.03722067e-02 2.68394799e+02] [ 1.93097921e-01 9.81177493e-01 -1.97991798e-03 -1.73741990e+01] [ 1.05593139e-02 -6.03091386e-05 9.99944247e-01 -2.37205347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.624012739 meters Centerline goodness [0,1] 0.9978510028653295 Centerline is valid? [True, True] Translation: X:268.42, Y:-17.38, Z:-2.37 [[ 9.80393855e-01 -1.96822885e-01 -9.41492252e-03 2.68423028e+02] [ 1.96814693e-01 9.80439057e-01 -1.79799219e-03 -1.73764261e+01] [ 9.58464376e-03 -9.02545918e-05 9.99954062e-01 -2.37015310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.654012739 meters Centerline goodness [0,1] 0.9966416050960935 Centerline is valid? [True, True] Translation: X:268.45, Y:-17.38, Z:-2.37 [[ 9.79726537e-01 -2.00172932e-01 -8.16765010e-03 2.68452475e+02] [ 2.00166874e-01 9.79760576e-01 -1.56090827e-03 -1.73774352e+01] [ 8.31479315e-03 -1.05629737e-04 9.99965426e-01 -2.36662911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.684012739 meters Centerline goodness [0,1] 0.9964459570068496 Centerline is valid? [True, True] Translation: X:268.48, Y:-17.38, Z:-2.37 [[ 9.79412218e-01 -2.01706207e-01 -8.14325756e-03 2.68480714e+02] [ 2.01700231e-01 9.79446064e-01 -1.55712945e-03 -1.73758555e+01] [ 8.28996424e-03 -1.17425318e-04 9.99965631e-01 -2.36666093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.714012739 meters Centerline goodness [0,1] 0.9958925135655144 Centerline is valid? [True, True] Translation: X:268.51, Y:-17.37, Z:-2.37 [[ 9.79167349e-01 -2.02894976e-01 -8.05804168e-03 2.68508031e+02] [ 2.02889159e-01 9.79200497e-01 -1.54151956e-03 -1.73734060e+01] [ 8.20320499e-03 -1.25483680e-04 9.99966345e-01 -2.36626801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.744012739 meters Centerline goodness [0,1] 0.9953806635439376 Centerline is valid? [True, True] Translation: X:268.54, Y:-17.38, Z:-2.37 [[ 9.78819962e-01 -2.04593996e-01 -7.26493843e-03 2.68536733e+02] [ 2.04589310e-01 9.78846914e-01 -1.39035118e-03 -1.73763478e+01] [ 7.39572006e-03 -1.25425256e-04 9.99972643e-01 -2.36525997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.774012739 meters Centerline goodness [0,1] 0.9953806635439376 Centerline is valid? [True, True] Translation: X:268.56, Y:-17.37, Z:-2.37 [[ 9.78783726e-01 -2.04767285e-01 -7.26477348e-03 2.68563695e+02] [ 2.04762598e-01 9.78810678e-01 -1.39121261e-03 -1.73709835e+01] [ 7.39571269e-03 -1.25857627e-04 9.99972643e-01 -2.36516095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80401273900003 meters Centerline goodness [0,1] 0.9954977273216863 Centerline is valid? [True, True] Translation: X:268.59, Y:-17.36, Z:-2.36 [[ 9.78721724e-01 -2.05067804e-01 -7.14024866e-03 2.68591130e+02] [ 2.05063274e-01 9.78747761e-01 -1.36870471e-03 -1.73644643e+01] [ 7.26917966e-03 -1.24621729e-04 9.99973571e-01 -2.36377450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.834012739 meters Centerline goodness [0,1] 0.9964715559788726 Centerline is valid? [True, True] Translation: X:268.62, Y:-17.36, Z:-2.37 [[ 9.79134458e-01 -2.03026911e-01 -8.70555338e-03 2.68618633e+02] [ 2.03020081e-01 9.79173149e-01 -1.67046589e-03 -1.73574759e+01] [ 8.86339365e-03 -1.31791441e-04 9.99960711e-01 -2.36662064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86401273900003 meters Centerline goodness [0,1] 0.9971261865366193 Centerline is valid? [True, True] Translation: X:268.65, Y:-17.35, Z:-2.37 [[ 9.79445886e-01 -2.01485342e-01 -9.45581741e-03 2.68646744e+02] [ 2.01477197e-01 9.79491522e-01 -1.81602558e-03 -1.73483164e+01] [ 9.62779552e-03 -1.26432805e-04 9.99953644e-01 -2.36735415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.894012739 meters Centerline goodness [0,1] 0.9965969544896509 Centerline is valid? [True, True] Translation: X:268.67, Y:-17.34, Z:-2.36 [[ 9.79621915e-01 -2.00748625e-01 -6.39478598e-03 2.68674062e+02] [ 2.00744881e-01 9.79642783e-01 -1.22870119e-03 -1.73439118e+01] [ 6.51126601e-03 -8.00579429e-05 9.99978798e-01 -2.36185554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92401273900003 meters Centerline goodness [0,1] 0.9951685611371136 Centerline is valid? [True, True] Translation: X:268.70, Y:-17.34, Z:-2.36 [[ 9.79402864e-01 -2.01882721e-01 -3.66014146e-03 2.68702301e+02] [ 2.01881502e-01 9.79409702e-01 -7.03395301e-04 -1.73408718e+01] [ 3.72678141e-03 -5.00074835e-05 9.99993054e-01 -2.35686953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.954012739 meters Centerline goodness [0,1] 0.994536335503148 Centerline is valid? [True, True] Translation: X:268.73, Y:-17.34, Z:-2.35 [[ 9.79114065e-01 -2.03300267e-01 -2.15617850e-03 2.68731320e+02] [ 2.03299848e-01 9.79116439e-01 -4.14260816e-04 -1.73385373e+01] [ 2.19536915e-03 -3.27421687e-05 9.99997590e-01 -2.35393640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984012739 meters Centerline goodness [0,1] 0.9936901747006053 Centerline is valid? [True, True] Translation: X:268.76, Y:-17.35, Z:-2.36 [[ 9.78522238e-01 -2.06097362e-01 -4.25520084e-03 2.68761187e+02] [ 2.06095749e-01 9.78531487e-01 -8.18790148e-04 -1.73460117e+01] [ 4.33259849e-03 -7.57744360e-05 9.99990611e-01 -2.35864846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.014012739 meters Centerline goodness [0,1] 0.9949743347436696 Centerline is valid? [True, True] Translation: X:268.79, Y:-17.34, Z:-2.36 [[ 9.78156607e-01 -2.07780941e-01 -6.06069655e-03 2.68789659e+02] [ 2.07777696e-01 9.78175376e-01 -1.16709328e-03 -1.73431200e+01] [ 6.17092387e-03 -1.17677565e-04 9.99980953e-01 -2.36141670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044012739 meters Centerline goodness [0,1] 0.9948093174895972 Centerline is valid? [True, True] Translation: X:268.82, Y:-17.34, Z:-2.36 [[ 9.78018045e-01 -2.08438152e-01 -5.85152035e-03 2.68817705e+02] [ 2.08435136e-01 9.78035543e-01 -1.12753722e-03 -1.73430371e+01] [ 5.95801665e-03 -1.16910685e-04 9.99982244e-01 -2.36089125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.074012739 meters Centerline goodness [0,1] 0.9941005509044376 Centerline is valid? [True, True] Translation: X:268.85, Y:-17.34, Z:-2.36 [[ 9.77799795e-01 -2.09469785e-01 -5.47451587e-03 2.68846151e+02] [ 2.09467157e-01 9.77815113e-01 -1.05543454e-03 -1.73391314e+01] [ 5.57414600e-03 -1.14727600e-04 9.99984458e-01 -2.35975367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104012739 meters Centerline goodness [0,1] 0.9936915988459717 Centerline is valid? [True, True] Translation: X:268.88, Y:-17.35, Z:-2.36 [[ 9.77362090e-01 -2.11462185e-01 -6.86223842e-03 2.68875575e+02] [ 2.11458098e-01 9.77386167e-01 -1.32400672e-03 -1.73475614e+01] [ 6.98703426e-03 -1.57041912e-04 9.99975578e-01 -2.36265087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.134012739 meters Centerline goodness [0,1] 0.9941355954210036 Centerline is valid? [True, True] Translation: X:268.90, Y:-17.35, Z:-2.36 [[ 9.77166403e-01 -2.12330988e-01 -7.83401508e-03 2.68904384e+02] [ 2.12325681e-01 9.77197788e-01 -1.51252900e-03 -1.73467881e+01] [ 7.97653899e-03 -1.85370069e-04 9.99968170e-01 -2.36371740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164012739 meters Centerline goodness [0,1] 0.9926803990154165 Centerline is valid? [True, True] Translation: X:268.93, Y:-17.35, Z:-2.36 [[ 9.77096229e-01 -2.12679552e-01 -7.09694656e-03 2.68933361e+02] [ 2.12675197e-01 9.77121988e-01 -1.37144224e-03 -1.73482823e+01] [ 7.22626025e-03 -1.69313470e-04 9.99973876e-01 -2.36142525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.194012739 meters Centerline goodness [0,1] 0.9928414933078809 Centerline is valid? [True, True] Translation: X:268.96, Y:-17.34, Z:-2.36 [[ 9.77259536e-01 -2.11965464e-01 -5.86871510e-03 2.68961797e+02] [ 2.11962468e-01 9.77277148e-01 -1.13505076e-03 -1.73441213e+01] [ 5.97595271e-03 -1.34708154e-04 9.99982135e-01 -2.35930363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224012739 meters Centerline goodness [0,1] 0.9944108761329306 Centerline is valid? [True, True] Translation: X:268.99, Y:-17.34, Z:-2.36 [[ 9.77908392e-01 -2.08950561e-01 -5.90251389e-03 2.68989600e+02] [ 2.08947471e-01 9.77926198e-01 -1.14233681e-03 -1.73413826e+01] [ 6.01091489e-03 -1.16214597e-04 9.99981928e-01 -2.35935756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.254012739 meters Centerline goodness [0,1] 0.9943649666921481 Centerline is valid? [True, True] Translation: X:269.02, Y:-17.34, Z:-2.36 [[ 9.78076887e-01 -2.08134748e-01 -6.74752589e-03 2.69017825e+02] [ 2.08130684e-01 9.78100154e-01 -1.30666474e-03 -1.73356070e+01] [ 6.87171845e-03 -1.26348594e-04 9.99976381e-01 -2.36091801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284012739 meters Centerline goodness [0,1] 0.9946181723486903 Centerline is valid? [True, True] Translation: X:269.05, Y:-17.33, Z:-2.36 [[ 9.78306907e-01 -2.07009703e-01 -7.91066748e-03 2.69046226e+02] [ 2.07004069e-01 9.78338880e-01 -1.53335753e-03 -1.73287012e+01] [ 8.05673344e-03 -1.37446097e-04 9.99967535e-01 -2.36375292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.314012739 meters Centerline goodness [0,1] 0.9942724491788341 Centerline is valid? [True, True] Translation: X:269.07, Y:-17.32, Z:-2.36 [[ 9.78403460e-01 -2.06544955e-01 -8.11487375e-03 2.69074864e+02] [ 2.06539000e-01 9.78437102e-01 -1.57434655e-03 -1.73237533e+01] [ 8.26506690e-03 -1.35691798e-04 9.99965835e-01 -2.36344106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344012739 meters Centerline goodness [0,1] 0.9953080679903602 Centerline is valid? [True, True] Translation: X:269.10, Y:-17.32, Z:-2.37 [[ 9.78373556e-01 -2.06667835e-01 -8.57847219e-03 2.69102894e+02] [ 2.06661176e-01 9.78411153e-01 -1.66523874e-03 -1.73236034e+01] [ 8.73742416e-03 -1.43611601e-04 9.99961818e-01 -2.36502618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.374012739 meters Centerline goodness [0,1] 0.9951151580074986 Centerline is valid? [True, True] Translation: X:269.13, Y:-17.32, Z:-2.37 [[ 9.78276811e-01 -2.07063393e-01 -9.96158545e-03 2.69132193e+02] [ 2.07054421e-01 9.78327513e-01 -1.93501466e-03 -1.73214141e+01] [ 1.01463638e-02 -1.69610333e-04 9.99948510e-01 -2.36705052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404012739 meters Centerline goodness [0,1] 0.995010967270225 Centerline is valid? [True, True] Translation: X:269.16, Y:-17.31, Z:-2.36 [[ 9.78447652e-01 -2.06290035e-01 -9.19858489e-03 2.69160609e+02] [ 2.06282340e-01 9.78490879e-01 -1.78784787e-03 -1.73140420e+01] [ 9.36954661e-03 -1.48190069e-04 9.99956094e-01 -2.36491630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.434012739 meters Centerline goodness [0,1] 0.9947117244937443 Centerline is valid? [True, True] Translation: X:269.19, Y:-17.31, Z:-2.36 [[ 9.78731795e-01 -2.05009121e-01 -7.43872369e-03 2.69188214e+02] [ 2.05004048e-01 9.78760057e-01 -1.44640005e-03 -1.73100107e+01] [ 7.57725082e-03 -1.09330746e-04 9.99971286e-01 -2.36162167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464012739 meters Centerline goodness [0,1] 0.995194464022554 Centerline is valid? [True, True] Translation: X:269.22, Y:-17.30, Z:-2.36 [[ 9.79421636e-01 -2.01756324e-01 -5.25776713e-03 2.69215046e+02] [ 2.01753740e-01 9.79435747e-01 -1.02283231e-03 -1.72976828e+01] [ 5.35600797e-03 -5.89900898e-05 9.99985655e-01 -2.35673475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.494012739 meters Centerline goodness [0,1] 0.9947124917382684 Centerline is valid? [True, True] Translation: X:269.24, Y:-17.29, Z:-2.36 [[ 9.79732751e-01 -2.00249667e-01 -4.87935914e-03 2.69242347e+02] [ 2.00247419e-01 9.79744900e-01 -9.49840442e-04 -1.72908727e+01] [ 4.97073247e-03 -4.64892871e-05 9.99987645e-01 -2.35639728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524012739 meters Centerline goodness [0,1] 0.9954864049649546 Centerline is valid? [True, True] Translation: X:269.27, Y:-17.28, Z:-2.36 [[ 9.80266002e-01 -1.97611005e-01 -5.33441773e-03 2.69269842e+02] [ 1.97608277e-01 9.80280516e-01 -1.03896437e-03 -1.72810544e+01] [ 5.43453655e-03 -3.56636489e-05 9.99985232e-01 -2.35790344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55401273900003 meters Centerline goodness [0,1] 0.9962435233160621 Centerline is valid? [True, True] Translation: X:269.30, Y:-17.28, Z:-2.36 [[ 9.80371867e-01 -1.97054096e-01 -6.37848611e-03 2.69297777e+02] [ 1.97050176e-01 9.80392616e-01 -1.24358850e-03 -1.72755347e+01] [ 6.49847489e-03 -3.77026331e-05 9.99978884e-01 -2.35899781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584012739 meters Centerline goodness [0,1] 0.996958322547243 Centerline is valid? [True, True] Translation: X:269.33, Y:-17.27, Z:-2.36 [[ 9.80433147e-01 -1.96725189e-01 -7.07414283e-03 2.69325773e+02] [ 1.96720348e-01 9.80458667e-01 -1.38067175e-03 -1.72704767e+01] [ 7.20751756e-03 -3.79714875e-05 9.99974025e-01 -2.35973514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61401273900003 meters Centerline goodness [0,1] 0.996987560140436 Centerline is valid? [True, True] Translation: X:269.35, Y:-17.27, Z:-2.36 [[ 9.80267995e-01 -1.97549560e-01 -6.98778373e-03 2.69353408e+02] [ 1.97544848e-01 9.80292900e-01 -1.36515073e-03 -1.72653462e+01] [ 7.11975970e-03 -4.21871015e-05 9.99974653e-01 -2.35947884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.644012739 meters Centerline goodness [0,1] 0.9963377065425796 Centerline is valid? [True, True] Translation: X:269.38, Y:-17.26, Z:-2.36 [[ 9.80177277e-01 -1.98004759e-01 -6.82800855e-03 2.69380515e+02] [ 1.98000264e-01 9.80201058e-01 -1.33488219e-03 -1.72609539e+01] [ 6.95713423e-03 -4.35263032e-05 9.99975798e-01 -2.35930673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67401273900003 meters Centerline goodness [0,1] 0.9967546516659455 Centerline is valid? [True, True] Translation: X:269.41, Y:-17.25, Z:-2.36 [[ 9.80364788e-01 -1.97074677e-01 -6.81569978e-03 2.69407626e+02] [ 1.97070169e-01 9.80388479e-01 -1.33344587e-03 -1.72538846e+01] [ 6.94482195e-03 -3.59077271e-05 9.99975884e-01 -2.35970391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.704012739 meters Centerline goodness [0,1] 0.9963513892786977 Centerline is valid? [True, True] Translation: X:269.43, Y:-17.25, Z:-2.36 [[ 9.80552360e-01 -1.96151112e-01 -6.46607852e-03 2.69434354e+02] [ 1.96147029e-01 9.80573679e-01 -1.26589946e-03 -1.72472376e+01] [ 6.58877399e-03 -2.70213917e-05 9.99978293e-01 -2.35860993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.734012739 meters Centerline goodness [0,1] 0.9957133459244955 Centerline is valid? [True, True] Translation: X:269.46, Y:-17.24, Z:-2.36 [[ 9.81141992e-01 -1.93228144e-01 -4.82445790e-03 2.69461105e+02] [ 1.93225834e-01 9.81153853e-01 -9.44892814e-04 -1.72363722e+01] [ 4.91611534e-03 -5.13588427e-06 9.99987916e-01 -2.35518593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.764012739 meters Centerline goodness [0,1] 0.996181568560151 Centerline is valid? [True, True] Translation: X:269.49, Y:-17.23, Z:-2.35 [[ 9.81586879e-01 -1.90948770e-01 -5.07600122e-03 2.69487320e+02] [ 1.90946177e-01 9.81600004e-01 -9.95093435e-04 -1.72259956e+01] [ 5.17261468e-03 7.52762996e-06 9.99986622e-01 -2.35486158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.794012739 meters Centerline goodness [0,1] 0.9955519264241356 Centerline is valid? [True, True] Translation: X:269.51, Y:-17.21, Z:-2.36 [[ 9.82600138e-01 -1.85634419e-01 -6.06880049e-03 2.69512740e+02] [ 1.85630605e-01 9.82618879e-01 -1.19070643e-03 -1.72090943e+01] [ 6.18435402e-03 4.34331939e-05 9.99980876e-01 -2.35817377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.824012739 meters Centerline goodness [0,1] 0.9952272921838884 Centerline is valid? [True, True] Translation: X:269.54, Y:-17.20, Z:-2.36 [[ 9.83046744e-01 -1.83242175e-01 -6.43457423e-03 2.69540263e+02] [ 1.83237832e-01 9.83067801e-01 -1.26319232e-03 -1.71983866e+01] [ 6.55709284e-03 6.27196684e-05 9.99978500e-01 -2.35898998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.854012739 meters Centerline goodness [0,1] 0.9948490116541111 Centerline is valid? [True, True] Translation: X:269.57, Y:-17.19, Z:-2.36 [[ 9.83387285e-01 -1.81382839e-01 -7.05078346e-03 2.69567493e+02] [ 1.81377567e-01 9.83412558e-01 -1.38542737e-03 -1.71886521e+01] [ 7.18512174e-03 8.35577150e-05 9.99974183e-01 -2.35930831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.884012739 meters Centerline goodness [0,1] 0.9948335988289491 Centerline is valid? [True, True] Translation: X:269.59, Y:-17.17, Z:-2.36 [[ 9.83759000e-01 -1.79298504e-01 -8.38316321e-03 2.69592359e+02] [ 1.79290965e-01 9.83794711e-01 -1.64847864e-03 -1.71732057e+01] [ 8.54288138e-03 1.18680274e-04 9.99963502e-01 -2.36192493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.914012739 meters Centerline goodness [0,1] 0.9954218443427076 Centerline is valid? [True, True] Translation: X:269.62, Y:-17.17, Z:-2.36 [[ 9.83501032e-01 -1.80759413e-01 -7.19413215e-03 2.69620802e+02] [ 1.80753893e-01 9.83527339e-01 -1.41563764e-03 -1.71680774e+01] [ 7.33151548e-03 9.19136874e-05 9.99973120e-01 -2.35861209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.944012739 meters Centerline goodness [0,1] 0.9955170612813371 Centerline is valid? [True, True] Translation: X:269.65, Y:-17.16, Z:-2.36 [[ 9.83179465e-01 -1.82539038e-01 -6.13499454e-03 2.69649417e+02] [ 1.82535052e-01 9.83198604e-01 -1.20821291e-03 -1.71628630e+01] [ 6.25246409e-03 6.80385778e-05 9.99980451e-01 -2.35717472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.974012739 meters Centerline goodness [0,1] 0.995598572273195 Centerline is valid? [True, True] Translation: X:269.68, Y:-17.16, Z:-2.36 [[ 9.82789256e-01 -1.84658125e-01 -5.16280110e-03 2.69676774e+02] [ 1.84655329e-01 9.82802816e-01 -1.01737542e-03 -1.71589379e+01] [ 5.26188210e-03 4.65268965e-05 9.99986155e-01 -2.35545180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.004012739 meters Centerline goodness [0,1] 0.9959528189589871 Centerline is valid? [True, True] Translation: X:269.71, Y:-17.16, Z:-2.36 [[ 9.81983777e-01 -1.88890137e-01 -5.32707182e-03 2.69705985e+02] [ 1.88887219e-01 9.81998226e-01 -1.05028522e-03 -1.71591035e+01] [ 5.42956359e-03 2.51472676e-05 9.99985259e-01 -2.35640596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.034012739 meters Centerline goodness [0,1] 0.9966938934266822 Centerline is valid? [True, True] Translation: X:269.73, Y:-17.16, Z:-2.36 [[ 9.81362951e-01 -1.92049257e-01 -6.62125690e-03 2.69733432e+02] [ 1.92044811e-01 9.81385288e-01 -1.30682113e-03 -1.71560716e+01] [ 6.74897813e-03 1.08878086e-05 9.99977225e-01 -2.35892200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.064012739 meters Centerline goodness [0,1] 0.9968891097236925 Centerline is valid? [True, True] Translation: X:269.76, Y:-17.15, Z:-2.36 [[ 9.81128205e-01 -1.93238776e-01 -6.79855956e-03 2.69760519e+02] [ 1.93234107e-01 9.81151760e-01 -1.34317893e-03 -1.71510374e+01] [ 6.92997293e-03 4.11714643e-06 9.99975987e-01 -2.35846022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.094012739 meters Centerline goodness [0,1] 0.9970453123989044 Centerline is valid? [True, True] Translation: X:269.79, Y:-17.15, Z:-2.36 [[ 9.81100247e-01 -1.93383372e-01 -6.72143832e-03 2.69786634e+02] [ 1.93378806e-01 9.81123270e-01 -1.32890535e-03 -1.71451245e+01] [ 6.85154775e-03 4.00564590e-06 9.99976528e-01 -2.35740776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.124012739 meters Centerline goodness [0,1] 0.9969291985640759 Centerline is valid? [True, True] Translation: X:269.81, Y:-17.13, Z:-2.36 [[ 9.81348509e-01 -1.92121127e-01 -6.67657798e-03 2.69813176e+02] [ 1.92116586e-01 9.81371220e-01 -1.32094911e-03 -1.71349458e+01] [ 6.80598371e-03 1.36300638e-05 9.99976839e-01 -2.35538744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.154012739 meters Centerline goodness [0,1] 0.9965409215507114 Centerline is valid? [True, True] Translation: X:269.84, Y:-17.13, Z:-2.36 [[ 9.81612051e-01 -1.90763020e-01 -6.87398734e-03 2.69840191e+02] [ 1.90758164e-01 9.81636119e-01 -1.36136703e-03 -1.71255375e+01] [ 7.00745274e-03 2.50650732e-05 9.99975447e-01 -2.35603407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.184012739 meters Centerline goodness [0,1] 0.9963815718624136 Centerline is valid? [True, True] Translation: X:269.87, Y:-17.11, Z:-2.36 [[ 9.82140180e-01 -1.88026974e-01 -6.82081278e-03 2.69865764e+02] [ 1.88022121e-01 9.82163864e-01 -1.35171948e-03 -1.71125287e+01] [ 6.95331555e-03 4.51143304e-05 9.99975824e-01 -2.35754559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.214012739 meters Centerline goodness [0,1] 0.9957487922705314 Centerline is valid? [True, True] Translation: X:269.89, Y:-17.10, Z:-2.35 [[ 9.82309821e-01 -1.87194983e-01 -5.04520546e-03 2.69892794e+02] [ 1.87192315e-01 9.82322776e-01 -1.00029132e-03 -1.71035303e+01] [ 5.14326975e-03 3.81722970e-05 9.99986773e-01 -2.35379205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.244012739 meters Centerline goodness [0,1] 0.9954254148415079 Centerline is valid? [True, True] Translation: X:269.92, Y:-17.10, Z:-2.35 [[ 9.82383717e-01 -1.86824098e-01 -4.35761864e-03 2.69918339e+02] [ 1.86822101e-01 9.82393381e-01 -8.64673324e-04 -1.70960513e+01] [ 4.44243753e-03 3.53415248e-05 9.99990132e-01 -2.35231286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.274012739 meters Centerline goodness [0,1] 0.9949431646280849 Centerline is valid? [True, True] Translation: X:269.95, Y:-17.09, Z:-2.35 [[ 9.82520496e-01 -1.86109308e-01 -4.09885042e-03 2.69945867e+02] [ 1.86107532e-01 9.82529045e-01 -8.13865759e-04 -1.70874508e+01] [ 4.17870759e-03 3.68128520e-05 9.99991268e-01 -2.35121004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30401273900003 meters Centerline goodness [0,1] 0.9944538886527837 Centerline is valid? [True, True] Translation: X:269.97, Y:-17.07, Z:-2.35 [[ 9.82878532e-01 -1.84191265e-01 -4.83423413e-03 2.69971503e+02] [ 1.84188767e-01 9.82890419e-01 -9.60665886e-04 -1.70744434e+01] [ 4.92846868e-03 5.38062488e-05 9.99987854e-01 -2.35239627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.334012739 meters Centerline goodness [0,1] 0.9947512746904323 Centerline is valid? [True, True] Translation: X:270.00, Y:-17.07, Z:-2.35 [[ 9.82960117e-01 -1.83747265e-01 -5.13335439e-03 2.69998805e+02] [ 1.83744441e-01 9.82973519e-01 -1.02059984e-03 -1.70660297e+01] [ 5.23348386e-03 5.99836036e-05 9.99986303e-01 -2.35279877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36401273900003 meters Centerline goodness [0,1] 0.9944686233732821 Centerline is valid? [True, True] Translation: X:270.03, Y:-17.06, Z:-2.35 [[ 9.83003142e-01 -1.83530667e-01 -4.61699788e-03 2.70025816e+02] [ 1.83528376e-01 9.83013983e-01 -9.18675673e-04 -1.70576275e+01] [ 4.70717864e-03 5.57109509e-05 9.99988920e-01 -2.35196760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.394012739 meters Centerline goodness [0,1] 0.9940343347639485 Centerline is valid? [True, True] Translation: X:270.05, Y:-17.05, Z:-2.35 [[ 9.82856863e-01 -1.84329695e-01 -3.86668229e-03 2.70054000e+02] [ 1.84328092e-01 9.82864468e-01 -7.70000723e-04 -1.70526200e+01] [ 3.94235863e-03 4.40623285e-05 9.99992228e-01 -2.35075949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42401273900003 meters Centerline goodness [0,1] 0.9944988566251025 Centerline is valid? [True, True] Translation: X:270.08, Y:-17.05, Z:-2.35 [[ 9.82481959e-01 -1.86336311e-01 -2.82474958e-03 2.70081187e+02] [ 1.86335463e-01 9.82486020e-01 -5.62906882e-04 -1.70469203e+01] [ 2.88016697e-03 2.66948360e-05 9.99995852e-01 -2.34903167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.454012739 meters Centerline goodness [0,1] 0.9946667242458921 Centerline is valid? [True, True] Translation: X:270.11, Y:-17.04, Z:-2.35 [[ 9.82243770e-01 -1.87585052e-01 -3.00419538e-03 2.70109341e+02] [ 1.87584098e-01 9.82248363e-01 -5.98805386e-04 -1.70426974e+01] [ 3.06319294e-03 2.46335779e-05 9.99995308e-01 -2.34920997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484012739 meters Centerline goodness [0,1] 0.9948726713382328 Centerline is valid? [True, True] Translation: X:270.14, Y:-17.04, Z:-2.35 [[ 9.81820053e-01 -1.89771746e-01 -4.00849608e-03 2.70137792e+02] [ 1.89770062e-01 9.81828235e-01 -7.99835410e-04 -1.70394902e+01] [ 4.08744080e-03 2.46018940e-05 9.99991646e-01 -2.35001283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.514012739 meters Centerline goodness [0,1] 0.996065671387861 Centerline is valid? [True, True] Translation: X:270.17, Y:-17.03, Z:-2.35 [[ 9.81593435e-01 -1.90917106e-01 -4.99875701e-03 2.70165150e+02] [ 1.90914497e-01 9.81606162e-01 -9.98433946e-04 -1.70334385e+01] [ 5.09742881e-03 2.57210284e-05 9.99987008e-01 -2.35116861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544012739 meters Centerline goodness [0,1] 0.9968214841722886 Centerline is valid? [True, True] Translation: X:270.19, Y:-17.03, Z:-2.36 [[ 9.81372483e-01 -1.91976015e-01 -7.29795293e-03 2.70191825e+02] [ 1.91970470e-01 9.81399617e-01 -1.45935771e-03 -1.70258512e+01] [ 7.44236989e-03 3.11820457e-05 9.99972305e-01 -2.35601578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.574012739 meters Centerline goodness [0,1] 0.9963111571317629 Centerline is valid? [True, True] Translation: X:270.22, Y:-17.02, Z:-2.36 [[ 9.81366004e-01 -1.91967547e-01 -8.32026485e-03 2.70219000e+02] [ 1.91960331e-01 9.81401274e-01 -1.66483254e-03 -1.70198010e+01] [ 8.48511233e-03 3.66492602e-05 9.99964000e-01 -2.35801056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604012739 meters Centerline goodness [0,1] 0.996455957213738 Centerline is valid? [True, True] Translation: X:270.25, Y:-17.01, Z:-2.36 [[ 9.81395828e-01 -1.91808109e-01 -8.47813252e-03 2.70246040e+02] [ 1.91800601e-01 9.81432447e-01 -1.69761452e-03 -1.70136937e+01] [ 8.64633057e-03 3.99208893e-05 9.99962619e-01 -2.35608063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.634012739 meters Centerline goodness [0,1] 0.9961256811989101 Centerline is valid? [True, True] Translation: X:270.27, Y:-17.00, Z:-2.35 [[ 9.81607244e-01 -1.90823895e-01 -5.78442133e-03 2.70271542e+02] [ 1.90820379e-01 9.81624286e-01 -1.15902259e-03 -1.70021459e+01] [ 5.89929767e-03 3.39195021e-05 9.99982598e-01 -2.35061757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664012739 meters Centerline goodness [0,1] 0.9961256811989101 Centerline is valid? [True, True] Translation: X:270.30, Y:-17.00, Z:-2.35 [[ 9.81572626e-01 -1.91001890e-01 -5.78424760e-03 2.70298448e+02] [ 1.90998372e-01 9.81589668e-01 -1.15988909e-03 -1.69965467e+01] [ 5.89929869e-03 3.37335035e-05 9.99982598e-01 -2.35051857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.694012739 meters Centerline goodness [0,1] 0.9959078608672695 Centerline is valid? [True, True] Translation: X:270.33, Y:-16.99, Z:-2.35 [[ 9.81605790e-01 -1.90859998e-01 -4.74708028e-03 2.70325277e+02] [ 1.90857622e-01 9.81617268e-01 -9.52704579e-04 -1.69896781e+01] [ 4.84164917e-03 2.91638774e-05 9.99988279e-01 -2.34879877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724012739 meters Centerline goodness [0,1] 0.9957291689135265 Centerline is valid? [True, True] Translation: X:270.35, Y:-16.98, Z:-2.35 [[ 9.81524237e-01 -1.91284609e-01 -4.51339134e-03 2.70350635e+02] [ 1.91282462e-01 9.81534614e-01 -9.06574880e-04 -1.69808717e+01] [ 4.60346365e-03 2.64926097e-05 9.99989404e-01 -2.34890353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.754012739 meters Centerline goodness [0,1] 0.9958365524937763 Centerline is valid? [True, True] Translation: X:270.38, Y:-16.98, Z:-2.35 [[ 9.81367932e-01 -1.92077578e-01 -4.81517403e-03 2.70378536e+02] [ 1.92075141e-01 9.81379745e-01 -9.67778445e-04 -1.69762034e+01] [ 4.91140280e-03 2.48714999e-05 9.99987939e-01 -2.34924247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784012739 meters Centerline goodness [0,1] 0.9967074317968015 Centerline is valid? [True, True] Translation: X:270.41, Y:-16.97, Z:-2.35 [[ 9.81035457e-01 -1.93772642e-01 -4.64698168e-03 2.70405645e+02] [ 1.93770389e-01 9.81046463e-01 -9.34714736e-04 -1.69702673e+01] [ 4.74002709e-03 1.65408524e-05 9.99988766e-01 -2.34938392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.814012739 meters Centerline goodness [0,1] 0.9962503728322468 Centerline is valid? [True, True] Translation: X:270.43, Y:-16.97, Z:-2.35 [[ 9.80754862e-01 -1.95204753e-01 -3.87376333e-03 2.70433999e+02] [ 1.95203197e-01 9.80762512e-01 -7.79427228e-04 -1.69673599e+01] [ 3.95138975e-03 8.25605625e-06 9.99992193e-01 -2.34752323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844012739 meters Centerline goodness [0,1] 0.9963649660156586 Centerline is valid? [True, True] Translation: X:270.46, Y:-16.97, Z:-2.35 [[ 9.80282875e-01 -1.97557520e-01 -4.06330081e-03 2.70462067e+02] [ 1.97555826e-01 9.80291297e-01 -8.18325674e-04 -1.69663519e+01] [ 4.14488481e-03 -5.38100460e-07 9.99991410e-01 -2.34744875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.874012739 meters Centerline goodness [0,1] 0.9963786186707145 Centerline is valid? [True, True] Translation: X:270.49, Y:-16.96, Z:-2.35 [[ 9.80163894e-01 -1.98130585e-01 -4.79717616e-03 2.70489895e+02] [ 1.98128224e-01 9.80175633e-01 -9.67208649e-04 -1.69606448e+01] [ 4.89370879e-03 -2.43299602e-06 9.99988026e-01 -2.34897432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904012739 meters Centerline goodness [0,1] 0.9966469986283176 Centerline is valid? [True, True] Translation: X:270.52, Y:-16.96, Z:-2.35 [[ 9.80089077e-01 -1.98489158e-01 -5.23979604e-03 2.70517367e+02] [ 1.98486340e-01 9.80103084e-01 -1.05758099e-03 -1.69559165e+01] [ 5.34545861e-03 -3.50436635e-06 9.99985713e-01 -2.35058043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.934012739 meters Centerline goodness [0,1] 0.9965781608697536 Centerline is valid? [True, True] Translation: X:270.54, Y:-16.95, Z:-2.35 [[ 9.80122796e-01 -1.98333781e-01 -4.79744161e-03 2.70544330e+02] [ 1.98331414e-01 9.80134537e-01 -9.69137611e-04 -1.69515721e+01] [ 4.89435094e-03 -1.60951115e-06 9.99988023e-01 -2.34904319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964012739 meters Centerline goodness [0,1] 0.9962550870205212 Centerline is valid? [True, True] Translation: X:270.57, Y:-16.95, Z:-2.34 [[ 9.80213795e-01 -1.97926429e-01 -2.45880656e-03 2.70572061e+02] [ 1.97925805e-01 9.80216878e-01 -4.96742256e-04 -1.69467576e+01] [ 2.50848211e-03 2.52343718e-07 9.99996854e-01 -2.34460221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.994012739 meters Centerline goodness [0,1] 0.9960567485319961 Centerline is valid? [True, True] Translation: X:270.60, Y:-16.94, Z:-2.34 [[ 9.80177776e-01 -1.98110943e-01 -1.89244672e-03 2.70598710e+02] [ 1.98110573e-01 9.80179603e-01 -3.82730022e-04 -1.69412082e+01] [ 1.93076068e-03 2.29758063e-07 9.99998136e-01 -2.34322686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024012739 meters Centerline goodness [0,1] 0.9962658540249373 Centerline is valid? [True, True] Translation: X:270.63, Y:-16.94, Z:-2.34 [[ 9.80148964e-01 -1.98253493e-01 -1.88699715e-03 2.70626371e+02] [ 1.98253126e-01 9.80150780e-01 -3.81608696e-04 -1.69350010e+01] [ 1.92519698e-03 -6.97145989e-08 9.99998147e-01 -2.34327430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05401273900003 meters Centerline goodness [0,1] 0.995921959176665 Centerline is valid? [True, True] Translation: X:270.65, Y:-16.93, Z:-2.35 [[ 9.80545420e-01 -1.96265721e-01 -3.23217326e-03 2.70653148e+02] [ 1.96264629e-01 9.80550747e-01 -6.54789452e-04 -1.69268495e+01] [ 3.29782263e-03 7.68951122e-06 9.99994562e-01 -2.34551356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084012739 meters Centerline goodness [0,1] 0.9959976635008545 Centerline is valid? [True, True] Translation: X:270.68, Y:-16.92, Z:-2.35 [[ 9.80873965e-01 -1.94590317e-01 -4.56874619e-03 2.70680035e+02] [ 1.94588111e-01 9.80884605e-01 -9.26648413e-04 -1.69168103e+01] [ 4.66172961e-03 1.99016107e-05 9.99989134e-01 -2.34710882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11401273900003 meters Centerline goodness [0,1] 0.9964180631955993 Centerline is valid? [True, True] Translation: X:270.71, Y:-16.91, Z:-2.35 [[ 9.80924810e-01 -1.94324484e-01 -4.95086788e-03 2.70705589e+02] [ 1.94321888e-01 9.80937304e-01 -1.00464086e-03 -1.69088709e+01] [ 5.05171731e-03 2.34151498e-05 9.99987240e-01 -2.34813038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.144012739 meters Centerline goodness [0,1] 0.9966186384096832 Centerline is valid? [True, True] Translation: X:270.73, Y:-16.90, Z:-2.35 [[ 9.80984144e-01 -1.94027014e-01 -4.86075347e-03 2.70732487e+02] [ 1.94024505e-01 9.80996186e-01 -9.86923512e-04 -1.69025730e+01] [ 4.95987044e-03 2.50510289e-05 9.99987699e-01 -2.34791072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17401273900003 meters Centerline goodness [0,1] 0.9956549520766773 Centerline is valid? [True, True] Translation: X:270.76, Y:-16.89, Z:-2.35 [[ 9.81247599e-01 -1.92707583e-01 -4.11550888e-03 2.70758865e+02] [ 1.92705771e-01 9.81256229e-01 -8.36237538e-04 -1.68938807e+01] [ 4.19951804e-03 2.74737670e-05 9.99991182e-01 -2.34624068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.204012739 meters Centerline goodness [0,1] 0.9953147627566232 Centerline is valid? [True, True] Translation: X:270.79, Y:-16.89, Z:-2.35 [[ 9.81509877e-01 -1.91351447e-01 -4.79433238e-03 2.70786342e+02] [ 1.91348969e-01 9.81521585e-01 -9.74629899e-04 -1.68857744e+01] [ 4.89223756e-03 3.92183160e-05 9.99988032e-01 -2.34716263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.234012739 meters Centerline goodness [0,1] 0.9953528032402473 Centerline is valid? [True, True] Translation: X:270.81, Y:-16.87, Z:-2.35 [[ 9.82159228e-01 -1.87893244e-01 -7.70588047e-03 2.70811428e+02] [ 1.87886726e-01 9.82189452e-01 -1.56773668e-03 -1.68720526e+01] [ 7.86320165e-03 9.19344023e-05 9.99969080e-01 -2.35338745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.264012739 meters Centerline goodness [0,1] 0.9953143893591294 Centerline is valid? [True, True] Translation: X:270.84, Y:-16.86, Z:-2.35 [[ 9.82431282e-01 -1.86428546e-01 -8.55418734e-03 2.70839248e+02] [ 1.86420449e-01 9.82468515e-01 -1.74144523e-03 -1.68646392e+01] [ 8.72887484e-03 1.16174825e-04 9.99961896e-01 -2.35407332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.294012739 meters Centerline goodness [0,1] 0.9949640756256919 Centerline is valid? [True, True] Translation: X:270.87, Y:-16.85, Z:-2.35 [[ 9.82865082e-01 -1.84188554e-01 -7.12797816e-03 2.70866399e+02] [ 1.84182864e-01 9.82890922e-01 -1.45221861e-03 -1.68543943e+01] [ 7.27350707e-03 1.14483532e-04 9.99973541e-01 -2.35133433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.324012739 meters Centerline goodness [0,1] 0.9944642320731236 Centerline is valid? [True, True] Translation: X:270.89, Y:-16.85, Z:-2.35 [[ 9.82990514e-01 -1.83554126e-01 -6.12632951e-03 2.70894444e+02] [ 1.83549905e-01 9.83009599e-01 -1.24911819e-03 -1.68466647e+01] [ 6.25152151e-03 1.03384130e-04 9.99980454e-01 -2.34878810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.354012739 meters Centerline goodness [0,1] 0.9940193188907773 Centerline is valid? [True, True] Translation: X:270.92, Y:-16.84, Z:-2.35 [[ 9.83103586e-01 -1.82970440e-01 -5.39972881e-03 2.70920634e+02] [ 1.82967148e-01 9.83118411e-01 -1.10167549e-03 -1.68379512e+01] [ 5.51014685e-03 9.50881433e-05 9.99984815e-01 -2.34790081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.384012739 meters Centerline goodness [0,1] 0.9940708041201419 Centerline is valid? [True, True] Translation: X:270.95, Y:-16.83, Z:-2.35 [[ 9.83367576e-01 -1.81552471e-01 -5.18762093e-03 2.70948293e+02] [ 1.81549409e-01 9.83381254e-01 -1.05899750e-03 -1.68289226e+01] [ 5.29367279e-03 9.95742858e-05 9.99985983e-01 -2.34698802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.414012739 meters Centerline goodness [0,1] 0.9936078006500542 Centerline is valid? [True, True] Translation: X:270.97, Y:-16.82, Z:-2.35 [[ 9.83408239e-01 -1.81334993e-01 -5.08485045e-03 2.70974402e+02] [ 1.81332045e-01 9.83421380e-01 -1.03871018e-03 -1.68188148e+01] [ 5.18890515e-03 9.94298203e-05 9.99986533e-01 -2.34741439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.444012739 meters Centerline goodness [0,1] 0.9933472642756621 Centerline is valid? [True, True] Translation: X:271.00, Y:-16.81, Z:-2.35 [[ 9.83375418e-01 -1.81517447e-01 -4.91968049e-03 2.71000639e+02] [ 1.81514688e-01 9.83387720e-01 -1.00529177e-03 -1.68104504e+01] [ 5.02043137e-03 9.55849412e-05 9.99987393e-01 -2.34648030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.474012739 meters Centerline goodness [0,1] 0.9937728151170281 Centerline is valid? [True, True] Translation: X:271.03, Y:-16.81, Z:-2.35 [[ 9.83330824e-01 -1.81760167e-01 -4.87165114e-03 2.71028206e+02] [ 1.81757462e-01 9.83342887e-01 -9.96024798e-04 -1.68052661e+01] [ 4.97154112e-03 9.39629395e-05 9.99987637e-01 -2.34629467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.504012739 meters Centerline goodness [0,1] 0.993644843706241 Centerline is valid? [True, True] Translation: X:271.05, Y:-16.80, Z:-2.35 [[ 9.83193512e-01 -1.82514351e-01 -4.36224016e-03 2.71054568e+02] [ 1.82512187e-01 9.83203186e-01 -8.92542717e-04 -1.67954764e+01] [ 4.45187028e-03 8.13802174e-05 9.99990087e-01 -2.34608758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.534012739 meters Centerline goodness [0,1] 0.9943934869933194 Centerline is valid? [True, True] Translation: X:271.08, Y:-16.79, Z:-2.35 [[ 9.83075362e-01 -1.83158023e-01 -3.99640362e-03 2.71083088e+02] [ 1.83156211e-01 9.83083482e-01 -8.17966809e-04 -1.67895869e+01] [ 4.07861557e-03 7.21568741e-05 9.99991680e-01 -2.34543889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.564012739 meters Centerline goodness [0,1] 0.9940205743677668 Centerline is valid? [True, True] Translation: X:271.11, Y:-16.78, Z:-2.34 [[ 9.82999771e-01 -1.83570243e-01 -3.66268668e-03 2.71109153e+02] [ 1.83568722e-01 9.83006593e-01 -7.50234383e-04 -1.67820487e+01] [ 3.73816586e-03 6.51255142e-05 9.99993011e-01 -2.34430827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.594012739 meters Centerline goodness [0,1] 0.9944516407599309 Centerline is valid? [True, True] Translation: X:271.14, Y:-16.77, Z:-2.34 [[ 9.82993803e-01 -1.83628250e-01 -1.96182573e-03 2.71136178e+02] [ 1.83627814e-01 9.82995760e-01 -4.01783141e-04 -1.67748878e+01] [ 2.00224511e-03 3.47045668e-05 9.99997995e-01 -2.34097260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.624012739 meters Centerline goodness [0,1] 0.9943972179289027 Centerline is valid? [True, True] Translation: X:271.16, Y:-16.77, Z:-2.34 [[ 9.82803235e-01 -1.84649495e-01 -1.53795187e-03 2.71163536e+02] [ 1.84649228e-01 9.82804438e-01 -3.15402998e-04 -1.67675775e+01] [ 1.56974493e-03 2.59974621e-05 9.99998768e-01 -2.34133545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.654012739 meters Centerline goodness [0,1] 0.9944898223778037 Centerline is valid? [True, True] Translation: X:271.19, Y:-16.76, Z:-2.34 [[ 9.82677042e-01 -1.85305804e-01 -2.75492933e-03 2.71190677e+02] [ 1.85304947e-01 9.82680903e-01 -5.65324323e-04 -1.67614278e+01] [ 2.81197432e-03 4.50292011e-05 9.99996045e-01 -2.34334954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.684012739 meters Centerline goodness [0,1] 0.9942649712174585 Centerline is valid? [True, True] Translation: X:271.22, Y:-16.76, Z:-2.35 [[ 9.82439725e-01 -1.86529598e-01 -4.34704961e-03 2.71219881e+02] [ 1.86527474e-01 9.82449340e-01 -8.92507094e-04 -1.67580302e+01] [ 4.43723501e-03 6.59902396e-05 9.99990153e-01 -2.34627375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.714012739 meters Centerline goodness [0,1] 0.9946059589288369 Centerline is valid? [True, True] Translation: X:271.25, Y:-16.76, Z:-2.35 [[ 9.81896478e-01 -1.89353079e-01 -4.97168159e-03 2.71248245e+02] [ 1.89350333e-01 9.81909063e-01 -1.02164376e-03 -1.67550427e+01] [ 5.07519060e-03 6.17588445e-05 9.99987119e-01 -2.34623218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.744012739 meters Centerline goodness [0,1] 0.9953433978311715 Centerline is valid? [True, True] Translation: X:271.28, Y:-16.75, Z:-2.34 [[ 9.81600033e-01 -1.90897545e-01 -4.41612331e-03 2.71275523e+02] [ 1.90895391e-01 9.81609966e-01 -9.08068813e-04 -1.67511459e+01] [ 4.50825875e-03 4.83427909e-05 9.99989837e-01 -2.34383228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.774012739 meters Centerline goodness [0,1] 0.9960121575305555 Centerline is valid? [True, True] Translation: X:271.31, Y:-16.75, Z:-2.34 [[ 9.81126835e-01 -1.93343834e-01 -2.88013753e-03 2.71305224e+02] [ 1.93342929e-01 9.81131062e-01 -5.92262050e-04 -1.67502132e+01] [ 2.94030261e-03 2.42299664e-05 9.99995677e-01 -2.34085561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80401273900003 meters Centerline goodness [0,1] 0.9957152344837928 Centerline is valid? [True, True] Translation: X:271.33, Y:-16.75, Z:-2.34 [[ 9.80970440e-01 -1.94134854e-01 -2.94182598e-03 2.71332929e+02] [ 1.94133911e-01 9.80974851e-01 -6.05399330e-04 -1.67464332e+01] [ 3.00338641e-03 2.27706641e-05 9.99995490e-01 -2.34162917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.834012739 meters Centerline goodness [0,1] 0.9963648878277516 Centerline is valid? [True, True] Translation: X:271.36, Y:-16.74, Z:-2.34 [[ 9.80710239e-01 -1.95427665e-01 -3.93132539e-03 2.71361245e+02] [ 1.95425988e-01 9.80718118e-01 -8.10042313e-04 -1.67428717e+01] [ 4.01382672e-03 2.61336424e-05 9.99991944e-01 -2.34336988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86401273900003 meters Centerline goodness [0,1] 0.9965042463755683 Centerline is valid? [True, True] Translation: X:271.39, Y:-16.74, Z:-2.34 [[ 9.80429557e-01 -1.96829857e-01 -3.98632036e-03 2.71389298e+02] [ 1.96828142e-01 9.80437661e-01 -8.22023744e-04 -1.67390655e+01] [ 4.07013742e-03 2.13163474e-05 9.99991717e-01 -2.34387132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.894012739 meters Centerline goodness [0,1] 0.9975767541487267 Centerline is valid? [True, True] Translation: X:271.42, Y:-16.74, Z:-2.34 [[ 9.79494532e-01 -2.01424305e-01 -4.32562837e-03 2.71418926e+02] [ 2.01422328e-01 9.79504083e-01 -8.92369468e-04 -1.67405385e+01] [ 4.41671555e-03 2.79287754e-06 9.99990246e-01 -2.34408060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92401273900003 meters Centerline goodness [0,1] 0.996982917670552 Centerline is valid? [True, True] Translation: X:271.45, Y:-16.74, Z:-2.34 [[ 9.79055289e-01 -2.03542066e-01 -4.62269568e-03 2.71446839e+02] [ 2.03539828e-01 9.79066202e-01 -9.54543704e-04 -1.67378639e+01] [ 4.72021490e-03 -6.35162199e-06 9.99988860e-01 -2.34409704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.954012739 meters Centerline goodness [0,1] 0.9969515444797373 Centerline is valid? [True, True] Translation: X:271.47, Y:-16.74, Z:-2.35 [[ 9.78722507e-01 -2.05106508e-01 -5.79442595e-03 2.71474608e+02] [ 2.05103013e-01 9.78739659e-01 -1.19753674e-03 -1.67366433e+01] [ 5.91685706e-03 -1.63980555e-05 9.99982495e-01 -2.34673766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984012739 meters Centerline goodness [0,1] 0.997179615125941 Centerline is valid? [True, True] Translation: X:271.50, Y:-16.73, Z:-2.35 [[ 9.78768873e-01 -2.04891089e-01 -5.57995501e-03 2.71501803e+02] [ 2.04887840e-01 9.78784778e-01 -1.15383942e-03 -1.67307838e+01] [ 5.69798644e-03 -1.39228274e-05 9.99983766e-01 -2.34621540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.014012739 meters Centerline goodness [0,1] 0.9966683361278662 Centerline is valid? [True, True] Translation: X:271.53, Y:-16.73, Z:-2.34 [[ 9.79187263e-01 -2.02918155e-01 -4.06532906e-03 2.71529530e+02] [ 2.02916411e-01 9.79195702e-01 -8.41268488e-04 -1.67255535e+01] [ 4.15146139e-03 -1.16259448e-06 9.99991383e-01 -2.34367828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044012739 meters Centerline goodness [0,1] 0.9969022810475923 Centerline is valid? [True, True] Translation: X:271.56, Y:-16.72, Z:-2.34 [[ 9.79379709e-01 -2.01995279e-01 -3.64588880e-03 2.71556980e+02] [ 2.01993868e-01 9.79386495e-01 -7.55142690e-04 -1.67195899e+01] [ 3.72326951e-03 3.12424816e-06 9.99993069e-01 -2.34267653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.074012739 meters Centerline goodness [0,1] 0.9968361821849453 Centerline is valid? [True, True] Translation: X:271.58, Y:-16.71, Z:-2.34 [[ 9.80022747e-01 -1.98856365e-01 -3.40035866e-03 2.71583854e+02] [ 1.98855116e-01 9.80028645e-01 -7.04952121e-04 -1.67100837e+01] [ 3.47263311e-03 1.46903985e-05 9.99993970e-01 -2.34197712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104012739 meters Centerline goodness [0,1] 0.9965028171750534 Centerline is valid? [True, True] Translation: X:271.61, Y:-16.70, Z:-2.34 [[ 9.80399397e-01 -1.96980097e-01 -3.98303729e-03 2.71611906e+02] [ 1.96978366e-01 9.80407487e-01 -8.26085937e-04 -1.67015285e+01] [ 4.06772206e-03 2.53219779e-05 9.99991726e-01 -2.34397982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.134012739 meters Centerline goodness [0,1] 0.9955032488489177 Centerline is valid? [True, True] Translation: X:271.64, Y:-16.69, Z:-2.35 [[ 9.81406164e-01 -1.91860028e-01 -5.62759949e-03 2.71639244e+02] [ 1.91856483e-01 9.81422297e-01 -1.16829645e-03 -1.66917055e+01] [ 5.74720101e-03 6.68818891e-05 9.99983482e-01 -2.34622803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164012739 meters Centerline goodness [0,1] 0.9945141399106953 Centerline is valid? [True, True] Translation: X:271.66, Y:-16.68, Z:-2.35 [[ 9.82012282e-01 -1.88732300e-01 -5.65661924e-03 2.71664489e+02] [ 1.88728661e-01 9.82028570e-01 -1.17510610e-03 -1.66792256e+01] [ 5.77674218e-03 8.64024428e-05 9.99983311e-01 -2.34602193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.194012739 meters Centerline goodness [0,1] 0.9945171178172085 Centerline is valid? [True, True] Translation: X:271.69, Y:-16.67, Z:-2.34 [[ 9.82583359e-01 -1.85757061e-01 -4.92508253e-03 2.71691544e+02] [ 1.85754263e-01 9.82595698e-01 -1.02354746e-03 -1.66703909e+01] [ 5.02949608e-03 9.08656260e-05 9.99987348e-01 -2.34459479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224012739 meters Centerline goodness [0,1] 0.9939843162530884 Centerline is valid? [True, True] Translation: X:271.72, Y:-16.66, Z:-2.34 [[ 9.83229200e-01 -1.82341413e-01 -3.45664847e-03 2.71718741e+02] [ 1.82340014e-01 9.83235274e-01 -7.18517750e-04 -1.66569159e+01] [ 3.52971424e-03 7.61823039e-05 9.99993768e-01 -2.34293796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.254012739 meters Centerline goodness [0,1] 0.9927156986307223 Centerline is valid? [True, True] Translation: X:271.75, Y:-16.65, Z:-2.34 [[ 9.83137454e-01 -1.82830110e-01 -3.72786097e-03 2.71746572e+02] [ 1.82828485e-01 9.83144519e-01 -7.75099289e-04 -1.66537184e+01] [ 3.80673757e-03 8.04699683e-05 9.99992751e-01 -2.34396663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284012739 meters Centerline goodness [0,1] 0.9931761121005988 Centerline is valid? [True, True] Translation: X:271.78, Y:-16.65, Z:-2.34 [[ 9.82914447e-01 -1.84010710e-01 -4.38739234e-03 2.71775467e+02] [ 1.84008469e-01 9.82924234e-01 -9.12551815e-04 -1.66489702e+01] [ 4.48039356e-03 8.96430174e-05 9.99989959e-01 -2.34478470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.314012739 meters Centerline goodness [0,1] 0.9951430344266855 Centerline is valid? [True, True] Translation: X:271.80, Y:-16.64, Z:-2.35 [[ 9.82759390e-01 -1.84816398e-01 -5.18459350e-03 2.71802959e+02] [ 1.84813276e-01 9.82773061e-01 -1.07901846e-03 -1.66403848e+01] [ 5.29469912e-03 1.02233814e-04 9.99985978e-01 -2.34602340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344012739 meters Centerline goodness [0,1] 0.9950368995727418 Centerline is valid? [True, True] Translation: X:271.83, Y:-16.63, Z:-2.35 [[ 9.82742910e-01 -1.84897521e-01 -5.41114343e-03 2.71830186e+02] [ 1.84894116e-01 9.82757801e-01 -1.12717057e-03 -1.66323598e+01] [ 5.52625446e-03 1.07230301e-04 9.99984724e-01 -2.34670715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.374012739 meters Centerline goodness [0,1] 0.9945354020229727 Centerline is valid? [True, True] Translation: X:271.86, Y:-16.62, Z:-2.35 [[ 9.82799924e-01 -1.84586158e-01 -5.67970918e-03 2.71857264e+02] [ 1.84582397e-01 9.82816329e-01 -1.18404232e-03 -1.66244046e+01] [ 5.80066875e-03 1.15302369e-04 9.99983169e-01 -2.34733532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404012739 meters Centerline goodness [0,1] 0.9940882704456206 Centerline is valid? [True, True] Translation: X:271.89, Y:-16.62, Z:-2.35 [[ 9.82825649e-01 -1.84428217e-01 -6.32278024e-03 2.71885302e+02] [ 1.84423546e-01 9.82845978e-01 -1.31893743e-03 -1.66167304e+01] [ 6.45756841e-03 1.30215980e-04 9.99979141e-01 -2.34746547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.434012739 meters Centerline goodness [0,1] 0.9940929349796345 Centerline is valid? [True, True] Translation: X:271.91, Y:-16.61, Z:-2.35 [[ 9.82688039e-01 -1.85167842e-01 -6.09001723e-03 2.71912073e+02] [ 1.85163518e-01 9.82706902e-01 -1.27118759e-03 -1.66068957e+01] [ 6.22008503e-03 1.21531823e-04 9.99980648e-01 -2.34717669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464012739 meters Centerline goodness [0,1] 0.9940034818492488 Centerline is valid? [True, True] Translation: X:271.94, Y:-16.60, Z:-2.35 [[ 9.82483670e-01 -1.86279733e-01 -5.06939637e-03 2.71939942e+02] [ 1.86276749e-01 9.82496744e-01 -1.05867113e-03 -1.66000842e+01] [ 5.17787441e-03 9.58164207e-05 9.99986590e-01 -2.34535892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.494012739 meters Centerline goodness [0,1] 0.9935907119273183 Centerline is valid? [True, True] Translation: X:271.97, Y:-16.59, Z:-2.34 [[ 9.82379387e-01 -1.86843402e-01 -4.50361679e-03 2.71968589e+02] [ 1.86841050e-01 9.82389707e-01 -9.41202580e-04 -1.65942806e+01] [ 4.60016427e-03 8.31575263e-05 9.99989416e-01 -2.34457963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524012739 meters Centerline goodness [0,1] 0.9936822718122242 Centerline is valid? [True, True] Translation: X:271.99, Y:-16.58, Z:-2.34 [[ 9.82356415e-01 -1.86976896e-01 -3.93871584e-03 2.71993731e+02] [ 1.86975096e-01 9.82364309e-01 -8.23713398e-04 -1.65849056e+01] [ 4.02326923e-03 7.27383703e-05 9.99991904e-01 -2.34334917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55401273900003 meters Centerline goodness [0,1] 0.9938342383661813 Centerline is valid? [True, True] Translation: X:272.02, Y:-16.57, Z:-2.34 [[ 9.82518741e-01 -1.86130368e-01 -3.52281692e-03 2.72020855e+02] [ 1.86128921e-01 9.82525054e-01 -7.37145357e-04 -1.65745112e+01] [ 3.59846102e-03 6.85610158e-05 9.99993523e-01 -2.34225477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584012739 meters Centerline goodness [0,1] 0.9938342383661813 Centerline is valid? [True, True] Translation: X:272.05, Y:-16.57, Z:-2.34 [[ 9.82484373e-01 -1.86311696e-01 -3.52269782e-03 2.72047706e+02] [ 1.86310248e-01 9.82490686e-01 -7.37714099e-04 -1.65686859e+01] [ 3.59846256e-03 6.84778715e-05 9.99993523e-01 -2.34215576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61401273900003 meters Centerline goodness [0,1] 0.9916529684264458 Centerline is valid? [True, True] Translation: X:272.07, Y:-16.55, Z:-2.34 [[ 9.83191452e-01 -1.82549691e-01 -3.19053542e-03 2.72072481e+02] [ 1.82548482e-01 9.83196626e-01 -6.68749973e-04 -1.65503574e+01] [ 3.25900376e-03 7.50818606e-05 9.99994687e-01 -2.34153428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.644012739 meters Centerline goodness [0,1] 0.9911884896986208 Centerline is valid? [True, True] Translation: X:272.10, Y:-16.54, Z:-2.34 [[ 9.83515151e-01 -1.80792478e-01 -3.46806982e-03 2.72099261e+02] [ 1.80791037e-01 9.83521262e-01 -7.27127447e-04 -1.65391242e+01] [ 3.54237958e-03 8.81449210e-05 9.99993722e-01 -2.34181359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67401273900003 meters Centerline goodness [0,1] 0.9907363726036797 Centerline is valid? [True, True] Translation: X:272.12, Y:-16.52, Z:-2.34 [[ 9.83947234e-01 -1.78416940e-01 -3.90328222e-03 2.72124587e+02] [ 1.78415094e-01 9.83954970e-01 -8.19040683e-04 -1.65215944e+01] [ 3.98678468e-03 1.09488350e-04 9.99992047e-01 -2.34230460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.704012739 meters Centerline goodness [0,1] 0.9904126808274921 Centerline is valid? [True, True] Translation: X:272.15, Y:-16.51, Z:-2.34 [[ 9.84008469e-01 -1.78079251e-01 -3.88747766e-03 2.72152173e+02] [ 1.78077416e-01 9.84016142e-01 -8.15907357e-04 -1.65108355e+01] [ 3.97063694e-03 1.10587772e-04 9.99992111e-01 -2.34221460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.734012739 meters Centerline goodness [0,1] 0.9915482053377492 Centerline is valid? [True, True] Translation: X:272.18, Y:-16.51, Z:-2.34 [[ 9.83956391e-01 -1.78377332e-01 -3.36883404e-03 2.72179669e+02] [ 1.78375954e-01 9.83962153e-01 -7.07526774e-04 -1.65066111e+01] [ 3.44101193e-03 9.52565048e-05 9.99994075e-01 -2.34176983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.764012739 meters Centerline goodness [0,1] 0.9910436137071651 Centerline is valid? [True, True] Translation: X:272.21, Y:-16.50, Z:-2.34 [[ 9.83563496e-01 -1.80541059e-01 -2.78831373e-03 2.72205328e+02] [ 1.80540122e-01 9.83567446e-01 -5.86151507e-04 -1.64950726e+01] [ 2.84831903e-03 7.31147249e-05 9.99995941e-01 -2.34068988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.794012739 meters Centerline goodness [0,1] 0.9908170874613828 Centerline is valid? [True, True] Translation: X:272.23, Y:-16.48, Z:-2.34 [[ 9.83145255e-01 -1.82787362e-01 -3.76679416e-03 2.72231456e+02] [ 1.82785667e-01 9.83152466e-01 -7.92157026e-04 -1.64813832e+01] [ 3.84812926e-03 9.02894379e-05 9.99992592e-01 -2.34195724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.824012739 meters Centerline goodness [0,1] 0.9915903609314636 Centerline is valid? [True, True] Translation: X:272.26, Y:-16.47, Z:-2.34 [[ 9.82897039e-01 -1.84100061e-01 -4.53624942e-03 2.72258758e+02] [ 1.84097617e-01 9.82907502e-01 -9.54342541e-04 -1.64735305e+01] [ 4.63440811e-03 1.02907752e-04 9.99989256e-01 -2.34340929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.854012739 meters Centerline goodness [0,1] 0.9920213912968474 Centerline is valid? [True, True] Translation: X:272.29, Y:-16.47, Z:-2.34 [[ 9.82716832e-01 -1.85040357e-01 -5.26249993e-03 2.72286921e+02] [ 1.85037075e-01 9.82730916e-01 -1.10807929e-03 -1.64691176e+01] [ 5.37666076e-03 1.15170578e-04 9.99985539e-01 -2.34468161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.884012739 meters Centerline goodness [0,1] 0.9930129881263663 Centerline is valid? [True, True] Translation: X:272.31, Y:-16.46, Z:-2.35 [[ 9.82490630e-01 -1.86194219e-01 -6.62375516e-03 2.72314902e+02] [ 1.86189038e-01 9.82512948e-01 -1.39598848e-03 -1.64613303e+01] [ 6.76785020e-03 1.38275008e-04 9.99977088e-01 -2.34649670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.914012739 meters Centerline goodness [0,1] 0.993181329318133 Centerline is valid? [True, True] Translation: X:272.34, Y:-16.45, Z:-2.35 [[ 9.82310396e-01 -1.87133629e-01 -6.87676436e-03 2.72343310e+02] [ 1.87128059e-01 9.82334457e-01 -1.45048467e-03 -1.64542541e+01] [ 7.02671704e-03 1.37990606e-04 9.99975303e-01 -2.34614806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.944012739 meters Centerline goodness [0,1] 0.9938302340181413 Centerline is valid? [True, True] Translation: X:272.37, Y:-16.45, Z:-2.34 [[ 9.81869398e-01 -1.89454848e-01 -6.27268098e-03 2.72369809e+02] [ 1.89450256e-01 9.81889428e-01 -1.32375800e-03 -1.64463931e+01] [ 6.40987151e-03 1.11396453e-04 9.99979450e-01 -2.34481805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.974012739 meters Centerline goodness [0,1] 0.9940971174975225 Centerline is valid? [True, True] Translation: X:272.40, Y:-16.44, Z:-2.34 [[ 9.81647286e-01 -1.90628299e-01 -5.42754404e-03 2.72397610e+02] [ 1.90624876e-01 9.81662286e-01 -1.14592025e-03 -1.64402931e+01] [ 5.54646011e-03 9.02645918e-05 9.99984614e-01 -2.34356713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.004012739 meters Centerline goodness [0,1] 0.9934256867809345 Centerline is valid? [True, True] Translation: X:272.43, Y:-16.44, Z:-2.34 [[ 9.81217557e-01 -1.92863005e-01 -3.99589847e-03 2.72425321e+02] [ 1.92861167e-01 9.81225692e-01 -8.44131447e-04 -1.64368457e+01] [ 4.08367996e-03 5.76229571e-05 9.99991660e-01 -2.34051919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.034012739 meters Centerline goodness [0,1] 0.9935133277487811 Centerline is valid? [True, True] Translation: X:272.45, Y:-16.43, Z:-2.34 [[ 9.81000689e-01 -1.93973612e-01 -3.44749202e-03 2.72454084e+02] [ 1.93972250e-01 9.81006746e-01 -7.28453422e-04 -1.64323773e+01] [ 3.52331367e-03 4.58955268e-05 9.99993792e-01 -2.33966013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.064012739 meters Centerline goodness [0,1] 0.9933781907508277 Centerline is valid? [True, True] Translation: X:272.48, Y:-16.42, Z:-2.34 [[ 9.80831568e-01 -1.94828195e-01 -3.37780024e-03 2.72480945e+02] [ 1.94826890e-01 9.80837383e-01 -7.14320374e-04 -1.64242646e+01] [ 3.45224250e-03 4.25416568e-05 9.99994040e-01 -2.33813663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.094012739 meters Centerline goodness [0,1] 0.9934298654079224 Centerline is valid? [True, True] Translation: X:272.51, Y:-16.42, Z:-2.34 [[ 9.80840225e-01 -1.94784686e-01 -3.37324458e-03 2.72506620e+02] [ 1.94783384e-01 9.80846025e-01 -7.13560002e-04 -1.64176883e+01] [ 3.44762410e-03 4.28363581e-05 9.99994056e-01 -2.33805624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.124012739 meters Centerline goodness [0,1] 0.9930640818524502 Centerline is valid? [True, True] Translation: X:272.53, Y:-16.41, Z:-2.34 [[ 9.80902460e-01 -1.94474210e-01 -3.18508381e-03 2.72534741e+02] [ 1.94473047e-01 9.80907631e-01 -6.74021186e-04 -1.64106589e+01] [ 3.25535275e-03 4.17360862e-05 9.99994700e-01 -2.33825775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.154012739 meters Centerline goodness [0,1] 0.9931307109066165 Centerline is valid? [True, True] Translation: X:272.56, Y:-16.40, Z:-2.34 [[ 9.80901907e-01 -1.94470440e-01 -3.56318107e-03 2.72561647e+02] [ 1.94468982e-01 9.80908378e-01 -7.54701229e-04 -1.64042507e+01] [ 3.64192125e-03 4.73596792e-05 9.99993367e-01 -2.33909734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.184012739 meters Centerline goodness [0,1] 0.9932657006929811 Centerline is valid? [True, True] Translation: X:272.59, Y:-16.40, Z:-2.34 [[ 9.80654698e-01 -1.95719587e-01 -3.19479639e-03 2.72589820e+02] [ 1.95718420e-01 9.80659901e-01 -6.77250198e-04 -1.63988697e+01] [ 3.26555984e-03 3.88680885e-05 9.99994667e-01 -2.33961655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.214012739 meters Centerline goodness [0,1] 0.9924653148345784 Centerline is valid? [True, True] Translation: X:272.62, Y:-16.39, Z:-2.34 [[ 9.80454225e-01 -1.96716317e-01 -3.49334972e-03 2.72617152e+02] [ 1.96714924e-01 9.80460447e-01 -7.41221767e-04 -1.63932682e+01] [ 3.57090164e-03 3.95399875e-05 9.99993624e-01 -2.33939022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.244012739 meters Centerline goodness [0,1] 0.9930832381650111 Centerline is valid? [True, True] Translation: X:272.65, Y:-16.39, Z:-2.34 [[ 9.80207575e-01 -1.97934573e-01 -3.87490014e-03 2.72645783e+02] [ 1.97932868e-01 9.80215233e-01 -8.22485603e-04 -1.63901643e+01] [ 3.96103448e-03 3.92365187e-05 9.99992154e-01 -2.34010307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.274012739 meters Centerline goodness [0,1] 0.9933216693692924 Centerline is valid? [True, True] Translation: X:272.67, Y:-16.39, Z:-2.34 [[ 9.79810710e-01 -1.99865092e-01 -4.99178096e-03 2.72673323e+02] [ 1.99862283e-01 9.79823424e-01 -1.06045963e-03 -1.63865543e+01] [ 5.10301278e-03 4.13809655e-05 9.99986979e-01 -2.34258718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30401273900003 meters Centerline goodness [0,1] 0.992988834069073 Centerline is valid? [True, True] Translation: X:272.70, Y:-16.38, Z:-2.34 [[ 9.79595773e-01 -2.00929340e-01 -4.41824749e-03 2.72702388e+02] [ 2.00927148e-01 9.79605737e-01 -9.39054515e-04 -1.63837793e+01] [ 4.51682419e-03 3.21479656e-05 9.99989799e-01 -2.34205677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.334012739 meters Centerline goodness [0,1] 0.9929209252286175 Centerline is valid? [True, True] Translation: X:272.73, Y:-16.38, Z:-2.34 [[ 9.79477470e-01 -2.01518709e-01 -3.75449300e-03 2.72729504e+02] [ 2.01517129e-01 9.79484665e-01 -7.98516338e-04 -1.63795664e+01] [ 3.83838430e-03 2.55341131e-05 9.99992633e-01 -2.34101503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36401273900003 meters Centerline goodness [0,1] 0.9929252867402723 Centerline is valid? [True, True] Translation: X:272.76, Y:-16.38, Z:-2.34 [[ 9.78954692e-01 -2.04066738e-01 -2.11580956e-03 2.72757480e+02] [ 2.04066242e-01 9.78956979e-01 -4.50032918e-04 -1.63776031e+01] [ 2.16312328e-03 8.79653124e-06 9.99997660e-01 -2.33774796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.394012739 meters Centerline goodness [0,1] 0.9928895190221477 Centerline is valid? [True, True] Translation: X:272.79, Y:-16.38, Z:-2.34 [[ 9.78579472e-01 -2.05858791e-01 -2.09152853e-03 2.72785853e+02] [ 2.05858310e-01 9.78581708e-01 -4.44807947e-04 -1.63752642e+01] [ 2.13829919e-03 4.72139776e-06 9.99997714e-01 -2.33769510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42401273900003 meters Centerline goodness [0,1] 0.993383823341701 Centerline is valid? [True, True] Translation: X:272.82, Y:-16.38, Z:-2.34 [[ 9.77932749e-01 -2.08885900e-01 -3.77072897e-03 2.72815165e+02] [ 2.08884356e-01 9.77940019e-01 -8.03154782e-04 -1.63793411e+01] [ 3.85531447e-03 -2.21492676e-06 9.99992568e-01 -2.34086198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.454012739 meters Centerline goodness [0,1] 0.9936688276490102 Centerline is valid? [True, True] Translation: X:272.84, Y:-16.38, Z:-2.34 [[ 9.77643853e-01 -2.10215861e-01 -4.66781717e-03 2.72843338e+02] [ 2.10213508e-01 9.77654996e-01 -9.94713569e-04 -1.63779933e+01] [ 4.77261935e-03 -8.76261694e-06 9.99988611e-01 -2.34195053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484012739 meters Centerline goodness [0,1] 0.9937343089500676 Centerline is valid? [True, True] Translation: X:272.87, Y:-16.38, Z:-2.34 [[ 9.77506375e-01 -2.10836550e-01 -5.40710542e-03 2.72871539e+02] [ 2.10833395e-01 9.77521329e-01 -1.15341529e-03 -1.63750189e+01] [ 5.52874298e-03 -1.25275923e-05 9.99984716e-01 -2.34286867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.514012739 meters Centerline goodness [0,1] 0.9935064935064936 Centerline is valid? [True, True] Translation: X:272.90, Y:-16.37, Z:-2.34 [[ 9.77764431e-01 -2.09628418e-01 -5.71347073e-03 2.72898260e+02] [ 2.09624870e-01 9.77781124e-01 -1.21967288e-03 -1.63719421e+01] [ 5.84220193e-03 -5.13280027e-06 9.99982934e-01 -2.34291679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544012739 meters Centerline goodness [0,1] 0.9931299512655918 Centerline is valid? [True, True] Translation: X:272.93, Y:-16.37, Z:-2.34 [[ 9.78512307e-01 -2.06136729e-01 -4.61659474e-03 2.72925832e+02] [ 2.06134372e-01 9.78523198e-01 -9.85971912e-04 -1.63664377e+01] [ 4.72069007e-03 1.31467940e-05 9.99988857e-01 -2.34065387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.574012739 meters Centerline goodness [0,1] 0.9924452766836702 Centerline is valid? [True, True] Translation: X:272.95, Y:-16.36, Z:-2.34 [[ 9.78859276e-01 -2.04487480e-01 -4.40329758e-03 2.72953905e+02] [ 2.04485315e-01 9.78869179e-01 -9.41221157e-04 -1.63594675e+01] [ 4.50272023e-03 2.09133679e-05 9.99989862e-01 -2.33998809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604012739 meters Centerline goodness [0,1] 0.992123087576551 Centerline is valid? [True, True] Translation: X:272.98, Y:-16.35, Z:-2.34 [[ 9.79744179e-01 -2.00215289e-01 -3.89635949e-03 2.72980825e+02] [ 2.00213558e-01 9.79751926e-01 -8.33413748e-04 -1.63494714e+01] [ 3.98432789e-03 3.64282720e-05 9.99992062e-01 -2.33918035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.634012739 meters Centerline goodness [0,1] 0.9917724646087087 Centerline is valid? [True, True] Translation: X:273.01, Y:-16.34, Z:-2.34 [[ 9.80230671e-01 -1.97831636e-01 -3.23642037e-03 2.73007206e+02] [ 1.97830428e-01 9.80236014e-01 -6.92422437e-04 -1.63393004e+01] [ 3.30943887e-03 3.84712823e-05 9.99994523e-01 -2.33852146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664012739 meters Centerline goodness [0,1] 0.9903784201709549 Centerline is valid? [True, True] Translation: X:273.03, Y:-16.33, Z:-2.34 [[ 9.81076807e-01 -1.93593534e-01 -3.13717250e-03 2.73034107e+02] [ 1.93592376e-01 9.81081822e-01 -6.71389986e-04 -1.63268990e+01] [ 3.20779967e-03 5.13524652e-05 9.99994854e-01 -2.33821991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.694012739 meters Centerline goodness [0,1] 0.9904527453708659 Centerline is valid? [True, True] Translation: X:273.06, Y:-16.32, Z:-2.34 [[ 9.81407151e-01 -1.91884453e-01 -4.51236080e-03 2.73060150e+02] [ 1.91882040e-01 9.81417521e-01 -9.65964894e-04 -1.63167576e+01] [ 4.61386359e-03 8.21638607e-05 9.99989353e-01 -2.34038780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724012739 meters Centerline goodness [0,1] 0.9909604763548499 Centerline is valid? [True, True] Translation: X:273.09, Y:-16.31, Z:-2.34 [[ 9.81670194e-01 -1.90492945e-01 -6.00565225e-03 2.73087709e+02] [ 1.90488638e-01 9.81688557e-01 -1.28646479e-03 -1.63077886e+01] [ 6.14074256e-03 1.18875620e-04 9.99981138e-01 -2.34289202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.754012739 meters Centerline goodness [0,1] 0.9915041179020373 Centerline is valid? [True, True] Translation: X:273.11, Y:-16.30, Z:-2.35 [[ 9.81590403e-01 -1.90851335e-01 -7.48649161e-03 2.73114897e+02] [ 1.90844641e-01 9.81618941e-01 -1.60521288e-03 -1.63031582e+01] [ 7.65523899e-03 1.46904748e-04 9.99970687e-01 -2.34553516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784012739 meters Centerline goodness [0,1] 0.9916834569383118 Centerline is valid? [True, True] Translation: X:273.14, Y:-16.30, Z:-2.35 [[ 9.81237666e-01 -1.92649697e-01 -7.66396176e-03 2.73142286e+02] [ 1.92642729e-01 9.81267586e-01 -1.64425584e-03 -1.62987816e+01] [ 7.83716265e-03 1.36999256e-04 9.99969280e-01 -2.34653399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.814012739 meters Centerline goodness [0,1] 0.9922276436806425 Centerline is valid? [True, True] Translation: X:273.17, Y:-16.30, Z:-2.34 [[ 9.80325643e-01 -1.97277209e-01 -6.58307591e-03 2.73172230e+02] [ 1.97272167e-01 9.80347742e-01 -1.41304848e-03 -1.62984716e+01] [ 6.73246586e-03 8.65900099e-05 9.99977333e-01 -2.34350113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844012739 meters Centerline goodness [0,1] 0.9929129957133318 Centerline is valid? [True, True] Translation: X:273.20, Y:-16.30, Z:-2.34 [[ 9.79775697e-01 -2.00028332e-01 -5.31509243e-03 2.73201386e+02] [ 2.00025081e-01 9.79790112e-01 -1.14165674e-03 -1.62958617e+01] [ 5.43603870e-03 5.54157334e-05 9.99985223e-01 -2.34076819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.874012739 meters Centerline goodness [0,1] 0.9931559258629484 Centerline is valid? [True, True] Translation: X:273.23, Y:-16.30, Z:-2.34 [[ 9.78393817e-01 -2.06734090e-01 -2.56016493e-03 2.73231451e+02] [ 2.06733359e-01 9.78397167e-01 -5.50041685e-04 -1.63014223e+01] [ 2.61857048e-03 8.88588899e-06 9.99996571e-01 -2.33694996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904012739 meters Centerline goodness [0,1] 0.9931906614785992 Centerline is valid? [True, True] Translation: X:273.26, Y:-16.30, Z:-2.34 [[ 9.77616038e-01 -2.10377716e-01 -2.84597160e-03 2.73259672e+02] [ 2.10376826e-01 9.77620180e-01 -6.12088390e-04 -1.63019601e+01] [ 2.91104902e-03 -3.39044669e-07 9.99995763e-01 -2.33772940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.934012739 meters Centerline goodness [0,1] 0.9938487258074887 Centerline is valid? [True, True] Translation: X:273.29, Y:-16.30, Z:-2.34 [[ 9.76966336e-01 -2.13354109e-01 -4.09916913e-03 2.73288473e+02] [ 2.13352286e-01 9.76974935e-01 -8.82032584e-04 -1.63008007e+01] [ 4.19297078e-03 -1.28509648e-05 9.99991209e-01 -2.34019639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964012739 meters Centerline goodness [0,1] 0.9936942578875764 Centerline is valid? [True, True] Translation: X:273.32, Y:-16.30, Z:-2.34 [[ 9.76625992e-01 -2.14877975e-01 -5.39701463e-03 2.73317280e+02] [ 2.14874831e-01 9.76640904e-01 -1.16250116e-03 -1.62979867e+01] [ 5.52074114e-03 -2.43537560e-05 9.99984760e-01 -2.34126627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.994012739 meters Centerline goodness [0,1] 0.9933367613660711 Centerline is valid? [True, True] Translation: X:273.34, Y:-16.29, Z:-2.34 [[ 9.77196882e-01 -2.12322023e-01 -2.36922174e-03 2.73344372e+02] [ 2.12321409e-01 9.77199754e-01 -5.10517531e-04 -1.62912888e+01] [ 2.42359701e-03 -4.16035871e-06 9.99997063e-01 -2.33571260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024012739 meters Centerline goodness [0,1] 0.9929899028876455 Centerline is valid? [True, True] Translation: X:273.37, Y:-16.28, Z:-2.33 [[ 9.77452413e-01 -2.11154075e-01 -8.58746590e-04 2.73371380e+02] [ 2.11153994e-01 9.77452790e-01 -1.84604135e-04 -1.62846018e+01] [ 8.78364165e-04 -8.86014799e-07 9.99999614e-01 -2.33307482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05401273900003 meters Centerline goodness [0,1] 0.9927128116938951 Centerline is valid? [True, True] Translation: X:273.40, Y:-16.28, Z:-2.33 [[ 9.77745327e-01 -2.09794867e-01 -4.35328100e-04 2.73397744e+02] [ 2.09794846e-01 9.77745424e-01 -9.36669181e-05 -1.62773418e+01] [ 4.45290896e-04 2.52799754e-07 9.99999901e-01 -2.33230321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084012739 meters Centerline goodness [0,1] 0.9931685451371679 Centerline is valid? [True, True] Translation: X:273.42, Y:-16.27, Z:-2.34 [[ 9.78239740e-01 -2.07461552e-01 -2.59152428e-03 2.73424892e+02] [ 2.07460798e-01 9.78243173e-01 -5.59203510e-04 -1.62683547e+01] [ 2.65115416e-03 9.39540024e-06 9.99996486e-01 -2.33631707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11401273900003 meters Centerline goodness [0,1] 0.9931156109895247 Centerline is valid? [True, True] Translation: X:273.45, Y:-16.26, Z:-2.34 [[ 9.78302020e-01 -2.07150809e-01 -3.70137278e-03 2.73451813e+02] [ 2.07149266e-01 9.78309022e-01 -7.99620812e-04 -1.62634008e+01] [ 3.78672849e-03 1.55339994e-05 9.99992830e-01 -2.33831808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.144012739 meters Centerline goodness [0,1] 0.993081001853688 Centerline is valid? [True, True] Translation: X:273.48, Y:-16.26, Z:-2.34 [[ 9.78031351e-01 -2.08430941e-01 -3.34964740e-03 2.73480335e+02] [ 2.08429684e-01 9.78037087e-01 -7.23872670e-04 -1.62634381e+01] [ 3.42695685e-03 9.80421466e-06 9.99994128e-01 -2.33756900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17401273900003 meters Centerline goodness [0,1] 0.993005936319482 Centerline is valid? [True, True] Translation: X:273.51, Y:-16.26, Z:-2.34 [[ 9.77845265e-01 -2.09314383e-01 -2.47524995e-03 2.73507765e+02] [ 2.09313699e-01 9.77848398e-01 -5.35226835e-04 -1.62595883e+01] [ 2.53244987e-03 5.26530407e-06 9.99996793e-01 -2.33548588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.204012739 meters Centerline goodness [0,1] 0.9935412796474705 Centerline is valid? [True, True] Translation: X:273.54, Y:-16.25, Z:-2.34 [[ 9.77769848e-01 -2.09658807e-01 -3.05115016e-03 2.73535026e+02] [ 2.09657766e-01 9.77774608e-01 -6.60531638e-04 -1.62543432e+01] [ 3.12182342e-03 6.15059246e-06 9.99995127e-01 -2.33557288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.234012739 meters Centerline goodness [0,1] 0.9933637405157693 Centerline is valid? [True, True] Translation: X:273.56, Y:-16.25, Z:-2.34 [[ 9.77679067e-01 -2.10074982e-01 -3.48484606e-03 2.73562057e+02] [ 2.10073625e-01 9.77685278e-01 -7.55217787e-04 -1.62501789e+01] [ 3.56573505e-03 6.28637739e-06 9.99993643e-01 -2.33689721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.264012739 meters Centerline goodness [0,1] 0.9931415548675611 Centerline is valid? [True, True] Translation: X:273.59, Y:-16.25, Z:-2.34 [[ 9.77474109e-01 -2.11032392e-01 -3.11379106e-03 2.73590990e+02] [ 2.11031312e-01 9.77479069e-01 -6.75151621e-04 -1.62501399e+01] [ 3.18614445e-03 2.83581571e-06 9.99994924e-01 -2.33615922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.294012739 meters Centerline goodness [0,1] 0.9934504380690603 Centerline is valid? [True, True] Translation: X:273.62, Y:-16.25, Z:-2.33 [[ 9.77385470e-01 -2.11454981e-01 -2.10591108e-03 2.73618411e+02] [ 2.11454487e-01 9.77387738e-01 -4.56808169e-04 -1.62467087e+01] [ 2.15488603e-03 1.17331829e-06 9.99997678e-01 -2.33410576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.324012739 meters Centerline goodness [0,1] 0.9932412263869345 Centerline is valid? [True, True] Translation: X:273.65, Y:-16.24, Z:-2.33 [[ 9.77440485e-01 -2.11210994e-01 -1.16652136e-04 2.73647154e+02] [ 2.11210993e-01 9.77440492e-01 -2.47555943e-05 -1.62425670e+01] [ 1.19249175e-04 -4.41093314e-07 9.99999993e-01 -2.33037655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.354012739 meters Centerline goodness [0,1] 0.9927096520714193 Centerline is valid? [True, True] Translation: X:273.67, Y:-16.24, Z:-2.33 [[ 9.77550510e-01 -2.10700988e-01 3.06320754e-04 2.73674767e+02] [ 2.10700977e-01 9.77550558e-01 6.73849782e-05 -1.62367542e+01] [-3.13642106e-04 -1.33013744e-06 9.99999951e-01 -2.33033063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.384012739 meters Centerline goodness [0,1] 0.992512191964093 Centerline is valid? [True, True] Translation: X:273.70, Y:-16.23, Z:-2.33 [[ 9.78228953e-01 -2.07520869e-01 -1.79015374e-03 2.73701672e+02] [ 2.07520504e-01 9.78230591e-01 -3.89270380e-04 -1.62286719e+01] [ 1.83196487e-03 9.30195048e-06 9.99998322e-01 -2.33319500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.414012739 meters Centerline goodness [0,1] 0.9921727219359467 Centerline is valid? [True, True] Translation: X:273.73, Y:-16.22, Z:-2.34 [[ 9.78582211e-01 -2.05836336e-01 -2.87386693e-03 2.73729219e+02] [ 2.05835386e-01 9.78586431e-01 -6.25822076e-04 -1.62213264e+01] [ 2.94114410e-03 2.08748434e-05 9.99995675e-01 -2.33554511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.444012739 meters Centerline goodness [0,1] 0.991904741508545 Centerline is valid? [True, True] Translation: X:273.76, Y:-16.21, Z:-2.34 [[ 9.79316917e-01 -2.02296619e-01 -3.80193139e-03 2.73755539e+02] [ 2.02294926e-01 9.79324296e-01 -8.28751446e-04 -1.62094414e+01] [ 3.89097740e-03 4.24988825e-05 9.99992429e-01 -2.33747461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.474012739 meters Centerline goodness [0,1] 0.991904741508545 Centerline is valid? [True, True] Translation: X:273.78, Y:-16.20, Z:-2.34 [[ 9.79280960e-01 -2.02470608e-01 -3.80187505e-03 2.73782339e+02] [ 2.02468915e-01 9.79288339e-01 -8.29009809e-04 -1.62033855e+01] [ 3.89098203e-03 4.20720041e-05 9.99992429e-01 -2.33737563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.504012739 meters Centerline goodness [0,1] 0.9912093082944775 Centerline is valid? [True, True] Translation: X:273.81, Y:-16.20, Z:-2.34 [[ 9.79599304e-01 -2.00921811e-01 -3.95352252e-03 2.73810044e+02] [ 2.00919965e-01 9.79607280e-01 -8.62784308e-04 -1.61975174e+01] [ 4.04625163e-03 5.08413012e-05 9.99991813e-01 -2.33820452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.534012739 meters Centerline goodness [0,1] 0.9911760944626795 Centerline is valid? [True, True] Translation: X:273.84, Y:-16.19, Z:-2.34 [[ 9.79956991e-01 -1.99156809e-01 -4.56749478e-03 2.73836453e+02] [ 1.99154325e-01 9.79967632e-01 -9.97111652e-04 -1.61895882e+01] [ 4.67457862e-03 6.74901953e-05 9.99989072e-01 -2.33924228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.564012739 meters Centerline goodness [0,1] 0.9914099968027283 Centerline is valid? [True, True] Translation: X:273.86, Y:-16.18, Z:-2.34 [[ 9.79946624e-01 -1.99185569e-01 -5.45185906e-03 2.73863452e+02] [ 1.99182025e-01 9.79961786e-01 -1.19092964e-03 -1.61842512e+01] [ 5.57982955e-03 8.11351562e-05 9.99984429e-01 -2.34008009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.594012739 meters Centerline goodness [0,1] 0.9923540114364928 Centerline is valid? [True, True] Translation: X:273.89, Y:-16.18, Z:-2.34 [[ 9.79701126e-01 -2.00367799e-01 -6.20072583e-03 2.73892002e+02] [ 2.00363231e-01 9.79720745e-01 -1.35576152e-03 -1.61804395e+01] [ 6.34663068e-03 8.58436233e-05 9.99979856e-01 -2.34121262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.624012739 meters Centerline goodness [0,1] 0.9925288463596857 Centerline is valid? [True, True] Translation: X:273.92, Y:-16.18, Z:-2.34 [[ 9.79389198e-01 -2.01892402e-01 -6.02143322e-03 2.73920489e+02] [ 2.01888117e-01 9.79407705e-01 -1.31757778e-03 -1.61770321e+01] [ 6.16344703e-03 7.47656310e-05 9.99981003e-01 -2.34132583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.654012739 meters Centerline goodness [0,1] 0.9921131938358946 Centerline is valid? [True, True] Translation: X:273.95, Y:-16.18, Z:-2.34 [[ 9.78623024e-01 -2.05624339e-01 -3.95075500e-03 2.73948839e+02] [ 2.05622523e-01 9.78630998e-01 -8.64905790e-04 -1.61766992e+01] [ 4.04417699e-03 3.40525075e-05 9.99991822e-01 -2.33728199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.684012739 meters Centerline goodness [0,1] 0.9931415548675611 Centerline is valid? [True, True] Translation: X:273.98, Y:-16.17, Z:-2.34 [[ 9.78288141e-01 -2.07216986e-01 -3.66517530e-03 2.73977829e+02] [ 2.07215433e-01 9.78295007e-01 -8.02610711e-04 -1.61733293e+01] [ 3.75193726e-03 2.57036547e-05 9.99992961e-01 -2.33719423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.714012739 meters Centerline goodness [0,1] 0.9926492843862152 Centerline is valid? [True, True] Translation: X:274.01, Y:-16.17, Z:-2.34 [[ 9.77923375e-01 -2.08923627e-01 -4.09773339e-03 2.74007504e+02] [ 2.08921697e-01 9.77931960e-01 -8.98112679e-04 -1.61729411e+01] [ 4.19494140e-03 2.21799657e-05 9.99991201e-01 -2.33670057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.744012739 meters Centerline goodness [0,1] 0.9926810311326051 Centerline is valid? [True, True] Translation: X:274.03, Y:-16.17, Z:-2.34 [[ 9.77886637e-01 -2.09082535e-01 -4.71374542e-03 2.74034007e+02] [ 2.09079980e-01 9.77897997e-01 -1.03394265e-03 -1.61678103e+01] [ 4.82574155e-03 2.55288995e-05 9.99988356e-01 -2.33750177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.774012739 meters Centerline goodness [0,1] 0.9931053921037226 Centerline is valid? [True, True] Translation: X:274.06, Y:-16.16, Z:-2.33 [[ 9.78002165e-01 -2.08567096e-01 -3.39595726e-03 2.74060867e+02] [ 2.08565766e-01 9.78008060e-01 -7.45089249e-04 -1.61614936e+01] [ 3.47667467e-03 2.04184724e-05 9.99993956e-01 -2.33493966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80401273900003 meters Centerline goodness [0,1] 0.9924752219809516 Centerline is valid? [True, True] Translation: X:274.09, Y:-16.16, Z:-2.33 [[ 9.78047681e-01 -2.08375520e-01 -1.54132083e-03 2.74088290e+02] [ 2.08375246e-01 9.78048896e-01 -3.38102209e-04 -1.61551658e+01] [ 1.57793936e-03 9.50697544e-06 9.99998755e-01 -2.33081647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.834012739 meters Centerline goodness [0,1] 0.9920170417868055 Centerline is valid? [True, True] Translation: X:274.12, Y:-16.15, Z:-2.33 [[ 9.78020639e-01 -2.08507967e-01 2.40685775e-04 2.74115804e+02] [ 2.08507960e-01 9.78020668e-01 5.31210961e-05 -1.61497986e+01] [-2.46471834e-04 -1.76862833e-06 9.99999970e-01 -2.32765441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86401273900003 meters Centerline goodness [0,1] 0.9921040209415096 Centerline is valid? [True, True] Translation: X:274.14, Y:-16.15, Z:-2.33 [[ 9.77878781e-01 -2.09171582e-01 -5.82797316e-04 2.74143506e+02] [ 2.09171543e-01 9.77878954e-01 -1.27552899e-04 -1.61455397e+01] [ 5.96585672e-04 2.82665980e-06 9.99999822e-01 -2.32953190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.894012739 meters Centerline goodness [0,1] 0.9924315723838397 Centerline is valid? [True, True] Translation: X:274.17, Y:-16.14, Z:-2.33 [[ 9.77825679e-01 -2.09406932e-01 -2.38287121e-03 2.74170181e+02] [ 2.09406276e-01 9.77828583e-01 -5.24268304e-04 -1.61390313e+01] [ 2.43982499e-03 1.36548250e-05 9.99997024e-01 -2.33243870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92401273900003 meters Centerline goodness [0,1] 0.993728448275862 Centerline is valid? [True, True] Translation: X:274.20, Y:-16.13, Z:-2.34 [[ 9.77560541e-01 -2.10591832e-01 -5.14484670e-03 2.74197448e+02] [ 2.10588786e-01 9.77574079e-01 -1.13273773e-03 -1.61346066e+01] [ 5.26801409e-03 2.38726832e-05 9.99986124e-01 -2.33699250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.954012739 meters Centerline goodness [0,1] 0.9936451175114711 Centerline is valid? [True, True] Translation: X:274.22, Y:-16.13, Z:-2.34 [[ 9.77313084e-01 -2.11748850e-01 -4.64337216e-03 2.74224737e+02] [ 2.11746379e-01 9.77324114e-01 -1.02304350e-03 -1.61287791e+01] [ 4.75470787e-03 1.66165570e-05 9.99988696e-01 -2.33593940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984012739 meters Centerline goodness [0,1] 0.992991255144033 Centerline is valid? [True, True] Translation: X:274.25, Y:-16.12, Z:-2.33 [[ 9.76891775e-01 -2.13728833e-01 -1.56367808e-03 2.74252547e+02] [ 2.13728556e-01 9.76893027e-01 -3.44205171e-04 -1.61234117e+01] [ 1.60111279e-03 2.04854149e-06 9.99998718e-01 -2.33091844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.014012739 meters Centerline goodness [0,1] 0.9926097294518347 Centerline is valid? [True, True] Translation: X:274.28, Y:-16.12, Z:-2.33 [[ 9.76646853e-01 -2.14848621e-01 -9.97607294e-04 2.74279631e+02] [ 2.14848509e-01 9.76647362e-01 -2.19542789e-04 -1.61180963e+01] [ 1.02147900e-03 8.13342061e-08 9.99999478e-01 -2.33042605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044012739 meters Centerline goodness [0,1] 0.9930726304761498 Centerline is valid? [True, True] Translation: X:274.31, Y:-16.11, Z:-2.33 [[ 9.76225492e-01 -2.16740136e-01 -2.73894894e-03 2.74306528e+02] [ 2.16739293e-01 9.76229334e-01 -6.04596959e-04 -1.61140144e+01] [ 2.80488272e-03 -3.41489243e-06 9.99996066e-01 -2.33331118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.074012739 meters Centerline goodness [0,1] 0.9932517195137778 Centerline is valid? [True, True] Translation: X:274.33, Y:-16.11, Z:-2.33 [[ 9.75956090e-01 -2.17933281e-01 -3.84641234e-03 2.74333921e+02] [ 2.17931625e-01 9.75963670e-01 -8.49546113e-04 -1.61088397e+01] [ 3.93910308e-03 -9.13519066e-06 9.99992242e-01 -2.33482676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104012739 meters Centerline goodness [0,1] 0.9934374004460019 Centerline is valid? [True, True] Translation: X:274.36, Y:-16.10, Z:-2.33 [[ 9.75670389e-01 -2.19220820e-01 -3.08602180e-03 2.74361330e+02] [ 2.19219759e-01 9.75675270e-01 -6.82127528e-04 -1.61048274e+01] [ 3.16049170e-03 -1.09853229e-05 9.99995006e-01 -2.33327711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.134012739 meters Centerline goodness [0,1] 0.9929725931131412 Centerline is valid? [True, True] Translation: X:274.39, Y:-16.10, Z:-2.33 [[ 9.75513415e-01 -2.19930581e-01 -2.02900468e-03 2.74387821e+02] [ 2.19930124e-01 9.75515525e-01 -4.48436224e-04 -1.60993615e+01] [ 2.07795040e-03 -8.78369766e-06 9.99997841e-01 -2.33074279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164012739 meters Centerline goodness [0,1] 0.9925608318147712 Centerline is valid? [True, True] Translation: X:274.42, Y:-16.09, Z:-2.33 [[ 9.75394468e-01 -2.20464186e-01 -1.08364836e-03 2.74415020e+02] [ 2.20464056e-01 9.75395070e-01 -2.39270026e-04 -1.60923816e+01] [ 1.10973574e-03 -5.52285437e-06 9.99999384e-01 -2.32917760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.194012739 meters Centerline goodness [0,1] 0.9927461805109771 Centerline is valid? [True, True] Translation: X:274.44, Y:-16.08, Z:-2.33 [[ 9.75452718e-01 -2.20203249e-01 -1.58900517e-03 2.74442425e+02] [ 2.20202968e-01 9.75454012e-01 -3.51502116e-04 -1.60843887e+01] [ 1.62740338e-03 -7.02996138e-06 9.99998676e-01 -2.33107646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224012739 meters Centerline goodness [0,1] 0.9929788287997243 Centerline is valid? [True, True] Translation: X:274.47, Y:-16.08, Z:-2.33 [[ 9.75425529e-01 -2.20314423e-01 -2.56741836e-03 2.74470049e+02] [ 2.20313689e-01 9.75428908e-01 -5.68785927e-04 -1.60797649e+01] [ 2.62964583e-03 -1.08290972e-05 9.99996542e-01 -2.33313373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.254012739 meters Centerline goodness [0,1] 0.9932564482529047 Centerline is valid? [True, True] Translation: X:274.50, Y:-16.08, Z:-2.33 [[ 9.75305164e-01 -2.20850588e-01 -2.20321673e-03 2.74498005e+02] [ 2.20850048e-01 9.75307653e-01 -4.88431351e-04 -1.60752105e+01] [ 2.25668449e-03 -1.02109016e-05 9.99997454e-01 -2.33225575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284012739 meters Centerline goodness [0,1] 0.9931587386424372 Centerline is valid? [True, True] Translation: X:274.53, Y:-16.07, Z:-2.33 [[ 9.75169647e-01 -2.21453506e-01 -1.58260849e-03 2.74526119e+02] [ 2.21453228e-01 9.75170931e-01 -3.51225344e-04 -1.60728455e+01] [ 1.62109388e-03 -7.96946570e-06 9.99998686e-01 -2.33002623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.314012739 meters Centerline goodness [0,1] 0.9931555345763512 Centerline is valid? [True, True] Translation: X:274.55, Y:-16.07, Z:-2.33 [[ 9.74906474e-01 -2.22606107e-01 -1.97185584e-03 2.74554364e+02] [ 2.22605677e-01 9.74908468e-01 -4.37781998e-04 -1.60693135e+01] [ 2.01983191e-03 -1.21498010e-05 9.99997960e-01 -2.33094255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344012739 meters Centerline goodness [0,1] 0.9929731350957625 Centerline is valid? [True, True] Translation: X:274.58, Y:-16.07, Z:-2.33 [[ 9.74641582e-01 -2.23759617e-01 -2.32822571e-03 2.74583543e+02] [ 2.23759021e-01 9.74644363e-01 -5.16950659e-04 -1.60667523e+01] [ 2.38486474e-03 -1.71198961e-05 9.99997156e-01 -2.33191952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.374012739 meters Centerline goodness [0,1] 0.9928677627184382 Centerline is valid? [True, True] Translation: X:274.61, Y:-16.07, Z:-2.33 [[ 9.74256001e-01 -2.25443589e-01 -6.58466142e-04 2.74613109e+02] [ 2.25443541e-01 9.74256223e-01 -1.45889147e-04 -1.60674175e+01] [ 6.74404509e-04 -6.31356185e-06 9.99999773e-01 -2.32919952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404012739 meters Centerline goodness [0,1] 0.9922304258241759 Centerline is valid? [True, True] Translation: X:274.64, Y:-16.06, Z:-2.33 [[ 9.74263118e-01 -2.25411404e-01 1.03731684e-03 2.74640936e+02] [ 2.25411285e-01 9.74263670e-01 2.31671536e-04 -1.60623552e+01] [-1.06284152e-03 8.11388932e-06 9.99999435e-01 -2.32530289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.434012739 meters Centerline goodness [0,1] 0.9921986876696518 Centerline is valid? [True, True] Translation: X:274.67, Y:-16.06, Z:-2.33 [[ 9.74473644e-01 -2.24501409e-01 4.84934907e-04 2.74668126e+02] [ 2.24501382e-01 9.74473764e-01 1.08669645e-04 -1.60557479e+01] [-4.96952833e-04 2.97285184e-06 9.99999877e-01 -2.32570353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464012739 meters Centerline goodness [0,1] 0.9928426680463933 Centerline is valid? [True, True] Translation: X:274.70, Y:-16.05, Z:-2.33 [[ 9.74724852e-01 -2.23406776e-01 -9.34985881e-04 2.74696264e+02] [ 2.23406680e-01 9.74725301e-01 -2.07907778e-04 -1.60479766e+01] [ 9.57802400e-04 -6.22921255e-06 9.99999541e-01 -2.32882407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.494012739 meters Centerline goodness [0,1] 0.9935763851590865 Centerline is valid? [True, True] Translation: X:274.72, Y:-16.04, Z:-2.33 [[ 9.75397162e-01 -2.20421948e-01 -3.81335405e-03 2.74723510e+02] [ 2.20420308e-01 9.75404616e-01 -8.50414986e-04 -1.60404689e+01] [ 3.90701327e-03 -1.10483123e-05 9.99992368e-01 -2.33494861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524012739 meters Centerline goodness [0,1] 0.9941881979060099 Centerline is valid? [True, True] Translation: X:274.75, Y:-16.03, Z:-2.34 [[ 9.75633092e-01 -2.19365919e-01 -4.32004914e-03 2.74750814e+02] [ 2.19363801e-01 9.75642657e-01 -9.63813376e-04 -1.60332142e+01] [ 4.42625203e-03 -7.33417683e-06 9.99990204e-01 -2.33609327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55401273900003 meters Centerline goodness [0,1] 0.9941394335511983 Centerline is valid? [True, True] Translation: X:274.78, Y:-16.03, Z:-2.33 [[ 9.75779022e-01 -2.18729858e-01 -3.54256574e-03 2.74778206e+02] [ 2.18728428e-01 9.75785452e-01 -7.90932171e-04 -1.60268414e+01] [ 3.62978460e-03 -3.08481517e-06 9.99993412e-01 -2.33435757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584012739 meters Centerline goodness [0,1] 0.9936512751619683 Centerline is valid? [True, True] Translation: X:274.80, Y:-16.02, Z:-2.33 [[ 9.75711625e-01 -2.19034608e-01 -3.26564493e-03 2.74804559e+02] [ 2.19033393e-01 9.75717090e-01 -7.29746817e-04 -1.60227987e+01] [ 3.34618538e-03 -3.26283582e-06 9.99994402e-01 -2.33315887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61401273900003 meters Centerline goodness [0,1] 0.993072897439795 Centerline is valid? [True, True] Translation: X:274.83, Y:-16.02, Z:-2.33 [[ 9.75509215e-01 -2.19943657e-01 -2.56115734e-03 2.74832741e+02] [ 2.19942912e-01 9.75512577e-01 -5.72516224e-04 -1.60207022e+01] [ 2.62436251e-03 -4.81354999e-06 9.99996556e-01 -2.33272377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.644012739 meters Centerline goodness [0,1] 0.9934436129143572 Centerline is valid? [True, True] Translation: X:274.86, Y:-16.02, Z:-2.33 [[ 9.75498848e-01 -2.19996815e-01 -1.84392690e-03 2.74858957e+02] [ 2.19996428e-01 9.75500590e-01 -4.12563649e-04 -1.60152432e+01] [ 1.88951447e-03 -3.20196703e-06 9.99998215e-01 -2.33216468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67401273900003 meters Centerline goodness [0,1] 0.9932956346656385 Centerline is valid? [True, True] Translation: X:274.89, Y:-16.01, Z:-2.33 [[ 9.75516985e-01 -2.19912720e-01 -2.23773460e-03 2.74885913e+02] [ 2.19912149e-01 9.75519552e-01 -5.00944908e-04 -1.60100281e+01] [ 2.29311801e-03 -3.42475925e-06 9.99997371e-01 -2.33272836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.704012739 meters Centerline goodness [0,1] 0.9935399407649054 Centerline is valid? [True, True] Translation: X:274.91, Y:-16.01, Z:-2.34 [[ 9.75805597e-01 -2.18597121e-01 -4.32838043e-03 2.74913470e+02] [ 2.18594970e-01 9.75815197e-01 -9.69732300e-04 -1.60050254e+01] [ 4.43568009e-03 1.08017100e-07 9.99990162e-01 -2.33602277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.734012739 meters Centerline goodness [0,1] 0.9939063918060418 Centerline is valid? [True, True] Translation: X:274.94, Y:-16.00, Z:-2.34 [[ 9.75967977e-01 -2.17851850e-01 -5.20377065e-03 2.74940050e+02] [ 2.17848725e-01 9.75981850e-01 -1.16693530e-03 -1.59989963e+01] [ 5.33300472e-03 5.25668512e-06 9.99985779e-01 -2.33737556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.764012739 meters Centerline goodness [0,1] 0.9940191128350705 Centerline is valid? [True, True] Translation: X:274.97, Y:-15.99, Z:-2.34 [[ 9.76140066e-01 -2.17068944e-01 -5.62543503e-03 2.74966964e+02] [ 2.17065274e-01 9.76156275e-01 -1.26244385e-03 -1.59922717e+01] [ 5.76534106e-03 1.12354259e-05 9.99983380e-01 -2.33777773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.794012739 meters Centerline goodness [0,1] 0.9940405244338498 Centerline is valid? [True, True] Translation: X:274.99, Y:-15.98, Z:-2.34 [[ 9.76596438e-01 -2.15014100e-01 -5.32302249e-03 2.74993588e+02] [ 2.15010779e-01 9.76610944e-01 -1.19537278e-03 -1.59829136e+01] [ 5.45554402e-03 2.28895888e-05 9.99985118e-01 -2.33769655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.824012739 meters Centerline goodness [0,1] 0.9937716859550441 Centerline is valid? [True, True] Translation: X:275.02, Y:-15.98, Z:-2.34 [[ 9.76755267e-01 -2.14311273e-01 -4.45276808e-03 2.75021071e+02] [ 2.14308940e-01 9.76765416e-01 -1.00032127e-03 -1.59759544e+01] [ 4.56368999e-03 2.28010624e-05 9.99989586e-01 -2.33625402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.854012739 meters Centerline goodness [0,1] 0.9931044820866437 Centerline is valid? [True, True] Translation: X:275.05, Y:-15.97, Z:-2.33 [[ 9.76773307e-01 -2.14268612e-01 -1.69359548e-03 2.75046293e+02] [ 2.14268274e-01 9.76774775e-01 -3.80580414e-04 -1.59671718e+01] [ 1.73580778e-03 8.85700927e-06 9.99998493e-01 -2.33122353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.884012739 meters Centerline goodness [0,1] 0.9936148476076962 Centerline is valid? [True, True] Translation: X:275.07, Y:-15.96, Z:-2.33 [[ 9.76634768e-01 -2.14903696e-01 -9.64816385e-04 2.75073686e+02] [ 2.14903587e-01 9.76635245e-01 -2.16481641e-04 -1.59605495e+01] [ 9.88796392e-04 4.08099606e-06 9.99999511e-01 -2.33080454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.914012739 meters Centerline goodness [0,1] 0.9913478466228691 Centerline is valid? [True, True] Translation: X:275.10, Y:-15.96, Z:-2.33 [[ 9.76223211e-01 -2.16751219e-01 -2.67409791e-03 2.75102764e+02] [ 2.16750384e-01 9.76226874e-01 -6.01794050e-04 -1.59565125e+01] [ 2.74096583e-03 7.87357093e-06 9.99996244e-01 -2.32637597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.944012739 meters Centerline goodness [0,1] 0.993357422593418 Centerline is valid? [True, True] Translation: X:275.13, Y:-15.95, Z:-2.34 [[ 9.75803495e-01 -2.18625375e-01 -3.23812893e-03 2.75130735e+02] [ 2.18624158e-01 9.75808867e-01 -7.29448203e-04 -1.59534939e+01] [ 3.31927081e-03 3.86489406e-06 9.99994491e-01 -2.33517795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.974012739 meters Centerline goodness [0,1] 0.9940837345885605 Centerline is valid? [True, True] Translation: X:275.16, Y:-15.95, Z:-2.34 [[ 9.74755304e-01 -2.23227060e-01 -4.66660845e-03 2.75159512e+02] [ 2.23224583e-01 9.74766474e-01 -1.05178045e-03 -1.59545874e+01] [ 4.78363933e-03 -1.64731550e-05 9.99988558e-01 -2.33834407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.004012739 meters Centerline goodness [0,1] 0.993453533134692 Centerline is valid? [True, True] Translation: X:275.19, Y:-15.95, Z:-2.34 [[ 9.74082769e-01 -2.26145509e-01 -4.57904508e-03 2.75187865e+02] [ 2.26143153e-01 9.74093531e-01 -1.03282714e-03 -1.59535780e+01] [ 4.69398741e-03 -2.94605701e-05 9.99988983e-01 -2.33798957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.034012739 meters Centerline goodness [0,1] 0.9918383044184258 Centerline is valid? [True, True] Translation: X:275.22, Y:-15.96, Z:-2.33 [[ 9.72893243e-01 -2.31239398e-01 -2.66044453e-03 2.75217643e+02] [ 2.31238621e-01 9.72896880e-01 -6.00212759e-04 -1.59573368e+01] [ 2.72713102e-03 -3.12545861e-05 9.99996281e-01 -2.33391778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.064012739 meters Centerline goodness [0,1] 0.9913491067952767 Centerline is valid? [True, True] Translation: X:275.25, Y:-15.95, Z:-2.33 [[ 9.72359367e-01 -2.33483769e-01 -1.60951339e-03 2.75246719e+02] [ 2.33483488e-01 9.72360699e-01 -3.62915418e-04 -1.59545200e+01] [ 1.64976242e-03 -2.29105934e-05 9.99998639e-01 -2.33177793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.094012739 meters Centerline goodness [0,1] 0.9908148084262274 Centerline is valid? [True, True] Translation: X:275.28, Y:-15.95, Z:-2.33 [[ 9.72057113e-01 -2.34741513e-01 -1.17983588e-03 2.75275509e+02] [ 2.34741363e-01 9.72057828e-01 -2.66075193e-04 -1.59512281e+01] [ 1.20932759e-03 -1.83159977e-05 9.99999269e-01 -2.33118766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.124012739 meters Centerline goodness [0,1] 0.9905275958440893 Centerline is valid? [True, True] Translation: X:275.30, Y:-15.95, Z:-2.33 [[ 9.71922835e-01 -2.35294567e-01 -1.57119137e-03 2.75304662e+02] [ 2.35294301e-01 9.71924105e-01 -3.55024169e-04 -1.59521275e+01] [ 1.61061403e-03 -2.46362781e-05 9.99998703e-01 -2.33220763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.154012739 meters Centerline goodness [0,1] 0.9908323850827662 Centerline is valid? [True, True] Translation: X:275.33, Y:-15.95, Z:-2.33 [[ 9.72037646e-01 -2.34805827e-01 -3.00648973e-03 2.75333845e+02] [ 2.34804847e-01 9.72042294e-01 -6.79673736e-04 -1.59482295e+01] [ 3.08202653e-03 -4.52699044e-05 9.99995250e-01 -2.33386775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.184012739 meters Centerline goodness [0,1] 0.9904457911876982 Centerline is valid? [True, True] Translation: X:275.36, Y:-15.94, Z:-2.33 [[ 9.72120894e-01 -2.34450865e-01 -3.70932329e-03 2.75362391e+02] [ 2.34449369e-01 9.72127969e-01 -8.39298049e-04 -1.59418410e+01] [ 3.80271107e-03 -5.37493333e-05 9.99992768e-01 -2.33463478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.214012739 meters Centerline goodness [0,1] 0.9903672617365022 Centerline is valid? [True, True] Translation: X:275.39, Y:-15.94, Z:-2.34 [[ 9.72184723e-01 -2.34177207e-01 -4.23083328e-03 2.75389424e+02] [ 2.34175255e-01 9.72193927e-01 -9.58159601e-04 -1.59360187e+01] [ 4.33756956e-03 -5.92483351e-05 9.99990591e-01 -2.33560745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.244012739 meters Centerline goodness [0,1] 0.9906030432346222 Centerline is valid? [True, True] Translation: X:275.42, Y:-15.94, Z:-2.34 [[ 9.72257552e-01 -2.33860922e-01 -4.93176055e-03 2.75418133e+02] [ 2.33858259e-01 9.72270058e-01 -1.11783009e-03 -1.59355115e+01] [ 5.05641989e-03 -6.65141943e-05 9.99987214e-01 -2.33765262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.274012739 meters Centerline goodness [0,1] 0.9904962816169106 Centerline is valid? [True, True] Translation: X:275.45, Y:-15.93, Z:-2.34 [[ 9.72243710e-01 -2.33913284e-01 -5.17148498e-03 2.75446003e+02] [ 2.33910354e-01 9.72257461e-01 -1.17271773e-03 -1.59304205e+01] [ 5.30232912e-03 -6.94964478e-05 9.99985940e-01 -2.33745302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30401273900003 meters Centerline goodness [0,1] 0.9901860166773573 Centerline is valid? [True, True] Translation: X:275.47, Y:-15.93, Z:-2.34 [[ 9.72367650e-01 -2.33419403e-01 -4.06626822e-03 2.75474975e+02] [ 2.33417585e-01 9.72376151e-01 -9.22707924e-04 -1.59255216e+01] [ 4.16932017e-03 -5.19271723e-05 9.99991307e-01 -2.33531506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.334012739 meters Centerline goodness [0,1] 0.9892831219845438 Centerline is valid? [True, True] Translation: X:275.50, Y:-15.92, Z:-2.33 [[ 9.72559368e-01 -2.32634944e-01 -3.04289493e-03 2.75503324e+02] [ 2.32633922e-01 9.72564127e-01 -6.90821715e-04 -1.59197923e+01] [ 3.12011972e-03 -3.60154505e-05 9.99995132e-01 -2.33323927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36401273900003 meters Centerline goodness [0,1] 0.9885787891799055 Centerline is valid? [True, True] Translation: X:275.53, Y:-15.91, Z:-2.33 [[ 9.73132760e-01 -2.30240469e-01 -1.39943759e-03 2.75530709e+02] [ 2.30240250e-01 9.73133766e-01 -3.17858585e-04 -1.59146647e+01] [ 1.43502388e-03 -1.28882572e-05 9.99998970e-01 -2.33013779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.394012739 meters Centerline goodness [0,1] 0.9885787891799055 Centerline is valid? [True, True] Translation: X:275.56, Y:-15.91, Z:-2.33 [[ 9.73090593e-01 -2.30418619e-01 -1.39947983e-03 2.75557476e+02] [ 2.30418401e-01 9.73091599e-01 -3.17672903e-04 -1.59083837e+01] [ 1.43501982e-03 -1.33413907e-05 9.99998970e-01 -2.33003876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42401273900003 meters Centerline goodness [0,1] 0.9886731738710716 Centerline is valid? [True, True] Translation: X:275.59, Y:-15.90, Z:-2.33 [[ 9.73433911e-01 -2.28963317e-01 -1.49011131e-03 2.75585696e+02] [ 2.28963067e-01 9.73435051e-01 -3.38619523e-04 -1.59015134e+01] [ 1.52805803e-03 -1.15567297e-05 9.99998832e-01 -2.33019412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.454012739 meters Centerline goodness [0,1] 0.9889050408311599 Centerline is valid? [True, True] Translation: X:275.61, Y:-15.90, Z:-2.33 [[ 9.73795498e-01 -2.27411312e-01 -2.53455893e-03 2.75612910e+02] [ 2.27410581e-01 9.73798796e-01 -5.76898412e-04 -1.58951798e+01] [ 2.59934366e-03 -1.46044415e-05 9.99996622e-01 -2.33259314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484012739 meters Centerline goodness [0,1] 0.9898686118931832 Centerline is valid? [True, True] Translation: X:275.64, Y:-15.89, Z:-2.34 [[ 9.74682610e-01 -2.23535838e-01 -5.05368499e-03 2.75639953e+02] [ 2.23532874e-01 9.74695711e-01 -1.15118461e-03 -1.58853634e+01] [ 5.18313610e-03 -7.62510452e-06 9.99986567e-01 -2.33639070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.514012739 meters Centerline goodness [0,1] 0.990128626981753 Centerline is valid? [True, True] Translation: X:275.67, Y:-15.88, Z:-2.33 [[ 9.75412793e-01 -2.20363842e-01 -3.10802288e-03 2.75666728e+02] [ 2.20362703e-01 9.75417745e-01 -7.08267050e-04 -1.58762648e+01] [ 3.18769711e-03 5.96041845e-06 9.99994919e-01 -2.33306421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544012739 meters Centerline goodness [0,1] 0.9896654822774937 Centerline is valid? [True, True] Translation: X:275.69, Y:-15.87, Z:-2.33 [[ 9.75815225e-01 -2.18583827e-01 -2.39924305e-03 2.75694786e+02] [ 2.18583143e-01 9.75818175e-01 -5.47101401e-04 -1.58683473e+01] [ 2.46081250e-03 9.43579001e-06 9.99996972e-01 -2.33146964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.574012739 meters Centerline goodness [0,1] 0.9906727144956239 Centerline is valid? [True, True] Translation: X:275.72, Y:-15.86, Z:-2.33 [[ 9.76270862e-01 -2.16539318e-01 -2.43457181e-03 2.75721714e+02] [ 2.16538605e-01 9.76273898e-01 -5.55725912e-04 -1.58600320e+01] [ 2.49714542e-03 1.53602318e-05 9.99996882e-01 -2.33153786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604012739 meters Centerline goodness [0,1] 0.991653693132676 Centerline is valid? [True, True] Translation: X:275.75, Y:-15.85, Z:-2.33 [[ 9.77339542e-01 -2.11648593e-01 -3.50610191e-03 2.75748328e+02] [ 2.11647083e-01 9.77345830e-01 -8.00636500e-04 -1.58467003e+01] [ 3.59612767e-03 4.04374701e-05 9.99993533e-01 -2.33292728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.634012739 meters Centerline goodness [0,1] 0.9929021228711779 Centerline is valid? [True, True] Translation: X:275.77, Y:-15.83, Z:-2.33 [[ 9.77951404e-01 -2.08796784e-01 -3.86715774e-03 2.75773791e+02] [ 2.08794921e-01 9.77959048e-01 -8.83797035e-04 -1.58346838e+01] [ 3.96645588e-03 5.68676563e-05 9.99992132e-01 -2.33364139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664012739 meters Centerline goodness [0,1] 0.9917506677005256 Centerline is valid? [True, True] Translation: X:275.80, Y:-15.82, Z:-2.33 [[ 9.79000153e-01 -2.03823279e-01 -3.84344563e-03 2.75799131e+02] [ 2.03821400e-01 9.79007694e-01 -8.78616150e-04 -1.58182312e+01] [ 3.94184527e-03 7.67888754e-05 9.99992228e-01 -2.33390208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.694012739 meters Centerline goodness [0,1] 0.9909754592086499 Centerline is valid? [True, True] Translation: X:275.82, Y:-15.81, Z:-2.34 [[ 9.79420890e-01 -2.01781325e-01 -4.36084899e-03 2.75824566e+02] [ 2.01778884e-01 9.79430594e-01 -9.97187170e-04 -1.58066282e+01] [ 4.47236266e-03 9.67387058e-05 9.99989994e-01 -2.33551526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724012739 meters Centerline goodness [0,1] 0.9912171180092134 Centerline is valid? [True, True] Translation: X:275.85, Y:-15.79, Z:-2.34 [[ 9.80026469e-01 -1.98792034e-01 -5.46330426e-03 2.75851583e+02] [ 1.98788155e-01 9.80041687e-01 -1.24967494e-03 -1.57929170e+01] [ 5.60269135e-03 1.38674351e-04 9.99984295e-01 -2.33684594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.754012739 meters Centerline goodness [0,1] 0.9909939236111112 Centerline is valid? [True, True] Translation: X:275.88, Y:-15.78, Z:-2.34 [[ 9.80082044e-01 -1.98527409e-01 -5.10448389e-03 2.75879686e+02] [ 1.98524017e-01 9.80095327e-01 -1.16799583e-03 -1.57847454e+01] [ 5.23475999e-03 1.31369090e-04 9.99986290e-01 -2.33568439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784012739 meters Centerline goodness [0,1] 0.9902533276084157 Centerline is valid? [True, True] Translation: X:275.90, Y:-15.77, Z:-2.33 [[ 9.80095374e-01 -1.98501782e-01 -3.17816998e-03 2.75904126e+02] [ 1.98500466e-01 9.80100523e-01 -7.27572368e-04 -1.57708418e+01] [ 3.25935048e-03 8.22220898e-05 9.99994685e-01 -2.33180516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.814012739 meters Centerline goodness [0,1] 0.9877742205797039 Centerline is valid? [True, True] Translation: X:275.93, Y:-15.76, Z:-2.33 [[ 9.79887390e-01 -1.99498797e-01 -4.57518819e-03 2.75931403e+02] [ 1.99496077e-01 9.79898065e-01 -1.04800507e-03 -1.57606029e+01] [ 4.69229381e-03 1.14194860e-04 9.99988985e-01 -2.32517227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844012739 meters Centerline goodness [0,1] 0.9910345565422061 Centerline is valid? [True, True] Translation: X:275.96, Y:-15.75, Z:-2.34 [[ 9.79637702e-01 -2.00700873e-01 -5.39741996e-03 2.75958779e+02] [ 2.00697100e-01 9.79652562e-01 -1.23736472e-03 -1.57519152e+01] [ 5.53593647e-03 1.28922600e-04 9.99984668e-01 -2.33630673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.874012739 meters Centerline goodness [0,1] 0.9914148277572855 Centerline is valid? [True, True] Translation: X:275.99, Y:-15.74, Z:-2.34 [[ 9.79437814e-01 -2.01658290e-01 -5.95842346e-03 2.75985182e+02] [ 2.01653704e-01 9.79455928e-01 -1.36677846e-03 -1.57425668e+01] [ 6.11163539e-03 1.37136343e-04 9.99981314e-01 -2.33756279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904012739 meters Centerline goodness [0,1] 0.9923349436392914 Centerline is valid? [True, True] Translation: X:276.01, Y:-15.74, Z:-2.33 [[ 9.78761296e-01 -2.04960900e-01 -4.16594632e-03 2.76013578e+02] [ 2.04958687e-01 9.78770158e-01 -9.55860522e-04 -1.57353275e+01] [ 4.27341798e-03 8.17123942e-05 9.99990866e-01 -2.33389167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.934012739 meters Centerline goodness [0,1] 0.9922571562646645 Centerline is valid? [True, True] Translation: X:276.04, Y:-15.73, Z:-2.33 [[ 9.78253044e-01 -2.07396497e-01 -2.77036860e-03 2.76041780e+02] [ 2.07395527e-01 9.78256966e-01 -6.35893925e-04 -1.57289950e+01] [ 2.84201456e-03 4.75031101e-05 9.99995960e-01 -2.33065998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964012739 meters Centerline goodness [0,1] 0.9913730514627376 Centerline is valid? [True, True] Translation: X:276.07, Y:-15.72, Z:-2.33 [[ 9.77329468e-01 -2.11720630e-01 -1.21910647e-03 2.76070608e+02] [ 2.11720445e-01 9.77330228e-01 -2.79902162e-04 -1.57238051e+01] [ 1.25073067e-03 1.54468661e-05 9.99999218e-01 -2.32709473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.994012739 meters Centerline goodness [0,1] 0.9917141934789626 Centerline is valid? [True, True] Translation: X:276.10, Y:-15.72, Z:-2.33 [[ 9.76769967e-01 -2.14279926e-01 -2.13180842e-03 2.76099768e+02] [ 2.14279367e-01 9.76772293e-01 -4.89919722e-04 -1.57195490e+01] [ 2.18727136e-03 2.17363116e-05 9.99997608e-01 -2.32897447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024012739 meters Centerline goodness [0,1] 0.9913955077290972 Centerline is valid? [True, True] Translation: X:276.13, Y:-15.72, Z:-2.33 [[ 9.75323823e-01 -2.20725567e-01 -4.86455722e-03 2.76128861e+02] [ 2.20722735e-01 9.75335954e-01 -1.11822294e-03 -1.57209858e+01] [ 4.99139795e-03 1.69110964e-05 9.99987543e-01 -2.33437308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05401273900003 meters Centerline goodness [0,1] 0.9911250828682021 Centerline is valid? [True, True] Translation: X:276.16, Y:-15.72, Z:-2.33 [[ 9.74462167e-01 -2.24499442e-01 -4.84619257e-03 2.76157426e+02] [ 2.24496676e-01 9.74474217e-01 -1.11433603e-03 -1.57195083e+01] [ 4.97265753e-03 -2.07581922e-06 9.99987636e-01 -2.33453444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084012739 meters Centerline goodness [0,1] 0.9899190931510405 Centerline is valid? [True, True] Translation: X:276.19, Y:-15.72, Z:-2.33 [[ 9.72964412e-01 -2.30931253e-01 -3.31817182e-03 2.76188149e+02] [ 2.30929993e-01 9.72970069e-01 -7.63165705e-04 -1.57227177e+01] [ 3.40472068e-03 -2.37323242e-05 9.99994204e-01 -2.33146774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11401273900003 meters Centerline goodness [0,1] 0.9900826090697874 Centerline is valid? [True, True] Translation: X:276.22, Y:-15.72, Z:-2.33 [[ 9.72294967e-01 -2.33732280e-01 -3.42315441e-03 2.76217235e+02] [ 2.33730954e-01 9.72300993e-01 -7.87924105e-04 -1.57210140e+01] [ 3.51249972e-03 -3.40025048e-05 9.99993831e-01 -2.33159499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.144012739 meters Centerline goodness [0,1] 0.9908912767286118 Centerline is valid? [True, True] Translation: X:276.25, Y:-15.72, Z:-2.33 [[ 9.71800556e-01 -2.35774934e-01 -3.72279613e-03 2.76246674e+02] [ 2.35773378e-01 9.71807686e-01 -8.57599415e-04 -1.57184309e+01] [ 3.82004234e-03 -4.43206318e-05 9.99992703e-01 -2.33184343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17401273900003 meters Centerline goodness [0,1] 0.9906463319796077 Centerline is valid? [True, True] Translation: X:276.28, Y:-15.72, Z:-2.33 [[ 9.71424233e-01 -2.37308556e-01 -4.42825883e-03 2.76275664e+02] [ 2.37306367e-01 9.71434324e-01 -1.02091048e-03 -1.57190623e+01] [ 4.54403342e-03 -5.91168360e-05 9.99989674e-01 -2.33345338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.204012739 meters Centerline goodness [0,1] 0.9908871558447154 Centerline is valid? [True, True] Translation: X:276.30, Y:-15.71, Z:-2.33 [[ 9.71834989e-01 -2.35622232e-01 -4.34934187e-03 2.76303182e+02] [ 2.35620103e-01 9.71844721e-01 -1.00298425e-03 -1.57146438e+01] [ 4.46321033e-03 -5.00571884e-05 9.99990039e-01 -2.33318378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.234012739 meters Centerline goodness [0,1] 0.9905751518924837 Centerline is valid? [True, True] Translation: X:276.33, Y:-15.71, Z:-2.33 [[ 9.72270136e-01 -2.33816690e-01 -4.53191049e-03 2.76330550e+02] [ 2.33814357e-01 9.72280697e-01 -1.04548200e-03 -1.57059158e+01] [ 4.65074023e-03 -4.31348156e-05 9.99989184e-01 -2.33287195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.264012739 meters Centerline goodness [0,1] 0.9921207293707347 Centerline is valid? [True, True] Translation: X:276.36, Y:-15.69, Z:-2.34 [[ 9.73416826e-01 -2.28951318e-01 -6.40124342e-03 2.76357298e+02] [ 2.28946549e-01 9.73437873e-01 -1.47806545e-03 -1.56920338e+01] [ 6.56961781e-03 -2.67688135e-05 9.99978419e-01 -2.33636481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.294012739 meters Centerline goodness [0,1] 0.9923595697456036 Centerline is valid? [True, True] Translation: X:276.38, Y:-15.68, Z:-2.34 [[ 9.73904842e-01 -2.26837007e-01 -7.37094242e-03 2.76383331e+02] [ 2.26830615e-01 9.73932735e-01 -1.70298800e-03 -1.56829989e+01] [ 7.56510281e-03 -1.34071483e-05 9.99971384e-01 -2.33862876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.324012739 meters Centerline goodness [0,1] 0.9927488323487386 Centerline is valid? [True, True] Translation: X:276.41, Y:-15.67, Z:-2.34 [[ 9.74447981e-01 -2.24477548e-01 -7.80781156e-03 2.76409767e+02] [ 2.24470290e-01 9.74479261e-01 -1.80508537e-03 -1.56734412e+01] [ 8.01375157e-03 6.34007126e-06 9.99967889e-01 -2.33885492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.354012739 meters Centerline goodness [0,1] 0.9930561527216442 Centerline is valid? [True, True] Translation: X:276.44, Y:-15.67, Z:-2.34 [[ 9.74561997e-01 -2.23978023e-01 -7.92210912e-03 2.76436852e+02] [ 2.23970522e-01 9.74594195e-01 -1.83309525e-03 -1.56664029e+01] [ 8.13141461e-03 1.21460551e-05 9.99966939e-01 -2.33943447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.384012739 meters Centerline goodness [0,1] 0.9931974253546596 Centerline is valid? [True, True] Translation: X:276.46, Y:-15.66, Z:-2.34 [[ 9.74439571e-01 -2.24470584e-01 -8.97106342e-03 2.76464465e+02] [ 2.24460968e-01 9.74480865e-01 -2.07771175e-03 -1.56608659e+01] [ 9.20851482e-03 1.09509706e-05 9.99957601e-01 -2.34089709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.414012739 meters Centerline goodness [0,1] 0.9933461513534533 Centerline is valid? [True, True] Translation: X:276.49, Y:-15.65, Z:-2.34 [[ 9.74328757e-01 -2.24944139e-01 -9.14376363e-03 2.76490957e+02] [ 2.24934159e-01 9.74371661e-01 -2.11892628e-03 -1.56546572e+01] [ 9.38606420e-03 7.78603262e-06 9.99955950e-01 -2.34149107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.444012739 meters Centerline goodness [0,1] 0.9934339977756865 Centerline is valid? [True, True] Translation: X:276.52, Y:-15.65, Z:-2.34 [[ 9.74142853e-01 -2.25765066e-01 -8.70840144e-03 2.76517274e+02] [ 2.25756040e-01 9.74181777e-01 -2.01878406e-03 -1.56477810e+01] [ 8.93933691e-03 6.09844091e-07 9.99960043e-01 -2.34012039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.474012739 meters Centerline goodness [0,1] 0.9922419150896895 Centerline is valid? [True, True] Translation: X:276.54, Y:-15.64, Z:-2.34 [[ 9.74077090e-01 -2.26083057e-01 -7.76368009e-03 2.76544496e+02] [ 2.26075884e-01 9.74108029e-01 -1.80089944e-03 -1.56409239e+01] [ 7.96981596e-03 -9.65958557e-07 9.99968241e-01 -2.33801331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.504012739 meters Centerline goodness [0,1] 0.9928934882023316 Centerline is valid? [True, True] Translation: X:276.57, Y:-15.63, Z:-2.34 [[ 9.74111919e-01 -2.25969629e-01 -6.61029787e-03 2.76570679e+02] [ 2.25964420e-01 9.74134347e-01 -1.53437234e-03 -1.56337470e+01] [ 6.78603975e-03 9.58262205e-07 9.99976975e-01 -2.33622766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.534012739 meters Centerline goodness [0,1] 0.9923562502683901 Centerline is valid? [True, True] Translation: X:276.60, Y:-15.62, Z:-2.33 [[ 9.74368284e-01 -2.24921205e-01 -4.11076842e-03 2.76596766e+02] [ 2.24919180e-01 9.74376955e-01 -9.54603119e-04 -1.56236450e+01] [ 4.22014850e-03 5.54434216e-06 9.99991095e-01 -2.33040091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.564012739 meters Centerline goodness [0,1] 0.9916595012897679 Centerline is valid? [True, True] Translation: X:276.62, Y:-15.62, Z:-2.33 [[ 9.74262545e-01 -2.25407918e-01 -1.94032907e-03 2.76622934e+02] [ 2.25407467e-01 9.74264477e-01 -4.50780556e-04 -1.56174980e+01] [ 1.99200320e-03 1.81395001e-06 9.99998016e-01 -2.32730539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.594012739 meters Centerline goodness [0,1] 0.990625 Centerline is valid? [True, True] Translation: X:276.65, Y:-15.61, Z:-2.33 [[ 9.73898687e-01 -2.26976794e-01 -1.69809291e-03 2.76649765e+02] [ 2.26976451e-01 9.73900167e-01 -3.94615650e-04 -1.56143096e+01] [ 1.74334157e-03 -1.11143926e-06 9.99998480e-01 -2.32657742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.624012739 meters Centerline goodness [0,1] 0.991023879058581 Centerline is valid? [True, True] Translation: X:276.68, Y:-15.61, Z:-2.33 [[ 9.73258431e-01 -2.29702213e-01 -2.21822876e-03 2.76677851e+02] [ 2.29701634e-01 9.73260958e-01 -5.15627132e-04 -1.56116635e+01] [ 2.27735614e-03 -7.69231746e-06 9.99997407e-01 -2.32750629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.654012739 meters Centerline goodness [0,1] 0.9919292521679403 Centerline is valid? [True, True] Translation: X:276.71, Y:-15.61, Z:-2.33 [[ 9.71750914e-01 -2.35946996e-01 -5.40147600e-03 2.76707523e+02] [ 2.35943652e-01 9.71765925e-01 -1.25745699e-03 -1.56145080e+01] [ 5.54566352e-03 -5.25089898e-05 9.99984621e-01 -2.33195217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.684012739 meters Centerline goodness [0,1] 0.9923565784953624 Centerline is valid? [True, True] Translation: X:276.74, Y:-15.61, Z:-2.33 [[ 9.71217214e-01 -2.38107003e-01 -6.49454908e-03 2.76736812e+02] [ 2.38102210e-01 9.71238925e-01 -1.51283750e-03 -1.56118008e+01] [ 6.66797607e-03 -7.70726599e-05 9.99977766e-01 -2.33337993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.714012739 meters Centerline goodness [0,1] 0.9919174846692236 Centerline is valid? [True, True] Translation: X:276.77, Y:-15.61, Z:-2.33 [[ 9.70502035e-01 -2.41005533e-01 -6.49093792e-03 2.76766083e+02] [ 2.41000804e-01 9.70523737e-01 -1.51279258e-03 -1.56131163e+01] [ 6.66420071e-03 -9.61529823e-05 9.99977789e-01 -2.33346511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.744012739 meters Centerline goodness [0,1] 0.9916585418697866 Centerline is valid? [True, True] Translation: X:276.79, Y:-15.61, Z:-2.33 [[ 9.70357510e-01 -2.41598257e-01 -6.04855374e-03 2.76794012e+02] [ 2.41594160e-01 9.70376357e-01 -1.41004702e-03 -1.56095304e+01] [ 6.21003844e-03 -9.30455461e-05 9.99980713e-01 -2.33250351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.774012739 meters Centerline goodness [0,1] 0.9923893843906055 Centerline is valid? [True, True] Translation: X:276.82, Y:-15.60, Z:-2.33 [[ 9.70697381e-01 -2.40248161e-01 -5.23593935e-03 2.76822089e+02] [ 2.40245069e-01 9.70711500e-01 -1.22108670e-03 -1.56011198e+01] [ 5.37595038e-03 -7.26029443e-05 9.99985547e-01 -2.32965552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80401273900003 meters Centerline goodness [0,1] 0.9923854024704177 Centerline is valid? [True, True] Translation: X:276.85, Y:-15.60, Z:-2.33 [[ 9.71202936e-01 -2.38182234e-01 -5.83784552e-03 2.76849262e+02] [ 2.38178348e-01 9.71220479e-01 -1.36227088e-03 -1.55960153e+01] [ 5.99430385e-03 -6.74069200e-05 9.99982032e-01 -2.33037337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.834012739 meters Centerline goodness [0,1] 0.9932830824388242 Centerline is valid? [True, True] Translation: X:276.88, Y:-15.58, Z:-2.33 [[ 9.72631967e-01 -2.32245927e-01 -6.99182798e-03 2.76875799e+02] [ 2.32240193e-01 9.72657097e-01 -1.63243102e-03 -1.55816026e+01] [ 7.17977656e-03 -3.60288831e-05 9.99974224e-01 -2.33154472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86401273900003 meters Centerline goodness [0,1] 0.993840501404798 Centerline is valid? [True, True] Translation: X:276.90, Y:-15.57, Z:-2.33 [[ 9.73314033e-01 -2.29379487e-01 -6.69652368e-03 2.76901744e+02] [ 2.29374153e-01 9.73337070e-01 -1.56426335e-03 -1.55704925e+01] [ 6.87678466e-03 -1.34899798e-05 9.99976355e-01 -2.33094458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.894012739 meters Centerline goodness [0,1] 0.9938911990397393 Centerline is valid? [True, True] Translation: X:276.93, Y:-15.56, Z:-2.33 [[ 9.74109523e-01 -2.26001823e-01 -5.81494852e-03 2.76926780e+02] [ 2.25997738e-01 9.74126879e-01 -1.35883038e-03 -1.55586317e+01] [ 5.97159580e-03 9.48439512e-06 9.99982170e-01 -2.32947100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92401273900003 meters Centerline goodness [0,1] 0.9939892711721998 Centerline is valid? [True, True] Translation: X:276.95, Y:-15.55, Z:-2.33 [[ 9.74176385e-01 -2.25711036e-01 -5.90754809e-03 2.76953457e+02] [ 2.25706810e-01 9.74194297e-01 -1.38126647e-03 -1.55523111e+01] [ 6.06686674e-03 1.22233408e-05 9.99981596e-01 -2.32954547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.954012739 meters Centerline goodness [0,1] 0.994398965962947 Centerline is valid? [True, True] Translation: X:276.98, Y:-15.55, Z:-2.33 [[ 9.73804603e-01 -2.27250138e-01 -7.87204781e-03 2.76981003e+02] [ 2.27242672e-01 9.73836421e-01 -1.84206243e-03 -1.55469591e+01] [ 8.08469580e-03 4.94368813e-06 9.99967318e-01 -2.33286927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984012739 meters Centerline goodness [0,1] 0.9941697304588074 Centerline is valid? [True, True] Translation: X:277.01, Y:-15.54, Z:-2.34 [[ 9.73542546e-01 -2.28327253e-01 -9.03197908e-03 2.77009217e+02] [ 2.28317455e-01 9.73584442e-01 -2.11519939e-03 -1.55407301e+01] [ 9.27635198e-03 -2.92188196e-06 9.99956974e-01 -2.33525853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.014012739 meters Centerline goodness [0,1] 0.9947481243301179 Centerline is valid? [True, True] Translation: X:277.04, Y:-15.53, Z:-2.34 [[ 9.73326417e-01 -2.29214030e-01 -9.82923275e-03 2.77037150e+02] [ 2.29202454e-01 9.73376047e-01 -2.30361767e-03 -1.55342797e+01] [ 1.00955612e-02 -1.07123329e-05 9.99949038e-01 -2.33676214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044012739 meters Centerline goodness [0,1] 0.995 Centerline is valid? [True, True] Translation: X:277.06, Y:-15.53, Z:-2.34 [[ 9.73039383e-01 -2.30426633e-01 -9.89572116e-03 2.77063975e+02] [ 2.30414953e-01 9.73089701e-01 -2.32017785e-03 -1.55268984e+01] [ 1.01640551e-02 -2.24976986e-05 9.99948344e-01 -2.33681226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.074012739 meters Centerline goodness [0,1] 0.9937615076356547 Centerline is valid? [True, True] Translation: X:277.09, Y:-15.52, Z:-2.33 [[ 9.72359331e-01 -2.33347212e-01 -8.14921424e-03 2.77091457e+02] [ 2.33339385e-01 9.72393478e-01 -1.91177179e-03 -1.55200872e+01] [ 8.37034940e-03 -4.26034979e-05 9.99964967e-01 -2.33253464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104012739 meters Centerline goodness [0,1] 0.993128038897893 Centerline is valid? [True, True] Translation: X:277.12, Y:-15.52, Z:-2.33 [[ 9.71805735e-01 -2.35681010e-01 -6.93360683e-03 2.77119437e+02] [ 2.35675397e-01 9.71830468e-01 -1.62738984e-03 -1.55180113e+01] [ 7.12183525e-03 -5.25737599e-05 9.99974638e-01 -2.33069537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.134012739 meters Centerline goodness [0,1] 0.9925593656327728 Centerline is valid? [True, True] Translation: X:277.15, Y:-15.52, Z:-2.33 [[ 9.70542049e-01 -2.40839533e-01 -6.66717066e-03 2.77150581e+02] [ 2.40834459e-01 9.70564945e-01 -1.56558085e-03 -1.55232397e+01] [ 6.84797588e-03 -8.62223978e-05 9.99976549e-01 -2.32995180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164012739 meters Centerline goodness [0,1] 0.9925448059299767 Centerline is valid? [True, True] Translation: X:277.18, Y:-15.52, Z:-2.33 [[ 9.69926647e-01 -2.43315358e-01 -6.31943000e-03 2.77179808e+02] [ 2.43310846e-01 9.69947229e-01 -1.48495303e-03 -1.55197718e+01] [ 6.49082550e-03 -9.72903453e-05 9.99978930e-01 -2.32913592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.194012739 meters Centerline goodness [0,1] 0.9907463330457291 Centerline is valid? [True, True] Translation: X:277.21, Y:-15.52, Z:-2.33 [[ 9.68519757e-01 -2.48897116e-01 -4.43917837e-03 2.77210667e+02] [ 2.48894946e-01 9.68529926e-01 -1.04359822e-03 -1.55237794e+01] [ 4.55922568e-03 -9.41435644e-05 9.99989602e-01 -2.32558496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224012739 meters Centerline goodness [0,1] 0.9894123989218329 Centerline is valid? [True, True] Translation: X:277.24, Y:-15.53, Z:-2.32 [[ 9.67633647e-01 -2.52338631e-01 -3.21578188e-03 2.77240617e+02] [ 2.52337511e-01 9.67638987e-01 -7.56114306e-04 -1.55280723e+01] [ 3.30251277e-03 -7.98207541e-05 9.99994544e-01 -2.32359660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.254012739 meters Centerline goodness [0,1] 0.9893635308779922 Centerline is valid? [True, True] Translation: X:277.27, Y:-15.53, Z:-2.32 [[ 9.66821136e-01 -2.55442300e-01 -2.47434455e-03 2.77271706e+02] [ 2.55441646e-01 9.66824300e-01 -5.81890437e-04 -1.55305384e+01] [ 2.54089587e-03 -6.94666713e-05 9.99996770e-01 -2.32190132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284012739 meters Centerline goodness [0,1] 0.9893635308779922 Centerline is valid? [True, True] Translation: X:277.30, Y:-15.52, Z:-2.32 [[ 9.66774622e-01 -2.55618287e-01 -2.47437005e-03 2.77298439e+02] [ 2.55617634e-01 9.66777786e-01 -5.81782071e-04 -1.55240557e+01] [ 2.54088014e-03 -7.00404775e-05 9.99996770e-01 -2.32180224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.314012739 meters Centerline goodness [0,1] 0.9880973029225566 Centerline is valid? [True, True] Translation: X:277.33, Y:-15.53, Z:-2.32 [[ 9.66081159e-01 -2.58210271e-01 -3.82751526e-03 2.77329756e+02] [ 2.58208726e-01 9.66088734e-01 -9.00987741e-04 -1.55284138e+01] [ 3.93036366e-03 -1.17870559e-04 9.99992269e-01 -2.32293160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344012739 meters Centerline goodness [0,1] 0.9898953446409239 Centerline is valid? [True, True] Translation: X:277.36, Y:-15.52, Z:-2.33 [[ 9.67287709e-01 -2.53608730e-01 -6.09104052e-03 2.77357983e+02] [ 2.53604725e-01 9.67306873e-01 -1.43401106e-03 -1.55212667e+01] [ 6.25558309e-03 -1.57615383e-04 9.99980421e-01 -2.32769075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.374012739 meters Centerline goodness [0,1] 0.9914413538222135 Centerline is valid? [True, True] Translation: X:277.39, Y:-15.51, Z:-2.33 [[ 9.68417738e-01 -2.49255104e-01 -6.24318862e-03 2.77386347e+02] [ 2.49250805e-01 9.68437853e-01 -1.46991679e-03 -1.55105336e+01] [ 6.41252444e-03 -1.32626298e-04 9.99979431e-01 -2.32737837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404012739 meters Centerline goodness [0,1] 0.9924587789186656 Centerline is valid? [True, True] Translation: X:277.41, Y:-15.50, Z:-2.33 [[ 9.69712757e-01 -2.44163514e-01 -6.43023974e-03 2.77414205e+02] [ 2.44158841e-01 9.69734071e-01 -1.51406370e-03 -1.55031300e+01] [ 6.60530167e-03 -1.01792995e-04 9.99978180e-01 -2.32753768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.434012739 meters Centerline goodness [0,1] 0.9946766265267135 Centerline is valid? [True, True] Translation: X:277.44, Y:-15.48, Z:-2.33 [[ 9.72365171e-01 -2.33353112e-01 -7.23186858e-03 2.77439006e+02] [ 2.33346900e-01 9.72392063e-01 -1.70307419e-03 -1.54785448e+01] [ 7.42962927e-03 -3.15240887e-05 9.99972399e-01 -2.32858972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464012739 meters Centerline goodness [0,1] 0.9954559224477431 Centerline is valid? [True, True] Translation: X:277.46, Y:-15.46, Z:-2.33 [[ 9.74396808e-01 -2.24699540e-01 -7.80877653e-03 2.77463325e+02] [ 2.24692014e-01 9.74428097e-01 -1.83944841e-03 -1.54605221e+01] [ 8.02241446e-03 3.77829393e-05 9.99967819e-01 -2.33058748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.494012739 meters Centerline goodness [0,1] 0.995312666453606 Centerline is valid? [True, True] Translation: X:277.49, Y:-15.45, Z:-2.33 [[ 9.75066786e-01 -2.21789740e-01 -7.35351630e-03 2.77490965e+02] [ 2.21782976e-01 9.75094512e-01 -1.73317405e-03 -1.54515231e+01] [ 7.55477361e-03 5.90757234e-05 9.99971461e-01 -2.32906872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524012739 meters Centerline goodness [0,1] 0.9931487725779086 Centerline is valid? [True, True] Translation: X:277.52, Y:-15.44, Z:-2.32 [[ 9.75926153e-01 -2.18009728e-01 -6.31674780e-03 2.77518328e+02] [ 2.18004651e-01 9.75946593e-01 -1.48981621e-03 -1.54417240e+01] [ 6.48960293e-03 7.68702000e-05 9.99978939e-01 -2.31854924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55401273900003 meters Centerline goodness [0,1] 0.9951733216322949 Centerline is valid? [True, True] Translation: X:277.55, Y:-15.44, Z:-2.33 [[ 9.76128949e-01 -2.17105382e-01 -6.12595398e-03 2.77546276e+02] [ 2.17100583e-01 9.76148168e-01 -1.44587830e-03 -1.54359096e+01] [ 6.29374672e-03 8.14154870e-05 9.99980191e-01 -2.32538447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.584012739 meters Centerline goodness [0,1] 0.9943690318160407 Centerline is valid? [True, True] Translation: X:277.57, Y:-15.43, Z:-2.33 [[ 9.76259626e-01 -2.16498906e-01 -6.73543552e-03 2.77572936e+02] [ 2.16493083e-01 9.76282856e-01 -1.59064126e-03 -1.54284769e+01] [ 6.92006232e-03 9.47036405e-05 9.99976052e-01 -2.32797597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61401273900003 meters Centerline goodness [0,1] 0.9945863825052425 Centerline is valid? [True, True] Translation: X:277.60, Y:-15.42, Z:-2.33 [[ 9.76109210e-01 -2.17163831e-01 -7.11903541e-03 2.77600440e+02] [ 2.17157337e-01 9.76135166e-01 -1.68218636e-03 -1.54243863e+01] [ 7.31445084e-03 9.60468321e-05 9.99973244e-01 -2.32857785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.644012739 meters Centerline goodness [0,1] 0.9952811810035066 Centerline is valid? [True, True] Translation: X:277.63, Y:-15.42, Z:-2.33 [[ 9.75946432e-01 -2.17885109e-01 -7.39191793e-03 2.77627586e+02] [ 2.17878117e-01 9.75974421e-01 -1.74817474e-03 -1.54195533e+01] [ 7.59522406e-03 9.55877365e-05 9.99971151e-01 -2.32823837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67401273900003 meters Centerline goodness [0,1] 0.9952734928887552 Centerline is valid? [True, True] Translation: X:277.65, Y:-15.41, Z:-2.33 [[ 9.76008208e-01 -2.17632999e-01 -6.62230782e-03 2.77653234e+02] [ 2.17627374e-01 9.76030671e-01 -1.56722947e-03 -1.54121709e+01] [ 6.80465639e-03 8.84333646e-05 9.99976844e-01 -2.32597745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.704012739 meters Centerline goodness [0,1] 0.9945118305287435 Centerline is valid? [True, True] Translation: X:277.68, Y:-15.40, Z:-2.32 [[ 9.76181170e-01 -2.16899315e-01 -5.00109021e-03 2.77679729e+02] [ 2.16896094e-01 9.76193978e-01 -1.18401012e-03 -1.54036150e+01] [ 5.13884513e-03 7.10914475e-05 9.99986794e-01 -2.32272656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.734012739 meters Centerline goodness [0,1] 0.9941412075503856 Centerline is valid? [True, True] Translation: X:277.71, Y:-15.40, Z:-2.32 [[ 9.76082225e-01 -2.17354397e-01 -4.53395538e-03 2.77707199e+02] [ 2.17351754e-01 9.76092753e-01 -1.07381376e-03 -1.53999174e+01] [ 4.65895913e-03 6.26673700e-05 9.99989145e-01 -2.32213344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.764012739 meters Centerline goodness [0,1] 0.9948533965447285 Centerline is valid? [True, True] Translation: X:277.74, Y:-15.39, Z:-2.32 [[ 9.75888542e-01 -2.18214798e-01 -4.88413831e-03 2.77735352e+02] [ 2.18211736e-01 9.75900762e-01 -1.15772853e-03 -1.53943197e+01] [ 5.01906780e-03 6.40377085e-05 9.99987402e-01 -2.32339361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.794012739 meters Centerline goodness [0,1] 0.9950177171695479 Centerline is valid? [True, True] Translation: X:277.76, Y:-15.39, Z:-2.32 [[ 9.75484820e-01 -2.19990479e-01 -5.79267523e-03 2.77763299e+02] [ 2.19986198e-01 9.75502017e-01 -1.37393842e-03 -1.53914493e+01] [ 5.95301974e-03 6.59474674e-05 9.99982278e-01 -2.32458761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.824012739 meters Centerline goodness [0,1] 0.9949617827537948 Centerline is valid? [True, True] Translation: X:277.79, Y:-15.39, Z:-2.32 [[ 9.75067025e-01 -2.21860463e-01 -4.71507282e-03 2.77791400e+02] [ 2.21857647e-01 9.75078424e-01 -1.11873193e-03 -1.53864803e+01] [ 4.84576816e-03 4.47636485e-05 9.99988258e-01 -2.32087912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.854012739 meters Centerline goodness [0,1] 0.9946669545503617 Centerline is valid? [True, True] Translation: X:277.82, Y:-15.38, Z:-2.32 [[ 9.75022805e-01 -2.22070046e-01 -3.92753442e-03 2.77817321e+02] [ 2.22068091e-01 9.75030714e-01 -9.32421820e-04 -1.53783623e+01] [ 4.03652965e-03 3.69524662e-05 9.99991852e-01 -2.31920319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.884012739 meters Centerline goodness [0,1] 0.9950473913414738 Centerline is valid? [True, True] Translation: X:277.84, Y:-15.37, Z:-2.32 [[ 9.75169161e-01 -2.21428643e-01 -3.80316688e-03 2.77843346e+02] [ 2.21426804e-01 9.75176576e-01 -9.03209939e-04 -1.53691715e+01] [ 3.90875581e-03 3.86593890e-05 9.99992360e-01 -2.31899472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.914012739 meters Centerline goodness [0,1] 0.9951086019651784 Centerline is valid? [True, True] Translation: X:277.87, Y:-15.36, Z:-2.32 [[ 9.75670549e-01 -2.19188091e-01 -4.85401976e-03 2.77869948e+02] [ 2.19185065e-01 9.75682621e-01 -1.15328377e-03 -1.53562777e+01] [ 4.98876879e-03 6.12963741e-05 9.99987554e-01 -2.32134142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.944012739 meters Centerline goodness [0,1] 0.9951461500630787 Centerline is valid? [True, True] Translation: X:277.90, Y:-15.34, Z:-2.32 [[ 9.76006745e-01 -2.17668030e-01 -5.60916729e-03 2.77895569e+02] [ 2.17663960e-01 9.76022859e-01 -1.33352986e-03 -1.53446693e+01] [ 5.76494232e-03 8.06205752e-05 9.99983379e-01 -2.32293736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.974012739 meters Centerline goodness [0,1] 0.9953019988254997 Centerline is valid? [True, True] Translation: X:277.92, Y:-15.33, Z:-2.32 [[ 9.76445870e-01 -2.15691961e-01 -5.51731344e-03 2.77922135e+02] [ 2.15687989e-01 9.76461453e-01 -1.31209742e-03 -1.53339760e+01] [ 5.67045276e-03 9.11738705e-05 9.99983919e-01 -2.32190884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.004012739 meters Centerline goodness [0,1] 0.9954193919509129 Centerline is valid? [True, True] Translation: X:277.95, Y:-15.32, Z:-2.32 [[ 9.76665455e-01 -2.14695379e-01 -5.52116642e-03 2.77948024e+02] [ 2.14691383e-01 9.76681056e-01 -1.31347819e-03 -1.53230145e+01] [ 5.67441634e-03 9.74819200e-05 9.99983896e-01 -2.32201334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.034012739 meters Centerline goodness [0,1] 0.9946280458979758 Centerline is valid? [True, True] Translation: X:277.97, Y:-15.31, Z:-2.32 [[ 9.76847670e-01 -2.13853217e-01 -5.95234875e-03 2.77973846e+02] [ 2.13848555e-01 9.76865799e-01 -1.41644868e-03 -1.53100360e+01] [ 6.11755802e-03 1.10753416e-04 9.99981281e-01 -2.32204263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.064012739 meters Centerline goodness [0,1] 0.9942650488968778 Centerline is valid? [True, True] Translation: X:278.00, Y:-15.30, Z:-2.32 [[ 9.76956698e-01 -2.13351031e-01 -6.07848588e-03 2.78000450e+02] [ 2.13346157e-01 9.76975600e-01 -1.44684251e-03 -1.53000008e+01] [ 6.24721774e-03 1.16680880e-04 9.99980479e-01 -2.32219802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.094012739 meters Centerline goodness [0,1] 0.9954650986178315 Centerline is valid? [True, True] Translation: X:278.03, Y:-15.29, Z:-2.32 [[ 9.77044659e-01 -2.12942461e-01 -6.26440496e-03 2.78027108e+02] [ 2.12937271e-01 9.77064733e-01 -1.49179584e-03 -1.52894505e+01] [ 6.43839584e-03 1.23625857e-04 9.99979266e-01 -2.32236801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.124012739 meters Centerline goodness [0,1] 0.9947937003774567 Centerline is valid? [True, True] Translation: X:278.05, Y:-15.28, Z:-2.32 [[ 9.77019205e-01 -2.13058775e-01 -6.27950346e-03 2.78052908e+02] [ 2.13053557e-01 9.77039376e-01 -1.49624721e-03 -1.52796888e+01] [ 6.45411075e-03 1.23991709e-04 9.99979164e-01 -2.32350256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.154012739 meters Centerline goodness [0,1] 0.9945473207030748 Centerline is valid? [True, True] Translation: X:278.08, Y:-15.28, Z:-2.32 [[ 9.76793957e-01 -2.14089370e-01 -6.26957551e-03 2.78080351e+02] [ 2.14084187e-01 9.76814070e-01 -1.49434977e-03 -1.52758523e+01] [ 6.44413397e-03 1.17454852e-04 9.99979229e-01 -2.32306102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.184012739 meters Centerline goodness [0,1] 0.9942758281894103 Centerline is valid? [True, True] Translation: X:278.11, Y:-15.27, Z:-2.32 [[ 9.76655490e-01 -2.14715969e-01 -6.41140689e-03 2.78109150e+02] [ 2.14710558e-01 9.76676527e-01 -1.52886945e-03 -1.52712116e+01] [ 6.59014330e-03 1.16581998e-04 9.99978278e-01 -2.32273608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.214012739 meters Centerline goodness [0,1] 0.9955077915099408 Centerline is valid? [True, True] Translation: X:278.14, Y:-15.26, Z:-2.32 [[ 9.76578777e-01 -2.15030892e-01 -7.45706804e-03 2.78135478e+02] [ 2.15023570e-01 9.76607238e-01 -1.77966235e-03 -1.52614280e+01] [ 7.66530901e-03 1.34535087e-04 9.99970612e-01 -2.32472439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.244012739 meters Centerline goodness [0,1] 0.9956428894976381 Centerline is valid? [True, True] Translation: X:278.16, Y:-15.26, Z:-2.32 [[ 9.76520214e-01 -2.15295849e-01 -7.48128725e-03 2.78162466e+02] [ 2.15288476e-01 9.76548862e-01 -1.78690350e-03 -1.52553227e+01] [ 7.69055546e-03 1.34312459e-04 9.99970418e-01 -2.32493286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.274012739 meters Centerline goodness [0,1] 0.9952935510704435 Centerline is valid? [True, True] Translation: X:278.19, Y:-15.25, Z:-2.32 [[ 9.76399186e-01 -2.15850604e-01 -7.29011337e-03 2.78189992e+02] [ 2.15843606e-01 9.76426393e-01 -1.74271876e-03 -1.52513467e+01] [ 7.49442600e-03 1.28064816e-04 9.99971908e-01 -2.32420302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30401273900003 meters Centerline goodness [0,1] 0.9950162887532092 Centerline is valid? [True, True] Translation: X:278.22, Y:-15.24, Z:-2.32 [[ 9.76522107e-01 -2.15277356e-01 -7.76108918e-03 2.78216133e+02] [ 2.15269398e-01 9.76552937e-01 -1.85649451e-03 -1.52419272e+01] [ 7.97877566e-03 1.42182936e-04 9.99968159e-01 -2.32433479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.334012739 meters Centerline goodness [0,1] 0.9950958249983868 Centerline is valid? [True, True] Translation: X:278.24, Y:-15.23, Z:-2.32 [[ 9.77197922e-01 -2.12212095e-01 -7.08860695e-03 2.78241268e+02] [ 2.12205372e-01 9.77223620e-01 -1.69612383e-03 -1.52265562e+01] [ 7.28709213e-03 1.53208200e-04 9.99973437e-01 -2.32206604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36401273900003 meters Centerline goodness [0,1] 0.9948665521066713 Centerline is valid? [True, True] Translation: X:278.27, Y:-15.22, Z:-2.32 [[ 9.77539849e-01 -2.10659793e-01 -6.18832838e-03 2.78269257e+02] [ 2.10654634e-01 9.77559426e-01 -1.48134478e-03 -1.52179675e+01] [ 6.36151852e-03 1.44473506e-04 9.99979755e-01 -2.32078932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.394012739 meters Centerline goodness [0,1] 0.9937115072933549 Centerline is valid? [True, True] Translation: X:278.30, Y:-15.21, Z:-2.32 [[ 9.77890761e-01 -2.09044008e-01 -5.50108303e-03 2.78296154e+02] [ 2.09039902e-01 9.77906224e-01 -1.31751841e-03 -1.52089571e+01] [ 5.65496266e-03 1.38443226e-04 9.99984001e-01 -2.31972548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42401273900003 meters Centerline goodness [0,1] 0.993369241003412 Centerline is valid? [True, True] Translation: X:278.32, Y:-15.19, Z:-2.32 [[ 9.78630224e-01 -2.05541576e-01 -5.96207445e-03 2.78321254e+02] [ 2.05536685e-01 9.78648369e-01 -1.42829177e-03 -1.51934476e+01] [ 6.12834778e-03 1.72344479e-04 9.99981207e-01 -2.32109628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.454012739 meters Centerline goodness [0,1] 0.9934331945577063 Centerline is valid? [True, True] Translation: X:278.35, Y:-15.18, Z:-2.32 [[ 9.78951984e-01 -2.03968331e-01 -7.06630114e-03 2.78347127e+02] [ 2.03961417e-01 9.78977463e-01 -1.69325405e-03 -1.51814048e+01] [ 7.26311976e-03 2.16361618e-04 9.99973600e-01 -2.32292715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484012739 meters Centerline goodness [0,1] 0.9916345885034731 Centerline is valid? [True, True] Translation: X:278.37, Y:-15.17, Z:-2.32 [[ 9.79567807e-01 -2.00928814e-01 -8.63265461e-03 2.78374205e+02] [ 2.00918374e-01 9.79605801e-01 -2.06904470e-03 -1.51679485e+01] [ 8.87232924e-03 2.92310653e-04 9.99960597e-01 -2.32495406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.514012739 meters Centerline goodness [0,1] 0.9870537717105685 Centerline is valid? [True, True] Translation: X:278.40, Y:-15.16, Z:-2.33 [[ 9.79683267e-01 -2.00348100e-01 -9.01855515e-03 2.78399713e+02] [ 2.00336677e-01 9.79724728e-01 -2.16201082e-03 -1.51552731e+01] [ 9.26885625e-03 3.11338458e-04 9.99956995e-01 -2.32615310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544012739 meters Centerline goodness [0,1] 0.9896876528247326 Centerline is valid? [True, True] Translation: X:278.43, Y:-15.14, Z:-2.32 [[ 9.79648117e-01 -2.00538243e-01 -8.60112494e-03 2.78425234e+02] [ 2.00527849e-01 9.79685830e-01 -2.06313913e-03 -1.51435061e+01] [ 8.84013852e-03 2.96385288e-04 9.99960881e-01 -2.32494488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.574012739 meters Centerline goodness [0,1] 0.9917107889940109 Centerline is valid? [True, True] Translation: X:278.45, Y:-15.13, Z:-2.32 [[ 9.79481547e-01 -2.01422977e-01 -6.68455340e-03 2.78452126e+02] [ 2.01416712e-01 9.79504331e-01 -1.60449920e-03 -1.51338486e+01] [ 6.87073201e-03 2.25196589e-04 9.99976371e-01 -2.32117304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604012739 meters Centerline goodness [0,1] 0.9906462221842566 Centerline is valid? [True, True] Translation: X:278.48, Y:-15.13, Z:-2.32 [[ 9.79392383e-01 -2.01868635e-01 -6.29404625e-03 2.78478954e+02] [ 2.01863086e-01 9.79412584e-01 -1.51151370e-03 -1.51253696e+01] [ 6.46959531e-03 2.09829402e-04 9.99979050e-01 -2.31979083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.634012739 meters Centerline goodness [0,1] 0.9857726170728595 Centerline is valid? [True, True] Translation: X:278.50, Y:-15.11, Z:-2.32 [[ 9.79322616e-01 -2.02230308e-01 -5.48777275e-03 2.78503062e+02] [ 2.02226093e-01 9.79337975e-01 -1.31819877e-03 -1.51051037e+01] [ 5.64096400e-03 1.81171024e-04 9.99984073e-01 -2.31868621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664012739 meters Centerline goodness [0,1] 0.99164832319047 Centerline is valid? [True, True] Translation: X:278.53, Y:-15.10, Z:-2.32 [[ 9.79197587e-01 -2.02831934e-01 -5.59389903e-03 2.78531540e+02] [ 2.02827561e-01 9.79213548e-01 -1.34427015e-03 -1.51000965e+01] [ 5.75028264e-03 1.81709190e-04 9.99983450e-01 -2.31780521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.694012739 meters Centerline goodness [0,1] 0.9918452986091584 Centerline is valid? [True, True] Translation: X:278.56, Y:-15.09, Z:-2.32 [[ 9.79007759e-01 -2.03751553e-01 -5.39550322e-03 2.78559017e+02] [ 2.03747494e-01 9.79022612e-01 -1.29747488e-03 -1.50890016e+01] [ 5.54668217e-03 1.70917713e-04 9.99984602e-01 -2.31804562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724012739 meters Centerline goodness [0,1] 0.9925373134328358 Centerline is valid? [True, True] Translation: X:278.59, Y:-15.08, Z:-2.32 [[ 9.78382005e-01 -2.06718127e-01 -6.02231687e-03 2.78587068e+02] [ 2.06713121e-01 9.78400524e-01 -1.44888993e-03 -1.50792772e+01] [ 6.19174980e-03 1.72675921e-04 9.99980816e-01 -2.31852967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.754012739 meters Centerline goodness [0,1] 0.9941884154317943 Centerline is valid? [True, True] Translation: X:278.61, Y:-15.07, Z:-2.32 [[ 9.77500653e-01 -2.10806711e-01 -7.28033250e-03 2.78614332e+02] [ 2.10799507e-01 9.77527749e-01 -1.75179224e-03 -1.50701217e+01] [ 7.48601659e-03 1.77687556e-04 9.99971964e-01 -2.32023492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784012739 meters Centerline goodness [0,1] 0.995116073925859 Centerline is valid? [True, True] Translation: X:278.64, Y:-15.06, Z:-2.32 [[ 9.76911152e-01 -2.13522590e-01 -7.25975727e-03 2.78642829e+02] [ 2.13515500e-01 9.76938114e-01 -1.74714979e-03 -1.50642936e+01] [ 7.46538952e-03 1.56739411e-04 9.99972121e-01 -2.32019041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.814012739 meters Centerline goodness [0,1] 0.9954391198149709 Centerline is valid? [True, True] Translation: X:278.67, Y:-15.06, Z:-2.32 [[ 9.76062496e-01 -2.17392952e-01 -6.50447019e-03 2.78672743e+02] [ 2.17387344e-01 9.76084162e-01 -1.56563898e-03 -1.50608042e+01] [ 6.68926921e-03 1.14171990e-04 9.99977620e-01 -2.31956146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844012739 meters Centerline goodness [0,1] 0.9961582211920246 Centerline is valid? [True, True] Translation: X:278.70, Y:-15.07, Z:-2.32 [[ 9.74074545e-01 -2.26167157e-01 -5.21513179e-03 2.78703365e+02] [ 2.26163677e-01 9.74088505e-01 -1.25545418e-03 -1.50657416e+01] [ 5.36394243e-03 4.34325811e-05 9.99985613e-01 -2.31710351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.874012739 meters Centerline goodness [0,1] 0.9969350794093063 Centerline is valid? [True, True] Translation: X:278.73, Y:-15.07, Z:-2.32 [[ 9.73007268e-01 -2.30717791e-01 -5.11444462e-03 2.78732910e+02] [ 2.30714504e-01 9.73020709e-01 -1.23160776e-03 -1.50651008e+01] [ 5.26061435e-03 1.83867433e-05 9.99986163e-01 -2.31696187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904012739 meters Centerline goodness [0,1] 0.9969772212026341 Centerline is valid? [True, True] Translation: X:278.76, Y:-15.07, Z:-2.32 [[ 9.71379054e-01 -2.37440838e-01 -6.67693839e-03 2.78762811e+02] [ 2.37435385e-01 9.71402001e-01 -1.60923841e-03 -1.50684983e+01] [ 6.86809023e-03 -2.21609600e-05 9.99976414e-01 -2.31971792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.934012739 meters Centerline goodness [0,1] 0.9972315944285838 Centerline is valid? [True, True] Translation: X:278.79, Y:-15.07, Z:-2.32 [[ 9.70830377e-01 -2.39650042e-01 -7.49904857e-03 2.78792222e+02] [ 2.39643220e-01 9.70859339e-01 -1.80879728e-03 -1.50658178e+01] [ 7.71399968e-03 -4.10607947e-05 9.99970246e-01 -2.32169972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964012739 meters Centerline goodness [0,1] 0.9973558734286952 Centerline is valid? [True, True] Translation: X:278.82, Y:-15.07, Z:-2.32 [[ 9.70180782e-01 -2.42290632e-01 -6.67076501e-03 2.78820836e+02] [ 2.42285291e-01 9.70203714e-01 -1.60972171e-03 -1.50673427e+01] [ 6.86202147e-03 -5.45071707e-05 9.99976455e-01 -2.32059222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.994012739 meters Centerline goodness [0,1] 0.9970304541020917 Centerline is valid? [True, True] Translation: X:278.85, Y:-15.06, Z:-2.32 [[ 9.70040086e-01 -2.42882004e-01 -5.52842344e-03 2.78848142e+02] [ 2.42878342e-01 9.70055838e-01 -1.33464025e-03 -1.50616348e+01] [ 5.68703953e-03 -4.80797718e-05 9.99983828e-01 -2.31811886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024012739 meters Centerline goodness [0,1] 0.9969557627623792 Centerline is valid? [True, True] Translation: X:278.88, Y:-15.06, Z:-2.32 [[ 9.69975678e-01 -2.43146181e-01 -5.20758429e-03 2.78875741e+02] [ 2.43142931e-01 9.69989656e-01 -1.25807570e-03 -1.50596154e+01] [ 5.35719919e-03 -4.58844759e-05 9.99985649e-01 -2.31747284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05401273900003 meters Centerline goodness [0,1] 0.9972717508055854 Centerline is valid? [True, True] Translation: X:278.90, Y:-15.06, Z:-2.32 [[ 9.70159730e-01 -2.42377453e-01 -6.57794177e-03 2.78903080e+02] [ 2.42372241e-01 9.70182028e-01 -1.59034070e-03 -1.50552230e+01] [ 6.76726361e-03 -5.14259857e-05 9.99977100e-01 -2.32071005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.084012739 meters Centerline goodness [0,1] 0.997629361436176 Centerline is valid? [True, True] Translation: X:278.93, Y:-15.05, Z:-2.32 [[ 9.70296385e-01 -2.41800171e-01 -7.58966508e-03 2.78930770e+02] [ 2.41793202e-01 9.70326066e-01 -1.83657480e-03 -1.50492749e+01] [ 7.80853396e-03 -5.31075304e-05 9.99969512e-01 -2.32170640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11401273900003 meters Centerline goodness [0,1] 0.9977879432167172 Centerline is valid? [True, True] Translation: X:278.96, Y:-15.05, Z:-2.32 [[ 9.70751614e-01 -2.39976022e-01 -7.26720500e-03 2.78958596e+02] [ 2.39969574e-01 9.70778815e-01 -1.75947139e-03 -1.50461501e+01] [ 7.47707960e-03 -3.58983943e-05 9.99972046e-01 -2.32177859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.144012739 meters Centerline goodness [0,1] 0.997761756160551 Centerline is valid? [True, True] Translation: X:278.99, Y:-15.04, Z:-2.32 [[ 9.70897086e-01 -2.39402561e-01 -6.72775863e-03 2.78986144e+02] [ 2.39397016e-01 9.70920395e-01 -1.62969989e-03 -1.50401805e+01] [ 6.92227239e-03 -2.83344720e-05 9.99976040e-01 -2.32016993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17401273900003 meters Centerline goodness [0,1] 0.9979015684153597 Centerline is valid? [True, True] Translation: X:279.02, Y:-15.04, Z:-2.32 [[ 9.71372865e-01 -2.37487436e-01 -5.87151541e-03 2.79015122e+02] [ 2.37483172e-01 9.71390610e-01 -1.42330173e-03 -1.50370645e+01] [ 6.04155121e-03 -1.18294249e-05 9.99981750e-01 -2.31888648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.204012739 meters Centerline goodness [0,1] 0.9979015684153597 Centerline is valid? [True, True] Translation: X:279.04, Y:-15.03, Z:-2.32 [[ 9.71327258e-01 -2.37673908e-01 -5.87126303e-03 2.79041790e+02] [ 2.37669641e-01 9.71345002e-01 -1.42434219e-03 -1.50304069e+01] [ 6.04155098e-03 -1.19185843e-05 9.99981750e-01 -2.31878748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.234012739 meters Centerline goodness [0,1] 0.997955988518744 Centerline is valid? [True, True] Translation: X:279.07, Y:-15.03, Z:-2.32 [[ 9.71339315e-01 -2.37616189e-01 -6.20334195e-03 2.79069166e+02] [ 2.37611415e-01 9.71359123e-01 -1.50621640e-03 -1.50259252e+01] [ 6.38357420e-03 -1.09376587e-05 9.99979625e-01 -2.31874690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.264012739 meters Centerline goodness [0,1] 0.9981643054595716 Centerline is valid? [True, True] Translation: X:279.10, Y:-15.02, Z:-2.32 [[ 9.71057995e-01 -2.38724170e-01 -7.55914281e-03 2.79097117e+02] [ 2.38717107e-01 9.71087416e-01 -1.83656277e-03 -1.50244158e+01] [ 7.77902038e-03 -2.10877426e-05 9.99969743e-01 -2.32065651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.294012739 meters Centerline goodness [0,1] 0.9983673118649166 Centerline is valid? [True, True] Translation: X:279.12, Y:-15.02, Z:-2.32 [[ 9.70979845e-01 -2.39023690e-01 -8.11271663e-03 2.79124793e+02] [ 2.39015555e-01 9.71013736e-01 -1.97221761e-03 -1.50199789e+01] [ 8.34896601e-03 -2.40819201e-05 9.99965146e-01 -2.32109082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.324012739 meters Centerline goodness [0,1] 0.998154031080965 Centerline is valid? [True, True] Translation: X:279.15, Y:-15.01, Z:-2.32 [[ 9.71016897e-01 -2.38872296e-01 -8.13702843e-03 2.79152362e+02] [ 2.38864093e-01 9.71050990e-01 -1.97975526e-03 -1.50145290e+01] [ 8.37437820e-03 -2.12681021e-05 9.99964934e-01 -2.32125593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.354012739 meters Centerline goodness [0,1] 0.9981352480977387 Centerline is valid? [True, True] Translation: X:279.18, Y:-15.01, Z:-2.32 [[ 9.71659060e-01 -2.36261241e-01 -7.70039914e-03 2.79179176e+02] [ 2.36253805e-01 9.71689573e-01 -1.87444792e-03 -1.50059126e+01] [ 7.92525694e-03 2.07570740e-06 9.99968595e-01 -2.32058528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.384012739 meters Centerline goodness [0,1] 0.9980996393633792 Centerline is valid? [True, True] Translation: X:279.21, Y:-15.00, Z:-2.32 [[ 9.72226219e-01 -2.33921058e-01 -7.55767451e-03 2.79205230e+02] [ 2.33913816e-01 9.72255593e-01 -1.84069889e-03 -1.49961692e+01] [ 7.77856954e-03 2.17312290e-05 9.99969746e-01 -2.31985443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.414012739 meters Centerline goodness [0,1] 0.9973787680209698 Centerline is valid? [True, True] Translation: X:279.23, Y:-14.98, Z:-2.32 [[ 9.73654931e-01 -2.27870853e-01 -8.42321986e-03 2.79230550e+02] [ 2.27861622e-01 9.73691362e-01 -2.05256992e-03 -1.49816370e+01] [ 8.66933727e-03 7.91662804e-05 9.99962417e-01 -2.32096579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.444012739 meters Centerline goodness [0,1] 0.9965970379248352 Centerline is valid? [True, True] Translation: X:279.26, Y:-14.96, Z:-2.32 [[ 9.74999791e-01 -2.22017967e-01 -9.13404304e-03 2.79255552e+02] [ 2.22006850e-01 9.75042564e-01 -2.22630144e-03 -1.49645073e+01] [ 9.40035967e-03 1.42823309e-04 9.99955805e-01 -2.32164540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.474012739 meters Centerline goodness [0,1] 0.9964628169614319 Centerline is valid? [True, True] Translation: X:279.28, Y:-14.95, Z:-2.32 [[ 9.75616097e-01 -2.19318062e-01 -8.53342070e-03 2.79281841e+02] [ 2.19308252e-01 9.75653403e-01 -2.08037396e-03 -1.49521833e+01] [ 8.78192453e-03 1.58196749e-04 9.99961426e-01 -2.32124498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.504012739 meters Centerline goodness [0,1] 0.9960934970755185 Centerline is valid? [True, True] Translation: X:279.31, Y:-14.94, Z:-2.32 [[ 9.76014414e-01 -2.17559328e-01 -7.98768051e-03 2.79309053e+02] [ 2.17550666e-01 9.76047085e-01 -1.94831186e-03 -1.49427806e+01] [ 8.22022570e-03 1.63855238e-04 9.99966200e-01 -2.32001238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.534012739 meters Centerline goodness [0,1] 0.9947977992335852 Centerline is valid? [True, True] Translation: X:279.34, Y:-14.93, Z:-2.32 [[ 9.76525544e-01 -2.15294262e-01 -6.80023783e-03 2.79335246e+02] [ 2.15287924e-01 9.76549208e-01 -1.65940359e-03 -1.49313254e+01] [ 6.99802694e-03 1.56440904e-04 9.99975501e-01 -2.31847099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.564012739 meters Centerline goodness [0,1] 0.9945798872789307 Centerline is valid? [True, True] Translation: X:279.36, Y:-14.92, Z:-2.32 [[ 9.76698869e-01 -2.14499339e-01 -7.02515280e-03 2.79362949e+02] [ 2.14492548e-01 9.76724119e-01 -1.71512761e-03 -1.49223151e+01] [ 7.22952992e-03 1.68320277e-04 9.99973852e-01 -2.31791913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.594012739 meters Centerline goodness [0,1] 0.9941022561551 Centerline is valid? [True, True] Translation: X:279.39, Y:-14.91, Z:-2.32 [[ 9.76740400e-01 -2.14316764e-01 -6.82024173e-03 2.79388562e+02] [ 2.14310353e-01 9.76764197e-01 -1.66589856e-03 -1.49117391e+01] [ 7.01879793e-03 1.65502010e-04 9.99975354e-01 -2.31807521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.624012739 meters Centerline goodness [0,1] 0.9943128165507769 Centerline is valid? [True, True] Translation: X:279.42, Y:-14.91, Z:-2.32 [[ 9.76607253e-01 -2.14948418e-01 -5.95406945e-03 2.79416424e+02] [ 2.14943541e-01 9.76625393e-01 -1.45494636e-03 -1.49060173e+01] [ 6.12763384e-03 1.41122401e-04 9.99981216e-01 -2.31641741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.654012739 meters Centerline goodness [0,1] 0.9942087020172663 Centerline is valid? [True, True] Translation: X:279.44, Y:-14.90, Z:-2.31 [[ 9.76344475e-01 -2.16173704e-01 -4.51608899e-03 2.79444171e+02] [ 2.16170908e-01 9.76354915e-01 -1.10420386e-03 -1.48993214e+01] [ 4.64800552e-03 1.01836287e-04 9.99989193e-01 -2.31378591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.684012739 meters Centerline goodness [0,1] 0.9938589283397483 Centerline is valid? [True, True] Translation: X:279.47, Y:-14.89, Z:-2.31 [[ 9.76108777e-01 -2.17239369e-01 -4.32580972e-03 2.79471082e+02] [ 2.17236811e-01 9.76118358e-01 -1.05833021e-03 -1.48905928e+01] [ 4.45241326e-03 9.33202980e-05 9.99990084e-01 -2.31352644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.714012739 meters Centerline goodness [0,1] 0.9950466511518671 Centerline is valid? [True, True] Translation: X:279.50, Y:-14.88, Z:-2.31 [[ 9.75734715e-01 -2.18903456e-01 -4.80027961e-03 2.79498267e+02] [ 2.18900325e-01 9.75746518e-01 -1.17473777e-03 -1.48839050e+01] [ 4.94101028e-03 9.54496565e-05 9.99987789e-01 -2.31466956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.744012739 meters Centerline goodness [0,1] 0.9949688752451608 Centerline is valid? [True, True] Translation: X:279.53, Y:-14.88, Z:-2.31 [[ 9.75532585e-01 -2.19794882e-01 -5.13657843e-03 2.79526289e+02] [ 2.19791306e-01 9.75546104e-01 -1.25754950e-03 -1.48787550e+01] [ 5.28737202e-03 9.78052344e-05 9.99986017e-01 -2.31499052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.774012739 meters Centerline goodness [0,1] 0.9956518013965643 Centerline is valid? [True, True] Translation: X:279.55, Y:-14.88, Z:-2.32 [[ 9.74986236e-01 -2.22166043e-01 -6.63999227e-03 2.79554815e+02] [ 2.22160114e-01 9.75008839e-01 -1.62694197e-03 -1.48754492e+01] [ 6.83550242e-03 1.11104590e-04 9.99976632e-01 -2.31738173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80401273900003 meters Centerline goodness [0,1] 0.9961887632750942 Centerline is valid? [True, True] Translation: X:279.58, Y:-14.87, Z:-2.32 [[ 9.74836645e-01 -2.22809308e-01 -7.03756718e-03 2.79581116e+02] [ 2.22802658e-01 9.74862041e-01 -1.72522059e-03 -1.48678586e+01] [ 7.24505232e-03 1.13819580e-04 9.99973748e-01 -2.31807108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.834012739 meters Centerline goodness [0,1] 0.9961278664544164 Centerline is valid? [True, True] Translation: X:279.61, Y:-14.86, Z:-2.32 [[ 9.75184272e-01 -2.21250629e-01 -7.98710844e-03 2.79608445e+02] [ 2.21242002e-01 9.75216970e-01 -1.95902995e-03 -1.48572243e+01] [ 8.22260030e-03 1.43331335e-04 9.99966184e-01 -2.31876035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86401273900003 meters Centerline goodness [0,1] 0.9950335075581773 Centerline is valid? [True, True] Translation: X:279.64, Y:-14.85, Z:-2.32 [[ 9.75549556e-01 -2.19603317e-01 -8.80036217e-03 2.79635908e+02] [ 2.19592762e-01 9.75589234e-01 -2.16011993e-03 -1.48483134e+01] [ 9.05990809e-03 1.74808199e-04 9.99958943e-01 -2.31974346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.894012739 meters Centerline goodness [0,1] 0.9945023086008805 Centerline is valid? [True, True] Translation: X:279.66, Y:-14.83, Z:-2.32 [[ 9.76314040e-01 -2.16170628e-01 -9.00863218e-03 2.79661240e+02] [ 2.16159413e-01 9.76355578e-01 -2.21220148e-03 -1.48337373e+01] [ 9.27384126e-03 2.12502717e-04 9.99956974e-01 -2.31998958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92401273900003 meters Centerline goodness [0,1] 0.9953017944535073 Centerline is valid? [True, True] Translation: X:279.69, Y:-14.82, Z:-2.32 [[ 9.76421754e-01 -2.15710292e-01 -8.34439817e-03 2.79688529e+02] [ 2.15700644e-01 9.76457387e-01 -2.05013095e-03 -1.48230927e+01] [ 8.59018358e-03 2.01900396e-04 9.99963083e-01 -2.31938241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.954012739 meters Centerline goodness [0,1] 0.9932022387579611 Centerline is valid? [True, True] Translation: X:279.72, Y:-14.82, Z:-2.32 [[ 9.76343971e-01 -2.16144622e-01 -5.82697215e-03 2.79715352e+02] [ 2.16139921e-01 9.76361349e-01 -1.43220073e-03 -1.48153061e+01] [ 5.99879287e-03 1.38879244e-04 9.99981997e-01 -2.31536867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984012739 meters Centerline goodness [0,1] 0.9911299569478398 Centerline is valid? [True, True] Translation: X:279.74, Y:-14.81, Z:-2.31 [[ 9.76087533e-01 -2.17313595e-01 -5.28476530e-03 2.79744034e+02] [ 2.17309743e-01 9.76101832e-01 -1.29944160e-03 -1.48104417e+01] [ 5.44085542e-03 1.19937763e-04 9.99985191e-01 -2.30673894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.014012739 meters Centerline goodness [0,1] 0.9930889873119798 Centerline is valid? [True, True] Translation: X:279.77, Y:-14.81, Z:-2.31 [[ 9.75734288e-01 -2.18920301e-01 -4.06217285e-03 2.79771324e+02] [ 2.18918037e-01 9.75742740e-01 -9.99327420e-04 -1.48054880e+01] [ 4.18240873e-03 8.57951212e-05 9.99991250e-01 -2.31123379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044012739 meters Centerline goodness [0,1] 0.9949481920976826 Centerline is valid? [True, True] Translation: X:279.80, Y:-14.80, Z:-2.31 [[ 9.75079399e-01 -2.21776772e-01 -5.93547165e-03 2.79799795e+02] [ 2.21771987e-01 9.75097457e-01 -1.46088136e-03 -1.47984800e+01] [ 6.11165287e-03 1.08153979e-04 9.99981318e-01 -2.31451721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.074012739 meters Centerline goodness [0,1] 0.9958651878970604 Centerline is valid? [True, True] Translation: X:279.83, Y:-14.79, Z:-2.32 [[ 9.74600744e-01 -2.23811139e-01 -7.87169055e-03 2.79827472e+02] [ 2.23802777e-01 9.74632525e-01 -1.93888109e-03 -1.47926373e+01] [ 8.10594881e-03 1.27928752e-04 9.99967138e-01 -2.31983705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104012739 meters Centerline goodness [0,1] 0.9958987199689167 Centerline is valid? [True, True] Translation: X:279.86, Y:-14.79, Z:-2.32 [[ 9.74430423e-01 -2.24569358e-01 -7.34535451e-03 2.79855592e+02] [ 2.24562089e-01 9.74458101e-01 -1.81042387e-03 -1.47875564e+01] [ 7.56430593e-03 1.14643940e-04 9.99971384e-01 -2.31793758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.134012739 meters Centerline goodness [0,1] 0.9953426912745863 Centerline is valid? [True, True] Translation: X:279.88, Y:-14.78, Z:-2.32 [[ 9.74292240e-01 -2.25196983e-01 -6.39927515e-03 2.79883074e+02] [ 2.25191475e-01 9.74313250e-01 -1.57794470e-03 -1.47820333e+01] [ 6.59024695e-03 9.63170602e-05 9.99978279e-01 -2.31527606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164012739 meters Centerline goodness [0,1] 0.995535424026354 Centerline is valid? [True, True] Translation: X:279.91, Y:-14.78, Z:-2.31 [[ 9.74238987e-01 -2.25471657e-01 -4.57475017e-03 2.79910425e+02] [ 2.25468844e-01 9.74249725e-01 -1.12842464e-03 -1.47773856e+01] [ 4.71137687e-03 6.78916434e-05 9.99988899e-01 -2.31100786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.194012739 meters Centerline goodness [0,1] 0.9948533196088523 Centerline is valid? [True, True] Translation: X:279.94, Y:-14.77, Z:-2.31 [[ 9.74418252e-01 -2.24708636e-01 -3.88577988e-03 2.79936112e+02] [ 2.24706597e-01 9.74425998e-01 -9.59129313e-04 -1.47660005e+01] [ 4.00192957e-03 6.14327333e-05 9.99991990e-01 -2.30994002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224012739 meters Centerline goodness [0,1] 0.9937003852129312 Centerline is valid? [True, True] Translation: X:279.96, Y:-14.75, Z:-2.31 [[ 9.74999346e-01 -2.22171209e-01 -4.02846132e-03 2.79961708e+02] [ 2.22168995e-01 9.75007666e-01 -9.94741642e-04 -1.47531887e+01] [ 4.14878362e-03 7.48732498e-05 9.99991391e-01 -2.31024345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.254012739 meters Centerline goodness [0,1] 0.9930912046543463 Centerline is valid? [True, True] Translation: X:279.99, Y:-14.74, Z:-2.31 [[ 9.75111142e-01 -2.21670363e-01 -4.52893744e-03 2.79988894e+02] [ 2.21667556e-01 9.75121655e-01 -1.11885116e-03 -1.47441795e+01] [ 4.66428112e-03 8.70857380e-05 9.99989118e-01 -2.31137619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284012739 meters Centerline goodness [0,1] 0.993962831668278 Centerline is valid? [True, True] Translation: X:280.02, Y:-14.74, Z:-2.31 [[ 9.75146317e-01 -2.21492134e-01 -5.55838685e-03 2.80016162e+02] [ 2.21487897e-01 9.75162152e-01 -1.37424730e-03 -1.47351423e+01] [ 5.72471345e-03 1.08976774e-04 9.99983608e-01 -2.31298097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.314012739 meters Centerline goodness [0,1] 0.9939305238689682 Centerline is valid? [True, True] Translation: X:280.04, Y:-14.73, Z:-2.31 [[ 9.75031818e-01 -2.21995421e-01 -5.56661967e-03 2.80043903e+02] [ 2.21991174e-01 9.75047702e-01 -1.37730340e-03 -1.47290384e+01] [ 5.73347477e-03 1.07174206e-04 9.99983558e-01 -2.31289341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344012739 meters Centerline goodness [0,1] 0.9941514157458563 Centerline is valid? [True, True] Translation: X:280.07, Y:-14.72, Z:-2.31 [[ 9.74736434e-01 -2.23290859e-01 -5.48414244e-03 2.80071885e+02] [ 2.23286752e-01 9.74751857e-01 -1.35793525e-03 -1.47227293e+01] [ 5.64889256e-03 9.90926085e-05 9.99984040e-01 -2.31159270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.374012739 meters Centerline goodness [0,1] 0.9937886863823934 Centerline is valid? [True, True] Translation: X:280.10, Y:-14.71, Z:-2.31 [[ 9.74742342e-01 -2.23282231e-01 -4.73409830e-03 2.80098860e+02] [ 2.23279166e-01 9.74753835e-01 -1.17299263e-03 -1.47135234e+01] [ 4.87648888e-03 8.63400584e-05 9.99988106e-01 -2.31007249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404012739 meters Centerline goodness [0,1] 0.9935729588193287 Centerline is valid? [True, True] Translation: X:280.12, Y:-14.70, Z:-2.31 [[ 9.74813797e-01 -2.22977727e-01 -4.35833707e-03 2.80124439e+02] [ 2.22975124e-01 9.74823536e-01 -1.08058501e-03 -1.47018720e+01] [ 4.48955594e-03 8.15684290e-05 9.99989919e-01 -2.30951597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.434012739 meters Centerline goodness [0,1] 0.9936109847746518 Centerline is valid? [True, True] Translation: X:280.15, Y:-14.69, Z:-2.31 [[ 9.74776358e-01 -2.23130195e-01 -4.89574622e-03 2.80151114e+02] [ 2.23126909e-01 9.74788648e-01 -1.21434554e-03 -1.46935257e+01] [ 5.04327500e-03 9.13425958e-05 9.99987278e-01 -2.31093088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464012739 meters Centerline goodness [0,1] 0.9950145678213014 Centerline is valid? [True, True] Translation: X:280.18, Y:-14.68, Z:-2.31 [[ 9.74387525e-01 -2.24801946e-01 -5.74774018e-03 2.80178603e+02] [ 2.24797440e-01 9.74404472e-01 -1.42686515e-03 -1.46849113e+01] [ 5.92138579e-03 9.82423241e-05 9.99982464e-01 -2.31311817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.494012739 meters Centerline goodness [0,1] 0.9957443186654183 Centerline is valid? [True, True] Translation: X:280.21, Y:-14.68, Z:-2.31 [[ 9.74193967e-01 -2.25615809e-01 -6.60466676e-03 2.80205482e+02] [ 2.25609870e-01 9.74216349e-01 -1.64056762e-03 -1.46777325e+01] [ 6.80451233e-03 1.08153068e-04 9.99976843e-01 -2.31426003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524012739 meters Centerline goodness [0,1] 0.9954776227654764 Centerline is valid? [True, True] Translation: X:280.23, Y:-14.67, Z:-2.32 [[ 9.73958128e-01 -2.26611958e-01 -7.25153752e-03 2.80232882e+02] [ 2.26604822e-01 9.73985117e-01 -1.80182561e-03 -1.46710821e+01] [ 7.47120485e-03 1.11669324e-04 9.99972084e-01 -2.31615925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55401273900003 meters Centerline goodness [0,1] 0.9956841568160558 Centerline is valid? [True, True] Translation: X:280.26, Y:-14.67, Z:-2.32 [[ 9.73195673e-01 -2.29833510e-01 -8.16937819e-03 2.80261489e+02] [ 2.29824558e-01 9.73229956e-01 -2.03089637e-03 -1.46691988e+01] [ 8.41745162e-03 9.89358291e-05 9.99964568e-01 -2.31772287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.584012739 meters Centerline goodness [0,1] 0.9966383619654668 Centerline is valid? [True, True] Translation: X:280.29, Y:-14.67, Z:-2.32 [[ 9.72720849e-01 -2.31837932e-01 -8.08227062e-03 2.80290278e+02] [ 2.31829228e-01 9.72754423e-01 -2.01059458e-03 -1.46671659e+01] [ 8.32819658e-03 8.20407085e-05 9.99965317e-01 -2.31656949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61401273900003 meters Centerline goodness [0,1] 0.9973182930722571 Centerline is valid? [True, True] Translation: X:280.32, Y:-14.66, Z:-2.31 [[ 9.71825593e-01 -2.35606999e-01 -6.66020324e-03 2.80317795e+02] [ 2.35601171e-01 9.71848414e-01 -1.65760467e-03 -1.46640018e+01] [ 6.86325122e-03 4.17509611e-05 9.99976447e-01 -2.31489920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.644012739 meters Centerline goodness [0,1] 0.9970355520484548 Centerline is valid? [True, True] Translation: X:280.35, Y:-14.66, Z:-2.31 [[ 9.71565587e-01 -2.36697119e-01 -5.89785112e-03 2.80346443e+02] [ 2.36692566e-01 9.71583487e-01 -1.46853575e-03 -1.46600440e+01] [ 6.07785294e-03 3.08012873e-05 9.99981529e-01 -2.31296521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67401273900003 meters Centerline goodness [0,1] 0.9964550435062842 Centerline is valid? [True, True] Translation: X:280.37, Y:-14.66, Z:-2.31 [[ 9.71702753e-01 -2.36127239e-01 -6.13897917e-03 2.80374484e+02] [ 2.36122288e-01 9.71722144e-01 -1.52966583e-03 -1.46557321e+01] [ 6.32657777e-03 3.68306913e-05 9.99979986e-01 -2.31257104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.704012739 meters Centerline goodness [0,1] 0.9964398396861942 Centerline is valid? [True, True] Translation: X:280.40, Y:-14.65, Z:-2.32 [[ 9.72169343e-01 -2.34148920e-01 -7.81361552e-03 2.80400832e+02] [ 2.34140825e-01 9.72200740e-01 -1.94804670e-03 -1.46450084e+01] [ 8.05253582e-03 6.43448933e-05 9.99967576e-01 -2.31521336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.734012739 meters Centerline goodness [0,1] 0.9966485037190798 Centerline is valid? [True, True] Translation: X:280.43, Y:-14.63, Z:-2.32 [[ 9.72752339e-01 -2.31676664e-01 -8.87746384e-03 2.80426958e+02] [ 2.31666107e-01 9.72792842e-01 -2.21384507e-03 -1.46331596e+01] [ 9.14882952e-03 9.69154858e-05 9.99958144e-01 -2.31756062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.764012739 meters Centerline goodness [0,1] 0.9952272480746285 Centerline is valid? [True, True] Translation: X:280.45, Y:-14.62, Z:-2.32 [[ 9.73818327e-01 -2.27181901e-01 -8.13937383e-03 2.80453937e+02] [ 2.27172867e-01 9.73852333e-01 -2.03007942e-03 -1.46180802e+01] [ 8.38774550e-03 1.27883652e-04 9.99964814e-01 -2.31637238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.794012739 meters Centerline goodness [0,1] 0.9949156508605101 Centerline is valid? [True, True] Translation: X:280.48, Y:-14.61, Z:-2.31 [[ 9.74122117e-01 -2.25940058e-01 -6.09850739e-03 2.80480164e+02] [ 2.25934960e-01 9.74141201e-01 -1.52138619e-03 -1.46103203e+01] [ 6.28454940e-03 1.04149910e-04 9.99980247e-01 -2.31255800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.824012739 meters Centerline goodness [0,1] 0.995031510119803 Centerline is valid? [True, True] Translation: X:280.51, Y:-14.61, Z:-2.31 [[ 9.73933204e-01 -2.26762560e-01 -5.73199786e-03 2.80509077e+02] [ 2.26758067e-01 9.73950067e-01 -1.43065889e-03 -1.46059510e+01] [ 5.90709957e-03 9.35894424e-05 9.99982549e-01 -2.31248484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.854012739 meters Centerline goodness [0,1] 0.9957151993178427 Centerline is valid? [True, True] Translation: X:280.54, Y:-14.61, Z:-2.32 [[ 9.73086273e-01 -2.30353580e-01 -6.35081416e-03 2.80538214e+02] [ 2.30348135e-01 9.73106994e-01 -1.58591403e-03 -1.46064026e+01] [ 6.54534265e-03 8.03329794e-05 9.99978576e-01 -2.31507266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.884012739 meters Centerline goodness [0,1] 0.9958395309232793 Centerline is valid? [True, True] Translation: X:280.57, Y:-14.60, Z:-2.31 [[ 9.72658533e-01 -2.32154604e-01 -6.29428901e-03 2.80567051e+02] [ 2.32149288e-01 9.72678896e-01 -1.57245526e-03 -1.46037525e+01] [ 6.48737482e-03 6.82473094e-05 9.99978954e-01 -2.31445816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.914012739 meters Centerline goodness [0,1] 0.9955627009646302 Centerline is valid? [True, True] Translation: X:280.59, Y:-14.60, Z:-2.31 [[ 9.72581345e-01 -2.32497259e-01 -5.52730247e-03 2.80594234e+02] [ 2.32493163e-01 9.72597050e-01 -1.38146016e-03 -1.45994101e+01] [ 5.69702378e-03 5.85223473e-05 9.99983770e-01 -2.31130612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.944012739 meters Centerline goodness [0,1] 0.9951825719949694 Centerline is valid? [True, True] Translation: X:280.62, Y:-14.59, Z:-2.31 [[ 9.72914212e-01 -2.31115479e-01 -4.85503739e-03 2.80620764e+02] [ 2.31112299e-01 9.72926324e-01 -1.21373040e-03 -1.45900875e+01] [ 5.00410557e-03 5.87967014e-05 9.99987478e-01 -2.30937875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.974012739 meters Centerline goodness [0,1] 0.99340349678714 Centerline is valid? [True, True] Translation: X:280.65, Y:-14.57, Z:-2.31 [[ 9.74143666e-01 -2.25886738e-01 -4.39309458e-03 2.80646691e+02] [ 2.25884080e-01 9.74153569e-01 -1.09855862e-03 -1.45733094e+01] [ 4.52769858e-03 7.78237925e-05 9.99989747e-01 -2.30742529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.004012739 meters Centerline goodness [0,1] 0.9936548493559033 Centerline is valid? [True, True] Translation: X:280.67, Y:-14.57, Z:-2.31 [[ 9.74894118e-01 -2.22618045e-01 -4.76072958e-03 2.80674691e+02] [ 2.22614883e-01 9.74905737e-01 -1.19072108e-03 -1.45650409e+01] [ 4.90633858e-03 1.01017715e-04 9.99987959e-01 -2.30831682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.034012739 meters Centerline goodness [0,1] 0.9910721932003083 Centerline is valid? [True, True] Translation: X:280.70, Y:-14.55, Z:-2.31 [[ 9.75625400e-01 -2.19395687e-01 -4.53988866e-03 2.80698947e+02] [ 2.19392776e-01 9.75635957e-01 -1.13566010e-03 -1.45466135e+01] [ 4.67843754e-03 1.11960067e-04 9.99989050e-01 -2.30890030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.064012739 meters Centerline goodness [0,1] 0.9895773509454832 Centerline is valid? [True, True] Translation: X:280.73, Y:-14.54, Z:-2.31 [[ 9.76797525e-01 -2.14134816e-01 -3.58829597e-03 2.80728011e+02] [ 2.14132962e-01 9.76804110e-01 -8.97753035e-04 -1.45371140e+01] [ 3.69730243e-03 1.08550498e-04 9.99993159e-01 -2.30642233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.094012739 meters Centerline goodness [0,1] 0.9895773509454832 Centerline is valid? [True, True] Translation: X:280.75, Y:-14.53, Z:-2.31 [[ 9.76758325e-01 -2.14313552e-01 -3.58829167e-03 2.80754626e+02] [ 2.14311699e-01 9.76764910e-01 -8.97770210e-04 -1.45302545e+01] [ 3.69732171e-03 1.07891641e-04 9.99993159e-01 -2.30632333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.124012739 meters Centerline goodness [0,1] 0.989351403678606 Centerline is valid? [True, True] Translation: X:280.78, Y:-14.52, Z:-2.31 [[ 9.77019929e-01 -2.13118905e-01 -3.52016959e-03 2.80782539e+02] [ 2.13117111e-01 9.77026264e-01 -8.81397556e-04 -1.45225211e+01] [ 3.62714062e-03 1.10934605e-04 9.99993416e-01 -2.30592919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.154012739 meters Centerline goodness [0,1] 0.9888486912108959 Centerline is valid? [True, True] Translation: X:280.81, Y:-14.51, Z:-2.31 [[ 9.77147214e-01 -2.12513060e-01 -4.63922290e-03 2.80808211e+02] [ 2.12509933e-01 9.77158215e-01 -1.16246519e-03 -1.45090141e+01] [ 4.78029380e-03 1.50018669e-04 9.99988563e-01 -2.30787735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.184012739 meters Centerline goodness [0,1] 0.9885154243032619 Centerline is valid? [True, True] Translation: X:280.84, Y:-14.50, Z:-2.31 [[ 9.77102860e-01 -2.12715865e-01 -4.68621956e-03 2.80835684e+02] [ 2.12712676e-01 9.77114086e-01 -1.17468762e-03 -1.45017288e+01] [ 4.82884583e-03 1.50972337e-04 9.99988330e-01 -2.30849230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.214012739 meters Centerline goodness [0,1] 0.9882216395133904 Centerline is valid? [True, True] Translation: X:280.86, Y:-14.50, Z:-2.31 [[ 9.77025012e-01 -2.13081738e-01 -4.27761977e-03 2.80863852e+02] [ 2.13079080e-01 9.77034367e-01 -1.07302902e-03 -1.44971135e+01] [ 4.40802441e-03 1.36904900e-04 9.99990275e-01 -2.30807478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.244012739 meters Centerline goodness [0,1] 0.9875752447462565 Centerline is valid? [True, True] Translation: X:280.89, Y:-14.49, Z:-2.31 [[ 9.77022188e-01 -2.13095850e-01 -4.21942876e-03 2.80889100e+02] [ 2.13093261e-01 9.77031289e-01 -1.05916641e-03 -1.44872173e+01] [ 4.34821789e-03 1.35697245e-04 9.99990537e-01 -2.30773731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.274012739 meters Centerline goodness [0,1] 0.9893827528245281 Centerline is valid? [True, True] Translation: X:280.92, Y:-14.48, Z:-2.31 [[ 9.76996876e-01 -2.13184985e-01 -5.40984268e-03 2.80915213e+02] [ 2.13180726e-01 9.77011838e-01 -1.35873617e-03 -1.44782161e+01] [ 5.57514249e-03 1.74206797e-04 9.99984444e-01 -2.31114701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30401273900003 meters Centerline goodness [0,1] 0.9895522708257353 Centerline is valid? [True, True] Translation: X:280.94, Y:-14.47, Z:-2.31 [[ 9.76985373e-01 -2.13229398e-01 -5.72758825e-03 2.80940807e+02] [ 2.13224620e-01 9.77002144e-01 -1.43944100e-03 -1.44702458e+01] [ 5.90279714e-03 1.85049967e-04 9.99982561e-01 -2.31233273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.334012739 meters Centerline goodness [0,1] 0.9869885695972652 Centerline is valid? [True, True] Translation: X:280.97, Y:-14.46, Z:-2.31 [[ 9.76781757e-01 -2.14206622e-01 -3.59477275e-03 2.80967893e+02] [ 2.14204746e-01 9.76788365e-01 -9.03617318e-04 -1.44627156e+01] [ 3.70489301e-03 1.12619528e-04 9.99993131e-01 -2.30790917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36401273900003 meters Centerline goodness [0,1] 0.9884119154802162 Centerline is valid? [True, True] Translation: X:281.00, Y:-14.46, Z:-2.30 [[ 9.76596311e-01 -2.15070559e-01 -2.07381741e-03 2.80997079e+02] [ 2.15069937e-01 9.76598510e-01 -5.21171876e-04 -1.44597102e+01] [ 2.13737572e-03 6.29587509e-05 9.99997714e-01 -2.30466237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.394012739 meters Centerline goodness [0,1] 0.9900703439993137 Centerline is valid? [True, True] Translation: X:281.02, Y:-14.45, Z:-2.31 [[ 9.76090124e-01 -2.17338106e-01 -3.49536394e-03 2.81023415e+02] [ 2.17336349e-01 9.76096377e-01 -8.79430534e-04 -1.44493923e+01] [ 3.60294585e-03 9.87338203e-05 9.99993504e-01 -2.30802790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42401273900003 meters Centerline goodness [0,1] 0.9927030936292395 Centerline is valid? [True, True] Translation: X:281.05, Y:-14.45, Z:-2.31 [[ 9.75734807e-01 -2.18905514e-01 -4.68646599e-03 2.81053055e+02] [ 2.18902371e-01 9.75746053e-01 -1.17960970e-03 -1.44478593e+01] [ 4.83102376e-03 1.25107726e-04 9.99988323e-01 -2.31066782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.454012739 meters Centerline goodness [0,1] 0.9938857811890204 Centerline is valid? [True, True] Translation: X:281.08, Y:-14.44, Z:-2.31 [[ 9.74692783e-01 -2.23480780e-01 -5.50631192e-03 2.81082274e+02] [ 2.23476510e-01 9.74708329e-01 -1.38675324e-03 -1.44446847e+01] [ 5.67696078e-03 1.21127002e-04 9.99983879e-01 -2.31135611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484012739 meters Centerline goodness [0,1] 0.9945352839931153 Centerline is valid? [True, True] Translation: X:281.11, Y:-14.44, Z:-2.31 [[ 9.74077232e-01 -2.26152994e-01 -5.32636044e-03 2.81109515e+02] [ 2.26149038e-01 9.74091789e-01 -1.34163442e-03 -1.44399972e+01] [ 5.49177861e-03 1.02304255e-04 9.99984915e-01 -2.31046197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.514012739 meters Centerline goodness [0,1] 0.9925570022093049 Centerline is valid? [True, True] Translation: X:281.14, Y:-14.44, Z:-2.30 [[ 9.72911249e-01 -2.31140765e-01 -4.20094679e-03 2.81139433e+02] [ 2.31138349e-01 9.72920317e-01 -1.05835066e-03 -1.44400223e+01] [ 4.33181446e-03 5.86813528e-05 9.99990616e-01 -2.29751508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544012739 meters Centerline goodness [0,1] 0.9951134157010861 Centerline is valid? [True, True] Translation: X:281.17, Y:-14.44, Z:-2.31 [[ 9.72398061e-01 -2.33311931e-01 -2.74849185e-03 2.81166922e+02] [ 2.33310906e-01 9.72401945e-01 -6.92420476e-04 -1.44357869e+01] [ 2.83418878e-03 3.20552060e-05 9.99995983e-01 -2.30554843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.574012739 meters Centerline goodness [0,1] 0.9952687438728102 Centerline is valid? [True, True] Translation: X:281.19, Y:-14.43, Z:-2.31 [[ 9.72106562e-01 -2.34524492e-01 -2.66347276e-03 2.81193595e+02] [ 2.34523533e-01 9.72110211e-01 -6.71260665e-04 -1.44294683e+01] [ 2.74661614e-03 2.78898552e-05 9.99996228e-01 -2.30522549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604012739 meters Centerline goodness [0,1] 0.995893933827502 Centerline is valid? [True, True] Translation: X:281.22, Y:-14.43, Z:-2.31 [[ 9.71797659e-01 -2.35787067e-01 -3.71060974e-03 2.81221802e+02] [ 2.35785214e-01 9.71804743e-01 -9.35501516e-04 -1.44250277e+01] [ 3.82656730e-03 3.42112723e-05 9.99992678e-01 -2.30783971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.634012739 meters Centerline goodness [0,1] 0.9962498383551015 Centerline is valid? [True, True] Translation: X:281.25, Y:-14.42, Z:-2.31 [[ 9.71790014e-01 -2.35796763e-01 -4.90457545e-03 2.81248244e+02] [ 2.35793520e-01 9.71802390e-01 -1.23744179e-03 -1.44182291e+01] [ 5.05806291e-03 4.60664670e-05 9.99987207e-01 -2.30977707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664012739 meters Centerline goodness [0,1] 0.996365445773749 Centerline is valid? [True, True] Translation: X:281.28, Y:-14.41, Z:-2.31 [[ 9.72151233e-01 -2.34270784e-01 -6.25942543e-03 2.81275534e+02] [ 2.34265466e-01 9.72171381e-01 -1.58013248e-03 -1.44085781e+01] [ 6.45541315e-03 6.97605254e-05 9.99979161e-01 -2.31296854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.694012739 meters Centerline goodness [0,1] 0.9958407348035181 Centerline is valid? [True, True] Translation: X:281.30, Y:-14.40, Z:-2.31 [[ 9.72392951e-01 -2.33266633e-01 -6.21497959e-03 2.81303315e+02] [ 2.33261362e-01 9.72412810e-01 -1.56998775e-03 -1.44002858e+01] [ 6.40975152e-03 7.69304160e-05 9.99979454e-01 -2.31217566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724012739 meters Centerline goodness [0,1] 0.9954165949388879 Centerline is valid? [True, True] Translation: X:281.33, Y:-14.39, Z:-2.31 [[ 9.72630585e-01 -2.32289347e-01 -5.60392591e-03 2.81331056e+02] [ 2.32285040e-01 9.72646726e-01 -1.41656553e-03 -1.43917956e+01] [ 5.77969327e-03 7.60868058e-05 9.99983295e-01 -2.31071601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.754012739 meters Centerline goodness [0,1] 0.9952592401913465 Centerline is valid? [True, True] Translation: X:281.36, Y:-14.38, Z:-2.31 [[ 9.72930085e-01 -2.31050049e-01 -4.78792145e-03 2.81356686e+02] [ 2.31046887e-01 9.72941863e-01 -1.21095695e-03 -1.43808768e+01] [ 4.93816088e-03 7.19421073e-05 9.99987805e-01 -2.30929230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784012739 meters Centerline goodness [0,1] 0.9959972454162004 Centerline is valid? [True, True] Translation: X:281.39, Y:-14.38, Z:-2.31 [[ 9.72684575e-01 -2.32069450e-01 -5.33746902e-03 2.81385158e+02] [ 2.32065532e-01 9.72699216e-01 -1.35064323e-03 -1.43755995e+01] [ 5.50519496e-03 7.51072439e-05 9.99984843e-01 -2.31028601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.814012739 meters Centerline goodness [0,1] 0.9958044075347651 Centerline is valid? [True, True] Translation: X:281.41, Y:-14.37, Z:-2.31 [[ 9.72494822e-01 -2.32868448e-01 -5.10962504e-03 2.81412168e+02] [ 2.32864864e-01 9.72508242e-01 -1.29372170e-03 -1.43681616e+01] [ 5.27041943e-03 6.82855119e-05 9.99986109e-01 -2.31048017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844012739 meters Centerline goodness [0,1] 0.996061043070234 Centerline is valid? [True, True] Translation: X:281.44, Y:-14.36, Z:-2.31 [[ 9.72244548e-01 -2.33926540e-01 -4.34899205e-03 2.81440642e+02] [ 2.33923952e-01 9.72254273e-01 -1.10156426e-03 -1.43647621e+01] [ 4.48601122e-03 5.36564391e-05 9.99989936e-01 -2.30869731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.874012739 meters Centerline goodness [0,1] 0.9957882584341728 Centerline is valid? [True, True] Translation: X:281.47, Y:-14.36, Z:-2.31 [[ 9.71788092e-01 -2.35836036e-01 -3.04435640e-03 2.81468698e+02] [ 2.35834777e-01 9.71792860e-01 -7.71467061e-04 -1.43601078e+01] [ 3.14042354e-03 3.17373926e-05 9.99995068e-01 -2.30565932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904012739 meters Centerline goodness [0,1] 0.9960828802602851 Centerline is valid? [True, True] Translation: X:281.50, Y:-14.35, Z:-2.31 [[ 9.71497262e-01 -2.37026191e-01 -3.41394776e-03 2.81496588e+02] [ 2.37024612e-01 9.71503260e-01 -8.65803045e-04 -1.43546140e+01] [ 3.52187938e-03 3.19356438e-05 9.99993798e-01 -2.30645616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.934012739 meters Centerline goodness [0,1] 0.9962525722950287 Centerline is valid? [True, True] Translation: X:281.53, Y:-14.35, Z:-2.31 [[ 9.70877642e-01 -2.39537015e-01 -4.31543514e-03 2.81525373e+02] [ 2.39534513e-01 9.70887232e-01 -1.09535206e-03 -1.43515533e+01] [ 4.45217824e-03 2.97571714e-05 9.99990089e-01 -2.30755429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964012739 meters Centerline goodness [0,1] 0.9968468468468469 Centerline is valid? [True, True] Translation: X:281.55, Y:-14.35, Z:-2.31 [[ 9.70576796e-01 -2.40748794e-01 -4.54996348e-03 2.81552477e+02] [ 2.40746022e-01 9.70587460e-01 -1.15561100e-03 -1.43457409e+01] [ 4.69434945e-03 2.62236122e-05 9.99988981e-01 -2.30817217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.994012739 meters Centerline goodness [0,1] 0.9969569288389513 Centerline is valid? [True, True] Translation: X:281.58, Y:-14.34, Z:-2.31 [[ 9.70172416e-01 -2.42373531e-01 -4.53368114e-03 2.81579936e+02] [ 2.42370794e-01 9.70183009e-01 -1.15190449e-03 -1.43412548e+01] [ 4.67769157e-03 1.87140616e-05 9.99989059e-01 -2.30848513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024012739 meters Centerline goodness [0,1] 0.9967180550157619 Centerline is valid? [True, True] Translation: X:281.61, Y:-14.34, Z:-2.31 [[ 9.69868460e-01 -2.43599715e-01 -3.78801468e-03 2.81607644e+02] [ 2.43597812e-01 9.69875857e-01 -9.63082538e-04 -1.43356008e+01] [ 3.90851062e-03 1.13112907e-05 9.99992362e-01 -2.30712804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05401273900003 meters Centerline goodness [0,1] 0.9967448334939502 Centerline is valid? [True, True] Translation: X:281.63, Y:-14.33, Z:-2.31 [[ 9.69547728e-01 -2.44882144e-01 -3.15270345e-03 2.81634966e+02] [ 2.44880831e-01 9.69552853e-01 -8.02067965e-04 -1.43302276e+01] [ 3.25312475e-03 5.60653224e-06 9.99994709e-01 -2.30569917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.084012739 meters Centerline goodness [0,1] 0.9967579869460667 Centerline is valid? [True, True] Translation: X:281.66, Y:-14.33, Z:-2.31 [[ 9.68943240e-01 -2.47262817e-01 -3.17764491e-03 2.81661845e+02] [ 2.47261494e-01 9.68948450e-01 -8.09077342e-04 -1.43276470e+01] [ 3.27902886e-03 -1.75920712e-06 9.99994624e-01 -2.30590191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11401273900003 meters Centerline goodness [0,1] 0.9966897446992644 Centerline is valid? [True, True] Translation: X:281.69, Y:-14.32, Z:-2.31 [[ 9.68559751e-01 -2.48762680e-01 -3.02303847e-03 2.81689111e+02] [ 2.48761488e-01 9.68564468e-01 -7.70072686e-04 -1.43232361e+01] [ 3.11957299e-03 -6.15413844e-06 9.99995134e-01 -2.30600020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.144012739 meters Centerline goodness [0,1] 0.9959755552243256 Centerline is valid? [True, True] Translation: X:281.72, Y:-14.32, Z:-2.31 [[ 9.67871492e-01 -2.51432201e-01 -2.57352150e-03 2.81717119e+02] [ 2.51431345e-01 9.67874913e-01 -6.56101124e-04 -1.43220241e+01] [ 2.65581185e-03 -1.20423982e-05 9.99996473e-01 -2.30511356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17401273900003 meters Centerline goodness [0,1] 0.9962243912903572 Centerline is valid? [True, True] Translation: X:281.75, Y:-14.32, Z:-2.31 [[ 9.67393250e-01 -2.53261619e-01 -2.97516659e-03 2.81745612e+02] [ 2.53260484e-01 9.67397825e-01 -7.58655746e-04 -1.43171379e+01] [ 3.07030807e-03 -1.95736818e-05 9.99995286e-01 -2.30597494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.204012739 meters Centerline goodness [0,1] 0.9931404259014045 Centerline is valid? [True, True] Translation: X:281.77, Y:-14.32, Z:-2.30 [[ 9.66487386e-01 -2.56650144e-01 -5.73031222e-03 2.81774535e+02] [ 2.56645983e-01 9.66504372e-01 -1.46255127e-03 -1.43184735e+01] [ 5.91373580e-03 -5.71242598e-05 9.99982512e-01 -2.29892141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.234012739 meters Centerline goodness [0,1] 0.9960691655031683 Centerline is valid? [True, True] Translation: X:281.80, Y:-14.32, Z:-2.31 [[ 9.66013756e-01 -2.58415080e-01 -6.25051182e-03 2.81802601e+02] [ 2.58410163e-01 9.66033975e-01 -1.59573361e-03 -1.43155727e+01] [ 6.45056841e-03 -7.36951606e-05 9.99979192e-01 -2.31258064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.264012739 meters Centerline goodness [0,1] 0.9957899258941038 Centerline is valid? [True, True] Translation: X:281.83, Y:-14.31, Z:-2.31 [[ 9.65597492e-01 -2.59975865e-01 -5.83382116e-03 2.81831201e+02] [ 2.59971607e-01 9.65615111e-01 -1.48996887e-03 -1.43116390e+01] [ 6.02058181e-03 -7.79176593e-05 9.99981873e-01 -2.31171983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.294012739 meters Centerline goodness [0,1] 0.9955664499626985 Centerline is valid? [True, True] Translation: X:281.86, Y:-14.31, Z:-2.31 [[ 9.65441930e-01 -2.60576055e-01 -4.69038067e-03 2.81859102e+02] [ 2.60573307e-01 9.65453321e-01 -1.19850481e-03 -1.43083664e+01] [ 4.84064525e-03 -6.51012097e-05 9.99988282e-01 -2.30957859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.324012739 meters Centerline goodness [0,1] 0.9945269236570493 Centerline is valid? [True, True] Translation: X:281.89, Y:-14.31, Z:-2.31 [[ 9.64890947e-01 -2.62619209e-01 -4.07580597e-03 2.81888401e+02] [ 2.62617151e-01 9.64899553e-01 -1.04175978e-03 -1.43084899e+01] [ 4.20632948e-03 -6.51919688e-05 9.99991151e-01 -2.30835987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.354012739 meters Centerline goodness [0,1] 0.9949013475010176 Centerline is valid? [True, True] Translation: X:281.92, Y:-14.31, Z:-2.31 [[ 9.64618222e-01 -2.63612018e-01 -4.51554660e-03 2.81916656e+02] [ 2.63609499e-01 9.64628788e-01 -1.15489679e-03 -1.43055478e+01] [ 4.66027092e-03 -7.63064904e-05 9.99989138e-01 -2.30888393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.384012739 meters Centerline goodness [0,1] 0.994224493301271 Centerline is valid? [True, True] Translation: X:281.94, Y:-14.30, Z:-2.31 [[ 9.64508283e-01 -2.64015747e-01 -4.41096703e-03 2.81943971e+02] [ 2.64013347e-01 9.64518367e-01 -1.12841846e-03 -1.43007095e+01] [ 4.55237896e-03 -7.61852111e-05 9.99989635e-01 -2.30856352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.414012739 meters Centerline goodness [0,1] 0.9944196911363932 Centerline is valid? [True, True] Translation: X:281.97, Y:-14.29, Z:-2.31 [[ 9.64559983e-01 -2.63837231e-01 -3.73547359e-03 2.81971289e+02] [ 2.63835507e-01 9.64567215e-01 -9.55841450e-04 -1.42926650e+01] [ 3.85530192e-03 -6.35841576e-05 9.99992566e-01 -2.30723689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.444012739 meters Centerline goodness [0,1] 0.9947895360103348 Centerline is valid? [True, True] Translation: X:282.00, Y:-14.29, Z:-2.31 [[ 9.64585293e-01 -2.63742945e-01 -3.85641347e-03 2.81998209e+02] [ 2.63741104e-01 9.64593000e-01 -9.87536564e-04 -1.42870232e+01] [ 3.98032524e-03 -6.45315012e-05 9.99992076e-01 -2.30740433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.474012739 meters Centerline goodness [0,1] 0.9948162928902963 Centerline is valid? [True, True] Translation: X:282.03, Y:-14.28, Z:-2.31 [[ 9.64355269e-01 -2.64575169e-01 -4.34678824e-03 2.82026423e+02] [ 2.64572836e-01 9.64365063e-01 -1.11360444e-03 -1.42815126e+01] [ 4.48652280e-03 -7.61317842e-05 9.99989933e-01 -2.30801593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.504012739 meters Centerline goodness [0,1] 0.9947277080907713 Centerline is valid? [True, True] Translation: X:282.05, Y:-14.28, Z:-2.31 [[ 9.64045899e-01 -2.65694796e-01 -4.66680761e-03 2.82054829e+02] [ 2.65692116e-01 9.64057191e-01 -1.19647522e-03 -1.42760683e+01] [ 4.81696668e-03 -8.64769601e-05 9.99988395e-01 -2.30856855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.534012739 meters Centerline goodness [0,1] 0.9950511097184103 Centerline is valid? [True, True] Translation: X:282.08, Y:-14.27, Z:-2.31 [[ 9.63519179e-01 -2.67574487e-01 -5.88941362e-03 2.82084393e+02] [ 2.67570246e-01 9.63537171e-01 -1.51115821e-03 -1.42748365e+01] [ 6.07901632e-03 -1.19801938e-04 9.99981515e-01 -2.31064355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.564012739 meters Centerline goodness [0,1] 0.9947559586494444 Centerline is valid? [True, True] Translation: X:282.11, Y:-14.28, Z:-2.31 [[ 9.63312407e-01 -2.68317191e-01 -5.92378955e-03 2.82112736e+02] [ 2.68312910e-01 9.63330613e-01 -1.52080138e-03 -1.42752076e+01] [ 6.11462498e-03 -1.24422374e-04 9.99981298e-01 -2.31087802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.594012739 meters Centerline goodness [0,1] 0.9938872929131477 Centerline is valid? [True, True] Translation: X:282.14, Y:-14.27, Z:-2.31 [[ 9.63050228e-01 -2.69278051e-01 -4.85686375e-03 2.82140689e+02] [ 2.69275183e-01 9.63062469e-01 -1.24723787e-03 -1.42701245e+01] [ 5.01331698e-03 -1.06680156e-04 9.99987428e-01 -2.30823469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.624012739 meters Centerline goodness [0,1] 0.9933779148030744 Centerline is valid? [True, True] Translation: X:282.17, Y:-14.27, Z:-2.31 [[ 9.62905659e-01 -2.69812091e-01 -3.75870310e-03 2.82167756e+02] [ 2.69810377e-01 9.62912991e-01 -9.65503479e-04 -1.42650044e+01] [ 3.87980856e-03 -8.44483377e-05 9.99992470e-01 -2.30622766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.654012739 meters Centerline goodness [0,1] 0.99293824722574 Centerline is valid? [True, True] Translation: X:282.20, Y:-14.26, Z:-2.31 [[ 9.62370193e-01 -2.71706587e-01 -4.37515450e-03 2.82197086e+02] [ 2.71704281e-01 9.62380133e-01 -1.12437344e-03 -1.42644244e+01] [ 4.51606144e-03 -1.06684727e-04 9.99989797e-01 -2.30665060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.684012739 meters Centerline goodness [0,1] 0.99099751882836 Centerline is valid? [True, True] Translation: X:282.22, Y:-14.26, Z:-2.30 [[ 9.62176489e-01 -2.72372472e-01 -5.44430109e-03 2.82224779e+02] [ 2.72368907e-01 9.62191882e-01 -1.40022711e-03 -1.42558055e+01] [ 5.61984563e-03 -1.35592729e-04 9.99984199e-01 -2.29755302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.714012739 meters Centerline goodness [0,1] 0.9932970074381595 Centerline is valid? [True, True] Translation: X:282.25, Y:-14.25, Z:-2.31 [[ 9.62019912e-01 -2.72928087e-01 -5.28667533e-03 2.82253528e+02] [ 2.72924729e-01 9.62034428e-01 -1.36041895e-03 -1.42546456e+01] [ 5.45726022e-03 -1.34114312e-04 9.99985100e-01 -2.30870570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.744012739 meters Centerline goodness [0,1] 0.9935611263736264 Centerline is valid? [True, True] Translation: X:282.28, Y:-14.25, Z:-2.31 [[ 9.62177508e-01 -2.72361381e-01 -5.80694898e-03 2.82281460e+02] [ 2.72357318e-01 9.62195020e-01 -1.49468875e-03 -1.42505430e+01] [ 5.99451288e-03 -1.43409149e-04 9.99982022e-01 -2.30853962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.774012739 meters Centerline goodness [0,1] 0.9942640272566524 Centerline is valid? [True, True] Translation: X:282.31, Y:-14.24, Z:-2.31 [[ 9.62314335e-01 -2.71873137e-01 -6.00978344e-03 2.82308425e+02] [ 2.71868771e-01 9.62333090e-01 -1.54756098e-03 -1.42404669e+01] [ 6.20415373e-03 -1.44632325e-04 9.99980744e-01 -2.30838104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80401273900003 meters Centerline goodness [0,1] 0.9939785132559349 Centerline is valid? [True, True] Translation: X:282.34, Y:-14.23, Z:-2.30 [[ 9.62613925e-01 -2.70846326e-01 -4.08639687e-03 2.82336465e+02] [ 2.70844296e-01 9.62622594e-01 -1.05279917e-03 -1.42334340e+01] [ 4.21880474e-03 -9.33381406e-05 9.99991096e-01 -2.30485195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.834012739 meters Centerline goodness [0,1] 0.991969085296086 Centerline is valid? [True, True] Translation: X:282.36, Y:-14.23, Z:-2.30 [[ 9.62628492e-01 -2.70817450e-01 -2.07262256e-03 2.82364440e+02] [ 2.70816928e-01 9.62630722e-01 -5.34098315e-04 -1.42326808e+01] [ 2.13981330e-03 -4.71630195e-05 9.99997709e-01 -2.30192417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86401273900003 meters Centerline goodness [0,1] 0.9926585239085239 Centerline is valid? [True, True] Translation: X:282.39, Y:-14.22, Z:-2.30 [[ 9.62541290e-01 -2.71131690e-01 -1.36812202e-03 2.82390449e+02] [ 2.71131462e-01 9.62542262e-01 -3.52444924e-04 -1.42231988e+01] [ 1.41243426e-03 -3.16981338e-05 9.99999002e-01 -2.30134823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.894012739 meters Centerline goodness [0,1] 0.9922207418231831 Centerline is valid? [True, True] Translation: X:282.42, Y:-14.23, Z:-2.30 [[ 9.62291667e-01 -2.71999784e-01 -3.29616309e-03 2.82420377e+02] [ 2.71998464e-01 9.62297309e-01 -8.50820395e-04 -1.42275688e+01] [ 3.40331184e-03 -7.78139220e-05 9.99994206e-01 -2.30467815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92401273900003 meters Centerline goodness [0,1] 0.9937763413622169 Centerline is valid? [True, True] Translation: X:282.45, Y:-14.22, Z:-2.31 [[ 9.62282067e-01 -2.71995417e-01 -5.63181488e-03 2.82446518e+02] [ 2.71991560e-01 9.62298538e-01 -1.45452766e-03 -1.42181424e+01] [ 5.81511208e-03 -1.32140235e-04 9.99983083e-01 -2.30826636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.954012739 meters Centerline goodness [0,1] 0.9939033553012901 Centerline is valid? [True, True] Translation: X:282.48, Y:-14.22, Z:-2.31 [[ 9.62590242e-01 -2.70881605e-01 -6.57131235e-03 2.82475060e+02] [ 2.70876320e-01 9.62612661e-01 -1.69830701e-03 -1.42182150e+01] [ 6.78566859e-03 -1.45239152e-04 9.99976967e-01 -2.31128658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984012739 meters Centerline goodness [0,1] 0.9941175198425571 Centerline is valid? [True, True] Translation: X:282.50, Y:-14.21, Z:-2.31 [[ 9.62991182e-01 -2.69440964e-01 -7.03924764e-03 2.82501857e+02] [ 2.69434854e-01 9.63016898e-01 -1.82021188e-03 -1.42077519e+01] [ 7.26935407e-03 -1.43770668e-04 9.99973568e-01 -2.31162777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.014012739 meters Centerline goodness [0,1] 0.9941175198425571 Centerline is valid? [True, True] Translation: X:282.53, Y:-14.20, Z:-2.31 [[ 9.62941139e-01 -2.69619764e-01 -7.03893064e-03 2.82528435e+02] [ 2.69613649e-01 9.62966854e-01 -1.82143717e-03 -1.42006816e+01] [ 7.26935235e-03 -1.43854994e-04 9.99973568e-01 -2.31152874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044012739 meters Centerline goodness [0,1] 0.9953373915295947 Centerline is valid? [True, True] Translation: X:282.56, Y:-14.19, Z:-2.31 [[ 9.63905566e-01 -2.66142869e-01 -7.35072992e-03 2.82555647e+02] [ 2.66136093e-01 9.63933586e-01 -1.90307943e-03 -1.41941046e+01] [ 7.59210648e-03 -1.21905687e-04 9.99971172e-01 -2.31144682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.074012739 meters Centerline goodness [0,1] 0.9953956710701838 Centerline is valid? [True, True] Translation: X:282.58, Y:-14.18, Z:-2.31 [[ 9.64368843e-01 -2.64455184e-01 -7.49605230e-03 2.82583544e+02] [ 2.64448080e-01 9.64397969e-01 -1.94157407e-03 -1.41849613e+01] [ 7.74263695e-03 -1.09923101e-04 9.99970019e-01 -2.31088949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104012739 meters Centerline goodness [0,1] 0.9963698850821608 Centerline is valid? [True, True] Translation: X:282.61, Y:-14.18, Z:-2.31 [[ 9.65283111e-01 -2.61086864e-01 -7.88441993e-03 2.82610929e+02] [ 2.61078881e-01 9.65315307e-01 -2.04347688e-03 -1.41778681e+01] [ 8.14447621e-03 -8.59218175e-05 9.99966830e-01 -2.31248546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.134012739 meters Centerline goodness [0,1] 0.9964416695773664 Centerline is valid? [True, True] Translation: X:282.64, Y:-14.17, Z:-2.31 [[ 9.65642831e-01 -2.59761926e-01 -7.59372597e-03 2.82637954e+02] [ 2.59754470e-01 9.65672686e-01 -1.96943799e-03 -1.41682486e+01] [ 7.84463876e-03 -7.07305838e-05 9.99969228e-01 -2.31108707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164012739 meters Centerline goodness [0,1] 0.9966373512674599 Centerline is valid? [True, True] Translation: X:282.66, Y:-14.16, Z:-2.31 [[ 9.66603748e-01 -2.56195602e-01 -6.40369760e-03 2.82664536e+02] [ 2.56190216e-01 9.66624960e-01 -1.66153686e-03 -1.41595361e+01] [ 6.61565237e-03 -3.45169184e-05 9.99978116e-01 -2.30986373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.194012739 meters Centerline goodness [0,1] 0.9964957540578308 Centerline is valid? [True, True] Translation: X:282.69, Y:-14.15, Z:-2.31 [[ 9.67141694e-01 -2.54170850e-01 -5.84138163e-03 2.82692050e+02] [ 2.54166328e-01 9.67159335e-01 -1.51625483e-03 -1.41493266e+01] [ 6.03493455e-03 -1.82492543e-05 9.99981789e-01 -2.30829221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224012739 meters Centerline goodness [0,1] 0.9967683944698883 Centerline is valid? [True, True] Translation: X:282.72, Y:-14.13, Z:-2.31 [[ 9.68528248e-01 -2.48835562e-01 -5.82203871e-03 2.82716976e+02] [ 2.48830967e-01 9.68545746e-01 -1.51230607e-03 -1.41349083e+01] [ 6.01522636e-03 1.60076212e-05 9.99981908e-01 -2.30686827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.254012739 meters Centerline goodness [0,1] 0.9967709513931955 Centerline is valid? [True, True] Translation: X:282.74, Y:-14.12, Z:-2.31 [[ 9.69241349e-01 -2.46042015e-01 -5.87658376e-03 2.82743548e+02] [ 2.46037275e-01 9.69259163e-01 -1.52759157e-03 -1.41233189e+01] [ 6.07178437e-03 3.47462631e-05 9.99981566e-01 -2.30673348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284012739 meters Centerline goodness [0,1] 0.9960350311533267 Centerline is valid? [True, True] Translation: X:282.77, Y:-14.10, Z:-2.30 [[ 9.70602145e-01 -2.40646914e-01 -4.53203929e-03 2.82767922e+02] [ 2.40644034e-01 9.70612724e-01 -1.17861729e-03 -1.41048970e+01] [ 4.68248561e-03 5.33602499e-05 9.99989036e-01 -2.30464636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.314012739 meters Centerline goodness [0,1] 0.9955102561920164 Centerline is valid? [True, True] Translation: X:282.79, Y:-14.09, Z:-2.30 [[ 9.71177460e-01 -2.38327577e-01 -3.78251468e-03 2.82793420e+02] [ 2.38325553e-01 9.71184824e-01 -9.83904688e-04 -1.40912458e+01] [ 3.90801247e-03 5.40761548e-05 9.99992362e-01 -2.30379099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344012739 meters Centerline goodness [0,1] 0.9944629724645118 Centerline is valid? [True, True] Translation: X:282.82, Y:-14.08, Z:-2.30 [[ 9.71450323e-01 -2.37221422e-01 -3.20403374e-03 2.82819566e+02] [ 2.37219963e-01 9.71455606e-01 -8.33691125e-04 -1.40803760e+01] [ 3.31034593e-03 4.98287499e-05 9.99994520e-01 -2.30332518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.374012739 meters Centerline goodness [0,1] 0.9948717948717949 Centerline is valid? [True, True] Translation: X:282.85, Y:-14.07, Z:-2.31 [[ 9.71127237e-01 -2.38521457e-01 -4.40492983e-03 2.82847527e+02] [ 2.38518710e-01 9.71137225e-01 -1.14660000e-03 -1.40728804e+01] [ 4.55128004e-03 6.28363074e-05 9.99989641e-01 -2.30555059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404012739 meters Centerline goodness [0,1] 0.9957651588065447 Centerline is valid? [True, True] Translation: X:282.88, Y:-14.07, Z:-2.31 [[ 9.70574896e-01 -2.40735690e-01 -5.54067542e-03 2.82875019e+02] [ 2.40731374e-01 9.70590708e-01 -1.44304991e-03 -1.40679773e+01] [ 5.72512169e-03 6.67736155e-05 9.99983609e-01 -2.30787029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.434012739 meters Centerline goodness [0,1] 0.996635017253574 Centerline is valid? [True, True] Translation: X:282.91, Y:-14.07, Z:-2.31 [[ 9.68817793e-01 -2.47718855e-01 -5.23958311e-03 2.82906531e+02] [ 2.47715095e-01 9.68831961e-01 -1.36511531e-03 -1.40728220e+01] [ 5.41444038e-03 2.46241751e-05 9.99985342e-01 -2.30714715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464012739 meters Centerline goodness [0,1] 0.9962762866183086 Centerline is valid? [True, True] Translation: X:282.94, Y:-14.07, Z:-2.31 [[ 9.67834317e-01 -2.51550467e-01 -4.37007980e-03 2.82936180e+02] [ 2.51547887e-01 9.67844183e-01 -1.13920568e-03 -1.40716827e+01] [ 4.51612403e-03 3.27800496e-06 9.99989802e-01 -2.30553522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.494012739 meters Centerline goodness [0,1] 0.9958782221834518 Centerline is valid? [True, True] Translation: X:282.97, Y:-14.07, Z:-2.30 [[ 9.66440527e-01 -2.56859928e-01 -3.96045411e-03 2.82965525e+02] [ 2.56857852e-01 9.66448642e-01 -1.03307823e-03 -1.40705096e+01] [ 4.09293190e-03 -1.88650614e-05 9.99991624e-01 -2.30406410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524012739 meters Centerline goodness [0,1] 0.9963301570950296 Centerline is valid? [True, True] Translation: X:282.99, Y:-14.07, Z:-2.31 [[ 9.66121569e-01 -2.58044995e-01 -4.67911566e-03 2.82992782e+02] [ 2.58042106e-01 9.66132900e-01 -1.22137285e-03 -1.40658720e+01] [ 4.83581673e-03 -2.74142043e-05 9.99988307e-01 -2.30548144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55401273900003 meters Centerline goodness [0,1] 0.9959649577075781 Centerline is valid? [True, True] Translation: X:283.02, Y:-14.07, Z:-2.31 [[ 9.65641784e-01 -2.59841904e-01 -4.25787177e-03 2.83022322e+02] [ 2.59839528e-01 9.65651171e-01 -1.11175744e-03 -1.40653667e+01] [ 4.40050003e-03 -3.28039524e-05 9.99990317e-01 -2.30548981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.584012739 meters Centerline goodness [0,1] 0.9957019749425139 Centerline is valid? [True, True] Translation: X:283.05, Y:-14.06, Z:-2.30 [[ 9.65544356e-01 -2.60209509e-01 -3.88701664e-03 2.83049826e+02] [ 2.60207529e-01 9.65552179e-01 -1.01555636e-03 -1.40601646e+01] [ 4.01737481e-03 -3.08662879e-05 9.99991930e-01 -2.30428653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61401273900003 meters Centerline goodness [0,1] 0.996105851979346 Centerline is valid? [True, True] Translation: X:283.08, Y:-14.05, Z:-2.31 [[ 9.65778745e-01 -2.59318505e-01 -5.03269445e-03 2.83076236e+02] [ 2.59315167e-01 9.65791857e-01 -1.31610108e-03 -1.40525279e+01] [ 5.20182468e-03 -3.39915571e-05 9.99986470e-01 -2.30572064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.644012739 meters Centerline goodness [0,1] 0.9969350974509508 Centerline is valid? [True, True] Translation: X:283.10, Y:-14.04, Z:-2.31 [[ 9.66053085e-01 -2.58269943e-01 -6.17030378e-03 2.83103032e+02] [ 2.58264896e-01 9.66072790e-01 -1.61498548e-03 -1.40435364e+01] [ 6.37806480e-03 -3.34111565e-05 9.99979659e-01 -2.30814005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67401273900003 meters Centerline goodness [0,1] 0.9966734350023762 Centerline is valid? [True, True] Translation: X:283.13, Y:-14.04, Z:-2.31 [[ 9.66321708e-01 -2.57249115e-01 -6.72677418e-03 2.83129574e+02] [ 2.57243082e-01 9.66345121e-01 -1.76205050e-03 -1.40355401e+01] [ 6.95367133e-03 -2.77084729e-05 9.99975823e-01 -2.30884065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.704012739 meters Centerline goodness [0,1] 0.9962394640155608 Centerline is valid? [True, True] Translation: X:283.16, Y:-14.03, Z:-2.31 [[ 9.66872743e-01 -2.55205747e-01 -5.20813262e-03 2.83156050e+02] [ 2.55202098e-01 9.66886770e-01 -1.36490848e-03 -1.40276669e+01] [ 5.38400701e-03 -9.43356631e-06 9.99985506e-01 -2.30618780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.734012739 meters Centerline goodness [0,1] 0.9965572202741473 Centerline is valid? [True, True] Translation: X:283.18, Y:-14.02, Z:-2.30 [[ 9.67121864e-01 -2.54274220e-01 -4.46329006e-03 2.83182951e+02] [ 2.54271528e-01 9.67132163e-01 -1.17009030e-03 -1.40185886e+01] [ 4.61411517e-03 -3.26767355e-06 9.99989355e-01 -2.30382728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.764012739 meters Centerline goodness [0,1] 0.9967010931671662 Centerline is valid? [True, True] Translation: X:283.21, Y:-14.01, Z:-2.30 [[ 9.67537503e-01 -2.52678649e-01 -4.96784702e-03 2.83209577e+02] [ 2.52675288e-01 9.67550257e-01 -1.30343241e-03 -1.40083257e+01] [ 5.13599120e-03 5.86756143e-06 9.99986811e-01 -2.30472737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.794012739 meters Centerline goodness [0,1] 0.9967831080789326 Centerline is valid? [True, True] Translation: X:283.24, Y:-14.00, Z:-2.31 [[ 9.67429749e-01 -2.53068357e-01 -6.00732287e-03 2.83236817e+02] [ 2.53063441e-01 9.67448400e-01 -1.57751277e-03 -1.40020753e+01] [ 6.21099347e-03 5.89898794e-06 9.99980712e-01 -2.30651899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.824012739 meters Centerline goodness [0,1] 0.9970375816286814 Centerline is valid? [True, True] Translation: X:283.26, Y:-14.00, Z:-2.31 [[ 9.67338184e-01 -2.53401013e-01 -6.69061660e-03 2.83263718e+02] [ 2.53394914e-01 9.67361322e-01 -1.75800222e-03 -1.39979058e+01] [ 6.91772326e-03 5.21445440e-06 9.99976072e-01 -2.30796196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.854012739 meters Centerline goodness [0,1] 0.9969800901658793 Centerline is valid? [True, True] Translation: X:283.29, Y:-13.99, Z:-2.31 [[ 9.67352755e-01 -2.53361428e-01 -6.05256665e-03 2.83290718e+02] [ 2.53356432e-01 9.67371690e-01 -1.59113404e-03 -1.39909590e+01] [ 6.25821363e-03 5.73120596e-06 9.99980417e-01 -2.30671994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.884012739 meters Centerline goodness [0,1] 0.9968774565464232 Centerline is valid? [True, True] Translation: X:283.32, Y:-13.98, Z:-2.30 [[ 9.67767328e-01 -2.51812248e-01 -4.12196484e-03 2.83317590e+02] [ 2.51809914e-01 9.67776106e-01 -1.08420189e-03 -1.39816627e+01] [ 4.26215440e-03 1.13035556e-05 9.99990917e-01 -2.30265084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.914012739 meters Centerline goodness [0,1] 0.9965897391901167 Centerline is valid? [True, True] Translation: X:283.34, Y:-13.97, Z:-2.30 [[ 9.68103154e-01 -2.50522708e-01 -3.82842568e-03 2.83343552e+02] [ 2.50520682e-01 9.68110723e-01 -1.00766602e-03 -1.39729051e+01] [ 3.95878317e-03 1.64248388e-05 9.99992164e-01 -2.30180762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.944012739 meters Centerline goodness [0,1] 0.9964963566408013 Centerline is valid? [True, True] Translation: X:283.37, Y:-13.96, Z:-2.30 [[ 9.68971937e-01 -2.47124476e-01 -4.78321500e-03 2.83369752e+02] [ 2.47121269e-01 9.68983742e-01 -1.25948474e-03 -1.39616306e+01] [ 4.94610708e-03 3.83712039e-05 9.99987767e-01 -2.30275450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.974012739 meters Centerline goodness [0,1] 0.9959412780656304 Centerline is valid? [True, True] Translation: X:283.40, Y:-13.95, Z:-2.30 [[ 9.69359987e-01 -2.45590053e-01 -5.17132701e-03 2.83397341e+02] [ 2.45586280e-01 9.69373779e-01 -1.36219299e-03 -1.39515639e+01] [ 5.34748986e-03 5.04484184e-05 9.99985701e-01 -2.30411249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.004012739 meters Centerline goodness [0,1] 0.9949090284192211 Centerline is valid? [True, True] Translation: X:283.42, Y:-13.94, Z:-2.30 [[ 9.69982730e-01 -2.43134472e-01 -4.37413543e-03 2.83424114e+02] [ 2.43131745e-01 9.69992590e-01 -1.15284914e-03 -1.39406436e+01] [ 4.52317632e-03 5.47525716e-05 9.99989769e-01 -2.30160574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.034012739 meters Centerline goodness [0,1] 0.9946785403996524 Centerline is valid? [True, True] Translation: X:283.45, Y:-13.93, Z:-2.30 [[ 9.70243440e-01 -2.42098054e-01 -4.02497026e-03 2.83451854e+02] [ 2.42095733e-01 9.70251787e-01 -1.06145250e-03 -1.39319716e+01] [ 4.16221017e-03 5.54391987e-05 9.99991336e-01 -2.29995868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.064012739 meters Centerline goodness [0,1] 0.9946165065202471 Centerline is valid? [True, True] Translation: X:283.48, Y:-13.92, Z:-2.30 [[ 9.70498016e-01 -2.41082982e-01 -3.54914876e-03 2.83478475e+02] [ 2.41081169e-01 9.70504504e-01 -9.36488404e-04 -1.39229512e+01] [ 3.67023627e-03 5.32272082e-05 9.99993263e-01 -2.29849890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.094012739 meters Centerline goodness [0,1] 0.9944024270392685 Centerline is valid? [True, True] Translation: X:283.50, Y:-13.92, Z:-2.30 [[ 9.70430554e-01 -2.41361249e-01 -3.04745944e-03 2.83504426e+02] [ 2.41359913e-01 9.70435338e-01 -8.04252880e-04 -1.39151975e+01] [ 3.15147781e-03 4.49370234e-05 9.99995033e-01 -2.29842314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.124012739 meters Centerline goodness [0,1] 0.9946092223105174 Centerline is valid? [True, True] Translation: X:283.53, Y:-13.91, Z:-2.30 [[ 9.70009194e-01 -2.43036487e-01 -3.92795639e-03 2.83532874e+02] [ 2.43034280e-01 9.70017146e-01 -1.03706764e-03 -1.39092867e+01] [ 4.06223032e-03 5.13370889e-05 9.99991748e-01 -2.30153632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.154012739 meters Centerline goodness [0,1] 0.9953861927546138 Centerline is valid? [True, True] Translation: X:283.56, Y:-13.90, Z:-2.30 [[ 9.69642479e-01 -2.44469916e-01 -5.28420428e-03 2.83561618e+02] [ 2.44465937e-01 9.69656875e-01 -1.39621004e-03 -1.39039718e+01] [ 5.46519636e-03 6.20166099e-05 9.99985064e-01 -2.30361576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.184012739 meters Centerline goodness [0,1] 0.9958033317711218 Centerline is valid? [True, True] Translation: X:283.59, Y:-13.90, Z:-2.31 [[ 9.69201189e-01 -2.46189976e-01 -6.28887849e-03 2.83589131e+02] [ 2.46184371e-01 9.69221591e-01 -1.66250985e-03 -1.38996570e+01] [ 6.50461008e-03 6.30829333e-05 9.99978843e-01 -2.30568150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.214012739 meters Centerline goodness [0,1] 0.9967577781117815 Centerline is valid? [True, True] Translation: X:283.62, Y:-13.90, Z:-2.31 [[ 9.68541433e-01 -2.48758691e-01 -6.82686519e-03 2.83618695e+02] [ 2.48752144e-01 9.68565491e-01 -1.80549435e-03 -1.38973730e+01] [ 7.06139844e-03 5.04987325e-05 9.99975067e-01 -2.30617941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.244012739 meters Centerline goodness [0,1] 0.9966646452395391 Centerline is valid? [True, True] Translation: X:283.65, Y:-13.90, Z:-2.31 [[ 9.68226259e-01 -2.49982507e-01 -6.83061820e-03 2.83646881e+02] [ 2.49975975e-01 9.68250352e-01 -1.80774991e-03 -1.38950679e+01] [ 7.06565433e-03 4.28204942e-05 9.99975037e-01 -2.30568887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.274012739 meters Centerline goodness [0,1] 0.9965793716501808 Centerline is valid? [True, True] Translation: X:283.68, Y:-13.89, Z:-2.31 [[ 9.67640007e-01 -2.52217623e-01 -7.68679523e-03 2.83675252e+02] [ 2.52209407e-01 9.67670538e-01 -2.03603994e-03 -1.38938912e+01] [ 7.95181042e-03 3.14716325e-05 9.99968383e-01 -2.30764338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30401273900003 meters Centerline goodness [0,1] 0.9972677595628415 Centerline is valid? [True, True] Translation: X:283.70, Y:-13.89, Z:-2.31 [[ 9.67384365e-01 -2.53192077e-01 -7.82700145e-03 2.83701736e+02] [ 2.53183579e-01 9.67416028e-01 -2.07454456e-03 -1.38879075e+01] [ 8.09722490e-03 2.52137278e-05 9.99967217e-01 -2.30873936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.334012739 meters Centerline goodness [0,1] 0.9966678132255568 Centerline is valid? [True, True] Translation: X:283.73, Y:-13.89, Z:-2.30 [[ 9.66937287e-01 -2.54952591e-01 -5.60883646e-03 2.83730799e+02] [ 2.54948252e-01 9.66953554e-01 -1.48735032e-03 -1.38855265e+01] [ 5.80268817e-03 8.21142986e-06 9.99983164e-01 -2.30339766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36401273900003 meters Centerline goodness [0,1] 0.9967199759893667 Centerline is valid? [True, True] Translation: X:283.76, Y:-13.88, Z:-2.30 [[ 9.66874831e-01 -2.55200215e-01 -5.09041630e-03 2.83756774e+02] [ 2.55196641e-01 9.66888230e-01 -1.35056989e-03 -1.38795036e+01] [ 5.26652933e-03 6.77488946e-06 9.99986132e-01 -2.30300004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.394012739 meters Centerline goodness [0,1] 0.9962165434340814 Centerline is valid? [True, True] Translation: X:283.78, Y:-13.87, Z:-2.30 [[ 9.66959190e-01 -2.54869458e-01 -5.61106964e-03 2.83783642e+02] [ 2.54865106e-01 9.66975470e-01 -1.48946591e-03 -1.38728476e+01] [ 5.80538607e-03 1.01868865e-05 9.99983149e-01 -2.30344237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42401273900003 meters Centerline goodness [0,1] 0.9965630539103367 Centerline is valid? [True, True] Translation: X:283.81, Y:-13.86, Z:-2.31 [[ 9.67529336e-01 -2.52651088e-01 -7.37641185e-03 2.83809650e+02] [ 2.52643494e-01 9.67557454e-01 -1.95922989e-03 -1.38632646e+01] [ 7.63210383e-03 3.20099403e-05 9.99970875e-01 -2.30778190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.454012739 meters Centerline goodness [0,1] 0.996559805629018 Centerline is valid? [True, True] Translation: X:283.84, Y:-13.86, Z:-2.31 [[ 9.67678868e-01 -2.52089114e-01 -6.97763686e-03 2.83836388e+02] [ 2.52082297e-01 9.67704024e-01 -1.85424294e-03 -1.38557777e+01] [ 7.21972172e-03 3.53729809e-05 9.99973937e-01 -2.30545807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484012739 meters Centerline goodness [0,1] 0.9963434192237784 Centerline is valid? [True, True] Translation: X:283.86, Y:-13.85, Z:-2.30 [[ 9.67601473e-01 -2.52422167e-01 -5.51724289e-03 2.83862817e+02] [ 2.52417906e-01 9.67617202e-01 -1.46686063e-03 -1.38469853e+01] [ 5.70884726e-03 2.66856092e-05 9.99983704e-01 -2.30345706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.514012739 meters Centerline goodness [0,1] 0.9960414458456813 Centerline is valid? [True, True] Translation: X:283.89, Y:-13.84, Z:-2.30 [[ 9.67470992e-01 -2.52951632e-01 -3.91810044e-03 2.83888619e+02] [ 2.52949487e-01 9.67478926e-01 -1.04191542e-03 -1.38393267e+01] [ 4.05423381e-03 1.69414458e-05 9.99991781e-01 -2.29975490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544012739 meters Centerline goodness [0,1] 0.9957403563397336 Centerline is valid? [True, True] Translation: X:283.92, Y:-13.84, Z:-2.30 [[ 9.66963771e-01 -2.54900734e-01 -2.58480784e-03 2.83917044e+02] [ 2.54899807e-01 9.66967226e-01 -6.87483187e-04 -1.38358613e+01] [ 2.67466444e-03 5.90431424e-06 9.99996423e-01 -2.29744285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.574012739 meters Centerline goodness [0,1] 0.9961123759611668 Centerline is valid? [True, True] Translation: X:283.95, Y:-13.83, Z:-2.30 [[ 9.66122033e-01 -2.58048045e-01 -4.40725502e-03 2.83945706e+02] [ 2.58045376e-01 9.66132085e-01 -1.17356535e-03 -1.38330009e+01] [ 4.56082673e-03 -3.46443506e-06 9.99989599e-01 -2.30070834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604012739 meters Centerline goodness [0,1] 0.9958087213342599 Centerline is valid? [True, True] Translation: X:283.97, Y:-13.83, Z:-2.30 [[ 9.65484817e-01 -2.60411813e-01 -4.97545781e-03 2.83973318e+02] [ 2.60408438e-01 9.65497637e-01 -1.32597464e-03 -1.38286777e+01] [ 5.14909222e-03 -1.54428109e-05 9.99986743e-01 -2.30185842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.634012739 meters Centerline goodness [0,1] 0.9958828423320605 Centerline is valid? [True, True] Translation: X:284.00, Y:-13.82, Z:-2.30 [[ 9.64907384e-01 -2.62544260e-01 -4.92459033e-03 2.84000897e+02] [ 2.62540977e-01 9.64919951e-01 -1.31323664e-03 -1.38248766e+01] [ 5.09661820e-03 -2.57550247e-05 9.99987012e-01 -2.30122148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664012739 meters Centerline goodness [0,1] 0.9956807187284036 Centerline is valid? [True, True] Translation: X:284.03, Y:-13.82, Z:-2.30 [[ 9.64516096e-01 -2.64005702e-01 -3.11289051e-03 2.84028896e+02] [ 2.64004397e-01 9.64521119e-01 -8.30187909e-04 -1.38190009e+01] [ 3.22162298e-03 -2.10871812e-05 9.99994810e-01 -2.29757100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.694012739 meters Centerline goodness [0,1] 0.9957341907824223 Centerline is valid? [True, True] Translation: X:284.06, Y:-13.81, Z:-2.30 [[ 9.64646477e-01 -2.63529056e-01 -3.09999757e-03 2.84055198e+02] [ 2.63527758e-01 9.64651458e-01 -8.27334575e-04 -1.38128175e+01] [ 3.20844387e-03 -1.88500263e-05 9.99994853e-01 -2.29674977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724012739 meters Centerline goodness [0,1] 0.9962109664213231 Centerline is valid? [True, True] Translation: X:284.08, Y:-13.80, Z:-2.30 [[ 9.65165281e-01 -2.61595707e-01 -4.86481802e-03 2.84082515e+02] [ 2.61592481e-01 9.65177541e-01 -1.29937031e-03 -1.38017338e+01] [ 5.03532279e-03 -1.84927050e-05 9.99987323e-01 -2.29943139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.754012739 meters Centerline goodness [0,1] 0.9966993139750615 Centerline is valid? [True, True] Translation: X:284.11, Y:-13.79, Z:-2.30 [[ 9.65328244e-01 -2.60976573e-01 -5.71046566e-03 2.84109098e+02] [ 2.60972109e-01 9.65345134e-01 -1.52644719e-03 -1.37929322e+01] [ 5.91093719e-03 -1.67496761e-05 9.99982530e-01 -2.30072038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784012739 meters Centerline goodness [0,1] 0.9964475643480111 Centerline is valid? [True, True] Translation: X:284.14, Y:-13.78, Z:-2.30 [[ 9.65618238e-01 -2.59920663e-01 -4.76114757e-03 2.84135529e+02] [ 2.59917544e-01 9.65629975e-01 -1.27337323e-03 -1.37834746e+01] [ 4.92848282e-03 -7.91336879e-06 9.99987855e-01 -2.29999072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.814012739 meters Centerline goodness [0,1] 0.9964029547157692 Centerline is valid? [True, True] Translation: X:284.16, Y:-13.77, Z:-2.30 [[ 9.65624544e-01 -2.59902273e-01 -4.47756846e-03 2.84162011e+02] [ 2.59899512e-01 9.65634925e-01 -1.19794463e-03 -1.37749821e+01] [ 4.63504502e-03 -6.95312456e-06 9.99989258e-01 -2.29882879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844012739 meters Centerline goodness [0,1] 0.9961872347758655 Centerline is valid? [True, True] Translation: X:284.19, Y:-13.77, Z:-2.30 [[ 9.65604715e-01 -2.59973540e-01 -4.61442267e-03 2.84188389e+02] [ 2.59970604e-01 9.65615741e-01 -1.23539411e-03 -1.37686522e+01] [ 4.77692894e-03 -6.71187508e-06 9.99988590e-01 -2.29941000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.874012739 meters Centerline goodness [0,1] 0.996877710320902 Centerline is valid? [True, True] Translation: X:284.22, Y:-13.77, Z:-2.30 [[ 9.65100004e-01 -2.61805814e-01 -6.30068826e-03 2.84217249e+02] [ 2.61800374e-01 9.65120570e-01 -1.68777253e-03 -1.37652414e+01] [ 6.52279251e-03 -2.06532679e-05 9.99978726e-01 -2.30193206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904012739 meters Centerline goodness [0,1] 0.996877710320902 Centerline is valid? [True, True] Translation: X:284.24, Y:-13.76, Z:-2.30 [[ 9.65050267e-01 -2.61989096e-01 -6.30039022e-03 2.84243762e+02] [ 2.61983654e-01 9.65070833e-01 -1.68888458e-03 -1.37579352e+01] [ 6.52279218e-03 -2.07407349e-05 9.99978726e-01 -2.30183306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.934012739 meters Centerline goodness [0,1] 0.9967670106624417 Centerline is valid? [True, True] Translation: X:284.27, Y:-13.75, Z:-2.30 [[ 9.64766235e-01 -2.63023222e-01 -6.70043693e-03 2.84271500e+02] [ 2.63017083e-01 9.64789502e-01 -1.79718222e-03 -1.37529163e+01] [ 6.93721187e-03 -2.84686480e-05 9.99975937e-01 -2.30192651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964012739 meters Centerline goodness [0,1] 0.9960900575749764 Centerline is valid? [True, True] Translation: X:284.30, Y:-13.75, Z:-2.30 [[ 9.64436479e-01 -2.64263869e-01 -5.18516542e-03 2.84298549e+02] [ 2.64260208e-01 9.64450417e-01 -1.39125026e-03 -1.37504871e+01] [ 5.36849213e-03 -2.84603881e-05 9.99985589e-01 -2.29940157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.994012739 meters Centerline goodness [0,1] 0.9958670606878239 Centerline is valid? [True, True] Translation: X:284.33, Y:-13.74, Z:-2.30 [[ 9.64436178e-01 -2.64283392e-01 -4.14092648e-03 2.84325327e+02] [ 2.64281056e-01 9.64445067e-01 -1.11150717e-03 -1.37447791e+01] [ 4.28744900e-03 -2.23907003e-05 9.99990809e-01 -2.29783002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024012739 meters Centerline goodness [0,1] 0.996241083251463 Centerline is valid? [True, True] Translation: X:284.35, Y:-13.74, Z:-2.30 [[ 9.64747969e-01 -2.63128013e-01 -5.00044456e-03 2.84352892e+02] [ 2.63124587e-01 9.64760928e-01 -1.34288822e-03 -1.37378514e+01] [ 5.17758505e-03 -2.01912255e-05 9.99986596e-01 -2.29996249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05401273900003 meters Centerline goodness [0,1] 0.9968283901937254 Centerline is valid? [True, True] Translation: X:284.38, Y:-13.73, Z:-2.30 [[ 9.65116973e-01 -2.61739588e-01 -6.45113212e-03 2.84379852e+02] [ 2.61733845e-01 9.65138533e-01 -1.73396528e-03 -1.37293637e+01] [ 6.68008355e-03 -1.50002976e-05 9.99977688e-01 -2.30238028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.084012739 meters Centerline goodness [0,1] 0.9970242587601078 Centerline is valid? [True, True] Translation: X:284.40, Y:-13.72, Z:-2.30 [[ 9.66563470e-01 -2.56316699e-01 -7.53707865e-03 2.84404910e+02] [ 2.56308686e-01 9.66592856e-01 -2.02692181e-03 -1.37167216e+01] [ 7.80482028e-03 2.73298581e-05 9.99969542e-01 -2.30322039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11401273900003 meters Centerline goodness [0,1] 0.996028695874968 Centerline is valid? [True, True] Translation: X:284.43, Y:-13.70, Z:-2.30 [[ 9.68210761e-01 -2.50039836e-01 -6.92837665e-03 2.84429158e+02] [ 2.50032901e-01 9.68235547e-01 -1.86363781e-03 -1.37006344e+01] [ 7.17428425e-03 7.20720732e-05 9.99974262e-01 -2.30215150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.144012739 meters Centerline goodness [0,1] 0.9955317056484372 Centerline is valid? [True, True] Translation: X:284.46, Y:-13.69, Z:-2.30 [[ 9.68887809e-01 -2.47414699e-01 -6.51005823e-03 2.84456100e+02] [ 2.47408512e-01 9.68909675e-01 -1.75183559e-03 -1.36885118e+01] [ 6.74108829e-03 8.66883286e-05 9.99977275e-01 -2.30142451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17401273900003 meters Centerline goodness [0,1] 0.9951284704259356 Centerline is valid? [True, True] Translation: X:284.48, Y:-13.68, Z:-2.30 [[ 9.69434464e-01 -2.45266575e-01 -6.41311556e-03 2.84483443e+02] [ 2.45260516e-01 9.69455670e-01 -1.72686773e-03 -1.36794812e+01] [ 6.64077418e-03 1.01201054e-04 9.99977945e-01 -2.30048015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.204012739 meters Centerline goodness [0,1] 0.9945093682568846 Centerline is valid? [True, True] Translation: X:284.51, Y:-13.66, Z:-2.30 [[ 9.70492066e-01 -2.41077813e-01 -5.16111727e-03 2.84508034e+02] [ 2.41073827e-01 9.70505784e-01 -1.39033735e-03 -1.36620387e+01] [ 5.34407365e-03 1.05101075e-04 9.99985715e-01 -2.29656678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.234012739 meters Centerline goodness [0,1] 0.9943176926388291 Centerline is valid? [True, True] Translation: X:284.53, Y:-13.65, Z:-2.29 [[ 9.70942501e-01 -2.39276719e-01 -4.16079538e-03 2.84534791e+02] [ 2.39274111e-01 9.70951411e-01 -1.12113004e-03 -1.36490579e+01] [ 4.30819047e-03 9.29821921e-05 9.99990715e-01 -2.29455732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.264012739 meters Centerline goodness [0,1] 0.9930950446791227 Centerline is valid? [True, True] Translation: X:284.56, Y:-13.63, Z:-2.29 [[ 9.71804308e-01 -2.35763369e-01 -3.46723259e-03 2.84558961e+02] [ 2.35761533e-01 9.71810489e-01 -9.34758988e-04 -1.36300855e+01] [ 3.58987493e-03 9.09627384e-05 9.99993552e-01 -2.29408372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.294012739 meters Centerline goodness [0,1] 0.9921148185548847 Centerline is valid? [True, True] Translation: X:284.59, Y:-13.62, Z:-2.29 [[ 9.72051523e-01 -2.34742032e-01 -3.46630680e-03 2.84585485e+02] [ 2.34740191e-01 9.72057699e-01 -9.34712270e-04 -1.36193266e+01] [ 3.58886647e-03 9.49069671e-05 9.99993555e-01 -2.29374013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.324012739 meters Centerline goodness [0,1] 0.9912338701077104 Centerline is valid? [True, True] Translation: X:284.61, Y:-13.60, Z:-2.30 [[ 9.72332475e-01 -2.33553756e-01 -4.71176943e-03 2.84608339e+02] [ 2.33550337e-01 9.72343882e-01 -1.27093404e-03 -1.35985409e+01] [ 4.87829160e-03 1.35335107e-04 9.99988092e-01 -2.29578338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.354012739 meters Centerline goodness [0,1] 0.9926242903836229 Centerline is valid? [True, True] Translation: X:284.64, Y:-13.59, Z:-2.30 [[ 9.72377270e-01 -2.33339075e-01 -5.94315758e-03 2.84636409e+02] [ 2.33333627e-01 9.72395417e-01 -1.60378786e-03 -1.35912623e+01] [ 6.15332557e-03 1.72748352e-04 9.99981053e-01 -2.29758559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.384012739 meters Centerline goodness [0,1] 0.9929029205557228 Centerline is valid? [True, True] Translation: X:284.66, Y:-13.58, Z:-2.30 [[ 9.72281866e-01 -2.33711612e-01 -6.84503295e-03 2.84662385e+02] [ 2.33704385e-01 9.72305941e-01 -1.84853612e-03 -1.35806474e+01] [ 7.08749057e-03 1.97583931e-04 9.99974864e-01 -2.29886992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.414012739 meters Centerline goodness [0,1] 0.9933351906221203 Centerline is valid? [True, True] Translation: X:284.69, Y:-13.57, Z:-2.30 [[ 9.71810779e-01 -2.35657142e-01 -7.03708863e-03 2.84689685e+02] [ 2.35649548e-01 9.71836239e-01 -1.90129791e-03 -1.35705754e+01] [ 7.28695217e-03 1.89415045e-04 9.99973432e-01 -2.29837376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.444012739 meters Centerline goodness [0,1] 0.9936237128947482 Centerline is valid? [True, True] Translation: X:284.72, Y:-13.56, Z:-2.30 [[ 9.71158024e-01 -2.38384863e-01 -4.97486188e-03 2.84716683e+02] [ 2.38381102e-01 9.71170759e-01 -1.34432052e-03 -1.35602494e+01] [ 5.15190604e-03 1.19634599e-04 9.99986722e-01 -2.29533390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.474012739 meters Centerline goodness [0,1] 0.9936779631859625 Centerline is valid? [True, True] Translation: X:284.74, Y:-13.55, Z:-2.29 [[ 9.70853555e-01 -2.39641334e-01 -3.92512023e-03 2.84743013e+02] [ 2.39639003e-01 9.70861485e-01 -1.06083679e-03 -1.35501425e+01] [ 4.06496840e-03 8.93052721e-05 9.99991734e-01 -2.29329878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.504012739 meters Centerline goodness [0,1] 0.9932561800621197 Centerline is valid? [True, True] Translation: X:284.77, Y:-13.54, Z:-2.29 [[ 9.70575581e-01 -2.40769065e-01 -3.64663991e-03 2.84768948e+02] [ 2.40767060e-01 9.70582429e-01 -9.85882851e-04 -1.35390906e+01] [ 3.77673472e-03 7.88830518e-05 9.99992865e-01 -2.29334842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.534012739 meters Centerline goodness [0,1] 0.9939892711721998 Centerline is valid? [True, True] Translation: X:284.80, Y:-13.53, Z:-2.30 [[ 9.70216646e-01 -2.42195326e-01 -4.59161987e-03 2.84797016e+02] [ 2.42192161e-01 9.70227507e-01 -1.24183042e-03 -1.35318939e+01] [ 4.75568143e-03 9.27902104e-05 9.99988687e-01 -2.29537527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.564012739 meters Centerline goodness [0,1] 0.9933575528278767 Centerline is valid? [True, True] Translation: X:284.82, Y:-13.52, Z:-2.30 [[ 9.70175384e-01 -2.42341696e-01 -5.49786386e-03 2.84821518e+02] [ 2.42337154e-01 9.70190956e-01 -1.48784426e-03 -1.35198704e+01] [ 5.69454449e-03 1.11133201e-04 9.99983780e-01 -2.29712775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.594012739 meters Centerline goodness [0,1] 0.9941140352734433 Centerline is valid? [True, True] Translation: X:284.85, Y:-13.51, Z:-2.30 [[ 9.70180793e-01 -2.42270883e-01 -7.35173693e-03 2.84846725e+02] [ 2.42262755e-01 9.70208636e-01 -1.99018780e-03 -1.35050247e+01] [ 7.61488321e-03 1.49789934e-04 9.99970995e-01 -2.30088811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.624012739 meters Centerline goodness [0,1] 0.9937864326436487 Centerline is valid? [True, True] Translation: X:284.87, Y:-13.49, Z:-2.30 [[ 9.70148367e-01 -2.42392687e-01 -7.61124941e-03 2.84871530e+02] [ 2.42383975e-01 9.70178211e-01 -2.06100264e-03 -1.34947538e+01] [ 7.88384030e-03 1.54633458e-04 9.99968910e-01 -2.30221784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.654012739 meters Centerline goodness [0,1] 0.9939563997409886 Centerline is valid? [True, True] Translation: X:284.90, Y:-13.49, Z:-2.30 [[ 9.70027742e-01 -2.42882397e-01 -7.37032069e-03 2.84899703e+02] [ 2.42874233e-01 9.70055730e-01 -1.99682770e-03 -1.34902966e+01] [ 7.63461612e-03 1.46917282e-04 9.99970845e-01 -2.30037537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.684012739 meters Centerline goodness [0,1] 0.9937218390313695 Centerline is valid? [True, True] Translation: X:284.93, Y:-13.48, Z:-2.30 [[ 9.69790206e-01 -2.43849703e-01 -6.65426059e-03 2.84925929e+02] [ 2.43843063e-01 9.69813026e-01 -1.80401739e-03 -1.34788200e+01] [ 6.89329771e-03 1.26923112e-04 9.99976233e-01 -2.29899363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.714012739 meters Centerline goodness [0,1] 0.9940206052524035 Centerline is valid? [True, True] Translation: X:284.95, Y:-13.47, Z:-2.30 [[ 9.69565610e-01 -2.44742137e-01 -6.61925020e-03 2.84953041e+02] [ 2.44735579e-01 9.69588197e-01 -1.79567842e-03 -1.34698997e+01] [ 6.85742504e-03 1.21062010e-04 9.99976480e-01 -2.29941028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.744012739 meters Centerline goodness [0,1] 0.9941111994669991 Centerline is valid? [True, True] Translation: X:284.98, Y:-13.46, Z:-2.30 [[ 9.69179627e-01 -2.46243590e-01 -7.41256043e-03 2.84980018e+02] [ 2.46235400e-01 9.69207965e-01 -2.01224332e-03 -1.34613435e+01] [ 7.67981463e-03 1.24990448e-04 9.99970502e-01 -2.30157649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.774012739 meters Centerline goodness [0,1] 0.9940248463224863 Centerline is valid? [True, True] Translation: X:285.01, Y:-13.45, Z:-2.30 [[ 9.69019564e-01 -2.46887166e-01 -6.91453399e-03 2.85008317e+02] [ 2.46880048e-01 9.69044227e-01 -1.87821123e-03 -1.34542117e+01] [ 7.16419550e-03 1.12962947e-04 9.99974330e-01 -2.30014298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80401273900003 meters Centerline goodness [0,1] 0.9942276810902304 Centerline is valid? [True, True] Translation: X:285.04, Y:-13.45, Z:-2.30 [[ 9.68711155e-01 -2.48118318e-01 -5.99989247e-03 2.85036703e+02] [ 2.48112975e-01 9.68729731e-01 -1.63075081e-03 -1.34481450e+01] [ 6.21689337e-03 9.10753324e-05 9.99980671e-01 -2.29779166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.834012739 meters Centerline goodness [0,1] 0.9941590791960144 Centerline is valid? [True, True] Translation: X:285.06, Y:-13.44, Z:-2.30 [[ 9.68298447e-01 -2.49751246e-01 -4.73639031e-03 2.85062555e+02] [ 2.49747933e-01 9.68310028e-01 -1.28794942e-03 -1.34381597e+01] [ 4.90796121e-03 6.42157320e-05 9.99987954e-01 -2.29535553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86401273900003 meters Centerline goodness [0,1] 0.9942951667974466 Centerline is valid? [True, True] Translation: X:285.09, Y:-13.43, Z:-2.30 [[ 9.68192834e-01 -2.50157121e-01 -4.90420126e-03 2.85089265e+02] [ 2.50153571e-01 9.68205252e-01 -1.33420262e-03 -1.34295539e+01] [ 5.08203370e-03 6.49619533e-05 9.99987084e-01 -2.29559019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.894012739 meters Centerline goodness [0,1] 0.993755248821034 Centerline is valid? [True, True] Translation: X:285.12, Y:-13.42, Z:-2.29 [[ 9.68094442e-01 -2.50508030e-01 -6.23523950e-03 2.85115986e+02] [ 2.50502291e-01 9.68114518e-01 -1.69774225e-03 -1.34209593e+01] [ 6.46172395e-03 8.16330544e-05 9.99979120e-01 -2.29387993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92401273900003 meters Centerline goodness [0,1] 0.9940925570484112 Centerline is valid? [True, True] Translation: X:285.14, Y:-13.41, Z:-2.30 [[ 9.67997573e-01 -2.50890139e-01 -5.90218543e-03 2.85141772e+02] [ 2.50884999e-01 9.68015564e-01 -1.60787609e-03 -1.34111474e+01] [ 6.11680762e-03 7.56503735e-05 9.99981289e-01 -2.29700900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.954012739 meters Centerline goodness [0,1] 0.9948445792266869 Centerline is valid? [True, True] Translation: X:285.17, Y:-13.41, Z:-2.29 [[ 9.67729724e-01 -2.51929939e-01 -5.52155589e-03 2.85170412e+02] [ 2.51925454e-01 9.67745474e-01 -1.50476458e-03 -1.34056259e+01] [ 5.72255597e-03 6.51849424e-05 9.99983624e-01 -2.29466215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984012739 meters Centerline goodness [0,1] 0.9942964161062399 Centerline is valid? [True, True] Translation: X:285.20, Y:-13.40, Z:-2.30 [[ 9.67631691e-01 -2.52302555e-01 -5.68601275e-03 2.85195769e+02] [ 2.52297800e-01 9.67648395e-01 -1.55044212e-03 -1.33963614e+01] [ 5.89324162e-03 6.56884212e-05 9.99982633e-01 -2.29562701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.014012739 meters Centerline goodness [0,1] 0.9925653771342122 Centerline is valid? [True, True] Translation: X:285.22, Y:-13.39, Z:-2.29 [[ 9.67360821e-01 -2.53321531e-01 -6.42216331e-03 2.85223505e+02] [ 2.53315481e-01 9.67382136e-01 -1.75212259e-03 -1.33914210e+01] [ 6.65653644e-03 6.81013584e-05 9.99977843e-01 -2.28784637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044012739 meters Centerline goodness [0,1] 0.9942379779372389 Centerline is valid? [True, True] Translation: X:285.25, Y:-13.38, Z:-2.30 [[ 9.66897027e-01 -2.55095050e-01 -6.05432937e-03 2.85250435e+02] [ 2.55089703e-01 9.66915980e-01 -1.65258595e-03 -1.33842929e+01] [ 6.27559431e-03 5.34833627e-05 9.99980307e-01 -2.29640108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.074012739 meters Centerline goodness [0,1] 0.9948460277753817 Centerline is valid? [True, True] Translation: X:285.28, Y:-13.38, Z:-2.30 [[ 9.66783159e-01 -2.55535537e-01 -5.64907819e-03 2.85277231e+02] [ 2.55530885e-01 9.66799662e-01 -1.54261080e-03 -1.33761783e+01] [ 5.85571876e-03 4.78561985e-05 9.99982854e-01 -2.29580110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104012739 meters Centerline goodness [0,1] 0.9951770556460602 Centerline is valid? [True, True] Translation: X:285.30, Y:-13.37, Z:-2.30 [[ 9.66978819e-01 -2.54768896e-01 -6.69122395e-03 2.85303016e+02] [ 2.54762344e-01 9.67001968e-01 -1.82822698e-03 -1.33654821e+01] [ 6.93620210e-03 6.31848678e-05 9.99975942e-01 -2.29787776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.134012739 meters Centerline goodness [0,1] 0.9946725571725572 Centerline is valid? [True, True] Translation: X:285.33, Y:-13.36, Z:-2.30 [[ 9.67270108e-01 -2.53619389e-01 -8.10828729e-03 2.85329770e+02] [ 2.53609723e-01 9.67304088e-01 -2.21597220e-03 -1.33558589e+01] [ 8.40519295e-03 8.71031731e-05 9.99964672e-01 -2.29920003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164012739 meters Centerline goodness [0,1] 0.9950288370491521 Centerline is valid? [True, True] Translation: X:285.35, Y:-13.34, Z:-2.30 [[ 9.68269137e-01 -2.49764338e-01 -8.52376757e-03 2.85352657e+02] [ 2.49753501e-01 9.68306645e-01 -2.33014766e-03 -1.33361969e+01] [ 8.83560857e-03 1.27369275e-04 9.99960957e-01 -2.29944389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.194012739 meters Centerline goodness [0,1] 0.994307725230045 Centerline is valid? [True, True] Translation: X:285.38, Y:-13.32, Z:-2.30 [[ 9.68919387e-01 -2.47258262e-01 -7.65333098e-03 2.85378263e+02] [ 2.47249443e-01 9.68949603e-01 -2.09270547e-03 -1.33224266e+01] [ 7.93313074e-03 1.35381074e-04 9.99968523e-01 -2.29698231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224012739 meters Centerline goodness [0,1] 0.9929541158274617 Centerline is valid? [True, True] Translation: X:285.40, Y:-13.31, Z:-2.30 [[ 9.69762403e-01 -2.43958500e-01 -6.71796746e-03 2.85404507e+02] [ 2.43951624e-01 9.69785662e-01 -1.83722261e-03 -1.33062111e+01] [ 6.96319459e-03 1.42810340e-04 9.99975746e-01 -2.29617271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.254012739 meters Centerline goodness [0,1] 0.9929866575436196 Centerline is valid? [True, True] Translation: X:285.43, Y:-13.29, Z:-2.30 [[ 9.69736684e-01 -2.44034528e-01 -7.60999740e-03 2.85429832e+02] [ 2.44025704e-01 9.69766530e-01 -2.08154127e-03 -1.32943475e+01] [ 7.88788872e-03 1.61511957e-04 9.99968877e-01 -2.29800425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284012739 meters Centerline goodness [0,1] 0.9935386190130934 Centerline is valid? [True, True] Translation: X:285.46, Y:-13.28, Z:-2.30 [[ 9.69181471e-01 -2.46173438e-01 -9.26903614e-03 2.85456278e+02] [ 2.46160433e-01 9.69225777e-01 -2.53660925e-03 -1.32834141e+01] [ 9.60823458e-03 1.76764735e-04 9.99953824e-01 -2.30075100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.314012739 meters Centerline goodness [0,1] 0.9939047781424492 Centerline is valid? [True, True] Translation: X:285.48, Y:-13.27, Z:-2.30 [[ 9.68709103e-01 -2.48068111e-01 -8.05517801e-03 2.85482583e+02] [ 2.48058347e-01 9.68742584e-01 -2.20522385e-03 -1.32743387e+01] [ 8.35043967e-03 1.38066279e-04 9.99965125e-01 -2.29845293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344012739 meters Centerline goodness [0,1] 0.9940101890733912 Centerline is valid? [True, True] Translation: X:285.51, Y:-13.27, Z:-2.29 [[ 9.68116015e-01 -2.50425560e-01 -6.19836560e-03 2.85511218e+02] [ 2.50419823e-01 9.68135853e-01 -1.69753877e-03 -1.32691668e+01] [ 6.42596707e-03 9.12208485e-05 9.99979349e-01 -2.29394983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.374012739 meters Centerline goodness [0,1] 0.9938088537720533 Centerline is valid? [True, True] Translation: X:285.54, Y:-13.26, Z:-2.29 [[ 9.66820624e-01 -2.55436063e-01 -3.20925890e-03 2.85539495e+02] [ 2.55434551e-01 9.66825950e-01 -8.79219649e-04 -1.32642996e+01] [ 3.32737919e-03 3.02920811e-05 9.99994464e-01 -2.28897061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404012739 meters Centerline goodness [0,1] 0.99409486724149 Centerline is valid? [True, True] Translation: X:285.57, Y:-13.26, Z:-2.29 [[ 9.66156354e-01 -2.57930010e-01 -3.74305852e-03 2.85566389e+02] [ 2.57927971e-01 9.66163604e-01 -1.02569085e-03 -1.32574355e+01] [ 3.88096336e-03 2.55382425e-05 9.99992469e-01 -2.28982135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.434012739 meters Centerline goodness [0,1] 0.9949280034386417 Centerline is valid? [True, True] Translation: X:285.59, Y:-13.25, Z:-2.29 [[ 9.65083818e-01 -2.61870136e-01 -6.10383727e-03 2.85594894e+02] [ 2.61864789e-01 9.65103120e-01 -1.67356642e-03 -1.32537930e+01] [ 6.32908946e-03 1.67518160e-05 9.99979971e-01 -2.29433512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464012739 meters Centerline goodness [0,1] 0.9944942243333693 Centerline is valid? [True, True] Translation: X:285.62, Y:-13.25, Z:-2.29 [[ 9.64601369e-01 -2.63645106e-01 -5.95452568e-03 2.85622177e+02] [ 2.63640047e-01 9.64619748e-01 -1.63334691e-03 -1.32469288e+01] [ 6.17447698e-03 5.67723584e-06 9.99980938e-01 -2.29354198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.494012739 meters Centerline goodness [0,1] 0.9953070585237408 Centerline is valid? [True, True] Translation: X:285.65, Y:-13.24, Z:-2.29 [[ 9.64004492e-01 -2.65841315e-01 -4.87182702e-03 2.85648180e+02] [ 2.65837955e-01 9.64016802e-01 -1.33666184e-03 -1.32393410e+01] [ 5.05186305e-03 -6.56851933e-06 9.99987239e-01 -2.29028401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524012739 meters Centerline goodness [0,1] 0.9954422324461453 Centerline is valid? [True, True] Translation: X:285.67, Y:-13.23, Z:-2.29 [[ 9.63699014e-01 -2.66951031e-01 -4.62145896e-03 2.85674889e+02] [ 2.66948017e-01 9.63710095e-01 -1.26849386e-03 -1.32318161e+01] [ 4.79237239e-03 -1.12430286e-05 9.99988516e-01 -2.28970605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55401273900003 meters Centerline goodness [0,1] 0.9953506309857948 Centerline is valid? [True, True] Translation: X:285.70, Y:-13.23, Z:-2.29 [[ 9.63047544e-01 -2.69292948e-01 -4.55366405e-03 2.85702981e+02] [ 2.69290045e-01 9.63058310e-01 -1.25066158e-03 -1.32277758e+01] [ 4.72223835e-03 -2.18098339e-05 9.99988850e-01 -2.28942574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.584012739 meters Centerline goodness [0,1] 0.9956790519583306 Centerline is valid? [True, True] Translation: X:285.73, Y:-13.22, Z:-2.29 [[ 9.62513445e-01 -2.71194275e-01 -4.64042537e-03 2.85731500e+02] [ 2.71191280e-01 9.62524630e-01 -1.27491674e-03 -1.32220134e+01] [ 4.81227383e-03 -3.13183899e-05 9.99988420e-01 -2.28971018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61401273900003 meters Centerline goodness [0,1] 0.9947863027806385 Centerline is valid? [True, True] Translation: X:285.76, Y:-13.22, Z:-2.29 [[ 9.61995168e-01 -2.73026994e-01 -4.64291880e-03 2.85759306e+02] [ 2.73024014e-01 9.62006372e-01 -1.27626417e-03 -1.32183488e+01] [ 4.81497204e-03 -3.98683602e-05 9.99988407e-01 -2.29018648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.644012739 meters Centerline goodness [0,1] 0.9944616700523896 Centerline is valid? [True, True] Translation: X:285.79, Y:-13.21, Z:-2.29 [[ 9.61452714e-01 -2.74923064e-01 -5.09784919e-03 2.85786713e+02] [ 2.74919495e-01 9.61466227e-01 -1.40183607e-03 -1.32102524e+01] [ 5.28680690e-03 -5.36990379e-05 9.99986023e-01 -2.29032896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67401273900003 meters Centerline goodness [0,1] 0.9949693881919767 Centerline is valid? [True, True] Translation: X:285.81, Y:-13.20, Z:-2.29 [[ 9.61432031e-01 -2.74985921e-01 -5.58506094e-03 2.85812695e+02] [ 2.74981633e-01 9.61448251e-01 -1.53667438e-03 -1.32034604e+01] [ 5.79231090e-03 -5.83812117e-05 9.99983223e-01 -2.29158549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.704012739 meters Centerline goodness [0,1] 0.9955735014683019 Centerline is valid? [True, True] Translation: X:285.84, Y:-13.19, Z:-2.29 [[ 9.61507399e-01 -2.74699200e-01 -6.62359188e-03 2.85839137e+02] [ 2.74693156e-01 9.61530210e-01 -1.82341011e-03 -1.31949502e+01] [ 6.86967299e-03 -6.62330451e-05 9.99976401e-01 -2.29272065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.734012739 meters Centerline goodness [0,1] 0.9944270065979117 Centerline is valid? [True, True] Translation: X:285.87, Y:-13.19, Z:-2.29 [[ 9.61418538e-01 -2.75004478e-01 -6.85069534e-03 2.85865968e+02] [ 2.74998011e-01 9.61442943e-01 -1.88732762e-03 -1.31863965e+01] [ 7.10557624e-03 -6.94158337e-05 9.99974753e-01 -2.29275253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.764012739 meters Centerline goodness [0,1] 0.9946193916268301 Centerline is valid? [True, True] Translation: X:285.89, Y:-13.18, Z:-2.29 [[ 9.61253548e-01 -2.75575145e-01 -7.06800692e-03 2.85893614e+02] [ 2.75568269e-01 9.61279530e-01 -1.94814020e-03 -1.31804855e+01] [ 7.33118938e-03 -7.50617537e-05 9.99973124e-01 -2.29313257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.794012739 meters Centerline goodness [0,1] 0.9945690979509704 Centerline is valid? [True, True] Translation: X:285.92, Y:-13.17, Z:-2.29 [[ 9.61110027e-01 -2.76078736e-01 -6.93160746e-03 2.85921032e+02] [ 2.76072130e-01 9.61135019e-01 -1.91144854e-03 -1.31746489e+01] [ 7.18992096e-03 -7.65112772e-05 9.99974149e-01 -2.29315454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.824012739 meters Centerline goodness [0,1] 0.9949056483623782 Centerline is valid? [True, True] Translation: X:285.95, Y:-13.17, Z:-2.29 [[ 9.60967398e-01 -2.76584403e-01 -6.53671165e-03 2.85948159e+02] [ 2.76578534e-01 9.60989627e-01 -1.80339821e-03 -1.31690697e+01] [ 6.78050390e-03 -7.49072410e-05 9.99977009e-01 -2.29246856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.854012739 meters Centerline goodness [0,1] 0.9949056483623782 Centerline is valid? [True, True] Translation: X:285.97, Y:-13.16, Z:-2.29 [[ 9.60917229e-01 -2.76758654e-01 -6.53650292e-03 2.85974598e+02] [ 2.76752784e-01 9.60939458e-01 -1.80415447e-03 -1.31615756e+01] [ 6.78049894e-03 -7.53522614e-05 9.99977009e-01 -2.29236957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.884012739 meters Centerline goodness [0,1] 0.9934689063148467 Centerline is valid? [True, True] Translation: X:286.00, Y:-13.15, Z:-2.29 [[ 9.60513249e-01 -2.78196910e-01 -4.55830174e-03 2.86001851e+02] [ 2.78194069e-01 9.60524063e-01 -1.25868720e-03 -1.31539863e+01] [ 4.72852140e-03 -5.91067774e-05 9.99988819e-01 -2.28831721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.914012739 meters Centerline goodness [0,1] 0.9936168395884035 Centerline is valid? [True, True] Translation: X:286.03, Y:-13.15, Z:-2.29 [[ 9.60435114e-01 -2.78463269e-01 -4.75391760e-03 2.86029084e+02] [ 2.78460181e-01 9.60446877e-01 -1.31300837e-03 -1.31476059e+01] [ 4.93150991e-03 -6.27174086e-05 9.99987838e-01 -2.28888635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.944012739 meters Centerline goodness [0,1] 0.9947168846661838 Centerline is valid? [True, True] Translation: X:286.06, Y:-13.14, Z:-2.29 [[ 9.60384697e-01 -2.78590305e-01 -6.97677470e-03 2.86057269e+02] [ 2.78583649e-01 9.60410034e-01 -1.92786940e-03 -1.31417669e+01] [ 7.23765015e-03 -9.21190879e-05 9.99973804e-01 -2.29274976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.974012739 meters Centerline goodness [0,1] 0.994813523575871 Centerline is valid? [True, True] Translation: X:286.08, Y:-13.13, Z:-2.29 [[ 9.60328399e-01 -2.78757931e-01 -7.96133778e-03 2.86084090e+02] [ 2.78749257e-01 9.60361393e-01 -2.20149796e-03 -1.31338933e+01] [ 8.25944646e-03 -1.05055980e-04 9.99965885e-01 -2.29443325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.004012739 meters Centerline goodness [0,1] 0.9940333104395604 Centerline is valid? [True, True] Translation: X:286.11, Y:-13.13, Z:-2.30 [[ 9.60207104e-01 -2.79162016e-01 -8.41934165e-03 2.86111786e+02] [ 2.79152318e-01 9.60244008e-01 -2.32972166e-03 -1.31261492e+01] [ 8.73499217e-03 -1.13263443e-04 9.99961843e-01 -2.29536948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.034012739 meters Centerline goodness [0,1] 0.9937966858418477 Centerline is valid? [True, True] Translation: X:286.14, Y:-13.13, Z:-2.29 [[ 9.59420670e-01 -2.81867133e-01 -7.93077319e-03 2.86140102e+02] [ 2.81858613e-01 9.59453439e-01 -2.19536377e-03 -1.31250468e+01] [ 8.22800851e-03 -1.29079349e-04 9.99966141e-01 -2.29487578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.064012739 meters Centerline goodness [0,1] 0.9930086426901713 Centerline is valid? [True, True] Translation: X:286.17, Y:-13.12, Z:-2.29 [[ 9.58812688e-01 -2.83942740e-01 -7.39928276e-03 2.86169560e+02] [ 2.83935379e-01 9.58841229e-01 -2.04910415e-03 -1.31230427e+01] [ 7.67656562e-03 -1.36211096e-04 9.99970525e-01 -2.29344121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.094012739 meters Centerline goodness [0,1] 0.9926180257510729 Centerline is valid? [True, True] Translation: X:286.20, Y:-13.12, Z:-2.29 [[ 9.58173063e-01 -2.86141926e-01 -5.21336997e-03 2.86198457e+02] [ 2.86138302e-01 9.58187240e-01 -1.44432688e-03 -1.31227520e+01] [ 5.40866705e-03 -1.07829721e-04 9.99985367e-01 -2.28857053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.124012739 meters Centerline goodness [0,1] 0.9916186820217531 Centerline is valid? [True, True] Translation: X:286.22, Y:-13.12, Z:-2.29 [[ 9.58179919e-01 -2.86139317e-01 -3.94132714e-03 2.86224650e+02] [ 2.86137244e-01 9.58188022e-01 -1.09221598e-03 -1.31167176e+01] [ 4.08905839e-03 -8.12210630e-05 9.99991636e-01 -2.28584376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.154012739 meters Centerline goodness [0,1] 0.9916593408949591 Centerline is valid? [True, True] Translation: X:286.25, Y:-13.11, Z:-2.28 [[ 9.58455753e-01 -2.85229125e-01 -2.62974167e-03 2.86251691e+02] [ 2.85228198e-01 9.58459359e-01 -7.28904429e-04 -1.31065631e+01] [ 2.72840529e-03 -5.14538341e-05 9.99996277e-01 -2.28330153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.184012739 meters Centerline goodness [0,1] 0.9914757591901971 Centerline is valid? [True, True] Translation: X:286.28, Y:-13.10, Z:-2.28 [[ 9.58826088e-01 -2.83981318e-01 -2.67269887e-03 2.86279373e+02] [ 2.83980354e-01 9.58829812e-01 -7.41389055e-04 -1.31031349e+01] [ 2.77320399e-03 -4.81308027e-05 9.99996154e-01 -2.28325647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.214012739 meters Centerline goodness [0,1] 0.9933088711418088 Centerline is valid? [True, True] Translation: X:286.31, Y:-13.09, Z:-2.29 [[ 9.59657655e-01 -2.81138184e-01 -4.30190997e-03 2.86306149e+02] [ 2.81135656e-01 9.59667295e-01 -1.19381958e-03 -1.30928128e+01] [ 4.46403058e-03 -6.37621840e-05 9.99990034e-01 -2.28581372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.244012739 meters Centerline goodness [0,1] 0.9936257887281624 Centerline is valid? [True, True] Translation: X:286.33, Y:-13.09, Z:-2.29 [[ 9.60095773e-01 -2.79626125e-01 -5.03361346e-03 2.86333584e+02] [ 2.79622638e-01 9.60108966e-01 -1.39785874e-03 -1.30856458e+01] [ 5.22369524e-03 -6.54340065e-05 9.99986354e-01 -2.28721703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.274012739 meters Centerline goodness [0,1] 0.993501079590397 Centerline is valid? [True, True] Translation: X:286.36, Y:-13.08, Z:-2.29 [[ 9.60573499e-01 -2.77969699e-01 -5.60351388e-03 2.86360925e+02] [ 2.77965344e-01 9.60589841e-01 -1.55717896e-03 -1.30785045e+01] [ 5.81552707e-03 -6.17978213e-05 9.99983088e-01 -2.28818519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30401273900003 meters Centerline goodness [0,1] 0.9939721426879938 Centerline is valid? [True, True] Translation: X:286.39, Y:-13.07, Z:-2.29 [[ 9.61472361e-01 -2.74847741e-01 -5.44235166e-03 2.86388030e+02] [ 2.74843577e-01 9.61487763e-01 -1.51332886e-03 -1.30673991e+01] [ 5.64868954e-03 -4.07715324e-05 9.99984045e-01 -2.28820545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.334012739 meters Centerline goodness [0,1] 0.9947154997627368 Centerline is valid? [True, True] Translation: X:286.41, Y:-13.06, Z:-2.29 [[ 9.61594194e-01 -2.74429670e-01 -4.99618398e-03 2.86414901e+02] [ 2.74426151e-01 9.61607173e-01 -1.39012827e-03 -1.30603410e+01] [ 5.18585880e-03 -3.43442684e-05 9.99986553e-01 -2.28766083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36401273900003 meters Centerline goodness [0,1] 0.9944412497603987 Centerline is valid? [True, True] Translation: X:286.44, Y:-13.06, Z:-2.29 [[ 9.61521839e-01 -2.74681190e-01 -5.09863135e-03 2.86442028e+02] [ 2.74677525e-01 9.61535357e-01 -1.41948894e-03 -1.30554795e+01] [ 5.29242123e-03 -3.56098213e-05 9.99985994e-01 -2.28799497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.394012739 meters Centerline goodness [0,1] 0.99372009569378 Centerline is valid? [True, True] Translation: X:286.47, Y:-13.05, Z:-2.29 [[ 9.61348155e-01 -2.75291466e-01 -4.93281923e-03 2.86469026e+02] [ 2.75288040e-01 9.61360810e-01 -1.37391146e-03 -1.30484238e+01] [ 5.12044519e-03 -3.71388909e-05 9.99986890e-01 -2.28760081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42401273900003 meters Centerline goodness [0,1] 0.9934295860001275 Centerline is valid? [True, True] Translation: X:286.50, Y:-13.04, Z:-2.29 [[ 9.61223913e-01 -2.75729960e-01 -4.64531632e-03 2.86495544e+02] [ 2.75726923e-01 9.61235137e-01 -1.29471797e-03 -1.30411484e+01] [ 4.82223380e-03 -3.63248958e-05 9.99988372e-01 -2.28776401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.454012739 meters Centerline goodness [0,1] 0.9938824135488441 Centerline is valid? [True, True] Translation: X:286.52, Y:-13.04, Z:-2.29 [[ 9.61409747e-01 -2.75052049e-01 -6.13753461e-03 2.86521960e+02] [ 2.75046726e-01 9.61429336e-01 -1.71176068e-03 -1.30355515e+01] [ 6.37162911e-03 -4.24054017e-05 9.99979700e-01 -2.29145577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484012739 meters Centerline goodness [0,1] 0.9955247210980493 Centerline is valid? [True, True] Translation: X:286.55, Y:-13.03, Z:-2.30 [[ 9.61584170e-01 -2.74353898e-01 -9.26399948e-03 2.86550300e+02] [ 2.74341724e-01 9.61628793e-01 -2.58517454e-03 -1.30285611e+01] [ 9.61778135e-03 -5.56386777e-05 9.99953747e-01 -2.29701473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.514012739 meters Centerline goodness [0,1] 0.9951789752122531 Centerline is valid? [True, True] Translation: X:286.58, Y:-13.02, Z:-2.30 [[ 9.61620205e-01 -2.74214214e-01 -9.65121643e-03 2.86577240e+02] [ 2.74200975e-01 9.61668634e-01 -2.69506181e-03 -1.30205791e+01] [ 1.00202964e-02 -5.47470651e-05 9.99949794e-01 -2.29749918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544012739 meters Centerline goodness [0,1] 0.9957048196671775 Centerline is valid? [True, True] Translation: X:286.60, Y:-13.01, Z:-2.30 [[ 9.61685354e-01 -2.73999970e-01 -9.23558039e-03 2.86603797e+02] [ 2.73987819e-01 9.61729699e-01 -2.58081023e-03 -1.30116022e+01] [ 9.58927387e-03 -4.85091343e-05 9.99954021e-01 -2.29576041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.574012739 meters Centerline goodness [0,1] 0.9942446351013072 Centerline is valid? [True, True] Translation: X:286.63, Y:-13.00, Z:-2.29 [[ 9.62469533e-01 -2.71304061e-01 -6.81940576e-03 2.86629187e+02] [ 2.71297364e-01 9.62493692e-01 -1.90635323e-03 -1.29994800e+01] [ 7.08083640e-03 -1.52799010e-05 9.99974930e-01 -2.29110629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604012739 meters Centerline goodness [0,1] 0.9938630560264361 Centerline is valid? [True, True] Translation: X:286.66, Y:-12.99, Z:-2.29 [[ 9.62939306e-01 -2.69649203e-01 -6.09921730e-03 2.86655518e+02] [ 2.69643808e-01 9.62958622e-01 -1.70576059e-03 -1.29884264e+01] [ 6.33325087e-03 -2.07225693e-06 9.99979945e-01 -2.28903685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.634012739 meters Centerline goodness [0,1] 0.994261088011088 Centerline is valid? [True, True] Translation: X:286.68, Y:-12.97, Z:-2.29 [[ 9.63870882e-01 -2.66284389e-01 -6.74892365e-03 2.86681956e+02] [ 2.66277691e-01 9.63894509e-01 -1.88884946e-03 -1.29747076e+01] [ 7.00822157e-03 2.35191912e-05 9.99975442e-01 -2.28942514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664012739 meters Centerline goodness [0,1] 0.994200781820525 Centerline is valid? [True, True] Translation: X:286.71, Y:-12.97, Z:-2.29 [[ 9.64076348e-01 -2.65541304e-01 -6.67911813e-03 2.86708907e+02] [ 2.65534720e-01 9.64099484e-01 -1.87014335e-03 -1.29660490e+01] [ 6.93593465e-03 2.94232061e-05 9.99975946e-01 -2.28958380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.694012739 meters Centerline goodness [0,1] 0.9939743644338458 Centerline is valid? [True, True] Translation: X:286.74, Y:-12.96, Z:-2.29 [[ 9.64102438e-01 -2.65465071e-01 -5.89792573e-03 2.86735378e+02] [ 2.65459933e-01 9.64120478e-01 -1.65182297e-03 -1.29593429e+01] [ 6.12481227e-03 2.68635814e-05 9.99981243e-01 -2.28773148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724012739 meters Centerline goodness [0,1] 0.9931059506531205 Centerline is valid? [True, True] Translation: X:286.76, Y:-12.96, Z:-2.28 [[ 9.63419907e-01 -2.67977448e-01 -3.18915451e-03 2.86764619e+02] [ 2.67975959e-01 9.63425185e-01 -8.93298502e-04 -1.29564004e+01] [ 3.31189563e-03 6.00482183e-06 9.99994516e-01 -2.28333121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.754012739 meters Centerline goodness [0,1] 0.9926876585584241 Centerline is valid? [True, True] Translation: X:286.79, Y:-12.95, Z:-2.28 [[ 9.62522815e-01 -2.71188962e-01 -2.52541737e-03 2.86793069e+02] [ 2.71188038e-01 9.62526128e-01 -7.07681655e-04 -1.29536556e+01] [ 2.62269565e-03 -3.70324429e-06 9.99996561e-01 -2.28200405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784012739 meters Centerline goodness [0,1] 0.992444138287338 Centerline is valid? [True, True] Translation: X:286.82, Y:-12.95, Z:-2.28 [[ 9.62239577e-01 -2.72191102e-01 -2.64571893e-03 2.86820870e+02] [ 2.72190091e-01 9.62243215e-01 -7.41917144e-04 -1.29473284e+01] [ 2.74776834e-03 -6.23643883e-06 9.99996225e-01 -2.28241652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.814012739 meters Centerline goodness [0,1] 0.9933828551912568 Centerline is valid? [True, True] Translation: X:286.85, Y:-12.94, Z:-2.28 [[ 9.62293708e-01 -2.71993443e-01 -3.22271466e-03 2.86846554e+02] [ 2.71991939e-01 9.62299105e-01 -9.04529034e-04 -1.29392890e+01] [ 3.34724140e-03 -6.12981176e-06 9.99994398e-01 -2.28262700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844012739 meters Centerline goodness [0,1] 0.994511713327781 Centerline is valid? [True, True] Translation: X:286.87, Y:-12.92, Z:-2.29 [[ 9.63194032e-01 -2.68764401e-01 -4.79089148e-03 2.86870267e+02] [ 2.68761032e-01 9.63205947e-01 -1.34582365e-03 -1.29245187e+01] [ 4.97632465e-03 8.68436683e-06 9.99987618e-01 -2.28500577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.874012739 meters Centerline goodness [0,1] 0.9948385445548777 Centerline is valid? [True, True] Translation: X:286.90, Y:-12.91, Z:-2.29 [[ 9.63749541e-01 -2.66744425e-01 -5.85098651e-03 2.86897272e+02] [ 2.66739357e-01 9.63767301e-01 -1.64441003e-03 -1.29132658e+01] [ 6.07762669e-03 2.41110278e-05 9.99981531e-01 -2.28709027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904012739 meters Centerline goodness [0,1] 0.9948637496776412 Centerline is valid? [True, True] Translation: X:286.92, Y:-12.90, Z:-2.29 [[ 9.64851881e-01 -2.62702517e-01 -6.94519834e-03 2.86923707e+02] [ 2.62695262e-01 9.64876875e-01 -1.95328365e-03 -1.28993875e+01] [ 7.21439380e-03 6.01587060e-05 9.99973974e-01 -2.29021876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.934012739 meters Centerline goodness [0,1] 0.9946145428798249 Centerline is valid? [True, True] Translation: X:286.95, Y:-12.89, Z:-2.29 [[ 9.65435275e-01 -2.60550728e-01 -6.93169122e-03 2.86950692e+02] [ 2.60543437e-01 9.65460156e-01 -1.95072281e-03 -1.28880292e+01] [ 7.20053394e-03 7.72899535e-05 9.99974073e-01 -2.28964020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964012739 meters Centerline goodness [0,1] 0.9942307278324328 Centerline is valid? [True, True] Translation: X:286.98, Y:-12.88, Z:-2.29 [[ 9.65985342e-01 -2.58515402e-01 -6.48889991e-03 2.86977575e+02] [ 2.58508959e-01 9.66007132e-01 -1.82723694e-03 -1.28758503e+01] [ 6.74069249e-03 8.76453330e-05 9.99977277e-01 -2.28912224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.994012739 meters Centerline goodness [0,1] 0.9936407673758563 Centerline is valid? [True, True] Translation: X:287.00, Y:-12.86, Z:-2.29 [[ 9.66814449e-01 -2.55400896e-01 -6.34058989e-03 2.87002444e+02] [ 2.55394671e-01 9.66835235e-01 -1.78635565e-03 -1.28602381e+01] [ 6.58654254e-03 1.07721583e-04 9.99978303e-01 -2.28873281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024012739 meters Centerline goodness [0,1] 0.993372811424418 Centerline is valid? [True, True] Translation: X:287.03, Y:-12.85, Z:-2.29 [[ 9.67007187e-01 -2.54679584e-01 -5.95066653e-03 2.87029399e+02] [ 2.54674084e-01 9.67025490e-01 -1.67725166e-03 -1.28510741e+01] [ 6.18160798e-03 1.06433867e-04 9.99980888e-01 -2.28725325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05401273900003 meters Centerline goodness [0,1] 0.9932846903854846 Centerline is valid? [True, True] Translation: X:287.06, Y:-12.84, Z:-2.28 [[ 9.67464563e-01 -2.52964584e-01 -4.60861030e-03 2.87055700e+02] [ 2.52961261e-01 9.67475535e-01 -1.29965829e-03 -1.28378746e+01] [ 4.78748524e-03 9.15734664e-05 9.99988536e-01 -2.28448239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.084012739 meters Centerline goodness [0,1] 0.9934103551561831 Centerline is valid? [True, True] Translation: X:287.08, Y:-12.83, Z:-2.28 [[ 9.67624592e-01 -2.52354107e-01 -4.47807277e-03 2.87082228e+02] [ 2.52350960e-01 9.67634950e-01 -1.26362633e-03 -1.28271817e+01] [ 4.65202101e-03 9.26699514e-05 9.99989175e-01 -2.28401028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11401273900003 meters Centerline goodness [0,1] 0.9929868690313779 Centerline is valid? [True, True] Translation: X:287.11, Y:-12.81, Z:-2.28 [[ 9.67848622e-01 -2.51492952e-01 -4.51004147e-03 2.87107663e+02] [ 2.51489748e-01 9.67859125e-01 -1.27333351e-03 -1.28131965e+01] [ 4.68531919e-03 9.81648926e-05 9.99989019e-01 -2.28383126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.144012739 meters Centerline goodness [0,1] 0.9930388965044551 Centerline is valid? [True, True] Translation: X:287.13, Y:-12.80, Z:-2.29 [[ 9.68063820e-01 -2.50658044e-01 -4.79431871e-03 2.87134234e+02] [ 2.50654411e-01 9.68075686e-01 -1.35406112e-03 -1.28004527e+01] [ 4.98066968e-03 1.09100450e-04 9.99987590e-01 -2.28502591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17401273900003 meters Centerline goodness [0,1] 0.9927212607892816 Centerline is valid? [True, True] Translation: X:287.16, Y:-12.79, Z:-2.29 [[ 9.67877616e-01 -2.51372746e-01 -4.96614706e-03 2.87161263e+02] [ 2.51368852e-01 9.67890351e-01 -1.40349118e-03 -1.27910919e+01] [ 5.15948525e-03 1.10073013e-04 9.99986684e-01 -2.28562149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.204012739 meters Centerline goodness [0,1] 0.993339291794348 Centerline is valid? [True, True] Translation: X:287.19, Y:-12.78, Z:-2.29 [[ 9.67267126e-01 -2.53705289e-01 -5.28516164e-03 2.87188715e+02] [ 2.53700908e-01 9.67281559e-01 -1.49462290e-03 -1.27818759e+01] [ 5.49143312e-03 1.04849288e-04 9.99984916e-01 -2.28579170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.234012739 meters Centerline goodness [0,1] 0.9939049167005283 Centerline is valid? [True, True] Translation: X:287.21, Y:-12.77, Z:-2.28 [[ 9.67078764e-01 -2.54426105e-01 -5.10113481e-03 2.87214583e+02] [ 2.54422030e-01 9.67092212e-01 -1.44327874e-03 -1.27705695e+01] [ 5.30047554e-03 9.79231467e-05 9.99985948e-01 -2.28479088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.264012739 meters Centerline goodness [0,1] 0.9940000863296931 Centerline is valid? [True, True] Translation: X:287.24, Y:-12.76, Z:-2.28 [[ 9.66998140e-01 -2.54742719e-01 -4.55460898e-03 2.87241497e+02] [ 2.54739472e-01 9.67008862e-01 -1.28906988e-03 -1.27623863e+01] [ 4.73272841e-03 8.62894907e-05 9.99988797e-01 -2.28357817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.294012739 meters Centerline goodness [0,1] 0.993380756914745 Centerline is valid? [True, True] Translation: X:287.27, Y:-12.74, Z:-2.28 [[ 9.67402481e-01 -2.53204658e-01 -4.45436199e-03 2.87265466e+02] [ 2.53201532e-01 9.67412731e-01 -1.26149596e-03 -1.27445220e+01] [ 4.62862316e-03 9.25230370e-05 9.99989284e-01 -2.28267129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.324012739 meters Centerline goodness [0,1] 0.9930776744383574 Centerline is valid? [True, True] Translation: X:287.29, Y:-12.73, Z:-2.28 [[ 9.67720229e-01 -2.51973165e-01 -5.20410082e-03 2.87291514e+02] [ 2.51968878e-01 9.67734215e-01 -1.47452116e-03 -1.27304841e+01] [ 5.40772618e-03 1.15652508e-04 9.99985371e-01 -2.28377551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.354012739 meters Centerline goodness [0,1] 0.9931091093685871 Centerline is valid? [True, True] Translation: X:287.32, Y:-12.71, Z:-2.29 [[ 9.68424418e-01 -2.49188873e-01 -7.68453108e-03 2.87315217e+02] [ 2.49179427e-01 9.68454887e-01 -2.17844047e-03 -1.27083235e+01] [ 7.98496480e-03 1.94827891e-04 9.99968101e-01 -2.28870836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.384012739 meters Centerline goodness [0,1] 0.9924403496338294 Centerline is valid? [True, True] Translation: X:287.34, Y:-12.69, Z:-2.29 [[ 9.68717962e-01 -2.48049187e-01 -7.55718029e-03 2.87340829e+02] [ 2.48040012e-01 9.68747418e-01 -2.14289624e-03 -1.26947625e+01] [ 7.85254257e-03 2.01378981e-04 9.99969148e-01 -2.28830564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.414012739 meters Centerline goodness [0,1] 0.9919893762851268 Centerline is valid? [True, True] Translation: X:287.37, Y:-12.68, Z:-2.29 [[ 9.68761798e-01 -2.47923160e-01 -5.88945297e-03 2.87366755e+02] [ 2.47917581e-01 9.68779687e-01 -1.67072478e-03 -1.26826207e+01] [ 6.11979378e-03 1.58435408e-04 9.99981261e-01 -2.28512049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.444012739 meters Centerline goodness [0,1] 0.992417932124474 Centerline is valid? [True, True] Translation: X:287.39, Y:-12.67, Z:-2.28 [[ 9.68260291e-01 -2.49924954e-01 -3.08634587e-03 2.87393876e+02] [ 2.49923431e-01 9.68265207e-01 -8.75832305e-04 -1.26713889e+01] [ 3.20729367e-03 7.66834933e-05 9.99994854e-01 -2.27984524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.474012739 meters Centerline goodness [0,1] 0.9926875026649042 Centerline is valid? [True, True] Translation: X:287.42, Y:-12.66, Z:-2.28 [[ 9.67742823e-01 -2.51914151e-01 -3.61788821e-03 2.87420071e+02] [ 2.51912070e-01 9.67749582e-01 -1.02734391e-03 -1.26606335e+01] [ 3.76001228e-03 8.28149828e-05 9.99992928e-01 -2.28070306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.504012739 meters Centerline goodness [0,1] 0.9943174562635678 Centerline is valid? [True, True] Translation: X:287.45, Y:-12.66, Z:-2.29 [[ 9.66244497e-01 -2.57533905e-01 -6.91802908e-03 2.87450088e+02] [ 2.57526435e-01 9.66269256e-01 -1.96498258e-03 -1.26566441e+01] [ 7.19072844e-03 1.17078244e-04 9.99974140e-01 -2.28792825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.534012739 meters Centerline goodness [0,1] 0.9949306469357379 Centerline is valid? [True, True] Translation: X:287.48, Y:-12.65, Z:-2.29 [[ 9.65209469e-01 -2.61357709e-01 -7.92649630e-03 2.87478855e+02] [ 2.61348028e-01 9.65242010e-01 -2.25177468e-03 -1.26523124e+01] [ 8.23950589e-03 1.01860064e-04 9.99966050e-01 -2.28994847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.564012739 meters Centerline goodness [0,1] 0.9953242704996104 Centerline is valid? [True, True] Translation: X:287.51, Y:-12.65, Z:-2.29 [[ 9.64070113e-01 -2.65523530e-01 -8.12843611e-03 2.87507874e+02] [ 2.65513489e-01 9.64104377e-01 -2.31016970e-03 -1.26489293e+01] [ 8.45006525e-03 6.89561240e-05 9.99964295e-01 -2.28910785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.594012739 meters Centerline goodness [0,1] 0.9955143604243287 Centerline is valid? [True, True] Translation: X:287.54, Y:-12.65, Z:-2.29 [[ 9.61940564e-01 -2.73185863e-01 -6.31150372e-03 2.87536550e+02] [ 2.73179967e-01 9.61961270e-01 -1.79478657e-03 -1.26461476e+01] [ 6.56173245e-03 2.30162782e-06 9.99978472e-01 -2.28559758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.624012739 meters Centerline goodness [0,1] 0.9949477576643592 Centerline is valid? [True, True] Translation: X:287.56, Y:-12.64, Z:-2.28 [[ 9.60876367e-01 -2.76924851e-01 -5.40686288e-03 2.87564623e+02] [ 2.76920578e-01 9.60891579e-01 -1.53846997e-03 -1.26417560e+01] [ 5.62144958e-03 -1.89921602e-05 9.99984199e-01 -2.28369481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.654012739 meters Centerline goodness [0,1] 0.9940729287462956 Centerline is valid? [True, True] Translation: X:287.59, Y:-12.64, Z:-2.28 [[ 9.58945221e-01 -2.83540514e-01 -5.37028056e-03 2.87593992e+02] [ 2.83536398e-01 9.58960256e-01 -1.52888614e-03 -1.26444913e+01] [ 5.58338679e-03 -5.65519460e-05 9.99984411e-01 -2.28440263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.684012739 meters Centerline goodness [0,1] 0.9935124916757965 Centerline is valid? [True, True] Translation: X:287.62, Y:-12.64, Z:-2.29 [[ 9.57975689e-01 -2.86794520e-01 -5.61084922e-03 2.87622577e+02] [ 2.86790080e-01 9.57992117e-01 -1.59773699e-03 -1.26426140e+01] [ 5.83337154e-03 -7.85427054e-05 9.99982983e-01 -2.28537116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.714012739 meters Centerline goodness [0,1] 0.9935124916757965 Centerline is valid? [True, True] Translation: X:287.65, Y:-12.63, Z:-2.29 [[ 9.57923252e-01 -2.86969620e-01 -5.61068089e-03 2.87648948e+02] [ 2.86965179e-01 9.57939680e-01 -1.59832790e-03 -1.26349112e+01] [ 5.83336541e-03 -7.89945876e-05 9.99982983e-01 -2.28527219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.744012739 meters Centerline goodness [0,1] 0.993186880377342 Centerline is valid? [True, True] Translation: X:287.68, Y:-12.64, Z:-2.29 [[ 9.56140678e-01 -2.92839663e-01 -6.31953104e-03 2.87679660e+02] [ 2.92834152e-01 9.56161553e-01 -1.80114087e-03 -1.26351518e+01] [ 6.56993810e-03 -1.28430453e-04 9.99978409e-01 -2.28654479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.774012739 meters Centerline goodness [0,1] 0.9929965631282018 Centerline is valid? [True, True] Translation: X:287.71, Y:-12.63, Z:-2.29 [[ 9.55545986e-01 -2.94762773e-01 -6.83935765e-03 2.87708133e+02] [ 2.94756364e-01 9.55570450e-01 -1.94965717e-03 -1.26322939e+01] [ 7.11017442e-03 -1.52957112e-04 9.99974711e-01 -2.28699097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80401273900003 meters Centerline goodness [0,1] 0.9930179937506735 Centerline is valid? [True, True] Translation: X:287.74, Y:-12.63, Z:-2.29 [[ 9.55171422e-01 -2.95970632e-01 -6.99562789e-03 2.87736677e+02] [ 2.95963957e-01 9.55197026e-01 -1.99465286e-03 -1.26298029e+01] [ 7.27256162e-03 -1.65218299e-04 9.99973541e-01 -2.28748511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.834012739 meters Centerline goodness [0,1] 0.9924647810418259 Centerline is valid? [True, True] Translation: X:287.77, Y:-12.63, Z:-2.29 [[ 9.54777675e-01 -2.97253319e-01 -6.32890180e-03 2.87765866e+02] [ 2.97247879e-01 9.54798638e-01 -1.80524637e-03 -1.26281129e+01] [ 6.57944229e-03 -1.57643702e-04 9.99978343e-01 -2.28538694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86401273900003 meters Centerline goodness [0,1] 0.9917805867330515 Centerline is valid? [True, True] Translation: X:287.79, Y:-12.63, Z:-2.29 [[ 9.54649789e-01 -2.97666265e-01 -6.21089315e-03 2.87793771e+02] [ 2.97661029e-01 9.54669980e-01 -1.77234652e-03 -1.26257523e+01] [ 6.45692101e-03 -1.56770618e-04 9.99979142e-01 -2.28522622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.894012739 meters Centerline goodness [0,1] 0.9912936398202558 Centerline is valid? [True, True] Translation: X:287.82, Y:-12.62, Z:-2.28 [[ 9.54204666e-01 -2.99038650e-01 -8.32716604e-03 2.87823492e+02] [ 2.99029282e-01 9.54240974e-01 -2.37738695e-03 -1.26235734e+01] [ 8.65705362e-03 -2.21552763e-04 9.99962502e-01 -2.28076762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92401273900003 meters Centerline goodness [0,1] 0.9912049635354305 Centerline is valid? [True, True] Translation: X:287.85, Y:-12.62, Z:-2.28 [[ 9.53954702e-01 -2.99811646e-01 -9.13251570e-03 2.87851619e+02] [ 2.99800398e-01 9.53998383e-01 -2.60902343e-03 -1.26156950e+01] [ 9.49462082e-03 -2.49041668e-04 9.99954894e-01 -2.27917257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.954012739 meters Centerline goodness [0,1] 0.9919098401436328 Centerline is valid? [True, True] Translation: X:287.88, Y:-12.62, Z:-2.29 [[ 9.53784657e-01 -3.00387004e-01 -7.90416391e-03 2.87881428e+02] [ 3.00378590e-01 9.53817383e-01 -2.25909151e-03 -1.26178027e+01] [ 8.21773066e-03 -2.19554790e-04 9.99966210e-01 -2.28753696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984012739 meters Centerline goodness [0,1] 0.9919957424161788 Centerline is valid? [True, True] Translation: X:287.91, Y:-12.61, Z:-2.29 [[ 9.53901735e-01 -3.00034706e-01 -7.11728740e-03 2.87908794e+02] [ 3.00027869e-01 9.53928266e-01 -2.03483255e-03 -1.26131900e+01] [ 7.39990201e-03 -1.94354274e-04 9.99972601e-01 -2.28564753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.014012739 meters Centerline goodness [0,1] 0.9925786490112077 Centerline is valid? [True, True] Translation: X:287.94, Y:-12.60, Z:-2.28 [[ 9.54120937e-01 -2.99370256e-01 -5.53965900e-03 2.87936393e+02] [ 2.99366099e-01 9.54137007e-01 -1.58440682e-03 -1.26048336e+01] [ 5.75991793e-03 -1.46670382e-04 9.99983401e-01 -2.28238573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044012739 meters Centerline goodness [0,1] 0.9922964679627484 Centerline is valid? [True, True] Translation: X:287.96, Y:-12.60, Z:-2.28 [[ 9.54304750e-01 -2.98783484e-01 -5.55636487e-03 2.87964482e+02] [ 2.98779288e-01 9.54320915e-01 -1.58994423e-03 -1.26019180e+01] [ 5.77760429e-03 -1.42835405e-04 9.99983299e-01 -2.28258279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.074012739 meters Centerline goodness [0,1] 0.9927512712322839 Centerline is valid? [True, True] Translation: X:287.99, Y:-12.59, Z:-2.28 [[ 9.54538596e-01 -2.98038002e-01 -5.42390458e-03 2.87991540e+02] [ 2.98033989e-01 9.54553996e-01 -1.55260274e-03 -1.25915353e+01] [ 5.64014441e-03 -1.34488680e-04 9.99984085e-01 -2.28176794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104012739 meters Centerline goodness [0,1] 0.9936614386154679 Centerline is valid? [True, True] Translation: X:288.02, Y:-12.58, Z:-2.28 [[ 9.55537920e-01 -2.94820691e-01 -5.29556198e-03 2.88018588e+02] [ 2.94816812e-01 9.55552588e-01 -1.51655324e-03 -1.25806624e+01] [ 5.50729923e-03 -1.12096572e-04 9.99984828e-01 -2.28078670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.134012739 meters Centerline goodness [0,1] 0.9930586798637444 Centerline is valid? [True, True] Translation: X:288.04, Y:-12.57, Z:-2.28 [[ 9.56272627e-01 -2.92439681e-01 -4.65783039e-03 2.88044446e+02] [ 2.92436650e-01 9.56283967e-01 -1.33415014e-03 -1.25709499e+01] [ 4.84436696e-03 -8.63090577e-05 9.99988262e-01 -2.28080070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164012739 meters Centerline goodness [0,1] 0.9930842812823164 Centerline is valid? [True, True] Translation: X:288.07, Y:-12.56, Z:-2.28 [[ 9.56184777e-01 -2.92733768e-01 -4.19687536e-03 2.88071512e+02] [ 2.92731309e-01 9.56193984e-01 -1.20246745e-03 -1.25628595e+01] [ 4.36502980e-03 -7.87757531e-05 9.99990470e-01 -2.28091137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.194012739 meters Centerline goodness [0,1] 0.9928238403197044 Centerline is valid? [True, True] Translation: X:288.10, Y:-12.56, Z:-2.28 [[ 9.55785915e-01 -2.94037557e-01 -3.89878395e-03 2.88098618e+02] [ 2.94035443e-01 9.55793863e-01 -1.11774529e-03 -1.25576815e+01] [ 4.05509287e-03 -7.80554564e-05 9.99991775e-01 -2.28021544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224012739 meters Centerline goodness [0,1] 0.9925878320479863 Centerline is valid? [True, True] Translation: X:288.13, Y:-12.55, Z:-2.28 [[ 9.55170251e-01 -2.96029174e-01 -4.06452848e-03 2.88126860e+02] [ 2.96026893e-01 9.55178894e-01 -1.16553085e-03 -1.25541953e+01] [ 4.22738295e-03 -8.99293437e-05 9.99991061e-01 -2.28047363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.254012739 meters Centerline goodness [0,1] 0.9920046549717685 Centerline is valid? [True, True] Translation: X:288.16, Y:-12.55, Z:-2.28 [[ 9.54049284e-01 -2.99608157e-01 -4.99160240e-03 2.88156381e+02] [ 2.99604764e-01 9.54062333e-01 -1.43171978e-03 -1.25544829e+01] [ 5.19125476e-03 -1.29576625e-04 9.99986517e-01 -2.28131867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284012739 meters Centerline goodness [0,1] 0.9902900189931496 Centerline is valid? [True, True] Translation: X:288.19, Y:-12.55, Z:-2.28 [[ 9.53345135e-01 -3.01846718e-01 -4.64896971e-03 2.88186283e+02] [ 3.01843801e-01 9.53356461e-01 -1.33364868e-03 -1.25529696e+01] [ 4.83468278e-03 -1.31835200e-04 9.99988304e-01 -2.28163015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.314012739 meters Centerline goodness [0,1] 0.9912830939608929 Centerline is valid? [True, True] Translation: X:288.21, Y:-12.55, Z:-2.28 [[ 9.53185764e-01 -3.02354835e-01 -4.29582222e-03 2.88214436e+02] [ 3.02352348e-01 9.53195436e-01 -1.23260647e-03 -1.25471901e+01] [ 4.46744266e-03 -1.23948990e-04 9.99990013e-01 -2.28119114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344012739 meters Centerline goodness [0,1] 0.9902474652002062 Centerline is valid? [True, True] Translation: X:288.24, Y:-12.55, Z:-2.28 [[ 9.53118480e-01 -3.02561558e-01 -4.65477322e-03 2.88243664e+02] [ 3.02558637e-01 9.53129837e-01 -1.33633476e-03 -1.25471754e+01] [ 4.84092677e-03 -1.34656490e-04 9.99988274e-01 -2.28167983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.374012739 meters Centerline goodness [0,1] 0.9912051342999763 Centerline is valid? [True, True] Translation: X:288.27, Y:-12.54, Z:-2.28 [[ 9.53011064e-01 -3.02894607e-01 -4.97692982e-03 2.88270723e+02] [ 3.02891269e-01 9.53024048e-01 -1.42932128e-03 -1.25367848e+01] [ 5.17606751e-03 -1.45309597e-04 9.99986594e-01 -2.28098074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404012739 meters Centerline goodness [0,1] 0.9915177219024538 Centerline is valid? [True, True] Translation: X:288.30, Y:-12.53, Z:-2.28 [[ 9.53009457e-01 -3.02892254e-01 -5.40903083e-03 2.88297440e+02] [ 3.02888306e-01 9.53024794e-01 -1.55448229e-03 -1.25291717e+01] [ 5.62578114e-03 -1.56895861e-04 9.99984163e-01 -2.28104550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.434012739 meters Centerline goodness [0,1] 0.9911124468678889 Centerline is valid? [True, True] Translation: X:288.32, Y:-12.53, Z:-2.28 [[ 9.53284499e-01 -3.02018193e-01 -5.80301163e-03 2.88324948e+02] [ 3.02013627e-01 9.53302148e-01 -1.66862465e-03 -1.25253232e+01] [ 6.03597845e-03 -1.61914573e-04 9.99981770e-01 -2.28163000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464012739 meters Centerline goodness [0,1] 0.9928006380272886 Centerline is valid? [True, True] Translation: X:288.35, Y:-12.52, Z:-2.28 [[ 9.53943642e-01 -2.99900734e-01 -7.14685182e-03 2.88354030e+02] [ 2.99893742e-01 9.53970396e-01 -2.05591853e-03 -1.25203236e+01] [ 7.43445654e-03 -1.82065729e-04 9.99972347e-01 -2.28419691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.494012739 meters Centerline goodness [0,1] 0.9933753537432467 Centerline is valid? [True, True] Translation: X:288.38, Y:-12.52, Z:-2.29 [[ 9.54203821e-01 -2.99065178e-01 -7.42210171e-03 2.88382043e+02] [ 2.99057602e-01 9.54232669e-01 -2.13639046e-03 -1.25152681e+01] [ 7.72133191e-03 -1.81084001e-04 9.99970174e-01 -2.28504734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524012739 meters Centerline goodness [0,1] 0.992885917545213 Centerline is valid? [True, True] Translation: X:288.41, Y:-12.51, Z:-2.28 [[ 9.54288246e-01 -2.98814508e-01 -6.62069989e-03 2.88411237e+02] [ 2.98808467e-01 9.54311199e-01 -1.90681471e-03 -1.25133667e+01] [ 6.88799195e-03 -1.58670319e-04 9.99976265e-01 -2.28305456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55401273900003 meters Centerline goodness [0,1] 0.99277686898515 Centerline is valid? [True, True] Translation: X:288.44, Y:-12.51, Z:-2.28 [[ 9.54338304e-01 -2.98671148e-01 -5.82641274e-03 2.88439643e+02] [ 2.98666462e-01 9.54356080e-01 -1.67873623e-03 -1.25106119e+01] [ 6.06186249e-03 -1.38071790e-04 9.99981617e-01 -2.28160858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.584012739 meters Centerline goodness [0,1] 0.9930865251253601 Centerline is valid? [True, True] Translation: X:288.47, Y:-12.50, Z:-2.28 [[ 9.55084933e-01 -2.96307742e-01 -3.80699660e-03 2.88467423e+02] [ 2.96305722e-01 9.55092517e-01 -1.09705000e-03 -1.25027816e+01] [ 3.96109837e-03 -8.02589541e-05 9.99992152e-01 -2.27707700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61401273900003 meters Centerline goodness [0,1] 0.9932679361415657 Centerline is valid? [True, True] Translation: X:288.49, Y:-12.50, Z:-2.28 [[ 9.55771569e-01 -2.94092075e-01 -3.24954505e-03 2.88494742e+02] [ 2.94090590e-01 9.55777091e-01 -9.36545662e-04 -1.24959654e+01] [ 3.38127137e-03 -6.05369036e-05 9.99994282e-01 -2.27588196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.644012739 meters Centerline goodness [0,1] 0.9936266491045442 Centerline is valid? [True, True] Translation: X:288.52, Y:-12.49, Z:-2.28 [[ 9.56342550e-01 -2.92231894e-01 -3.07370083e-03 2.88522451e+02] [ 2.92230555e-01 9.56347488e-01 -8.86002599e-04 -1.24872131e+01] [ 3.19844428e-03 -5.09073154e-05 9.99994884e-01 -2.27614726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67401273900003 meters Centerline goodness [0,1] 0.993489414909671 Centerline is valid? [True, True] Translation: X:288.55, Y:-12.48, Z:-2.28 [[ 9.56965070e-01 -2.90188079e-01 -2.95539461e-03 2.88550431e+02] [ 2.90186830e-01 9.56969632e-01 -8.52384057e-04 -1.24801631e+01] [ 3.07557458e-03 -4.19148237e-05 9.99995270e-01 -2.27677993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.704012739 meters Centerline goodness [0,1] 0.9930892671655396 Centerline is valid? [True, True] Translation: X:288.58, Y:-12.48, Z:-2.28 [[ 9.56910794e-01 -2.90369601e-01 -2.68833913e-03 2.88577895e+02] [ 2.90368567e-01 9.56914570e-01 -7.75818803e-04 -1.24795429e+01] [ 2.79778508e-03 -3.82197948e-05 9.99996085e-01 -2.27612978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.734012739 meters Centerline goodness [0,1] 0.9942684113766627 Centerline is valid? [True, True] Translation: X:288.61, Y:-12.48, Z:-2.28 [[ 9.56730601e-01 -2.90959089e-01 -3.06041770e-03 2.88607569e+02] [ 2.90957751e-01 9.56735495e-01 -8.83478325e-04 -1.24769771e+01] [ 3.18506629e-03 -4.52015020e-05 9.99994927e-01 -2.27638906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.764012739 meters Centerline goodness [0,1] 0.9937247578929084 Centerline is valid? [True, True] Translation: X:288.64, Y:-12.47, Z:-2.28 [[ 9.56802320e-01 -2.90719835e-01 -3.36126899e-03 2.88635213e+02] [ 2.90718218e-01 9.56808223e-01 -9.70997151e-04 -1.24722112e+01] [ 3.49837794e-03 -4.81298037e-05 9.99993879e-01 -2.27664393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.794012739 meters Centerline goodness [0,1] 0.9941207910208445 Centerline is valid? [True, True] Translation: X:288.66, Y:-12.47, Z:-2.28 [[ 9.56993540e-01 -2.90085537e-01 -3.70742423e-03 2.88662737e+02] [ 2.90083561e-01 9.57000720e-01 -1.07180480e-03 -1.24678122e+01] [ 3.85892273e-03 -4.97525504e-05 9.99992553e-01 -2.27711376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.824012739 meters Centerline goodness [0,1] 0.9946145428798249 Centerline is valid? [True, True] Translation: X:288.69, Y:-12.46, Z:-2.28 [[ 9.57838985e-01 -2.87280007e-01 -3.83098903e-03 2.88690674e+02] [ 2.87277873e-01 9.57846645e-01 -1.10782435e-03 -1.24619419e+01] [ 3.98775578e-03 -3.94410317e-05 9.99992048e-01 -2.27693655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.854012739 meters Centerline goodness [0,1] 0.994531621493105 Centerline is valid? [True, True] Translation: X:288.72, Y:-12.45, Z:-2.28 [[ 9.58366003e-01 -2.85512491e-01 -4.14990385e-03 2.88717681e+02] [ 2.85509968e-01 9.58374987e-01 -1.20084037e-03 -1.24530151e+01] [ 4.32001897e-03 -3.39943309e-05 9.99990668e-01 -2.27710656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.884012739 meters Centerline goodness [0,1] 0.9946125778063962 Centerline is valid? [True, True] Translation: X:288.74, Y:-12.44, Z:-2.28 [[ 9.59866607e-01 -2.80385923e-01 -6.31120776e-03 2.88743961e+02] [ 2.80379967e-01 9.59887355e-01 -1.82771931e-03 -1.24423644e+01] [ 6.57051529e-03 -1.51694897e-05 9.99978414e-01 -2.28227005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.914012739 meters Centerline goodness [0,1] 0.9954259083455597 Centerline is valid? [True, True] Translation: X:288.77, Y:-12.43, Z:-2.28 [[ 9.60735211e-01 -2.77374820e-01 -7.14586381e-03 2.88770535e+02] [ 2.77367090e-01 9.60761786e-01 -2.07090523e-03 -1.24320803e+01] [ 7.43988984e-03 7.56412241e-06 9.99972324e-01 -2.28386131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.944012739 meters Centerline goodness [0,1] 0.9954663073929129 Centerline is valid? [True, True] Translation: X:288.80, Y:-12.42, Z:-2.28 [[ 9.61636316e-01 -2.74223123e-01 -7.56802181e-03 2.88796628e+02] [ 2.74214346e-01 9.61666095e-01 -2.19426898e-03 -1.24217226e+01] [ 7.87962927e-03 3.48285850e-05 9.99968955e-01 -2.28440941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.974012739 meters Centerline goodness [0,1] 0.9954530691783047 Centerline is valid? [True, True] Translation: X:288.82, Y:-12.41, Z:-2.28 [[ 9.63219000e-01 -2.68627791e-01 -6.94749648e-03 2.88822436e+02] [ 2.68620243e-01 9.63244052e-01 -2.01520382e-03 -1.24084320e+01] [ 7.23347441e-03 7.48444242e-05 9.99973835e-01 -2.28135108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.004012739 meters Centerline goodness [0,1] 0.9953906132207552 Centerline is valid? [True, True] Translation: X:288.85, Y:-12.39, Z:-2.28 [[ 9.64623341e-01 -2.63556356e-01 -6.31327590e-03 2.88848381e+02] [ 2.63550010e-01 9.64643995e-01 -1.83189853e-03 -1.23913452e+01] [ 6.57287218e-03 1.03228160e-04 9.99978393e-01 -2.28046445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.034012739 meters Centerline goodness [0,1] 0.9945828356935676 Centerline is valid? [True, True] Translation: X:288.87, Y:-12.37, Z:-2.28 [[ 9.65444046e-01 -2.60537564e-01 -6.16211317e-03 2.88871771e+02] [ 2.60531454e-01 9.65463704e-01 -1.78843777e-03 -1.23736094e+01] [ 6.41525183e-03 1.21212289e-04 9.99979415e-01 -2.28112139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.064012739 meters Centerline goodness [0,1] 0.993975385145021 Centerline is valid? [True, True] Translation: X:288.90, Y:-12.36, Z:-2.28 [[ 9.66348816e-01 -2.57152905e-01 -6.50770199e-03 2.88898223e+02] [ 2.57146010e-01 9.66370716e-01 -1.88923550e-03 -1.23586311e+01] [ 6.77467503e-03 1.52230890e-04 9.99977040e-01 -2.28104614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.094012739 meters Centerline goodness [0,1] 0.9930524090016614 Centerline is valid? [True, True] Translation: X:288.92, Y:-12.33, Z:-2.28 [[ 9.68267820e-01 -2.49839006e-01 -6.15620201e-03 2.88921930e+02] [ 2.49832687e-01 9.68287372e-01 -1.78730771e-03 -1.23327835e+01] [ 6.40751185e-03 1.92572051e-04 9.99979453e-01 -2.27975795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.124012739 meters Centerline goodness [0,1] 0.992259333703973 Centerline is valid? [True, True] Translation: X:288.95, Y:-12.32, Z:-2.28 [[ 9.69070091e-01 -2.46723946e-01 -5.51839111e-03 2.88947730e+02] [ 2.46718818e-01 9.69085785e-01 -1.60222594e-03 -1.23150851e+01] [ 5.74310189e-03 1.91178305e-04 9.99983490e-01 -2.27869029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.154012739 meters Centerline goodness [0,1] 0.9793056121464262 Centerline is valid? [True, True] Translation: X:288.97, Y:-12.29, Z:-2.28 [[ 9.70307926e-01 -2.41823990e-01 -4.86683151e-03 2.88969573e+02] [ 2.41819939e-01 9.70320112e-01 -1.41314699e-03 -1.22850433e+01] [ 5.06411734e-03 1.94290824e-04 9.99987158e-01 -2.27863061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.184012739 meters Centerline goodness [0,1] 0.9874061878594795 Centerline is valid? [True, True] Translation: X:289.00, Y:-12.28, Z:-2.28 [[ 9.70415551e-01 -2.41390595e-01 -4.92323762e-03 2.88997488e+02] [ 2.41386443e-01 9.70428019e-01 -1.42983144e-03 -1.22769516e+01] [ 5.12279559e-03 1.99127854e-04 9.99986859e-01 -2.27861420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.214012739 meters Centerline goodness [0,1] 0.9890412127156045 Centerline is valid? [True, True] Translation: X:289.02, Y:-12.26, Z:-2.28 [[ 9.69804708e-01 -2.43807260e-01 -6.07023058e-03 2.89024363e+02] [ 2.43800990e-01 9.69823678e-01 -1.76376034e-03 -1.22632303e+01] [ 6.31707093e-03 2.30574858e-04 9.99980021e-01 -2.28028185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.244012739 meters Centerline goodness [0,1] 0.9922678737735808 Centerline is valid? [True, True] Translation: X:289.05, Y:-12.26, Z:-2.28 [[ 9.69015096e-01 -2.46924735e-01 -6.15784933e-03 2.89054200e+02] [ 2.46918343e-01 9.69034638e-01 -1.78939266e-03 -1.22574623e+01] [ 6.40901460e-03 2.13462543e-04 9.99979439e-01 -2.28048333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.274012739 meters Centerline goodness [0,1] 0.9928997382985113 Centerline is valid? [True, True] Translation: X:289.08, Y:-12.25, Z:-2.28 [[ 9.68027461e-01 -2.50759818e-01 -6.50760561e-03 2.89081955e+02] [ 2.50752765e-01 9.68049314e-01 -1.89122247e-03 -1.22485826e+01] [ 6.77392574e-03 1.98955189e-04 9.99977037e-01 -2.28119662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30401273900003 meters Centerline goodness [0,1] 0.9948324291871261 Centerline is valid? [True, True] Translation: X:289.11, Y:-12.24, Z:-2.28 [[ 9.66111253e-01 -2.58026651e-01 -7.16204512e-03 2.89112416e+02] [ 2.58018307e-01 9.66137785e-01 -2.08158106e-03 -1.22443844e+01] [ 7.45662580e-03 1.63100132e-04 9.99972186e-01 -2.28298193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.334012739 meters Centerline goodness [0,1] 0.9949769239025438 Centerline is valid? [True, True] Translation: X:289.14, Y:-12.24, Z:-2.28 [[ 9.65065691e-01 -2.61931116e-01 -6.34838179e-03 2.89141703e+02] [ 2.61924643e-01 9.65086564e-01 -1.84526168e-03 -1.22375638e+01] [ 6.61006942e-03 1.18001113e-04 9.99978146e-01 -2.28082717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36401273900003 meters Centerline goodness [0,1] 0.9954962757664992 Centerline is valid? [True, True] Translation: X:289.17, Y:-12.23, Z:-2.28 [[ 9.64932896e-01 -2.62433988e-01 -5.73652127e-03 2.89169590e+02] [ 2.62428708e-01 9.64949942e-01 -1.66793422e-03 -1.22287294e+01] [ 5.97317850e-03 1.04016733e-04 9.99982155e-01 -2.27852667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.394012739 meters Centerline goodness [0,1] 0.9951212205507886 Centerline is valid? [True, True] Translation: X:289.20, Y:-12.22, Z:-2.28 [[ 9.64980587e-01 -2.62263222e-01 -5.51992423e-03 2.89195221e+02] [ 2.62258327e-01 9.64996369e-01 -1.60567903e-03 -1.22161536e+01] [ 5.74781740e-03 1.01803000e-04 9.99983476e-01 -2.27784006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42401273900003 meters Centerline goodness [0,1] 0.9954412798500308 Centerline is valid? [True, True] Translation: X:289.22, Y:-12.20, Z:-2.28 [[ 9.64970589e-01 -2.62314161e-01 -4.80028155e-03 2.89221018e+02] [ 2.62310457e-01 9.64982525e-01 -1.39679830e-03 -1.22030923e+01] [ 4.99858778e-03 8.87052341e-05 9.99987503e-01 -2.27597362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.454012739 meters Centerline goodness [0,1] 0.9955977408894711 Centerline is valid? [True, True] Translation: X:289.25, Y:-12.20, Z:-2.28 [[ 9.64775780e-01 -2.63033655e-01 -4.58162905e-03 2.89249019e+02] [ 2.63030285e-01 9.64786655e-01 -1.33402798e-03 -1.21958115e+01] [ 4.77118882e-03 8.19306918e-05 9.99988614e-01 -2.27584958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484012739 meters Centerline goodness [0,1] 0.9957451403887689 Centerline is valid? [True, True] Translation: X:289.28, Y:-12.19, Z:-2.28 [[ 9.63706421e-01 -2.66917581e-01 -4.99395428e-03 2.89277152e+02] [ 2.66913625e-01 9.63719358e-01 -1.45484421e-03 -1.21900333e+01] [ 5.20109390e-03 6.90882655e-05 9.99986472e-01 -2.27703850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.514012739 meters Centerline goodness [0,1] 0.9960284554619648 Centerline is valid? [True, True] Translation: X:289.31, Y:-12.18, Z:-2.28 [[ 9.62955500e-01 -2.69615892e-01 -4.89654786e-03 2.89305453e+02] [ 2.69612121e-01 9.62967948e-01 -1.42690615e-03 -1.21837854e+01] [ 5.09993521e-03 5.38784695e-05 9.99986994e-01 -2.27702114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544012739 meters Centerline goodness [0,1] 0.9957121829468609 Centerline is valid? [True, True] Translation: X:289.33, Y:-12.18, Z:-2.28 [[ 9.62252849e-01 -2.72106747e-01 -5.23184963e-03 2.89332378e+02] [ 2.72102474e-01 9.62267071e-01 -1.52540580e-03 -1.21774101e+01] [ 5.44950983e-03 4.42268480e-05 9.99985150e-01 -2.27713836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.574012739 meters Centerline goodness [0,1] 0.9955043252226531 Centerline is valid? [True, True] Translation: X:289.36, Y:-12.17, Z:-2.28 [[ 9.60934554e-01 -2.76685260e-01 -7.07462740e-03 2.89360173e+02] [ 2.76677569e-01 9.60960596e-01 -2.06322056e-03 -1.21735828e+01] [ 7.36930087e-03 2.52292238e-05 9.99972846e-01 -2.28039735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604012739 meters Centerline goodness [0,1] 0.9956405751838115 Centerline is valid? [True, True] Translation: X:289.39, Y:-12.17, Z:-2.28 [[ 9.60369009e-01 -2.78624686e-01 -7.72340921e-03 2.89387080e+02] [ 2.78615577e-01 9.60400065e-01 -2.25303426e-03 -1.21678043e+01] [ 8.04531367e-03 1.18821667e-05 9.99967636e-01 -2.28183623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.634012739 meters Centerline goodness [0,1] 0.994727366255144 Centerline is valid? [True, True] Translation: X:289.41, Y:-12.16, Z:-2.28 [[ 9.59582900e-01 -2.81341001e-01 -6.92093378e-03 2.89414434e+02] [ 2.81333750e-01 9.59607858e-01 -2.01991363e-03 -1.21620331e+01] [ 7.20966697e-03 -8.81767399e-06 9.99974010e-01 -2.27863329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664012739 meters Centerline goodness [0,1] 0.994727366255144 Centerline is valid? [True, True] Translation: X:289.44, Y:-12.15, Z:-2.28 [[ 9.59530038e-01 -2.81521246e-01 -6.92055377e-03 2.89440758e+02] [ 2.81513990e-01 9.59554995e-01 -2.02121501e-03 -1.21541520e+01] [ 7.20966690e-03 -8.81618415e-06 9.99974010e-01 -2.27853429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.694012739 meters Centerline goodness [0,1] 0.9937241630432454 Centerline is valid? [True, True] Translation: X:289.47, Y:-12.15, Z:-2.28 [[ 9.59247964e-01 -2.82501104e-01 -6.03893449e-03 2.89466460e+02] [ 2.82495594e-01 9.59266973e-01 -1.76457342e-03 -1.21475662e+01] [ 6.29144435e-03 -1.33089272e-05 9.99980209e-01 -2.27691168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724012739 meters Centerline goodness [0,1] 0.993628537333788 Centerline is valid? [True, True] Translation: X:289.49, Y:-12.14, Z:-2.28 [[ 9.58888924e-01 -2.83736368e-01 -5.06997500e-03 2.89494050e+02] [ 2.83732498e-01 9.58902327e-01 -1.48202046e-03 -1.21406074e+01] [ 5.28211393e-03 -1.74236654e-05 9.99986049e-01 -2.27524121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.754012739 meters Centerline goodness [0,1] 0.991698936693695 Centerline is valid? [True, True] Translation: X:289.52, Y:-12.14, Z:-2.27 [[ 9.58083809e-01 -2.86466653e-01 -3.50317029e-03 2.89522512e+02] [ 2.86464822e-01 9.58090213e-01 -1.02449858e-03 -1.21396728e+01] [ 3.64983785e-03 -2.19795581e-05 9.99993339e-01 -2.27233184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784012739 meters Centerline goodness [0,1] 0.9913058375091011 Centerline is valid? [True, True] Translation: X:289.55, Y:-12.13, Z:-2.27 [[ 9.57559801e-01 -2.88222210e-01 -2.68045772e-03 2.89550693e+02] [ 2.88221145e-01 9.57563552e-01 -7.83922604e-04 -1.21333220e+01] [ 2.79265253e-03 -2.19118216e-05 9.99996100e-01 -2.27067148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.814012739 meters Centerline goodness [0,1] 0.9901990028550731 Centerline is valid? [True, True] Translation: X:289.58, Y:-12.13, Z:-2.27 [[ 9.56532577e-01 -2.91616332e-01 -2.31164048e-03 2.89579665e+02] [ 2.91615548e-01 9.56535370e-01 -6.76513577e-04 -1.21312799e+01] [ 2.40844829e-03 -2.70030301e-05 9.99997099e-01 -2.26966281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844012739 meters Centerline goodness [0,1] 0.9899385610001499 Centerline is valid? [True, True] Translation: X:289.61, Y:-12.13, Z:-2.27 [[ 9.56032018e-01 -2.93251566e-01 -2.51001609e-03 2.89608183e+02] [ 2.93250648e-01 9.56035312e-01 -7.34639542e-04 -1.21263129e+01] [ 2.61509821e-03 -3.37249201e-05 9.99996580e-01 -2.27021376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.874012739 meters Centerline goodness [0,1] 0.9900279305228245 Centerline is valid? [True, True] Translation: X:289.64, Y:-12.12, Z:-2.27 [[ 9.55543927e-01 -2.94834391e-01 -2.91309132e-03 2.89636324e+02] [ 2.94833160e-01 9.55548366e-01 -8.53218601e-04 -1.21204417e+01] [ 3.03515784e-03 -4.35880686e-05 9.99995393e-01 -2.27087117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904012739 meters Centerline goodness [0,1] 0.9900273340736312 Centerline is valid? [True, True] Translation: X:289.66, Y:-12.11, Z:-2.27 [[ 9.55375753e-01 -2.95346609e-01 -5.24899839e-03 2.89663828e+02] [ 2.95342612e-01 9.55390169e-01 -1.53860599e-03 -1.21142041e+01] [ 5.46926352e-03 -8.03060429e-05 9.99985040e-01 -2.27401719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.934012739 meters Centerline goodness [0,1] 0.9901582770594125 Centerline is valid? [True, True] Translation: X:289.69, Y:-12.10, Z:-2.28 [[ 9.56006954e-01 -2.93274745e-01 -6.37393992e-03 2.89690536e+02] [ 2.93268800e-01 9.56028199e-01 -1.86913329e-03 -1.21046531e+01] [ 6.64183589e-03 -8.23732915e-05 9.99977939e-01 -2.27554414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964012739 meters Centerline goodness [0,1] 0.9903033959662128 Centerline is valid? [True, True] Translation: X:289.72, Y:-12.10, Z:-2.28 [[ 9.56269504e-01 -2.92415740e-01 -6.45523569e-03 2.89718198e+02] [ 2.92409616e-01 9.56291289e-01 -1.89411051e-03 -1.20951757e+01] [ 6.72695338e-03 -7.62928710e-05 9.99977371e-01 -2.27556739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.994012739 meters Centerline goodness [0,1] 0.9895470383275261 Centerline is valid? [True, True] Translation: X:289.75, Y:-12.09, Z:-2.27 [[ 9.56286298e-01 -2.92356034e-01 -6.66825933e-03 2.89745231e+02] [ 2.92349488e-01 9.56309544e-01 -1.95789043e-03 -1.20865069e+01] [ 6.94932112e-03 -7.71584135e-05 9.99975850e-01 -2.27147337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024012739 meters Centerline goodness [0,1] 0.990042522276117 Centerline is valid? [True, True] Translation: X:289.77, Y:-12.08, Z:-2.27 [[ 9.55861407e-01 -2.93753775e-01 -6.13925077e-03 2.89773131e+02] [ 2.93748250e-01 9.55881119e-01 -1.80338353e-03 -1.20836544e+01] [ 6.39814462e-03 -7.96094523e-05 9.99979528e-01 -2.27435324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05401273900003 meters Centerline goodness [0,1] 0.9900398831232537 Centerline is valid? [True, True] Translation: X:289.80, Y:-12.08, Z:-2.27 [[ 9.55511090e-01 -2.94894837e-01 -5.96595277e-03 2.89802045e+02] [ 2.94889638e-01 9.55529711e-01 -1.75311930e-03 -1.20788586e+01] [ 6.21763095e-03 -8.41727182e-05 9.99980667e-01 -2.27464535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.084012739 meters Centerline goodness [0,1] 0.9890400361034105 Centerline is valid? [True, True] Translation: X:289.83, Y:-12.08, Z:-2.27 [[ 9.54873927e-01 -2.96964987e-01 -5.25158048e-03 2.89831154e+02] [ 2.96960986e-01 9.54888365e-01 -1.54388254e-03 -1.20786437e+01] [ 5.47315215e-03 -8.53013319e-05 9.99985019e-01 -2.27393418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11401273900003 meters Centerline goodness [0,1] 0.9890335406913359 Centerline is valid? [True, True] Translation: X:289.86, Y:-12.07, Z:-2.27 [[ 9.54718057e-01 -2.97462829e-01 -5.41262096e-03 2.89859429e+02] [ 2.97458583e-01 9.54733396e-01 -1.59188144e-03 -1.20733323e+01] [ 5.64113554e-03 -9.02326086e-05 9.99984085e-01 -2.27377138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.144012739 meters Centerline goodness [0,1] 0.9889883443879194 Centerline is valid? [True, True] Translation: X:289.89, Y:-12.07, Z:-2.27 [[ 9.54671843e-01 -2.97602043e-01 -5.89043386e-03 2.89886464e+02] [ 2.97597010e-01 9.54690010e-01 -1.73352347e-03 -1.20658540e+01] [ 6.13943848e-03 -9.80294537e-05 9.99981149e-01 -2.27405539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17401273900003 meters Centerline goodness [0,1] 0.9871792113924323 Centerline is valid? [True, True] Translation: X:289.91, Y:-12.06, Z:-2.27 [[ 9.55259043e-01 -2.95648538e-01 -8.49129579e-03 2.89913729e+02] [ 2.95637986e-01 9.55296774e-01 -2.50082377e-03 -1.20561195e+01] [ 8.85107238e-03 -1.21415064e-04 9.99960821e-01 -2.27011919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.204012739 meters Centerline goodness [0,1] 0.9892580830793495 Centerline is valid? [True, True] Translation: X:289.94, Y:-12.05, Z:-2.28 [[ 9.55643817e-01 -2.94393644e-01 -8.79077480e-03 2.89940397e+02] [ 2.94382272e-01 9.55684242e-01 -2.59000566e-03 -1.20471409e+01] [ 9.16368616e-03 -1.12725364e-04 9.99958006e-01 -2.27846412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.234012739 meters Centerline goodness [0,1] 0.9899636019039004 Centerline is valid? [True, True] Translation: X:289.97, Y:-12.04, Z:-2.28 [[ 9.56854910e-01 -2.90465263e-01 -7.65588347e-03 2.89967150e+02] [ 2.90456505e-01 9.56885535e-01 -2.25656468e-03 -1.20353513e+01] [ 7.98125780e-03 -6.44961598e-05 9.99968147e-01 -2.27668619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.264012739 meters Centerline goodness [0,1] 0.9906121650694308 Centerline is valid? [True, True] Translation: X:289.99, Y:-12.03, Z:-2.28 [[ 9.57244344e-01 -2.89187831e-01 -7.32563483e-03 2.89994798e+02] [ 2.89179765e-01 9.57272373e-01 -2.16045942e-03 -1.20254783e+01] [ 7.63740641e-03 -5.03378014e-05 9.99970833e-01 -2.27596405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.294012739 meters Centerline goodness [0,1] 0.990242741551642 Centerline is valid? [True, True] Translation: X:290.02, Y:-12.02, Z:-2.27 [[ 9.57362553e-01 -2.88805823e-01 -6.93816408e-03 2.90020402e+02] [ 2.88798570e-01 9.57387693e-01 -2.04723832e-03 -1.20180784e+01] [ 7.23376725e-03 -4.37825591e-05 9.99973835e-01 -2.27482664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.324012739 meters Centerline goodness [0,1] 0.9898843304596456 Centerline is valid? [True, True] Translation: X:290.05, Y:-12.01, Z:-2.27 [[ 9.56991567e-01 -2.90042436e-01 -6.52124179e-03 2.90048524e+02] [ 2.90036050e-01 9.57013784e-01 -1.92523543e-03 -1.20126275e+01] [ 6.79931826e-03 -4.89611370e-05 9.99976883e-01 -2.27447418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.354012739 meters Centerline goodness [0,1] 0.9894243843480889 Centerline is valid? [True, True] Translation: X:290.08, Y:-12.01, Z:-2.27 [[ 9.56532337e-01 -2.91565107e-01 -5.97291291e-03 2.90077043e+02] [ 2.91559774e-01 9.56550984e-01 -1.76438099e-03 -1.20082218e+01] [ 6.22782765e-03 -5.37736597e-05 9.99980605e-01 -2.27355099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.384012739 meters Centerline goodness [0,1] 0.9875048724500844 Centerline is valid? [True, True] Translation: X:290.11, Y:-12.01, Z:-2.27 [[ 9.55303056e-01 -2.95589951e-01 -4.75949538e-03 2.90106166e+02] [ 2.95586611e-01 9.55314910e-01 -1.40652063e-03 -1.20088482e+01] [ 4.96257026e-03 -6.31896549e-05 9.99987684e-01 -2.27124187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.414012739 meters Centerline goodness [0,1] 0.987145590163582 Centerline is valid? [True, True] Translation: X:290.14, Y:-12.01, Z:-2.27 [[ 9.54286701e-01 -2.98877063e-01 -3.06484885e-03 2.90135938e+02] [ 2.98875695e-01 9.54291621e-01 -9.05838181e-04 -1.20119812e+01] [ 3.19549383e-03 -5.15795000e-05 9.99994893e-01 -2.26820696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.444012739 meters Centerline goodness [0,1] 0.9866531980742779 Centerline is valid? [True, True] Translation: X:290.17, Y:-12.01, Z:-2.27 [[ 9.53900197e-01 -3.00117729e-01 -1.93955081e-03 2.90165579e+02] [ 3.00117184e-01 9.53902169e-01 -5.73118368e-04 -1.20093525e+01] [ 2.02214471e-03 -3.53948035e-05 9.99997955e-01 -2.26625528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.474012739 meters Centerline goodness [0,1] 0.9866240681576145 Centerline is valid? [True, True] Translation: X:290.19, Y:-12.01, Z:-2.27 [[ 9.53512363e-01 -3.01350050e-01 -1.52346331e-03 2.90193897e+02] [ 3.01349715e-01 9.53513580e-01 -4.50467920e-04 -1.20068059e+01] [ 1.58839149e-03 -2.95685043e-05 9.99998738e-01 -2.26552047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.504012739 meters Centerline goodness [0,1] 0.9858630632181434 Centerline is valid? [True, True] Translation: X:290.22, Y:-12.00, Z:-2.27 [[ 9.53044801e-01 -3.02808181e-01 -3.57956917e-03 2.90223133e+02] [ 3.02806337e-01 9.53051520e-01 -1.05921537e-03 -1.20035160e+01] [ 3.73225291e-03 -7.44365292e-05 9.99993032e-01 -2.26938812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.534012739 meters Centerline goodness [0,1] 0.9856312525658477 Centerline is valid? [True, True] Translation: X:290.25, Y:-12.00, Z:-2.27 [[ 9.53067883e-01 -3.02715739e-01 -4.97904621e-03 2.90249813e+02] [ 3.02712166e-01 9.53080884e-01 -1.47431767e-03 -1.19994508e+01] [ 5.19173292e-03 -1.02093041e-04 9.99986518e-01 -2.27176613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.564012739 meters Centerline goodness [0,1] 0.9876506408891539 Centerline is valid? [True, True] Translation: X:290.28, Y:-12.00, Z:-2.27 [[ 9.53222273e-01 -3.02200207e-01 -6.50638794e-03 2.90278639e+02] [ 3.02194090e-01 9.53244469e-01 -1.92715618e-03 -1.19972179e+01] [ 6.78456532e-03 -1.29183787e-04 9.99976976e-01 -2.27280544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.594012739 meters Centerline goodness [0,1] 0.9874057039695674 Centerline is valid? [True, True] Translation: X:290.31, Y:-11.99, Z:-2.27 [[ 9.53348929e-01 -3.01801674e-01 -6.44746213e-03 2.90305929e+02] [ 3.01795653e-01 9.53370722e-01 -1.91044538e-03 -1.19890870e+01] [ 6.72339724e-03 -1.24494985e-04 9.99977390e-01 -2.27160331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.624012739 meters Centerline goodness [0,1] 0.9855047639439032 Centerline is valid? [True, True] Translation: X:290.33, Y:-11.98, Z:-2.26 [[ 9.54195961e-01 -2.99129752e-01 -5.60878617e-03 2.90333114e+02] [ 2.99125146e-01 9.54212441e-01 -1.66260650e-03 -1.19830068e+01] [ 5.84930862e-03 -9.12765754e-05 9.99982888e-01 -2.26373961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.654012739 meters Centerline goodness [0,1] 0.988368843119128 Centerline is valid? [True, True] Translation: X:290.36, Y:-11.97, Z:-2.27 [[ 9.54578399e-01 -2.97913211e-01 -5.27240836e-03 2.90359974e+02] [ 2.97909120e-01 9.54592956e-01 -1.56321030e-03 -1.19746052e+01] [ 5.49870489e-03 -7.84917516e-05 9.99984879e-01 -2.27060187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.684012739 meters Centerline goodness [0,1] 0.988764524037949 Centerline is valid? [True, True] Translation: X:290.39, Y:-11.97, Z:-2.27 [[ 9.55069301e-01 -2.96330909e-01 -5.53383401e-03 2.90387080e+02] [ 2.96326372e-01 9.55085330e-01 -1.64129553e-03 -1.19661901e+01] [ 5.77165027e-03 -7.22699787e-05 9.99983341e-01 -2.27128460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.714012739 meters Centerline goodness [0,1] 0.9898360586021391 Centerline is valid? [True, True] Translation: X:290.41, Y:-11.96, Z:-2.27 [[ 9.55945641e-01 -2.93475369e-01 -6.33550982e-03 2.90413949e+02] [ 2.93469352e-01 9.55966633e-01 -1.88022618e-03 -1.19566382e+01] [ 6.60833607e-03 -6.18839438e-05 9.99978163e-01 -2.27189556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.744012739 meters Centerline goodness [0,1] 0.9903305166327949 Centerline is valid? [True, True] Translation: X:290.44, Y:-11.95, Z:-2.27 [[ 9.56323463e-01 -2.92234804e-01 -6.65230470e-03 2.90441155e+02] [ 2.92228135e-01 9.56346598e-01 -1.97504935e-03 -1.19493232e+01] [ 6.93908713e-03 -5.52045648e-05 9.99975923e-01 -2.27314316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.774012739 meters Centerline goodness [0,1] 0.9911132895746313 Centerline is valid? [True, True] Translation: X:290.47, Y:-11.94, Z:-2.27 [[ 9.56673853e-01 -2.91078497e-01 -6.96039362e-03 2.90469036e+02] [ 2.91071160e-01 9.56699172e-01 -2.06732864e-03 -1.19407030e+01] [ 7.26075773e-03 -4.82105923e-05 9.99973639e-01 -2.27299203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80401273900003 meters Centerline goodness [0,1] 0.990854517478274 Centerline is valid? [True, True] Translation: X:290.50, Y:-11.93, Z:-2.27 [[ 9.56646880e-01 -2.91170776e-01 -6.80627910e-03 2.90495550e+02] [ 2.91163753e-01 9.56671091e-01 -2.02281953e-03 -1.19324382e+01] [ 7.10035639e-03 -4.66177741e-05 9.99974791e-01 -2.27271477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.834012739 meters Centerline goodness [0,1] 0.9904889253132616 Centerline is valid? [True, True] Translation: X:290.52, Y:-11.92, Z:-2.27 [[ 9.56629669e-01 -2.91257085e-01 -5.38398627e-03 2.90522557e+02] [ 2.91252687e-01 9.56644819e-01 -1.60108453e-03 -1.19249098e+01] [ 5.61688978e-03 -3.64555050e-05 9.99984224e-01 -2.27010764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86401273900003 meters Centerline goodness [0,1] 0.9903924687271634 Centerline is valid? [True, True] Translation: X:290.55, Y:-11.92, Z:-2.27 [[ 9.56868971e-01 -2.90478739e-01 -4.88612879e-03 2.90548605e+02] [ 2.90475101e-01 9.56881446e-01 -1.45398223e-03 -1.19157833e+01] [ 5.09779690e-03 -2.80282708e-05 9.99987006e-01 -2.26880558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.894012739 meters Centerline goodness [0,1] 0.9912626349151962 Centerline is valid? [True, True] Translation: X:290.57, Y:-11.91, Z:-2.27 [[ 9.57684583e-01 -2.87777680e-01 -4.92411284e-03 2.90574665e+02] [ 2.87773945e-01 9.57697242e-01 -1.46610251e-03 -1.19050017e+01] [ 5.13772086e-03 -1.29676031e-05 9.99986802e-01 -2.26859552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92401273900003 meters Centerline goodness [0,1] 0.9915429350488891 Centerline is valid? [True, True] Translation: X:290.60, Y:-11.90, Z:-2.27 [[ 9.58060764e-01 -2.86511329e-01 -5.55245219e-03 2.90599724e+02] [ 2.86506557e-01 9.58076854e-01 -1.65362190e-03 -1.18959854e+01] [ 5.79345733e-03 -6.54369716e-06 9.99983218e-01 -2.27047856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.954012739 meters Centerline goodness [0,1] 0.9923256161953014 Centerline is valid? [True, True] Translation: X:290.63, Y:-11.89, Z:-2.27 [[ 9.58329657e-01 -2.85587259e-01 -6.64726597e-03 2.90626170e+02] [ 2.85580391e-01 9.58352710e-01 -1.98067272e-03 -1.18861605e+01] [ 6.93608025e-03 -1.91406341e-07 9.99975945e-01 -2.27272145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984012739 meters Centerline goodness [0,1] 0.9922704273872323 Centerline is valid? [True, True] Translation: X:290.65, Y:-11.87, Z:-2.27 [[ 9.58824272e-01 -2.83924052e-01 -6.56876691e-03 2.90652252e+02] [ 2.83917296e-01 9.58846772e-01 -1.95860342e-03 -1.18740811e+01] [ 6.85453556e-03 1.29699536e-05 9.99976507e-01 -2.27306372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.014012739 meters Centerline goodness [0,1] 0.9917509427494001 Centerline is valid? [True, True] Translation: X:290.68, Y:-11.86, Z:-2.27 [[ 9.59118938e-01 -2.82947129e-01 -5.63775188e-03 2.90677474e+02] [ 2.82942131e-01 9.59135508e-01 -1.68182077e-03 -1.18638154e+01] [ 5.88323436e-03 1.79086212e-05 9.99982693e-01 -2.27096474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044012739 meters Centerline goodness [0,1] 0.9925798358634179 Centerline is valid? [True, True] Translation: X:290.70, Y:-11.85, Z:-2.26 [[ 9.60143832e-01 -2.79497184e-01 -2.26845093e-03 2.90701311e+02] [ 2.79496365e-01 9.60146512e-01 -6.76760673e-04 -1.18476336e+01] [ 2.36719795e-03 1.57637988e-05 9.99997198e-01 -2.26446781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.074012739 meters Centerline goodness [0,1] 0.9921651962993968 Centerline is valid? [True, True] Translation: X:290.73, Y:-11.84, Z:-2.26 [[ 9.60640340e-01 -2.77793702e-01 -8.92616938e-04 2.90728211e+02] [ 2.77793574e-01 9.60640755e-01 -2.65929113e-04 -1.18356696e+01] [ 9.31357642e-04 7.49898372e-06 9.99999566e-01 -2.26163551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104012739 meters Centerline goodness [0,1] 0.9924601049587662 Centerline is valid? [True, True] Translation: X:290.75, Y:-11.82, Z:-2.27 [[ 9.61377572e-01 -2.75222965e-01 -2.34154764e-03 2.90754072e+02] [ 2.75222079e-01 9.61380423e-01 -6.99019186e-04 -1.18206744e+01] [ 2.44350420e-03 2.75757568e-05 9.99997014e-01 -2.26511501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.134012739 meters Centerline goodness [0,1] 0.9924450989179845 Centerline is valid? [True, True] Translation: X:290.78, Y:-11.81, Z:-2.27 [[ 9.61388734e-01 -2.75162513e-01 -4.15867819e-03 2.90778841e+02] [ 2.75159711e-01 9.61397727e-01 -1.24267279e-03 -1.18109279e+01] [ 4.34008072e-03 5.03909346e-05 9.99990581e-01 -2.26892070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164012739 meters Centerline goodness [0,1] 0.9929050567595459 Centerline is valid? [True, True] Translation: X:290.81, Y:-11.80, Z:-2.27 [[ 9.61002900e-01 -2.76487084e-01 -5.32154545e-03 2.90806512e+02] [ 2.76482512e-01 9.61017632e-01 -1.59110057e-03 -1.18039236e+01] [ 5.55401776e-03 5.77380068e-05 9.99984575e-01 -2.27116864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.194012739 meters Centerline goodness [0,1] 0.9923585693186926 Centerline is valid? [True, True] Translation: X:290.84, Y:-11.80, Z:-2.27 [[ 9.59631478e-01 -2.81201621e-01 -5.75096328e-03 2.90835611e+02] [ 2.81196361e-01 9.59648710e-01 -1.72037275e-03 -1.17991776e+01] [ 6.00267610e-03 3.37738956e-05 9.99981983e-01 -2.27133688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224012739 meters Centerline goodness [0,1] 0.9922035289290111 Centerline is valid? [True, True] Translation: X:290.86, Y:-11.79, Z:-2.27 [[ 9.58976495e-01 -2.83427178e-01 -5.75468240e-03 2.90863872e+02] [ 2.83421946e-01 9.58993761e-01 -1.72221736e-03 -1.17943447e+01] [ 6.00682773e-03 2.05626874e-05 9.99981959e-01 -2.27125029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.254012739 meters Centerline goodness [0,1] 0.9916887445517477 Centerline is valid? [True, True] Translation: X:290.89, Y:-11.79, Z:-2.27 [[ 9.58158810e-01 -2.86178469e-01 -5.79462725e-03 2.90892378e+02] [ 2.86173210e-01 9.58176332e-01 -1.73501935e-03 -1.17918744e+01] [ 6.04879986e-03 4.15699528e-06 9.99981706e-01 -2.27120021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284012739 meters Centerline goodness [0,1] 0.9893520124913254 Centerline is valid? [True, True] Translation: X:290.92, Y:-11.78, Z:-2.26 [[ 9.57835412e-01 -2.87240815e-01 -6.63612492e-03 2.90919896e+02] [ 2.87233936e-01 9.57858400e-01 -1.98801034e-03 -1.17848814e+01] [ 6.92750571e-03 -1.93357095e-06 9.99976005e-01 -2.26285542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.314012739 meters Centerline goodness [0,1] 0.9912961251638692 Centerline is valid? [True, True] Translation: X:290.95, Y:-11.78, Z:-2.27 [[ 9.57189479e-01 -2.89366621e-01 -7.43367619e-03 2.90947422e+02] [ 2.89358040e-01 9.57218344e-01 -2.22845267e-03 -1.17759837e+01] [ 7.76049103e-03 -1.79425230e-05 9.99969887e-01 -2.27361453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344012739 meters Centerline goodness [0,1] 0.9913107067578613 Centerline is valid? [True, True] Translation: X:290.97, Y:-11.77, Z:-2.27 [[ 9.56995311e-01 -2.90015769e-01 -7.12936920e-03 2.90974301e+02] [ 2.90007888e-01 9.57021867e-01 -2.13816578e-03 -1.17699425e+01] [ 7.44306401e-03 -2.13586769e-05 9.99972300e-01 -2.27386343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.374012739 meters Centerline goodness [0,1] 0.990504284914517 Centerline is valid? [True, True] Translation: X:291.00, Y:-11.77, Z:-2.27 [[ 9.56355486e-01 -2.92156801e-01 -5.34680224e-03 2.91002949e+02] [ 2.92152400e-01 9.56370432e-01 -1.60391405e-03 -1.17677134e+01] [ 5.58211796e-03 -2.81691000e-05 9.99984419e-01 -2.27041853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404012739 meters Centerline goodness [0,1] 0.9899620647031243 Centerline is valid? [True, True] Translation: X:291.03, Y:-11.76, Z:-2.27 [[ 9.55850412e-01 -2.93815434e-01 -4.74144789e-03 2.91030626e+02] [ 2.93811992e-01 9.55862171e-01 -1.42260073e-03 -1.17630113e+01] [ 4.95015272e-03 -3.33007524e-05 9.99987747e-01 -2.26917219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.434012739 meters Centerline goodness [0,1] 0.9894899735637371 Centerline is valid? [True, True] Translation: X:291.06, Y:-11.76, Z:-2.27 [[ 9.54495665e-01 -2.98175490e-01 -5.42244488e-03 2.91060864e+02] [ 2.98171055e-01 9.54511065e-01 -1.62752012e-03 -1.17620517e+01] [ 5.66107024e-03 -6.33552105e-05 9.99983974e-01 -2.27105236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464012739 meters Centerline goodness [0,1] 0.9887383500172592 Centerline is valid? [True, True] Translation: X:291.09, Y:-11.76, Z:-2.27 [[ 9.53932740e-01 -2.99958668e-01 -6.09306836e-03 2.91089607e+02] [ 2.99953099e-01 9.53952195e-01 -1.82965357e-03 -1.17590287e+01] [ 6.36131639e-03 -8.22682938e-05 9.99979763e-01 -2.27203639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.494012739 meters Centerline goodness [0,1] 0.9894165128161092 Centerline is valid? [True, True] Translation: X:291.12, Y:-11.75, Z:-2.27 [[ 9.53483140e-01 -3.01377774e-01 -6.42952035e-03 2.91118576e+02] [ 3.01371601e-01 9.53504813e-01 -1.93144311e-03 -1.17549909e+01] [ 6.71267262e-03 -9.60763975e-05 9.99977465e-01 -2.27244622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.524012739 meters Centerline goodness [0,1] 0.9894165128161092 Centerline is valid? [True, True] Translation: X:291.14, Y:-11.75, Z:-2.27 [[ 9.53427226e-01 -3.01554622e-01 -6.42918580e-03 2.91144856e+02] [ 3.01548445e-01 9.53448898e-01 -1.93255623e-03 -1.17468903e+01] [ 6.71267138e-03 -9.61592528e-05 9.99977465e-01 -2.27234721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55401273900003 meters Centerline goodness [0,1] 0.9881580363871245 Centerline is valid? [True, True] Translation: X:291.17, Y:-11.74, Z:-2.27 [[ 9.53142585e-01 -3.02485863e-01 -4.63847705e-03 2.91173456e+02] [ 3.02482655e-01 9.53153869e-01 -1.39499852e-03 -1.17435276e+01] [ 4.84314967e-03 -7.34263578e-05 9.99988269e-01 -2.26826218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.584012739 meters Centerline goodness [0,1] 0.9870721945163845 Centerline is valid? [True, True] Translation: X:291.20, Y:-11.74, Z:-2.27 [[ 9.53076444e-01 -3.02710709e-01 -3.39393886e-03 2.91200501e+02] [ 3.02708992e-01 9.53082485e-01 -1.02114840e-03 -1.17384224e+01] [ 3.54381624e-03 -5.41433206e-05 9.99993719e-01 -2.26590063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61401273900003 meters Centerline goodness [0,1] 0.9878627625219446 Centerline is valid? [True, True] Translation: X:291.23, Y:-11.74, Z:-2.27 [[ 9.52926491e-01 -3.03164424e-01 -4.73648583e-03 2.91230212e+02] [ 3.03161080e-01 9.52938259e-01 -1.42597149e-03 -1.17376353e+01] [ 4.94588239e-03 -7.70721492e-05 9.99987766e-01 -2.26839386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.644012739 meters Centerline goodness [0,1] 0.9894465290806754 Centerline is valid? [True, True] Translation: X:291.26, Y:-11.73, Z:-2.27 [[ 9.52997034e-01 -3.02894528e-01 -7.18041590e-03 2.91256831e+02] [ 3.02886825e-01 9.53024077e-01 -2.16316429e-03 -1.17327025e+01] [ 7.49831987e-03 -1.13364222e-04 9.99971881e-01 -2.27342072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67401273900003 meters Centerline goodness [0,1] 0.9896067902303828 Centerline is valid? [True, True] Translation: X:291.28, Y:-11.73, Z:-2.27 [[ 9.53685983e-01 -3.00695809e-01 -8.06700455e-03 2.91284890e+02] [ 3.00685997e-01 9.53720095e-01 -2.43158873e-03 -1.17251801e+01] [ 8.42483288e-03 -1.06663211e-04 9.99964505e-01 -2.27460590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.704012739 meters Centerline goodness [0,1] 0.9901204871029402 Centerline is valid? [True, True] Translation: X:291.31, Y:-11.71, Z:-2.27 [[ 9.54383591e-01 -2.98500522e-01 -7.02844132e-03 2.91311902e+02] [ 2.98493005e-01 9.54409468e-01 -2.11968999e-03 -1.17149488e+01] [ 7.34073951e-03 -7.49432250e-05 9.99973054e-01 -2.27081002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.734012739 meters Centerline goodness [0,1] 0.9921420882669537 Centerline is valid? [True, True] Translation: X:291.34, Y:-11.70, Z:-2.27 [[ 9.56537189e-01 -2.91558290e-01 -5.51091039e-03 2.91337026e+02] [ 2.91553550e-01 9.56553063e-01 -1.66260091e-03 -1.16987189e+01] [ 5.75622329e-03 -1.63858913e-05 9.99983433e-01 -2.26689345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.764012739 meters Centerline goodness [0,1] 0.9921620412770761 Centerline is valid? [True, True] Translation: X:291.36, Y:-11.69, Z:-2.27 [[ 9.57554266e-01 -2.88202011e-01 -5.42482316e-03 2.91361996e+02] [ 2.88197363e-01 9.57569632e-01 -1.63693059e-03 -1.16861171e+01] [ 5.66641261e-03 4.03014327e-06 9.99983946e-01 -2.26742481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.794012739 meters Centerline goodness [0,1] 0.991169404584118 Centerline is valid? [True, True] Translation: X:291.39, Y:-11.67, Z:-2.26 [[ 9.58399659e-01 -2.85386820e-01 -4.94533121e-03 2.91388158e+02] [ 2.85382917e-01 9.58412418e-01 -1.49272618e-03 -1.16743255e+01] [ 5.16567122e-03 1.93152170e-05 9.99986658e-01 -2.26184566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.824012739 meters Centerline goodness [0,1] 0.9929975298034582 Centerline is valid? [True, True] Translation: X:291.41, Y:-11.66, Z:-2.27 [[ 9.59531526e-01 -2.81565868e-01 -4.46233327e-03 2.91413032e+02] [ 2.81562645e-01 9.59541901e-01 -1.34758522e-03 -1.16588978e+01] [ 4.66122976e-03 3.66241419e-05 9.99989136e-01 -2.26658714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.854012739 meters Centerline goodness [0,1] 0.9930470610957317 Centerline is valid? [True, True] Translation: X:291.44, Y:-11.65, Z:-2.27 [[ 9.59457298e-01 -2.81805877e-01 -5.20968571e-03 2.91438455e+02] [ 2.81801486e-01 9.59471441e-01 -1.57370419e-03 -1.16506509e+01] [ 5.44202374e-03 4.18047987e-05 9.99985191e-01 -2.26850246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.884012739 meters Centerline goodness [0,1] 0.9936910527657405 Centerline is valid? [True, True] Translation: X:291.47, Y:-11.64, Z:-2.27 [[ 9.59153974e-01 -2.82835112e-01 -5.28715992e-03 2.91465607e+02] [ 2.82830602e-01 9.59168545e-01 -1.59777534e-03 -1.16439064e+01] [ 5.52318446e-03 3.71419483e-05 9.99984746e-01 -2.26837892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.914012739 meters Centerline goodness [0,1] 0.9934220426062469 Centerline is valid? [True, True] Translation: X:291.49, Y:-11.64, Z:-2.27 [[ 9.58735293e-01 -2.84258761e-01 -4.85739113e-03 2.91493657e+02] [ 2.84254968e-01 9.58747598e-01 -1.46876322e-03 -1.16378105e+01] [ 5.07452089e-03 2.74175749e-05 9.99987124e-01 -2.26716162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.944012739 meters Centerline goodness [0,1] 0.9926345487045851 Centerline is valid? [True, True] Translation: X:291.52, Y:-11.63, Z:-2.26 [[ 9.57981823e-01 -2.86806979e-01 -3.54734330e-03 2.91521301e+02] [ 2.86804972e-01 9.57988391e-01 -1.07308714e-03 -1.16315451e+01] [ 3.70608258e-03 1.06022818e-05 9.99993132e-01 -2.26481211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.974012739 meters Centerline goodness [0,1] 0.992034695235846 Centerline is valid? [True, True] Translation: X:291.55, Y:-11.62, Z:-2.26 [[ 9.57849827e-01 -2.87252509e-01 -3.11532962e-03 2.91548266e+02] [ 2.87250963e-01 9.57854893e-01 -9.42528473e-04 -1.16230622e+01] [ 3.25477739e-03 7.91930004e-06 9.99994703e-01 -2.26309636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.004012739 meters Centerline goodness [0,1] 0.9924549332304461 Centerline is valid? [True, True] Translation: X:291.57, Y:-11.61, Z:-2.26 [[ 9.58388752e-01 -2.85450732e-01 -2.97977353e-03 2.91573857e+02] [ 2.85449307e-01 9.58393384e-01 -9.02066070e-04 -1.16088209e+01] [ 3.11329066e-03 1.39556851e-05 9.99995154e-01 -2.26222968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.034012739 meters Centerline goodness [0,1] 0.9933020906892641 Centerline is valid? [True, True] Translation: X:291.60, Y:-11.59, Z:-2.26 [[ 9.58913201e-01 -2.83676776e-01 -3.59980189e-03 2.91598146e+02] [ 2.83674681e-01 9.58919958e-01 -1.09051899e-03 -1.15945957e+01] [ 3.76127679e-03 2.45404020e-05 9.99992926e-01 -2.26281581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.064012739 meters Centerline goodness [0,1] 0.9935918182406628 Centerline is valid? [True, True] Translation: X:291.63, Y:-11.58, Z:-2.26 [[ 9.59349900e-01 -2.82186342e-01 -4.31724243e-03 2.91625289e+02] [ 2.82183312e-01 9.59359613e-01 -1.30828111e-03 -1.15841108e+01] [ 4.51096709e-03 3.68455865e-05 9.99989825e-01 -2.26401103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.094012739 meters Centerline goodness [0,1] 0.9939103115854708 Centerline is valid? [True, True] Translation: X:291.65, Y:-11.57, Z:-2.27 [[ 9.59903890e-01 -2.80278977e-01 -5.31197197e-03 2.91650045e+02] [ 2.80274355e-01 9.59918586e-01 -1.61062402e-03 -1.15711939e+01] [ 5.55048467e-03 5.72347436e-05 9.99984594e-01 -2.26577774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.124012739 meters Centerline goodness [0,1] 0.9940445252945252 Centerline is valid? [True, True] Translation: X:291.68, Y:-11.56, Z:-2.27 [[ 9.60070625e-01 -2.79705034e-01 -5.43032461e-03 2.91676862e+02] [ 2.79700191e-01 9.60085981e-01 -1.64709804e-03 -1.15609444e+01] [ 5.67428014e-03 6.24676181e-05 9.99983899e-01 -2.26560705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.154012739 meters Centerline goodness [0,1] 0.9942089513681083 Centerline is valid? [True, True] Translation: X:291.70, Y:-11.55, Z:-2.27 [[ 9.60254159e-01 -2.79070072e-01 -5.64320442e-03 2.91703359e+02] [ 2.79064825e-01 9.60270738e-01 -1.71271004e-03 -1.15502680e+01] [ 5.89697018e-03 6.98170864e-05 9.99982610e-01 -2.26611945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.184012739 meters Centerline goodness [0,1] 0.9948325441612074 Centerline is valid? [True, True] Translation: X:291.73, Y:-11.54, Z:-2.27 [[ 9.60275210e-01 -2.79004541e-01 -5.29034117e-03 2.91727464e+02] [ 2.78999925e-01 9.60289780e-01 -1.60636232e-03 -1.15363265e+01] [ 5.52844294e-03 6.65451223e-05 9.99984716e-01 -2.26665455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.214012739 meters Centerline goodness [0,1] 0.9933872309562918 Centerline is valid? [True, True] Translation: X:291.76, Y:-11.54, Z:-2.26 [[ 9.59680263e-01 -2.81061010e-01 -4.30126977e-03 2.91757402e+02] [ 2.81057977e-01 9.59689901e-01 -1.30644526e-03 -1.15361720e+01] [ 4.49507598e-03 4.48635481e-05 9.99989896e-01 -2.26412691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.244012739 meters Centerline goodness [0,1] 0.9915752904136359 Centerline is valid? [True, True] Translation: X:291.79, Y:-11.53, Z:-2.26 [[ 9.59108324e-01 -2.83002244e-01 -4.57744523e-03 2.91786049e+02] [ 2.82998827e-01 9.59119246e-01 -1.39120215e-03 -1.15321689e+01] [ 4.78402915e-03 3.89019312e-05 9.99988556e-01 -2.25632495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.274012739 meters Centerline goodness [0,1] 0.9934871684278629 Centerline is valid? [True, True] Translation: X:291.81, Y:-11.53, Z:-2.27 [[ 9.58577545e-01 -2.84794167e-01 -4.62312734e-03 2.91813421e+02] [ 2.84790699e-01 9.58588693e-01 -1.40580144e-03 -1.15252418e+01] [ 4.83204165e-03 3.09460288e-05 9.99988325e-01 -2.26512728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30401273900003 meters Centerline goodness [0,1] 0.9933219878934103 Centerline is valid? [True, True] Translation: X:291.84, Y:-11.52, Z:-2.27 [[ 9.57576668e-01 -2.88121284e-01 -5.74902664e-03 2.91842936e+02] [ 2.88115977e-01 9.57593925e-01 -1.74885183e-03 -1.15224379e+01] [ 6.00911442e-03 1.82732830e-05 9.99981945e-01 -2.26758938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.334012739 meters Centerline goodness [0,1] 0.992663608033241 Centerline is valid? [True, True] Translation: X:291.87, Y:-11.52, Z:-2.27 [[ 9.57202319e-01 -2.89367155e-01 -5.51091576e-03 2.91870717e+02] [ 2.89362294e-01 9.57218183e-01 -1.67743183e-03 -1.15172561e+01] [ 5.76054244e-03 1.09904088e-05 9.99983408e-01 -2.26689524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36401273900003 meters Centerline goodness [0,1] 0.9917339318858721 Centerline is valid? [True, True] Translation: X:291.90, Y:-11.51, Z:-2.26 [[ 9.56831284e-01 -2.90627307e-01 -3.10857736e-03 2.91898525e+02] [ 2.90625765e-01 9.56836333e-01 -9.46581385e-04 -1.15143534e+01] [ 3.24950216e-03 2.28600802e-06 9.99994720e-01 -2.26230016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.394012739 meters Centerline goodness [0,1] 0.992408616326791 Centerline is valid? [True, True] Translation: X:291.92, Y:-11.51, Z:-2.26 [[ 9.56777788e-01 -2.90802280e-01 -3.20918662e-03 2.91924496e+02] [ 2.90800637e-01 9.56783170e-01 -9.77426325e-04 -1.15070231e+01] [ 3.35473355e-03 1.94628301e-06 9.99994373e-01 -2.26167702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42401273900003 meters Centerline goodness [0,1] 0.992432338124005 Centerline is valid? [True, True] Translation: X:291.95, Y:-11.50, Z:-2.26 [[ 9.56875563e-01 -2.90478413e-01 -3.38364760e-03 2.91950917e+02] [ 2.90476584e-01 9.56881545e-01 -1.03087427e-03 -1.14986059e+01] [ 3.53719666e-03 3.54800002e-06 9.99993744e-01 -2.26212196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.454012739 meters Centerline goodness [0,1] 0.9937133815164864 Centerline is valid? [True, True] Translation: X:291.98, Y:-11.49, Z:-2.27 [[ 9.57385805e-01 -2.88773011e-01 -4.75059959e-03 2.91976593e+02] [ 2.88769379e-01 9.57397591e-01 -1.44841325e-03 -1.14884156e+01] [ 4.96647526e-03 1.48625861e-05 9.99987667e-01 -2.26544768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484012739 meters Centerline goodness [0,1] 0.9930422005661315 Centerline is valid? [True, True] Translation: X:292.00, Y:-11.48, Z:-2.27 [[ 9.57839004e-01 -2.87254136e-01 -5.43175789e-03 2.92004662e+02] [ 2.87249360e-01 9.57854405e-01 -1.65670520e-03 -1.14800189e+01] [ 5.67872864e-03 2.65878832e-05 9.99983876e-01 -2.26654639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.514012739 meters Centerline goodness [0,1] 0.9938144329896907 Centerline is valid? [True, True] Translation: X:292.03, Y:-11.47, Z:-2.27 [[ 9.58199638e-01 -2.86042473e-01 -5.75829027e-03 2.92030427e+02] [ 2.86037079e-01 9.58216939e-01 -1.75711074e-03 -1.14689800e+01] [ 6.02029958e-03 3.65783528e-05 9.99981877e-01 -2.26697482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544012739 meters Centerline goodness [0,1] 0.9938001851333605 Centerline is valid? [True, True] Translation: X:292.06, Y:-11.46, Z:-2.27 [[ 9.58586148e-01 -2.84747895e-01 -5.58871264e-03 2.92057736e+02] [ 2.84742788e-01 9.58602438e-01 -1.70597145e-03 -1.14590101e+01] [ 5.84312534e-03 4.39749805e-05 9.99982928e-01 -2.26616625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.574012739 meters Centerline goodness [0,1] 0.9938599473102745 Centerline is valid? [True, True] Translation: X:292.08, Y:-11.44, Z:-2.26 [[ 9.59727436e-01 -2.80896603e-01 -4.51075373e-03 2.92082174e+02] [ 2.80893231e-01 9.59738035e-01 -1.37753138e-03 -1.14449209e+01] [ 4.71608580e-03 5.50144744e-05 9.99988878e-01 -2.26308793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604012739 meters Centerline goodness [0,1] 0.9941352123568713 Centerline is valid? [True, True] Translation: X:292.11, Y:-11.43, Z:-2.26 [[ 9.60171564e-01 -2.79384370e-01 -3.86551283e-03 2.92108494e+02] [ 2.79381879e-01 9.60179343e-01 -1.18079443e-03 -1.14339861e+01] [ 4.04148108e-03 5.38109958e-05 9.99991832e-01 -2.26219253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.634012739 meters Centerline goodness [0,1] 0.9941609989721608 Centerline is valid? [True, True] Translation: X:292.14, Y:-11.42, Z:-2.26 [[ 9.61203438e-01 -2.75812803e-01 -3.90488156e-03 2.92135089e+02] [ 2.75810231e-01 9.61211368e-01 -1.19305435e-03 -1.14205944e+01] [ 4.08247621e-03 6.97616617e-05 9.99991664e-01 -2.26279573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664012739 meters Centerline goodness [0,1] 0.9940842303092431 Centerline is valid? [True, True] Translation: X:292.16, Y:-11.41, Z:-2.26 [[ 9.61677072e-01 -2.74151265e-01 -4.27711263e-03 2.92160344e+02] [ 2.74148163e-01 9.61686579e-01 -1.30698438e-03 -1.14068928e+01] [ 4.47155324e-03 8.43343407e-05 9.99989999e-01 -2.26310330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.694012739 meters Centerline goodness [0,1] 0.9936083796494228 Centerline is valid? [True, True] Translation: X:292.19, Y:-11.40, Z:-2.26 [[ 9.61992568e-01 -2.73040374e-01 -4.38783052e-03 2.92185982e+02] [ 2.73037096e-01 9.62002570e-01 -1.34110518e-03 -1.13957934e+01] [ 4.58728009e-03 9.20927113e-05 9.99989474e-01 -2.26335501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724012739 meters Centerline goodness [0,1] 0.9933340477976637 Centerline is valid? [True, True] Translation: X:292.21, Y:-11.38, Z:-2.26 [[ 9.62468272e-01 -2.71347783e-01 -5.02053786e-03 2.92211092e+02] [ 2.71343466e-01 9.62481360e-01 -1.53484363e-03 -1.13840601e+01] [ 5.24865052e-03 1.14948146e-04 9.99986219e-01 -2.26402394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.754012739 meters Centerline goodness [0,1] 0.9925039424510164 Centerline is valid? [True, True] Translation: X:292.24, Y:-11.37, Z:-2.26 [[ 9.63277865e-01 -2.68461479e-01 -4.91823311e-03 2.92237588e+02] [ 2.68457297e-01 9.63290412e-01 -1.50386631e-03 -1.13705853e+01] [ 5.14141697e-03 1.28305558e-04 9.99986775e-01 -2.26392535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784012739 meters Centerline goodness [0,1] 0.9921256463621344 Centerline is valid? [True, True] Translation: X:292.27, Y:-11.36, Z:-2.26 [[ 9.63543979e-01 -2.67513481e-01 -4.42024232e-03 2.92265085e+02] [ 2.67510093e-01 9.63554110e-01 -1.35187938e-03 -1.13627673e+01] [ 4.62078861e-03 1.20135801e-04 9.99989317e-01 -2.26319137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.814012739 meters Centerline goodness [0,1] 0.9921984138924111 Centerline is valid? [True, True] Translation: X:292.29, Y:-11.35, Z:-2.26 [[ 9.63801939e-01 -2.66598304e-01 -3.34151723e-03 2.92291832e+02] [ 2.66596360e-01 9.63807727e-01 -1.02241525e-03 -1.13531763e+01] [ 3.49315429e-03 9.45694668e-05 9.99993894e-01 -2.26175871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844012739 meters Centerline goodness [0,1] 0.9917783191230207 Centerline is valid? [True, True] Translation: X:292.32, Y:-11.34, Z:-2.26 [[ 9.63921033e-01 -2.66184239e-01 -1.48083699e-03 2.92316577e+02] [ 2.66183857e-01 9.63922170e-01 -4.53024522e-04 -1.13406003e+01] [ 1.54799960e-03 4.25049623e-05 9.99998801e-01 -2.25941994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.874012739 meters Centerline goodness [0,1] 0.9919375589673214 Centerline is valid? [True, True] Translation: X:292.34, Y:-11.33, Z:-2.26 [[ 9.63749299e-01 -2.66798767e-01 -2.38893924e-03 2.92342325e+02] [ 2.66797773e-01 9.63752257e-01 -7.31386686e-04 -1.13289497e+01] [ 2.49747866e-03 6.75097350e-05 9.99996879e-01 -2.26038693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904012739 meters Centerline goodness [0,1] 0.9928806486998043 Centerline is valid? [True, True] Translation: X:292.37, Y:-11.32, Z:-2.26 [[ 9.63264238e-01 -2.68523109e-01 -4.16510587e-03 2.92369974e+02] [ 2.68520102e-01 9.63273236e-01 -1.27567206e-03 -1.13218631e+01] [ 4.35468244e-03 1.10394624e-04 9.99990512e-01 -2.26373086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.934012739 meters Centerline goodness [0,1] 0.9916328763596576 Centerline is valid? [True, True] Translation: X:292.40, Y:-11.31, Z:-2.26 [[ 9.62905313e-01 -2.69813558e-01 -3.74202639e-03 2.92395293e+02] [ 2.69811138e-01 9.62912579e-01 -1.14665057e-03 -1.13091952e+01] [ 3.91262616e-03 9.44755263e-05 9.99992341e-01 -2.26262767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964012739 meters Centerline goodness [0,1] 0.9931383013483782 Centerline is valid? [True, True] Translation: X:292.43, Y:-11.31, Z:-2.26 [[ 9.62180608e-01 -2.72400178e-01 -2.57319938e-03 2.92425475e+02] [ 2.72399043e-01 9.62184047e-01 -7.88490354e-04 -1.13076986e+01] [ 2.69067631e-03 5.77330799e-05 9.99996378e-01 -2.25999083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.994012739 meters Centerline goodness [0,1] 0.9931003641474477 Centerline is valid? [True, True] Translation: X:292.45, Y:-11.29, Z:-2.26 [[ 9.61950922e-01 -2.73209818e-01 -2.61148736e-03 2.92450448e+02] [ 2.73208651e-01 9.61954465e-01 -8.00766104e-04 -1.12946591e+01] [ 2.73090908e-03 5.68167554e-05 9.99996269e-01 -2.25965302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.024012739 meters Centerline goodness [0,1] 0.9929963262938535 Centerline is valid? [True, True] Translation: X:292.48, Y:-11.28, Z:-2.26 [[ 9.61796355e-01 -2.73749822e-01 -2.96765891e-03 2.92475334e+02] [ 2.73748316e-01 9.61800931e-01 -9.10205820e-04 -1.12813105e+01] [ 3.10346579e-03 6.30410103e-05 9.99995182e-01 -2.25947862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05401273900003 meters Centerline goodness [0,1] 0.9941524198349919 Centerline is valid? [True, True] Translation: X:292.50, Y:-11.28, Z:-2.26 [[ 9.61220017e-01 -2.75754843e-01 -3.91724228e-03 2.92503819e+02] [ 2.75752235e-01 9.61227996e-01 -1.20180991e-03 -1.12752926e+01] [ 4.09676785e-03 7.50154318e-05 9.99991605e-01 -2.26151045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.084012739 meters Centerline goodness [0,1] 0.9945078520552647 Centerline is valid? [True, True] Translation: X:292.53, Y:-11.27, Z:-2.26 [[ 9.60651078e-01 -2.77731115e-01 -3.86434782e-03 2.92532186e+02] [ 2.77728590e-01 9.60658848e-01 -1.18622785e-03 -1.12678366e+01] [ 4.04177231e-03 6.63111877e-05 9.99991830e-01 -2.26204893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11401273900003 meters Centerline goodness [0,1] 0.9944809517673839 Centerline is valid? [True, True] Translation: X:292.56, Y:-11.26, Z:-2.26 [[ 9.59337692e-01 -2.82224933e-01 -4.50338909e-03 2.92560639e+02] [ 2.82221549e-01 9.59348260e-01 -1.38308065e-03 -1.12640080e+01] [ 4.71065834e-03 5.58879568e-05 9.99988903e-01 -2.26368284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.144012739 meters Centerline goodness [0,1] 0.9947138247282609 Centerline is valid? [True, True] Translation: X:292.59, Y:-11.26, Z:-2.26 [[ 9.58758897e-01 -2.84170550e-01 -5.33625766e-03 2.92587608e+02] [ 2.84165827e-01 9.58773746e-01 -1.63923829e-03 -1.12564075e+01] [ 5.58208699e-03 5.52522188e-05 9.99984419e-01 -2.26466706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17401273900003 meters Centerline goodness [0,1] 0.9956244771893701 Centerline is valid? [True, True] Translation: X:292.62, Y:-11.25, Z:-2.26 [[ 9.57925872e-01 -2.86945684e-01 -6.34019121e-03 2.92616717e+02] [ 2.86939072e-01 9.57946852e-01 -1.94851664e-03 -1.12543593e+01] [ 6.63268465e-03 4.72859144e-05 9.99978002e-01 -2.26491910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.204012739 meters Centerline goodness [0,1] 0.9953305216044069 Centerline is valid? [True, True] Translation: X:292.64, Y:-11.25, Z:-2.27 [[ 9.57561699e-01 -2.88156060e-01 -6.45580629e-03 2.92643363e+02] [ 2.88149226e-01 9.57583460e-01 -1.98486439e-03 -1.12458699e+01] [ 6.75392403e-03 4.03945331e-05 9.99977191e-01 -2.26561626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.234012739 meters Centerline goodness [0,1] 0.9953373970698322 Centerline is valid? [True, True] Translation: X:292.67, Y:-11.24, Z:-2.26 [[ 9.56781698e-01 -2.90762736e-01 -5.08065951e-03 2.92671529e+02] [ 2.90758538e-01 9.56795188e-01 -1.56251904e-03 -1.12403937e+01] [ 5.31547288e-03 1.77444893e-05 9.99985873e-01 -2.26402812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.264012739 meters Centerline goodness [0,1] 0.9943538133310347 Centerline is valid? [True, True] Translation: X:292.70, Y:-11.24, Z:-2.26 [[ 9.56325979e-01 -2.92276579e-01 -3.87597791e-03 2.92699413e+02] [ 2.92274146e-01 9.56333834e-01 -1.19256493e-03 -1.12358293e+01] [ 4.05528762e-03 7.63269339e-06 9.99991777e-01 -2.26179732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.294012739 meters Centerline goodness [0,1] 0.9940483864036784 Centerline is valid? [True, True] Translation: X:292.73, Y:-11.23, Z:-2.26 [[ 9.55897310e-01 -2.93679943e-01 -3.52482602e-03 2.92726765e+02] [ 2.93677938e-01 9.55903808e-01 -1.08519830e-03 -1.12318297e+01] [ 3.68809559e-03 2.17449580e-06 9.99993199e-01 -2.26131422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.324012739 meters Centerline goodness [0,1] 0.994634962873943 Centerline is valid? [True, True] Translation: X:292.76, Y:-11.23, Z:-2.26 [[ 9.54893052e-01 -2.96903733e-01 -5.23752369e-03 2.92756501e+02] [ 2.96899352e-01 9.54907416e-01 -1.61308494e-03 -1.12327041e+01] [ 5.48028115e-03 -1.46937887e-05 9.99984983e-01 -2.26426988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.354012739 meters Centerline goodness [0,1] 0.9948503587511581 Centerline is valid? [True, True] Translation: X:292.78, Y:-11.23, Z:-2.27 [[ 9.54433397e-01 -2.98364184e-01 -5.97530900e-03 2.92784962e+02] [ 2.98358505e-01 9.54452101e-01 -1.84103769e-03 -1.12281949e+01] [ 6.25244594e-03 -2.56363995e-05 9.99980453e-01 -2.26542379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.384012739 meters Centerline goodness [0,1] 0.9947062621045836 Centerline is valid? [True, True] Translation: X:292.81, Y:-11.22, Z:-2.26 [[ 9.54397164e-01 -2.98483480e-01 -5.80216119e-03 2.92811385e+02] [ 2.98478122e-01 9.54414801e-01 -1.78852232e-03 -1.12239612e+01] [ 6.07151288e-03 -2.48575476e-05 9.99981568e-01 -2.26414960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.414012739 meters Centerline goodness [0,1] 0.9946478086107947 Centerline is valid? [True, True] Translation: X:292.84, Y:-11.21, Z:-2.26 [[ 9.54720089e-01 -2.97457423e-01 -5.35099705e-03 2.92837436e+02] [ 2.97452847e-01 9.54735084e-01 -1.65013452e-03 -1.12147919e+01] [ 5.59962938e-03 -1.62527309e-05 9.99984322e-01 -2.26234096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.444012739 meters Centerline goodness [0,1] 0.9949926173204083 Centerline is valid? [True, True] Translation: X:292.86, Y:-11.20, Z:-2.26 [[ 9.56025651e-01 -2.93239513e-01 -5.05400496e-03 2.92862238e+02] [ 2.93235365e-01 9.56039010e-01 -1.55955253e-03 -1.11993142e+01] [ 5.28914832e-03 8.95923306e-06 9.99986012e-01 -2.26152171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.474012739 meters Centerline goodness [0,1] 0.9949926173204083 Centerline is valid? [True, True] Translation: X:292.89, Y:-11.19, Z:-2.26 [[ 9.55970296e-01 -2.93419925e-01 -5.05371008e-03 2.92888452e+02] [ 2.93415775e-01 9.55983654e-01 -1.56050757e-03 -1.11910192e+01] [ 5.28914825e-03 8.96062385e-06 9.99986012e-01 -2.26142271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.504012739 meters Centerline goodness [0,1] 0.9957629852672331 Centerline is valid? [True, True] Translation: X:292.91, Y:-11.18, Z:-2.26 [[ 9.56786227e-01 -2.90739335e-01 -5.54561452e-03 2.92914363e+02] [ 2.90734287e-01 9.56802298e-01 -1.71356196e-03 -1.11782699e+01] [ 5.80425658e-03 2.72122045e-05 9.99983155e-01 -2.26200341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.534012739 meters Centerline goodness [0,1] 0.9955744607716766 Centerline is valid? [True, True] Translation: X:292.94, Y:-11.17, Z:-2.26 [[ 9.57510069e-01 -2.88348664e-01 -5.43293609e-03 2.92940900e+02] [ 2.88343774e-01 9.57525481e-01 -1.67971822e-03 -1.11668014e+01] [ 5.68651924e-03 4.17938143e-05 9.99983831e-01 -2.26159960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.564012739 meters Centerline goodness [0,1] 0.9950648282430355 Centerline is valid? [True, True] Translation: X:292.97, Y:-11.16, Z:-2.26 [[ 9.58185288e-01 -2.86129853e-01 -3.26503989e-03 2.92968730e+02] [ 2.86128073e-01 9.58190851e-01 -1.00980615e-03 -1.11578608e+01] [ 3.41746704e-03 3.33618267e-05 9.99994160e-01 -2.25778185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.594012739 meters Centerline goodness [0,1] 0.9950516167562494 Centerline is valid? [True, True] Translation: X:292.99, Y:-11.15, Z:-2.26 [[ 9.58098728e-01 -2.86423520e-01 -2.89715824e-03 2.92994774e+02] [ 2.86422119e-01 9.58103108e-01 -8.96549540e-04 -1.11493570e+01] [ 3.03256919e-03 2.91727718e-05 9.99995401e-01 -2.25654888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.624012739 meters Centerline goodness [0,1] 0.9950513236088601 Centerline is valid? [True, True] Translation: X:293.02, Y:-11.14, Z:-2.26 [[ 9.57553930e-01 -2.88234640e-01 -3.35606665e-03 2.93023305e+02] [ 2.88232769e-01 9.57559811e-01 -1.03891774e-03 -1.11435684e+01] [ 3.51308663e-03 2.74913823e-05 9.99993829e-01 -2.25879533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.654012739 meters Centerline goodness [0,1] 0.9934175029675192 Centerline is valid? [True, True] Translation: X:293.05, Y:-11.14, Z:-2.25 [[ 9.57407736e-01 -2.88700005e-01 -4.76801954e-03 2.93050230e+02] [ 2.88696228e-01 9.57419608e-01 -1.47714867e-03 -1.11366820e+01] [ 4.99144822e-03 3.77243045e-05 9.99987542e-01 -2.25177916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.684012739 meters Centerline goodness [0,1] 0.9958440999138674 Centerline is valid? [True, True] Translation: X:293.08, Y:-11.12, Z:-2.26 [[ 9.57992901e-01 -2.86736918e-01 -5.61618730e-03 2.93076062e+02] [ 2.86731637e-01 9.58009361e-01 -1.74115866e-03 -1.11210104e+01] [ 5.87961448e-03 5.76790577e-05 9.99982713e-01 -2.26198389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.714012739 meters Centerline goodness [0,1] 0.9959883296863603 Centerline is valid? [True, True] Translation: X:293.10, Y:-11.11, Z:-2.26 [[ 9.58633031e-01 -2.84582958e-01 -5.93727706e-03 2.93100708e+02] [ 2.84577010e-01 9.58651414e-01 -1.84153250e-03 -1.11066928e+01] [ 6.21584781e-03 7.57413319e-05 9.99980679e-01 -2.26220458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.744012739 meters Centerline goodness [0,1] 0.9959616464389064 Centerline is valid? [True, True] Translation: X:293.13, Y:-11.09, Z:-2.26 [[ 9.59178305e-01 -2.82750511e-01 -5.39708638e-03 2.93127208e+02] [ 2.82745563e-01 9.59193485e-01 -1.67454721e-03 -1.10944240e+01] [ 5.65032918e-03 8.01871257e-05 9.99984034e-01 -2.26097559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.774012739 meters Centerline goodness [0,1] 0.994567560576011 Centerline is valid? [True, True] Translation: X:293.15, Y:-11.08, Z:-2.26 [[ 9.59553420e-01 -2.81512805e-01 -2.78830962e-03 2.93152690e+02] [ 2.81511479e-01 9.59557470e-01 -8.65409527e-04 -1.10825052e+01] [ 2.91916719e-03 4.54655076e-05 9.99995738e-01 -2.25672900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80401273900003 meters Centerline goodness [0,1] 0.9921448310377091 Centerline is valid? [True, True] Translation: X:293.18, Y:-11.07, Z:-2.25 [[ 9.59275517e-01 -2.82463204e-01 -2.24060303e-03 2.93180433e+02] [ 2.82462350e-01 9.59278133e-01 -6.95378569e-04 -1.10747476e+01] [ 2.34578035e-03 3.41736404e-05 9.99997248e-01 -2.24571449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.834012739 meters Centerline goodness [0,1] 0.9946180296008372 Centerline is valid? [True, True] Translation: X:293.21, Y:-11.07, Z:-2.25 [[ 9.57947958e-01 -2.86940126e-01 -1.03615548e-03 2.93208055e+02] [ 2.86939946e-01 9.57948518e-01 -3.21708183e-04 -1.10702176e+01] [ 1.08489459e-03 1.08652994e-05 9.99999411e-01 -2.25416655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86401273900003 meters Centerline goodness [0,1] 0.9945229606082735 Centerline is valid? [True, True] Translation: X:293.24, Y:-11.07, Z:-2.26 [[ 9.57154656e-01 -2.89569789e-01 -2.07407166e-03 2.93235774e+02] [ 2.89569073e-01 9.57156903e-01 -6.44281088e-04 -1.10660394e+01] [ 2.17177635e-03 1.60896356e-05 9.99997642e-01 -2.25678248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.894012739 meters Centerline goodness [0,1] 0.9947467327240113 Centerline is valid? [True, True] Translation: X:293.26, Y:-11.06, Z:-2.26 [[ 9.56173432e-01 -2.92779792e-01 -3.51580031e-03 2.93264771e+02] [ 2.92777753e-01 9.56179896e-01 -1.09269681e-03 -1.10629622e+01] [ 3.68165712e-03 1.54595430e-05 9.99993223e-01 -2.25923172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92401273900003 meters Centerline goodness [0,1] 0.9955824677843382 Centerline is valid? [True, True] Translation: X:293.29, Y:-11.06, Z:-2.26 [[ 9.54518711e-01 -2.98097189e-01 -5.66530066e-03 2.93294305e+02] [ 2.98091981e-01 9.54535524e-01 -1.76219311e-03 -1.10638093e+01] [ 5.93303555e-03 -6.73439830e-06 9.99982399e-01 -2.26304713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.954012739 meters Centerline goodness [0,1] 0.9951623004988878 Centerline is valid? [True, True] Translation: X:293.32, Y:-11.06, Z:-2.26 [[ 9.53895817e-01 -3.00077813e-01 -6.00635375e-03 2.93322300e+02] [ 3.00071990e-01 9.53914727e-01 -1.86955644e-03 -1.10582939e+01] [ 6.29056171e-03 -1.89764556e-05 9.99980214e-01 -2.26310319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984012739 meters Centerline goodness [0,1] 0.9957454086759455 Centerline is valid? [True, True] Translation: X:293.35, Y:-11.05, Z:-2.26 [[ 9.53683264e-01 -3.00736938e-01 -6.74734895e-03 2.93350153e+02] [ 3.00729598e-01 9.53707132e-01 -2.10121929e-03 -1.10532650e+01] [ 7.06690907e-03 -2.52298661e-05 9.99975029e-01 -2.26350666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.014012739 meters Centerline goodness [0,1] 0.9956648333872533 Centerline is valid? [True, True] Translation: X:293.38, Y:-11.04, Z:-2.26 [[ 9.54054032e-01 -2.99559130e-01 -6.72547264e-03 2.93376382e+02] [ 2.99551803e-01 9.54077736e-01 -2.09530773e-03 -1.10432204e+01] [ 7.04429228e-03 -1.55906675e-05 9.99975189e-01 -2.26354566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044012739 meters Centerline goodness [0,1] 0.994750712866154 Centerline is valid? [True, True] Translation: X:293.40, Y:-11.03, Z:-2.26 [[ 9.55457523e-01 -2.95082260e-01 -5.23271279e-03 2.93399827e+02] [ 2.95077753e-01 9.55471852e-01 -1.63095559e-03 -1.10262129e+01] [ 5.48097584e-03 1.42516522e-05 9.99984979e-01 -2.25994961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.074012739 meters Centerline goodness [0,1] 0.9947398043120617 Centerline is valid? [True, True] Translation: X:293.43, Y:-11.01, Z:-2.26 [[ 9.56256976e-01 -2.92510117e-01 -3.22908764e-03 2.93425345e+02] [ 2.92508386e-01 9.56262428e-01 -1.00660890e-03 -1.10123034e+01] [ 3.38229848e-03 1.80415666e-05 9.99994280e-01 -2.25611769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104012739 meters Centerline goodness [0,1] 0.9945945945945946 Centerline is valid? [True, True] Translation: X:293.45, Y:-11.00, Z:-2.25 [[ 9.57074365e-01 -2.89836446e-01 -1.86911508e-03 2.93449986e+02] [ 2.89835860e-01 9.57076190e-01 -5.82922723e-04 -1.09983451e+01] [ 1.95783779e-03 1.61638177e-05 9.99998083e-01 -2.25245698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.134012739 meters Centerline goodness [0,1] 0.9937744193035937 Centerline is valid? [True, True] Translation: X:293.48, Y:-10.98, Z:-2.25 [[ 9.58352601e-01 -2.85578129e-01 -2.32914044e-03 2.93475198e+02] [ 2.85577206e-01 9.58355431e-01 -7.26468040e-04 -1.09817405e+01] [ 2.43960777e-03 3.10631166e-05 9.99997024e-01 -2.25331885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164012739 meters Centerline goodness [0,1] 0.9938838576762952 Centerline is valid? [True, True] Translation: X:293.50, Y:-10.97, Z:-2.26 [[ 9.58812003e-01 -2.84017276e-01 -3.70530633e-03 2.93500426e+02] [ 2.84014926e-01 9.58819161e-01 -1.15669343e-03 -1.09677468e+01] [ 3.88123962e-03 5.66892350e-05 9.99992466e-01 -2.25574063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.194012739 meters Centerline goodness [0,1] 0.9941086998436127 Centerline is valid? [True, True] Translation: X:293.53, Y:-10.95, Z:-2.26 [[ 9.59426278e-01 -2.81910340e-01 -5.27041049e-03 2.93525700e+02] [ 2.81905550e-01 9.59440749e-01 -1.64591938e-03 -1.09513512e+01] [ 5.52064828e-03 9.33803365e-05 9.99984757e-01 -2.26000296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224012739 meters Centerline goodness [0,1] 0.99427464485579 Centerline is valid? [True, True] Translation: X:293.55, Y:-10.94, Z:-2.26 [[ 9.59418813e-01 -2.81937644e-01 -5.16779325e-03 2.93551885e+02] [ 2.81933034e-01 9.59432726e-01 -1.61485423e-03 -1.09409213e+01] [ 5.41343817e-03 9.23498983e-05 9.99985343e-01 -2.25975049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.254012739 meters Centerline goodness [0,1] 0.9940909090909091 Centerline is valid? [True, True] Translation: X:293.58, Y:-10.93, Z:-2.26 [[ 9.59156231e-01 -2.82835014e-01 -4.86621716e-03 2.93577733e+02] [ 2.82830934e-01 9.59168571e-01 -1.52139714e-03 -1.09315505e+01] [ 5.09782694e-03 8.29407971e-05 9.99987003e-01 -2.25927100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284012739 meters Centerline goodness [0,1] 0.9947608841549219 Centerline is valid? [True, True] Translation: X:293.60, Y:-10.92, Z:-2.26 [[ 9.58137247e-01 -2.86250866e-01 -5.78427941e-03 2.93604815e+02] [ 2.86245160e-01 9.58154703e-01 -1.80912365e-03 -1.09235793e+01] [ 6.06009774e-03 7.76667696e-05 9.99981634e-01 -2.26013713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.314012739 meters Centerline goodness [0,1] 0.9951107520938736 Centerline is valid? [True, True] Translation: X:293.63, Y:-10.91, Z:-2.26 [[ 9.57570794e-01 -2.88132848e-01 -6.13486004e-03 2.93630643e+02] [ 2.88126462e-01 9.57590443e-01 -1.91961670e-03 -1.09119020e+01] [ 6.42778797e-03 7.05533657e-05 9.99979339e-01 -2.26094706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344012739 meters Centerline goodness [0,1] 0.9947254647643753 Centerline is valid? [True, True] Translation: X:293.66, Y:-10.90, Z:-2.26 [[ 9.57385349e-01 -2.88769281e-01 -5.05922646e-03 2.93657920e+02] [ 2.88764944e-01 9.57398715e-01 -1.58352696e-03 -1.09041423e+01] [ 5.30097085e-03 5.51182620e-05 9.99985948e-01 -2.25858968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.374012739 meters Centerline goodness [0,1] 0.9941266043071568 Centerline is valid? [True, True] Translation: X:293.68, Y:-10.89, Z:-2.26 [[ 9.57386709e-01 -2.88779948e-01 -4.10266713e-03 2.93683486e+02] [ 2.88777093e-01 9.57395498e-01 -1.28477165e-03 -1.08937924e+01] [ 4.29889133e-03 4.52670103e-05 9.99990759e-01 -2.25659369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404012739 meters Centerline goodness [0,1] 0.9941470132552935 Centerline is valid? [True, True] Translation: X:293.71, Y:-10.88, Z:-2.26 [[ 9.57470751e-01 -2.88500715e-01 -4.13513396e-03 2.93707804e+02] [ 2.88497809e-01 9.57479679e-01 -1.29572730e-03 -1.08796750e+01] [ 4.33312499e-03 4.76438984e-05 9.99990611e-01 -2.25728632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.434012739 meters Centerline goodness [0,1] 0.9942267244709619 Centerline is valid? [True, True] Translation: X:293.73, Y:-10.87, Z:-2.26 [[ 9.57528972e-01 -2.88309258e-01 -4.00491531e-03 2.93733389e+02] [ 2.88306528e-01 9.57537346e-01 -1.25536689e-03 -1.08683196e+01] [ 4.19678987e-03 4.74069370e-05 9.99991192e-01 -2.25719268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464012739 meters Centerline goodness [0,1] 0.9939401753481176 Centerline is valid? [True, True] Translation: X:293.76, Y:-10.85, Z:-2.25 [[ 9.58257595e-01 -2.85888374e-01 -3.19692031e-03 2.93757097e+02] [ 2.85886619e-01 9.58262926e-01 -1.00264770e-03 -1.08516949e+01] [ 3.35013553e-03 4.68380347e-05 9.99994387e-01 -2.25410438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.494012739 meters Centerline goodness [0,1] 0.9942776313251462 Centerline is valid? [True, True] Translation: X:293.78, Y:-10.84, Z:-2.25 [[ 9.58462660e-01 -2.85203395e-01 -2.89024849e-03 2.93783056e+02] [ 2.85201958e-01 9.58467016e-01 -9.06568131e-04 -1.08396281e+01] [ 3.02876416e-03 4.46071733e-05 9.99995412e-01 -2.25294362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.524012739 meters Centerline goodness [0,1] 0.9945502340193627 Centerline is valid? [True, True] Translation: X:293.81, Y:-10.83, Z:-2.25 [[ 9.58451267e-01 -2.85244195e-01 -2.63025555e-03 2.93808402e+02] [ 2.85243004e-01 9.58454875e-01 -8.25413605e-04 -1.08262398e+01] [ 2.75642569e-03 4.08567227e-05 9.99996200e-01 -2.25207592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55401273900003 meters Centerline goodness [0,1] 0.9942229679502156 Centerline is valid? [True, True] Translation: X:293.83, Y:-10.81, Z:-2.25 [[ 9.58360501e-01 -2.85550169e-01 -2.50011996e-03 2.93833586e+02] [ 2.85549093e-01 9.58363761e-01 -7.85186326e-04 -1.08149407e+01] [ 2.62023446e-03 3.85845743e-05 9.99996566e-01 -2.25190796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.584012739 meters Centerline goodness [0,1] 0.9940830939416027 Centerline is valid? [True, True] Translation: X:293.86, Y:-10.80, Z:-2.25 [[ 9.58321618e-01 -2.85680833e-01 -2.47740705e-03 2.93859327e+02] [ 2.85679776e-01 9.58324820e-01 -7.78075137e-04 -1.08032635e+01] [ 2.59644182e-03 3.79011330e-05 9.99996629e-01 -2.25170080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61401273900003 meters Centerline goodness [0,1] 0.9941680296117759 Centerline is valid? [True, True] Translation: X:293.88, Y:-10.78, Z:-2.25 [[ 9.58862375e-01 -2.83856080e-01 -2.94488199e-03 2.93882347e+02] [ 2.83854575e-01 9.58866896e-01 -9.25691791e-04 -1.07831727e+01] [ 3.08651309e-03 5.16928036e-05 9.99995235e-01 -2.25272775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.644012739 meters Centerline goodness [0,1] 0.9941248833460592 Centerline is valid? [True, True] Translation: X:293.91, Y:-10.77, Z:-2.25 [[ 9.59522371e-01 -2.81609498e-01 -3.59308623e-03 2.93906070e+02] [ 2.81607241e-01 9.59529096e-01 -1.12972688e-03 -1.07655882e+01] [ 3.76581260e-03 7.21591118e-05 9.99992907e-01 -2.25319365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67401273900003 meters Centerline goodness [0,1] 0.9935175048833366 Centerline is valid? [True, True] Translation: X:293.93, Y:-10.74, Z:-2.26 [[ 9.61046450e-01 -2.76349259e-01 -4.56149962e-03 2.93929274e+02] [ 2.76345561e-01 9.61057268e-01 -1.43463759e-03 -1.07390874e+01] [ 4.78032340e-03 1.18203197e-04 9.99988567e-01 -2.25503815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.704012739 meters Centerline goodness [0,1] 0.9930299390923908 Centerline is valid? [True, True] Translation: X:293.95, Y:-10.72, Z:-2.26 [[ 9.61529849e-01 -2.74657293e-01 -4.87034639e-03 2.93954165e+02] [ 2.74653054e-01 9.61542174e-01 -1.53191329e-03 -1.07238717e+01] [ 5.10379461e-03 1.35324851e-04 9.99986966e-01 -2.25591537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.734012739 meters Centerline goodness [0,1] 0.9933353398976652 Centerline is valid? [True, True] Translation: X:293.98, Y:-10.71, Z:-2.26 [[ 9.61731016e-01 -2.73945778e-01 -5.21190360e-03 2.93979456e+02] [ 2.73940910e-01 9.61745127e-01 -1.63991087e-03 -1.07084287e+01] [ 5.46176955e-03 1.49399530e-04 9.99985073e-01 -2.25672470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.764012739 meters Centerline goodness [0,1] 0.9935785924446449 Centerline is valid? [True, True] Translation: X:294.00, Y:-10.69, Z:-2.26 [[ 9.61251737e-01 -2.75630533e-01 -4.78619389e-03 2.94003970e+02] [ 2.75626445e-01 9.61263644e-01 -1.50678635e-03 -1.06902915e+01] [ 5.01611050e-03 1.29199391e-04 9.99987411e-01 -2.25607035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.794012739 meters Centerline goodness [0,1] 0.994332263000237 Centerline is valid? [True, True] Translation: X:294.03, Y:-10.68, Z:-2.25 [[ 9.59119988e-01 -2.82980898e-01 -3.26509310e-03 2.94032188e+02] [ 2.82979036e-01 9.59125543e-01 -1.02833900e-03 -1.06815547e+01] [ 3.42263449e-03 6.23475877e-05 9.99994141e-01 -2.25285081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.824012739 meters Centerline goodness [0,1] 0.9951309495720813 Centerline is valid? [True, True] Translation: X:294.06, Y:-10.68, Z:-2.25 [[ 9.57744258e-01 -2.87602944e-01 -3.23788871e-03 2.94059484e+02] [ 2.87601139e-01 9.57749730e-01 -1.01983178e-03 -1.06760153e+01] [ 3.39439366e-03 4.55175476e-05 9.99994238e-01 -2.25279455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.854012739 meters Centerline goodness [0,1] 0.9949230998954756 Centerline is valid? [True, True] Translation: X:294.09, Y:-10.67, Z:-2.25 [[ 9.56401306e-01 -2.92031916e-01 -3.72852236e-03 2.94087893e+02] [ 2.92029555e-01 9.56408573e-01 -1.17474038e-03 -1.06713457e+01] [ 3.90905244e-03 3.46845089e-05 9.99992359e-01 -2.25364141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.884012739 meters Centerline goodness [0,1] 0.9956553691855439 Centerline is valid? [True, True] Translation: X:294.12, Y:-10.67, Z:-2.26 [[ 9.53985703e-01 -2.99810990e-01 -4.96476357e-03 2.94117286e+02] [ 2.99806907e-01 9.53998622e-01 -1.56475089e-03 -1.06693651e+01] [ 5.20550712e-03 4.27956997e-06 9.99986451e-01 -2.25638194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.914012739 meters Centerline goodness [0,1] 0.9953559702782098 Centerline is valid? [True, True] Translation: X:294.14, Y:-10.66, Z:-2.26 [[ 9.53074652e-01 -3.02688703e-01 -5.31567705e-03 2.94144164e+02] [ 3.02684060e-01 9.53089476e-01 -1.67639245e-03 -1.06622684e+01] [ 5.57374091e-03 -1.12435652e-05 9.99984467e-01 -2.25651644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.944012739 meters Centerline goodness [0,1] 0.9957345971563981 Centerline is valid? [True, True] Translation: X:294.17, Y:-10.66, Z:-2.26 [[ 9.51959053e-01 -3.06164307e-01 -6.11383555e-03 2.94171288e+02] [ 3.06158231e-01 9.51978685e-01 -1.92908195e-03 -1.06557886e+01] [ 6.41085716e-03 -3.53940480e-05 9.99979450e-01 -2.25665183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.974012739 meters Centerline goodness [0,1] 0.9955312063594371 Centerline is valid? [True, True] Translation: X:294.20, Y:-10.65, Z:-2.26 [[ 9.51255122e-01 -3.08349091e-01 -5.87635401e-03 2.94199529e+02] [ 3.08343516e-01 9.51273271e-01 -1.85478949e-03 -1.06504558e+01] [ 6.16194115e-03 -4.75576530e-05 9.99981014e-01 -2.25684181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.004012739 meters Centerline goodness [0,1] 0.9952057872996168 Centerline is valid? [True, True] Translation: X:294.23, Y:-10.65, Z:-2.25 [[ 9.49306508e-01 -3.14321939e-01 -4.34420605e-03 2.94231331e+02] [ 3.14318953e-01 9.49316446e-01 -1.37165826e-03 -1.06526063e+01] [ 4.55516853e-03 -6.33421867e-05 9.99989623e-01 -2.25361017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.034012739 meters Centerline goodness [0,1] 0.9945406869277393 Centerline is valid? [True, True] Translation: X:294.26, Y:-10.65, Z:-2.25 [[ 9.48268915e-01 -3.17454471e-01 -2.95361182e-03 2.94260060e+02] [ 3.17453105e-01 9.48273513e-01 -9.32614846e-04 -1.06513098e+01] [ 3.09689461e-03 -5.32635767e-05 9.99995203e-01 -2.25129252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.064012739 meters Centerline goodness [0,1] 0.9868763021672359 Centerline is valid? [True, True] Translation: X:294.29, Y:-10.66, Z:-2.24 [[ 9.45942031e-01 -3.24328843e-01 -2.11543343e-03 2.94293336e+02] [ 3.24328159e-01 9.45944395e-01 -6.68089641e-04 -1.06564322e+01] [ 2.21776314e-03 -5.41205598e-05 9.99997539e-01 -2.24042609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.094012739 meters Centerline goodness [0,1] 0.9911782968974155 Centerline is valid? [True, True] Translation: X:294.32, Y:-10.65, Z:-2.25 [[ 9.44942577e-01 -3.27231024e-01 -1.83961043e-03 2.94323533e+02] [ 3.27230512e-01 9.44944366e-01 -5.80987560e-04 -1.06540839e+01] [ 1.92844667e-03 -5.29767830e-05 9.99998139e-01 -2.25008750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.124012739 meters Centerline goodness [0,1] 0.989700960811832 Centerline is valid? [True, True] Translation: X:294.35, Y:-10.65, Z:-2.25 [[ 9.44226443e-01 -3.29287083e-01 -2.53797237e-03 2.94353515e+02] [ 3.29286117e-01 9.44229850e-01 -8.01630983e-04 -1.06543773e+01] [ 2.66039600e-03 -7.87978954e-05 9.99996458e-01 -2.25082009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.154012739 meters Centerline goodness [0,1] 0.9915935434947459 Centerline is valid? [True, True] Translation: X:294.38, Y:-10.65, Z:-2.26 [[ 9.43664614e-01 -3.30856656e-01 -5.56510640e-03 2.94382060e+02] [ 3.30852034e-01 9.43681006e-01 -1.75818567e-03 -1.06508204e+01] [ 5.83339263e-03 -1.82089173e-04 9.99982969e-01 -2.25569298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.184012739 meters Centerline goodness [0,1] 0.9920245531372253 Centerline is valid? [True, True] Translation: X:294.41, Y:-10.65, Z:-2.26 [[ 9.43640342e-01 -3.30899613e-01 -6.95345171e-03 2.94410733e+02] [ 3.30892395e-01 9.43665934e-01 -2.19730100e-03 -1.06476190e+01] [ 7.28882155e-03 -2.27382416e-04 9.99973410e-01 -2.25852651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.214012739 meters Centerline goodness [0,1] 0.9915401627552445 Centerline is valid? [True, True] Translation: X:294.44, Y:-10.64, Z:-2.26 [[ 9.43847507e-01 -3.30299878e-01 -7.33991300e-03 2.94438169e+02] [ 3.30291814e-01 9.43876017e-01 -2.31989605e-03 -1.06422019e+01] [ 7.69422923e-03 -2.34685077e-04 9.99970371e-01 -2.25945354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.244012739 meters Centerline goodness [0,1] 0.9919269311516569 Centerline is valid? [True, True] Translation: X:294.47, Y:-10.64, Z:-2.25 [[ 9.44616528e-01 -3.28138558e-01 -4.97018078e-03 2.94467737e+02] [ 3.28134830e-01 9.44629592e-01 -1.57107408e-03 -1.06374452e+01] [ 5.21050983e-03 -1.46826881e-04 9.99986414e-01 -2.25463612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.274012739 meters Centerline goodness [0,1] 0.9931622832400917 Centerline is valid? [True, True] Translation: X:294.49, Y:-10.63, Z:-2.25 [[ 9.45276186e-01 -3.26241228e-01 -4.42655116e-03 2.94494386e+02] [ 3.26238249e-01 9.45286542e-01 -1.39934339e-03 -1.06305576e+01] [ 4.64088274e-03 -1.21344320e-04 9.99989224e-01 -2.25390899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30401273900003 meters Centerline goodness [0,1] 0.9949402911476535 Centerline is valid? [True, True] Translation: X:294.52, Y:-10.62, Z:-2.26 [[ 9.46754256e-01 -3.21902100e-01 -5.95114219e-03 2.94522623e+02] [ 3.21896628e-01 9.46772951e-01 -1.88167608e-03 -1.06230778e+01] [ 6.24009594e-03 -1.34167768e-04 9.99980521e-01 -2.25606297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.334012739 meters Centerline goodness [0,1] 0.9949402911476535 Centerline is valid? [True, True] Translation: X:294.55, Y:-10.61, Z:-2.26 [[ 9.46696588e-01 -3.22071663e-01 -5.95096609e-03 2.94548778e+02] [ 3.22066191e-01 9.46715282e-01 -1.88223287e-03 -1.06146080e+01] [ 6.24008441e-03 -1.34701541e-04 9.99980521e-01 -2.25596395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36401273900003 meters Centerline goodness [0,1] 0.9953278070836473 Centerline is valid? [True, True] Translation: X:294.58, Y:-10.61, Z:-2.26 [[ 9.47268793e-01 -3.20361491e-01 -7.09568813e-03 2.94576139e+02] [ 3.20353653e-01 9.47295357e-01 -2.24573381e-03 -1.06060267e+01] [ 7.44115906e-03 -1.45816053e-04 9.99972304e-01 -2.25840489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.394012739 meters Centerline goodness [0,1] 0.9956649569714788 Centerline is valid? [True, True] Translation: X:294.60, Y:-10.60, Z:-2.26 [[ 9.48561596e-01 -3.16495223e-01 -7.85322377e-03 2.94603023e+02] [ 3.16485482e-01 9.48594095e-01 -2.48641261e-03 -1.05978748e+01] [ 8.23645941e-03 -1.26915794e-04 9.99966072e-01 -2.26095582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42401273900003 meters Centerline goodness [0,1] 0.9962487406486463 Centerline is valid? [True, True] Translation: X:294.63, Y:-10.59, Z:-2.26 [[ 9.49236476e-01 -3.14474948e-01 -7.45785839e-03 2.94630609e+02] [ 3.14466097e-01 9.49265767e-01 -2.36167998e-03 -1.05918078e+01] [ 7.82217885e-03 -1.03450842e-04 9.99969401e-01 -2.26013525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.454012739 meters Centerline goodness [0,1] 0.9964161529108091 Centerline is valid? [True, True] Translation: X:294.66, Y:-10.58, Z:-2.26 [[ 9.50960788e-01 -3.09247142e-01 -6.30749748e-03 2.94656067e+02] [ 3.09240694e-01 9.50981705e-01 -1.99771088e-03 -1.05774531e+01] [ 6.61610109e-03 -5.07901856e-05 9.99978112e-01 -2.25592753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484012739 meters Centerline goodness [0,1] 0.9962521951428449 Centerline is valid? [True, True] Translation: X:294.68, Y:-10.56, Z:-2.25 [[ 9.51930238e-01 -3.06263443e-01 -5.61475103e-03 2.94682186e+02] [ 3.06258279e-01 9.51946796e-01 -1.77882252e-03 -1.05640030e+01] [ 5.88973256e-03 -2.62490390e-05 9.99982655e-01 -2.25350944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.514012739 meters Centerline goodness [0,1] 0.9958513322783457 Centerline is valid? [True, True] Translation: X:294.71, Y:-10.55, Z:-2.25 [[ 9.52834541e-01 -3.03446958e-01 -5.12652438e-03 2.94707963e+02] [ 3.03442607e-01 9.52848332e-01 -1.62496476e-03 -1.05504297e+01] [ 5.37789082e-03 -7.28336905e-06 9.99985539e-01 -2.25271070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544012739 meters Centerline goodness [0,1] 0.9954557146531767 Centerline is valid? [True, True] Translation: X:294.73, Y:-10.54, Z:-2.25 [[ 9.54172297e-01 -2.99224740e-01 -4.44777572e-03 2.94733033e+02] [ 2.99221416e-01 9.54182663e-01 -1.41038536e-03 -1.05362381e+01] [ 4.66601267e-03 1.48808900e-05 9.99989114e-01 -2.25229564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.574012739 meters Centerline goodness [0,1] 0.9948582279021143 Centerline is valid? [True, True] Translation: X:294.76, Y:-10.52, Z:-2.25 [[ 9.54735593e-01 -2.97440624e-01 -3.00396406e-03 2.94759185e+02] [ 2.97439098e-01 9.54740318e-01 -9.52621835e-04 -1.05246542e+01] [ 3.15135404e-03 1.60056094e-05 9.99995034e-01 -2.24958646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604012739 meters Centerline goodness [0,1] 0.9947735937968556 Centerline is valid? [True, True] Translation: X:294.79, Y:-10.51, Z:-2.25 [[ 9.54705913e-01 -2.97535800e-01 -3.01132446e-03 2.94785595e+02] [ 2.97534266e-01 9.54710662e-01 -9.55452332e-04 -1.05145412e+01] [ 3.15922484e-03 1.62037799e-05 9.99995010e-01 -2.24890870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.634012739 meters Centerline goodness [0,1] 0.9949890787614031 Centerline is valid? [True, True] Translation: X:294.81, Y:-10.50, Z:-2.25 [[ 9.54690857e-01 -2.97573672e-01 -3.90854730e-03 2.94812150e+02] [ 2.97571085e-01 9.54698858e-01 -1.24107515e-03 -1.05041061e+01] [ 4.10079694e-03 2.17724397e-05 9.99991591e-01 -2.25038079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664012739 meters Centerline goodness [0,1] 0.9953550099535501 Centerline is valid? [True, True] Translation: X:294.84, Y:-10.49, Z:-2.25 [[ 9.54521699e-01 -2.98083309e-01 -5.88792840e-03 2.94838340e+02] [ 2.98077438e-01 9.54539858e-01 -1.87105188e-03 -1.04941848e+01] [ 6.17799167e-03 3.09010079e-05 9.99980916e-01 -2.25467181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.694012739 meters Centerline goodness [0,1] 0.9956156297452787 Centerline is valid? [True, True] Translation: X:294.87, Y:-10.49, Z:-2.26 [[ 9.54067922e-01 -2.99531179e-01 -5.95592402e-03 2.94865319e+02] [ 2.99525195e-01 9.54086512e-01 -1.89348820e-03 -1.04870680e+01] [ 6.24962552e-03 2.25670478e-05 9.99980471e-01 -2.25516887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724012739 meters Centerline goodness [0,1] 0.9960286793748927 Centerline is valid? [True, True] Translation: X:294.90, Y:-10.49, Z:-2.25 [[ 9.52791621e-01 -3.03588089e-01 -4.73269113e-03 2.94895031e+02] [ 3.03584359e-01 9.52803375e-01 -1.50498761e-03 -1.04850999e+01] [ 4.96622040e-03 -2.83142277e-06 9.99987668e-01 -2.25219777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.754012739 meters Centerline goodness [0,1] 0.9961500010635356 Centerline is valid? [True, True] Translation: X:294.92, Y:-10.48, Z:-2.25 [[ 9.52085895e-01 -3.05793170e-01 -4.79425898e-03 2.94922088e+02] [ 3.05789366e-01 9.52097966e-01 -1.52541632e-03 -1.04807255e+01] [ 5.03106611e-03 -1.37060435e-05 9.99987344e-01 -2.25197984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784012739 meters Centerline goodness [0,1] 0.9960402932793769 Centerline is valid? [True, True] Translation: X:294.95, Y:-10.47, Z:-2.25 [[ 9.51508723e-01 -3.07579551e-01 -5.09601830e-03 2.94950136e+02] [ 3.07575273e-01 9.51522369e-01 -1.62243787e-03 -1.04741794e+01] [ 5.34800412e-03 -2.36454304e-05 9.99985699e-01 -2.25113773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.814012739 meters Centerline goodness [0,1] 0.9958981001727115 Centerline is valid? [True, True] Translation: X:294.98, Y:-10.46, Z:-2.25 [[ 9.51731400e-01 -3.06884624e-01 -5.40094873e-03 2.94975408e+02] [ 3.06879803e-01 9.51746724e-01 -1.72037615e-03 -1.04648596e+01] [ 5.66829225e-03 -2.01060785e-05 9.99983935e-01 -2.25110745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844012739 meters Centerline goodness [0,1] 0.9959279527728703 Centerline is valid? [True, True] Translation: X:295.00, Y:-10.45, Z:-2.25 [[ 9.52236659e-01 -3.05309203e-01 -5.62460587e-03 2.95001234e+02] [ 3.05303944e-01 9.52253270e-01 -1.79208785e-03 -1.04531311e+01] [ 5.90319025e-03 -1.07226071e-05 9.99982576e-01 -2.25155453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.874012739 meters Centerline goodness [0,1] 0.9959668814817976 Centerline is valid? [True, True] Translation: X:295.03, Y:-10.44, Z:-2.25 [[ 9.53403881e-01 -3.01614913e-01 -7.03450382e-03 2.95025166e+02] [ 3.01606581e-01 9.53429832e-01 -2.24192623e-03 -1.04351632e+01] [ 7.38310417e-03 1.58085259e-05 9.99972744e-01 -2.25443143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904012739 meters Centerline goodness [0,1] 0.9957109019909097 Centerline is valid? [True, True] Translation: X:295.05, Y:-10.42, Z:-2.26 [[ 9.54455090e-01 -2.98259644e-01 -7.52763136e-03 2.95049612e+02] [ 2.98249991e-01 9.54484773e-01 -2.40009654e-03 -1.04170305e+01] [ 7.90086145e-03 4.56683728e-05 9.99968787e-01 -2.25530118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.934012739 meters Centerline goodness [0,1] 0.9956068918223898 Centerline is valid? [True, True] Translation: X:295.08, Y:-10.41, Z:-2.25 [[ 9.54668419e-01 -2.97580912e-01 -7.33561847e-03 2.95075762e+02] [ 2.97571714e-01 9.54696600e-01 -2.34017618e-03 -1.04077944e+01] [ 7.69968178e-03 5.12197293e-05 9.99970356e-01 -2.25325302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964012739 meters Centerline goodness [0,1] 0.9953167629809448 Centerline is valid? [True, True] Translation: X:295.10, Y:-10.40, Z:-2.25 [[ 9.54550858e-01 -2.97962191e-01 -7.15484253e-03 2.95102347e+02] [ 2.97953442e-01 9.54577671e-01 -2.28392915e-03 -1.04004745e+01] [ 7.51037745e-03 4.83165748e-05 9.99971796e-01 -2.25228471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.994012739 meters Centerline goodness [0,1] 0.995 Centerline is valid? [True, True] Translation: X:295.13, Y:-10.40, Z:-2.25 [[ 9.53739031e-01 -3.00548395e-01 -7.24723955e-03 2.95130133e+02] [ 3.00539485e-01 9.53766565e-01 -2.31438381e-03 -1.03951081e+01] [ 7.60775911e-03 2.92365242e-05 9.99971060e-01 -2.25443478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.024012739 meters Centerline goodness [0,1] 0.995527442335953 Centerline is valid? [True, True] Translation: X:295.16, Y:-10.39, Z:-2.25 [[ 9.53159216e-01 -3.02388687e-01 -6.97070010e-03 2.95158029e+02] [ 3.02380487e-01 9.53184705e-01 -2.22693867e-03 -1.03896162e+01] [ 7.31776578e-03 1.48234226e-05 9.99973225e-01 -2.25304255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05401273900003 meters Centerline goodness [0,1] 0.9957318387583531 Centerline is valid? [True, True] Translation: X:295.19, Y:-10.38, Z:-2.25 [[ 9.52910505e-01 -3.03222649e-01 -4.19458488e-03 2.95185471e+02] [ 3.03219686e-01 9.52919737e-01 -1.34057352e-03 -1.03809699e+01] [ 4.40359498e-03 5.56588427e-06 9.99990304e-01 -2.24552088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.084012739 meters Centerline goodness [0,1] 0.9955114575950862 Centerline is valid? [True, True] Translation: X:295.21, Y:-10.37, Z:-2.24 [[ 9.53022271e-01 -3.02881435e-01 -3.37438994e-03 2.95210794e+02] [ 3.02879514e-01 9.53028245e-01 -1.07894831e-03 -1.03713708e+01] [ 3.54268234e-03 6.22818487e-06 9.99993725e-01 -2.24354390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11401273900003 meters Centerline goodness [0,1] 0.9947645097871612 Centerline is valid? [True, True] Translation: X:295.24, Y:-10.36, Z:-2.24 [[ 9.53577276e-01 -3.01138485e-01 -2.44765208e-03 2.95235544e+02] [ 3.01137468e-01 9.53580418e-01 -7.82792928e-04 -1.03589109e+01] [ 2.56976217e-03 9.37379819e-06 9.99996698e-01 -2.24122185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.144012739 meters Centerline goodness [0,1] 0.9943262107652122 Centerline is valid? [True, True] Translation: X:295.26, Y:-10.35, Z:-2.24 [[ 9.53769160e-01 -3.00531939e-01 -2.22319209e-03 2.95261753e+02] [ 3.00531099e-01 9.53771751e-01 -7.10988232e-04 -1.03475775e+01] [ 2.33409249e-03 9.98028727e-06 9.99997276e-01 -2.24092028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17401273900003 meters Centerline goodness [0,1] 0.9950600164666118 Centerline is valid? [True, True] Translation: X:295.29, Y:-10.34, Z:-2.24 [[ 9.53880871e-01 -3.00176471e-01 -2.31746528e-03 2.95288481e+02] [ 3.00175555e-01 9.53883686e-01 -7.41553465e-04 -1.03384016e+01] [ 2.43318923e-03 1.17072376e-05 9.99997040e-01 -2.24162058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.204012739 meters Centerline goodness [0,1] 0.9948119604761803 Centerline is valid? [True, True] Translation: X:295.31, Y:-10.33, Z:-2.24 [[ 9.54054704e-01 -2.99608364e-01 -3.80123410e-03 2.95313560e+02] [ 2.99605891e-01 9.54062277e-01 -1.21756459e-03 -1.03260502e+01] [ 3.99140659e-03 2.27510978e-05 9.99992034e-01 -2.24429595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.234012739 meters Centerline goodness [0,1] 0.9947203043840711 Centerline is valid? [True, True] Translation: X:295.34, Y:-10.32, Z:-2.25 [[ 9.53974438e-01 -2.99848983e-01 -4.83315055e-03 2.95339896e+02] [ 2.99844985e-01 9.53986680e-01 -1.54868029e-03 -1.03175573e+01] [ 5.07513146e-03 2.82054579e-05 9.99987121e-01 -2.24561721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.264012739 meters Centerline goodness [0,1] 0.9951543470266294 Centerline is valid? [True, True] Translation: X:295.37, Y:-10.31, Z:-2.25 [[ 9.53826577e-01 -3.00321318e-01 -4.68684777e-03 2.95366778e+02] [ 3.00317559e-01 9.53838092e-01 -1.50277565e-03 -1.03086024e+01] [ 4.92180949e-03 2.58446699e-05 9.99987887e-01 -2.24524331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.294012739 meters Centerline goodness [0,1] 0.9944242319863943 Centerline is valid? [True, True] Translation: X:295.39, Y:-10.30, Z:-2.24 [[ 9.53694480e-01 -3.00735877e-01 -4.97716197e-03 2.95392029e+02] [ 3.00731638e-01 9.53707467e-01 -1.59689194e-03 -1.02981462e+01] [ 5.22699923e-03 2.61569584e-05 9.99986339e-01 -2.24224544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.324012739 meters Centerline goodness [0,1] 0.9944803590988166 Centerline is valid? [True, True] Translation: X:295.42, Y:-10.29, Z:-2.24 [[ 9.53493167e-01 -3.01400034e-01 -2.96635901e-03 2.95418253e+02] [ 3.01398531e-01 9.53497781e-01 -9.51946244e-04 -1.02877247e+01] [ 3.11533337e-03 1.36179893e-05 9.99995147e-01 -2.24162167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.354012739 meters Centerline goodness [0,1] 0.9946094561828888 Centerline is valid? [True, True] Translation: X:295.44, Y:-10.28, Z:-2.24 [[ 9.53438865e-01 -3.01576585e-01 -2.42773585e-03 2.95443567e+02] [ 3.01575577e-01 9.53441956e-01 -7.79590015e-04 -1.02791995e+01] [ 2.54981131e-03 1.11455788e-05 9.99996749e-01 -2.24042970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.384012739 meters Centerline goodness [0,1] 0.9945613620241192 Centerline is valid? [True, True] Translation: X:295.47, Y:-10.27, Z:-2.24 [[ 9.53463840e-01 -3.01474753e-01 -4.43610637e-03 2.95470240e+02] [ 3.01471384e-01 9.53474160e-01 -1.42529042e-03 -1.02696307e+01] [ 4.65940187e-03 2.16037444e-05 9.99989145e-01 -2.24465348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.414012739 meters Centerline goodness [0,1] 0.9950402576489533 Centerline is valid? [True, True] Translation: X:295.50, Y:-10.26, Z:-2.25 [[ 9.53389614e-01 -3.01692485e-01 -5.46709165e-03 2.95497279e+02] [ 3.01687365e-01 9.53405288e-01 -1.75784767e-03 -1.02608585e+01] [ 5.74268353e-03 2.65612417e-05 9.99983510e-01 -2.24667714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.444012739 meters Centerline goodness [0,1] 0.9950638041041558 Centerline is valid? [True, True] Translation: X:295.52, Y:-10.25, Z:-2.25 [[ 9.53244639e-01 -3.02144214e-01 -5.79069099e-03 2.95523361e+02] [ 3.02138472e-01 9.53262227e-01 -1.86288588e-03 -1.02528708e+01] [ 6.08290718e-03 2.61954480e-05 9.99981499e-01 -2.24756822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.474012739 meters Centerline goodness [0,1] 0.9949621626256779 Centerline is valid? [True, True] Translation: X:295.55, Y:-10.25, Z:-2.25 [[ 9.52539635e-01 -3.04359342e-01 -5.79957534e-03 2.95551443e+02] [ 3.04353620e-01 9.52557290e-01 -1.86621755e-03 -1.02486445e+01] [ 6.09242852e-03 1.25244335e-05 9.99981441e-01 -2.24779031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.504012739 meters Centerline goodness [0,1] 0.9956260369309 Centerline is valid? [True, True] Translation: X:295.58, Y:-10.24, Z:-2.25 [[ 9.51972548e-01 -3.06128502e-01 -5.79727476e-03 2.95578753e+02] [ 3.06122814e-01 9.51990200e-01 -1.86619680e-03 -1.02433760e+01] [ 6.09024479e-03 1.89006072e-06 9.99981454e-01 -2.24782091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.534012739 meters Centerline goodness [0,1] 0.9957192891425607 Centerline is valid? [True, True] Translation: X:295.61, Y:-10.24, Z:-2.25 [[ 9.50890487e-01 -3.09479553e-01 -5.44867830e-03 2.95607532e+02] [ 3.09474576e-01 9.50906097e-01 -1.75508200e-03 -1.02423006e+01] [ 5.72434341e-03 -1.73366370e-05 9.99983616e-01 -2.24693939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.564012739 meters Centerline goodness [0,1] 0.9952544556581491 Centerline is valid? [True, True] Translation: X:295.64, Y:-10.24, Z:-2.25 [[ 9.50398356e-01 -3.10982803e-01 -5.71496313e-03 2.95635483e+02] [ 3.10977350e-01 9.50415538e-01 -1.84176730e-03 -1.02376184e+01] [ 6.00434771e-03 -2.68114756e-05 9.99981973e-01 -2.24753408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.594012739 meters Centerline goodness [0,1] 0.9953401876750102 Centerline is valid? [True, True] Translation: X:295.67, Y:-10.24, Z:-2.25 [[ 9.49458603e-01 -3.13834081e-01 -6.04413418e-03 2.95665214e+02] [ 3.13828037e-01 9.49477839e-01 -1.94825384e-03 -1.02390449e+01] [ 6.35019991e-03 -4.70323977e-05 9.99979836e-01 -2.24842355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.624012739 meters Centerline goodness [0,1] 0.994898837709858 Centerline is valid? [True, True] Translation: X:295.69, Y:-10.24, Z:-2.25 [[ 9.48909814e-01 -3.15502754e-01 -5.30824006e-03 2.95694229e+02] [ 3.15498115e-01 9.48924660e-01 -1.71157613e-03 -1.02350433e+01] [ 5.57712688e-03 -5.06083458e-05 9.99984446e-01 -2.24619836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.654012739 meters Centerline goodness [0,1] 0.9951609053230042 Centerline is valid? [True, True] Translation: X:295.72, Y:-10.23, Z:-2.24 [[ 9.48327837e-01 -3.17262144e-01 -4.36408206e-03 2.95722653e+02] [ 3.17259024e-01 9.48337877e-01 -1.40782620e-03 -1.02304675e+01] [ 4.58527427e-03 -4.94636331e-05 9.99989486e-01 -2.24397009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.684012739 meters Centerline goodness [0,1] 0.9942858379688752 Centerline is valid? [True, True] Translation: X:295.75, Y:-10.23, Z:-2.24 [[ 9.47498117e-01 -3.19740028e-01 -3.69236020e-03 2.95752688e+02] [ 3.19737811e-01 9.47505310e-01 -1.19170641e-03 -1.02338314e+01] [ 3.87956714e-03 -5.14475864e-05 9.99992473e-01 -2.24240550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.714012739 meters Centerline goodness [0,1] 0.9946612349914237 Centerline is valid? [True, True] Translation: X:295.78, Y:-10.23, Z:-2.24 [[ 9.47234203e-01 -3.20517608e-01 -3.97840105e-03 2.95781467e+02] [ 3.20515040e-01 9.47242556e-01 -1.28443032e-03 -1.02309216e+01] [ 4.18019331e-03 -5.84810424e-05 9.99991261e-01 -2.24287897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.744012739 meters Centerline goodness [0,1] 0.9939822932225036 Centerline is valid? [True, True] Translation: X:295.81, Y:-10.23, Z:-2.24 [[ 9.47197321e-01 -3.20636536e-01 -3.07355825e-03 2.95810513e+02] [ 3.20635003e-01 9.47202307e-01 -9.92394906e-04 -1.02284154e+01] [ 3.22947953e-03 -4.54965636e-05 9.99994784e-01 -2.24067153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.774012739 meters Centerline goodness [0,1] 0.9941946748144915 Centerline is valid? [True, True] Translation: X:295.84, Y:-10.22, Z:-2.24 [[ 9.47425424e-01 -3.19965593e-01 -2.66195779e-03 2.95839063e+02] [ 3.19964439e-01 9.47429163e-01 -8.59990758e-04 -1.02226734e+01] [ 2.79718389e-03 -3.69547220e-05 9.99996087e-01 -2.23983123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80401273900003 meters Centerline goodness [0,1] 0.9939071650017224 Centerline is valid? [True, True] Translation: X:295.87, Y:-10.22, Z:-2.24 [[ 9.47863391e-01 -3.18663085e-01 -2.97157140e-03 2.95866769e+02] [ 3.18661639e-01 9.47868048e-01 -9.60699275e-04 -1.02177962e+01] [ 3.12279698e-03 -3.63141410e-05 9.99995123e-01 -2.24025501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.834012739 meters Centerline goodness [0,1] 0.9947746430414588 Centerline is valid? [True, True] Translation: X:295.90, Y:-10.21, Z:-2.24 [[ 9.49230343e-01 -3.14542122e-01 -5.00103549e-03 2.95895281e+02] [ 3.14537966e-01 9.49243516e-01 -1.61724294e-03 -1.02103791e+01] [ 5.25589154e-03 -3.78794677e-05 9.99986187e-01 -2.24328070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86401273900003 meters Centerline goodness [0,1] 0.9955283596140269 Centerline is valid? [True, True] Translation: X:295.92, Y:-10.20, Z:-2.24 [[ 9.51273153e-01 -3.08293147e-01 -5.89277968e-03 2.95920944e+02] [ 3.08287256e-01 9.51291404e-01 -1.90588628e-03 -1.01981871e+01] [ 6.19332234e-03 -3.65042198e-06 9.99980821e-01 -2.24348252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.894012739 meters Centerline goodness [0,1] 0.9949701216628691 Centerline is valid? [True, True] Translation: X:295.95, Y:-10.19, Z:-2.24 [[ 9.52151790e-01 -3.05585339e-01 -4.95673742e-03 2.95946659e+02] [ 3.05581131e-01 9.52164692e-01 -1.60364959e-03 -1.01862477e+01] [ 5.20968216e-03 1.22324003e-05 9.99986429e-01 -2.24135041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92401273900003 meters Centerline goodness [0,1] 0.9945058455248196 Centerline is valid? [True, True] Translation: X:295.97, Y:-10.18, Z:-2.24 [[ 9.52737394e-01 -3.03774431e-01 -3.54304177e-03 2.95973901e+02] [ 3.03772266e-01 9.52743982e-01 -1.14680259e-03 -1.01760476e+01] [ 3.72398103e-03 1.63238827e-05 9.99993066e-01 -2.23855945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.954012739 meters Centerline goodness [0,1] 0.9932785660941 Centerline is valid? [True, True] Translation: X:296.00, Y:-10.17, Z:-2.23 [[ 9.52988701e-01 -3.03004356e-01 -9.46158591e-04 2.96001193e+02] [ 3.03004201e-01 9.52989171e-01 -3.06176195e-04 -1.01691315e+01] [ 9.94451613e-04 5.09242605e-06 9.99999506e-01 -2.23479708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984012739 meters Centerline goodness [0,1] 0.9935107763664602 Centerline is valid? [True, True] Translation: X:296.03, Y:-10.16, Z:-2.24 [[ 9.52682340e-01 -3.03953828e-01 -2.90336098e-03 2.96028591e+02] [ 3.03952374e-01 9.52686764e-01 -9.40441802e-04 -1.01630854e+01] [ 3.05184447e-03 1.34588337e-05 9.99995343e-01 -2.23869873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.014012739 meters Centerline goodness [0,1] 0.9941430732656149 Centerline is valid? [True, True] Translation: X:296.06, Y:-10.16, Z:-2.24 [[ 9.52456713e-01 -3.04640545e-01 -4.51087023e-03 2.96055562e+02] [ 3.04637035e-01 9.52467395e-01 -1.46246134e-03 -1.01550021e+01] [ 4.74198184e-03 1.87529845e-05 9.99988757e-01 -2.24184910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044012739 meters Centerline goodness [0,1] 0.9948245257597468 Centerline is valid? [True, True] Translation: X:296.08, Y:-10.15, Z:-2.24 [[ 9.52291622e-01 -3.05133384e-01 -5.85527731e-03 2.96082476e+02] [ 3.05127471e-01 9.52309623e-01 -1.89974884e-03 -1.01465383e+01] [ 6.15571372e-03 2.25089431e-05 9.99981053e-01 -2.24387393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.074012739 meters Centerline goodness [0,1] 0.9942011424614852 Centerline is valid? [True, True] Translation: X:296.11, Y:-10.14, Z:-2.24 [[ 9.51865135e-01 -3.06474853e-01 -5.09207401e-03 2.96109710e+02] [ 3.06470394e-01 9.51878755e-01 -1.65310227e-03 -1.01403526e+01] [ 5.35367134e-03 1.29604824e-05 9.99985669e-01 -2.24254600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104012739 meters Centerline goodness [0,1] 0.9937022042285201 Centerline is valid? [True, True] Translation: X:296.14, Y:-10.13, Z:-2.24 [[ 9.51645108e-01 -3.07173653e-01 -3.99198191e-03 2.96135902e+02] [ 3.07170916e-01 9.51653481e-01 -1.29659870e-03 -1.01329658e+01] [ 4.19726443e-03 7.68107455e-06 9.99991191e-01 -2.24048297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.134012739 meters Centerline goodness [0,1] 0.9929964117418183 Centerline is valid? [True, True] Translation: X:296.16, Y:-10.13, Z:-2.24 [[ 9.51456011e-01 -3.07767666e-01 -3.24380000e-03 2.96162905e+02] [ 3.07765862e-01 9.51461541e-01 -1.05381265e-03 -1.01257127e+01] [ 3.41068040e-03 4.32547381e-06 9.99994184e-01 -2.23845865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164012739 meters Centerline goodness [0,1] 0.9928639391056137 Centerline is valid? [True, True] Translation: X:296.19, Y:-10.12, Z:-2.24 [[ 9.51735265e-01 -3.06897605e-01 -3.72100427e-03 2.96189196e+02] [ 3.06895221e-01 9.51742539e-01 -1.20967638e-03 -1.01179546e+01] [ 3.91268484e-03 9.33324437e-06 9.99992345e-01 -2.23891581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.194012739 meters Centerline goodness [0,1] 0.9931791857921153 Centerline is valid? [True, True] Translation: X:296.22, Y:-10.11, Z:-2.24 [[ 9.52155710e-01 -3.05570037e-01 -5.14353501e-03 2.96216161e+02] [ 3.05565460e-01 9.52169603e-01 -1.67266645e-03 -1.01091655e+01] [ 5.40863443e-03 2.09522685e-05 9.99985373e-01 -2.24190369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224012739 meters Centerline goodness [0,1] 0.9935666659565856 Centerline is valid? [True, True] Translation: X:296.24, Y:-10.10, Z:-2.24 [[ 9.52458043e-01 -3.04629660e-01 -4.94432209e-03 2.96241970e+02] [ 3.04625417e-01 9.52470876e-01 -1.60818958e-03 -1.00993286e+01] [ 5.19922503e-03 2.55669198e-05 9.99986484e-01 -2.24147431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.254012739 meters Centerline goodness [0,1] 0.9936211340206186 Centerline is valid? [True, True] Translation: X:296.27, Y:-10.09, Z:-2.24 [[ 9.53371884e-01 -3.01783472e-01 -2.96427487e-03 2.96267687e+02] [ 3.01781933e-01 9.53376492e-01 -9.64246595e-04 -1.00867955e+01] [ 3.11706366e-03 2.47209917e-05 9.99995142e-01 -2.23579238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284012739 meters Centerline goodness [0,1] 0.9936211340206186 Centerline is valid? [True, True] Translation: X:296.29, Y:-10.08, Z:-2.24 [[ 9.53316589e-01 -3.01958102e-01 -2.96420683e-03 2.96293768e+02] [ 3.01956563e-01 9.53321197e-01 -9.64455722e-04 -1.00780998e+01] [ 3.11706642e-03 2.43699334e-05 9.99995142e-01 -2.23569336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.314012739 meters Centerline goodness [0,1] 0.993486802767575 Centerline is valid? [True, True] Translation: X:296.32, Y:-10.07, Z:-2.23 [[ 9.53975954e-01 -2.99872403e-01 -2.53387179e-03 2.96319817e+02] [ 2.99871269e-01 9.53979319e-01 -8.24974418e-04 -1.00665473e+01] [ 2.66464835e-03 2.71704083e-05 9.99996449e-01 -2.23370629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344012739 meters Centerline goodness [0,1] 0.9933899905571294 Centerline is valid? [True, True] Translation: X:296.35, Y:-10.05, Z:-2.23 [[ 9.55357809e-01 -2.95438270e-01 -2.77232630e-03 2.96345939e+02] [ 2.95436894e-01 9.55361830e-01 -9.02835134e-04 -1.00519317e+01] [ 2.91530677e-03 4.34831266e-05 9.99995750e-01 -2.23452217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.374012739 meters Centerline goodness [0,1] 0.992873748017468 Centerline is valid? [True, True] Translation: X:296.37, Y:-10.04, Z:-2.23 [[ 9.55756420e-01 -2.94144874e-01 -2.90838007e-03 2.96372545e+02] [ 2.94143354e-01 9.55760844e-01 -9.47142033e-04 -1.00412973e+01] [ 3.05831277e-03 4.97564107e-05 9.99995322e-01 -2.23496405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404012739 meters Centerline goodness [0,1] 0.9925889114558576 Centerline is valid? [True, True] Translation: X:296.40, Y:-10.03, Z:-2.23 [[ 9.56481025e-01 -2.91779409e-01 -2.97073941e-03 2.96397497e+02] [ 2.91777810e-01 9.56485636e-01 -9.68057090e-04 -1.00262383e+01] [ 3.12392870e-03 5.91323993e-05 9.99995119e-01 -2.23460390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.434012739 meters Centerline goodness [0,1] 0.9928297767599152 Centerline is valid? [True, True] Translation: X:296.42, Y:-10.01, Z:-2.23 [[ 9.56747263e-01 -2.90904464e-01 -3.04429051e-03 2.96422888e+02] [ 2.90902778e-01 9.56752104e-01 -9.92227450e-04 -1.00128157e+01] [ 3.20127475e-03 6.37183287e-05 9.99994874e-01 -2.23491746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464012739 meters Centerline goodness [0,1] 0.9926299374078742 Centerline is valid? [True, True] Translation: X:296.45, Y:-10.00, Z:-2.24 [[ 9.56803116e-01 -2.90720607e-01 -3.05388741e-03 2.96449470e+02] [ 2.90718909e-01 9.56807987e-01 -9.95510096e-04 -9.99999037e+00] [ 3.21139916e-03 6.46843457e-05 9.99994841e-01 -2.23508526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.494012739 meters Centerline goodness [0,1] 0.9923220451669633 Centerline is valid? [True, True] Translation: X:296.48, Y:-9.99, Z:-2.23 [[ 9.56406247e-01 -2.92029361e-01 -2.43785076e-03 2.96476264e+02] [ 2.92028283e-01 9.56409353e-01 -7.95008481e-04 -9.98829987e+00] [ 2.56374909e-03 4.84297038e-05 9.99996712e-01 -2.23445965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.524012739 meters Centerline goodness [0,1] 0.9927821099439325 Centerline is valid? [True, True] Translation: X:296.50, Y:-9.98, Z:-2.23 [[ 9.55878080e-01 -2.93753513e-01 -2.44321196e-03 2.96503607e+02] [ 2.93752434e-01 9.55881202e-01 -7.97199078e-04 -9.97966624e+00] [ 2.56960041e-03 4.43256645e-05 9.99996698e-01 -2.23452510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55401273900003 meters Centerline goodness [0,1] 0.9931009126692331 Centerline is valid? [True, True] Translation: X:296.53, Y:-9.97, Z:-2.23 [[ 9.54385039e-01 -2.98569710e-01 -2.30788158e-03 2.96530349e+02] [ 2.98568760e-01 9.54387829e-01 -7.53562710e-04 -9.97166624e+00] [ 2.42760509e-03 3.01276340e-05 9.99997053e-01 -2.23387749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.584012739 meters Centerline goodness [0,1] 0.9925179058663028 Centerline is valid? [True, True] Translation: X:296.56, Y:-9.97, Z:-2.23 [[ 9.53450543e-01 -3.01542226e-01 -2.08505832e-03 2.96558931e+02] [ 3.01541458e-01 9.53452823e-01 -6.80763029e-04 -9.96562380e+00] [ 2.19328354e-03 2.03423561e-05 9.99997595e-01 -2.23346010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61401273900003 meters Centerline goodness [0,1] 0.991307682474754 Centerline is valid? [True, True] Translation: X:296.59, Y:-9.96, Z:-2.23 [[ 9.51651711e-01 -3.07174233e-01 -1.73544141e-03 2.96587668e+02] [ 3.07173710e-01 9.51653293e-01 -5.66974359e-04 -9.96445343e+00] [ 1.82569845e-03 6.48014209e-06 9.99998333e-01 -2.23209241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.644012739 meters Centerline goodness [0,1] 0.9905583625931318 Centerline is valid? [True, True] Translation: X:296.61, Y:-9.96, Z:-2.23 [[ 9.51010250e-01 -3.09154841e-01 -1.66979296e-03 2.96614953e+02] [ 3.09154359e-01 9.51011716e-01 -5.45730407e-04 -9.95769239e+00] [ 1.75670787e-03 2.77143775e-06 9.99998457e-01 -2.23106627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67401273900003 meters Centerline goodness [0,1] 0.9900813077348772 Centerline is valid? [True, True] Translation: X:296.64, Y:-9.95, Z:-2.23 [[ 9.50678347e-01 -3.10171475e-01 -2.08259891e-03 2.96641428e+02] [ 3.10170728e-01 9.50680628e-01 -6.80646584e-04 -9.94861773e+00] [ 2.19100360e-03 1.11474889e-06 9.99997600e-01 -2.23188319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.704012739 meters Centerline goodness [0,1] 0.9902427567948416 Centerline is valid? [True, True] Translation: X:296.67, Y:-9.94, Z:-2.23 [[ 9.50661883e-01 -3.10222970e-01 -1.92173579e-03 2.96668347e+02] [ 3.10222334e-01 9.50663825e-01 -6.28408813e-04 -9.93973582e+00] [ 2.02187154e-03 1.23894370e-06 9.99997956e-01 -2.23158390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.734012739 meters Centerline goodness [0,1] 0.9904084880636604 Centerline is valid? [True, True] Translation: X:296.69, Y:-9.93, Z:-2.23 [[ 9.50590901e-01 -3.10442956e-01 -1.45271822e-03 2.96694906e+02] [ 3.10442593e-01 9.50592011e-01 -4.75162790e-04 -9.93237868e+00] [ 1.52845328e-03 6.99813878e-07 9.99998832e-01 -2.23067615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.764012739 meters Centerline goodness [0,1] 0.990337442941854 Centerline is valid? [True, True] Translation: X:296.72, Y:-9.92, Z:-2.23 [[ 9.50766723e-01 -3.09904135e-01 -1.43713558e-03 2.96720378e+02] [ 3.09903778e-01 9.50767809e-01 -4.70580783e-04 -9.92404244e+00] [ 1.51221718e-03 2.03880321e-06 9.99998857e-01 -2.22951661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.794012739 meters Centerline goodness [0,1] 0.9902110348334605 Centerline is valid? [True, True] Translation: X:296.75, Y:-9.91, Z:-2.23 [[ 9.51099564e-01 -3.08875964e-01 -2.29307525e-03 2.96745575e+02] [ 3.08875051e-01 9.51102328e-01 -7.51237353e-04 -9.91348575e+00] [ 2.41298837e-03 6.22778422e-06 9.99997089e-01 -2.23122561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.824012739 meters Centerline goodness [0,1] 0.9904500595541943 Centerline is valid? [True, True] Translation: X:296.77, Y:-9.90, Z:-2.23 [[ 9.52081517e-01 -3.05823877e-01 -3.54126248e-03 2.96769976e+02] [ 3.05821676e-01 9.52088103e-01 -1.16063342e-03 -9.89999726e+00] [ 3.72654329e-03 2.20228013e-05 9.99993056e-01 -2.23356005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.854012739 meters Centerline goodness [0,1] 0.9914876281144132 Centerline is valid? [True, True] Translation: X:296.80, Y:-9.89, Z:-2.23 [[ 9.52528533e-01 -3.04429668e-01 -3.45991353e-03 2.96797065e+02] [ 3.04427556e-01 9.52534816e-01 -1.13429100e-03 -9.88883536e+00] [ 3.64099993e-03 2.71515186e-05 9.99993371e-01 -2.23372717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.884012739 meters Centerline goodness [0,1] 0.9915957446808511 Centerline is valid? [True, True] Translation: X:296.82, Y:-9.87, Z:-2.23 [[ 9.53276130e-01 -3.02080472e-01 -3.46526344e-03 2.96821562e+02] [ 3.02078335e-01 9.53282428e-01 -1.13666040e-03 -9.87465265e+00] [ 3.64673765e-03 3.67702143e-05 9.99993350e-01 -2.23401765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.914012739 meters Centerline goodness [0,1] 0.9915538389711812 Centerline is valid? [True, True] Translation: X:296.85, Y:-9.86, Z:-2.23 [[ 9.53590327e-01 -3.01084103e-01 -3.72183780e-03 2.96847936e+02] [ 3.01081630e-01 9.53597589e-01 -1.22110645e-03 -9.86336218e+00] [ 3.91679129e-03 4.38583065e-05 9.99992328e-01 -2.23389737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.944012739 meters Centerline goodness [0,1] 0.9923607269013065 Centerline is valid? [True, True] Translation: X:296.88, Y:-9.85, Z:-2.23 [[ 9.53880948e-01 -3.00157606e-01 -4.06799908e-03 2.96875398e+02] [ 3.00154640e-01 9.53889621e-01 -1.33545824e-03 -9.85347429e+00] [ 4.28127005e-03 5.28393710e-05 9.99990834e-01 -2.23455232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.974012739 meters Centerline goodness [0,1] 0.9920682430410057 Centerline is valid? [True, True] Translation: X:296.90, Y:-9.84, Z:-2.23 [[ 9.54300745e-01 -2.98828251e-01 -3.42989739e-03 2.96901503e+02] [ 2.98826132e-01 9.54306908e-01 -1.12650289e-03 -9.84281284e+00] [ 3.60980566e-03 5.00795802e-05 9.99993483e-01 -2.23338924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.004012739 meters Centerline goodness [0,1] 0.9914261770204353 Centerline is valid? [True, True] Translation: X:296.93, Y:-9.83, Z:-2.23 [[ 9.54093085e-01 -2.99498429e-01 -2.66008734e-03 2.96926753e+02] [ 2.99497157e-01 9.54096793e-01 -8.73687406e-04 -9.83459456e+00] [ 2.79964881e-03 3.68905165e-05 9.99996080e-01 -2.23205940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.034012739 meters Centerline goodness [0,1] 0.9911927153306463 Centerline is valid? [True, True] Translation: X:296.95, Y:-9.83, Z:-2.23 [[ 9.53374619e-01 -3.01785098e-01 -1.60943419e-03 2.96954997e+02] [ 3.01784635e-01 9.53375977e-01 -5.28706506e-04 -9.82910486e+00] [ 1.69395164e-03 1.83528525e-05 9.99998565e-01 -2.23029194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.064012739 meters Centerline goodness [0,1] 0.9910527439675422 Centerline is valid? [True, True] Translation: X:296.98, Y:-9.82, Z:-2.23 [[ 9.52998388e-01 -3.02968763e-01 -2.00024926e-03 2.96983051e+02] [ 3.02968050e-01 9.53000487e-01 -6.57581630e-04 -9.82218491e+00] [ 2.10546521e-03 2.06626161e-05 9.99997783e-01 -2.23048954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.094012739 meters Centerline goodness [0,1] 0.9914546225614927 Centerline is valid? [True, True] Translation: X:297.01, Y:-9.82, Z:-2.23 [[ 9.52686598e-01 -3.03925807e-01 -4.16531607e-03 2.97010329e+02] [ 3.03922719e-01 9.52695703e-01 -1.37062420e-03 -9.81522220e+00] [ 4.38484679e-03 3.98411243e-05 9.99990386e-01 -2.23448155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.124012739 meters Centerline goodness [0,1] 0.991513527309852 Centerline is valid? [True, True] Translation: X:297.04, Y:-9.81, Z:-2.24 [[ 9.52708061e-01 -3.03847561e-01 -4.90005662e-03 2.97036322e+02] [ 3.03843284e-01 9.52720661e-01 -1.61293120e-03 -9.80616655e+00] [ 5.15847039e-03 4.78032664e-05 9.99986694e-01 -2.23609220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.154012739 meters Centerline goodness [0,1] 0.9908562457569586 Centerline is valid? [True, True] Translation: X:297.06, Y:-9.80, Z:-2.23 [[ 9.53067711e-01 -3.02734426e-01 -3.71550618e-03 2.97062672e+02] [ 3.02731956e-01 9.53074953e-01 -1.22357565e-03 -9.79551019e+00] [ 3.91157435e-03 4.13479942e-05 9.99992349e-01 -2.23354482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.184012739 meters Centerline goodness [0,1] 0.9910644334808478 Centerline is valid? [True, True] Translation: X:297.09, Y:-9.79, Z:-2.23 [[ 9.53111387e-01 -3.02609529e-01 -2.48147606e-03 2.97088830e+02] [ 3.02608427e-01 9.53114616e-01 -8.17394197e-04 -9.78699339e+00] [ 2.61248238e-03 2.81521503e-05 9.99996587e-01 -2.23040683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.214012739 meters Centerline goodness [0,1] 0.9902538243145896 Centerline is valid? [True, True] Translation: X:297.12, Y:-9.78, Z:-2.23 [[ 9.53009785e-01 -3.02938024e-01 -9.50531460e-04 2.97115893e+02] [ 3.02937863e-01 9.53010259e-01 -3.12873427e-04 -9.77902851e+00] [ 1.00064749e-03 1.02194678e-05 9.99999499e-01 -2.22732256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.244012739 meters Centerline goodness [0,1] 0.9902509631963218 Centerline is valid? [True, True] Translation: X:297.15, Y:-9.77, Z:-2.23 [[ 9.52610871e-01 -3.04190829e-01 -6.84966080e-04 2.97145268e+02] [ 3.04190745e-01 9.52611117e-01 -2.25492661e-04 -9.77450200e+00] [ 7.21099102e-04 6.44641821e-06 9.99999740e-01 -2.22598115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.274012739 meters Centerline goodness [0,1] 0.9900563258232236 Centerline is valid? [True, True] Translation: X:297.17, Y:-9.77, Z:-2.23 [[ 9.52409600e-01 -3.04817773e-01 -1.44192487e-03 2.97173075e+02] [ 3.04817403e-01 9.52410691e-01 -4.75455171e-04 -9.76836275e+00] [ 1.51823185e-03 1.33042745e-05 9.99998847e-01 -2.22813087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30401273900003 meters Centerline goodness [0,1] 0.9904246017359408 Centerline is valid? [True, True] Translation: X:297.20, Y:-9.76, Z:-2.23 [[ 9.52738714e-01 -3.03776394e-01 -2.97407180e-03 2.97199036e+02] [ 3.03774808e-01 9.52743356e-01 -9.82140429e-04 -9.75935645e+00] [ 3.13187822e-03 3.22751211e-05 9.99995095e-01 -2.23064524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.334012739 meters Centerline goodness [0,1] 0.9910311021683755 Centerline is valid? [True, True] Translation: X:297.22, Y:-9.75, Z:-2.23 [[ 9.53123187e-01 -3.02573262e-01 -2.36895586e-03 2.97224916e+02] [ 3.02572252e-01 9.53126130e-01 -7.82517507e-04 -9.74880131e+00] [ 2.49468260e-03 2.90552720e-05 9.99996888e-01 -2.22900025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36401273900003 meters Centerline goodness [0,1] 0.9919553404652742 Centerline is valid? [True, True] Translation: X:297.25, Y:-9.73, Z:-2.22 [[ 9.54299483e-01 -2.98851940e-01 -1.24521081e-04 2.97249808e+02] [ 2.98851937e-01 9.54299491e-01 -4.10176063e-05 -9.73200967e+00] [ 1.31088595e-04 1.92971421e-06 9.99999991e-01 -2.22374877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.394012739 meters Centerline goodness [0,1] 0.9918844274484809 Centerline is valid? [True, True] Translation: X:297.28, Y:-9.72, Z:-2.22 [[ 9.54985205e-01 -2.96652743e-01 6.39650138e-04 2.97276431e+02] [ 2.96652667e-01 9.54985419e-01 2.12088074e-04 -9.71953082e+00] [-6.73773064e-04 -1.27870536e-05 9.99999773e-01 -2.22282140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42401273900003 meters Centerline goodness [0,1] 0.9914723063147571 Centerline is valid? [True, True] Translation: X:297.30, Y:-9.71, Z:-2.22 [[ 9.55619883e-01 -2.94602158e-01 4.55837621e-04 2.97303283e+02] [ 2.94602120e-01 9.55619992e-01 1.51409185e-04 -9.70819911e+00] [-4.80213016e-04 -1.03988981e-05 9.99999885e-01 -2.22392131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.454012739 meters Centerline goodness [0,1] 0.9920211068320602 Centerline is valid? [True, True] Translation: X:297.33, Y:-9.70, Z:-2.23 [[ 9.56162750e-01 -2.92830820e-01 -1.70501411e-03 2.97329561e+02] [ 2.92830281e-01 9.56164269e-01 -5.63721735e-04 -9.69647416e+00] [ 1.79534867e-03 3.97299630e-05 9.99998388e-01 -2.22869577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484012739 meters Centerline goodness [0,1] 0.9922553391222718 Centerline is valid? [True, True] Translation: X:297.36, Y:-9.69, Z:-2.23 [[ 9.55775294e-01 -2.94074049e-01 -3.74713795e-03 2.97355684e+02] [ 2.94071445e-01 9.55782636e-01 -1.24031959e-03 -9.68548555e+00] [ 3.94619519e-03 8.35405524e-05 9.99992210e-01 -2.23251967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.514012739 meters Centerline goodness [0,1] 0.9927122065228938 Centerline is valid? [True, True] Translation: X:297.38, Y:-9.68, Z:-2.23 [[ 9.55343397e-01 -2.95464003e-01 -4.47389518e-03 2.97383462e+02] [ 2.95460302e-01 9.55353868e-01 -1.48180158e-03 -9.67719188e+00] [ 4.71197209e-03 9.37709378e-05 9.99988894e-01 -2.23406695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544012739 meters Centerline goodness [0,1] 0.9924833021927282 Centerline is valid? [True, True] Translation: X:297.41, Y:-9.67, Z:-2.23 [[ 9.54854282e-01 -2.97039195e-01 -4.58434083e-03 2.97411855e+02] [ 2.97035323e-01 9.54865283e-01 -1.51921681e-03 -9.67088277e+00] [ 4.82869484e-03 8.89195228e-05 9.99988338e-01 -2.23450653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.574012739 meters Centerline goodness [0,1] 0.9914782459746488 Centerline is valid? [True, True] Translation: X:297.44, Y:-9.67, Z:-2.23 [[ 9.53952942e-01 -2.99925651e-01 -4.28816961e-03 2.97440318e+02] [ 2.99922290e-01 9.53962577e-01 -1.42168967e-03 -9.66669220e+00] [ 4.51715454e-03 7.01073927e-05 9.99989795e-01 -2.23321398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604012739 meters Centerline goodness [0,1] 0.9920574243968739 Centerline is valid? [True, True] Translation: X:297.47, Y:-9.66, Z:-2.23 [[ 9.53586368e-01 -3.01084292e-01 -4.61392132e-03 2.97467435e+02] [ 3.01080412e-01 9.53597527e-01 -1.53008979e-03 -9.65772244e+00] [ 4.86050996e-03 6.99114370e-05 9.99988185e-01 -2.23363550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.634012739 meters Centerline goodness [0,1] 0.9925131870001701 Centerline is valid? [True, True] Translation: X:297.49, Y:-9.65, Z:-2.24 [[ 9.53283220e-01 -3.02030429e-01 -5.35930534e-03 2.97493468e+02] [ 3.02025204e-01 9.53298282e-01 -1.77810658e-03 -9.64633318e+00] [ 5.64605886e-03 7.63938724e-05 9.99984058e-01 -2.23542625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664012739 meters Centerline goodness [0,1] 0.9923938894007241 Centerline is valid? [True, True] Translation: X:297.52, Y:-9.64, Z:-2.24 [[ 9.53143470e-01 -3.02464825e-01 -5.70571427e-03 2.97520244e+02] [ 3.02458907e-01 9.53160544e-01 -1.89372200e-03 -9.63736359e+00] [ 6.01124602e-03 7.92446574e-05 9.99981929e-01 -2.23543933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.694012739 meters Centerline goodness [0,1] 0.9926804429923197 Centerline is valid? [True, True] Translation: X:297.55, Y:-9.63, Z:-2.23 [[ 9.53315293e-01 -3.01918235e-01 -5.94407595e-03 2.97546984e+02] [ 3.01911795e-01 9.53333820e-01 -1.97398337e-03 -9.62533539e+00] [ 6.26267020e-03 8.72418972e-05 9.99980385e-01 -2.23474843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724012739 meters Centerline goodness [0,1] 0.9925759668508287 Centerline is valid? [True, True] Translation: X:297.57, Y:-9.61, Z:-2.23 [[ 9.53515597e-01 -3.01304847e-01 -4.83690533e-03 2.97573465e+02] [ 3.01300570e-01 9.53527862e-01 -1.60704783e-03 -9.61463767e+00] [ 5.09633530e-03 7.49828345e-05 9.99987011e-01 -2.23194786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.754012739 meters Centerline goodness [0,1] 0.9921501053034655 Centerline is valid? [True, True] Translation: X:297.60, Y:-9.60, Z:-2.23 [[ 9.54571489e-01 -2.97967943e-01 -2.89446647e-03 2.97597414e+02] [ 2.97966395e-01 9.54575875e-01 -9.62023725e-04 -9.59696396e+00] [ 3.04964010e-03 5.58666784e-05 9.99995348e-01 -2.22868568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784012739 meters Centerline goodness [0,1] 0.9919581394351397 Centerline is valid? [True, True] Translation: X:297.62, Y:-9.58, Z:-2.23 [[ 9.54964403e-01 -2.96704860e-01 -3.03562325e-03 2.97621552e+02] [ 2.96703151e-01 9.54969226e-01 -1.00910387e-03 -9.58057701e+00] [ 3.19833281e-03 6.29792893e-05 9.99994883e-01 -2.22820678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.814012739 meters Centerline goodness [0,1] 0.9921498357438457 Centerline is valid? [True, True] Translation: X:297.65, Y:-9.57, Z:-2.23 [[ 9.55269307e-01 -2.95721308e-01 -3.07541063e-03 2.97647402e+02] [ 2.95719548e-01 9.55274256e-01 -1.02260081e-03 -9.56821610e+00] [ 3.24026545e-03 6.74001249e-05 9.99994748e-01 -2.22869765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844012739 meters Centerline goodness [0,1] 0.9919273677223186 Centerline is valid? [True, True] Translation: X:297.67, Y:-9.55, Z:-2.23 [[ 9.55094628e-01 -2.96287146e-01 -2.85992687e-03 2.97672729e+02] [ 2.96285624e-01 9.55098908e-01 -9.51472896e-04 -9.55484764e+00] [ 3.01342222e-03 6.13914326e-05 9.99995458e-01 -2.22776925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.874012739 meters Centerline goodness [0,1] 0.9918828754170119 Centerline is valid? [True, True] Translation: X:297.70, Y:-9.55, Z:-2.23 [[ 9.54566492e-01 -2.97989692e-01 -2.22604919e-03 2.97700129e+02] [ 2.97988775e-01 9.54569087e-01 -7.40640151e-04 -9.54688086e+00] [ 2.34562087e-03 4.36526016e-05 9.99997248e-01 -2.22677195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904012739 meters Centerline goodness [0,1] 0.9916109187119534 Centerline is valid? [True, True] Translation: X:297.73, Y:-9.55, Z:-2.23 [[ 9.52780331e-01 -3.03657187e-01 -1.39748264e-03 2.97732124e+02] [ 3.03656832e-01 9.52781356e-01 -4.65305924e-04 -9.54708148e+00] [ 1.47278889e-03 1.89791820e-05 9.99998915e-01 -2.22538593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.934012739 meters Centerline goodness [0,1] 0.9912890881028396 Centerline is valid? [True, True] Translation: X:297.76, Y:-9.54, Z:-2.22 [[ 9.51816545e-01 -3.06665054e-01 -1.34510272e-03 2.97758771e+02] [ 3.06664728e-01 9.51817495e-01 -4.47772964e-04 -9.53973281e+00] [ 1.41760862e-03 1.37021570e-05 9.99998995e-01 -2.22486138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964012739 meters Centerline goodness [0,1] 0.9892477688057798 Centerline is valid? [True, True] Translation: X:297.79, Y:-9.54, Z:-2.23 [[ 9.50176891e-01 -3.11703810e-01 -2.14714699e-03 2.97787681e+02] [ 3.11702990e-01 9.50179317e-01 -7.15008138e-04 -9.53884979e+00] [ 2.26304542e-03 1.01120725e-05 9.99997439e-01 -2.22748329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.994012739 meters Centerline goodness [0,1] 0.988898756660746 Centerline is valid? [True, True] Translation: X:297.82, Y:-9.53, Z:-2.23 [[ 9.49471837e-01 -3.13842977e-01 -2.41186008e-03 2.97816164e+02] [ 3.13841949e-01 9.49474900e-01 -8.03333031e-04 -9.53380635e+00] [ 2.54212104e-03 5.79921879e-06 9.99996769e-01 -2.22832748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.024012739 meters Centerline goodness [0,1] 0.9878295713707185 Centerline is valid? [True, True] Translation: X:297.84, Y:-9.53, Z:-2.23 [[ 9.48914845e-01 -3.15523942e-01 -2.29309709e-03 2.97843552e+02] [ 3.15523016e-01 9.48917616e-01 -7.64117572e-04 -9.52654793e+00] [ 2.41705761e-03 1.55759834e-06 9.99997079e-01 -2.22731849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05401273900003 meters Centerline goodness [0,1] 0.9886767125660345 Centerline is valid? [True, True] Translation: X:297.87, Y:-9.52, Z:-2.23 [[ 9.48859060e-01 -3.15685666e-01 -3.00751780e-03 2.97869293e+02] [ 3.15684072e-01 9.48863826e-01 -1.00299359e-03 -9.51665343e+00] [ 3.17035555e-03 2.27409075e-06 9.99994974e-01 -2.22848668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.084012739 meters Centerline goodness [0,1] 0.98959165604958 Centerline is valid? [True, True] Translation: X:297.90, Y:-9.51, Z:-2.24 [[ 9.48976871e-01 -3.15281529e-01 -6.36056710e-03 2.97896189e+02] [ 3.15274379e-01 9.48998186e-01 -2.12326559e-03 -9.50628233e+00] [ 6.70559306e-03 9.60608893e-06 9.99977517e-01 -2.23517799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11401273900003 meters Centerline goodness [0,1] 0.990981557070502 Centerline is valid? [True, True] Translation: X:297.92, Y:-9.50, Z:-2.24 [[ 9.48984116e-01 -3.15215421e-01 -8.26963521e-03 2.97922356e+02] [ 3.15203323e-01 9.49020146e-01 -2.76167579e-03 -9.49730732e+00] [ 8.71857321e-03 1.41699637e-05 9.99961992e-01 -2.23933888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.144012739 meters Centerline goodness [0,1] 0.990981557070502 Centerline is valid? [True, True] Translation: X:297.95, Y:-9.49, Z:-2.24 [[ 9.48927782e-01 -3.15384978e-01 -8.26927868e-03 2.97948361e+02] [ 3.15372877e-01 9.48963811e-01 -2.76274304e-03 -9.48840575e+00] [ 8.71857387e-03 1.37374171e-05 9.99961992e-01 -2.23923988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17401273900003 meters Centerline goodness [0,1] 0.9914701669623961 Centerline is valid? [True, True] Translation: X:297.97, Y:-9.48, Z:-2.24 [[ 9.48955852e-01 -3.15280219e-01 -9.00967240e-03 2.97974247e+02] [ 3.15265840e-01 9.48998621e-01 -3.01119091e-03 -9.47936995e+00] [ 9.49953562e-03 1.70453057e-05 9.99954878e-01 -2.24101582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.204012739 meters Centerline goodness [0,1] 0.9917637095066695 Centerline is valid? [True, True] Translation: X:298.00, Y:-9.47, Z:-2.24 [[ 9.48877495e-01 -3.15551409e-01 -7.66862091e-03 2.98000708e+02] [ 3.15540996e-01 9.48908482e-01 -2.56355973e-03 -9.46953694e+00] [ 8.08575432e-03 1.27398533e-05 9.99967310e-01 -2.23799952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.234012739 meters Centerline goodness [0,1] 0.990394717094402 Centerline is valid? [True, True] Translation: X:298.03, Y:-9.46, Z:-2.24 [[ 9.48680553e-01 -3.16167392e-01 -6.58700536e-03 2.98027733e+02] [ 3.16159717e-01 9.48703421e-01 -2.20290072e-03 -9.46149676e+00] [ 6.94559989e-03 7.30332154e-06 9.99975879e-01 -2.23503403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.264012739 meters Centerline goodness [0,1] 0.9900512256043351 Centerline is valid? [True, True] Translation: X:298.06, Y:-9.46, Z:-2.23 [[ 9.48194288e-01 -3.17647049e-01 -5.28626119e-03 2.98055496e+02] [ 3.17642124e-01 9.48209023e-01 -1.76882948e-03 -9.45616878e+00] [ 5.57434403e-03 -1.94522318e-06 9.99984463e-01 -2.23300861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.294012739 meters Centerline goodness [0,1] 0.989651298448775 Centerline is valid? [True, True] Translation: X:298.08, Y:-9.45, Z:-2.23 [[ 9.47828182e-01 -3.18730062e-01 -5.73456568e-03 2.98081613e+02] [ 3.18724281e-01 9.47845529e-01 -1.91979339e-03 -9.45020116e+00] [ 6.04737831e-03 -8.11104758e-06 9.99981714e-01 -2.23472317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.324012739 meters Centerline goodness [0,1] 0.9899670528217664 Centerline is valid? [True, True] Translation: X:298.11, Y:-9.44, Z:-2.24 [[ 9.47424824e-01 -3.19915646e-01 -6.33893672e-03 2.98108596e+02] [ 3.19908605e-01 9.47446030e-01 -2.12263025e-03 -9.44432020e+00] [ 6.68486306e-03 -1.68478086e-05 9.99977656e-01 -2.23637738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.354012739 meters Centerline goodness [0,1] 0.9893755189814125 Centerline is valid? [True, True] Translation: X:298.13, Y:-9.43, Z:-2.23 [[ 9.47503670e-01 -3.19694226e-01 -5.69183609e-03 2.98134866e+02] [ 3.19688541e-01 9.47520766e-01 -1.90658807e-03 -9.43428116e+00] [ 6.00265809e-03 -1.31155772e-05 9.99981984e-01 -2.23406787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.384012739 meters Centerline goodness [0,1] 0.9890032154340836 Centerline is valid? [True, True] Translation: X:298.16, Y:-9.42, Z:-2.23 [[ 9.47701748e-01 -3.19122184e-01 -4.73585517e-03 2.98160981e+02] [ 3.19118237e-01 9.47713581e-01 -1.58721721e-03 -9.42427956e+00] [ 4.99475048e-03 -7.08922881e-06 9.99987526e-01 -2.23139018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.414012739 meters Centerline goodness [0,1] 0.9902278049819033 Centerline is valid? [True, True] Translation: X:298.19, Y:-9.41, Z:-2.23 [[ 9.48519066e-01 -3.16697930e-01 -3.74211625e-03 2.98185095e+02] [ 3.16695444e-01 9.48526447e-01 -1.25476755e-03 -9.41235083e+00] [ 3.94687852e-03 5.05977247e-06 9.99992211e-01 -2.22951263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.444012739 meters Centerline goodness [0,1] 0.9905171486936889 Centerline is valid? [True, True] Translation: X:298.21, Y:-9.40, Z:-2.23 [[ 9.49036901e-01 -3.15136732e-01 -4.21913013e-03 2.98210615e+02] [ 3.15133555e-01 9.49046279e-01 -1.41523577e-03 -9.40071853e+00] [ 4.45014253e-03 1.35214931e-05 9.99990098e-01 -2.22953439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.474012739 meters Centerline goodness [0,1] 0.9926011215590951 Centerline is valid? [True, True] Translation: X:298.23, Y:-9.39, Z:-2.23 [[ 9.50041858e-01 -3.12071438e-01 -5.64675093e-03 2.98234910e+02] [ 3.12065685e-01 9.50058638e-01 -1.89520389e-03 -9.38599376e+00] [ 5.95618350e-03 3.83658240e-05 9.99982261e-01 -2.23263931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.504012739 meters Centerline goodness [0,1] 0.9931218057921636 Centerline is valid? [True, True] Translation: X:298.26, Y:-9.37, Z:-2.23 [[ 9.50336203e-01 -3.11160999e-01 -6.31939030e-03 2.98260496e+02] [ 3.11153771e-01 9.50357212e-01 -2.12139479e-03 -9.37395760e+00] [ 6.66577347e-03 4.97361444e-05 9.99977782e-01 -2.23472273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.534012739 meters Centerline goodness [0,1] 0.9926456399150925 Centerline is valid? [True, True] Translation: X:298.29, Y:-9.36, Z:-2.23 [[ 9.50522312e-01 -3.10591766e-01 -6.33166777e-03 2.98287811e+02] [ 3.10584492e-01 9.50543398e-01 -2.12626578e-03 -9.36460388e+00] [ 6.67892564e-03 5.45452439e-05 9.99977694e-01 -2.23368381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.564012739 meters Centerline goodness [0,1] 0.992000510605706 Centerline is valid? [True, True] Translation: X:298.31, Y:-9.35, Z:-2.23 [[ 9.50762958e-01 -3.09909053e-01 -2.48510289e-03 2.98313979e+02] [ 3.09907930e-01 9.50766206e-01 -8.34716858e-04 -9.35424040e+00] [ 2.62143816e-03 2.34647767e-05 9.99996564e-01 -2.22677535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.594012739 meters Centerline goodness [0,1] 0.9915026929596807 Centerline is valid? [True, True] Translation: X:298.34, Y:-9.35, Z:-2.22 [[ 9.50333775e-01 -3.11229516e-01 -1.37982939e-03 2.98342491e+02] [ 3.11229172e-01 9.50334777e-01 -4.63209229e-04 -9.34888028e+00] [ 1.45546424e-03 1.07602148e-05 9.99998941e-01 -2.22471094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.624012739 meters Centerline goodness [0,1] 0.9920132194987606 Centerline is valid? [True, True] Translation: X:298.37, Y:-9.34, Z:-2.23 [[ 9.49836078e-01 -3.12731754e-01 -3.20553179e-03 2.98369387e+02] [ 3.12729898e-01 9.49841487e-01 -1.07756341e-03 -9.34177019e+00] [ 3.38173538e-03 2.10429725e-05 9.99994282e-01 -2.22775612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.654012739 meters Centerline goodness [0,1] 0.9922867126907015 Centerline is valid? [True, True] Translation: X:298.40, Y:-9.34, Z:-2.23 [[ 9.49174017e-01 -3.14701995e-01 -5.59809056e-03 2.98398193e+02] [ 3.14696364e-01 9.49190525e-01 -1.88282813e-03 -9.33713421e+00] [ 5.90618429e-03 2.54327995e-05 9.99982558e-01 -2.23261091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.684012739 meters Centerline goodness [0,1] 0.9920046176539753 Centerline is valid? [True, True] Translation: X:298.43, Y:-9.34, Z:-2.24 [[ 9.47857778e-01 -3.18575512e-01 -8.67612723e-03 2.98428038e+02] [ 3.18562136e-01 9.47897485e-01 -2.91937454e-03 -9.33767991e+00] [ 9.15412042e-03 3.26624213e-06 9.99958100e-01 -2.23831058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.714012739 meters Centerline goodness [0,1] 0.99267578125 Centerline is valid? [True, True] Translation: X:298.46, Y:-9.33, Z:-2.24 [[ 9.47486953e-01 -3.19683116e-01 -8.43675961e-03 2.98455474e+02] [ 3.19670500e-01 9.47524514e-01 -2.84007751e-03 -9.33139185e+00] [ 8.90196138e-03 -6.04678020e-06 9.99960377e-01 -2.23735528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.744012739 meters Centerline goodness [0,1] 0.9918836369849847 Centerline is valid? [True, True] Translation: X:298.48, Y:-9.32, Z:-2.23 [[ 9.47852300e-01 -3.18640186e-01 -6.66702674e-03 2.98483188e+02] [ 3.18632274e-01 9.47875747e-01 -2.24547012e-03 -9.32280526e+00] [ 7.03500997e-03 4.04412959e-06 9.99975254e-01 -2.23272625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.774012739 meters Centerline goodness [0,1] 0.9914589691420821 Centerline is valid? [True, True] Translation: X:298.51, Y:-9.31, Z:-2.23 [[ 9.48464191e-01 -3.16838444e-01 -5.39247728e-03 2.98508498e+02] [ 3.16833235e-01 9.48479520e-01 -1.81687215e-03 -9.31279736e+00] [ 5.69030921e-03 1.47221501e-05 9.99983810e-01 -2.23038440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80401273900003 meters Centerline goodness [0,1] 0.9927760359291585 Centerline is valid? [True, True] Translation: X:298.53, Y:-9.30, Z:-2.23 [[ 9.49881042e-01 -3.12590180e-01 -3.65855391e-03 2.98533818e+02] [ 3.12587750e-01 9.49888087e-01 -1.23291571e-03 -9.29897713e+00] [ 3.86061412e-03 2.75041202e-05 9.99992547e-01 -2.22686371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.834012739 meters Centerline goodness [0,1] 0.9930840763517971 Centerline is valid? [True, True] Translation: X:298.56, Y:-9.29, Z:-2.23 [[ 9.50428334e-01 -3.10923478e-01 -3.54573931e-03 2.98560704e+02] [ 3.10921181e-01 9.50434948e-01 -1.19550381e-03 -9.28731553e+00] [ 3.74170476e-03 3.37952366e-05 9.99992999e-01 -2.22663865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86401273900003 meters Centerline goodness [0,1] 0.9931667734358317 Centerline is valid? [True, True] Translation: X:298.59, Y:-9.28, Z:-2.23 [[ 9.50815475e-01 -3.09728501e-01 -4.26484702e-03 2.98585697e+02] [ 3.09725163e-01 9.50825038e-01 -1.43876581e-03 -9.27528528e+00] [ 4.50075011e-03 4.70703563e-05 9.99989870e-01 -2.22801405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.894012739 meters Centerline goodness [0,1] 0.9940658499234303 Centerline is valid? [True, True] Translation: X:298.61, Y:-9.27, Z:-2.23 [[ 9.50839479e-01 -3.09616524e-01 -6.47245718e-03 2.98612826e+02] [ 3.09608827e-01 9.50861506e-01 -2.18439784e-03 -9.26632996e+00] [ 6.83073604e-03 7.30818277e-05 9.99976668e-01 -2.23214772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92401273900003 meters Centerline goodness [0,1] 0.9936890911432619 Centerline is valid? [True, True] Translation: X:298.64, Y:-9.26, Z:-2.23 [[ 9.49959763e-01 -3.12282403e-01 -7.49330605e-03 2.98641100e+02] [ 3.12272158e-01 9.49989314e-01 -2.53033520e-03 -9.26083943e+00] [ 7.90873983e-03 6.37657781e-05 9.99968723e-01 -2.23336803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.954012739 meters Centerline goodness [0,1] 0.993174859670012 Centerline is valid? [True, True] Translation: X:298.67, Y:-9.25, Z:-2.23 [[ 9.49459286e-01 -3.13818250e-01 -6.72091125e-03 2.98667625e+02] [ 3.13810042e-01 9.49483072e-01 -2.27025601e-03 -9.25191656e+00] [ 7.09383923e-03 4.64262076e-05 9.99974837e-01 -2.23242140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984012739 meters Centerline goodness [0,1] 0.9923230330452684 Centerline is valid? [True, True] Translation: X:298.70, Y:-9.24, Z:-2.23 [[ 9.48912007e-01 -3.15479125e-01 -6.23897902e-03 2.98695207e+02] [ 3.15472082e-01 9.48932516e-01 -2.10819064e-03 -9.24455558e+00] [ 6.58546020e-03 3.22637099e-05 9.99978315e-01 -2.23119349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.014012739 meters Centerline goodness [0,1] 0.991760652299527 Centerline is valid? [True, True] Translation: X:298.72, Y:-9.24, Z:-2.23 [[ 9.48133974e-01 -3.17809757e-01 -6.23909152e-03 2.98722540e+02] [ 3.17802758e-01 9.48154501e-01 -2.10936977e-03 -9.23698224e+00] [ 6.58600100e-03 1.71646515e-05 9.99978312e-01 -2.23084275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044012739 meters Centerline goodness [0,1] 0.991045991045991 Centerline is valid? [True, True] Translation: X:298.75, Y:-9.23, Z:-2.23 [[ 9.47665819e-01 -3.19225157e-01 -4.97948894e-03 2.98748962e+02] [ 3.19220714e-01 9.47678901e-01 -1.68411018e-03 -9.22830424e+00] [ 5.25656694e-03 6.41763710e-06 9.99986184e-01 -2.22849901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.074012739 meters Centerline goodness [0,1] 0.9905269010349842 Centerline is valid? [True, True] Translation: X:298.78, Y:-9.22, Z:-2.23 [[ 9.47561103e-01 -3.19548485e-01 -4.08933884e-03 2.98775280e+02] [ 3.19545490e-01 9.47569927e-01 -1.38337630e-03 -9.21877745e+00] [ 4.31699030e-03 4.10379210e-06 9.99990682e-01 -2.22604306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104012739 meters Centerline goodness [0,1] 0.9904350048996634 Centerline is valid? [True, True] Translation: X:298.80, Y:-9.21, Z:-2.23 [[ 9.47673446e-01 -3.19219355e-01 -3.74743858e-03 2.98800034e+02] [ 3.19216835e-01 9.47680855e-01 -1.26840181e-03 -9.20891916e+00] [ 3.95627421e-03 5.78523603e-06 9.99992174e-01 -2.22531820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.134012739 meters Centerline goodness [0,1] 0.9915764655449577 Centerline is valid? [True, True] Translation: X:298.83, Y:-9.20, Z:-2.23 [[ 9.48141071e-01 -3.17812643e-01 -4.86146771e-03 2.98826268e+02] [ 3.17808380e-01 9.48153534e-01 -1.64617116e-03 -9.19971130e+00] [ 5.13259180e-03 1.57873056e-05 9.99986828e-01 -2.22686454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164012739 meters Centerline goodness [0,1] 0.9915218132242672 Centerline is valid? [True, True] Translation: X:298.85, Y:-9.19, Z:-2.23 [[ 9.48476178e-01 -3.16806655e-01 -5.14621605e-03 2.98852656e+02] [ 3.16801859e-01 9.48490138e-01 -1.74344318e-03 -9.19012599e+00] [ 5.43346958e-03 2.32835100e-05 9.99985238e-01 -2.22715057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.194012739 meters Centerline goodness [0,1] 0.9920149905244554 Centerline is valid? [True, True] Translation: X:298.88, Y:-9.18, Z:-2.23 [[ 9.48913927e-01 -3.15496743e-01 -4.91564418e-03 2.98879639e+02] [ 3.15492347e-01 9.48926659e-01 -1.66581659e-03 -9.18018828e+00] [ 5.19014551e-03 2.98684450e-05 9.99986531e-01 -2.22663936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224012739 meters Centerline goodness [0,1] 0.9937674891885017 Centerline is valid? [True, True] Translation: X:298.90, Y:-9.16, Z:-2.23 [[ 9.49932453e-01 -3.12427866e-01 -4.14283025e-03 2.98904089e+02] [ 3.12424712e-01 9.49941486e-01 -1.40450613e-03 -9.16469469e+00] [ 4.37425318e-03 3.98634079e-05 9.99990432e-01 -2.22603735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.254012739 meters Centerline goodness [0,1] 0.9930273345596099 Centerline is valid? [True, True] Translation: X:298.93, Y:-9.16, Z:-2.23 [[ 9.50201452e-01 -3.11611161e-01 -3.96046143e-03 2.98931938e+02] [ 3.11608270e-01 9.50209705e-01 -1.34299523e-03 -9.15802090e+00] [ 4.18176119e-03 4.20034842e-05 9.99991256e-01 -2.22611910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284012739 meters Centerline goodness [0,1] 0.9942211488701053 Centerline is valid? [True, True] Translation: X:298.96, Y:-9.15, Z:-2.23 [[ 9.50746674e-01 -3.09931854e-01 -4.79670607e-03 2.98958642e+02] [ 3.09927587e-01 9.50758772e-01 -1.62758875e-03 -9.14696640e+00] [ 5.06495197e-03 6.07930603e-05 9.99987171e-01 -2.22668685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.314012739 meters Centerline goodness [0,1] 0.9944727800422544 Centerline is valid? [True, True] Translation: X:298.98, Y:-9.14, Z:-2.23 [[ 9.50963119e-01 -3.09260901e-01 -5.18082921e-03 2.98984335e+02] [ 3.09255908e-01 9.50977229e-01 -1.75872596e-03 -9.13619141e+00] [ 5.47075578e-03 7.02814769e-05 9.99985033e-01 -2.22775365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344012739 meters Centerline goodness [0,1] 0.99435208187358 Centerline is valid? [True, True] Translation: X:299.01, Y:-9.13, Z:-2.23 [[ 9.51160863e-01 -3.08651753e-01 -5.20654055e-03 2.99011561e+02] [ 3.08646698e-01 9.51175110e-01 -1.76800889e-03 -9.12538768e+00] [ 5.49803082e-03 7.46793108e-05 9.99984883e-01 -2.22881499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.374012739 meters Centerline goodness [0,1] 0.9942176798173555 Centerline is valid? [True, True] Translation: X:299.04, Y:-9.11, Z:-2.23 [[ 9.51646123e-01 -3.07145873e-01 -5.57406089e-03 2.99036795e+02] [ 3.07140049e-01 9.51662443e-01 -1.89362027e-03 -9.11216660e+00] [ 5.88624206e-03 9.00390540e-05 9.99982672e-01 -2.23032444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404012739 meters Centerline goodness [0,1] 0.9941489361702127 Centerline is valid? [True, True] Translation: X:299.06, Y:-9.10, Z:-2.23 [[ 9.51893092e-01 -3.06369541e-01 -6.10298984e-03 2.99063236e+02] [ 3.06362539e-01 9.51912650e-01 -2.07403940e-03 -9.10065531e+00] [ 6.44493573e-03 1.04536312e-04 9.99979226e-01 -2.23066758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.434012739 meters Centerline goodness [0,1] 0.9942103570279833 Centerline is valid? [True, True] Translation: X:299.09, Y:-9.08, Z:-2.23 [[ 9.52897753e-01 -3.03191385e-01 -7.80104836e-03 2.99088588e+02] [ 3.03179829e-01 9.52929671e-01 -2.65201172e-03 -9.08261269e+00] [ 8.23791755e-03 1.61975498e-04 9.99966055e-01 -2.23294224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464012739 meters Centerline goodness [0,1] 0.9940591529501949 Centerline is valid? [True, True] Translation: X:299.11, Y:-9.07, Z:-2.23 [[ 9.53464949e-01 -3.01384266e-01 -8.49204600e-03 2.99112965e+02] [ 3.01370497e-01 9.53502746e-01 -2.88734321e-03 -9.06679766e+00] [ 8.96738899e-03 1.93728430e-04 9.99959773e-01 -2.23419791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.494012739 meters Centerline goodness [0,1] 0.9929144613283251 Centerline is valid? [True, True] Translation: X:299.14, Y:-9.05, Z:-2.23 [[ 9.54513733e-01 -2.98071311e-01 -7.55168490e-03 2.99136780e+02] [ 2.98060316e-01 9.54543584e-01 -2.56796940e-03 -9.04601959e+00] [ 7.97385038e-03 2.00304470e-04 9.99968188e-01 -2.23273179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.524012739 meters Centerline goodness [0,1] 0.9928294821056215 Centerline is valid? [True, True] Translation: X:299.16, Y:-9.03, Z:-2.23 [[ 9.54506103e-01 -2.98125135e-01 -6.28516167e-03 2.99161192e+02] [ 2.98117518e-01 9.54526781e-01 -2.13757735e-03 -9.03252813e+00] [ 6.63662068e-03 1.66613828e-04 9.99977964e-01 -2.23076905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55401273900003 meters Centerline goodness [0,1] 0.9929475741354405 Centerline is valid? [True, True] Translation: X:299.19, Y:-9.02, Z:-2.23 [[ 9.53873016e-01 -3.00176833e-01 -4.48761304e-03 2.99187473e+02] [ 3.00172971e-01 9.53883566e-01 -1.52656418e-03 -9.01934227e+00] [ 4.73889953e-03 1.09088235e-04 9.99988765e-01 -2.22691546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.584012739 meters Centerline goodness [0,1] 0.9925790884718498 Centerline is valid? [True, True] Translation: X:299.21, Y:-9.01, Z:-2.23 [[ 9.53573311e-01 -3.01131110e-01 -4.24205960e-03 2.99212857e+02] [ 3.01127666e-01 9.53582741e-01 -1.44363818e-03 -9.00893001e+00] [ 4.47987920e-03 9.92133371e-05 9.99989960e-01 -2.22677257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61401273900003 meters Centerline goodness [0,1] 0.9931302080020354 Centerline is valid? [True, True] Translation: X:299.24, Y:-9.00, Z:-2.23 [[ 9.53224575e-01 -3.02225073e-01 -4.78707406e-03 2.99240082e+02] [ 3.02220697e-01 9.53236589e-01 -1.62971398e-03 -8.99837934e+00] [ 5.05575457e-03 1.06730560e-04 9.99987214e-01 -2.22739257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.644012739 meters Centerline goodness [0,1] 0.9940463442840622 Centerline is valid? [True, True] Translation: X:299.27, Y:-8.99, Z:-2.23 [[ 9.51765946e-01 -3.06773294e-01 -5.63292167e-03 2.99268485e+02] [ 3.06767311e-01 9.51782610e-01 -1.91837817e-03 -8.98868805e+00] [ 5.94982407e-03 9.78507750e-05 9.99982295e-01 -2.22962562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67401273900003 meters Centerline goodness [0,1] 0.9940163739658263 Centerline is valid? [True, True] Translation: X:299.30, Y:-8.99, Z:-2.23 [[ 9.49986951e-01 -3.12241577e-01 -5.47632654e-03 2.99298123e+02] [ 3.12236010e-01 9.50002734e-01 -1.86540186e-03 -8.98525425e+00] [ 5.78498120e-03 6.22010771e-05 9.99983265e-01 -2.22973036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.704012739 meters Centerline goodness [0,1] 0.9935324126448803 Centerline is valid? [True, True] Translation: X:299.33, Y:-8.98, Z:-2.23 [[ 9.49219486e-01 -3.14576904e-01 -4.87227330e-03 2.99325106e+02] [ 3.14572525e-01 9.49231989e-01 -1.66030553e-03 -8.97797136e+00] [ 5.14721145e-03 4.33110489e-05 9.99986752e-01 -2.22872965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.734012739 meters Centerline goodness [0,1] 0.9929799028315819 Centerline is valid? [True, True] Translation: X:299.35, Y:-8.97, Z:-2.23 [[ 9.48422884e-01 -3.16988738e-01 -3.48904626e-03 2.99352772e+02] [ 3.16986509e-01 9.48429301e-01 -1.18919043e-03 -8.97259923e+00] [ 3.68607368e-03 2.18748270e-05 9.99993206e-01 -2.22590136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.764012739 meters Centerline goodness [0,1] 0.9905265853034053 Centerline is valid? [True, True] Translation: X:299.38, Y:-8.97, Z:-2.22 [[ 9.46917566e-01 -3.21467796e-01 -2.36188823e-03 2.99381278e+02] [ 3.21466788e-01 9.46920512e-01 -8.05093712e-04 -8.97067617e+00] [ 2.49533211e-03 3.08875669e-06 9.99996887e-01 -2.22332509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.794012739 meters Centerline goodness [0,1] 0.9899976540339952 Centerline is valid? [True, True] Translation: X:299.41, Y:-8.97, Z:-2.23 [[ 9.46271856e-01 -3.23357745e-01 -3.05683896e-03 2.99409076e+02] [ 3.23356065e-01 9.46276793e-01 -1.04218078e-03 -8.96590384e+00] [ 3.22961299e-03 -2.26107514e-06 9.99994785e-01 -2.22511264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.824012739 meters Centerline goodness [0,1] 0.989894036628787 Centerline is valid? [True, True] Translation: X:299.44, Y:-8.97, Z:-2.23 [[ 9.45318350e-01 -3.26120518e-01 -4.31570103e-03 2.99438144e+02] [ 3.26117194e-01 9.45328201e-01 -1.47240695e-03 -8.96587550e+00] [ 4.55993601e-03 -1.55310077e-05 9.99989603e-01 -2.22733038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.854012739 meters Centerline goodness [0,1] 0.9905003438789546 Centerline is valid? [True, True] Translation: X:299.47, Y:-8.96, Z:-2.23 [[ 9.45088964e-01 -3.26785337e-01 -4.26546494e-03 2.99465582e+02] [ 3.26782095e-01 9.45098589e-01 -1.45562975e-03 -8.95964329e+00] [ 4.50696336e-03 -1.81779623e-05 9.99989843e-01 -2.22710879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.884012739 meters Centerline goodness [0,1] 0.990463041631266 Centerline is valid? [True, True] Translation: X:299.49, Y:-8.95, Z:-2.23 [[ 9.44986738e-01 -3.27066335e-01 -5.26089974e-03 2.99493400e+02] [ 3.27061405e-01 9.45001382e-01 -1.79594275e-03 -8.95443816e+00] [ 5.55894994e-03 -2.34951771e-05 9.99984549e-01 -2.22873792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.914012739 meters Centerline goodness [0,1] 0.9909892514642467 Centerline is valid? [True, True] Translation: X:299.52, Y:-8.95, Z:-2.23 [[ 9.45023302e-01 -3.26956519e-01 -5.51309358e-03 2.99519436e+02] [ 3.26951098e-01 9.45039382e-01 -1.88290392e-03 -8.94823438e+00] [ 5.82571826e-03 -2.31239199e-05 9.99983030e-01 -2.22947779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.944012739 meters Centerline goodness [0,1] 0.9907845843507803 Centerline is valid? [True, True] Translation: X:299.55, Y:-8.94, Z:-2.23 [[ 9.45054486e-01 -3.26872941e-01 -5.10871718e-03 2.99545744e+02] [ 3.26868283e-01 9.45068294e-01 -1.74520392e-03 -8.94192021e+00] [ 5.39854656e-03 -2.05648178e-05 9.99985428e-01 -2.22874105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.974012739 meters Centerline goodness [0,1] 0.9892747701736466 Centerline is valid? [True, True] Translation: X:299.57, Y:-8.94, Z:-2.23 [[ 9.44980526e-01 -3.27107998e-01 -3.48754120e-03 2.99573026e+02] [ 3.27105828e-01 9.44986962e-01 -1.19159048e-03 -8.93694098e+00] [ 3.68545974e-03 -1.47652499e-05 9.99993209e-01 -2.22575817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.004012739 meters Centerline goodness [0,1] 0.9895833333333334 Centerline is valid? [True, True] Translation: X:299.60, Y:-8.93, Z:-2.23 [[ 9.45166961e-01 -3.26562129e-01 -4.07334766e-03 2.99599798e+02] [ 3.26559162e-01 9.45175738e-01 -1.39220826e-03 -8.92832020e+00] [ 4.30467188e-03 -1.43197525e-05 9.99990735e-01 -2.22602630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.034012739 meters Centerline goodness [0,1] 0.9902348391557024 Centerline is valid? [True, True] Translation: X:299.63, Y:-8.92, Z:-2.23 [[ 9.45524989e-01 -3.25511084e-01 -5.00304388e-03 2.99625952e+02] [ 3.25506586e-01 9.45538225e-01 -1.71112316e-03 -8.91763104e+00] [ 5.28755879e-03 -1.06140305e-05 9.99986021e-01 -2.22657278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.064012739 meters Centerline goodness [0,1] 0.9914955447765977 Centerline is valid? [True, True] Translation: X:299.65, Y:-8.91, Z:-2.23 [[ 9.46066409e-01 -3.23928343e-01 -5.36450098e-03 2.99650401e+02] [ 3.23923142e-01 9.46081618e-01 -1.83565677e-03 -8.90654553e+00] [ 5.66987703e-03 -1.03280196e-06 9.99983926e-01 -2.22718571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.094012739 meters Centerline goodness [0,1] 0.9914955447765977 Centerline is valid? [True, True] Translation: X:299.68, Y:-8.90, Z:-2.23 [[ 9.46008129e-01 -3.24098510e-01 -5.36428889e-03 2.99676340e+02] [ 3.24093308e-01 9.46023338e-01 -1.83627638e-03 -8.89745165e+00] [ 5.66987692e-03 -1.39775279e-06 9.99983926e-01 -2.22708671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.124012739 meters Centerline goodness [0,1] 0.9920966394653987 Centerline is valid? [True, True] Translation: X:299.70, Y:-8.88, Z:-2.23 [[ 9.47606126e-01 -3.19405454e-01 -4.77337100e-03 2.99699535e+02] [ 3.19401272e-01 9.47618148e-01 -1.63469097e-03 -8.88026403e+00] [ 5.04546220e-03 2.44224099e-05 9.99987271e-01 -2.22608051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.154012739 meters Centerline goodness [0,1] 0.992868815926311 Centerline is valid? [True, True] Translation: X:299.72, Y:-8.86, Z:-2.23 [[ 9.48511810e-01 -3.16711402e-01 -4.38569141e-03 2.99724437e+02] [ 3.16707842e-01 9.48521948e-01 -1.50229121e-03 -8.86485777e+00] [ 4.63571732e-03 3.59580943e-05 9.99989254e-01 -2.22539109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.184012739 meters Centerline goodness [0,1] 0.9945737419983891 Centerline is valid? [True, True] Translation: X:299.75, Y:-8.84, Z:-2.23 [[ 9.50277643e-01 -3.11372297e-01 -4.43788539e-03 2.99748088e+02] [ 3.11368589e-01 9.50288003e-01 -1.52079404e-03 -8.84164442e+00] [ 4.69080238e-03 6.33584640e-05 9.99988996e-01 -2.22583482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.214012739 meters Centerline goodness [0,1] 0.9940182443547181 Centerline is valid? [True, True] Translation: X:299.77, Y:-8.83, Z:-2.23 [[ 9.51095270e-01 -3.08866701e-01 -4.37583450e-03 2.99772755e+02] [ 3.08863069e-01 9.51105334e-01 -1.49967271e-03 -8.82624954e+00] [ 4.62507849e-03 7.47979474e-05 9.99989301e-01 -2.22568025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.244012739 meters Centerline goodness [0,1] 0.9934851332877649 Centerline is valid? [True, True] Translation: X:299.80, Y:-8.81, Z:-2.22 [[ 9.52798944e-01 -3.03578635e-01 -3.76617950e-03 2.99797673e+02] [ 3.03575903e-01 9.52806384e-01 -1.29092152e-03 -8.80664312e+00] [ 3.98033607e-03 8.66673207e-05 9.99992075e-01 -2.22376207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.274012739 meters Centerline goodness [0,1] 0.9918975820343237 Centerline is valid? [True, True] Translation: X:299.82, Y:-8.79, Z:-2.22 [[ 9.53638998e-01 -3.00924899e-01 -4.10686356e-03 2.99821664e+02] [ 3.00921625e-01 9.53647835e-01 -1.40779975e-03 -8.78732218e+00] [ 4.34014354e-03 1.06688683e-04 9.99990576e-01 -2.22424569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30401273900003 meters Centerline goodness [0,1] 0.9915299552969863 Centerline is valid? [True, True] Translation: X:299.85, Y:-8.77, Z:-2.22 [[ 9.54476851e-01 -2.98249691e-01 -4.58939527e-03 2.99846548e+02] [ 2.98245570e-01 9.54487875e-01 -1.57339516e-03 -8.76999121e+00] [ 4.84978676e-03 1.33002455e-04 9.99988231e-01 -2.22488810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.334012739 meters Centerline goodness [0,1] 0.9884144252184341 Centerline is valid? [True, True] Translation: X:299.87, Y:-8.74, Z:-2.23 [[ 9.56381723e-01 -2.92065717e-01 -5.62291310e-03 2.99868756e+02] [ 2.92059424e-01 9.56398231e-01 -1.92792918e-03 -8.74298718e+00] [ 5.94082616e-03 2.01611469e-04 9.99982333e-01 -2.22596914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36401273900003 meters Centerline goodness [0,1] 0.9745616831367548 Centerline is valid? [True, True] Translation: X:299.89, Y:-8.71, Z:-2.23 [[ 9.58144208e-01 -2.86235347e-01 -5.38544478e-03 2.99891088e+02] [ 2.86229481e-01 9.58159316e-01 -1.84663688e-03 -8.71427651e+00] [ 5.68868684e-03 2.27871364e-04 9.99983793e-01 -2.22615290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.394012739 meters Centerline goodness [0,1] 0.962565367118745 Centerline is valid? [True, True] Translation: X:299.92, Y:-8.70, Z:-2.23 [[ 9.58594365e-01 -2.84731825e-01 -4.96301539e-03 2.99915313e+02] [ 2.84726822e-01 9.58607188e-01 -1.70191660e-03 -8.69585542e+00] [ 5.24217204e-03 2.18344061e-04 9.99986236e-01 -2.22520547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42401273900003 meters Centerline goodness [0,1] 0.9635548917102316 Centerline is valid? [True, True] Translation: X:299.94, Y:-8.68, Z:-2.22 [[ 9.58685846e-01 -2.84435445e-01 -4.23386341e-03 2.99940906e+02] [ 2.84431801e-01 9.58695177e-01 -1.45212684e-03 -8.68050362e+00] [ 4.47202078e-03 1.87888057e-04 9.99989983e-01 -2.22355769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.454012739 meters Centerline goodness [0,1] 0.9680443118875159 Centerline is valid? [True, True] Translation: X:299.96, Y:-8.66, Z:-2.22 [[ 9.58474603e-01 -2.85158336e-01 -3.34043547e-03 2.99963630e+02] [ 2.85156070e-01 9.58480413e-01 -1.14615913e-03 -8.66081918e+00] [ 3.52857880e-03 1.46018960e-04 9.99993764e-01 -2.22098757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484012739 meters Centerline goodness [0,1] 0.9792363792363792 Centerline is valid? [True, True] Translation: X:299.99, Y:-8.65, Z:-2.22 [[ 9.58013686e-01 -2.86703162e-01 -3.32788444e-03 2.99991116e+02] [ 2.86700921e-01 9.58019456e-01 -1.14204762e-03 -8.65107244e+00] [ 3.51560671e-03 1.39989713e-04 9.99993810e-01 -2.22067610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.514012739 meters Centerline goodness [0,1] 0.9864556935068254 Centerline is valid? [True, True] Translation: X:300.02, Y:-8.64, Z:-2.22 [[ 9.56236262e-01 -2.92581000e-01 -2.92729435e-03 3.00017564e+02] [ 2.92579292e-01 9.56240737e-01 -1.00505649e-03 -8.63819794e+00] [ 3.09325854e-03 1.04605754e-04 9.99995210e-01 -2.22115843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544012739 meters Centerline goodness [0,1] 0.9895506792058516 Centerline is valid? [True, True] Translation: X:300.05, Y:-8.63, Z:-2.22 [[ 9.55123980e-01 -2.96189756e-01 -3.13219627e-03 3.00046302e+02] [ 2.96187820e-01 9.55129111e-01 -1.07542899e-03 -8.63013721e+00] [ 3.31018289e-03 9.94496345e-05 9.99994516e-01 -2.22142353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.574012739 meters Centerline goodness [0,1] 0.9914285714285714 Centerline is valid? [True, True] Translation: X:300.08, Y:-8.62, Z:-2.22 [[ 9.54045542e-01 -2.99638247e-01 -3.74494456e-03 3.00076047e+02] [ 2.99635507e-01 9.54052886e-01 -1.28586740e-03 -8.62344727e+00] [ 3.95817022e-03 1.04657703e-04 9.99992161e-01 -2.22304432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604012739 meters Centerline goodness [0,1] 0.9938428105758783 Centerline is valid? [True, True] Translation: X:300.11, Y:-8.62, Z:-2.23 [[ 9.51871379e-01 -3.06448779e-01 -5.47931701e-03 3.00107780e+02] [ 3.06443024e-01 9.51887143e-01 -1.88146912e-03 -8.62401000e+00] [ 5.79226533e-03 1.11818133e-04 9.99983218e-01 -2.22559099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.634012739 meters Centerline goodness [0,1] 0.9947978500658363 Centerline is valid? [True, True] Translation: X:300.14, Y:-8.62, Z:-2.22 [[ 9.50992746e-01 -3.09168125e-01 -5.27901083e-03 3.00136118e+02] [ 3.09162824e-01 9.51007393e-01 -1.81282640e-03 -8.61893438e+00] [ 5.58084647e-03 9.19108616e-05 9.99984423e-01 -2.22498011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664012739 meters Centerline goodness [0,1] 0.9946458783971902 Centerline is valid? [True, True] Translation: X:300.16, Y:-8.61, Z:-2.22 [[ 9.49510767e-01 -3.13714080e-01 -3.57478298e-03 3.00164811e+02] [ 3.13711681e-01 9.49517495e-01 -1.22773742e-03 -8.61242618e+00] [ 3.77947749e-03 4.42987217e-05 9.99992857e-01 -2.22104646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.694012739 meters Centerline goodness [0,1] 0.9936862761827567 Centerline is valid? [True, True] Translation: X:300.19, Y:-8.61, Z:-2.22 [[ 9.48763952e-01 -3.15971692e-01 -2.97538432e-03 3.00192687e+02] [ 3.15970040e-01 9.48768617e-01 -1.02227508e-03 -8.60543932e+00] [ 3.14596126e-03 2.97654419e-05 9.99995051e-01 -2.22009051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724012739 meters Centerline goodness [0,1] 0.9938575724614499 Centerline is valid? [True, True] Translation: X:300.22, Y:-8.60, Z:-2.22 [[ 9.48117434e-01 -3.17909129e-01 -2.66793155e-03 3.00219241e+02] [ 3.17907807e-01 9.48121187e-01 -9.17142078e-04 -8.59703390e+00] [ 2.82109027e-03 2.14021247e-05 9.99996020e-01 -2.22024756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.754012739 meters Centerline goodness [0,1] 0.9910985532493467 Centerline is valid? [True, True] Translation: X:300.25, Y:-8.60, Z:-2.22 [[ 9.46688512e-01 -3.22140095e-01 -2.57317200e-03 3.00249042e+02] [ 3.22138880e-01 9.46692009e-01 -8.84635087e-04 -8.59576145e+00] [ 2.72097780e-03 8.55512836e-06 9.99996298e-01 -2.21980372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784012739 meters Centerline goodness [0,1] 0.9903825694710413 Centerline is valid? [True, True] Translation: X:300.28, Y:-8.59, Z:-2.22 [[ 9.45981852e-01 -3.24209011e-01 -2.61770632e-03 3.00276815e+02] [ 3.24207761e-01 9.45985474e-01 -9.00379644e-04 -8.58951348e+00] [ 2.76822335e-03 3.06209881e-06 9.99996168e-01 -2.21944478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.814012739 meters Centerline goodness [0,1] 0.990376334826042 Centerline is valid? [True, True] Translation: X:300.31, Y:-8.59, Z:-2.22 [[ 9.44939030e-01 -3.27235763e-01 -2.64300622e-03 3.00305578e+02] [ 3.27234499e-01 9.44942726e-01 -9.09596627e-04 -8.58819613e+00] [ 2.79514204e-03 -5.36945966e-06 9.99996094e-01 -2.21928551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844012739 meters Centerline goodness [0,1] 0.9893980118605743 Centerline is valid? [True, True] Translation: X:300.33, Y:-8.58, Z:-2.22 [[ 9.44603316e-01 -3.28202287e-01 -2.79883096e-03 3.00333013e+02] [ 3.28200872e-01 9.44607463e-01 -9.63876955e-04 -8.58247858e+00] [ 2.96014323e-03 -8.09739333e-06 9.99995619e-01 -2.21873287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.874012739 meters Centerline goodness [0,1] 0.9901791610745404 Centerline is valid? [True, True] Translation: X:300.36, Y:-8.58, Z:-2.22 [[ 9.44275703e-01 -3.29139170e-01 -3.28682887e-03 3.00360578e+02] [ 3.29137223e-01 9.44281423e-01 -1.13216720e-03 -8.57552469e+00] [ 3.47633202e-03 -1.27397469e-05 9.99993957e-01 -2.21986558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904012739 meters Centerline goodness [0,1] 0.9902109885402164 Centerline is valid? [True, True] Translation: X:300.39, Y:-8.57, Z:-2.22 [[ 9.44069114e-01 -3.29704773e-01 -5.31713316e-03 3.00387658e+02] [ 3.29699682e-01 9.44084087e-01 -1.83220378e-03 -8.56807136e+00] [ 5.62390713e-03 -2.33301150e-05 9.99984185e-01 -2.22465619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.934012739 meters Centerline goodness [0,1] 0.9908983831245315 Centerline is valid? [True, True] Translation: X:300.41, Y:-8.56, Z:-2.23 [[ 9.44279272e-01 -3.29088898e-01 -6.09544680e-03 3.00413763e+02] [ 3.29082188e-01 9.44298945e-01 -2.10165068e-03 -8.55944826e+00] [ 6.44755389e-03 -2.13577928e-05 9.99979214e-01 -2.22674003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964012739 meters Centerline goodness [0,1] 0.991962235264098 Centerline is valid? [True, True] Translation: X:300.44, Y:-8.55, Z:-2.23 [[ 9.45011181e-01 -3.26960145e-01 -7.13659208e-03 3.00439948e+02] [ 3.26950878e-01 9.45038128e-01 -2.46170214e-03 -8.55204142e+00] [ 7.54923011e-03 -6.97899963e-06 9.99971504e-01 -2.22890237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.994012739 meters Centerline goodness [0,1] 0.9923610370212312 Centerline is valid? [True, True] Translation: X:300.47, Y:-8.54, Z:-2.23 [[ 9.45238964e-01 -3.26294890e-01 -7.41255983e-03 3.00466723e+02] [ 3.26284863e-01 9.45268028e-01 -2.55796739e-03 -8.54311124e+00] [ 7.84150750e-03 -7.15623522e-07 9.99969255e-01 -2.22881749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.024012739 meters Centerline goodness [0,1] 0.9925101647763749 Centerline is valid? [True, True] Translation: X:300.49, Y:-8.53, Z:-2.23 [[ 9.45441011e-01 -3.25706566e-01 -7.51843842e-03 3.00492453e+02] [ 3.25696223e-01 9.45470905e-01 -2.59572082e-03 -8.53442580e+00] [ 7.95390809e-03 5.37391990e-06 9.99968367e-01 -2.22948798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05401273900003 meters Centerline goodness [0,1] 0.9920018669382213 Centerline is valid? [True, True] Translation: X:300.52, Y:-8.53, Z:-2.23 [[ 9.45615264e-01 -3.25219902e-01 -6.61724087e-03 3.00520401e+02] [ 3.25211871e-01 9.45638417e-01 -2.28560338e-03 -8.52905188e+00] [ 7.00084089e-03 9.29616026e-06 9.99975494e-01 -2.22804215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.084012739 meters Centerline goodness [0,1] 0.9916845724108294 Centerline is valid? [True, True] Translation: X:300.55, Y:-8.52, Z:-2.23 [[ 9.45615876e-01 -3.25232156e-01 -5.88725335e-03 3.00546429e+02] [ 3.25225794e-01 9.45634202e-01 -2.03425906e-03 -8.52312971e+00] [ 6.22879458e-03 8.94101553e-06 9.99980601e-01 -2.22740749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11401273900003 meters Centerline goodness [0,1] 0.991652754590985 Centerline is valid? [True, True] Translation: X:300.57, Y:-8.52, Z:-2.23 [[ 9.45746659e-01 -3.24856873e-01 -5.59182693e-03 3.00573320e+02] [ 3.24851123e-01 9.45763190e-01 -1.93285529e-03 -8.51615430e+00] [ 5.91644540e-03 1.14801701e-05 9.99982498e-01 -2.22539914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.144012739 meters Centerline goodness [0,1] 0.9909521665487446 Centerline is valid? [True, True] Translation: X:300.60, Y:-8.51, Z:-2.22 [[ 9.45944593e-01 -3.24284478e-01 -5.32963164e-03 3.00600073e+02] [ 3.24279240e-01 9.45959607e-01 -1.84323280e-03 -8.50667943e+00] [ 5.63934803e-03 1.53072060e-05 9.99984099e-01 -2.22390558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17401273900003 meters Centerline goodness [0,1] 0.9922160581430353 Centerline is valid? [True, True] Translation: X:300.63, Y:-8.49, Z:-2.22 [[ 9.46836136e-01 -3.21678159e-01 -4.94908108e-03 3.00625130e+02] [ 3.21673602e-01 9.46849070e-01 -1.71244000e-03 -8.49288147e+00] [ 5.23688737e-03 2.94113318e-05 9.99986287e-01 -2.22334704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.204012739 meters Centerline goodness [0,1] 0.9927973484043683 Centerline is valid? [True, True] Translation: X:300.65, Y:-8.48, Z:-2.22 [[ 9.47478564e-01 -3.19783609e-01 -4.77632429e-03 3.00649964e+02] [ 3.19779339e-01 9.47490603e-01 -1.65307426e-03 -8.48085095e+00] [ 5.05414843e-03 3.88825980e-05 9.99987227e-01 -2.22217984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.234012739 meters Centerline goodness [0,1] 0.9929129333645477 Centerline is valid? [True, True] Translation: X:300.68, Y:-8.47, Z:-2.22 [[ 9.47984282e-01 -3.18287543e-01 -4.34059352e-03 3.00676205e+02] [ 3.18283999e-01 9.47994218e-01 -1.50263626e-03 -8.46925653e+00] [ 4.59312797e-03 4.29340894e-05 9.99989451e-01 -2.22130411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.264012739 meters Centerline goodness [0,1] 0.9935670014960462 Centerline is valid? [True, True] Translation: X:300.70, Y:-8.45, Z:-2.22 [[ 9.48689262e-01 -3.16183296e-01 -4.09981981e-03 3.00701248e+02] [ 3.16180111e-01 9.48698119e-01 -1.41993820e-03 -8.45492708e+00] [ 4.33845208e-03 5.07986381e-05 9.99990588e-01 -2.22024163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.294012739 meters Centerline goodness [0,1] 0.9944064636420137 Centerline is valid? [True, True] Translation: X:300.73, Y:-8.44, Z:-2.22 [[ 9.48797226e-01 -3.15854627e-01 -4.43609300e-03 3.00726608e+02] [ 3.15850893e-01 9.48807595e-01 -1.53683049e-03 -8.44245951e+00] [ 4.69441375e-03 5.69965674e-05 9.99988980e-01 -2.22073071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.324012739 meters Centerline goodness [0,1] 0.9935095435330288 Centerline is valid? [True, True] Translation: X:300.75, Y:-8.43, Z:-2.22 [[ 9.48774046e-01 -3.15925108e-01 -4.37452078e-03 3.00752698e+02] [ 3.15921476e-01 9.48784129e-01 -1.51591750e-03 -8.43201121e+00] [ 4.62939229e-03 5.62581144e-05 9.99989283e-01 -2.22094437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.354012739 meters Centerline goodness [0,1] 0.9928377482735766 Centerline is valid? [True, True] Translation: X:300.78, Y:-8.42, Z:-2.22 [[ 9.48499712e-01 -3.16752792e-01 -3.99574463e-03 3.00779955e+02] [ 3.16749766e-01 9.48508127e-01 -1.38540539e-03 -8.42215047e+00] [ 4.22882728e-03 4.84054408e-05 9.99991057e-01 -2.22014964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.384012739 meters Centerline goodness [0,1] 0.9925872124073402 Centerline is valid? [True, True] Translation: X:300.81, Y:-8.41, Z:-2.22 [[ 9.47974662e-01 -3.18322490e-01 -3.85131862e-03 3.00805821e+02] [ 3.18319689e-01 9.47982484e-01 -1.33596039e-03 -8.41241774e+00] [ 4.07624884e-03 4.05060579e-05 9.99991691e-01 -2.22000684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.414012739 meters Centerline goodness [0,1] 0.9929676208555342 Centerline is valid? [True, True] Translation: X:300.83, Y:-8.40, Z:-2.22 [[ 9.47700620e-01 -3.19130113e-01 -4.41646401e-03 3.00832029e+02] [ 3.19126436e-01 9.47710910e-01 -1.53257631e-03 -8.40226134e+00] [ 4.67462238e-03 4.30130984e-05 9.99989073e-01 -2.22109699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.444012739 meters Centerline goodness [0,1] 0.9927659482851422 Centerline is valid? [True, True] Translation: X:300.86, Y:-8.39, Z:-2.22 [[ 9.47581345e-01 -3.19473304e-01 -5.13840046e-03 3.00857974e+02] [ 3.19468325e-01 9.47595275e-01 -1.78425338e-03 -8.39230111e+00] [ 5.43914532e-03 4.91690263e-05 9.99985207e-01 -2.22286116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.474012739 meters Centerline goodness [0,1] 0.9935210725511578 Centerline is valid? [True, True] Translation: X:300.88, Y:-8.38, Z:-2.22 [[ 9.47454045e-01 -3.19848034e-01 -5.29785007e-03 3.00882724e+02] [ 3.19842743e-01 9.47468856e-01 -1.84049950e-03 -8.38102417e+00] [ 5.60822809e-03 4.93097962e-05 9.99984273e-01 -2.22357522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.504012739 meters Centerline goodness [0,1] 0.99221140472879 Centerline is valid? [True, True] Translation: X:300.91, Y:-8.37, Z:-2.22 [[ 9.47441116e-01 -3.19889747e-01 -5.08737400e-03 3.00909174e+02] [ 3.19884865e-01 9.47454773e-01 -1.76800591e-03 -8.37059785e+00] [ 5.38562374e-03 4.77075485e-05 9.99985496e-01 -2.22150136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.534012739 meters Centerline goodness [0,1] 0.9921650896947382 Centerline is valid? [True, True] Translation: X:300.94, Y:-8.36, Z:-2.22 [[ 9.47329396e-01 -3.20234317e-01 -4.12296821e-03 3.00935381e+02] [ 3.20231110e-01 9.47338367e-01 -1.43355288e-03 -8.35985268e+00] [ 4.36491880e-03 3.77440928e-05 9.99990473e-01 -2.22009865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.564012739 meters Centerline goodness [0,1] 0.9921561903945479 Centerline is valid? [True, True] Translation: X:300.96, Y:-8.35, Z:-2.22 [[ 9.47172409e-01 -3.20699715e-01 -4.01497933e-03 3.00960672e+02] [ 3.20696675e-01 9.47180918e-01 -1.39675530e-03 -8.35035381e+00] [ 4.25085084e-03 3.53775635e-05 9.99990964e-01 -2.22013290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.594012739 meters Centerline goodness [0,1] 0.9922662292008437 Centerline is valid? [True, True] Translation: X:300.99, Y:-8.34, Z:-2.22 [[ 9.47140228e-01 -3.20794164e-01 -4.06108647e-03 3.00986721e+02] [ 3.20791053e-01 9.47148934e-01 -1.41324225e-03 -8.34129642e+00] [ 4.29981359e-03 3.57783866e-05 9.99990755e-01 -2.21976100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.624012739 meters Centerline goodness [0,1] 0.9928220382824625 Centerline is valid? [True, True] Translation: X:301.01, Y:-8.33, Z:-2.22 [[ 9.47345668e-01 -3.20186524e-01 -4.09589886e-03 3.01011490e+02] [ 3.20183350e-01 9.47354521e-01 -1.42610128e-03 -8.32935776e+00] [ 4.33688672e-03 3.95722464e-05 9.99990595e-01 -2.21943074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.654012739 meters Centerline goodness [0,1] 0.9930435159500693 Centerline is valid? [True, True] Translation: X:301.04, Y:-8.32, Z:-2.22 [[ 9.47643021e-01 -3.19292987e-01 -4.96919854e-03 3.01038023e+02] [ 3.19288301e-01 9.47656048e-01 -1.73076478e-03 -8.31894198e+00] [ 5.26171210e-03 5.35402127e-05 9.99986156e-01 -2.22236538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.684012739 meters Centerline goodness [0,1] 0.9935738684884714 Centerline is valid? [True, True] Translation: X:301.06, Y:-8.31, Z:-2.22 [[ 9.47706100e-01 -3.19097512e-01 -5.47036638e-03 3.01063207e+02] [ 3.19091824e-01 9.47721886e-01 -1.90621664e-03 -8.30651372e+00] [ 5.79265494e-03 6.09839455e-05 9.99983221e-01 -2.22354950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.714012739 meters Centerline goodness [0,1] 0.9934685165421558 Centerline is valid? [True, True] Translation: X:301.09, Y:-8.30, Z:-2.22 [[ 9.47534189e-01 -3.19600900e-01 -5.85022707e-03 3.01089060e+02] [ 3.19594399e-01 9.47552247e-01 -2.03942044e-03 -8.29690883e+00] [ 6.19519641e-03 6.27207837e-05 9.99980808e-01 -2.22413886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.744012739 meters Centerline goodness [0,1] 0.9938109005246815 Centerline is valid? [True, True] Translation: X:301.12, Y:-8.29, Z:-2.23 [[ 9.47029735e-01 -3.21069658e-01 -6.99688172e-03 3.01116972e+02] [ 3.21060389e-01 9.47055579e-01 -2.44058958e-03 -8.28941196e+00] [ 7.41003513e-03 6.48893349e-05 9.99972543e-01 -2.22528354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.774012739 meters Centerline goodness [0,1] 0.9942179072276159 Centerline is valid? [True, True] Translation: X:301.14, Y:-8.28, Z:-2.23 [[ 9.46904689e-01 -3.21426351e-01 -7.52407974e-03 3.01142238e+02] [ 3.21415635e-01 9.46934579e-01 -2.62551196e-03 -8.28080602e+00] [ 7.96872001e-03 6.77527217e-05 9.99968247e-01 -2.22670398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80401273900003 meters Centerline goodness [0,1] 0.993945853762524 Centerline is valid? [True, True] Translation: X:301.17, Y:-8.27, Z:-2.23 [[ 9.46881194e-01 -3.21493789e-01 -7.59917259e-03 3.01169807e+02] [ 3.21482851e-01 9.46911685e-01 -2.65288476e-03 -8.27349873e+00] [ 8.04863129e-03 6.89630230e-05 9.99967607e-01 -2.22709144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.834012739 meters Centerline goodness [0,1] 0.9934454321516547 Centerline is valid? [True, True] Translation: X:301.20, Y:-8.26, Z:-2.23 [[ 9.46745238e-01 -3.21903049e-01 -7.20286639e-03 3.01195806e+02] [ 3.21893223e-01 9.46772635e-01 -2.51597478e-03 -8.26452999e+00] [ 7.62937675e-03 6.34332696e-05 9.99970894e-01 -2.22618349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86401273900003 meters Centerline goodness [0,1] 0.9936286794376248 Centerline is valid? [True, True] Translation: X:301.22, Y:-8.25, Z:-2.23 [[ 9.46643066e-01 -3.22216438e-01 -6.59337622e-03 3.01220798e+02] [ 3.22208206e-01 9.46666026e-01 -2.30391977e-03 -8.25295584e+00] [ 6.98408608e-03 5.65497518e-05 9.99975609e-01 -2.22565617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.894012739 meters Centerline goodness [0,1] 0.9931046224567974 Centerline is valid? [True, True] Translation: X:301.25, Y:-8.24, Z:-2.22 [[ 9.46563607e-01 -3.22466379e-01 -5.72471940e-03 3.01247560e+02] [ 3.22460174e-01 9.46580917e-01 -2.00104474e-03 -8.24466392e+00] [ 6.06417979e-03 4.81221087e-05 9.99981612e-01 -2.22362982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92401273900003 meters Centerline goodness [0,1] 0.9922361922836378 Centerline is valid? [True, True] Translation: X:301.27, Y:-8.24, Z:-2.22 [[ 9.46393700e-01 -3.22980382e-01 -4.75782291e-03 3.01274515e+02] [ 3.22976098e-01 9.46405659e-01 -1.66392045e-03 -8.23613859e+00] [ 5.04024419e-03 3.80607480e-05 9.99987297e-01 -2.22152411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.954012739 meters Centerline goodness [0,1] 0.9922361922836378 Centerline is valid? [True, True] Translation: X:301.30, Y:-8.23, Z:-2.22 [[ 9.46335362e-01 -3.23151277e-01 -4.75752223e-03 3.01300377e+02] [ 3.23146991e-01 9.46347320e-01 -1.66477980e-03 -8.22687853e+00] [ 5.04024413e-03 3.80609997e-05 9.99987297e-01 -2.22142511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984012739 meters Centerline goodness [0,1] 0.9929444967074318 Centerline is valid? [True, True] Translation: X:301.33, Y:-8.22, Z:-2.22 [[ 9.46314585e-01 -3.23195563e-01 -5.77357732e-03 3.01326247e+02] [ 3.23189244e-01 9.46332196e-01 -2.02148793e-03 -8.21878954e+00] [ 6.11705803e-03 4.70054229e-05 9.99981290e-01 -2.22280533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.014012739 meters Centerline goodness [0,1] 0.9936011299676847 Centerline is valid? [True, True] Translation: X:301.35, Y:-8.21, Z:-2.22 [[ 9.46291334e-01 -3.23252736e-01 -6.35446874e-03 3.01351565e+02] [ 3.23245078e-01 9.46312668e-01 -2.22564798e-03 -8.20942008e+00] [ 6.73276106e-03 5.20606504e-05 9.99977333e-01 -2.22381791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044012739 meters Centerline goodness [0,1] 0.9932888774899546 Centerline is valid? [True, True] Translation: X:301.38, Y:-8.20, Z:-2.22 [[ 9.46347767e-01 -3.23087121e-01 -6.37302783e-03 3.01378056e+02] [ 3.23079409e-01 9.46369225e-01 -2.23303597e-03 -8.20021997e+00] [ 6.75270257e-03 5.42345434e-05 9.99977199e-01 -2.22428905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.074012739 meters Centerline goodness [0,1] 0.9925338211520462 Centerline is valid? [True, True] Translation: X:301.40, Y:-8.19, Z:-2.22 [[ 9.46601239e-01 -3.22376687e-01 -4.40073171e-03 3.01404118e+02] [ 3.22373000e-01 9.46611467e-01 -1.54249429e-03 -8.19006323e+00] [ 4.66304730e-03 4.14499269e-05 9.99989127e-01 -2.22046177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104012739 meters Centerline goodness [0,1] 0.9921567780130505 Centerline is valid? [True, True] Translation: X:301.43, Y:-8.18, Z:-2.22 [[ 9.46711141e-01 -3.22059744e-01 -3.94175521e-03 3.01430774e+02] [ 3.22056781e-01 9.46719346e-01 -1.38191324e-03 -8.18015821e+00] [ 4.17679454e-03 3.88036612e-05 9.99991276e-01 -2.21897824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.134012739 meters Centerline goodness [0,1] 0.9931354005058126 Centerline is valid? [True, True] Translation: X:301.46, Y:-8.17, Z:-2.22 [[ 9.46781224e-01 -3.21852784e-01 -4.01227989e-03 3.01456512e+02] [ 3.21849709e-01 9.46789725e-01 -1.40743680e-03 -8.17019824e+00] [ 4.25177283e-03 4.11836152e-05 9.99990960e-01 -2.21939466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164012739 meters Centerline goodness [0,1] 0.9939236848814481 Centerline is valid? [True, True] Translation: X:301.48, Y:-8.16, Z:-2.22 [[ 9.46643974e-01 -3.22243091e-01 -4.95748977e-03 3.01482333e+02] [ 3.22238397e-01 9.46656954e-01 -1.73995540e-03 -8.16205604e+00] [ 5.25373077e-03 4.96247366e-05 9.99986198e-01 -2.22171357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.194012739 meters Centerline goodness [0,1] 0.9931477698331631 Centerline is valid? [True, True] Translation: X:301.51, Y:-8.15, Z:-2.22 [[ 9.46444587e-01 -3.22819620e-01 -5.48972653e-03 3.01509507e+02] [ 3.22813870e-01 9.46460506e-01 -1.92749291e-03 -8.15446226e+00] [ 5.81804188e-03 5.21053673e-05 9.99983074e-01 -2.22217053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224012739 meters Centerline goodness [0,1] 0.9938425766448502 Centerline is valid? [True, True] Translation: X:301.54, Y:-8.15, Z:-2.22 [[ 9.45979096e-01 -3.24178046e-01 -5.66971000e-03 3.01536345e+02] [ 3.24171932e-01 9.45996085e-01 -1.99152437e-03 -8.14659735e+00] [ 6.00913194e-03 4.59795836e-05 9.99981944e-01 -2.22239875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.254012739 meters Centerline goodness [0,1] 0.992653791282499 Centerline is valid? [True, True] Translation: X:301.57, Y:-8.14, Z:-2.22 [[ 9.45447706e-01 -3.25730389e-01 -5.32435324e-03 3.01565161e+02] [ 3.25725019e-01 9.45462697e-01 -1.87076146e-03 -8.14087935e+00] [ 5.64334123e-03 3.44320703e-05 9.99984076e-01 -2.22124336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284012739 meters Centerline goodness [0,1] 0.9911921650986864 Centerline is valid? [True, True] Translation: X:301.59, Y:-8.14, Z:-2.22 [[ 9.44607520e-01 -3.28164147e-01 -4.99264262e-03 3.01593737e+02] [ 3.28159454e-01 9.44620714e-01 -1.75507660e-03 -8.13673899e+00] [ 5.29210685e-03 1.94756828e-05 9.99985997e-01 -2.22109429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.314012739 meters Centerline goodness [0,1] 0.9893562561324175 Centerline is valid? [True, True] Translation: X:301.63, Y:-8.14, Z:-2.22 [[ 9.42084984e-01 -3.35347608e-01 -4.22674760e-03 3.01625220e+02] [ 3.35344314e-01 9.42094465e-01 -1.48643094e-03 -8.14406355e+00] [ 4.48046658e-03 -1.70715039e-05 9.99989963e-01 -2.22008014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344012739 meters Centerline goodness [0,1] 0.9889558019279467 Centerline is valid? [True, True] Translation: X:301.65, Y:-8.14, Z:-2.22 [[ 9.40743414e-01 -3.39097734e-01 -3.81527905e-03 3.01654589e+02] [ 3.39095080e-01 9.40751150e-01 -1.34207326e-03 -8.14152563e+00] [ 4.04432215e-03 -3.11957679e-05 9.99991821e-01 -2.21890247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.374012739 meters Centerline goodness [0,1] 0.9875458808053805 Centerline is valid? [True, True] Translation: X:301.69, Y:-8.15, Z:-2.22 [[ 9.38628012e-01 -3.44911720e-01 -3.65509208e-03 3.01687530e+02] [ 3.44909325e-01 9.38635128e-01 -1.28630987e-03 -8.14796894e+00] [ 3.87446117e-03 -5.33088711e-05 9.99992493e-01 -2.21812525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404012739 meters Centerline goodness [0,1] 0.9875169489701483 Centerline is valid? [True, True] Translation: X:301.72, Y:-8.14, Z:-2.22 [[ 9.37762992e-01 -3.47254769e-01 -3.83357359e-03 3.01716020e+02] [ 3.47252153e-01 9.37770826e-01 -1.34933097e-03 -8.14224956e+00] [ 4.06357509e-03 -6.58640418e-05 9.99991741e-01 -2.21820543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.434012739 meters Centerline goodness [0,1] 0.9874518201284797 Centerline is valid? [True, True] Translation: X:301.74, Y:-8.14, Z:-2.22 [[ 9.37033785e-01 -3.49210251e-01 -4.45939258e-03 3.01744300e+02] [ 3.49206730e-01 9.37044393e-01 -1.57048300e-03 -8.13608540e+00] [ 4.72707757e-03 -8.56542708e-05 9.99988824e-01 -2.21886105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464012739 meters Centerline goodness [0,1] 0.9871822169228803 Centerline is valid? [True, True] Translation: X:301.78, Y:-8.14, Z:-2.22 [[ 9.35794958e-01 -3.52499419e-01 -5.65296652e-03 3.01775921e+02] [ 3.52493816e-01 9.35812023e-01 -1.99166810e-03 -8.13564563e+00] [ 5.99217588e-03 -1.28842775e-04 9.99982038e-01 -2.22085197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.494012739 meters Centerline goodness [0,1] 0.986746858554398 Centerline is valid? [True, True] Translation: X:301.80, Y:-8.13, Z:-2.22 [[ 9.35170705e-01 -3.54155672e-01 -5.43261003e-03 3.01803896e+02] [ 3.54150524e-01 9.35186475e-01 -1.91424585e-03 -8.13187580e+00] [ 5.75844444e-03 -1.33815045e-04 9.99983411e-01 -2.22080485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.524012739 meters Centerline goodness [0,1] 0.9856648436164758 Centerline is valid? [True, True] Translation: X:301.83, Y:-8.13, Z:-2.22 [[ 9.34268314e-01 -3.56547873e-01 -4.04112133e-03 3.01834358e+02] [ 3.56545046e-01 9.34277048e-01 -1.42412422e-03 -8.13266910e+00] [ 4.28329537e-03 -1.10327658e-04 9.99990821e-01 -2.21800118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55401273900003 meters Centerline goodness [0,1] 0.9852193799762833 Centerline is valid? [True, True] Translation: X:301.86, Y:-8.13, Z:-2.22 [[ 9.34122390e-01 -3.56933823e-01 -3.68870533e-03 3.01863194e+02] [ 3.56931470e-01 9.34129667e-01 -1.30007571e-03 -8.12962534e+00] [ 3.90977008e-03 -1.02185185e-04 9.99992352e-01 -2.21668004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.584012739 meters Centerline goodness [0,1] 0.9853862656386074 Centerline is valid? [True, True] Translation: X:301.89, Y:-8.12, Z:-2.22 [[ 9.34116508e-01 -3.56948087e-01 -3.79638264e-03 3.01889597e+02] [ 3.56945593e-01 9.34124217e-01 -1.33843680e-03 -8.11939592e+00] [ 4.02404542e-03 -1.04846147e-04 9.99991898e-01 -2.21643970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61401273900003 meters Centerline goodness [0,1] 0.9865875345488827 Centerline is valid? [True, True] Translation: X:301.92, Y:-8.12, Z:-2.22 [[ 9.34155217e-01 -3.56841136e-01 -4.29345144e-03 3.01917892e+02] [ 3.56837941e-01 9.34165076e-01 -1.51451754e-03 -8.11667334e+00] [ 4.55123456e-03 -1.17271912e-04 9.99989636e-01 -2.21725806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.644012739 meters Centerline goodness [0,1] 0.9868752400870716 Centerline is valid? [True, True] Translation: X:301.94, Y:-8.11, Z:-2.22 [[ 9.34113069e-01 -3.56947743e-01 -4.59164344e-03 3.01943927e+02] [ 3.56944089e-01 9.34124346e-01 -1.62009831e-03 -8.11025025e+00] [ 4.86745636e-03 -1.25604974e-04 9.99988146e-01 -2.21792127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67401273900003 meters Centerline goodness [0,1] 0.9859995751009135 Centerline is valid? [True, True] Translation: X:301.97, Y:-8.10, Z:-2.22 [[ 9.34358635e-01 -3.56296408e-01 -5.17783958e-03 3.01971224e+02] [ 3.56291747e-01 9.34372972e-01 -1.82756652e-03 -8.10275003e+00] [ 5.48918875e-03 -1.37218950e-04 9.99984925e-01 -2.21948667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.704012739 meters Centerline goodness [0,1] 0.9866154338776817 Centerline is valid? [True, True] Translation: X:302.00, Y:-8.09, Z:-2.22 [[ 9.34556985e-01 -3.55778099e-01 -5.01848847e-03 3.01998732e+02] [ 3.55773711e-01 9.34570451e-01 -1.77180724e-03 -8.09408565e+00] [ 5.32050124e-03 -1.29591431e-04 9.99985838e-01 -2.21979422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.734012739 meters Centerline goodness [0,1] 0.9868362480127186 Centerline is valid? [True, True] Translation: X:302.03, Y:-8.09, Z:-2.22 [[ 9.34761729e-01 -3.55237451e-01 -5.18307763e-03 3.02026646e+02] [ 3.55232756e-01 9.34776089e-01 -1.83083319e-03 -8.08579996e+00] [ 5.49539755e-03 -1.29806154e-04 9.99984892e-01 -2.21973278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.764012739 meters Centerline goodness [0,1] 0.9879019214595329 Centerline is valid? [True, True] Translation: X:302.05, Y:-8.08, Z:-2.22 [[ 9.34845835e-01 -3.55006219e-01 -5.81805633e-03 3.02053792e+02] [ 3.55000292e-01 9.34863928e-01 -2.05623274e-03 -8.07748573e+00] [ 6.16906641e-03 -1.43151086e-04 9.99980961e-01 -2.22010200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.794012739 meters Centerline goodness [0,1] 0.9878354279891305 Centerline is valid? [True, True] Translation: X:302.08, Y:-8.07, Z:-2.22 [[ 9.35186797e-01 -3.54110745e-01 -5.58877334e-03 3.02081172e+02] [ 3.54105257e-01 9.35203487e-01 -1.97593940e-03 -8.07136606e+00] [ 5.92634169e-03 -1.31141580e-04 9.99982430e-01 -2.21868579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.824012739 meters Centerline goodness [0,1] 0.9874001099319267 Centerline is valid? [True, True] Translation: X:302.11, Y:-8.06, Z:-2.22 [[ 9.35704832e-01 -3.52749336e-01 -4.93687772e-03 3.02107973e+02] [ 3.52745032e-01 9.35717850e-01 -1.74592712e-03 -8.06370088e+00] [ 5.23539924e-03 -1.07786648e-04 9.99986289e-01 -2.21841372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.854012739 meters Centerline goodness [0,1] 0.988074523617536 Centerline is valid? [True, True] Translation: X:302.13, Y:-8.06, Z:-2.22 [[ 9.36379733e-01 -3.50952922e-01 -5.00409309e-03 3.02134276e+02] [ 3.50948471e-01 9.36393099e-01 -1.77040673e-03 -8.05507336e+00] [ 5.30712765e-03 -9.84058347e-05 9.99985912e-01 -2.21886279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.884012739 meters Centerline goodness [0,1] 0.9891625191217978 Centerline is valid? [True, True] Translation: X:302.16, Y:-8.04, Z:-2.22 [[ 9.37161145e-01 -3.48856158e-01 -5.32627300e-03 3.02158801e+02] [ 3.48851077e-01 9.37176276e-01 -1.88494469e-03 -8.03649779e+00] [ 5.64923126e-03 -9.15791539e-05 9.99984039e-01 -2.21849526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.914012739 meters Centerline goodness [0,1] 0.9892998820628284 Centerline is valid? [True, True] Translation: X:302.18, Y:-8.02, Z:-2.22 [[ 9.38833129e-01 -3.44295679e-01 -7.26920441e-03 3.02182691e+02] [ 3.44286071e-01 9.38861266e-01 -2.57359239e-03 -8.02144792e+00] [ 7.71085120e-03 -8.65120271e-05 9.99970267e-01 -2.22226392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.944012739 meters Centerline goodness [0,1] 0.9902357045609258 Centerline is valid? [True, True] Translation: X:302.21, Y:-8.00, Z:-2.22 [[ 9.40685975e-01 -3.39200659e-01 -7.26698385e-03 3.02206213e+02] [ 3.39190901e-01 9.40714043e-01 -2.57327608e-03 -8.00477758e+00] [ 7.70901071e-03 -4.42500811e-05 9.99970284e-01 -2.22252058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.974012739 meters Centerline goodness [0,1] 0.9903582146733925 Centerline is valid? [True, True] Translation: X:302.23, Y:-7.99, Z:-2.22 [[ 9.41529747e-01 -3.36874836e-01 -6.08944012e-03 3.02231301e+02] [ 3.36867933e-01 9.41549438e-01 -2.15665259e-03 -7.99174971e+00] [ 6.46003091e-03 -2.07845390e-05 9.99979134e-01 -2.21954222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.004012739 meters Centerline goodness [0,1] 0.9908213997365402 Centerline is valid? [True, True] Translation: X:302.26, Y:-7.98, Z:-2.22 [[ 9.42174742e-01 -3.35080360e-01 -5.28273986e-03 3.02255994e+02] [ 3.35075133e-01 9.42189552e-01 -1.87152269e-03 -7.97689258e+00] [ 5.60445280e-03 -6.81335670e-06 9.99984295e-01 -2.21659618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.034012739 meters Centerline goodness [0,1] 0.9914784831700043 Centerline is valid? [True, True] Translation: X:302.28, Y:-7.96, Z:-2.22 [[ 9.42853019e-01 -3.33174480e-01 -4.79056367e-03 3.02281075e+02] [ 3.33170154e-01 9.42865190e-01 -1.69797020e-03 -7.96238222e+00] [ 5.08257606e-03 4.86349547e-06 9.99987084e-01 -2.21595319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.064012739 meters Centerline goodness [0,1] 0.9924722239993176 Centerline is valid? [True, True] Translation: X:302.30, Y:-7.95, Z:-2.22 [[ 9.43962751e-01 -3.30013636e-01 -5.03242994e-03 3.02304874e+02] [ 3.30008813e-01 9.43976165e-01 -1.78425838e-03 -7.94532644e+00] [ 5.33932350e-03 2.35272133e-05 9.99985745e-01 -2.21759270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.094012739 meters Centerline goodness [0,1] 0.9928342086797508 Centerline is valid? [True, True] Translation: X:302.33, Y:-7.93, Z:-2.22 [[ 9.44132560e-01 -3.29525444e-01 -5.16640412e-03 3.02329789e+02] [ 3.29520352e-01 9.44146695e-01 -1.83209310e-03 -7.93365973e+00] [ 5.48156467e-03 2.73034426e-05 9.99984976e-01 -2.21820122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.124012739 meters Centerline goodness [0,1] 0.9921018835616439 Centerline is valid? [True, True] Translation: X:302.36, Y:-7.92, Z:-2.22 [[ 9.43602765e-01 -3.31051875e-01 -4.29872014e-03 3.02356586e+02] [ 3.31048364e-01 9.43612556e-01 -1.52474493e-03 -7.92321311e+00] [ 4.56109597e-03 1.56692608e-05 9.99989598e-01 -2.21645381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.154012739 meters Centerline goodness [0,1] 0.9915911069585713 Centerline is valid? [True, True] Translation: X:302.38, Y:-7.91, Z:-2.22 [[ 9.43189429e-01 -3.32236865e-01 -3.51658651e-03 3.02383135e+02] [ 3.32234521e-01 9.43195985e-01 -1.24785002e-03 -7.91378301e+00] [ 3.73141206e-03 8.62751343e-06 9.99993038e-01 -2.21506255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.184012739 meters Centerline goodness [0,1] 0.9907791509940892 Centerline is valid? [True, True] Translation: X:302.41, Y:-7.91, Z:-2.21 [[ 9.42526492e-01 -3.34112058e-01 -3.59785816e-03 3.02409836e+02] [ 3.34109618e-01 9.42533359e-01 -1.27696207e-03 -7.90584836e+00] [ 3.81774976e-03 1.49156525e-06 9.99992712e-01 -2.21447485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.214012739 meters Centerline goodness [0,1] 0.9912071026122589 Centerline is valid? [True, True] Translation: X:302.44, Y:-7.90, Z:-2.22 [[ 9.41139553e-01 -3.37971420e-01 -5.62683554e-03 3.02437235e+02] [ 3.37965513e-01 9.41156373e-01 -1.99836593e-03 -7.90097010e+00] [ 5.97112270e-03 -2.09351400e-05 9.99982172e-01 -2.21829024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.244012739 meters Centerline goodness [0,1] 0.9903432553337922 Centerline is valid? [True, True] Translation: X:302.47, Y:-7.89, Z:-2.22 [[ 9.40515443e-01 -3.39699746e-01 -5.89780789e-03 3.02465509e+02] [ 3.39693286e-01 9.40533934e-01 -2.09529730e-03 -7.89369675e+00] [ 6.25886042e-03 -3.27862712e-05 9.99980413e-01 -2.21970499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.274012739 meters Centerline goodness [0,1] 0.9894620548992946 Centerline is valid? [True, True] Translation: X:302.49, Y:-7.89, Z:-2.22 [[ 9.39465114e-01 -3.42625621e-01 -3.60324464e-03 3.02494489e+02] [ 3.42623230e-01 9.39472023e-01 -1.28050989e-03 -7.89136131e+00] [ 3.82388303e-03 -3.15609460e-05 9.99992688e-01 -2.21562260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30401273900003 meters Centerline goodness [0,1] 0.9890422077922078 Centerline is valid? [True, True] Translation: X:302.52, Y:-7.88, Z:-2.21 [[ 9.38928449e-01 -3.44106738e-01 -1.97992723e-03 3.02522083e+02] [ 3.44106019e-01 9.38930537e-01 -7.03649662e-04 -7.88434861e+00] [ 2.10114472e-03 -2.06281898e-05 9.99997792e-01 -2.21271965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.334012739 meters Centerline goodness [0,1] 0.9888032696155648 Centerline is valid? [True, True] Translation: X:302.55, Y:-7.88, Z:-2.21 [[ 9.38329506e-01 -3.45739112e-01 -1.48466102e-03 3.02550703e+02] [ 3.45738710e-01 9.38330681e-01 -5.27456329e-04 -7.87753210e+00] [ 1.57546527e-03 -1.83769488e-05 9.99998759e-01 -2.21090748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36401273900003 meters Centerline goodness [0,1] 0.9883802741828881 Centerline is valid? [True, True] Translation: X:302.58, Y:-7.88, Z:-2.21 [[ 9.37074680e-01 -3.49115905e-01 -3.02140957e-03 3.02579855e+02] [ 3.49114255e-01 9.37079550e-01 -1.07464445e-03 -7.87650799e+00] [ 3.20647659e-03 -4.77950480e-05 9.99994858e-01 -2.21402031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.394012739 meters Centerline goodness [0,1] 0.9884654069207558 Centerline is valid? [True, True] Translation: X:302.61, Y:-7.87, Z:-2.22 [[ 9.36376357e-01 -3.50971539e-01 -4.27752280e-03 3.02609089e+02] [ 3.50968247e-01 9.36386124e-01 -1.52188296e-03 -7.87161440e+00] [ 4.53955060e-03 -7.62194556e-05 9.99989693e-01 -2.21660411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42401273900003 meters Centerline goodness [0,1] 0.9884869121089593 Centerline is valid? [True, True] Translation: X:302.64, Y:-7.87, Z:-2.22 [[ 9.35757026e-01 -3.52606923e-01 -5.21020934e-03 3.02637839e+02] [ 3.52602059e-01 9.35771525e-01 -1.85478862e-03 -7.86659787e+00] [ 5.52957685e-03 -1.01499060e-04 9.99984707e-01 -2.21829486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.454012739 meters Centerline goodness [0,1] 0.9878523561323264 Centerline is valid? [True, True] Translation: X:302.67, Y:-7.86, Z:-2.22 [[ 9.35264858e-01 -3.53903866e-01 -5.63026627e-03 3.02665555e+02] [ 3.53898205e-01 9.35281797e-01 -2.00512473e-03 -7.86255002e+00] [ 5.97550695e-03 -1.17218434e-04 9.99982140e-01 -2.21827733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484012739 meters Centerline goodness [0,1] 0.9876367195812231 Centerline is valid? [True, True] Translation: X:302.69, Y:-7.86, Z:-2.22 [[ 9.35276323e-01 -3.53881595e-01 -5.10053703e-03 3.02692941e+02] [ 3.53876947e-01 9.35290225e-01 -1.81681690e-03 -7.85817792e+00] [ 5.41342049e-03 -1.05736640e-04 9.99985342e-01 -2.21737538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.514012739 meters Centerline goodness [0,1] 0.9885502681535712 Centerline is valid? [True, True] Translation: X:302.72, Y:-7.85, Z:-2.22 [[ 9.35551413e-01 -3.53145214e-01 -5.65789301e-03 3.02719903e+02] [ 3.53139476e-01 9.35568515e-01 -2.01608162e-03 -7.84672827e+00] [ 6.00531614e-03 -1.11877363e-04 9.99981962e-01 -2.21805787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544012739 meters Centerline goodness [0,1] 0.9887895254802961 Centerline is valid? [True, True] Translation: X:302.75, Y:-7.84, Z:-2.22 [[ 9.35685930e-01 -3.52781077e-01 -6.11162089e-03 3.02747410e+02] [ 3.52774368e-01 9.35705882e-01 -2.17888814e-03 -7.83742115e+00] [ 6.48735012e-03 -1.17268212e-04 9.99978950e-01 -2.21823422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.574012739 meters Centerline goodness [0,1] 0.9884993705592421 Centerline is valid? [True, True] Translation: X:302.77, Y:-7.83, Z:-2.22 [[ 9.35949186e-01 -3.52083585e-01 -6.02240514e-03 3.02773311e+02] [ 3.52077051e-01 9.35968555e-01 -2.14783694e-03 -7.82801454e+00] [ 6.39299997e-03 -1.10084408e-04 9.99979559e-01 -2.21756449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604012739 meters Centerline goodness [0,1] 0.9881167492187666 Centerline is valid? [True, True] Translation: X:302.80, Y:-7.82, Z:-2.21 [[ 9.36588316e-01 -3.50413310e-01 -3.58325993e-03 3.02799492e+02] [ 3.50410984e-01 9.36595168e-01 -1.27807638e-03 -7.81792319e+00] [ 3.80391891e-03 -5.85822300e-05 9.99992763e-01 -2.21247322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.634012739 meters Centerline goodness [0,1] 0.9882864079737615 Centerline is valid? [True, True] Translation: X:302.83, Y:-7.81, Z:-2.21 [[ 9.36750079e-01 -3.49990134e-01 -2.48926080e-03 3.02827113e+02] [ 3.49989010e-01 9.36753385e-01 -8.87859160e-04 -7.80869228e+00] [ 2.64256543e-03 -3.95117838e-05 9.99996508e-01 -2.20987625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664012739 meters Centerline goodness [0,1] 0.9882412762982267 Centerline is valid? [True, True] Translation: X:302.85, Y:-7.80, Z:-2.21 [[ 9.36729691e-01 -3.50042895e-01 -2.73081368e-03 3.02854428e+02] [ 3.50041541e-01 9.36733671e-01 -9.74606707e-04 -7.80389263e+00] [ 2.89919927e-03 -4.29551879e-05 9.99995796e-01 -2.21042345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.694012739 meters Centerline goodness [0,1] 0.9884741688308901 Centerline is valid? [True, True] Translation: X:302.88, Y:-7.80, Z:-2.21 [[ 9.36545544e-01 -3.50529998e-01 -3.34141887e-03 3.02881743e+02] [ 3.50527972e-01 9.36551503e-01 -1.19287673e-03 -7.79602259e+00] [ 3.54754994e-03 -5.40773945e-05 9.99993706e-01 -2.21176207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724012739 meters Centerline goodness [0,1] 0.9880677028166274 Centerline is valid? [True, True] Translation: X:302.91, Y:-7.79, Z:-2.21 [[ 9.36321882e-01 -3.51121386e-01 -3.88669416e-03 3.02909811e+02] [ 3.51118647e-01 9.36329946e-01 -1.38840379e-03 -7.78784708e+00] [ 4.12672640e-03 -6.46979463e-05 9.99991483e-01 -2.21226621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.754012739 meters Centerline goodness [0,1] 0.988005679289665 Centerline is valid? [True, True] Translation: X:302.94, Y:-7.78, Z:-2.21 [[ 9.35944669e-01 -3.52120940e-01 -4.29195302e-03 3.02938180e+02] [ 3.52117607e-01 9.35954506e-01 -1.53387084e-03 -7.78322763e+00] [ 4.55718081e-03 -7.56539926e-05 9.99989613e-01 -2.21279345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784012739 meters Centerline goodness [0,1] 0.988187042060966 Centerline is valid? [True, True] Translation: X:302.97, Y:-7.78, Z:-2.21 [[ 9.35509333e-01 -3.53273844e-01 -4.45865755e-03 3.02966616e+02] [ 3.53270259e-01 9.35519954e-01 -1.59384725e-03 -7.77739760e+00] [ 4.73422765e-03 -8.40521287e-05 9.99988790e-01 -2.21353279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.814012739 meters Centerline goodness [0,1] 0.9873622055606296 Centerline is valid? [True, True] Translation: X:303.00, Y:-7.78, Z:-2.21 [[ 9.34910659e-01 -3.54851968e-01 -4.70529153e-03 3.02995296e+02] [ 3.54847991e-01 9.34922495e-01 -1.68270590e-03 -7.77577937e+00] [ 4.99619440e-03 -9.64835672e-05 9.99987514e-01 -2.21409024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844012739 meters Centerline goodness [0,1] 0.9878236349653935 Centerline is valid? [True, True] Translation: X:303.02, Y:-7.76, Z:-2.21 [[ 9.34710898e-01 -3.55379995e-01 -4.53821790e-03 3.03021627e+02] [ 3.55376300e-01 9.34721910e-01 -1.62336679e-03 -7.76326753e+00] [ 4.81888379e-03 -9.53964539e-05 9.99988385e-01 -2.21370174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.874012739 meters Centerline goodness [0,1] 0.9866423543380545 Centerline is valid? [True, True] Translation: X:303.05, Y:-7.76, Z:-2.21 [[ 9.34661487e-01 -3.55514842e-01 -4.13546648e-03 3.03048773e+02] [ 3.55511772e-01 9.34670632e-01 -1.47993297e-03 -7.75952683e+00] [ 4.39143720e-03 -8.69706702e-05 9.99990354e-01 -2.21252621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904012739 meters Centerline goodness [0,1] 0.9866423543380545 Centerline is valid? [True, True] Translation: X:303.07, Y:-7.75, Z:-2.21 [[ 9.34600620e-01 -3.55674824e-01 -4.13532272e-03 3.03074595e+02] [ 3.55671754e-01 9.34609764e-01 -1.48033457e-03 -7.75006469e+00] [ 4.39143073e-03 -8.72958774e-05 9.99990354e-01 -2.21242717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.934012739 meters Centerline goodness [0,1] 0.9873304134173699 Centerline is valid? [True, True] Translation: X:303.10, Y:-7.74, Z:-2.21 [[ 9.34541070e-01 -3.55840013e-01 -3.29745244e-03 3.03100979e+02] [ 3.55838060e-01 9.34546885e-01 -1.18090236e-03 -7.73956773e+00] [ 3.50183622e-03 -6.97573231e-05 9.99993866e-01 -2.21072849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964012739 meters Centerline goodness [0,1] 0.987411990612332 Centerline is valid? [True, True] Translation: X:303.13, Y:-7.73, Z:-2.21 [[ 9.34372828e-01 -3.56275771e-01 -3.87208445e-03 3.03127976e+02] [ 3.56273079e-01 9.34380847e-01 -1.38754618e-03 -7.73339389e+00] [ 4.11235063e-03 -8.30339998e-05 9.99991541e-01 -2.21200816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.994012739 meters Centerline goodness [0,1] 0.9875460859127154 Centerline is valid? [True, True] Translation: X:303.16, Y:-7.73, Z:-2.21 [[ 9.34149721e-01 -3.56849696e-01 -4.75314986e-03 3.03155278e+02] [ 3.56845644e-01 9.34161808e-01 -1.70378893e-03 -7.72518711e+00] [ 5.04820763e-03 -1.04546865e-04 9.99987252e-01 -2.21380618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.024012739 meters Centerline goodness [0,1] 0.9869199222965681 Centerline is valid? [True, True] Translation: X:303.18, Y:-7.72, Z:-2.22 [[ 9.33952324e-01 -3.57350019e-01 -5.83276589e-03 3.03184221e+02] [ 3.57343920e-01 9.33970528e-01 -2.09199205e-03 -7.72022796e+00] [ 6.19520484e-03 -1.30482589e-04 9.99980801e-01 -2.21633484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05401273900003 meters Centerline goodness [0,1] 0.9874764514471656 Centerline is valid? [True, True] Translation: X:303.21, Y:-7.71, Z:-2.22 [[ 9.34124665e-01 -3.56906033e-01 -5.40308483e-03 3.03211161e+02] [ 3.56900787e-01 9.34140284e-01 -1.93859003e-03 -7.71332753e+00] [ 5.73913367e-03 -1.17480468e-04 9.99983524e-01 -2.21537067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.084012739 meters Centerline goodness [0,1] 0.988164420886817 Centerline is valid? [True, True] Translation: X:303.24, Y:-7.71, Z:-2.21 [[ 9.35236609e-01 -3.53993829e-01 -4.56656630e-03 3.03239757e+02] [ 3.53990046e-01 9.35247754e-01 -1.63870077e-03 -7.70901768e+00] [ 4.85096084e-03 -8.39460597e-05 9.99988230e-01 -2.21295998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11401273900003 meters Centerline goodness [0,1] 0.9885496183206107 Centerline is valid? [True, True] Translation: X:303.26, Y:-7.69, Z:-2.21 [[ 9.35929811e-01 -3.52153257e-01 -4.84488993e-03 3.03264150e+02] [ 3.52148972e-01 9.35942347e-01 -1.73902340e-03 -7.69276488e+00] [ 5.14694040e-03 -7.85191672e-05 9.99986751e-01 -2.21292738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.144012739 meters Centerline goodness [0,1] 0.9895276768540286 Centerline is valid? [True, True] Translation: X:303.29, Y:-7.68, Z:-2.22 [[ 9.37139570e-01 -3.48905130e-01 -5.88531778e-03 3.03289685e+02] [ 3.48898735e-01 9.37158047e-01 -2.11366219e-03 -7.67980062e+00] [ 6.25294049e-03 -7.25834506e-05 9.99980448e-01 -2.21553825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17401273900003 meters Centerline goodness [0,1] 0.989486031136703 Centerline is valid? [True, True] Translation: X:303.32, Y:-7.67, Z:-2.22 [[ 9.37507248e-01 -3.47908299e-01 -6.32261513e-03 3.03315874e+02] [ 3.47900890e-01 9.37528565e-01 -2.27164336e-03 -7.67046755e+00] [ 6.71795587e-03 -6.99613102e-05 9.99977432e-01 -2.21711171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.204012739 meters Centerline goodness [0,1] 0.9893981580638253 Centerline is valid? [True, True] Translation: X:303.34, Y:-7.66, Z:-2.22 [[ 9.37660115e-01 -3.47490137e-01 -6.64175877e-03 3.03342318e+02] [ 3.47481944e-01 9.37683635e-01 -2.38730874e-03 -7.66160609e+00] [ 7.05743475e-03 -6.94070628e-05 9.99975094e-01 -2.21761180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.234012739 meters Centerline goodness [0,1] 0.9892344752606109 Centerline is valid? [True, True] Translation: X:303.37, Y:-7.66, Z:-2.22 [[ 9.37520076e-01 -3.47875156e-01 -6.24366405e-03 3.03369416e+02] [ 3.47867917e-01 9.37540864e-01 -2.24512266e-03 -7.65677630e+00] [ 6.63471259e-03 -6.71228384e-05 9.99977988e-01 -2.21751464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.264012739 meters Centerline goodness [0,1] 0.9889489670623209 Centerline is valid? [True, True] Translation: X:303.40, Y:-7.65, Z:-2.22 [[ 9.37064129e-01 -3.49101583e-01 -6.23722367e-03 3.03397402e+02] [ 3.49094382e-01 9.37084884e-01 -2.24364283e-03 -7.64830168e+00] [ 6.62806728e-03 -7.49425287e-05 9.99978031e-01 -2.21666738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.294012739 meters Centerline goodness [0,1] 0.9892360143233913 Centerline is valid? [True, True] Translation: X:303.43, Y:-7.65, Z:-2.22 [[ 9.36269480e-01 -3.51213472e-01 -6.96827842e-03 3.03425612e+02] [ 3.51204534e-01 9.36295406e-01 -2.50761619e-03 -7.64597137e+00] [ 7.40507566e-03 -9.94864741e-05 9.99972577e-01 -2.21778967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.324012739 meters Centerline goodness [0,1] 0.9889804215256232 Centerline is valid? [True, True] Translation: X:303.45, Y:-7.64, Z:-2.22 [[ 9.36035868e-01 -3.51828255e-01 -7.33025622e-03 3.03453314e+02] [ 3.51818375e-01 9.36064564e-01 -2.63889172e-03 -7.63819513e+00] [ 7.79002976e-03 -1.08821537e-04 9.99969651e-01 -2.21743710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.354012739 meters Centerline goodness [0,1] 0.9893449929957125 Centerline is valid? [True, True] Translation: X:303.48, Y:-7.63, Z:-2.22 [[ 9.36466190e-01 -3.50684801e-01 -7.15855476e-03 3.03480121e+02] [ 3.50675339e-01 9.36493546e-01 -2.57793586e-03 -7.63083784e+00] [ 7.60798326e-03 -9.61788430e-05 9.99971054e-01 -2.21607605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.384012739 meters Centerline goodness [0,1] 0.9893419734401978 Centerline is valid? [True, True] Translation: X:303.51, Y:-7.62, Z:-2.22 [[ 9.36870175e-01 -3.49619911e-01 -6.33982994e-03 3.03507664e+02] [ 3.49612462e-01 9.36891622e-01 -2.28347994e-03 -7.62481288e+00] [ 6.73808362e-03 -7.71593022e-05 9.99977296e-01 -2.21575130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.414012739 meters Centerline goodness [0,1] 0.9887893821274403 Centerline is valid? [True, True] Translation: X:303.53, Y:-7.61, Z:-2.21 [[ 9.37254601e-01 -3.48606652e-01 -5.21687206e-03 3.03532012e+02] [ 3.48601590e-01 9.37269118e-01 -1.87953743e-03 -7.60714738e+00] [ 5.54483233e-03 -5.70047872e-05 9.99984626e-01 -2.21173812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.444012739 meters Centerline goodness [0,1] 0.9889673058118277 Centerline is valid? [True, True] Translation: X:303.56, Y:-7.60, Z:-2.21 [[ 9.38190550e-01 -3.46102386e-01 -3.41034714e-03 3.03557486e+02] [ 3.46100204e-01 9.38196748e-01 -1.22910489e-03 -7.59596722e+00] [ 3.62497273e-03 -2.71872513e-05 9.99993429e-01 -2.20911152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.474012739 meters Centerline goodness [0,1] 0.98911244110531 Centerline is valid? [True, True] Translation: X:303.58, Y:-7.59, Z:-2.21 [[ 9.38540831e-01 -3.45157075e-01 -2.77516545e-03 3.03584303e+02] [ 3.45155626e-01 9.38544934e-01 -1.00033159e-03 -7.58736137e+00] [ 2.94988900e-03 -1.90119211e-05 9.99995649e-01 -2.20807090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.504012739 meters Centerline goodness [0,1] 0.9899615866211082 Centerline is valid? [True, True] Translation: X:303.61, Y:-7.58, Z:-2.21 [[ 9.38051726e-01 -3.46485227e-01 -2.63570340e-03 3.03611981e+02] [ 3.46483925e-01 9.38055429e-01 -9.50120086e-04 -7.57858741e+00] [ 2.80163845e-03 -2.19670711e-05 9.99996075e-01 -2.20739723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.534012739 meters Centerline goodness [0,1] 0.9895513214505224 Centerline is valid? [True, True] Translation: X:303.64, Y:-7.57, Z:-2.21 [[ 9.37294702e-01 -3.48527677e-01 -2.66458251e-03 3.03640512e+02] [ 3.48526353e-01 9.37298489e-01 -9.61021667e-04 -7.57167823e+00] [ 2.83245181e-03 -2.79167086e-05 9.99995988e-01 -2.20740526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.564012739 meters Centerline goodness [0,1] 0.9893013524298441 Centerline is valid? [True, True] Translation: X:303.67, Y:-7.56, Z:-2.21 [[ 9.36324146e-01 -3.51128728e-01 -2.38944385e-03 3.03668511e+02] [ 3.51127671e-01 9.36327195e-01 -8.62151746e-04 -7.56426158e+00] [ 2.54002751e-03 -3.17463582e-05 9.99996774e-01 -2.20721727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.594012739 meters Centerline goodness [0,1] 0.9884852520999377 Centerline is valid? [True, True] Translation: X:303.70, Y:-7.56, Z:-2.21 [[ 9.35421729e-01 -3.53527572e-01 -2.10825149e-03 3.03696845e+02] [ 3.53526754e-01 9.35424104e-01 -7.61164784e-04 -7.55967029e+00] [ 2.24120200e-03 -3.33132297e-05 9.99997488e-01 -2.20692188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.624012739 meters Centerline goodness [0,1] 0.9881816430085426 Centerline is valid? [True, True] Translation: X:303.73, Y:-7.56, Z:-2.21 [[ 9.34149565e-01 -3.56878363e-01 -1.55723720e-03 3.03726947e+02] [ 3.56877922e-01 9.34150862e-01 -5.62319780e-04 -7.55697495e+00] [ 1.65537424e-03 -3.04527987e-05 9.99998629e-01 -2.20629503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.654012739 meters Centerline goodness [0,1] 0.9885420445089296 Centerline is valid? [True, True] Translation: X:303.76, Y:-7.55, Z:-2.21 [[ 9.34033996e-01 -3.57172859e-01 -2.83606150e-03 3.03755401e+02] [ 3.57171395e-01 9.34038300e-01 -1.02431085e-03 -7.55239878e+00] [ 3.01484610e-03 -5.62188888e-05 9.99995454e-01 -2.20848050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.684012739 meters Centerline goodness [0,1] 0.9886637411805197 Centerline is valid? [True, True] Translation: X:303.78, Y:-7.54, Z:-2.21 [[ 9.34423938e-01 -3.56142286e-01 -3.81778124e-03 3.03781808e+02] [ 3.56139622e-01 9.34431735e-01 -1.37925742e-03 -7.54069626e+00] [ 4.05866784e-03 -7.08520171e-05 9.99991761e-01 -2.20992180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.714012739 meters Centerline goodness [0,1] 0.9892753933426094 Centerline is valid? [True, True] Translation: X:303.81, Y:-7.53, Z:-2.21 [[ 9.35163901e-01 -3.54175909e-01 -5.28231614e-03 3.03807582e+02] [ 3.54170773e-01 9.35178816e-01 -1.90932986e-03 -7.52951022e+00] [ 5.61614879e-03 -8.53056291e-05 9.99984226e-01 -2.21202033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.744012739 meters Centerline goodness [0,1] 0.9903672097232997 Centerline is valid? [True, True] Translation: X:303.83, Y:-7.52, Z:-2.21 [[ 9.36007717e-01 -3.51915332e-01 -6.71954384e-03 3.03833407e+02] [ 3.51906958e-01 9.36031832e-01 -2.42941952e-03 -7.51678380e+00] [ 7.14465691e-03 -9.06988166e-05 9.99974472e-01 -2.21462484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.774012739 meters Centerline goodness [0,1] 0.9909693595682292 Centerline is valid? [True, True] Translation: X:303.86, Y:-7.50, Z:-2.21 [[ 9.37706578e-01 -3.47364516e-01 -6.65331418e-03 3.03858238e+02] [ 3.47356187e-01 9.37730180e-01 -2.40607767e-03 -7.50328812e+00] [ 7.07479950e-03 -5.48749907e-05 9.99974972e-01 -2.21496814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80401273900003 meters Centerline goodness [0,1] 0.9913084231604959 Centerline is valid? [True, True] Translation: X:303.88, Y:-7.49, Z:-2.21 [[ 9.38379118e-01 -3.45566643e-01 -5.32224244e-03 3.03884310e+02] [ 3.45561283e-01 9.38394210e-01 -1.92513865e-03 -7.48924083e+00] [ 5.65962519e-03 -3.26510159e-05 9.99983984e-01 -2.21164679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.834012739 meters Centerline goodness [0,1] 0.9912599050829987 Centerline is valid? [True, True] Translation: X:303.91, Y:-7.48, Z:-2.21 [[ 9.39175419e-01 -3.43415253e-01 -3.93641322e-03 3.03911202e+02] [ 3.43412300e-01 9.39183669e-01 -1.42420258e-03 -7.47931204e+00] [ 4.18610790e-03 -1.42366668e-05 9.99991238e-01 -2.20845623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86401273900003 meters Centerline goodness [0,1] 0.9920289699800724 Centerline is valid? [True, True] Translation: X:303.94, Y:-7.47, Z:-2.21 [[ 9.39504071e-01 -3.42507393e-01 -4.55914712e-03 3.03937220e+02] [ 3.42503416e-01 9.39515133e-01 -1.65044837e-03 -7.46845039e+00] [ 4.84867848e-03 -1.09205016e-05 9.99988245e-01 -2.20926268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.894012739 meters Centerline goodness [0,1] 0.9936757215619695 Centerline is valid? [True, True] Translation: X:303.96, Y:-7.45, Z:-2.21 [[ 9.40473963e-01 -3.39804224e-01 -6.46639515e-03 3.03961274e+02] [ 3.39796153e-01 9.40496193e-01 -2.34206497e-03 -7.45210461e+00] [ 6.87746359e-03 5.39492320e-06 9.99976350e-01 -2.21263518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92401273900003 meters Centerline goodness [0,1] 0.99398224763051 Centerline is valid? [True, True] Translation: X:303.99, Y:-7.44, Z:-2.21 [[ 9.40877183e-01 -3.38677185e-01 -6.92027976e-03 3.03986614e+02] [ 3.38667904e-01 9.40902633e-01 -2.50740185e-03 -7.43889277e+00] [ 7.36050924e-03 1.54805548e-05 9.99972911e-01 -2.21409024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.954012739 meters Centerline goodness [0,1] 0.99396047633275 Centerline is valid? [True, True] Translation: X:304.01, Y:-7.43, Z:-2.21 [[ 9.41329397e-01 -3.37437632e-01 -5.90013151e-03 3.04010443e+02] [ 3.37430856e-01 9.41347887e-01 -2.13857830e-03 -7.42647026e+00] [ 6.27571313e-03 2.22201951e-05 9.99980307e-01 -2.21250142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.984012739 meters Centerline goodness [0,1] 0.9939924002802132 Centerline is valid? [True, True] Translation: X:304.04, Y:-7.41, Z:-2.21 [[ 9.41497874e-01 -3.36983627e-01 -4.87737656e-03 3.04036278e+02] [ 3.36978988e-01 9.41510507e-01 -1.76840777e-03 -7.41499296e+00] [ 5.18802574e-03 2.13787360e-05 9.99986542e-01 -2.20989167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.014012739 meters Centerline goodness [0,1] 0.9944082612049019 Centerline is valid? [True, True] Translation: X:304.06, Y:-7.40, Z:-2.21 [[ 9.41779497e-01 -3.36203083e-01 -4.34355745e-03 3.04061855e+02] [ 3.36199392e-01 9.41789513e-01 -1.57564592e-03 -7.40206238e+00] [ 4.62045387e-03 2.36096514e-05 9.99989325e-01 -2.20788440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.044012739 meters Centerline goodness [0,1] 0.9955708661417323 Centerline is valid? [True, True] Translation: X:304.09, Y:-7.39, Z:-2.21 [[ 9.42310467e-01 -3.34701537e-01 -5.08576160e-03 3.04085472e+02] [ 3.34696449e-01 9.42324191e-01 -1.84577461e-03 -7.38501307e+00] [ 5.41021978e-03 3.71063878e-05 9.99985364e-01 -2.21040716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.074012739 meters Centerline goodness [0,1] 0.9952798957732641 Centerline is valid? [True, True] Translation: X:304.11, Y:-7.37, Z:-2.21 [[ 9.42245883e-01 -3.34877881e-01 -5.43150988e-03 3.04111158e+02] [ 3.34872078e-01 9.42261536e-01 -1.97189272e-03 -7.37362524e+00] [ 5.77824610e-03 3.91467903e-05 9.99983305e-01 -2.21179430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.104012739 meters Centerline goodness [0,1] 0.9940540886132601 Centerline is valid? [True, True] Translation: X:304.14, Y:-7.36, Z:-2.21 [[ 9.41505029e-01 -3.36971147e-01 -4.32739741e-03 3.04136456e+02] [ 3.36967482e-01 9.41514974e-01 -1.57165116e-03 -7.36310732e+00] [ 4.60391056e-03 2.15252629e-05 9.99989402e-01 -2.20971367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.134012739 meters Centerline goodness [0,1] 0.993330473943813 Centerline is valid? [True, True] Translation: X:304.16, Y:-7.35, Z:-2.21 [[ 9.40950420e-01 -3.38526496e-01 -3.48118226e-03 3.04163407e+02] [ 3.38524135e-01 9.40956859e-01 -1.26450699e-03 -7.35444705e+00] [ 3.70371145e-03 1.13741722e-05 9.99993141e-01 -2.20769667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.164012739 meters Centerline goodness [0,1] 0.9922144224633057 Centerline is valid? [True, True] Translation: X:304.19, Y:-7.35, Z:-2.21 [[ 9.40311814e-01 -3.40301594e-01 -2.91843897e-03 3.04189955e+02] [ 3.40299941e-01 9.40316343e-01 -1.06062282e-03 -7.34656234e+00] [ 3.10518750e-03 4.17155622e-06 9.99995179e-01 -2.20599539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.194012739 meters Centerline goodness [0,1] 0.992412812001552 Centerline is valid? [True, True] Translation: X:304.22, Y:-7.34, Z:-2.21 [[ 9.39176830e-01 -3.43415841e-01 -3.52734985e-03 3.04217667e+02] [ 3.43413448e-01 9.39183454e-01 -1.28219279e-03 -7.34030335e+00] [ 3.75315393e-03 -7.13361616e-06 9.99992957e-01 -2.20813588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.224012739 meters Centerline goodness [0,1] 0.9921869955446504 Centerline is valid? [True, True] Translation: X:304.24, Y:-7.33, Z:-2.21 [[ 9.38799864e-01 -3.44438375e-01 -4.12575998e-03 3.04243944e+02] [ 3.44435106e-01 9.38808929e-01 -1.50061189e-03 -7.33209007e+00] [ 4.39016863e-03 -1.22823425e-05 9.99990363e-01 -2.20965811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.254012739 meters Centerline goodness [0,1] 0.99182844048597 Centerline is valid? [True, True] Translation: X:304.27, Y:-7.32, Z:-2.21 [[ 9.38259870e-01 -3.45910599e-01 -3.77804739e-03 3.04271060e+02] [ 3.45907869e-01 9.38267476e-01 -1.37443385e-03 -7.32433271e+00] [ 4.02025023e-03 -1.72801987e-05 9.99991919e-01 -2.20777408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.284012739 meters Centerline goodness [0,1] 0.9914225053078556 Centerline is valid? [True, True] Translation: X:304.30, Y:-7.32, Z:-2.21 [[ 9.37947150e-01 -3.46762866e-01 -3.26464889e-03 3.04297989e+02] [ 3.46760831e-01 9.37952832e-01 -1.18828264e-03 -7.31683321e+00] [ 3.47413896e-03 -1.75060402e-05 9.99993965e-01 -2.20583299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.314012739 meters Centerline goodness [0,1] 0.9908362213764803 Centerline is valid? [True, True] Translation: X:304.33, Y:-7.31, Z:-2.20 [[ 9.37607910e-01 -3.47686454e-01 -2.35316501e-03 3.04325900e+02] [ 3.47685399e-01 9.37610863e-01 -8.56613561e-04 -7.31106312e+00] [ 2.50418601e-03 -1.49934649e-05 9.99996864e-01 -2.20322292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.344012739 meters Centerline goodness [0,1] 0.9917103059342337 Centerline is valid? [True, True] Translation: X:304.35, Y:-7.30, Z:-2.21 [[ 9.37431138e-01 -3.48157185e-01 -3.07173678e-03 3.04352263e+02] [ 3.48155390e-01 9.37436171e-01 -1.11841317e-03 -7.30282982e+00] [ 3.26894075e-03 -2.10063842e-05 9.99994657e-01 -2.20509003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.374012739 meters Centerline goodness [0,1] 0.9918020601040671 Centerline is valid? [True, True] Translation: X:304.38, Y:-7.29, Z:-2.21 [[ 9.37366383e-01 -3.48319323e-01 -4.23234095e-03 3.04378780e+02] [ 3.48315911e-01 9.37375938e-01 -1.54204681e-03 -7.29340431e+00] [ 4.50441927e-03 -2.87288514e-05 9.99989855e-01 -2.20738427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.404012739 meters Centerline goodness [0,1] 0.9931641880598294 Centerline is valid? [True, True] Translation: X:304.41, Y:-7.28, Z:-2.21 [[ 9.37596805e-01 -3.47685515e-01 -5.19751111e-03 3.04405502e+02] [ 3.47680353e-01 9.37611210e-01 -1.89494057e-03 -7.28443570e+00] [ 5.53208807e-03 -3.03822700e-05 9.99984697e-01 -2.20885283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.434012739 meters Centerline goodness [0,1] 0.9925563589961719 Centerline is valid? [True, True] Translation: X:304.43, Y:-7.28, Z:-2.21 [[ 9.37667582e-01 -3.47492671e-01 -5.32445506e-03 3.04430677e+02] [ 3.47487245e-01 9.37682698e-01 -1.94212575e-03 -7.27578818e+00] [ 5.66752385e-03 -2.91118625e-05 9.99983939e-01 -2.20890921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.464012739 meters Centerline goodness [0,1] 0.99237716994427 Centerline is valid? [True, True] Translation: X:304.46, Y:-7.27, Z:-2.21 [[ 9.37847213e-01 -3.47002869e-01 -5.62255314e-03 3.04457311e+02] [ 3.46996805e-01 9.37864067e-01 -2.05166201e-03 -7.26573524e+00] [ 5.98512316e-03 -2.68624741e-05 9.99982089e-01 -2.20949511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.494012739 meters Centerline goodness [0,1] 0.9923659183541438 Centerline is valid? [True, True] Translation: X:304.48, Y:-7.26, Z:-2.21 [[ 9.38056149e-01 -3.46437079e-01 -5.65798503e-03 3.04482715e+02] [ 3.46430922e-01 9.38073212e-01 -2.06552930e-03 -7.25632411e+00] [ 6.02318013e-03 -2.25185109e-05 9.99981860e-01 -2.21105883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.524012739 meters Centerline goodness [0,1] 0.9927184979785365 Centerline is valid? [True, True] Translation: X:304.51, Y:-7.25, Z:-2.21 [[ 9.38340797e-01 -3.45665379e-01 -5.65626310e-03 3.04507731e+02] [ 3.45659208e-01 9.38357845e-01 -2.06552735e-03 -7.24675999e+00] [ 6.02158014e-03 -1.69708421e-05 9.99981870e-01 -2.21118294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55401273900003 meters Centerline goodness [0,1] 0.993048403707518 Centerline is valid? [True, True] Translation: X:304.53, Y:-7.23, Z:-2.21 [[ 9.39120858e-01 -3.43546278e-01 -5.28854494e-03 3.04531713e+02] [ 3.43540845e-01 9.39135749e-01 -1.93208523e-03 -7.23217222e+00] [ 5.63042230e-03 -2.36965885e-06 9.99984149e-01 -2.20909182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.584012739 meters Centerline goodness [0,1] 0.9937220685252182 Centerline is valid? [True, True] Translation: X:304.56, Y:-7.22, Z:-2.21 [[ 9.39310114e-01 -3.43030899e-01 -5.12957825e-03 3.04556286e+02] [ 3.43025775e-01 9.39324120e-01 -1.87486813e-03 -7.22116784e+00] [ 5.46147428e-03 1.50504256e-06 9.99985086e-01 -2.20863458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61401273900003 meters Centerline goodness [0,1] 0.9935792494950568 Centerline is valid? [True, True] Translation: X:304.58, Y:-7.21, Z:-2.21 [[ 9.39337975e-01 -3.42940854e-01 -5.97826056e-03 3.04582736e+02] [ 3.42933887e-01 9.39356998e-01 -2.18597468e-03 -7.21077301e+00] [ 6.36538092e-03 3.22089674e-06 9.99979741e-01 -2.21016216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.644012739 meters Centerline goodness [0,1] 0.9935614540027715 Centerline is valid? [True, True] Translation: X:304.61, Y:-7.20, Z:-2.21 [[ 9.39297260e-01 -3.43049548e-01 -6.13724870e-03 3.04608772e+02] [ 3.43042199e-01 9.39317309e-01 -2.24542198e-03 -7.20080005e+00] [ 6.53511493e-03 3.78341857e-06 9.99978646e-01 -2.21092864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67401273900003 meters Centerline goodness [0,1] 0.9931324814491952 Centerline is valid? [True, True] Translation: X:304.63, Y:-7.19, Z:-2.21 [[ 9.39278306e-01 -3.43107829e-01 -5.76904189e-03 3.04634912e+02] [ 3.43101329e-01 9.39296022e-01 -2.11188453e-03 -7.19045886e+00] [ 6.14344221e-03 4.28137760e-06 9.99981129e-01 -2.20954707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.704012739 meters Centerline goodness [0,1] 0.9932908850049144 Centerline is valid? [True, True] Translation: X:304.66, Y:-7.18, Z:-2.21 [[ 9.39778330e-01 -3.41767353e-01 -3.43041863e-03 3.04659579e+02] [ 3.41765044e-01 9.39784590e-01 -1.25621772e-03 -7.17770707e+00] [ 3.65318877e-03 8.16901914e-06 9.99993327e-01 -2.20501796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.734012739 meters Centerline goodness [0,1] 0.993119704402115 Centerline is valid? [True, True] Translation: X:304.68, Y:-7.17, Z:-2.20 [[ 9.40179166e-01 -3.40670576e-01 -2.58744404e-03 3.04684631e+02] [ 3.40669258e-01 9.40182726e-01 -9.47894772e-04 -7.16575160e+00] [ 2.75559005e-03 9.72827326e-06 9.99996203e-01 -2.20259257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.764012739 meters Centerline goodness [0,1] 0.993119704402115 Centerline is valid? [True, True] Translation: X:304.71, Y:-7.16, Z:-2.20 [[ 9.40114918e-01 -3.40847836e-01 -2.58726389e-03 3.04710383e+02] [ 3.40846517e-01 9.40118478e-01 -9.48386197e-04 -7.15610867e+00] [ 2.75558997e-03 9.73212599e-06 9.99996203e-01 -2.20249357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.794012739 meters Centerline goodness [0,1] 0.9933639282097688 Centerline is valid? [True, True] Translation: X:304.74, Y:-7.14, Z:-2.20 [[ 9.40666551e-01 -3.39319908e-01 -2.90501582e-03 3.04735767e+02] [ 3.39318235e-01 9.40671037e-01 -1.06558447e-03 -7.14213518e+00] [ 3.09423827e-03 1.66348276e-05 9.99995213e-01 -2.20351226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.824012739 meters Centerline goodness [0,1] 0.9936811544701563 Centerline is valid? [True, True] Translation: X:304.76, Y:-7.13, Z:-2.20 [[ 9.40656598e-01 -3.39340595e-01 -3.62281586e-03 3.04761717e+02] [ 3.39337991e-01 9.40663574e-01 -1.32971869e-03 -7.13112267e+00] [ 3.85907845e-03 2.14496086e-05 9.99992553e-01 -2.20469217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.854012739 meters Centerline goodness [0,1] 0.9938372611938713 Centerline is valid? [True, True] Translation: X:304.79, Y:-7.12, Z:-2.21 [[ 9.40587060e-01 -3.39531956e-01 -3.74606285e-03 3.04786157e+02] [ 3.39529170e-01 9.40594520e-01 -1.37574245e-03 -7.12075119e+00] [ 3.99063472e-03 2.21079419e-05 9.99992037e-01 -2.20552544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.884012739 meters Centerline goodness [0,1] 0.9936203463852198 Centerline is valid? [True, True] Translation: X:304.81, Y:-7.11, Z:-2.20 [[ 9.40261230e-01 -3.40434659e-01 -3.61422874e-03 3.04813027e+02] [ 3.40432071e-01 9.40268176e-01 -1.32768080e-03 -7.11255322e+00] [ 3.85033282e-03 1.79674074e-05 9.99992587e-01 -2.20432587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.914012739 meters Centerline goodness [0,1] 0.9938488389417449 Centerline is valid? [True, True] Translation: X:304.84, Y:-7.10, Z:-2.20 [[ 9.40222506e-01 -3.40545904e-01 -3.18218181e-03 3.04837973e+02] [ 3.40543896e-01 9.40227891e-01 -1.16957963e-03 -7.10305740e+00] [ 3.39027165e-03 1.59925030e-05 9.99994253e-01 -2.20296858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.944012739 meters Centerline goodness [0,1] 0.9937673425827108 Centerline is valid? [True, True] Translation: X:304.86, Y:-7.09, Z:-2.20 [[ 9.40565321e-01 -3.39606390e-01 -2.09221110e-03 3.04864621e+02] [ 3.39605519e-01 9.40567648e-01 -7.68938068e-04 -7.09291987e+00] [ 2.22900235e-03 1.27100448e-05 9.99997516e-01 -2.20056060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.974012739 meters Centerline goodness [0,1] 0.9935861684327942 Centerline is valid? [True, True] Translation: X:304.89, Y:-7.08, Z:-2.20 [[ 9.40808513e-01 -3.38935269e-01 -1.49148323e-03 3.04891043e+02] [ 3.38934826e-01 9.40809695e-01 -5.48253400e-04 -7.08225404e+00] [ 1.58902430e-03 1.02858567e-05 9.99998737e-01 -2.19963285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.004012739 meters Centerline goodness [0,1] 0.993017743898533 Centerline is valid? [True, True] Translation: X:304.92, Y:-7.07, Z:-2.20 [[ 9.41152759e-01 -3.37978849e-01 -1.33494249e-03 3.04916466e+02] [ 3.37978492e-01 9.41153706e-01 -4.91131461e-04 -7.07105725e+00] [ 1.42237811e-03 1.10478811e-05 9.99998988e-01 -2.19911263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.034012739 meters Centerline goodness [0,1] 0.9936711558131606 Centerline is valid? [True, True] Translation: X:304.94, Y:-7.06, Z:-2.20 [[ 9.41279742e-01 -3.37623033e-01 -1.77059939e-03 3.04942055e+02] [ 3.37622405e-01 9.41281407e-01 -6.51371637e-04 -7.06041942e+00] [ 1.88655036e-03 1.53289007e-05 9.99998220e-01 -2.20013774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.064012739 meters Centerline goodness [0,1] 0.9940905684616208 Centerline is valid? [True, True] Translation: X:304.97, Y:-7.05, Z:-2.20 [[ 9.41265026e-01 -3.37659133e-01 -2.54192176e-03 3.04968560e+02] [ 3.37657836e-01 9.41268458e-01 -9.35956606e-04 -7.05011461e+00] [ 2.70866507e-03 2.26834167e-05 9.99996331e-01 -2.20163040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.094012739 meters Centerline goodness [0,1] 0.9940174078313644 Centerline is valid? [True, True] Translation: X:304.99, Y:-7.04, Z:-2.20 [[ 9.41368696e-01 -3.37362636e-01 -3.38084628e-03 3.04994682e+02] [ 3.37360338e-01 9.41374766e-01 -1.24578387e-03 -7.04077625e+00] [ 3.60292431e-03 3.21784892e-05 9.99993509e-01 -2.20385839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.124012739 meters Centerline goodness [0,1] 0.9941279094506617 Centerline is valid? [True, True] Translation: X:305.02, Y:-7.03, Z:-2.20 [[ 9.41410210e-01 -3.37243719e-01 -3.67282371e-03 3.05021592e+02] [ 3.37241004e-01 9.41417374e-01 -1.35366776e-03 -7.03173841e+00] [ 3.91417600e-03 3.57298909e-05 9.99992339e-01 -2.20354947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.154012739 meters Centerline goodness [0,1] 0.9940812024952629 Centerline is valid? [True, True] Translation: X:305.05, Y:-7.02, Z:-2.20 [[ 9.41616297e-01 -3.36661854e-01 -4.18860362e-03 3.05047542e+02] [ 3.36658314e-01 9.41625612e-01 -1.54460807e-03 -7.02262367e+00] [ 4.46410706e-03 4.42999001e-05 9.99990035e-01 -2.20443993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.184012739 meters Centerline goodness [0,1] 0.994109766729751 Centerline is valid? [True, True] Translation: X:305.07, Y:-7.01, Z:-2.20 [[ 9.41526170e-01 -3.36912097e-01 -4.32545421e-03 3.05073431e+02] [ 3.36908322e-01 9.41536105e-01 -1.59548836e-03 -7.01235362e+00] [ 4.61011064e-03 4.49125289e-05 9.99989372e-01 -2.20457061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.214012739 meters Centerline goodness [0,1] 0.9944331765416649 Centerline is valid? [True, True] Translation: X:305.10, Y:-7.00, Z:-2.20 [[ 9.41413636e-01 -3.37225767e-01 -4.37592984e-03 3.05099803e+02] [ 3.37221903e-01 9.41423805e-01 -1.61501740e-03 -7.00357167e+00] [ 4.66423000e-03 4.47400115e-05 9.99989121e-01 -2.20472099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.244012739 meters Centerline goodness [0,1] 0.9940824623768066 Centerline is valid? [True, True] Translation: X:305.13, Y:-6.99, Z:-2.20 [[ 9.41498850e-01 -3.36994480e-01 -3.82568352e-03 3.05125549e+02] [ 3.36991522e-01 9.41506622e-01 -1.41260509e-03 -6.99344971e+00] [ 4.07794649e-03 4.07431506e-05 9.99991684e-01 -2.20430025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.274012739 meters Centerline goodness [0,1] 0.9938949412145399 Centerline is valid? [True, True] Translation: X:305.15, Y:-6.99, Z:-2.20 [[ 9.41509286e-01 -3.36972058e-01 -3.17766704e-03 3.05152320e+02] [ 3.36970016e-01 9.41514647e-01 -1.17347361e-03 -6.98591994e+00] [ 3.38724788e-03 3.40577913e-05 9.99994263e-01 -2.20262323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30401273900003 meters Centerline goodness [0,1] 0.9935338828819185 Centerline is valid? [True, True] Translation: X:305.18, Y:-6.98, Z:-2.20 [[ 9.41272794e-01 -3.37642828e-01 -1.68752816e-03 3.05178287e+02] [ 3.37642253e-01 9.41274307e-01 -6.23206992e-04 -6.97691073e+00] [ 1.79884827e-03 1.68269777e-05 9.99998382e-01 -2.19981589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.334012739 meters Centerline goodness [0,1] 0.9937517326679888 Centerline is valid? [True, True] Translation: X:305.20, Y:-6.97, Z:-2.20 [[ 9.41187046e-01 -3.37883071e-01 -1.40508141e-03 3.05203620e+02] [ 3.37882672e-01 9.41188095e-01 -5.19325815e-04 -6.96726820e+00] [ 1.49791729e-03 1.40300697e-05 9.99998878e-01 -2.19906073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36401273900003 meters Centerline goodness [0,1] 0.9936462216197899 Centerline is valid? [True, True] Translation: X:305.23, Y:-6.96, Z:-2.20 [[ 9.40972098e-01 -3.38481876e-01 -1.23684125e-03 3.05228875e+02] [ 3.38481568e-01 9.40972911e-01 -4.57112027e-04 -6.95666195e+00] [ 1.31855825e-03 1.14816972e-05 9.99999131e-01 -2.19834077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.394012739 meters Centerline goodness [0,1] 0.9936958234830575 Centerline is valid? [True, True] Translation: X:305.26, Y:-6.95, Z:-2.20 [[ 9.40260112e-01 -3.40455556e-01 -9.67247045e-04 3.05256555e+02] [ 3.40455369e-01 9.40260610e-01 -3.57634076e-04 -6.95059721e+00] [ 1.03122280e-03 6.96460728e-06 9.99999468e-01 -2.19796056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42401273900003 meters Centerline goodness [0,1] 0.9937214004469511 Centerline is valid? [True, True] Translation: X:305.29, Y:-6.94, Z:-2.20 [[ 9.39713876e-01 -3.41955310e-01 -2.09707145e-03 3.05285004e+02] [ 3.41954430e-01 9.39716216e-01 -7.75825049e-04 -6.94293944e+00] [ 2.23594955e-03 1.19506897e-05 9.99997500e-01 -2.20039724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.454012739 meters Centerline goodness [0,1] 0.9932960416755626 Centerline is valid? [True, True] Translation: X:305.31, Y:-6.93, Z:-2.20 [[ 9.39558418e-01 -3.42379108e-01 -2.55459843e-03 3.05311161e+02] [ 3.42377802e-01 9.39561891e-01 -9.45625626e-04 -6.93250610e+00] [ 2.72396579e-03 1.38327213e-05 9.99996290e-01 -2.20109426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.484012739 meters Centerline goodness [0,1] 0.9936575052854123 Centerline is valid? [True, True] Translation: X:305.34, Y:-6.92, Z:-2.20 [[ 9.39421236e-01 -3.42751251e-01 -3.05320232e-03 3.05336793e+02] [ 3.42749385e-01 9.39426197e-01 -1.13098602e-03 -6.92174530e+00] [ 3.25590512e-03 1.59890713e-05 9.99994699e-01 -2.20189142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.514012739 meters Centerline goodness [0,1] 0.9938592549799944 Centerline is valid? [True, True] Translation: X:305.36, Y:-6.91, Z:-2.20 [[ 9.39191427e-01 -3.43376597e-01 -3.46069017e-03 3.05362604e+02] [ 3.43374201e-01 9.39197803e-01 -1.28276577e-03 -6.90964210e+00] [ 3.69074435e-03 1.64508887e-05 9.99993189e-01 -2.20312546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.544012739 meters Centerline goodness [0,1] 0.9932937508009055 Centerline is valid? [True, True] Translation: X:305.39, Y:-6.90, Z:-2.20 [[ 9.38905077e-01 -3.44160935e-01 -3.24146485e-03 3.05387040e+02] [ 3.44158836e-01 9.38910672e-01 -1.20216419e-03 -6.89921432e+00] [ 3.45718390e-03 1.31392891e-05 9.99994024e-01 -2.20296088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.574012739 meters Centerline goodness [0,1] 0.9925831473807247 Centerline is valid? [True, True] Translation: X:305.41, Y:-6.89, Z:-2.20 [[ 9.37799154e-01 -3.47164497e-01 -3.09162595e-03 3.05414734e+02] [ 3.47162602e-01 9.37804250e-01 -1.14701269e-03 -6.89013732e+00] [ 3.29754204e-03 2.37061754e-06 9.99994563e-01 -2.20325848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.604012739 meters Centerline goodness [0,1] 0.991984439124487 Centerline is valid? [True, True] Translation: X:305.44, Y:-6.88, Z:-2.20 [[ 9.37117442e-01 -3.48998639e-01 -3.29395326e-03 3.05441047e+02] [ 3.48996497e-01 9.37123231e-01 -1.22271577e-03 -6.88188661e+00] [ 3.51356626e-03 -3.74987910e-06 9.99993827e-01 -2.20424100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.634012739 meters Centerline goodness [0,1] 0.9923837720709704 Centerline is valid? [True, True] Translation: X:305.47, Y:-6.87, Z:-2.20 [[ 9.36402141e-01 -3.50910039e-01 -3.62971910e-03 3.05467796e+02] [ 3.50907449e-01 9.36409176e-01 -1.34819241e-03 -6.87349244e+00] [ 3.87199652e-03 -1.12452073e-05 9.99992504e-01 -2.20485532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.664012739 meters Centerline goodness [0,1] 0.9915957332184032 Centerline is valid? [True, True] Translation: X:305.50, Y:-6.86, Z:-2.21 [[ 9.35193330e-01 -3.54109896e-01 -4.42919608e-03 3.05495717e+02] [ 3.54106071e-01 9.35203818e-01 -1.64622327e-03 -6.86496765e+00] [ 4.72514504e-03 -2.88681967e-05 9.99988836e-01 -2.20542300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.694012739 meters Centerline goodness [0,1] 0.992568001713429 Centerline is valid? [True, True] Translation: X:305.52, Y:-6.86, Z:-2.21 [[ 9.34960357e-01 -3.54714876e-01 -5.14661199e-03 3.05521561e+02] [ 3.54709715e-01 9.34974521e-01 -1.91378429e-03 -6.85521263e+00] [ 5.49079884e-03 -3.62408316e-05 9.99984925e-01 -2.20669231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.724012739 meters Centerline goodness [0,1] 0.9921163692452709 Centerline is valid? [True, True] Translation: X:305.55, Y:-6.84, Z:-2.21 [[ 9.35325837e-01 -3.53750393e-01 -5.12239071e-03 3.05546040e+02] [ 3.53745262e-01 9.35339863e-01 -1.90548340e-03 -6.84018736e+00] [ 5.46524172e-03 -2.97735898e-05 9.99985065e-01 -2.20666467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.754012739 meters Centerline goodness [0,1] 0.9925982644206228 Centerline is valid? [True, True] Translation: X:305.57, Y:-6.83, Z:-2.20 [[ 9.35926029e-01 -3.52168726e-01 -4.43363802e-03 3.05570806e+02] [ 3.52164861e-01 9.35936530e-01 -1.64995812e-03 -6.82615787e+00] [ 4.73066743e-03 -1.71327673e-05 9.99988810e-01 -2.20475260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.784012739 meters Centerline goodness [0,1] 0.993805933488541 Centerline is valid? [True, True] Translation: X:305.59, Y:-6.80, Z:-2.20 [[ 9.37743307e-01 -3.47322008e-01 -2.21654936e-03 3.05592695e+02] [ 3.47321029e-01 9.37745927e-01 -8.24745661e-04 -6.80390835e+00] [ 2.36501245e-03 3.54551845e-06 9.99997203e-01 -2.19969619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.814012739 meters Centerline goodness [0,1] 0.9939875501922709 Centerline is valid? [True, True] Translation: X:305.62, Y:-6.79, Z:-2.20 [[ 9.38665641e-01 -3.44824209e-01 -1.75495491e-03 3.05616429e+02] [ 3.44823590e-01 9.38667281e-01 -6.53449568e-04 -6.78759707e+00] [ 1.87264398e-03 8.22080615e-06 9.99998247e-01 -2.19878870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.844012739 meters Centerline goodness [0,1] 0.994385889438589 Centerline is valid? [True, True] Translation: X:305.64, Y:-6.77, Z:-2.20 [[ 9.39338913e-01 -3.42985518e-01 -1.82775079e-03 3.05641301e+02] [ 3.42984843e-01 9.39340691e-01 -6.80495113e-04 -6.77250297e+00] [ 1.95028066e-03 1.23247216e-05 9.99998098e-01 -2.19914381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.874012739 meters Centerline goodness [0,1] 0.9946893595239619 Centerline is valid? [True, True] Translation: X:305.66, Y:-6.75, Z:-2.20 [[ 9.40196637e-01 -3.40617456e-01 -3.16755955e-03 3.05664196e+02] [ 3.40615412e-01 9.40201972e-01 -1.18040001e-03 -6.75383298e+00] [ 3.38021058e-03 3.08885210e-05 9.99994287e-01 -2.20237629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.904012739 meters Centerline goodness [0,1] 0.9947410831672251 Centerline is valid? [True, True] Translation: X:305.69, Y:-6.74, Z:-2.20 [[ 9.40230455e-01 -3.40524647e-01 -3.10736372e-03 3.05689558e+02] [ 3.40522679e-01 9.40235589e-01 -1.15813020e-03 -6.74216670e+00] [ 3.31602584e-03 3.07814640e-05 9.99994501e-01 -2.20250954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.934012739 meters Centerline goodness [0,1] 0.9947103544276689 Centerline is valid? [True, True] Translation: X:305.71, Y:-6.73, Z:-2.20 [[ 9.39867512e-01 -3.41531825e-01 -2.25237797e-03 3.05714305e+02] [ 3.41530793e-01 9.39870210e-01 -8.39877247e-04 -6.72992187e+00] [ 2.40378777e-03 2.01169033e-05 9.99997111e-01 -2.20028301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.964012739 meters Centerline goodness [0,1] 0.9943846513804399 Centerline is valid? [True, True] Translation: X:305.74, Y:-6.72, Z:-2.20 [[ 9.39480004e-01 -3.42598710e-01 -1.85645142e-03 3.05740839e+02] [ 3.42598011e-01 9.39481838e-01 -6.92197036e-04 -6.72133091e+00] [ 1.98124820e-03 1.42887117e-05 9.99998037e-01 -2.19944120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.994012739 meters Centerline goodness [0,1] 0.994102172437203 Centerline is valid? [True, True] Translation: X:305.77, Y:-6.71, Z:-2.20 [[ 9.38978389e-01 -3.43971492e-01 -1.78847358e-03 3.05766758e+02] [ 3.43970844e-01 9.38980092e-01 -6.67378453e-04 -6.71194601e+00] [ 1.90890025e-03 1.14711774e-05 9.99998178e-01 -2.19880434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.024012739 meters Centerline goodness [0,1] 0.9938940360845506 Centerline is valid? [True, True] Translation: X:305.79, Y:-6.70, Z:-2.20 [[ 9.38156523e-01 -3.46206261e-01 -1.88752567e-03 3.05794450e+02] [ 3.46205544e-01 9.38158422e-01 -7.04418093e-04 -6.70274944e+00] [ 2.01467206e-03 7.38257776e-06 9.99997971e-01 -2.19879861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05401273900003 meters Centerline goodness [0,1] 0.9942499361104012 Centerline is valid? [True, True] Translation: X:305.82, Y:-6.69, Z:-2.20 [[ 9.37863457e-01 -3.46994599e-01 -2.62377342e-03 3.05819208e+02] [ 3.46993215e-01 9.37867127e-01 -9.79928415e-04 -6.69183660e+00] [ 2.80078071e-03 8.60747591e-06 9.99996078e-01 -2.20008093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.084012739 meters Centerline goodness [0,1] 0.9941377105094863 Centerline is valid? [True, True] Translation: X:305.84, Y:-6.68, Z:-2.20 [[ 9.37782594e-01 -3.47208563e-01 -3.16559310e-03 3.05844939e+02] [ 3.47206549e-01 9.37787936e-01 -1.18282203e-03 -6.68071992e+00] [ 3.37934096e-03 1.01152528e-05 9.99994290e-01 -2.20151543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11401273900003 meters Centerline goodness [0,1] 0.9945566992841106 Centerline is valid? [True, True] Translation: X:305.87, Y:-6.67, Z:-2.20 [[ 9.37719704e-01 -3.47373604e-01 -3.65179927e-03 3.05870344e+02] [ 3.47370921e-01 9.37726815e-01 -1.36535392e-03 -6.66986617e+00] [ 3.89867801e-03 1.17903988e-05 9.99992400e-01 -2.20269780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.144012739 meters Centerline goodness [0,1] 0.9941516709511569 Centerline is valid? [True, True] Translation: X:305.90, Y:-6.66, Z:-2.20 [[ 9.37178696e-01 -3.48829461e-01 -3.75473370e-03 3.05896475e+02] [ 3.48826633e-01 9.37186218e-01 -1.40463032e-03 -6.66129909e+00] [ 4.00886112e-03 6.63849414e-06 9.99991964e-01 -2.20200701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17401273900003 meters Centerline goodness [0,1] 0.9937947392943369 Centerline is valid? [True, True] Translation: X:305.92, Y:-6.65, Z:-2.20 [[ 9.36747493e-01 -3.49985208e-01 -3.80639954e-03 3.05923186e+02] [ 3.49982308e-01 9.36755226e-01 -1.42474783e-03 -6.65400552e+00] [ 4.06430533e-03 2.45645743e-06 9.99991741e-01 -2.20171350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.204012739 meters Centerline goodness [0,1] 0.9939193513974824 Centerline is valid? [True, True] Translation: X:305.95, Y:-6.65, Z:-2.20 [[ 9.35781291e-01 -3.52561006e-01 -3.75657311e-03 3.05951496e+02] [ 3.52558199e-01 9.35788831e-01 -1.40685305e-03 -6.64850529e+00] [ 4.01136069e-03 -7.90388352e-06 9.99991954e-01 -2.20185453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.234012739 meters Centerline goodness [0,1] 0.9934772447201802 Centerline is valid? [True, True] Translation: X:305.98, Y:-6.64, Z:-2.20 [[ 9.35341100e-01 -3.53730843e-01 -3.39370595e-03 3.05977696e+02] [ 3.53728558e-01 9.35347257e-01 -1.27158101e-03 -6.63975430e+00] [ 3.62409097e-03 -1.10887310e-05 9.99993433e-01 -2.20148350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.264012739 meters Centerline goodness [0,1] 0.9928952798281253 Centerline is valid? [True, True] Translation: X:306.00, Y:-6.63, Z:-2.20 [[ 9.34830897e-01 -3.55081756e-01 -2.85316721e-03 3.06004557e+02] [ 3.55080145e-01 9.34835251e-01 -1.06951611e-03 -6.63065196e+00] [ 3.04700695e-03 -1.32863267e-05 9.99995358e-01 -2.20120004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.294012739 meters Centerline goodness [0,1] 0.9922333037665232 Centerline is valid? [True, True] Translation: X:306.03, Y:-6.62, Z:-2.20 [[ 9.34266338e-01 -3.56567172e-01 -2.50251518e-03 3.06032537e+02] [ 3.56565937e-01 9.34269689e-01 -9.38513633e-04 -6.62207354e+00] [ 2.67266724e-03 -1.54899773e-05 9.99996428e-01 -2.20048899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.324012739 meters Centerline goodness [0,1] 0.9928774928774928 Centerline is valid? [True, True] Translation: X:306.06, Y:-6.61, Z:-2.20 [[ 9.34113711e-01 -3.56960383e-01 -3.29545443e-03 3.06058991e+02] [ 3.56958241e-01 9.34119524e-01 -1.23669653e-03 -6.61446666e+00] [ 3.51979999e-03 -2.11244342e-05 9.99993805e-01 -2.20136960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.354012739 meters Centerline goodness [0,1] 0.9926497374906247 Centerline is valid? [True, True] Translation: X:306.08, Y:-6.60, Z:-2.20 [[ 9.34176261e-01 -3.56788336e-01 -4.09833839e-03 3.06084613e+02] [ 3.56785019e-01 9.34185251e-01 -1.53874264e-03 -6.60440056e+00] [ 4.37761270e-03 -2.47688906e-05 9.99990418e-01 -2.20243582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.384012739 meters Centerline goodness [0,1] 0.9929777987111692 Centerline is valid? [True, True] Translation: X:306.11, Y:-6.59, Z:-2.20 [[ 9.34388664e-01 -3.56233899e-01 -3.90302272e-03 3.06110058e+02] [ 3.56230883e-01 9.34396815e-01 -1.46614818e-03 -6.59252113e+00] [ 4.16926368e-03 -2.04249882e-05 9.99991308e-01 -2.20202268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.414012739 meters Centerline goodness [0,1] 0.9926724230283033 Centerline is valid? [True, True] Translation: X:306.14, Y:-6.58, Z:-2.20 [[ 9.34656894e-01 -3.55535265e-01 -3.34161215e-03 3.06135008e+02] [ 3.55533047e-01 9.34662867e-01 -1.25581857e-03 -6.58069194e+00] [ 3.56976858e-03 -1.42940694e-05 9.99993628e-01 -2.20143018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.444012739 meters Centerline goodness [0,1] 0.9932791994402866 Centerline is valid? [True, True] Translation: X:306.16, Y:-6.57, Z:-2.20 [[ 9.34762804e-01 -3.55254776e-01 -3.54178144e-03 3.06161137e+02] [ 3.55252280e-01 9.34769514e-01 -1.33177738e-03 -6.56931450e+00] [ 3.78386959e-03 -1.33299698e-05 9.99992841e-01 -2.20343087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.474012739 meters Centerline goodness [0,1] 0.9932583790241717 Centerline is valid? [True, True] Translation: X:306.19, Y:-6.56, Z:-2.20 [[ 9.34484935e-01 -3.55980953e-01 -3.93284731e-03 3.06187647e+02] [ 3.55977878e-01 9.34493211e-01 -1.47968827e-03 -6.56010032e+00] [ 4.20195995e-03 -1.72602434e-05 9.99991172e-01 -2.20370611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.504012739 meters Centerline goodness [0,1] 0.9923829787234043 Centerline is valid? [True, True] Translation: X:306.22, Y:-6.56, Z:-2.20 [[ 9.33442638e-01 -3.58709734e-01 -3.48827302e-03 3.06215598e+02] [ 3.58707332e-01 9.33449156e-01 -1.31303921e-03 -6.55507861e+00] [ 3.72712545e-03 -2.56223263e-05 9.99993054e-01 -2.20307969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.534012739 meters Centerline goodness [0,1] 0.9929377924698407 Centerline is valid? [True, True] Translation: X:306.24, Y:-6.55, Z:-2.20 [[ 9.32898432e-01 -3.60124114e-01 -3.33733289e-03 3.06243919e+02] [ 3.60121924e-01 9.32904401e-01 -1.25642190e-03 -6.54797344e+00] [ 3.56588037e-03 -2.97327168e-05 9.99993642e-01 -2.20257886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.564012739 meters Centerline goodness [0,1] 0.9931489361702127 Centerline is valid? [True, True] Translation: X:306.27, Y:-6.55, Z:-2.20 [[ 9.31908127e-01 -3.62660353e-01 -4.97094995e-03 3.06272881e+02] [ 3.62655524e-01 9.31921383e-01 -1.87244081e-03 -6.54517945e+00] [ 5.31159461e-03 -5.77996509e-05 9.99985892e-01 -2.20486098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.594012739 meters Centerline goodness [0,1] 0.993033988957902 Centerline is valid? [True, True] Translation: X:306.30, Y:-6.53, Z:-2.21 [[ 9.31431314e-01 -3.63873526e-01 -5.63597900e-03 3.06299288e+02] [ 3.63867336e-01 9.31448363e-01 -2.12362561e-03 -6.53328666e+00] [ 6.02235455e-03 -7.27372689e-05 9.99981863e-01 -2.20520100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.624012739 meters Centerline goodness [0,1] 0.9927163946153346 Centerline is valid? [True, True] Translation: X:306.32, Y:-6.52, Z:-2.20 [[ 9.32045680e-01 -3.62313748e-01 -4.42695347e-03 3.06324659e+02] [ 3.62309909e-01 9.32056192e-01 -1.66865437e-03 -6.52170085e+00] [ 4.73074581e-03 -4.86670076e-05 9.99988809e-01 -2.20346558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.654012739 meters Centerline goodness [0,1] 0.9928855454056958 Centerline is valid? [True, True] Translation: X:306.35, Y:-6.51, Z:-2.20 [[ 9.32715693e-01 -3.60596931e-01 -3.35994281e-03 3.06349602e+02] [ 3.60594708e-01 9.32721744e-01 -1.26664022e-03 -6.50945569e+00] [ 3.59063829e-03 -3.01623792e-05 9.99993553e-01 -2.20199889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.684012739 meters Centerline goodness [0,1] 0.9925262547516268 Centerline is valid? [True, True] Translation: X:306.38, Y:-6.50, Z:-2.20 [[ 9.33428180e-01 -3.58753105e-01 -2.83591637e-03 3.06375152e+02] [ 3.58751512e-01 9.33432488e-01 -1.06927235e-03 -6.49605753e+00] [ 3.03074125e-03 -1.93003410e-05 9.99995407e-01 -2.20038193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.714012739 meters Centerline goodness [0,1] 0.9925262547516268 Centerline is valid? [True, True] Translation: X:306.40, Y:-6.49, Z:-2.20 [[ 9.33361870e-01 -3.58925589e-01 -2.83574897e-03 3.06400805e+02] [ 3.58923996e-01 9.33366177e-01 -1.06971610e-03 -6.48616910e+00] [ 3.03074066e-03 -1.93861364e-05 9.99995407e-01 -2.20028293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.744012739 meters Centerline goodness [0,1] 0.9936990203271331 Centerline is valid? [True, True] Translation: X:306.42, Y:-6.47, Z:-2.20 [[ 9.34585758e-01 -3.55722712e-01 -3.28828750e-03 3.06424901e+02] [ 3.55720546e-01 9.34591543e-01 -1.24123451e-03 -6.46910408e+00] [ 3.51474099e-03 -9.67132946e-06 9.99993823e-01 -2.19982215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.774012739 meters Centerline goodness [0,1] 0.9941224245533042 Centerline is valid? [True, True] Translation: X:306.45, Y:-6.46, Z:-2.20 [[ 9.34861275e-01 -3.54999435e-01 -3.13011054e-03 3.06449378e+02] [ 3.54997467e-01 9.34866515e-01 -1.18211560e-03 -6.45783200e+00] [ 3.34588590e-03 -6.06721557e-06 9.99994402e-01 -2.19950221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80401273900003 meters Centerline goodness [0,1] 0.9924755616532327 Centerline is valid? [True, True] Translation: X:306.48, Y:-6.45, Z:-2.20 [[ 9.34453805e-01 -3.56081207e-01 -1.50330238e-03 3.06475758e+02] [ 3.56080754e-01 9.34455014e-01 -5.67768848e-04 -6.45009917e+00] [ 1.60694027e-03 -4.74328634e-06 9.99998709e-01 -2.19782687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.834012739 meters Centerline goodness [0,1] 0.9923094999038687 Centerline is valid? [True, True] Translation: X:306.50, Y:-6.44, Z:-2.20 [[ 9.33975689e-01 -3.57334859e-01 -1.10021413e-03 3.06502491e+02] [ 3.57334618e-01 9.33976337e-01 -4.15543898e-04 -6.44311074e+00] [ 1.17606228e-03 -5.03669631e-06 9.99999308e-01 -2.19715390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86401273900003 meters Centerline goodness [0,1] 0.9926994797576484 Centerline is valid? [True, True] Translation: X:306.53, Y:-6.44, Z:-2.20 [[ 9.33390924e-01 -3.58859175e-01 -1.21496656e-03 3.06530273e+02] [ 3.58858882e-01 9.33391714e-01 -4.58736671e-04 -6.43603030e+00] [ 1.29866158e-03 -7.82089465e-06 9.99999157e-01 -2.19730761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.894012739 meters Centerline goodness [0,1] 0.9926991671483931 Centerline is valid? [True, True] Translation: X:306.56, Y:-6.43, Z:-2.20 [[ 9.32243497e-01 -3.61819591e-01 -2.94034686e-03 3.06558356e+02] [ 3.61817885e-01 9.32248134e-01 -1.11163195e-03 -6.43247201e+00] [ 3.14334309e-03 -2.75584292e-05 9.99995059e-01 -2.19964593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92401273900003 meters Centerline goodness [0,1] 0.9929370718631664 Centerline is valid? [True, True] Translation: X:306.59, Y:-6.43, Z:-2.20 [[ 9.31854774e-01 -3.62809649e-01 -3.97986295e-03 3.06585718e+02] [ 3.62806529e-01 9.31863272e-01 -1.50498318e-03 -6.42579148e+00] [ 4.25471052e-03 -4.14945023e-05 9.99990948e-01 -2.20159583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.954012739 meters Centerline goodness [0,1] 0.993158276141353 Centerline is valid? [True, True] Translation: X:306.61, Y:-6.42, Z:-2.20 [[ 9.32032481e-01 -3.62352789e-01 -3.98870227e-03 3.06612266e+02] [ 3.62349650e-01 9.32041015e-01 -1.50877410e-03 -6.41578603e+00] [ 4.26434262e-03 -3.90784019e-05 9.99990907e-01 -2.20150480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.984012739 meters Centerline goodness [0,1] 0.993746932155281 Centerline is valid? [True, True] Translation: X:306.64, Y:-6.40, Z:-2.20 [[ 9.32628394e-01 -3.60817390e-01 -3.88461632e-03 3.06638025e+02] [ 3.60814396e-01 9.32636484e-01 -1.47016285e-03 -6.40365861e+00] [ 4.15339523e-03 -3.05098748e-05 9.99991374e-01 -2.20090098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.014012739 meters Centerline goodness [0,1] 0.9938591645063958 Centerline is valid? [True, True] Translation: X:306.66, Y:-6.39, Z:-2.20 [[ 9.34769704e-01 -3.55241559e-01 -3.00584469e-03 3.06661173e+02] [ 3.55239736e-01 9.34774537e-01 -1.13803856e-03 -6.38560346e+00] [ 3.21406567e-03 -3.99150710e-06 9.99994835e-01 -2.19850249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.044012739 meters Centerline goodness [0,1] 0.9950344827586207 Centerline is valid? [True, True] Translation: X:306.68, Y:-6.37, Z:-2.20 [[ 9.35984586e-01 -3.52030159e-01 -2.76067877e-03 3.06684573e+02] [ 3.52028607e-01 9.35988658e-01 -1.04537841e-03 -6.36989865e+00] [ 2.95196875e-03 6.62017701e-06 9.99995643e-01 -2.19746434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.074012739 meters Centerline goodness [0,1] 0.9960729613733905 Centerline is valid? [True, True] Translation: X:306.71, Y:-6.35, Z:-2.20 [[ 9.37863313e-01 -3.46993619e-01 -2.79902385e-03 3.06707575e+02] [ 3.46992000e-01 9.37867490e-01 -1.06001698e-03 -6.34885859e+00] [ 2.99293260e-03 2.29121528e-05 9.99995521e-01 -2.19858942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.104012739 meters Centerline goodness [0,1] 0.9957206436152003 Centerline is valid? [True, True] Translation: X:306.73, Y:-6.33, Z:-2.20 [[ 9.38589639e-01 -3.45022214e-01 -3.02684881e-03 3.06732247e+02] [ 3.45020309e-01 9.38594519e-01 -1.14689177e-03 -6.33356782e+00] [ 3.23668684e-03 3.21364143e-05 9.99994761e-01 -2.19922110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.134012739 meters Centerline goodness [0,1] 0.9956358836803338 Centerline is valid? [True, True] Translation: X:306.76, Y:-6.32, Z:-2.20 [[ 9.39354383e-01 -3.42932323e-01 -3.28096751e-03 3.06756505e+02] [ 3.42930070e-01 9.39360112e-01 -1.24382875e-03 -6.31796308e+00] [ 3.50855909e-03 4.32535693e-05 9.99993844e-01 -2.19977183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.164012739 meters Centerline goodness [0,1] 0.994940005978052 Centerline is valid? [True, True] Translation: X:306.78, Y:-6.30, Z:-2.20 [[ 9.40380465e-01 -3.40096144e-01 -4.38119110e-03 3.06779059e+02] [ 3.40092094e-01 9.40390668e-01 -1.66127846e-03 -6.29933572e+00] [ 4.68502563e-03 7.22253567e-05 9.99989023e-01 -2.20134676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.194012739 meters Centerline goodness [0,1] 0.9951588372641004 Centerline is valid? [True, True] Translation: X:306.80, Y:-6.29, Z:-2.20 [[ 9.40407572e-01 -3.40020182e-01 -4.45805076e-03 3.06804331e+02] [ 3.40015986e-01 9.40418136e-01 -1.69085852e-03 -6.28642820e+00] [ 4.76735781e-03 7.42876262e-05 9.99988633e-01 -2.20191250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.224012739 meters Centerline goodness [0,1] 0.9947610529005878 Centerline is valid? [True, True] Translation: X:306.83, Y:-6.27, Z:-2.20 [[ 9.39719707e-01 -3.41917042e-01 -4.42806113e-03 3.06829949e+02] [ 3.41912920e-01 9.39730138e-01 -1.68025476e-03 -6.27481442e+00] [ 4.73569024e-03 6.49572031e-05 9.99988784e-01 -2.20190571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.254012739 meters Centerline goodness [0,1] 0.9946592335681 Centerline is valid? [True, True] Translation: X:306.86, Y:-6.27, Z:-2.20 [[ 9.39114592e-01 -3.43577355e-01 -4.28777705e-03 3.06857202e+02] [ 3.43573505e-01 9.39124378e-01 -1.62740964e-03 -6.26549600e+00] [ 4.58589706e-03 5.51575524e-05 9.99989483e-01 -2.20209071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.284012739 meters Centerline goodness [0,1] 0.9962353959324968 Centerline is valid? [True, True] Translation: X:306.88, Y:-6.26, Z:-2.20 [[ 9.37972830e-01 -3.46685268e-01 -4.03682284e-03 3.06882905e+02] [ 3.46681883e-01 9.37981516e-01 -1.53251825e-03 -6.25525902e+00] [ 4.31776670e-03 3.79671368e-05 9.99990678e-01 -2.20164911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.314012739 meters Centerline goodness [0,1] 0.996156983983855 Centerline is valid? [True, True] Translation: X:306.91, Y:-6.24, Z:-2.20 [[ 9.37624517e-01 -3.47626137e-01 -4.04155287e-03 3.06909445e+02] [ 3.47622751e-01 9.37633227e-01 -1.53473938e-03 -6.24395731e+00] [ 4.32300978e-03 3.40735449e-05 9.99990655e-01 -2.20122817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.344012739 meters Centerline goodness [0,1] 0.9962864155372959 Centerline is valid? [True, True] Translation: X:306.94, Y:-6.23, Z:-2.20 [[ 9.37268996e-01 -3.48583752e-01 -4.02465523e-03 3.06935100e+02] [ 3.48580400e-01 9.37277636e-01 -1.52903387e-03 -6.23282834e+00] [ 4.30521571e-03 3.02001131e-05 9.99990732e-01 -2.20069864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.374012739 meters Centerline goodness [0,1] 0.9963197969543147 Centerline is valid? [True, True] Translation: X:306.96, Y:-6.22, Z:-2.20 [[ 9.36708273e-01 -3.50097278e-01 -3.08340428e-03 3.06960743e+02] [ 3.50095317e-01 9.36713348e-01 -1.17192916e-03 -6.22181799e+00] [ 3.29855516e-03 1.82703419e-05 9.99994560e-01 -2.19894514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.404012739 meters Centerline goodness [0,1] 0.9961905568136125 Centerline is valid? [True, True] Translation: X:306.99, Y:-6.21, Z:-2.20 [[ 9.36412119e-01 -3.50895368e-01 -2.18724735e-03 3.06986355e+02] [ 3.50894384e-01 9.36414673e-01 -8.31237460e-04 -6.21128834e+00] [ 2.33984789e-03 1.08880196e-05 9.99997262e-01 -2.19729312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.434012739 meters Centerline goodness [0,1] 0.9954190991605233 Centerline is valid? [True, True] Translation: X:307.01, Y:-6.20, Z:-2.20 [[ 9.35946210e-01 -3.52137799e-01 -1.91383782e-03 3.07011348e+02] [ 3.52137047e-01 9.35948167e-01 -7.27623399e-04 -6.19948173e+00] [ 2.04747670e-03 7.08316490e-06 9.99997904e-01 -2.19659157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.464012739 meters Centerline goodness [0,1] 0.995701338302558 Centerline is valid? [True, True] Translation: X:307.04, Y:-6.19, Z:-2.20 [[ 9.35535240e-01 -3.53220585e-01 -3.00548724e-03 3.07037682e+02] [ 3.53218734e-01 9.35540068e-01 -1.14361595e-03 -6.18865798e+00] [ 3.21570243e-03 8.29862219e-06 9.99994830e-01 -2.19857169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.494012739 meters Centerline goodness [0,1] 0.9960256410256411 Centerline is valid? [True, True] Translation: X:307.06, Y:-6.18, Z:-2.20 [[ 9.34871703e-01 -3.54959738e-01 -4.29920150e-03 3.07063744e+02] [ 3.54955963e-01 9.34881588e-01 -1.63701871e-03 -6.17932649e+00] [ 4.60032006e-03 4.37525864e-06 9.99989418e-01 -2.20071776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.524012739 meters Centerline goodness [0,1] 0.9948407261517384 Centerline is valid? [True, True] Translation: X:307.09, Y:-6.17, Z:-2.20 [[ 9.33229039e-01 -3.59243112e-01 -5.28648553e-03 3.07090806e+02] [ 3.59237467e-01 9.33244012e-01 -2.01395598e-03 -6.17186066e+00] [ 5.65708078e-03 -1.96214659e-05 9.99983998e-01 -2.20331064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55401273900003 meters Centerline goodness [0,1] 0.9932394966943912 Centerline is valid? [True, True] Translation: X:307.12, Y:-6.16, Z:-2.20 [[ 9.32326574e-01 -3.61587473e-01 -4.65384652e-03 3.07117203e+02] [ 3.61583126e-01 9.32338189e-01 -1.77323153e-03 -6.16447152e+00] [ 4.98013714e-03 -2.95214980e-05 9.99987599e-01 -2.20201245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.584012739 meters Centerline goodness [0,1] 0.9923499829526082 Centerline is valid? [True, True] Translation: X:307.14, Y:-6.16, Z:-2.20 [[ 9.30631855e-01 -3.65944969e-01 -2.93760621e-03 3.07144375e+02] [ 3.65943258e-01 9.30636491e-01 -1.11941004e-03 -6.15615680e+00] [ 3.14348600e-03 -3.32385470e-05 9.99995059e-01 -2.19802363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61401273900003 meters Centerline goodness [0,1] 0.9912129529158954 Centerline is valid? [True, True] Translation: X:307.17, Y:-6.15, Z:-2.20 [[ 9.29771826e-01 -3.68127966e-01 -2.48026770e-03 3.07172905e+02] [ 3.68126754e-01 9.29775134e-01 -9.45359056e-04 -6.15233548e+00] [ 2.65410434e-03 -3.40846810e-05 9.99996477e-01 -2.19726621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.644012739 meters Centerline goodness [0,1] 0.9909210497940523 Centerline is valid? [True, True] Translation: X:307.20, Y:-6.14, Z:-2.20 [[ 9.27691585e-01 -3.73337917e-01 -2.66907886e-03 3.07201239e+02] [ 3.73336534e-01 9.27695423e-01 -1.01753399e-03 -6.14409696e+00] [ 2.85597626e-03 -5.25069300e-05 9.99995920e-01 -2.19810409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67401273900003 meters Centerline goodness [0,1] 0.9886522716667374 Centerline is valid? [True, True] Translation: X:307.23, Y:-6.14, Z:-2.20 [[ 9.26722928e-01 -3.75734779e-01 -2.82671179e-03 3.07231048e+02] [ 3.75733239e-01 9.26727237e-01 -1.07771490e-03 -6.14433142e+00] [ 3.02452578e-03 -6.33464697e-05 9.99995424e-01 -2.19822044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.704012739 meters Centerline goodness [0,1] 0.9895962932772748 Centerline is valid? [True, True] Translation: X:307.26, Y:-6.13, Z:-2.20 [[ 9.25665251e-01 -3.78334440e-01 -2.62558312e-03 3.07258475e+02] [ 3.78333121e-01 9.25668973e-01 -1.00123755e-03 -6.13243120e+00] [ 2.80922348e-03 -6.65342463e-05 9.99996052e-01 -2.19731150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.734012739 meters Centerline goodness [0,1] 0.9887917892341056 Centerline is valid? [True, True] Translation: X:307.29, Y:-6.13, Z:-2.20 [[ 9.24808986e-01 -3.80426206e-01 -2.05952536e-03 3.07287039e+02] [ 3.80425399e-01 9.24811277e-01 -7.85492087e-04 -6.12628440e+00] [ 2.20349406e-03 -5.70656176e-05 9.99997571e-01 -2.19621242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.764012739 meters Centerline goodness [0,1] 0.9875091057119596 Centerline is valid? [True, True] Translation: X:307.32, Y:-6.12, Z:-2.19 [[ 9.23759647e-01 -3.82970595e-01 -1.27980321e-03 3.07316337e+02] [ 3.82970286e-01 9.23760533e-01 -4.88404552e-04 -6.12284295e+00] [ 1.36927627e-03 -3.89581828e-05 9.99999062e-01 -2.19479902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.794012739 meters Centerline goodness [0,1] 0.9884091006838416 Centerline is valid? [True, True] Translation: X:307.34, Y:-6.11, Z:-2.20 [[ 9.23594373e-01 -3.83365414e-01 -2.09612976e-03 3.07343179e+02] [ 3.83364585e-01 9.23596749e-01 -7.99909542e-04 -6.11221274e+00] [ 2.24263628e-03 -6.47899629e-05 9.99997483e-01 -2.19630891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.824012739 meters Centerline goodness [0,1] 0.9870877013551521 Centerline is valid? [True, True] Translation: X:307.37, Y:-6.11, Z:-2.20 [[ 9.23788878e-01 -3.82893920e-01 -2.52100190e-03 3.07371764e+02] [ 3.82892717e-01 9.23792314e-01 -9.62640863e-04 -6.10830433e+00] [ 2.69747152e-03 -7.59963474e-05 9.99996359e-01 -2.19664538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.854012739 meters Centerline goodness [0,1] 0.9881820307352223 Centerline is valid? [True, True] Translation: X:307.40, Y:-6.10, Z:-2.20 [[ 9.24098353e-01 -3.82147768e-01 -2.30599335e-03 3.07398411e+02] [ 3.82146758e-01 9.24101228e-01 -8.81040202e-04 -6.10027298e+00] [ 2.46765883e-03 -6.70600840e-05 9.99996953e-01 -2.19606753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.884012739 meters Centerline goodness [0,1] 0.9890100564348453 Centerline is valid? [True, True] Translation: X:307.43, Y:-6.09, Z:-2.19 [[ 9.25022749e-01 -3.79908498e-01 -1.56441676e-03 3.07425357e+02] [ 3.79908030e-01 9.25024071e-01 -5.97762445e-04 -6.09028119e+00] [ 1.67421820e-03 -4.13906311e-05 9.99998598e-01 -2.19445363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.914012739 meters Centerline goodness [0,1] 0.9888652783680408 Centerline is valid? [True, True] Translation: X:307.45, Y:-6.08, Z:-2.19 [[ 9.25409813e-01 -3.78963510e-01 -1.82662389e-03 3.07451414e+02] [ 3.78962870e-01 9.25411614e-01 -6.98006954e-04 -6.08137267e+00] [ 1.95489813e-03 -4.62801483e-05 9.99998088e-01 -2.19490864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.944012739 meters Centerline goodness [0,1] 0.9891669699629622 Centerline is valid? [True, True] Translation: X:307.48, Y:-6.07, Z:-2.20 [[ 9.25738045e-01 -3.78158242e-01 -2.32733697e-03 3.07479006e+02] [ 3.78157200e-01 9.25740969e-01 -8.89556337e-04 -6.07186825e+00] [ 2.49090424e-03 -5.66030862e-05 9.99996896e-01 -2.19652950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.974012739 meters Centerline goodness [0,1] 0.9898783268341538 Centerline is valid? [True, True] Translation: X:307.51, Y:-6.07, Z:-2.20 [[ 9.26210884e-01 -3.76985703e-01 -3.89600365e-03 3.07507309e+02] [ 3.76982768e-01 9.26219073e-01 -1.49013835e-03 -6.06686235e+00] [ 4.17031374e-03 -8.85438797e-05 9.99991300e-01 -2.20017886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.004012739 meters Centerline goodness [0,1] 0.9902858370943477 Centerline is valid? [True, True] Translation: X:307.53, Y:-6.06, Z:-2.20 [[ 9.26143825e-01 -3.77147869e-01 -4.13528567e-03 3.07534459e+02] [ 3.77144563e-01 9.26153052e-01 -1.58202873e-03 -6.06036822e+00] [ 4.42656621e-03 -9.44143705e-05 9.99990198e-01 -2.20071389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.034012739 meters Centerline goodness [0,1] 0.9895670429957797 Centerline is valid? [True, True] Translation: X:307.56, Y:-6.06, Z:-2.20 [[ 9.25886546e-01 -3.77785568e-01 -3.48838270e-03 3.07563010e+02] [ 3.77783218e-01 9.25893114e-01 -1.33510958e-03 -6.05809836e+00] [ 3.73425465e-03 -8.16924461e-05 9.99993024e-01 -2.19875395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.064012739 meters Centerline goodness [0,1] 0.989647719904906 Centerline is valid? [True, True] Translation: X:307.59, Y:-6.05, Z:-2.20 [[ 9.25661497e-01 -3.78345486e-01 -2.34225062e-03 3.07590364e+02] [ 3.78344428e-01 9.25664459e-01 -8.96470851e-04 -6.04787121e+00] [ 2.50731385e-03 -5.63489209e-05 9.99996855e-01 -2.19639964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.094012739 meters Centerline goodness [0,1] 0.989766175187762 Centerline is valid? [True, True] Translation: X:307.62, Y:-6.04, Z:-2.20 [[ 9.25764975e-01 -3.78095639e-01 -1.70274979e-03 3.07617289e+02] [ 3.78095079e-01 9.25766540e-01 -6.52043116e-04 -6.04128163e+00] [ 1.82288344e-03 -4.01626368e-05 9.99998338e-01 -2.19520377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.124012739 meters Centerline goodness [0,1] 0.989554794520548 Centerline is valid? [True, True] Translation: X:307.64, Y:-6.03, Z:-2.20 [[ 9.25732883e-01 -3.78173571e-01 -1.83853787e-03 3.07644526e+02] [ 3.78172918e-01 9.25734708e-01 -7.03962489e-04 -6.03477493e+00] [ 1.96821833e-03 -4.36040084e-05 9.99998062e-01 -2.19539159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.154012739 meters Centerline goodness [0,1] 0.9897602184486731 Centerline is valid? [True, True] Translation: X:307.67, Y:-6.04, Z:-2.20 [[ 9.26004113e-01 -3.77496943e-01 -3.52711877e-03 3.07674518e+02] [ 3.77494531e-01 9.26010827e-01 -1.35183571e-03 -6.03548529e+00] [ 3.77646402e-03 -7.96626138e-05 9.99992866e-01 -2.19986673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.184012739 meters Centerline goodness [0,1] 0.990682302771855 Centerline is valid? [True, True] Translation: X:307.70, Y:-6.02, Z:-2.20 [[ 9.26309751e-01 -3.76737916e-01 -4.33444533e-03 3.07700655e+02] [ 3.76734263e-01 9.26319887e-01 -1.66169326e-03 -6.02378059e+00] [ 4.64110576e-03 -9.36913987e-05 9.99989226e-01 -2.20137814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.214012739 meters Centerline goodness [0,1] 0.9916139880382266 Centerline is valid? [True, True] Translation: X:307.73, Y:-6.02, Z:-2.20 [[ 9.27606861e-01 -3.73522437e-01 -5.14794489e-03 3.07728156e+02] [ 3.73517230e-01 9.27621141e-01 -1.97438548e-03 -6.01745525e+00] [ 5.51281979e-03 -9.13925930e-05 9.99984800e-01 -2.20224248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.244012739 meters Centerline goodness [0,1] 0.9920243311072355 Centerline is valid? [True, True] Translation: X:307.76, Y:-6.01, Z:-2.20 [[ 9.28250208e-01 -3.71921236e-01 -5.11329455e-03 3.07755217e+02] [ 3.71916072e-01 9.28264288e-01 -1.96159862e-03 -6.00671246e+00] [ 5.47604890e-03 -8.08620980e-05 9.99985003e-01 -2.20169629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.274012739 meters Centerline goodness [0,1] 0.9922898833924513 Centerline is valid? [True, True] Translation: X:307.78, Y:-6.00, Z:-2.20 [[ 9.28749778e-01 -3.70680499e-01 -4.45161838e-03 3.07782867e+02] [ 3.70676568e-01 9.28760445e-01 -1.70841779e-03 -5.99708533e+00] [ 4.76776423e-03 -6.34179777e-05 9.99988632e-01 -2.20058708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30401273900003 meters Centerline goodness [0,1] 0.9920423838805081 Centerline is valid? [True, True] Translation: X:307.81, Y:-5.99, Z:-2.20 [[ 9.29045738e-01 -3.69952489e-01 -3.02876086e-03 3.07812335e+02] [ 3.69950664e-01 9.29050674e-01 -1.16266427e-03 -5.99317998e+00] [ 3.24400286e-03 -4.03238078e-05 9.99994737e-01 -2.19722045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.334012739 meters Centerline goodness [0,1] 0.9924897295446765 Centerline is valid? [True, True] Translation: X:307.84, Y:-5.98, Z:-2.20 [[ 9.28832426e-01 -3.70493129e-01 -2.27272848e-03 3.07839823e+02] [ 3.70492103e-01 9.28835206e-01 -8.72636819e-04 -5.98379518e+00] [ 2.43429617e-03 -3.14945796e-05 9.99997037e-01 -2.19571313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36401273900003 meters Centerline goodness [0,1] 0.9919451328946244 Centerline is valid? [True, True] Translation: X:307.87, Y:-5.98, Z:-2.20 [[ 9.28589486e-01 -3.71104346e-01 -1.76937506e-03 3.07868053e+02] [ 3.71103725e-01 9.28591171e-01 -6.79738366e-04 -5.97960461e+00] [ 1.89527992e-03 -2.54237762e-05 9.99998204e-01 -2.19510845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.394012739 meters Centerline goodness [0,1] 0.9917840122485067 Centerline is valid? [True, True] Translation: X:307.90, Y:-5.98, Z:-2.20 [[ 9.28126226e-01 -3.72257935e-01 -2.39539992e-03 3.07897825e+02] [ 3.72256799e-01 9.28129317e-01 -9.20344721e-04 -5.97566950e+00] [ 2.56584651e-03 -3.75078337e-05 9.99996708e-01 -2.19674219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42401273900003 meters Centerline goodness [0,1] 0.9920584091200205 Centerline is valid? [True, True] Translation: X:307.93, Y:-5.97, Z:-2.20 [[ 9.28132057e-01 -3.72239858e-01 -2.89355420e-03 3.07926041e+02] [ 3.72238199e-01 9.28136566e-01 -1.11246771e-03 -5.97425432e+00] [ 3.09971828e-03 -4.45744541e-05 9.99995195e-01 -2.19768900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.454012739 meters Centerline goodness [0,1] 0.9928362511127125 Centerline is valid? [True, True] Translation: X:307.95, Y:-5.97, Z:-2.20 [[ 9.28843569e-01 -3.70456905e-01 -3.36246052e-03 3.07953917e+02] [ 3.70454650e-01 9.28849654e-01 -1.29311331e-03 -5.96688309e+00] [ 3.60226304e-03 -4.45391548e-05 9.99993511e-01 -2.19668970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.484012739 meters Centerline goodness [0,1] 0.9935908355336002 Centerline is valid? [True, True] Translation: X:307.98, Y:-5.95, Z:-2.20 [[ 9.29730730e-01 -3.68225328e-01 -3.29803451e-03 3.07980037e+02] [ 3.68223143e-01 9.29736579e-01 -1.26891893e-03 -5.95416731e+00] [ 3.53355141e-03 -3.46597059e-05 9.99993756e-01 -2.19598325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.514012739 meters Centerline goodness [0,1] 0.9947765525246662 Centerline is valid? [True, True] Translation: X:308.01, Y:-5.94, Z:-2.20 [[ 9.31086509e-01 -3.64780349e-01 -3.63449229e-03 3.08005112e+02] [ 3.64777667e-01 9.31093602e-01 -1.39909921e-03 -5.94112830e+00] [ 3.89441642e-03 -2.30992207e-05 9.99992416e-01 -2.19629404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.544012739 meters Centerline goodness [0,1] 0.9965261497804868 Centerline is valid? [True, True] Translation: X:308.03, Y:-5.92, Z:-2.20 [[ 9.34723074e-01 -3.55345290e-01 -4.74343665e-03 3.08026381e+02] [ 3.55340596e-01 9.34735109e-01 -1.82651587e-03 -5.91842454e+00] [ 5.08290059e-03 2.17509222e-05 9.99987082e-01 -2.19886179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.574012739 meters Centerline goodness [0,1] 0.9960227997788081 Centerline is valid? [True, True] Translation: X:308.05, Y:-5.90, Z:-2.20 [[ 9.36522268e-01 -3.50575977e-01 -4.74616439e-03 3.08050188e+02] [ 3.50571215e-01 9.36534293e-01 -1.82804207e-03 -5.89985609e+00] [ 5.08581335e-03 4.81334925e-05 9.99987066e-01 -2.19837516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.604012739 meters Centerline goodness [0,1] 0.9960227997788081 Centerline is valid? [True, True] Translation: X:308.08, Y:-5.89, Z:-2.20 [[ 9.36459229e-01 -3.50744336e-01 -4.74586400e-03 3.08075779e+02] [ 3.50739572e-01 9.36471253e-01 -1.82882166e-03 -5.88978289e+00] [ 5.08581404e-03 4.80546170e-05 9.99987066e-01 -2.19827615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.634012739 meters Centerline goodness [0,1] 0.9935825240655347 Centerline is valid? [True, True] Translation: X:308.10, Y:-5.86, Z:-2.20 [[ 9.39750214e-01 -3.41834000e-01 -4.36494202e-03 3.08096860e+02] [ 3.41829870e-01 9.39760346e-01 -1.68271862e-03 -5.86352270e+00] [ 4.67720986e-03 8.92676198e-05 9.99989058e-01 -2.19704054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.664012739 meters Centerline goodness [0,1] 0.9928008519701811 Centerline is valid? [True, True] Translation: X:308.12, Y:-5.85, Z:-2.20 [[ 9.40865423e-01 -3.38753110e-01 -4.31125975e-03 3.08122945e+02] [ 3.38749048e-01 9.40875294e-01 -1.66220463e-03 -5.84914743e+00] [ 4.61943477e-03 1.03475726e-04 9.99989325e-01 -2.19663181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.694012739 meters Centerline goodness [0,1] 0.990800152976671 Centerline is valid? [True, True] Translation: X:308.14, Y:-5.83, Z:-2.20 [[ 9.41531743e-01 -3.36896018e-01 -4.36456655e-03 3.08144132e+02] [ 3.36891833e-01 9.41541853e-01 -1.68296168e-03 -5.82774887e+00] [ 4.67640516e-03 1.14175020e-04 9.99989059e-01 -2.19701379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.724012739 meters Centerline goodness [0,1] 0.9917917747628971 Centerline is valid? [True, True] Translation: X:308.17, Y:-5.82, Z:-2.20 [[ 9.42045663e-01 -3.35456566e-01 -4.34288223e-03 3.08171145e+02] [ 3.35452406e-01 9.42055666e-01 -1.67516242e-03 -5.81864878e+00] [ 4.65318105e-03 1.21249197e-04 9.99989167e-01 -2.19719563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.754012739 meters Centerline goodness [0,1] 0.9918333580807331 Centerline is valid? [True, True] Translation: X:308.20, Y:-5.80, Z:-2.20 [[ 9.42099694e-01 -3.35307996e-01 -4.08842502e-03 3.08196813e+02] [ 3.35304304e-01 9.42108558e-01 -1.57771658e-03 -5.80497418e+00] [ 4.38076119e-03 1.15499798e-04 9.99990398e-01 -2.19679057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.784012739 meters Centerline goodness [0,1] 0.9912202380952381 Centerline is valid? [True, True] Translation: X:308.22, Y:-5.79, Z:-2.20 [[ 9.42053809e-01 -3.35439116e-01 -3.90135282e-03 3.08221400e+02] [ 3.35435753e-01 9.42061881e-01 -1.50620680e-03 -5.79104821e+00] [ 4.18055645e-03 1.10274634e-04 9.99991255e-01 -2.19686649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.814012739 meters Centerline goodness [0,1] 0.9916778982949319 Centerline is valid? [True, True] Translation: X:308.25, Y:-5.78, Z:-2.20 [[ 9.41700633e-01 -3.36424497e-01 -4.29820662e-03 3.08246432e+02] [ 3.36420421e-01 9.41710435e-01 -1.66030128e-03 -5.77679945e+00] [ 4.60623205e-03 1.17502291e-04 9.99989384e-01 -2.19685565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.844012739 meters Centerline goodness [0,1] 0.9916523235800344 Centerline is valid? [True, True] Translation: X:308.27, Y:-5.76, Z:-2.20 [[ 9.41501971e-01 -3.36981856e-01 -4.15535380e-03 3.08272556e+02] [ 3.36978048e-01 9.41511134e-01 -1.60584681e-03 -5.76392209e+00] [ 4.45345311e-03 1.11644923e-04 9.99990077e-01 -2.19635094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.874012739 meters Centerline goodness [0,1] 0.9925398584704579 Centerline is valid? [True, True] Translation: X:308.30, Y:-5.75, Z:-2.20 [[ 9.41142223e-01 -3.37987661e-01 -3.95696692e-03 3.08296914e+02] [ 3.37984214e-01 9.41150536e-01 -1.52980938e-03 -5.74872090e+00] [ 4.24115823e-03 1.02375841e-04 9.99991001e-01 -2.19548733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.904012739 meters Centerline goodness [0,1] 0.9930181099486562 Centerline is valid? [True, True] Translation: X:308.32, Y:-5.74, Z:-2.19 [[ 9.40851182e-01 -3.38803089e-01 -3.39419686e-03 3.08323934e+02] [ 3.38800557e-01 9.40857301e-01 -1.31251449e-03 -5.73917123e+00] [ 3.63813886e-03 8.49250223e-05 9.99993378e-01 -2.19425623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.934012739 meters Centerline goodness [0,1] 0.9921044253422477 Centerline is valid? [True, True] Translation: X:308.35, Y:-5.73, Z:-2.19 [[ 9.40501768e-01 -3.39777765e-01 -2.73752959e-03 3.08351008e+02] [ 3.39776121e-01 9.40505750e-01 -1.05897106e-03 -5.72832838e+00] [ 2.93447713e-03 6.58169671e-05 9.99995692e-01 -2.19307879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.964012739 meters Centerline goodness [0,1] 0.9931207803548229 Centerline is valid? [True, True] Translation: X:308.38, Y:-5.72, Z:-2.19 [[ 9.39244184e-01 -3.43242630e-01 -2.20457765e-03 3.08378946e+02] [ 3.43241572e-01 9.39246770e-01 -8.53245924e-04 -5.72092276e+00] [ 2.36351282e-03 4.47035720e-05 9.99997206e-01 -2.19234712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.994012739 meters Centerline goodness [0,1] 0.9946852967018838 Centerline is valid? [True, True] Translation: X:308.41, Y:-5.71, Z:-2.19 [[ 9.38205112e-01 -3.46069791e-01 -2.62045765e-03 3.08406860e+02] [ 3.46068307e-01 9.38208771e-01 -1.01437769e-03 -5.71301159e+00] [ 2.80958183e-03 4.48369868e-05 9.99996052e-01 -2.19363308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.024012739 meters Centerline goodness [0,1] 0.9952102407595795 Centerline is valid? [True, True] Translation: X:308.43, Y:-5.71, Z:-2.19 [[ 9.36948771e-01 -3.49452028e-01 -3.20628160e-03 3.08434263e+02] [ 3.49449826e-01 9.36954256e-01 -1.24134485e-03 -5.70560521e+00] [ 3.43792966e-03 4.26419854e-05 9.99994089e-01 -2.19480567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05401273900003 meters Centerline goodness [0,1] 0.996524201853759 Centerline is valid? [True, True] Translation: X:308.47, Y:-5.71, Z:-2.20 [[ 9.34136603e-01 -3.56900524e-01 -3.28980542e-03 3.08465673e+02] [ 3.56898249e-01 9.34142396e-01 -1.27431658e-03 -5.70859675e+00] [ 3.52795098e-03 1.62599662e-05 9.99993777e-01 -2.19544366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.084012739 meters Centerline goodness [0,1] 0.995825079344793 Centerline is valid? [True, True] Translation: X:308.50, Y:-5.71, Z:-2.20 [[ 9.32678674e-01 -3.60692981e-01 -3.32640983e-03 3.08495579e+02] [ 3.60690679e-01 9.32684605e-01 -1.28878668e-03 -5.70512375e+00] [ 3.56734755e-03 2.21883079e-06 9.99993637e-01 -2.19539005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11401273900003 meters Centerline goodness [0,1] 0.9951737860378477 Centerline is valid? [True, True] Translation: X:308.53, Y:-5.70, Z:-2.20 [[ 9.30770282e-01 -3.65567031e-01 -5.23708567e-03 3.08525055e+02] [ 3.65561395e-01 9.30785016e-01 -2.03016167e-03 -5.70389136e+00] [ 5.61676104e-03 -2.48621890e-05 9.99984226e-01 -2.19894826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.144012739 meters Centerline goodness [0,1] 0.9949580904565375 Centerline is valid? [True, True] Translation: X:308.55, Y:-5.70, Z:-2.20 [[ 9.30395525e-01 -3.66514368e-01 -5.60226807e-03 3.08551481e+02] [ 3.66507933e-01 9.30412391e-01 -2.17213393e-03 -5.69643481e+00] [ 6.00853792e-03 -3.23319984e-05 9.99981948e-01 -2.20041649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17401273900003 meters Centerline goodness [0,1] 0.9948259642521167 Centerline is valid? [True, True] Translation: X:308.58, Y:-5.69, Z:-2.20 [[ 9.30325093e-01 -3.66696624e-01 -5.36719278e-03 3.08577376e+02] [ 3.66690717e-01 9.30340575e-01 -2.08167670e-03 -5.68531379e+00] [ 5.75666103e-03 -3.14636982e-05 9.99983430e-01 -2.19890932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.204012739 meters Centerline goodness [0,1] 0.994774782460331 Centerline is valid? [True, True] Translation: X:308.60, Y:-5.68, Z:-2.20 [[ 9.30433708e-01 -3.66427385e-01 -4.90772884e-03 3.08602423e+02] [ 3.66422438e-01 9.30446651e-01 -1.90429043e-03 -5.67550401e+00] [ 5.26416402e-03 -2.64859563e-05 9.99986144e-01 -2.19725679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.234012739 meters Centerline goodness [0,1] 0.9946671217389449 Centerline is valid? [True, True] Translation: X:308.63, Y:-5.66, Z:-2.20 [[ 9.30853221e-01 -3.65367770e-01 -4.32137227e-03 3.08627755e+02] [ 3.65363921e-01 9.30863251e-01 -1.67711805e-03 -5.66362835e+00] [ 4.63537152e-03 -1.77227826e-05 9.99989256e-01 -2.19590579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.264012739 meters Centerline goodness [0,1] 0.9946587155176112 Centerline is valid? [True, True] Translation: X:308.65, Y:-5.65, Z:-2.20 [[ 9.30708316e-01 -3.65741365e-01 -3.90959596e-03 3.08653952e+02] [ 3.65738217e-01 9.30716527e-01 -1.51762924e-03 -5.65410046e+00] [ 4.19378537e-03 -1.74185027e-05 9.99991206e-01 -2.19536333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.294012739 meters Centerline goodness [0,1] 0.9938225263293365 Centerline is valid? [True, True] Translation: X:308.68, Y:-5.65, Z:-2.20 [[ 9.29875411e-01 -3.67851900e-01 -4.08650424e-03 3.08682530e+02] [ 3.67848477e-01 9.29884390e-01 -1.58712547e-03 -5.65145325e+00] [ 4.38380362e-03 -2.73854138e-05 9.99990391e-01 -2.19544377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.324012739 meters Centerline goodness [0,1] 0.9939680892463355 Centerline is valid? [True, True] Translation: X:308.71, Y:-5.64, Z:-2.20 [[ 9.29529585e-01 -3.68714328e-01 -4.94922669e-03 3.08710463e+02] [ 3.68709315e-01 9.29542760e-01 -1.92290019e-03 -5.64240415e+00] [ 5.30951869e-03 -3.74333665e-05 9.99985904e-01 -2.19644862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.354012739 meters Centerline goodness [0,1] 0.9941796008869179 Centerline is valid? [True, True] Translation: X:308.74, Y:-5.63, Z:-2.20 [[ 9.29512864e-01 -3.68742470e-01 -5.90147077e-03 3.08735969e+02] [ 3.68735338e-01 9.29531597e-01 -2.29387867e-03 -5.63365213e+00] [ 6.33145404e-03 -4.38910828e-05 9.99979955e-01 -2.19845490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.384012739 meters Centerline goodness [0,1] 0.9953995569943772 Centerline is valid? [True, True] Translation: X:308.76, Y:-5.62, Z:-2.20 [[ 9.30511644e-01 -3.66201634e-01 -6.66661700e-03 3.08761635e+02] [ 3.66192460e-01 9.30535525e-01 -2.59226611e-03 -5.62032574e+00] [ 7.15281604e-03 -2.91310828e-05 9.99974418e-01 -2.20066798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.414012739 meters Centerline goodness [0,1] 0.9965998759703184 Centerline is valid? [True, True] Translation: X:308.79, Y:-5.61, Z:-2.20 [[ 9.31331774e-01 -3.64109369e-01 -6.74494001e-03 3.08786678e+02] [ 3.64099914e-01 9.31356198e-01 -2.62408867e-03 -5.60781817e+00] [ 7.23739695e-03 -1.19349146e-05 9.99973810e-01 -2.20030188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.444012739 meters Centerline goodness [0,1] 0.9970240644001027 Centerline is valid? [True, True] Translation: X:308.81, Y:-5.59, Z:-2.20 [[ 9.32357246e-01 -3.61472010e-01 -6.92469195e-03 3.08811111e+02] [ 3.61461960e-01 9.32382961e-01 -2.69554597e-03 -5.59435055e+00] [ 7.43082920e-03 1.01990971e-05 9.99972391e-01 -2.20024730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.474012739 meters Centerline goodness [0,1] 0.9970824992546531 Centerline is valid? [True, True] Translation: X:308.83, Y:-5.58, Z:-2.20 [[ 9.34577486e-01 -3.55694273e-01 -6.81965127e-03 3.08833486e+02] [ 3.55684364e-01 9.34602365e-01 -2.65561271e-03 -5.57513219e+00] [ 7.31824844e-03 5.62325272e-05 9.99973220e-01 -2.19973735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.504012739 meters Centerline goodness [0,1] 0.9968832820947736 Centerline is valid? [True, True] Translation: X:308.86, Y:-5.56, Z:-2.20 [[ 9.35535518e-01 -3.53174113e-01 -6.42970501e-03 3.08859549e+02] [ 3.53165239e-01 9.35557610e-01 -2.50455828e-03 -5.56181627e+00] [ 6.89990460e-03 7.23549176e-05 9.99976193e-01 -2.19831791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.534012739 meters Centerline goodness [0,1] 0.9959508098380324 Centerline is valid? [True, True] Translation: X:308.89, Y:-5.55, Z:-2.20 [[ 9.36709719e-01 -3.50070218e-01 -5.07386368e-03 3.08885757e+02] [ 3.50064642e-01 9.36723458e-01 -1.97723900e-03 -5.54900054e+00] [ 5.44497962e-03 7.59187178e-05 9.99985173e-01 -2.19709556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.564012739 meters Centerline goodness [0,1] 0.9951785025500365 Centerline is valid? [True, True] Translation: X:308.91, Y:-5.54, Z:-2.20 [[ 9.37180971e-01 -3.48812912e-01 -4.62388823e-03 3.08911098e+02] [ 3.48808263e-01 9.37192374e-01 -1.80254409e-03 -5.53629217e+00] [ 4.96222344e-03 7.64595958e-05 9.99987685e-01 -2.19620335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.594012739 meters Centerline goodness [0,1] 0.994596326356258 Centerline is valid? [True, True] Translation: X:308.94, Y:-5.52, Z:-2.20 [[ 9.37835018e-01 -3.47052584e-01 -4.47025264e-03 3.08936756e+02] [ 3.47048217e-01 9.37845668e-01 -1.74307444e-03 -5.52363206e+00] [ 4.79734556e-03 8.33230414e-05 9.99988489e-01 -2.19634158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.624012739 meters Centerline goodness [0,1] 0.9938369695928535 Centerline is valid? [True, True] Translation: X:308.96, Y:-5.51, Z:-2.20 [[ 9.39535760e-01 -3.42408824e-01 -5.36215617e-03 3.08961315e+02] [ 3.42402460e-01 9.39551053e-01 -2.09171344e-03 -5.50624553e+00] [ 5.75424062e-03 1.29224109e-04 9.99983436e-01 -2.19752120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.654012739 meters Centerline goodness [0,1] 0.9930197914449883 Centerline is valid? [True, True] Translation: X:308.99, Y:-5.49, Z:-2.20 [[ 9.40362554e-01 -3.40128925e-01 -5.53005981e-03 3.08986559e+02] [ 3.40122114e-01 9.40378803e-01 -2.15749517e-03 -5.49194293e+00] [ 5.93417754e-03 1.47932036e-04 9.99982382e-01 -2.19703643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.684012739 meters Centerline goodness [0,1] 0.9915714713558379 Centerline is valid? [True, True] Translation: X:309.01, Y:-5.47, Z:-2.19 [[ 9.41999359e-01 -3.35593014e-01 -3.81274280e-03 3.09011376e+02] [ 3.35589739e-01 9.42007067e-01 -1.48759970e-03 -5.47290773e+00] [ 4.09085873e-03 1.21800601e-04 9.99991625e-01 -2.19259419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.714012739 meters Centerline goodness [0,1] 0.9892477697106479 Centerline is valid? [True, True] Translation: X:309.04, Y:-5.45, Z:-2.19 [[ 9.42877145e-01 -3.33126113e-01 -3.11158457e-03 3.09035165e+02] [ 3.33123919e-01 9.42882273e-01 -1.21406478e-03 -5.45482608e+00] [ 3.33829461e-03 1.08170691e-04 9.99994422e-01 -2.19156283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.744012739 meters Centerline goodness [0,1] 0.9697169891739834 Centerline is valid? [True, True] Translation: X:309.06, Y:-5.43, Z:-2.19 [[ 9.44838293e-01 -3.27511568e-01 -4.09555623e-03 3.09058481e+02] [ 3.27507712e-01 9.44847154e-01 -1.59818860e-03 -5.43367822e+00] [ 4.39309990e-03 1.68703540e-04 9.99990336e-01 -2.19413788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.774012739 meters Centerline goodness [0,1] 0.9583599710181989 Centerline is valid? [True, True] Translation: X:309.08, Y:-5.42, Z:-2.20 [[ 9.45628719e-01 -3.25206536e-01 -5.19957647e-03 3.09084755e+02] [ 3.25200285e-01 9.45642986e-01 -2.02924664e-03 -5.42073755e+00] [ 5.57686729e-03 2.28010149e-04 9.99984423e-01 -2.19605209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80401273900003 meters Centerline goodness [0,1] 0.9403125669021623 Centerline is valid? [True, False] Translation: X:309.02, Y:-5.45, Z:-2.20 [[ 9.47600560e-01 -3.19411603e-01 -5.42279685e-03 3.09024070e+02] [ 3.19395379e-01 9.47614493e-01 -3.65565542e-03 -5.44517196e+00] [ 6.30637965e-03 1.73208486e-03 9.99978615e-01 -2.19584587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.834012739 meters Centerline goodness [0,1] 0.9062712874659401 Centerline is valid? [False, False] Translation: X:308.98, Y:-5.46, Z:-2.19 [[ 9.49700385e-01 -3.13024157e-01 -9.22259718e-03 3.08983068e+02] [ 3.13076973e-01 9.49714871e-01 4.94709526e-03 -5.46485720e+00] [ 7.21027737e-03 -7.58564108e-03 9.99945233e-01 -2.19341833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86401273900003 meters Centerline goodness [0,1] 0.8825320581549942 Centerline is valid? [False, False] Translation: X:308.92, Y:-5.49, Z:-2.19 [[ 9.51160593e-01 -3.08569475e-01 -8.85471604e-03 3.08920708e+02] [ 3.08595209e-01 9.51191993e-01 1.67006838e-03 -5.48721189e+00] [ 7.90720288e-03 -4.32102618e-03 9.99959402e-01 -2.19222218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.894012739 meters Centerline goodness [0,1] 0.8945062928695058 Centerline is valid? [False, False] Translation: X:308.88, Y:-5.51, Z:-2.19 [[ 9.52547294e-01 -3.04117744e-01 -1.28860787e-02 3.08882929e+02] [ 3.04228338e-01 9.52568156e-01 7.68282873e-03 -5.50520645e+00] [ 9.93838371e-03 -1.12385680e-02 9.99887455e-01 -2.19233935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92401273900003 meters Centerline goodness [0,1] 0.8541932194748917 Centerline is valid? [False, False] Translation: X:308.84, Y:-5.52, Z:-2.19 [[ 9.53350225e-01 -3.01425874e-01 -1.63030777e-02 3.08844259e+02] [ 3.01629763e-01 9.53350690e-01 1.19142160e-02 -5.52299491e+00] [ 1.19512974e-02 -1.62759140e-02 9.99796110e-01 -2.19175299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.954012739 meters Centerline goodness [0,1] 0.8566299818356662 Centerline is valid? [False, False] Translation: X:308.78, Y:-5.54, Z:-2.19 [[ 9.54312219e-01 -2.98432856e-01 -1.50339066e-02 3.08781420e+02] [ 2.98557660e-01 9.54367146e-01 6.83189467e-03 -5.54295427e+00] [ 1.23090047e-02 -1.10082486e-02 9.99863644e-01 -2.19194187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.984012739 meters Centerline goodness [0,1] 0.850646730242338 Centerline is valid? [False, False] Translation: X:308.74, Y:-5.56, Z:-2.19 [[ 9.55063594e-01 -2.95853929e-01 -1.79995418e-02 3.08742385e+02] [ 2.96086665e-01 9.55085921e-01 1.19820738e-02 -5.56290225e+00] [ 1.36461654e-02 -1.67730668e-02 9.99766196e-01 -2.19084417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.014012739 meters Centerline goodness [0,1] 0.9474259271161386 Centerline is valid? [False, False] Translation: X:308.68, Y:-5.58, Z:-2.19 [[ 9.55234974e-01 -2.95394991e-01 -1.63690115e-02 3.08677823e+02] [ 2.95503615e-01 9.55330472e-01 4.61552530e-03 -5.58359105e+00] [ 1.42744124e-02 -9.24601326e-03 9.99855366e-01 -2.18931530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.044012739 meters Centerline goodness [0,1] 0.9674219150025601 Centerline is valid? [False, True] Translation: X:308.64, Y:-5.60, Z:-2.19 [[ 9.55174187e-01 -2.95474813e-01 -1.83550519e-02 3.08637648e+02] [ 2.95634366e-01 9.55278167e-01 6.62910511e-03 -5.60051603e+00] [ 1.55754467e-02 -1.17583342e-02 9.99809555e-01 -2.18877196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.074012739 meters Centerline goodness [0,1] 0.9612363278323595 Centerline is valid? [True, True] Translation: X:308.66, Y:-5.58, Z:-2.19 [[ 9.54713332e-01 -2.97195808e-01 -1.40394341e-02 3.08660894e+02] [ 2.97154403e-01 9.54816367e-01 -4.99668639e-03 -5.58099712e+00] [ 1.48900757e-02 5.98523453e-04 9.99888958e-01 -2.18786107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.104012739 meters Centerline goodness [0,1] 0.9777947932618682 Centerline is valid? [True, True] Translation: X:308.69, Y:-5.57, Z:-2.19 [[ 9.54562054e-01 -2.97704301e-01 -1.35438133e-02 3.08688484e+02] [ 2.97665809e-01 9.54657962e-01 -4.82099667e-03 -5.57386314e+00] [ 1.43649406e-02 5.70410333e-04 9.99896656e-01 -2.18611628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.134012739 meters Centerline goodness [0,1] 0.9568932534115546 Centerline is valid? [True, True] Translation: X:308.71, Y:-5.56, Z:-2.19 [[ 9.54782682e-01 -2.96998006e-01 -1.34986594e-02 3.08712451e+02] [ 2.96959667e-01 9.54877922e-01 -4.80726658e-03 -5.55928215e+00] [ 1.43173204e-02 5.81337487e-04 9.99897333e-01 -2.18539095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.164012739 meters Centerline goodness [0,1] 0.955217539089055 Centerline is valid? [True, True] Translation: X:308.74, Y:-5.55, Z:-2.18 [[ 9.55553582e-01 -2.94550646e-01 -1.25407093e-02 3.08739017e+02] [ 2.94517335e-01 9.55635698e-01 -4.46685978e-03 -5.54572760e+00] [ 1.33000659e-02 5.74867588e-04 9.99911385e-01 -2.18341859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.194012739 meters Centerline goodness [0,1] 0.9734545768715711 Centerline is valid? [True, True] Translation: X:308.77, Y:-5.54, Z:-2.18 [[ 9.56032456e-01 -2.93019027e-01 -1.19076980e-02 3.08767775e+02] [ 2.92988871e-01 9.56106442e-01 -4.24177347e-03 -5.53824676e+00] [ 1.26279471e-02 5.66450110e-04 9.99920104e-01 -2.18290293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.224012739 meters Centerline goodness [0,1] 0.944438524328126 Centerline is valid? [True, False] Translation: X:308.75, Y:-5.55, Z:-2.18 [[ 9.56435447e-01 -2.91248233e-01 -2.01420641e-02 3.08749871e+02] [ 2.91435830e-01 9.56564457e-01 7.04253044e-03 -5.55482805e+00] [ 1.72160581e-02 -1.26058449e-02 9.99772324e-01 -2.17818611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.254012739 meters Centerline goodness [0,1] 0.9463263003257467 Centerline is valid? [False, False] Translation: X:308.71, Y:-5.57, Z:-2.18 [[ 9.56900299e-01 -2.89503757e-01 -2.30085491e-02 3.08711147e+02] [ 2.89796948e-01 9.57029855e-01 1.05633898e-02 -5.57350536e+00] [ 1.89617274e-02 -1.67759182e-02 9.99679459e-01 -2.17846990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.284012739 meters Centerline goodness [0,1] 0.9719260989594394 Centerline is valid? [False, True] Translation: X:308.67, Y:-5.59, Z:-2.18 [[ 9.57278806e-01 -2.88013260e-01 -2.58001895e-02 3.08672006e+02] [ 2.88430669e-01 9.57395751e-01 1.41818549e-02 -5.59197748e+00] [ 2.06164295e-02 -2.10175550e-02 9.99566519e-01 -2.17828570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.314012739 meters Centerline goodness [0,1] 0.9774073916194211 Centerline is valid? [True, True] Translation: X:308.70, Y:-5.57, Z:-2.18 [[ 9.56842767e-01 -2.89982472e-01 -1.90285122e-02 3.08695061e+02] [ 2.89908189e-01 9.57031613e-01 -6.61320991e-03 -5.57077448e+00] [ 2.01286027e-02 8.11280567e-04 9.99797070e-01 -2.17890063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.344012739 meters Centerline goodness [0,1] 0.9607551657499629 Centerline is valid? [True, True] Translation: X:308.72, Y:-5.56, Z:-2.18 [[ 9.56346395e-01 -2.91554982e-01 -1.99315180e-02 3.08719902e+02] [ 2.91473798e-01 9.56553724e-01 -6.92812055e-03 -5.55708681e+00] [ 2.10854959e-02 8.16167853e-04 9.99777343e-01 -2.17985789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.374012739 meters Centerline goodness [0,1] 0.9825538154231922 Centerline is valid? [True, True] Translation: X:308.75, Y:-5.55, Z:-2.18 [[ 9.55321700e-01 -2.94743131e-01 -2.20666441e-02 3.08750927e+02] [ 2.94644435e-01 9.55576163e-01 -7.67164674e-03 -5.55497251e+00] [ 2.33475243e-02 8.27076716e-04 9.99727067e-01 -2.18335004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.404012739 meters Centerline goodness [0,1] 0.9759515607950534 Centerline is valid? [True, True] Translation: X:308.78, Y:-5.54, Z:-2.18 [[ 9.54838548e-01 -2.96309367e-01 -2.20024054e-02 3.08776635e+02] [ 2.96211649e-01 9.55091692e-01 -7.64975123e-03 -5.54359658e+00] [ 2.32810075e-02 7.86908575e-04 9.99728651e-01 -2.18316480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.434012739 meters Centerline goodness [0,1] 0.9905196105583843 Centerline is valid? [True, True] Translation: X:308.81, Y:-5.54, Z:-2.18 [[ 9.53886327e-01 -2.99486054e-01 -2.02232289e-02 3.08806993e+02] [ 2.99404189e-01 9.54100454e-01 -7.03238411e-03 -5.54061413e+00] [ 2.14010929e-02 6.53175596e-04 9.99770757e-01 -2.17759277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.464012739 meters Centerline goodness [0,1] 0.9909683466109999 Centerline is valid? [True, True] Translation: X:308.83, Y:-5.53, Z:-2.18 [[ 9.53414141e-01 -3.01024418e-01 -1.96411703e-02 3.08834442e+02] [ 3.00947487e-01 9.53616242e-01 -6.83177465e-03 -5.53244162e+00] [ 2.07866700e-02 6.02549717e-04 9.99783752e-01 -2.17572905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.494012739 meters Centerline goodness [0,1] 0.9917857448446993 Centerline is valid? [True, True] Translation: X:308.86, Y:-5.53, Z:-2.18 [[ 9.52826094e-01 -3.02877608e-01 -1.96872549e-02 3.08862987e+02] [ 3.02800641e-01 9.53029293e-01 -6.85119068e-03 -5.52548091e+00] [ 2.08376029e-02 5.66679859e-04 9.99782713e-01 -2.17543401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.524012739 meters Centerline goodness [0,1] 0.9917857448446993 Centerline is valid? [True, True] Translation: X:308.89, Y:-5.52, Z:-2.17 [[ 9.52771555e-01 -3.03049168e-01 -1.96867043e-02 3.08888886e+02] [ 3.02972204e-01 9.52974755e-01 -6.85277256e-03 -5.51626156e+00] [ 2.08376592e-02 5.64602581e-04 9.99782713e-01 -2.17488728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55401273900003 meters Centerline goodness [0,1] 0.9919222489822886 Centerline is valid? [True, True] Translation: X:308.92, Y:-5.51, Z:-2.18 [[ 9.52109378e-01 -3.05109042e-01 -1.99048694e-02 3.08916197e+02] [ 3.05030731e-01 9.52317275e-01 -6.93260391e-03 -5.50861332e+00] [ 2.10709512e-02 5.29000333e-04 9.99777843e-01 -2.17510396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.584012739 meters Centerline goodness [0,1] 0.9935705646444714 Centerline is valid? [True, True] Translation: X:308.95, Y:-5.51, Z:-2.17 [[ 9.50889876e-01 -3.08905717e-01 -1.96393061e-02 3.08947022e+02] [ 3.08830269e-01 9.51092563e-01 -6.84110001e-03 -5.50605629e+00] [ 2.07920529e-02 4.39920536e-04 9.99783725e-01 -2.17365737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61401273900003 meters Centerline goodness [0,1] 0.993370000852733 Centerline is valid? [True, True] Translation: X:308.97, Y:-5.50, Z:-2.17 [[ 9.50338437e-01 -3.10639037e-01 -1.89800738e-02 3.08973758e+02] [ 3.10568889e-01 9.50527873e-01 -6.61274933e-03 -5.49660478e+00] [ 2.00952673e-02 3.89729433e-04 9.99797994e-01 -2.17166821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.644012739 meters Centerline goodness [0,1] 0.9936021837879337 Centerline is valid? [True, True] Translation: X:309.00, Y:-5.49, Z:-2.17 [[ 9.49289305e-01 -3.13884347e-01 -1.80674468e-02 3.09002952e+02] [ 3.13821311e-01 9.49461174e-01 -6.29788655e-03 -5.49380757e+00] [ 1.91311473e-02 3.08566493e-04 9.99816935e-01 -2.16892296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67401273900003 meters Centerline goodness [0,1] 0.9941953179817568 Centerline is valid? [True, True] Translation: X:309.03, Y:-5.49, Z:-2.17 [[ 9.48735649e-01 -3.15517978e-01 -1.86835109e-02 3.09029791e+02] [ 3.15450867e-01 9.48919556e-01 -6.51360218e-03 -5.48604007e+00] [ 1.97843074e-02 2.85956909e-04 9.99804231e-01 -2.16949495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.704012739 meters Centerline goodness [0,1] 0.9944677356614946 Centerline is valid? [True, True] Translation: X:309.06, Y:-5.48, Z:-2.17 [[ 9.48293497e-01 -3.16814794e-01 -1.91788991e-02 3.09057256e+02] [ 3.16744315e-01 9.48487383e-01 -6.68758409e-03 -5.47819585e+00] [ 2.03096694e-02 2.66985245e-04 9.99793702e-01 -2.17037577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.734012739 meters Centerline goodness [0,1] 0.9953183520599251 Centerline is valid? [True, True] Translation: X:309.08, Y:-5.47, Z:-2.17 [[ 9.48050062e-01 -3.17528954e-01 -1.94021628e-02 3.09084577e+02] [ 3.17456905e-01 9.48248542e-01 -6.76879070e-03 -5.46786193e+00] [ 2.05473596e-02 2.57801877e-04 9.99788847e-01 -2.16966089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.764012739 meters Centerline goodness [0,1] 0.9948683150260825 Centerline is valid? [True, True] Translation: X:309.11, Y:-5.46, Z:-2.17 [[ 9.48227300e-01 -3.17046512e-01 -1.86144011e-02 3.09110466e+02] [ 3.16980041e-01 9.48409954e-01 -6.49708016e-03 -5.45591993e+00] [ 1.97139599e-02 2.60315151e-04 9.99805627e-01 -2.16673169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.794012739 meters Centerline goodness [0,1] 0.9934104242836493 Centerline is valid? [True, True] Translation: X:309.14, Y:-5.44, Z:-2.16 [[ 9.48984593e-01 -3.14862533e-01 -1.70243317e-02 3.09135345e+02] [ 3.14806531e-01 9.49137243e-01 -5.94496608e-03 -5.44183648e+00] [ 1.80302744e-02 2.82310396e-04 9.99837402e-01 -2.16293416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.824012739 meters Centerline goodness [0,1] 0.9928492849284929 Centerline is valid? [True, True] Translation: X:309.16, Y:-5.43, Z:-2.16 [[ 9.49360089e-01 -3.13703458e-01 -1.74803329e-02 3.09160139e+02] [ 3.13644200e-01 9.49520954e-01 -6.10525938e-03 -5.42970176e+00] [ 1.85131834e-02 3.13484570e-04 9.99828567e-01 -2.16321536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.854012739 meters Centerline goodness [0,1] 0.9928219503907577 Centerline is valid? [True, True] Translation: X:309.19, Y:-5.42, Z:-2.16 [[ 9.49556720e-01 -3.13068989e-01 -1.81615939e-02 3.09185053e+02] [ 3.13004866e-01 9.49730326e-01 -6.34524864e-03 -5.41807070e+00] [ 1.92351170e-02 3.40506234e-04 9.99814930e-01 -2.16494256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.884012739 meters Centerline goodness [0,1] 0.9937017256420623 Centerline is valid? [True, True] Translation: X:309.21, Y:-5.41, Z:-2.17 [[ 9.49230759e-01 -3.13909267e-01 -2.05411489e-02 3.09211174e+02] [ 3.13827397e-01 9.49452915e-01 -7.17827470e-03 -5.40845175e+00] [ 2.17561806e-02 3.67463859e-04 9.99763239e-01 -2.17009331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.914012739 meters Centerline goodness [0,1] 0.9952292947092448 Centerline is valid? [True, True] Translation: X:309.24, Y:-5.41, Z:-2.17 [[ 9.48510882e-01 -3.16037199e-01 -2.11564703e-02 3.09241676e+02] [ 3.15950844e-01 9.48746742e-01 -7.39489564e-03 -5.40670948e+00] [ 2.24091944e-02 3.29734329e-04 9.99748828e-01 -2.17024234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.944012739 meters Centerline goodness [0,1] 0.9955286466133242 Centerline is valid? [True, True] Translation: X:309.27, Y:-5.40, Z:-2.17 [[ 9.47554948e-01 -3.18872347e-01 -2.14487214e-02 3.09269763e+02] [ 3.18784227e-01 9.47797633e-01 -7.50087464e-03 -5.40132583e+00] [ 2.27208689e-02 2.69976798e-04 9.99741811e-01 -2.17013717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.974012739 meters Centerline goodness [0,1] 0.996933633537043 Centerline is valid? [True, True] Translation: X:309.30, Y:-5.40, Z:-2.17 [[ 9.45736037e-01 -3.24244868e-01 -2.11805157e-02 3.09300378e+02] [ 3.24160195e-01 9.45973174e-01 -7.41096746e-03 -5.40038127e+00] [ 2.24391678e-02 1.42938887e-04 9.99748200e-01 -2.16899953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.004012739 meters Centerline goodness [0,1] 0.9967111585691404 Centerline is valid? [True, True] Translation: X:309.33, Y:-5.39, Z:-2.17 [[ 9.45156166e-01 -3.25927136e-01 -2.12443876e-02 3.09327730e+02] [ 3.25842301e-01 9.45394886e-01 -7.43671624e-03 -5.39365272e+00] [ 2.25081630e-02 1.06538072e-04 9.99746654e-01 -2.16877718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.034012739 meters Centerline goodness [0,1] 0.9970692052625949 Centerline is valid? [True, True] Translation: X:309.35, Y:-5.39, Z:-2.17 [[ 9.45001015e-01 -3.26341444e-01 -2.17794154e-02 3.09353683e+02] [ 3.26252352e-01 9.45251951e-01 -7.62570995e-03 -5.38507501e+00] [ 2.30756201e-02 1.00718143e-04 9.99733717e-01 -2.16820160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.064012739 meters Centerline goodness [0,1] 0.997161758429364 Centerline is valid? [True, True] Translation: X:309.38, Y:-5.37, Z:-2.17 [[ 9.45294462e-01 -3.25468654e-01 -2.21028499e-02 3.09379243e+02] [ 3.25376584e-01 9.45552822e-01 -7.74202337e-03 -5.37361723e+00] [ 2.34191981e-02 1.26742006e-04 9.99725725e-01 -2.16805880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.094012739 meters Centerline goodness [0,1] 0.9966420703668057 Centerline is valid? [True, True] Translation: X:309.40, Y:-5.36, Z:-2.17 [[ 9.45540927e-01 -3.24782443e-01 -2.16499553e-02 3.09404915e+02] [ 3.24693873e-01 9.45788742e-01 -7.58579247e-03 -5.36301572e+00] [ 2.29400162e-02 1.43069405e-04 9.99736833e-01 -2.16570170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.124012739 meters Centerline goodness [0,1] 0.9962517303801512 Centerline is valid? [True, True] Translation: X:309.43, Y:-5.35, Z:-2.16 [[ 9.45470880e-01 -3.25130274e-01 -1.93679996e-02 3.09430839e+02] [ 3.25059390e-01 9.45669229e-01 -6.78991211e-03 -5.35366378e+00] [ 2.05233272e-02 1.23914037e-04 9.99789367e-01 -2.16150382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.154012739 meters Centerline goodness [0,1] 0.9960148324950985 Centerline is valid? [True, True] Translation: X:309.46, Y:-5.35, Z:-2.16 [[ 9.44979037e-01 -3.26606984e-01 -1.85067171e-02 3.09458455e+02] [ 3.26542474e-01 9.45160235e-01 -6.49172381e-03 -5.34710981e+00] [ 1.96120554e-02 9.13137300e-05 9.99807661e-01 -2.15993836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.184012739 meters Centerline goodness [0,1] 0.9949166720288269 Centerline is valid? [True, True] Translation: X:309.49, Y:-5.35, Z:-2.16 [[ 9.43086245e-01 -3.32035657e-01 -1.84568901e-02 3.09489775e+02] [ 3.31972509e-01 9.43266835e-01 -6.47541124e-03 -5.35072621e+00] [ 1.95598398e-02 -2.03088600e-05 9.99808688e-01 -2.15968762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.214012739 meters Centerline goodness [0,1] 0.9950736824223892 Centerline is valid? [True, True] Translation: X:309.52, Y:-5.35, Z:-2.16 [[ 9.41855483e-01 -3.35469150e-01 -1.92015348e-02 3.09519628e+02] [ 3.35401441e-01 9.42051188e-01 -6.74034187e-03 -5.34814916e+00] [ 2.03500055e-02 -9.17945079e-05 9.99792913e-01 -2.15920707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.244012739 meters Centerline goodness [0,1] 0.9947786220656281 Centerline is valid? [True, True] Translation: X:309.55, Y:-5.35, Z:-2.16 [[ 9.40643082e-01 -3.38863549e-01 -1.90286052e-02 3.09549019e+02] [ 3.38797678e-01 9.40835517e-01 -6.68310291e-03 -5.34517028e+00] [ 2.01674476e-02 -1.60432743e-04 9.99796603e-01 -2.15859863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.274012739 meters Centerline goodness [0,1] 0.9933054215459163 Centerline is valid? [True, True] Translation: X:309.58, Y:-5.35, Z:-2.16 [[ 9.38732992e-01 -3.44206134e-01 -1.73927351e-02 3.09581601e+02] [ 3.44151964e-01 9.38894070e-01 -6.11152640e-03 -5.34772114e+00] [ 1.84335607e-02 -2.48652468e-04 9.99830057e-01 -2.15595385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30401273900003 meters Centerline goodness [0,1] 0.9927463357226918 Centerline is valid? [True, True] Translation: X:309.61, Y:-5.34, Z:-2.15 [[ 9.38236891e-01 -3.45575349e-01 -1.70063162e-02 3.09609999e+02] [ 3.45523744e-01 9.38390967e-01 -5.97791383e-03 -5.34285942e+00] [ 1.80243932e-02 -2.67386782e-04 9.99837512e-01 -2.15405938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.334012739 meters Centerline goodness [0,1] 0.9934566930806654 Centerline is valid? [True, True] Translation: X:309.64, Y:-5.34, Z:-2.16 [[ 9.38126779e-01 -3.45793421e-01 -1.85756854e-02 3.09638006e+02] [ 3.45731821e-01 9.38310622e-01 -6.53329649e-03 -5.33985857e+00] [ 1.96889339e-02 -2.93145143e-04 9.99806111e-01 -2.15571291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36401273900003 meters Centerline goodness [0,1] 0.9934411519644497 Centerline is valid? [True, True] Translation: X:309.67, Y:-5.33, Z:-2.16 [[ 9.38266421e-01 -3.45375975e-01 -1.92758426e-02 3.09665349e+02] [ 3.45309518e-01 9.38464357e-01 -6.78141246e-03 -5.33101437e+00] [ 2.04318282e-02 -2.93360313e-04 9.99791205e-01 -2.15664155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.394012739 meters Centerline goodness [0,1] 0.9938123363838948 Centerline is valid? [True, True] Translation: X:309.69, Y:-5.32, Z:-2.16 [[ 9.39198312e-01 -3.42844792e-01 -1.90782459e-02 3.09692368e+02] [ 3.42779098e-01 9.39392035e-01 -6.71528171e-03 -5.32020200e+00] [ 2.02242516e-02 -2.32642698e-04 9.99795442e-01 -2.15507486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42401273900003 meters Centerline goodness [0,1] 0.994375583665846 Centerline is valid? [True, True] Translation: X:309.72, Y:-5.31, Z:-2.15 [[ 9.39617550e-01 -3.41695347e-01 -1.90565039e-02 3.09719467e+02] [ 3.41629496e-01 9.39810751e-01 -6.71114290e-03 -5.31200212e+00] [ 2.02026735e-02 -2.04356165e-04 9.99795884e-01 -2.15413212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.454012739 meters Centerline goodness [0,1] 0.994295287780464 Centerline is valid? [True, True] Translation: X:309.75, Y:-5.30, Z:-2.15 [[ 9.39977862e-01 -3.40704411e-01 -1.90295313e-02 3.09746063e+02] [ 3.40638474e-01 9.40170448e-01 -6.70510695e-03 -5.30254172e+00] [ 2.01754625e-02 -1.79538415e-04 9.99796439e-01 -2.15356200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.484012739 meters Centerline goodness [0,1] 0.9941887692111201 Centerline is valid? [True, True] Translation: X:309.77, Y:-5.29, Z:-2.15 [[ 9.40218810e-01 -3.40034994e-01 -1.90995420e-02 3.09773403e+02] [ 3.39968407e-01 9.40412769e-01 -6.73102234e-03 -5.29272946e+00] [ 2.02502363e-02 -1.64607054e-04 9.99794929e-01 -2.15401661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.514012739 meters Centerline goodness [0,1] 0.9947410051948608 Centerline is valid? [True, True] Translation: X:309.80, Y:-5.29, Z:-2.16 [[ 9.40034456e-01 -3.40450402e-01 -2.07061580e-02 3.09800343e+02] [ 3.40372153e-01 9.40262458e-01 -7.30124511e-03 -5.28511161e+00] [ 2.19549348e-02 -1.84377598e-04 9.99758944e-01 -2.15609252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.544012739 meters Centerline goodness [0,1] 0.9944165979316033 Centerline is valid? [True, True] Translation: X:309.83, Y:-5.28, Z:-2.15 [[ 9.39663360e-01 -3.41514526e-01 -2.00149556e-02 3.09827725e+02] [ 3.41441569e-01 9.39876475e-01 -7.06160736e-03 -5.28070820e+00] [ 2.12232274e-02 -1.98404138e-04 9.99774742e-01 -2.15291693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.574012739 meters Centerline goodness [0,1] 0.9939107188322159 Centerline is valid? [True, True] Translation: X:309.85, Y:-5.27, Z:-2.15 [[ 9.39763010e-01 -3.41315828e-01 -1.86812986e-02 3.09853808e+02] [ 3.41252190e-01 9.39948655e-01 -6.59314365e-03 -5.27206264e+00] [ 1.98098058e-02 -1.79041547e-04 9.99803751e-01 -2.14987785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.604012739 meters Centerline goodness [0,1] 0.9937540523017073 Centerline is valid? [True, True] Translation: X:309.88, Y:-5.26, Z:-2.15 [[ 9.40010517e-01 -3.40687217e-01 -1.76762004e-02 3.09879890e+02] [ 3.40630068e-01 9.40176684e-01 -6.24182142e-03 -5.26297498e+00] [ 1.87452602e-02 -1.53667557e-04 9.99824280e-01 -2.14748047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.634012739 meters Centerline goodness [0,1] 0.9942241946786147 Centerline is valid? [True, True] Translation: X:309.91, Y:-5.25, Z:-2.15 [[ 9.40399082e-01 -3.39622939e-01 -1.74878849e-02 3.09906347e+02] [ 3.39566748e-01 9.40561664e-01 -6.17907774e-03 -5.25309552e+00] [ 1.85469907e-02 -1.27505174e-04 9.99827982e-01 -2.14672380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.664012739 meters Centerline goodness [0,1] 0.994723067429836 Centerline is valid? [True, True] Translation: X:309.93, Y:-5.24, Z:-2.15 [[ 9.41606788e-01 -3.36202003e-01 -1.85706928e-02 3.09930948e+02] [ 3.36137946e-01 9.41789897e-01 -6.56292156e-03 -5.23677420e+00] [ 1.96961582e-02 -6.26230489e-05 9.99806010e-01 -2.14876810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.694012739 meters Centerline goodness [0,1] 0.995564792595132 Centerline is valid? [True, True] Translation: X:309.96, Y:-5.22, Z:-2.15 [[ 9.42360771e-01 -3.34049426e-01 -1.91613685e-02 3.09955549e+02] [ 3.33980711e-01 9.42555559e-01 -6.77523694e-03 -5.22264903e+00] [ 2.03239184e-02 -1.48099619e-05 9.99793448e-01 -2.14995941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.724012739 meters Centerline goodness [0,1] 0.9961541730409655 Centerline is valid? [True, True] Translation: X:309.98, Y:-5.21, Z:-2.15 [[ 9.43381740e-01 -3.31119736e-01 -1.97639469e-02 3.09978991e+02] [ 3.31045900e-01 9.43588744e-01 -6.99246870e-03 -5.20689977e+00] [ 2.09643822e-02 5.37936788e-05 9.99780222e-01 -2.15080315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.754012739 meters Centerline goodness [0,1] 0.99615670453339 Centerline is valid? [True, True] Translation: X:310.00, Y:-5.20, Z:-2.15 [[ 9.43377152e-01 -3.31116637e-01 -2.00330176e-02 3.10004839e+02] [ 3.31040738e-01 9.43589831e-01 -7.08943450e-03 -5.19642601e+00] [ 2.12503814e-02 5.62655910e-05 9.99774184e-01 -2.15044173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.784012739 meters Centerline goodness [0,1] 0.9959653059463192 Centerline is valid? [True, True] Translation: X:310.03, Y:-5.19, Z:-2.15 [[ 9.42972414e-01 -3.32244862e-01 -2.04053682e-02 3.10031607e+02] [ 3.32166285e-01 9.43193167e-01 -7.22553140e-03 -5.18663263e+00] [ 2.16468495e-02 3.55014396e-05 9.99765679e-01 -2.15101358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.814012739 meters Centerline goodness [0,1] 0.9959698055271239 Centerline is valid? [True, True] Translation: X:310.06, Y:-5.18, Z:-2.15 [[ 9.42031516e-01 -3.34893707e-01 -2.05627829e-02 3.10057388e+02] [ 3.34814455e-01 9.42255912e-01 -7.28535829e-03 -5.17973301e+00] [ 2.18152244e-02 -2.16798259e-05 9.99762019e-01 -2.15105900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.844012739 meters Centerline goodness [0,1] 0.9958390528483184 Centerline is valid? [True, True] Translation: X:310.08, Y:-5.17, Z:-2.15 [[ 9.41377044e-01 -3.36749522e-01 -2.02242453e-02 3.10084473e+02] [ 3.36673243e-01 9.41594263e-01 -7.16738954e-03 -5.17304214e+00] [ 2.14566483e-02 -6.17462727e-05 9.99769778e-01 -2.14914075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.874012739 meters Centerline goodness [0,1] 0.9946148442987591 Centerline is valid? [True, True] Translation: X:310.11, Y:-5.17, Z:-2.14 [[ 9.39945485e-01 -3.40823667e-01 -1.84854907e-02 3.10112310e+02] [ 3.40760659e-01 9.40127230e-01 -6.55469312e-03 -5.16898976e+00] [ 1.96127077e-02 -1.38073788e-04 9.99807643e-01 -2.14473483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.904012739 meters Centerline goodness [0,1] 0.9936078489668501 Centerline is valid? [True, True] Translation: X:310.14, Y:-5.16, Z:-2.14 [[ 9.39272393e-01 -3.42721616e-01 -1.75859483e-02 3.10139531e+02] [ 3.42664905e-01 9.39436994e-01 -6.23679361e-03 -5.16114577e+00] [ 1.86583744e-02 -1.68039242e-04 9.99825903e-01 -2.14269174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.934012739 meters Centerline goodness [0,1] 0.9934566930806654 Centerline is valid? [True, True] Translation: X:310.17, Y:-5.16, Z:-2.14 [[ 9.38534834e-01 -3.44731345e-01 -1.76823463e-02 3.10167071e+02] [ 3.44674344e-01 9.38701367e-01 -6.27212561e-03 -5.15542719e+00] [ 1.87606410e-02 -2.08042766e-04 9.99823982e-01 -2.14230517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.964012739 meters Centerline goodness [0,1] 0.9943100387174058 Centerline is valid? [True, True] Translation: X:310.19, Y:-5.15, Z:-2.14 [[ 9.38354343e-01 -3.45150300e-01 -1.90367597e-02 3.10193125e+02] [ 3.45084291e-01 9.38547397e-01 -6.75390744e-03 -5.14605910e+00] [ 2.01980145e-02 -2.31728357e-04 9.99795972e-01 -2.14389840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.994012739 meters Centerline goodness [0,1] 0.9948570821379237 Centerline is valid? [True, True] Translation: X:310.22, Y:-5.14, Z:-2.15 [[ 9.38354815e-01 -3.45069117e-01 -2.04339275e-02 3.10218750e+02] [ 3.44992948e-01 9.38577245e-01 -7.25398597e-03 -5.13813538e+00] [ 2.16819459e-02 -2.42748205e-04 9.99764890e-01 -2.14597556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.024012739 meters Centerline goodness [0,1] 0.9944600698883491 Centerline is valid? [True, True] Translation: X:310.25, Y:-5.13, Z:-2.15 [[ 9.38120620e-01 -3.45704770e-01 -2.04429325e-02 3.10245853e+02] [ 3.45628625e-01 9.38343299e-01 -7.25991322e-03 -5.13254504e+00] [ 2.16922754e-02 -2.54988366e-04 9.99764662e-01 -2.14595496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05401273900003 meters Centerline goodness [0,1] 0.9939912873666817 Centerline is valid? [True, True] Translation: X:310.27, Y:-5.13, Z:-2.14 [[ 9.37786104e-01 -3.46661898e-01 -1.95640397e-02 3.10273571e+02] [ 3.46592342e-01 9.37990117e-01 -6.94907370e-03 -5.12579355e+00] [ 2.07598549e-02 -2.64001571e-04 9.99784456e-01 -2.14353580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.084012739 meters Centerline goodness [0,1] 0.9942283671447646 Centerline is valid? [True, True] Translation: X:310.30, Y:-5.12, Z:-2.14 [[ 9.37403579e-01 -3.47710127e-01 -1.92924183e-02 3.10302409e+02] [ 3.47642642e-01 9.37602042e-01 -6.85597271e-03 -5.12004021e+00] [ 2.04725020e-02 -2.80053927e-04 9.99790377e-01 -2.14196758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11401273900003 meters Centerline goodness [0,1] 0.9940927186336201 Centerline is valid? [True, True] Translation: X:310.33, Y:-5.12, Z:-2.14 [[ 9.37552694e-01 -3.47300014e-01 -1.94331074e-02 3.10330075e+02] [ 3.47231379e-01 9.37754034e-01 -6.90955144e-03 -5.11585890e+00] [ 2.06231622e-02 -2.69716119e-04 9.99787284e-01 -2.14176525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.144012739 meters Centerline goodness [0,1] 0.9946036669570205 Centerline is valid? [True, True] Translation: X:310.36, Y:-5.11, Z:-2.14 [[ 9.37916177e-01 -3.46284645e-01 -2.00047395e-02 3.10357392e+02] [ 3.46211649e-01 9.38129458e-01 -7.11430202e-03 -5.10756310e+00] [ 2.12306090e-02 -2.53254912e-04 9.99774573e-01 -2.14231530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17401273900003 meters Centerline goodness [0,1] 0.9949270222050257 Centerline is valid? [True, True] Translation: X:310.38, Y:-5.10, Z:-2.14 [[ 9.38404466e-01 -3.44934987e-01 -2.04184428e-02 3.10384149e+02] [ 3.44858543e-01 9.38626552e-01 -7.26504512e-03 -5.09733791e+00] [ 2.16712608e-02 -2.23923626e-04 9.99765126e-01 -2.14250236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.204012739 meters Centerline goodness [0,1] 0.995626225410984 Centerline is valid? [True, True] Translation: X:310.41, Y:-5.08, Z:-2.14 [[ 9.39602050e-01 -3.41593546e-01 -2.14904040e-02 3.10409717e+02] [ 3.41507905e-01 9.39847768e-01 -7.65015533e-03 -5.08227580e+00] [ 2.28109519e-02 -1.51041208e-04 9.99739785e-01 -2.14449849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.234012739 meters Centerline goodness [0,1] 0.99661177892397 Centerline is valid? [True, True] Translation: X:310.44, Y:-5.07, Z:-2.14 [[ 9.40777070e-01 -3.38346575e-01 -2.14499170e-02 3.10436667e+02] [ 3.38260329e-01 9.41021568e-01 -7.63932337e-03 -5.07376808e+00] [ 2.27695735e-02 -6.87557382e-05 9.99740737e-01 -2.14360070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.264012739 meters Centerline goodness [0,1] 0.9960736040070463 Centerline is valid? [True, True] Translation: X:310.46, Y:-5.06, Z:-2.14 [[ 9.41293885e-01 -3.36923740e-01 -2.11710754e-02 3.10462610e+02] [ 3.36839325e-01 9.41531939e-01 -7.54168306e-03 -5.06401802e+00] [ 2.24742157e-02 -3.23105947e-05 9.99747422e-01 -2.14174331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.294012739 meters Centerline goodness [0,1] 0.9971164936562861 Centerline is valid? [True, True] Translation: X:310.49, Y:-5.05, Z:-2.14 [[ 9.41717311e-01 -3.35749346e-01 -2.09971979e-02 3.10488484e+02] [ 3.35665928e-01 9.41951367e-01 -7.48382505e-03 -5.05300394e+00] [ 2.22910286e-02 -3.96314562e-07 9.99751524e-01 -2.14076366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.324012739 meters Centerline goodness [0,1] 0.9974203534115826 Centerline is valid? [True, True] Translation: X:310.51, Y:-5.04, Z:-2.14 [[ 9.42040301e-01 -3.34845325e-01 -2.09447006e-02 3.10514610e+02] [ 3.34762010e-01 9.42273107e-01 -7.46920471e-03 -5.04227123e+00] [ 2.22366564e-02 2.48017774e-05 9.99752735e-01 -2.14084010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.354012739 meters Centerline goodness [0,1] 0.9959393668813913 Centerline is valid? [True, True] Translation: X:310.54, Y:-5.03, Z:-2.14 [[ 9.43350564e-01 -3.31172131e-01 -2.03649802e-02 3.10539941e+02] [ 3.31092429e-01 9.43570351e-01 -7.26612591e-03 -5.02986162e+00] [ 2.16221299e-02 1.11813201e-04 9.99766208e-01 -2.13821509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.384012739 meters Centerline goodness [0,1] 0.9963905856221434 Centerline is valid? [True, True] Translation: X:310.57, Y:-5.02, Z:-2.14 [[ 9.44013284e-01 -3.29316678e-01 -1.97343816e-02 3.10566991e+02] [ 3.29241403e-01 9.44219521e-01 -7.04240839e-03 -5.01865645e+00] [ 2.09527709e-02 1.50751577e-04 9.99780455e-01 -2.13521719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.414012739 meters Centerline goodness [0,1] 0.9963905856221434 Centerline is valid? [True, True] Translation: X:310.59, Y:-5.01, Z:-2.13 [[ 9.43953024e-01 -3.29489436e-01 -1.97332414e-02 3.10592823e+02] [ 3.29414132e-01 9.44159250e-01 -7.04560191e-03 -5.00922828e+00] [ 2.09527738e-02 1.50308630e-04 9.99780455e-01 -2.13467062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.444012739 meters Centerline goodness [0,1] 0.9957968850010668 Centerline is valid? [True, True] Translation: X:310.61, Y:-4.99, Z:-2.13 [[ 9.45904467e-01 -3.23896668e-01 -1.88597048e-02 3.10614820e+02] [ 3.23826696e-01 9.46092426e-01 -6.73741198e-03 -4.98628906e+00] [ 2.00252492e-02 2.65672182e-04 9.99799439e-01 -2.13205756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.474012739 meters Centerline goodness [0,1] 0.994569483040241 Centerline is valid? [True, True] Translation: X:310.64, Y:-4.97, Z:-2.13 [[ 9.47259343e-01 -3.19939954e-01 -1.83892116e-02 3.10638435e+02] [ 3.19872666e-01 9.47437760e-01 -6.57025881e-03 -4.96808831e+00] [ 1.95247218e-02 3.41532898e-04 9.99809316e-01 -2.13097129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.504012739 meters Centerline goodness [0,1] 0.9918251478090115 Centerline is valid? [True, True] Translation: X:310.66, Y:-4.94, Z:-2.13 [[ 9.49702048e-01 -3.12683017e-01 -1.71858042e-02 3.10661671e+02] [ 3.12623043e-01 9.49857421e-01 -6.14110890e-03 -4.94375201e+00] [ 1.82442841e-02 4.59545284e-04 9.99833454e-01 -2.12706714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.534012739 meters Centerline goodness [0,1] 0.9905404258929329 Centerline is valid? [True, True] Translation: X:310.69, Y:-4.93, Z:-2.13 [[ 9.50664155e-01 -3.09755893e-01 -1.69985814e-02 3.10686718e+02] [ 3.09696736e-01 9.50815979e-01 -6.07500242e-03 -4.92681826e+00] [ 1.80442906e-02 5.10881850e-04 9.99837058e-01 -2.12506988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.564012739 meters Centerline goodness [0,1] 0.9898320915324036 Centerline is valid? [True, True] Translation: X:310.71, Y:-4.91, Z:-2.12 [[ 9.51270584e-01 -3.07899495e-01 -1.67981462e-02 3.10711897e+02] [ 3.07841426e-01 9.51418735e-01 -6.00396758e-03 -4.91044207e+00] [ 1.78306896e-02 5.40232467e-04 9.99840875e-01 -2.12405877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.594012739 meters Centerline goodness [0,1] 0.9909525435302151 Centerline is valid? [True, True] Translation: X:310.74, Y:-4.90, Z:-2.13 [[ 9.51745635e-01 -3.06344612e-01 -1.82544679e-02 3.10737081e+02] [ 3.06275731e-01 9.51920477e-01 -6.52547441e-03 -4.89627178e+00] [ 1.93758457e-02 6.19691289e-04 9.99812079e-01 -2.12738561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.624012739 meters Centerline goodness [0,1] 0.988196944840957 Centerline is valid? [True, True] Translation: X:310.76, Y:-4.88, Z:-2.13 [[ 9.51477898e-01 -3.07081445e-01 -1.97685677e-02 3.10761114e+02] [ 3.07000791e-01 9.51683012e-01 -7.06813864e-03 -4.88153534e+00] [ 2.09839043e-02 6.56211761e-04 9.99779598e-01 -2.13025140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.654012739 meters Centerline goodness [0,1] 0.9927412560219491 Centerline is valid? [True, True] Translation: X:310.79, Y:-4.88, Z:-2.13 [[ 9.50951193e-01 -3.08593288e-01 -2.14944381e-02 3.10790314e+02] [ 3.08498264e-01 9.51193840e-01 -7.68766703e-03 -4.87659618e+00] [ 2.28177395e-02 6.79599314e-04 9.99739411e-01 -2.13260547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.684012739 meters Centerline goodness [0,1] 0.9940152918876323 Centerline is valid? [True, True] Translation: X:310.82, Y:-4.87, Z:-2.13 [[ 9.50120150e-01 -3.11101843e-01 -2.20758649e-02 3.10815701e+02] [ 3.11002197e-01 9.50376364e-01 -7.89936052e-03 -4.86579260e+00] [ 2.34378858e-02 6.39699134e-04 9.99725090e-01 -2.13257089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.714012739 meters Centerline goodness [0,1] 0.9938709059567132 Centerline is valid? [True, True] Translation: X:310.84, Y:-4.85, Z:-2.13 [[ 9.49852945e-01 -3.11988364e-01 -2.10391126e-02 3.10842108e+02] [ 3.11898040e-01 9.50085739e-01 -7.52996596e-03 -4.85438717e+00] [ 2.23382227e-02 5.90302330e-04 9.99750296e-01 -2.12992892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.744012739 meters Centerline goodness [0,1] 0.9936294912086978 Centerline is valid? [True, True] Translation: X:310.87, Y:-4.84, Z:-2.13 [[ 9.49807129e-01 -3.12198740e-01 -1.99590892e-02 3.10866898e+02] [ 3.12117429e-01 9.50016650e-01 -7.14673253e-03 -4.84144374e+00] [ 2.11926680e-02 5.58437885e-04 9.99775254e-01 -2.12720941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.774012739 meters Centerline goodness [0,1] 0.9930464278142888 Centerline is valid? [True, True] Translation: X:310.89, Y:-4.83, Z:-2.13 [[ 9.49874011e-01 -3.11957076e-01 -2.05461785e-02 3.10892720e+02] [ 3.11870824e-01 9.50096018e-01 -7.35831547e-03 -4.83014596e+00] [ 2.18163210e-02 5.81719011e-04 9.99761827e-01 -2.12776157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80401273900003 meters Centerline goodness [0,1] 0.9937407874217599 Centerline is valid? [True, True] Translation: X:310.92, Y:-4.82, Z:-2.13 [[ 9.49867656e-01 -3.11912149e-01 -2.14999279e-02 3.10917433e+02] [ 3.11817658e-01 9.50110750e-01 -7.70132075e-03 -4.81707442e+00] [ 2.28294482e-02 6.11178316e-04 9.99739187e-01 -2.12926524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.834012739 meters Centerline goodness [0,1] 0.9941429212714563 Centerline is valid? [True, True] Translation: X:310.94, Y:-4.81, Z:-2.13 [[ 9.49665196e-01 -3.12582044e-01 -2.06998039e-02 3.10943351e+02] [ 3.12494587e-01 9.49890592e-01 -7.41598614e-03 -4.80615230e+00] [ 2.19806531e-02 5.74127244e-04 9.99758231e-01 -2.12773888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86401273900003 meters Centerline goodness [0,1] 0.9937928989068723 Centerline is valid? [True, True] Translation: X:310.97, Y:-4.80, Z:-2.13 [[ 9.49003935e-01 -3.14627312e-01 -2.00296281e-02 3.10969767e+02] [ 3.14545853e-01 9.49215146e-01 -7.17724797e-03 -4.79538118e+00] [ 2.12705846e-02 5.11000121e-04 9.99773625e-01 -2.12674616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.894012739 meters Centerline goodness [0,1] 0.9946475028788331 Centerline is valid? [True, True] Translation: X:311.00, Y:-4.79, Z:-2.13 [[ 9.48515759e-01 -3.16042054e-01 -2.08632521e-02 3.10996775e+02] [ 3.15953935e-01 9.48745049e-01 -7.47953541e-03 -4.78622716e+00] [ 2.21577549e-02 5.02630611e-04 9.99754360e-01 -2.12740694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92401273900003 meters Centerline goodness [0,1] 0.9942601770661245 Centerline is valid? [True, True] Translation: X:311.02, Y:-4.78, Z:-2.13 [[ 9.48026606e-01 -3.17446124e-01 -2.17603334e-02 3.11023373e+02] [ 3.17350541e-01 9.48276180e-01 -7.80512322e-03 -4.77657218e+00] [ 2.31125120e-02 4.93810911e-04 9.99732748e-01 -2.12864142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.954012739 meters Centerline goodness [0,1] 0.9953117674636662 Centerline is valid? [True, True] Translation: X:311.05, Y:-4.77, Z:-2.13 [[ 9.47272117e-01 -3.19646608e-01 -2.23960415e-02 3.11049511e+02] [ 3.19545875e-01 9.47536721e-01 -8.03716618e-03 -4.76511038e+00] [ 2.37901247e-02 4.56820726e-04 9.99716871e-01 -2.12880387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.984012739 meters Centerline goodness [0,1] 0.995384255418714 Centerline is valid? [True, True] Translation: X:311.08, Y:-4.75, Z:-2.13 [[ 9.47039380e-01 -3.20399754e-01 -2.14571723e-02 3.11075829e+02] [ 3.20307402e-01 9.47282333e-01 -7.70384867e-03 -4.75317191e+00] [ 2.27943115e-02 4.22956934e-04 9.99740086e-01 -2.12624003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.014012739 meters Centerline goodness [0,1] 0.9948875689435723 Centerline is valid? [True, True] Translation: X:311.10, Y:-4.74, Z:-2.12 [[ 9.46919491e-01 -3.20902785e-01 -1.91018133e-02 3.11099561e+02] [ 3.20829640e-01 9.47112066e-01 -6.86114521e-03 -4.73805674e+00] [ 2.02933185e-02 3.68524223e-04 9.99794001e-01 -2.12131424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.044012739 meters Centerline goodness [0,1] 0.9943508801624915 Centerline is valid? [True, True] Translation: X:311.13, Y:-4.73, Z:-2.12 [[ 9.46921269e-01 -3.20955442e-01 -1.81028782e-02 3.11125056e+02] [ 3.20889728e-01 9.47094231e-01 -6.50385861e-03 -4.72501704e+00] [ 1.92325803e-02 3.49614391e-04 9.99814976e-01 -2.11931167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.074012739 meters Centerline goodness [0,1] 0.9945780946485367 Centerline is valid? [True, True] Translation: X:311.15, Y:-4.71, Z:-2.12 [[ 9.46807217e-01 -3.21297293e-01 -1.80039707e-02 3.11150353e+02] [ 3.21232289e-01 9.46978316e-01 -6.47184994e-03 -4.71224094e+00] [ 1.91287577e-02 3.44137524e-04 9.99816969e-01 -2.11809412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.104012739 meters Centerline goodness [0,1] 0.9950951248513674 Centerline is valid? [True, True] Translation: X:311.18, Y:-4.70, Z:-2.12 [[ 9.46176308e-01 -3.23147775e-01 -1.80529687e-02 3.11176088e+02] [ 3.23082685e-01 9.46348466e-01 -6.49308042e-03 -4.70135235e+00] [ 1.91826237e-02 3.10997277e-04 9.99815948e-01 -2.11837826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.134012739 meters Centerline goodness [0,1] 0.9954326259214412 Centerline is valid? [True, True] Translation: X:311.20, Y:-4.69, Z:-2.12 [[ 9.45595792e-01 -3.24819706e-01 -1.84595877e-02 3.11203150e+02] [ 3.24751935e-01 9.45775913e-01 -6.64103005e-03 -4.69378839e+00] [ 1.96157709e-02 2.84943223e-04 9.99807552e-01 -2.11871836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.164012739 meters Centerline goodness [0,1] 0.996488988190233 Centerline is valid? [True, True] Translation: X:311.23, Y:-4.69, Z:-2.12 [[ 9.44877948e-01 -3.26856950e-01 -1.92405005e-02 3.11232872e+02] [ 3.26783719e-01 9.45073790e-01 -6.92324515e-03 -4.68966472e+00] [ 2.04466035e-02 2.54139348e-04 9.99790914e-01 -2.11978787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.194012739 meters Centerline goodness [0,1] 0.9966862799243792 Centerline is valid? [True, True] Translation: X:311.26, Y:-4.68, Z:-2.12 [[ 9.43721562e-01 -3.30071632e-01 -2.10316684e-02 3.11260105e+02] [ 3.29984846e-01 9.43955865e-01 -7.57139640e-03 -4.68220388e+00] [ 2.23520699e-02 2.05158190e-04 9.99750140e-01 -2.12382215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.224012739 meters Centerline goodness [0,1] 0.9973468558101718 Centerline is valid? [True, True] Translation: X:311.29, Y:-4.67, Z:-2.12 [[ 9.43266768e-01 -3.31310428e-01 -2.19363527e-02 3.11288249e+02] [ 3.31216306e-01 9.43521789e-01 -7.89890170e-03 -4.67429452e+00] [ 2.33144153e-02 1.85093760e-04 9.99728165e-01 -2.12486189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.254012739 meters Centerline goodness [0,1] 0.9975529128922852 Centerline is valid? [True, True] Translation: X:311.32, Y:-4.66, Z:-2.12 [[ 9.43671456e-01 -3.30156431e-01 -2.19297518e-02 3.11315315e+02] [ 3.30061967e-01 9.43926207e-01 -7.90025144e-03 -4.66445748e+00] [ 2.33083862e-02 2.17064789e-04 9.99728299e-01 -2.12244701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.284012739 meters Centerline goodness [0,1] 0.9969631328576283 Centerline is valid? [True, True] Translation: X:311.34, Y:-4.65, Z:-2.12 [[ 9.44215580e-01 -3.28649614e-01 -2.11274457e-02 3.11340088e+02] [ 3.28561485e-01 9.44451888e-01 -7.61453006e-03 -4.65104304e+00] [ 2.24563684e-02 2.48092980e-04 9.99747793e-01 -2.11989501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.314012739 meters Centerline goodness [0,1] 0.9968710486273333 Centerline is valid? [True, True] Translation: X:311.37, Y:-4.64, Z:-2.12 [[ 9.44827561e-01 -3.26950071e-01 -2.01129428e-02 3.11367029e+02] [ 3.26869788e-01 9.45041573e-01 -7.25026114e-03 -4.64017947e+00] [ 2.13780405e-02 2.75933183e-04 9.99771425e-01 -2.11664786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.344012739 meters Centerline goodness [0,1] 0.9952647895697966 Centerline is valid? [True, True] Translation: X:311.39, Y:-4.62, Z:-2.11 [[ 9.46136085e-01 -3.23232179e-01 -1.86404732e-02 3.11389434e+02] [ 3.23162437e-01 9.46319632e-01 -6.72263751e-03 -4.61781217e+00] [ 1.98128185e-02 3.36629203e-04 9.99803650e-01 -2.11426892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.374012739 meters Centerline goodness [0,1] 0.9957838416265382 Centerline is valid? [True, True] Translation: X:311.42, Y:-4.61, Z:-2.12 [[ 9.46528041e-01 -3.22031330e-01 -1.95061681e-02 3.11416817e+02] [ 3.21954686e-01 9.46728936e-01 -7.03575498e-03 -4.60977991e+00] [ 2.07327873e-02 3.79437154e-04 9.99784981e-01 -2.11545363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.404012739 meters Centerline goodness [0,1] 0.9961396585742472 Centerline is valid? [True, True] Translation: X:311.44, Y:-4.60, Z:-2.12 [[ 9.46941037e-01 -3.20673276e-01 -2.17099782e-02 3.11443904e+02] [ 3.20577876e-01 9.47189759e-01 -7.83494319e-03 -4.59848757e+00] [ 2.30759260e-02 4.59490499e-04 9.99733610e-01 -2.11942049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.434012739 meters Centerline goodness [0,1] 0.996105720122574 Centerline is valid? [True, True] Translation: X:311.47, Y:-4.59, Z:-2.12 [[ 9.47115891e-01 -3.20113438e-01 -2.23355194e-02 3.11468758e+02] [ 3.20012215e-01 9.47379093e-01 -8.06446414e-03 -4.58615697e+00] [ 2.37417475e-02 4.90343106e-04 9.99718005e-01 -2.11936299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.464012739 meters Centerline goodness [0,1] 0.9958859199897148 Centerline is valid? [True, True] Translation: X:311.49, Y:-4.57, Z:-2.12 [[ 9.47310341e-01 -3.19520486e-01 -2.25782391e-02 3.11493926e+02] [ 3.19416845e-01 9.47579230e-01 -8.15370081e-03 -4.57366051e+00] [ 2.39999449e-02 5.12215193e-04 9.99711829e-01 -2.11941340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.494012739 meters Centerline goodness [0,1] 0.9964625154498572 Centerline is valid? [True, True] Translation: X:311.52, Y:-4.56, Z:-2.12 [[ 9.47583562e-01 -3.18675623e-01 -2.30486488e-02 3.11520266e+02] [ 3.18567304e-01 9.47863676e-01 -8.32619094e-03 -4.56128231e+00] [ 2.45003311e-02 5.47215754e-04 9.99699672e-01 -2.11930799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.524012739 meters Centerline goodness [0,1] 0.9955116696588869 Centerline is valid? [True, True] Translation: X:311.55, Y:-4.55, Z:-2.12 [[ 9.48350086e-01 -3.16379642e-01 -2.31524363e-02 3.11545769e+02] [ 3.16269573e-01 9.48632461e-01 -8.36723905e-03 -4.54643999e+00] [ 2.46103768e-02 6.12660722e-04 9.99696931e-01 -2.11927649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55401273900003 meters Centerline goodness [0,1] 0.9951246513806391 Centerline is valid? [True, True] Translation: X:311.57, Y:-4.53, Z:-2.12 [[ 9.49052374e-01 -3.14345499e-01 -2.20567211e-02 3.11571015e+02] [ 3.14245023e-01 9.49308435e-01 -7.97255743e-03 -4.53085110e+00] [ 2.34447690e-02 6.35159721e-04 9.99724932e-01 -2.11615436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.584012739 meters Centerline goodness [0,1] 0.9934195064629847 Centerline is valid? [True, True] Translation: X:311.59, Y:-4.51, Z:-2.12 [[ 9.49412736e-01 -3.13286222e-01 -2.16148160e-02 3.11594239e+02] [ 3.13189377e-01 9.49658527e-01 -7.81638355e-03 -4.51379774e+00] [ 2.29754596e-02 6.51443350e-04 9.99735817e-01 -2.11506261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61401273900003 meters Centerline goodness [0,1] 0.9934417851971723 Centerline is valid? [True, True] Translation: X:311.62, Y:-4.50, Z:-2.11 [[ 9.49827521e-01 -3.12067563e-01 -2.10122895e-02 3.11620250e+02] [ 3.11975715e-01 9.50059680e-01 -7.59982411e-03 -4.50249817e+00] [ 2.23345877e-02 6.63198044e-04 9.99750332e-01 -2.11300809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.644012739 meters Centerline goodness [0,1] 0.9933803487214987 Centerline is valid? [True, True] Translation: X:311.65, Y:-4.49, Z:-2.11 [[ 9.50074991e-01 -3.11345974e-01 -2.05230677e-02 3.11647685e+02] [ 3.11258152e-01 9.50296397e-01 -7.42437432e-03 -4.49300623e+00] [ 2.18145464e-02 6.65740223e-04 9.99761813e-01 -2.11115398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67401273900003 meters Centerline goodness [0,1] 0.9920867463695275 Centerline is valid? [True, True] Translation: X:311.67, Y:-4.48, Z:-2.11 [[ 9.50010893e-01 -3.11560104e-01 -2.02386939e-02 3.11671565e+02] [ 3.11474670e-01 9.50226222e-01 -7.32510053e-03 -4.47828968e+00] [ 2.15135467e-02 6.55084794e-04 9.99768342e-01 -2.11096268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.704012739 meters Centerline goodness [0,1] 0.9934951373485753 Centerline is valid? [True, True] Translation: X:311.70, Y:-4.47, Z:-2.11 [[ 9.49215622e-01 -3.13967850e-01 -2.03443329e-02 3.11698208e+02] [ 3.13882015e-01 9.49433421e-01 -7.36609147e-03 -4.46839402e+00] [ 2.16283055e-02 6.06288907e-04 9.99765897e-01 -2.11113319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.734012739 meters Centerline goodness [0,1] 0.9935552938657531 Centerline is valid? [True, True] Translation: X:311.73, Y:-4.46, Z:-2.11 [[ 9.48719794e-01 -3.15470603e-01 -2.02250198e-02 3.11725428e+02] [ 3.15386087e-01 9.48935179e-01 -7.32408467e-03 -4.46003781e+00] [ 2.15027661e-02 5.69814268e-04 9.99768626e-01 -2.11070964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.764012739 meters Centerline goodness [0,1] 0.9944382884418684 Centerline is valid? [True, True] Translation: X:311.75, Y:-4.45, Z:-2.11 [[ 9.48221727e-01 -3.16949290e-01 -2.04622569e-02 3.11753228e+02] [ 3.16863044e-01 9.48442328e-01 -7.41362070e-03 -4.45131417e+00] [ 2.17570124e-02 5.46023211e-04 9.99763139e-01 -2.10996994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.794012739 meters Centerline goodness [0,1] 0.9954900074810302 Centerline is valid? [True, True] Translation: X:311.78, Y:-4.44, Z:-2.11 [[ 9.47735120e-01 -3.18266544e-01 -2.24621573e-02 3.11778278e+02] [ 3.18162880e-01 9.48001098e-01 -8.14247257e-03 -4.43730149e+00] [ 2.38856264e-02 5.70282564e-04 9.99714535e-01 -2.11281543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.824012739 meters Centerline goodness [0,1] 0.9959094976351783 Centerline is valid? [True, True] Translation: X:311.81, Y:-4.43, Z:-2.11 [[ 9.47543329e-01 -3.18777708e-01 -2.32897582e-02 3.11805114e+02] [ 3.18666315e-01 9.47829328e-01 -8.44663312e-03 -4.42776468e+00] [ 2.47673142e-02 5.81889451e-04 9.99693074e-01 -2.11394775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.854012739 meters Centerline goodness [0,1] 0.9964495016469179 Centerline is valid? [True, True] Translation: X:311.83, Y:-4.42, Z:-2.11 [[ 9.47016287e-01 -3.20392864e-01 -2.25513827e-02 3.11832033e+02] [ 3.20288772e-01 9.47284611e-01 -8.18337616e-03 -4.41795864e+00] [ 2.39844731e-02 5.26835853e-04 9.99712192e-01 -2.11164937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.884012739 meters Centerline goodness [0,1] 0.9962041604117521 Centerline is valid? [True, True] Translation: X:311.86, Y:-4.41, Z:-2.11 [[ 9.46659242e-01 -3.21539620e-01 -2.11790499e-02 3.11858286e+02] [ 3.21448015e-01 9.46896008e-01 -7.68915276e-03 -4.40773080e+00] [ 2.25267251e-02 4.71043971e-04 9.99746130e-01 -2.10831704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.914012739 meters Centerline goodness [0,1] 0.995895974652859 Centerline is valid? [True, True] Translation: X:311.88, Y:-4.40, Z:-2.11 [[ 9.46343147e-01 -3.22532152e-01 -2.01905625e-02 3.11883807e+02] [ 3.22449051e-01 9.46558411e-01 -7.33370607e-03 -4.39558658e+00] [ 2.14769028e-02 4.29774750e-04 9.99769252e-01 -2.10600542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.944012739 meters Centerline goodness [0,1] 0.9958942776494739 Centerline is valid? [True, True] Translation: X:311.91, Y:-4.39, Z:-2.10 [[ 9.45786162e-01 -3.24193810e-01 -1.96699969e-02 3.11911063e+02] [ 3.24115270e-01 9.45990606e-01 -7.14600640e-03 -4.38663010e+00] [ 2.09243233e-02 3.83247612e-04 9.99780989e-01 -2.10446287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.974012739 meters Centerline goodness [0,1] 0.9957479541035448 Centerline is valid? [True, True] Translation: X:311.94, Y:-4.38, Z:-2.10 [[ 9.45665694e-01 -3.24529818e-01 -1.99196549e-02 3.11936855e+02] [ 3.24449271e-01 9.45875388e-01 -7.24024153e-03 -4.37515758e+00] [ 2.11911856e-02 3.83930511e-04 9.99775368e-01 -2.10498157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.004012739 meters Centerline goodness [0,1] 0.9960326821213356 Centerline is valid? [True, True] Translation: X:311.96, Y:-4.36, Z:-2.11 [[ 9.45609059e-01 -3.24645780e-01 -2.07032664e-02 3.11962319e+02] [ 3.24558761e-01 9.45835588e-01 -7.52674495e-03 -4.36438939e+00] [ 2.20254121e-02 3.97931729e-04 9.99757332e-01 -2.10622325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.034012739 meters Centerline goodness [0,1] 0.9960661906187198 Centerline is valid? [True, True] Translation: X:311.99, Y:-4.35, Z:-2.11 [[ 9.45772506e-01 -3.24078965e-01 -2.20723951e-02 3.11986379e+02] [ 3.23979797e-01 9.46029930e-01 -8.02888557e-03 -4.34883787e+00] [ 2.34831393e-02 4.42489161e-04 9.99724135e-01 -2.10886356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.064012739 meters Centerline goodness [0,1] 0.996091330442769 Centerline is valid? [True, True] Translation: X:312.01, Y:-4.34, Z:-2.11 [[ 9.45713339e-01 -3.24250971e-01 -2.20813880e-02 3.12012255e+02] [ 3.24151723e-01 9.45970990e-01 -8.03407474e-03 -4.33750586e+00] [ 2.34934090e-02 4.40211691e-04 9.99723895e-01 -2.10829602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.094012739 meters Centerline goodness [0,1] 0.9969803400865207 Centerline is valid? [True, True] Translation: X:312.04, Y:-4.33, Z:-2.11 [[ 9.45115773e-01 -3.26021418e-01 -2.15919154e-02 3.12038616e+02] [ 3.25926892e-01 9.45362302e-01 -7.85994786e-03 -4.32782397e+00] [ 2.29746942e-02 3.91174805e-04 9.99735970e-01 -2.10642013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.124012739 meters Centerline goodness [0,1] 0.9966439389111919 Centerline is valid? [True, True] Translation: X:312.07, Y:-4.32, Z:-2.11 [[ 9.44505458e-01 -3.27776583e-01 -2.17244467e-02 3.12065820e+02] [ 3.27681324e-01 9.44755200e-01 -7.90959469e-03 -4.32055891e+00] [ 2.31168640e-02 3.51959875e-04 9.99732708e-01 -2.10614619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.154012739 meters Centerline goodness [0,1] 0.9967005130170083 Centerline is valid? [True, True] Translation: X:312.09, Y:-4.31, Z:-2.11 [[ 9.43863206e-01 -3.29623380e-01 -2.16950713e-02 3.12093357e+02] [ 3.29528834e-01 9.44112458e-01 -7.90028467e-03 -4.31414578e+00] [ 2.30867056e-02 3.07636457e-04 9.99733419e-01 -2.10547637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.184012739 meters Centerline goodness [0,1] 0.9970138351808886 Centerline is valid? [True, True] Translation: X:312.12, Y:-4.31, Z:-2.10 [[ 9.42371668e-01 -3.34004018e-01 -1.94153589e-02 3.12124039e+02] [ 3.33929204e-01 9.42571633e-01 -7.07130415e-03 -4.31271532e+00] [ 2.06622105e-02 1.80441344e-04 9.99786497e-01 -2.10129955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.214012739 meters Centerline goodness [0,1] 0.9966878871300757 Centerline is valid? [True, True] Translation: X:312.15, Y:-4.31, Z:-2.10 [[ 9.41177974e-01 -3.37431575e-01 -1.79987135e-02 3.12153649e+02] [ 3.37367853e-01 9.41350053e-01 -6.55816311e-03 -4.31025635e+00] [ 1.91560212e-02 1.00211328e-04 9.99816502e-01 -2.09890711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.244012739 meters Centerline goodness [0,1] 0.9965277777777778 Centerline is valid? [True, True] Translation: X:312.18, Y:-4.30, Z:-2.10 [[ 9.40676051e-01 -3.38811209e-01 -1.83174952e-02 3.12181292e+02] [ 3.38745403e-01 9.40854377e-01 -6.67783255e-03 -4.30407997e+00] [ 1.94966201e-02 7.67098470e-05 9.99809920e-01 -2.09941387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.274012739 meters Centerline goodness [0,1] 0.9968556822313961 Centerline is valid? [True, True] Translation: X:312.21, Y:-4.30, Z:-2.10 [[ 9.40265321e-01 -3.39895167e-01 -1.92977206e-02 3.12208282e+02] [ 3.39822329e-01 9.40463329e-01 -7.03652424e-03 -4.29711471e+00] [ 2.05404791e-02 5.84033779e-05 9.99789020e-01 -2.10074482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30401273900003 meters Centerline goodness [0,1] 0.9972322759208005 Centerline is valid? [True, True] Translation: X:312.23, Y:-4.29, Z:-2.10 [[ 9.39832065e-01 -3.41031285e-01 -2.03310651e-02 3.12234289e+02] [ 3.40950669e-01 9.40051946e-01 -7.41482080e-03 -4.29061495e+00] [ 2.16409432e-02 3.67961011e-05 9.99765807e-01 -2.10223726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.334012739 meters Centerline goodness [0,1] 0.9972322759208005 Centerline is valid? [True, True] Translation: X:312.26, Y:-4.28, Z:-2.10 [[ 9.39773622e-01 -3.41192356e-01 -2.03301582e-02 3.12260029e+02] [ 3.41111725e-01 9.39993497e-01 -7.41730664e-03 -4.28099615e+00] [ 2.16409448e-02 3.57338090e-05 9.99765807e-01 -2.10169076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36401273900003 meters Centerline goodness [0,1] 0.9978530636781313 Centerline is valid? [True, True] Translation: X:312.29, Y:-4.28, Z:-2.10 [[ 9.39140691e-01 -3.42867156e-01 -2.13746522e-02 3.12288351e+02] [ 3.42778360e-01 9.39383901e-01 -7.80272258e-03 -4.27830421e+00] [ 2.27543014e-02 1.08606830e-06 9.99741087e-01 -2.10321696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.394012739 meters Centerline goodness [0,1] 0.9973067310178402 Centerline is valid? [True, True] Translation: X:312.32, Y:-4.27, Z:-2.10 [[ 9.38664338e-01 -3.44173131e-01 -2.13100225e-02 3.12315980e+02] [ 3.44085113e-01 9.38906202e-01 -7.78330244e-03 -4.27322793e+00] [ 2.26869159e-02 -2.65530687e-05 9.99742618e-01 -2.10198990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42401273900003 meters Centerline goodness [0,1] 0.996406014078217 Centerline is valid? [True, True] Translation: X:312.34, Y:-4.27, Z:-2.10 [[ 9.38241874e-01 -3.45406534e-01 -1.99125894e-02 3.12343598e+02] [ 3.45329882e-01 9.38453155e-01 -7.27657572e-03 -4.27151739e+00] [ 2.12004091e-02 -4.92241082e-05 9.99775245e-01 -2.09827121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.454012739 meters Centerline goodness [0,1] 0.996631479574322 Centerline is valid? [True, True] Translation: X:312.37, Y:-4.26, Z:-2.10 [[ 9.38211064e-01 -3.45528635e-01 -1.92343726e-02 3.12370442e+02] [ 3.45457107e-01 9.38408205e-01 -7.03045588e-03 -4.26400331e+00] [ 2.04789169e-02 -4.85992062e-05 9.99790284e-01 -2.09615124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.484012739 meters Centerline goodness [0,1] 0.9962559637149397 Centerline is valid? [True, True] Translation: X:312.40, Y:-4.26, Z:-2.10 [[ 9.38354049e-01 -3.45151264e-01 -1.90337520e-02 3.12397001e+02] [ 3.45081065e-01 9.38547071e-01 -6.96093289e-03 -4.25568935e+00] [ 2.02666470e-02 -3.63678585e-05 9.99794610e-01 -2.09527205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.514012739 meters Centerline goodness [0,1] 0.9964961008439269 Centerline is valid? [True, True] Translation: X:312.42, Y:-4.25, Z:-2.10 [[ 9.39385867e-01 -3.42308688e-01 -1.94667861e-02 3.12423071e+02] [ 3.42234563e-01 9.39587549e-01 -7.12337303e-03 -4.24638812e+00] [ 2.07291423e-02 2.93889109e-05 9.99785128e-01 -2.09566416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.544012739 meters Centerline goodness [0,1] 0.9970443140256868 Centerline is valid? [True, True] Translation: X:312.45, Y:-4.24, Z:-2.10 [[ 9.40065844e-01 -3.40416441e-01 -1.98205920e-02 3.12448775e+02] [ 3.40339090e-01 9.40274769e-01 -7.25693105e-03 -4.23514573e+00] [ 2.11071812e-02 7.62707680e-05 9.99777216e-01 -2.09544737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.574012739 meters Centerline goodness [0,1] 0.9966429319819531 Centerline is valid? [True, True] Translation: X:312.47, Y:-4.22, Z:-2.10 [[ 9.41701505e-01 -3.35853517e-01 -2.00172404e-02 3.12472548e+02] [ 3.35773563e-01 9.41914212e-01 -7.33025596e-03 -4.22004271e+00] [ 2.13164154e-02 1.81652962e-04 9.99772763e-01 -2.09537656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.604012739 meters Centerline goodness [0,1] 0.9967439269954158 Centerline is valid? [True, True] Translation: X:312.50, Y:-4.21, Z:-2.09 [[ 9.42467485e-01 -3.33677277e-01 -2.03596507e-02 3.12499516e+02] [ 3.33594022e-01 9.42687339e-01 -7.45714721e-03 -4.20944941e+00] [ 2.16810655e-02 2.36260996e-04 9.99764910e-01 -2.09475250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.634012739 meters Centerline goodness [0,1] 0.9960004254866504 Centerline is valid? [True, True] Translation: X:312.52, Y:-4.20, Z:-2.09 [[ 9.43297350e-01 -3.31320892e-01 -2.04101993e-02 3.12523625e+02] [ 3.31236594e-01 9.43518087e-01 -7.47922106e-03 -4.19596496e+00] [ 2.17354144e-02 2.94524486e-04 9.99763715e-01 -2.09454495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.664012739 meters Centerline goodness [0,1] 0.9941775218342931 Centerline is valid? [True, True] Translation: X:312.55, Y:-4.18, Z:-2.09 [[ 9.44635360e-01 -3.27569393e-01 -1.90349748e-02 3.12549156e+02] [ 3.27495283e-01 9.44827056e-01 -6.97664723e-03 -4.18191998e+00] [ 2.02700953e-02 3.56523184e-04 9.99794477e-01 -2.09045525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.694012739 meters Centerline goodness [0,1] 0.9940126139947157 Centerline is valid? [True, True] Translation: X:312.58, Y:-4.17, Z:-2.09 [[ 9.45012606e-01 -3.26500341e-01 -1.86735616e-02 3.12576341e+02] [ 3.26428793e-01 9.45197010e-01 -6.84507049e-03 -4.17233852e+00] [ 1.98851125e-02 3.73089710e-04 9.99802202e-01 -2.08965009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.724012739 meters Centerline goodness [0,1] 0.9934188179347826 Centerline is valid? [True, True] Translation: X:312.60, Y:-4.16, Z:-2.09 [[ 9.45443736e-01 -3.25244718e-01 -1.87620800e-02 3.12603222e+02] [ 3.25172176e-01 9.45629795e-01 -6.88086886e-03 -4.16207197e+00] [ 1.99799481e-02 4.04567966e-04 9.99800299e-01 -2.09055796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.754012739 meters Centerline goodness [0,1] 0.9915903609314636 Centerline is valid? [True, True] Translation: X:312.63, Y:-4.15, Z:-2.09 [[ 9.45373750e-01 -3.25467220e-01 -1.84271812e-02 3.12626737e+02] [ 3.25397222e-01 9.45553241e-01 -6.76138705e-03 -4.14929886e+00] [ 1.96244907e-02 3.95884276e-04 9.99807343e-01 -2.08911714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.784012739 meters Centerline goodness [0,1] 0.9936739971362014 Centerline is valid? [True, True] Translation: X:312.66, Y:-4.15, Z:-2.09 [[ 9.45019121e-01 -3.26489086e-01 -1.85401769e-02 3.12655779e+02] [ 3.26418370e-01 9.45200895e-01 -6.80551440e-03 -4.14568328e+00] [ 1.97461180e-02 3.79486891e-04 9.99804954e-01 -2.08742865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.814012739 meters Centerline goodness [0,1] 0.9938727049145571 Centerline is valid? [True, True] Translation: X:312.68, Y:-4.14, Z:-2.09 [[ 9.44835963e-01 -3.26973253e-01 -1.93260287e-02 3.12682166e+02] [ 3.26896439e-01 9.45033513e-01 -7.09768756e-03 -4.13656235e+00] [ 2.05844988e-02 3.88540502e-04 9.99788041e-01 -2.08839562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.844012739 meters Centerline goodness [0,1] 0.994322410530121 Centerline is valid? [True, True] Translation: X:312.71, Y:-4.13, Z:-2.09 [[ 9.44724550e-01 -3.27254278e-01 -2.00040618e-02 3.12708856e+02] [ 3.27171954e-01 9.44936229e-01 -7.35085192e-03 -4.12702733e+00] [ 2.13081605e-02 3.99762269e-04 9.99772875e-01 -2.09015192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.874012739 meters Centerline goodness [0,1] 0.9939881041209201 Centerline is valid? [True, True] Translation: X:312.74, Y:-4.12, Z:-2.09 [[ 9.44633899e-01 -3.27514486e-01 -2.00264487e-02 3.12735990e+02] [ 3.27432004e-01 9.44846075e-01 -7.36058460e-03 -4.12069219e+00] [ 2.13326095e-02 3.95757509e-04 9.99772356e-01 -2.09077919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.904012739 meters Centerline goodness [0,1] 0.9935738468505381 Centerline is valid? [True, True] Translation: X:312.76, Y:-4.11, Z:-2.09 [[ 9.44686391e-01 -3.27412094e-01 -1.92078833e-02 3.12762558e+02] [ 3.27336117e-01 9.44881565e-01 -7.06359827e-03 -4.11080614e+00] [ 2.04618823e-02 3.85451216e-04 9.99790559e-01 -2.08890164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.934012739 meters Centerline goodness [0,1] 0.9934386860218282 Centerline is valid? [True, True] Translation: X:312.79, Y:-4.10, Z:-2.09 [[ 9.44956977e-01 -3.26669819e-01 -1.85240425e-02 3.12789639e+02] [ 3.26598940e-01 9.45138443e-01 -6.81586272e-03 -4.10173854e+00] [ 1.97343214e-02 3.90764378e-04 9.99805183e-01 -2.08639118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.964012739 meters Centerline goodness [0,1] 0.9927786298568507 Centerline is valid? [True, True] Translation: X:312.81, Y:-4.08, Z:-2.09 [[ 9.46201030e-01 -3.23016539e-01 -1.90768288e-02 3.12814025e+02] [ 3.22940548e-01 9.46393196e-01 -7.02293011e-03 -4.08428053e+00] [ 2.03227035e-02 4.84422159e-04 9.99793355e-01 -2.08640079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.994012739 meters Centerline goodness [0,1] 0.9920099660638344 Centerline is valid? [True, True] Translation: X:312.84, Y:-4.07, Z:-2.09 [[ 9.46868440e-01 -3.21007959e-01 -1.98506506e-02 3.12840195e+02] [ 3.20925215e-01 9.47076337e-01 -7.30880903e-03 -4.07174436e+00] [ 2.11462673e-02 5.49906317e-04 9.99776241e-01 -2.08693936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.024012739 meters Centerline goodness [0,1] 0.9905611917298061 Centerline is valid? [True, True] Translation: X:312.86, Y:-4.06, Z:-2.09 [[ 9.47543764e-01 -3.18968725e-01 -2.04882228e-02 3.12864705e+02] [ 3.18880022e-01 9.47765040e-01 -7.54724621e-03 -4.05639767e+00] [ 2.18253568e-02 6.18061159e-04 9.99761607e-01 -2.08810601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05401273900003 meters Centerline goodness [0,1] 0.9888962157792857 Centerline is valid? [True, True] Translation: X:312.89, Y:-4.04, Z:-2.09 [[ 9.48244555e-01 -3.16880882e-01 -2.04638910e-02 3.12891538e+02] [ 3.16791881e-01 9.48465109e-01 -7.53932144e-03 -4.04289155e+00] [ 2.17983535e-02 6.66325963e-04 9.99762166e-01 -2.08804647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.084012739 meters Centerline goodness [0,1] 0.9891295116772824 Centerline is valid? [True, True] Translation: X:312.92, Y:-4.03, Z:-2.09 [[ 9.48182073e-01 -3.17056243e-01 -2.06420518e-02 3.12917069e+02] [ 3.16965714e-01 9.48406501e-01 -7.60556900e-03 -4.03180964e+00] [ 2.19884493e-02 6.68641497e-04 9.99758001e-01 -2.08784619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11401273900003 meters Centerline goodness [0,1] 0.991116697200801 Centerline is valid? [True, True] Translation: X:312.95, Y:-4.02, Z:-2.09 [[ 9.47672242e-01 -3.18459413e-01 -2.23813365e-02 3.12945584e+02] [ 3.18353327e-01 9.47936245e-01 -8.24833266e-03 -4.02432635e+00] [ 2.38428393e-02 6.91542957e-04 9.99715480e-01 -2.09019283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.144012739 meters Centerline goodness [0,1] 0.9854448588172616 Centerline is valid? [True, True] Translation: X:312.97, Y:-4.01, Z:-2.09 [[ 9.47323202e-01 -3.19475945e-01 -2.26687409e-02 3.12968646e+02] [ 3.19367320e-01 9.47594144e-01 -8.35786417e-03 -4.00710326e+00] [ 2.41509026e-02 6.77943619e-04 9.99708095e-01 -2.09161910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17401273900003 meters Centerline goodness [0,1] 0.9900865560909052 Centerline is valid? [True, True] Translation: X:313.00, Y:-4.00, Z:-2.09 [[ 9.47002989e-01 -3.20454037e-01 -2.22384330e-02 3.12997328e+02] [ 3.20349710e-01 9.47263847e-01 -8.20161205e-03 -4.00269281e+00] [ 2.36939033e-02 6.42875551e-04 9.99719053e-01 -2.08906709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.204012739 meters Centerline goodness [0,1] 0.9907428982989811 Centerline is valid? [True, True] Translation: X:313.03, Y:-3.99, Z:-2.08 [[ 9.46625914e-01 -3.21713146e-01 -2.00007767e-02 3.13025573e+02] [ 3.21628973e-01 9.46837022e-01 -7.37954448e-03 -3.99482033e+00] [ 2.13115723e-02 5.52838768e-04 9.99772730e-01 -2.08395158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.234012739 meters Centerline goodness [0,1] 0.9903499989348785 Centerline is valid? [True, True] Translation: X:313.05, Y:-3.98, Z:-2.08 [[ 9.46279781e-01 -3.22818337e-01 -1.85174586e-02 3.13051734e+02] [ 3.22746341e-01 9.46460818e-01 -6.83517947e-03 -3.98435918e+00] [ 1.97325703e-02 4.91550106e-04 9.99805173e-01 -2.08133180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.264012739 meters Centerline goodness [0,1] 0.9911822964367106 Centerline is valid? [True, True] Translation: X:313.08, Y:-3.98, Z:-2.08 [[ 9.45539507e-01 -3.25021343e-01 -1.77810756e-02 3.13080798e+02] [ 3.24955329e-01 9.45706584e-01 -6.56437931e-03 -3.97840685e+00] [ 1.89492436e-02 4.28824706e-04 9.99820355e-01 -2.07899136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.294012739 meters Centerline goodness [0,1] 0.9915995273391341 Centerline is valid? [True, True] Translation: X:313.11, Y:-3.97, Z:-2.08 [[ 9.45165800e-01 -3.26083526e-01 -1.81973507e-02 3.13108281e+02] [ 3.26014521e-01 9.45340868e-01 -6.72123475e-03 -3.97001212e+00] [ 1.93943832e-02 4.20080667e-04 9.99811823e-01 -2.07963687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.324012739 meters Centerline goodness [0,1] 0.9921492288275183 Centerline is valid? [True, True] Translation: X:313.14, Y:-3.96, Z:-2.08 [[ 9.44415772e-01 -3.28173113e-01 -1.95258297e-02 3.13135558e+02] [ 3.28094031e-01 9.44617511e-01 -7.21565824e-03 -3.96415433e+00] [ 2.08124256e-02 4.08273293e-04 9.99783315e-01 -2.08147140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.354012739 meters Centerline goodness [0,1] 0.9923781136895891 Centerline is valid? [True, True] Translation: X:313.16, Y:-3.95, Z:-2.08 [[ 9.44116957e-01 -3.29042157e-01 -1.93501932e-02 3.13161400e+02] [ 3.28964637e-01 9.44315153e-01 -7.15255817e-03 -3.95474769e+00] [ 2.06261738e-02 3.87322195e-04 9.99787183e-01 -2.08065671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.384012739 meters Centerline goodness [0,1] 0.9921615404277072 Centerline is valid? [True, True] Translation: X:313.19, Y:-3.95, Z:-2.08 [[ 9.43981745e-01 -3.29484349e-01 -1.83991744e-02 3.13187903e+02] [ 3.29414325e-01 9.44160968e-01 -6.80212328e-03 -3.94652189e+00] [ 1.96129754e-02 3.60128607e-04 9.99807582e-01 -2.07822563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.414012739 meters Centerline goodness [0,1] 0.9920442973523421 Centerline is valid? [True, True] Translation: X:313.21, Y:-3.94, Z:-2.08 [[ 9.43864912e-01 -3.29840233e-01 -1.80124462e-02 3.13213606e+02] [ 3.29773114e-01 9.44036704e-01 -6.66288243e-03 -3.93719664e+00] [ 1.92020970e-02 3.48840467e-04 9.99815562e-01 -2.07598881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.444012739 meters Centerline goodness [0,1] 0.9925621410862241 Centerline is valid? [True, True] Translation: X:313.24, Y:-3.93, Z:-2.08 [[ 9.43677159e-01 -3.30350890e-01 -1.84853535e-02 3.13240721e+02] [ 3.30280275e-01 9.43858129e-01 -6.83901347e-03 -3.92666949e+00] [ 1.97068253e-02 3.48473179e-04 9.99805741e-01 -2.07631799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.474012739 meters Centerline goodness [0,1] 0.9931671087533156 Centerline is valid? [True, True] Translation: X:313.27, Y:-3.92, Z:-2.08 [[ 9.43034313e-01 -3.32105009e-01 -1.98128047e-02 3.13269412e+02] [ 3.32024194e-01 9.43242360e-01 -7.33389299e-03 -3.91948533e+00] [ 2.11238992e-02 3.37782234e-04 9.99776808e-01 -2.07901834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.504012739 meters Centerline goodness [0,1] 0.9926009879605671 Centerline is valid? [True, True] Translation: X:313.30, Y:-3.91, Z:-2.08 [[ 9.42685039e-01 -3.33086516e-01 -1.99571945e-02 3.13297616e+02] [ 3.33004666e-01 9.42896214e-01 -7.39068751e-03 -3.91307974e+00] [ 2.12793015e-02 3.21251650e-04 9.99773518e-01 -2.07869690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.534012739 meters Centerline goodness [0,1] 0.9928649482548049 Centerline is valid? [True, True] Translation: X:313.32, Y:-3.90, Z:-2.08 [[ 9.42434392e-01 -3.33807729e-01 -1.97437789e-02 3.13323712e+02] [ 3.33727706e-01 9.42641134e-01 -7.31513281e-03 -3.90383293e+00] [ 2.10531460e-02 3.04986696e-04 9.99778311e-01 -2.07760584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.564012739 meters Centerline goodness [0,1] 0.992700575041908 Centerline is valid? [True, True] Translation: X:313.35, Y:-3.90, Z:-2.08 [[ 9.42087382e-01 -3.34795645e-01 -1.95765330e-02 3.13351582e+02] [ 3.34717144e-01 9.42290717e-01 -7.25513891e-03 -3.89529034e+00] [ 2.08757743e-02 2.82373585e-04 9.99782037e-01 -2.07589455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.594012739 meters Centerline goodness [0,1] 0.9931512694687433 Centerline is valid? [True, True] Translation: X:313.38, Y:-3.89, Z:-2.07 [[ 9.41940532e-01 -3.35224329e-01 -1.93049997e-02 3.13378655e+02] [ 3.35148010e-01 9.42138299e-01 -7.15794698e-03 -3.88643234e+00] [ 2.05874976e-02 2.72328144e-04 9.99788018e-01 -2.07454587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.624012739 meters Centerline goodness [0,1] 0.9918022342097439 Centerline is valid? [True, True] Translation: X:313.40, Y:-3.88, Z:-2.07 [[ 9.42013710e-01 -3.35058129e-01 -1.86070235e-02 3.13402826e+02] [ 3.34987126e-01 9.42197420e-01 -6.90269022e-03 -3.87549785e+00] [ 1.98442920e-02 2.69315471e-04 9.99803046e-01 -2.07269195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.654012739 meters Centerline goodness [0,1] 0.9920010238689447 Centerline is valid? [True, True] Translation: X:313.43, Y:-3.86, Z:-2.07 [[ 9.42316323e-01 -3.34221998e-01 -1.83194826e-02 3.13429502e+02] [ 3.34152958e-01 9.42494337e-01 -6.79898044e-03 -3.86336109e+00] [ 1.95383775e-02 2.85280932e-04 9.99809067e-01 -2.07209631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.684012739 meters Centerline goodness [0,1] 0.9908663219462576 Centerline is valid? [True, True] Translation: X:313.45, Y:-3.85, Z:-2.07 [[ 9.42820707e-01 -3.32787981e-01 -1.84736245e-02 3.13452803e+02] [ 3.32717431e-01 9.43001621e-01 -6.85962025e-03 -3.84536173e+00] [ 1.97034570e-02 3.20895129e-04 9.99805817e-01 -2.07126948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.714012739 meters Centerline goodness [0,1] 0.9912271294052036 Centerline is valid? [True, True] Translation: X:313.48, Y:-3.83, Z:-2.07 [[ 9.43707829e-01 -3.30237301e-01 -1.89435399e-02 3.13476266e+02] [ 3.30162563e-01 9.43897863e-01 -7.03599454e-03 -3.82724872e+00] [ 2.02043146e-02 3.85475460e-04 9.99795798e-01 -2.07263637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.744012739 meters Centerline goodness [0,1] 0.9909235499946983 Centerline is valid? [True, True] Translation: X:313.50, Y:-3.82, Z:-2.07 [[ 9.43643969e-01 -3.30388838e-01 -1.94750218e-02 3.13502126e+02] [ 3.30309852e-01 9.43844829e-01 -7.23473186e-03 -3.81594192e+00] [ 2.07716733e-02 3.94219513e-04 9.99784168e-01 -2.07353148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.774012739 meters Centerline goodness [0,1] 0.9915889442528001 Centerline is valid? [True, True] Translation: X:313.53, Y:-3.81, Z:-2.07 [[ 9.42825501e-01 -3.32681723e-01 -2.00735029e-02 3.13531013e+02] [ 3.32598240e-01 9.43039099e-01 -7.46107752e-03 -3.81080969e+00] [ 2.14122622e-02 3.58082427e-04 9.99770667e-01 -2.07358471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80401273900003 meters Centerline goodness [0,1] 0.9923885849976678 Centerline is valid? [True, True] Translation: X:313.56, Y:-3.80, Z:-2.07 [[ 9.42226364e-01 -3.34363681e-01 -2.02585355e-02 3.13556711e+02] [ 3.34278962e-01 9.42444069e-01 -7.53346274e-03 -3.79959334e+00] [ 2.16114529e-02 3.26224988e-04 9.99766392e-01 -2.07297549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.834012739 meters Centerline goodness [0,1] 0.9932638918779323 Centerline is valid? [True, True] Translation: X:313.58, Y:-3.79, Z:-2.07 [[ 9.41505142e-01 -3.36423533e-01 -1.96792765e-02 3.13584729e+02] [ 3.36343999e-01 9.41710747e-01 -7.31998929e-03 -3.79120292e+00] [ 2.09948028e-02 2.72800996e-04 9.99779548e-01 -2.07093209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86401273900003 meters Centerline goodness [0,1] 0.9928129879574769 Centerline is valid? [True, True] Translation: X:313.61, Y:-3.78, Z:-2.07 [[ 9.40328243e-01 -3.39805249e-01 -1.77535559e-02 3.13612634e+02] [ 3.39741067e-01 9.40495805e-01 -6.60659846e-03 -3.78337268e+00] [ 1.89421017e-02 1.80759078e-04 9.99820566e-01 -2.06677259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.894012739 meters Centerline goodness [0,1] 0.9926532859078591 Centerline is valid? [True, True] Translation: X:313.64, Y:-3.78, Z:-2.06 [[ 9.39776187e-01 -3.41376242e-01 -1.68219785e-02 3.13639463e+02] [ 3.41318815e-01 9.39926721e-01 -6.26303731e-03 -3.77516534e+00] [ 1.79494792e-02 1.44195542e-04 9.99838885e-01 -2.06444856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92401273900003 meters Centerline goodness [0,1] 0.9927320005115308 Centerline is valid? [True, True] Translation: X:313.67, Y:-3.77, Z:-2.06 [[ 9.38880837e-01 -3.43880230e-01 -1.57848205e-02 3.13667866e+02] [ 3.43830010e-01 9.39013514e-01 -5.87751218e-03 -3.76844838e+00] [ 1.68433200e-02 9.09885775e-05 9.99858137e-01 -2.06191007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.954012739 meters Centerline goodness [0,1] 0.9932249611180944 Centerline is valid? [True, True] Translation: X:313.69, Y:-3.76, Z:-2.06 [[ 9.38539496e-01 -3.44803474e-01 -1.59429655e-02 3.13694394e+02] [ 3.44752327e-01 9.38674895e-01 -5.93921316e-03 -3.75973509e+00] [ 1.70131228e-02 7.78116557e-05 9.99855263e-01 -2.06159755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.984012739 meters Centerline goodness [0,1] 0.9935710612034974 Centerline is valid? [True, True] Translation: X:313.72, Y:-3.75, Z:-2.06 [[ 9.38309420e-01 -3.45411894e-01 -1.63112487e-02 3.13721078e+02] [ 3.45358390e-01 9.38451181e-01 -6.07981589e-03 -3.75089354e+00] [ 1.74073513e-02 7.15219363e-05 9.99848478e-01 -2.06193736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.014012739 meters Centerline goodness [0,1] 0.9935533124098737 Centerline is valid? [True, True] Translation: X:313.75, Y:-3.74, Z:-2.06 [[ 9.38466291e-01 -3.44935903e-01 -1.73275419e-02 3.13746288e+02] [ 3.44875370e-01 9.38626238e-01 -6.46255772e-03 -3.74154094e+00] [ 1.84932537e-02 8.90501366e-05 9.99828981e-01 -2.06334848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.044012739 meters Centerline goodness [0,1] 0.9937636153944727 Centerline is valid? [True, True] Translation: X:313.77, Y:-3.73, Z:-2.06 [[ 9.38625608e-01 -3.44479356e-01 -1.77747354e-02 3.13772655e+02] [ 3.44415547e-01 9.38793887e-01 -6.63086968e-03 -3.73119922e+00] [ 1.89710107e-02 1.02008868e-04 9.99820029e-01 -2.06406987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.074012739 meters Centerline goodness [0,1] 0.9929820841725856 Centerline is valid? [True, True] Translation: X:313.80, Y:-3.72, Z:-2.06 [[ 9.38935382e-01 -3.43618133e-01 -1.80811269e-02 3.13799056e+02] [ 3.43551873e-01 9.39109452e-01 -6.74888933e-03 -3.72006420e+00] [ 1.92991980e-02 1.24965957e-04 9.99813745e-01 -2.06369782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.104012739 meters Centerline goodness [0,1] 0.9924210076857387 Centerline is valid? [True, True] Translation: X:313.82, Y:-3.71, Z:-2.06 [[ 9.39784031e-01 -3.41345754e-01 -1.70015276e-02 3.13823856e+02] [ 3.41286745e-01 9.39937790e-01 -6.34890256e-03 -3.70551388e+00] [ 1.81475492e-02 1.64201215e-04 9.99835306e-01 -2.06109291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.134012739 meters Centerline goodness [0,1] 0.9920177853059496 Centerline is valid? [True, True] Translation: X:313.85, Y:-3.69, Z:-2.06 [[ 9.40270137e-01 -3.40033106e-01 -1.64181703e-02 3.13848488e+02] [ 3.39977860e-01 9.40413448e-01 -6.13204841e-03 -3.69180144e+00] [ 1.75249676e-02 1.83967602e-04 9.99846409e-01 -2.05927055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.164012739 meters Centerline goodness [0,1] 0.9908477023698292 Centerline is valid? [True, True] Translation: X:313.87, Y:-3.67, Z:-2.06 [[ 9.41404660e-01 -3.36912533e-01 -1.57229441e-02 3.13872249e+02] [ 3.36861421e-01 9.41535921e-01 -5.87299524e-03 -3.67368946e+00] [ 1.67824024e-02 2.32411793e-04 9.99859139e-01 -2.05766602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.194012739 meters Centerline goodness [0,1] 0.9907437444581414 Centerline is valid? [True, True] Translation: X:313.90, Y:-3.66, Z:-2.06 [[ 9.41882721e-01 -3.35581652e-01 -1.55529593e-02 3.13899312e+02] [ 3.35531414e-01 9.42011088e-01 -5.81212810e-03 -3.66256416e+00] [ 1.66015036e-02 2.55836609e-04 9.99862153e-01 -2.05814113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.224012739 meters Centerline goodness [0,1] 0.9907437444581414 Centerline is valid? [True, True] Translation: X:313.92, Y:-3.65, Z:-2.06 [[ 9.41820026e-01 -3.35757611e-01 -1.55520337e-02 3.13924984e+02] [ 3.35707356e-01 9.41948386e-01 -5.81460363e-03 -3.65275733e+00] [ 1.66015104e-02 2.55378037e-04 9.99862153e-01 -2.05759456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.254012739 meters Centerline goodness [0,1] 0.9907747887233082 Centerline is valid? [True, True] Translation: X:313.95, Y:-3.64, Z:-2.06 [[ 9.42331526e-01 -3.34310982e-01 -1.57309265e-02 3.13950820e+02] [ 3.34259305e-01 9.42462776e-01 -5.88494308e-03 -3.64007500e+00] [ 1.67932138e-02 2.87358834e-04 9.99858943e-01 -2.05722543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.284012739 meters Centerline goodness [0,1] 0.989631360883884 Centerline is valid? [True, True] Translation: X:313.97, Y:-3.62, Z:-2.06 [[ 9.42657513e-01 -3.33348196e-01 -1.66070334e-02 3.13972004e+02] [ 3.33290389e-01 9.42803731e-01 -6.21627301e-03 -3.61815231e+00] [ 1.77293564e-02 3.24851841e-04 9.99842770e-01 -2.05704253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.314012739 meters Centerline goodness [0,1] 0.9909332765776312 Centerline is valid? [True, True] Translation: X:314.00, Y:-3.61, Z:-2.06 [[ 9.42384227e-01 -3.34081876e-01 -1.73571055e-02 3.14000481e+02] [ 3.34018821e-01 9.42544001e-01 -6.49879014e-03 -3.61066036e+00] [ 1.85309637e-02 3.26757418e-04 9.99828234e-01 -2.05856485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.344012739 meters Centerline goodness [0,1] 0.9913019378770759 Centerline is valid? [True, True] Translation: X:314.03, Y:-3.60, Z:-2.06 [[ 9.41383342e-01 -3.36865836e-01 -1.78553081e-02 3.14025604e+02] [ 3.36799542e-01 9.41552616e-01 -6.68881189e-03 -3.59934690e+00] [ 1.90649443e-02 2.83076495e-04 9.99818207e-01 -2.05889286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.374012739 meters Centerline goodness [0,1] 0.9919257422595207 Centerline is valid? [True, True] Translation: X:314.05, Y:-3.59, Z:-2.06 [[ 9.40649128e-01 -3.38938638e-01 -1.73152150e-02 3.14053535e+02] [ 3.38876627e-01 9.40808453e-01 -6.48745292e-03 -3.59032332e+00] [ 1.84891491e-02 2.34695282e-04 9.99829034e-01 -2.05733160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.404012739 meters Centerline goodness [0,1] 0.9926194484008805 Centerline is valid? [True, True] Translation: X:314.08, Y:-3.58, Z:-2.06 [[ 9.39719175e-01 -3.41544521e-01 -1.65894989e-02 3.14081930e+02] [ 3.41487959e-01 9.39865580e-01 -6.21815898e-03 -3.58339498e+00] [ 1.77156772e-02 1.78209089e-04 9.99843049e-01 -2.05587119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.434012739 meters Centerline goodness [0,1] 0.9923484783170963 Centerline is valid? [True, True] Translation: X:314.11, Y:-3.58, Z:-2.05 [[ 9.37795062e-01 -3.46795950e-01 -1.65224559e-02 3.14110918e+02] [ 3.46740602e-01 9.37940596e-01 -6.19615289e-03 -3.58000290e+00] [ 1.76458829e-02 8.17152642e-05 9.99844296e-01 -2.05454108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.464012739 meters Centerline goodness [0,1] 0.9927683085521685 Centerline is valid? [True, True] Translation: X:314.14, Y:-3.57, Z:-2.05 [[ 9.36914197e-01 -3.49183706e-01 -1.62026474e-02 3.14138931e+02] [ 3.49130785e-01 9.37054287e-01 -6.07922592e-03 -3.57390050e+00] [ 1.73055268e-02 3.88700693e-05 9.99850247e-01 -2.05333491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.494012739 meters Centerline goodness [0,1] 0.9926926671764806 Centerline is valid? [True, True] Translation: X:314.17, Y:-3.57, Z:-2.05 [[ 9.35920932e-01 -3.51904409e-01 -1.46729518e-02 3.14166279e+02] [ 3.51861299e-01 9.36035943e-01 -5.50812813e-03 -3.56770260e+00] [ 1.56727449e-02 -7.67147133e-06 9.99877175e-01 -2.04927040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.524012739 meters Centerline goodness [0,1] 0.9921704530868951 Centerline is valid? [True, True] Translation: X:314.19, Y:-3.56, Z:-2.05 [[ 9.35636281e-01 -3.52667868e-01 -1.44956580e-02 3.14193065e+02] [ 3.52625880e-01 9.35748564e-01 -5.44190924e-03 -3.55914757e+00] [ 1.54834777e-02 -1.98964216e-05 9.99880124e-01 -2.04930839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55401273900003 meters Centerline goodness [0,1] 0.9924189186311463 Centerline is valid? [True, True] Translation: X:314.22, Y:-3.55, Z:-2.05 [[ 9.35285078e-01 -3.53601278e-01 -1.44207682e-02 3.14220288e+02] [ 3.53559787e-01 9.35396245e-01 -5.41679754e-03 -3.55179609e+00] [ 1.54045190e-02 -3.23538377e-05 9.99881343e-01 -2.04881386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.584012739 meters Centerline goodness [0,1] 0.9921694289412814 Centerline is valid? [True, True] Translation: X:314.25, Y:-3.55, Z:-2.05 [[ 9.34663027e-01 -3.55242191e-01 -1.44226414e-02 3.14248569e+02] [ 3.55200829e-01 9.34774295e-01 -5.42112920e-03 -3.54831721e+00] [ 1.54077282e-02 -5.60051386e-05 9.99881292e-01 -2.04813888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61401273900003 meters Centerline goodness [0,1] 0.9918714716244322 Centerline is valid? [True, True] Translation: X:314.27, Y:-3.54, Z:-2.05 [[ 9.34618054e-01 -3.55355553e-01 -1.45438538e-02 3.14274174e+02] [ 3.55313493e-01 9.34731206e-01 -5.46754268e-03 -3.54044258e+00] [ 1.55375157e-02 -5.75634074e-05 9.99879284e-01 -2.04757717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.644012739 meters Centerline goodness [0,1] 0.9925610362649482 Centerline is valid? [True, True] Translation: X:314.30, Y:-3.53, Z:-2.05 [[ 9.34929247e-01 -3.54517677e-01 -1.49839706e-02 3.14300587e+02] [ 3.54472909e-01 9.35049312e-01 -5.63395753e-03 -3.53155771e+00] [ 1.60080889e-02 -4.40599677e-05 9.99871861e-01 -2.04871110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67401273900003 meters Centerline goodness [0,1] 0.9921280054761701 Centerline is valid? [True, True] Translation: X:314.33, Y:-3.52, Z:-2.05 [[ 9.35139353e-01 -3.53953805e-01 -1.52017539e-02 3.14326443e+02] [ 3.53907592e-01 9.35262906e-01 -5.71955488e-03 -3.52350565e+00] [ 1.62420947e-02 -3.14352554e-05 9.99868088e-01 -2.04783651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.704012739 meters Centerline goodness [0,1] 0.9923004934490386 Centerline is valid? [True, True] Translation: X:314.35, Y:-3.52, Z:-2.05 [[ 9.35229360e-01 -3.53711821e-01 -1.52968046e-02 3.14352772e+02] [ 3.53664972e-01 9.35354450e-01 -5.75676280e-03 -3.51557236e+00] [ 1.63441693e-02 -2.60503716e-05 9.99866425e-01 -2.04675384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.734012739 meters Centerline goodness [0,1] 0.9921068867944599 Centerline is valid? [True, True] Translation: X:314.38, Y:-3.51, Z:-2.05 [[ 9.34815045e-01 -3.54803259e-01 -1.53453229e-02 3.14380760e+02] [ 3.54756236e-01 9.34940985e-01 -5.77647442e-03 -3.51114329e+00] [ 1.63964832e-02 -4.39137682e-05 9.99865568e-01 -2.04645845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.764012739 meters Centerline goodness [0,1] 0.9922528466531871 Centerline is valid? [True, True] Translation: X:314.41, Y:-3.50, Z:-2.05 [[ 9.34325532e-01 -3.56089956e-01 -1.53539146e-02 3.14408328e+02] [ 3.56043046e-01 9.34451678e-01 -5.78019537e-03 -3.50456340e+00] [ 1.64057608e-02 -6.60704116e-05 9.99865414e-01 -2.04692775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.794012739 meters Centerline goodness [0,1] 0.9918043256130791 Centerline is valid? [True, True] Translation: X:314.44, Y:-3.50, Z:-2.05 [[ 9.33516729e-01 -3.58223767e-01 -1.49080051e-02 3.14438465e+02] [ 3.58179757e-01 9.33635755e-01 -5.61589016e-03 -3.50415878e+00] [ 1.59303919e-02 -9.72182292e-05 9.99873099e-01 -2.04563651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.824012739 meters Centerline goodness [0,1] 0.9914357361441687 Centerline is valid? [True, True] Translation: X:314.47, Y:-3.50, Z:-2.04 [[ 9.33095185e-01 -3.59328186e-01 -1.47183534e-02 3.14466131e+02] [ 3.59285411e-01 9.33211252e-01 -5.54541571e-03 -3.50002038e+00] [ 1.57279572e-02 -1.13688941e-04 9.99876302e-01 -2.04402157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.854012739 meters Centerline goodness [0,1] 0.9915793973071169 Centerline is valid? [True, True] Translation: X:314.50, Y:-3.50, Z:-2.05 [[ 9.32367989e-01 -3.61179939e-01 -1.54591313e-02 3.14495558e+02] [ 3.61132993e-01 9.32496128e-01 -5.82523314e-03 -3.49518389e+00] [ 1.65195374e-02 -1.51541445e-04 9.99863532e-01 -2.04536606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.884012739 meters Centerline goodness [0,1] 0.9921353568847511 Centerline is valid? [True, True] Translation: X:314.52, Y:-3.49, Z:-2.05 [[ 9.32025321e-01 -3.62007388e-01 -1.67168070e-02 3.14521966e+02] [ 3.61952562e-01 9.32175209e-01 -6.30258920e-03 -3.48987469e+00] [ 1.78645769e-02 -1.76518410e-04 9.99840400e-01 -2.04699917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.914012739 meters Centerline goodness [0,1] 0.9929866320957218 Centerline is valid? [True, True] Translation: X:314.55, Y:-3.48, Z:-2.05 [[ 9.31816916e-01 -3.62486801e-01 -1.79040346e-02 3.14549018e+02] [ 3.62423947e-01 9.31988884e-01 -6.75292825e-03 -3.48263292e+00] [ 1.91342086e-02 -1.96358101e-04 9.99816905e-01 -2.04929550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.944012739 meters Centerline goodness [0,1] 0.9934081134236746 Centerline is valid? [True, True] Translation: X:314.58, Y:-3.48, Z:-2.05 [[ 9.31738595e-01 -3.62625144e-01 -1.91362209e-02 3.14576550e+02] [ 3.62553284e-01 9.31935063e-01 -7.22185567e-03 -3.47711747e+00] [ 2.04525417e-02 -2.09018054e-04 9.99790803e-01 -2.05134895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.974012739 meters Centerline goodness [0,1] 0.992907953376757 Centerline is valid? [True, True] Translation: X:314.60, Y:-3.47, Z:-2.05 [[ 9.32036882e-01 -3.61881974e-01 -1.86731996e-02 3.14603293e+02] [ 3.61813323e-01 9.32223902e-01 -7.05095557e-03 -3.46761901e+00] [ 1.99592167e-02 -1.84461781e-04 9.99800778e-01 -2.04909296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.004012739 meters Centerline goodness [0,1] 0.992488860598345 Centerline is valid? [True, True] Translation: X:314.63, Y:-3.46, Z:-2.05 [[ 9.32620104e-01 -3.60418617e-01 -1.78370873e-02 3.14629006e+02] [ 3.60355648e-01 9.32790652e-01 -6.73848088e-03 -3.45741395e+00] [ 1.90669423e-02 -1.43252423e-04 9.99818199e-01 -2.04643030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.034012739 meters Centerline goodness [0,1] 0.9914725009690339 Centerline is valid? [True, True] Translation: X:314.66, Y:-3.45, Z:-2.04 [[ 9.33830729e-01 -3.57372169e-01 -1.56621445e-02 3.14655449e+02] [ 3.57323183e-01 9.33962059e-01 -5.91736347e-03 -3.44687429e+00] [ 1.67425497e-02 -7.06314837e-05 9.99859831e-01 -2.04198423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.064012739 meters Centerline goodness [0,1] 0.9907391454169538 Centerline is valid? [True, True] Translation: X:314.68, Y:-3.44, Z:-2.04 [[ 9.34378515e-01 -3.55973149e-01 -1.48293151e-02 3.14681688e+02] [ 3.55929019e-01 9.34496183e-01 -5.60511857e-03 -3.43705228e+00] [ 1.58532100e-02 -4.08811995e-05 9.99874329e-01 -2.04064817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.094012739 meters Centerline goodness [0,1] 0.9902669691893382 Centerline is valid? [True, True] Translation: X:314.71, Y:-3.43, Z:-2.04 [[ 9.35430522e-01 -3.53196113e-01 -1.49078714e-02 3.14706456e+02] [ 3.53151102e-01 9.35549307e-01 -5.63851645e-03 -3.42510910e+00] [ 1.59385509e-02 9.70914992e-06 9.99872973e-01 -2.03866455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.124012739 meters Centerline goodness [0,1] 0.9914169488637574 Centerline is valid? [True, True] Translation: X:314.73, Y:-3.41, Z:-2.04 [[ 9.35921488e-01 -3.51834617e-01 -1.62287030e-02 3.14731647e+02] [ 3.51781048e-01 9.36062178e-01 -6.13949277e-03 -3.41240546e+00] [ 1.73511612e-02 3.71330485e-05 9.99849457e-01 -2.04157308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.154012739 meters Centerline goodness [0,1] 0.9918390952319753 Centerline is valid? [True, True] Translation: X:314.76, Y:-3.40, Z:-2.04 [[ 9.36570394e-01 -3.50020879e-01 -1.79243375e-02 3.14755798e+02] [ 3.49955116e-01 9.36741895e-01 -6.78520835e-03 -3.39879252e+00] [ 1.91654425e-02 8.21116507e-05 9.99816323e-01 -2.04464897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.184012739 meters Centerline goodness [0,1] 0.9922560219056176 Centerline is valid? [True, True] Translation: X:314.78, Y:-3.38, Z:-2.05 [[ 9.37749517e-01 -3.46736835e-01 -1.99852489e-02 3.14780858e+02] [ 3.46654232e-01 9.37962440e-01 -7.56999851e-03 -3.38284160e+00] [ 2.13702101e-02 1.70791344e-04 9.99771616e-01 -2.04838396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.214012739 meters Centerline goodness [0,1] 0.9919798643402585 Centerline is valid? [True, True] Translation: X:314.81, Y:-3.37, Z:-2.05 [[ 9.38068513e-01 -3.45905153e-01 -1.94188095e-02 3.14806225e+02] [ 3.45826920e-01 9.38269466e-01 -7.35874504e-03 -3.37008855e+00] [ 2.07655038e-02 1.87459946e-04 9.99784356e-01 -2.04656149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.244012739 meters Centerline goodness [0,1] 0.9914686429540901 Centerline is valid? [True, True] Translation: X:314.83, Y:-3.36, Z:-2.04 [[ 9.37882546e-01 -3.46536797e-01 -1.69875833e-02 3.14832909e+02] [ 3.46477020e-01 9.38036367e-01 -6.43812171e-03 -3.36314960e+00] [ 1.81660170e-02 1.52394752e-04 9.99834973e-01 -2.04116927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.274012739 meters Centerline goodness [0,1] 0.9911804903049457 Centerline is valid? [True, True] Translation: X:314.86, Y:-3.35, Z:-2.04 [[ 9.37631409e-01 -3.47234429e-01 -1.66009431e-02 3.14859624e+02] [ 3.47177390e-01 9.37778349e-01 -6.29508028e-03 -3.35447430e+00] [ 1.77538737e-02 1.38992888e-04 9.99842378e-01 -2.03995998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30401273900003 meters Centerline goodness [0,1] 0.9908143475203001 Centerline is valid? [True, True] Translation: X:314.88, Y:-3.35, Z:-2.04 [[ 9.37468189e-01 -3.47675250e-01 -1.65926517e-02 3.14884807e+02] [ 3.47618268e-01 9.37615008e-01 -6.29578234e-03 -3.34541629e+00] [ 1.77464069e-02 1.34186821e-04 9.99842511e-01 -2.03944433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.334012739 meters Centerline goodness [0,1] 0.9907800815771584 Centerline is valid? [True, True] Translation: X:314.91, Y:-3.34, Z:-2.04 [[ 9.37212331e-01 -3.48382783e-01 -1.62013037e-02 3.14910442e+02] [ 3.48328543e-01 9.37352347e-01 -6.14849632e-03 -3.33517846e+00] [ 1.73283603e-02 1.19070064e-04 9.99849846e-01 -2.03818562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36401273900003 meters Centerline goodness [0,1] 0.9907635992168213 Centerline is valid? [True, True] Translation: X:314.94, Y:-3.33, Z:-2.04 [[ 9.36983996e-01 -3.48989801e-01 -1.63435175e-02 3.14936332e+02] [ 3.48934636e-01 9.37126516e-01 -6.20594064e-03 -3.32548508e+00] [ 1.74817536e-02 1.12047728e-04 9.99847176e-01 -2.03821252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.394012739 meters Centerline goodness [0,1] 0.991112538815719 Centerline is valid? [True, True] Translation: X:314.96, Y:-3.32, Z:-2.04 [[ 9.36806978e-01 -3.49378516e-01 -1.80924788e-02 3.14962352e+02] [ 3.49310901e-01 9.36981664e-01 -6.87432732e-03 -3.31589952e+00] [ 1.93540632e-02 1.20017724e-04 9.99812685e-01 -2.04096661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42401273900003 meters Centerline goodness [0,1] 0.9914380644062021 Centerline is valid? [True, True] Translation: X:314.99, Y:-3.30, Z:-2.04 [[ 9.36912935e-01 -3.49068456e-01 -1.85840172e-02 3.14988054e+02] [ 3.48996974e-01 9.37097218e-01 -7.06517882e-03 -3.30480004e+00] [ 1.98812619e-02 1.33691657e-04 9.99802339e-01 -2.04134685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.454012739 meters Centerline goodness [0,1] 0.9913404177981141 Centerline is valid? [True, True] Translation: X:315.01, Y:-3.29, Z:-2.04 [[ 9.37066907e-01 -3.48641266e-01 -1.88382233e-02 3.15013696e+02] [ 3.48567703e-01 9.37256233e-01 -7.16312628e-03 -3.29289472e+00] [ 2.01536036e-02 1.45932383e-04 9.99796885e-01 -2.04074077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.484012739 meters Centerline goodness [0,1] 0.9911352405997498 Centerline is valid? [True, True] Translation: X:315.04, Y:-3.28, Z:-2.04 [[ 9.37790693e-01 -3.46710904e-01 -1.84435375e-02 3.15038723e+02] [ 3.46639943e-01 9.37972022e-01 -7.01687300e-03 -3.27709531e+00] [ 1.97323486e-02 1.87091400e-04 9.99805281e-01 -2.03865923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.514012739 meters Centerline goodness [0,1] 0.9903762216024017 Centerline is valid? [True, True] Translation: X:315.06, Y:-3.26, Z:-2.04 [[ 9.38201775e-01 -3.45593448e-01 -1.85093788e-02 3.15063545e+02] [ 3.45521693e-01 9.38384315e-01 -7.04536394e-03 -3.26327740e+00] [ 1.98037424e-02 2.14581048e-04 9.99803864e-01 -2.03829668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.544012739 meters Centerline goodness [0,1] 0.9903973651567646 Centerline is valid? [True, True] Translation: X:315.09, Y:-3.25, Z:-2.04 [[ 9.38991801e-01 -3.43415684e-01 -1.89753835e-02 3.15086815e+02] [ 3.43339799e-01 9.39183473e-01 -7.22402017e-03 -3.24592465e+00] [ 2.03022084e-02 2.68291350e-04 9.99793853e-01 -2.03885213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.574012739 meters Centerline goodness [0,1] 0.9896762681621208 Centerline is valid? [True, True] Translation: X:315.11, Y:-3.23, Z:-2.04 [[ 9.39455123e-01 -3.42154744e-01 -1.88202884e-02 3.15112008e+02] [ 3.42079817e-01 9.39643573e-01 -7.16619208e-03 -3.23174677e+00] [ 2.01363096e-02 2.94275063e-04 9.99797201e-01 -2.03874440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.604012739 meters Centerline goodness [0,1] 0.9894851574020646 Centerline is valid? [True, True] Translation: X:315.14, Y:-3.21, Z:-2.04 [[ 9.40416515e-01 -3.39511718e-01 -1.86700912e-02 3.15135637e+02] [ 3.39437393e-01 9.40601760e-01 -7.11236286e-03 -3.21442883e+00] [ 1.99758512e-02 3.51256388e-04 9.99800401e-01 -2.03802186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.634012739 meters Centerline goodness [0,1] 0.9892532378065583 Centerline is valid? [True, True] Translation: X:315.16, Y:-3.20, Z:-2.04 [[ 9.40535793e-01 -3.39157818e-01 -1.90891812e-02 3.15160092e+02] [ 3.39080007e-01 9.40729418e-01 -7.27395769e-03 -3.19936106e+00] [ 2.04247740e-02 3.68657860e-04 9.99791325e-01 -2.03882290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.664012739 meters Centerline goodness [0,1] 0.989480886000171 Centerline is valid? [True, True] Translation: X:315.19, Y:-3.19, Z:-2.04 [[ 9.40231685e-01 -3.39937579e-01 -2.01698076e-02 3.15187321e+02] [ 3.39850839e-01 9.40447927e-01 -7.68794997e-03 -3.18896050e+00] [ 2.15820768e-02 3.73728139e-04 9.99767010e-01 -2.03992934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.694012739 meters Centerline goodness [0,1] 0.9910182207931404 Centerline is valid? [True, True] Translation: X:315.22, Y:-3.18, Z:-2.04 [[ 9.38748592e-01 -3.43935744e-01 -2.14309304e-02 3.15215466e+02] [ 3.43838764e-01 9.38993137e-01 -8.17267835e-03 -3.18215799e+00] [ 2.29343728e-02 3.03305658e-04 9.99736927e-01 -2.04288705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.724012739 meters Centerline goodness [0,1] 0.9914993093188822 Centerline is valid? [True, True] Translation: X:315.24, Y:-3.18, Z:-2.04 [[ 9.37545137e-01 -3.47207564e-01 -2.13547196e-02 3.15243215e+02] [ 3.47112044e-01 9.37788279e-01 -8.14693151e-03 -3.17648591e+00] [ 2.28548820e-02 2.25635655e-04 9.99738768e-01 -2.04228988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.754012739 meters Centerline goodness [0,1] 0.9926131511528608 Centerline is valid? [True, True] Translation: X:315.28, Y:-3.18, Z:-2.04 [[ 9.34665298e-01 -3.54967633e-01 -1.99689935e-02 3.15275747e+02] [ 3.54885848e-01 9.34878590e-01 -7.61947506e-03 -3.18042933e+00] [ 2.13732515e-02 3.49457404e-05 9.99771565e-01 -2.03855518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.784012739 meters Centerline goodness [0,1] 0.9928283281039892 Centerline is valid? [True, True] Translation: X:315.30, Y:-3.18, Z:-2.04 [[ 9.33318240e-01 -3.58537285e-01 -1.91853536e-02 3.15303702e+02] [ 3.58462525e-01 9.33515406e-01 -7.32154615e-03 -3.17622527e+00] [ 2.05348704e-02 -4.38977236e-05 9.99789136e-01 -2.03640126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.814012739 meters Centerline goodness [0,1] 0.9923198025699941 Centerline is valid? [True, True] Translation: X:315.33, Y:-3.17, Z:-2.03 [[ 9.32292747e-01 -3.61223596e-01 -1.86479600e-02 3.15331215e+02] [ 3.61153425e-01 9.32479225e-01 -7.12033311e-03 -3.17128508e+00] [ 1.99608677e-02 -9.65397326e-05 9.99800757e-01 -2.03492782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.844012739 meters Centerline goodness [0,1] 0.9923939831732812 Centerline is valid? [True, True] Translation: X:315.36, Y:-3.17, Z:-2.04 [[ 9.31299105e-01 -3.63750012e-01 -1.91808866e-02 3.15359754e+02] [ 3.63676281e-01 9.31496594e-01 -7.32512717e-03 -3.16828153e+00] [ 2.05314457e-02 -1.53749142e-04 9.99789196e-01 -2.03613159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.874012739 meters Centerline goodness [0,1] 0.9930679595134814 Centerline is valid? [True, True] Translation: X:315.39, Y:-3.16, Z:-2.04 [[ 9.31178088e-01 -3.64011090e-01 -2.00821843e-02 3.15386559e+02] [ 3.63930293e-01 9.31394599e-01 -7.67091983e-03 -3.15933664e+00] [ 2.14967378e-02 -1.65522731e-04 9.99768905e-01 -2.03700161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.904012739 meters Centerline goodness [0,1] 0.9943484886969773 Centerline is valid? [True, True] Translation: X:315.41, Y:-3.15, Z:-2.04 [[ 9.31943315e-01 -3.61936462e-01 -2.19921739e-02 3.15412162e+02] [ 3.61838881e-01 9.32202758e-01 -8.40492218e-03 -3.14687519e+00] [ 2.35432130e-02 -1.24712563e-04 9.99722812e-01 -2.04014095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.934012739 meters Centerline goodness [0,1] 0.9935440974605354 Centerline is valid? [True, True] Translation: X:315.44, Y:-3.13, Z:-2.04 [[ 9.32466897e-01 -3.60553365e-01 -2.25112390e-02 3.15437456e+02] [ 3.60450669e-01 9.32738582e-01 -8.60537509e-03 -3.13351975e+00] [ 2.40997981e-02 -8.99637434e-05 9.99709554e-01 -2.03961190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.964012739 meters Centerline goodness [0,1] 0.9938168233930181 Centerline is valid? [True, True] Translation: X:315.46, Y:-3.12, Z:-2.04 [[ 9.32962741e-01 -3.59278468e-01 -2.23496321e-02 3.15463359e+02] [ 3.59176760e-01 9.33230400e-01 -8.54841160e-03 -3.12203154e+00] [ 2.39286163e-02 -5.21189124e-05 9.99713668e-01 -2.03862613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.994012739 meters Centerline goodness [0,1] 0.9931760204081632 Centerline is valid? [True, True] Translation: X:315.49, Y:-3.11, Z:-2.03 [[ 9.33608957e-01 -3.57731476e-01 -2.00625739e-02 3.15488916e+02] [ 3.57649083e-01 9.33824497e-01 -7.67739270e-03 -3.11059230e+00] [ 2.14813680e-02 -7.67857485e-06 9.99769249e-01 -2.03459968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.024012739 meters Centerline goodness [0,1] 0.9929468250090289 Centerline is valid? [True, True] Translation: X:315.51, Y:-3.10, Z:-2.03 [[ 9.33664590e-01 -3.57629998e-01 -1.92670008e-02 3.15513916e+02] [ 3.57553951e-01 9.33863365e-01 -7.37480896e-03 -3.10113010e+00] [ 2.06301991e-02 -3.39427432e-06 9.99787175e-01 -2.03322054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05401273900003 meters Centerline goodness [0,1] 0.9926730564430245 Centerline is valid? [True, True] Translation: X:315.54, Y:-3.09, Z:-2.03 [[ 9.33542966e-01 -3.57899860e-01 -2.01300992e-02 3.15541519e+02] [ 3.57816863e-01 9.33759974e-01 -7.70729826e-03 -3.09379356e+00] [ 2.15551219e-02 -7.79486370e-06 9.99767661e-01 -2.03395012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.084012739 meters Centerline goodness [0,1] 0.9933946987130317 Centerline is valid? [True, True] Translation: X:315.57, Y:-3.08, Z:-2.03 [[ 9.33470102e-01 -3.58066572e-01 -2.05401787e-02 3.15567962e+02] [ 3.57980102e-01 9.33696059e-01 -7.86873465e-03 -3.08457403e+00] [ 2.19958147e-02 -7.74671005e-06 9.99758063e-01 -2.03366046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11401273900003 meters Centerline goodness [0,1] 0.993172527449008 Centerline is valid? [True, True] Translation: X:315.59, Y:-3.07, Z:-2.03 [[ 9.33553400e-01 -3.57860766e-01 -2.03401519e-02 3.15592564e+02] [ 3.57775834e-01 9.33774958e-01 -7.79616356e-03 -3.07426477e+00] [ 2.17830656e-02 9.20167246e-07 9.99762721e-01 -2.03185463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.144012739 meters Centerline goodness [0,1] 0.993172527449008 Centerline is valid? [True, True] Translation: X:315.62, Y:-3.06, Z:-2.03 [[ 9.33487959e-01 -3.58031474e-01 -2.03394550e-02 3.15618158e+02] [ 3.57946543e-01 9.33709518e-01 -7.79798148e-03 -3.06423651e+00] [ 2.17830655e-02 -1.11577650e-06 9.99762721e-01 -2.03130802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17401273900003 meters Centerline goodness [0,1] 0.9925165704511439 Centerline is valid? [True, True] Translation: X:315.64, Y:-3.05, Z:-2.03 [[ 9.34141147e-01 -3.56379314e-01 -1.93417313e-02 3.15641150e+02] [ 3.56302080e-01 9.34341363e-01 -7.41923655e-03 -3.05010755e+00] [ 2.07158420e-02 3.91150563e-05 9.99785403e-01 -2.02855465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.204012739 meters Centerline goodness [0,1] 0.9916882785595851 Centerline is valid? [True, True] Translation: X:315.67, Y:-3.04, Z:-2.03 [[ 9.35213728e-01 -3.53560081e-01 -1.92497035e-02 3.15665505e+02] [ 3.53482946e-01 9.35411812e-01 -7.38568679e-03 -3.03551157e+00] [ 2.06176841e-02 1.02753779e-04 9.99787428e-01 -2.02771618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.234012739 meters Centerline goodness [0,1] 0.991579670919792 Centerline is valid? [True, True] Translation: X:315.69, Y:-3.02, Z:-2.03 [[ 9.35765837e-01 -3.52091050e-01 -1.93440269e-02 3.15691067e+02] [ 3.52012803e-01 9.35965744e-01 -7.42381901e-03 -3.02148660e+00] [ 2.07192067e-02 1.37611089e-04 9.99785325e-01 -2.02758896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.264012739 meters Centerline goodness [0,1] 0.9915884277157059 Centerline is valid? [True, True] Translation: X:315.72, Y:-3.01, Z:-2.03 [[ 9.36283715e-01 -3.50698699e-01 -1.95762235e-02 3.15716309e+02] [ 3.50618182e-01 9.36488330e-01 -7.51648881e-03 -3.00705969e+00] [ 2.09689277e-02 1.73786144e-04 9.99780113e-01 -2.02716381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.294012739 meters Centerline goodness [0,1] 0.9919057660766396 Centerline is valid? [True, True] Translation: X:315.74, Y:-2.99, Z:-2.03 [[ 9.36620650e-01 -3.49785446e-01 -1.97964763e-02 3.15741716e+02] [ 3.49702828e-01 9.36829815e-01 -7.60465270e-03 -2.99387673e+00] [ 2.12059260e-02 1.99791030e-04 9.99775109e-01 -2.02677203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.324012739 meters Centerline goodness [0,1] 0.9914581147909486 Centerline is valid? [True, True] Translation: X:315.77, Y:-2.98, Z:-2.03 [[ 9.36611868e-01 -3.49760568e-01 -2.06337924e-02 3.15768133e+02] [ 3.49670727e-01 9.36839100e-01 -7.92989425e-03 -2.98356663e+00] [ 2.21041078e-02 2.12199895e-04 9.99755652e-01 -2.02816335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.354012739 meters Centerline goodness [0,1] 0.9923486786018755 Centerline is valid? [True, True] Translation: X:315.80, Y:-2.98, Z:-2.03 [[ 9.35298559e-01 -3.53247481e-01 -2.08044049e-02 3.15796835e+02] [ 3.53156979e-01 9.35529903e-01 -7.99679372e-03 -2.97984842e+00] [ 2.22879901e-02 1.32168875e-04 9.99751583e-01 -2.02910111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.384012739 meters Centerline goodness [0,1] 0.9933949240734842 Centerline is valid? [True, True] Translation: X:315.83, Y:-2.97, Z:-2.03 [[ 9.34439081e-01 -3.55543813e-01 -2.03027293e-02 3.15825438e+02] [ 3.55458133e-01 9.34659612e-01 -7.80541468e-03 -2.97425957e+00] [ 2.17513080e-02 7.69142766e-05 9.99763409e-01 -2.02764998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.414012739 meters Centerline goodness [0,1] 0.9928497167469393 Centerline is valid? [True, True] Translation: X:315.85, Y:-2.97, Z:-2.03 [[ 9.33557037e-01 -3.57886475e-01 -1.97111378e-02 3.15853863e+02] [ 3.57806165e-01 9.33765105e-01 -7.58141783e-03 -2.96943922e+00] [ 2.11188596e-02 2.49193389e-05 9.99776972e-01 -2.02540876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.444012739 meters Centerline goodness [0,1] 0.993127662763065 Centerline is valid? [True, True] Translation: X:315.88, Y:-2.97, Z:-2.02 [[ 9.32863077e-01 -3.59703981e-01 -1.94814422e-02 3.15881165e+02] [ 3.59625846e-01 9.33066475e-01 -7.49699224e-03 -2.96552883e+00] [ 2.08741785e-02 -1.23628673e-05 9.99782111e-01 -2.02423212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.474012739 meters Centerline goodness [0,1] 0.9931496617512111 Centerline is valid? [True, True] Translation: X:315.91, Y:-2.97, Z:-2.02 [[ 9.31779320e-01 -3.62469385e-01 -2.00809307e-02 3.15912263e+02] [ 3.62386965e-01 9.31995675e-01 -7.72970141e-03 -2.96585969e+00] [ 2.15171207e-02 -7.46916285e-05 9.99768477e-01 -2.02384475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.504012739 meters Centerline goodness [0,1] 0.9936798795359589 Centerline is valid? [True, True] Translation: X:315.94, Y:-2.96, Z:-2.02 [[ 9.31427859e-01 -3.63343879e-01 -2.05759256e-02 3.15939991e+02] [ 3.63257476e-01 9.31655095e-01 -7.92399410e-03 -2.95997403e+00] [ 2.20488007e-02 -9.37299289e-05 9.99756891e-01 -2.02441537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.534012739 meters Centerline goodness [0,1] 0.994000510594843 Centerline is valid? [True, True] Translation: X:315.97, Y:-2.96, Z:-2.03 [[ 9.31154796e-01 -3.64016782e-01 -2.10363739e-02 3.15969127e+02] [ 3.63926542e-01 9.31392383e-01 -8.10563162e-03 -2.95672245e+00] [ 2.25437043e-02 -1.08097047e-04 9.99745853e-01 -2.02540263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.564012739 meters Centerline goodness [0,1] 0.9933290570878769 Centerline is valid? [True, True] Translation: X:316.00, Y:-2.95, Z:-2.02 [[ 9.31436267e-01 -3.63312510e-01 -2.07485004e-02 3.15995549e+02] [ 3.63224455e-01 9.31667329e-01 -7.99893047e-03 -2.94867074e+00] [ 2.22368115e-02 -8.58687960e-05 9.99752728e-01 -2.02359902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.594012739 meters Centerline goodness [0,1] 0.9936942118830021 Centerline is valid? [True, True] Translation: X:316.02, Y:-2.94, Z:-2.02 [[ 9.32754866e-01 -3.59942709e-01 -2.02387496e-02 3.16021280e+02] [ 3.59858046e-01 9.32974408e-01 -7.80639779e-03 -2.93947888e+00] [ 2.16920914e-02 -1.62136080e-06 9.99764699e-01 -2.02046429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.624012739 meters Centerline goodness [0,1] 0.9933869184315727 Centerline is valid? [True, True] Translation: X:316.05, Y:-2.93, Z:-2.02 [[ 9.33581518e-01 -3.57804264e-01 -2.00413896e-02 3.16046506e+02] [ 3.57720724e-01 9.33796609e-01 -7.73159069e-03 -2.92703785e+00] [ 2.14809778e-02 4.88497689e-05 9.99769256e-01 -2.01958921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.654012739 meters Centerline goodness [0,1] 0.9935102610938004 Centerline is valid? [True, True] Translation: X:316.07, Y:-2.91, Z:-2.02 [[ 9.34478392e-01 -3.55454140e-01 -2.00621500e-02 3.16072190e+02] [ 3.55369852e-01 9.34693717e-01 -7.74111015e-03 -2.91391626e+00] [ 2.15035752e-02 1.04416891e-04 9.99768766e-01 -2.01946668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.684012739 meters Centerline goodness [0,1] 0.991696373300318 Centerline is valid? [True, True] Translation: X:316.10, Y:-2.89, Z:-2.02 [[ 9.36885066e-01 -3.49003783e-01 -2.10412187e-02 3.16095554e+02] [ 3.48909351e-01 9.37121277e-01 -8.12263963e-03 -2.89460461e+00] [ 2.25530057e-02 2.68501785e-04 9.99745613e-01 -2.02110978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.714012739 meters Centerline goodness [0,1] 0.9910043050825676 Centerline is valid? [True, True] Translation: X:316.12, Y:-2.88, Z:-2.02 [[ 9.38101614e-01 -3.45690802e-01 -2.15228092e-02 3.16120555e+02] [ 3.45591095e-01 9.38348412e-01 -8.30982963e-03 -2.87848010e+00] [ 2.30685255e-02 3.57373371e-04 9.99733822e-01 -2.02118693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.744012739 meters Centerline goodness [0,1] 0.9908961653544978 Centerline is valid? [True, True] Translation: X:316.14, Y:-2.86, Z:-2.02 [[ 9.39657439e-01 -3.41420968e-01 -2.18086949e-02 3.16142970e+02] [ 3.41317362e-01 9.39910368e-01 -8.42367043e-03 -2.85858829e+00] [ 2.33742362e-02 4.71678369e-04 9.99726674e-01 -2.02047527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.774012739 meters Centerline goodness [0,1] 0.9908040104732103 Centerline is valid? [True, True] Translation: X:316.17, Y:-2.85, Z:-2.02 [[ 9.39922235e-01 -3.40737499e-01 -2.10748481e-02 3.16169531e+02] [ 3.40640547e-01 9.40158355e-01 -8.14156099e-03 -2.84781296e+00] [ 2.25878297e-02 4.73486407e-04 9.99744750e-01 -2.01850507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80401273900003 meters Centerline goodness [0,1] 0.9908824279520531 Centerline is valid? [True, True] Translation: X:316.20, Y:-2.84, Z:-2.02 [[ 9.39867811e-01 -3.40922281e-01 -2.05059866e-02 3.16196391e+02] [ 3.40830457e-01 9.40091372e-01 -7.92542703e-03 -2.84049928e+00] [ 2.19794558e-02 4.59788960e-04 9.99758317e-01 -2.01646222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.834012739 meters Centerline goodness [0,1] 0.989334181509754 Centerline is valid? [True, True] Translation: X:316.22, Y:-2.83, Z:-2.02 [[ 9.39638648e-01 -3.41596101e-01 -1.97816802e-02 3.16220754e+02] [ 3.41510717e-01 9.39846752e-01 -7.64935943e-03 -2.82751525e+00] [ 2.12047393e-02 4.31977947e-04 9.99775061e-01 -2.01503281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86401273900003 meters Centerline goodness [0,1] 0.9907968910146908 Centerline is valid? [True, True] Translation: X:316.25, Y:-2.82, Z:-2.01 [[ 9.38871256e-01 -3.43747653e-01 -1.89292430e-02 3.16249516e+02] [ 3.43669882e-01 9.39061987e-01 -7.32097061e-03 -2.82309402e+00] [ 2.02922990e-02 3.68038180e-04 9.99794022e-01 -2.01272797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.894012739 meters Centerline goodness [0,1] 0.9909285972254679 Centerline is valid? [True, True] Translation: X:316.28, Y:-2.81, Z:-2.01 [[ 9.38185201e-01 -3.45611512e-01 -1.90055499e-02 3.16275544e+02] [ 3.45533424e-01 9.38377628e-01 -7.35393175e-03 -2.81409663e+00] [ 2.03759863e-02 3.32297204e-04 9.99792333e-01 -2.01240848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92401273900003 meters Centerline goodness [0,1] 0.9912413104020068 Centerline is valid? [True, True] Translation: X:316.30, Y:-2.80, Z:-2.01 [[ 9.38015207e-01 -3.46042470e-01 -1.95468836e-02 3.16302119e+02] [ 3.45959936e-01 9.38218790e-01 -7.56469619e-03 -2.80433625e+00] [ 2.09569597e-02 3.33361453e-04 9.99780323e-01 -2.01266649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.954012739 meters Centerline goodness [0,1] 0.9914569874192452 Centerline is valid? [True, True] Translation: X:316.33, Y:-2.79, Z:-2.01 [[ 9.37920397e-01 -3.46275929e-01 -1.99577251e-02 3.16328568e+02] [ 3.46189910e-01 9.38132649e-01 -7.72517207e-03 -2.79436807e+00] [ 2.13980347e-02 3.36433396e-04 9.99770979e-01 -2.01334649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.984012739 meters Centerline goodness [0,1] 0.9919220768148685 Centerline is valid? [True, True] Translation: X:316.36, Y:-2.79, Z:-2.01 [[ 9.37903081e-01 -3.46307044e-01 -2.02297433e-02 3.16355341e+02] [ 3.46218582e-01 9.38121161e-01 -7.83457422e-03 -2.78511611e+00] [ 2.16911185e-02 3.44158265e-04 9.99764661e-01 -2.01314420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.014012739 meters Centerline goodness [0,1] 0.9919038636797152 Centerline is valid? [True, True] Translation: X:316.38, Y:-2.77, Z:-2.01 [[ 9.38111494e-01 -3.45741242e-01 -2.02439675e-02 3.16380242e+02] [ 3.45652438e-01 9.38329826e-01 -7.84405834e-03 -2.77161811e+00] [ 2.17075330e-02 3.61224578e-04 9.99764298e-01 -2.01291077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.044012739 meters Centerline goodness [0,1] 0.9911836908955065 Centerline is valid? [True, True] Translation: X:316.41, Y:-2.76, Z:-2.01 [[ 9.38391302e-01 -3.44959301e-01 -2.06117678e-02 3.16406610e+02] [ 3.44867020e-01 9.38617564e-01 -7.98798326e-03 -2.76142693e+00] [ 2.21020964e-02 3.87535077e-04 9.99755644e-01 -2.01229318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.074012739 meters Centerline goodness [0,1] 0.9915533316226157 Centerline is valid? [True, True] Translation: X:316.43, Y:-2.75, Z:-2.01 [[ 9.38502720e-01 -3.44637125e-01 -2.09259661e-02 3.16433450e+02] [ 3.44541881e-01 9.38735900e-01 -8.11187740e-03 -2.75011244e+00] [ 2.24396097e-02 4.03147271e-04 9.99748119e-01 -2.01243195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.104012739 meters Centerline goodness [0,1] 0.9919229375785862 Centerline is valid? [True, True] Translation: X:316.46, Y:-2.74, Z:-2.01 [[ 9.38507255e-01 -3.44641601e-01 -2.06470148e-02 3.16460481e+02] [ 3.44548802e-01 9.38734257e-01 -8.00731270e-03 -2.74324892e+00] [ 2.21417132e-02 4.01016831e-04 9.99754762e-01 -2.01134119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.134012739 meters Centerline goodness [0,1] 0.9916689631780892 Centerline is valid? [True, True] Translation: X:316.48, Y:-2.73, Z:-2.01 [[ 9.38524634e-01 -3.44693568e-01 -1.89170565e-02 3.16484978e+02] [ 3.44615607e-01 9.38715190e-01 -7.34003489e-03 -2.73315344e+00] [ 2.02877911e-02 3.69690644e-04 9.99794113e-01 -2.00875219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.164012739 meters Centerline goodness [0,1] 0.9915984305697714 Centerline is valid? [True, True] Translation: X:316.51, Y:-2.72, Z:-2.01 [[ 9.38293910e-01 -3.45321084e-01 -1.89179083e-02 3.16512843e+02] [ 3.45243207e-01 9.38484534e-01 -7.34214558e-03 -2.72446524e+00] [ 2.02895620e-02 3.57811173e-04 9.99794082e-01 -2.00765318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.194012739 meters Centerline goodness [0,1] 0.9921931658205708 Centerline is valid? [True, True] Translation: X:316.54, Y:-2.72, Z:-2.01 [[ 9.37611284e-01 -3.47108533e-01 -2.00186345e-02 3.16539563e+02] [ 3.47021656e-01 9.37824904e-01 -7.77305407e-03 -2.71569905e+00] [ 2.14720674e-02 3.41203511e-04 9.99769390e-01 -2.00943343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.224012739 meters Centerline goodness [0,1] 0.9927201096265844 Centerline is valid? [True, True] Translation: X:316.57, Y:-2.71, Z:-2.01 [[ 9.37072227e-01 -3.48543016e-01 -2.03324290e-02 3.16566940e+02] [ 3.48453697e-01 9.37292733e-01 -7.89645627e-03 -2.70613640e+00] [ 2.18096927e-02 3.14639802e-04 9.99762091e-01 -2.00938163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.254012739 meters Centerline goodness [0,1] 0.9934640522875817 Centerline is valid? [True, True] Translation: X:316.59, Y:-2.70, Z:-2.01 [[ 9.36553002e-01 -3.49964348e-01 -1.98350395e-02 3.16594607e+02] [ 3.49879589e-01 9.36762978e-01 -7.70682938e-03 -2.69667601e+00] [ 2.12778462e-02 2.77978725e-04 9.99773562e-01 -2.00844984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.284012739 meters Centerline goodness [0,1] 0.9936644539105239 Centerline is valid? [True, True] Translation: X:316.62, Y:-2.69, Z:-2.01 [[ 9.35701122e-01 -3.52297832e-01 -1.86988621e-02 3.16623278e+02] [ 3.52222906e-01 9.35887916e-01 -7.26865264e-03 -2.69014888e+00] [ 2.00607696e-02 2.15118897e-04 9.99798739e-01 -2.00542944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.314012739 meters Centerline goodness [0,1] 0.9933133014516061 Centerline is valid? [True, True] Translation: X:316.65, Y:-2.68, Z:-2.01 [[ 9.35116286e-01 -3.53856589e-01 -1.85215215e-02 3.16649965e+02] [ 3.53783312e-01 9.35299674e-01 -7.20328229e-03 -2.68147187e+00] [ 1.98721019e-02 1.83301363e-04 9.99802513e-01 -2.00522210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.344012739 meters Centerline goodness [0,1] 0.9931385710328369 Centerline is valid? [True, True] Translation: X:316.68, Y:-2.68, Z:-2.00 [[ 9.33480930e-01 -3.58175273e-01 -1.79952077e-02 3.16679670e+02] [ 3.58106880e-01 9.33654361e-01 -6.99973791e-03 -2.67982130e+00] [ 1.93084372e-02 8.99141745e-05 9.99813571e-01 -2.00345078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.374012739 meters Centerline goodness [0,1] 0.9941519228731858 Centerline is valid? [True, True] Translation: X:316.71, Y:-2.67, Z:-2.00 [[ 9.32595888e-01 -3.60485823e-01 -1.77449120e-02 3.16707661e+02] [ 3.60419678e-01 9.32764691e-01 -6.90552971e-03 -2.67329003e+00] [ 1.90411730e-02 4.44531279e-05 9.99818699e-01 -2.00288617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.404012739 meters Centerline goodness [0,1] 0.9936727865477007 Centerline is valid? [True, True] Translation: X:316.73, Y:-2.67, Z:-2.00 [[ 9.31729356e-01 -3.62701144e-01 -1.81187041e-02 3.16734924e+02] [ 3.62632535e-01 9.31905510e-01 -7.05435579e-03 -2.66681200e+00] [ 1.94435431e-02 2.31876549e-06 9.99810956e-01 -2.00305992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.434012739 meters Centerline goodness [0,1] 0.994353051483123 Centerline is valid? [True, True] Translation: X:316.77, Y:-2.67, Z:-2.01 [[ 9.29901173e-01 -3.67274270e-01 -1.98348060e-02 3.16765456e+02] [ 3.67192991e-01 9.30112682e-01 -7.72699450e-03 -2.66597390e+00] [ 2.12865308e-02 -9.78604772e-05 9.99773411e-01 -2.00630146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.464012739 meters Centerline goodness [0,1] 0.9942571678657587 Centerline is valid? [True, True] Translation: X:316.79, Y:-2.66, Z:-2.01 [[ 9.28955525e-01 -3.69610976e-01 -2.07209791e-02 3.16794322e+02] [ 3.69522762e-01 9.29186581e-01 -8.07622650e-03 -2.66165253e+00] [ 2.22387177e-02 -1.54418204e-04 9.99752677e-01 -2.00683744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.494012739 meters Centerline goodness [0,1] 0.9945147497084611 Centerline is valid? [True, True] Translation: X:316.83, Y:-2.66, Z:-2.00 [[ 9.27748502e-01 -3.72645641e-01 -2.04436394e-02 3.16825482e+02] [ 3.72560425e-01 9.27973694e-01 -7.97196101e-03 -2.66199792e+00] [ 2.19418761e-02 -2.20516095e-04 9.99759224e-01 -2.00444783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.524012739 meters Centerline goodness [0,1] 0.993995459464047 Centerline is valid? [True, True] Translation: X:316.85, Y:-2.66, Z:-2.00 [[ 9.27408051e-01 -3.73517722e-01 -1.99704238e-02 3.16853161e+02] [ 3.73436530e-01 9.27623015e-01 -7.79105107e-03 -2.65676272e+00] [ 2.14351204e-02 -2.32202284e-04 9.99770214e-01 -2.00235038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55401273900003 meters Centerline goodness [0,1] 0.9944229213674486 Centerline is valid? [True, True] Translation: X:316.88, Y:-2.65, Z:-2.00 [[ 9.27482965e-01 -3.73357961e-01 -1.94725948e-02 3.16881016e+02] [ 3.73280689e-01 9.27687331e-01 -7.59888844e-03 -2.65070976e+00] [ 2.09015850e-02 -2.20904016e-04 9.99781514e-01 -2.00073097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.584012739 meters Centerline goodness [0,1] 0.994544914246901 Centerline is valid? [True, True] Translation: X:316.91, Y:-2.64, Z:-2.00 [[ 9.28059958e-01 -3.71923102e-01 -1.94401661e-02 3.16907826e+02] [ 3.71845686e-01 9.28263525e-01 -7.59036271e-03 -2.64185840e+00] [ 2.08686284e-02 -1.84430210e-04 9.99782209e-01 -2.00064961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61401273900003 meters Centerline goodness [0,1] 0.9945915783148045 Centerline is valid? [True, True] Translation: X:316.93, Y:-2.63, Z:-2.00 [[ 9.28875495e-01 -3.69891961e-01 -1.92419260e-02 3.16933960e+02] [ 3.69815651e-01 9.29074765e-01 -7.51435068e-03 -2.62962213e+00] [ 2.06566858e-02 -1.36069187e-04 9.99786619e-01 -1.99958307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.644012739 meters Centerline goodness [0,1] 0.9941799953270035 Centerline is valid? [True, True] Translation: X:316.96, Y:-2.61, Z:-2.00 [[ 9.31106841e-01 -3.64273047e-01 -1.85794956e-02 3.16957438e+02] [ 3.64200711e-01 9.31292192e-01 -7.25911121e-03 -2.61373145e+00] [ 1.99472377e-02 -7.65739527e-06 9.99801034e-01 -1.99728900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67401273900003 meters Centerline goodness [0,1] 0.9948005819924683 Centerline is valid? [True, True] Translation: X:316.98, Y:-2.60, Z:-2.00 [[ 9.32051805e-01 -3.61856452e-01 -1.84212274e-02 3.16982735e+02] [ 3.61784846e-01 9.32233826e-01 -7.19851234e-03 -2.60071845e+00] [ 1.97777195e-02 4.48654838e-05 9.99804401e-01 -1.99682304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.704012739 meters Centerline goodness [0,1] 0.9947037970358348 Centerline is valid? [True, True] Translation: X:317.01, Y:-2.59, Z:-2.00 [[ 9.33065328e-01 -3.59170335e-01 -1.96408790e-02 3.17008757e+02] [ 3.59088245e-01 9.33272017e-01 -7.67951263e-03 -2.58966088e+00] [ 2.10885358e-02 1.12678216e-04 9.99777606e-01 -1.99835352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.734012739 meters Centerline goodness [0,1] 0.9943796213189725 Centerline is valid? [True, True] Translation: X:317.04, Y:-2.58, Z:-2.00 [[ 9.33100282e-01 -3.59041071e-01 -2.03315968e-02 3.17035990e+02] [ 3.58953037e-01 9.33321753e-01 -7.95126494e-03 -2.58183420e+00] [ 2.18307522e-02 1.21239147e-04 9.99761673e-01 -1.99839943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.764012739 meters Centerline goodness [0,1] 0.994041204437401 Centerline is valid? [True, True] Translation: X:317.06, Y:-2.57, Z:-2.00 [[ 9.33472008e-01 -3.58123875e-01 -1.94242470e-02 3.17062650e+02] [ 3.58043245e-01 9.33674071e-01 -7.60026439e-03 -2.57309894e+00] [ 2.08577519e-02 1.39913643e-04 9.99782444e-01 -1.99572455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.794012739 meters Centerline goodness [0,1] 0.9937106918238994 Centerline is valid? [True, True] Translation: X:317.09, Y:-2.56, Z:-1.99 [[ 9.34017670e-01 -3.56748037e-01 -1.84886605e-02 3.17089248e+02] [ 3.56674696e-01 9.34200627e-01 -7.23535341e-03 -2.56184377e+00] [ 1.98533163e-02 1.63510580e-04 9.99802890e-01 -1.99345748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.824012739 meters Centerline goodness [0,1] 0.9916788413898241 Centerline is valid? [True, True] Translation: X:317.12, Y:-2.55, Z:-1.99 [[ 9.34804937e-01 -3.54729977e-01 -1.75035439e-02 3.17115065e+02] [ 3.54663832e-01 9.34968772e-01 -6.85290426e-03 -2.54977997e+00] [ 1.87961975e-02 1.98254780e-04 9.99823316e-01 -1.99044871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.854012739 meters Centerline goodness [0,1] 0.9900415289431308 Centerline is valid? [True, True] Translation: X:317.14, Y:-2.53, Z:-1.99 [[ 9.36829641e-01 -3.49358320e-01 -1.72913015e-02 3.17139424e+02] [ 3.49292790e-01 9.36989152e-01 -6.77314049e-03 -2.53263045e+00] [ 1.85680150e-02 3.05551805e-04 9.99827553e-01 -1.98957072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.884012739 meters Centerline goodness [0,1] 0.9901266092137462 Centerline is valid? [True, True] Translation: X:317.16, Y:-2.52, Z:-1.99 [[ 9.37785763e-01 -3.46758304e-01 -1.77916033e-02 3.17164417e+02] [ 3.46688446e-01 9.37954446e-01 -6.96981227e-03 -2.51902238e+00] [ 1.91045537e-02 3.68047435e-04 9.99817424e-01 -1.99012656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.914012739 meters Centerline goodness [0,1] 0.9890960775578608 Centerline is valid? [True, True] Translation: X:317.19, Y:-2.50, Z:-1.99 [[ 9.39306397e-01 -3.42572651e-01 -1.86405899e-02 3.17187561e+02] [ 3.42495115e-01 9.39491220e-01 -7.30369477e-03 -2.49897875e+00] [ 2.00147166e-02 4.76096235e-04 9.99799572e-01 -1.99069169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.944012739 meters Centerline goodness [0,1] 0.9897636609965377 Centerline is valid? [True, True] Translation: X:317.21, Y:-2.49, Z:-1.99 [[ 9.39897328e-01 -3.40916814e-01 -1.92025794e-02 3.17214050e+02] [ 3.40834161e-01 9.40093318e-01 -7.52511463e-03 -2.48804419e+00] [ 2.06176547e-02 5.27940087e-04 9.99787294e-01 -1.99066331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.974012739 meters Centerline goodness [0,1] 0.9887195767195767 Centerline is valid? [True, True] Translation: X:317.24, Y:-2.47, Z:-1.99 [[ 9.40334115e-01 -3.39696540e-01 -1.94425302e-02 3.17237519e+02] [ 3.39611471e-01 9.40534923e-01 -7.62280772e-03 -2.47317517e+00] [ 2.08758201e-02 5.65079859e-04 9.99781917e-01 -1.99062816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.004012739 meters Centerline goodness [0,1] 0.9878789165322238 Centerline is valid? [True, True] Translation: X:317.26, Y:-2.46, Z:-1.99 [[ 9.40888363e-01 -3.38197916e-01 -1.87419025e-02 3.17260572e+02] [ 3.38118528e-01 9.41074830e-01 -7.35023251e-03 -2.45633916e+00] [ 2.01233660e-02 5.78763744e-04 9.99797337e-01 -1.98898017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.034012739 meters Centerline goodness [0,1] 0.9878789165322238 Centerline is valid? [True, True] Translation: X:317.29, Y:-2.45, Z:-1.99 [[ 9.40827244e-01 -3.38367927e-01 -1.87414728e-02 3.17286110e+02] [ 3.38288552e-01 9.41013716e-01 -7.35132802e-03 -2.44612275e+00] [ 2.01234366e-02 5.76303990e-04 9.99797337e-01 -1.98843322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.064012739 meters Centerline goodness [0,1] 0.9877594465141033 Centerline is valid? [True, True] Translation: X:317.31, Y:-2.43, Z:-1.99 [[ 9.41046660e-01 -3.37811177e-01 -1.77423745e-02 3.17311744e+02] [ 3.37739874e-01 9.41213735e-01 -6.96294641e-03 -2.43270117e+00] [ 1.90515277e-02 5.60150133e-04 9.99818346e-01 -1.98602489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.094012739 meters Centerline goodness [0,1] 0.9871093999276765 Centerline is valid? [True, True] Translation: X:317.34, Y:-2.42, Z:-1.98 [[ 9.41880270e-01 -3.35499026e-01 -1.73770011e-02 3.17337162e+02] [ 3.35430175e-01 9.42040363e-01 -6.82284341e-03 -2.41688319e+00] [ 1.86588938e-02 5.97531063e-04 9.99825729e-01 -1.98358390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.124012739 meters Centerline goodness [0,1] 0.9842135415561544 Centerline is valid? [True, True] Translation: X:317.36, Y:-2.40, Z:-1.98 [[ 9.42371846e-01 -3.34061301e-01 -1.83943461e-02 3.17359661e+02] [ 3.33983867e-01 9.42551117e-01 -7.22280454e-03 -2.39856654e+00] [ 1.97504709e-02 6.63152796e-04 9.99804720e-01 -1.98460691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.154012739 meters Centerline goodness [0,1] 0.9850752624071196 Centerline is valid? [True, True] Translation: X:317.39, Y:-2.39, Z:-1.99 [[ 9.42729834e-01 -3.32974430e-01 -1.97101125e-02 3.17385603e+02] [ 3.32885239e-01 9.42935568e-01 -7.74152734e-03 -2.38679014e+00] [ 2.11630968e-02 7.36963268e-04 9.99775765e-01 -1.98718870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.184012739 meters Centerline goodness [0,1] 0.980669002050581 Centerline is valid? [True, True] Translation: X:317.41, Y:-2.37, Z:-1.99 [[ 9.43328362e-01 -3.31242988e-01 -2.02406707e-02 3.17409104e+02] [ 3.31148504e-01 9.43545148e-01 -7.95125791e-03 -2.36903380e+00] [ 2.17317851e-02 7.97979283e-04 9.99763518e-01 -1.98840929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.214012739 meters Centerline goodness [0,1] 0.9817767168250991 Centerline is valid? [True, True] Translation: X:317.44, Y:-2.36, Z:-1.99 [[ 9.43513667e-01 -3.30756414e-01 -1.95488029e-02 3.17435212e+02] [ 3.30668151e-01 9.43715838e-01 -7.68060857e-03 -2.35604484e+00] [ 2.09889255e-02 7.82592642e-04 9.99779402e-01 -1.98587361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.244012739 meters Centerline goodness [0,1] 0.976109432838361 Centerline is valid? [True, True] Translation: X:317.46, Y:-2.34, Z:-1.98 [[ 9.43919022e-01 -3.29653084e-01 -1.85936358e-02 3.17457983e+02] [ 3.29572958e-01 9.44101822e-01 -7.30858626e-03 -2.33716574e+00] [ 1.99635835e-02 7.70754036e-04 9.99800411e-01 -1.98336748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.274012739 meters Centerline goodness [0,1] 0.9804860167755568 Centerline is valid? [True, True] Translation: X:317.48, Y:-2.33, Z:-1.98 [[ 9.44204087e-01 -3.28836371e-01 -1.85818269e-02 3.17484612e+02] [ 3.28756164e-01 9.44386584e-01 -7.30517485e-03 -2.32659663e+00] [ 1.99506352e-02 7.88685823e-04 9.99800655e-01 -1.98345794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30401273900003 meters Centerline goodness [0,1] 0.964689355724411 Centerline is valid? [True, True] Translation: X:317.51, Y:-2.31, Z:-1.98 [[ 9.44593785e-01 -3.27702868e-01 -1.87992481e-02 3.17507142e+02] [ 3.27620477e-01 9.44780477e-01 -7.39419650e-03 -2.30743466e+00] [ 2.01842620e-02 8.25493419e-04 9.99795936e-01 -1.98354348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.334012739 meters Centerline goodness [0,1] 0.9452993277131576 Centerline is valid? [True, False] Translation: X:317.47, Y:-2.32, Z:-1.98 [[ 9.46050954e-01 -3.23226199e-01 -2.26366414e-02 3.17467264e+02] [ 3.23252561e-01 9.46309197e-01 -2.58570498e-03 -2.32167151e+00] [ 2.22570296e-02 -4.87114365e-03 9.99740415e-01 -1.98407203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36401273900003 meters Centerline goodness [0,1] 0.9195172311032589 Centerline is valid? [False, False] Translation: X:317.43, Y:-2.34, Z:-1.98 [[ 9.47447441e-01 -3.18884075e-01 -2.56182128e-02 3.17425592e+02] [ 3.19057541e-01 9.47730950e-01 2.88634821e-03 -2.33640632e+00] [ 2.33587627e-02 -1.09083472e-02 9.99667633e-01 -1.98372294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.394012739 meters Centerline goodness [0,1] 0.9637845955803476 Centerline is valid? [False, True] Translation: X:317.36, Y:-2.36, Z:-1.98 [[ 9.48388766e-01 -3.16193708e-01 -2.40891523e-02 3.17361672e+02] [ 3.16238162e-01 9.48677636e-01 -2.04154236e-03 -2.35789352e+00] [ 2.34983629e-02 -5.68173341e-03 9.99707730e-01 -1.98341186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42401273900003 meters Centerline goodness [0,1] 0.9633680186876195 Centerline is valid? [True, True] Translation: X:317.39, Y:-2.34, Z:-1.98 [[ 9.47799804e-01 -3.18160211e-01 -2.12040354e-02 3.17386231e+02] [ 3.18057636e-01 9.48036468e-01 -8.13608023e-03 -2.34192599e+00] [ 2.26907758e-02 9.67269875e-04 9.99742063e-01 -1.98224224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.454012739 meters Centerline goodness [0,1] 0.9758228707159824 Centerline is valid? [True, True] Translation: X:317.41, Y:-2.34, Z:-1.98 [[ 9.46311442e-01 -3.22529165e-01 -2.16700801e-02 3.17414045e+02] [ 3.22423152e-01 9.46559115e-01 -8.31577509e-03 -2.33512459e+00] [ 2.31940918e-02 8.82377593e-04 9.99730591e-01 -1.98300396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.484012739 meters Centerline goodness [0,1] 0.9847616622097712 Centerline is valid? [True, True] Translation: X:317.44, Y:-2.33, Z:-1.98 [[ 9.45436455e-01 -3.25030250e-01 -2.24776742e-02 3.17443692e+02] [ 3.24916873e-01 9.45703236e-01 -8.62647633e-03 -2.33024018e+00] [ 2.40610750e-02 8.52409605e-04 9.99710127e-01 -1.98382820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.514012739 meters Centerline goodness [0,1] 0.9878139239164989 Centerline is valid? [True, True] Translation: X:317.47, Y:-2.32, Z:-1.99 [[ 9.43461143e-01 -3.30628024e-01 -2.37945580e-02 3.17470289e+02] [ 3.30502727e-01 9.43760851e-01 -9.13254507e-03 -2.32015724e+00] [ 2.54758477e-02 7.52035089e-04 9.99675155e-01 -1.98618120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.544012739 meters Centerline goodness [0,1] 0.9900905700586041 Centerline is valid? [True, True] Translation: X:317.50, Y:-2.31, Z:-1.99 [[ 9.42559364e-01 -3.33188084e-01 -2.38232141e-02 3.17498920e+02] [ 3.33063274e-01 9.42860134e-01 -9.14459647e-03 -2.31299044e+00] [ 2.55088294e-02 6.84687327e-04 9.99674362e-01 -1.98573748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.574012739 meters Centerline goodness [0,1] 0.9906444685420255 Centerline is valid? [True, True] Translation: X:317.52, Y:-2.30, Z:-1.99 [[ 9.41889055e-01 -3.35057787e-01 -2.41099009e-02 3.17524924e+02] [ 3.34930463e-01 9.42197359e-01 -9.25859375e-03 -2.30409640e+00] [ 2.58184489e-02 6.45427824e-04 9.99666440e-01 -1.98513921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.604012739 meters Centerline goodness [0,1] 0.9910820199966107 Centerline is valid? [True, True] Translation: X:317.55, Y:-2.29, Z:-1.99 [[ 9.41148803e-01 -3.37089937e-01 -2.46840835e-02 3.17552744e+02] [ 3.36957124e-01 9.41472255e-01 -9.48098322e-03 -2.29489915e+00] [ 2.64353238e-02 6.05538208e-04 9.99650342e-01 -1.98530156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.634012739 meters Centerline goodness [0,1] 0.991321118611379 Centerline is valid? [True, True] Translation: X:317.58, Y:-2.28, Z:-1.98 [[ 9.40873364e-01 -3.37888962e-01 -2.42561830e-02 3.17577279e+02] [ 3.37760881e-01 9.41185804e-01 -9.32040377e-03 -2.28067745e+00] [ 2.59788367e-02 5.76529900e-04 9.99662327e-01 -1.98363289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.664012739 meters Centerline goodness [0,1] 0.991404072427073 Centerline is valid? [True, True] Translation: X:317.60, Y:-2.27, Z:-1.98 [[ 9.40734983e-01 -3.38312572e-01 -2.37127728e-02 3.17603783e+02] [ 3.38190259e-01 9.41033632e-01 -9.11325590e-03 -2.26949637e+00] [ 2.53976457e-02 5.53729871e-04 9.99677274e-01 -1.98154458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.694012739 meters Centerline goodness [0,1] 0.9913435565859158 Centerline is valid? [True, True] Translation: X:317.63, Y:-2.26, Z:-1.98 [[ 9.40583819e-01 -3.38761880e-01 -2.32909679e-02 3.17630875e+02] [ 3.38643916e-01 9.40871990e-01 -8.95525334e-03 -2.25970615e+00] [ 2.49475178e-02 5.35821796e-04 9.99688619e-01 -1.98010347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.724012739 meters Centerline goodness [0,1] 0.9904882957313844 Centerline is valid? [True, True] Translation: X:317.66, Y:-2.25, Z:-1.98 [[ 9.39840028e-01 -3.40834396e-01 -2.30789302e-02 3.17655716e+02] [ 3.40719093e-01 9.40123228e-01 -8.87782712e-03 -2.24719032e+00] [ 2.47229072e-02 4.80305122e-04 9.99694227e-01 -1.97907377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.754012739 meters Centerline goodness [0,1] 0.9909787234042553 Centerline is valid? [True, True] Translation: X:317.68, Y:-2.24, Z:-1.98 [[ 9.39255329e-01 -3.42438848e-01 -2.31314007e-02 3.17683230e+02] [ 3.42323466e-01 9.39540016e-01 -8.89962514e-03 -2.23880602e+00] [ 2.47804540e-02 4.40599070e-04 9.99692820e-01 -1.97831193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.784012739 meters Centerline goodness [0,1] 0.9918263090676884 Centerline is valid? [True, True] Translation: X:317.71, Y:-2.23, Z:-1.98 [[ 9.38744496e-01 -3.43821026e-01 -2.33639284e-02 3.17711565e+02] [ 3.43703635e-01 9.39035107e-01 -8.99326943e-03 -2.23095576e+00] [ 2.50316241e-02 4.12115063e-04 9.99686575e-01 -1.97769966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.814012739 meters Centerline goodness [0,1] 0.9921818414213285 Centerline is valid? [True, True] Translation: X:317.74, Y:-2.22, Z:-1.98 [[ 9.38007162e-01 -3.45867497e-01 -2.27648654e-02 3.17738258e+02] [ 3.45756557e-01 9.38283300e-01 -8.76653203e-03 -2.22085914e+00] [ 2.43919515e-02 3.51968333e-04 9.99702410e-01 -1.97581311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.844012739 meters Centerline goodness [0,1] 0.9917606336667304 Centerline is valid? [True, True] Translation: X:317.76, Y:-2.21, Z:-1.97 [[ 9.37791971e-01 -3.46513743e-01 -2.17817694e-02 3.17763374e+02] [ 3.46412262e-01 9.38044839e-01 -8.39192754e-03 -2.20904784e+00] [ 2.33401946e-02 3.24410249e-04 9.99727528e-01 -1.97397875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.874012739 meters Centerline goodness [0,1] 0.9921522756273926 Centerline is valid? [True, True] Translation: X:317.79, Y:-2.20, Z:-1.97 [[ 9.37656061e-01 -3.46884174e-01 -2.17366433e-02 3.17789796e+02] [ 3.46783179e-01 9.37907922e-01 -8.37593007e-03 -2.19870236e+00] [ 2.32924475e-02 3.15839328e-04 9.99728644e-01 -1.97305347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.904012739 meters Centerline goodness [0,1] 0.9921489983572632 Centerline is valid? [True, True] Translation: X:317.81, Y:-2.19, Z:-1.97 [[ 9.37667326e-01 -3.46838500e-01 -2.19782028e-02 3.17814619e+02] [ 3.46735123e-01 9.37924810e-01 -8.47379634e-03 -2.18814417e+00] [ 2.35529405e-02 3.24987094e-04 9.99722538e-01 -1.97361334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.934012739 meters Centerline goodness [0,1] 0.991847536120537 Centerline is valid? [True, True] Translation: X:317.84, Y:-2.18, Z:-1.97 [[ 9.37730216e-01 -3.46595956e-01 -2.30929728e-02 3.17839856e+02] [ 3.46481695e-01 9.38014457e-01 -8.90582532e-03 -2.17626593e+00] [ 2.47482654e-02 3.49969132e-04 9.99693654e-01 -1.97430256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.964012739 meters Centerline goodness [0,1] 0.9920993713941273 Centerline is valid? [True, True] Translation: X:317.87, Y:-2.17, Z:-1.97 [[ 9.37693256e-01 -3.46673076e-01 -2.34336411e-02 3.17866388e+02] [ 3.46555399e-01 9.37985955e-01 -9.03895834e-03 -2.16803379e+00] [ 2.51139898e-02 3.54715421e-04 9.99684531e-01 -1.97393028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.994012739 meters Centerline goodness [0,1] 0.9920514842201718 Centerline is valid? [True, True] Translation: X:317.89, Y:-2.15, Z:-1.97 [[ 9.38028031e-01 -3.45730826e-01 -2.39501438e-02 3.17890152e+02] [ 3.45607467e-01 9.38333651e-01 -9.24323145e-03 -2.15100047e+00] [ 2.56688959e-02 3.93061665e-04 9.99670422e-01 -1.97494192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.024012739 meters Centerline goodness [0,1] 0.9913551401869158 Centerline is valid? [True, True] Translation: X:317.92, Y:-2.14, Z:-1.97 [[ 9.38293661e-01 -3.45018864e-01 -2.38115304e-02 3.17915770e+02] [ 3.44896654e-01 9.38595661e-01 -9.19151418e-03 -2.13746126e+00] [ 2.55206448e-02 4.11822348e-04 9.99674210e-01 -1.97393524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05401273900003 meters Centerline goodness [0,1] 0.9915724343930019 Centerline is valid? [True, True] Translation: X:317.94, Y:-2.13, Z:-1.97 [[ 9.38466914e-01 -3.44516524e-01 -2.42531591e-02 3.17942428e+02] [ 3.44389454e-01 9.38780152e-01 -9.36646879e-03 -2.12517202e+00] [ 2.59952877e-02 4.37588824e-04 9.99661970e-01 -1.97403388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.084012739 meters Centerline goodness [0,1] 0.9914611813806907 Centerline is valid? [True, True] Translation: X:317.97, Y:-2.11, Z:-1.98 [[ 9.38349571e-01 -3.44698167e-01 -2.61391756e-02 3.17967913e+02] [ 3.44550503e-01 9.38713456e-01 -1.00994245e-02 -2.11310752e+00] [ 2.80184490e-02 4.70524528e-04 9.99607295e-01 -1.97756273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11401273900003 meters Centerline goodness [0,1] 0.9921028977442965 Centerline is valid? [True, True] Translation: X:318.00, Y:-2.10, Z:-1.98 [[ 9.37981380e-01 -3.45677344e-01 -2.64216801e-02 3.17995364e+02] [ 3.45526798e-01 9.38353331e-01 -1.02107226e-02 -2.10279773e+00] [ 2.83224870e-02 4.48069192e-04 9.99598737e-01 -1.97746299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.144012739 meters Centerline goodness [0,1] 0.9924951495639938 Centerline is valid? [True, True] Translation: X:318.02, Y:-2.10, Z:-1.97 [[ 9.37172911e-01 -3.47965336e-01 -2.50411706e-02 3.18023682e+02] [ 3.47830828e-01 9.37507330e-01 -9.68099757e-03 -2.09512824e+00] [ 2.68449325e-02 3.62677589e-04 9.99639544e-01 -1.97434523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17401273900003 meters Centerline goodness [0,1] 0.9926704703292946 Centerline is valid? [True, True] Translation: X:318.05, Y:-2.09, Z:-1.97 [[ 9.36725505e-01 -3.49233847e-01 -2.41049420e-02 3.18050659e+02] [ 3.49109576e-01 9.37035549e-01 -9.32115873e-03 -2.08710432e+00] [ 2.58424517e-02 3.16101041e-04 9.99665978e-01 -1.97147222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.204012739 meters Centerline goodness [0,1] 0.9927781778135457 Centerline is valid? [True, True] Translation: X:318.08, Y:-2.08, Z:-1.97 [[ 9.36161658e-01 -3.50821294e-01 -2.29296545e-02 3.18078898e+02] [ 3.50709287e-01 9.36442391e-01 -8.86818852e-03 -2.07918549e+00] [ 2.45834498e-02 2.60415321e-04 9.99697747e-01 -1.96862042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.234012739 meters Centerline goodness [0,1] 0.9941353351389393 Centerline is valid? [True, True] Translation: X:318.11, Y:-2.08, Z:-1.97 [[ 9.34633722e-01 -3.54879130e-01 -2.28168252e-02 3.18107569e+02] [ 3.54769330e-01 9.34912177e-01 -8.82859179e-03 -2.07730305e+00] [ 2.44648107e-02 1.56789805e-04 9.99700679e-01 -1.96752806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.264012739 meters Centerline goodness [0,1] 0.9945761264146914 Centerline is valid? [True, True] Translation: X:318.14, Y:-2.07, Z:-1.97 [[ 9.33611719e-01 -3.57540861e-01 -2.31017385e-02 3.18137110e+02] [ 3.57429076e-01 9.33897491e-01 -8.94042870e-03 -2.07246154e+00] [ 2.47712242e-02 8.96559691e-05 9.99693142e-01 -1.96737189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.294012739 meters Centerline goodness [0,1] 0.9948771142488199 Centerline is valid? [True, True] Translation: X:318.17, Y:-2.07, Z:-1.97 [[ 9.31837274e-01 -3.62161620e-01 -2.27652341e-02 3.18167923e+02] [ 3.62054354e-01 9.32115315e-01 -8.81388873e-03 -2.07391570e+00] [ 2.44118756e-02 -2.91420932e-05 9.99701985e-01 -1.96603803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.324012739 meters Centerline goodness [0,1] 0.9948625411315147 Centerline is valid? [True, True] Translation: X:318.20, Y:-2.07, Z:-1.96 [[ 9.31048053e-01 -3.64212839e-01 -2.23278069e-02 3.18195610e+02] [ 3.64110211e-01 9.31315737e-01 -8.64595718e-03 -2.06813977e+00] [ 2.39432065e-02 -7.99808885e-05 9.99713317e-01 -1.96460457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.354012739 meters Centerline goodness [0,1] 0.9946495566166439 Centerline is valid? [True, True] Translation: X:318.22, Y:-2.06, Z:-1.96 [[ 9.30463431e-01 -3.65747334e-01 -2.16030271e-02 3.18223558e+02] [ 3.65651575e-01 9.30714175e-01 -8.36959760e-03 -2.06073414e+00] [ 2.31674015e-02 -1.11576372e-04 9.99731594e-01 -1.96268999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.384012739 meters Centerline goodness [0,1] 0.994188274364542 Centerline is valid? [True, True] Translation: X:318.25, Y:-2.06, Z:-1.96 [[ 9.29797311e-01 -3.67419878e-01 -2.18996331e-02 3.18252389e+02] [ 3.67321837e-01 9.30055165e-01 -8.48867245e-03 -2.05668755e+00] [ 2.34867738e-02 -1.51468628e-04 9.99724136e-01 -1.96213862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.414012739 meters Centerline goodness [0,1] 0.995411865130175 Centerline is valid? [True, True] Translation: X:318.28, Y:-2.05, Z:-1.96 [[ 9.29841114e-01 -3.67173195e-01 -2.40696425e-02 3.18279393e+02] [ 3.67054630e-01 9.30152579e-01 -9.33160157e-03 -2.05078770e+00] [ 2.58147540e-02 -1.57966937e-04 9.99666731e-01 -1.96477234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.444012739 meters Centerline goodness [0,1] 0.9958376244421558 Centerline is valid? [True, True] Translation: X:318.31, Y:-2.04, Z:-1.96 [[ 9.29994521e-01 -3.66752436e-01 -2.45528291e-02 3.18305754e+02] [ 3.66628846e-01 9.30318563e-01 -9.52153711e-03 -2.04115977e+00] [ 2.63339996e-02 -1.46798075e-04 9.99653189e-01 -1.96470001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.474012739 meters Centerline goodness [0,1] 0.9951086019651784 Centerline is valid? [True, True] Translation: X:318.33, Y:-2.03, Z:-1.96 [[ 9.30027289e-01 -3.66705161e-01 -2.40118055e-02 3.18332990e+02] [ 3.66586812e-01 9.30337200e-01 -9.31684146e-03 -2.03278700e+00] [ 2.57556097e-02 -1.37494411e-04 9.99668260e-01 -1.96351851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.504012739 meters Centerline goodness [0,1] 0.9950504554861007 Centerline is valid? [True, True] Translation: X:318.36, Y:-2.03, Z:-1.96 [[ 9.30018310e-01 -3.66794088e-01 -2.29791476e-02 3.18359022e+02] [ 3.66685611e-01 9.30302145e-01 -8.92087122e-03 -2.02648032e+00] [ 2.46496731e-02 -1.29549198e-04 9.99696142e-01 -1.96122564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.534012739 meters Centerline goodness [0,1] 0.993819713420958 Centerline is valid? [True, True] Translation: X:318.39, Y:-2.03, Z:-1.96 [[ 9.29669761e-01 -3.67799641e-01 -2.09179551e-02 3.18388887e+02] [ 3.67709968e-01 9.29905051e-01 -8.12247482e-03 -2.02630624e+00] [ 2.24391554e-02 -1.40521367e-04 9.99748201e-01 -1.95655771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.564012739 meters Centerline goodness [0,1] 0.9940491371248831 Centerline is valid? [True, True] Translation: X:318.42, Y:-2.02, Z:-1.96 [[ 9.29472024e-01 -3.68268896e-01 -2.14424048e-02 3.18417321e+02] [ 3.68174745e-01 9.29719311e-01 -8.32831269e-03 -2.02460163e+00] [ 2.30024763e-02 -1.53618262e-04 9.99735396e-01 -1.95608449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.594012739 meters Centerline goodness [0,1] 0.9947266580195199 Centerline is valid? [True, True] Translation: X:318.44, Y:-2.02, Z:-1.96 [[ 9.29803122e-01 -3.67358587e-01 -2.26676536e-02 3.18443434e+02] [ 3.67253010e-01 9.30079379e-01 -8.80774285e-03 -2.01552600e+00] [ 2.43183172e-02 -1.35297213e-04 9.99704257e-01 -1.95758573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.624012739 meters Centerline goodness [0,1] 0.9947496478422333 Centerline is valid? [True, True] Translation: X:318.47, Y:-2.00, Z:-1.96 [[ 9.30618894e-01 -3.65234524e-01 -2.34993010e-02 3.18469305e+02] [ 3.65120252e-01 9.30915537e-01 -9.13591483e-03 -2.00476616e+00] [ 2.52126159e-02 -7.80157567e-05 9.99682108e-01 -1.95898088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.654012739 meters Centerline goodness [0,1] 0.9940641414357091 Centerline is valid? [True, True] Translation: X:318.49, Y:-1.99, Z:-1.96 [[ 9.33487843e-01 -3.57704882e-01 -2.54492601e-02 3.18491854e+02] [ 3.57567999e-01 9.33834674e-01 -9.89582234e-03 -1.98512482e+00] [ 2.73051854e-02 1.37788844e-04 9.99627134e-01 -1.96105913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.684012739 meters Centerline goodness [0,1] 0.9932087200885634 Centerline is valid? [True, True] Translation: X:318.52, Y:-1.97, Z:-1.96 [[ 9.35185530e-01 -3.53248650e-01 -2.53656330e-02 3.18515720e+02] [ 3.53110968e-01 9.35529433e-01 -9.86534435e-03 -1.96673666e+00] [ 2.72152158e-02 2.69044065e-04 9.99629561e-01 -1.95994177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.714012739 meters Centerline goodness [0,1] 0.9913509588690044 Centerline is valid? [True, True] Translation: X:318.54, Y:-1.94, Z:-1.96 [[ 9.38352223e-01 -3.44788313e-01 -2.48218711e-02 3.18537505e+02] [ 3.44653395e-01 9.38680330e-01 -9.65794034e-03 -1.94161338e+00] [ 2.66297471e-02 5.07607635e-04 9.99645237e-01 -1.95828879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.744012739 meters Centerline goodness [0,1] 0.9900802208229104 Centerline is valid? [True, True] Translation: X:318.56, Y:-1.93, Z:-1.96 [[ 9.39474913e-01 -3.41724231e-01 -2.47272608e-02 3.18563946e+02] [ 3.41589257e-01 9.39800084e-01 -9.62191559e-03 -1.92750431e+00] [ 2.65267235e-02 5.92981660e-04 9.99647929e-01 -1.95692605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.774012739 meters Centerline goodness [0,1] 0.9886207115763599 Centerline is valid? [True, True] Translation: X:318.59, Y:-1.91, Z:-1.96 [[ 9.40359234e-01 -3.39293480e-01 -2.45854912e-02 3.18587302e+02] [ 3.39159199e-01 9.40680339e-01 -9.56747654e-03 -1.90960637e+00] [ 2.63732707e-02 6.58469380e-04 9.99651948e-01 -1.95698925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80401273900003 meters Centerline goodness [0,1] 0.9880780653372931 Centerline is valid? [True, True] Translation: X:318.61, Y:-1.89, Z:-1.96 [[ 9.41275237e-01 -3.36762462e-01 -2.43304861e-02 3.18611536e+02] [ 3.36630075e-01 9.41589359e-01 -9.46950639e-03 -1.89078864e+00] [ 2.60983011e-02 7.23038508e-04 9.99659120e-01 -1.95672304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.834012739 meters Centerline goodness [0,1] 0.9879456706281834 Centerline is valid? [True, True] Translation: X:318.64, Y:-1.88, Z:-1.96 [[ 9.41196509e-01 -3.37006287e-01 -2.39977917e-02 3.18636794e+02] [ 3.36877544e-01 9.41502130e-01 -9.34123620e-03 -1.87791390e+00] [ 2.57420274e-02 7.07621749e-04 9.99668369e-01 -1.95590113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86401273900003 meters Centerline goodness [0,1] 0.9882236644174153 Centerline is valid? [True, True] Translation: X:318.66, Y:-1.87, Z:-1.95 [[ 9.40444851e-01 -3.39115622e-01 -2.37502932e-02 3.18663257e+02] [ 3.38990076e-01 9.40744480e-01 -9.24946118e-03 -1.86646727e+00] [ 2.54795940e-02 6.47494443e-04 9.99675133e-01 -1.95429472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.894012739 meters Centerline goodness [0,1] 0.9890004476562 Centerline is valid? [True, True] Translation: X:318.69, Y:-1.85, Z:-1.95 [[ 9.40021381e-01 -3.40251571e-01 -2.42625489e-02 3.18688411e+02] [ 3.40120895e-01 9.40334233e-01 -9.45024359e-03 -1.85442668e+00] [ 2.60303656e-02 6.31231180e-04 9.99660953e-01 -1.95406522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.924012739 meters Centerline goodness [0,1] 0.9890004476562 Centerline is valid? [True, True] Translation: X:318.71, Y:-1.84, Z:-1.95 [[ 9.39961786e-01 -3.40416214e-01 -2.42619304e-02 3.18713955e+02] [ 3.40285552e-01 9.40274644e-01 -9.45183121e-03 -1.84426260e+00] [ 2.60304346e-02 6.28375763e-04 9.99660953e-01 -1.95341112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.954012739 meters Centerline goodness [0,1] 0.9894443972474726 Centerline is valid? [True, True] Translation: X:318.74, Y:-1.83, Z:-1.95 [[ 9.39498101e-01 -3.41687012e-01 -2.43578400e-02 3.18740196e+02] [ 3.41555613e-01 9.39813612e-01 -9.49407252e-03 -1.83228789e+00] [ 2.61358308e-02 6.00106136e-04 9.99658221e-01 -1.95319562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.984012739 meters Centerline goodness [0,1] 0.9908044019668363 Centerline is valid? [True, True] Translation: X:318.77, Y:-1.82, Z:-1.95 [[ 9.38388476e-01 -3.44769729e-01 -2.36833838e-02 3.18766089e+02] [ 3.44646388e-01 9.38687158e-01 -9.23508960e-03 -1.82265098e+00] [ 2.54152676e-02 5.03708958e-04 9.99676853e-01 -1.95195776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.014012739 meters Centerline goodness [0,1] 0.9909994454634645 Centerline is valid? [True, True] Translation: X:318.80, Y:-1.82, Z:-1.95 [[ 9.36699164e-01 -3.49324126e-01 -2.38187284e-02 3.18797140e+02] [ 3.49200797e-01 9.37001872e-01 -9.28955050e-03 -1.82230010e+00] [ 2.55632572e-02 3.83995230e-04 9.99673133e-01 -1.95000835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.044012739 meters Centerline goodness [0,1] 0.9910909825434288 Centerline is valid? [True, True] Translation: X:318.82, Y:-1.81, Z:-1.95 [[ 9.35688064e-01 -3.52028501e-01 -2.37440710e-02 3.18823068e+02] [ 3.51906713e-01 9.35989229e-01 -9.26437891e-03 -1.81308582e+00] [ 2.54855201e-02 3.12870797e-04 9.99675142e-01 -1.94908938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.074012739 meters Centerline goodness [0,1] 0.99252780844018 Centerline is valid? [True, True] Translation: X:318.85, Y:-1.81, Z:-1.95 [[ 9.34563228e-01 -3.55032625e-01 -2.33111167e-02 3.18850641e+02] [ 3.54916134e-01 9.34853883e-01 -9.09697412e-03 -1.80770166e+00] [ 2.50222106e-02 2.28206090e-04 9.99686869e-01 -1.94737617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.104012739 meters Centerline goodness [0,1] 0.9929375835083031 Centerline is valid? [True, True] Translation: X:318.88, Y:-1.81, Z:-1.94 [[ 9.32144598e-01 -3.61455424e-01 -2.13641046e-02 3.18882204e+02] [ 3.61359238e-01 9.32389389e-01 -8.33829330e-03 -1.81012632e+00] [ 2.29335858e-02 5.23784908e-05 9.99736989e-01 -1.94325206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.134012739 meters Centerline goodness [0,1] 0.9927210220279276 Centerline is valid? [True, True] Translation: X:318.91, Y:-1.81, Z:-1.94 [[ 9.31075325e-01 -3.64224717e-01 -2.09545848e-02 3.18909797e+02] [ 3.64132802e-01 9.31311095e-01 -8.18212948e-03 -1.80646261e+00] [ 2.24953711e-02 -1.20727905e-05 9.99746947e-01 -1.94163121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.164012739 meters Centerline goodness [0,1] 0.9931974235241597 Centerline is valid? [True, True] Translation: X:318.94, Y:-1.80, Z:-1.94 [[ 9.30110632e-01 -3.66626755e-01 -2.18868504e-02 3.18938496e+02] [ 3.66527096e-01 9.30368109e-01 -8.54809530e-03 -1.80216251e+00] [ 2.34967880e-02 -7.14493909e-05 9.99723910e-01 -1.94260382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.194012739 meters Centerline goodness [0,1] 0.9937492027044266 Centerline is valid? [True, True] Translation: X:318.96, Y:-1.79, Z:-1.94 [[ 9.30036580e-01 -3.66750736e-01 -2.29316011e-02 3.18964342e+02] [ 3.66641257e-01 9.30319242e-01 -8.96081149e-03 -1.79370252e+00] [ 2.46200939e-02 -7.37885758e-05 9.99696877e-01 -1.94444586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.224012739 meters Centerline goodness [0,1] 0.994134709721452 Centerline is valid? [True, True] Translation: X:318.99, Y:-1.78, Z:-1.95 [[ 9.30199689e-01 -3.66258887e-01 -2.41447001e-02 3.18990388e+02] [ 3.66137260e-01 9.30512990e-01 -9.43837889e-03 -1.78414533e+00] [ 2.59238472e-02 -6.06972181e-05 9.99663919e-01 -1.94617187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.254012739 meters Centerline goodness [0,1] 0.9940487617584949 Centerline is valid? [True, True] Translation: X:319.02, Y:-1.77, Z:-1.95 [[ 9.31205425e-01 -3.63529394e-01 -2.65110334e-02 3.19015449e+02] [ 3.63381503e-01 9.31582728e-01 -1.03684342e-02 -1.77262038e+00] [ 2.84664514e-02 2.15230593e-05 9.99594748e-01 -1.95078228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.284012739 meters Centerline goodness [0,1] 0.9938602082005523 Centerline is valid? [True, True] Translation: X:319.04, Y:-1.76, Z:-1.95 [[ 9.31815288e-01 -3.61934386e-01 -2.69029795e-02 3.19041718e+02] [ 3.61781360e-01 9.32203570e-01 -1.05239040e-02 -1.75936550e+00] [ 2.88880162e-02 7.33381021e-05 9.99582651e-01 -1.95122622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.314012739 meters Centerline goodness [0,1] 0.9933019473571582 Centerline is valid? [True, True] Translation: X:319.06, Y:-1.74, Z:-1.95 [[ 9.33328210e-01 -3.58065338e-01 -2.62234035e-02 3.19064664e+02] [ 3.57918307e-01 9.33696512e-01 -1.02619976e-02 -1.74285036e+00] [ 2.81591660e-02 1.91975697e-04 9.99603434e-01 -1.94928543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.344012739 meters Centerline goodness [0,1] 0.9922426102337872 Centerline is valid? [True, True] Translation: X:319.09, Y:-1.73, Z:-1.95 [[ 9.33952965e-01 -3.56498068e-01 -2.53177083e-02 3.19090475e+02] [ 3.56360394e-01 9.34296031e-01 -9.90939940e-03 -1.72950384e+00] [ 2.71869161e-02 2.32684443e-04 9.99630340e-01 -1.94570320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.374012739 meters Centerline goodness [0,1] 0.9918157146825651 Centerline is valid? [True, True] Translation: X:319.12, Y:-1.72, Z:-1.94 [[ 9.34492637e-01 -3.55137238e-01 -2.45164124e-02 3.19117551e+02] [ 3.55007567e-01 9.34814137e-01 -9.59982121e-03 -1.72062165e+00] [ 2.63275429e-02 2.67450306e-04 9.99653334e-01 -1.94212861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.404012739 meters Centerline goodness [0,1] 0.9907153859318844 Centerline is valid? [True, True] Translation: X:319.14, Y:-1.71, Z:-1.94 [[ 9.34791019e-01 -3.54400951e-01 -2.37847992e-02 3.19141122e+02] [ 3.54278560e-01 9.35093517e-01 -9.31755606e-03 -1.70589583e+00] [ 2.55431623e-02 2.83523324e-04 9.99673680e-01 -1.94126397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.434012739 meters Centerline goodness [0,1] 0.9915382483961037 Centerline is valid? [True, True] Translation: X:319.17, Y:-1.70, Z:-1.94 [[ 9.34348820e-01 -3.55607279e-01 -2.31461876e-02 3.19169524e+02] [ 3.55491695e-01 9.34635438e-01 -9.06930636e-03 -1.69954862e+00] [ 2.48583585e-02 2.45618246e-04 9.99690953e-01 -1.93925438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.464012739 meters Centerline goodness [0,1] 0.9915398350480401 Centerline is valid? [True, True] Translation: X:319.20, Y:-1.69, Z:-1.94 [[ 9.34072710e-01 -3.56374813e-01 -2.24759008e-02 3.19195454e+02] [ 3.56265950e-01 9.34343055e-01 -8.81073979e-03 -1.68959902e+00] [ 2.41401275e-02 2.22473442e-04 9.99708560e-01 -1.93682808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.494012739 meters Centerline goodness [0,1] 0.9909808581978694 Centerline is valid? [True, True] Translation: X:319.22, Y:-1.68, Z:-1.93 [[ 9.33953054e-01 -3.56729760e-01 -2.18076018e-02 3.19219177e+02] [ 3.56627266e-01 9.34207597e-01 -8.55333177e-03 -1.67603110e+00] [ 2.34240553e-02 2.11224898e-04 9.99725597e-01 -1.93409280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.524012739 meters Centerline goodness [0,1] 0.9912575512635072 Centerline is valid? [True, True] Translation: X:319.25, Y:-1.67, Z:-1.93 [[ 9.33886245e-01 -3.56911490e-01 -2.16949270e-02 3.19245944e+02] [ 3.56810056e-01 9.34138183e-01 -8.51110118e-03 -1.66758123e+00] [ 2.33037695e-02 2.07432200e-04 9.99728409e-01 -1.93305548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55401273900003 meters Centerline goodness [0,1] 0.9914776395644127 Centerline is valid? [True, True] Translation: X:319.27, Y:-1.65, Z:-1.93 [[ 9.34352471e-01 -3.55704928e-01 -2.14351159e-02 3.19271370e+02] [ 3.55605487e-01 9.34598281e-01 -8.41372289e-03 -1.65254953e+00] [ 2.30260252e-02 2.38937952e-04 9.99734837e-01 -1.93199904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.584012739 meters Centerline goodness [0,1] 0.9908018867924528 Centerline is valid? [True, True] Translation: X:319.30, Y:-1.64, Z:-1.93 [[ 9.34788416e-01 -3.54593266e-01 -2.08382635e-02 3.19296802e+02] [ 3.54498924e-01 9.35020613e-01 -8.18327342e-03 -1.63834324e+00] [ 2.23859395e-02 2.62487206e-04 9.99749369e-01 -1.92963920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61401273900003 meters Centerline goodness [0,1] 0.9909092858214875 Centerline is valid? [True, True] Translation: X:319.32, Y:-1.63, Z:-1.93 [[ 9.34598988e-01 -3.55101482e-01 -2.06801570e-02 3.19322421e+02] [ 3.55008601e-01 9.34827724e-01 -8.12523178e-03 -1.62738905e+00] [ 2.22176659e-02 2.52199811e-04 9.99753125e-01 -1.92880083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.644012739 meters Centerline goodness [0,1] 0.9912555327647631 Centerline is valid? [True, True] Translation: X:319.35, Y:-1.62, Z:-1.93 [[ 9.34151230e-01 -3.56258295e-01 -2.10120442e-02 3.19349838e+02] [ 3.56162672e-01 9.34387486e-01 -8.25692617e-03 -1.61783307e+00] [ 2.25749896e-02 2.29511943e-04 9.99745126e-01 -1.92849672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.674012739 meters Centerline goodness [0,1] 0.9915773841094728 Centerline is valid? [True, True] Translation: X:319.38, Y:-1.61, Z:-1.93 [[ 9.33600465e-01 -3.57658238e-01 -2.16968999e-02 3.19376366e+02] [ 3.57556557e-01 9.33852527e-01 -8.53034312e-03 -1.60911597e+00] [ 2.33126523e-02 2.06063481e-04 9.99728202e-01 -1.92985218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.704012739 meters Centerline goodness [0,1] 0.9926563741384123 Centerline is valid? [True, True] Translation: X:319.41, Y:-1.61, Z:-1.93 [[ 9.32339711e-01 -3.60865611e-01 -2.27744260e-02 3.19406110e+02] [ 3.60754492e-01 9.32617817e-01 -8.95566213e-03 -1.60505064e+00] [ 2.44716260e-02 1.33742955e-04 9.99700516e-01 -1.93194959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.734012739 meters Centerline goodness [0,1] 0.9929281956248536 Centerline is valid? [True, True] Translation: X:319.43, Y:-1.60, Z:-1.93 [[ 9.31949396e-01 -3.61856918e-01 -2.30194535e-02 3.19433491e+02] [ 3.61743586e-01 9.32233639e-01 -9.05645666e-03 -1.59734007e+00] [ 2.47366504e-02 1.13019663e-04 9.99693996e-01 -1.93150731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.764012739 meters Centerline goodness [0,1] 0.9930648626800264 Centerline is valid? [True, True] Translation: X:319.46, Y:-1.59, Z:-1.93 [[ 9.31931890e-01 -3.61871175e-01 -2.34990360e-02 3.19458731e+02] [ 3.61752946e-01 9.32228104e-01 -9.25027678e-03 -1.58764847e+00] [ 2.52538703e-02 1.19782408e-04 9.99681063e-01 -1.93069377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.794012739 meters Centerline goodness [0,1] 0.992872037107962 Centerline is valid? [True, True] Translation: X:319.48, Y:-1.57, Z:-1.93 [[ 9.32353706e-01 -3.60749480e-01 -2.40078984e-02 3.19484226e+02] [ 3.60625607e-01 9.32662741e-01 -9.45430320e-03 -1.57485232e+00] [ 2.58019073e-02 1.56891707e-04 9.99667063e-01 -1.93095385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.824012739 meters Centerline goodness [0,1] 0.992798266485384 Centerline is valid? [True, True] Translation: X:319.51, Y:-1.56, Z:-1.93 [[ 9.33101674e-01 -3.58785622e-01 -2.43750386e-02 3.19507694e+02] [ 3.58657144e-01 9.33419964e-01 -9.60331538e-03 -1.55927755e+00] [ 2.61976792e-02 2.18587920e-04 9.99656758e-01 -1.93138693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.854012739 meters Centerline goodness [0,1] 0.9916265393957472 Centerline is valid? [True, True] Translation: X:319.53, Y:-1.54, Z:-1.93 [[ 9.35216943e-01 -3.53174770e-01 -2.52359103e-02 3.19530737e+02] [ 3.53034963e-01 9.35557282e-01 -9.94415731e-03 -1.53679361e+00] [ 2.71216651e-02 3.90785753e-04 9.99632064e-01 -1.93226765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.884012739 meters Centerline goodness [0,1] 0.9910820959208057 Centerline is valid? [True, True] Translation: X:319.55, Y:-1.51, Z:-1.93 [[ 9.36957673e-01 -3.48583276e-01 -2.44952728e-02 3.19553592e+02] [ 3.48449958e-01 9.37277675e-01 -9.65331798e-03 -1.51337006e+00] [ 2.63238576e-02 5.09373545e-04 9.99653337e-01 -1.93066702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.914012739 meters Centerline goodness [0,1] 0.9903518486965411 Centerline is valid? [True, True] Translation: X:319.58, Y:-1.50, Z:-1.93 [[ 9.37370365e-01 -3.47497069e-01 -2.41368319e-02 3.19577444e+02] [ 3.47367234e-01 9.37680917e-01 -9.51322647e-03 -1.49818009e+00] [ 2.59384650e-02 5.33072027e-04 9.99663399e-01 -1.92956446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.944012739 meters Centerline goodness [0,1] 0.9900576613245146 Centerline is valid? [True, True] Translation: X:319.60, Y:-1.49, Z:-1.93 [[ 9.37278800e-01 -3.47755923e-01 -2.39639239e-02 3.19602691e+02] [ 3.47627960e-01 9.37584952e-01 -9.44767897e-03 -1.48577490e+00] [ 2.57537007e-02 5.24579235e-04 9.99668181e-01 -1.92849187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.974012739 meters Centerline goodness [0,1] 0.989660140689889 Centerline is valid? [True, True] Translation: X:319.63, Y:-1.47, Z:-1.93 [[ 9.36925105e-01 -3.48709687e-01 -2.39353551e-02 3.19627885e+02] [ 3.48582214e-01 9.37230655e-01 -9.44131950e-03 -1.47421276e+00] [ 2.57252281e-02 5.02370188e-04 9.99668925e-01 -1.92772371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.004012739 meters Centerline goodness [0,1] 0.9908623400909516 Centerline is valid? [True, True] Translation: X:319.65, Y:-1.46, Z:-1.93 [[ 9.35892480e-01 -3.51439914e-01 -2.43978087e-02 3.19653862e+02] [ 3.51308331e-01 9.36210337e-01 -9.62608296e-03 -1.46110522e+00] [ 2.62244705e-02 4.37825190e-04 9.99655984e-01 -1.92835748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.034012739 meters Centerline goodness [0,1] 0.9914965252298528 Centerline is valid? [True, True] Translation: X:319.68, Y:-1.45, Z:-1.93 [[ 9.35248403e-01 -3.53196895e-01 -2.37145047e-02 3.19679830e+02] [ 3.53073108e-01 9.35548935e-01 -9.35791753e-03 -1.44714695e+00] [ 2.54912670e-02 3.79023566e-04 9.99674973e-01 -1.92788076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.064012739 meters Centerline goodness [0,1] 0.9908662156682815 Centerline is valid? [True, True] Translation: X:319.70, Y:-1.43, Z:-1.93 [[ 9.35074962e-01 -3.53652804e-01 -2.37594187e-02 3.19704007e+02] [ 3.53528588e-01 9.35376692e-01 -9.37979850e-03 -1.43497300e+00] [ 2.55411985e-02 3.71180993e-04 9.99673701e-01 -1.92660269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.094012739 meters Centerline goodness [0,1] 0.9908497010193007 Centerline is valid? [True, True] Translation: X:319.73, Y:-1.42, Z:-1.93 [[ 9.35024272e-01 -3.53792370e-01 -2.36763457e-02 3.19729330e+02] [ 3.53668975e-01 9.35323913e-01 -9.35061267e-03 -1.42165788e+00] [ 2.54532277e-02 3.69460908e-04 9.99675946e-01 -1.92526355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.124012739 meters Centerline goodness [0,1] 0.9910733262486716 Centerline is valid? [True, True] Translation: X:319.75, Y:-1.40, Z:-1.92 [[ 9.35371778e-01 -3.52875698e-01 -2.36300455e-02 3.19751469e+02] [ 3.52752368e-01 9.35670125e-01 -9.33720737e-03 -1.40210728e+00] [ 2.54048012e-02 3.98205751e-04 9.99677167e-01 -1.92325475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.154012739 meters Centerline goodness [0,1] 0.9907749471481347 Centerline is valid? [True, True] Translation: X:319.78, Y:-1.39, Z:-1.92 [[ 9.35618651e-01 -3.52212082e-01 -2.37568809e-02 3.19777028e+02] [ 3.52087165e-01 9.35920121e-01 -9.38912691e-03 -1.38915803e+00] [ 2.55415068e-02 4.20149423e-04 9.99673674e-01 -1.92277125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.184012739 meters Centerline goodness [0,1] 0.9902956394787127 Centerline is valid? [True, True] Translation: X:319.80, Y:-1.37, Z:-1.92 [[ 9.35827313e-01 -3.51725309e-01 -2.27276659e-02 3.19802401e+02] [ 3.51610738e-01 9.36103163e-01 -8.98649125e-03 -1.37460888e+00] [ 2.44362163e-02 4.18512585e-04 9.99701303e-01 -1.92149891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.214012739 meters Centerline goodness [0,1] 0.9904050719087737 Centerline is valid? [True, True] Translation: X:319.83, Y:-1.36, Z:-1.92 [[ 9.35582131e-01 -3.52412828e-01 -2.21647171e-02 3.19828700e+02] [ 3.52303958e-01 9.35844561e-01 -8.76802890e-03 -1.36283503e+00] [ 2.38326958e-02 3.94493605e-04 9.99715883e-01 -1.91990775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.244012739 meters Centerline goodness [0,1] 0.9906972774601007 Centerline is valid? [True, True] Translation: X:319.85, Y:-1.35, Z:-1.92 [[ 9.35246469e-01 -3.53305138e-01 -2.21251234e-02 3.19854577e+02] [ 3.53196805e-01 9.35508065e-01 -8.75658568e-03 -1.35061292e+00] [ 2.37919781e-02 3.75042956e-04 9.99716860e-01 -1.91913035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.274012739 meters Centerline goodness [0,1] 0.9913301536830949 Centerline is valid? [True, True] Translation: X:319.88, Y:-1.34, Z:-1.92 [[ 9.34638037e-01 -3.54888592e-01 -2.24906128e-02 3.19879346e+02] [ 3.54777004e-01 9.34908535e-01 -8.90555361e-03 -1.33682945e+00] [ 2.41871452e-02 3.44316926e-04 9.99707389e-01 -1.91936882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30401273900003 meters Centerline goodness [0,1] 0.9910653214774282 Centerline is valid? [True, True] Translation: X:319.91, Y:-1.33, Z:-1.92 [[ 9.34183547e-01 -3.56117006e-01 -2.19494486e-02 3.19906300e+02] [ 3.56011028e-01 9.34441322e-01 -8.69270762e-03 -1.32555502e+00] [ 2.36060928e-02 3.06338664e-04 9.99721290e-01 -1.91711230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.334012739 meters Centerline goodness [0,1] 0.9907752615096189 Centerline is valid? [True, True] Translation: X:319.93, Y:-1.31, Z:-1.92 [[ 9.34002412e-01 -3.56600623e-01 -2.18057421e-02 3.19931501e+02] [ 3.56496071e-01 9.34256875e-01 -8.63963153e-03 -1.31287246e+00] [ 2.34530624e-02 2.95775297e-04 9.99724895e-01 -1.91643126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36401273900003 meters Centerline goodness [0,1] 0.9917597587393281 Centerline is valid? [True, True] Translation: X:319.96, Y:-1.30, Z:-1.92 [[ 9.33780578e-01 -3.57184410e-01 -2.17515603e-02 3.19957040e+02] [ 3.57080502e-01 9.34033842e-01 -8.61957778e-03 -1.30120074e+00] [ 2.33954722e-02 2.81736246e-04 9.99726249e-01 -1.91572455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.394012739 meters Centerline goodness [0,1] 0.9920919128618323 Centerline is valid? [True, True] Translation: X:319.98, Y:-1.29, Z:-1.92 [[ 9.33577715e-01 -3.57735092e-01 -2.14068718e-02 3.19983476e+02] [ 3.57634496e-01 9.33823073e-01 -8.48735922e-03 -1.29139255e+00] [ 2.30264571e-02 2.67773628e-04 9.99734820e-01 -1.91524562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.424012739 meters Centerline goodness [0,1] 0.9917509595606167 Centerline is valid? [True, True] Translation: X:320.01, Y:-1.28, Z:-1.91 [[ 9.33300431e-01 -3.58448304e-01 -2.15666366e-02 3.20009749e+02] [ 3.58346279e-01 9.33549542e-01 -8.55552285e-03 -1.28145720e+00] [ 2.32002363e-02 2.56549208e-04 9.99730805e-01 -1.91457423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.454012739 meters Centerline goodness [0,1] 0.9919179425939353 Centerline is valid? [True, True] Translation: X:320.04, Y:-1.27, Z:-1.92 [[ 9.32626412e-01 -3.60149770e-01 -2.23633280e-02 3.20037187e+02] [ 3.60040518e-01 9.32894470e-01 -8.87314104e-03 -1.27451931e+00] [ 2.40582847e-02 2.23621508e-04 9.99710533e-01 -1.91510630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.484012739 meters Centerline goodness [0,1] 0.993168669811925 Centerline is valid? [True, True] Translation: X:320.06, Y:-1.27, Z:-1.92 [[ 9.32266221e-01 -3.61034862e-01 -2.30980990e-02 3.20064223e+02] [ 3.60918541e-01 9.32552296e-01 -9.16637955e-03 -1.26765176e+00] [ 2.48495678e-02 2.08973837e-04 9.99691180e-01 -1.91578101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.514012739 meters Centerline goodness [0,1] 0.9930403871686153 Centerline is valid? [True, True] Translation: X:320.09, Y:-1.26, Z:-1.92 [[ 9.31975099e-01 -3.61773460e-01 -2.32890290e-02 3.20090944e+02] [ 3.61655307e-01 9.32266016e-01 -9.24735934e-03 -1.25856198e+00] [ 2.50570195e-02 1.95707686e-04 9.99686004e-01 -1.91569905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.544012739 meters Centerline goodness [0,1] 0.9926880074820389 Centerline is valid? [True, True] Translation: X:320.12, Y:-1.25, Z:-1.91 [[ 9.31762794e-01 -3.62365537e-01 -2.25679596e-02 3.20118208e+02] [ 3.62254646e-01 9.32036043e-01 -8.96582828e-03 -1.25143902e+00] [ 2.42830589e-02 1.78677000e-04 9.99705107e-01 -1.91337344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.574012739 meters Centerline goodness [0,1] 0.9928647271182841 Centerline is valid? [True, True] Translation: X:320.14, Y:-1.24, Z:-1.91 [[ 9.31641884e-01 -3.62689964e-01 -2.23470154e-02 3.20144834e+02] [ 3.62581290e-01 9.31909846e-01 -8.87960908e-03 -1.24197373e+00] [ 2.40459488e-02 1.70006066e-04 9.99710840e-01 -1.91246252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.604012739 meters Centerline goodness [0,1] 0.9934683490616053 Centerline is valid? [True, True] Translation: X:320.17, Y:-1.23, Z:-1.91 [[ 9.31839071e-01 -3.62128798e-01 -2.32094834e-02 3.20170479e+02] [ 3.62011273e-01 9.32128047e-01 -9.22726834e-03 -1.23051232e+00] [ 2.49756700e-02 1.96234528e-04 9.99688040e-01 -1.91418526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.634012739 meters Centerline goodness [0,1] 0.9933777682218877 Centerline is valid? [True, True] Translation: X:320.20, Y:-1.22, Z:-1.91 [[ 9.31854115e-01 -3.62050144e-01 -2.38243848e-02 3.20196668e+02] [ 3.61926216e-01 9.32158597e-01 -9.47434923e-03 -1.22161244e+00] [ 2.56382946e-02 2.06041864e-04 9.99671264e-01 -1.91474297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.664012739 meters Centerline goodness [0,1] 0.993132919465941 Centerline is valid? [True, True] Translation: X:320.22, Y:-1.21, Z:-1.91 [[ 9.31898795e-01 -3.61914253e-01 -2.41393685e-02 3.20222933e+02] [ 3.61786842e-01 9.32211364e-01 -9.60492328e-03 -1.21186443e+00] [ 2.59791522e-02 2.17510545e-04 9.99662461e-01 -1.91446800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.694012739 meters Centerline goodness [0,1] 0.9923691705989882 Centerline is valid? [True, True] Translation: X:320.25, Y:-1.20, Z:-1.91 [[ 9.31989644e-01 -3.61723551e-01 -2.34813778e-02 3.20248453e+02] [ 3.61602811e-01 9.32285377e-01 -9.34791763e-03 -1.20238759e+00] [ 2.52727071e-02 2.21230213e-04 9.99680570e-01 -1.91230405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.724012739 meters Centerline goodness [0,1] 0.9932931632848596 Centerline is valid? [True, True] Translation: X:320.28, Y:-1.19, Z:-1.91 [[ 9.31699290e-01 -3.62523685e-01 -2.26497624e-02 3.20275368e+02] [ 3.62411531e-01 9.31974538e-01 -9.01899155e-03 -1.19366299e+00] [ 2.43785999e-02 1.94452970e-04 9.99702779e-01 -1.90979513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.754012739 meters Centerline goodness [0,1] 0.9931887358719482 Centerline is valid? [True, True] Translation: X:320.30, Y:-1.18, Z:-1.91 [[ 9.31323319e-01 -3.63511939e-01 -2.22698409e-02 3.20301747e+02] [ 3.63403685e-01 9.31589524e-01 -8.87247103e-03 -1.18439583e+00] [ 2.39715996e-02 1.70196935e-04 9.99712625e-01 -1.90883130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.784012739 meters Centerline goodness [0,1] 0.9932676483788925 Centerline is valid? [True, True] Translation: X:320.33, Y:-1.18, Z:-1.91 [[ 9.30785294e-01 -3.64907424e-01 -2.19387204e-02 3.20329425e+02] [ 3.64802719e-01 9.31043798e-01 -8.74199841e-03 -1.17591682e+00] [ 2.36159297e-02 1.33618718e-04 9.99721096e-01 -1.90757455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.814012739 meters Centerline goodness [0,1] 0.993910776856679 Centerline is valid? [True, True] Translation: X:320.36, Y:-1.17, Z:-1.91 [[ 9.30340346e-01 -3.66056120e-01 -2.16738893e-02 3.20355796e+02] [ 3.65954143e-01 9.30592771e-01 -8.64055903e-03 -1.16767185e+00] [ 2.33324942e-02 1.07011086e-04 9.99727755e-01 -1.90637335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.844012739 meters Centerline goodness [0,1] 0.993910776856679 Centerline is valid? [True, True] Translation: X:320.38, Y:-1.16, Z:-1.91 [[ 9.30273770e-01 -3.66225307e-01 -2.16734114e-02 3.20381247e+02] [ 3.66123348e-01 9.30526203e-01 -8.64175761e-03 -1.15730596e+00] [ 2.33325075e-02 1.04058483e-04 9.99727755e-01 -1.90571949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.874012739 meters Centerline goodness [0,1] 0.993588231509875 Centerline is valid? [True, True] Translation: X:320.41, Y:-1.15, Z:-1.91 [[ 9.29898226e-01 -3.67188035e-01 -2.14996914e-02 3.20407984e+02] [ 3.67087858e-01 9.30146730e-01 -8.57698188e-03 -1.14851564e+00] [ 2.31472327e-02 8.34445903e-05 9.99732063e-01 -1.90529886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.904012739 meters Centerline goodness [0,1] 0.9937670765027322 Centerline is valid? [True, True] Translation: X:320.43, Y:-1.14, Z:-1.90 [[ 9.29935844e-01 -3.67060726e-01 -2.20397317e-02 3.20432233e+02] [ 3.66955300e-01 9.30196976e-01 -8.79736201e-03 -1.13775445e+00] [ 2.37304579e-02 9.33859118e-05 9.99718389e-01 -1.90490602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.934012739 meters Centerline goodness [0,1] 0.9939596316226046 Centerline is valid? [True, True] Translation: X:320.46, Y:-1.12, Z:-1.91 [[ 9.30081996e-01 -3.66624098e-01 -2.31138676e-02 3.20456715e+02] [ 3.66507948e-01 9.30369151e-01 -9.22853156e-03 -1.12416926e+00] [ 2.48878314e-02 1.11874878e-04 9.99690244e-01 -1.90631911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.964012739 meters Centerline goodness [0,1] 0.994324220908975 Centerline is valid? [True, True] Translation: X:320.48, Y:-1.11, Z:-1.91 [[ 9.30331161e-01 -3.66000229e-01 -2.29730896e-02 3.20481448e+02] [ 3.65885182e-01 9.30614751e-01 -9.17710150e-03 -1.11077324e+00] [ 2.47379173e-02 1.32230432e-04 9.99693962e-01 -1.90556638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.994012739 meters Centerline goodness [0,1] 0.9939712999915089 Centerline is valid? [True, True] Translation: X:320.51, Y:-1.10, Z:-1.90 [[ 9.30620445e-01 -3.65286267e-01 -2.26170299e-02 3.20505636e+02] [ 3.65174511e-01 9.30895226e-01 -9.03635252e-03 -1.09720600e+00] [ 2.43549406e-02 1.50251583e-04 9.99703363e-01 -1.90444135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.024012739 meters Centerline goodness [0,1] 0.9935793515358362 Centerline is valid? [True, True] Translation: X:320.53, Y:-1.08, Z:-1.90 [[ 9.30961900e-01 -3.64400448e-01 -2.28528752e-02 3.20530416e+02] [ 3.64286042e-01 9.31242333e-01 -9.13218587e-03 -1.08268324e+00] [ 2.46093374e-02 1.76733667e-04 9.99697129e-01 -1.90493282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05401273900003 meters Centerline goodness [0,1] 0.9937461575968286 Centerline is valid? [True, True] Translation: X:320.56, Y:-1.07, Z:-1.91 [[ 9.31020667e-01 -3.64213170e-01 -2.34368061e-02 3.20555119e+02] [ 3.64092671e-01 9.31315591e-01 -9.36995924e-03 -1.06951611e+00] [ 2.52397255e-02 1.90456375e-04 9.99681409e-01 -1.90536678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.084012739 meters Centerline goodness [0,1] 0.9938775945559656 Centerline is valid? [True, True] Translation: X:320.58, Y:-1.05, Z:-1.91 [[ 9.31142444e-01 -3.63832481e-01 -2.44882778e-02 3.20578835e+02] [ 3.63700748e-01 9.31464375e-01 -9.79205997e-03 -1.05397959e+00] [ 2.63726278e-02 2.11397685e-04 9.99652159e-01 -1.90592579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11401273900003 meters Centerline goodness [0,1] 0.9940454516246493 Centerline is valid? [True, True] Translation: X:320.60, Y:-1.04, Z:-1.90 [[ 9.31206519e-01 -3.63704929e-01 -2.39404287e-02 3.20602541e+02] [ 3.63578943e-01 9.31514186e-01 -9.57458681e-03 -1.04153467e+00] [ 2.57831733e-02 2.11681905e-04 9.99667536e-01 -1.90452296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.144012739 meters Centerline goodness [0,1] 0.9934825669314817 Centerline is valid? [True, True] Translation: X:320.63, Y:-1.03, Z:-1.90 [[ 9.31224347e-01 -3.63773165e-01 -2.21427070e-02 3.20626878e+02] [ 3.63665366e-01 9.31487545e-01 -8.85749980e-03 -1.02825427e+00] [ 2.38477765e-02 1.95783834e-04 9.99715582e-01 -1.89990998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.174012739 meters Centerline goodness [0,1] 0.9932039664899983 Centerline is valid? [True, True] Translation: X:320.65, Y:-1.02, Z:-1.90 [[ 9.31202819e-01 -3.63878693e-01 -2.12980525e-02 3.20652183e+02] [ 3.63778889e-01 9.31446327e-01 -8.52402906e-03 -1.01613394e+00] [ 2.29397054e-02 1.89817994e-04 9.99736832e-01 -1.89766699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.204012739 meters Centerline goodness [0,1] 0.9933442143417344 Centerline is valid? [True, True] Translation: X:320.68, Y:-1.00, Z:-1.90 [[ 9.31169764e-01 -3.63982753e-01 -2.09624780e-02 3.20675310e+02] [ 3.63885990e-01 9.31405669e-01 -8.39441047e-03 -1.00262865e+00] [ 2.25799915e-02 1.88669158e-04 9.99745022e-01 -1.89640247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.234012739 meters Centerline goodness [0,1] 0.9935332032906454 Centerline is valid? [True, True] Translation: X:320.70, Y:-0.99, Z:-1.90 [[ 9.30881386e-01 -3.64704225e-01 -2.12290862e-02 3.20700294e+02] [ 3.64605128e-01 9.31123406e-01 -8.50314023e-03 -9.89115953e-01] [ 2.28680302e-02 1.75181268e-04 9.99738477e-01 -1.89599097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.264012739 meters Centerline goodness [0,1] 0.9939225227905395 Centerline is valid? [True, True] Translation: X:320.73, Y:-0.98, Z:-1.90 [[ 9.30551165e-01 -3.65521949e-01 -2.16387305e-02 3.20726256e+02] [ 3.65419101e-01 9.30802707e-01 -8.67188828e-03 -9.77940280e-01] [ 2.33111544e-02 1.62430270e-04 9.99728245e-01 -1.89599823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.294012739 meters Centerline goodness [0,1] 0.9942032062851682 Centerline is valid? [True, True] Translation: X:320.75, Y:-0.97, Z:-1.89 [[ 9.29894581e-01 -3.67199213e-01 -2.14664044e-02 3.20753134e+02] [ 3.67098338e-01 9.30142313e-01 -8.60740013e-03 -9.66328363e-01] [ 2.31274416e-02 1.23693357e-04 9.99732517e-01 -1.89492505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.324012739 meters Centerline goodness [0,1] 0.9945767054553218 Centerline is valid? [True, True] Translation: X:320.78, Y:-0.96, Z:-1.89 [[ 9.29345963e-01 -3.68600861e-01 -2.12010807e-02 3.20778363e+02] [ 3.68502747e-01 9.29587756e-01 -8.50460390e-03 -9.55449130e-01] [ 2.28430693e-02 9.10628366e-05 9.99739059e-01 -1.89356602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.354012739 meters Centerline goodness [0,1] 0.9949936359779381 Centerline is valid? [True, True] Translation: X:320.80, Y:-0.95, Z:-1.89 [[ 9.28818762e-01 -3.69911307e-01 -2.14786355e-02 3.20804582e+02] [ 3.69810851e-01 9.29067070e-01 -8.62054799e-03 -9.45000434e-01] [ 2.31439311e-02 6.38942542e-05 9.99732141e-01 -1.89383210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.384012739 meters Centerline goodness [0,1] 0.995454058110861 Centerline is valid? [True, True] Translation: X:320.83, Y:-0.93, Z:-1.89 [[ 9.27980349e-01 -3.71948732e-01 -2.25080645e-02 3.20830978e+02] [ 3.71838893e-01 9.28253274e-01 -9.03867612e-03 -9.34973406e-01] [ 2.42551087e-02 1.83400384e-05 9.99705801e-01 -1.89475614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.414012739 meters Centerline goodness [0,1] 0.995258043251749 Centerline is valid? [True, True] Translation: X:320.86, Y:-0.92, Z:-1.89 [[ 9.27685008e-01 -3.72691191e-01 -2.24009246e-02 3.20855267e+02] [ 3.72582489e-01 9.27955428e-01 -9.00069543e-03 -9.24350067e-01] [ 2.41415395e-02 3.61795054e-06 9.99708551e-01 -1.89439953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.444012739 meters Centerline goodness [0,1] 0.9953997903160237 Centerline is valid? [True, True] Translation: X:320.88, Y:-0.91, Z:-1.89 [[ 9.26805810e-01 -3.74899251e-01 -2.19440921e-02 3.20880853e+02] [ 3.74795506e-01 9.27065558e-01 -8.81926184e-03 -9.14623194e-01] [ 2.36499466e-02 -5.08039890e-05 9.99720300e-01 -1.89264255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.474012739 meters Centerline goodness [0,1] 0.9951648632529607 Centerline is valid? [True, True] Translation: X:320.91, Y:-0.91, Z:-1.89 [[ 9.25959448e-01 -3.76976687e-01 -2.20834462e-02 3.20908119e+02] [ 3.76872161e-01 9.26222741e-01 -8.87736206e-03 -9.06391187e-01] [ 2.38007486e-02 -1.02558839e-04 9.99716717e-01 -1.89212057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.504012739 meters Centerline goodness [0,1] 0.9954027412491714 Centerline is valid? [True, True] Translation: X:320.94, Y:-0.91, Z:-1.89 [[ 9.23182960e-01 -3.83677649e-01 -2.29059885e-02 3.20939549e+02] [ 3.83567135e-01 9.23467045e-01 -9.21251580e-03 -9.07008996e-01] [ 2.46875619e-02 -2.81146765e-04 9.99695176e-01 -1.89356187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.534012739 meters Centerline goodness [0,1] 0.9950454875496519 Centerline is valid? [True, True] Translation: X:320.97, Y:-0.90, Z:-1.89 [[ 9.21608558e-01 -3.87434841e-01 -2.30631749e-02 3.20968234e+02] [ 3.87323871e-01 9.21897011e-01 -9.28006648e-03 -9.04262640e-01] [ 2.48572931e-02 -3.80329504e-04 9.99690937e-01 -1.89313645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.564012739 meters Centerline goodness [0,1] 0.9947622798986523 Centerline is valid? [True, True] Translation: X:321.00, Y:-0.90, Z:-1.89 [[ 9.19999466e-01 -3.91239712e-01 -2.30753273e-02 3.20998481e+02] [ 3.91129762e-01 9.20288681e-01 -9.28726380e-03 -8.99912646e-01] [ 2.48695089e-02 -4.81169536e-04 9.99690590e-01 -1.89243697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.594012739 meters Centerline goodness [0,1] 0.993506906868674 Centerline is valid? [True, True] Translation: X:321.03, Y:-0.90, Z:-1.89 [[ 9.17503348e-01 -3.97059887e-01 -2.30445839e-02 3.21029944e+02] [ 3.96952027e-01 9.17792482e-01 -9.27616644e-03 -9.00749601e-01] [ 2.48333394e-02 -6.36680513e-04 9.99691402e-01 -1.89093891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.624012739 meters Centerline goodness [0,1] 0.9930063929291629 Centerline is valid? [True, True] Translation: X:321.06, Y:-0.89, Z:-1.89 [[ 9.16594274e-01 -3.99157147e-01 -2.29893333e-02 3.21057967e+02] [ 3.99050440e-01 9.16882269e-01 -9.25483790e-03 -8.92490634e-01] [ 2.47726468e-02 -6.90972148e-04 9.99692872e-01 -1.88976187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.654012739 meters Centerline goodness [0,1] 0.991407225549747 Centerline is valid? [True, True] Translation: X:321.09, Y:-0.89, Z:-1.89 [[ 9.15893642e-01 -4.00746386e-01 -2.32630668e-02 3.21087836e+02] [ 4.00637524e-01 9.16188730e-01 -9.36940495e-03 -8.92580848e-01] [ 2.50681148e-02 -7.38679073e-04 9.99685473e-01 -1.89017090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.684012739 meters Centerline goodness [0,1] 0.9923613770798757 Centerline is valid? [True, True] Translation: X:321.11, Y:-0.88, Z:-1.89 [[ 9.15776160e-01 -4.00978968e-01 -2.38723888e-02 3.21113767e+02] [ 4.00864364e-01 9.16086942e-01 -9.61648171e-03 -8.81081631e-01] [ 2.57251906e-02 -7.63045262e-04 9.99668761e-01 -1.89018950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.714012739 meters Centerline goodness [0,1] 0.9917144814592789 Centerline is valid? [True, True] Translation: X:321.14, Y:-0.88, Z:-1.89 [[ 9.15757991e-01 -4.00994871e-01 -2.42984711e-02 3.21141060e+02] [ 4.00876100e-01 9.16079970e-01 -9.78983198e-03 -8.75352854e-01] [ 2.61850151e-02 -7.75559456e-04 9.99656813e-01 -1.89030968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.744012739 meters Centerline goodness [0,1] 0.9924513652245179 Centerline is valid? [True, True] Translation: X:321.17, Y:-0.87, Z:-1.89 [[ 9.15619993e-01 -4.01346079e-01 -2.36928968e-02 3.21169879e+02] [ 4.01233213e-01 9.15926166e-01 -9.54816168e-03 -8.68688424e-01] [ 2.55330613e-02 -7.63889365e-04 9.99673686e-01 -1.88830922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.774012739 meters Centerline goodness [0,1] 0.992049127343245 Centerline is valid? [True, True] Translation: X:321.20, Y:-0.86, Z:-1.89 [[ 9.15521031e-01 -4.01604976e-01 -2.31232614e-02 3.21197110e+02] [ 4.01497450e-01 9.15812690e-01 -9.32285286e-03 -8.60541511e-01] [ 2.49206803e-02 -7.48662594e-04 9.99689151e-01 -1.88580681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80401273900003 meters Centerline goodness [0,1] 0.9920822929338199 Centerline is valid? [True, True] Translation: X:321.23, Y:-0.85, Z:-1.88 [[ 9.15653510e-01 -4.01301204e-01 -2.31515367e-02 3.21225180e+02] [ 4.01193194e-01 9.15945850e-01 -9.33917312e-03 -8.53666654e-01] [ 2.49533754e-02 -7.36792311e-04 9.99688345e-01 -1.88499378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.834012739 meters Centerline goodness [0,1] 0.9931474378313149 Centerline is valid? [True, True] Translation: X:321.25, Y:-0.84, Z:-1.89 [[ 9.15770063e-01 -4.01005633e-01 -2.36574157e-02 3.21252231e+02] [ 4.00892644e-01 9.16075288e-01 -9.54748512e-03 -8.43494438e-01] [ 2.55005692e-02 -7.40782870e-04 9.99674533e-01 -1.88571363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86401273900003 meters Centerline goodness [0,1] 0.9922403375241164 Centerline is valid? [True, True] Translation: X:321.28, Y:-0.84, Z:-1.89 [[ 9.15962821e-01 -4.00550658e-01 -2.39014881e-02 3.21281053e+02] [ 4.00435057e-01 9.16274323e-01 -9.65038493e-03 -8.40903507e-01] [ 2.57657879e-02 -7.31599932e-04 9.99667739e-01 -1.88622622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.894012739 meters Centerline goodness [0,1] 0.9919368528263453 Centerline is valid? [True, True] Translation: X:321.31, Y:-0.83, Z:-1.88 [[ 9.15982542e-01 -4.00522538e-01 -2.36152246e-02 3.21307916e+02] [ 4.00409634e-01 9.16286624e-01 -9.53661494e-03 -8.32001033e-01] [ 2.54579437e-02 -7.20390650e-04 9.99675634e-01 -1.88431721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.924012739 meters Centerline goodness [0,1] 0.9904566422616277 Centerline is valid? [True, True] Translation: X:321.33, Y:-0.83, Z:-1.88 [[ 9.15985089e-01 -4.00653281e-01 -2.11722660e-02 3.21334808e+02] [ 4.00562473e-01 9.16229519e-01 -8.55414896e-03 -8.28152280e-01] [ 2.28259029e-02 -6.45342324e-04 9.99739247e-01 -1.87801838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.954012739 meters Centerline goodness [0,1] 0.9903958772546264 Centerline is valid? [True, True] Translation: X:321.36, Y:-0.82, Z:-1.88 [[ 9.15740451e-01 -4.01232737e-01 -2.07778243e-02 3.21363020e+02] [ 4.01145391e-01 9.15975913e-01 -8.39653049e-03 -8.21308790e-01] [ 2.24009495e-02 -6.45885849e-04 9.99748859e-01 -1.87681790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.984012739 meters Centerline goodness [0,1] 0.9908997031108816 Centerline is valid? [True, True] Translation: X:321.39, Y:-0.81, Z:-1.88 [[ 9.15465877e-01 -4.01849406e-01 -2.09590675e-02 3.21390377e+02] [ 4.01760601e-01 9.15705529e-01 -8.47375624e-03 -8.13164716e-01] [ 2.25975079e-02 -6.63092861e-04 9.99744424e-01 -1.87762842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.014012739 meters Centerline goodness [0,1] 0.9913918942126052 Centerline is valid? [True, True] Translation: X:321.42, Y:-0.81, Z:-1.88 [[ 9.15344769e-01 -4.02020793e-01 -2.28743413e-02 3.21419286e+02] [ 4.01915026e-01 9.15630250e-01 -9.24976022e-03 -8.10071909e-01] [ 2.46630348e-02 -7.26821849e-04 9.99695557e-01 -1.88100109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.044012739 meters Centerline goodness [0,1] 0.9908940747956461 Centerline is valid? [True, True] Translation: X:321.45, Y:-0.80, Z:-1.88 [[ 9.15572409e-01 -4.01477905e-01 -2.32949619e-02 3.21446574e+02] [ 4.01367996e-01 9.15868423e-01 -9.42145705e-03 -8.04362996e-01] [ 2.51176269e-02 -7.23826066e-04 9.99684241e-01 -1.88094074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.074012739 meters Centerline goodness [0,1] 0.991090224764497 Centerline is valid? [True, True] Translation: X:321.47, Y:-0.80, Z:-1.88 [[ 9.16466260e-01 -3.99486000e-01 -2.23725129e-02 3.21474525e+02] [ 3.99383981e-01 9.16739071e-01 -9.05047014e-03 -7.99123327e-01] [ 2.41252928e-02 -6.40772745e-04 9.99708737e-01 -1.87648036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.104012739 meters Centerline goodness [0,1] 0.9924800754134887 Centerline is valid? [True, True] Translation: X:321.50, Y:-0.79, Z:-1.87 [[ 9.17050537e-01 -3.98165097e-01 -2.19742649e-02 3.21499745e+02] [ 3.98066266e-01 9.17313579e-01 -8.89074396e-03 -7.85720912e-01] [ 2.36972755e-02 -5.93952059e-04 9.99719004e-01 -1.87447700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.134012739 meters Centerline goodness [0,1] 0.9939306481049192 Centerline is valid? [True, True] Translation: X:321.53, Y:-0.78, Z:-1.88 [[ 9.18801143e-01 -3.94071591e-01 -2.26283184e-02 3.21526731e+02] [ 3.93965439e-01 9.19079611e-01 -9.15974664e-03 -7.78030087e-01] [ 2.44068220e-02 -4.98789696e-04 9.99701985e-01 -1.87558834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.164012739 meters Centerline goodness [0,1] 0.9946279134473386 Centerline is valid? [True, True] Translation: X:321.55, Y:-0.77, Z:-1.88 [[ 9.19815008e-01 -3.91647759e-01 -2.35028617e-02 3.21553748e+02] [ 3.91532412e-01 9.20115118e-01 -9.51525339e-03 -7.66472007e-01] [ 2.53519660e-02 -4.49859257e-04 9.99678486e-01 -1.87665275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.194012739 meters Centerline goodness [0,1] 0.9956608669757945 Centerline is valid? [True, True] Translation: X:321.58, Y:-0.76, Z:-1.88 [[ 9.20975479e-01 -3.88868963e-01 -2.41887812e-02 3.21578938e+02] [ 3.88745773e-01 9.21292996e-01 -9.79493215e-03 -7.55473850e-01] [ 2.60938998e-02 -3.82394096e-04 9.99659423e-01 -1.87707365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.224012739 meters Centerline goodness [0,1] 0.995994574661976 Centerline is valid? [True, True] Translation: X:321.60, Y:-0.74, Z:-1.88 [[ 9.23171203e-01 -3.83651390e-01 -2.38021071e-02 3.21604203e+02] [ 3.83530329e-01 9.23477969e-01 -9.63992638e-03 -7.42727756e-01] [ 2.56790926e-02 -2.29527525e-04 9.99670211e-01 -1.87532920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.254012739 meters Centerline goodness [0,1] 0.9954290108293996 Centerline is valid? [True, True] Translation: X:321.63, Y:-0.73, Z:-1.87 [[ 9.24175370e-01 -3.81244811e-01 -2.35006387e-02 3.21629956e+02] [ 3.81125983e-01 9.24474104e-01 -9.51927396e-03 -7.28391215e-01] [ 2.53549057e-02 -1.59225508e-04 9.99678500e-01 -1.87317195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.284012739 meters Centerline goodness [0,1] 0.9955879531939382 Centerline is valid? [True, True] Translation: X:321.65, Y:-0.71, Z:-1.87 [[ 9.25990134e-01 -3.76850889e-01 -2.29276865e-02 3.21653249e+02] [ 3.76736337e-01 9.26273937e-01 -9.29115567e-03 -7.12171681e-01] [ 2.47386987e-02 -3.41741421e-05 9.99693951e-01 -1.87071762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.314012739 meters Centerline goodness [0,1] 0.9947740480527366 Centerline is valid? [True, True] Translation: X:321.68, Y:-0.70, Z:-1.87 [[ 9.26681693e-01 -3.75171335e-01 -2.25279749e-02 3.21677873e+02] [ 3.75060208e-01 9.26955484e-01 -9.13078931e-03 -6.98960399e-01] [ 2.43080403e-02 1.19883269e-05 9.99704516e-01 -1.86950694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.344012739 meters Centerline goodness [0,1] 0.9947325941973578 Centerline is valid? [True, True] Translation: X:321.70, Y:-0.69, Z:-1.87 [[ 9.27260164e-01 -3.73803616e-01 -2.14346665e-02 3.21703416e+02] [ 3.73702539e-01 9.27507873e-01 -8.69242203e-03 -6.86965978e-01] [ 2.31300807e-02 4.99474024e-05 9.99732463e-01 -1.86732935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.374012739 meters Centerline goodness [0,1] 0.993491162019016 Centerline is valid? [True, True] Translation: X:321.73, Y:-0.68, Z:-1.86 [[ 9.27892401e-01 -3.72285364e-01 -2.04768046e-02 3.21730012e+02] [ 3.72192724e-01 9.28118312e-01 -8.30517285e-03 -6.75325983e-01] [ 2.20967916e-02 8.49890979e-05 9.99755832e-01 -1.86470008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.404012739 meters Centerline goodness [0,1] 0.9940803111576518 Centerline is valid? [True, True] Translation: X:321.76, Y:-0.66, Z:-1.87 [[ 9.27896563e-01 -3.72248870e-01 -2.09462690e-02 3.21755843e+02] [ 3.72151832e-01 9.28132949e-01 -8.49963895e-03 -6.63537154e-01] [ 2.26049034e-02 9.15933979e-05 9.99744472e-01 -1.86546644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.434012739 meters Centerline goodness [0,1] 0.9945362216365623 Centerline is valid? [True, True] Translation: X:321.78, Y:-0.65, Z:-1.87 [[ 9.27852078e-01 -3.72287416e-01 -2.21946172e-02 3.21780107e+02] [ 3.72178353e-01 9.28117487e-01 -9.01129030e-03 -6.49722592e-01] [ 2.39540023e-02 1.00788343e-04 9.99713057e-01 -1.86668050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.464012739 meters Centerline goodness [0,1] 0.994909214322077 Centerline is valid? [True, True] Translation: X:321.81, Y:-0.64, Z:-1.87 [[ 9.28010275e-01 -3.71866400e-01 -2.26342738e-02 3.21805091e+02] [ 3.71752727e-01 9.28286252e-01 -9.19476797e-03 -6.37147970e-01] [ 2.44303105e-02 1.18486129e-04 9.99701528e-01 -1.86639477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.494012739 meters Centerline goodness [0,1] 0.9943608622560807 Centerline is valid? [True, True] Translation: X:321.83, Y:-0.63, Z:-1.87 [[ 9.28131340e-01 -3.71559283e-01 -2.27137677e-02 3.21830229e+02] [ 3.71444597e-01 9.28409221e-01 -9.23196783e-03 -6.25595943e-01] [ 2.45178948e-02 1.31572367e-04 9.99699383e-01 -1.86528324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.524012739 meters Centerline goodness [0,1] 0.9943484886969773 Centerline is valid? [True, True] Translation: X:321.86, Y:-0.62, Z:-1.86 [[ 9.27750604e-01 -3.72569259e-01 -2.17016875e-02 3.21856047e+02] [ 3.72464737e-01 9.28004384e-01 -8.82517166e-03 -6.16109069e-01] [ 2.34272488e-02 1.04445006e-04 9.99725539e-01 -1.86314522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55401273900003 meters Centerline goodness [0,1] 0.9942194056692644 Centerline is valid? [True, True] Translation: X:321.88, Y:-0.61, Z:-1.86 [[ 9.27091579e-01 -3.74263112e-01 -2.06960614e-02 3.21883087e+02] [ 3.74168449e-01 9.27322554e-01 -8.41736145e-03 -6.07738375e-01] [ 2.23422324e-02 5.98517383e-05 9.99750379e-01 -1.86088064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.584012739 meters Centerline goodness [0,1] 0.9937369963058893 Centerline is valid? [True, True] Translation: X:321.91, Y:-0.60, Z:-1.86 [[ 9.26273805e-01 -3.76312217e-01 -2.01482842e-02 3.21909306e+02] [ 3.76222890e-01 9.26492912e-01 -8.19888131e-03 -6.01375927e-01] [ 2.17525817e-02 1.41632797e-05 9.99763385e-01 -1.85898208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61401273900003 meters Centerline goodness [0,1] 0.9935089810164297 Centerline is valid? [True, True] Translation: X:321.94, Y:-0.60, Z:-1.86 [[ 9.24611947e-01 -3.80329429e-01 -2.10302720e-02 3.21938930e+02] [ 3.80233076e-01 9.24851079e-01 -8.56091463e-03 -5.98938783e-01] [ 2.27058375e-02 -8.08810619e-05 9.99742186e-01 -1.85964092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.644012739 meters Centerline goodness [0,1] 0.9938937862825199 Centerline is valid? [True, True] Translation: X:321.97, Y:-0.59, Z:-1.86 [[ 9.24037595e-01 -3.81683663e-01 -2.17279804e-02 3.21965822e+02] [ 3.81581068e-01 9.24293010e-01 -8.84986951e-03 -5.90903429e-01] [ 2.34608710e-02 -1.13373813e-04 9.99724749e-01 -1.86057368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.674012739 meters Centerline goodness [0,1] 0.9938303341902314 Centerline is valid? [True, True] Translation: X:321.99, Y:-0.58, Z:-1.86 [[ 9.23603319e-01 -3.82664315e-01 -2.29113694e-02 3.21993033e+02] [ 3.82550407e-01 9.23887440e-01 -9.33722246e-03 -5.84258655e-01] [ 2.47405482e-02 -1.40864030e-04 9.99693896e-01 -1.86156575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.704012739 meters Centerline goodness [0,1] 0.9942114111813403 Centerline is valid? [True, True] Translation: X:322.02, Y:-0.57, Z:-1.86 [[ 9.23511548e-01 -3.82849055e-01 -2.35164276e-02 3.22019146e+02] [ 3.82729041e-01 9.23810900e-01 -9.58653961e-03 -5.74332629e-01] [ 2.53949298e-02 -1.47139743e-04 9.99677486e-01 -1.86211720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.734012739 meters Centerline goodness [0,1] 0.9942114111813403 Centerline is valid? [True, True] Translation: X:322.04, Y:-0.56, Z:-1.86 [[ 9.23439297e-01 -3.83023403e-01 -2.35146175e-02 3.22044531e+02] [ 3.82903333e-01 9.23738627e-01 -9.59097765e-03 -5.63765775e-01] [ 2.53949294e-02 -1.47139741e-04 9.99677486e-01 -1.86146342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.764012739 meters Centerline goodness [0,1] 0.9941427050053249 Centerline is valid? [True, True] Translation: X:322.07, Y:-0.55, Z:-1.86 [[ 9.23394805e-01 -3.83089983e-01 -2.41681487e-02 3.22071190e+02] [ 3.82963025e-01 9.23711017e-01 -9.86299236e-03 -5.53848810e-01] [ 2.61027988e-02 -1.48071420e-04 9.99659253e-01 -1.86240495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.794012739 meters Centerline goodness [0,1] 0.9938484621155289 Centerline is valid? [True, True] Translation: X:322.10, Y:-0.55, Z:-1.86 [[ 9.23425364e-01 -3.83012291e-01 -2.42318247e-02 3.22098423e+02] [ 3.82884496e-01 9.23743235e-01 -9.89433923e-03 -5.45569828e-01] [ 2.61736377e-02 -1.41306180e-04 9.99657402e-01 -1.86162167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.824012739 meters Centerline goodness [0,1] 0.9937836980653346 Centerline is valid? [True, True] Translation: X:322.12, Y:-0.54, Z:-1.86 [[ 9.23544472e-01 -3.82759849e-01 -2.36750113e-02 3.22123930e+02] [ 3.82637652e-01 9.23847867e-01 -9.67187509e-03 -5.36759803e-01] [ 2.55741142e-02 -1.26543970e-04 9.99672921e-01 -1.85993859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.854012739 meters Centerline goodness [0,1] 0.9936151193972673 Centerline is valid? [True, True] Translation: X:322.15, Y:-0.53, Z:-1.86 [[ 9.23981442e-01 -3.81806036e-01 -2.19646361e-02 3.22149482e+02] [ 3.81700544e-01 9.24242470e-01 -8.97507967e-03 -5.26234035e-01] [ 2.37273891e-02 -9.11064761e-05 9.99718462e-01 -1.85566265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.884012739 meters Centerline goodness [0,1] 0.9931200477123626 Centerline is valid? [True, True] Translation: X:322.18, Y:-0.52, Z:-1.85 [[ 9.24232548e-01 -3.81213114e-01 -2.16969926e-02 3.22175784e+02] [ 3.81109903e-01 9.24487186e-01 -8.87044131e-03 -5.15536075e-01] [ 2.34401202e-02 -7.05881736e-05 9.99725240e-01 -1.85442854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.914012739 meters Centerline goodness [0,1] 0.9929171540997555 Centerline is valid? [True, True] Translation: X:322.20, Y:-0.51, Z:-1.86 [[ 9.24071008e-01 -3.81506859e-01 -2.33514193e-02 3.22201407e+02] [ 3.81387263e-01 9.24366005e-01 -9.55223581e-03 -5.07477775e-01] [ 2.52295016e-02 -7.89897308e-05 9.99681682e-01 -1.85674688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.944012739 meters Centerline goodness [0,1] 0.9935323277237623 Centerline is valid? [True, True] Translation: X:322.23, Y:-0.50, Z:-1.86 [[ 9.23705249e-01 -3.82342063e-01 -2.41486888e-02 3.22227645e+02] [ 3.82214353e-01 9.24020853e-01 -9.88191919e-03 -4.98861931e-01] [ 2.60921653e-02 -1.01994814e-04 9.99659536e-01 -1.85785527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.974012739 meters Centerline goodness [0,1] 0.9934751652462221 Centerline is valid? [True, True] Translation: X:322.26, Y:-0.49, Z:-1.86 [[ 9.23182635e-01 -3.83592126e-01 -2.43085015e-02 3.22255156e+02] [ 3.83463102e-01 9.23502605e-01 -9.94926220e-03 -4.90492674e-01] [ 2.62654232e-02 -1.36427305e-04 9.99654995e-01 -1.85748003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.004012739 meters Centerline goodness [0,1] 0.9935569209762758 Centerline is valid? [True, True] Translation: X:322.28, Y:-0.48, Z:-1.85 [[ 9.22841865e-01 -3.84478703e-01 -2.32167732e-02 3.22282444e+02] [ 3.84361182e-01 9.23133850e-01 -9.50670356e-03 -4.83094399e-01] [ 2.50873143e-02 -1.50442351e-04 9.99685252e-01 -1.85409070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.034012739 meters Centerline goodness [0,1] 0.9931694283436402 Centerline is valid? [True, True] Translation: X:322.31, Y:-0.47, Z:-1.85 [[ 9.23139331e-01 -3.83811725e-01 -2.24128267e-02 3.22307732e+02] [ 3.83701891e-01 9.23411363e-01 -9.18225037e-03 -4.71428857e-01] [ 2.42205142e-02 -1.23347516e-04 9.99706633e-01 -1.85111305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.064012739 meters Centerline goodness [0,1] 0.9927752440219939 Centerline is valid? [True, True] Translation: X:322.33, Y:-0.46, Z:-1.85 [[ 9.24371594e-01 -3.80869365e-01 -2.18101549e-02 3.22331949e+02] [ 3.80764429e-01 9.24628858e-01 -8.94004558e-03 -4.56411631e-01] [ 2.35712881e-02 -4.06069791e-05 9.99722158e-01 -1.84863709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.094012739 meters Centerline goodness [0,1] 0.9927277339703613 Centerline is valid? [True, True] Translation: X:322.36, Y:-0.44, Z:-1.85 [[ 9.24897801e-01 -3.79583332e-01 -2.19214755e-02 3.22355855e+02] [ 3.79476925e-01 9.25157551e-01 -8.98717911e-03 -4.43692704e-01] [ 2.36922020e-02 -6.47191488e-06 9.99719300e-01 -1.84786269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.124012739 meters Centerline goodness [0,1] 0.9916486038505674 Centerline is valid? [True, True] Translation: X:322.38, Y:-0.43, Z:-1.85 [[ 9.25806671e-01 -3.77381799e-01 -2.15635202e-02 3.22379954e+02] [ 3.77278196e-01 9.26057760e-01 -8.84236561e-03 -4.28844164e-01] [ 2.33060130e-02 5.08750829e-05 9.99728377e-01 -1.84615268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.154012739 meters Centerline goodness [0,1] 0.9920372021913619 Centerline is valid? [True, True] Translation: X:322.40, Y:-0.42, Z:-1.85 [[ 9.26334714e-01 -3.76113556e-01 -2.10378503e-02 3.22404400e+02] [ 3.76014513e-01 9.26573573e-01 -8.63135952e-03 -4.15783271e-01] [ 2.27394874e-02 8.49909356e-05 9.99741421e-01 -1.84529081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.184012739 meters Centerline goodness [0,1] 0.9918714838820082 Centerline is valid? [True, True] Translation: X:322.43, Y:-0.40, Z:-1.84 [[ 9.26850849e-01 -3.74832931e-01 -2.11607770e-02 3.22430383e+02] [ 3.74732362e-01 9.27092369e-01 -8.68311539e-03 -4.02881234e-01] [ 2.28727124e-02 1.18324924e-04 9.99738378e-01 -1.84475885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.214012739 meters Centerline goodness [0,1] 0.9921003321693211 Centerline is valid? [True, True] Translation: X:322.46, Y:-0.39, Z:-1.85 [[ 9.27861184e-01 -3.72259067e-01 -2.22892367e-02 3.22455539e+02] [ 3.72146634e-01 9.28128843e-01 -9.15063580e-03 -3.88038551e-01] [ 2.40936907e-02 1.95655338e-04 9.99709686e-01 -1.84621813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.244012739 meters Centerline goodness [0,1] 0.992066392896304 Centerline is valid? [True, True] Translation: X:322.48, Y:-0.38, Z:-1.85 [[ 9.28368971e-01 -3.70951984e-01 -2.29276890e-02 3.22481341e+02] [ 3.70832507e-01 9.28652016e-01 -9.41722001e-03 -3.75069636e-01] [ 2.47851811e-02 2.40322463e-04 9.99692771e-01 -1.84683025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.274012739 meters Centerline goodness [0,1] 0.991636798088411 Centerline is valid? [True, True] Translation: X:322.50, Y:-0.36, Z:-1.85 [[ 9.30054128e-01 -3.66691029e-01 -2.31734486e-02 3.22504774e+02] [ 3.66567542e-01 9.30342710e-01 -9.52252726e-03 -3.55744216e-01] [ 2.50510743e-02 3.61831690e-04 9.99686107e-01 -1.84642155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30401273900003 meters Centerline goodness [0,1] 0.9911903602210881 Centerline is valid? [True, True] Translation: X:322.53, Y:-0.34, Z:-1.84 [[ 9.30961518e-01 -3.64401815e-01 -2.28466549e-02 3.22527180e+02] [ 3.64281065e-01 9.31241721e-01 -9.38956028e-03 -3.36620929e-01] [ 2.46973310e-02 4.18715519e-04 9.99694887e-01 -1.84487114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.334012739 meters Centerline goodness [0,1] 0.9909575258432213 Centerline is valid? [True, True] Translation: X:322.55, Y:-0.32, Z:-1.84 [[ 9.32599577e-01 -3.60221936e-01 -2.23200906e-02 3.22551225e+02] [ 3.60105455e-01 9.32866490e-01 -9.17460989e-03 -3.18287972e-01] [ 2.41265603e-02 5.18650924e-04 9.99708778e-01 -1.84341243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36401273900003 meters Centerline goodness [0,1] 0.9908513615326661 Centerline is valid? [True, True] Translation: X:322.58, Y:-0.30, Z:-1.84 [[ 9.33233644e-01 -3.58550713e-01 -2.27233720e-02 3.22575806e+02] [ 3.58429465e-01 9.33510074e-01 -9.34134660e-03 -3.03709246e-01] [ 2.45618432e-02 5.72932848e-04 9.99698148e-01 -1.84388365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.394012739 meters Centerline goodness [0,1] 0.9892076415834447 Centerline is valid? [True, True] Translation: X:322.60, Y:-0.29, Z:-1.84 [[ 9.33579673e-01 -3.57614712e-01 -2.32532110e-02 3.22598311e+02] [ 3.57487409e-01 9.33869018e-01 -9.56085566e-03 -2.85811282e-01] [ 2.51345559e-02 6.13090358e-04 9.99683889e-01 -1.84464914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.424012739 meters Centerline goodness [0,1] 0.989665575454137 Centerline is valid? [True, True] Translation: X:322.62, Y:-0.27, Z:-1.84 [[ 9.33657187e-01 -3.57420189e-01 -2.31314792e-02 3.22623190e+02] [ 3.57294094e-01 9.33943482e-01 -9.51328814e-03 -2.69973561e-01] [ 2.50037355e-02 6.17408943e-04 9.99687167e-01 -1.84438269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.454012739 meters Centerline goodness [0,1] 0.9892866252869654 Centerline is valid? [True, True] Translation: X:322.65, Y:-0.26, Z:-1.84 [[ 9.33519369e-01 -3.57807130e-01 -2.27078309e-02 3.22647681e+02] [ 3.57685627e-01 9.33795319e-01 -9.34315447e-03 -2.55989142e-01] [ 2.45475135e-02 5.99750942e-04 9.99698484e-01 -1.84324577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.484012739 meters Centerline goodness [0,1] 0.9903191489361702 Centerline is valid? [True, True] Translation: X:322.67, Y:-0.24, Z:-1.84 [[ 9.32640471e-01 -3.60061403e-01 -2.31848695e-02 3.22672386e+02] [ 3.59935395e-01 9.32928443e-01 -9.54103883e-03 -2.43742788e-01] [ 2.50651841e-02 5.53303782e-04 9.99685666e-01 -1.84380708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.514012739 meters Centerline goodness [0,1] 0.9910449670582717 Centerline is valid? [True, True] Translation: X:322.70, Y:-0.24, Z:-1.85 [[ 9.31854508e-01 -3.62019174e-01 -2.42753699e-02 3.22699858e+02] [ 3.61881629e-01 9.32170499e-01 -9.99233056e-03 -2.35479235e-01] [ 2.62461989e-02 5.26587884e-04 9.99655370e-01 -1.84546283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.544012739 meters Centerline goodness [0,1] 0.9920473342664461 Centerline is valid? [True, True] Translation: X:322.73, Y:-0.23, Z:-1.85 [[ 9.30151154e-01 -3.66202063e-01 -2.67372186e-02 3.22726873e+02] [ 3.66036782e-01 9.30535245e-01 -1.10105526e-02 -2.26209239e-01] [ 2.89120114e-02 4.54672772e-04 9.99581857e-01 -1.84972529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.574012739 meters Centerline goodness [0,1] 0.9924488971135643 Centerline is valid? [True, True] Translation: X:322.75, Y:-0.22, Z:-1.85 [[ 9.29322267e-01 -3.68320147e-01 -2.64649436e-02 3.22754583e+02] [ 3.68159015e-01 9.29698940e-01 -1.09004631e-02 -2.17277213e-01] [ 2.86192902e-02 3.86735498e-04 9.99590309e-01 -1.84830971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.604012739 meters Centerline goodness [0,1] 0.9920660448161253 Centerline is valid? [True, True] Translation: X:322.78, Y:-0.21, Z:-1.84 [[ 9.28689333e-01 -3.70001252e-01 -2.52030994e-02 3.22780721e+02] [ 3.69855625e-01 9.29031199e-01 -1.03849673e-02 -2.07526487e-01] [ 2.72569166e-02 3.22900241e-04 9.99628409e-01 -1.84491817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.634012739 meters Centerline goodness [0,1] 0.9909759644170729 Centerline is valid? [True, True] Translation: X:322.81, Y:-0.20, Z:-1.84 [[ 9.27858685e-01 -3.72230853e-01 -2.28572408e-02 3.22808651e+02] [ 3.72111716e-01 9.28140149e-01 -9.41987702e-03 -1.99751312e-01] [ 2.47210918e-02 2.34867592e-04 9.99694360e-01 -1.84034430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.664012739 meters Centerline goodness [0,1] 0.9904470117657072 Centerline is valid? [True, True] Translation: X:322.83, Y:-0.19, Z:-1.84 [[ 9.27596750e-01 -3.72894176e-01 -2.26760489e-02 3.22834372e+02] [ 3.72777011e-01 9.27873852e-01 -9.34955519e-03 -1.89887981e-01] [ 2.45269075e-02 2.19507292e-04 9.99699146e-01 -1.83930967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.694012739 meters Centerline goodness [0,1] 0.9913091285868347 Centerline is valid? [True, True] Translation: X:322.86, Y:-0.18, Z:-1.84 [[ 9.27305235e-01 -3.73661684e-01 -2.19533039e-02 3.22859430e+02] [ 3.73551974e-01 9.27565042e-01 -9.05624552e-03 -1.76547832e-01] [ 2.37470892e-02 1.97203873e-04 9.99717979e-01 -1.83744517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.724012739 meters Centerline goodness [0,1] 0.9913190723196296 Centerline is valid? [True, True] Translation: X:322.88, Y:-0.16, Z:-1.84 [[ 9.27219736e-01 -3.73891970e-01 -2.16415468e-02 3.22884252e+02] [ 3.73785384e-01 9.27472241e-01 -8.92903972e-03 -1.64629642e-01] [ 2.34104302e-02 1.89887939e-04 9.99725920e-01 -1.83614949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.754012739 meters Centerline goodness [0,1] 0.9909218470958415 Centerline is valid? [True, True] Translation: X:322.91, Y:-0.15, Z:-1.84 [[ 9.27114310e-01 -3.74144002e-01 -2.18018666e-02 3.22908870e+02] [ 3.74035787e-01 9.27370600e-01 -9.00001306e-03 -1.53952487e-01] [ 2.35857110e-02 1.89362551e-04 9.99721800e-01 -1.83593518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.784012739 meters Centerline goodness [0,1] 0.9914253494755207 Centerline is valid? [True, True] Translation: X:322.93, Y:-0.14, Z:-1.84 [[ 9.27019122e-01 -3.74373459e-01 -2.19102801e-02 3.22933702e+02] [ 3.74264179e-01 9.27277994e-01 -9.04686021e-03 -1.43469349e-01] [ 2.37038249e-02 1.86379423e-04 9.99719007e-01 -1.83595736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.814012739 meters Centerline goodness [0,1] 0.9912582219393168 Centerline is valid? [True, True] Translation: X:322.96, Y:-0.14, Z:-1.83 [[ 9.26566726e-01 -3.75471672e-01 -2.22514162e-02 3.22961081e+02] [ 3.75359198e-01 9.26833856e-01 -9.19107731e-03 -1.35051269e-01] [ 2.40743550e-02 1.63872679e-04 9.99710157e-01 -1.83499095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.844012739 meters Centerline goodness [0,1] 0.9912463349339226 Centerline is valid? [True, True] Translation: X:322.99, Y:-0.12, Z:-1.83 [[ 9.26015820e-01 -3.76849566e-01 -2.18884967e-02 3.22986821e+02] [ 3.76741018e-01 9.26274467e-01 -9.04530468e-03 -1.24626471e-01] [ 2.36834748e-02 1.29800683e-04 9.99719499e-01 -1.83331816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.874012739 meters Centerline goodness [0,1] 0.9911095002558418 Centerline is valid? [True, True] Translation: X:323.01, Y:-0.12, Z:-1.83 [[ 9.25599689e-01 -3.77896200e-01 -2.14400849e-02 3.23013327e+02] [ 3.77792304e-01 9.25847963e-01 -8.86134759e-03 -1.15329919e-01] [ 2.31989285e-02 1.02161501e-04 9.99730863e-01 -1.83221234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.904012739 meters Centerline goodness [0,1] 0.9912245373805032 Centerline is valid? [True, True] Translation: X:323.04, Y:-0.11, Z:-1.83 [[ 9.25177764e-01 -3.78953026e-01 -2.09930632e-02 3.23039843e+02] [ 3.78853586e-01 9.25415905e-01 -8.68118361e-03 -1.06404733e-01] [ 2.27170754e-02 7.83407759e-05 9.99741931e-01 -1.83079893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.934012739 meters Centerline goodness [0,1] 0.9911474000859476 Centerline is valid? [True, True] Translation: X:323.07, Y:-0.10, Z:-1.83 [[ 9.24694473e-01 -3.80149132e-01 -2.06583754e-02 3.23066430e+02] [ 3.80053109e-01 9.24925205e-01 -8.54394127e-03 -9.78632359e-02] [ 2.23554239e-02 4.92554898e-05 9.99750085e-01 -1.82899401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.964012739 meters Centerline goodness [0,1] 0.9905105130720347 Centerline is valid? [True, True] Translation: X:323.09, Y:-0.09, Z:-1.83 [[ 9.24578436e-01 -3.80413311e-01 -2.09863695e-02 3.23091567e+02] [ 3.80314174e-01 9.24816582e-01 -8.68438512e-03 -8.89027531e-02] [ 2.27121982e-02 4.79814232e-05 9.99742044e-01 -1.82819161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.994012739 meters Centerline goodness [0,1] 0.9908546334392121 Centerline is valid? [True, True] Translation: X:323.12, Y:-0.08, Z:-1.83 [[ 9.25124250e-01 -3.79044238e-01 -2.16930198e-02 3.23117648e+02] [ 3.78937886e-01 9.25378548e-01 -8.97890750e-03 -7.90020519e-02] [ 2.34776583e-02 8.62980143e-05 9.99724358e-01 -1.83023556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.024012739 meters Centerline goodness [0,1] 0.9913156937819512 Centerline is valid? [True, True] Translation: X:323.14, Y:-0.07, Z:-1.83 [[ 9.25401367e-01 -3.78376263e-01 -2.15340123e-02 3.23143413e+02] [ 3.78271173e-01 9.25651874e-01 -8.91781823e-03 -6.85116752e-02] [ 2.33072895e-02 1.06865109e-04 9.99728343e-01 -1.82938553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05401273900003 meters Centerline goodness [0,1] 0.9912535208284801 Centerline is valid? [True, True] Translation: X:323.17, Y:-0.06, Z:-1.83 [[ 9.25589360e-01 -3.77924506e-01 -2.13870314e-02 3.23168997e+02] [ 3.77820694e-01 9.25836408e-01 -8.85830004e-03 -5.79603585e-02] [ 2.31486610e-02 1.18685218e-04 9.99732027e-01 -1.82834060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.084012739 meters Centerline goodness [0,1] 0.9916889852484803 Centerline is valid? [True, True] Translation: X:323.19, Y:-0.05, Z:-1.83 [[ 9.26118743e-01 -3.76625838e-01 -2.13787786e-02 3.23194767e+02] [ 3.76521652e-01 9.26365454e-01 -8.85956713e-03 -4.81922944e-02] [ 2.31413039e-02 1.55438129e-04 9.99732192e-01 -1.82752202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11401273900003 meters Centerline goodness [0,1] 0.9916896918172158 Centerline is valid? [True, True] Translation: X:323.22, Y:-0.04, Z:-1.83 [[ 9.26546140e-01 -3.75550749e-01 -2.17689219e-02 3.23222008e+02] [ 3.75442393e-01 9.26801813e-01 -9.02270440e-03 -3.76275705e-02] [ 2.35639597e-02 1.86975804e-04 9.99722314e-01 -1.82705638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.144012739 meters Centerline goodness [0,1] 0.9912808757685468 Centerline is valid? [True, True] Translation: X:323.25, Y:-0.02, Z:-1.82 [[ 9.28039667e-01 -3.71881752e-01 -2.11267087e-02 3.23246670e+02] [ 3.71778656e-01 9.28280069e-01 -8.76042354e-03 -2.36923201e-02] [ 2.28693443e-02 2.75561184e-04 9.99738424e-01 -1.82491459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.174012739 meters Centerline goodness [0,1] 0.991665252799457 Centerline is valid? [True, True] Translation: X:323.27, Y:-0.01, Z:-1.82 [[ 9.28877022e-01 -3.69757630e-01 -2.16049441e-02 3.23271531e+02] [ 3.69649204e-01 9.29128184e-01 -8.96018184e-03 -9.82602155e-03] [ 2.33868581e-02 3.36656636e-04 9.99726433e-01 -1.82468742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.204012739 meters Centerline goodness [0,1] 0.991629665823968 Centerline is valid? [True, True] Translation: X:323.30, Y:0.00, Z:-1.83 [[ 9.29630663e-01 -3.67793854e-01 -2.26828589e-02 3.23295741e+02] [ 3.67673713e-01 9.29907262e-01 -9.40880441e-03 4.57192217e-03] [ 2.45534556e-02 4.06822122e-04 9.99698436e-01 -1.82634528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.234012739 meters Centerline goodness [0,1] 0.991511506387698 Centerline is valid? [True, True] Translation: X:323.32, Y:0.02, Z:-1.83 [[ 9.31349519e-01 -3.63331673e-01 -2.40451452e-02 3.23320360e+02] [ 3.63195115e-01 9.31659693e-01 -9.97623709e-03 2.11729849e-02] [ 2.60265755e-02 5.58284355e-04 9.99661095e-01 -1.82863804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.264012739 meters Centerline goodness [0,1] 0.9902393282611939 Centerline is valid? [True, True] Translation: X:323.34, Y:0.04, Z:-1.83 [[ 9.32069886e-01 -3.61488153e-01 -2.39173959e-02 3.23343132e+02] [ 3.61352407e-01 9.32376504e-01 -9.92432351e-03 3.88872546e-02] [ 2.58875434e-02 6.07554518e-04 9.99664677e-01 -1.82800096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.294012739 meters Centerline goodness [0,1] 0.989849454997109 Centerline is valid? [True, True] Translation: X:323.37, Y:0.05, Z:-1.82 [[ 9.33387076e-01 -3.58181041e-01 -2.22465439e-02 3.23369723e+02] [ 3.58062611e-01 9.33651924e-01 -9.23310944e-03 5.11954619e-02] [ 2.40776533e-02 6.52409405e-04 9.99709878e-01 -1.82346014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.324012739 meters Centerline goodness [0,1] 0.9885749940830949 Centerline is valid? [True, True] Translation: X:323.39, Y:0.07, Z:-1.82 [[ 9.33832413e-01 -3.57057319e-01 -2.16123982e-02 3.23393287e+02] [ 3.56945216e-01 9.34082240e-01 -8.97115255e-03 6.57757105e-02] [ 2.33909730e-02 6.63110886e-04 9.99726174e-01 -1.82162221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.354012739 meters Centerline goodness [0,1] 0.9884730538922155 Centerline is valid? [True, True] Translation: X:323.42, Y:0.08, Z:-1.82 [[ 9.34165276e-01 -3.56213791e-01 -2.11417249e-02 3.23418900e+02] [ 3.56106266e-01 9.34404241e-01 -8.77738427e-03 7.99750059e-02] [ 2.28815427e-02 6.70826893e-04 9.99737958e-01 -1.82051650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.384012739 meters Centerline goodness [0,1] 0.9883572159672467 Centerline is valid? [True, True] Translation: X:323.44, Y:0.10, Z:-1.82 [[ 9.34660801e-01 -3.54884501e-01 -2.15911709e-02 3.23442884e+02] [ 3.54771901e-01 9.34909872e-01 -8.96822796e-03 9.63077598e-02] [ 2.33684840e-02 7.22310366e-04 9.99726659e-01 -1.82167474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.414012739 meters Centerline goodness [0,1] 0.986474722381468 Centerline is valid? [True, True] Translation: X:323.47, Y:0.11, Z:-1.82 [[ 9.34756712e-01 -3.54599101e-01 -2.21216576e-02 3.23466223e+02] [ 3.54480763e-01 9.35018137e-01 -9.19090380e-03 1.12980693e-01] [ 2.39432373e-02 7.49556954e-04 9.99713039e-01 -1.82152192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.444012739 meters Centerline goodness [0,1] 0.9876176853611153 Centerline is valid? [True, True] Translation: X:323.49, Y:0.13, Z:-1.82 [[ 9.34909640e-01 -3.54193374e-01 -2.21589488e-02 3.23491761e+02] [ 3.54074486e-01 9.35171894e-01 -9.20793255e-03 1.26762846e-01] [ 2.39838149e-02 7.62666473e-04 9.99712056e-01 -1.81993006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.474012739 meters Centerline goodness [0,1] 0.9873342400544033 Centerline is valid? [True, True] Translation: X:323.52, Y:0.14, Z:-1.82 [[ 9.35099317e-01 -3.53692476e-01 -2.21562643e-02 3.23516361e+02] [ 3.53573375e-01 9.35361441e-01 -9.21103687e-03 1.42696564e-01] [ 2.39819897e-02 7.79369137e-04 9.99712087e-01 -1.81929093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.504012739 meters Centerline goodness [0,1] 0.9840671214881986 Centerline is valid? [True, True] Translation: X:323.54, Y:0.16, Z:-1.82 [[ 9.35729186e-01 -3.51974999e-01 -2.29017668e-02 3.23538570e+02] [ 3.51847126e-01 9.36009011e-01 -9.52529970e-03 1.64724624e-01] [ 2.47889274e-02 8.55180106e-04 9.99692342e-01 -1.82145062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.534012739 meters Centerline goodness [0,1] 0.9829645501410781 Centerline is valid? [True, True] Translation: X:323.56, Y:0.18, Z:-1.82 [[ 9.35777621e-01 -3.51816107e-01 -2.33596084e-02 3.23563798e+02] [ 3.51682990e-01 9.36068724e-01 -9.71688854e-03 1.80372826e-01] [ 2.52847567e-02 8.77669931e-04 9.99679904e-01 -1.82176436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.564012739 meters Centerline goodness [0,1] 0.9809398480281869 Centerline is valid? [True, True] Translation: X:323.59, Y:0.20, Z:-1.82 [[ 9.35599783e-01 -3.52297712e-01 -2.32243172e-02 3.23587009e+02] [ 3.52166177e-01 9.35887588e-01 -9.66474410e-03 1.96309826e-01] [ 2.51402175e-02 8.63513476e-04 9.99683562e-01 -1.82118173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.594012739 meters Centerline goodness [0,1] 0.9848411068532594 Centerline is valid? [True, True] Translation: X:323.61, Y:0.21, Z:-1.82 [[ 9.35237032e-01 -3.53289970e-01 -2.27572223e-02 3.23613452e+02] [ 3.53163928e-01 9.35513507e-01 -9.47192909e-03 2.08317567e-01] [ 2.46360264e-02 8.21468839e-04 9.99696150e-01 -1.81887751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.624012739 meters Centerline goodness [0,1] 0.9868337496295669 Centerline is valid? [True, True] Translation: X:323.64, Y:0.22, Z:-1.82 [[ 9.34578855e-01 -3.55086028e-01 -2.18237312e-02 3.23636806e+02] [ 3.54970513e-01 9.34833331e-01 -9.08728200e-03 2.23902564e-01] [ 2.36283182e-02 7.46000546e-04 9.99720534e-01 -1.81572200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.654012739 meters Centerline goodness [0,1] 0.9868337496295669 Centerline is valid? [True, True] Translation: X:323.66, Y:0.23, Z:-1.82 [[ 9.34515200e-01 -3.55253553e-01 -2.18232293e-02 3.23662106e+02] [ 3.55138056e-01 9.34769683e-01 -9.08848727e-03 2.34651472e-01] [ 2.36284105e-02 7.43070299e-04 9.99720534e-01 -1.81506792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.684012739 meters Centerline goodness [0,1] 0.9872841711320915 Centerline is valid? [True, True] Translation: X:323.69, Y:0.25, Z:-1.81 [[ 9.33676856e-01 -3.57487036e-01 -2.12261110e-02 3.23687066e+02] [ 3.57378247e-01 9.33917859e-01 -8.84424315e-03 2.50811035e-01] [ 2.29851464e-02 6.71914797e-04 9.99735581e-01 -1.81325723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.714012739 meters Centerline goodness [0,1] 0.9894578958645811 Centerline is valid? [True, True] Translation: X:323.71, Y:0.26, Z:-1.81 [[ 9.33021624e-01 -3.59190935e-01 -2.12725675e-02 3.23713685e+02] [ 3.59082072e-01 9.33263881e-01 -8.86534329e-03 2.61014385e-01] [ 2.30372698e-02 6.32959398e-04 9.99734407e-01 -1.81334202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.744012739 meters Centerline goodness [0,1] 0.9891831009860592 Centerline is valid? [True, True] Translation: X:323.74, Y:0.27, Z:-1.81 [[ 9.32334455e-01 -3.60958494e-01 -2.14809115e-02 3.23738129e+02] [ 3.60847860e-01 9.32581689e-01 -8.95632348e-03 2.74792568e-01] [ 2.32655658e-02 5.98948037e-04 9.99729141e-01 -1.81342956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.774012739 meters Centerline goodness [0,1] 0.9902137304327565 Centerline is valid? [True, True] Translation: X:323.77, Y:0.28, Z:-1.81 [[ 9.31587786e-01 -3.62883560e-01 -2.14410660e-02 3.23765925e+02] [ 3.62773811e-01 9.31834330e-01 -8.94115640e-03 2.83742799e-01] [ 2.32241200e-02 5.51214883e-04 9.99730132e-01 -1.81295636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80401273900003 meters Centerline goodness [0,1] 0.990655209452202 Centerline is valid? [True, True] Translation: X:323.79, Y:0.29, Z:-1.81 [[ 9.30174018e-01 -3.66536791e-01 -2.06658628e-02 3.23794969e+02] [ 3.66435710e-01 9.30403452e-01 -8.61898111e-03 2.91052342e-01] [ 2.23867638e-02 4.44442149e-04 9.99749286e-01 -1.81069099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.834012739 meters Centerline goodness [0,1] 0.9906593639876025 Centerline is valid? [True, True] Translation: X:323.82, Y:0.30, Z:-1.81 [[ 9.29501721e-01 -3.68243847e-01 -2.05674470e-02 3.23820648e+02] [ 3.68144131e-01 9.29729158e-01 -8.57853066e-03 3.01570510e-01] [ 2.22811463e-02 4.01974119e-04 9.99751664e-01 -1.80933591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86401273900003 meters Centerline goodness [0,1] 0.9916679002685728 Centerline is valid? [True, True] Translation: X:323.85, Y:0.31, Z:-1.81 [[ 9.28222680e-01 -3.71488865e-01 -1.99669750e-02 3.23846890e+02] [ 3.71395609e-01 9.28437356e-01 -8.32935524e-03 3.10388448e-01] [ 2.16323482e-02 3.15849608e-04 9.99765943e-01 -1.80660972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.894012739 meters Centerline goodness [0,1] 0.9919773578481443 Centerline is valid? [True, True] Translation: X:323.87, Y:0.32, Z:-1.81 [[ 9.27495920e-01 -3.73302860e-01 -1.99070832e-02 3.23874886e+02] [ 3.73210544e-01 9.27709491e-01 -8.30604085e-03 3.18419149e-01] [ 2.15686588e-02 2.74285651e-04 9.99767332e-01 -1.80584894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.924012739 meters Centerline goodness [0,1] 0.991763360718218 Centerline is valid? [True, True] Translation: X:323.90, Y:0.33, Z:-1.81 [[ 9.26748565e-01 -3.75136952e-01 -2.02327310e-02 3.23901821e+02] [ 3.75041942e-01 9.26969368e-01 -8.44581877e-03 3.27276970e-01] [ 2.19234606e-02 2.39027710e-04 9.99759623e-01 -1.80575499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.954012739 meters Centerline goodness [0,1] 0.9917549809241204 Centerline is valid? [True, True] Translation: X:323.93, Y:0.33, Z:-1.81 [[ 9.25431075e-01 -3.78404441e-01 -1.96825769e-02 3.23929916e+02] [ 3.78315183e-01 9.25640348e-01 -8.22005485e-03 3.32971858e-01] [ 2.13294926e-02 1.60876531e-04 9.99772488e-01 -1.80601514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.984012739 meters Centerline goodness [0,1] 0.9911130812910307 Centerline is valid? [True, True] Translation: X:323.96, Y:0.34, Z:-1.80 [[ 9.24788909e-01 -3.80000759e-01 -1.91022678e-02 3.23956705e+02] [ 3.79917001e-01 9.24986167e-01 -7.97892635e-03 3.41085792e-01] [ 2.07013315e-02 1.21546305e-04 9.99785697e-01 -1.80358940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.014012739 meters Centerline goodness [0,1] 0.9907118759875304 Centerline is valid? [True, True] Translation: X:323.99, Y:0.34, Z:-1.80 [[ 9.23390138e-01 -3.83375004e-01 -1.93457823e-02 3.23986865e+02] [ 3.83289817e-01 9.23592770e-01 -8.08159138e-03 3.42589168e-01] [ 2.09659048e-02 4.74204264e-05 9.99780190e-01 -1.80336841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.044012739 meters Centerline goodness [0,1] 0.991293268209811 Centerline is valid? [True, True] Translation: X:324.01, Y:0.35, Z:-1.80 [[ 9.22723745e-01 -3.84906207e-01 -2.06906428e-02 3.24013659e+02] [ 3.84809048e-01 9.22955693e-01 -8.64787195e-03 3.50100602e-01] [ 2.24251661e-02 1.76502564e-05 9.99748524e-01 -1.80450063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.074012739 meters Centerline goodness [0,1] 0.9919036083131455 Centerline is valid? [True, True] Translation: X:324.04, Y:0.36, Z:-1.81 [[ 9.22151479e-01 -3.86204598e-01 -2.19694747e-02 3.24040258e+02] [ 3.86095384e-01 9.22413144e-01 -9.18398610e-03 3.58108977e-01] [ 2.38118299e-02 -1.32863952e-05 9.99716458e-01 -1.80633556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.104012739 meters Centerline goodness [0,1] 0.9919315455336858 Centerline is valid? [True, True] Translation: X:324.07, Y:0.37, Z:-1.81 [[ 9.21865471e-01 -3.86797540e-01 -2.34886358e-02 3.24066923e+02] [ 3.86672760e-01 9.22164661e-01 -9.82417790e-03 3.65440289e-01] [ 2.54603577e-02 -2.58452500e-05 9.99675832e-01 -1.80869320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.134012739 meters Centerline goodness [0,1] 0.9919291128429594 Centerline is valid? [True, True] Translation: X:324.09, Y:0.38, Z:-1.81 [[ 9.22019106e-01 -3.86471474e-01 -2.28159707e-02 3.24093187e+02] [ 3.86353586e-01 9.22301361e-01 -9.54498875e-03 3.75186474e-01] [ 2.47320667e-02 -1.43701023e-05 9.99694116e-01 -1.80659357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.164012739 meters Centerline goodness [0,1] 0.9915572431641246 Centerline is valid? [True, True] Translation: X:324.12, Y:0.38, Z:-1.80 [[ 9.22149817e-01 -3.86260069e-01 -2.10445739e-02 3.24118425e+02] [ 3.86159630e-01 9.22389917e-01 -8.80803127e-03 3.83314344e-01] [ 2.28134935e-02 -4.24043630e-06 9.99739738e-01 -1.80185496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.194012739 meters Centerline goodness [0,1] 0.9913426359227431 Centerline is valid? [True, True] Translation: X:324.14, Y:0.39, Z:-1.80 [[ 9.22185440e-01 -3.86214113e-01 -2.03143529e-02 3.24143972e+02] [ 3.86120454e-01 9.22409160e-01 -8.50505934e-03 3.93933696e-01] [ 2.20229192e-02 -5.45288859e-07 9.99757466e-01 -1.79953064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.224012739 meters Centerline goodness [0,1] 0.9911110163710778 Centerline is valid? [True, True] Translation: X:324.17, Y:0.40, Z:-1.80 [[ 9.22176451e-01 -3.86255741e-01 -1.99272721e-02 3.24169900e+02] [ 3.86165534e-01 9.22391730e-01 -8.34729635e-03 4.03817241e-01] [ 2.16049421e-02 2.45446529e-06 9.99766586e-01 -1.79871190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.254012739 meters Centerline goodness [0,1] 0.991263657243437 Centerline is valid? [True, True] Translation: X:324.20, Y:0.41, Z:-1.80 [[ 9.21619775e-01 -3.87559096e-01 -2.03699989e-02 3.24197867e+02] [ 3.87465052e-01 9.21844860e-01 -8.53737141e-03 4.09065756e-01] [ 2.20867147e-02 -2.44523490e-05 9.99756058e-01 -1.79942407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.284012739 meters Centerline goodness [0,1] 0.9910081161896626 Centerline is valid? [True, True] Translation: X:324.23, Y:0.42, Z:-1.80 [[ 9.21245499e-01 -3.88399796e-01 -2.12680190e-02 3.24225218e+02] [ 3.88297386e-01 9.21490964e-01 -8.91870047e-03 4.17384369e-01] [ 2.30623088e-02 -4.20035359e-05 9.99734029e-01 -1.79997027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.314012739 meters Centerline goodness [0,1] 0.9912498395447349 Centerline is valid? [True, True] Translation: X:324.25, Y:0.42, Z:-1.80 [[ 9.20637539e-01 -3.89781652e-01 -2.22886991e-02 3.24252052e+02] [ 3.89669456e-01 9.20907301e-01 -9.35186343e-03 4.24344680e-01] [ 2.41710105e-02 -7.55487327e-05 9.99707836e-01 -1.80108190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.344012739 meters Centerline goodness [0,1] 0.9912368393066042 Centerline is valid? [True, True] Translation: X:324.28, Y:0.43, Z:-1.80 [[ 9.20540494e-01 -3.90007693e-01 -2.23427371e-02 3.24277758e+02] [ 3.89894981e-01 9.20811595e-01 -9.37609962e-03 4.33354846e-01] [ 2.42302023e-02 -8.02416595e-05 9.99706402e-01 -1.80078433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.374012739 meters Centerline goodness [0,1] 0.9913919530702034 Centerline is valid? [True, True] Translation: X:324.30, Y:0.44, Z:-1.80 [[ 9.20620863e-01 -3.89825347e-01 -2.22131930e-02 3.24303817e+02] [ 3.89713833e-01 9.20888806e-01 -9.32389665e-03 4.43488059e-01] [ 2.40905720e-02 -7.30147918e-05 9.99709777e-01 -1.80053707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.404012739 meters Centerline goodness [0,1] 0.9916397328162034 Centerline is valid? [True, True] Translation: X:324.33, Y:0.46, Z:-1.80 [[ 9.21569224e-01 -3.87604816e-01 -2.17410471e-02 3.24328807e+02] [ 3.87497263e-01 9.21825638e-01 -9.13038699e-03 4.56626320e-01] [ 2.35804366e-02 -1.03126007e-05 9.99721943e-01 -1.79723017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.434012739 meters Centerline goodness [0,1] 0.9912451988069437 Centerline is valid? [True, True] Translation: X:324.35, Y:0.47, Z:-1.80 [[ 9.22247044e-01 -3.86023695e-01 -2.11209920e-02 3.24352762e+02] [ 3.85921674e-01 9.22488865e-01 -8.87446777e-03 4.70959443e-01] [ 2.29096348e-02 3.34030869e-05 9.99737539e-01 -1.79591784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.464012739 meters Centerline goodness [0,1] 0.9910347483738445 Centerline is valid? [True, True] Translation: X:324.37, Y:0.49, Z:-1.79 [[ 9.23651932e-01 -3.82691314e-01 -2.03584767e-02 3.24374826e+02] [ 3.82595618e-01 9.23876261e-01 -8.55853145e-03 4.89290825e-01] [ 2.20839890e-02 1.16040142e-04 9.99756112e-01 -1.79351087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.494012739 meters Centerline goodness [0,1] 0.9917841372282609 Centerline is valid? [True, True] Translation: X:324.40, Y:0.50, Z:-1.79 [[ 9.24086386e-01 -3.81644020e-01 -2.03025234e-02 3.24399617e+02] [ 3.81548551e-01 9.24309375e-01 -8.53706473e-03 5.02511270e-01] [ 2.20239324e-02 1.42586924e-04 9.99757434e-01 -1.79346765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.524012739 meters Centerline goodness [0,1] 0.991461405123157 Centerline is valid? [True, True] Translation: X:324.43, Y:0.52, Z:-1.79 [[ 9.24341565e-01 -3.81006326e-01 -2.06603612e-02 3.24425582e+02] [ 3.80907258e-01 9.24572416e-01 -8.68954407e-03 5.15518087e-01] [ 2.24127714e-02 1.62425236e-04 9.99748789e-01 -1.79334384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55401273900003 meters Centerline goodness [0,1] 0.9918257884574125 Centerline is valid? [True, True] Translation: X:324.45, Y:0.53, Z:-1.79 [[ 9.24084976e-01 -3.81589120e-01 -2.13705316e-02 3.24450509e+02] [ 3.81483183e-01 9.24332039e-01 -8.99235122e-03 5.28100420e-01] [ 2.31848504e-02 1.57198252e-04 9.99731183e-01 -1.79428399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.584012739 meters Centerline goodness [0,1] 0.9922511803188448 Centerline is valid? [True, True] Translation: X:324.48, Y:0.54, Z:-1.79 [[ 9.23839377e-01 -3.82188381e-01 -2.12802022e-02 3.24475011e+02] [ 3.82083391e-01 9.24084423e-01 -8.95889022e-03 5.39110562e-01] [ 2.30886871e-02 1.45763734e-04 9.99733410e-01 -1.79411290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61401273900003 meters Centerline goodness [0,1] 0.9919505843359232 Centerline is valid? [True, True] Translation: X:324.50, Y:0.55, Z:-1.79 [[ 9.23536536e-01 -3.82941726e-01 -2.08782359e-02 3.24500742e+02] [ 3.82840793e-01 9.23772493e-01 -8.79256803e-03 5.50355734e-01] [ 2.26537812e-02 1.27217439e-04 9.99743362e-01 -1.79243440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.644012739 meters Centerline goodness [0,1] 0.992149081183677 Centerline is valid? [True, True] Translation: X:324.53, Y:0.56, Z:-1.79 [[ 9.23422809e-01 -3.83246444e-01 -2.03095619e-02 3.24526141e+02] [ 3.83150918e-01 9.23646116e-01 -8.55719929e-03 5.62041539e-01] [ 2.20383642e-02 1.20285712e-04 9.99757119e-01 -1.79056743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.674012739 meters Centerline goodness [0,1] 0.9919451328946244 Centerline is valid? [True, True] Translation: X:324.55, Y:0.58, Z:-1.79 [[ 9.23473052e-01 -3.83116695e-01 -2.04724472e-02 3.24550385e+02] [ 3.83019489e-01 9.23699941e-01 -8.63073524e-03 5.75246197e-01] [ 2.22169770e-02 1.28905159e-04 9.99753164e-01 -1.78975715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.704012739 meters Centerline goodness [0,1] 0.9919957310565635 Centerline is valid? [True, True] Translation: X:324.57, Y:0.59, Z:-1.79 [[ 9.23938553e-01 -3.82005585e-01 -2.02307391e-02 3.24573558e+02] [ 3.81910350e-01 9.24160002e-01 -8.53087438e-03 5.90937226e-01] [ 2.19552815e-02 1.55675096e-04 9.99758942e-01 -1.78843123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.734012739 meters Centerline goodness [0,1] 0.9923646312753187 Centerline is valid? [True, True] Translation: X:324.60, Y:0.60, Z:-1.79 [[ 9.24209324e-01 -3.81358416e-01 -2.00719438e-02 3.24598306e+02] [ 3.81264489e-01 9.24427244e-01 -8.46525983e-03 6.03924839e-01] [ 2.17833498e-02 1.70952677e-04 9.99762700e-01 -1.78751668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.764012739 meters Centerline goodness [0,1] 0.992484227463268 Centerline is valid? [True, True] Translation: X:324.62, Y:0.62, Z:-1.79 [[ 9.24652211e-01 -3.80272566e-01 -2.02747369e-02 3.24622895e+02] [ 3.80176444e-01 9.24874443e-01 -8.55191288e-03 6.19488122e-01] [ 2.20036438e-02 1.99567778e-04 9.99757871e-01 -1.78698887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.794012739 meters Centerline goodness [0,1] 0.9924031671303232 Centerline is valid? [True, True] Translation: X:324.65, Y:0.63, Z:-1.79 [[ 9.24737479e-01 -3.80071477e-01 -2.01561010e-02 3.24647493e+02] [ 3.79976352e-01 9.24957096e-01 -8.50541122e-03 6.32183088e-01] [ 2.18761929e-02 2.06430789e-04 9.99760666e-01 -1.78651346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.824012739 meters Centerline goodness [0,1] 0.9926363558523846 Centerline is valid? [True, True] Translation: X:324.67, Y:0.65, Z:-1.79 [[ 9.25186284e-01 -3.78999747e-01 -1.97365726e-02 3.24673184e+02] [ 3.78908213e-01 9.25396747e-01 -8.33233060e-03 6.45088024e-01] [ 2.14221112e-02 2.30608545e-04 9.99770494e-01 -1.78524544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.854012739 meters Centerline goodness [0,1] 0.9924707492887853 Centerline is valid? [True, True] Translation: X:324.70, Y:0.66, Z:-1.78 [[ 9.25523911e-01 -3.78151302e-01 -2.01762944e-02 3.24696337e+02] [ 3.78055349e-01 9.25743769e-01 -8.52221021e-03 6.61617744e-01] [ 2.19007637e-02 2.59753318e-04 9.99760116e-01 -1.78468017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.884012739 meters Centerline goodness [0,1] 0.9923991715951064 Centerline is valid? [True, True] Translation: X:324.72, Y:0.68, Z:-1.79 [[ 9.25627273e-01 -3.77844267e-01 -2.11627341e-02 3.24721061e+02] [ 3.77738587e-01 9.25869122e-01 -8.94030714e-03 6.75081202e-01] [ 2.29719659e-02 2.81410816e-04 9.99736070e-01 -1.78663723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.914012739 meters Centerline goodness [0,1] 0.9929163010679051 Centerline is valid? [True, True] Translation: X:324.75, Y:0.69, Z:-1.79 [[ 9.25513883e-01 -3.78057344e-01 -2.22866884e-02 3.24746976e+02] [ 3.77940087e-01 9.25782133e-01 -9.41984116e-03 6.86690433e-01] [ 2.41938580e-02 2.95160837e-04 9.99707242e-01 -1.78833508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.944012739 meters Centerline goodness [0,1] 0.9932007918065238 Centerline is valid? [True, True] Translation: X:324.77, Y:0.70, Z:-1.79 [[ 9.25320004e-01 -3.78527298e-01 -2.23601055e-02 3.24772239e+02] [ 3.78409287e-01 9.25590083e-01 -9.45567362e-03 6.98467989e-01] [ 2.42755225e-02 2.88252362e-04 9.99705265e-01 -1.78781370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.974012739 meters Centerline goodness [0,1] 0.9932965634280866 Centerline is valid? [True, True] Translation: X:324.80, Y:0.71, Z:-1.79 [[ 9.25194640e-01 -3.78850909e-01 -2.20650580e-02 3.24796557e+02] [ 3.78736049e-01 9.25457677e-01 -9.33239746e-03 7.11601716e-01] [ 2.39558645e-02 2.77451235e-04 9.99712979e-01 -1.78601680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.004012739 meters Centerline goodness [0,1] 0.9927721632339772 Centerline is valid? [True, True] Translation: X:324.82, Y:0.73, Z:-1.78 [[ 9.25426615e-01 -3.78316195e-01 -2.15043641e-02 3.24820114e+02] [ 3.78206845e-01 9.25676387e-01 -9.09990723e-03 7.27044005e-01] [ 2.33487244e-02 2.88198624e-04 9.99727340e-01 -1.78451727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.034012739 meters Centerline goodness [0,1] 0.9931806484817293 Centerline is valid? [True, True] Translation: X:324.85, Y:0.74, Z:-1.78 [[ 9.25745987e-01 -3.77556895e-01 -2.10987659e-02 3.24845874e+02] [ 3.77451405e-01 9.25986339e-01 -8.92957343e-03 7.39670450e-01] [ 2.29085910e-02 3.02757951e-04 9.99737518e-01 -1.78294103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.064012739 meters Centerline goodness [0,1] 0.9923553277813367 Centerline is valid? [True, True] Translation: X:324.87, Y:0.76, Z:-1.78 [[ 9.26189108e-01 -3.76513079e-01 -2.02888460e-02 3.24868361e+02] [ 3.76415194e-01 9.26411247e-01 -8.59083658e-03 7.58165017e-01] [ 2.20303775e-02 3.19709349e-04 9.99757251e-01 -1.78127642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.094012739 meters Centerline goodness [0,1] 0.992773261065944 Centerline is valid? [True, True] Translation: X:324.89, Y:0.77, Z:-1.78 [[ 9.25947041e-01 -3.77102746e-01 -2.03861811e-02 3.24893296e+02] [ 3.77004036e-01 9.26171379e-01 -8.63325425e-03 7.70579683e-01] [ 2.21367214e-02 3.08263672e-04 9.99754905e-01 -1.78120418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.124012739 meters Centerline goodness [0,1] 0.9929182397986391 Centerline is valid? [True, True] Translation: X:324.92, Y:0.78, Z:-1.78 [[ 9.24610847e-01 -3.80300907e-01 -2.15870652e-02 3.24918790e+02] [ 3.80190971e-01 9.24862778e-01 -9.14702535e-03 7.82396221e-01] [ 2.34436951e-02 2.50231582e-04 9.99725127e-01 -1.78377339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.154012739 meters Centerline goodness [0,1] 0.9937076063307879 Centerline is valid? [True, True] Translation: X:324.94, Y:0.79, Z:-1.78 [[ 9.23574017e-01 -3.82774540e-01 -2.22415394e-02 3.24944653e+02] [ 3.82658513e-01 9.23841769e-01 -9.42595107e-03 7.91735768e-01] [ 2.41556772e-02 1.94649105e-04 9.99708190e-01 -1.78493438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.184012739 meters Centerline goodness [0,1] 0.9931915807560138 Centerline is valid? [True, True] Translation: X:324.97, Y:0.80, Z:-1.78 [[ 9.22418870e-01 -3.85536793e-01 -2.24679931e-02 3.24972760e+02] [ 3.85419169e-01 9.22692455e-01 -9.52354234e-03 7.99383734e-01] [ 2.44027237e-02 1.25099921e-04 9.99702201e-01 -1.78476981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.214012739 meters Centerline goodness [0,1] 0.9916300973991223 Centerline is valid? [True, True] Translation: X:325.00, Y:0.81, Z:-1.78 [[ 9.20165115e-01 -3.90948773e-01 -2.13358300e-02 3.25001553e+02] [ 3.90844067e-01 9.20412438e-01 -9.04756785e-03 8.06099230e-01] [ 2.31748989e-02 -1.37262747e-05 9.99731426e-01 -1.78070936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.244012739 meters Centerline goodness [0,1] 0.9910538901699547 Centerline is valid? [True, True] Translation: X:325.03, Y:0.82, Z:-1.78 [[ 9.19188812e-01 -3.93278585e-01 -2.05883963e-02 3.25027923e+02] [ 3.93181582e-01 9.19419355e-01 -8.73463251e-03 8.15161735e-01] [ 2.23645139e-02 -6.62017394e-05 9.99749881e-01 -1.77835028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.274012739 meters Centerline goodness [0,1] 0.9902410047522063 Centerline is valid? [True, True] Translation: X:325.06, Y:0.82, Z:-1.78 [[ 9.17524239e-01 -3.97184847e-01 -1.98360111e-02 3.25056010e+02] [ 3.97095693e-01 9.17738619e-01 -8.41649854e-03 8.23115087e-01] [ 2.15471791e-02 -1.54453140e-04 9.99767821e-01 -1.77565019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30401273900003 meters Centerline goodness [0,1] 0.9902478841775143 Centerline is valid? [True, True] Translation: X:325.08, Y:0.83, Z:-1.77 [[ 9.16863575e-01 -3.98729728e-01 -1.93852986e-02 3.25083075e+02] [ 3.98644851e-01 9.17068466e-01 -8.22873406e-03 8.33653270e-01] [ 2.10586870e-02 -1.83222959e-04 9.99778224e-01 -1.77461936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.334012739 meters Centerline goodness [0,1] 0.9900904967649019 Centerline is valid? [True, True] Translation: X:325.11, Y:0.84, Z:-1.77 [[ 9.16414185e-01 -3.99767219e-01 -1.92668769e-02 3.25109889e+02] [ 3.99683529e-01 9.16616675e-01 -8.18211233e-03 8.44175415e-01] [ 2.09312809e-02 -2.02449548e-04 9.99780896e-01 -1.77334065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36401273900003 meters Centerline goodness [0,1] 0.9891198095966679 Centerline is valid? [True, True] Translation: X:325.14, Y:0.85, Z:-1.77 [[ 9.15695308e-01 -4.01425933e-01 -1.89558411e-02 3.25136833e+02] [ 4.01345206e-01 9.15891460e-01 -8.05357212e-03 8.54677048e-01] [ 2.05944057e-02 -2.33217758e-04 9.99787886e-01 -1.77245336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.394012739 meters Centerline goodness [0,1] 0.9895140664961637 Centerline is valid? [True, True] Translation: X:325.16, Y:0.87, Z:-1.77 [[ 9.15394773e-01 -4.02091786e-01 -1.93547225e-02 3.25162952e+02] [ 4.02007696e-01 9.15599330e-01 -8.22671243e-03 8.65585210e-01] [ 2.10290644e-02 -2.50057841e-04 9.99778834e-01 -1.77218437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.424012739 meters Centerline goodness [0,1] 0.9899819972466377 Centerline is valid? [True, True] Translation: X:325.19, Y:0.87, Z:-1.77 [[ 9.14769135e-01 -4.03450411e-01 -2.06202471e-02 3.25189623e+02] [ 4.03355198e-01 9.15001464e-01 -8.76959324e-03 8.73329570e-01] [ 2.24056523e-02 -2.95130618e-04 9.99748918e-01 -1.77327300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.454012739 meters Centerline goodness [0,1] 0.9897071985679581 Centerline is valid? [True, True] Translation: X:325.22, Y:0.88, Z:-1.77 [[ 9.14146472e-01 -4.04839497e-01 -2.10049876e-02 3.25217215e+02] [ 4.04741032e-01 9.14387702e-01 -8.93456622e-03 8.82011410e-01] [ 2.28237676e-02 -3.34078176e-04 9.99739448e-01 -1.77355543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.484012739 meters Centerline goodness [0,1] 0.9889103694419069 Centerline is valid? [True, True] Translation: X:325.25, Y:0.89, Z:-1.77 [[ 9.13356435e-01 -4.06599840e-01 -2.13680301e-02 3.25245023e+02] [ 4.06498337e-01 9.13606274e-01 -9.09270552e-03 8.91172686e-01] [ 2.32190590e-02 -3.81187614e-04 9.99730329e-01 -1.77374706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.514012739 meters Centerline goodness [0,1] 0.9879937950232687 Centerline is valid? [True, True] Translation: X:325.27, Y:0.90, Z:-1.77 [[ 9.11540450e-01 -4.10675574e-01 -2.09661996e-02 3.25274329e+02] [ 4.10578838e-01 9.11781416e-01 -8.92565810e-03 8.95549973e-01] [ 2.27821409e-02 -4.72179470e-04 9.99740342e-01 -1.77299182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.544012739 meters Centerline goodness [0,1] 0.9879937950232687 Centerline is valid? [True, True] Translation: X:325.30, Y:0.91, Z:-1.77 [[ 9.11468036e-01 -4.10836279e-01 -2.09659580e-02 3.25299541e+02] [ 4.10739573e-01 9.11709014e-01 -8.92622566e-03 9.06494492e-01] [ 2.27820702e-02 -4.75579241e-04 9.99740342e-01 -1.77233784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.574012739 meters Centerline goodness [0,1] 0.9872926527653405 Centerline is valid? [True, True] Translation: X:325.33, Y:0.91, Z:-1.77 [[ 9.10492516e-01 -4.12997250e-01 -2.08961617e-02 3.25327287e+02] [ 4.12901653e-01 9.10732122e-01 -8.90099075e-03 9.12550439e-01] [ 2.27068904e-02 -5.23774258e-04 9.99742028e-01 -1.77115782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.604012739 meters Centerline goodness [0,1] 0.9853893690670857 Centerline is valid? [True, True] Translation: X:325.36, Y:0.91, Z:-1.77 [[ 9.08591023e-01 -4.17141409e-01 -2.13400237e-02 3.25358307e+02] [ 4.17042815e-01 9.08841370e-01 -9.09147760e-03 9.14790966e-01] [ 2.31871282e-02 -6.39268619e-04 9.99730938e-01 -1.77146346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.634012739 meters Centerline goodness [0,1] 0.9862822848569285 Centerline is valid? [True, True] Translation: X:325.38, Y:0.93, Z:-1.77 [[ 9.07480244e-01 -4.19539248e-01 -2.15969001e-02 3.25384792e+02] [ 4.19438924e-01 9.07736921e-01 -9.20168315e-03 9.27799840e-01] [ 2.34647708e-02 -7.08234856e-04 9.99724413e-01 -1.77122956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.664012739 meters Centerline goodness [0,1] 0.9825560395198131 Centerline is valid? [True, True] Translation: X:325.42, Y:0.93, Z:-1.77 [[ 9.06360252e-01 -4.21947786e-01 -2.17062183e-02 3.25415910e+02] [ 4.21847057e-01 9.06619805e-01 -9.25148703e-03 9.27830255e-01] [ 2.35829319e-02 -7.71524203e-04 9.99721586e-01 -1.77103202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.694012739 meters Centerline goodness [0,1] 0.9791223661318383 Centerline is valid? [True, True] Translation: X:325.45, Y:0.93, Z:-1.77 [[ 9.04977865e-01 -4.24938541e-01 -2.10309520e-02 3.25447293e+02] [ 4.24844768e-01 9.05221829e-01 -8.96450369e-03 9.29071810e-01] [ 2.28470399e-02 -8.22212502e-04 9.99738634e-01 -1.76971699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.724012739 meters Centerline goodness [0,1] 0.9797237983085323 Centerline is valid? [True, True] Translation: X:325.47, Y:0.94, Z:-1.77 [[ 9.04397583e-01 -4.26175223e-01 -2.09688231e-02 3.25474614e+02] [ 4.26082306e-01 9.04640236e-01 -8.93931656e-03 9.37429269e-01] [ 2.27789563e-02 -8.49748239e-04 9.99740165e-01 -1.76891884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.754012739 meters Centerline goodness [0,1] 0.9789129598769388 Centerline is valid? [True, True] Translation: X:325.50, Y:0.94, Z:-1.77 [[ 9.03783212e-01 -4.27474201e-01 -2.10169823e-02 3.25503567e+02] [ 4.27381178e-01 9.04027116e-01 -8.96111712e-03 9.43878857e-01] [ 2.28305683e-02 -8.83355443e-04 9.99738958e-01 -1.76787639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.784012739 meters Centerline goodness [0,1] 0.9708428149124859 Centerline is valid? [True, True] Translation: X:325.53, Y:0.95, Z:-1.77 [[ 9.02949491e-01 -4.29151014e-01 -2.26191252e-02 3.25533051e+02] [ 4.29043685e-01 9.03232208e-01 -9.64853105e-03 9.47512026e-01] [ 2.45709993e-02 -9.92456619e-04 9.99697595e-01 -1.77061761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.814012739 meters Centerline goodness [0,1] 0.9587797271782251 Centerline is valid? [True, True] Translation: X:325.56, Y:0.95, Z:-1.77 [[ 9.02789708e-01 -4.29457866e-01 -2.31664406e-02 3.25561516e+02] [ 4.29345343e-01 9.03086316e-01 -9.88345234e-03 9.52537188e-01] [ 2.51658218e-02 -1.02372434e-03 9.99682766e-01 -1.77165906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.844012739 meters Centerline goodness [0,1] 0.9793712103230261 Centerline is valid? [True, True] Translation: X:325.59, Y:0.97, Z:-1.77 [[ 9.03002270e-01 -4.29025127e-01 -2.28985029e-02 3.25586574e+02] [ 4.28915015e-01 9.03292003e-01 -9.77070524e-03 9.67814507e-01] [ 2.48759126e-02 -9.98542731e-04 9.99690048e-01 -1.76948925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.874012739 meters Centerline goodness [0,1] 0.9817363399452952 Centerline is valid? [True, True] Translation: X:325.61, Y:0.98, Z:-1.77 [[ 9.03552430e-01 -4.27880926e-01 -2.26035279e-02 3.25613272e+02] [ 4.27773179e-01 9.03834614e-01 -9.64877546e-03 9.80100936e-01] [ 2.45583778e-02 -9.51008446e-04 9.99697945e-01 -1.76746804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.904012739 meters Centerline goodness [0,1] 0.9837344504766383 Centerline is valid? [True, True] Translation: X:325.64, Y:0.99, Z:-1.77 [[ 9.05147726e-01 -4.24464450e-01 -2.31845898e-02 3.25640025e+02] [ 4.24349867e-01 9.05444180e-01 -9.90088540e-03 9.89113269e-01] [ 2.51949258e-02 -8.76613707e-04 9.99682173e-01 -1.76752670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.934012739 meters Centerline goodness [0,1] 0.9845627893149871 Centerline is valid? [True, True] Translation: X:325.67, Y:1.00, Z:-1.77 [[ 9.06050207e-01 -4.22513018e-01 -2.35748278e-02 3.25666996e+02] [ 4.22393855e-01 9.06356471e-01 -1.00687094e-02 9.98541071e-01] [ 2.56213585e-02 -8.35106141e-04 9.99671370e-01 -1.76851758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.964012739 meters Centerline goodness [0,1] 0.9862556115827322 Centerline is valid? [True, True] Translation: X:325.69, Y:1.01, Z:-1.77 [[ 9.06949632e-01 -4.20553830e-01 -2.40175065e-02 3.25692965e+02] [ 4.20429428e-01 9.07267241e-01 -1.02590909e-02 1.00794619e+00] [ 2.61047968e-02 -7.93187762e-04 9.99658897e-01 -1.76902946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.994012739 meters Centerline goodness [0,1] 0.9877371636831386 Centerline is valid? [True, True] Translation: X:325.72, Y:1.02, Z:-1.77 [[ 9.08587166e-01 -4.16983026e-01 -2.43827256e-02 3.25719497e+02] [ 4.16853482e-01 9.08914004e-01 -1.04167144e-02 1.02033834e+00] [ 2.65053938e-02 -6.99531065e-04 9.99648426e-01 -1.76863530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.024012739 meters Centerline goodness [0,1] 0.9885792501657505 Centerline is valid? [True, True] Translation: X:325.75, Y:1.03, Z:-1.77 [[ 9.09479762e-01 -4.15033346e-01 -2.43697298e-02 3.25745010e+02] [ 4.14903133e-01 9.09805976e-01 -1.04151901e-02 1.03160005e+00] [ 2.64943770e-02 -6.38672674e-04 9.99648758e-01 -1.76732828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05401273900003 meters Centerline goodness [0,1] 0.9900154749538931 Centerline is valid? [True, True] Translation: X:325.77, Y:1.04, Z:-1.77 [[ 9.12013436e-01 -4.09449911e-01 -2.41301382e-02 3.25770987e+02] [ 4.09320233e-01 9.12332478e-01 -1.03149198e-02 1.04307048e+00] [ 2.62381517e-02 -4.69608361e-04 9.99655610e-01 -1.76600521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.084012739 meters Centerline goodness [0,1] 0.9909998293806518 Centerline is valid? [True, True] Translation: X:325.80, Y:1.06, Z:-1.76 [[ 9.13104687e-01 -4.07052535e-01 -2.34107714e-02 3.25795599e+02] [ 4.06929650e-01 9.13404666e-01 -1.00088119e-02 1.05956375e+00] [ 2.54576201e-02 -3.87443967e-04 9.99675827e-01 -1.76359786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11401273900003 meters Centerline goodness [0,1] 0.9916610712815959 Centerline is valid? [True, True] Translation: X:325.82, Y:1.08, Z:-1.76 [[ 9.13962006e-01 -4.05179328e-01 -2.24312930e-02 3.25820335e+02] [ 4.05065851e-01 9.14237174e-01 -9.59403034e-03 1.07610007e+00] [ 2.43948247e-02 -3.17571556e-04 9.99702352e-01 -1.76111598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.144012739 meters Centerline goodness [0,1] 0.9918912624648022 Centerline is valid? [True, True] Translation: X:325.85, Y:1.09, Z:-1.76 [[ 9.15517951e-01 -4.01661818e-01 -2.22410707e-02 3.25845468e+02] [ 4.01549119e-01 9.15788041e-01 -9.51676976e-03 1.08954462e+00] [ 2.41906296e-02 -2.18108776e-04 9.99707340e-01 -1.76029607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.174012739 meters Centerline goodness [0,1] 0.9927625960717336 Centerline is valid? [True, True] Translation: X:325.87, Y:1.10, Z:-1.76 [[ 9.16219881e-01 -4.00048111e-01 -2.24195973e-02 3.25870721e+02] [ 3.99933004e-01 9.16494124e-01 -9.59757356e-03 1.10113656e+00] [ 2.43869203e-02 -1.72849169e-04 9.99702580e-01 -1.76026478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.204012739 meters Centerline goodness [0,1] 0.9935034704587777 Centerline is valid? [True, True] Translation: X:325.89, Y:1.12, Z:-1.76 [[ 9.17785113e-01 -3.96429163e-01 -2.26804847e-02 3.25894354e+02] [ 3.96310215e-01 9.18065310e-01 -9.71084910e-03 1.11561067e+00] [ 2.46718300e-02 -7.60350148e-05 9.99695601e-01 -1.76032102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.234012739 meters Centerline goodness [0,1] 0.9940207025138766 Centerline is valid? [True, True] Translation: X:325.92, Y:1.13, Z:-1.76 [[ 9.18383175e-01 -3.95019024e-01 -2.30719572e-02 3.25918710e+02] [ 3.94895443e-01 9.18672939e-01 -9.88026862e-03 1.12991245e+00] [ 2.50984768e-02 -3.71383230e-05 9.99684983e-01 -1.75975421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.264012739 meters Centerline goodness [0,1] 0.9946786825447913 Centerline is valid? [True, True] Translation: X:325.94, Y:1.14, Z:-1.76 [[ 9.18947966e-01 -3.93660831e-01 -2.37862341e-02 3.25942567e+02] [ 3.93528886e-01 9.19255759e-01 -1.01914653e-02 1.14343503e+00] [ 2.58776133e-02 4.85606952e-06 9.99665118e-01 -1.76074066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.294012739 meters Centerline goodness [0,1] 0.9953203128338818 Centerline is valid? [True, True] Translation: X:325.97, Y:1.16, Z:-1.76 [[ 9.19937482e-01 -3.91282451e-01 -2.47603070e-02 3.25966732e+02] [ 3.91138505e-01 9.20270633e-01 -1.06128495e-02 1.15955897e+00] [ 2.69388052e-02 7.84485937e-05 9.99637081e-01 -1.76130392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.324012739 meters Centerline goodness [0,1] 0.9949687419713967 Centerline is valid? [True, True] Translation: X:325.99, Y:1.17, Z:-1.76 [[ 9.20498371e-01 -3.90005368e-01 -2.40533051e-02 3.25991220e+02] [ 3.89868970e-01 9.20812575e-01 -1.03144279e-02 1.17420428e+00] [ 2.61712681e-02 1.16776774e-04 9.99657467e-01 -1.75883209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.354012739 meters Centerline goodness [0,1] 0.994514831465508 Centerline is valid? [True, True] Translation: X:326.01, Y:1.19, Z:-1.75 [[ 9.21408179e-01 -3.88001352e-01 -2.14922921e-02 3.26014594e+02] [ 3.87891810e-01 9.21658790e-01 -9.22050130e-03 1.19196880e+00] [ 2.33861269e-02 1.59161202e-04 9.99726494e-01 -1.75317617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.384012739 meters Centerline goodness [0,1] 0.9946357869641108 Centerline is valid? [True, True] Translation: X:326.04, Y:1.20, Z:-1.75 [[ 9.21597107e-01 -3.87590751e-01 -2.07890039e-02 3.26039002e+02] [ 3.87488065e-01 9.21831536e-01 -8.92292187e-03 1.20457117e+00] [ 2.26224014e-02 1.67848097e-04 9.99744067e-01 -1.75167457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.414012739 meters Centerline goodness [0,1] 0.9943872580166899 Centerline is valid? [True, True] Translation: X:326.06, Y:1.22, Z:-1.75 [[ 9.21358544e-01 -3.88117607e-01 -2.15210664e-02 3.26064207e+02] [ 3.88007666e-01 9.21609840e-01 -9.23871010e-03 1.21526370e+00] [ 2.34197326e-02 1.61825762e-04 9.99725707e-01 -1.75238633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.444012739 meters Centerline goodness [0,1] 0.9948249684579689 Centerline is valid? [True, True] Translation: X:326.09, Y:1.22, Z:-1.76 [[ 9.20331986e-01 -3.90420778e-01 -2.36780841e-02 3.26092836e+02] [ 3.90288400e-01 9.20636520e-01 -1.01667186e-02 1.22209794e+00] [ 2.57682071e-02 1.15474759e-04 9.99667938e-01 -1.75567472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.474012739 meters Centerline goodness [0,1] 0.9949514314928425 Centerline is valid? [True, True] Translation: X:326.12, Y:1.23, Z:-1.76 [[ 9.19540776e-01 -3.92227591e-01 -2.45413745e-02 3.26118687e+02] [ 3.92085900e-01 9.19868204e-01 -1.05420433e-02 1.23211719e+00] [ 2.67097103e-02 7.15117649e-05 9.99643229e-01 -1.75645303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.504012739 meters Centerline goodness [0,1] 0.9946107146660986 Centerline is valid? [True, True] Translation: X:326.14, Y:1.24, Z:-1.75 [[ 9.19341535e-01 -3.92740783e-01 -2.37869439e-02 3.26144251e+02] [ 3.92607794e-01 9.19649212e-01 -1.02198776e-02 1.24256043e+00] [ 2.58894070e-02 5.66183893e-05 9.99664812e-01 -1.75398456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.534012739 meters Centerline goodness [0,1] 0.9942653705124925 Centerline is valid? [True, True] Translation: X:326.17, Y:1.25, Z:-1.75 [[ 9.19110341e-01 -3.93347489e-01 -2.26701243e-02 3.26170513e+02] [ 3.93226763e-01 9.19389880e-01 -9.74484627e-03 1.25264114e+00] [ 2.46757937e-02 4.20893827e-05 9.99695505e-01 -1.75094948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.564012739 meters Centerline goodness [0,1] 0.9947516120048843 Centerline is valid? [True, True] Translation: X:326.20, Y:1.26, Z:-1.75 [[ 9.18520987e-01 -3.94698858e-01 -2.30653007e-02 3.26196237e+02] [ 3.94574181e-01 9.18810542e-01 -9.91990128e-03 1.26197135e+00] [ 2.51080151e-02 1.06654121e-05 9.99684744e-01 -1.75114999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.594012739 meters Centerline goodness [0,1] 0.9944143716707283 Centerline is valid? [True, True] Translation: X:326.22, Y:1.27, Z:-1.75 [[ 9.17824929e-01 -3.96266142e-01 -2.38860826e-02 3.26222018e+02] [ 3.96132899e-01 9.18135689e-01 -1.02753419e-02 1.27067708e+00] [ 2.60024350e-02 -3.10982220e-05 9.99661879e-01 -1.75284700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.624012739 meters Centerline goodness [0,1] 0.9938712972420838 Centerline is valid? [True, True] Translation: X:326.25, Y:1.27, Z:-1.75 [[ 9.15991362e-01 -4.00465630e-01 -2.42302223e-02 3.26252571e+02] [ 4.00329917e-01 9.16311768e-01 -1.04259775e-02 1.27163500e+00] [ 2.63776835e-02 -1.49977525e-04 9.99652037e-01 -1.75327852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.654012739 meters Centerline goodness [0,1] 0.9932481517883851 Centerline is valid? [True, True] Translation: X:326.28, Y:1.27, Z:-1.75 [[ 9.14910118e-01 -4.02951213e-01 -2.38704157e-02 3.26281287e+02] [ 4.02820234e-01 9.15221435e-01 -1.02754648e-02 1.27473844e+00] [ 2.59872271e-02 -2.14359671e-04 9.99662252e-01 -1.75153248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.684012739 meters Centerline goodness [0,1] 0.99173659326149 Centerline is valid? [True, True] Translation: X:326.31, Y:1.28, Z:-1.75 [[ 9.13824679e-01 -4.05441018e-01 -2.32816873e-02 3.26310653e+02] [ 4.05317184e-01 9.14121165e-01 -1.00237634e-02 1.28000096e+00] [ 2.53463280e-02 -2.76505545e-04 9.99678692e-01 -1.74954311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.714012739 meters Centerline goodness [0,1] 0.990675193019227 Centerline is valid? [True, True] Translation: X:326.34, Y:1.29, Z:-1.75 [[ 9.12459874e-01 -4.08523842e-01 -2.29182840e-02 3.26339418e+02] [ 4.08404713e-01 9.12747581e-01 -9.87140321e-03 1.28537813e+00] [ 2.49513118e-02 -3.52675854e-04 9.99688605e-01 -1.74724304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.744012739 meters Centerline goodness [0,1] 0.9905876367336556 Centerline is valid? [True, True] Translation: X:326.37, Y:1.29, Z:-1.75 [[ 9.12493527e-01 -4.08447730e-01 -2.29350115e-02 3.26366794e+02] [ 4.08328294e-01 9.12781645e-01 -9.88298793e-03 1.29058898e+00] [ 2.49713415e-02 -3.46851601e-04 9.99688107e-01 -1.74706897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.774012739 meters Centerline goodness [0,1] 0.9920864078708159 Centerline is valid? [True, True] Translation: X:326.39, Y:1.31, Z:-1.75 [[ 9.13606740e-01 -4.05923546e-01 -2.34264583e-02 3.26392114e+02] [ 4.05798041e-01 9.13906995e-01 -1.00972389e-02 1.30512210e+00] [ 2.55083112e-02 -2.81505397e-04 9.99674570e-01 -1.74610878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80401273900003 meters Centerline goodness [0,1] 0.9922765176430648 Centerline is valid? [True, True] Translation: X:326.42, Y:1.32, Z:-1.75 [[ 9.14557985e-01 -4.03752779e-01 -2.38198489e-02 3.26417440e+02] [ 4.03622170e-01 9.14868102e-01 -1.02712993e-02 1.31667692e+00] [ 2.59390856e-02 -2.20520315e-04 9.99663501e-01 -1.74582383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.834012739 meters Centerline goodness [0,1] 0.9929700481445187 Centerline is valid? [True, True] Translation: X:326.44, Y:1.33, Z:-1.75 [[ 9.15539471e-01 -4.01523813e-01 -2.37929405e-02 3.26441917e+02] [ 4.01392696e-01 9.15848570e-01 -1.02615884e-02 1.33178008e+00] [ 2.59110026e-02 -1.55423337e-04 9.99664242e-01 -1.74541509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86401273900003 meters Centerline goodness [0,1] 0.994762399541975 Centerline is valid? [True, True] Translation: X:326.47, Y:1.35, Z:-1.75 [[ 9.17537446e-01 -3.96911472e-01 -2.42140015e-02 3.26465846e+02] [ 3.96773947e-01 9.17856897e-01 -1.04475676e-02 1.34695523e+00] [ 2.63717477e-02 -2.14504634e-05 9.99652205e-01 -1.74579573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.894012739 meters Centerline goodness [0,1] 0.9954449671143654 Centerline is valid? [True, True] Translation: X:326.49, Y:1.36, Z:-1.75 [[ 9.18107068e-01 -3.95551445e-01 -2.48689832e-02 3.26491339e+02] [ 3.95405821e-01 9.18443822e-01 -1.07323411e-02 1.35912621e+00] [ 2.70859570e-02 2.00975219e-05 9.99633108e-01 -1.74561752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.924012739 meters Centerline goodness [0,1] 0.9959767545820295 Centerline is valid? [True, True] Translation: X:326.52, Y:1.37, Z:-1.75 [[ 9.18851332e-01 -3.93712545e-01 -2.65077664e-02 3.26516977e+02] [ 3.93546154e-01 9.19233607e-01 -1.14455101e-02 1.37220451e+00] [ 2.88730707e-02 8.46926988e-05 9.99583082e-01 -1.74795439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.954012739 meters Centerline goodness [0,1] 0.996346876792048 Centerline is valid? [True, True] Translation: X:326.54, Y:1.39, Z:-1.75 [[ 9.19385580e-01 -3.92420112e-01 -2.71405916e-02 3.26541913e+02] [ 3.92244976e-01 9.19786083e-01 -1.17235067e-02 1.38554842e+00] [ 2.95640783e-02 1.32662316e-04 9.99562878e-01 -1.74858034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.984012739 meters Centerline goodness [0,1] 0.9964002414209346 Centerline is valid? [True, True] Translation: X:326.57, Y:1.40, Z:-1.74 [[ 9.20638351e-01 -3.89573787e-01 -2.56377048e-02 3.26566829e+02] [ 3.89416348e-01 9.20995233e-01 -1.10765060e-02 1.40041773e+00] [ 2.79273203e-02 2.13714805e-04 9.99609933e-01 -1.74458600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.014012739 meters Centerline goodness [0,1] 0.9953658432889758 Centerline is valid? [True, True] Translation: X:326.59, Y:1.42, Z:-1.74 [[ 9.21329533e-01 -3.87995879e-01 -2.47202180e-02 3.26591165e+02] [ 3.87848825e-01 9.21661072e-01 -1.06844355e-02 1.41504914e+00] [ 2.69291796e-02 2.56178469e-04 9.99637311e-01 -1.74236287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.044012739 meters Centerline goodness [0,1] 0.9958317301526228 Centerline is valid? [True, True] Translation: X:326.62, Y:1.43, Z:-1.74 [[ 9.21787421e-01 -3.86937369e-01 -2.42368171e-02 3.26617464e+02] [ 3.86795594e-01 9.22105955e-01 -1.04774508e-02 1.42750460e+00] [ 2.64030306e-02 2.83288336e-04 9.99651339e-01 -1.74007137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.074012739 meters Centerline goodness [0,1] 0.9948673354684087 Centerline is valid? [True, True] Translation: X:326.64, Y:1.45, Z:-1.74 [[ 9.23145210e-01 -3.83676266e-01 -2.44017383e-02 3.26639187e+02] [ 3.83531295e-01 9.23467583e-01 -1.05531856e-02 1.44743154e+00] [ 2.65832211e-02 3.83292456e-04 9.99646530e-01 -1.74045452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.104012739 meters Centerline goodness [0,1] 0.9949238578680203 Centerline is valid? [True, True] Translation: X:326.66, Y:1.46, Z:-1.74 [[ 9.23852053e-01 -3.81996436e-01 -2.40022419e-02 3.26663908e+02] [ 3.81855558e-01 9.24163698e-01 -1.03822933e-02 1.46194649e+00] [ 2.61479997e-02 4.26313493e-04 9.99657992e-01 -1.73974917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.134012739 meters Centerline goodness [0,1] 0.9938709264084056 Centerline is valid? [True, True] Translation: X:326.69, Y:1.48, Z:-1.74 [[ 9.25458417e-01 -3.78101335e-01 -2.37928142e-02 3.26687348e+02] [ 3.77961504e-01 9.25764059e-01 -1.02960383e-02 1.48250938e+00] [ 2.59194781e-02 5.35787495e-04 9.99663890e-01 -1.73779826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.164012739 meters Centerline goodness [0,1] 0.9931393019985512 Centerline is valid? [True, True] Translation: X:326.71, Y:1.50, Z:-1.74 [[ 9.26032220e-01 -3.76687745e-01 -2.38887171e-02 3.26711554e+02] [ 3.76546223e-01 9.26340113e-01 -1.03410004e-02 1.49860375e+00] [ 2.60244051e-02 5.80893331e-04 9.99661139e-01 -1.73717088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.194012739 meters Centerline goodness [0,1] 0.9933787606068398 Centerline is valid? [True, True] Translation: X:326.74, Y:1.51, Z:-1.74 [[ 9.26388440e-01 -3.75789195e-01 -2.42268136e-02 3.26737780e+02] [ 3.75643210e-01 9.26704968e-01 -1.04919431e-02 1.51120716e+00] [ 2.63938674e-02 6.18976732e-04 9.99651430e-01 -1.73651525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.224012739 meters Centerline goodness [0,1] 0.9932026422331132 Centerline is valid? [True, True] Translation: X:326.76, Y:1.53, Z:-1.74 [[ 9.26715484e-01 -3.74990211e-01 -2.40988173e-02 3.26761141e+02] [ 3.74845380e-01 9.27028548e-01 -1.04408754e-02 1.52744541e+00] [ 2.62555177e-02 6.42390551e-04 9.99655058e-01 -1.73502220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.254012739 meters Centerline goodness [0,1] 0.991869745209338 Centerline is valid? [True, True] Translation: X:326.78, Y:1.55, Z:-1.73 [[ 9.26658939e-01 -3.75174209e-01 -2.33992113e-02 3.26783715e+02] [ 3.75037686e-01 9.26954113e-01 -1.01393341e-02 1.54523463e+00] [ 2.54940118e-02 6.20118535e-04 9.99674783e-01 -1.73365781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.284012739 meters Centerline goodness [0,1] 0.9930056468172485 Centerline is valid? [True, True] Translation: X:326.81, Y:1.56, Z:-1.73 [[ 9.26009095e-01 -3.76824471e-01 -2.25936618e-02 3.26810998e+02] [ 3.76697639e-01 9.26284518e-01 -9.79185397e-03 1.55544228e+00] [ 2.46179693e-02 5.56366768e-04 9.99696777e-01 -1.73169706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.314012739 meters Centerline goodness [0,1] 0.9930182946538237 Centerline is valid? [True, True] Translation: X:326.84, Y:1.56, Z:-1.73 [[ 9.25706050e-01 -3.77584254e-01 -2.23257640e-02 3.26838771e+02] [ 3.77460535e-01 9.25975079e-01 -9.67978327e-03 1.56459499e+00] [ 2.43280348e-02 5.33539131e-04 9.99703887e-01 -1.73075522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.344012739 meters Centerline goodness [0,1] 0.993192342986406 Centerline is valid? [True, True] Translation: X:326.87, Y:1.58, Z:-1.73 [[ 9.25524569e-01 -3.78038994e-01 -2.21538223e-02 3.26865215e+02] [ 3.77917202e-01 9.25789526e-01 -9.60942597e-03 1.57668515e+00] [ 2.41425144e-02 5.21449275e-04 9.99708391e-01 -1.72957981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.374012739 meters Centerline goodness [0,1] 0.9927560861622127 Centerline is valid? [True, True] Translation: X:326.89, Y:1.59, Z:-1.73 [[ 9.25614362e-01 -3.77808807e-01 -2.23284180e-02 3.26889769e+02] [ 3.77684918e-01 9.25883480e-01 -9.68938759e-03 1.59048833e+00] [ 2.43342493e-02 5.35529585e-04 9.99703735e-01 -1.72855348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.404012739 meters Centerline goodness [0,1] 0.9927982219942728 Centerline is valid? [True, True] Translation: X:326.92, Y:1.60, Z:-1.73 [[ 9.25645231e-01 -3.77674204e-01 -2.33045326e-02 3.26915123e+02] [ 3.77539156e-01 9.25938376e-01 -1.01147924e-02 1.60352880e+00] [ 2.53986573e-02 5.64335753e-04 9.99677243e-01 -1.73016546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.434012739 meters Centerline goodness [0,1] 0.9934632062649666 Centerline is valid? [True, True] Translation: X:326.94, Y:1.62, Z:-1.73 [[ 9.25564826e-01 -3.77808924e-01 -2.42933884e-02 3.26938114e+02] [ 3.77662097e-01 9.25883400e-01 -1.05484742e-02 1.61866974e+00] [ 2.64781527e-02 5.88604727e-04 9.99649219e-01 -1.73210876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.464012739 meters Centerline goodness [0,1] 0.9934632062649666 Centerline is valid? [True, True] Translation: X:326.96, Y:1.63, Z:-1.73 [[ 9.25497091e-01 -3.77974882e-01 -2.42924522e-02 3.26963246e+02] [ 3.77828056e-01 9.25815665e-01 -1.05506298e-02 1.62980104e+00] [ 2.64782058e-02 5.86207169e-04 9.99649219e-01 -1.73145478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.494012739 meters Centerline goodness [0,1] 0.9934580634162973 Centerline is valid? [True, True] Translation: X:326.99, Y:1.64, Z:-1.73 [[ 9.25479156e-01 -3.78039545e-01 -2.39673433e-02 3.26986876e+02] [ 3.77896519e-01 9.25789266e-01 -1.04142170e-02 1.64351798e+00] [ 2.61256950e-02 5.80965102e-04 9.99658497e-01 -1.72955863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.524012739 meters Centerline goodness [0,1] 0.9925102424035507 Centerline is valid? [True, True] Translation: X:327.01, Y:1.66, Z:-1.73 [[ 9.25506682e-01 -3.78020064e-01 -2.31994339e-02 3.27011467e+02] [ 3.77885994e-01 9.25797231e-01 -1.00827979e-02 1.65687287e+00] [ 2.52894716e-02 5.64955656e-04 9.99680011e-01 -1.72722618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55401273900003 meters Centerline goodness [0,1] 0.9919110863175059 Centerline is valid? [True, True] Translation: X:327.04, Y:1.67, Z:-1.72 [[ 9.25502664e-01 -3.78107301e-01 -2.19017583e-02 3.27035306e+02] [ 3.77987733e-01 9.25761623e-01 -9.52318848e-03 1.67057080e+00] [ 2.38765944e-02 5.35140339e-04 9.99714770e-01 -1.72385567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.584012739 meters Centerline goodness [0,1] 0.9926177344081459 Centerline is valid? [True, True] Translation: X:327.06, Y:1.68, Z:-1.72 [[ 9.25306548e-01 -3.78597771e-01 -2.17145154e-02 3.27061009e+02] [ 3.78480327e-01 9.25561158e-01 -9.44374849e-03 1.68304370e+00] [ 2.36734941e-02 5.19845440e-04 9.99719608e-01 -1.72268406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61401273900003 meters Centerline goodness [0,1] 0.9925438130642592 Centerline is valid? [True, True] Translation: X:327.09, Y:1.70, Z:-1.72 [[ 9.24891298e-01 -3.79590877e-01 -2.20647355e-02 3.27085072e+02] [ 3.79469798e-01 9.25154317e-01 -9.60012847e-03 1.69689141e+00] [ 2.40574065e-02 5.06174551e-04 9.99710451e-01 -1.72263604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.644012739 meters Centerline goodness [0,1] 0.9923958399525534 Centerline is valid? [True, True] Translation: X:327.11, Y:1.71, Z:-1.72 [[ 9.24838762e-01 -3.79708454e-01 -2.22430545e-02 3.27109437e+02] [ 3.79585407e-01 9.25106065e-01 -9.67923129e-03 1.71033996e+00] [ 2.42524706e-02 5.08589395e-04 9.99705736e-01 -1.72229498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.674012739 meters Centerline goodness [0,1] 0.9927628237684104 Centerline is valid? [True, True] Translation: X:327.13, Y:1.72, Z:-1.72 [[ 9.24782659e-01 -3.79846086e-01 -2.22257643e-02 3.27134276e+02] [ 3.79723159e-01 9.25049562e-01 -9.67630075e-03 1.72423681e+00] [ 2.42354385e-02 5.08837700e-04 9.99706149e-01 -1.72180522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.704012739 meters Centerline goodness [0,1] 0.9927584502653802 Centerline is valid? [True, True] Translation: X:327.16, Y:1.74, Z:-1.72 [[ 9.24963893e-01 -3.79418514e-01 -2.19860662e-02 3.27159341e+02] [ 3.79297996e-01 9.25225012e-01 -9.57642920e-03 1.73838997e+00] [ 2.39755329e-02 5.18580379e-04 9.99712411e-01 -1.71988803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.734012739 meters Centerline goodness [0,1] 0.9922955774060358 Centerline is valid? [True, True] Translation: X:327.18, Y:1.75, Z:-1.72 [[ 9.25036714e-01 -3.79226758e-01 -2.22293400e-02 3.27182840e+02] [ 3.79103402e-01 9.25303616e-01 -9.68655626e-03 1.75446755e+00] [ 2.42422900e-02 5.33201770e-04 9.99705970e-01 -1.71955575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.764012739 meters Centerline goodness [0,1] 0.9925353980408094 Centerline is valid? [True, True] Translation: X:327.21, Y:1.77, Z:-1.72 [[ 9.25183746e-01 -3.78898573e-01 -2.17003902e-02 3.27207774e+02] [ 3.78780895e-01 9.25438053e-01 -9.45746703e-03 1.76908084e+00] [ 2.36657876e-02 5.30201559e-04 9.99719785e-01 -1.71772020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.794012739 meters Centerline goodness [0,1] 0.9924989877895455 Centerline is valid? [True, True] Translation: X:327.23, Y:1.78, Z:-1.72 [[ 9.25323442e-01 -3.78585993e-01 -2.11937096e-02 3.27233546e+02] [ 3.78473576e-01 9.25565971e-01 -9.24048893e-03 1.78111481e+00] [ 2.31144961e-02 5.29181979e-04 9.99732684e-01 -1.71603823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.824012739 meters Centerline goodness [0,1] 0.9918852894317578 Centerline is valid? [True, True] Translation: X:327.26, Y:1.80, Z:-1.72 [[ 9.25293455e-01 -3.78646317e-01 -2.14240079e-02 3.27255622e+02] [ 3.78531360e-01 9.25541289e-01 -9.34513388e-03 1.79898646e+00] [ 2.33673045e-02 5.37332348e-04 9.99726803e-01 -1.71575708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.854012739 meters Centerline goodness [0,1] 0.9932741750016272 Centerline is valid? [True, True] Translation: X:327.28, Y:1.81, Z:-1.72 [[ 9.24982950e-01 -3.79372521e-01 -2.19779952e-02 3.27283474e+02] [ 3.79251694e-01 9.25243862e-01 -9.58897400e-03 1.80733117e+00] [ 2.39727984e-02 5.34445551e-04 9.99712468e-01 -1.71693800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.884012739 meters Centerline goodness [0,1] 0.9929594042243575 Centerline is valid? [True, True] Translation: X:327.31, Y:1.82, Z:-1.72 [[ 9.24586978e-01 -3.80256196e-01 -2.33269229e-02 3.27306923e+02] [ 3.80120233e-01 9.24881033e-01 -1.01824615e-02 1.82443087e+00] [ 2.54465726e-02 5.47535910e-04 9.99676034e-01 -1.71870899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.914012739 meters Centerline goodness [0,1] 0.9940780331373597 Centerline is valid? [True, True] Translation: X:327.33, Y:1.83, Z:-1.72 [[ 9.23905405e-01 -3.81862595e-01 -2.40782265e-02 3.27334626e+02] [ 3.81718147e-01 9.24218959e-01 -1.05153137e-02 1.83444906e+00] [ 2.62689584e-02 5.24059131e-04 9.99654774e-01 -1.71959835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.944012739 meters Centerline goodness [0,1] 0.9933009045912272 Centerline is valid? [True, True] Translation: X:327.36, Y:1.85, Z:-1.72 [[ 9.23665457e-01 -3.82488604e-01 -2.33364630e-02 3.27358302e+02] [ 3.82353022e-01 9.23960077e-01 -1.01952644e-02 1.84871934e+00] [ 2.54615326e-02 4.94246359e-04 9.99675680e-01 -1.71770276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.974012739 meters Centerline goodness [0,1] 0.9935890586601133 Centerline is valid? [True, True] Translation: X:327.38, Y:1.86, Z:-1.71 [[ 9.23470933e-01 -3.83060952e-01 -2.15810824e-02 3.27384833e+02] [ 3.82945127e-01 9.23722962e-01 -9.42971198e-03 1.85961581e+00] [ 2.35470958e-02 4.43694595e-04 9.99722630e-01 -1.71301001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.004012739 meters Centerline goodness [0,1] 0.9928997382985113 Centerline is valid? [True, True] Translation: X:327.41, Y:1.87, Z:-1.71 [[ 9.23449956e-01 -3.83122111e-01 -2.13922381e-02 3.27407449e+02] [ 3.83008222e-01 9.23697598e-01 -9.35142477e-03 1.87498587e+00] [ 2.33426965e-02 4.42169716e-04 9.99727424e-01 -1.71221058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.034012739 meters Centerline goodness [0,1] 0.9931605471562275 Centerline is valid? [True, True] Translation: X:327.43, Y:1.89, Z:-1.71 [[ 9.23589626e-01 -3.82752679e-01 -2.19679171e-02 3.27432358e+02] [ 3.82632419e-01 9.23850729e-01 -9.60531024e-03 1.89037141e+00] [ 2.39715345e-02 4.65727630e-04 9.99712533e-01 -1.71315117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.064012739 meters Centerline goodness [0,1] 0.9927825422433557 Centerline is valid? [True, True] Translation: X:327.46, Y:1.91, Z:-1.71 [[ 9.23759845e-01 -3.82331064e-01 -2.21518909e-02 3.27455807e+02] [ 3.82208557e-01 9.24025282e-01 -9.69002283e-03 1.90679923e+00] [ 2.41737040e-02 4.84611748e-04 9.99707656e-01 -1.71306191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.094012739 meters Centerline goodness [0,1] 0.9924842445920626 Centerline is valid? [True, True] Translation: X:327.48, Y:1.92, Z:-1.71 [[ 9.23818856e-01 -3.82182694e-01 -2.22510339e-02 3.27481555e+02] [ 3.82059006e-01 9.24086655e-01 -9.73498177e-03 1.91948922e+00] [ 2.42824250e-02 4.92151828e-04 9.99705017e-01 -1.71290797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.124012739 meters Centerline goodness [0,1] 0.9927256532066508 Centerline is valid? [True, True] Translation: X:327.51, Y:1.93, Z:-1.71 [[ 9.23310710e-01 -3.83416814e-01 -2.21106086e-02 3.27506692e+02] [ 3.83294937e-01 9.23575300e-01 -9.67767346e-03 1.93255284e+00] [ 2.41313947e-02 4.60615256e-04 9.99708689e-01 -1.71234937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.154012739 meters Centerline goodness [0,1] 0.9929324108568387 Centerline is valid? [True, True] Translation: X:327.53, Y:1.94, Z:-1.71 [[ 9.22845851e-01 -3.84548397e-01 -2.18646979e-02 3.27532507e+02] [ 3.84429436e-01 9.23104732e-01 -9.57409027e-03 1.94326690e+00] [ 2.38651072e-02 4.29976001e-04 9.99715095e-01 -1.71089403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.184012739 meters Centerline goodness [0,1] 0.9935544658343862 Centerline is valid? [True, True] Translation: X:327.56, Y:1.95, Z:-1.71 [[ 9.21303512e-01 -3.88226862e-01 -2.19030257e-02 3.27561333e+02] [ 3.88108486e-01 9.21563775e-01 -9.59231264e-03 1.94852368e+00] [ 2.39090285e-02 3.36681173e-04 9.99714082e-01 -1.71086817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.214012739 meters Centerline goodness [0,1] 0.9937190223893352 Centerline is valid? [True, True] Translation: X:327.59, Y:1.95, Z:-1.71 [[ 9.20229201e-01 -3.90751092e-01 -2.21765854e-02 3.27590278e+02] [ 3.90630443e-01 9.20496338e-01 -9.71334646e-03 1.95350292e+00] [ 2.42089664e-02 2.75655687e-04 9.99706882e-01 -1.71073006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.244012739 meters Centerline goodness [0,1] 0.9936092708178003 Centerline is valid? [True, True] Translation: X:327.62, Y:1.96, Z:-1.71 [[ 9.19458301e-01 -3.92554944e-01 -2.22945784e-02 3.27617556e+02] [ 3.92433432e-01 9.19728526e-01 -9.76932051e-03 1.96132645e+00] [ 2.43399548e-02 2.33344915e-04 9.99703712e-01 -1.71028839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.274012739 meters Centerline goodness [0,1] 0.9939869114397416 Centerline is valid? [True, True] Translation: X:327.65, Y:1.97, Z:-1.71 [[ 9.18702330e-01 -3.94337078e-01 -2.20067561e-02 3.27645037e+02] [ 3.94219142e-01 9.18965850e-01 -9.64540902e-03 1.96859937e+00] [ 2.40269998e-02 1.85775227e-04 9.99711293e-01 -1.70810005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30401273900003 meters Centerline goodness [0,1] 0.994180613371846 Centerline is valid? [True, True] Translation: X:327.67, Y:1.98, Z:-1.71 [[ 9.18809766e-01 -3.94075152e-01 -2.22123536e-02 3.27670581e+02] [ 3.93954886e-01 9.19078199e-01 -9.73710011e-03 1.98074375e+00] [ 2.42520391e-02 1.95877448e-04 9.99705857e-01 -1.70753625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.334012739 meters Centerline goodness [0,1] 0.9936570102807518 Centerline is valid? [True, True] Translation: X:327.69, Y:2.00, Z:-1.71 [[ 9.19936894e-01 -3.91434345e-01 -2.22545580e-02 3.27693723e+02] [ 3.91312733e-01 9.20205999e-01 -9.76035366e-03 1.99633681e+00] [ 2.42993154e-02 2.70417519e-04 9.99704691e-01 -1.70671441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36401273900003 meters Centerline goodness [0,1] 0.9935939868890264 Centerline is valid? [True, True] Translation: X:327.72, Y:2.01, Z:-1.71 [[ 9.20455724e-01 -3.90223656e-01 -2.20626149e-02 3.27719381e+02] [ 3.90103749e-01 9.20720048e-01 -9.67767385e-03 2.00904633e+00] [ 2.40899492e-02 3.01161480e-04 9.99709750e-01 -1.70588071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.394012739 meters Centerline goodness [0,1] 0.9928961864857392 Centerline is valid? [True, True] Translation: X:327.74, Y:2.02, Z:-1.70 [[ 9.20896462e-01 -3.89201456e-01 -2.17240037e-02 3.27744152e+02] [ 3.89084822e-01 9.21152604e-01 -9.53316508e-03 2.02096400e+00] [ 2.37214443e-02 3.26577883e-04 9.99718554e-01 -1.70471771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.424012739 meters Centerline goodness [0,1] 0.9928019364701886 Centerline is valid? [True, True] Translation: X:327.77, Y:2.03, Z:-1.70 [[ 9.20968364e-01 -3.89075601e-01 -2.09152756e-02 3.27769901e+02] [ 3.88967427e-01 9.21205773e-01 -9.17960817e-03 2.03024077e+00] [ 2.28388342e-02 3.18767783e-04 9.99739109e-01 -1.70290388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.454012739 meters Centerline goodness [0,1] 0.992968132173467 Centerline is valid? [True, True] Translation: X:327.80, Y:2.04, Z:-1.70 [[ 9.20679496e-01 -3.89760466e-01 -2.08817032e-02 3.27797519e+02] [ 3.89652787e-01 9.20916222e-01 -9.16614576e-03 2.03975890e+00] [ 2.28029005e-02 3.02468607e-04 9.99739934e-01 -1.70286925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.484012739 meters Centerline goodness [0,1] 0.992626629621714 Centerline is valid? [True, True] Translation: X:327.83, Y:2.05, Z:-1.70 [[ 9.20131012e-01 -3.91045935e-01 -2.10237460e-02 3.27826768e+02] [ 3.90937030e-01 9.20371121e-01 -9.23243172e-03 2.04601818e+00] [ 2.29599535e-02 2.76085922e-04 9.99736347e-01 -1.70188694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.514012739 meters Centerline goodness [0,1] 0.9930623329231553 Centerline is valid? [True, True] Translation: X:327.85, Y:2.06, Z:-1.70 [[ 9.19750422e-01 -3.91963906e-01 -2.05780791e-02 3.27854388e+02] [ 3.91859721e-01 9.19980561e-01 -9.04023540e-03 2.05577951e+00] [ 2.24748787e-02 2.51040008e-04 9.99747376e-01 -1.70002555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.544012739 meters Centerline goodness [0,1] 0.9931172196966478 Centerline is valid? [True, True] Translation: X:327.88, Y:2.07, Z:-1.70 [[ 9.19473382e-01 -3.92646579e-01 -1.99340121e-02 3.27879987e+02] [ 3.92548890e-01 9.19689410e-01 -8.76115586e-03 2.06659307e+00] [ 2.17731377e-02 2.30575286e-04 9.99762911e-01 -1.69792466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.574012739 meters Centerline goodness [0,1] 0.9919544154680098 Centerline is valid? [True, True] Translation: X:327.91, Y:2.08, Z:-1.70 [[ 9.19313235e-01 -3.93002528e-01 -2.03024275e-02 3.27905980e+02] [ 3.92901256e-01 9.19537362e-01 -8.92424967e-03 2.07611682e+00] [ 2.21760933e-02 2.27331561e-04 9.99754054e-01 -1.69808729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.604012739 meters Centerline goodness [0,1] 0.9931203931203931 Centerline is valid? [True, True] Translation: X:327.93, Y:2.09, Z:-1.70 [[ 9.19655740e-01 -3.92164231e-01 -2.09889192e-02 3.27932966e+02] [ 3.92055668e-01 9.19895183e-01 -9.23066542e-03 2.08742632e+00] [ 2.29275425e-02 2.60209683e-04 9.99737095e-01 -1.69911477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.634012739 meters Centerline goodness [0,1] 0.9924132018859837 Centerline is valid? [True, True] Translation: X:327.96, Y:2.10, Z:-1.70 [[ 9.19837129e-01 -3.91725747e-01 -2.12272368e-02 3.27959032e+02] [ 3.91614493e-01 9.20081986e-01 -9.33955646e-03 2.09943240e+00] [ 2.31893430e-02 2.77977210e-04 9.99731052e-01 -1.69873359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.664012739 meters Centerline goodness [0,1] 0.9923843249354695 Centerline is valid? [True, True] Translation: X:327.98, Y:2.11, Z:-1.70 [[ 9.20248582e-01 -3.90721179e-01 -2.18976564e-02 3.27983154e+02] [ 3.90602397e-01 9.20509022e-01 -9.63887233e-03 2.11443276e+00] [ 2.39231018e-02 3.16881531e-04 9.99713751e-01 -1.69949883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.694012739 meters Centerline goodness [0,1] 0.9929249833844307 Centerline is valid? [True, True] Translation: X:328.01, Y:2.12, Z:-1.70 [[ 9.20682922e-01 -3.89605519e-01 -2.34626592e-02 3.28010792e+02] [ 3.89468737e-01 9.20981759e-01 -1.03296842e-02 2.12432307e+00] [ 2.56331831e-02 3.72391607e-04 9.99671347e-01 -1.70156777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.724012739 meters Centerline goodness [0,1] 0.9926851178508791 Centerline is valid? [True, True] Translation: X:328.03, Y:2.14, Z:-1.70 [[ 9.20752670e-01 -3.89408866e-01 -2.39844848e-02 3.28034076e+02] [ 3.89265746e-01 9.21064918e-01 -1.05639163e-02 2.13985693e+00] [ 2.62049502e-02 3.90415753e-04 9.99656515e-01 -1.70228455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.754012739 meters Centerline goodness [0,1] 0.9930170290243119 Centerline is valid? [True, True] Translation: X:328.06, Y:2.15, Z:-1.70 [[ 9.20568504e-01 -3.89855192e-01 -2.38024797e-02 3.28060046e+02] [ 3.89714336e-01 9.20876098e-01 -1.04856623e-02 2.15124588e+00] [ 2.60070245e-02 3.76602882e-04 9.99661689e-01 -1.70183651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.784012739 meters Centerline goodness [0,1] 0.9931218952999618 Centerline is valid? [True, True] Translation: X:328.09, Y:2.16, Z:-1.70 [[ 9.20134159e-01 -3.90914825e-01 -2.32105431e-02 3.28087515e+02] [ 3.90781109e-01 9.20426794e-01 -1.02294768e-02 2.15956255e+00] [ 2.53624599e-02 3.42249292e-04 9.99678262e-01 -1.69997479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.814012739 meters Centerline goodness [0,1] 0.993186571508657 Centerline is valid? [True, True] Translation: X:328.12, Y:2.17, Z:-1.70 [[ 9.19482415e-01 -3.92502609e-01 -2.22213782e-02 3.28115729e+02] [ 3.92380418e-01 9.19750846e-01 -9.79744634e-03 2.16668121e+00] [ 2.42836546e-02 2.89345983e-04 9.99705067e-01 -1.69821674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.844012739 meters Centerline goodness [0,1] 0.9933174427513408 Centerline is valid? [True, True] Translation: X:328.15, Y:2.17, Z:-1.70 [[ 9.18227557e-01 -3.95474057e-01 -2.14108287e-02 3.28145320e+02] [ 3.95361332e-01 9.18477124e-01 -9.44404224e-03 2.17173934e+00] [ 2.34002301e-02 2.06766082e-04 9.99726156e-01 -1.69574649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.874012739 meters Centerline goodness [0,1] 0.9928429255071359 Centerline is valid? [True, True] Translation: X:328.17, Y:2.18, Z:-1.69 [[ 9.17693351e-01 -3.96710661e-01 -2.14374598e-02 3.28171110e+02] [ 3.96597893e-01 9.17943691e-01 -9.45998807e-03 2.18149930e+00] [ 2.34312591e-02 1.79316758e-04 9.99725434e-01 -1.69434100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.904012739 meters Centerline goodness [0,1] 0.9933534093353409 Centerline is valid? [True, True] Translation: X:328.20, Y:2.19, Z:-1.69 [[ 9.16631475e-01 -3.99152163e-01 -2.15473742e-02 3.28200561e+02] [ 3.99038876e-01 9.16884691e-01 -9.50994948e-03 2.18589558e+00] [ 2.35523745e-02 1.18879029e-04 9.99722597e-01 -1.69321254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.934012739 meters Centerline goodness [0,1] 0.9932505571474053 Centerline is valid? [True, True] Translation: X:328.23, Y:2.20, Z:-1.69 [[ 9.16209864e-01 -4.00112470e-01 -2.16678834e-02 3.28226699e+02] [ 3.99998080e-01 9.16466040e-01 -9.56734346e-03 2.19585247e+00] [ 2.36858927e-02 9.85827059e-05 9.99719445e-01 -1.69277666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.964012739 meters Centerline goodness [0,1] 0.9932321356134844 Centerline is valid? [True, True] Translation: X:328.25, Y:2.21, Z:-1.69 [[ 9.15619307e-01 -4.01467919e-01 -2.15590797e-02 3.28253487e+02] [ 4.01355017e-01 9.15873084e-01 -9.52074025e-03 2.20519079e+00] [ 2.35676525e-02 6.45287980e-05 9.99722242e-01 -1.69147718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.994012739 meters Centerline goodness [0,1] 0.9925701647018402 Centerline is valid? [True, True] Translation: X:328.28, Y:2.22, Z:-1.69 [[ 9.15529903e-01 -4.01687487e-01 -2.12640410e-02 3.28279551e+02] [ 4.01577609e-01 9.15776806e-01 -9.39491121e-03 2.21650270e+00] [ 2.32469339e-02 6.21593849e-05 9.99729752e-01 -1.68947873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.024012739 meters Centerline goodness [0,1] 0.9924478388872295 Centerline is valid? [True, True] Translation: X:328.30, Y:2.23, Z:-1.69 [[ 9.15793139e-01 -4.01119841e-01 -2.06349384e-02 3.28304633e+02] [ 4.01016130e-01 9.16025582e-01 -9.12120425e-03 2.22849760e+00] [ 2.25608274e-02 7.81931492e-05 9.99745469e-01 -1.68750231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05401273900003 meters Centerline goodness [0,1] 0.99215385271417 Centerline is valid? [True, True] Translation: X:328.33, Y:2.24, Z:-1.68 [[ 9.16673469e-01 -3.99160685e-01 -1.95063840e-02 3.28329143e+02] [ 3.99067478e-01 9.16880981e-01 -8.62645906e-03 2.24439474e+00] [ 2.13283758e-02 1.23282708e-04 9.99772517e-01 -1.68453820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.084012739 meters Centerline goodness [0,1] 0.9929189107997339 Centerline is valid? [True, True] Translation: X:328.35, Y:2.26, Z:-1.69 [[ 9.17085588e-01 -3.98186385e-01 -2.00406317e-02 3.28354817e+02] [ 3.98087680e-01 9.17304518e-01 -8.86677749e-03 2.25780017e+00] [ 2.19139921e-02 1.53665276e-04 9.99759848e-01 -1.68575403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11401273900003 meters Centerline goodness [0,1] 0.9926841681156962 Centerline is valid? [True, True] Translation: X:328.38, Y:2.27, Z:-1.69 [[ 9.16748266e-01 -3.98943861e-01 -2.04061803e-02 3.28380862e+02] [ 3.98841616e-01 9.16975341e-01 -9.03270606e-03 2.26867987e+00] [ 2.23155067e-02 1.41883692e-04 9.99750968e-01 -1.68580842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.144012739 meters Centerline goodness [0,1] 0.9926557487759581 Centerline is valid? [True, True] Translation: X:328.41, Y:2.28, Z:-1.68 [[ 9.16248410e-01 -4.00094492e-01 -2.03285173e-02 3.28407244e+02] [ 3.99993264e-01 9.16473886e-01 -9.00028520e-03 2.27742799e+00] [ 2.22315198e-02 1.15227011e-04 9.99752843e-01 -1.68473670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.174012739 meters Centerline goodness [0,1] 0.9918628367468344 Centerline is valid? [True, True] Translation: X:328.44, Y:2.28, Z:-1.68 [[ 9.14594828e-01 -4.03911418e-01 -1.92838674e-02 3.28436070e+02] [ 4.03821081e-01 9.14798101e-01 -8.54216574e-03 2.28101361e+00] [ 2.10911235e-02 2.53884242e-05 9.99777557e-01 -1.68174456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.204012739 meters Centerline goodness [0,1] 0.9921624664415 Centerline is valid? [True, True] Translation: X:328.46, Y:2.29, Z:-1.68 [[ 9.13535125e-01 -4.06308626e-01 -1.91540101e-02 3.28463201e+02] [ 4.06220009e-01 9.13735903e-01 -8.48551885e-03 2.28786117e+00] [ 2.09494462e-02 -2.89226354e-05 9.99780536e-01 -1.68134343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.234012739 meters Centerline goodness [0,1] 0.9926889398962849 Centerline is valid? [True, True] Translation: X:328.49, Y:2.29, Z:-1.68 [[ 9.11853362e-01 -4.09969557e-01 -2.11756353e-02 3.28492051e+02] [ 4.09862102e-01 9.12099198e-01 -9.38666670e-03 2.29231918e+00] [ 2.31625275e-02 -1.19826793e-04 9.99731705e-01 -1.68438653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.264012739 meters Centerline goodness [0,1] 0.9925476418609603 Centerline is valid? [True, True] Translation: X:328.52, Y:2.30, Z:-1.69 [[ 9.11528576e-01 -4.10629207e-01 -2.23452310e-02 3.28518644e+02] [ 4.10509709e-01 9.11802409e-01 -9.90681458e-03 2.30212122e+00] [ 2.44424629e-02 -1.42589699e-04 9.99701228e-01 -1.68604553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.294012739 meters Centerline goodness [0,1] 0.9931866389561417 Centerline is valid? [True, True] Translation: X:328.54, Y:2.31, Z:-1.69 [[ 9.11404902e-01 -4.10861880e-01 -2.31002369e-02 3.28544062e+02] [ 4.10734196e-01 9.11697588e-01 -1.02434204e-02 2.31344009e+00] [ 2.52690612e-02 -1.52153684e-04 9.99680675e-01 -1.68750520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.324012739 meters Centerline goodness [0,1] 0.9927205191700111 Centerline is valid? [True, True] Translation: X:328.57, Y:2.32, Z:-1.69 [[ 9.11147009e-01 -4.11470128e-01 -2.24379613e-02 3.28570591e+02] [ 4.11349728e-01 9.11423232e-01 -9.95455691e-03 2.32175791e+00] [ 2.45464821e-02 -1.59784531e-04 9.99698677e-01 -1.68634275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.354012739 meters Centerline goodness [0,1] 0.9927205191700111 Centerline is valid? [True, True] Translation: X:328.60, Y:2.33, Z:-1.69 [[ 9.11072803e-01 -4.11634441e-01 -2.24373393e-02 3.28595630e+02] [ 4.11514056e-01 9.11349033e-01 -9.95595865e-03 2.33309011e+00] [ 2.45464630e-02 -1.62677361e-04 9.99698677e-01 -1.68568885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.384012739 meters Centerline goodness [0,1] 0.992108761847579 Centerline is valid? [True, True] Translation: X:328.62, Y:2.34, Z:-1.68 [[ 9.10643204e-01 -4.12626653e-01 -2.16379397e-02 3.28622331e+02] [ 4.12514868e-01 9.10900221e-01 -9.60575339e-03 2.34294301e+00] [ 2.36735939e-02 -1.78557785e-04 9.99719725e-01 -1.68284107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.414012739 meters Centerline goodness [0,1] 0.9920993227990971 Centerline is valid? [True, True] Translation: X:328.65, Y:2.34, Z:-1.68 [[ 9.08519258e-01 -4.17292120e-01 -2.14486261e-02 3.28653333e+02] [ 4.17183482e-01 9.08772359e-01 -9.52586239e-03 2.34487370e+00] [ 2.34669858e-02 -2.93583076e-04 9.99724569e-01 -1.68201158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.444012739 meters Centerline goodness [0,1] 0.992076846073566 Centerline is valid? [True, True] Translation: X:328.68, Y:2.35, Z:-1.68 [[ 9.06887241e-01 -4.20808930e-01 -2.18031045e-02 3.28682993e+02] [ 4.20697581e-01 9.07149213e-01 -9.68765884e-03 2.35008694e+00] [ 2.38553225e-02 -3.86899138e-04 9.99715346e-01 -1.68238235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.474012739 meters Centerline goodness [0,1] 0.9909228764870464 Centerline is valid? [True, True] Translation: X:328.71, Y:2.35, Z:-1.68 [[ 9.05193304e-01 -4.24429273e-01 -2.20198604e-02 3.28712586e+02] [ 4.24316662e-01 9.05460965e-01 -9.78832342e-03 2.35426772e+00] [ 2.40925750e-02 -4.83068846e-04 9.99709615e-01 -1.68250670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.504012739 meters Centerline goodness [0,1] 0.9888716630917238 Centerline is valid? [True, True] Translation: X:328.75, Y:2.35, Z:-1.68 [[ 9.02399367e-01 -4.30318831e-01 -2.23849630e-02 3.28745083e+02] [ 4.30204236e-01 9.02676731e-01 -9.95158456e-03 2.35087685e+00] [ 2.44887394e-02 -6.49802299e-04 9.99699895e-01 -1.68255985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.534012739 meters Centerline goodness [0,1] 0.9887623646035849 Centerline is valid? [True, True] Translation: X:328.77, Y:2.36, Z:-1.68 [[ 9.01375535e-01 -4.32460391e-01 -2.23641531e-02 3.28774122e+02] [ 4.32346634e-01 9.01652656e-01 -9.94364763e-03 2.35736954e+00] [ 2.44649318e-02 -7.06105622e-04 9.99700439e-01 -1.68149490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.564012739 meters Centerline goodness [0,1] 0.9886513477875533 Centerline is valid? [True, True] Translation: X:328.80, Y:2.36, Z:-1.68 [[ 9.00769052e-01 -4.33751610e-01 -2.17865994e-02 3.28802965e+02] [ 4.33643943e-01 9.01032199e-01 -9.69055297e-03 2.36415717e+00] [ 2.38337206e-02 -7.18676668e-04 9.99715678e-01 -1.67841606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.594012739 meters Centerline goodness [0,1] 0.9880621700133585 Centerline is valid? [True, True] Translation: X:328.83, Y:2.37, Z:-1.68 [[ 9.00986961e-01 -4.33307954e-01 -2.16035641e-02 3.28830050e+02] [ 4.33201861e-01 9.01245655e-01 -9.61333181e-03 2.37238574e+00] [ 2.36356514e-02 -6.97217572e-04 9.99720396e-01 -1.67695866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.624012739 meters Centerline goodness [0,1] 0.9891996676820826 Centerline is valid? [True, True] Translation: X:328.86, Y:2.39, Z:-1.67 [[ 9.02232653e-01 -4.30730428e-01 -2.11550825e-02 3.28855568e+02] [ 4.30627954e-01 9.02480426e-01 -9.41519916e-03 2.38638499e+00] [ 2.31474606e-02 -6.15269777e-04 9.99731872e-01 -1.67481618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.654012739 meters Centerline goodness [0,1] 0.9905234852756213 Centerline is valid? [True, True] Translation: X:328.88, Y:2.40, Z:-1.67 [[ 9.03023633e-01 -4.29066305e-01 -2.12231913e-02 3.28881574e+02] [ 4.28962684e-01 9.03272814e-01 -9.44659333e-03 2.40002270e+00] [ 2.32235467e-02 -5.73460099e-04 9.99730133e-01 -1.67433577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.684012739 meters Centerline goodness [0,1] 0.9912381438475607 Centerline is valid? [True, True] Translation: X:328.91, Y:2.41, Z:-1.67 [[ 9.05105396e-01 -4.24652558e-01 -2.13173103e-02 3.28906873e+02] [ 4.24546698e-01 9.05356280e-01 -9.49246700e-03 2.41302844e+00] [ 2.33307612e-02 -4.58510592e-04 9.99727696e-01 -1.67413273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.714012739 meters Centerline goodness [0,1] 0.9915358768236144 Centerline is valid? [True, True] Translation: X:328.93, Y:2.43, Z:-1.67 [[ 9.06256533e-01 -4.22191533e-01 -2.12933497e-02 3.28931442e+02] [ 4.22085203e-01 9.06506566e-01 -9.48296351e-03 2.42886152e+00] [ 2.33061882e-02 -3.93610179e-04 9.99728296e-01 -1.67296145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.744012739 meters Centerline goodness [0,1] 0.9918385517139041 Centerline is valid? [True, True] Translation: X:328.96, Y:2.44, Z:-1.67 [[ 9.07320141e-01 -4.19910676e-01 -2.10994565e-02 3.28955879e+02] [ 4.19805617e-01 9.07565378e-01 -9.39830603e-03 2.44466152e+00] [ 2.30955852e-02 -3.30398001e-04 9.99733207e-01 -1.67202354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.774012739 meters Centerline goodness [0,1] 0.9920995625026547 Centerline is valid? [True, True] Translation: X:328.98, Y:2.46, Z:-1.67 [[ 9.08399249e-01 -4.17582057e-01 -2.08813409e-02 3.28980304e+02] [ 4.17478454e-01 9.08639178e-01 -9.30511688e-03 2.45871826e+00] [ 2.28592543e-02 -2.64748729e-04 9.99738658e-01 -1.67101235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80401273900003 meters Centerline goodness [0,1] 0.9919748630631395 Centerline is valid? [True, True] Translation: X:329.01, Y:2.47, Z:-1.67 [[ 9.08376229e-01 -4.17654570e-01 -2.04275911e-02 3.29005783e+02] [ 4.17555398e-01 9.08605851e-01 -9.10473344e-03 2.47014030e+00] [ 2.23632624e-02 -2.59127522e-04 9.99749877e-01 -1.66926364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.834012739 meters Centerline goodness [0,1] 0.991798161582675 Centerline is valid? [True, True] Translation: X:329.03, Y:2.48, Z:-1.67 [[ 9.07568721e-01 -4.19411265e-01 -2.03274935e-02 3.29032601e+02] [ 4.19313402e-01 9.07796289e-01 -9.06465793e-03 2.47945746e+00] [ 2.22550428e-02 -2.96790435e-04 9.99752282e-01 -1.66894490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86401273900003 meters Centerline goodness [0,1] 0.9916276097145292 Centerline is valid? [True, True] Translation: X:329.06, Y:2.49, Z:-1.67 [[ 9.06900452e-01 -4.20839336e-01 -2.06355087e-02 3.29059910e+02] [ 4.20738821e-01 9.07135128e-01 -9.20346084e-03 2.48656755e+00] [ 2.25923732e-02 -3.35536818e-04 9.99744703e-01 -1.66922393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.894012739 meters Centerline goodness [0,1] 0.9915096160030874 Centerline is valid? [True, True] Translation: X:329.09, Y:2.49, Z:-1.67 [[ 9.05562645e-01 -4.23701699e-01 -2.08126529e-02 3.29088034e+02] [ 4.23600176e-01 9.05801691e-01 -9.28378829e-03 2.49485363e+00] [ 2.27856931e-02 -4.09191546e-04 9.99740289e-01 -1.66915888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.924012739 meters Centerline goodness [0,1] 0.9914728516915731 Centerline is valid? [True, True] Translation: X:329.11, Y:2.50, Z:-1.67 [[ 9.05243593e-01 -4.24381638e-01 -2.08389787e-02 3.29114053e+02] [ 4.24279940e-01 9.05483322e-01 -9.29981669e-03 2.50422012e+00] [ 2.28160191e-02 -4.22961139e-04 9.99739591e-01 -1.66839170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.954012739 meters Centerline goodness [0,1] 0.9920396056878653 Centerline is valid? [True, True] Translation: X:329.14, Y:2.52, Z:-1.67 [[ 9.05167773e-01 -4.24532454e-01 -2.10594179e-02 3.29139149e+02] [ 4.24428600e-01 9.05412619e-01 -9.39959409e-03 2.51684513e+00] [ 2.30578954e-02 -4.30009604e-04 9.99734039e-01 -1.66749529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.984012739 meters Centerline goodness [0,1] 0.9914066033469019 Centerline is valid? [True, True] Translation: X:329.16, Y:2.53, Z:-1.67 [[ 9.05464631e-01 -4.23906338e-01 -2.09097705e-02 3.29164583e+02] [ 4.23803676e-01 9.05705941e-01 -9.33773176e-03 2.52734486e+00] [ 2.28964270e-02 -4.06651742e-04 9.99737760e-01 -1.66594324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.014012739 meters Centerline goodness [0,1] 0.9918846383232512 Centerline is valid? [True, True] Translation: X:329.19, Y:2.54, Z:-1.67 [[ 9.05513889e-01 -4.23813502e-01 -2.06570056e-02 3.29190295e+02] [ 4.23713250e-01 9.05749390e-01 -9.22629118e-03 2.53623871e+00] [ 2.26202970e-02 -3.98112177e-04 9.99744049e-01 -1.66507331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.044012739 meters Centerline goodness [0,1] 0.992200760586984 Centerline is valid? [True, True] Translation: X:329.22, Y:2.55, Z:-1.66 [[ 9.06448647e-01 -4.21796310e-01 -2.09457423e-02 3.29215336e+02] [ 4.21692651e-01 9.06690548e-01 -9.35725650e-03 2.55169827e+00] [ 2.29381628e-02 -3.50793112e-04 9.99736824e-01 -1.66492358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.074012739 meters Centerline goodness [0,1] 0.9925172554669189 Centerline is valid? [True, True] Translation: X:329.24, Y:2.57, Z:-1.67 [[ 9.07253564e-01 -4.20039128e-01 -2.14033164e-02 3.29240693e+02] [ 4.19930298e-01 9.07505942e-01 -9.56604759e-03 2.56574039e+00] [ 2.34417511e-02 -3.09070285e-04 9.99725157e-01 -1.66509294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.104012739 meters Centerline goodness [0,1] 0.9927685507059782 Centerline is valid? [True, True] Translation: X:329.26, Y:2.58, Z:-1.67 [[ 9.08596596e-01 -4.17019314e-01 -2.33905328e-02 3.29264814e+02] [ 4.16888206e-01 9.08897591e-01 -1.04591067e-02 2.57978956e+00] [ 2.56212485e-02 -2.48128493e-04 9.99671691e-01 -1.66826287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.134012739 meters Centerline goodness [0,1] 0.9929882142324332 Centerline is valid? [True, True] Translation: X:329.29, Y:2.59, Z:-1.67 [[ 9.08910357e-01 -4.16278818e-01 -2.43702459e-02 3.29290528e+02] [ 4.16136182e-01 9.09236982e-01 -1.08989906e-02 2.59109692e+00] [ 2.66953477e-02 -2.35135662e-04 9.99643588e-01 -1.67002295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.164012739 meters Centerline goodness [0,1] 0.9936688691070557 Centerline is valid? [True, True] Translation: X:329.32, Y:2.60, Z:-1.67 [[ 9.09178796e-01 -4.15659710e-01 -2.49183181e-02 3.29315714e+02] [ 4.15510290e-01 9.09520180e-01 -1.11463643e-02 2.60414677e+00] [ 2.72968077e-02 -2.19779544e-04 9.99627349e-01 -1.67061618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.194012739 meters Centerline goodness [0,1] 0.9925932305572303 Centerline is valid? [True, True] Translation: X:329.34, Y:2.62, Z:-1.67 [[ 9.09949607e-01 -4.14010917e-01 -2.42213537e-02 3.29340925e+02] [ 4.13869017e-01 9.10271902e-01 -1.08398259e-02 2.61905567e+00] [ 2.65358240e-02 -1.60772538e-04 9.99647850e-01 -1.66789236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.224012739 meters Centerline goodness [0,1] 0.9921866706299497 Centerline is valid? [True, True] Translation: X:329.37, Y:2.63, Z:-1.66 [[ 9.10385652e-01 -4.13193780e-01 -2.16533002e-02 3.29365364e+02] [ 4.13080055e-01 9.10643117e-01 -9.69441160e-03 2.63316232e+00] [ 2.37240994e-02 -1.18893238e-04 9.99718537e-01 -1.66249850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.254012739 meters Centerline goodness [0,1] 0.992376356026309 Centerline is valid? [True, True] Translation: X:329.39, Y:2.64, Z:-1.66 [[ 9.10199878e-01 -4.13640117e-01 -2.09292913e-02 3.29391270e+02] [ 4.13533959e-01 9.10440464e-01 -9.37157400e-03 2.64461723e+00] [ 2.29313326e-02 -1.24967178e-04 9.99737035e-01 -1.66086621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.284012739 meters Centerline goodness [0,1] 0.9918843683083511 Centerline is valid? [True, True] Translation: X:329.42, Y:2.65, Z:-1.66 [[ 9.09905325e-01 -4.14278426e-01 -2.11112486e-02 3.29417129e+02] [ 4.14170473e-01 9.10150189e-01 -9.45792798e-03 2.65429129e+00] [ 2.31326224e-02 -1.37836780e-04 9.99732396e-01 -1.66077729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.314012739 meters Centerline goodness [0,1] 0.9925115207373272 Centerline is valid? [True, True] Translation: X:329.44, Y:2.67, Z:-1.66 [[ 9.09458015e-01 -4.15216768e-01 -2.19352301e-02 3.29442717e+02] [ 4.15100457e-01 9.09722489e-01 -9.82869655e-03 2.66591266e+00] [ 2.40360117e-02 -1.66537159e-04 9.99711079e-01 -1.66225359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.344012739 meters Centerline goodness [0,1] 0.9926044672437747 Centerline is valid? [True, True] Translation: X:329.47, Y:2.68, Z:-1.66 [[ 9.09286127e-01 -4.15562243e-01 -2.25113683e-02 3.29467848e+02] [ 4.15439721e-01 9.09564726e-01 -1.00919214e-02 2.67752816e+00] [ 2.46693681e-02 -1.75672439e-04 9.99695649e-01 -1.66292541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.374012739 meters Centerline goodness [0,1] 0.9928108350985301 Centerline is valid? [True, True] Translation: X:329.49, Y:2.69, Z:-1.66 [[ 9.08977705e-01 -4.16190085e-01 -2.33526341e-02 3.29492987e+02] [ 4.16058390e-01 9.09277611e-01 -1.04709991e-02 2.69043634e+00] [ 2.55919533e-02 -1.98154630e-04 9.99672453e-01 -1.66347803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.404012739 meters Centerline goodness [0,1] 0.9929916027435312 Centerline is valid? [True, True] Translation: X:329.52, Y:2.70, Z:-1.66 [[ 9.08617194e-01 -4.16979935e-01 -2.32922368e-02 3.29518936e+02] [ 4.16849049e-01 9.08915666e-01 -1.04490373e-02 2.70214882e+00] [ 2.55277178e-02 -2.15171864e-04 9.99674092e-01 -1.66226768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.434012739 meters Centerline goodness [0,1] 0.9926001748661847 Centerline is valid? [True, True] Translation: X:329.54, Y:2.71, Z:-1.66 [[ 9.08317429e-01 -4.17655232e-01 -2.28813391e-02 3.29544027e+02] [ 4.17529028e-01 9.08605556e-01 -1.02691112e-02 2.71424299e+00] [ 2.50790599e-02 -2.26010562e-04 9.99685445e-01 -1.66045265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.464012739 meters Centerline goodness [0,1] 0.9924457437954802 Centerline is valid? [True, True] Translation: X:329.57, Y:2.73, Z:-1.66 [[ 9.08102803e-01 -4.18180555e-01 -2.17789691e-02 3.29569342e+02] [ 4.18066260e-01 9.08363899e-01 -9.77900098e-03 2.72659270e+00] [ 2.38726174e-02 -2.24713973e-04 9.99714983e-01 -1.65746898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.494012739 meters Centerline goodness [0,1] 0.993103152844414 Centerline is valid? [True, True] Translation: X:329.59, Y:2.74, Z:-1.66 [[ 9.07966361e-01 -4.18473081e-01 -2.18487592e-02 3.29594976e+02] [ 4.18358021e-01 9.08229172e-01 -9.81520329e-03 2.73879606e+00] [ 2.39510788e-02 -2.28729240e-04 9.99713106e-01 -1.65735103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.524012739 meters Centerline goodness [0,1] 0.9924442363357738 Centerline is valid? [True, True] Translation: X:329.62, Y:2.75, Z:-1.66 [[ 9.07990195e-01 -4.18399769e-01 -2.22584562e-02 3.29619856e+02] [ 4.18280206e-01 9.08262948e-01 -1.00043638e-02 2.74936641e+00] [ 2.44023546e-02 -2.26407402e-04 9.99702193e-01 -1.65769244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55401273900003 meters Centerline goodness [0,1] 0.9926808142052836 Centerline is valid? [True, True] Translation: X:329.64, Y:2.76, Z:-1.66 [[ 9.08112050e-01 -4.18106830e-01 -2.27856081e-02 3.29643540e+02] [ 4.17981382e-01 9.08397837e-01 -1.02437640e-02 2.76465286e+00] [ 2.49813848e-02 -2.21474372e-04 9.99687892e-01 -1.65735849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.584012739 meters Centerline goodness [0,1] 0.9928571428571429 Centerline is valid? [True, True] Translation: X:329.67, Y:2.78, Z:-1.66 [[ 9.08561641e-01 -4.17101587e-01 -2.32811303e-02 3.29668389e+02] [ 4.16970160e-01 9.08859851e-01 -1.04717008e-02 2.77785126e+00] [ 2.55270477e-02 -1.93350987e-04 9.99674113e-01 -1.65833367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61401273900003 meters Centerline goodness [0,1] 0.9929370344131727 Centerline is valid? [True, True] Translation: X:329.69, Y:2.79, Z:-1.66 [[ 9.08510465e-01 -4.17203172e-01 -2.34573631e-02 3.29693981e+02] [ 4.17069731e-01 9.08813224e-01 -1.05529116e-02 2.78920097e+00] [ 2.57210700e-02 -1.95925505e-04 9.99669139e-01 -1.65722622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.644012739 meters Centerline goodness [0,1] 0.993247676904515 Centerline is valid? [True, True] Translation: X:329.72, Y:2.80, Z:-1.66 [[ 9.08225551e-01 -4.17823569e-01 -2.34481192e-02 3.29720782e+02] [ 4.17690312e-01 9.08528162e-01 -1.05537651e-02 2.79792038e+00] [ 2.57128884e-02 -2.08853124e-04 9.99669347e-01 -1.65737802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.674012739 meters Centerline goodness [0,1] 0.9929587951243379 Centerline is valid? [True, True] Translation: X:329.75, Y:2.81, Z:-1.66 [[ 9.07879795e-01 -4.18553513e-01 -2.38166798e-02 3.29747169e+02] [ 4.18416233e-01 9.08192107e-01 -1.07216101e-02 2.80941258e+00] [ 2.61176881e-02 -2.31352270e-04 9.99658848e-01 -1.65745992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.704012739 meters Centerline goodness [0,1] 0.9931795556120395 Centerline is valid? [True, True] Translation: X:329.77, Y:2.82, Z:-1.66 [[ 9.07353223e-01 -4.19686553e-01 -2.39442385e-02 3.29774801e+02] [ 4.19548069e-01 9.07669064e-01 -1.07837322e-02 2.81762281e+00] [ 2.62592320e-02 -2.61104873e-04 9.99655133e-01 -1.65722940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.734012739 meters Centerline goodness [0,1] 0.9933940822872194 Centerline is valid? [True, True] Translation: X:329.80, Y:2.82, Z:-1.66 [[ 9.06337177e-01 -4.21858879e-01 -2.42488589e-02 3.29804898e+02] [ 4.21717498e-01 9.06661448e-01 -1.09257068e-02 2.82142200e+00] [ 2.65946119e-02 -3.23793871e-04 9.99646248e-01 -1.65679654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.764012739 meters Centerline goodness [0,1] 0.9934178293748003 Centerline is valid? [True, True] Translation: X:329.83, Y:2.83, Z:-1.66 [[ 9.05834896e-01 -4.22929807e-01 -2.43622450e-02 3.29832284e+02] [ 4.22787366e-01 9.06162377e-01 -1.09813015e-02 2.82952477e+00] [ 2.67204696e-02 -3.52803332e-04 9.99642882e-01 -1.65644243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.794012739 meters Centerline goodness [0,1] 0.9923527912312006 Centerline is valid? [True, True] Translation: X:329.86, Y:2.84, Z:-1.65 [[ 9.05654611e-01 -4.23352486e-01 -2.37149458e-02 3.29859073e+02] [ 4.23217591e-01 9.05964982e-01 -1.06921556e-02 2.83693138e+00] [ 2.60114611e-02 -3.53182253e-04 9.99661582e-01 -1.65424788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.824012739 meters Centerline goodness [0,1] 0.9927018139386867 Centerline is valid? [True, True] Translation: X:329.89, Y:2.85, Z:-1.65 [[ 9.05889263e-01 -4.22886386e-01 -2.30596612e-02 3.29885901e+02] [ 4.22758569e-01 9.06182652e-01 -1.04016361e-02 2.84670416e+00] [ 2.52949752e-02 -3.25938963e-04 9.99679978e-01 -1.65150548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.854012739 meters Centerline goodness [0,1] 0.9931863046846808 Centerline is valid? [True, True] Translation: X:329.91, Y:2.86, Z:-1.65 [[ 9.06437041e-01 -4.21770973e-01 -2.19348187e-02 3.29912245e+02] [ 4.21654901e-01 9.06702360e-01 -9.89823604e-03 2.85660809e+00] [ 2.40631405e-02 -2.76796008e-04 9.99710402e-01 -1.64870015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.884012739 meters Centerline goodness [0,1] 0.9930066966177842 Centerline is valid? [True, True] Translation: X:329.94, Y:2.87, Z:-1.65 [[ 9.07960017e-01 -4.18515551e-01 -2.12917986e-02 3.29937153e+02] [ 4.18405256e-01 9.08209612e-01 -9.60943206e-03 2.86856044e+00] [ 2.33591129e-02 -1.83620355e-04 9.99727122e-01 -1.64660860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.914012739 meters Centerline goodness [0,1] 0.9931222753629323 Centerline is valid? [True, True] Translation: X:329.96, Y:2.88, Z:-1.65 [[ 9.08803198e-01 -4.16652897e-01 -2.18428564e-02 3.29962718e+02] [ 4.16536179e-01 9.09065644e-01 -9.86237978e-03 2.88214895e+00] [ 2.39657794e-02 -1.35377639e-04 9.99712770e-01 -1.64747831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.944012739 meters Centerline goodness [0,1] 0.9933488667655158 Centerline is valid? [True, True] Translation: X:329.99, Y:2.90, Z:-1.65 [[ 9.10451997e-01 -4.12945164e-01 -2.35255912e-02 3.29986206e+02] [ 4.12808408e-01 9.10755890e-01 -1.06267644e-02 2.89683005e+00] [ 2.58143418e-02 -3.64030001e-05 9.99666754e-01 -1.64986312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.974012739 meters Centerline goodness [0,1] 0.9943502824858758 Centerline is valid? [True, True] Translation: X:330.01, Y:2.91, Z:-1.65 [[ 9.11456450e-01 -4.10703982e-01 -2.38616419e-02 3.30010004e+02] [ 4.10562470e-01 9.11768742e-01 -1.07805436e-02 2.91100837e+00] [ 2.61839114e-02 2.93013909e-05 9.99657142e-01 -1.64928345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.004012739 meters Centerline goodness [0,1] 0.9941905908697214 Centerline is valid? [True, True] Translation: X:330.03, Y:2.93, Z:-1.65 [[ 9.12734365e-01 -4.07881574e-01 -2.34222175e-02 3.30033192e+02] [ 4.07744171e-01 9.13034834e-01 -1.05868773e-02 2.92701672e+00] [ 2.57034927e-02 1.12734028e-04 9.99669604e-01 -1.64789207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.034012739 meters Centerline goodness [0,1] 0.9953548827001343 Centerline is valid? [True, True] Translation: X:330.06, Y:2.95, Z:-1.64 [[ 9.15955456e-01 -4.00643131e-01 -2.25983396e-02 3.30055279e+02] [ 4.00512976e-01 9.16234134e-01 -1.02160814e-02 2.95061676e+00] [ 2.47983730e-02 3.06547212e-04 9.99692426e-01 -1.64469039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.064012739 meters Centerline goodness [0,1] 0.9945533769063181 Centerline is valid? [True, True] Translation: X:330.08, Y:2.97, Z:-1.64 [[ 9.18882965e-01 -3.93902095e-01 -2.22539268e-02 3.30076981e+02] [ 3.93773809e-01 9.19152275e-01 -1.00639288e-02 2.97309353e+00] [ 2.44189500e-02 4.84559197e-04 9.99701696e-01 -1.64363460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.094012739 meters Centerline goodness [0,1] 0.9936015802808434 Centerline is valid? [True, True] Translation: X:330.10, Y:2.99, Z:-1.64 [[ 9.19825331e-01 -3.91694074e-01 -2.22960379e-02 3.30098331e+02] [ 3.91564630e-01 9.20095351e-01 -1.00839031e-02 2.99214475e+00] [ 2.44642859e-02 5.45089667e-04 9.99700556e-01 -1.64278109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.124012739 meters Centerline goodness [0,1] 0.9943696086346832 Centerline is valid? [True, True] Translation: X:330.13, Y:3.00, Z:-1.64 [[ 9.20134447e-01 -3.90958344e-01 -2.24537884e-02 3.30125120e+02] [ 3.90826794e-01 9.20408196e-01 -1.01572298e-02 3.00284344e+00] [ 2.46377047e-02 5.70474914e-04 9.99696283e-01 -1.64259623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.154012739 meters Centerline goodness [0,1] 0.9946027496228299 Centerline is valid? [True, True] Translation: X:330.15, Y:3.01, Z:-1.64 [[ 9.19379470e-01 -3.92715691e-01 -2.27106983e-02 3.30150690e+02] [ 3.92581540e-01 9.19659775e-01 -1.02777868e-02 3.01389605e+00] [ 2.49223638e-02 5.33385245e-04 9.99689247e-01 -1.64315667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.184012739 meters Centerline goodness [0,1] 0.9954674705492484 Centerline is valid? [True, True] Translation: X:330.18, Y:3.02, Z:-1.64 [[ 9.18361032e-01 -3.95096243e-01 -2.26268297e-02 3.30178988e+02] [ 3.94963764e-01 9.18639613e-01 -1.02413725e-02 3.02071158e+00] [ 2.48322299e-02 4.68499635e-04 9.99691523e-01 -1.64311760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.214012739 meters Centerline goodness [0,1] 0.9953725423295091 Centerline is valid? [True, True] Translation: X:330.21, Y:3.02, Z:-1.64 [[ 9.16206688e-01 -4.00051740e-01 -2.28890928e-02 3.30209406e+02] [ 3.99917682e-01 9.16492493e-01 -1.03613499e-02 3.02294477e+00] [ 2.51227578e-02 3.39385095e-04 9.99684316e-01 -1.64298229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.244012739 meters Centerline goodness [0,1] 0.9958792093232889 Centerline is valid? [True, True] Translation: X:330.24, Y:3.03, Z:-1.64 [[ 9.15588498e-01 -4.01457351e-01 -2.30151784e-02 3.30236521e+02] [ 4.01322223e-01 9.15877668e-01 -1.04196904e-02 3.03245474e+00] [ 2.52621493e-02 3.03646054e-04 9.99680815e-01 -1.64255106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.274012739 meters Centerline goodness [0,1] 0.9958792093232889 Centerline is valid? [True, True] Translation: X:330.26, Y:3.04, Z:-1.64 [[ 9.15514961e-01 -4.01625119e-01 -2.30134901e-02 3.30261484e+02] [ 4.01489950e-01 9.15804112e-01 -1.04234181e-02 3.04397473e+00] [ 2.52621554e-02 3.03110259e-04 9.99680815e-01 -1.64189720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30401273900003 meters Centerline goodness [0,1] 0.9957943725716237 Centerline is valid? [True, True] Translation: X:330.29, Y:3.06, Z:-1.64 [[ 9.15477407e-01 -4.01706084e-01 -2.30941325e-02 3.30285867e+02] [ 4.01569867e-01 9.15768600e-01 -1.04648814e-02 3.05614218e+00] [ 2.53526879e-02 3.06454741e-04 9.99678522e-01 -1.64085889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.334012739 meters Centerline goodness [0,1] 0.9957916434061923 Centerline is valid? [True, True] Translation: X:330.31, Y:3.07, Z:-1.64 [[ 9.17022147e-01 -3.98223370e-01 -2.21027189e-02 3.30308739e+02] [ 3.98097536e-01 9.17288394e-01 -1.00177069e-02 3.07491980e+00] [ 2.42638525e-02 3.87421148e-04 9.99705514e-01 -1.63853660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36401273900003 meters Centerline goodness [0,1] 0.9949738041487414 Centerline is valid? [True, True] Translation: X:330.33, Y:3.09, Z:-1.64 [[ 9.18055565e-01 -3.95854582e-01 -2.17515428e-02 3.30330764e+02] [ 3.95731951e-01 9.18313101e-01 -9.86268368e-03 3.09257685e+00] [ 2.38789152e-02 4.46711188e-04 9.99714758e-01 -1.63720291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.394012739 meters Centerline goodness [0,1] 0.9946102021174206 Centerline is valid? [True, True] Translation: X:330.35, Y:3.11, Z:-1.64 [[ 9.20010049e-01 -3.91301463e-01 -2.15562941e-02 3.30354241e+02] [ 3.91179731e-01 9.20262381e-01 -9.77591212e-03 3.11243092e+00] [ 2.36627753e-02 5.61552062e-04 9.99719840e-01 -1.63577765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.424012739 meters Centerline goodness [0,1] 0.9941190308162785 Centerline is valid? [True, True] Translation: X:330.38, Y:3.13, Z:-1.64 [[ 9.20528186e-01 -3.90067809e-01 -2.17936474e-02 3.30376827e+02] [ 3.89942958e-01 9.20785936e-01 -9.88680201e-03 3.12973345e+00] [ 2.39238072e-02 6.02800602e-04 9.99713603e-01 -1.63621872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.454012739 meters Centerline goodness [0,1] 0.9939807725029777 Centerline is valid? [True, True] Translation: X:330.40, Y:3.14, Z:-1.64 [[ 9.20761862e-01 -3.89490487e-01 -2.22430583e-02 3.30402074e+02] [ 3.89360225e-01 9.21030271e-01 -1.00923147e-02 3.14396363e+00] [ 2.44173906e-02 6.32056263e-04 9.99701651e-01 -1.63676345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.484012739 meters Centerline goodness [0,1] 0.9936411390655239 Centerline is valid? [True, True] Translation: X:330.43, Y:3.16, Z:-1.64 [[ 9.20877179e-01 -3.89235673e-01 -2.19274470e-02 3.30427605e+02] [ 3.89108911e-01 9.21137986e-01 -9.95317269e-03 3.15772688e+00] [ 2.40723342e-02 6.33484573e-04 9.99710019e-01 -1.63530363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.514012739 meters Centerline goodness [0,1] 0.9941766556150642 Centerline is valid? [True, True] Translation: X:330.45, Y:3.17, Z:-1.63 [[ 9.20932596e-01 -3.89125695e-01 -2.15486953e-02 3.30452991e+02] [ 3.89003149e-01 9.21184454e-01 -9.78531635e-03 3.17239719e+00] [ 2.36580412e-02 6.29106452e-04 9.99719911e-01 -1.63404977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.544012739 meters Centerline goodness [0,1] 0.9948079811199313 Centerline is valid? [True, True] Translation: X:330.48, Y:3.19, Z:-1.63 [[ 9.21407303e-01 -3.87967630e-01 -2.21291734e-02 3.30476395e+02] [ 3.87837952e-01 9.21672748e-01 -1.00532908e-02 3.18988360e+00] [ 2.42962074e-02 6.80642334e-04 9.99704572e-01 -1.63457878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.574012739 meters Centerline goodness [0,1] 0.9940366291037966 Centerline is valid? [True, True] Translation: X:330.50, Y:3.21, Z:-1.64 [[ 9.21861498e-01 -3.86837934e-01 -2.29737048e-02 3.30498138e+02] [ 3.86697701e-01 9.22147419e-01 -1.04415275e-02 3.20803849e+00] [ 2.52243215e-02 7.41763357e-04 9.99681541e-01 -1.63553505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.604012739 meters Centerline goodness [0,1] 0.9930840763517971 Centerline is valid? [True, True] Translation: X:330.52, Y:3.23, Z:-1.64 [[ 9.22397191e-01 -3.85503210e-01 -2.38892558e-02 3.30520251e+02] [ 3.85351074e-01 9.22706138e-01 -1.08597079e-02 3.22732704e+00] [ 2.62292152e-02 8.11213673e-04 9.99655626e-01 -1.63719069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.634012739 meters Centerline goodness [0,1] 0.99242067400334 Centerline is valid? [True, True] Translation: X:330.54, Y:3.25, Z:-1.64 [[ 9.23020460e-01 -3.83953303e-01 -2.47607033e-02 3.30544028e+02] [ 3.83789251e-01 9.23352085e-01 -1.12578181e-02 3.24690086e+00] [ 2.71853235e-02 8.88304701e-04 9.99630016e-01 -1.63844166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.664012739 meters Centerline goodness [0,1] 0.9926783585901584 Centerline is valid? [True, True] Translation: X:330.57, Y:3.26, Z:-1.64 [[ 9.22979970e-01 -3.84072172e-01 -2.44241794e-02 3.30569234e+02] [ 3.83912498e-01 9.23302658e-01 -1.11083433e-02 3.25813334e+00] [ 2.68173153e-02 8.76030651e-04 9.99639967e-01 -1.63705973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.694012739 meters Centerline goodness [0,1] 0.9928754813863928 Centerline is valid? [True, True] Translation: X:330.59, Y:3.27, Z:-1.64 [[ 9.22264262e-01 -3.85814772e-01 -2.39915185e-02 3.30594344e+02] [ 3.85661169e-01 9.22575903e-01 -1.09163004e-02 3.27116257e+00] [ 2.63456667e-02 8.15116635e-04 9.99652560e-01 -1.63670901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.724012739 meters Centerline goodness [0,1] 0.9942293613539469 Centerline is valid? [True, True] Translation: X:330.62, Y:3.28, Z:-1.64 [[ 9.21566487e-01 -3.87470931e-01 -2.41140424e-02 3.30622584e+02] [ 3.87316277e-01 9.21881597e-01 -1.09736831e-02 3.27884451e+00] [ 2.64822751e-02 7.73217504e-04 9.99648984e-01 -1.63619863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.754012739 meters Centerline goodness [0,1] 0.9943868186280788 Centerline is valid? [True, True] Translation: X:330.65, Y:3.29, Z:-1.64 [[ 9.20878850e-01 -3.89081208e-01 -2.44531746e-02 3.30647472e+02] [ 3.88922623e-01 9.21203161e-01 -1.11323124e-02 3.29081168e+00] [ 2.68577153e-02 7.41118235e-04 9.99638992e-01 -1.63607882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.784012739 meters Centerline goodness [0,1] 0.9948323206988259 Centerline is valid? [True, True] Translation: X:330.67, Y:3.30, Z:-1.64 [[ 9.20290731e-01 -3.90431124e-01 -2.50700817e-02 3.30673833e+02] [ 3.90264875e-01 9.20631858e-01 -1.14153434e-02 3.30209827e+00] [ 2.75372212e-02 7.21462450e-04 9.99620518e-01 -1.63643899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.814012739 meters Centerline goodness [0,1] 0.9948726713382328 Centerline is valid? [True, True] Translation: X:330.70, Y:3.32, Z:-1.63 [[ 9.20584187e-01 -3.89758518e-01 -2.47598836e-02 3.30697712e+02] [ 3.89595998e-01 9.20916802e-01 -1.12784227e-02 3.31657404e+00] [ 2.71976541e-02 7.36386022e-04 9.99629804e-01 -1.63495421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.844012739 meters Centerline goodness [0,1] 0.9935229815803064 Centerline is valid? [True, True] Translation: X:330.72, Y:3.34, Z:-1.63 [[ 9.22158259e-01 -3.86062930e-01 -2.40740291e-02 3.30720140e+02] [ 3.85907991e-01 9.22472079e-01 -1.09675351e-02 3.33859779e+00] [ 2.64417784e-02 8.23442878e-04 9.99650016e-01 -1.63217014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.874012739 meters Centerline goodness [0,1] 0.9927771448225456 Centerline is valid? [True, True] Translation: X:330.74, Y:3.36, Z:-1.63 [[ 9.23143973e-01 -3.83718924e-01 -2.37695630e-02 3.30744550e+02] [ 3.83567080e-01 9.23449518e-01 -1.08297130e-02 3.35696449e+00] [ 2.61055573e-02 8.80162433e-04 9.99658804e-01 -1.63173239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.904012739 meters Centerline goodness [0,1] 0.9900892608686346 Centerline is valid? [True, True] Translation: X:330.77, Y:3.38, Z:-1.63 [[ 9.24148321e-01 -3.81318674e-01 -2.33655481e-02 3.30767101e+02] [ 3.81171150e-01 9.24443183e-01 -1.06468995e-02 3.37598876e+00] [ 2.56599832e-02 9.33041436e-04 9.99670293e-01 -1.63033973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.934012739 meters Centerline goodness [0,1] 0.9862407017242121 Centerline is valid? [True, True] Translation: X:330.79, Y:3.40, Z:-1.63 [[ 9.25453130e-01 -3.78233197e-01 -2.18209281e-02 3.30790879e+02] [ 3.78103652e-01 9.25709858e-01 -9.94416315e-03 3.39540052e+00] [ 2.39610609e-02 9.52284297e-04 9.99712439e-01 -1.62697081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.964012739 meters Centerline goodness [0,1] 0.9854083718928226 Centerline is valid? [True, True] Translation: X:330.82, Y:3.41, Z:-1.63 [[ 9.25518851e-01 -3.78083104e-01 -2.16338162e-02 3.30815072e+02] [ 3.77955714e-01 9.25771174e-01 -9.85959896e-03 3.40961393e+00] [ 2.37557112e-02 9.48620265e-04 9.99717343e-01 -1.62585092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.994012739 meters Centerline goodness [0,1] 0.988416 Centerline is valid? [True, True] Translation: X:330.84, Y:3.42, Z:-1.63 [[ 9.24268704e-01 -3.81124929e-01 -2.17060255e-02 3.30842422e+02] [ 3.80997488e-01 9.24523133e-01 -9.89395947e-03 3.42061539e+00] [ 2.38385573e-02 8.74735884e-04 9.99715439e-01 -1.62597420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.024012739 meters Centerline goodness [0,1] 0.9906320151959938 Centerline is valid? [True, True] Translation: X:330.87, Y:3.43, Z:-1.63 [[ 9.23020319e-01 -3.84147675e-01 -2.15419056e-02 3.30871084e+02] [ 3.84022894e-01 9.23271322e-01 -9.82262418e-03 3.42913182e+00] [ 2.36623619e-02 7.93896783e-04 9.99719692e-01 -1.62531652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05401273900003 meters Centerline goodness [0,1] 0.9928032972430435 Centerline is valid? [True, True] Translation: X:330.90, Y:3.44, Z:-1.63 [[ 9.21701448e-01 -3.87303416e-01 -2.15059200e-02 3.30900523e+02] [ 3.87179824e-01 9.21952034e-01 -9.80973641e-03 3.43577086e+00] [ 2.36267711e-02 7.14989910e-04 9.99720593e-01 -1.62508209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.084012739 meters Centerline goodness [0,1] 0.9951296252397475 Centerline is valid? [True, True] Translation: X:330.93, Y:3.44, Z:-1.63 [[ 9.19583174e-01 -3.92259399e-01 -2.23461570e-02 3.30930933e+02] [ 3.92127325e-01 9.19854438e-01 -1.01967832e-02 3.44142949e+00] [ 2.45549957e-02 6.14251480e-04 9.99698292e-01 -1.62556757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11401273900003 meters Centerline goodness [0,1] 0.9953523238380809 Centerline is valid? [True, True] Translation: X:330.96, Y:3.45, Z:-1.63 [[ 9.18991360e-01 -3.93615598e-01 -2.28394824e-02 3.30958139e+02] [ 3.93478014e-01 9.19274937e-01 -1.04231657e-02 3.45231825e+00] [ 2.50984843e-02 5.91965070e-04 9.99684808e-01 -1.62546843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.144012739 meters Centerline goodness [0,1] 0.9950362652174843 Centerline is valid? [True, True] Translation: X:330.98, Y:3.46, Z:-1.62 [[ 9.18865780e-01 -3.93939957e-01 -2.22932515e-02 3.30982787e+02] [ 3.93808919e-01 9.19135999e-01 -1.01759988e-02 3.46459432e+00] [ 2.44992625e-02 5.71095807e-04 9.99699685e-01 -1.62388314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.174012739 meters Centerline goodness [0,1] 0.9945841806700203 Centerline is valid? [True, True] Translation: X:331.01, Y:3.48, Z:-1.62 [[ 9.19152194e-01 -3.93313828e-01 -2.15285103e-02 3.31007782e+02] [ 3.93191423e-01 9.19404106e-01 -9.82830879e-03 3.47813946e+00] [ 2.36590105e-02 5.68886000e-04 9.99719925e-01 -1.62161545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.204012739 meters Centerline goodness [0,1] 0.9942236251583672 Centerline is valid? [True, True] Translation: X:331.03, Y:3.49, Z:-1.62 [[ 9.19489541e-01 -3.92518852e-01 -2.16317850e-02 3.31032530e+02] [ 3.92394953e-01 9.19743766e-01 -9.87952474e-03 3.49233903e+00] [ 2.37735991e-02 5.95916393e-04 9.99717190e-01 -1.62059228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.234012739 meters Centerline goodness [0,1] 0.9942196531791907 Centerline is valid? [True, True] Translation: X:331.05, Y:3.51, Z:-1.62 [[ 9.20780813e-01 -3.89368711e-01 -2.35520895e-02 3.31054510e+02] [ 3.89220686e-01 9.21081677e-01 -1.07611001e-02 3.51232109e+00] [ 2.58834338e-02 7.41654044e-04 9.99664693e-01 -1.62429871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.264012739 meters Centerline goodness [0,1] 0.9905349970088027 Centerline is valid? [True, True] Translation: X:331.08, Y:3.53, Z:-1.63 [[ 9.21893687e-01 -3.86688930e-01 -2.41599093e-02 3.31076072e+02] [ 3.86532203e-01 9.22209828e-01 -1.10403668e-02 3.53272508e+00] [ 2.65496935e-02 8.39461503e-04 9.99647142e-01 -1.62583435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.294012739 meters Centerline goodness [0,1] 0.9911598149829248 Centerline is valid? [True, True] Translation: X:331.10, Y:3.55, Z:-1.62 [[ 9.22194247e-01 -3.85984354e-01 -2.39551513e-02 3.31101473e+02] [ 3.85830002e-01 9.22504932e-01 -1.09480784e-02 3.54528300e+00] [ 2.63245322e-02 8.53638891e-04 9.99653085e-01 -1.62418965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.324012739 meters Centerline goodness [0,1] 0.9890461853821023 Centerline is valid? [True, True] Translation: X:331.12, Y:3.56, Z:-1.62 [[ 9.22334722e-01 -3.85662975e-01 -2.37219414e-02 3.31124402e+02] [ 3.85511468e-01 9.22639332e-01 -1.08430301e-02 3.56208520e+00] [ 2.60685514e-02 8.55822719e-04 9.99659791e-01 -1.62383528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.354012739 meters Centerline goodness [0,1] 0.9909730262875767 Centerline is valid? [True, True] Translation: X:331.15, Y:3.58, Z:-1.62 [[ 9.22166909e-01 -3.86007117e-01 -2.46312271e-02 3.31148767e+02] [ 3.85843836e-01 9.22495382e-01 -1.12607358e-02 3.57557967e+00] [ 2.70689175e-02 8.80470789e-04 9.99633182e-01 -1.62475685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.384012739 meters Centerline goodness [0,1] 0.9911531028559158 Centerline is valid? [True, True] Translation: X:331.17, Y:3.59, Z:-1.63 [[ 9.21852002e-01 -3.86698004e-01 -2.55644218e-02 3.31174955e+02] [ 3.86522227e-01 9.22205968e-01 -1.16927394e-02 3.58751729e+00] [ 2.80972214e-02 8.97757970e-04 9.99604792e-01 -1.62588170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.414012739 meters Centerline goodness [0,1] 0.9930892389578058 Centerline is valid? [True, True] Translation: X:331.20, Y:3.60, Z:-1.63 [[ 9.21025354e-01 -3.88667752e-01 -2.54887389e-02 3.31199134e+02] [ 3.88493647e-01 9.21377596e-01 -1.16624163e-02 3.60156597e+00] [ 2.80175581e-02 8.39168005e-04 9.99607079e-01 -1.62521601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.444012739 meters Centerline goodness [0,1] 0.9945455320236929 Centerline is valid? [True, True] Translation: X:331.23, Y:3.61, Z:-1.62 [[ 9.20643975e-01 -3.89635561e-01 -2.44703932e-02 3.31226258e+02] [ 3.89475369e-01 9.20968795e-01 -1.11988977e-02 3.61190661e+00] [ 2.68999573e-02 7.79582288e-04 9.99637827e-01 -1.62218740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.474012739 meters Centerline goodness [0,1] 0.9940541352737888 Centerline is valid? [True, True] Translation: X:331.25, Y:3.62, Z:-1.62 [[ 9.20255564e-01 -3.90608772e-01 -2.35475052e-02 3.31252460e+02] [ 3.90460645e-01 9.20556494e-01 -1.07807771e-02 3.62479212e+00] [ 2.58878750e-02 7.26696024e-04 9.99664589e-01 -1.61989954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.504012739 meters Centerline goodness [0,1] 0.9947783461210571 Centerline is valid? [True, True] Translation: X:331.28, Y:3.64, Z:-1.62 [[ 9.19433760e-01 -3.92538388e-01 -2.35621356e-02 3.31278809e+02] [ 3.92390603e-01 9.19735373e-01 -1.07915816e-02 3.63742921e+00] [ 2.59070396e-02 6.76583806e-04 9.99664127e-01 -1.61883096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.534012739 meters Centerline goodness [0,1] 0.9944613147427398 Centerline is valid? [True, True] Translation: X:331.30, Y:3.65, Z:-1.62 [[ 9.18847003e-01 -3.93881386e-01 -2.40341092e-02 3.31302297e+02] [ 3.93727971e-01 9.19161044e-01 -1.10118035e-02 3.65249770e+00] [ 2.64285613e-02 6.55261625e-04 9.99650490e-01 -1.61950497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.564012739 meters Centerline goodness [0,1] 0.9964041865542261 Centerline is valid? [True, True] Translation: X:331.33, Y:3.66, Z:-1.62 [[ 9.17658379e-01 -3.96656989e-01 -2.37977451e-02 3.31330550e+02] [ 3.96507452e-01 9.17966724e-01 -1.09057036e-02 3.65920875e+00] [ 2.61713616e-02 5.71727005e-04 9.99657308e-01 -1.61799375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.594012739 meters Centerline goodness [0,1] 0.9959975434658309 Centerline is valid? [True, True] Translation: X:331.35, Y:3.67, Z:-1.62 [[ 9.17083525e-01 -3.98049698e-01 -2.26770019e-02 3.31354531e+02] [ 3.97914309e-01 9.17363712e-01 -1.03934122e-02 3.67407031e+00] [ 2.49401532e-02 5.08123557e-04 9.99688817e-01 -1.61501841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.624012739 meters Centerline goodness [0,1] 0.9960532491359816 Centerline is valid? [True, True] Translation: X:331.38, Y:3.68, Z:-1.61 [[ 9.16487604e-01 -3.99478519e-01 -2.16190559e-02 3.31384616e+02] [ 3.99355775e-01 9.16742444e-01 -9.91240465e-03 3.67805391e+00] [ 2.37788988e-02 4.50901192e-04 9.99717140e-01 -1.61163934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.654012739 meters Centerline goodness [0,1] 0.9960072209833281 Centerline is valid? [True, True] Translation: X:331.41, Y:3.69, Z:-1.61 [[ 9.15321391e-01 -4.02204602e-01 -2.04501417e-02 3.31412487e+02] [ 4.02095367e-01 9.15549740e-01 -9.38030683e-03 3.68672390e+00] [ 2.24959244e-02 3.63088287e-04 9.99746869e-01 -1.60926387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.684012739 meters Centerline goodness [0,1] 0.9961539283348646 Centerline is valid? [True, True] Translation: X:331.44, Y:3.70, Z:-1.61 [[ 9.14324270e-01 -4.04389152e-01 -2.19212878e-02 3.31440091e+02] [ 4.04264147e-01 9.14586956e-01 -1.00597809e-02 3.69606377e+00] [ 2.41169901e-02 3.35911075e-04 9.99709087e-01 -1.61155797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.714012739 meters Centerline goodness [0,1] 0.9961912549492168 Centerline is valid? [True, True] Translation: X:331.47, Y:3.71, Z:-1.61 [[ 9.14073329e-01 -4.04936281e-01 -2.22835673e-02 3.31465480e+02] [ 4.04807159e-01 9.14344847e-01 -1.02305930e-02 3.70707892e+00] [ 2.45176032e-02 3.30964644e-04 9.99699344e-01 -1.61214893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.744012739 meters Centerline goodness [0,1] 0.9963947724200091 Centerline is valid? [True, True] Translation: X:331.49, Y:3.72, Z:-1.61 [[ 9.13974443e-01 -4.05151784e-01 -2.24220774e-02 3.31489650e+02] [ 4.05020990e-01 9.14249376e-01 -1.02992874e-02 3.71886242e+00] [ 2.46721450e-02 3.31873478e-04 9.99695541e-01 -1.61180082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.774012739 meters Centerline goodness [0,1] 0.995926769446391 Centerline is valid? [True, True] Translation: X:331.52, Y:3.73, Z:-1.61 [[ 9.13877026e-01 -4.05397741e-01 -2.19420361e-02 3.31516195e+02] [ 4.05272478e-01 9.14140344e-01 -1.00821560e-02 3.72738476e+00] [ 2.41453837e-02 3.21347415e-04 9.99708406e-01 -1.60969211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80401273900003 meters Centerline goodness [0,1] 0.9960948456277374 Centerline is valid? [True, True] Translation: X:331.54, Y:3.74, Z:-1.61 [[ 9.13807409e-01 -4.05542781e-01 -2.21601338e-02 3.31540570e+02] [ 4.05414929e-01 9.14076007e-01 -1.01876808e-02 3.73940775e+00] [ 2.43875870e-02 3.25529139e-04 9.99702526e-01 -1.61004435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.834012739 meters Centerline goodness [0,1] 0.9963188599229329 Centerline is valid? [True, True] Translation: X:331.57, Y:3.75, Z:-1.61 [[ 9.13169518e-01 -4.06904932e-01 -2.34479825e-02 3.31568711e+02] [ 4.06762127e-01 9.13470460e-01 -1.07838413e-02 3.74648628e+00] [ 2.58070376e-02 3.09723936e-04 9.99666895e-01 -1.61270994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86401273900003 meters Centerline goodness [0,1] 0.9956971112264315 Centerline is valid? [True, True] Translation: X:331.60, Y:3.76, Z:-1.61 [[ 9.12598446e-01 -4.08169999e-01 -2.36923824e-02 3.31596395e+02] [ 4.08024502e-01 9.12905895e-01 -1.09010543e-02 3.75500423e+00] [ 2.60783989e-02 2.81212653e-04 9.99659861e-01 -1.61255100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.894012739 meters Centerline goodness [0,1] 0.9955509924709104 Centerline is valid? [True, True] Translation: X:331.62, Y:3.76, Z:-1.61 [[ 9.11967755e-01 -4.09582086e-01 -2.36078184e-02 3.31622838e+02] [ 4.09437982e-01 9.12273235e-01 -1.08666424e-02 3.76491855e+00] [ 2.59875629e-02 2.44089889e-04 9.99662236e-01 -1.61188221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.924012739 meters Centerline goodness [0,1] 0.9947972423243266 Centerline is valid? [True, True] Translation: X:331.65, Y:3.77, Z:-1.61 [[ 9.11095763e-01 -4.11499762e-01 -2.39260677e-02 3.31650091e+02] [ 4.11352361e-01 9.11409847e-01 -1.10148615e-02 3.77201695e+00] [ 2.63390666e-02 1.93549217e-04 9.99653048e-01 -1.61197962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.954012739 meters Centerline goodness [0,1] 0.9946610857216076 Centerline is valid? [True, True] Translation: X:331.68, Y:3.78, Z:-1.61 [[ 9.10736502e-01 -4.12262676e-01 -2.44644667e-02 3.31675476e+02] [ 4.12108788e-01 9.11065011e-01 -1.12646568e-02 3.78096444e+00] [ 2.69327172e-02 1.77112425e-04 9.99637233e-01 -1.61314968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.984012739 meters Centerline goodness [0,1] 0.994441841645726 Centerline is valid? [True, True] Translation: X:331.70, Y:3.79, Z:-1.61 [[ 9.09951846e-01 -4.13945120e-01 -2.52403398e-02 3.31704285e+02] [ 4.13781846e-01 9.10301829e-01 -1.16260331e-02 3.78635937e+00] [ 2.77888671e-02 1.35135879e-04 9.99613806e-01 -1.61314773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.014012739 meters Centerline goodness [0,1] 0.9937454169003149 Centerline is valid? [True, True] Translation: X:331.73, Y:3.80, Z:-1.61 [[ 9.09766434e-01 -4.14380265e-01 -2.47796365e-02 3.31730512e+02] [ 4.14222910e-01 9.10103829e-01 -1.14193001e-02 3.79597717e+00] [ 2.72839747e-02 1.24602821e-04 9.99627715e-01 -1.61047318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.044012739 meters Centerline goodness [0,1] 0.9939256534200283 Centerline is valid? [True, True] Translation: X:331.75, Y:3.81, Z:-1.61 [[ 9.10040087e-01 -4.13824056e-01 -2.40143603e-02 3.31754694e+02] [ 4.13675943e-01 9.10356870e-01 -1.10717777e-02 3.80737269e+00] [ 2.64434058e-02 1.41598395e-04 9.99650302e-01 -1.60884694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.074012739 meters Centerline goodness [0,1] 0.9943693451677377 Centerline is valid? [True, True] Translation: X:331.78, Y:3.82, Z:-1.61 [[ 9.10938275e-01 -4.11866857e-01 -2.36040694e-02 3.31780530e+02] [ 4.11723038e-01 9.11244014e-01 -1.08851729e-02 3.81983096e+00] [ 2.59923089e-02 1.97381495e-04 9.99662123e-01 -1.60814979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.104012739 meters Centerline goodness [0,1] 0.9941483983391778 Centerline is valid? [True, True] Translation: X:331.81, Y:3.83, Z:-1.61 [[ 9.11379426e-01 -4.10869533e-01 -2.39534462e-02 3.31806461e+02] [ 4.10720951e-01 9.11694122e-01 -1.10511666e-02 3.83159936e+00] [ 2.63788038e-02 2.33623621e-04 9.99651992e-01 -1.60838623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.134012739 meters Centerline goodness [0,1] 0.9955093006427447 Centerline is valid? [True, True] Translation: X:331.83, Y:3.85, Z:-1.61 [[ 9.12113083e-01 -4.09231295e-01 -2.40722065e-02 3.31830563e+02] [ 4.09080543e-01 9.12430636e-01 -1.11105736e-02 3.84620466e+00] [ 2.65110131e-02 2.86628257e-04 9.99648480e-01 -1.60847962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.164012739 meters Centerline goodness [0,1] 0.9955093006427447 Centerline is valid? [True, True] Translation: X:331.86, Y:3.86, Z:-1.61 [[ 9.12041469e-01 -4.09390920e-01 -2.40714102e-02 3.31855424e+02] [ 4.09240178e-01 9.12359027e-01 -1.11122985e-02 3.85791416e+00] [ 2.65110425e-02 2.83888860e-04 9.99648480e-01 -1.60782577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.194012739 meters Centerline goodness [0,1] 0.9948757864694817 Centerline is valid? [True, True] Translation: X:331.88, Y:3.87, Z:-1.61 [[ 9.11867066e-01 -4.09789556e-01 -2.38950744e-02 3.31882387e+02] [ 4.09641017e-01 9.12180050e-01 -1.10359710e-02 3.86700326e+00] [ 2.63190359e-02 2.74935915e-04 9.99653556e-01 -1.60602914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.224012739 meters Centerline goodness [0,1] 0.9950640398280924 Centerline is valid? [True, True] Translation: X:331.91, Y:3.88, Z:-1.61 [[ 9.11656704e-01 -4.10255225e-01 -2.39312301e-02 3.31908590e+02] [ 4.10106263e-01 9.11970712e-01 -1.10577621e-02 3.87772337e+00] [ 2.63610856e-02 2.66535557e-04 9.99652451e-01 -1.60561644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.254012739 meters Centerline goodness [0,1] 0.9940430107526882 Centerline is valid? [True, True] Translation: X:331.94, Y:3.88, Z:-1.61 [[ 9.10767310e-01 -4.12197771e-01 -2.44111553e-02 3.31937611e+02] [ 4.12043413e-01 9.11094370e-01 -1.12816441e-02 3.88420370e+00] [ 2.68911347e-02 2.16496907e-04 9.99638345e-01 -1.60595365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.284012739 meters Centerline goodness [0,1] 0.9944777197230364 Centerline is valid? [True, True] Translation: X:331.96, Y:3.89, Z:-1.60 [[ 9.10344159e-01 -4.13173379e-01 -2.36911583e-02 3.31963047e+02] [ 4.13028206e-01 9.10652362e-01 -1.09533592e-02 3.89444437e+00] [ 2.61000457e-02 1.86209905e-04 9.99659318e-01 -1.60485265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.314012739 meters Centerline goodness [0,1] 0.9930242013138467 Centerline is valid? [True, True] Translation: X:331.99, Y:3.90, Z:-1.60 [[ 9.09613269e-01 -4.14878561e-01 -2.18970344e-02 3.31992619e+02] [ 4.14754987e-01 9.09876785e-01 -1.01260780e-02 3.89975347e+00] [ 2.41246959e-02 1.28910740e-04 9.99708949e-01 -1.59877100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.344012739 meters Centerline goodness [0,1] 0.9935673511118684 Centerline is valid? [True, True] Translation: X:332.02, Y:3.91, Z:-1.60 [[ 9.09523502e-01 -4.15115307e-01 -2.11253508e-02 3.32017320e+02] [ 4.15000259e-01 9.09768799e-01 -9.77334641e-03 3.91012902e+00] [ 2.32762507e-02 1.22062228e-04 9.99729064e-01 -1.59654832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.374012739 meters Centerline goodness [0,1] 0.9932555123216602 Centerline is valid? [True, True] Translation: X:332.04, Y:3.92, Z:-1.60 [[ 9.09549358e-01 -4.15076271e-01 -2.07762930e-02 3.32043003e+02] [ 4.14964940e-01 9.09786609e-01 -9.61378498e-03 3.92039103e+00] [ 2.28924472e-02 1.22778787e-04 9.99737926e-01 -1.59543006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.404012739 meters Centerline goodness [0,1] 0.9936519471636814 Centerline is valid? [True, True] Translation: X:332.07, Y:3.93, Z:-1.60 [[ 9.10048543e-01 -4.13942037e-01 -2.15322795e-02 3.32068196e+02] [ 4.13822015e-01 9.10303226e-01 -9.96877060e-03 3.93197946e+00] [ 2.37273967e-02 1.61533885e-04 9.99718453e-01 -1.59706069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.434012739 meters Centerline goodness [0,1] 0.9933439257955082 Centerline is valid? [True, True] Translation: X:332.09, Y:3.94, Z:-1.60 [[ 9.10007029e-01 -4.13976546e-01 -2.25970458e-02 3.32094813e+02] [ 4.13844302e-01 9.10287532e-01 -1.04643890e-02 3.94148942e+00] [ 2.49018206e-02 1.71008950e-04 9.99689887e-01 -1.59875483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.464012739 meters Centerline goodness [0,1] 0.993593279307565 Centerline is valid? [True, True] Translation: X:332.12, Y:3.95, Z:-1.60 [[ 9.09496294e-01 -4.15033697e-01 -2.37386117e-02 3.32122130e+02] [ 4.14887974e-01 9.09806027e-01 -1.09983024e-02 3.94817878e+00] [ 2.61621981e-02 1.54050731e-04 9.99657699e-01 -1.60038720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.494012739 meters Centerline goodness [0,1] 0.993394471878407 Centerline is valid? [True, True] Translation: X:332.15, Y:3.96, Z:-1.60 [[ 9.08808086e-01 -4.16524883e-01 -2.39767550e-02 3.32149817e+02] [ 4.16376685e-01 9.09124309e-01 -1.11106966e-02 3.95559578e+00] [ 2.64257324e-02 1.14129129e-04 9.99650773e-01 -1.59968030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.524012739 meters Centerline goodness [0,1] 0.9932945719984722 Centerline is valid? [True, True] Translation: X:332.18, Y:3.96, Z:-1.60 [[ 9.08228653e-01 -4.17790812e-01 -2.39071296e-02 3.32176891e+02] [ 4.17643771e-01 9.08543247e-01 -1.10837736e-02 3.96450830e+00] [ 2.63513599e-02 8.19369778e-05 9.99652739e-01 -1.59931770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55401273900003 meters Centerline goodness [0,1] 0.9923180334165547 Centerline is valid? [True, True] Translation: X:332.20, Y:3.97, Z:-1.60 [[ 9.07741860e-01 -4.18899352e-01 -2.29793011e-02 3.32204619e+02] [ 4.18763733e-01 9.08032670e-01 -1.06586018e-02 3.97123660e+00] [ 2.53308375e-02 5.23611390e-05 9.99679121e-01 -1.59732763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.584012739 meters Centerline goodness [0,1] 0.9929826848291294 Centerline is valid? [True, True] Translation: X:332.23, Y:3.98, Z:-1.59 [[ 9.08801825e-01 -4.16638192e-01 -2.21779232e-02 3.32230312e+02] [ 4.16511078e-01 9.09072386e-01 -1.02916685e-02 3.98338145e+00] [ 2.44492397e-02 1.15736408e-04 9.99701066e-01 -1.59372111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61401273900003 meters Centerline goodness [0,1] 0.9931486124319184 Centerline is valid? [True, True] Translation: X:332.25, Y:4.00, Z:-1.59 [[ 9.09644695e-01 -4.14806156e-01 -2.19632040e-02 3.32254461e+02] [ 4.14680852e-01 9.09909790e-01 -1.01963683e-02 3.99750565e+00] [ 2.42140507e-02 1.67352235e-04 9.99706783e-01 -1.59246477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.644012739 meters Centerline goodness [0,1] 0.9940041261927276 Centerline is valid? [True, True] Translation: X:332.28, Y:4.01, Z:-1.59 [[ 9.10383069e-01 -4.13203529e-01 -2.15756988e-02 3.32279305e+02] [ 4.13082104e-01 9.10638677e-01 -1.00187290e-02 4.01216683e+00] [ 2.37874400e-02 2.08346192e-04 9.99717017e-01 -1.59171323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.674012739 meters Centerline goodness [0,1] 0.9953531004199262 Centerline is valid? [True, True] Translation: X:332.30, Y:4.03, Z:-1.59 [[ 9.11924924e-01 -4.09729148e-01 -2.26926969e-02 3.32302182e+02] [ 4.09593630e-01 9.12207171e-01 -1.05420586e-02 4.02993243e+00] [ 2.50198295e-02 3.18781907e-04 9.99686904e-01 -1.59381430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.704012739 meters Centerline goodness [0,1] 0.9957954350437618 Centerline is valid? [True, True] Translation: X:332.33, Y:4.05, Z:-1.59 [[ 9.12796302e-01 -4.07767370e-01 -2.29930894e-02 3.32325101e+02] [ 4.07627575e-01 9.13085773e-01 -1.06832623e-02 4.04589932e+00] [ 2.53509486e-02 3.79025085e-04 9.99678541e-01 -1.59357566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.734012739 meters Centerline goodness [0,1] 0.9960020858682427 Centerline is valid? [True, True] Translation: X:332.35, Y:4.07, Z:-1.59 [[ 9.15089922e-01 -4.02611331e-01 -2.26837254e-02 3.32347583e+02] [ 4.02473647e-01 9.15370881e-01 -1.05410456e-02 4.06629451e+00] [ 2.50079661e-02 5.16402857e-04 9.99687119e-01 -1.59151234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.764012739 meters Centerline goodness [0,1] 0.9945391186094938 Centerline is valid? [True, True] Translation: X:332.37, Y:4.08, Z:-1.59 [[ 9.16373355e-01 -3.99669441e-01 -2.28956755e-02 3.32370674e+02] [ 3.99528229e-01 9.16659137e-01 -1.06405091e-02 4.08402276e+00] [ 2.52402165e-02 6.03210314e-04 9.99681233e-01 -1.59069084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.794012739 meters Centerline goodness [0,1] 0.9943368807966834 Centerline is valid? [True, True] Translation: X:332.39, Y:4.10, Z:-1.59 [[ 9.17433264e-01 -3.97194710e-01 -2.35067923e-02 3.32394906e+02] [ 3.97045014e-01 9.17734104e-01 -1.09257271e-02 4.10274754e+00] [ 2.59126260e-02 6.90370835e-04 9.99663973e-01 -1.59179586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.824012739 meters Centerline goodness [0,1] 0.9925656947637567 Centerline is valid? [True, True] Translation: X:332.41, Y:4.13, Z:-1.60 [[ 9.19378242e-01 -3.92569435e-01 -2.51572518e-02 3.32414972e+02] [ 3.92396142e-01 9.19721948e-01 -1.16964391e-02 4.12745720e+00] [ 2.77293411e-02 8.81843048e-04 9.99615079e-01 -1.59539366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.854012739 meters Centerline goodness [0,1] 0.9927062266018332 Centerline is valid? [True, True] Translation: X:332.44, Y:4.14, Z:-1.59 [[ 9.20302905e-01 -3.90401469e-01 -2.50849769e-02 3.32439933e+02] [ 3.90228323e-01 9.20644230e-01 -1.16643954e-02 4.14320286e+00] [ 2.76481364e-02 9.45908510e-04 9.99617270e-01 -1.59401368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.884012739 meters Centerline goodness [0,1] 0.9873164218958611 Centerline is valid? [True, True] Translation: X:332.46, Y:4.17, Z:-1.59 [[ 9.21569776e-01 -3.87495585e-01 -2.35864243e-02 3.32459246e+02] [ 3.87341534e-01 9.21871047e-01 -1.09685555e-02 4.17007865e+00] [ 2.59939085e-02 9.72287422e-04 9.99661628e-01 -1.59009928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.914012739 meters Centerline goodness [0,1] 0.987416934619507 Centerline is valid? [True, True] Translation: X:332.48, Y:4.19, Z:-1.59 [[ 9.21754620e-01 -3.87108911e-01 -2.26960562e-02 3.32483361e+02] [ 3.86966121e-01 9.22033510e-01 -1.05558965e-02 4.18583989e+00] [ 2.50128059e-02 9.47341554e-04 9.99686682e-01 -1.58725108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.944012739 meters Centerline goodness [0,1] 0.9861626002241572 Centerline is valid? [True, True] Translation: X:332.51, Y:4.20, Z:-1.59 [[ 9.21738026e-01 -3.87185328e-01 -2.20574747e-02 3.32505551e+02] [ 3.87050385e-01 9.22001448e-01 -1.02629688e-02 4.20216630e+00] [ 2.43106945e-02 9.22414519e-04 9.99704026e-01 -1.58594575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.974012739 meters Centerline goodness [0,1] 0.986172165080449 Centerline is valid? [True, True] Translation: X:332.53, Y:4.22, Z:-1.59 [[ 9.21339240e-01 -3.88141035e-01 -2.19212517e-02 3.32527810e+02] [ 3.88007946e-01 9.21599553e-01 -1.02027974e-02 4.22047595e+00] [ 2.41627401e-02 8.94617768e-04 9.99707638e-01 -1.58565424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.004012739 meters Centerline goodness [0,1] 0.9907896431791833 Centerline is valid? [True, True] Translation: X:332.56, Y:4.23, Z:-1.59 [[ 9.19994331e-01 -3.91260552e-01 -2.29262092e-02 3.32555579e+02] [ 3.91115900e-01 9.20279553e-01 -1.06722783e-02 4.23104998e+00] [ 2.52741631e-02 8.51630620e-04 9.99680195e-01 -1.58725881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.034012739 meters Centerline goodness [0,1] 0.9902962206332993 Centerline is valid? [True, True] Translation: X:332.58, Y:4.25, Z:-1.59 [[ 9.19027679e-01 -3.93505922e-01 -2.32640283e-02 3.32578669e+02] [ 3.93357594e-01 9.19321729e-01 -1.08334054e-02 4.24751323e+00] [ 2.56501359e-02 8.05117209e-04 9.99670657e-01 -1.58733573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.064012739 meters Centerline goodness [0,1] 0.9922023949786851 Centerline is valid? [True, True] Translation: X:332.60, Y:4.26, Z:-1.59 [[ 9.17708880e-01 -3.96576597e-01 -2.31822031e-02 3.32604238e+02] [ 3.96430253e-01 9.18001355e-01 -1.07966255e-02 4.26024477e+00] [ 2.55629828e-02 7.18032416e-04 9.99672956e-01 -1.58680865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.094012739 meters Centerline goodness [0,1] 0.9940117199195859 Centerline is valid? [True, True] Translation: X:332.63, Y:4.27, Z:-1.59 [[ 9.16321772e-01 -3.99761654e-01 -2.33458641e-02 3.32631609e+02] [ 3.99614241e-01 9.16618905e-01 -1.08738741e-02 4.27017985e+00] [ 2.57462183e-02 6.34627785e-04 9.99668310e-01 -1.58643747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.124012739 meters Centerline goodness [0,1] 0.9952219017691877 Centerline is valid? [True, True] Translation: X:332.66, Y:4.28, Z:-1.58 [[ 9.13493101e-01 -4.06236658e-01 -2.24082955e-02 3.32660245e+02] [ 4.06102762e-01 9.13767798e-01 -1.04383155e-02 4.27789446e+00] [ 2.47164053e-02 4.35258449e-04 9.99694408e-01 -1.58381781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.154012739 meters Centerline goodness [0,1] 0.9943664965986394 Centerline is valid? [True, True] Translation: X:332.69, Y:4.29, Z:-1.58 [[ 9.11094998e-01 -4.11644168e-01 -2.13303315e-02 3.32687770e+02] [ 4.11524244e-01 9.11344612e-01 -9.93956133e-03 4.28596580e+00] [ 2.35308451e-02 2.77936061e-04 9.99723073e-01 -1.58073618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.184012739 meters Centerline goodness [0,1] 0.9936457844684208 Centerline is valid? [True, True] Translation: X:332.71, Y:4.30, Z:-1.58 [[ 9.10003483e-01 -4.14063703e-01 -2.10929065e-02 3.32714875e+02] [ 4.13947061e-01 9.10247881e-01 -9.82985145e-03 4.29646562e+00] [ 2.32699581e-02 2.13852407e-04 9.99729195e-01 -1.57904358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.214012739 meters Centerline goodness [0,1] 0.9925733542252463 Centerline is valid? [True, True] Translation: X:332.74, Y:4.31, Z:-1.58 [[ 9.08943490e-01 -4.16388531e-01 -2.10314808e-02 3.32742348e+02] [ 4.16273101e-01 9.09186761e-01 -9.80505723e-03 4.30630618e+00] [ 2.32042573e-02 1.57403211e-04 9.99730733e-01 -1.57816339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.244012739 meters Centerline goodness [0,1] 0.992385624400128 Centerline is valid? [True, True] Translation: X:332.77, Y:4.31, Z:-1.58 [[ 9.07102025e-01 -4.20351945e-01 -2.16831397e-02 3.32771301e+02] [ 4.20230281e-01 9.07361140e-01 -1.01129595e-02 4.31340649e+00] [ 2.39254406e-02 6.15741432e-05 9.99713744e-01 -1.57880879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.274012739 meters Centerline goodness [0,1] 0.9912046052772369 Centerline is valid? [True, True] Translation: X:332.80, Y:4.32, Z:-1.58 [[ 9.06185660e-01 -4.22309139e-01 -2.19668305e-02 3.32797673e+02] [ 4.22184742e-01 9.06451869e-01 -1.02495135e-02 4.32321875e+00] [ 2.42403378e-02 1.39015064e-05 9.99706160e-01 -1.57851179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30401273900003 meters Centerline goodness [0,1] 0.9902511707109408 Centerline is valid? [True, True] Translation: X:332.83, Y:4.33, Z:-1.58 [[ 9.04567495e-01 -4.25770348e-01 -2.18462416e-02 3.32825346e+02] [ 4.25648208e-01 9.04831258e-01 -1.01979152e-02 4.32925252e+00] [ 2.41091322e-02 -7.41109698e-05 9.99709330e-01 -1.57772453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.334012739 meters Centerline goodness [0,1] 0.9899060436769934 Centerline is valid? [True, True] Translation: X:332.85, Y:4.34, Z:-1.58 [[ 9.03765128e-01 -4.27488084e-01 -2.15065278e-02 3.32853181e+02] [ 4.27370166e-01 9.04020976e-01 -1.00407569e-02 4.33780743e+00] [ 2.37346562e-02 -1.16762418e-04 9.99718287e-01 -1.57640676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36401273900003 meters Centerline goodness [0,1] 0.9898065186339436 Centerline is valid? [True, True] Translation: X:332.88, Y:4.35, Z:-1.58 [[ 9.02925743e-01 -4.29281859e-01 -2.10282870e-02 3.32880710e+02] [ 4.29169523e-01 9.03170560e-01 -9.82135984e-03 4.34657275e+00] [ 2.32082614e-02 -1.56741286e-04 9.99730640e-01 -1.57513841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.394012739 meters Centerline goodness [0,1] 0.989677392004748 Centerline is valid? [True, True] Translation: X:332.91, Y:4.35, Z:-1.58 [[ 9.01648248e-01 -4.31930459e-01 -2.15989825e-02 3.32908919e+02] [ 4.31812599e-01 9.01906884e-01 -1.00921912e-02 4.35129869e+00] [ 2.38393958e-02 -2.27106255e-04 9.99715775e-01 -1.57516640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.424012739 meters Centerline goodness [0,1] 0.9894552595628415 Centerline is valid? [True, True] Translation: X:332.94, Y:4.36, Z:-1.58 [[ 9.00968030e-01 -4.33308143e-01 -2.23754681e-02 3.32936489e+02] [ 4.33182020e-01 9.01245793e-01 -1.04574512e-02 4.36042354e+00] [ 2.46970952e-02 -2.70821252e-04 9.99694944e-01 -1.57577976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.454012739 meters Centerline goodness [0,1] 0.9896479891165717 Centerline is valid? [True, True] Translation: X:332.96, Y:4.37, Z:-1.58 [[ 9.00300551e-01 -4.34624773e-01 -2.36690755e-02 3.32964681e+02] [ 4.34483980e-01 9.00611572e-01 -1.10664642e-02 4.36647995e+00] [ 2.61264028e-02 -3.20690329e-04 9.99658596e-01 -1.57808254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.484012739 meters Centerline goodness [0,1] 0.9900143878712393 Centerline is valid? [True, True] Translation: X:332.99, Y:4.38, Z:-1.58 [[ 9.00311455e-01 -4.34581708e-01 -2.40421130e-02 3.32989371e+02] [ 4.34436373e-01 9.00632353e-01 -1.12429074e-02 4.37950393e+00] [ 2.65390667e-02 -3.22650056e-04 9.99647725e-01 -1.57757900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.514012739 meters Centerline goodness [0,1] 0.9899316638461044 Centerline is valid? [True, True] Translation: X:333.02, Y:4.39, Z:-1.58 [[ 9.00725070e-01 -4.33774579e-01 -2.31076403e-02 3.33016237e+02] [ 4.33639936e-01 9.01021384e-01 -1.08106993e-02 4.38801899e+00] [ 2.55098846e-02 -2.82927733e-04 9.99674530e-01 -1.57586266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.544012739 meters Centerline goodness [0,1] 0.9899221648047688 Centerline is valid? [True, True] Translation: X:333.04, Y:4.40, Z:-1.57 [[ 9.00896146e-01 -4.33449562e-01 -2.25302438e-02 3.33040999e+02] [ 4.33321421e-01 9.01177789e-01 -1.05422592e-02 4.40099165e+00] [ 2.48732929e-02 -2.65356640e-04 9.99690577e-01 -1.57378770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.574012739 meters Centerline goodness [0,1] 0.9899875381375961 Centerline is valid? [True, True] Translation: X:333.07, Y:4.41, Z:-1.57 [[ 9.00986477e-01 -4.33264025e-01 -2.24867302e-02 3.33065823e+02] [ 4.33136199e-01 9.01267008e-01 -1.05268230e-02 4.41070625e+00] [ 2.48274417e-02 -2.55291633e-04 9.99691719e-01 -1.57261040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.604012739 meters Centerline goodness [0,1] 0.9910467581982136 Centerline is valid? [True, True] Translation: X:333.09, Y:4.42, Z:-1.57 [[ 9.00935749e-01 -4.33339764e-01 -2.30526690e-02 3.33092025e+02] [ 4.33205383e-01 9.01230592e-01 -1.07942516e-02 4.42055766e+00] [ 2.54533490e-02 -2.61613183e-04 9.99675977e-01 -1.57333175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.634012739 meters Centerline goodness [0,1] 0.9907599102142219 Centerline is valid? [True, True] Translation: X:333.12, Y:4.43, Z:-1.57 [[ 9.00771693e-01 -4.33676732e-01 -2.31268191e-02 3.33118623e+02] [ 4.33541468e-01 9.01068488e-01 -1.08339788e-02 4.43024553e+00] [ 2.55372924e-02 -2.67493701e-04 9.99673834e-01 -1.57279425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.664012739 meters Centerline goodness [0,1] 0.9905501254216763 Centerline is valid? [True, True] Translation: X:333.15, Y:4.44, Z:-1.57 [[ 9.00615466e-01 -4.34023408e-01 -2.27038232e-02 3.33145096e+02] [ 4.33893114e-01 9.00901553e-01 -1.06375692e-02 4.43783994e+00] [ 2.50708636e-02 -2.70673169e-04 9.99685640e-01 -1.57094882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.694012739 meters Centerline goodness [0,1] 0.9911845019243587 Centerline is valid? [True, True] Translation: X:333.17, Y:4.45, Z:-1.57 [[ 9.00612925e-01 -4.34045232e-01 -2.23851607e-02 3.33170331e+02] [ 4.33918459e-01 9.00891041e-01 -1.04930211e-02 4.44803159e+00] [ 2.47210365e-02 -2.63183998e-04 9.99694354e-01 -1.56948219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.724012739 meters Centerline goodness [0,1] 0.9908021712907117 Centerline is valid? [True, True] Translation: X:333.20, Y:4.46, Z:-1.57 [[ 9.00699054e-01 -4.33895652e-01 -2.18123070e-02 3.33195427e+02] [ 4.33775192e-01 9.00963096e-01 -1.02265674e-02 4.45960746e+00] [ 2.40893467e-02 -2.50578088e-04 9.99709778e-01 -1.56675964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.754012739 meters Centerline goodness [0,1] 0.9912079510703364 Centerline is valid? [True, True] Translation: X:333.22, Y:4.48, Z:-1.57 [[ 9.01502975e-01 -4.32230266e-01 -2.16652779e-02 3.33219347e+02] [ 4.32110831e-01 9.01763249e-01 -1.01623081e-02 4.47500186e+00] [ 2.39294085e-02 -2.00450271e-04 9.99713631e-01 -1.56663730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.784012739 meters Centerline goodness [0,1] 0.9914509970301231 Centerline is valid? [True, True] Translation: X:333.24, Y:4.49, Z:-1.57 [[ 9.01879847e-01 -4.31409485e-01 -2.23293275e-02 3.33244476e+02] [ 4.31282325e-01 9.02156208e-01 -1.04753404e-02 4.48750312e+00] [ 2.46637026e-02 -1.82745851e-04 9.99695788e-01 -1.56822911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.814012739 meters Centerline goodness [0,1] 0.9913293566254794 Centerline is valid? [True, True] Translation: X:333.27, Y:4.50, Z:-1.57 [[ 9.02220238e-01 -4.30639784e-01 -2.34098081e-02 3.33269578e+02] [ 4.30499710e-01 9.02523877e-01 -1.09841427e-02 4.50110390e+00] [ 2.58581196e-02 -1.67799799e-04 9.99665609e-01 -1.56969855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.844012739 meters Centerline goodness [0,1] 0.9909575852198803 Centerline is valid? [True, True] Translation: X:333.29, Y:4.51, Z:-1.57 [[ 9.02060719e-01 -4.30999741e-01 -2.29277708e-02 3.33293609e+02] [ 4.30865370e-01 9.02352035e-01 -1.07628242e-02 4.51487730e+00] [ 2.53276951e-02 -1.70061478e-04 9.99679188e-01 -1.56776445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.874012739 meters Centerline goodness [0,1] 0.9906293825166801 Centerline is valid? [True, True] Translation: X:333.32, Y:4.52, Z:-1.57 [[ 9.01929667e-01 -4.31292014e-01 -2.25848014e-02 3.33318715e+02] [ 4.31161597e-01 9.02212375e-01 -1.06070037e-02 4.52448768e+00] [ 2.49510032e-02 -1.70927742e-04 9.99688661e-01 -1.56680576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.904012739 meters Centerline goodness [0,1] 0.990552618729168 Centerline is valid? [True, True] Translation: X:333.35, Y:4.53, Z:-1.56 [[ 9.01141920e-01 -4.32996992e-01 -2.13739310e-02 3.33345102e+02] [ 4.32880615e-01 9.01395342e-01 -1.00404049e-02 4.53300482e+00] [ 2.36138270e-02 -2.04530670e-04 9.99721134e-01 -1.56376765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.934012739 meters Centerline goodness [0,1] 0.9902622199592668 Centerline is valid? [True, True] Translation: X:333.37, Y:4.54, Z:-1.56 [[ 8.99914108e-01 -4.35578050e-01 -2.06484852e-02 3.33373638e+02] [ 4.35470034e-01 9.00150929e-01 -9.70333513e-03 4.54056634e+00] [ 2.28133129e-02 -2.59628356e-04 9.99739709e-01 -1.56153985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.964012739 meters Centerline goodness [0,1] 0.9899550958735023 Centerline is valid? [True, True] Translation: X:333.40, Y:4.55, Z:-1.56 [[ 8.99104787e-01 -4.37230948e-01 -2.09685754e-02 3.33400956e+02] [ 4.37119912e-01 8.99349213e-01 -9.85778715e-03 4.55103346e+00] [ 2.31682014e-02 -3.02598200e-04 9.99731535e-01 -1.56111824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.994012739 meters Centerline goodness [0,1] 0.9899897767933208 Centerline is valid? [True, True] Translation: X:333.43, Y:4.56, Z:-1.56 [[ 8.98349632e-01 -4.38756173e-01 -2.14699940e-02 3.33428155e+02] [ 4.38640097e-01 8.98606088e-01 -1.00977358e-02 4.55803046e+00] [ 2.37235113e-02 -3.46303051e-04 9.99718498e-01 -1.56177216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.024012739 meters Centerline goodness [0,1] 0.9896115046147241 Centerline is valid? [True, True] Translation: X:333.46, Y:4.57, Z:-1.56 [[ 8.96454180e-01 -4.42559196e-01 -2.26111146e-02 3.33457170e+02] [ 4.42431615e-01 8.96739170e-01 -1.06361451e-02 4.56633423e+00] [ 2.49833960e-02 -4.69055203e-04 9.99687756e-01 -1.56420724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05401273900003 meters Centerline goodness [0,1] 0.9887683965917893 Centerline is valid? [True, True] Translation: X:333.49, Y:4.57, Z:-1.56 [[ 8.95483125e-01 -4.44514176e-01 -2.27402836e-02 3.33485634e+02] [ 4.44385666e-01 8.95771664e-01 -1.07007602e-02 4.57439609e+00] [ 2.51267413e-02 -5.23105898e-04 9.99684137e-01 -1.56338645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.084012739 meters Centerline goodness [0,1] 0.9887683965917893 Centerline is valid? [True, True] Translation: X:333.51, Y:4.59, Z:-1.56 [[ 8.95397883e-01 -4.44685949e-01 -2.27384677e-02 3.33510431e+02] [ 4.44557396e-01 8.95686403e-01 -1.07046176e-02 4.58626976e+00] [ 2.51267293e-02 -5.23662059e-04 9.99684137e-01 -1.56273251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11401273900003 meters Centerline goodness [0,1] 0.9881530853579875 Centerline is valid? [True, True] Translation: X:333.54, Y:4.59, Z:-1.56 [[ 8.93603891e-01 -4.48302070e-01 -2.23011177e-02 3.33542199e+02] [ 4.48179416e-01 8.93881918e-01 -1.05037056e-02 4.58612716e+00] [ 2.46433989e-02 -6.08749710e-04 9.99696120e-01 -1.56148156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.144012739 meters Centerline goodness [0,1] 0.9880614477932096 Centerline is valid? [True, True] Translation: X:333.57, Y:4.59, Z:-1.56 [[ 8.92757156e-01 -4.50006455e-01 -2.18826714e-02 3.33570406e+02] [ 4.49888848e-01 8.93025071e-01 -1.03076163e-02 4.59428252e+00] [ 2.41802681e-02 -6.42571617e-04 9.99707408e-01 -1.55971162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.174012739 meters Centerline goodness [0,1] 0.9868978722488759 Centerline is valid? [True, True] Translation: X:333.60, Y:4.60, Z:-1.56 [[ 8.92250101e-01 -4.51025797e-01 -2.15751840e-02 3.33599792e+02] [ 4.50911665e-01 8.92510672e-01 -1.01671744e-02 4.59720784e+00] [ 2.38417399e-02 -6.56839774e-04 9.99715530e-01 -1.55770695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.204012739 meters Centerline goodness [0,1] 0.9871921605707654 Centerline is valid? [True, True] Translation: X:333.63, Y:4.60, Z:-1.56 [[ 8.91874884e-01 -4.51789686e-01 -2.11014403e-02 3.33630095e+02] [ 4.51680691e-01 8.92124230e-01 -9.94538804e-03 4.60043013e+00] [ 2.33183299e-02 -6.61071326e-04 9.99727872e-01 -1.55557540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.234012739 meters Centerline goodness [0,1] 0.9867629617078957 Centerline is valid? [True, True] Translation: X:333.66, Y:4.61, Z:-1.55 [[ 8.92036961e-01 -4.51478015e-01 -2.09203490e-02 3.33657388e+02] [ 4.51370701e-01 8.92282011e-01 -9.86420812e-03 4.60846984e+00] [ 2.31203241e-02 -6.43594340e-04 9.99732482e-01 -1.55432509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.264012739 meters Centerline goodness [0,1] 0.9875852979315916 Centerline is valid? [True, True] Translation: X:333.68, Y:4.62, Z:-1.55 [[ 8.93917077e-01 -4.47747264e-01 -2.08482058e-02 3.33682026e+02] [ 4.47639639e-01 8.94159992e-01 -9.83165797e-03 4.62190193e+00] [ 2.30437295e-02 -5.43796393e-04 9.99734310e-01 -1.55375604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.294012739 meters Centerline goodness [0,1] 0.9889263981766185 Centerline is valid? [True, True] Translation: X:333.71, Y:4.64, Z:-1.55 [[ 8.95271300e-01 -4.44999562e-01 -2.15566559e-02 3.33706313e+02] [ 4.44883671e-01 8.95530654e-01 -1.01669655e-02 4.63934801e+00] [ 2.38289414e-02 -4.88011776e-04 9.99715931e-01 -1.55469678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.324012739 meters Centerline goodness [0,1] 0.9903282784766501 Centerline is valid? [True, True] Translation: X:333.73, Y:4.66, Z:-1.56 [[ 8.97873661e-01 -4.39588118e-01 -2.41903826e-02 3.33729150e+02] [ 4.39440081e-01 8.98199388e-01 -1.14137783e-02 4.65605482e+00] [ 2.67451481e-02 -3.82092782e-04 9.99642212e-01 -1.55906874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.354012739 meters Centerline goodness [0,1] 0.9902548887974533 Centerline is valid? [True, True] Translation: X:333.75, Y:4.67, Z:-1.56 [[ 8.98813843e-01 -4.37661058e-01 -2.42172157e-02 3.33753314e+02] [ 4.37511947e-01 8.99139974e-01 -1.14281642e-02 4.67343346e+00] [ 2.67763291e-02 -3.23528956e-04 9.99641397e-01 -1.55763874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.384012739 meters Centerline goodness [0,1] 0.9900121065375302 Centerline is valid? [True, True] Translation: X:333.78, Y:4.69, Z:-1.55 [[ 8.99583433e-01 -4.36114773e-01 -2.35276820e-02 3.33777654e+02] [ 4.35973395e-01 8.99891012e-01 -1.11069648e-02 4.68614455e+00] [ 2.60162610e-02 -2.65801849e-04 9.99661484e-01 -1.55339445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.414012739 meters Centerline goodness [0,1] 0.9901734228883657 Centerline is valid? [True, True] Translation: X:333.80, Y:4.70, Z:-1.55 [[ 9.00647358e-01 -4.34032679e-01 -2.12125143e-02 3.33801423e+02] [ 4.33917149e-01 9.00897108e-01 -1.00153934e-02 4.70259267e+00] [ 2.34573008e-02 -1.84136132e-04 9.99724823e-01 -1.55111201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.444012739 meters Centerline goodness [0,1] 0.9904725119093601 Centerline is valid? [True, True] Translation: X:333.83, Y:4.71, Z:-1.55 [[ 9.00760114e-01 -4.33810306e-01 -2.09722297e-02 3.33825840e+02] [ 4.33697218e-01 9.01004211e-01 -9.90628302e-03 4.71424021e+00] [ 2.31935149e-02 -1.72413054e-04 9.99730979e-01 -1.55011876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.474012739 meters Centerline goodness [0,1] 0.9907486722631489 Centerline is valid? [True, True] Translation: X:333.85, Y:4.73, Z:-1.55 [[ 9.00425426e-01 -4.34426033e-01 -2.25405013e-02 3.33851090e+02] [ 4.34295525e-01 9.00707490e-01 -1.06496679e-02 4.72692460e+00] [ 2.49288913e-02 -2.00007063e-04 9.99689207e-01 -1.55303158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.504012739 meters Centerline goodness [0,1] 0.9904323708370063 Centerline is valid? [True, True] Translation: X:333.88, Y:4.74, Z:-1.55 [[ 8.99919594e-01 -4.35434216e-01 -2.32758985e-02 3.33877668e+02] [ 4.35295248e-01 9.00220523e-01 -1.10025951e-02 4.73785804e+00] [ 2.57443479e-02 -2.30437074e-04 9.99668533e-01 -1.55357481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.534012739 meters Centerline goodness [0,1] 0.9905574957961454 Centerline is valid? [True, True] Translation: X:333.91, Y:4.75, Z:-1.55 [[ 8.99347394e-01 -4.36603213e-01 -2.34925275e-02 3.33905037e+02] [ 4.36461918e-01 8.99654137e-01 -1.11098074e-02 4.74763678e+00] [ 2.59857271e-02 -2.62017277e-04 9.99662280e-01 -1.55306822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.564012739 meters Centerline goodness [0,1] 0.9903650896521927 Centerline is valid? [True, True] Translation: X:333.93, Y:4.75, Z:-1.55 [[ 8.98349644e-01 -4.38645909e-01 -2.36153072e-02 3.33933111e+02] [ 4.38503720e-01 8.98659927e-01 -1.11724122e-02 4.75366837e+00] [ 2.61228632e-02 -3.18667509e-04 9.99658689e-01 -1.55172812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.594012739 meters Centerline goodness [0,1] 0.9902207797753768 Centerline is valid? [True, True] Translation: X:333.96, Y:4.76, Z:-1.55 [[ 8.97820776e-01 -4.39696941e-01 -2.41754815e-02 3.33960962e+02] [ 4.39548255e-01 8.98146132e-01 -1.14393004e-02 4.76097523e+00] [ 2.67429406e-02 -3.55849150e-04 9.99642280e-01 -1.55236061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.624012739 meters Centerline goodness [0,1] 0.9899928981858093 Centerline is valid? [True, True] Translation: X:333.99, Y:4.77, Z:-1.55 [[ 8.97800898e-01 -4.39767951e-01 -2.36156166e-02 3.33987014e+02] [ 4.39626027e-01 8.98111368e-01 -1.11771048e-02 4.77173008e+00] [ 2.61247862e-02 -3.47224956e-04 9.99658629e-01 -1.55061645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.654012739 meters Centerline goodness [0,1] 0.9903156000257108 Centerline is valid? [True, True] Translation: X:334.01, Y:4.78, Z:-1.55 [[ 8.98134841e-01 -4.39136396e-01 -2.26502497e-02 3.34013514e+02] [ 4.39005515e-01 8.98420352e-01 -1.07251220e-02 4.78361466e+00] [ 2.50592367e-02 -3.10978786e-04 9.99685920e-01 -1.54776294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.684012739 meters Centerline goodness [0,1] 0.9903668740613603 Centerline is valid? [True, True] Translation: X:334.04, Y:4.80, Z:-1.54 [[ 8.99431556e-01 -4.36533462e-01 -2.14805146e-02 3.34037820e+02] [ 4.36414913e-01 8.99687994e-01 -1.01753046e-02 4.79701016e+00] [ 2.37676221e-02 -2.22426821e-04 9.99717485e-01 -1.54420091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.714012739 meters Centerline goodness [0,1] 0.9906867700514056 Centerline is valid? [True, True] Translation: X:334.06, Y:4.81, Z:-1.55 [[ 9.01032583e-01 -4.33121272e-01 -2.33719524e-02 3.34061761e+02] [ 4.32979721e-01 9.01335644e-01 -1.10733015e-02 4.81384041e+00] [ 2.58620562e-02 -1.42176015e-04 9.99665511e-01 -1.54677933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.744012739 meters Centerline goodness [0,1] 0.9910883416566213 Centerline is valid? [True, True] Translation: X:334.09, Y:4.83, Z:-1.55 [[ 9.01862369e-01 -4.31324237e-01 -2.45696812e-02 3.34085693e+02] [ 4.31167009e-01 9.02196982e-01 -1.16454416e-02 4.82791498e+00] [ 2.71896534e-02 -9.10503896e-05 9.99630289e-01 -1.54870810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.774012739 meters Centerline goodness [0,1] 0.9913548332415137 Centerline is valid? [True, True] Translation: X:334.11, Y:4.84, Z:-1.55 [[ 9.02296645e-01 -4.30381924e-01 -2.51428715e-02 3.34110472e+02] [ 4.30216842e-01 9.02646883e-01 -1.19194734e-02 4.84156728e+00] [ 2.78250605e-02 -6.19859678e-05 9.99612806e-01 -1.54970211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80401273900003 meters Centerline goodness [0,1] 0.9907936980418004 Centerline is valid? [True, True] Translation: X:334.14, Y:4.85, Z:-1.55 [[ 9.02438912e-01 -4.30167597e-01 -2.36611073e-02 3.34135196e+02] [ 4.30021207e-01 9.02749044e-01 -1.12216721e-02 4.85428029e+00] [ 2.61872417e-02 -4.79043715e-05 9.99657054e-01 -1.54538233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.834012739 meters Centerline goodness [0,1] 0.9905137497335323 Centerline is valid? [True, True] Translation: X:334.16, Y:4.87, Z:-1.54 [[ 9.01984495e-01 -4.31193455e-01 -2.22749758e-02 3.34160989e+02] [ 4.31063991e-01 9.02259496e-01 -1.05658445e-02 4.86569599e+00] [ 2.46537314e-02 -7.17119793e-05 9.99696048e-01 -1.54166893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86401273900003 meters Centerline goodness [0,1] 0.9899857862772968 Centerline is valid? [True, True] Translation: X:334.19, Y:4.87, Z:-1.54 [[ 9.00457356e-01 -4.34433615e-01 -2.10709335e-02 3.34189056e+02] [ 4.34318552e-01 9.00703843e-01 -9.99914165e-03 4.87290491e+00] [ 2.33226341e-02 -1.47696687e-04 9.99727979e-01 -1.53809144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.894012739 meters Centerline goodness [0,1] 0.990261806763695 Centerline is valid? [True, True] Translation: X:334.22, Y:4.88, Z:-1.54 [[ 8.99753898e-01 -4.35879824e-01 -2.12532696e-02 3.34215812e+02] [ 4.35763066e-01 9.00004859e-01 -1.00898408e-02 4.88199549e+00] [ 2.35260039e-02 -1.83016340e-04 9.99723209e-01 -1.53785225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.924012739 meters Centerline goodness [0,1] 0.990093351114498 Centerline is valid? [True, True] Translation: X:334.24, Y:4.89, Z:-1.54 [[ 8.98791077e-01 -4.37816173e-01 -2.21720241e-02 3.34242449e+02] [ 4.37689650e-01 8.99064480e-01 -1.05276010e-02 4.89207587e+00] [ 2.45432333e-02 -2.42351631e-04 9.99698740e-01 -1.53904461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.954012739 meters Centerline goodness [0,1] 0.9898128049173633 Centerline is valid? [True, True] Translation: X:334.27, Y:4.90, Z:-1.54 [[ 8.98487288e-01 -4.38439309e-01 -2.21712619e-02 3.34268200e+02] [ 4.38312945e-01 8.98760761e-01 -1.05288318e-02 4.90454013e+00] [ 2.45429140e-02 -2.57929613e-04 9.99698744e-01 -1.53832192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.984012739 meters Centerline goodness [0,1] 0.9897280709231949 Centerline is valid? [True, True] Translation: X:334.29, Y:4.92, Z:-1.54 [[ 8.98207237e-01 -4.39017041e-01 -2.20861273e-02 3.34293081e+02] [ 4.38891720e-01 8.98478695e-01 -1.04925346e-02 4.91819067e+00] [ 2.44503163e-02 -2.68947884e-04 9.99701010e-01 -1.53747410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.014012739 meters Centerline goodness [0,1] 0.9898804047838087 Centerline is valid? [True, True] Translation: X:334.32, Y:4.93, Z:-1.54 [[ 8.98420845e-01 -4.38567438e-01 -2.23290904e-02 3.34317258e+02] [ 4.38439162e-01 8.98698245e-01 -1.06096962e-02 4.93166843e+00] [ 2.47201816e-02 -2.57975465e-04 9.99694376e-01 -1.53704989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.044012739 meters Centerline goodness [0,1] 0.9904659652136568 Centerline is valid? [True, True] Translation: X:334.34, Y:4.95, Z:-1.54 [[ 8.98870860e-01 -4.37616961e-01 -2.28598480e-02 3.34342306e+02] [ 4.37482071e-01 8.99161466e-01 -1.08672305e-02 4.94645076e+00] [ 2.53103788e-02 -2.32536861e-04 9.99679614e-01 -1.53664887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.074012739 meters Centerline goodness [0,1] 0.991063239842167 Centerline is valid? [True, True] Translation: X:334.37, Y:4.97, Z:-1.54 [[ 9.00096358e-01 -4.35023196e-01 -2.41115192e-02 3.34365191e+02] [ 4.34872059e-01 9.00419232e-01 -1.14673461e-02 4.96574946e+00] [ 2.66990371e-02 -1.63709476e-04 9.99643504e-01 -1.53837705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.104012739 meters Centerline goodness [0,1] 0.9909779629189959 Centerline is valid? [True, True] Translation: X:334.39, Y:4.98, Z:-1.54 [[ 9.00499996e-01 -4.34160069e-01 -2.45925380e-02 3.34388732e+02] [ 4.34002378e-01 9.00835732e-01 -1.17012528e-02 4.98066572e+00] [ 2.72340537e-02 -1.36241885e-04 9.99629075e-01 -1.53908455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.134012739 meters Centerline goodness [0,1] 0.9908070115287361 Centerline is valid? [True, True] Translation: X:334.41, Y:5.00, Z:-1.54 [[ 9.01084504e-01 -4.32956401e-01 -2.44022823e-02 3.34412028e+02] [ 4.32800562e-01 9.01414858e-01 -1.16158543e-02 4.99752184e+00] [ 2.70257383e-02 -9.44551679e-05 9.99634734e-01 -1.53815915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.164012739 meters Centerline goodness [0,1] 0.9911638529016285 Centerline is valid? [True, True] Translation: X:334.44, Y:5.01, Z:-1.54 [[ 9.01340822e-01 -4.32435531e-01 -2.41709414e-02 3.34435410e+02] [ 4.32282397e-01 9.01664852e-01 -1.15075296e-02 5.01160044e+00] [ 2.67703530e-02 -7.64663166e-05 9.99641607e-01 -1.53727105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.194012739 meters Centerline goodness [0,1] 0.9904098395905905 Centerline is valid? [True, True] Translation: X:334.46, Y:5.03, Z:-1.53 [[ 9.01579364e-01 -4.32000038e-01 -2.30351172e-02 3.34459071e+02] [ 4.31860757e-01 9.01873585e-01 -1.09691703e-02 5.02756437e+00] [ 2.55134457e-02 -5.83855747e-05 9.99674477e-01 -1.53470760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.224012739 meters Centerline goodness [0,1] 0.9906755918646678 Centerline is valid? [True, True] Translation: X:334.48, Y:5.04, Z:-1.53 [[ 9.01347175e-01 -4.32482247e-01 -2.30732631e-02 3.34483977e+02] [ 4.32342529e-01 9.01642446e-01 -1.09925746e-02 5.04036994e+00] [ 2.55579268e-02 -6.74268112e-05 9.99673341e-01 -1.53380463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.254012739 meters Centerline goodness [0,1] 0.9900907812300217 Centerline is valid? [True, True] Translation: X:334.51, Y:5.05, Z:-1.53 [[ 9.01159211e-01 -4.32862905e-01 -2.32762125e-02 3.34507757e+02] [ 4.32720713e-01 9.01459761e-01 -1.10943238e-02 5.05232230e+00] [ 2.57848902e-02 -7.43472368e-05 9.99667512e-01 -1.53393485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.284012739 meters Centerline goodness [0,1] 0.9912615939539677 Centerline is valid? [True, True] Translation: X:334.53, Y:5.06, Z:-1.54 [[ 9.00780628e-01 -4.33596925e-01 -2.42480147e-02 3.34532995e+02] [ 4.33442800e-01 9.01106929e-01 -1.15603380e-02 5.06492225e+00] [ 2.68625810e-02 -9.67988496e-05 9.99639131e-01 -1.53539470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.314012739 meters Centerline goodness [0,1] 0.9909268355462131 Centerline is valid? [True, True] Translation: X:334.56, Y:5.08, Z:-1.53 [[ 9.00708002e-01 -4.33741326e-01 -2.43630486e-02 3.34557068e+02] [ 4.33585640e-01 9.01037432e-01 -1.16206686e-02 5.07844348e+00] [ 2.69923829e-02 -9.66387758e-05 9.99635635e-01 -1.53440182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.344012739 meters Centerline goodness [0,1] 0.9907372080206877 Centerline is valid? [True, True] Translation: X:334.58, Y:5.09, Z:-1.53 [[ 9.00891274e-01 -4.33354981e-01 -2.44616519e-02 3.34579608e+02] [ 4.33197741e-01 9.01223310e-01 -1.16731623e-02 5.09411459e+00] [ 2.71040339e-02 -8.04822934e-05 9.99632615e-01 -1.53400169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.374012739 meters Centerline goodness [0,1] 0.9911199241313906 Centerline is valid? [True, True] Translation: X:334.60, Y:5.11, Z:-1.53 [[ 9.01048092e-01 -4.33009073e-01 -2.48088340e-02 3.34604028e+02] [ 4.32847092e-01 9.01389560e-01 -1.18430029e-02 5.10872933e+00] [ 2.74905516e-02 -6.73164328e-05 9.99622061e-01 -1.53331860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.404012739 meters Centerline goodness [0,1] 0.9910577414409811 Centerline is valid? [True, True] Translation: X:334.63, Y:5.12, Z:-1.53 [[ 9.01104911e-01 -4.32918470e-01 -2.43215472e-02 3.34628494e+02] [ 4.32762615e-01 9.01433079e-01 -1.16156718e-02 5.12231492e+00] [ 2.69528860e-02 -5.85174454e-05 9.99636703e-01 -1.53194570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.434012739 meters Centerline goodness [0,1] 0.9906566089490828 Centerline is valid? [True, True] Translation: X:334.65, Y:5.13, Z:-1.53 [[ 9.00780512e-01 -4.33654309e-01 -2.32036619e-02 3.34653900e+02] [ 4.33512571e-01 9.01079317e-01 -1.10867307e-02 5.13396986e+00] [ 2.57161483e-02 -7.23681900e-05 9.99669283e-01 -1.52860984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.464012739 meters Centerline goodness [0,1] 0.9903034229564842 Centerline is valid? [True, True] Translation: X:334.68, Y:5.15, Z:-1.53 [[ 9.00343128e-01 -4.34615592e-01 -2.21706957e-02 3.34679810e+02] [ 4.34486365e-01 9.00616055e-01 -1.05980767e-02 5.14535650e+00] [ 2.45733738e-02 -9.09594700e-05 9.99698025e-01 -1.52649799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.494012739 meters Centerline goodness [0,1] 0.9908729128817372 Centerline is valid? [True, True] Translation: X:334.71, Y:5.16, Z:-1.52 [[ 8.99922300e-01 -4.35522263e-01 -2.14525685e-02 3.34705930e+02] [ 4.35401416e-01 9.00177953e-01 -1.02596257e-02 5.15535989e+00] [ 2.37794245e-02 -1.07612766e-04 9.99717224e-01 -1.52456733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.524012739 meters Centerline goodness [0,1] 0.9904546328130005 Centerline is valid? [True, True] Translation: X:334.73, Y:5.16, Z:-1.52 [[ 8.99977408e-01 -4.35420227e-01 -2.12106431e-02 3.34732052e+02] [ 4.35301945e-01 9.00227313e-01 -1.01489420e-02 5.16431908e+00] [ 2.35134548e-02 -9.92156862e-05 9.99723516e-01 -1.52258407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55401273900003 meters Centerline goodness [0,1] 0.9902513887988241 Centerline is valid? [True, True] Translation: X:334.76, Y:5.18, Z:-1.52 [[ 9.00162954e-01 -4.35036228e-01 -2.12164186e-02 3.34756495e+02] [ 4.34917724e-01 9.00412946e-01 -1.01538647e-02 5.17815919e+00] [ 2.35208369e-02 -8.72636410e-05 9.99723343e-01 -1.52162090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.584012739 meters Centerline goodness [0,1] 0.9906996678452802 Centerline is valid? [True, True] Translation: X:334.78, Y:5.19, Z:-1.52 [[ 9.00573213e-01 -4.34172290e-01 -2.15014196e-02 3.34779804e+02] [ 4.34050211e-01 9.00829850e-01 -1.02953842e-02 5.19092083e+00] [ 2.38390912e-02 -6.09484712e-05 9.99715807e-01 -1.52143197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61401273900003 meters Centerline goodness [0,1] 0.991100096972309 Centerline is valid? [True, True] Translation: X:334.80, Y:5.21, Z:-1.52 [[ 9.02039493e-01 -4.31064244e-01 -2.25470736e-02 3.34801833e+02] [ 4.30928967e-01 9.02321238e-01 -1.07985453e-02 5.20692760e+00] [ 2.49995701e-02 2.45271683e-05 9.99687462e-01 -1.52398023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.644012739 meters Centerline goodness [0,1] 0.9916483705712686 Centerline is valid? [True, True] Translation: X:334.83, Y:5.22, Z:-1.52 [[ 9.02768335e-01 -4.29524650e-01 -2.27576119e-02 3.34825864e+02] [ 4.29386251e-01 9.03055131e-01 -1.09030656e-02 5.22064150e+00] [ 2.52345137e-02 7.11367025e-05 9.99681556e-01 -1.52424133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.674012739 meters Centerline goodness [0,1] 0.992264552310965 Centerline is valid? [True, True] Translation: X:334.85, Y:5.24, Z:-1.52 [[ 9.03831828e-01 -4.27280593e-01 -2.27886294e-02 3.34849908e+02] [ 4.27140978e-01 9.04119060e-01 -1.09228847e-02 5.23662064e+00] [ 2.52707708e-02 1.38493421e-04 9.99680633e-01 -1.52341384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.704012739 meters Centerline goodness [0,1] 0.9925271592406212 Centerline is valid? [True, True] Translation: X:334.88, Y:5.25, Z:-1.52 [[ 9.04163563e-01 -4.26568961e-01 -2.29602482e-02 3.34875422e+02] [ 4.26426892e-01 9.04455027e-01 -1.10095922e-02 5.25043642e+00] [ 2.54628622e-02 1.63604830e-04 9.99675755e-01 -1.52326128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.734012739 meters Centerline goodness [0,1] 0.9935233438418152 Centerline is valid? [True, True] Translation: X:334.90, Y:5.27, Z:-1.52 [[ 9.04369737e-01 -4.26104662e-01 -2.34562630e-02 3.34898650e+02] [ 4.25956113e-01 9.04673854e-01 -1.12519936e-02 5.26608998e+00] [ 2.60147948e-02 1.84623850e-04 9.99661541e-01 -1.52463941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.764012739 meters Centerline goodness [0,1] 0.9936357423543482 Centerline is valid? [True, True] Translation: X:334.92, Y:5.28, Z:-1.53 [[ 9.04141878e-01 -4.26558358e-01 -2.39881412e-02 3.34923847e+02] [ 4.26403098e-01 9.04460024e-01 -1.15092270e-02 5.27799265e+00] [ 2.66056718e-02 1.77356346e-04 9.99645991e-01 -1.52544453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.794012739 meters Centerline goodness [0,1] 0.9925587467362924 Centerline is valid? [True, True] Translation: X:334.95, Y:5.29, Z:-1.52 [[ 9.03674529e-01 -4.27548358e-01 -2.39738742e-02 3.34950846e+02] [ 4.27393498e-01 9.03992466e-01 -1.15073935e-02 5.28704230e+00] [ 2.65921688e-02 1.52660471e-04 9.99646354e-01 -1.52366792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.824012739 meters Centerline goodness [0,1] 0.9925871811950753 Centerline is valid? [True, True] Translation: X:334.98, Y:5.30, Z:-1.52 [[ 9.02752349e-01 -4.29521577e-01 -2.34395163e-02 3.34976562e+02] [ 4.29374077e-01 9.03056590e-01 -1.12559564e-02 5.29727569e+00] [ 2.60018858e-02 9.70204163e-05 9.99661889e-01 -1.52274727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.854012739 meters Centerline goodness [0,1] 0.9923356799931107 Centerline is valid? [True, True] Translation: X:335.00, Y:5.31, Z:-1.52 [[ 9.02208745e-01 -4.30697830e-01 -2.27763240e-02 3.35002639e+02] [ 4.30558870e-01 9.02496191e-01 -1.09400138e-02 5.30853654e+00] [ 2.52673859e-02 6.36277702e-05 9.99680727e-01 -1.52116672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.884012739 meters Centerline goodness [0,1] 0.9917394382818031 Centerline is valid? [True, True] Translation: X:335.03, Y:5.32, Z:-1.52 [[ 9.01276516e-01 -4.32692745e-01 -2.18547509e-02 3.35029800e+02] [ 4.32565279e-01 9.01541451e-01 -1.05019752e-02 5.31743888e+00] [ 2.42470923e-02 1.15771940e-05 9.99705996e-01 -1.51866887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.914012739 meters Centerline goodness [0,1] 0.9914360717820717 Centerline is valid? [True, True] Translation: X:335.06, Y:5.33, Z:-1.52 [[ 9.00847860e-01 -4.33562679e-01 -2.22830828e-02 3.35055647e+02] [ 4.33430308e-01 9.01123412e-01 -1.07128327e-02 5.32819380e+00] [ 2.47244920e-02 -7.53103093e-06 9.99694303e-01 -1.51881145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.944012739 meters Centerline goodness [0,1] 0.9915127633316734 Centerline is valid? [True, True] Translation: X:335.08, Y:5.34, Z:-1.52 [[ 9.00432890e-01 -4.34401072e-01 -2.27226377e-02 3.35081767e+02] [ 4.34263559e-01 9.00719550e-01 -1.09294724e-02 5.33890979e+00] [ 2.52144985e-02 -2.63570502e-05 9.99682064e-01 -1.51886222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.974012739 meters Centerline goodness [0,1] 0.9915127633316734 Centerline is valid? [True, True] Translation: X:335.11, Y:5.35, Z:-1.52 [[ 9.00351075e-01 -4.34570728e-01 -2.27205767e-02 3.35106450e+02] [ 4.34433161e-01 9.00637708e-01 -1.09337552e-02 5.35100735e+00] [ 2.52144981e-02 -2.63537586e-05 9.99682064e-01 -1.51820845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.004012739 meters Centerline goodness [0,1] 0.9911902813078878 Centerline is valid? [True, True] Translation: X:335.13, Y:5.36, Z:-1.52 [[ 8.99376817e-01 -4.36544619e-01 -2.34550109e-02 3.35133730e+02] [ 4.36398545e-01 8.99682605e-01 -1.12924934e-02 5.35743483e+00] [ 2.60317425e-02 -7.95259105e-05 9.99661114e-01 -1.51913788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.034012739 meters Centerline goodness [0,1] 0.9910820959208057 Centerline is valid? [True, True] Translation: X:335.16, Y:5.37, Z:-1.52 [[ 8.98906975e-01 -4.37518245e-01 -2.33245490e-02 3.35160285e+02] [ 4.37374061e-01 8.99209527e-01 -1.12319565e-02 5.36769435e+00] [ 2.58878426e-02 -1.05068695e-04 9.99664848e-01 -1.51792293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.064012739 meters Centerline goodness [0,1] 0.9910849526117627 Centerline is valid? [True, True] Translation: X:335.19, Y:5.38, Z:-1.51 [[ 8.98652225e-01 -4.38080242e-01 -2.25805118e-02 3.35186566e+02] [ 4.37945163e-01 8.98935865e-01 -1.08786563e-02 5.37726110e+00] [ 2.50641563e-02 -1.12897247e-04 9.99685838e-01 -1.51451686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.094012739 meters Centerline goodness [0,1] 0.9912295973884657 Centerline is valid? [True, True] Translation: X:335.21, Y:5.39, Z:-1.51 [[ 8.98824782e-01 -4.37743502e-01 -2.22404417e-02 3.35211321e+02] [ 4.37612236e-01 8.99099892e-01 -1.07198154e-02 5.38999531e+00] [ 2.46889083e-02 -9.74536616e-05 9.99695178e-01 -1.51329687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.124012739 meters Centerline goodness [0,1] 0.9911241967720444 Centerline is valid? [True, True] Translation: X:335.24, Y:5.40, Z:-1.51 [[ 8.99332024e-01 -4.36710246e-01 -2.20470347e-02 3.35235553e+02] [ 4.36580818e-01 8.99602221e-01 -1.06316835e-02 5.40275676e+00] [ 2.44765265e-02 -6.38990134e-05 9.99700403e-01 -1.51172021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.154012739 meters Centerline goodness [0,1] 0.9907560676741837 Centerline is valid? [True, True] Translation: X:335.26, Y:5.42, Z:-1.51 [[ 9.00019281e-01 -4.35349208e-01 -2.08892632e-02 3.35259260e+02] [ 4.35232620e-01 9.00261665e-01 -1.00747508e-02 5.41744740e+00] [ 2.31918376e-02 -2.42187594e-05 9.99731033e-01 -1.50949211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.184012739 meters Centerline goodness [0,1] 0.9905207143934335 Centerline is valid? [True, True] Translation: X:335.28, Y:5.43, Z:-1.51 [[ 9.00032588e-01 -4.35330604e-01 -2.07028069e-02 3.35284955e+02] [ 4.35215977e-01 9.00270662e-01 -9.98940973e-03 5.42946987e+00] [ 2.29868254e-02 -1.93980167e-05 9.99735768e-01 -1.50867567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.214012739 meters Centerline goodness [0,1] 0.9905405117497923 Centerline is valid? [True, True] Translation: X:335.31, Y:5.44, Z:-1.51 [[ 8.99883468e-01 -4.35597942e-01 -2.15447519e-02 3.35311450e+02] [ 4.35473758e-01 9.00141340e-01 -1.04006448e-02 5.43780496e+00] [ 2.39238213e-02 -2.28057850e-05 9.99713784e-01 -1.50971663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.244012739 meters Centerline goodness [0,1] 0.9904171364148816 Centerline is valid? [True, True] Translation: X:335.34, Y:5.45, Z:-1.51 [[ 8.99822046e-01 -4.35722345e-01 -2.15945304e-02 3.35337902e+02] [ 4.35597572e-01 9.00081128e-01 -1.04267982e-02 5.44845452e+00] [ 2.39800183e-02 -2.42621899e-05 9.99712438e-01 -1.50954475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.274012739 meters Centerline goodness [0,1] 0.990708678352511 Centerline is valid? [True, True] Translation: X:335.36, Y:5.46, Z:-1.51 [[ 8.99921997e-01 -4.35525198e-01 -2.14056451e-02 3.35363590e+02] [ 4.35402431e-01 9.00176539e-01 -1.03402882e-02 5.45689725e+00] [ 2.37723156e-02 -1.46170851e-05 9.99717398e-01 -1.50825153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30401273900003 meters Centerline goodness [0,1] 0.9905417578175267 Centerline is valid? [True, True] Translation: X:335.39, Y:5.47, Z:-1.51 [[ 9.00250067e-01 -4.34855555e-01 -2.12241219e-02 3.35388616e+02] [ 4.34734628e-01 9.00500220e-01 -1.02546052e-02 5.46908030e+00] [ 2.35715985e-02 4.84825281e-06 9.99722151e-01 -1.50698398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.334012739 meters Centerline goodness [0,1] 0.9915283392104585 Centerline is valid? [True, True] Translation: X:335.41, Y:5.48, Z:-1.51 [[ 9.01938085e-01 -4.31366433e-01 -2.07530943e-02 3.35411766e+02] [ 4.31249785e-01 9.02176807e-01 -1.00315525e-02 5.48460559e+00] [ 2.30502354e-02 9.80717817e-05 9.99734303e-01 -1.50512080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36401273900003 meters Centerline goodness [0,1] 0.9925677551630608 Centerline is valid? [True, True] Translation: X:335.43, Y:5.50, Z:-1.50 [[ 9.03168082e-01 -4.28780067e-01 -2.08583266e-02 3.35434959e+02] [ 4.28661510e-01 9.03408892e-01 -1.00838350e-02 5.49982022e+00] [ 2.31673452e-02 1.66236136e-04 9.99731587e-01 -1.50487430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.394012739 meters Centerline goodness [0,1] 0.9937434827945777 Centerline is valid? [True, True] Translation: X:335.46, Y:5.52, Z:-1.50 [[ 9.04462862e-01 -4.26019657e-01 -2.13115854e-02 3.35459008e+02] [ 4.25895088e-01 9.04713874e-01 -1.03044057e-02 5.51667430e+00] [ 2.36707663e-02 2.43452764e-04 9.99719779e-01 -1.50449130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.424012739 meters Centerline goodness [0,1] 0.9946084117369077 Centerline is valid? [True, True] Translation: X:335.48, Y:5.53, Z:-1.51 [[ 9.06625773e-01 -4.21351428e-01 -2.21964540e-02 3.35484051e+02] [ 4.21214791e-01 9.06897363e-01 -1.07365598e-02 5.53312307e+00] [ 2.46537704e-02 3.84567131e-04 9.99695976e-01 -1.50593062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.454012739 meters Centerline goodness [0,1] 0.9943038109205297 Centerline is valid? [True, True] Translation: X:335.51, Y:5.55, Z:-1.51 [[ 9.07502391e-01 -4.19470325e-01 -2.20013062e-02 3.35505063e+02] [ 4.19335435e-01 9.07768945e-01 -1.06459361e-02 5.55410282e+00] [ 2.44377568e-02 4.35285151e-04 9.99701259e-01 -1.50525832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.484012739 meters Centerline goodness [0,1] 0.9940042550448069 Centerline is valid? [True, True] Translation: X:335.53, Y:5.57, Z:-1.50 [[ 9.08966915e-01 -4.16315242e-01 -2.14654730e-02 3.35531498e+02] [ 4.16185907e-01 9.09220193e-01 -1.03889959e-02 5.56748515e+00] [ 2.38419388e-02 5.09626164e-04 9.99715611e-01 -1.50244354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.514012739 meters Centerline goodness [0,1] 0.9939694163256515 Centerline is valid? [True, True] Translation: X:335.56, Y:5.58, Z:-1.50 [[ 9.09718112e-01 -4.14662636e-01 -2.16299540e-02 3.35555425e+02] [ 4.14530757e-01 9.09975046e-01 -1.04721922e-02 5.58401695e+00] [ 2.40251452e-02 5.60461741e-04 9.99711197e-01 -1.50217746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.544012739 meters Centerline goodness [0,1] 0.9915807778767443 Centerline is valid? [True, True] Translation: X:335.57, Y:5.61, Z:-1.50 [[ 9.10570719e-01 -4.12757425e-01 -2.21872503e-02 3.35574364e+02] [ 4.12617982e-01 9.10840771e-01 -1.07466570e-02 5.60945568e+00] [ 2.46448147e-02 6.30732755e-04 9.99696071e-01 -1.50265109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.574012739 meters Centerline goodness [0,1] 0.9921978822823337 Centerline is valid? [True, True] Translation: X:335.60, Y:5.63, Z:-1.50 [[ 9.12431042e-01 -4.08583408e-01 -2.30041977e-02 3.35598454e+02] [ 4.08432112e-01 9.12720659e-01 -1.11449200e-02 5.62735966e+00] [ 2.55500358e-02 7.73317905e-04 9.99673245e-01 -1.50292695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.604012739 meters Centerline goodness [0,1] 0.9917283320574977 Centerline is valid? [True, True] Translation: X:335.62, Y:5.65, Z:-1.50 [[ 9.13092550e-01 -4.07106379e-01 -2.29432225e-02 3.35622174e+02] [ 4.06955378e-01 9.13380388e-01 -1.11169905e-02 5.64518482e+00] [ 2.54816872e-02 8.13973394e-04 9.99674958e-01 -1.50238624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.634012739 meters Centerline goodness [0,1] 0.9881003522639402 Centerline is valid? [True, True] Translation: X:335.64, Y:5.67, Z:-1.50 [[ 9.13856312e-01 -4.05415560e-01 -2.24691938e-02 3.35641093e+02] [ 4.05270117e-01 9.14132105e-01 -1.08915581e-02 5.67096633e+00] [ 2.49554186e-02 8.47226342e-04 9.99688206e-01 -1.50174152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.664012739 meters Centerline goodness [0,1] 0.9903854371421246 Centerline is valid? [True, True] Translation: X:335.67, Y:5.68, Z:-1.50 [[ 9.13721364e-01 -4.05740701e-01 -2.20851225e-02 3.35667946e+02] [ 4.05600250e-01 9.13987857e-01 -1.07067733e-02 5.67994409e+00] [ 2.45297075e-02 8.25276321e-04 9.99698761e-01 -1.49974166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.694012739 meters Centerline goodness [0,1] 0.9909931010987139 Centerline is valid? [True, True] Translation: X:335.69, Y:5.69, Z:-1.50 [[ 9.12726555e-01 -4.07994683e-01 -2.16927393e-02 3.35691897e+02] [ 4.07859698e-01 9.12983991e-01 -1.05213802e-02 5.69499804e+00] [ 2.40977909e-02 7.55548999e-04 9.99709321e-01 -1.49717132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.724012739 meters Centerline goodness [0,1] 0.991667916122261 Centerline is valid? [True, True] Translation: X:335.72, Y:5.71, Z:-1.50 [[ 9.11975470e-01 -4.09680251e-01 -2.15135941e-02 3.35718049e+02] [ 4.09547927e-01 9.12228915e-01 -1.04356361e-02 5.70837550e+00] [ 2.39005967e-02 7.06196281e-04 9.99714091e-01 -1.49626405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.754012739 meters Centerline goodness [0,1] 0.9934730927166631 Centerline is valid? [True, True] Translation: X:335.75, Y:5.72, Z:-1.50 [[ 9.10461445e-01 -4.13042626e-01 -2.13482248e-02 3.35745356e+02] [ 4.12913203e-01 9.10711486e-01 -1.03574242e-02 5.71917590e+00] [ 2.37201312e-02 6.15071549e-04 9.99718449e-01 -1.49540304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.784012739 meters Centerline goodness [0,1] 0.9928412310487272 Centerline is valid? [True, True] Translation: X:335.77, Y:5.73, Z:-1.49 [[ 9.09760858e-01 -4.14587211e-01 -2.12749788e-02 3.35769175e+02] [ 4.14459073e-01 9.10009404e-01 -1.03228786e-02 5.73476500e+00] [ 2.36401643e-02 5.73742903e-04 9.99720368e-01 -1.49450036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.814012739 meters Centerline goodness [0,1] 0.9931836752247022 Centerline is valid? [True, True] Translation: X:335.79, Y:5.75, Z:-1.49 [[ 9.09027224e-01 -4.16202759e-01 -2.10895544e-02 3.35794854e+02] [ 4.16077178e-01 9.09271677e-01 -1.02371755e-02 5.74800767e+00] [ 2.34368752e-02 5.30988947e-04 9.99725178e-01 -1.49385700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.844012739 meters Centerline goodness [0,1] 0.9939568039153102 Centerline is valid? [True, True] Translation: X:335.82, Y:5.76, Z:-1.49 [[ 9.07400725e-01 -4.19765627e-01 -2.05120024e-02 3.35822135e+02] [ 4.19647647e-01 9.07632433e-01 -9.96086332e-03 5.75947666e+00] [ 2.27985867e-02 4.30681049e-04 9.99739986e-01 -1.49206507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.874012739 meters Centerline goodness [0,1] 0.9942842408354463 Centerline is valid? [True, True] Translation: X:335.85, Y:5.77, Z:-1.49 [[ 9.06212081e-01 -4.22367474e-01 -1.96311171e-02 3.35848649e+02] [ 4.22259995e-01 9.06424621e-01 -9.53430057e-03 5.76970604e+00] [ 2.18211064e-02 3.50662945e-04 9.99761830e-01 -1.49045537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.904012739 meters Centerline goodness [0,1] 0.9931035946186818 Centerline is valid? [True, True] Translation: X:335.88, Y:5.77, Z:-1.49 [[ 9.03488073e-01 -4.28160008e-01 -1.97055845e-02 3.35878815e+02] [ 4.28052998e-01 9.03702917e-01 -9.57440110e-03 5.77440219e+00] [ 2.19073698e-02 2.15322682e-04 9.99759982e-01 -1.48930268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.934012739 meters Centerline goodness [0,1] 0.9933254893571505 Centerline is valid? [True, True] Translation: X:335.91, Y:5.78, Z:-1.49 [[ 9.02162411e-01 -4.30903889e-01 -2.06112080e-02 3.35907280e+02] [ 4.30787444e-01 9.02397813e-01 -1.00182353e-02 5.78276701e+00] [ 2.29164056e-02 1.59025733e-04 9.99737372e-01 -1.49134477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.964012739 meters Centerline goodness [0,1] 0.9926202428454971 Centerline is valid? [True, True] Translation: X:335.94, Y:5.79, Z:-1.49 [[ 9.01013468e-01 -4.33251224e-01 -2.16357863e-02 3.35935093e+02] [ 4.33123486e-01 9.01273191e-01 -1.05204893e-02 5.79237644e+00] [ 2.40577690e-02 1.08135374e-04 9.99710564e-01 -1.49307162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.994012739 meters Centerline goodness [0,1] 0.9929707968560292 Centerline is valid? [True, True] Translation: X:335.96, Y:5.80, Z:-1.50 [[ 8.99673136e-01 -4.35924844e-01 -2.36173214e-02 3.35962280e+02] [ 4.35773421e-01 8.99983071e-01 -1.14890136e-02 5.79930756e+00] [ 2.62635359e-02 4.45559447e-05 9.99655053e-01 -1.49649899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.024012739 meters Centerline goodness [0,1] 0.9925895695506487 Centerline is valid? [True, True] Translation: X:335.99, Y:5.81, Z:-1.50 [[ 8.99187703e-01 -4.36915057e-01 -2.38056161e-02 3.35988821e+02] [ 4.36761479e-01 8.99502770e-01 -1.15835125e-02 5.80960917e+00] [ 2.64742286e-02 1.83759282e-05 9.99649496e-01 -1.49641517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05401273900003 meters Centerline goodness [0,1] 0.992455580084446 Centerline is valid? [True, True] Translation: X:336.02, Y:5.82, Z:-1.49 [[ 8.98679437e-01 -4.37993180e-01 -2.31785262e-02 3.36015486e+02] [ 4.37847812e-01 8.98978295e-01 -1.12835698e-02 5.81898656e+00] [ 2.57791185e-02 -8.35485575e-06 9.99667663e-01 -1.49398596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.084012739 meters Centerline goodness [0,1] 0.9922285910564393 Centerline is valid? [True, True] Translation: X:336.04, Y:5.83, Z:-1.49 [[ 8.98588249e-01 -4.38188169e-01 -2.30279789e-02 3.36040474e+02] [ 4.38044617e-01 8.98883268e-01 -1.12153802e-02 5.82912962e+00] [ 2.56139118e-02 -9.27329546e-06 9.99671910e-01 -1.49359644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11401273900003 meters Centerline goodness [0,1] 0.992363182500899 Centerline is valid? [True, True] Translation: X:336.07, Y:5.84, Z:-1.49 [[ 8.98263244e-01 -4.38857084e-01 -2.29696482e-02 3.36066015e+02] [ 4.38714418e-01 8.98556876e-01 -1.11892729e-02 5.83826208e+00] [ 2.55500270e-02 -2.62032813e-05 9.99673544e-01 -1.49305744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.144012739 meters Centerline goodness [0,1] 0.9917657822506862 Centerline is valid? [True, True] Translation: X:336.10, Y:5.84, Z:-1.49 [[ 8.97129096e-01 -4.41155397e-01 -2.32658778e-02 3.36095481e+02] [ 4.41009737e-01 8.97430726e-01 -1.13359757e-02 5.84290579e+00] [ 2.58804405e-02 -9.06450031e-05 9.99665041e-01 -1.49367994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.174012739 meters Centerline goodness [0,1] 0.9910605183613094 Centerline is valid? [True, True] Translation: X:336.13, Y:5.85, Z:-1.49 [[ 8.96202920e-01 -4.43101549e-01 -2.19395342e-02 3.36125473e+02] [ 4.42972513e-01 8.96471415e-01 -1.06936539e-02 5.84762212e+00] [ 2.44065398e-02 -1.34926752e-04 9.99702107e-01 -1.48984998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.204012739 meters Centerline goodness [0,1] 0.9915463342416375 Centerline is valid? [True, True] Translation: X:336.15, Y:5.86, Z:-1.49 [[ 8.96458374e-01 -4.42634626e-01 -2.09038610e-02 3.36151322e+02] [ 4.42517268e-01 8.96702055e-01 -1.01927920e-02 5.85856218e+00] [ 2.32562178e-02 -1.12905734e-04 9.99729531e-01 -1.48637052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.234012739 meters Centerline goodness [0,1] 0.9912374211154699 Centerline is valid? [True, True] Translation: X:336.18, Y:5.87, Z:-1.48 [[ 8.97265604e-01 -4.41013355e-01 -2.05342860e-02 3.36175326e+02] [ 4.40899579e-01 8.97500538e-01 -1.00172379e-02 5.87194177e+00] [ 2.28472684e-02 -6.54349935e-05 9.99738965e-01 -1.48398111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.264012739 meters Centerline goodness [0,1] 0.9924130392850254 Centerline is valid? [True, True] Translation: X:336.20, Y:5.89, Z:-1.49 [[ 9.00238714e-01 -4.34861013e-01 -2.15906881e-02 3.36195645e+02] [ 4.34733328e-01 9.00497579e-01 -1.05377558e-02 5.89462309e+00] [ 2.40248216e-02 1.00304008e-04 9.99711357e-01 -1.48507011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.294012739 meters Centerline goodness [0,1] 0.9935641461342396 Centerline is valid? [True, True] Translation: X:336.22, Y:5.91, Z:-1.49 [[ 9.02050523e-01 -4.31058611e-01 -2.22109692e-02 3.36216637e+02] [ 4.30922288e-01 9.02323905e-01 -1.08421328e-02 5.91392547e+00] [ 2.47150832e-02 2.08949875e-04 9.99694514e-01 -1.48568130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.324012739 meters Centerline goodness [0,1] 0.9933306429345171 Centerline is valid? [True, True] Translation: X:336.24, Y:5.94, Z:-1.48 [[ 9.05887457e-01 -4.22964688e-01 -2.16514913e-02 3.36235091e+02] [ 4.22832783e-01 9.06146067e-01 -1.05708244e-02 5.94132901e+00] [ 2.40904992e-02 4.21016935e-04 9.99709693e-01 -1.48383902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.354012739 meters Centerline goodness [0,1] 0.9926756449083919 Centerline is valid? [True, True] Translation: X:336.26, Y:5.96, Z:-1.48 [[ 9.07641708e-01 -4.19203224e-01 -2.13351202e-02 3.36260205e+02] [ 4.19074030e-01 9.07892279e-01 -1.04195670e-02 5.95752332e+00] [ 2.37379070e-02 5.16238755e-04 9.99718083e-01 -1.48233353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.384012739 meters Centerline goodness [0,1] 0.9914602721638947 Centerline is valid? [True, True] Translation: X:336.28, Y:5.98, Z:-1.48 [[ 9.09103743e-01 -4.16021517e-01 -2.13654401e-02 3.36281624e+02] [ 4.15890998e-01 9.09354570e-01 -1.04376476e-02 5.97957110e+00] [ 2.37710466e-02 6.03210348e-04 9.99717247e-01 -1.48216870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.414012739 meters Centerline goodness [0,1] 0.9909767699822949 Centerline is valid? [True, True] Translation: X:336.30, Y:6.00, Z:-1.49 [[ 9.10971683e-01 -4.11803211e-01 -2.34245122e-02 3.36304127e+02] [ 4.11644881e-01 9.11272463e-01 -1.14450902e-02 6.00133577e+00] [ 2.60592378e-02 7.83572538e-04 9.99660093e-01 -1.48557738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.444012739 meters Centerline goodness [0,1] 0.9912394756474475 Centerline is valid? [True, True] Translation: X:336.33, Y:6.02, Z:-1.49 [[ 9.11449935e-01 -4.10715289e-01 -2.39158274e-02 3.36327993e+02] [ 4.10549836e-01 9.11763268e-01 -1.16865155e-02 6.01866225e+00] [ 2.66054036e-02 8.33034819e-04 9.99645667e-01 -1.48604286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.474012739 meters Centerline goodness [0,1] 0.9896942266420178 Centerline is valid? [True, True] Translation: X:336.35, Y:6.04, Z:-1.48 [[ 9.12417163e-01 -4.08570937e-01 -2.37636178e-02 3.36348423e+02] [ 4.08406740e-01 9.12726131e-01 -1.16165612e-02 6.04278861e+00] [ 2.64358642e-02 8.93928158e-04 9.99650112e-01 -1.48483260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.504012739 meters Centerline goodness [0,1] 0.9892459242052738 Centerline is valid? [True, True] Translation: X:336.37, Y:6.06, Z:-1.48 [[ 9.12854199e-01 -4.07603370e-01 -2.35945669e-02 3.36371392e+02] [ 4.07441133e-01 9.13158613e-01 -1.15356660e-02 6.06098513e+00] [ 2.62475583e-02 9.16984052e-04 9.99655053e-01 -1.48402297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.534012739 meters Centerline goodness [0,1] 0.9881275223676624 Centerline is valid? [True, True] Translation: X:336.39, Y:6.08, Z:-1.48 [[ 9.13195285e-01 -4.06843528e-01 -2.35098886e-02 3.36390925e+02] [ 4.06682084e-01 9.13497379e-01 -1.14987697e-02 6.08480292e+00] [ 2.61544216e-02 9.39571738e-04 9.99657473e-01 -1.48414132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.564012739 meters Centerline goodness [0,1] 0.9874781719834745 Centerline is valid? [True, True] Translation: X:336.41, Y:6.10, Z:-1.48 [[ 9.12986085e-01 -4.07314564e-01 -2.34788231e-02 3.36414809e+02] [ 4.07153631e-01 9.13287461e-01 -1.14862770e-02 6.10163805e+00] [ 2.61214426e-02 9.27323015e-04 9.99658347e-01 -1.48331359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.594012739 meters Centerline goodness [0,1] 0.987726250401628 Centerline is valid? [True, True] Translation: X:336.44, Y:6.12, Z:-1.48 [[ 9.12619459e-01 -4.08146266e-01 -2.32883924e-02 3.36437758e+02] [ 4.07988091e-01 9.12916105e-01 -1.13974489e-02 6.11823944e+00] [ 2.59121747e-02 9.00146849e-04 9.99663818e-01 -1.48237786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.624012739 meters Centerline goodness [0,1] 0.9899737611195256 Centerline is valid? [True, True] Translation: X:336.46, Y:6.13, Z:-1.48 [[ 9.11226085e-01 -4.11249027e-01 -2.32649822e-02 3.36463027e+02] [ 4.11092137e-01 9.11522670e-01 -1.13876106e-02 6.13417189e+00] [ 2.58897025e-02 8.12636549e-04 9.99664475e-01 -1.48279949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.654012739 meters Centerline goodness [0,1] 0.9919921416216447 Centerline is valid? [True, True] Translation: X:336.49, Y:6.15, Z:-1.48 [[ 9.09234037e-01 -4.15570394e-01 -2.43867668e-02 3.36488452e+02] [ 4.15399502e-01 9.09560731e-01 -1.19386297e-02 6.14890718e+00] [ 2.71425865e-02 7.24757666e-04 9.99631309e-01 -1.48469792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.684012739 meters Centerline goodness [0,1] 0.9921801555422614 Centerline is valid? [True, True] Translation: X:336.51, Y:6.16, Z:-1.48 [[ 9.08073048e-01 -4.18100981e-01 -2.43907544e-02 3.36512565e+02] [ 4.17930837e-01 9.08400321e-01 -1.19445314e-02 6.16272898e+00] [ 2.71505894e-02 6.52858671e-04 9.99631142e-01 -1.48438477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.714012739 meters Centerline goodness [0,1] 0.9925460547332552 Centerline is valid? [True, True] Translation: X:336.54, Y:6.17, Z:-1.48 [[ 9.06903140e-01 -4.20661037e-01 -2.38953286e-02 3.36539231e+02] [ 4.20498580e-01 9.07217709e-01 -1.17035395e-02 6.17426912e+00] [ 2.66014883e-02 5.66024934e-04 9.99645958e-01 -1.48223909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.744012739 meters Centerline goodness [0,1] 0.9930463717418199 Centerline is valid? [True, True] Translation: X:336.57, Y:6.18, Z:-1.48 [[ 9.04842534e-01 -4.25205144e-01 -2.14609877e-02 3.36565767e+02] [ 4.25075355e-01 9.05096920e-01 -1.05123118e-02 6.18436546e+00] [ 2.38941630e-02 3.89449913e-04 9.99714418e-01 -1.47572660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.774012739 meters Centerline goodness [0,1] 0.9929154735390816 Centerline is valid? [True, True] Translation: X:336.59, Y:6.20, Z:-1.47 [[ 9.03949673e-01 -4.27141900e-01 -2.06103369e-02 3.36592589e+02] [ 4.27022680e-01 9.04184545e-01 -1.00965281e-02 6.19508240e+00] [ 2.29481983e-02 3.25671932e-04 9.99736602e-01 -1.47402094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80401273900003 meters Centerline goodness [0,1] 0.992206413251221 Centerline is valid? [True, True] Translation: X:336.62, Y:6.20, Z:-1.47 [[ 9.02046380e-01 -4.31175941e-01 -1.99909077e-02 3.36618999e+02] [ 4.31064679e-01 9.02267842e-01 -9.79710492e-03 6.20356399e+00] [ 2.22614291e-02 2.20068804e-04 9.99752159e-01 -1.47310831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.834012739 meters Centerline goodness [0,1] 0.9929190782081452 Centerline is valid? [True, True] Translation: X:336.65, Y:6.21, Z:-1.47 [[ 9.01015267e-01 -4.33322373e-01 -2.00800856e-02 3.36646724e+02] [ 4.33210619e-01 9.01238976e-01 -9.84208710e-03 6.21342452e+00] [ 2.23617523e-02 1.68964417e-04 9.99749930e-01 -1.47213788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86401273900003 meters Centerline goodness [0,1] 0.992489816700611 Centerline is valid? [True, True] Translation: X:336.67, Y:6.22, Z:-1.47 [[ 8.99908405e-01 -4.35626779e-01 -1.98537782e-02 3.36673689e+02] [ 4.35518012e-01 9.00127378e-01 -9.73472979e-03 6.22286979e+00] [ 2.21116383e-02 1.13687134e-04 9.99755501e-01 -1.47071721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.894012739 meters Centerline goodness [0,1] 0.992489816700611 Centerline is valid? [True, True] Translation: X:336.70, Y:6.24, Z:-1.47 [[ 8.99829791e-01 -4.35789209e-01 -1.98522528e-02 3.36698263e+02] [ 4.35680412e-01 9.00048750e-01 -9.73783966e-03 6.23515073e+00] [ 2.21116407e-02 1.13160555e-04 9.99755501e-01 -1.47006344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.924012739 meters Centerline goodness [0,1] 0.9921302637013848 Centerline is valid? [True, True] Translation: X:336.73, Y:6.24, Z:-1.47 [[ 8.97525613e-01 -4.40494517e-01 -2.03065246e-02 3.36727327e+02] [ 4.40381779e-01 8.97755301e-01 -9.96535420e-03 6.24057421e+00] [ 2.26199740e-02 1.53721843e-06 9.99744136e-01 -1.46914701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.954012739 meters Centerline goodness [0,1] 0.9920652079910058 Centerline is valid? [True, True] Translation: X:336.75, Y:6.25, Z:-1.47 [[ 8.96265678e-01 -4.43037785e-01 -2.06241176e-02 3.36754347e+02] [ 4.42922072e-01 8.96502938e-01 -1.01252708e-02 6.24954468e+00] [ 2.29754596e-02 -5.99441834e-05 9.99736027e-01 -1.46949773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.984012739 meters Centerline goodness [0,1] 0.9922183182082731 Centerline is valid? [True, True] Translation: X:336.78, Y:6.26, Z:-1.47 [[ 8.94216346e-01 -4.47116987e-01 -2.15296693e-02 3.36783263e+02] [ 4.46991941e-01 8.94475473e-01 -1.05751007e-02 6.25670727e+00] [ 2.39860683e-02 -1.67160740e-04 9.99712279e-01 -1.47052468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.014012739 meters Centerline goodness [0,1] 0.9922526944829794 Centerline is valid? [True, True] Translation: X:336.81, Y:6.27, Z:-1.47 [[ 8.93559686e-01 -4.48413795e-01 -2.18209918e-02 3.36808967e+02] [ 4.48285619e-01 8.93826062e-01 -1.07226667e-02 6.26672980e+00] [ 2.43123628e-02 -2.00694117e-04 9.99704391e-01 -1.47028798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.044012739 meters Centerline goodness [0,1] 0.9921045351039605 Centerline is valid? [True, True] Translation: X:336.84, Y:6.28, Z:-1.47 [[ 8.93140618e-01 -4.49238972e-01 -2.20041201e-02 3.36835223e+02] [ 4.49108828e-01 8.93411605e-01 -1.08150189e-02 6.27738365e+00] [ 2.45172642e-02 -2.22911874e-04 9.99699382e-01 -1.46999009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.074012739 meters Centerline goodness [0,1] 0.9921935152707674 Centerline is valid? [True, True] Translation: X:336.86, Y:6.29, Z:-1.47 [[ 8.92360095e-01 -4.50804034e-01 -2.16606670e-02 3.36861996e+02] [ 4.50678345e-01 8.92622908e-01 -1.06477409e-02 6.28831016e+00] [ 2.41348521e-02 -2.60374478e-04 9.99708678e-01 -1.46814947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.104012739 meters Centerline goodness [0,1] 0.9920911789560356 Centerline is valid? [True, True] Translation: X:336.89, Y:6.30, Z:-1.47 [[ 8.91963585e-01 -4.51610121e-01 -2.11958096e-02 3.36887345e+02] [ 4.51489902e-01 8.92215346e-01 -1.04232302e-02 6.30129927e+00] [ 2.36184628e-02 -2.72552191e-04 9.99721008e-01 -1.46636342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.134012739 meters Centerline goodness [0,1] 0.9922348525700481 Centerline is valid? [True, True] Translation: X:336.91, Y:6.31, Z:-1.47 [[ 8.91189420e-01 -4.53143620e-01 -2.10303887e-02 3.36913899e+02] [ 4.53025598e-01 8.91437471e-01 -1.03461347e-02 6.31129212e+00] [ 2.34355614e-02 -3.06938669e-04 9.99725302e-01 -1.46605105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.164012739 meters Centerline goodness [0,1] 0.9919867307153781 Centerline is valid? [True, True] Translation: X:336.94, Y:6.32, Z:-1.47 [[ 8.90642058e-01 -4.54186344e-01 -2.17138242e-02 3.36941326e+02] [ 4.54060795e-01 8.90906643e-01 -1.06839801e-02 6.31909427e+00] [ 2.41975081e-02 -3.43794248e-04 9.99707138e-01 -1.46732245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.194012739 meters Centerline goodness [0,1] 0.992087000677048 Centerline is valid? [True, True] Translation: X:336.97, Y:6.33, Z:-1.47 [[ 8.89848665e-01 -4.55649265e-01 -2.35180894e-02 3.36968930e+02] [ 4.55502423e-01 8.90159299e-01 -1.15743423e-02 6.32757029e+00] [ 2.62086865e-02 -4.13133660e-04 9.99656408e-01 -1.47111871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.224012739 meters Centerline goodness [0,1] 0.9921227731272806 Centerline is valid? [True, True] Translation: X:336.99, Y:6.34, Z:-1.47 [[ 8.89387033e-01 -4.56540470e-01 -2.36961031e-02 3.36994236e+02] [ 4.56391663e-01 8.89702537e-01 -1.16638278e-02 6.34101136e+00] [ 2.64074925e-02 -4.41046733e-04 9.99651164e-01 -1.47011994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.254012739 meters Centerline goodness [0,1] 0.9922873135922745 Centerline is valid? [True, True] Translation: X:337.02, Y:6.35, Z:-1.47 [[ 8.89031908e-01 -4.57240144e-01 -2.35312122e-02 3.37021951e+02] [ 4.57093530e-01 8.89343153e-01 -1.15870838e-02 6.34752578e+00] [ 2.62254023e-02 -4.54677683e-04 9.99655952e-01 -1.47013447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.284012739 meters Centerline goodness [0,1] 0.992320068647431 Centerline is valid? [True, True] Translation: X:337.05, Y:6.36, Z:-1.47 [[ 8.88459840e-01 -4.58349967e-01 -2.35461359e-02 3.37048419e+02] [ 4.58203487e-01 8.88771665e-01 -1.15970968e-02 6.35929812e+00] [ 2.62426673e-02 -4.85366771e-04 9.99655484e-01 -1.46861982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.314012739 meters Centerline goodness [0,1] 0.9922421305447512 Centerline is valid? [True, True] Translation: X:337.07, Y:6.37, Z:-1.47 [[ 8.88390382e-01 -4.58474654e-01 -2.37386041e-02 3.37074669e+02] [ 4.58325689e-01 8.88707349e-01 -1.16965931e-02 6.36999421e+00] [ 2.64592634e-02 -4.88871278e-04 9.99649773e-01 -1.46884014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.344012739 meters Centerline goodness [0,1] 0.9923995889355143 Centerline is valid? [True, True] Translation: X:337.10, Y:6.38, Z:-1.47 [[ 8.88461182e-01 -4.58343821e-01 -2.36150461e-02 3.37101112e+02] [ 4.58196218e-01 8.88774839e-01 -1.16409582e-02 6.37999774e+00] [ 2.63240201e-02 -4.77785293e-04 9.99653349e-01 -1.46817931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.374012739 meters Centerline goodness [0,1] 0.9924221401583879 Centerline is valid? [True, True] Translation: X:337.13, Y:6.39, Z:-1.47 [[ 8.88637385e-01 -4.58004638e-01 -2.35658597e-02 3.37128896e+02] [ 4.57857394e-01 8.88949682e-01 -1.16219223e-02 6.38710546e+00] [ 2.62717578e-02 -4.62128493e-04 9.99654731e-01 -1.46749541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.404012739 meters Centerline goodness [0,1] 0.9928198860784356 Centerline is valid? [True, True] Translation: X:337.15, Y:6.40, Z:-1.47 [[ 8.89122604e-01 -4.57072926e-01 -2.33524239e-02 3.37154954e+02] [ 4.56927944e-01 8.89429119e-01 -1.15193860e-02 6.39887020e+00] [ 2.60355253e-02 -4.28228571e-04 9.99660927e-01 -1.46543042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.434012739 meters Centerline goodness [0,1] 0.992464301770461 Centerline is valid? [True, True] Translation: X:337.18, Y:6.41, Z:-1.47 [[ 8.89604735e-01 -4.56124580e-01 -2.35326042e-02 3.37180630e+02] [ 4.55976899e-01 8.89915843e-01 -1.16128740e-02 6.40924269e+00] [ 2.62389546e-02 -3.99456208e-04 9.99655620e-01 -1.46593749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.464012739 meters Centerline goodness [0,1] 0.9925523562986696 Centerline is valid? [True, True] Translation: X:337.21, Y:6.42, Z:-1.47 [[ 8.90777677e-01 -4.53760489e-01 -2.48304109e-02 3.37206586e+02] [ 4.53595095e-01 8.91123616e-01 -1.22552188e-02 6.41989481e+00] [ 2.76878996e-02 -3.46277256e-04 9.99616557e-01 -1.46839964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.494012739 meters Centerline goodness [0,1] 0.9935045637868818 Centerline is valid? [True, True] Translation: X:337.23, Y:6.43, Z:-1.47 [[ 8.91477515e-01 -4.52379709e-01 -2.49086193e-02 3.37231468e+02] [ 4.52212684e-01 8.91825379e-01 -1.22955814e-02 6.43248330e+00] [ 2.77764104e-02 -3.02759221e-04 9.99614115e-01 -1.46800398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.524012739 meters Centerline goodness [0,1] 0.9927242982607198 Centerline is valid? [True, True] Translation: X:337.26, Y:6.45, Z:-1.46 [[ 8.92210846e-01 -4.50972032e-01 -2.41667566e-02 3.37255288e+02] [ 4.50814240e-01 8.92538046e-01 -1.19313504e-02 6.44896304e+00] [ 2.69504550e-02 -2.49437731e-04 9.99636739e-01 -1.46440923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55401273900003 meters Centerline goodness [0,1] 0.9925989672977624 Centerline is valid? [True, True] Translation: X:337.28, Y:6.46, Z:-1.46 [[ 8.93557817e-01 -4.48385288e-01 -2.24735610e-02 3.37278271e+02] [ 4.48247910e-01 8.93840371e-01 -1.10996700e-02 6.46418641e+00] [ 2.50647048e-02 -1.55529843e-04 9.99685819e-01 -1.46064095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.584012739 meters Centerline goodness [0,1] 0.9926789118003813 Centerline is valid? [True, True] Translation: X:337.30, Y:6.48, Z:-1.46 [[ 8.93925879e-01 -4.47691642e-01 -2.16498519e-02 3.37302454e+02] [ 4.47563845e-01 8.94187999e-01 -1.06970746e-02 6.47731444e+00] [ 2.41480287e-02 -1.27299204e-04 9.99708386e-01 -1.45846686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61401273900003 meters Centerline goodness [0,1] 0.9918506666666667 Centerline is valid? [True, True] Translation: X:337.33, Y:6.49, Z:-1.45 [[ 8.94239446e-01 -4.47141373e-01 -2.00101508e-02 3.37327422e+02] [ 4.47031965e-01 8.94463293e-01 -9.89136830e-03 6.48858315e+00] [ 2.23211854e-02 -9.99253134e-05 9.99750846e-01 -1.45475866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.644012739 meters Centerline goodness [0,1] 0.9925341205664656 Centerline is valid? [True, True] Translation: X:337.35, Y:6.50, Z:-1.45 [[ 8.93999920e-01 -4.47653094e-01 -1.92574595e-02 3.37353078e+02] [ 4.47551841e-01 8.94207300e-01 -9.52123214e-03 6.50026626e+00] [ 2.14823699e-02 -1.06730677e-04 9.99769222e-01 -1.45244559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.674012739 meters Centerline goodness [0,1] 0.9918815256765395 Centerline is valid? [True, True] Translation: X:337.38, Y:6.51, Z:-1.45 [[ 8.93565318e-01 -4.48546891e-01 -1.86201377e-02 3.37379099e+02] [ 4.48452404e-01 8.93759292e-01 -9.20703763e-03 6.51209502e+00] [ 2.07717092e-02 -1.23156016e-04 9.99784237e-01 -1.45076013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.704012739 meters Centerline goodness [0,1] 0.992151381571874 Centerline is valid? [True, True] Translation: X:337.41, Y:6.52, Z:-1.45 [[ 8.92732735e-01 -4.50185768e-01 -1.90010136e-02 3.37405862e+02] [ 4.50087666e-01 8.92934907e-01 -9.39918207e-03 6.52203234e+00] [ 2.11980463e-02 -1.61164375e-04 9.99775283e-01 -1.45163650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.734012739 meters Centerline goodness [0,1] 0.9931161279288524 Centerline is valid? [True, True] Translation: X:337.43, Y:6.53, Z:-1.45 [[ 8.91755746e-01 -4.52056775e-01 -2.04049413e-02 3.37433677e+02] [ 4.51944024e-01 8.91989140e-01 -1.00982006e-02 6.52896412e+00] [ 2.27659461e-02 -2.16762857e-04 9.99740799e-01 -1.45367955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.764012739 meters Centerline goodness [0,1] 0.9929949347990085 Centerline is valid? [True, True] Translation: X:337.46, Y:6.54, Z:-1.45 [[ 8.90987411e-01 -4.53563939e-01 -2.05228319e-02 3.37460755e+02] [ 4.53450232e-01 8.91223703e-01 -1.01586836e-02 6.53971927e+00] [ 2.28980468e-02 -2.54823732e-04 9.99737773e-01 -1.45405287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.794012739 meters Centerline goodness [0,1] 0.9926565595658541 Centerline is valid? [True, True] Translation: X:337.49, Y:6.55, Z:-1.45 [[ 8.90310929e-01 -4.54885350e-01 -2.06341385e-02 3.37487695e+02] [ 4.54770659e-01 8.90549963e-01 -1.02182049e-02 6.54792220e+00] [ 2.30238430e-02 -2.86421295e-04 9.99734875e-01 -1.45363567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.824012739 meters Centerline goodness [0,1] 0.9926448705412185 Centerline is valid? [True, True] Translation: X:337.52, Y:6.55, Z:-1.45 [[ 8.89385670e-01 -4.56664392e-01 -2.12311770e-02 3.37515656e+02] [ 4.56543435e-01 8.89638981e-01 -1.05154770e-02 6.55416818e+00] [ 2.36901266e-02 -3.40639913e-04 9.99719292e-01 -1.45406898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.854012739 meters Centerline goodness [0,1] 0.9925660970932362 Centerline is valid? [True, True] Translation: X:337.54, Y:6.57, Z:-1.45 [[ 8.89295806e-01 -4.56824661e-01 -2.15452395e-02 3.37541251e+02] [ 4.56700107e-01 8.89556691e-01 -1.06726386e-02 6.56639004e+00] [ 2.40412365e-02 -3.48580446e-04 9.99710907e-01 -1.45345278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.884012739 meters Centerline goodness [0,1] 0.9925706112166691 Centerline is valid? [True, True] Translation: X:337.57, Y:6.58, Z:-1.45 [[ 8.89862462e-01 -4.55682012e-01 -2.23316526e-02 3.37567875e+02] [ 4.55547704e-01 8.90142572e-01 -1.10675426e-02 6.57662044e+00] [ 2.49216348e-02 -3.24542373e-04 9.99689355e-01 -1.45485316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.914012739 meters Centerline goodness [0,1] 0.9927624156502118 Centerline is valid? [True, True] Translation: X:337.59, Y:6.59, Z:-1.45 [[ 8.90453526e-01 -4.54516429e-01 -2.25240509e-02 3.37592883e+02] [ 4.54379308e-01 8.90738307e-01 -1.11674998e-02 6.59099687e+00] [ 2.51388471e-02 -2.90323073e-04 9.99683927e-01 -1.45466043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.944012739 meters Centerline goodness [0,1] 0.9926793557833089 Centerline is valid? [True, True] Translation: X:337.62, Y:6.61, Z:-1.45 [[ 8.91173143e-01 -4.53101042e-01 -2.25804132e-02 3.37617918e+02] [ 4.52962667e-01 8.91459132e-01 -1.11998955e-02 6.60605528e+00] [ 2.52041999e-02 -2.47038062e-04 9.99682293e-01 -1.45342797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.974012739 meters Centerline goodness [0,1] 0.9926982509763966 Centerline is valid? [True, True] Translation: X:337.64, Y:6.62, Z:-1.45 [[ 8.92807109e-01 -4.49909064e-01 -2.18472190e-02 3.37641605e+02] [ 4.49778470e-01 8.93074360e-01 -1.08404620e-02 6.62131934e+00] [ 2.43884132e-02 -1.47967180e-04 9.99702547e-01 -1.45074646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.004012739 meters Centerline goodness [0,1] 0.9923949499049369 Centerline is valid? [True, True] Translation: X:337.67, Y:6.64, Z:-1.45 [[ 8.93269358e-01 -4.48992315e-01 -2.18117941e-02 3.37666238e+02] [ 4.48861831e-01 8.93535610e-01 -1.08245370e-02 6.63551761e+00] [ 2.43497486e-02 -1.21254631e-04 9.99703494e-01 -1.45010117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.034012739 meters Centerline goodness [0,1] 0.9924298965774603 Centerline is valid? [True, True] Translation: X:337.69, Y:6.65, Z:-1.45 [[ 8.93512383e-01 -4.48477219e-01 -2.24455975e-02 3.37691193e+02] [ 4.48338748e-01 8.93794256e-01 -1.11442678e-02 6.64572662e+00] [ 2.50596964e-02 -1.05689786e-04 9.99685951e-01 -1.45135424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.064012739 meters Centerline goodness [0,1] 0.9921234143475707 Centerline is valid? [True, True] Translation: X:337.72, Y:6.66, Z:-1.45 [[ 8.93162492e-01 -4.49172772e-01 -2.24629443e-02 3.37716652e+02] [ 4.49034246e-01 8.93444909e-01 -1.11552997e-02 6.65690241e+00] [ 2.50800601e-02 -1.23135953e-04 9.99685438e-01 -1.45061645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.094012739 meters Centerline goodness [0,1] 0.9925323347752169 Centerline is valid? [True, True] Translation: X:337.74, Y:6.67, Z:-1.45 [[ 8.92908987e-01 -4.49681567e-01 -2.23613552e-02 3.37741568e+02] [ 4.49544322e-01 8.93188934e-01 -1.11099947e-02 6.66712443e+00] [ 2.49688748e-02 -1.32206196e-04 9.99688220e-01 -1.45043826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.124012739 meters Centerline goodness [0,1] 0.9926075124815188 Centerline is valid? [True, True] Translation: X:337.77, Y:6.68, Z:-1.45 [[ 8.92614220e-01 -4.50280911e-01 -2.20670631e-02 3.37767272e+02] [ 4.50147380e-01 8.92886936e-01 -1.09661045e-02 6.67710986e+00] [ 2.46412199e-02 -1.44929846e-04 9.99696349e-01 -1.44844724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.154012739 meters Centerline goodness [0,1] 0.9923119753297927 Centerline is valid? [True, True] Translation: X:337.79, Y:6.69, Z:-1.45 [[ 8.92524381e-01 -4.50475124e-01 -2.17345724e-02 3.37792745e+02] [ 4.50345527e-01 8.92788968e-01 -1.08057563e-02 6.68878730e+00] [ 2.42721109e-02 -1.43666502e-04 9.99705379e-01 -1.44703504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.184012739 meters Centerline goodness [0,1] 0.9912047021015687 Centerline is valid? [True, True] Translation: X:337.82, Y:6.70, Z:-1.44 [[ 8.92543182e-01 -4.50515638e-01 -2.00581319e-02 3.37818085e+02] [ 4.50405175e-01 8.92768527e-01 -9.97675237e-03 6.69716260e+00] [ 2.24019518e-02 -1.29604103e-04 9.99749036e-01 -1.44273786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.214012739 meters Centerline goodness [0,1] 0.9918549714603331 Centerline is valid? [True, True] Translation: X:337.84, Y:6.71, Z:-1.44 [[ 8.92394114e-01 -4.50828227e-01 -1.96635626e-02 3.37843484e+02] [ 4.50722104e-01 8.92610717e-01 -9.78224994e-03 6.70984074e+00] [ 2.19620211e-02 -1.33180046e-04 9.99758797e-01 -1.44125586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.244012739 meters Centerline goodness [0,1] 0.9914590139431597 Centerline is valid? [True, True] Translation: X:337.87, Y:6.72, Z:-1.44 [[ 8.92066859e-01 -4.51465378e-01 -1.98930115e-02 3.37869286e+02] [ 4.51356819e-01 8.92288625e-01 -9.90106932e-03 6.71919135e+00] [ 2.22202979e-02 -1.46430575e-04 9.99753088e-01 -1.44099564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.274012739 meters Centerline goodness [0,1] 0.9922421989800329 Centerline is valid? [True, True] Translation: X:337.90, Y:6.73, Z:-1.44 [[ 8.91559431e-01 -4.52393885e-01 -2.14838072e-02 3.37895611e+02] [ 4.52267408e-01 8.91818222e-01 -1.06981636e-02 6.72872226e+00] [ 2.39994345e-02 -1.78377100e-04 9.99711956e-01 -1.44432169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30401273900003 meters Centerline goodness [0,1] 0.9917562571707814 Centerline is valid? [True, True] Translation: X:337.92, Y:6.74, Z:-1.44 [[ 8.91479199e-01 -4.52559772e-01 -2.13187732e-02 3.37921019e+02] [ 4.52435162e-01 8.91734053e-01 -1.06208515e-02 6.73752414e+00] [ 2.38172462e-02 -1.77094427e-04 9.99716313e-01 -1.44322000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.334012739 meters Centerline goodness [0,1] 0.9917101561325516 Centerline is valid? [True, True] Translation: X:337.95, Y:6.75, Z:-1.44 [[ 8.91335729e-01 -4.52872388e-01 -2.06692600e-02 3.37946665e+02] [ 4.52755296e-01 8.91575330e-01 -1.02991867e-02 6.74802178e+00] [ 2.30924195e-02 -1.78083836e-04 9.99733319e-01 -1.44119525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36401273900003 meters Centerline goodness [0,1] 0.9919030921262353 Centerline is valid? [True, True] Translation: X:337.97, Y:6.76, Z:-1.44 [[ 8.91179040e-01 -4.53176496e-01 -2.07600896e-02 3.37973178e+02] [ 4.53058346e-01 8.91420793e-01 -1.03491597e-02 6.75830813e+00] [ 2.31959715e-02 -1.82577670e-04 9.99730921e-01 -1.44082359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.394012739 meters Centerline goodness [0,1] 0.9920963008974661 Centerline is valid? [True, True] Translation: X:338.00, Y:6.77, Z:-1.44 [[ 8.90845355e-01 -4.53761191e-01 -2.22561414e-02 3.38000828e+02] [ 4.53625449e-01 8.91123302e-01 -1.11001707e-02 6.76529765e+00] [ 2.48697929e-02 -2.07416623e-04 9.99690677e-01 -1.44452486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.424012739 meters Centerline goodness [0,1] 0.9924781589601535 Centerline is valid? [True, True] Translation: X:338.03, Y:6.78, Z:-1.45 [[ 8.90723237e-01 -4.53963768e-01 -2.30002676e-02 3.38027648e+02] [ 4.53818814e-01 8.91020117e-01 -1.14732228e-02 6.77526647e+00] [ 2.57021286e-02 -2.18487956e-04 9.99669622e-01 -1.44601597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.454012739 meters Centerline goodness [0,1] 0.9923197391285693 Centerline is valid? [True, True] Translation: X:338.05, Y:6.78, Z:-1.45 [[ 8.90797944e-01 -4.53831444e-01 -2.27165710e-02 3.38054392e+02] [ 4.53689878e-01 8.91087525e-01 -1.13365514e-02 6.78161857e+00] [ 2.53873365e-02 -2.07701684e-04 9.99677668e-01 -1.44523061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.484012739 meters Centerline goodness [0,1] 0.9923971377459749 Centerline is valid? [True, True] Translation: X:338.08, Y:6.79, Z:-1.44 [[ 8.90985125e-01 -4.53497038e-01 -2.20440995e-02 3.38080643e+02] [ 4.53363575e-01 8.91257763e-01 -1.10031365e-02 6.79247017e+00] [ 2.46368646e-02 -1.90360847e-04 9.99696448e-01 -1.44235283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.514012739 meters Centerline goodness [0,1] 0.9918457634837674 Centerline is valid? [True, True] Translation: X:338.11, Y:6.81, Z:-1.44 [[ 8.91316195e-01 -4.52890856e-01 -2.11024149e-02 3.38105450e+02] [ 4.52768278e-01 8.91565951e-01 -1.05375623e-02 6.80501210e+00] [ 2.35865602e-02 -1.62204068e-04 9.99721785e-01 -1.43943811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.544012739 meters Centerline goodness [0,1] 0.9911246381746978 Centerline is valid? [True, True] Translation: X:338.13, Y:6.82, Z:-1.44 [[ 8.92871500e-01 -4.49828975e-01 -2.08417215e-02 3.38129771e+02] [ 4.49708460e-01 8.93114711e-01 -1.04121792e-02 6.81940415e+00] [ 2.32977480e-02 -7.59604174e-05 9.99728568e-01 -1.43649872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.574012739 meters Centerline goodness [0,1] 0.9913699186123512 Centerline is valid? [True, True] Translation: X:338.15, Y:6.83, Z:-1.44 [[ 8.93806969e-01 -4.47957495e-01 -2.10519609e-02 3.38152854e+02] [ 4.47833981e-01 8.94054854e-01 -1.05186957e-02 6.83487928e+00] [ 2.35335364e-02 -2.60999682e-05 9.99723048e-01 -1.43648347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.604012739 meters Centerline goodness [0,1] 0.9905225520182657 Centerline is valid? [True, True] Translation: X:338.18, Y:6.85, Z:-1.44 [[ 8.95436971e-01 -4.44705947e-01 -2.07183966e-02 3.38175667e+02] [ 4.44585343e-01 8.95676625e-01 -1.03564573e-02 6.85238241e+00] [ 2.31625617e-02 6.24593387e-05 9.99731710e-01 -1.43517297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.634012739 meters Centerline goodness [0,1] 0.9904606393949811 Centerline is valid? [True, True] Translation: X:338.20, Y:6.87, Z:-1.43 [[ 8.96270297e-01 -4.43047456e-01 -2.02115516e-02 3.38199486e+02] [ 4.42932153e-01 8.96498154e-01 -1.01078050e-02 6.86761122e+00] [ 2.25978560e-02 1.06979334e-04 9.99744630e-01 -1.43297412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.664012739 meters Centerline goodness [0,1] 0.9904663967264391 Centerline is valid? [True, True] Translation: X:338.22, Y:6.88, Z:-1.43 [[ 8.97480377e-01 -4.40608277e-01 -1.98322728e-02 3.38222288e+02] [ 4.40496635e-01 8.97699459e-01 -9.91946802e-03 6.88433417e+00] [ 2.21740203e-02 1.66478437e-04 9.99754112e-01 -1.43136812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.694012739 meters Centerline goodness [0,1] 0.9902912621359223 Centerline is valid? [True, True] Translation: X:338.25, Y:6.90, Z:-1.43 [[ 8.97665993e-01 -4.40199145e-01 -2.05055715e-02 3.38247021e+02] [ 4.40079637e-01 8.97900150e-01 -1.02583484e-02 6.89687629e+00] [ 2.29276719e-02 1.84485972e-04 9.99737109e-01 -1.43248970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.724012739 meters Centerline goodness [0,1] 0.9911093020266507 Centerline is valid? [True, True] Translation: X:338.27, Y:6.91, Z:-1.43 [[ 8.97814997e-01 -4.39851748e-01 -2.14166047e-02 3.38271145e+02] [ 4.39721165e-01 8.98070374e-01 -1.07191338e-02 6.91020786e+00] [ 2.39484479e-02 2.06464764e-04 9.99713173e-01 -1.43384370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.754012739 meters Centerline goodness [0,1] 0.9911909343596322 Centerline is valid? [True, True] Translation: X:338.30, Y:6.92, Z:-1.43 [[ 8.97966338e-01 -4.39502550e-01 -2.22253091e-02 3.38295871e+02] [ 4.39361770e-01 8.98241314e-01 -1.11255441e-02 6.92395906e+00] [ 2.48533959e-02 2.25412914e-04 9.99691081e-01 -1.43438634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.784012739 meters Centerline goodness [0,1] 0.9911909343596322 Centerline is valid? [True, True] Translation: X:338.32, Y:6.94, Z:-1.43 [[ 8.97887865e-01 -4.39662894e-01 -2.22243265e-02 3.38320361e+02] [ 4.39522114e-01 8.98162841e-01 -1.11275067e-02 6.93644922e+00] [ 2.48534160e-02 2.23170236e-04 9.99691081e-01 -1.43373238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.814012739 meters Centerline goodness [0,1] 0.9910029561715437 Centerline is valid? [True, True] Translation: X:338.35, Y:6.95, Z:-1.43 [[ 8.97825606e-01 -4.39789618e-01 -2.22322454e-02 3.38345828e+02] [ 4.39648653e-01 8.98100797e-01 -1.11364391e-02 6.94909243e+00] [ 2.48644876e-02 2.24203443e-04 9.99690806e-01 -1.43310764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.844012739 meters Centerline goodness [0,1] 0.9911606703336686 Centerline is valid? [True, True] Translation: X:338.37, Y:6.96, Z:-1.43 [[ 8.97306155e-01 -4.40859768e-01 -2.20074860e-02 3.38372738e+02] [ 4.40721841e-01 8.97575972e-01 -1.10286947e-02 6.95975711e+00] [ 2.46154984e-02 1.96935884e-04 9.99696973e-01 -1.43171930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.874012739 meters Centerline goodness [0,1] 0.9920497900547776 Centerline is valid? [True, True] Translation: X:338.40, Y:6.97, Z:-1.43 [[ 8.96802664e-01 -4.41873819e-01 -2.21925656e-02 3.38398303e+02] [ 4.41733768e-01 8.97077197e-01 -1.11256771e-02 6.97053736e+00] [ 2.48245900e-02 1.74331291e-04 9.99691807e-01 -1.43209948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.904012739 meters Centerline goodness [0,1] 0.9920133253608951 Centerline is valid? [True, True] Translation: X:338.43, Y:6.98, Z:-1.43 [[ 8.95348101e-01 -4.44816233e-01 -2.21426676e-02 3.38426798e+02] [ 4.44677668e-01 8.95621857e-01 -1.11023013e-02 6.97761007e+00] [ 2.47699409e-02 9.40745693e-05 9.99693174e-01 -1.43132723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.934012739 meters Centerline goodness [0,1] 0.991420156229991 Centerline is valid? [True, True] Translation: X:338.45, Y:6.99, Z:-1.43 [[ 8.94893699e-01 -4.45753855e-01 -2.16510637e-02 3.38452343e+02] [ 4.45621550e-01 8.95155571e-01 -1.08599230e-02 6.98806449e+00] [ 2.42219228e-02 7.02960946e-05 9.99706604e-01 -1.42963651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.964012739 meters Centerline goodness [0,1] 0.9909019071823676 Centerline is valid? [True, True] Translation: X:338.48, Y:7.00, Z:-1.43 [[ 8.94387201e-01 -4.46793971e-01 -2.11348693e-02 3.38478963e+02] [ 4.46668157e-01 8.94636879e-01 -1.06024251e-02 6.99814971e+00] [ 2.36451331e-02 4.24001842e-05 9.99720414e-01 -1.42808428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.994012739 meters Centerline goodness [0,1] 0.9917033525228581 Centerline is valid? [True, True] Translation: X:338.50, Y:7.01, Z:-1.43 [[ 8.94678784e-01 -4.46202672e-01 -2.12849655e-02 3.38502583e+02] [ 4.46074781e-01 8.94931937e-01 -1.06825784e-02 7.01152441e+00] [ 2.38151904e-02 6.27898697e-05 9.99716376e-01 -1.42779224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.024012739 meters Centerline goodness [0,1] 0.9915358538639258 Centerline is valid? [True, True] Translation: X:338.53, Y:7.02, Z:-1.43 [[ 8.95069514e-01 -4.45410239e-01 -2.14542284e-02 3.38527617e+02] [ 4.45280027e-01 8.95326595e-01 -1.07696895e-02 7.02418740e+00] [ 2.40054712e-02 8.64813119e-05 9.99711823e-01 -1.42811479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05401273900003 meters Centerline goodness [0,1] 0.9916648902153059 Centerline is valid? [True, True] Translation: X:338.55, Y:7.04, Z:-1.43 [[ 8.96402668e-01 -4.42716353e-01 -2.15519961e-02 3.38549689e+02] [ 4.42584047e-01 8.96661700e-01 -1.08239246e-02 7.04156532e+00] [ 2.41167779e-02 1.64025237e-04 9.99709135e-01 -1.42659189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.084012739 meters Centerline goodness [0,1] 0.9911425095511494 Centerline is valid? [True, True] Translation: X:338.57, Y:7.06, Z:-1.43 [[ 8.96955428e-01 -4.41592063e-01 -2.16196737e-02 3.38573989e+02] [ 4.41458539e-01 8.97215922e-01 -1.08603552e-02 7.05711170e+00] [ 2.41933622e-02 1.97064965e-04 9.99707278e-01 -1.42526807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11401273900003 meters Centerline goodness [0,1] 0.9910826666666667 Centerline is valid? [True, True] Translation: X:338.60, Y:7.07, Z:-1.43 [[ 8.98128624e-01 -4.39194870e-01 -2.17448823e-02 3.38596718e+02] [ 4.39058992e-01 8.98391782e-01 -1.09273419e-02 7.07401447e+00] [ 2.43346561e-02 2.66872458e-04 9.99703833e-01 -1.42638119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.144012739 meters Centerline goodness [0,1] 0.9905994201909959 Centerline is valid? [True, True] Translation: X:338.62, Y:7.09, Z:-1.43 [[ 8.98395027e-01 -4.38632507e-01 -2.20884390e-02 3.38622598e+02] [ 4.38492090e-01 8.98666479e-01 -1.11016053e-02 7.08761680e+00] [ 2.47196646e-02 2.88021197e-04 9.99694381e-01 -1.42689555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.174012739 meters Centerline goodness [0,1] 0.9912271177607436 Centerline is valid? [True, True] Translation: X:338.65, Y:7.10, Z:-1.43 [[ 8.98397267e-01 -4.38623788e-01 -2.21703317e-02 3.38648859e+02] [ 4.38482220e-01 8.98670733e-01 -1.11470156e-02 7.09740562e+00] [ 2.48131745e-02 2.93152109e-04 9.99692063e-01 -1.42605733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.204012739 meters Centerline goodness [0,1] 0.9910965222801484 Centerline is valid? [True, True] Translation: X:338.67, Y:7.11, Z:-1.43 [[ 8.98449744e-01 -4.38511495e-01 -2.22649107e-02 3.38672422e+02] [ 4.38368554e-01 8.98725529e-01 -1.11997036e-02 7.11025171e+00] [ 2.49212424e-02 3.02134149e-04 9.99689372e-01 -1.42562488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.234012739 meters Centerline goodness [0,1] 0.9909821352252329 Centerline is valid? [True, True] Translation: X:338.70, Y:7.13, Z:-1.43 [[ 8.98509304e-01 -4.38376494e-01 -2.25184361e-02 3.38695834e+02] [ 4.38230180e-01 8.98791384e-01 -1.13294691e-02 7.12550822e+00] [ 2.52059493e-02 3.11375095e-04 9.99682231e-01 -1.42562950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.264012739 meters Centerline goodness [0,1] 0.9916043777173331 Centerline is valid? [True, True] Translation: X:338.72, Y:7.14, Z:-1.43 [[ 8.99050266e-01 -4.37203637e-01 -2.36980813e-02 3.38722166e+02] [ 4.37041134e-01 8.99362467e-01 -1.19247641e-02 7.13633432e+00] [ 2.65267151e-02 3.63926016e-04 9.99648039e-01 -1.42697402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.294012739 meters Centerline goodness [0,1] 0.991335601052564 Centerline is valid? [True, True] Translation: X:338.75, Y:7.15, Z:-1.43 [[ 8.99270598e-01 -4.36724468e-01 -2.41688020e-02 3.38747302e+02] [ 4.36555212e-01 8.99595236e-01 -1.21637743e-02 7.14954872e+00] [ 2.70543570e-02 3.87508133e-04 9.99633889e-01 -1.42666280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.324012739 meters Centerline goodness [0,1] 0.9914365050766263 Centerline is valid? [True, True] Translation: X:338.77, Y:7.17, Z:-1.42 [[ 8.99946715e-01 -4.35357092e-01 -2.36666978e-02 3.38770696e+02] [ 4.35194209e-01 9.00257754e-01 -1.19154394e-02 7.16575386e+00] [ 2.64935992e-02 4.23650766e-04 9.99648893e-01 -1.42482387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.354012739 meters Centerline goodness [0,1] 0.9905690503054947 Centerline is valid? [True, True] Translation: X:338.80, Y:7.18, Z:-1.42 [[ 9.00441904e-01 -4.34346362e-01 -2.34011551e-02 3.38795613e+02] [ 4.34186723e-01 9.00745821e-01 -1.17836781e-02 7.18091886e+00] [ 2.61966904e-02 4.50046705e-04 9.99656707e-01 -1.42379130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.384012739 meters Centerline goodness [0,1] 0.9898818127710228 Centerline is valid? [True, True] Translation: X:338.82, Y:7.20, Z:-1.42 [[ 9.01041004e-01 -4.33108196e-01 -2.32894831e-02 3.38819782e+02] [ 4.32949548e-01 9.01341807e-01 -1.17318628e-02 7.19517403e+00] [ 2.60729508e-02 4.87718292e-04 9.99659924e-01 -1.42265207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.414012739 meters Centerline goodness [0,1] 0.9894987965152193 Centerline is valid? [True, True] Translation: X:338.84, Y:7.21, Z:-1.42 [[ 9.02028910e-01 -4.31097807e-01 -2.23276861e-02 3.38843428e+02] [ 4.30951322e-01 9.02305051e-01 -1.12495943e-02 7.21114291e+00] [ 2.49960594e-02 5.25313389e-04 9.99687412e-01 -1.41956186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.444012739 meters Centerline goodness [0,1] 0.9878413648227131 Centerline is valid? [True, True] Translation: X:338.86, Y:7.23, Z:-1.42 [[ 9.02568499e-01 -4.29992034e-01 -2.18393228e-02 3.38864122e+02] [ 4.29851527e-01 9.02832517e-01 -1.10050342e-02 7.23109708e+00] [ 2.44493278e-02 5.45130905e-04 9.99700922e-01 -1.41744187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.474012739 meters Centerline goodness [0,1] 0.9882696074257005 Centerline is valid? [True, True] Translation: X:338.89, Y:7.25, Z:-1.42 [[ 9.03295510e-01 -4.28465759e-01 -2.17787883e-02 3.38888764e+02] [ 4.28325550e-01 9.03557829e-01 -1.09760409e-02 7.24528578e+00] [ 2.43812523e-02 5.86196954e-04 9.99702561e-01 -1.41786636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.504012739 meters Centerline goodness [0,1] 0.9871068110135538 Centerline is valid? [True, True] Translation: X:338.91, Y:7.26, Z:-1.42 [[ 9.03537858e-01 -4.27937950e-01 -2.21009141e-02 3.38910779e+02] [ 4.27793366e-01 9.03807910e-01 -1.11399301e-02 7.26436617e+00] [ 2.47421798e-02 6.10724126e-04 9.99693679e-01 -1.41846282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.534012739 meters Centerline goodness [0,1] 0.9879763384628574 Centerline is valid? [True, True] Translation: X:338.94, Y:7.28, Z:-1.42 [[ 9.03803879e-01 -4.27363983e-01 -2.23287625e-02 3.38937625e+02] [ 4.27216185e-01 9.04079434e-01 -1.12564550e-02 7.27590068e+00] [ 2.49975784e-02 6.34418936e-04 9.99687310e-01 -1.41828126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.564012739 meters Centerline goodness [0,1] 0.9862671131267748 Centerline is valid? [True, True] Translation: X:338.96, Y:7.29, Z:-1.42 [[ 9.03831298e-01 -4.27326222e-01 -2.19381940e-02 3.38958010e+02] [ 4.27183439e-01 9.04097288e-01 -1.10636101e-02 7.29481641e+00] [ 2.45620324e-02 6.28003915e-04 9.99698111e-01 -1.41701121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.594012739 meters Centerline goodness [0,1] 0.9884789671682627 Centerline is valid? [True, True] Translation: X:338.99, Y:7.30, Z:-1.41 [[ 9.03774985e-01 -4.27470289e-01 -2.14459512e-02 3.38986494e+02] [ 4.27333837e-01 9.04029191e-01 -1.08173156e-02 7.30091218e+00] [ 2.40118469e-02 6.11838607e-04 9.99711487e-01 -1.41453499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.624012739 meters Centerline goodness [0,1] 0.987245769953854 Centerline is valid? [True, True] Translation: X:339.01, Y:7.32, Z:-1.41 [[ 9.03773600e-01 -4.27477549e-01 -2.13594229e-02 3.39006935e+02] [ 4.27342082e-01 9.04025757e-01 -1.07785180e-02 7.32068429e+00] [ 2.39170429e-02 6.13559812e-04 9.99713758e-01 -1.41385111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.654012739 meters Centerline goodness [0,1] 0.987733843537415 Centerline is valid? [True, True] Translation: X:339.03, Y:7.34, Z:-1.41 [[ 9.03791084e-01 -4.27415554e-01 -2.18545301e-02 3.39031967e+02] [ 4.27273659e-01 9.04055057e-01 -1.10306370e-02 7.33615880e+00] [ 2.44723642e-02 6.31526300e-04 9.99700307e-01 -1.41441483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.684012739 meters Centerline goodness [0,1] 0.9877348864892441 Centerline is valid? [True, True] Translation: X:339.06, Y:7.35, Z:-1.41 [[ 9.03834696e-01 -4.27314772e-01 -2.20210659e-02 3.39055124e+02] [ 4.27170573e-01 9.04102689e-01 -1.11188556e-02 7.35369800e+00] [ 2.46605561e-02 6.42856103e-04 9.99695676e-01 -1.41467484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.714012739 meters Centerline goodness [0,1] 0.9870586972851164 Centerline is valid? [True, True] Translation: X:339.08, Y:7.37, Z:-1.41 [[ 9.03915380e-01 -4.27172260e-01 -2.14673028e-02 3.39078664e+02] [ 4.27035090e-01 9.04170038e-01 -1.08431482e-02 7.36882731e+00] [ 2.40419841e-02 6.33996835e-04 9.99710749e-01 -1.41289538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.744012739 meters Centerline goodness [0,1] 0.9869137082145634 Centerline is valid? [True, True] Translation: X:339.10, Y:7.38, Z:-1.41 [[ 9.03962876e-01 -4.27088768e-01 -2.11259005e-02 3.39103553e+02] [ 4.26955871e-01 9.04209484e-01 -1.06720798e-02 7.38323074e+00] [ 2.36601650e-02 6.27336651e-04 9.99719862e-01 -1.41075750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.774012739 meters Centerline goodness [0,1] 0.9870510053633624 Centerline is valid? [True, True] Translation: X:339.13, Y:7.40, Z:-1.41 [[ 9.03710482e-01 -4.27587039e-01 -2.18332113e-02 3.39127618e+02] [ 4.27445135e-01 9.03973958e-01 -1.10335941e-02 7.39848855e+00] [ 2.44544763e-02 6.38674706e-04 9.99700741e-01 -1.41248497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80401273900003 meters Centerline goodness [0,1] 0.9883678662304617 Centerline is valid? [True, True] Translation: X:339.15, Y:7.41, Z:-1.41 [[ 9.03309399e-01 -4.28386546e-01 -2.27397735e-02 3.39154742e+02] [ 4.28232752e-01 9.03595346e-01 -1.14961437e-02 7.40874756e+00] [ 2.54723468e-02 6.46658881e-04 9.99675318e-01 -1.41432610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.834012739 meters Centerline goodness [0,1] 0.9894634985485432 Centerline is valid? [True, True] Translation: X:339.18, Y:7.42, Z:-1.42 [[ 9.02137616e-01 -4.30819450e-01 -2.32878126e-02 3.39181633e+02] [ 4.30658841e-01 9.02437946e-01 -1.17778066e-02 7.42056616e+00] [ 2.60899140e-02 5.96099949e-04 9.99659423e-01 -1.41540945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86401273900003 meters Centerline goodness [0,1] 0.9898767984836736 Centerline is valid? [True, True] Translation: X:339.21, Y:7.43, Z:-1.41 [[ 9.01451573e-01 -4.32285637e-01 -2.26757400e-02 3.39208063e+02] [ 4.32133722e-01 9.01736566e-01 -1.14722383e-02 7.43227066e+00] [ 2.54068278e-02 5.42715270e-04 9.99677047e-01 -1.41323669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.894012739 meters Centerline goodness [0,1] 0.9900949941295762 Centerline is valid? [True, True] Translation: X:339.23, Y:7.44, Z:-1.41 [[ 9.00978143e-01 -4.33304165e-01 -2.20428392e-02 3.39234048e+02] [ 4.33160815e-01 9.01247606e-01 -1.11561812e-02 7.44481501e+00] [ 2.47000758e-02 5.03381191e-04 9.99694780e-01 -1.41027734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.924012739 meters Centerline goodness [0,1] 0.9898395721925134 Centerline is valid? [True, True] Translation: X:339.26, Y:7.46, Z:-1.41 [[ 9.00664504e-01 -4.34030400e-01 -2.05198353e-02 3.39257862e+02] [ 4.33906280e-01 9.00898111e-01 -1.03891194e-02 7.45916112e+00] [ 2.29954745e-02 4.53425652e-04 9.99735466e-01 -1.40587879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.954012739 meters Centerline goodness [0,1] 0.9898466374952207 Centerline is valid? [True, True] Translation: X:339.28, Y:7.47, Z:-1.41 [[ 9.00648913e-01 -4.34049214e-01 -2.08041945e-02 3.39280526e+02] [ 4.33921601e-01 9.00889043e-01 -1.05345155e-02 7.47437583e+00] [ 2.33147690e-02 4.60510534e-04 9.99728068e-01 -1.40630820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.984012739 meters Centerline goodness [0,1] 0.9899874577496227 Centerline is valid? [True, True] Translation: X:339.30, Y:7.49, Z:-1.41 [[ 9.00435310e-01 -4.34487239e-01 -2.09067407e-02 3.39303991e+02] [ 4.34358437e-01 9.00677874e-01 -1.05884449e-02 7.48877581e+00] [ 2.34307830e-02 4.53190424e-04 9.99725359e-01 -1.40726636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.014012739 meters Centerline goodness [0,1] 0.9905628222061267 Centerline is valid? [True, True] Translation: X:339.33, Y:7.50, Z:-1.41 [[ 8.99925460e-01 -4.35552454e-01 -2.06936368e-02 3.39330292e+02] [ 4.35426514e-01 9.00163253e-01 -1.04818246e-02 7.50132500e+00] [ 2.31930358e-02 4.22302722e-04 9.99730916e-01 -1.40617462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.044012739 meters Centerline goodness [0,1] 0.9920528103569827 Centerline is valid? [True, True] Translation: X:339.36, Y:7.51, Z:-1.41 [[ 8.98622672e-01 -4.38238576e-01 -2.05971675e-02 3.39358405e+02] [ 4.38114424e-01 8.98858623e-01 -1.04368146e-02 7.51026365e+00] [ 2.30877564e-02 3.54842074e-04 9.99733379e-01 -1.40508791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.074012739 meters Centerline goodness [0,1] 0.9922137865585368 Centerline is valid? [True, True] Translation: X:339.39, Y:7.52, Z:-1.40 [[ 8.97719415e-01 -4.40085838e-01 -2.05987262e-02 3.39385390e+02] [ 4.39962061e-01 8.97955655e-01 -1.04415635e-02 7.52031106e+00] [ 2.30919270e-02 3.10936245e-04 9.99733298e-01 -1.40453409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.104012739 meters Centerline goodness [0,1] 0.992967051702826 Centerline is valid? [True, True] Translation: X:339.41, Y:7.53, Z:-1.41 [[ 8.95796232e-01 -4.43934191e-01 -2.17151064e-02 3.39411831e+02] [ 4.43797648e-01 8.96059363e-01 -1.10120397e-02 7.53001642e+00] [ 2.43466453e-02 2.27430531e-04 9.99703551e-01 -1.40643037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.134012739 meters Centerline goodness [0,1] 0.9937918467666751 Centerline is valid? [True, True] Translation: X:339.44, Y:7.54, Z:-1.41 [[ 8.94871107e-01 -4.45775756e-01 -2.21286375e-02 3.39439434e+02] [ 4.45634482e-01 8.95144649e-01 -1.12234858e-02 7.53915594e+00] [ 2.48114893e-02 1.82289261e-04 9.99692131e-01 -1.40649365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.164012739 meters Centerline goodness [0,1] 0.9947805915329596 Centerline is valid? [True, True] Translation: X:339.47, Y:7.55, Z:-1.41 [[ 8.93860360e-01 -4.47794464e-01 -2.22210471e-02 3.39466757e+02] [ 4.47652520e-01 8.94136511e-01 -1.12747737e-02 7.54869027e+00] [ 2.49174308e-02 1.30765545e-04 9.99689504e-01 -1.40565767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.194012739 meters Centerline goodness [0,1] 0.9942333063795378 Centerline is valid? [True, True] Translation: X:339.49, Y:7.56, Z:-1.41 [[ 8.93718572e-01 -4.48076337e-01 -2.22420760e-02 3.39490420e+02] [ 4.47934100e-01 8.93995291e-01 -1.12899004e-02 7.56151119e+00] [ 2.49430484e-02 1.27009371e-04 9.99688866e-01 -1.40532186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.224012739 meters Centerline goodness [0,1] 0.9948179871520343 Centerline is valid? [True, True] Translation: X:339.52, Y:7.57, Z:-1.40 [[ 8.93827603e-01 -4.47867316e-01 -2.20699478e-02 3.39515181e+02] [ 4.47727151e-01 8.94100022e-01 -1.12048766e-02 7.57405449e+00] [ 2.47510389e-02 1.33913173e-04 9.99693637e-01 -1.40421725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.254012739 meters Centerline goodness [0,1] 0.9937868442257941 Centerline is valid? [True, True] Translation: X:339.54, Y:7.59, Z:-1.40 [[ 8.94739148e-01 -4.46080854e-01 -2.13009133e-02 3.39537079e+02] [ 4.45949667e-01 8.94992647e-01 -1.08192309e-02 7.59162479e+00] [ 2.38904125e-02 1.81254256e-04 9.99714567e-01 -1.40117735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.284012739 meters Centerline goodness [0,1] 0.9938614877871412 Centerline is valid? [True, True] Translation: X:339.56, Y:7.61, Z:-1.40 [[ 8.95238138e-01 -4.45118682e-01 -2.04459319e-02 3.39562997e+02] [ 4.44997535e-01 8.95471562e-01 -1.03862869e-02 7.60519616e+00] [ 2.29318810e-02 1.99810874e-04 9.99737010e-01 -1.39925625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.314012739 meters Centerline goodness [0,1] 0.9930747625479728 Centerline is valid? [True, True] Translation: X:339.59, Y:7.62, Z:-1.40 [[ 8.96160348e-01 -4.43275573e-01 -2.00847360e-02 3.39586725e+02] [ 4.43158116e-01 8.96385356e-01 -1.02067605e-02 7.62293197e+00] [ 2.25280708e-02 2.46180321e-04 9.99746180e-01 -1.39793563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.344012739 meters Centerline goodness [0,1] 0.9924594214629574 Centerline is valid? [True, True] Translation: X:339.61, Y:7.64, Z:-1.40 [[ 8.96460795e-01 -4.42654590e-01 -2.03704940e-02 3.39609898e+02] [ 4.42533509e-01 8.96692167e-01 -1.03562376e-02 7.63824962e+00] [ 2.28502985e-02 2.69334804e-04 9.99738862e-01 -1.39810106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.374012739 meters Centerline goodness [0,1] 0.9928280219428376 Centerline is valid? [True, True] Translation: X:339.63, Y:7.65, Z:-1.40 [[ 8.96557378e-01 -4.42443938e-01 -2.06937307e-02 3.39634669e+02] [ 4.42318894e-01 8.96796121e-01 -1.05219932e-02 7.65175935e+00] [ 2.32134495e-02 2.80342554e-04 9.99730492e-01 -1.39821348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.404012739 meters Centerline goodness [0,1] 0.9925444669293855 Centerline is valid? [True, True] Translation: X:339.66, Y:7.67, Z:-1.40 [[ 8.96679854e-01 -4.42193324e-01 -2.07437559e-02 3.39656241e+02] [ 4.42067497e-01 8.96919717e-01 -1.05522291e-02 7.67046255e+00] [ 2.32716089e-02 2.91830980e-04 9.99729137e-01 -1.39790255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.434012739 meters Centerline goodness [0,1] 0.9924984593152985 Centerline is valid? [True, True] Translation: X:339.68, Y:7.68, Z:-1.40 [[ 8.96141339e-01 -4.43267093e-01 -2.10946840e-02 3.39682181e+02] [ 4.43137233e-01 8.96389542e-01 -1.07322508e-02 7.68256532e+00] [ 2.36663078e-02 2.69773684e-04 9.99719877e-01 -1.39685785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.464012739 meters Centerline goodness [0,1] 0.993560533127955 Centerline is valid? [True, True] Translation: X:339.71, Y:7.70, Z:-1.40 [[ 8.95781691e-01 -4.43962034e-01 -2.17456817e-02 3.39707207e+02] [ 4.43824134e-01 8.96045559e-01 -1.10677124e-02 7.69526617e+00] [ 2.43987656e-02 2.62995738e-04 9.99702271e-01 -1.39779355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.494012739 meters Centerline goodness [0,1] 0.9943756060769313 Centerline is valid? [True, True] Translation: X:339.73, Y:7.71, Z:-1.40 [[ 8.95336630e-01 -4.44825084e-01 -2.24268656e-02 3.39732151e+02] [ 4.44678549e-01 8.95617430e-01 -1.14195834e-02 7.70701349e+00] [ 2.51656089e-02 2.51625281e-04 9.99683264e-01 -1.39881248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.524012739 meters Centerline goodness [0,1] 0.9942696461666276 Centerline is valid? [True, True] Translation: X:339.76, Y:7.72, Z:-1.40 [[ 8.95036832e-01 -4.45387346e-01 -2.32202849e-02 3.39755425e+02] [ 4.45230307e-01 8.95337953e-01 -1.18289656e-02 7.72238794e+00] [ 2.60584739e-02 2.48985283e-04 9.99660389e-01 -1.40000773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55401273900003 meters Centerline goodness [0,1] 0.9944943987415769 Centerline is valid? [True, True] Translation: X:339.78, Y:7.74, Z:-1.40 [[ 8.95082905e-01 -4.45308066e-01 -2.29634211e-02 3.39777380e+02] [ 4.45154412e-01 8.95377386e-01 -1.16998396e-02 7.73836261e+00] [ 2.57709609e-02 2.50058257e-04 9.99667842e-01 -1.39932984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.584012739 meters Centerline goodness [0,1] 0.9928910456973798 Centerline is valid? [True, True] Translation: X:339.80, Y:7.76, Z:-1.40 [[ 8.96007594e-01 -4.43504865e-01 -2.17675367e-02 3.39797040e+02] [ 4.43366219e-01 8.96271919e-01 -1.10925258e-02 7.76161845e+00] [ 2.44292211e-02 2.87996868e-04 9.99701521e-01 -1.39587197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61401273900003 meters Centerline goodness [0,1] 0.9926700004274053 Centerline is valid? [True, True] Translation: X:339.82, Y:7.78, Z:-1.40 [[ 8.96607561e-01 -4.42275636e-01 -2.20713409e-02 3.39819720e+02] [ 4.42132679e-01 8.96879119e-01 -1.12489813e-02 7.78046049e+00] [ 2.47704751e-02 3.27460657e-04 9.99693111e-01 -1.39536508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.644012739 meters Centerline goodness [0,1] 0.9932514943119738 Centerline is valid? [True, True] Translation: X:339.84, Y:7.80, Z:-1.40 [[ 8.97435804e-01 -4.40560214e-01 -2.27084820e-02 3.39843849e+02] [ 4.40408229e-01 8.97722978e-01 -1.15778070e-02 7.79540803e+00] [ 2.54866473e-02 3.89336194e-04 9.99675087e-01 -1.39549403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.674012739 meters Centerline goodness [0,1] 0.9932514943119738 Centerline is valid? [True, True] Translation: X:339.87, Y:7.81, Z:-1.39 [[ 8.97359549e-01 -4.40715552e-01 -2.27077647e-02 3.39868234e+02] [ 4.40563581e-01 8.97646730e-01 -1.15792137e-02 7.80807879e+00] [ 2.54866903e-02 3.86503862e-04 9.99675087e-01 -1.39484018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.704012739 meters Centerline goodness [0,1] 0.9922843464136103 Centerline is valid? [True, True] Translation: X:339.89, Y:7.83, Z:-1.40 [[ 8.98659588e-01 -4.38007214e-01 -2.36775257e-02 3.39888183e+02] [ 4.37840911e-01 8.98971325e-01 -1.20786776e-02 7.83051472e+00] [ 2.65759646e-02 4.87630031e-04 9.99646678e-01 -1.39666791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.734012739 meters Centerline goodness [0,1] 0.9926164614498196 Centerline is valid? [True, True] Translation: X:339.91, Y:7.85, Z:-1.40 [[ 8.98810004e-01 -4.37723116e-01 -2.32174703e-02 3.39911771e+02] [ 4.37563078e-01 8.99109691e-01 -1.18455412e-02 7.84705036e+00] [ 2.60601197e-02 4.87783154e-04 9.99660258e-01 -1.39570189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.764012739 meters Centerline goodness [0,1] 0.9927151182721975 Centerline is valid? [True, True] Translation: X:339.94, Y:7.86, Z:-1.39 [[ 8.98124392e-01 -4.39211102e-01 -2.15913321e-02 3.39938155e+02] [ 4.39073038e-01 8.98383790e-01 -1.10196730e-02 7.85952970e+00] [ 2.42372655e-02 4.16865311e-04 9.99706147e-01 -1.39218576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.794012739 meters Centerline goodness [0,1] 0.9932430987662241 Centerline is valid? [True, True] Translation: X:339.96, Y:7.87, Z:-1.39 [[ 8.97007477e-01 -4.41497172e-01 -2.13970658e-02 3.39964942e+02] [ 4.41362136e-01 8.97262571e-01 -1.09244706e-02 7.87068086e+00] [ 2.40219092e-02 3.55477143e-04 9.99711369e-01 -1.39120455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.824012739 meters Centerline goodness [0,1] 0.9939900761399606 Centerline is valid? [True, True] Translation: X:339.99, Y:7.88, Z:-1.39 [[ 8.95563272e-01 -4.44406527e-01 -2.16625084e-02 3.39992977e+02] [ 4.44268862e-01 8.95825182e-01 -1.10643861e-02 7.87935161e+00] [ 2.43229059e-02 2.84879857e-04 9.99704114e-01 -1.39114812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.854012739 meters Centerline goodness [0,1] 0.9946236559139785 Centerline is valid? [True, True] Translation: X:340.02, Y:7.88, Z:-1.39 [[ 8.92194332e-01 -4.51121020e-01 -2.18883434e-02 3.40022835e+02] [ 4.50982373e-01 8.92462780e-01 -1.11841630e-02 7.88319037e+00] [ 2.45799428e-02 1.07189773e-04 9.99697862e-01 -1.39118844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.884012739 meters Centerline goodness [0,1] 0.9948006563105969 Centerline is valid? [True, True] Translation: X:340.05, Y:7.89, Z:-1.39 [[ 8.90783267e-01 -4.53908538e-01 -2.17303924e-02 3.40050826e+02] [ 4.53772680e-01 8.91048281e-01 -1.11047899e-02 7.89225689e+00] [ 2.44033878e-02 3.13026544e-05 9.99702192e-01 -1.39039132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.914012739 meters Centerline goodness [0,1] 0.9943183027259379 Centerline is valid? [True, True] Translation: X:340.08, Y:7.90, Z:-1.39 [[ 8.89487710e-01 -4.56445771e-01 -2.16534562e-02 3.40077082e+02] [ 4.56311520e-01 8.89751233e-01 -1.10697925e-02 7.89917292e+00] [ 2.43189493e-02 -3.42771200e-05 9.99704250e-01 -1.38896083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.944012739 meters Centerline goodness [0,1] 0.994279903393924 Centerline is valid? [True, True] Translation: X:340.10, Y:7.91, Z:-1.39 [[ 8.89480046e-01 -4.56442759e-01 -2.20285115e-02 3.40100820e+02] [ 4.56303759e-01 8.89752779e-01 -1.12637759e-02 7.91105826e+00] [ 2.47411983e-02 -3.27886933e-05 9.99693889e-01 -1.38860632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.974012739 meters Centerline goodness [0,1] 0.9948005436775905 Centerline is valid? [True, True] Translation: X:340.12, Y:7.93, Z:-1.39 [[ 8.89921765e-01 -4.55578985e-01 -2.20689763e-02 3.40124476e+02] [ 4.55439151e-01 8.90195365e-01 -1.12867833e-02 7.92635750e+00] [ 2.47877217e-02 -6.72176094e-06 9.99692737e-01 -1.38767574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.004012739 meters Centerline goodness [0,1] 0.9956244263729697 Centerline is valid? [True, True] Translation: X:340.15, Y:7.94, Z:-1.39 [[ 8.91232508e-01 -4.52973762e-01 -2.27900682e-02 3.40146363e+02] [ 4.52823655e-01 8.91523845e-01 -1.16606600e-02 7.94448521e+00] [ 2.55998623e-02 7.24772323e-05 9.99672267e-01 -1.38790818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.034012739 meters Centerline goodness [0,1] 0.9954263382791866 Centerline is valid? [True, True] Translation: X:340.17, Y:7.96, Z:-1.39 [[ 8.91580306e-01 -4.52273679e-01 -2.30884670e-02 3.40170194e+02] [ 4.52119330e-01 8.91879202e-01 -1.18152854e-02 7.95849223e+00] [ 2.59358661e-02 9.55335378e-05 9.99663604e-01 -1.38810399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.064012739 meters Centerline goodness [0,1] 0.99515582801046 Centerline is valid? [True, True] Translation: X:340.19, Y:7.97, Z:-1.39 [[ 8.92141370e-01 -4.51179249e-01 -2.28267742e-02 3.40193526e+02] [ 4.51027897e-01 8.92433341e-01 -1.16862293e-02 7.97374694e+00] [ 2.56439585e-02 1.30256680e-04 9.99671131e-01 -1.38714224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.094012739 meters Centerline goodness [0,1] 0.9952979396426435 Centerline is valid? [True, True] Translation: X:340.22, Y:7.99, Z:-1.38 [[ 8.92062974e-01 -4.51377795e-01 -2.19484917e-02 3.40217811e+02] [ 4.51237888e-01 8.92332937e-01 -1.12381956e-02 7.98673643e+00] [ 2.46580340e-02 1.21187143e-04 9.99695937e-01 -1.38471590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.124012739 meters Centerline goodness [0,1] 0.994879966008073 Centerline is valid? [True, True] Translation: X:340.24, Y:8.00, Z:-1.38 [[ 8.92055331e-01 -4.51417791e-01 -2.14304506e-02 3.40242388e+02] [ 4.51284310e-01 8.92312705e-01 -1.09776302e-02 7.99944163e+00] [ 2.40781609e-02 1.21427402e-04 9.99710072e-01 -1.38294936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.154012739 meters Centerline goodness [0,1] 0.9953996918863403 Centerline is valid? [True, True] Translation: X:340.27, Y:8.02, Z:-1.38 [[ 8.92495762e-01 -4.50476411e-01 -2.28542900e-02 3.40265447e+02] [ 4.50324157e-01 8.92788316e-01 -1.17122581e-02 8.01569379e+00] [ 2.56801390e-02 1.61301836e-04 9.99670198e-01 -1.38488802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.184012739 meters Centerline goodness [0,1] 0.9955268283286604 Centerline is valid? [True, True] Translation: X:340.29, Y:8.03, Z:-1.39 [[ 8.92887557e-01 -4.49662172e-01 -2.35741499e-02 3.40289514e+02] [ 4.49499836e-01 8.93198687e-01 -1.20831850e-02 8.03206758e+00] [ 2.64897509e-02 1.92348991e-04 9.99649066e-01 -1.38552947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.214012739 meters Centerline goodness [0,1] 0.9954260798939877 Centerline is valid? [True, True] Translation: X:340.31, Y:8.05, Z:-1.38 [[ 8.93972457e-01 -4.47511772e-01 -2.33764993e-02 3.40309289e+02] [ 4.47351297e-01 8.94278004e-01 -1.19862177e-02 8.05333354e+00] [ 2.62690627e-02 2.57841226e-04 9.99654875e-01 -1.38409582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.244012739 meters Centerline goodness [0,1] 0.9948349764252036 Centerline is valid? [True, True] Translation: X:340.33, Y:8.07, Z:-1.38 [[ 8.94349020e-01 -4.46786840e-01 -2.28330971e-02 3.40333293e+02] [ 4.46633432e-01 8.94640399e-01 -1.17104046e-02 8.07053130e+00] [ 2.56594658e-02 2.75164399e-04 9.99670704e-01 -1.38178955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.274012739 meters Centerline goodness [0,1] 0.994735941111016 Centerline is valid? [True, True] Translation: X:340.36, Y:8.09, Z:-1.38 [[ 8.94569588e-01 -4.46387367e-01 -2.19902350e-02 3.40357545e+02] [ 4.46244857e-01 8.94839785e-01 -1.12821623e-02 8.08594580e+00] [ 2.47139519e-02 2.79650032e-04 9.99694525e-01 -1.37945733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30401273900003 meters Centerline goodness [0,1] 0.9937859018983963 Centerline is valid? [True, True] Translation: X:340.38, Y:8.10, Z:-1.38 [[ 8.94332849e-01 -4.46917604e-01 -2.08185341e-02 3.40381915e+02] [ 4.46789934e-01 8.94575090e-01 -1.06847675e-02 8.10047518e+00] [ 2.33989527e-02 2.54227073e-04 9.99726175e-01 -1.37617187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.334012739 meters Centerline goodness [0,1] 0.9937567918859602 Centerline is valid? [True, True] Translation: X:340.41, Y:8.11, Z:-1.37 [[ 8.93931197e-01 -4.47747088e-01 -2.02375873e-02 3.40407476e+02] [ 4.47626560e-01 8.94160216e-01 -1.03908972e-02 8.11356272e+00] [ 2.27481394e-02 2.29865562e-04 9.99741201e-01 -1.37412244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36401273900003 meters Centerline goodness [0,1] 0.9937546468401487 Centerline is valid? [True, True] Translation: X:340.43, Y:8.12, Z:-1.37 [[ 8.92769451e-01 -4.50094984e-01 -1.94219744e-02 3.40432956e+02] [ 4.49984450e-01 8.92980670e-01 -9.97586783e-03 8.12430364e+00] [ 2.18335358e-02 1.66563572e-04 9.99761606e-01 -1.37097637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.394012739 meters Centerline goodness [0,1] 0.9939662974615352 Centerline is valid? [True, True] Translation: X:340.46, Y:8.13, Z:-1.37 [[ 8.91989475e-01 -4.51642794e-01 -1.93277701e-02 3.40460230e+02] [ 4.51533669e-01 8.92198840e-01 -9.92852264e-03 8.13447152e+00] [ 2.17283598e-02 1.28998762e-04 9.99763903e-01 -1.37081258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.424012739 meters Centerline goodness [0,1] 0.9938588822312728 Centerline is valid? [True, True] Translation: X:340.49, Y:8.15, Z:-1.37 [[ 8.91240962e-01 -4.53119295e-01 -1.92990431e-02 3.40486836e+02] [ 4.53010753e-01 8.91449884e-01 -9.91774985e-03 8.14651902e+00] [ 2.16980536e-02 9.64308541e-05 9.99764565e-01 -1.37010415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.454012739 meters Centerline goodness [0,1] 0.9945870475781334 Centerline is valid? [True, True] Translation: X:340.51, Y:8.16, Z:-1.37 [[ 8.89918204e-01 -4.55686369e-01 -1.98877819e-02 3.40513284e+02] [ 4.55571649e-01 8.90140400e-01 -1.02245307e-02 8.15724222e+00] [ 2.23620974e-02 3.86864455e-05 9.99749936e-01 -1.37138365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.484012739 meters Centerline goodness [0,1] 0.9940888578147842 Centerline is valid? [True, True] Translation: X:340.54, Y:8.16, Z:-1.37 [[ 8.88506721e-01 -4.58371052e-01 -2.12552448e-02 3.40540651e+02] [ 4.58240668e-01 8.88760923e-01 -1.09321926e-02 8.16285375e+00] [ 2.39018316e-02 -2.66909072e-05 9.99714310e-01 -1.37378914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.514012739 meters Centerline goodness [0,1] 0.9940997294821821 Centerline is valid? [True, True] Translation: X:340.57, Y:8.17, Z:-1.37 [[ 8.87576139e-01 -4.60138706e-01 -2.19310071e-02 3.40567704e+02] [ 4.60000377e-01 8.87847040e-01 -1.12821638e-02 8.17169226e+00] [ 2.46627400e-02 -7.44921472e-05 9.99695826e-01 -1.37416584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.544012739 meters Centerline goodness [0,1] 0.9942701986188613 Centerline is valid? [True, True] Translation: X:340.59, Y:8.18, Z:-1.37 [[ 8.86722610e-01 -4.61759590e-01 -2.23851393e-02 3.40594762e+02] [ 4.61615858e-01 8.87005111e-01 -1.15209819e-02 8.18030607e+00] [ 2.51756568e-02 -1.17420121e-04 9.99683036e-01 -1.37466335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.574012739 meters Centerline goodness [0,1] 0.9936748483474732 Centerline is valid? [True, True] Translation: X:340.62, Y:8.19, Z:-1.37 [[ 8.85245671e-01 -4.64604029e-01 -2.19817532e-02 3.40623588e+02] [ 4.64466264e-01 8.85518525e-01 -1.13150704e-02 8.18777196e+00] [ 2.47222769e-02 -1.93165718e-04 9.99694339e-01 -1.37167311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.604012739 meters Centerline goodness [0,1] 0.9936226938253173 Centerline is valid? [True, True] Translation: X:340.65, Y:8.20, Z:-1.37 [[ 8.84622081e-01 -4.65821016e-01 -2.13202898e-02 3.40650159e+02] [ 4.65691669e-01 8.84878937e-01 -1.09788664e-02 8.19645065e+00] [ 2.39800621e-02 -2.16533686e-04 9.99712414e-01 -1.37040823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.634012739 meters Centerline goodness [0,1] 0.9938583351166275 Centerline is valid? [True, True] Translation: X:340.68, Y:8.20, Z:-1.37 [[ 8.83124664e-01 -4.68641364e-01 -2.15893432e-02 3.40680357e+02] [ 4.68509533e-01 8.83388468e-01 -1.11190268e-02 8.19782524e+00] [ 2.42826127e-02 -2.95326328e-04 9.99705090e-01 -1.37003402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.664012739 meters Centerline goodness [0,1] 0.9933039984694854 Centerline is valid? [True, True] Translation: X:340.71, Y:8.21, Z:-1.37 [[ 8.82407534e-01 -4.69982377e-01 -2.17602469e-02 3.40708469e+02] [ 4.69848817e-01 8.82675735e-01 -1.12087191e-02 8.20598467e+00] [ 2.44751424e-02 -3.33368040e-04 9.99700383e-01 -1.36981971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.694012739 meters Centerline goodness [0,1] 0.9929495472186287 Centerline is valid? [True, True] Translation: X:340.74, Y:8.21, Z:-1.37 [[ 8.81909301e-01 -4.70918064e-01 -2.17292729e-02 3.40735503e+02] [ 4.70785064e-01 8.82176882e-01 -1.11969929e-02 8.21416292e+00] [ 2.44419285e-02 -3.55084959e-04 9.99701188e-01 -1.36921590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.724012739 meters Centerline goodness [0,1] 0.9928778573865575 Centerline is valid? [True, True] Translation: X:340.76, Y:8.22, Z:-1.37 [[ 8.81397216e-01 -4.71889671e-01 -2.14263113e-02 3.40764844e+02] [ 4.71760604e-01 8.81657529e-01 -1.10423998e-02 8.22058236e+00] [ 2.41014630e-02 -3.75349109e-04 9.99709447e-01 -1.36694505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.754012739 meters Centerline goodness [0,1] 0.9933978591115954 Centerline is valid? [True, True] Translation: X:340.79, Y:8.23, Z:-1.37 [[ 8.81299959e-01 -4.72075035e-01 -2.13434607e-02 3.40791324e+02] [ 4.71946915e-01 8.81558291e-01 -1.10040373e-02 8.22938699e+00] [ 2.40102360e-02 -3.75122840e-04 9.99711642e-01 -1.36595687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.784012739 meters Centerline goodness [0,1] 0.9930789174826973 Centerline is valid? [True, True] Translation: X:340.82, Y:8.23, Z:-1.37 [[ 8.81068288e-01 -4.72440094e-01 -2.27822191e-02 3.40821200e+02] [ 4.72294098e-01 8.81362691e-01 -1.17512834e-02 8.23311453e+00] [ 2.56311754e-02 -4.06224461e-04 9.99671385e-01 -1.36795941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.814012739 meters Centerline goodness [0,1] 0.9935097032086136 Centerline is valid? [True, True] Translation: X:340.85, Y:8.24, Z:-1.37 [[ 8.80891625e-01 -4.72743554e-01 -2.33126067e-02 3.40847715e+02] [ 4.72590711e-01 8.81199951e-01 -1.20277359e-02 8.24357846e+00] [ 2.62291025e-02 -4.22189586e-04 9.99655869e-01 -1.36847228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.844012739 meters Centerline goodness [0,1] 0.9934402175085774 Centerline is valid? [True, True] Translation: X:340.87, Y:8.25, Z:-1.37 [[ 8.80898169e-01 -4.72730145e-01 -2.33372289e-02 3.40874637e+02] [ 4.72576831e-01 8.81207147e-01 -1.20458650e-02 8.25294985e+00] [ 2.62593764e-02 -4.17453259e-04 9.99655076e-01 -1.36755589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.874012739 meters Centerline goodness [0,1] 0.9935570064860905 Centerline is valid? [True, True] Translation: X:340.90, Y:8.26, Z:-1.36 [[ 8.81715041e-01 -4.71283528e-01 -2.16892161e-02 3.40903044e+02] [ 4.71150555e-01 8.81981699e-01 -1.11998266e-02 8.25874230e+00] [ 2.44077855e-02 -3.43830636e-04 9.99702027e-01 -1.36340644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.904012739 meters Centerline goodness [0,1] 0.9928984240046064 Centerline is valid? [True, True] Translation: X:340.93, Y:8.27, Z:-1.36 [[ 8.83967670e-01 -4.67115479e-01 -2.01068961e-02 3.40929145e+02] [ 4.67000094e-01 8.84196293e-01 -1.03839876e-02 8.27084795e+00] [ 2.26289643e-02 -2.10813042e-04 9.99743910e-01 -1.35929146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.934012739 meters Centerline goodness [0,1] 0.9929699723514156 Centerline is valid? [True, True] Translation: X:340.95, Y:8.29, Z:-1.36 [[ 8.85477968e-01 -4.64245108e-01 -2.01307793e-02 3.40953901e+02] [ 4.64128625e-01 8.85706758e-01 -1.03998965e-02 8.28669234e+00] [ 2.26580683e-02 -1.34391726e-04 9.99743264e-01 -1.35848759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.964012739 meters Centerline goodness [0,1] 0.9927709288065578 Centerline is valid? [True, True] Translation: X:340.98, Y:8.30, Z:-1.36 [[ 8.87397803e-01 -4.60546120e-01 -2.05526440e-02 3.40977604e+02] [ 4.60423619e-01 8.87635775e-01 -1.06217396e-02 8.30480802e+00] [ 2.31350630e-02 -3.72143018e-05 9.99732348e-01 -1.35876974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.994012739 meters Centerline goodness [0,1] 0.9936350327795812 Centerline is valid? [True, True] Translation: X:341.00, Y:8.33, Z:-1.36 [[ 8.91313182e-01 -4.52862157e-01 -2.18329645e-02 3.40997050e+02] [ 4.52721489e-01 8.91580527e-01 -1.12879291e-02 8.32768677e+00] [ 2.45777219e-02 1.76827796e-04 9.99697907e-01 -1.35971576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.024012739 meters Centerline goodness [0,1] 0.9935827504331644 Centerline is valid? [True, True] Translation: X:341.02, Y:8.34, Z:-1.36 [[ 8.92797929e-01 -4.49918377e-01 -2.20298099e-02 3.41020727e+02] [ 4.49774219e-01 8.93069642e-01 -1.13915113e-02 8.34479431e+00] [ 2.47994048e-02 2.61877138e-04 9.99692413e-01 -1.35970066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05401273900003 meters Centerline goodness [0,1] 0.9924601049587662 Centerline is valid? [True, True] Translation: X:341.04, Y:8.36, Z:-1.36 [[ 8.94681652e-01 -4.46186253e-01 -2.15074309e-02 3.41042351e+02] [ 4.46047667e-01 8.94940053e-01 -1.11256962e-02 8.36246556e+00] [ 2.42119940e-02 3.60616850e-04 9.99706782e-01 -1.35784603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.084012739 meters Centerline goodness [0,1] 0.9913480025635548 Centerline is valid? [True, True] Translation: X:341.07, Y:8.38, Z:-1.36 [[ 8.94975059e-01 -4.45620417e-01 -2.10258893e-02 3.41066095e+02] [ 4.45487770e-01 8.95221932e-01 -1.08783962e-02 8.37803766e+00] [ 2.36704727e-02 3.69116720e-04 9.99719747e-01 -1.35650635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11401273900003 meters Centerline goodness [0,1] 0.9916981454211751 Centerline is valid? [True, True] Translation: X:341.09, Y:8.39, Z:-1.36 [[ 8.94960789e-01 -4.45646591e-01 -2.10784803e-02 3.41091067e+02] [ 4.45513250e-01 8.95208902e-01 -1.09071384e-02 8.38986300e+00] [ 2.37303722e-02 3.70718890e-04 9.99718326e-01 -1.35523433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.144012739 meters Centerline goodness [0,1] 0.9924409045290513 Centerline is valid? [True, True] Translation: X:341.12, Y:8.40, Z:-1.36 [[ 8.94532210e-01 -4.46452443e-01 -2.21887686e-02 3.41116118e+02] [ 4.46304797e-01 8.94807285e-01 -1.14869588e-02 8.40397558e+00] [ 2.49830526e-02 3.72500808e-04 9.99687805e-01 -1.35758927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.174012739 meters Centerline goodness [0,1] 0.9929294655444952 Centerline is valid? [True, True] Translation: X:341.14, Y:8.42, Z:-1.36 [[ 8.94270443e-01 -4.46960722e-01 -2.25052969e-02 3.41140180e+02] [ 4.46808874e-01 8.94553508e-01 -1.16555795e-02 8.41944227e+00] [ 2.53417785e-02 3.67673854e-04 9.99678778e-01 -1.35800632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.204012739 meters Centerline goodness [0,1] 0.9926824079982982 Centerline is valid? [True, True] Translation: X:341.16, Y:8.44, Z:-1.36 [[ 8.94533555e-01 -4.46415320e-01 -2.28709565e-02 3.41161669e+02] [ 4.46258185e-01 8.94825797e-01 -1.18501400e-02 8.43799647e+00] [ 2.57556060e-02 3.93996339e-04 9.99668192e-01 -1.35829470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.234012739 meters Centerline goodness [0,1] 0.9926778242677824 Centerline is valid? [True, True] Translation: X:341.19, Y:8.45, Z:-1.36 [[ 8.94484576e-01 -4.46509418e-01 -2.29495659e-02 3.41185942e+02] [ 4.46351180e-01 8.94778846e-01 -1.18928536e-02 8.45100653e+00] [ 2.58450573e-02 3.94408284e-04 9.99665883e-01 -1.35749980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.264012739 meters Centerline goodness [0,1] 0.9925550923168552 Centerline is valid? [True, True] Translation: X:341.21, Y:8.47, Z:-1.36 [[ 8.94298478e-01 -4.46878586e-01 -2.30165447e-02 3.41210131e+02] [ 4.46719412e-01 8.94594533e-01 -1.19326803e-02 8.46542480e+00] [ 2.59229343e-02 3.89440497e-04 9.99663868e-01 -1.35663519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.294012739 meters Centerline goodness [0,1] 0.9940347301829916 Centerline is valid? [True, True] Translation: X:341.24, Y:8.48, Z:-1.36 [[ 8.93160408e-01 -4.49127623e-01 -2.34278581e-02 3.41235515e+02] [ 4.48963435e-01 8.93467553e-01 -1.21476575e-02 8.47777367e+00] [ 2.63878796e-02 3.31555091e-04 9.99651724e-01 -1.35668811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.324012739 meters Centerline goodness [0,1] 0.9938964531136626 Centerline is valid? [True, True] Translation: X:341.26, Y:8.49, Z:-1.36 [[ 8.92188787e-01 -4.51052207e-01 -2.34749917e-02 3.41263235e+02] [ 4.50887970e-01 8.92497524e-01 -1.21740951e-02 8.48728992e+00] [ 2.64425244e-02 2.76999766e-04 9.99650297e-01 -1.35552145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.354012739 meters Centerline goodness [0,1] 0.994504095403811 Centerline is valid? [True, True] Translation: X:341.29, Y:8.49, Z:-1.35 [[ 8.90208540e-01 -4.55003010e-01 -2.23833947e-02 3.41291598e+02] [ 4.54854834e-01 8.90489886e-01 -1.16122070e-02 8.49284686e+00] [ 2.52157757e-02 1.56090545e-04 9.99682020e-01 -1.35292397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.384012739 meters Centerline goodness [0,1] 0.9947421078400068 Centerline is valid? [True, True] Translation: X:341.32, Y:8.50, Z:-1.35 [[ 8.89413259e-01 -4.56591754e-01 -2.16338912e-02 3.41318528e+02] [ 4.56453768e-01 8.89676322e-01 -1.12249618e-02 8.50404399e+00] [ 2.43723858e-02 1.08758689e-04 9.99702943e-01 -1.35095982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.414012739 meters Centerline goodness [0,1] 0.99371581769437 Centerline is valid? [True, True] Translation: X:341.34, Y:8.52, Z:-1.35 [[ 8.88942195e-01 -4.57544638e-01 -2.08489288e-02 3.41343429e+02] [ 4.57416650e-01 8.89186649e-01 -1.08217505e-02 8.51581195e+00] [ 2.34900231e-02 8.32634823e-05 9.99724068e-01 -1.34877156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.444012739 meters Centerline goodness [0,1] 0.9941480206540447 Centerline is valid? [True, True] Translation: X:341.37, Y:8.53, Z:-1.35 [[ 8.89350146e-01 -4.56738310e-01 -2.11289992e-02 3.41367339e+02] [ 4.56606512e-01 8.89601093e-01 -1.09722078e-02 8.52997114e+00] [ 2.38078085e-02 1.10495999e-04 9.99716548e-01 -1.34790137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.474012739 meters Centerline goodness [0,1] 0.9940818288644375 Centerline is valid? [True, True] Translation: X:341.39, Y:8.55, Z:-1.35 [[ 8.89960855e-01 -4.55517110e-01 -2.17678461e-02 3.41391817e+02] [ 4.55376811e-01 8.90227016e-01 -1.13057027e-02 8.54572419e+00] [ 2.45282657e-02 1.49060466e-04 9.99699126e-01 -1.34827372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.504012739 meters Centerline goodness [0,1] 0.9950595443562306 Centerline is valid? [True, True] Translation: X:341.42, Y:8.56, Z:-1.35 [[ 8.91145484e-01 -4.53121455e-01 -2.32523888e-02 3.41415597e+02] [ 4.52960414e-01 8.91448760e-01 -1.20818602e-02 8.56252589e+00] [ 2.62028633e-02 2.34283523e-04 9.99656619e-01 -1.34966958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.534012739 meters Centerline goodness [0,1] 0.9947103544276689 Centerline is valid? [True, True] Translation: X:341.44, Y:8.58, Z:-1.35 [[ 8.91707735e-01 -4.52000871e-01 -2.35059068e-02 3.41438770e+02] [ 4.51835782e-01 8.92017454e-01 -1.22183626e-02 8.57885981e+00] [ 2.64903897e-02 2.74398688e-04 9.99649030e-01 -1.34931207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.564012739 meters Centerline goodness [0,1] 0.9936240971001292 Centerline is valid? [True, True] Translation: X:341.46, Y:8.60, Z:-1.35 [[ 8.92867038e-01 -4.49761073e-01 -2.24372601e-02 3.41461185e+02] [ 4.49609903e-01 8.93148851e-01 -1.16646861e-02 8.59745650e+00] [ 2.52861348e-02 3.26999408e-04 9.99680201e-01 -1.34598645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.594012739 meters Centerline goodness [0,1] 0.9936240971001292 Centerline is valid? [True, True] Translation: X:341.49, Y:8.61, Z:-1.35 [[ 8.92785130e-01 -4.49923733e-01 -2.24353808e-02 3.41485478e+02] [ 4.49772523e-01 8.93066923e-01 -1.16682996e-02 8.61031460e+00] [ 2.52861414e-02 3.26466542e-04 9.99680201e-01 -1.34533260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.624012739 meters Centerline goodness [0,1] 0.9931318681318682 Centerline is valid? [True, True] Translation: X:341.51, Y:8.63, Z:-1.34 [[ 8.93299873e-01 -4.48935120e-01 -2.17392578e-02 3.41509601e+02] [ 4.48792738e-01 8.93564288e-01 -1.13111193e-02 8.62636606e+00] [ 2.45033831e-02 3.47800388e-04 9.99699687e-01 -1.34287133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.654012739 meters Centerline goodness [0,1] 0.9927071303306386 Centerline is valid? [True, True] Translation: X:341.53, Y:8.64, Z:-1.34 [[ 8.93821292e-01 -4.47932803e-01 -2.09690673e-02 3.41531202e+02] [ 4.47799959e-01 8.94067151e-01 -1.09145303e-02 8.64479789e+00] [ 2.36367304e-02 3.65692095e-04 9.99720547e-01 -1.34166982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.684012739 meters Centerline goodness [0,1] 0.9929333934746655 Centerline is valid? [True, True] Translation: X:341.55, Y:8.66, Z:-1.34 [[ 8.93817965e-01 -4.47906613e-01 -2.16589930e-02 3.41554258e+02] [ 4.47764833e-01 8.94080266e-01 -1.12752776e-02 8.65963899e+00] [ 2.44151497e-02 3.79910296e-04 9.99701834e-01 -1.34248658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.714012739 meters Centerline goodness [0,1] 0.9938638376941857 Centerline is valid? [True, True] Translation: X:341.58, Y:8.67, Z:-1.35 [[ 8.93229069e-01 -4.48962989e-01 -2.39596468e-02 3.41579266e+02] [ 4.48789795e-01 8.93550268e-01 -1.24754838e-02 8.67277480e+00] [ 2.70101793e-02 3.90619842e-04 9.99635082e-01 -1.34726714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.744012739 meters Centerline goodness [0,1] 0.9939968605489797 Centerline is valid? [True, True] Translation: X:341.61, Y:8.68, Z:-1.35 [[ 8.92709861e-01 -4.49955960e-01 -2.46726266e-02 3.41605689e+02] [ 4.49772620e-01 8.93050667e-01 -1.28489585e-02 8.68482814e+00] [ 2.78153711e-02 3.73320053e-04 9.99613008e-01 -1.34803784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.774012739 meters Centerline goodness [0,1] 0.9944111435824143 Centerline is valid? [True, True] Translation: X:341.63, Y:8.69, Z:-1.35 [[ 8.92059355e-01 -4.51272537e-01 -2.41496275e-02 3.41634051e+02] [ 4.51097244e-01 8.92386121e-01 -1.25812477e-02 8.69384799e+00] [ 2.72283639e-02 3.29389337e-04 9.99629185e-01 -1.34628398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80401273900003 meters Centerline goodness [0,1] 0.9941325110283096 Centerline is valid? [True, True] Translation: X:341.66, Y:8.70, Z:-1.34 [[ 8.90786376e-01 -4.53878240e-01 -2.22300673e-02 3.41660565e+02] [ 4.53730423e-01 8.91063684e-01 -1.15851136e-02 8.70339930e+00] [ 2.50666366e-02 2.33403548e-04 9.99685755e-01 -1.34097714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.834012739 meters Centerline goodness [0,1] 0.9941762123969596 Centerline is valid? [True, True] Translation: X:341.69, Y:8.72, Z:-1.34 [[ 8.90332086e-01 -4.54808545e-01 -2.14000756e-02 3.41686738e+02] [ 4.54671774e-01 8.90589213e-01 -1.11548504e-02 8.71534396e+00] [ 2.41319978e-02 2.01510908e-04 9.99708761e-01 -1.33815960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86401273900003 meters Centerline goodness [0,1] 0.9940583172985431 Centerline is valid? [True, True] Translation: X:341.71, Y:8.73, Z:-1.34 [[ 8.90251912e-01 -4.54968697e-01 -2.13311222e-02 3.41711654e+02] [ 4.54832752e-01 8.90507408e-01 -1.11230968e-02 8.72701321e+00] [ 2.40561832e-02 2.00265142e-04 9.99710588e-01 -1.33741752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.894012739 meters Centerline goodness [0,1] 0.9939097615371418 Centerline is valid? [True, True] Translation: X:341.74, Y:8.74, Z:-1.34 [[ 8.90353948e-01 -4.54746101e-01 -2.18135363e-02 3.41735014e+02] [ 4.54603743e-01 8.90621096e-01 -1.13798015e-02 8.74082933e+00] [ 2.46025160e-02 2.15535944e-04 9.99697289e-01 -1.33841549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.924012739 meters Centerline goodness [0,1] 0.9938456919843891 Centerline is valid? [True, True] Translation: X:341.76, Y:8.75, Z:-1.34 [[ 8.90706957e-01 -4.54009139e-01 -2.27336293e-02 3.41761447e+02] [ 4.53854178e-01 8.90996992e-01 -1.18636354e-02 8.75303459e+00] [ 2.56417942e-02 2.49269930e-04 9.99671164e-01 -1.33944408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.954012739 meters Centerline goodness [0,1] 0.9939971065189696 Centerline is valid? [True, True] Translation: X:341.78, Y:8.77, Z:-1.34 [[ 8.91637281e-01 -4.52109184e-01 -2.40882601e-02 3.41784840e+02] [ 4.51934378e-01 8.91962544e-01 -1.25753389e-02 8.76787424e+00] [ 2.71712520e-02 3.26328171e-04 9.99630740e-01 -1.34068336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.984012739 meters Centerline goodness [0,1] 0.9942082457419881 Centerline is valid? [True, True] Translation: X:341.81, Y:8.78, Z:-1.34 [[ 8.92121692e-01 -4.51162415e-01 -2.39031877e-02 3.41809148e+02] [ 4.50989899e-01 8.92441791e-01 -1.24804432e-02 8.78252856e+00] [ 2.69629105e-02 3.53977901e-04 9.99636372e-01 -1.33923127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.014012739 meters Centerline goodness [0,1] 0.9931492276924386 Centerline is valid? [True, True] Translation: X:341.83, Y:8.80, Z:-1.33 [[ 8.93237915e-01 -4.49048226e-01 -2.19480904e-02 3.41833195e+02] [ 4.48902103e-01 8.93507438e-01 -1.14612073e-02 8.79868114e+00] [ 2.47574168e-02 3.85040958e-04 9.99693414e-01 -1.33335328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.044012739 meters Centerline goodness [0,1] 0.9928393855045364 Centerline is valid? [True, True] Translation: X:341.86, Y:8.81, Z:-1.33 [[ 8.93756242e-01 -4.48048001e-01 -2.12783660e-02 3.41857932e+02] [ 4.47910278e-01 8.94009410e-01 -1.11156111e-02 8.81246621e+00] [ 2.40033867e-02 4.03847956e-04 9.99711796e-01 -1.33163665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.074012739 meters Centerline goodness [0,1] 0.9922318939281077 Centerline is valid? [True, True] Translation: X:341.88, Y:8.83, Z:-1.33 [[ 8.94453584e-01 -4.46639975e-01 -2.15758799e-02 3.41879956e+02] [ 4.46497925e-01 8.94713658e-01 -1.12726314e-02 8.82970929e+00] [ 2.43390423e-02 4.49259945e-04 9.99703661e-01 -1.33113885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.104012739 meters Centerline goodness [0,1] 0.9931436845243165 Centerline is valid? [True, True] Translation: X:341.91, Y:8.84, Z:-1.33 [[ 8.94779202e-01 -4.45995068e-01 -2.14144622e-02 3.41905878e+02] [ 4.45854895e-01 8.95035297e-01 -1.11906142e-02 8.84223948e+00] [ 2.41576583e-02 4.65386051e-04 9.99708053e-01 -1.33035867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.134012739 meters Centerline goodness [0,1] 0.9928749248862563 Centerline is valid? [True, True] Translation: X:341.93, Y:8.86, Z:-1.33 [[ 8.94992787e-01 -4.45582335e-01 -2.10782939e-02 3.41930783e+02] [ 4.45446312e-01 8.95240839e-01 -1.10192697e-02 8.85610974e+00] [ 2.37801415e-02 4.72918590e-04 9.99717101e-01 -1.32885899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.164012739 meters Centerline goodness [0,1] 0.990771259063942 Centerline is valid? [True, True] Translation: X:341.95, Y:8.88, Z:-1.33 [[ 8.95459557e-01 -4.44683300e-01 -2.02224042e-02 3.41950861e+02] [ 4.44557774e-01 8.95687743e-01 -1.05760599e-02 8.87732181e+00] [ 2.28159568e-02 4.80406926e-04 9.99739567e-01 -1.32595717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.194012739 meters Centerline goodness [0,1] 0.9913623535448559 Centerline is valid? [True, True] Translation: X:341.98, Y:8.89, Z:-1.33 [[ 8.95458587e-01 -4.44686576e-01 -2.01932616e-02 3.41976337e+02] [ 4.44561382e-01 8.95686116e-01 -1.05622020e-02 8.89004310e+00] [ 2.27836935e-02 4.80870177e-04 9.99740302e-01 -1.32580190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.224012739 meters Centerline goodness [0,1] 0.9913994478657889 Centerline is valid? [True, True] Translation: X:342.00, Y:8.91, Z:-1.33 [[ 8.94980007e-01 -4.45578183e-01 -2.16995336e-02 3.41998188e+02] [ 4.45433742e-01 8.95242892e-01 -1.13554494e-02 8.90754614e+00] [ 2.44860937e-02 4.97195780e-04 9.99700047e-01 -1.32869398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.254012739 meters Centerline goodness [0,1] 0.9928580565386091 Centerline is valid? [True, True] Translation: X:342.03, Y:8.92, Z:-1.33 [[ 8.94282229e-01 -4.46955293e-01 -2.21418413e-02 3.42026495e+02] [ 4.46805260e-01 8.94556172e-01 -1.15894599e-02 8.91618005e+00] [ 2.49870913e-02 4.71156848e-04 9.99687663e-01 -1.32888685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.284012739 meters Centerline goodness [0,1] 0.9928752206554797 Centerline is valid? [True, True] Translation: X:342.05, Y:8.93, Z:-1.33 [[ 8.92503549e-01 -4.50533155e-01 -2.13843695e-02 3.42050670e+02] [ 4.50394134e-01 8.92759623e-01 -1.11972817e-02 8.92935526e+00] [ 2.41358483e-02 3.62219113e-04 9.99708622e-01 -1.32702948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.314012739 meters Centerline goodness [0,1] 0.9934368428877891 Centerline is valid? [True, True] Translation: X:342.08, Y:8.94, Z:-1.33 [[ 8.91486410e-01 -4.52563223e-01 -2.09406222e-02 3.42078212e+02] [ 4.52430421e-01 8.91732268e-01 -1.09670708e-02 8.93893082e+00] [ 2.36367214e-02 3.02820000e-04 9.99720568e-01 -1.32510550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.344012739 meters Centerline goodness [0,1] 0.9941376580585807 Centerline is valid? [True, True] Translation: X:342.11, Y:8.95, Z:-1.32 [[ 8.90479905e-01 -4.54540694e-01 -2.09355359e-02 3.42105741e+02] [ 4.54408404e-01 8.90725936e-01 -1.09685501e-02 8.94949353e+00] [ 2.36334771e-02 2.53989976e-04 9.99720658e-01 -1.32446339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.374012739 meters Centerline goodness [0,1] 0.9946341989009805 Centerline is valid? [True, True] Translation: X:342.13, Y:8.96, Z:-1.32 [[ 8.89151556e-01 -4.57102727e-01 -2.16010993e-02 3.42134366e+02] [ 4.56962546e-01 8.89413885e-01 -1.13213541e-02 8.95693918e+00] [ 2.43873395e-02 1.95506310e-04 9.99702565e-01 -1.32495135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.404012739 meters Centerline goodness [0,1] 0.9948009886644507 Centerline is valid? [True, True] Translation: X:342.16, Y:8.97, Z:-1.33 [[ 8.88793102e-01 -4.57791776e-01 -2.17603087e-02 3.42159380e+02] [ 4.57649624e-01 8.89059423e-01 -1.14089878e-02 8.96891921e+00] [ 2.45691483e-02 1.81632537e-04 9.99698116e-01 -1.32518424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.434012739 meters Centerline goodness [0,1] 0.995039024911793 Centerline is valid? [True, True] Translation: X:342.18, Y:8.98, Z:-1.33 [[ 8.88665580e-01 -4.58013285e-01 -2.23006308e-02 3.42182972e+02] [ 4.57864011e-01 8.88945329e-01 -1.16940260e-02 8.98219135e+00] [ 2.51800609e-02 1.81422156e-04 9.99682916e-01 -1.32514739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.464012739 meters Centerline goodness [0,1] 0.9949913311500674 Centerline is valid? [True, True] Translation: X:342.21, Y:9.00, Z:-1.33 [[ 8.88839880e-01 -4.57638738e-01 -2.30315823e-02 3.42207445e+02] [ 4.57479321e-01 8.89138204e-01 -1.20799720e-02 8.99684841e+00] [ 2.60065229e-02 2.00688238e-04 9.99661753e-01 -1.32551891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.494012739 meters Centerline goodness [0,1] 0.9951986504314726 Centerline is valid? [True, True] Translation: X:342.23, Y:9.01, Z:-1.33 [[ 8.89049029e-01 -4.57210369e-01 -2.34627821e-02 3.42232089e+02] [ 4.57044647e-01 8.89358550e-01 -1.23110025e-02 9.01116762e+00] [ 2.64955439e-02 2.21545905e-04 9.99648907e-01 -1.32600273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.524012739 meters Centerline goodness [0,1] 0.9955315145813735 Centerline is valid? [True, True] Translation: X:342.26, Y:9.02, Z:-1.33 [[ 8.89230283e-01 -4.56839163e-01 -2.38218829e-02 3.42256204e+02] [ 4.56668073e-01 8.89549280e-01 -1.25039849e-02 9.02417427e+00] [ 2.69030488e-02 2.40228615e-04 9.99638019e-01 -1.32624520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55401273900003 meters Centerline goodness [0,1] 0.9954286443272665 Centerline is valid? [True, True] Translation: X:342.28, Y:9.04, Z:-1.33 [[ 8.89009003e-01 -4.57265724e-01 -2.38966575e-02 3.42280971e+02] [ 4.57093653e-01 8.89330088e-01 -1.25454125e-02 9.03645224e+00] [ 2.69886036e-02 2.29974167e-04 9.99635715e-01 -1.32509118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.584012739 meters Centerline goodness [0,1] 0.9953136033896129 Centerline is valid? [True, True] Translation: X:342.31, Y:9.05, Z:-1.32 [[ 8.88606431e-01 -4.58106178e-01 -2.27451131e-02 3.42306099e+02] [ 4.57950448e-01 8.88897458e-01 -1.19455938e-02 9.04850144e+00] [ 2.56904235e-02 1.98796743e-04 9.99669927e-01 -1.32229546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61401273900003 meters Centerline goodness [0,1] 0.9954005201280977 Centerline is valid? [True, True] Translation: X:342.33, Y:9.06, Z:-1.32 [[ 8.88519335e-01 -4.58301061e-01 -2.22155147e-02 3.42330621e+02] [ 4.58152517e-01 8.88796997e-01 -1.16691814e-02 9.06172914e+00] [ 2.50930810e-02 1.90199336e-04 9.99685101e-01 -1.32055871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.644012739 meters Centerline goodness [0,1] 0.9951901684500477 Centerline is valid? [True, True] Translation: X:342.35, Y:9.08, Z:-1.32 [[ 8.88875358e-01 -4.57667124e-01 -2.10095758e-02 3.42354351e+02] [ 4.57533986e-01 8.89123593e-01 -1.10402730e-02 9.07655765e+00] [ 2.37328795e-02 2.00831615e-04 9.99718315e-01 -1.31711827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.674012739 meters Centerline goodness [0,1] 0.995044217541761 Centerline is valid? [True, True] Translation: X:342.38, Y:9.09, Z:-1.32 [[ 8.89179979e-01 -4.57094072e-01 -2.05906368e-02 3.42379958e+02] [ 4.56966007e-01 8.89418329e-01 -1.08214894e-02 9.09069358e+00] [ 2.32601284e-02 2.13030625e-04 9.99729424e-01 -1.31503701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.704012739 meters Centerline goodness [0,1] 0.9951148750986625 Centerline is valid? [True, True] Translation: X:342.40, Y:9.11, Z:-1.31 [[ 8.89900255e-01 -4.55685644e-01 -2.06913035e-02 3.42402918e+02] [ 4.55555840e-01 8.90140736e-01 -1.08787860e-02 9.10745354e+00] [ 2.33754787e-02 2.54990265e-04 9.99726724e-01 -1.31459723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.734012739 meters Centerline goodness [0,1] 0.9950331478757648 Centerline is valid? [True, True] Translation: X:342.43, Y:9.12, Z:-1.32 [[ 8.90174546e-01 -4.55117532e-01 -2.13848091e-02 3.42426671e+02] [ 4.54978676e-01 8.90431330e-01 -1.12450457e-02 9.12252032e+00] [ 2.41595214e-02 2.80421324e-04 9.99708077e-01 -1.31575465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.764012739 meters Centerline goodness [0,1] 0.9948234384397285 Centerline is valid? [True, True] Translation: X:342.45, Y:9.14, Z:-1.32 [[ 8.90414607e-01 -4.54625330e-01 -2.18549051e-02 3.42450647e+02] [ 4.54480113e-01 8.90682726e-01 -1.14938678e-02 9.13715678e+00] [ 2.46911899e-02 3.01688058e-04 9.99695081e-01 -1.31559625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.794012739 meters Centerline goodness [0,1] 0.9950124688279302 Centerline is valid? [True, True] Translation: X:342.48, Y:9.15, Z:-1.31 [[ 8.90895035e-01 -4.53761481e-01 -2.01632313e-02 3.42478033e+02] [ 4.53637629e-01 8.91123127e-01 -1.06053660e-02 9.14776982e+00] [ 2.27802283e-02 3.01467426e-04 9.99740451e-01 -1.31121421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.824012739 meters Centerline goodness [0,1] 0.9938522852539642 Centerline is valid? [True, True] Translation: X:342.50, Y:9.16, Z:-1.31 [[ 8.90859614e-01 -4.53861331e-01 -1.94689455e-02 3.42499865e+02] [ 4.53745796e-01 8.91072279e-01 -1.02443006e-02 9.16447693e+00] [ 2.19977296e-02 2.92281529e-04 9.99757978e-01 -1.30874790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.854012739 meters Centerline goodness [0,1] 0.9945176370590735 Centerline is valid? [True, True] Translation: X:342.53, Y:9.18, Z:-1.31 [[ 8.90414801e-01 -4.54710330e-01 -1.99999451e-02 3.42525382e+02] [ 4.54588540e-01 8.90639342e-01 -1.05272227e-02 9.17671589e+00] [ 2.25995749e-02 2.81849071e-04 9.99744557e-01 -1.30938693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.884012739 meters Centerline goodness [0,1] 0.9946882563344686 Centerline is valid? [True, True] Translation: X:342.55, Y:9.19, Z:-1.31 [[ 8.90300473e-01 -4.54901260e-01 -2.07343068e-02 3.42551657e+02] [ 4.54770363e-01 8.90541835e-01 -1.09159128e-02 9.18730973e+00] [ 2.34304301e-02 2.89094057e-04 9.99725428e-01 -1.31017807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.914012739 meters Centerline goodness [0,1] 0.9948111602585914 Centerline is valid? [True, True] Translation: X:342.58, Y:9.20, Z:-1.31 [[ 8.90366606e-01 -4.54750574e-01 -2.11948420e-02 3.42575856e+02] [ 4.54613634e-01 8.90618786e-01 -1.11633995e-02 9.20044658e+00] [ 2.39530868e-02 3.04053963e-04 9.99713037e-01 -1.31065142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.944012739 meters Centerline goodness [0,1] 0.9951719590786311 Centerline is valid? [True, True] Translation: X:342.60, Y:9.21, Z:-1.31 [[ 8.90975516e-01 -4.53533062e-01 -2.16884986e-02 3.42600296e+02] [ 4.53389183e-01 8.91239384e-01 -1.14284413e-02 9.21487386e+00] [ 2.45128202e-02 3.49130715e-04 9.99699455e-01 -1.31066711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.974012739 meters Centerline goodness [0,1] 0.9947696511677554 Centerline is valid? [True, True] Translation: X:342.62, Y:9.23, Z:-1.31 [[ 8.91363912e-01 -4.52762762e-01 -2.18233475e-02 3.42623411e+02] [ 4.52616816e-01 8.91630945e-01 -1.15011469e-02 9.23154300e+00] [ 2.46656630e-02 3.74093257e-04 9.99695686e-01 -1.31040069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.004012739 meters Centerline goodness [0,1] 0.994614694191563 Centerline is valid? [True, True] Translation: X:342.65, Y:9.25, Z:-1.31 [[ 8.91683221e-01 -4.52098749e-01 -2.25334148e-02 3.42649276e+02] [ 4.51942889e-01 8.91967799e-01 -1.18772924e-02 9.24520056e+00] [ 2.54687894e-02 4.06965746e-04 9.99675535e-01 -1.31087266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.034012739 meters Centerline goodness [0,1] 0.9947839842664443 Centerline is valid? [True, True] Translation: X:342.67, Y:9.26, Z:-1.31 [[ 8.91237103e-01 -4.52957156e-01 -2.29399703e-02 3.42673670e+02] [ 4.52795782e-01 8.91532198e-01 -1.20962655e-02 9.25770243e+00] [ 2.59308122e-02 3.93518794e-04 9.99663663e-01 -1.31123375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.064012739 meters Centerline goodness [0,1] 0.9953941503587044 Centerline is valid? [True, True] Translation: X:342.70, Y:9.27, Z:-1.31 [[ 8.89884532e-01 -4.55642798e-01 -2.22521911e-02 3.42699920e+02] [ 4.55491732e-01 8.90162651e-01 -1.17361039e-02 9.26860971e+00] [ 2.51555406e-02 3.08088237e-04 9.99683502e-01 -1.30986058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.094012739 meters Centerline goodness [0,1] 0.9951712307008069 Centerline is valid? [True, True] Translation: X:342.73, Y:9.28, Z:-1.31 [[ 8.88966067e-01 -4.57450781e-01 -2.18658403e-02 3.42727056e+02] [ 4.57305353e-01 8.89234906e-01 -1.15367512e-02 9.27794781e+00] [ 2.47213642e-02 2.56414539e-04 9.99694347e-01 -1.30868282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.124012739 meters Centerline goodness [0,1] 0.9952379930929449 Centerline is valid? [True, True] Translation: X:342.75, Y:9.29, Z:-1.31 [[ 8.88095476e-01 -4.59131990e-01 -2.20054664e-02 3.42754180e+02] [ 4.58985101e-01 8.88368037e-01 -1.16149792e-02 9.28821661e+00] [ 2.48817615e-02 2.15029294e-04 9.99690378e-01 -1.30869775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.154012739 meters Centerline goodness [0,1] 0.9965019207245102 Centerline is valid? [True, True] Translation: X:342.78, Y:9.30, Z:-1.31 [[ 8.86922706e-01 -4.61330753e-01 -2.32819600e-02 3.42781628e+02] [ 4.61166949e-01 8.87228217e-01 -1.22937812e-02 9.29740185e+00] [ 2.63279112e-02 1.66763260e-04 9.99653347e-01 -1.31037234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.184012739 meters Centerline goodness [0,1] 0.9961324056868761 Centerline is valid? [True, True] Translation: X:342.81, Y:9.31, Z:-1.31 [[ 8.86923903e-01 -4.61320579e-01 -2.34374587e-02 3.42805274e+02] [ 4.61154453e-01 8.87233506e-01 -1.23804912e-02 9.31067599e+00] [ 2.65058740e-02 1.72265163e-04 9.99648643e-01 -1.31007259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.214012739 meters Centerline goodness [0,1] 0.9962449083503055 Centerline is valid? [True, True] Translation: X:342.83, Y:9.33, Z:-1.31 [[ 8.87679491e-01 -4.59867957e-01 -2.33791278e-02 3.42828422e+02] [ 4.59702091e-01 8.87987283e-01 -1.23519925e-02 9.32715805e+00] [ 2.64406537e-02 2.17176464e-04 9.99650361e-01 -1.30969148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.244012739 meters Centerline goodness [0,1] 0.9962063894631402 Centerline is valid? [True, True] Translation: X:342.85, Y:9.34, Z:-1.31 [[ 8.88097393e-01 -4.59073075e-01 -2.31286077e-02 3.42852832e+02] [ 4.58910426e-01 8.88398477e-01 -1.22215583e-02 9.34199959e+00] [ 2.61580082e-02 2.39974903e-04 9.99657792e-01 -1.30818334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.274012739 meters Centerline goodness [0,1] 0.9956592974019618 Centerline is valid? [True, True] Translation: X:342.88, Y:9.36, Z:-1.31 [[ 8.88514838e-01 -4.58282881e-01 -2.27636552e-02 3.42877908e+02] [ 4.58124950e-01 8.88806352e-01 -1.20332228e-02 9.35716537e+00] [ 2.57471014e-02 2.63098595e-04 9.99668454e-01 -1.30643834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30401273900003 meters Centerline goodness [0,1] 0.9956367025332542 Centerline is valid? [True, True] Translation: X:342.90, Y:9.37, Z:-1.30 [[ 8.89321801e-01 -4.56735907e-01 -2.23393313e-02 3.42901004e+02] [ 4.56583215e-01 8.89602281e-01 -1.18131509e-02 9.37367667e+00] [ 2.52686103e-02 3.05928949e-04 9.99680651e-01 -1.30414243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.334012739 meters Centerline goodness [0,1] 0.9954717957564257 Centerline is valid? [True, True] Translation: X:342.93, Y:9.39, Z:-1.30 [[ 8.89417751e-01 -4.56553841e-01 -2.22408481e-02 3.42925562e+02] [ 4.56402390e-01 8.89695731e-01 -1.17628470e-02 9.38780781e+00] [ 2.51579605e-02 3.11308683e-04 9.99683440e-01 -1.30384518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36401273900003 meters Centerline goodness [0,1] 0.9958139336209474 Centerline is valid? [True, True] Translation: X:342.95, Y:9.40, Z:-1.30 [[ 8.89361497e-01 -4.56645712e-01 -2.26013578e-02 3.42948667e+02] [ 4.56489208e-01 8.89648578e-01 -1.19586856e-02 9.40173746e+00] [ 2.55681484e-02 3.18318628e-04 9.99673031e-01 -1.30415009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.394012739 meters Centerline goodness [0,1] 0.9954375866112355 Centerline is valid? [True, True] Translation: X:342.97, Y:9.41, Z:-1.30 [[ 8.89193455e-01 -4.56952519e-01 -2.30085979e-02 3.42973335e+02] [ 4.56790327e-01 8.89491031e-01 -1.21779772e-02 9.41457705e+00] [ 2.60306988e-02 3.18472667e-04 9.99661093e-01 -1.30380591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.424012739 meters Centerline goodness [0,1] 0.9955655992836737 Centerline is valid? [True, True] Translation: X:343.00, Y:9.43, Z:-1.30 [[ 8.89022320e-01 -4.57287302e-01 -2.29703824e-02 3.42998091e+02] [ 4.57125624e-01 8.89318967e-01 -1.21629720e-02 9.42800297e+00] [ 2.59899694e-02 3.12803217e-04 9.99662155e-01 -1.30316720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.454012739 meters Centerline goodness [0,1] 0.9962632388110694 Centerline is valid? [True, True] Translation: X:343.02, Y:9.45, Z:-1.30 [[ 8.89492718e-01 -4.56400457e-01 -2.23903592e-02 3.43019865e+02] [ 4.56246439e-01 8.89774416e-01 -1.18606866e-02 9.44588575e+00] [ 2.53355916e-02 3.34472721e-04 9.99678946e-01 -1.30124224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.484012739 meters Centerline goodness [0,1] 0.9962632388110694 Centerline is valid? [True, True] Translation: X:343.04, Y:9.46, Z:-1.30 [[ 8.89413525e-01 -4.56554803e-01 -2.23896072e-02 3.43044050e+02] [ 4.56400798e-01 8.89695230e-01 -1.18621061e-02 9.45893837e+00] [ 2.53356282e-02 3.31683009e-04 9.99678946e-01 -1.30058835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.514012739 meters Centerline goodness [0,1] 0.9955776672194583 Centerline is valid? [True, True] Translation: X:343.07, Y:9.47, Z:-1.30 [[ 8.89489758e-01 -4.56409101e-01 -2.23316603e-02 3.43068423e+02] [ 4.56255721e-01 8.89769980e-01 -1.18363606e-02 9.47359854e+00] [ 2.52722636e-02 3.39373806e-04 9.99680548e-01 -1.29975889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.544012739 meters Centerline goodness [0,1] 0.9959600709659492 Centerline is valid? [True, True] Translation: X:343.09, Y:9.49, Z:-1.30 [[ 8.89407394e-01 -4.56569959e-01 -2.23239835e-02 3.43091044e+02] [ 4.56416613e-01 8.89687449e-01 -1.18371385e-02 9.48842353e+00] [ 2.52658497e-02 3.39001543e-04 9.99680710e-01 -1.29939810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.574012739 meters Centerline goodness [0,1] 0.9956305943240148 Centerline is valid? [True, True] Translation: X:343.12, Y:9.50, Z:-1.30 [[ 8.89096820e-01 -4.57169816e-01 -2.24188213e-02 3.43116079e+02] [ 4.57015294e-01 8.89379364e-01 -1.18897949e-02 9.50190387e+00] [ 2.53744924e-02 3.25434618e-04 9.99677963e-01 -1.29932041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.604012739 meters Centerline goodness [0,1] 0.9959772834831992 Centerline is valid? [True, True] Translation: X:343.14, Y:9.52, Z:-1.30 [[ 8.88691274e-01 -4.57947186e-01 -2.26316859e-02 3.43141753e+02] [ 4.57789839e-01 8.88979346e-01 -1.20077315e-02 9.51571005e+00] [ 2.56180082e-02 3.10610410e-04 9.99671757e-01 -1.29924282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.634012739 meters Centerline goodness [0,1] 0.9959912147898586 Centerline is valid? [True, True] Translation: X:343.17, Y:9.53, Z:-1.30 [[ 8.87987572e-01 -4.59306715e-01 -2.27027328e-02 3.43166867e+02] [ 4.59148712e-01 8.88277696e-01 -1.20496645e-02 9.52723013e+00] [ 2.57008230e-02 2.76021838e-04 9.99669641e-01 -1.29881099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.664012739 meters Centerline goodness [0,1] 0.9961906392449761 Centerline is valid? [True, True] Translation: X:343.19, Y:9.54, Z:-1.30 [[ 8.87616631e-01 -4.60024248e-01 -2.26805740e-02 3.43192049e+02] [ 4.59866741e-01 8.87906316e-01 -1.20397280e-02 9.54035056e+00] [ 2.56767917e-02 2.56621133e-04 9.99670264e-01 -1.29807574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.694012739 meters Centerline goodness [0,1] 0.9967615330173505 Centerline is valid? [True, True] Translation: X:343.22, Y:9.55, Z:-1.30 [[ 8.87138370e-01 -4.60930465e-01 -2.29917343e-02 3.43217399e+02] [ 4.60768778e-01 8.87436223e-01 -1.22099674e-02 9.55400287e+00] [ 2.60316438e-02 2.38057249e-04 9.99661091e-01 -1.29784471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.724012739 meters Centerline goodness [0,1] 0.9963919726729291 Centerline is valid? [True, True] Translation: X:343.24, Y:9.56, Z:-1.30 [[ 8.86873339e-01 -4.61430027e-01 -2.31950792e-02 3.43243340e+02] [ 4.61265516e-01 8.87176576e-01 -1.23225929e-02 9.56471732e+00] [ 2.62641454e-02 2.29488924e-04 9.99655011e-01 -1.29695412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.754012739 meters Centerline goodness [0,1] 0.9965739403994914 Centerline is valid? [True, True] Translation: X:343.27, Y:9.58, Z:-1.30 [[ 8.86879190e-01 -4.61430829e-01 -2.29541177e-02 3.43268578e+02] [ 4.61269574e-01 8.87176158e-01 -1.22001639e-02 9.57709481e+00] [ 2.59938777e-02 2.32035378e-04 9.99662075e-01 -1.29627542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.784012739 meters Centerline goodness [0,1] 0.996180844481427 Centerline is valid? [True, True] Translation: X:343.29, Y:9.60, Z:-1.29 [[ 8.87948359e-01 -4.59403768e-01 -2.22685778e-02 3.43290485e+02] [ 4.59251233e-01 8.88227502e-01 -1.18410014e-02 9.59558362e+00] [ 2.52193639e-02 2.87325962e-04 9.99681900e-01 -1.29399897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.814012739 meters Centerline goodness [0,1] 0.9958828423320605 Centerline is valid? [True, True] Translation: X:343.31, Y:9.61, Z:-1.29 [[ 8.88804637e-01 -4.57758699e-01 -2.19838728e-02 3.43313765e+02] [ 4.57609491e-01 8.89076411e-01 -1.16914318e-02 9.61267176e+00] [ 2.48971974e-02 3.31369955e-04 9.99689962e-01 -1.29225914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.844012739 meters Centerline goodness [0,1] 0.9950419202451377 Centerline is valid? [True, True] Translation: X:343.33, Y:9.64, Z:-1.29 [[ 8.90289936e-01 -4.54864923e-01 -2.19484113e-02 3.43331239e+02] [ 4.54715204e-01 8.90560346e-01 -1.16770800e-02 9.63886908e+00] [ 2.48578789e-02 4.15710508e-04 9.99690909e-01 -1.29237288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.874012739 meters Centerline goodness [0,1] 0.9958798283261803 Centerline is valid? [True, True] Translation: X:343.36, Y:9.65, Z:-1.29 [[ 8.90445702e-01 -4.54553801e-01 -2.20747508e-02 3.43358836e+02] [ 4.54402212e-01 8.90719180e-01 -1.17461113e-02 9.64750637e+00] [ 2.50016434e-02 4.28458725e-04 9.99687318e-01 -1.29105429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.904012739 meters Centerline goodness [0,1] 0.9948512829241309 Centerline is valid? [True, True] Translation: X:343.38, Y:9.67, Z:-1.29 [[ 8.90253853e-01 -4.54926555e-01 -2.21338488e-02 3.43379105e+02] [ 4.54774153e-01 8.90528860e-01 -1.17821561e-02 9.66777067e+00] [ 2.50708468e-02 4.23207528e-04 9.99685587e-01 -1.29144159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.934012739 meters Centerline goodness [0,1] 0.9960729911428876 Centerline is valid? [True, True] Translation: X:343.41, Y:9.68, Z:-1.29 [[ 8.89731058e-01 -4.55950382e-01 -2.20883025e-02 3.43407593e+02] [ 4.55798876e-01 8.90005109e-01 -1.17597352e-02 9.67578821e+00] [ 2.50205578e-02 3.95178194e-04 9.99686859e-01 -1.29046478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.964012739 meters Centerline goodness [0,1] 0.9963302752293578 Centerline is valid? [True, True] Translation: X:343.43, Y:9.69, Z:-1.29 [[ 8.88387461e-01 -4.58574973e-01 -2.18337511e-02 3.43432303e+02] [ 4.58427619e-01 8.88655665e-01 -1.16287333e-02 9.68968116e+00] [ 2.47353327e-02 3.21626343e-04 9.99693983e-01 -1.28923072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.994012739 meters Centerline goodness [0,1] 0.9965608016304348 Centerline is valid? [True, True] Translation: X:343.46, Y:9.70, Z:-1.29 [[ 8.87654469e-01 -4.60009060e-01 -2.14757833e-02 3.43458628e+02] [ 4.59866811e-01 8.87914177e-01 -1.14424708e-02 9.70103341e+00] [ 2.43322927e-02 2.80960365e-04 9.99703886e-01 -1.28737814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.024012739 meters Centerline goodness [0,1] 0.9964063961895041 Centerline is valid? [True, True] Translation: X:343.48, Y:9.71, Z:-1.29 [[ 8.86380685e-01 -4.62474305e-01 -2.11376088e-02 3.43483661e+02] [ 4.62337096e-01 8.86632659e-01 -1.12666742e-02 9.71429552e+00] [ 2.39518416e-02 2.13861735e-04 9.99713091e-01 -1.28554705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05401273900003 meters Centerline goodness [0,1] 0.9965055825449587 Centerline is valid? [True, True] Translation: X:343.51, Y:9.73, Z:-1.29 [[ 8.85757879e-01 -4.63662372e-01 -2.12175631e-02 3.43509291e+02] [ 4.63524357e-01 8.86011947e-01 -1.13137648e-02 9.72741579e+00] [ 2.40447815e-02 1.86399012e-04 9.99710865e-01 -1.28525935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.084012739 meters Centerline goodness [0,1] 0.9963623986896126 Centerline is valid? [True, True] Translation: X:343.53, Y:9.74, Z:-1.29 [[ 8.85365684e-01 -4.64382160e-01 -2.18360746e-02 3.43533691e+02] [ 4.64236082e-01 8.85634901e-01 -1.16482395e-02 9.74071944e+00] [ 2.47480244e-02 1.75857838e-04 9.99693705e-01 -1.28624738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11401273900003 meters Centerline goodness [0,1] 0.9960446420935603 Centerline is valid? [True, True] Translation: X:343.56, Y:9.75, Z:-1.29 [[ 8.84591810e-01 -4.65786538e-01 -2.32428704e-02 3.43559121e+02] [ 4.65621453e-01 8.84897101e-01 -1.24009206e-02 9.75256786e+00] [ 2.63437305e-02 1.47373721e-04 9.99652933e-01 -1.28930241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.144012739 meters Centerline goodness [0,1] 0.9962353746443926 Centerline is valid? [True, True] Translation: X:343.58, Y:9.77, Z:-1.29 [[ 8.83895613e-01 -4.67105934e-01 -2.32506194e-02 3.43584368e+02] [ 4.66941047e-01 8.84201353e-01 -1.24106988e-02 9.76510546e+00] [ 2.63553402e-02 1.13093635e-04 9.99652631e-01 -1.28850758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.174012739 meters Centerline goodness [0,1] 0.99588810533268 Centerline is valid? [True, True] Translation: X:343.61, Y:9.78, Z:-1.29 [[ 8.83076514e-01 -4.68686771e-01 -2.25517662e-02 3.43609630e+02] [ 4.68532034e-01 8.83364424e-01 -1.20427196e-02 9.77732705e+00] [ 2.55656913e-02 6.84179431e-05 9.99673142e-01 -1.28623684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.204012739 meters Centerline goodness [0,1] 0.99500465667598 Centerline is valid? [True, True] Translation: X:343.64, Y:9.78, Z:-1.28 [[ 8.80859015e-01 -4.72899479e-01 -2.12950241e-02 3.43635996e+02] [ 4.72762700e-01 8.81116383e-01 -1.13731604e-02 9.78452087e+00] [ 2.41417562e-02 -4.93422417e-05 9.99708544e-01 -1.28305833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.234012739 meters Centerline goodness [0,1] 0.993854880642874 Centerline is valid? [True, True] Translation: X:343.66, Y:9.79, Z:-1.28 [[ 8.79385432e-01 -4.75643245e-01 -2.10894533e-02 3.43663430e+02] [ 4.75509802e-01 8.79638272e-01 -1.12667081e-02 9.79368445e+00] [ 2.39100239e-02 -1.20462830e-04 9.99714107e-01 -1.28257157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.264012739 meters Centerline goodness [0,1] 0.99326154174219 Centerline is valid? [True, True] Translation: X:343.69, Y:9.80, Z:-1.28 [[ 8.76631500e-01 -4.80694370e-01 -2.12164015e-02 3.43693261e+02] [ 4.80560685e-01 8.76888167e-01 -1.13389301e-02 9.79688567e+00] [ 2.40549713e-02 -2.55705174e-04 9.99710605e-01 -1.28283948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.294012739 meters Centerline goodness [0,1] 0.993379322128014 Centerline is valid? [True, True] Translation: X:343.72, Y:9.81, Z:-1.28 [[ 8.75384726e-01 -4.82956255e-01 -2.13269265e-02 3.43720581e+02] [ 4.82821803e-01 8.75644423e-01 -1.13996212e-02 9.80732786e+00] [ 2.41803226e-02 -3.18050827e-04 9.99707563e-01 -1.28198690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.324012739 meters Centerline goodness [0,1] 0.9925166297117517 Centerline is valid? [True, True] Translation: X:343.75, Y:9.82, Z:-1.28 [[ 8.74216683e-01 -4.85066319e-01 -2.13507998e-02 3.43747194e+02] [ 4.84932089e-01 8.74477288e-01 -1.14167443e-02 9.81774623e+00] [ 2.42086677e-02 -3.72979622e-04 9.99706858e-01 -1.28107817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.354012739 meters Centerline goodness [0,1] 0.9923357664233576 Centerline is valid? [True, True] Translation: X:343.78, Y:9.82, Z:-1.28 [[ 8.72620953e-01 -4.87918450e-01 -2.16392582e-02 3.43775398e+02] [ 4.87781402e-01 8.72889098e-01 -1.15726562e-02 9.82455259e+00] [ 2.45351851e-02 -4.56685407e-04 9.99698863e-01 -1.28117542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.384012739 meters Centerline goodness [0,1] 0.9923312231805242 Centerline is valid? [True, True] Translation: X:343.80, Y:9.83, Z:-1.28 [[ 8.72212838e-01 -4.88598951e-01 -2.27118828e-02 3.43801598e+02] [ 4.88448141e-01 8.72508348e-01 -1.21488838e-02 9.83423582e+00] [ 2.57522392e-02 -4.97164511e-04 9.99668232e-01 -1.28301128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.414012739 meters Centerline goodness [0,1] 0.9929261816250664 Centerline is valid? [True, True] Translation: X:343.83, Y:9.84, Z:-1.29 [[ 8.71917771e-01 -4.89020119e-01 -2.48741611e-02 3.43828459e+02] [ 4.88839337e-01 8.72272328e-01 -1.33074972e-02 9.84297504e+00] [ 2.82046763e-02 -5.56425157e-04 9.99602014e-01 -1.28657294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.444012739 meters Centerline goodness [0,1] 0.9926519136972588 Centerline is valid? [True, True] Translation: X:343.85, Y:9.86, Z:-1.29 [[ 8.71908131e-01 -4.89056206e-01 -2.44997622e-02 3.43853114e+02] [ 4.88880776e-01 8.72252101e-01 -1.31094994e-02 9.85566549e+00] [ 2.77812511e-02 -5.47183626e-04 9.99613877e-01 -1.28553607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.474012739 meters Centerline goodness [0,1] 0.9923918416471448 Centerline is valid? [True, True] Translation: X:343.88, Y:9.87, Z:-1.28 [[ 8.72154302e-01 -4.88671708e-01 -2.33845231e-02 3.43878075e+02] [ 4.88511614e-01 8.72467596e-01 -1.25178703e-02 9.87044504e+00] [ 2.65193677e-02 -5.06096659e-04 9.99648172e-01 -1.28182778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.504012739 meters Centerline goodness [0,1] 0.99270041742481 Centerline is valid? [True, True] Translation: X:343.90, Y:9.88, Z:-1.28 [[ 8.73072290e-01 -4.87116502e-01 -2.15009393e-02 3.43902839e+02] [ 4.86980591e-01 8.73336899e-01 -1.15137090e-02 9.88437400e+00] [ 2.43860813e-02 -4.18239832e-04 9.99702528e-01 -1.27669613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.534012739 meters Centerline goodness [0,1] 0.9928656869446343 Centerline is valid? [True, True] Translation: X:343.93, Y:9.90, Z:-1.28 [[ 8.73759393e-01 -4.85880320e-01 -2.15600720e-02 3.43928006e+02] [ 4.85743175e-01 8.74025268e-01 -1.15498457e-02 9.89639003e+00] [ 2.44558904e-02 -3.80871666e-04 9.99700837e-01 -1.27618703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.564012739 meters Centerline goodness [0,1] 0.9935275767671837 Centerline is valid? [True, True] Translation: X:343.95, Y:9.91, Z:-1.28 [[ 8.75254131e-01 -4.83148832e-01 -2.23027250e-02 3.43951250e+02] [ 4.83001119e-01 8.75538182e-01 -1.19503448e-02 9.91357157e+00] [ 2.53006824e-02 -3.12652453e-04 9.99679838e-01 -1.27762930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.594012739 meters Centerline goodness [0,1] 0.9938726275112619 Centerline is valid? [True, True] Translation: X:343.98, Y:9.93, Z:-1.28 [[ 8.75864370e-01 -4.82031937e-01 -2.25125922e-02 3.43975605e+02] [ 4.81880943e-01 8.76153602e-01 -1.20674355e-02 9.92852340e+00] [ 2.55413781e-02 -2.78952393e-04 9.99673727e-01 -1.27776828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.624012739 meters Centerline goodness [0,1] 0.9945148759977803 Centerline is valid? [True, True] Translation: X:344.00, Y:9.94, Z:-1.28 [[ 8.76173515e-01 -4.81461368e-01 -2.26919155e-02 3.44001111e+02] [ 4.81307646e-01 8.76467275e-01 -1.21682649e-02 9.94249967e+00] [ 2.57472708e-02 -2.60280988e-04 9.99668450e-01 -1.27787090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.654012739 meters Centerline goodness [0,1] 0.9945966643975493 Centerline is valid? [True, True] Translation: X:344.03, Y:9.95, Z:-1.28 [[ 8.76100013e-01 -4.81582326e-01 -2.29615225e-02 3.44027296e+02] [ 4.81424850e-01 8.76400818e-01 -1.23174285e-02 9.95174343e+00] [ 2.60553530e-02 -2.62948254e-04 9.99660467e-01 -1.27749887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.684012739 meters Centerline goodness [0,1] 0.9946877456917618 Centerline is valid? [True, True] Translation: X:344.05, Y:9.96, Z:-1.28 [[ 8.75731959e-01 -4.82270427e-01 -2.25559620e-02 3.44054129e+02] [ 4.82118632e-01 8.76022351e-01 -1.21023155e-02 9.96241221e+00] [ 2.55961157e-02 -2.76265074e-04 9.99672328e-01 -1.27603545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.714012739 meters Centerline goodness [0,1] 0.9939743698548756 Centerline is valid? [True, True] Translation: X:344.08, Y:9.97, Z:-1.27 [[ 8.74839952e-01 -4.83946200e-01 -2.12399278e-02 3.44082851e+02] [ 4.83812000e-01 8.75097700e-01 -1.14002205e-02 9.96820617e+00] [ 2.41041054e-02 -3.02763574e-04 9.99709408e-01 -1.27185951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.744012739 meters Centerline goodness [0,1] 0.993745330344754 Centerline is valid? [True, True] Translation: X:344.11, Y:9.98, Z:-1.27 [[ 8.74443124e-01 -4.84691583e-01 -2.05740384e-02 3.44109591e+02] [ 4.84565841e-01 8.74685070e-01 -1.10441913e-02 9.97831125e+00] [ 2.33488308e-02 -3.11959006e-04 9.99727330e-01 -1.26977351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.774012739 meters Centerline goodness [0,1] 0.993846087870146 Centerline is valid? [True, True] Translation: X:344.14, Y:9.99, Z:-1.27 [[ 8.74205414e-01 -4.85143213e-01 -2.00239090e-02 3.44136333e+02] [ 4.85024132e-01 8.74434655e-01 -1.07529308e-02 9.98835475e+00] [ 2.27263113e-02 -3.11808786e-04 9.99741675e-01 -1.26852949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80401273900003 meters Centerline goodness [0,1] 0.9935690635877409 Centerline is valid? [True, True] Translation: X:344.16, Y:10.00, Z:-1.27 [[ 8.74420898e-01 -4.84701886e-01 -2.12643959e-02 3.44163123e+02] [ 4.84567422e-01 8.74679359e-01 -1.14207159e-02 9.99707367e+00] [ 2.41351707e-02 -3.17520842e-04 9.99708654e-01 -1.27068412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.834012739 meters Centerline goodness [0,1] 0.994371085153208 Centerline is valid? [True, True] Translation: X:344.19, Y:10.01, Z:-1.27 [[ 8.75182864e-01 -4.83287751e-01 -2.20885629e-02 3.44188560e+02] [ 4.83142145e-01 8.75461517e-01 -1.18659329e-02 1.00111625e+01] [ 2.50723468e-02 -2.87054538e-04 9.99685598e-01 -1.27197365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86401273900003 meters Centerline goodness [0,1] 0.9944731182795699 Centerline is valid? [True, True] Translation: X:344.21, Y:10.03, Z:-1.27 [[ 8.76501241e-01 -4.80872423e-01 -2.25230334e-02 3.44212925e+02] [ 4.80720117e-01 8.76790548e-01 -1.21038801e-02 1.00263361e+01] [ 2.55684050e-02 -2.18209299e-04 9.99673051e-01 -1.27220526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.894012739 meters Centerline goodness [0,1] 0.9966651798041589 Centerline is valid? [True, True] Translation: X:344.23, Y:10.05, Z:-1.27 [[ 8.80184015e-01 -4.73996567e-01 -2.45632777e-02 3.44233589e+02] [ 4.73812599e-01 8.80526692e-01 -1.32047889e-02 1.00471657e+01] [ 2.78876463e-02 -1.57462932e-05 9.99611064e-01 -1.27464892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.924012739 meters Centerline goodness [0,1] 0.9976023764056864 Centerline is valid? [True, True] Translation: X:344.26, Y:10.07, Z:-1.28 [[ 8.82458087e-01 -4.69719923e-01 -2.51180855e-02 3.44255104e+02] [ 4.69525761e-01 8.82815484e-01 -1.35048600e-02 1.00668824e+01] [ 2.85181366e-02 1.23884681e-04 9.99593268e-01 -1.27529084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.954012739 meters Centerline goodness [0,1] 0.9976286104939327 Centerline is valid? [True, True] Translation: X:344.27, Y:10.10, Z:-1.27 [[ 8.87543387e-01 -4.60056517e-01 -2.47938847e-02 3.44270979e+02] [ 4.59863483e-01 8.87889529e-01 -1.33327413e-02 1.00976190e+01] [ 2.81480451e-02 4.31584162e-04 9.99603672e-01 -1.27355602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.984012739 meters Centerline goodness [0,1] 0.9966104585474003 Centerline is valid? [True, True] Translation: X:344.29, Y:10.12, Z:-1.27 [[ 8.89983037e-01 -4.55346385e-01 -2.42871128e-02 3.44290266e+02] [ 4.55159288e-01 8.90314181e-01 -1.30644749e-02 1.01203040e+01] [ 2.75720223e-02 5.72656050e-04 9.99619655e-01 -1.27228840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.014012739 meters Centerline goodness [0,1] 0.9949458483754513 Centerline is valid? [True, True] Translation: X:344.31, Y:10.14, Z:-1.27 [[ 8.92314092e-01 -4.50797102e-01 -2.36121480e-02 3.44309698e+02] [ 4.50618610e-01 8.92626175e-01 -1.27035244e-02 1.01429946e+01] [ 2.68035333e-02 6.95460566e-04 9.99640479e-01 -1.27047033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.044012739 meters Centerline goodness [0,1] 0.9909143136795966 Centerline is valid? [True, True] Translation: X:344.33, Y:10.17, Z:-1.27 [[ 8.96257783e-01 -4.42983704e-01 -2.20776806e-02 3.44329287e+02] [ 4.42825248e-01 8.96529241e-01 -1.18793953e-02 1.01689963e+01] [ 2.50556648e-02 8.70446131e-04 9.99685679e-01 -1.26610736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.074012739 meters Centerline goodness [0,1] 0.9828298751650973 Centerline is valid? [True, True] Translation: X:344.35, Y:10.19, Z:-1.26 [[ 8.98011888e-01 -4.39437734e-01 -2.16593240e-02 3.44349375e+02] [ 4.39284103e-01 8.98272546e-01 -1.16580453e-02 1.01916117e+01] [ 2.45789611e-02 9.54466500e-04 9.99697436e-01 -1.26466157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.104012739 meters Centerline goodness [0,1] 0.9741872173393634 Centerline is valid? [True, True] Translation: X:344.37, Y:10.21, Z:-1.27 [[ 8.99414188e-01 -4.36532180e-01 -2.22210131e-02 3.44371800e+02] [ 4.36369553e-01 8.99688017e-01 -1.19618187e-02 1.02128383e+01] [ 2.52136980e-02 1.06205590e-03 9.99681520e-01 -1.26538933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.134012739 meters Centerline goodness [0,1] 0.9331966950618075 Centerline is valid? [True, False] Translation: X:344.25, Y:10.13, Z:-1.26 [[ 9.03018071e-01 -4.27930223e-01 -3.78693533e-02 3.44251096e+02] [ 4.28570918e-01 9.03448073e-01 1.04186625e-02 1.01346321e+01] [ 2.97545337e-02 -2.56379440e-02 9.99228384e-01 -1.26191617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.164012739 meters Centerline goodness [0,1] 0.939633389010236 Centerline is valid? [False, False] Translation: X:344.12, Y:10.05, Z:-1.26 [[ 9.04993285e-01 -4.22891134e-01 -4.63707208e-02 3.44117894e+02] [ 4.24312964e-01 9.05126848e-01 2.65310486e-02 1.00505055e+01] [ 3.07516391e-02 -4.36861188e-02 9.98571910e-01 -1.26070572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.194012739 meters Centerline goodness [0,1] 0.9783527603432817 Centerline is valid? [False, True] Translation: X:344.00, Y:9.98, Z:-1.26 [[ 9.06163528e-01 -4.20498425e-01 -4.52629549e-02 3.43995472e+02] [ 4.22085433e-01 9.05915342e-01 3.40775528e-02 9.98482298e+00] [ 2.66748481e-02 -4.99846694e-02 9.98393703e-01 -1.26190813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.224012739 meters Centerline goodness [0,1] 0.98068724420191 Centerline is valid? [True, True] Translation: X:344.01, Y:10.03, Z:-1.26 [[ 9.05224174e-01 -4.24403374e-01 -2.12360985e-02 3.44005417e+02] [ 4.24262549e-01 9.05472764e-01 -1.09709931e-02 1.00277308e+01] [ 2.38848353e-02 9.21526899e-04 9.99714292e-01 -1.25968641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.254012739 meters Centerline goodness [0,1] 0.9856920485318891 Centerline is valid? [True, True] Translation: X:344.03, Y:10.04, Z:-1.26 [[ 9.04283478e-01 -4.26362326e-01 -2.20580913e-02 3.44030755e+02] [ 4.26210939e-01 9.04552016e-01 -1.13967874e-02 1.00416125e+01] [ 2.48118517e-02 9.04526739e-04 9.99691729e-01 -1.26032834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.284012739 meters Centerline goodness [0,1] 0.9933341906721537 Centerline is valid? [True, True] Translation: X:344.06, Y:10.05, Z:-1.27 [[ 9.02873666e-01 -4.29203691e-01 -2.45628776e-02 3.44056848e+02] [ 4.29016969e-01 9.03207253e-01 -1.26924585e-02 1.00547692e+01] [ 2.76330192e-02 9.21795256e-04 9.99617710e-01 -1.26501474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.314012739 meters Centerline goodness [0,1] 0.991259596367735 Centerline is valid? [True, True] Translation: X:344.08, Y:10.07, Z:-1.27 [[ 9.02428976e-01 -4.30098539e-01 -2.52426127e-02 3.44078340e+02] [ 4.29901562e-01 9.02781477e-01 -1.30480960e-02 1.00731882e+01] [ 2.84005302e-02 9.23141299e-04 9.99596197e-01 -1.26583360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.344012739 meters Centerline goodness [0,1] 0.9942539743344186 Centerline is valid? [True, True] Translation: X:344.11, Y:10.08, Z:-1.26 [[ 9.01635755e-01 -4.31791111e-01 -2.46860666e-02 3.44105284e+02] [ 4.31603308e-01 9.01973232e-01 -1.27622186e-02 1.00847425e+01] [ 2.77767838e-02 8.52284646e-04 9.99613787e-01 -1.26338538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.374012739 meters Centerline goodness [0,1] 0.9952409664498901 Centerline is valid? [True, True] Translation: X:344.13, Y:10.10, Z:-1.26 [[ 9.01046022e-01 -4.33047134e-01 -2.42125308e-02 3.44131569e+02] [ 4.32866853e-01 9.01370922e-01 -1.25198926e-02 1.00977771e+01] [ 2.72461748e-02 8.00197372e-04 9.99628434e-01 -1.26169390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.404012739 meters Centerline goodness [0,1] 0.9952409664498901 Centerline is valid? [True, True] Translation: X:344.16, Y:10.11, Z:-1.26 [[ 9.00963738e-01 -4.33218411e-01 -2.42105748e-02 3.44155891e+02] [ 4.33038091e-01 9.01288616e-01 -1.25236740e-02 1.01105668e+01] [ 2.72462016e-02 7.99275052e-04 9.99628434e-01 -1.26098547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.434012739 meters Centerline goodness [0,1] 0.9948663329428055 Centerline is valid? [True, True] Translation: X:344.18, Y:10.13, Z:-1.26 [[ 9.00326449e-01 -4.34559028e-01 -2.38901093e-02 3.44179236e+02] [ 4.34383773e-01 9.00643039e-01 -1.23634195e-02 1.01261069e+01] [ 2.68890962e-02 7.53637719e-04 9.99638139e-01 -1.25929469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.464012739 meters Centerline goodness [0,1] 0.9952307954351899 Centerline is valid? [True, True] Translation: X:344.20, Y:10.14, Z:-1.26 [[ 8.98801614e-01 -4.37702138e-01 -2.39269050e-02 3.44204357e+02] [ 4.37527406e-01 8.99119792e-01 -1.23842302e-02 1.01396741e+01] [ 2.69337579e-02 6.62289419e-04 9.99637001e-01 -1.25943188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.494012739 meters Centerline goodness [0,1] 0.9962000725828832 Centerline is valid? [True, True] Translation: X:344.23, Y:10.15, Z:-1.26 [[ 8.98109684e-01 -4.39101933e-01 -2.42587671e-02 3.44232588e+02] [ 4.38922789e-01 8.98437029e-01 -1.25574896e-02 1.01474864e+01] [ 2.73089926e-02 6.30277328e-04 9.99626841e-01 -1.25923563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.524012739 meters Centerline goodness [0,1] 0.9966391559601804 Centerline is valid? [True, True] Translation: X:344.26, Y:10.16, Z:-1.26 [[ 8.97533931e-01 -4.40258243e-01 -2.46073356e-02 3.44257025e+02] [ 4.40074209e-01 8.97870987e-01 -1.27429018e-02 1.01611284e+01] [ 2.77043803e-02 6.08133024e-04 9.99615975e-01 -1.25875067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55401273900003 meters Centerline goodness [0,1] 0.9971276686958759 Centerline is valid? [True, True] Translation: X:344.28, Y:10.18, Z:-1.26 [[ 8.97058788e-01 -4.41259486e-01 -2.39916134e-02 3.44281832e+02] [ 4.41084854e-01 8.97379378e-01 -1.24259403e-02 1.01759591e+01] [ 2.70126431e-02 5.64461685e-04 9.99634933e-01 -1.25730833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.584012739 meters Centerline goodness [0,1] 0.9976184857001866 Centerline is valid? [True, True] Translation: X:344.31, Y:10.19, Z:-1.26 [[ 8.96806069e-01 -4.41760303e-01 -2.42220834e-02 3.44305948e+02] [ 4.41582341e-01 8.97132946e-01 -1.25504410e-02 1.01897140e+01] [ 2.72747156e-02 5.59267374e-04 9.99627819e-01 -1.25667541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61401273900003 meters Centerline goodness [0,1] 0.9975886645896462 Centerline is valid? [True, True] Translation: X:344.33, Y:10.20, Z:-1.26 [[ 8.96393514e-01 -4.42540972e-01 -2.52221162e-02 3.44329212e+02] [ 4.42348152e-01 8.96748109e-01 -1.30744700e-02 1.02045016e+01] [ 2.84038737e-02 5.62913631e-04 9.99596370e-01 -1.25879132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.644012739 meters Centerline goodness [0,1] 0.9974169584151652 Centerline is valid? [True, True] Translation: X:344.35, Y:10.22, Z:-1.26 [[ 8.95889838e-01 -4.43548492e-01 -2.54191679e-02 3.44353557e+02] [ 4.43352994e-01 8.96250214e-01 -1.31786045e-02 1.02183859e+01] [ 2.86272848e-02 5.36913650e-04 9.99590011e-01 -1.25820557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.674012739 meters Centerline goodness [0,1] 0.9975595781253316 Centerline is valid? [True, True] Translation: X:344.38, Y:10.23, Z:-1.26 [[ 8.95522752e-01 -4.44315718e-01 -2.49508106e-02 3.44379021e+02] [ 4.44127576e-01 8.95870129e-01 -1.29386741e-02 1.02323746e+01] [ 2.81015422e-02 5.05534011e-04 9.99604946e-01 -1.25643506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.704012739 meters Centerline goodness [0,1] 0.9975975975975976 Centerline is valid? [True, True] Translation: X:344.40, Y:10.24, Z:-1.25 [[ 8.95061577e-01 -4.45283814e-01 -2.42301314e-02 3.44404472e+02] [ 4.45106607e-01 8.95389361e-01 -1.25698110e-02 1.02449068e+01] [ 2.72925353e-02 4.65763267e-04 9.99627381e-01 -1.25418369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.734012739 meters Centerline goodness [0,1] 0.9972271399014568 Centerline is valid? [True, True] Translation: X:344.43, Y:10.26, Z:-1.25 [[ 8.94015629e-01 -4.47475987e-01 -2.23896459e-02 3.44429800e+02] [ 4.47325259e-01 8.94295870e-01 -1.16193982e-02 1.02561454e+01] [ 2.52223695e-02 3.72469455e-04 9.99681796e-01 -1.25017520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.764012739 meters Centerline goodness [0,1] 0.9967875757898096 Centerline is valid? [True, True] Translation: X:344.46, Y:10.27, Z:-1.25 [[ 8.93109913e-01 -4.49299225e-01 -2.20201887e-02 3.44456143e+02] [ 4.49153928e-01 8.93381276e-01 -1.14299533e-02 1.02680416e+01] [ 2.48078935e-02 3.17750376e-04 9.99692186e-01 -1.24903743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.794012739 meters Centerline goodness [0,1] 0.9981504315659679 Centerline is valid? [True, True] Translation: X:344.48, Y:10.28, Z:-1.25 [[ 8.91351313e-01 -4.52686022e-01 -2.38370065e-02 3.44481829e+02] [ 4.52516823e-01 8.91669953e-01 -1.23782048e-02 1.02796417e+01] [ 2.68581828e-02 2.46682591e-04 9.99639224e-01 -1.25195877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.824012739 meters Centerline goodness [0,1] 0.998075648399581 Centerline is valid? [True, True] Translation: X:344.51, Y:10.29, Z:-1.25 [[ 8.90400869e-01 -4.54487215e-01 -2.50532053e-02 3.44508450e+02] [ 4.54300956e-01 8.90753237e-01 -1.30119739e-02 1.02900104e+01] [ 2.82299995e-02 2.04177750e-04 9.99601433e-01 -1.25349303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.854012739 meters Centerline goodness [0,1] 0.9985098773841962 Centerline is valid? [True, True] Translation: X:344.53, Y:10.30, Z:-1.25 [[ 8.89466409e-01 -4.56266494e-01 -2.58919533e-02 3.44534752e+02] [ 4.56068156e-01 8.89843167e-01 -1.34526922e-02 1.02998484e+01] [ 2.91777904e-02 1.57222472e-04 9.99574225e-01 -1.25454707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.884012739 meters Centerline goodness [0,1] 0.9976120421303996 Centerline is valid? [True, True] Translation: X:344.56, Y:10.31, Z:-1.25 [[ 8.87765263e-01 -4.59607205e-01 -2.51804558e-02 3.44563013e+02] [ 4.59420910e-01 8.88122297e-01 -1.30848102e-02 1.03059968e+01] [ 2.83771973e-02 4.78120088e-05 9.99597285e-01 -1.25206317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.914012739 meters Centerline goodness [0,1] 0.9976810484214109 Centerline is valid? [True, True] Translation: X:344.59, Y:10.32, Z:-1.25 [[ 8.86748482e-01 -4.61592699e-01 -2.46842115e-02 3.44589533e+02] [ 4.61414388e-01 8.87091979e-01 -1.28289778e-02 1.03156288e+01] [ 2.78189285e-02 -1.35737375e-05 9.99612979e-01 -1.25084644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.944012739 meters Centerline goodness [0,1] 0.9967885587051468 Centerline is valid? [True, True] Translation: X:344.62, Y:10.32, Z:-1.25 [[ 8.85252922e-01 -4.64445865e-01 -2.48455850e-02 3.44617919e+02] [ 4.64266180e-01 8.85601507e-01 -1.29183947e-02 1.03205495e+01] [ 2.80031826e-02 -9.89181776e-05 9.99607829e-01 -1.25119844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.974012739 meters Centerline goodness [0,1] 0.9966280697289731 Centerline is valid? [True, True] Translation: X:344.64, Y:10.33, Z:-1.25 [[ 8.84675950e-01 -4.65553237e-01 -2.46707839e-02 3.44644853e+02] [ 4.65376431e-01 8.85019868e-01 -1.28300862e-02 1.03284568e+01] [ 2.78072220e-02 -1.30732678e-04 9.99613296e-01 -1.24964886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.004012739 meters Centerline goodness [0,1] 0.9965005867918489 Centerline is valid? [True, True] Translation: X:344.67, Y:10.33, Z:-1.25 [[ 8.84258311e-01 -4.66392947e-01 -2.37667467e-02 3.44673500e+02] [ 4.66229120e-01 8.84577637e-01 -1.23616961e-02 1.03348099e+01] [ 2.67889405e-02 -1.49816912e-04 9.99641101e-01 -1.24534336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.034012739 meters Centerline goodness [0,1] 0.9966993870290197 Centerline is valid? [True, True] Translation: X:344.70, Y:10.34, Z:-1.25 [[ 8.84033667e-01 -4.66801944e-01 -2.40919392e-02 3.44699472e+02] [ 4.66633604e-01 8.84361872e-01 -1.25363350e-02 1.03448767e+01] [ 2.71579780e-02 -1.59566223e-04 9.99631141e-01 -1.24529167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.064012739 meters Centerline goodness [0,1] 0.996779353276846 Centerline is valid? [True, True] Translation: X:344.73, Y:10.36, Z:-1.25 [[ 8.83884563e-01 -4.67065433e-01 -2.44532455e-02 3.44725506e+02] [ 4.66891951e-01 8.84222740e-01 -1.27299472e-02 1.03557589e+01] [ 2.75678341e-02 -1.65219716e-04 9.99619921e-01 -1.24566379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.094012739 meters Centerline goodness [0,1] 0.9963016493793573 Centerline is valid? [True, True] Translation: X:344.75, Y:10.36, Z:-1.25 [[ 8.83883065e-01 -4.67071485e-01 -2.43917139e-02 3.44750906e+02] [ 4.66898727e-01 8.84219544e-01 -1.27034043e-02 1.03646759e+01] [ 2.75010281e-02 -1.60136198e-04 9.99621762e-01 -1.24550765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.124012739 meters Centerline goodness [0,1] 0.9963072851074729 Centerline is valid? [True, True] Translation: X:344.78, Y:10.37, Z:-1.24 [[ 8.84151229e-01 -4.66662993e-01 -2.24110440e-02 3.44777611e+02] [ 4.66516974e-01 8.84435206e-01 -1.16738951e-02 1.03734074e+01] [ 2.52688911e-02 -1.33643747e-04 9.99680682e-01 -1.24037897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.154012739 meters Centerline goodness [0,1] 0.9961255987227249 Centerline is valid? [True, True] Translation: X:344.80, Y:10.38, Z:-1.24 [[ 8.84307585e-01 -4.66379849e-01 -2.21343900e-02 3.44802161e+02] [ 4.66237195e-01 8.84584548e-01 -1.15349762e-02 1.03836609e+01] [ 2.49594198e-02 -1.19408952e-04 9.99688458e-01 -1.23869562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.184012739 meters Centerline goodness [0,1] 0.9969122566257826 Centerline is valid? [True, True] Translation: X:344.83, Y:10.40, Z:-1.24 [[ 8.85039140e-01 -4.64906995e-01 -2.38161153e-02 3.44827616e+02] [ 4.64741190e-01 8.85359520e-01 -1.24155598e-02 1.03957854e+01] [ 2.68579050e-02 -8.00734319e-05 9.99639258e-01 -1.24085277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.214012739 meters Centerline goodness [0,1] 0.9976047142614889 Centerline is valid? [True, True] Translation: X:344.85, Y:10.41, Z:-1.24 [[ 8.85709047e-01 -4.63568745e-01 -2.49700346e-02 3.44851612e+02] [ 4.63385778e-01 8.86060956e-01 -1.30231932e-02 1.04078298e+01] [ 2.81621181e-02 -3.59988605e-05 9.99603368e-01 -1.24226432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.244012739 meters Centerline goodness [0,1] 0.9973815247252747 Centerline is valid? [True, True] Translation: X:344.88, Y:10.42, Z:-1.24 [[ 8.86374236e-01 -4.62299658e-01 -2.48945870e-02 3.44876250e+02] [ 4.62117213e-01 8.86723760e-01 -1.29867356e-02 1.04220977e+01] [ 2.80783852e-02 6.89064547e-06 9.99605724e-01 -1.24195355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.274012739 meters Centerline goodness [0,1] 0.9973456063362945 Centerline is valid? [True, True] Translation: X:344.90, Y:10.44, Z:-1.24 [[ 8.87673634e-01 -4.59907712e-01 -2.28126165e-02 3.44899442e+02] [ 4.59753598e-01 8.87966717e-01 -1.19054225e-02 1.04374250e+01] [ 2.57322398e-02 7.99471028e-05 9.99668868e-01 -1.23720836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30401273900003 meters Centerline goodness [0,1] 0.9971341765605809 Centerline is valid? [True, True] Translation: X:344.92, Y:10.45, Z:-1.23 [[ 8.87769993e-01 -4.59798185e-01 -2.12148006e-02 3.44924825e+02] [ 4.59664763e-01 8.88023436e-01 -1.10762355e-02 1.04497689e+01] [ 2.39320731e-02 8.14532231e-05 9.99713584e-01 -1.23329628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.334012739 meters Centerline goodness [0,1] 0.9966926983314129 Centerline is valid? [True, True] Translation: X:344.95, Y:10.46, Z:-1.23 [[ 8.86986250e-01 -4.61332672e-01 -2.06774953e-02 3.44951525e+02] [ 4.61206221e-01 8.87227233e-01 -1.08008317e-02 1.04578096e+01] [ 2.33284135e-02 4.35997587e-05 9.99727855e-01 -1.23167111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36401273900003 meters Centerline goodness [0,1] 0.996520693284079 Centerline is valid? [True, True] Translation: X:344.98, Y:10.47, Z:-1.23 [[ 8.86131420e-01 -4.62909890e-01 -2.20349514e-02 3.44978166e+02] [ 4.62766714e-01 8.86405344e-01 -1.15123792e-02 1.04679148e+01] [ 2.48610928e-02 4.43885753e-06 9.99690915e-01 -1.23379062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.394012739 meters Centerline goodness [0,1] 0.9965350112665278 Centerline is valid? [True, True] Translation: X:345.00, Y:10.48, Z:-1.24 [[ 8.85247172e-01 -4.64517188e-01 -2.36902023e-02 3.45004775e+02] [ 4.64352211e-01 8.85564103e-01 -1.23791773e-02 1.04777086e+01] [ 2.67295334e-02 -4.19660758e-05 9.99642701e-01 -1.23728120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.424012739 meters Centerline goodness [0,1] 0.9962618034097539 Centerline is valid? [True, True] Translation: X:345.03, Y:10.48, Z:-1.24 [[ 8.83842019e-01 -4.67135304e-01 -2.46554929e-02 3.45034019e+02] [ 4.66957458e-01 8.84185836e-01 -1.28895208e-02 1.04836707e+01] [ 2.78211878e-02 -1.20766230e-04 9.99612909e-01 -1.23789238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.454012739 meters Centerline goodness [0,1] 0.9962324735095793 Centerline is valid? [True, True] Translation: X:345.06, Y:10.49, Z:-1.24 [[ 8.83699097e-01 -4.67434070e-01 -2.41100833e-02 3.45059039e+02] [ 4.67263986e-01 8.84027927e-01 -1.26092073e-02 1.04933416e+01] [ 2.72079600e-02 -1.23028479e-04 9.99629787e-01 -1.23589998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.484012739 meters Centerline goodness [0,1] 0.9964838862763709 Centerline is valid? [True, True] Translation: X:345.08, Y:10.51, Z:-1.23 [[ 8.83810931e-01 -4.67276111e-01 -2.30493864e-02 3.45083439e+02] [ 4.67120552e-01 8.84111432e-01 -1.20568118e-02 1.05073385e+01] [ 2.60120862e-02 -1.10900014e-04 9.99661622e-01 -1.23258015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.514012739 meters Centerline goodness [0,1] 0.9963405812518616 Centerline is valid? [True, True] Translation: X:345.11, Y:10.52, Z:-1.23 [[ 8.85155036e-01 -4.64716705e-01 -2.32152276e-02 3.45106384e+02] [ 4.64557873e-01 8.85459419e-01 -1.21490612e-02 1.05236090e+01] [ 2.62020136e-02 -3.10140379e-05 9.99656668e-01 -1.23196793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.544012739 meters Centerline goodness [0,1] 0.9967099567099567 Centerline is valid? [True, True] Translation: X:345.13, Y:10.54, Z:-1.23 [[ 8.85950438e-01 -4.63166255e-01 -2.38504014e-02 3.45130446e+02] [ 4.62997996e-01 8.86271414e-01 -1.24834429e-02 1.05388833e+01] [ 2.69198385e-02 1.70237161e-05 9.99637595e-01 -1.23296583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.574012739 meters Centerline goodness [0,1] 0.9967389671965845 Centerline is valid? [True, True] Translation: X:345.15, Y:10.56, Z:-1.23 [[ 8.88022139e-01 -4.59154754e-01 -2.43637630e-02 3.45152131e+02] [ 4.58977502e-01 8.88356286e-01 -1.27578174e-02 1.05573664e+01] [ 2.75015145e-02 1.46805194e-04 9.99621751e-01 -1.23361224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.604012739 meters Centerline goodness [0,1] 0.9967331499312242 Centerline is valid? [True, True] Translation: X:345.18, Y:10.57, Z:-1.23 [[ 8.89056575e-01 -4.57179445e-01 -2.37773509e-02 3.45175414e+02] [ 4.57009871e-01 8.89374451e-01 -1.24524727e-02 1.05739169e+01] [ 2.68399830e-02 2.04468653e-04 9.99639722e-01 -1.23169540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.634012739 meters Centerline goodness [0,1] 0.9967290219134153 Centerline is valid? [True, True] Translation: X:345.20, Y:10.59, Z:-1.23 [[ 8.89875574e-01 -4.55617581e-01 -2.31102155e-02 3.45199432e+02] [ 4.55456821e-01 8.90175578e-01 -1.21047621e-02 1.05897600e+01] [ 2.60872919e-02 2.46026878e-04 9.99659638e-01 -1.22979713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.664012739 meters Centerline goodness [0,1] 0.9960888812481197 Centerline is valid? [True, True] Translation: X:345.22, Y:10.61, Z:-1.23 [[ 8.91279033e-01 -4.52825363e-01 -2.38930117e-02 3.45220507e+02] [ 4.52652385e-01 8.91599166e-01 -1.25197977e-02 1.06088352e+01] [ 2.69722712e-02 3.43404412e-04 9.99636123e-01 -1.23008387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.694012739 meters Centerline goodness [0,1] 0.9964593363414581 Centerline is valid? [True, True] Translation: X:345.25, Y:10.62, Z:-1.23 [[ 8.91572799e-01 -4.52184952e-01 -2.50342242e-02 3.45245163e+02] [ 4.51994737e-01 8.91924113e-01 -1.31200077e-02 1.06239003e+01] [ 2.82612983e-02 3.82104381e-04 9.99600497e-01 -1.23177091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.724012739 meters Centerline goodness [0,1] 0.9965571407053558 Centerline is valid? [True, True] Translation: X:345.27, Y:10.64, Z:-1.23 [[ 8.91743032e-01 -4.51828615e-01 -2.54021180e-02 3.45270009e+02] [ 4.51632474e-01 8.92104668e-01 -1.33179818e-02 1.06388822e+01] [ 2.86787933e-02 4.03796061e-04 9.99588597e-01 -1.23234087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.754012739 meters Centerline goodness [0,1] 0.9959111527567774 Centerline is valid? [True, True] Translation: X:345.29, Y:10.65, Z:-1.23 [[ 8.91785372e-01 -4.51810042e-01 -2.42184993e-02 3.45292952e+02] [ 4.51631627e-01 8.92114081e-01 -1.27019306e-02 1.06535246e+01] [ 2.73445241e-02 3.89555647e-04 9.99625993e-01 -1.22956799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.784012739 meters Centerline goodness [0,1] 0.9955110719731953 Centerline is valid? [True, True] Translation: X:345.32, Y:10.67, Z:-1.23 [[ 8.91752116e-01 -4.51925274e-01 -2.32746711e-02 3.45317688e+02] [ 4.51760476e-01 8.92055720e-01 -1.22092042e-02 1.06673487e+01] [ 2.62799514e-02 3.73007259e-04 9.99654553e-01 -1.22699612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.814012739 meters Centerline goodness [0,1] 0.9952508731578499 Centerline is valid? [True, True] Translation: X:345.34, Y:10.69, Z:-1.23 [[ 8.91886677e-01 -4.51651615e-01 -2.34301965e-02 3.45339508e+02] [ 4.51484373e-01 8.92194299e-01 -1.22960711e-02 1.06852894e+01] [ 2.64578281e-02 3.88334411e-04 9.99649855e-01 -1.22637768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.844012739 meters Centerline goodness [0,1] 0.9957344650933487 Centerline is valid? [True, True] Translation: X:345.37, Y:10.69, Z:-1.23 [[ 8.91684102e-01 -4.52038275e-01 -2.36824934e-02 3.45365790e+02] [ 4.51867499e-01 8.91998459e-01 -1.24303026e-02 1.06947701e+01] [ 2.67437201e-02 3.82554166e-04 9.99642250e-01 -1.22545560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.874012739 meters Centerline goodness [0,1] 0.9953309881675727 Centerline is valid? [True, True] Translation: X:345.39, Y:10.71, Z:-1.22 [[ 8.91452997e-01 -4.52490950e-01 -2.37380151e-02 3.45390096e+02] [ 4.52319389e-01 8.91768916e-01 -1.24647691e-02 1.07092951e+01] [ 2.68090192e-02 3.74591282e-04 9.99640503e-01 -1.22484149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.904012739 meters Centerline goodness [0,1] 0.9952905595160942 Centerline is valid? [True, True] Translation: X:345.41, Y:10.72, Z:-1.22 [[ 8.90793278e-01 -4.53790806e-01 -2.36904935e-02 3.45414573e+02] [ 4.53620345e-01 8.91108182e-01 -1.24414987e-02 1.07227248e+01] [ 2.67566303e-02 3.36313574e-04 9.99641921e-01 -1.22464088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.934012739 meters Centerline goodness [0,1] 0.995845317992969 Centerline is valid? [True, True] Translation: X:345.44, Y:10.74, Z:-1.23 [[ 8.90560705e-01 -4.54202378e-01 -2.45322287e-02 3.45438872e+02] [ 4.54019687e-01 8.90898471e-01 -1.28855635e-02 1.07367506e+01] [ 2.77083786e-02 3.37261735e-04 9.99615992e-01 -1.22562096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.964012739 meters Centerline goodness [0,1] 0.9966006279094944 Centerline is valid? [True, True] Translation: X:345.46, Y:10.75, Z:-1.23 [[ 8.90257341e-01 -4.54777687e-01 -2.48821727e-02 3.45461804e+02] [ 4.54589813e-01 8.90604933e-01 -1.30749650e-02 1.07520919e+01] [ 2.81063881e-02 3.28901294e-04 9.99604883e-01 -1.22616902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.994012739 meters Centerline goodness [0,1] 0.9964834787829406 Centerline is valid? [True, True] Translation: X:345.49, Y:10.76, Z:-1.22 [[ 8.90258220e-01 -4.54782567e-01 -2.47612157e-02 3.45487690e+02] [ 4.54596365e-01 8.90602440e-01 -1.30168783e-02 1.07632221e+01] [ 2.79722484e-02 3.32024288e-04 9.99608645e-01 -1.22403300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.024012739 meters Centerline goodness [0,1] 0.9964263923995468 Centerline is valid? [True, True] Translation: X:345.51, Y:10.78, Z:-1.22 [[ 8.90020714e-01 -4.55266495e-01 -2.44038459e-02 3.45512203e+02] [ 4.55085651e-01 8.90355164e-01 -1.28348052e-02 1.07762984e+01] [ 2.75713470e-02 3.17402363e-04 9.99619788e-01 -1.22309230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05401273900003 meters Centerline goodness [0,1] 0.9964477541674691 Centerline is valid? [True, True] Translation: X:345.53, Y:10.79, Z:-1.22 [[ 8.89899668e-01 -4.55521959e-01 -2.40483886e-02 3.45533310e+02] [ 4.55346288e-01 8.90224493e-01 -1.26534456e-02 1.07936795e+01] [ 2.71723869e-02 3.09952569e-04 9.99630714e-01 -1.22179574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.084012739 meters Centerline goodness [0,1] 0.9964274184870332 Centerline is valid? [True, True] Translation: X:345.55, Y:10.81, Z:-1.22 [[ 8.89812039e-01 -4.55702364e-01 -2.38723916e-02 3.45554339e+02] [ 4.55529253e-01 8.90132160e-01 -1.25633447e-02 1.08110541e+01] [ 2.69747294e-02 3.04442686e-04 9.99636069e-01 -1.22061309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11401273900003 meters Centerline goodness [0,1] 0.9959196752830591 Centerline is valid? [True, True] Translation: X:345.58, Y:10.83, Z:-1.22 [[ 8.90180790e-01 -4.55003246e-01 -2.34565217e-02 3.45578408e+02] [ 4.54835807e-01 8.90489721e-01 -1.23468836e-02 1.08277175e+01] [ 2.65056636e-02 3.22092617e-04 9.99648611e-01 -1.21869553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.144012739 meters Centerline goodness [0,1] 0.9963227341553104 Centerline is valid? [True, True] Translation: X:345.60, Y:10.84, Z:-1.22 [[ 8.90221714e-01 -4.54927300e-01 -2.33762993e-02 3.45601894e+02] [ 4.54760854e-01 8.90528520e-01 -1.23093970e-02 1.08421173e+01] [ 2.64171420e-02 3.27466687e-04 9.99650953e-01 -1.21756934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.174012739 meters Centerline goodness [0,1] 0.9961689970131163 Centerline is valid? [True, True] Translation: X:345.63, Y:10.86, Z:-1.22 [[ 8.90278729e-01 -4.54826091e-01 -2.31735167e-02 3.45625824e+02] [ 4.54662342e-01 8.90580213e-01 -1.22081377e-02 1.08569877e+01] [ 2.61904550e-02 3.32519941e-04 9.99656916e-01 -1.21644726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.204012739 meters Centerline goodness [0,1] 0.9952702558748961 Centerline is valid? [True, True] Translation: X:345.64, Y:10.88, Z:-1.21 [[ 8.90316348e-01 -4.54814612e-01 -2.19196111e-02 3.45643721e+02] [ 4.54667972e-01 8.90586081e-01 -1.15528568e-02 1.08800696e+01] [ 2.47757086e-02 3.19552176e-04 9.99692984e-01 -1.21384204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.234012739 meters Centerline goodness [0,1] 0.995309287183002 Centerline is valid? [True, True] Translation: X:345.67, Y:10.89, Z:-1.21 [[ 8.90143309e-01 -4.55147995e-01 -2.20270694e-02 3.45669320e+02] [ 4.54999958e-01 8.90415748e-01 -1.16118020e-02 1.08916926e+01] [ 2.48983378e-02 3.13852190e-04 9.99689939e-01 -1.21357233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.264012739 meters Centerline goodness [0,1] 0.9948364888123924 Centerline is valid? [True, True] Translation: X:345.69, Y:10.91, Z:-1.21 [[ 8.90234526e-01 -4.54936559e-01 -2.26983904e-02 3.45692602e+02] [ 4.54779150e-01 8.90523787e-01 -1.19711801e-02 1.09082731e+01] [ 2.56595840e-02 3.34403152e-04 9.99670683e-01 -1.21448825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.294012739 meters Centerline goodness [0,1] 0.9948364888123924 Centerline is valid? [True, True] Translation: X:345.72, Y:10.92, Z:-1.21 [[ 8.90152993e-01 -4.55096102e-01 -2.26977174e-02 3.45716803e+02] [ 4.54938713e-01 8.90442265e-01 -1.19724559e-02 1.09212760e+01] [ 2.56596249e-02 3.31247114e-04 9.99670683e-01 -1.21378010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.324012739 meters Centerline goodness [0,1] 0.9960093187799302 Centerline is valid? [True, True] Translation: X:345.74, Y:10.94, Z:-1.22 [[ 8.89884893e-01 -4.55541358e-01 -2.42270239e-02 3.45739471e+02] [ 4.55362043e-01 8.90214554e-01 -1.27850508e-02 1.09379782e+01] [ 2.73913687e-02 3.45156403e-04 9.99624726e-01 -1.21649150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.354012739 meters Centerline goodness [0,1] 0.9962553264752723 Centerline is valid? [True, True] Translation: X:345.76, Y:10.95, Z:-1.22 [[ 8.89532605e-01 -4.56216454e-01 -2.44600082e-02 3.45761935e+02] [ 4.56033761e-01 8.89868775e-01 -1.29140257e-02 1.09544178e+01] [ 2.76577886e-02 3.32857402e-04 9.99617395e-01 -1.21656196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.384012739 meters Centerline goodness [0,1] 0.9957592977397057 Centerline is valid? [True, True] Translation: X:345.78, Y:10.97, Z:-1.21 [[ 8.88948130e-01 -4.57383946e-01 -2.38986962e-02 3.45783438e+02] [ 4.57209817e-01 8.89269273e-01 -1.26231531e-02 1.09734752e+01] [ 2.70260038e-02 2.94609774e-04 9.99634687e-01 -1.21462058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.414012739 meters Centerline goodness [0,1] 0.995546748487173 Centerline is valid? [True, True] Translation: X:345.81, Y:10.99, Z:-1.21 [[ 8.88543726e-01 -4.58209931e-01 -2.31020806e-02 3.45808005e+02] [ 4.58047453e-01 8.88843963e-01 -1.22041073e-02 1.09890664e+01] [ 2.61261881e-02 2.62033828e-04 9.99658619e-01 -1.21235103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.444012739 meters Centerline goodness [0,1] 0.9955555555555555 Centerline is valid? [True, True] Translation: X:345.83, Y:11.00, Z:-1.21 [[ 8.88269531e-01 -4.58745033e-01 -2.30268284e-02 3.45831783e+02] [ 4.58583672e-01 8.88567911e-01 -1.21689538e-02 1.10038500e+01] [ 2.60433479e-02 2.49583387e-04 9.99660783e-01 -1.21158200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.474012739 meters Centerline goodness [0,1] 0.9956653570208405 Centerline is valid? [True, True] Translation: X:345.85, Y:11.02, Z:-1.21 [[ 8.87710092e-01 -4.59778452e-01 -2.39701442e-02 3.45853847e+02] [ 4.59603816e-01 8.88033626e-01 -1.26732574e-02 1.10216913e+01] [ 2.71131847e-02 2.33408794e-04 9.99632343e-01 -1.21361685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.504012739 meters Centerline goodness [0,1] 0.996309336953294 Centerline is valid? [True, True] Translation: X:345.88, Y:11.04, Z:-1.21 [[ 8.86851946e-01 -4.61427386e-01 -2.40498008e-02 3.45879397e+02] [ 4.61252117e-01 8.87177960e-01 -1.27181742e-02 1.10353345e+01] [ 2.72049671e-02 1.86116001e-04 9.99629859e-01 -1.21280112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.534012739 meters Centerline goodness [0,1] 0.9953819056619985 Centerline is valid? [True, True] Translation: X:345.91, Y:11.05, Z:-1.21 [[ 8.84272005e-01 -4.66407013e-01 -2.29677846e-02 3.45906113e+02] [ 4.66248721e-01 8.84570233e-01 -1.21504619e-02 1.10459976e+01] [ 2.59836792e-02 3.56131442e-05 9.99662367e-01 -1.20887625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.564012739 meters Centerline goodness [0,1] 0.9955114575950862 Centerline is valid? [True, True] Translation: X:345.93, Y:11.06, Z:-1.21 [[ 8.82878894e-01 -4.69050640e-01 -2.27234410e-02 3.45932171e+02] [ 4.68896453e-01 8.83171272e-01 -1.20258587e-02 1.10570946e+01] [ 2.57094270e-02 -3.75640864e-05 9.99669457e-01 -1.20796111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.594012739 meters Centerline goodness [0,1] 0.9953008522545229 Centerline is valid? [True, True] Translation: X:345.96, Y:11.07, Z:-1.21 [[ 8.81432029e-01 -4.71750672e-01 -2.29974331e-02 3.45959020e+02] [ 4.71593518e-01 8.81731984e-01 -1.21763268e-02 1.10673547e+01] [ 2.60217627e-02 -1.12835889e-04 9.99661370e-01 -1.20807350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.624012739 meters Centerline goodness [0,1] 0.9948958889482115 Centerline is valid? [True, True] Translation: X:345.99, Y:11.07, Z:-1.21 [[ 8.78103937e-01 -4.77871472e-01 -2.39234615e-02 3.45989161e+02] [ 4.77703533e-01 8.78429716e-01 -1.26715593e-02 1.10703641e+01] [ 2.70704562e-02 -3.01375939e-04 9.99633483e-01 -1.20959209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.654012739 meters Centerline goodness [0,1] 0.9943686890480711 Centerline is valid? [True, True] Translation: X:346.02, Y:11.08, Z:-1.21 [[ 8.76481467e-01 -4.80849097e-01 -2.37567476e-02 3.46017165e+02] [ 4.80684535e-01 8.76803281e-01 -1.25850348e-02 1.10797595e+01] [ 2.68814969e-02 -3.88951408e-04 9.99638552e-01 -1.20878842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.684012739 meters Centerline goodness [0,1] 0.9934219011995357 Centerline is valid? [True, True] Translation: X:346.05, Y:11.09, Z:-1.20 [[ 8.74475303e-01 -4.84551335e-01 -2.24265222e-02 3.46045242e+02] [ 4.84405797e-01 8.74762700e-01 -1.18845037e-02 1.10897095e+01] [ 2.53765372e-02 -4.70832420e-04 9.99677853e-01 -1.20472476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.714012739 meters Centerline goodness [0,1] 0.993571845984027 Centerline is valid? [True, True] Translation: X:346.07, Y:11.10, Z:-1.20 [[ 8.73972391e-01 -4.85500219e-01 -2.14894773e-02 3.46071711e+02] [ 4.85366782e-01 8.74236417e-01 -1.13918340e-02 1.10981785e+01] [ 2.43176215e-02 -4.74130045e-04 9.99704170e-01 -1.20200909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.744012739 meters Centerline goodness [0,1] 0.9930016379145307 Centerline is valid? [True, True] Translation: X:346.10, Y:11.11, Z:-1.20 [[ 8.73796930e-01 -4.85825946e-01 -2.12620704e-02 3.46097162e+02] [ 4.85695364e-01 8.74055446e-01 -1.12734330e-02 1.11097460e+01] [ 2.40611547e-02 -4.76197899e-04 9.99710375e-01 -1.20062693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.774012739 meters Centerline goodness [0,1] 0.9934050454603662 Centerline is valid? [True, True] Translation: X:346.12, Y:11.12, Z:-1.20 [[ 8.73832219e-01 -4.85723558e-01 -2.21331887e-02 3.46122846e+02] [ 4.85581890e-01 8.74112342e-01 -1.17405747e-02 1.11219995e+01] [ 2.50495672e-02 -4.88183119e-04 9.99686091e-01 -1.20091757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80401273900003 meters Centerline goodness [0,1] 0.9935586734693878 Centerline is valid? [True, True] Translation: X:346.15, Y:11.13, Z:-1.20 [[ 8.74315824e-01 -4.84824764e-01 -2.27329727e-02 3.46147623e+02] [ 4.84674871e-01 8.74611186e-01 -1.20640840e-02 1.11349063e+01] [ 2.57314789e-02 -4.70281061e-04 9.99668780e-01 -1.20124442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.834012739 meters Centerline goodness [0,1] 0.9942256882297793 Centerline is valid? [True, True] Translation: X:346.17, Y:11.15, Z:-1.20 [[ 8.75804635e-01 -4.82117651e-01 -2.29959391e-02 3.46171967e+02] [ 4.81963271e-01 8.76106396e-01 -1.22061063e-02 1.11487233e+01] [ 2.60316687e-02 -3.93033550e-04 9.99661041e-01 -1.20183488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86401273900003 meters Centerline goodness [0,1] 0.9941743414007282 Centerline is valid? [True, True] Translation: X:346.20, Y:11.16, Z:-1.20 [[ 8.76420663e-01 -4.80992758e-01 -2.30822115e-02 3.46196355e+02] [ 4.80836721e-01 8.76724494e-01 -1.22559684e-02 1.11640610e+01] [ 2.61317723e-02 -3.57390979e-04 9.99658443e-01 -1.20137721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.894012739 meters Centerline goodness [0,1] 0.9943365347344847 Centerline is valid? [True, True] Translation: X:346.22, Y:11.18, Z:-1.20 [[ 8.76946269e-01 -4.80013183e-01 -2.35071483e-02 3.46220707e+02] [ 4.79850872e-01 8.77261213e-01 -1.24862086e-02 1.11784227e+01] [ 2.66154542e-02 -3.30191590e-04 9.99645692e-01 -1.20164349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.924012739 meters Centerline goodness [0,1] 0.9947742653987836 Centerline is valid? [True, True] Translation: X:346.24, Y:11.19, Z:-1.20 [[ 8.78101821e-01 -4.77857836e-01 -2.42709735e-02 3.46244419e+02] [ 4.77683932e-01 8.78437143e-01 -1.28936699e-02 1.11938371e+01] [ 2.74818658e-02 -2.71899025e-04 9.99622265e-01 -1.20288384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.954012739 meters Centerline goodness [0,1] 0.9941076900002143 Centerline is valid? [True, True] Translation: X:346.27, Y:11.21, Z:-1.20 [[ 8.78919558e-01 -4.76383664e-01 -2.36434919e-02 3.46268272e+02] [ 4.76218058e-01 8.79237486e-01 -1.25620425e-02 1.12101555e+01] [ 2.67725962e-02 -2.18432974e-04 9.99641526e-01 -1.20041696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.984012739 meters Centerline goodness [0,1] 0.9936298947547829 Centerline is valid? [True, True] Translation: X:346.29, Y:11.23, Z:-1.20 [[ 8.79888509e-01 -4.74631420e-01 -2.28303911e-02 3.46291586e+02] [ 4.74476304e-01 8.80184635e-01 -1.21344812e-02 1.12257904e+01] [ 2.58543655e-02 -1.55488978e-04 9.99665708e-01 -1.19799748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.014012739 meters Centerline goodness [0,1] 0.9936548493559033 Centerline is valid? [True, True] Translation: X:346.31, Y:11.25, Z:-1.20 [[ 8.81912983e-01 -4.70897147e-01 -2.20310500e-02 3.46313030e+02] [ 4.70751481e-01 8.82188118e-01 -1.17118387e-02 1.12458481e+01] [ 2.49506020e-02 -4.23268354e-05 9.99688684e-01 -1.19573083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.044012739 meters Centerline goodness [0,1] 0.9940882509303562 Centerline is valid? [True, True] Translation: X:346.34, Y:11.26, Z:-1.20 [[ 8.82662854e-01 -4.69442599e-01 -2.30202628e-02 3.46336246e+02] [ 4.69282946e-01 8.82962992e-01 -1.22421602e-02 1.12617761e+01] [ 2.60730317e-02 2.68332777e-06 9.99660041e-01 -1.19679488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.074012739 meters Centerline goodness [0,1] 0.9945620758312103 Centerline is valid? [True, True] Translation: X:346.36, Y:11.28, Z:-1.20 [[ 8.84138132e-01 -4.66563111e-01 -2.48722094e-02 3.46358579e+02] [ 4.66375428e-01 8.84487905e-01 -1.32327857e-02 1.12792502e+01] [ 2.81730980e-02 9.98231248e-05 9.99603055e-01 -1.20061612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.104012739 meters Centerline goodness [0,1] 0.9944857711270652 Centerline is valid? [True, True] Translation: X:346.38, Y:11.30, Z:-1.20 [[ 8.84963900e-01 -4.64997892e-01 -2.48164501e-02 3.46382547e+02] [ 4.64810377e-01 8.85311774e-01 -1.32051350e-02 1.12960330e+01] [ 2.81106554e-02 1.51124274e-04 9.99604806e-01 -1.19935483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.134012739 meters Centerline goodness [0,1] 0.994566375452802 Centerline is valid? [True, True] Translation: X:346.40, Y:11.31, Z:-1.20 [[ 8.85921992e-01 -4.63181786e-01 -2.45938320e-02 3.46404088e+02] [ 4.62996791e-01 8.86263273e-01 -1.30913187e-02 1.13136549e+01] [ 2.78602704e-02 2.11021834e-04 9.99611805e-01 -1.19742429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.164012739 meters Centerline goodness [0,1] 0.9947636177866707 Centerline is valid? [True, True] Translation: X:346.43, Y:11.34, Z:-1.19 [[ 8.87526341e-01 -4.60132490e-01 -2.39809609e-02 3.46425036e+02] [ 4.59955429e-01 8.87850213e-01 -1.27672254e-02 1.13354988e+01] [ 2.71661165e-02 3.01075741e-04 9.99630888e-01 -1.19421787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.194012739 meters Centerline goodness [0,1] 0.9943386072543321 Centerline is valid? [True, True] Translation: X:346.45, Y:11.35, Z:-1.19 [[ 8.87995741e-01 -4.59244053e-01 -2.36318275e-02 3.46448900e+02] [ 4.59071665e-01 8.88310077e-01 -1.25862468e-02 1.13514638e+01] [ 2.67725495e-02 3.27831197e-04 9.99641497e-01 -1.19296884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.224012739 meters Centerline goodness [0,1] 0.9938877134491676 Centerline is valid? [True, True] Translation: X:346.47, Y:11.37, Z:-1.19 [[ 8.88252052e-01 -4.58736673e-01 -2.38528413e-02 3.46469832e+02] [ 4.58560727e-01 8.88572193e-01 -1.27089562e-02 1.13713593e+01] [ 2.70250358e-02 3.50780187e-04 9.99634695e-01 -1.19315744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.254012739 meters Centerline goodness [0,1] 0.9944118528668694 Centerline is valid? [True, True] Translation: X:346.49, Y:11.39, Z:-1.19 [[ 8.87984041e-01 -4.59238575e-01 -2.41717480e-02 3.46493482e+02] [ 4.59058022e-01 8.88312903e-01 -1.28809394e-02 1.13856411e+01] [ 2.73874999e-02 3.41833840e-04 9.99624834e-01 -1.19333902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.284012739 meters Centerline goodness [0,1] 0.9944233532805696 Centerline is valid? [True, True] Translation: X:346.52, Y:11.40, Z:-1.19 [[ 8.87610411e-01 -4.59934952e-01 -2.46495221e-02 3.46518487e+02] [ 4.59747300e-01 8.87952549e-01 -1.31411796e-02 1.13984493e+01] [ 2.79316938e-02 3.31696610e-04 9.99609779e-01 -1.19360148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.314012739 meters Centerline goodness [0,1] 0.9944679396813192 Centerline is valid? [True, True] Translation: X:346.54, Y:11.42, Z:-1.19 [[ 8.87254007e-01 -4.60592597e-01 -2.51949751e-02 3.46539501e+02] [ 4.60396645e-01 8.87611602e-01 -1.34377883e-02 1.14172477e+01] [ 2.85526980e-02 3.23049530e-04 9.99592236e-01 -1.19461871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.344012739 meters Centerline goodness [0,1] 0.993953169225491 Centerline is valid? [True, True] Translation: X:346.56, Y:11.43, Z:-1.19 [[ 8.87038009e-01 -4.61023444e-01 -2.49189474e-02 3.46563256e+02] [ 4.60831847e-01 8.87387902e-01 -1.32936057e-02 1.14310427e+01] [ 2.82414363e-02 3.08489011e-04 9.99601083e-01 -1.19202814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.374012739 meters Centerline goodness [0,1] 0.9941740554102613 Centerline is valid? [True, True] Translation: X:346.58, Y:11.45, Z:-1.19 [[ 8.86829157e-01 -4.61497557e-01 -2.35382920e-02 3.46583955e+02] [ 4.61326632e-01 8.87141435e-01 -1.25623946e-02 1.14506021e+01] [ 2.66793085e-02 2.81856826e-04 9.99644004e-01 -1.18849595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.404012739 meters Centerline goodness [0,1] 0.9944036226930963 Centerline is valid? [True, True] Translation: X:346.61, Y:11.47, Z:-1.19 [[ 8.86279677e-01 -4.62568020e-01 -2.32198352e-02 3.46608712e+02] [ 4.62401912e-01 8.86583760e-01 -1.23978916e-02 1.14661500e+01] [ 2.63211969e-02 2.51103209e-04 9.99653506e-01 -1.18728609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.434012739 meters Centerline goodness [0,1] 0.993715649098888 Centerline is valid? [True, True] Translation: X:346.63, Y:11.48, Z:-1.19 [[ 8.85501284e-01 -4.64042969e-01 -2.34861524e-02 3.46632862e+02] [ 4.63873417e-01 8.85812665e-01 -1.25449248e-02 1.14799710e+01] [ 2.66257154e-02 2.13945254e-04 9.99645450e-01 -1.18705731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.464012739 meters Centerline goodness [0,1] 0.9936762764553081 Centerline is valid? [True, True] Translation: X:346.66, Y:11.49, Z:-1.19 [[ 8.83115946e-01 -4.68540628e-01 -2.39980557e-02 3.46660646e+02] [ 4.68365206e-01 8.83441947e-01 -1.28203313e-02 1.14892810e+01] [ 2.72077351e-02 8.19847084e-05 9.99629798e-01 -1.18792965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.494012739 meters Centerline goodness [0,1] 0.9923620148919374 Centerline is valid? [True, True] Translation: X:346.69, Y:11.50, Z:-1.19 [[ 8.81544421e-01 -4.71518878e-01 -2.34388867e-02 3.46686242e+02] [ 4.71352464e-01 8.81855968e-01 -1.25262585e-02 1.14995980e+01] [ 2.65760895e-02 -5.52364692e-06 9.99646793e-01 -1.18600906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.524012739 meters Centerline goodness [0,1] 0.9919262555626192 Centerline is valid? [True, True] Translation: X:346.71, Y:11.51, Z:-1.18 [[ 8.78197290e-01 -4.77769049e-01 -2.25001392e-02 3.46714612e+02] [ 4.77617703e-01 8.78485459e-01 -1.20261555e-02 1.15065421e+01] [ 2.55117700e-02 -1.85127639e-04 9.99674505e-01 -1.18300097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55401273900003 meters Centerline goodness [0,1] 0.9921266599446507 Centerline is valid? [True, True] Translation: X:346.74, Y:11.52, Z:-1.18 [[ 8.76599598e-01 -4.80705170e-01 -2.22639789e-02 3.46741494e+02] [ 4.80557889e-01 8.76882244e-01 -1.19015467e-02 1.15160545e+01] [ 2.52440228e-02 -2.66239663e-04 9.99681283e-01 -1.18200118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.584012739 meters Centerline goodness [0,1] 0.9919738342693607 Centerline is valid? [True, True] Translation: X:346.77, Y:11.53, Z:-1.18 [[ 8.75170539e-01 -4.83296547e-01 -2.23824681e-02 3.46768168e+02] [ 4.83148499e-01 8.75456641e-01 -1.19664806e-02 1.15270183e+01] [ 2.53782391e-02 -3.41344583e-04 9.99677862e-01 -1.18133521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61401273900003 meters Centerline goodness [0,1] 0.9921849977579912 Centerline is valid? [True, True] Translation: X:346.80, Y:11.54, Z:-1.18 [[ 8.72977191e-01 -4.87200971e-01 -2.33674572e-02 3.46796752e+02] [ 4.87040869e-01 8.73289753e-01 -1.24979922e-02 1.15350974e+01] [ 2.64955948e-02 -4.70444557e-04 9.99648819e-01 -1.18272642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.644012739 meters Centerline goodness [0,1] 0.9921014788263828 Centerline is valid? [True, True] Translation: X:346.83, Y:11.54, Z:-1.18 [[ 8.71204435e-01 -4.90336132e-01 -2.39438989e-02 3.46826376e+02] [ 4.90169167e-01 8.71533214e-01 -1.28079758e-02 1.15406970e+01] [ 2.71481165e-02 -5.78195700e-04 9.99631255e-01 -1.18328775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.674012739 meters Centerline goodness [0,1] 0.9918425898171541 Centerline is valid? [True, True] Translation: X:346.85, Y:11.55, Z:-1.18 [[ 8.70329457e-01 -4.91878142e-01 -2.41356356e-02 3.46852760e+02] [ 4.91709054e-01 8.70663825e-01 -1.29116278e-02 1.15512850e+01] [ 2.73649723e-02 -6.30340482e-04 9.99625310e-01 -1.18291808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.704012739 meters Centerline goodness [0,1] 0.991998798747265 Centerline is valid? [True, True] Translation: X:346.88, Y:11.56, Z:-1.18 [[ 8.69578616e-01 -4.93179417e-01 -2.46392494e-02 3.46880131e+02] [ 4.93003662e-01 8.69927351e-01 -1.31830883e-02 1.15615403e+01] [ 2.79359847e-02 -6.83508502e-04 9.99609481e-01 -1.18285328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.734012739 meters Centerline goodness [0,1] 0.9913304721030043 Centerline is valid? [True, True] Translation: X:346.91, Y:11.57, Z:-1.18 [[ 8.68430691e-01 -4.95202021e-01 -2.45579782e-02 3.46909021e+02] [ 4.95028095e-01 8.68777537e-01 -1.31444620e-02 1.15694004e+01] [ 2.78445840e-02 -7.41834928e-04 9.99611989e-01 -1.18189202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.764012739 meters Centerline goodness [0,1] 0.9915230653965535 Centerline is valid? [True, True] Translation: X:346.94, Y:11.58, Z:-1.18 [[ 8.68132175e-01 -4.95751766e-01 -2.40148497e-02 3.46935484e+02] [ 4.95585542e-01 8.68463955e-01 -1.28580694e-02 1.15792869e+01] [ 2.72304420e-02 -7.38908597e-04 9.99628910e-01 -1.17995391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.794012739 meters Centerline goodness [0,1] 0.9917153683128893 Centerline is valid? [True, True] Translation: X:346.96, Y:11.59, Z:-1.18 [[ 8.68010567e-01 -4.95966515e-01 -2.39764972e-02 3.46962154e+02] [ 4.95800852e-01 8.68341329e-01 -1.28394174e-02 1.15891622e+01] [ 2.71877045e-02 -7.42817797e-04 9.99630070e-01 -1.17920432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.824012739 meters Centerline goodness [0,1] 0.9915826354469321 Centerline is valid? [True, True] Translation: X:346.99, Y:11.60, Z:-1.18 [[ 8.68137821e-01 -4.95724335e-01 -2.43743398e-02 3.46987186e+02] [ 4.95552884e-01 8.68479610e-01 -1.30578048e-02 1.16006515e+01] [ 2.76416887e-02 -7.42800179e-04 9.99617620e-01 -1.17971175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.854012739 meters Centerline goodness [0,1] 0.9913924813324438 Centerline is valid? [True, True] Translation: X:347.01, Y:11.61, Z:-1.18 [[ 8.68328529e-01 -4.95384125e-01 -2.44976205e-02 3.47012380e+02] [ 4.95210746e-01 8.68673719e-01 -1.31258136e-02 1.16147424e+01] [ 2.77827587e-02 -7.33966512e-04 9.99613715e-01 -1.17943653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.884012739 meters Centerline goodness [0,1] 0.992439092691123 Centerline is valid? [True, True] Translation: X:347.04, Y:11.62, Z:-1.18 [[ 8.69249464e-01 -4.93790554e-01 -2.40053924e-02 3.47039214e+02] [ 4.93623341e-01 8.69580615e-01 -1.28666359e-02 1.16238298e+01] [ 2.72280471e-02 -6.65305655e-04 9.99629027e-01 -1.17725089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.914012739 meters Centerline goodness [0,1] 0.9920270442658502 Centerline is valid? [True, True] Translation: X:347.06, Y:11.64, Z:-1.17 [[ 8.69580527e-01 -4.93236848e-01 -2.33905486e-02 3.47064454e+02] [ 4.93077850e-01 8.69894830e-01 -1.25387162e-02 1.16355362e+01] [ 2.65318741e-02 -6.29937978e-04 9.99647769e-01 -1.17386251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.944012739 meters Centerline goodness [0,1] 0.9921084234002402 Centerline is valid? [True, True] Translation: X:347.09, Y:11.65, Z:-1.17 [[ 8.69670896e-01 -4.93156104e-01 -2.16700075e-02 3.47087817e+02] [ 4.93019585e-01 8.69940642e-01 -1.16176111e-02 1.16508201e+01] [ 2.45809161e-02 -5.80239859e-04 9.99697675e-01 -1.16984683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.974012739 meters Centerline goodness [0,1] 0.9919342793129201 Centerline is valid? [True, True] Translation: X:347.11, Y:11.66, Z:-1.17 [[ 8.69582158e-01 -4.93305917e-01 -2.18207187e-02 3.47113465e+02] [ 4.93167407e-01 8.69855696e-01 -1.17037324e-02 1.16598660e+01] [ 2.47543969e-02 -5.83910387e-04 9.99693392e-01 -1.16959565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.004012739 meters Centerline goodness [0,1] 0.9923402973513781 Centerline is valid? [True, True] Translation: X:347.14, Y:11.67, Z:-1.17 [[ 8.69444005e-01 -4.93525125e-01 -2.23623132e-02 3.47139914e+02] [ 4.93379666e-01 8.69731331e-01 -1.19965320e-02 1.16705639e+01] [ 2.53697944e-02 -6.02797782e-04 9.99677953e-01 -1.17059778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.034012739 meters Centerline goodness [0,1] 0.9927733378677096 Centerline is valid? [True, True] Translation: X:347.17, Y:11.68, Z:-1.17 [[ 8.69966567e-01 -4.92556120e-01 -2.33803574e-02 3.47167231e+02] [ 4.92396611e-01 8.70280480e-01 -1.25484536e-02 1.16787979e+01] [ 2.65282863e-02 -5.95673682e-04 9.99647886e-01 -1.17148408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.064012739 meters Centerline goodness [0,1] 0.9929508476020104 Centerline is valid? [True, True] Translation: X:347.19, Y:11.69, Z:-1.17 [[ 8.70785160e-01 -4.91113946e-01 -2.32442982e-02 3.47192356e+02] [ 4.90955648e-01 8.71095170e-01 -1.24802058e-02 1.16918702e+01] [ 2.63771991e-02 -5.44341481e-04 9.99651913e-01 -1.17051542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.094012739 meters Centerline goodness [0,1] 0.9923009623797026 Centerline is valid? [True, True] Translation: X:347.21, Y:11.71, Z:-1.17 [[ 8.73619251e-01 -4.86060253e-01 -2.31264827e-02 3.47214166e+02] [ 4.85901656e-01 8.73925215e-01 -1.24216786e-02 1.17127910e+01] [ 2.62485006e-02 -3.85378715e-04 9.99655374e-01 -1.16950582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.124012739 meters Centerline goodness [0,1] 0.9926817853040037 Centerline is valid? [True, True] Translation: X:347.24, Y:11.73, Z:-1.17 [[ 8.75131232e-01 -4.83324701e-01 -2.32929017e-02 3.47238980e+02] [ 4.83162721e-01 8.75441113e-01 -1.25157230e-02 1.17262515e+01] [ 2.64407219e-02 -3.01361629e-04 9.99650338e-01 -1.16909237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.154012739 meters Centerline goodness [0,1] 0.9923001240535569 Centerline is valid? [True, True] Translation: X:347.26, Y:11.75, Z:-1.17 [[ 8.78195982e-01 -4.77683875e-01 -2.42885318e-02 3.47260337e+02] [ 4.77505436e-01 8.78531785e-01 -1.30560709e-02 1.17475309e+01] [ 2.75749217e-02 -1.32116901e-04 9.99619731e-01 -1.16951189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.184012739 meters Centerline goodness [0,1] 0.9924100289953949 Centerline is valid? [True, True] Translation: X:347.28, Y:11.77, Z:-1.17 [[ 8.79821230e-01 -4.74654141e-01 -2.48606138e-02 3.47282124e+02] [ 4.74465855e-01 8.80172395e-01 -1.33681412e-02 1.17652954e+01] [ 2.82268696e-02 -3.39379206e-05 9.99601542e-01 -1.17005163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.214012739 meters Centerline goodness [0,1] 0.9924100289953949 Centerline is valid? [True, True] Translation: X:347.31, Y:11.78, Z:-1.17 [[ 8.79737270e-01 -4.74809783e-01 -2.48597189e-02 3.47306219e+02] [ 4.74621512e-01 8.80088444e-01 -1.33698052e-02 1.17784895e+01] [ 2.82268656e-02 -3.70414669e-05 9.99601542e-01 -1.16934354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.244012739 meters Centerline goodness [0,1] 0.9927570193004133 Centerline is valid? [True, True] Translation: X:347.33, Y:11.80, Z:-1.17 [[ 8.81165323e-01 -4.72153028e-01 -2.48835626e-02 3.47328952e+02] [ 4.71963174e-01 8.81516599e-01 -1.33883191e-02 1.17961253e+01] [ 2.82566089e-02 5.31972816e-05 9.99600701e-01 -1.16885450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.274012739 meters Centerline goodness [0,1] 0.9930669275430127 Centerline is valid? [True, True] Translation: X:347.35, Y:11.81, Z:-1.17 [[ 8.82307035e-01 -4.70025683e-01 -2.47012912e-02 3.47352745e+02] [ 4.69837608e-01 8.82652730e-01 -1.32958911e-02 1.18129296e+01] [ 2.80520724e-02 1.25462696e-04 9.99606455e-01 -1.16788475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30401273900003 meters Centerline goodness [0,1] 0.9936357597445733 Centerline is valid? [True, True] Translation: X:347.38, Y:11.83, Z:-1.17 [[ 8.83668625e-01 -4.67466443e-01 -2.45944288e-02 3.47375303e+02] [ 4.67278866e-01 8.84010792e-01 -1.32431369e-02 1.18307115e+01] [ 2.79324626e-02 2.10087798e-04 9.99609791e-01 -1.16599765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.334012739 meters Centerline goodness [0,1] 0.9936599423631124 Centerline is valid? [True, True] Translation: X:347.40, Y:11.85, Z:-1.16 [[ 8.83634685e-01 -4.67540889e-01 -2.43979762e-02 3.47398626e+02] [ 4.67356268e-01 8.83971421e-01 -1.31394252e-02 1.18453965e+01] [ 2.77103322e-02 2.07904799e-04 9.99615973e-01 -1.16462702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36401273900003 meters Centerline goodness [0,1] 0.9937075852589984 Centerline is valid? [True, True] Translation: X:347.42, Y:11.86, Z:-1.16 [[ 8.83172710e-01 -4.68412130e-01 -2.44139640e-02 3.47423040e+02] [ 4.68227437e-01 8.83510069e-01 -1.31538922e-02 1.18579768e+01] [ 2.77314257e-02 1.85870833e-04 9.99615393e-01 -1.16408638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.394012739 meters Centerline goodness [0,1] 0.9934341931919596 Centerline is valid? [True, True] Translation: X:347.45, Y:11.87, Z:-1.16 [[ 8.82809916e-01 -4.69098511e-01 -2.43564814e-02 3.47447495e+02] [ 4.68914796e-01 8.83145831e-01 -1.31284266e-02 1.18708551e+01] [ 2.76688504e-02 1.68790636e-04 9.99617130e-01 -1.16396279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.424012739 meters Centerline goodness [0,1] 0.9934769125478538 Centerline is valid? [True, True] Translation: X:347.47, Y:11.88, Z:-1.16 [[ 8.82263150e-01 -4.70130053e-01 -2.42789323e-02 3.47473589e+02] [ 4.69947840e-01 8.82597141e-01 -1.30886832e-02 1.18814613e+01] [ 2.75818996e-02 1.37831037e-04 9.99619538e-01 -1.16216732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.454012739 meters Centerline goodness [0,1] 0.9929303865995797 Centerline is valid? [True, True] Translation: X:347.50, Y:11.89, Z:-1.16 [[ 8.81423252e-01 -4.71709070e-01 -2.41578901e-02 3.47498599e+02] [ 4.71529105e-01 8.81754243e-01 -1.30291301e-02 1.18926723e+01] [ 2.74472809e-02 9.30298954e-05 9.99623248e-01 -1.16049765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.484012739 meters Centerline goodness [0,1] 0.9928456332581372 Centerline is valid? [True, True] Translation: X:347.52, Y:11.91, Z:-1.16 [[ 8.81043876e-01 -4.72460566e-01 -2.32959702e-02 3.47524096e+02] [ 4.72293409e-01 8.81351808e-01 -1.25669153e-02 1.19052586e+01] [ 2.64693173e-02 6.94706242e-05 9.99649624e-01 -1.15824721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.514012739 meters Centerline goodness [0,1] 0.9929839664263425 Centerline is valid? [True, True] Translation: X:347.55, Y:11.92, Z:-1.16 [[ 8.80927650e-01 -4.72690381e-01 -2.30277845e-02 3.47548930e+02] [ 4.72526990e-01 8.81228574e-01 -1.24275614e-02 1.19187135e+01] [ 2.61671304e-02 6.65327407e-05 9.99657580e-01 -1.15748308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.544012739 meters Centerline goodness [0,1] 0.9929989572915116 Centerline is valid? [True, True] Translation: X:347.57, Y:11.93, Z:-1.16 [[ 8.80895950e-01 -4.72749340e-01 -2.30301097e-02 3.47572586e+02] [ 4.72585792e-01 8.81196945e-01 -1.24343328e-02 1.19324639e+01] [ 2.61723849e-02 6.96507558e-05 9.99657442e-01 -1.15676995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.574012739 meters Centerline goodness [0,1] 0.9930665865281415 Centerline is valid? [True, True] Translation: X:347.60, Y:11.95, Z:-1.16 [[ 8.80918674e-01 -4.72699910e-01 -2.31750803e-02 3.47595597e+02] [ 4.72534214e-01 8.81223462e-01 -1.25150806e-02 1.19463721e+01] [ 2.63383020e-02 7.37498743e-05 9.99653084e-01 -1.15639077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.604012739 meters Centerline goodness [0,1] 0.9930740543420352 Centerline is valid? [True, True] Translation: X:347.62, Y:11.96, Z:-1.16 [[ 8.80751978e-01 -4.72995922e-01 -2.34693554e-02 3.47620080e+02] [ 4.72825994e-01 8.81064614e-01 -1.26778003e-02 1.19592528e+01] [ 2.66745663e-02 6.90763818e-05 9.99644168e-01 -1.15644132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.634012739 meters Centerline goodness [0,1] 0.9932642707933665 Centerline is valid? [True, True] Translation: X:347.64, Y:11.97, Z:-1.16 [[ 8.80323839e-01 -4.73752367e-01 -2.42617660e-02 3.47644709e+02] [ 4.73570896e-01 8.80658101e-01 -1.31116386e-02 1.19702717e+01] [ 2.75779906e-02 5.28217807e-05 9.99619653e-01 -1.15745182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.664012739 meters Centerline goodness [0,1] 0.9935174017918676 Centerline is valid? [True, True] Translation: X:347.67, Y:11.98, Z:-1.16 [[ 8.79824648e-01 -4.74674675e-01 -2.43421597e-02 3.47670245e+02] [ 4.74492196e-01 8.80161321e-01 -1.31607070e-02 1.19821640e+01] [ 2.76720818e-02 2.89496023e-05 9.99617054e-01 -1.15639279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.694012739 meters Centerline goodness [0,1] 0.9932453960364493 Centerline is valid? [True, True] Translation: X:347.69, Y:11.99, Z:-1.16 [[ 8.79291139e-01 -4.75652877e-01 -2.45241588e-02 3.47694396e+02] [ 4.75467880e-01 8.79633072e-01 -1.32647966e-02 1.19932109e+01] [ 2.78816998e-02 3.16829496e-06 9.99611230e-01 -1.15599739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.724012739 meters Centerline goodness [0,1] 0.9932462567696718 Centerline is valid? [True, True] Translation: X:347.72, Y:12.00, Z:-1.16 [[ 8.78762716e-01 -4.76613726e-01 -2.48081675e-02 3.47719310e+02] [ 4.76424688e-01 8.79112823e-01 -1.34224074e-02 1.20029797e+01] [ 2.82064818e-02 -2.41122422e-05 9.99602118e-01 -1.15636746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.754012739 meters Centerline goodness [0,1] 0.9930573467457656 Centerline is valid? [True, True] Translation: X:347.74, Y:12.02, Z:-1.16 [[ 8.78613483e-01 -4.76884064e-01 -2.48985387e-02 3.47744547e+02] [ 4.76693640e-01 8.78966204e-01 -1.34753462e-02 1.20152319e+01] [ 2.83111519e-02 -2.93542182e-05 9.99599159e-01 -1.15568635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.784012739 meters Centerline goodness [0,1] 0.9933184855233853 Centerline is valid? [True, True] Translation: X:347.77, Y:12.03, Z:-1.15 [[ 8.78423480e-01 -4.77257434e-01 -2.44444633e-02 3.47768557e+02] [ 4.77073889e-01 8.78763530e-01 -1.32349484e-02 1.20267429e+01] [ 2.77973804e-02 -3.59257291e-05 9.99613578e-01 -1.15427442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.814012739 meters Centerline goodness [0,1] 0.9929895056319062 Centerline is valid? [True, True] Translation: X:347.79, Y:12.04, Z:-1.15 [[ 8.77978297e-01 -4.78128147e-01 -2.34005547e-02 3.47794163e+02] [ 4.77960192e-01 8.78290084e-01 -1.26721215e-02 1.20378163e+01] [ 2.66113732e-02 -5.86859948e-05 9.99645853e-01 -1.15093830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.844012739 meters Centerline goodness [0,1] 0.9930330768076486 Centerline is valid? [True, True] Translation: X:347.82, Y:12.05, Z:-1.15 [[ 8.77825809e-01 -4.78396275e-01 -2.36400785e-02 3.47818327e+02] [ 4.78224811e-01 8.78144066e-01 -1.28074126e-02 1.20488579e+01] [ 2.68864132e-02 -6.25947707e-05 9.99638493e-01 -1.15036723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.874012739 meters Centerline goodness [0,1] 0.9930273591122638 Centerline is valid? [True, True] Translation: X:347.84, Y:12.06, Z:-1.15 [[ 8.77420598e-01 -4.79082439e-01 -2.47610859e-02 3.47844371e+02] [ 4.78894524e-01 8.77769907e-01 -1.34173549e-02 1.20584184e+01] [ 2.81625552e-02 -8.52849366e-05 9.99603353e-01 -1.15257412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.904012739 meters Centerline goodness [0,1] 0.9933767805209417 Centerline is valid? [True, True] Translation: X:347.87, Y:12.07, Z:-1.15 [[ 8.77099070e-01 -4.79631836e-01 -2.55053577e-02 3.47869012e+02] [ 4.79432616e-01 8.77469824e-01 -1.38230005e-02 1.20711393e+01] [ 2.90101328e-02 -1.03959493e-04 9.99579112e-01 -1.15254726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.934012739 meters Centerline goodness [0,1] 0.9933951778385773 Centerline is valid? [True, True] Translation: X:347.89, Y:12.08, Z:-1.15 [[ 8.77428744e-01 -4.79047590e-01 -2.51437246e-02 3.47893678e+02] [ 4.78853571e-01 8.77788927e-01 -1.36329331e-02 1.20849688e+01] [ 2.86017067e-02 -7.82349610e-05 9.99590884e-01 -1.15140190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.964012739 meters Centerline goodness [0,1] 0.9934836662951213 Centerline is valid? [True, True] Translation: X:347.92, Y:12.10, Z:-1.15 [[ 8.77822499e-01 -4.78334388e-01 -2.49774520e-02 3.47917783e+02] [ 4.78142468e-01 8.78177779e-01 -1.35488035e-02 1.20988474e+01] [ 2.84155019e-02 -4.93359754e-05 9.99596197e-01 -1.14965469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.994012739 meters Centerline goodness [0,1] 0.9934610804373715 Centerline is valid? [True, True] Translation: X:347.94, Y:12.11, Z:-1.15 [[ 8.78293782e-01 -4.77495402e-01 -2.44575682e-02 3.47941922e+02] [ 4.77310902e-01 8.78634247e-01 -1.32726174e-02 1.21132301e+01] [ 2.78268708e-02 -1.66065663e-05 9.99612758e-01 -1.14809242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.024012739 meters Centerline goodness [0,1] 0.9934488000171273 Centerline is valid? [True, True] Translation: X:347.97, Y:12.13, Z:-1.15 [[ 8.78322813e-01 -4.77451861e-01 -2.42643145e-02 3.47965173e+02] [ 4.77270093e-01 8.78657908e-01 -1.31734100e-02 1.21259500e+01] [ 2.76097009e-02 -1.01250720e-05 9.99618779e-01 -1.14739437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05401273900003 meters Centerline goodness [0,1] 0.9937922767360219 Centerline is valid? [True, True] Translation: X:347.99, Y:12.14, Z:-1.15 [[ 8.78369510e-01 -4.77370983e-01 -2.41650298e-02 3.47989185e+02] [ 4.77190599e-01 8.78701852e-01 -1.31220459e-02 1.21390501e+01] [ 2.74979404e-02 -5.31997352e-06 9.99621860e-01 -1.14664615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.084012739 meters Centerline goodness [0,1] 0.9933839433394122 Centerline is valid? [True, True] Translation: X:348.01, Y:12.15, Z:-1.15 [[ 8.78893642e-01 -4.76390538e-01 -2.44544826e-02 3.48013022e+02] [ 4.76205357e-01 8.79233789e-01 -1.32816915e-02 1.21520426e+01] [ 2.78284796e-02 2.78386392e-05 9.99612712e-01 -1.14701474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11401273900003 meters Centerline goodness [0,1] 0.9936225868517198 Centerline is valid? [True, True] Translation: X:348.04, Y:12.16, Z:-1.15 [[ 8.79013685e-01 -4.76136249e-01 -2.50841262e-02 3.48037461e+02] [ 4.75941223e-01 8.79371520e-01 -1.36264741e-02 1.21647252e+01] [ 2.85463244e-02 3.92875194e-05 9.99592470e-01 -1.14667214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.144012739 meters Centerline goodness [0,1] 0.9936688485889044 Centerline is valid? [True, True] Translation: X:348.06, Y:12.18, Z:-1.15 [[ 8.78937222e-01 -4.76255790e-01 -2.54908342e-02 3.48061354e+02] [ 4.76054277e-01 8.79306784e-01 -1.38529822e-02 1.21767009e+01] [ 2.90118264e-02 4.08810978e-05 9.99579068e-01 -1.14727535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.174012739 meters Centerline goodness [0,1] 0.9936530925200204 Centerline is valid? [True, True] Translation: X:348.09, Y:12.19, Z:-1.15 [[ 8.78485777e-01 -4.77113205e-01 -2.50145870e-02 3.48086589e+02] [ 4.76919425e-01 8.78841846e-01 -1.35967854e-02 1.21875991e+01] [ 2.84710717e-02 1.46400893e-05 9.99594617e-01 -1.14569105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.204012739 meters Centerline goodness [0,1] 0.9934350754540029 Centerline is valid? [True, True] Translation: X:348.11, Y:12.20, Z:-1.14 [[ 8.77749529e-01 -4.78513846e-01 -2.40886626e-02 3.48112692e+02] [ 4.78334609e-01 8.78080007e-01 -1.30959228e-02 1.21969034e+01] [ 2.74183534e-02 -2.75009575e-05 9.99624046e-01 -1.14319596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.234012739 meters Centerline goodness [0,1] 0.9929986593177417 Centerline is valid? [True, True] Translation: X:348.14, Y:12.20, Z:-1.14 [[ 8.76159224e-01 -4.81513802e-01 -2.21240548e-02 3.48142371e+02] [ 4.81363516e-01 8.76438502e-01 -1.20299110e-02 1.22018305e+01] [ 2.51829416e-02 -1.09595274e-04 9.99682853e-01 -1.13837690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.264012739 meters Centerline goodness [0,1] 0.9927561080154308 Centerline is valid? [True, True] Translation: X:348.17, Y:12.21, Z:-1.14 [[ 8.75505075e-01 -4.82685255e-01 -2.24901593e-02 3.48169443e+02] [ 4.82530220e-01 8.75793882e-01 -1.22336508e-02 1.22123687e+01] [ 2.56017468e-02 -1.41558139e-04 9.99672212e-01 -1.13799308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.294012739 meters Centerline goodness [0,1] 0.9936090627337822 Centerline is valid? [True, True] Translation: X:348.20, Y:12.22, Z:-1.14 [[ 8.75089299e-01 -4.83331225e-01 -2.46910131e-02 3.48197135e+02] [ 4.83144462e-01 8.75437546e-01 -1.34361978e-02 1.22209263e+01] [ 2.81095739e-02 -1.71453348e-04 9.99604833e-01 -1.14181920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.324012739 meters Centerline goodness [0,1] 0.9939024390243902 Centerline is valid? [True, True] Translation: X:348.22, Y:12.23, Z:-1.14 [[ 8.75190154e-01 -4.83125646e-01 -2.51357073e-02 3.48221204e+02] [ 4.82931953e-01 8.75551016e-01 -1.36801614e-02 1.22327682e+01] [ 2.86168309e-02 -1.66093664e-04 9.99590441e-01 -1.14191661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.354012739 meters Centerline goodness [0,1] 0.9938714055475443 Centerline is valid? [True, True] Translation: X:348.25, Y:12.25, Z:-1.14 [[ 8.76188132e-01 -4.81315290e-01 -2.50987917e-02 3.48245819e+02] [ 4.81121341e-01 8.76547535e-01 -1.36628724e-02 1.22480435e+01] [ 2.85764334e-02 -1.04317652e-04 9.99591605e-01 -1.14023613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.384012739 meters Centerline goodness [0,1] 0.9936667959157296 Centerline is valid? [True, True] Translation: X:348.27, Y:12.26, Z:-1.14 [[ 8.76679804e-01 -4.80418344e-01 -2.51144486e-02 3.48269446e+02] [ 4.80223638e-01 8.77039457e-01 -1.36765495e-02 1.22627602e+01] [ 2.85968276e-02 -7.05971393e-05 9.99591025e-01 -1.13950096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.414012739 meters Centerline goodness [0,1] 0.9935654887877039 Centerline is valid? [True, True] Translation: X:348.29, Y:12.28, Z:-1.14 [[ 8.76882964e-01 -4.80011553e-01 -2.57910225e-02 3.48294113e+02] [ 4.79805854e-01 8.77262165e-01 -1.40512006e-02 1.22767114e+01] [ 2.93702269e-02 -5.34251852e-05 9.99568600e-01 -1.14049381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.444012739 meters Centerline goodness [0,1] 0.9935561216843998 Centerline is valid? [True, True] Translation: X:348.32, Y:12.29, Z:-1.14 [[ 8.76960366e-01 -4.79875918e-01 -2.56830797e-02 3.48319236e+02] [ 4.79671715e-01 8.77336367e-01 -1.39980042e-02 1.22869881e+01] [ 2.92500050e-02 -4.37520593e-05 9.99572126e-01 -1.13975956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.474012739 meters Centerline goodness [0,1] 0.9935620949750346 Centerline is valid? [True, True] Translation: X:348.34, Y:12.30, Z:-1.14 [[ 8.76782508e-01 -4.80255237e-01 -2.46442841e-02 3.48344829e+02] [ 4.80067296e-01 8.77128784e-01 -1.34345213e-02 1.22990970e+01] [ 2.80682102e-02 -5.17615116e-05 9.99606009e-01 -1.13608072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.504012739 meters Centerline goodness [0,1] 0.9926961960246744 Centerline is valid? [True, True] Translation: X:348.37, Y:12.31, Z:-1.13 [[ 8.76472173e-01 -4.80920066e-01 -2.26367098e-02 3.48369972e+02] [ 4.80761600e-01 8.76764442e-01 -1.23449430e-02 1.23096389e+01] [ 2.57839930e-02 -6.28618381e-05 9.99667536e-01 -1.13087553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.534012739 meters Centerline goodness [0,1] 0.9929979532478724 Centerline is valid? [True, True] Translation: X:348.39, Y:12.32, Z:-1.13 [[ 8.76470708e-01 -4.80939389e-01 -2.22800769e-02 3.48393808e+02] [ 4.80785829e-01 8.76753843e-01 -1.21526203e-02 1.23233996e+01] [ 2.53788169e-02 -6.05295040e-05 9.99677904e-01 -1.13020815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.564012739 meters Centerline goodness [0,1] 0.9921739688241709 Centerline is valid? [True, True] Translation: X:348.42, Y:12.34, Z:-1.13 [[ 8.76927731e-01 -4.80100027e-01 -2.23990950e-02 3.48416734e+02] [ 4.79944407e-01 8.77213750e-01 -1.22230485e-02 1.23375154e+01] [ 2.55170800e-02 -3.15901668e-05 9.99674386e-01 -1.12960402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.594012739 meters Centerline goodness [0,1] 0.9927937447168217 Centerline is valid? [True, True] Translation: X:348.44, Y:12.36, Z:-1.13 [[ 8.78699413e-01 -4.76821475e-01 -2.29918078e-02 3.48437865e+02] [ 4.76656318e-01 8.79000157e-01 -1.25490338e-02 1.23567399e+01] [ 2.61934514e-02 6.76381991e-05 9.99656890e-01 -1.12964493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.624012739 meters Centerline goodness [0,1] 0.9930587985565698 Centerline is valid? [True, True] Translation: X:348.46, Y:12.37, Z:-1.13 [[ 8.79754071e-01 -4.74863478e-01 -2.31830080e-02 3.48460161e+02] [ 4.74694738e-01 8.80059464e-01 -1.26588246e-02 1.23743879e+01] [ 2.64136391e-02 1.31800587e-04 9.99651090e-01 -1.12985080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.654012739 meters Centerline goodness [0,1] 0.9933745396045891 Centerline is valid? [True, True] Translation: X:348.48, Y:12.39, Z:-1.13 [[ 8.81588132e-01 -4.71407394e-01 -2.40298566e-02 3.48481259e+02] [ 4.71224763e-01 8.81915534e-01 -1.31230562e-02 1.23948683e+01] [ 2.73786095e-02 2.45667097e-04 9.99625105e-01 -1.13025377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.684012739 meters Centerline goodness [0,1] 0.9929046087888531 Centerline is valid? [True, True] Translation: X:348.51, Y:12.41, Z:-1.13 [[ 8.82046802e-01 -4.70548270e-01 -2.40367474e-02 3.48506116e+02] [ 4.70365163e-01 8.82374212e-01 -1.31287097e-02 1.24086350e+01] [ 2.73870977e-02 2.74087761e-04 9.99624866e-01 -1.13000433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.714012739 meters Centerline goodness [0,1] 0.9926794506348795 Centerline is valid? [True, True] Translation: X:348.53, Y:12.42, Z:-1.13 [[ 8.82438409e-01 -4.69805913e-01 -2.41838657e-02 3.48530661e+02] [ 4.69620136e-01 8.82769682e-01 -1.32142317e-02 1.24238142e+01] [ 2.75569076e-02 3.03515352e-04 9.99620190e-01 -1.12903789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.744012739 meters Centerline goodness [0,1] 0.9926352523068359 Centerline is valid? [True, True] Translation: X:348.55, Y:12.44, Z:-1.13 [[ 8.82888546e-01 -4.68996331e-01 -2.34575307e-02 3.48553186e+02] [ 4.68821134e-01 8.83200055e-01 -1.28221666e-02 1.24408830e+01] [ 2.67312415e-02 3.23157892e-04 9.99642604e-01 -1.12651563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.774012739 meters Centerline goodness [0,1] 0.9925043244282145 Centerline is valid? [True, True] Translation: X:348.58, Y:12.45, Z:-1.12 [[ 8.82819833e-01 -4.69144045e-01 -2.30869454e-02 3.48577664e+02] [ 4.68974343e-01 8.83121603e-01 -1.26214249e-02 1.24541928e+01] [ 2.63098466e-02 3.15259196e-04 9.99653786e-01 -1.12484034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80401273900003 meters Centerline goodness [0,1] 0.9914568345323741 Centerline is valid? [True, True] Translation: X:348.60, Y:12.47, Z:-1.12 [[ 8.83199083e-01 -4.68462316e-01 -2.24151336e-02 3.48601468e+02] [ 4.68301993e-01 8.83483418e-01 -1.22594410e-02 1.24704705e+01] [ 2.55464850e-02 3.30475301e-04 9.99673581e-01 -1.12297392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.834012739 meters Centerline goodness [0,1] 0.9913798580959441 Centerline is valid? [True, True] Translation: X:348.62, Y:12.49, Z:-1.12 [[ 8.83690383e-01 -4.67525732e-01 -2.26052291e-02 3.48624448e+02] [ 4.67362247e-01 8.83979387e-01 -1.23682271e-02 1.24866696e+01] [ 2.57650210e-02 3.64852651e-04 9.99667960e-01 -1.12297482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86401273900003 meters Centerline goodness [0,1] 0.9912123920166815 Centerline is valid? [True, True] Translation: X:348.65, Y:12.50, Z:-1.12 [[ 8.84238775e-01 -4.66463549e-01 -2.30986177e-02 3.48647750e+02] [ 4.66292439e-01 8.84540328e-01 -1.26399630e-02 1.25032417e+01] [ 2.63277409e-02 4.06034664e-04 9.99653282e-01 -1.12350156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.894012739 meters Centerline goodness [0,1] 0.991247171341958 Centerline is valid? [True, True] Translation: X:348.67, Y:12.52, Z:-1.12 [[ 8.85185335e-01 -4.64609358e-01 -2.41881708e-02 3.48668779e+02] [ 4.64420952e-01 8.85515617e-01 -1.32389653e-02 1.25219158e+01] [ 2.75699502e-02 4.85444599e-04 9.99619759e-01 -1.12447223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.924012739 meters Centerline goodness [0,1] 0.9906674567232404 Centerline is valid? [True, True] Translation: X:348.69, Y:12.54, Z:-1.12 [[ 8.85239076e-01 -4.64501995e-01 -2.42832347e-02 3.48690019e+02] [ 4.64312005e-01 8.85571936e-01 -1.32931633e-02 1.25400565e+01] [ 2.76792520e-02 4.92630235e-04 9.99616735e-01 -1.12455809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.954012739 meters Centerline goodness [0,1] 0.9910437478470547 Centerline is valid? [True, True] Translation: X:348.72, Y:12.55, Z:-1.12 [[ 8.84386679e-01 -4.66194343e-01 -2.28699888e-02 3.48719611e+02] [ 4.66026342e-01 8.84682238e-01 -1.25214520e-02 1.25463682e+01] [ 2.60701029e-02 4.15788115e-04 9.99660031e-01 -1.12040455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.984012739 meters Centerline goodness [0,1] 0.9910572932266484 Centerline is valid? [True, True] Translation: X:348.74, Y:12.56, Z:-1.12 [[ 8.83646078e-01 -4.67639339e-01 -2.19785565e-02 3.48743825e+02] [ 4.67484511e-01 8.83919293e-01 -1.20380468e-02 1.25603096e+01] [ 2.50567343e-02 3.62738115e-04 9.99685965e-01 -1.11726251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.014012739 meters Centerline goodness [0,1] 0.9910852380134043 Centerline is valid? [True, True] Translation: X:348.77, Y:12.57, Z:-1.12 [[ 8.82895859e-01 -4.69069528e-01 -2.16490047e-02 3.48769264e+02] [ 4.68919698e-01 8.83161184e-01 -1.18591893e-02 1.25721702e+01] [ 2.46823449e-02 3.18784388e-04 9.99695294e-01 -1.11577204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.044012739 meters Centerline goodness [0,1] 0.9912282569354255 Centerline is valid? [True, True] Translation: X:348.80, Y:12.58, Z:-1.12 [[ 8.82087187e-01 -4.70549057e-01 -2.24895158e-02 3.48795779e+02] [ 4.70387803e-01 8.82373787e-01 -1.23212998e-02 1.25839662e+01] [ 2.56419352e-02 2.89666731e-04 9.99671150e-01 -1.11682364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.074012739 meters Centerline goodness [0,1] 0.9913667523564695 Centerline is valid? [True, True] Translation: X:348.82, Y:12.60, Z:-1.12 [[ 8.81828216e-01 -4.71016910e-01 -2.28488122e-02 3.48820663e+02] [ 4.70850495e-01 8.82124135e-01 -1.25228845e-02 1.25975777e+01] [ 2.60539791e-02 2.84658358e-04 9.99660497e-01 -1.11718640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.104012739 meters Centerline goodness [0,1] 0.9913667523564695 Centerline is valid? [True, True] Translation: X:348.84, Y:12.61, Z:-1.12 [[ 8.81743640e-01 -4.71175327e-01 -2.28465576e-02 3.48844654e+02] [ 4.71008858e-01 8.82039529e-01 -1.25269965e-02 1.26109673e+01] [ 2.60539786e-02 2.84668490e-04 9.99660497e-01 -1.11647819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.134012739 meters Centerline goodness [0,1] 0.9918599918599919 Centerline is valid? [True, True] Translation: X:348.87, Y:12.62, Z:-1.12 [[ 8.81367089e-01 -4.71837577e-01 -2.36929332e-02 3.48868850e+02] [ 4.71658632e-01 8.81685444e-01 -1.29966263e-02 1.26248306e+01] [ 2.70220110e-02 2.79822205e-04 9.99634800e-01 -1.11761613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.164012739 meters Centerline goodness [0,1] 0.9918386431744277 Centerline is valid? [True, True] Translation: X:348.89, Y:12.64, Z:-1.12 [[ 8.81118683e-01 -4.72296011e-01 -2.37980038e-02 3.48893713e+02] [ 4.72115589e-01 8.81439962e-01 -1.30561960e-02 1.26373541e+01] [ 2.71429009e-02 2.68649604e-04 9.99631527e-01 -1.11654316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.194012739 meters Centerline goodness [0,1] 0.9919318691169879 Centerline is valid? [True, True] Translation: X:348.92, Y:12.65, Z:-1.11 [[ 8.80479947e-01 -4.73523419e-01 -2.30355030e-02 3.48918335e+02] [ 4.73354658e-01 8.80781198e-01 -1.26431111e-02 1.26498198e+01] [ 2.62760471e-02 2.28043112e-04 9.99654699e-01 -1.11395111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.224012739 meters Centerline goodness [0,1] 0.9917408837038794 Centerline is valid? [True, True] Translation: X:348.95, Y:12.66, Z:-1.11 [[ 8.79916745e-01 -4.74582276e-01 -2.27636891e-02 3.48945478e+02] [ 4.74417785e-01 8.80211125e-01 -1.24956135e-02 1.26610755e+01] [ 2.59670491e-02 1.95600568e-04 9.99662780e-01 -1.11272813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.254012739 meters Centerline goodness [0,1] 0.9915977111739805 Centerline is valid? [True, True] Translation: X:348.97, Y:12.67, Z:-1.11 [[ 8.79509280e-01 -4.75346500e-01 -2.25639645e-02 3.48971005e+02] [ 4.75185012e-01 8.79798656e-01 -1.23907105e-02 1.26727815e+01] [ 2.57416265e-02 1.75687096e-04 9.99668614e-01 -1.11154696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.284012739 meters Centerline goodness [0,1] 0.9912968917470525 Centerline is valid? [True, True] Translation: X:349.00, Y:12.68, Z:-1.11 [[ 8.78808922e-01 -4.76674726e-01 -2.18193781e-02 3.48997434e+02] [ 4.76524091e-01 8.79079739e-01 -1.19834149e-02 1.26827971e+01] [ 2.48931642e-02 1.33672626e-04 9.99690108e-01 -1.10908142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.314012739 meters Centerline goodness [0,1] 0.991263657243437 Centerline is valid? [True, True] Translation: X:349.02, Y:12.69, Z:-1.11 [[ 8.78575907e-01 -4.77131155e-01 -2.12187842e-02 3.49021886e+02] [ 4.76988800e-01 8.78832092e-01 -1.16549624e-02 1.26946885e+01] [ 2.42086941e-02 1.18646748e-04 9.99706920e-01 -1.10743235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.344012739 meters Centerline goodness [0,1] 0.9916274876022413 Centerline is valid? [True, True] Translation: X:349.05, Y:12.71, Z:-1.11 [[ 8.78645548e-01 -4.77031451e-01 -2.05668546e-02 3.49047927e+02] [ 4.76897615e-01 8.78886216e-01 -1.12997646e-02 1.27056284e+01] [ 2.34662682e-02 1.20203948e-04 9.99724622e-01 -1.10547373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.374012739 meters Centerline goodness [0,1] 0.9915824194653873 Centerline is valid? [True, True] Translation: X:349.07, Y:12.72, Z:-1.11 [[ 8.78886596e-01 -4.76575365e-01 -2.08392048e-02 3.49072124e+02] [ 4.76437714e-01 8.79133609e-01 -1.14543522e-02 1.27188570e+01] [ 2.37793074e-02 1.38493506e-04 9.99717223e-01 -1.10511796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.404012739 meters Centerline goodness [0,1] 0.9914960562961073 Centerline is valid? [True, True] Translation: X:349.10, Y:12.73, Z:-1.10 [[ 8.79377633e-01 -4.75657611e-01 -2.10906461e-02 3.49095562e+02] [ 4.75516227e-01 8.79630495e-01 -1.15978190e-02 1.27334745e+01] [ 2.40685664e-02 1.69918134e-04 9.99710296e-01 -1.10472159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.434012739 meters Centerline goodness [0,1] 0.9919989676087237 Centerline is valid? [True, True] Translation: X:349.12, Y:12.75, Z:-1.11 [[ 8.80529465e-01 -4.73478317e-01 -2.20486773e-02 3.49120332e+02] [ 4.73323070e-01 8.80805441e-01 -1.21262539e-02 1.27480208e+01] [ 2.51621132e-02 2.41376237e-04 9.99683355e-01 -1.10626244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.464012739 meters Centerline goodness [0,1] 0.9921253121065323 Centerline is valid? [True, True] Translation: X:349.14, Y:12.76, Z:-1.11 [[ 8.81425811e-01 -4.71787256e-01 -2.24794488e-02 3.49143525e+02] [ 4.71625208e-01 8.81712366e-01 -1.23680040e-02 1.27637760e+01] [ 2.56554746e-02 2.99603249e-04 9.99670799e-01 -1.10629731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.494012739 meters Centerline goodness [0,1] 0.9919012808763666 Centerline is valid? [True, True] Translation: X:349.16, Y:12.78, Z:-1.11 [[ 8.83148892e-01 -4.68560452e-01 -2.23413725e-02 3.49164859e+02] [ 4.68399292e-01 8.83431349e-01 -1.22945307e-02 1.27832257e+01] [ 2.54977997e-02 3.93218061e-04 9.99674801e-01 -1.10616542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.524012739 meters Centerline goodness [0,1] 0.9919287324246002 Centerline is valid? [True, True] Translation: X:349.19, Y:12.80, Z:-1.10 [[ 8.83951146e-01 -4.67054607e-01 -2.21441888e-02 3.49188540e+02] [ 4.66895768e-01 8.84228367e-01 -1.21875669e-02 1.27992272e+01] [ 2.52727792e-02 4.34185706e-04 9.99680498e-01 -1.10485415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55401273900003 meters Centerline goodness [0,1] 0.9905214275111855 Centerline is valid? [True, True] Translation: X:349.21, Y:12.82, Z:-1.10 [[ 8.84886565e-01 -4.65333741e-01 -2.09827503e-02 3.49208055e+02] [ 4.65190541e-01 8.85135185e-01 -1.15526896e-02 1.28215580e+01] [ 2.39484269e-02 4.61842895e-04 9.99713089e-01 -1.10145509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.584012739 meters Centerline goodness [0,1] 0.9910471998461572 Centerline is valid? [True, True] Translation: X:349.23, Y:12.83, Z:-1.10 [[ 8.84844959e-01 -4.65432059e-01 -2.05522816e-02 3.49234438e+02] [ 4.65294674e-01 8.85083496e-01 -1.13168373e-02 1.28314049e+01] [ 2.34577041e-02 4.50779242e-04 9.99724729e-01 -1.10081194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61401273900003 meters Centerline goodness [0,1] 0.991482548831252 Centerline is valid? [True, True] Translation: X:349.26, Y:12.84, Z:-1.10 [[ 8.84006118e-01 -4.66999894e-01 -2.10780025e-02 3.49259633e+02] [ 4.66855706e-01 8.84257270e-01 -1.16116659e-02 1.28441651e+01] [ 2.40610237e-02 4.24397981e-04 9.99710402e-01 -1.10137439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.644012739 meters Centerline goodness [0,1] 0.9913878058185869 Centerline is valid? [True, True] Translation: X:349.29, Y:12.86, Z:-1.10 [[ 8.83453468e-01 -4.68047027e-01 -2.10226279e-02 3.49286119e+02] [ 4.67903856e-01 8.83703470e-01 -1.15826420e-02 1.28567590e+01] [ 2.39989904e-02 3.96156621e-04 9.99711904e-01 -1.10070121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.674012739 meters Centerline goodness [0,1] 0.991616 Centerline is valid? [True, True] Translation: X:349.31, Y:12.87, Z:-1.10 [[ 8.82852435e-01 -4.69197611e-01 -2.06198798e-02 3.49311762e+02] [ 4.69060141e-01 8.83093128e-01 -1.13627611e-02 1.28693316e+01] [ 2.35406545e-02 3.59677578e-04 9.99722816e-01 -1.09904317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.704012739 meters Centerline goodness [0,1] 0.9915158491611775 Centerline is valid? [True, True] Translation: X:349.34, Y:12.88, Z:-1.10 [[ 8.82303703e-01 -4.70240153e-01 -2.03561599e-02 3.49336489e+02] [ 4.70106360e-01 8.82538435e-01 -1.12214828e-02 1.28829745e+01] [ 2.32418853e-02 3.31195558e-04 9.99729816e-01 -1.09708624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.734012739 meters Centerline goodness [0,1] 0.9920628054846663 Centerline is valid? [True, True] Translation: X:349.36, Y:12.90, Z:-1.10 [[ 8.81926927e-01 -4.70943410e-01 -2.04254956e-02 3.49362212e+02] [ 4.70808796e-01 8.82163366e-01 -1.12638239e-02 1.28966696e+01] [ 2.33232476e-02 3.17366612e-04 9.99727926e-01 -1.09680173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.764012739 meters Centerline goodness [0,1] 0.9918281129982077 Centerline is valid? [True, True] Translation: X:349.39, Y:12.91, Z:-1.10 [[ 8.82028530e-01 -4.70754424e-01 -2.03947239e-02 3.49385825e+02] [ 4.70620063e-01 8.82264227e-01 -1.12512241e-02 1.29115890e+01] [ 2.32900989e-02 3.25734346e-04 9.99728696e-01 -1.09608813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.794012739 meters Centerline goodness [0,1] 0.9916777202515938 Centerline is valid? [True, True] Translation: X:349.41, Y:12.93, Z:-1.09 [[ 8.82185172e-01 -4.70493744e-01 -1.96203649e-02 3.49410952e+02] [ 4.70369308e-01 8.82403272e-01 -1.08249944e-02 1.29264168e+01] [ 2.24061663e-02 3.20832120e-04 9.99748899e-01 -1.09371806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.824012739 meters Centerline goodness [0,1] 0.9921025815217391 Centerline is valid? [True, True] Translation: X:349.43, Y:12.94, Z:-1.09 [[ 8.82410017e-01 -4.70091101e-01 -1.91551049e-02 3.49434091e+02] [ 4.69972312e-01 8.82617839e-01 -1.05724529e-02 1.29421789e+01] [ 2.18766533e-02 3.26869423e-04 9.99760624e-01 -1.09225351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.854012739 meters Centerline goodness [0,1] 0.9917985519318254 Centerline is valid? [True, True] Translation: X:349.46, Y:12.96, Z:-1.09 [[ 8.82767757e-01 -4.69395998e-01 -1.97100090e-02 3.49457836e+02] [ 4.69270027e-01 8.82987696e-01 -1.08798087e-02 1.29584192e+01] [ 2.25106341e-02 3.55027894e-04 9.99746541e-01 -1.09340839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.884012739 meters Centerline goodness [0,1] 0.9918455118378471 Centerline is valid? [True, True] Translation: X:349.48, Y:12.97, Z:-1.09 [[ 8.82350319e-01 -4.70143109e-01 -2.05759878e-02 3.49483996e+02] [ 4.70005928e-01 8.82590126e-01 -1.13620800e-02 1.29716357e+01] [ 2.35019673e-02 3.54498635e-04 9.99723728e-01 -1.09469771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.914012739 meters Centerline goodness [0,1] 0.9924399802968324 Centerline is valid? [True, True] Translation: X:349.51, Y:12.98, Z:-1.10 [[ 8.80890593e-01 -4.72831807e-01 -2.14905904e-02 3.49510398e+02] [ 4.72682846e-01 8.81152650e-01 -1.18715553e-02 1.29818150e+01] [ 2.45497396e-02 2.99307977e-04 9.99698565e-01 -1.09621713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.944012739 meters Centerline goodness [0,1] 0.9927166788055353 Centerline is valid? [True, True] Translation: X:349.54, Y:12.99, Z:-1.10 [[ 8.79957336e-01 -4.74564128e-01 -2.15400710e-02 3.49537560e+02] [ 4.74414895e-01 8.80220895e-01 -1.19031277e-02 1.29932537e+01] [ 2.46088180e-02 2.55313983e-04 9.99697125e-01 -1.09604326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.974012739 meters Centerline goodness [0,1] 0.9925012354698008 Centerline is valid? [True, True] Translation: X:349.57, Y:13.00, Z:-1.09 [[ 8.78169129e-01 -4.77895574e-01 -2.08519066e-02 3.49567299e+02] [ 4.77756576e-01 8.78416641e-01 -1.15264612e-02 1.29993562e+01] [ 2.38251065e-02 1.60046887e-04 9.99716129e-01 -1.09495581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.004012739 meters Centerline goodness [0,1] 0.9926810477657936 Centerline is valid? [True, True] Translation: X:349.59, Y:13.01, Z:-1.09 [[ 8.77463106e-01 -4.79195177e-01 -2.07480262e-02 3.49592651e+02] [ 4.79057815e-01 8.77708360e-01 -1.14736257e-02 1.30101962e+01] [ 2.37088221e-02 1.28179130e-04 9.99718898e-01 -1.09406302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.034012739 meters Centerline goodness [0,1] 0.9925585373676895 Centerline is valid? [True, True] Translation: X:349.62, Y:13.02, Z:-1.09 [[ 8.76676292e-01 -4.80635388e-01 -2.06954783e-02 3.49618704e+02] [ 4.80499087e-01 8.76920530e-01 -1.14460453e-02 1.30213531e+01] [ 2.36496642e-02 9.03181257e-05 9.99720303e-01 -1.09244213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.064012739 meters Centerline goodness [0,1] 0.9918829093698069 Centerline is valid? [True, True] Translation: X:349.65, Y:13.03, Z:-1.09 [[ 8.75286031e-01 -4.83158607e-01 -2.07875937e-02 3.49647372e+02] [ 4.83021744e-01 8.75532844e-01 -1.14993549e-02 1.30275815e+01] [ 2.37562333e-02 2.43649906e-05 9.99717781e-01 -1.09202815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.094012739 meters Centerline goodness [0,1] 0.9927764756019604 Centerline is valid? [True, True] Translation: X:349.67, Y:13.04, Z:-1.09 [[ 8.74607345e-01 -4.84392145e-01 -2.06456517e-02 3.49674033e+02] [ 4.84257462e-01 8.74850987e-01 -1.14219049e-02 1.30380942e+01] [ 2.35945498e-02 -8.12896856e-06 9.99721610e-01 -1.09187290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.124012739 meters Centerline goodness [0,1] 0.9928723858301323 Centerline is valid? [True, True] Translation: X:349.70, Y:13.05, Z:-1.09 [[ 8.74435826e-01 -4.84710265e-01 -2.04436962e-02 3.49698935e+02] [ 4.84578170e-01 8.74674773e-01 -1.13154102e-02 1.30480723e+01] [ 2.33662808e-02 -1.19687862e-05 9.99726971e-01 -1.09030907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.154012739 meters Centerline goodness [0,1] 0.9921028348247817 Centerline is valid? [True, True] Translation: X:349.72, Y:13.06, Z:-1.09 [[ 8.74780351e-01 -4.84117899e-01 -1.97281040e-02 3.49722884e+02] [ 4.83994694e-01 8.75002777e-01 -1.09213576e-02 1.30607611e+01] [ 2.25493704e-02 5.49140203e-06 9.99745731e-01 -1.08823721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.184012739 meters Centerline goodness [0,1] 0.9923482905530002 Centerline is valid? [True, True] Translation: X:349.75, Y:13.07, Z:-1.08 [[ 8.75795461e-01 -4.82333119e-01 -1.83595568e-02 3.49748503e+02] [ 4.82225985e-01 8.75987877e-01 -1.01655843e-02 1.30727899e+01] [ 2.09859472e-02 4.95172475e-05 9.99779770e-01 -1.08441676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.214012739 meters Centerline goodness [0,1] 0.9924459049976527 Centerline is valid? [True, True] Translation: X:349.77, Y:13.09, Z:-1.08 [[ 8.76071331e-01 -4.81832686e-01 -1.83380740e-02 3.49773969e+02] [ 4.81725681e-01 8.76263236e-01 -1.01542901e-02 1.30850840e+01] [ 2.09616490e-02 6.19612384e-05 9.99780279e-01 -1.08400751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.244012739 meters Centerline goodness [0,1] 0.9922378378378378 Centerline is valid? [True, True] Translation: X:349.80, Y:13.10, Z:-1.08 [[ 8.76362109e-01 -4.81299821e-01 -1.84373378e-02 3.49799153e+02] [ 4.81191438e-01 8.76556031e-01 -1.02139287e-02 1.30975544e+01] [ 2.10773217e-02 7.92109906e-05 9.99777845e-01 -1.08440064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.274012739 meters Centerline goodness [0,1] 0.9926963779997019 Centerline is valid? [True, True] Translation: X:349.82, Y:13.11, Z:-1.09 [[ 8.77045093e-01 -4.80029987e-01 -1.90556039e-02 3.49824809e+02] [ 4.79913789e-01 8.77252072e-01 -1.05620976e-02 1.31090234e+01] [ 2.17866916e-02 1.18388812e-04 9.99762635e-01 -1.08554374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30401273900003 meters Centerline goodness [0,1] 0.9926691890962249 Centerline is valid? [True, True] Translation: X:349.85, Y:13.12, Z:-1.08 [[ 8.77287432e-01 -4.79592850e-01 -1.89066055e-02 3.49849880e+02] [ 4.79478342e-01 8.77491129e-01 -1.04803602e-02 1.31210996e+01] [ 2.16166845e-02 1.28980446e-04 9.99766324e-01 -1.08458611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.334012739 meters Centerline goodness [0,1] 0.9933014762351736 Centerline is valid? [True, True] Translation: X:349.87, Y:13.14, Z:-1.08 [[ 8.78982922e-01 -4.76498136e-01 -1.83996956e-02 3.49872726e+02] [ 4.76388898e-01 8.79175457e-01 -1.02045909e-02 1.31377654e+01] [ 2.10390293e-02 2.04250383e-04 9.99778634e-01 -1.08207808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36401273900003 meters Centerline goodness [0,1] 0.9927080233003104 Centerline is valid? [True, True] Translation: X:349.90, Y:13.15, Z:-1.08 [[ 8.80186413e-01 -4.74280255e-01 -1.81691225e-02 3.49896078e+02] [ 4.74173248e-01 8.80373883e-01 -1.00775354e-02 1.31543773e+01] [ 2.07751970e-02 2.54797970e-04 9.99784140e-01 -1.08023131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.394012739 meters Centerline goodness [0,1] 0.9928625013396206 Centerline is valid? [True, True] Translation: X:349.92, Y:13.17, Z:-1.08 [[ 8.81322278e-01 -4.72181835e-01 -1.77582861e-02 3.49920046e+02] [ 4.72079111e-01 8.81501120e-01 -9.85331995e-03 1.31703066e+01] [ 2.03065078e-02 3.00634456e-04 9.99793756e-01 -1.07976424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.424012739 meters Centerline goodness [0,1] 0.9921738014797075 Centerline is valid? [True, True] Translation: X:349.94, Y:13.19, Z:-1.08 [[ 8.83113246e-01 -4.68833867e-01 -1.74871230e-02 3.49942990e+02] [ 4.68733510e-01 8.83286287e-01 -9.70736044e-03 1.31892021e+01] [ 1.99972753e-02 3.75898056e-04 9.99799964e-01 -1.07871818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.454012739 meters Centerline goodness [0,1] 0.9920551641433069 Centerline is valid? [True, True] Translation: X:349.97, Y:13.21, Z:-1.08 [[ 8.83405377e-01 -4.68268947e-01 -1.78642666e-02 3.49965927e+02] [ 4.68164086e-01 8.83585895e-01 -9.91733642e-03 1.32050043e+01] [ 2.04285947e-02 3.97620255e-04 9.99791235e-01 -1.07893800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.484012739 meters Centerline goodness [0,1] 0.9919402858115005 Centerline is valid? [True, True] Translation: X:349.99, Y:13.22, Z:-1.08 [[ 8.83488531e-01 -4.68106112e-01 -1.80189995e-02 3.49991185e+02] [ 4.67999359e-01 8.83672169e-01 -1.00048555e-02 1.32186153e+01] [ 2.06062224e-02 4.06294826e-04 9.99787587e-01 -1.07961206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.514012739 meters Centerline goodness [0,1] 0.9921397191833922 Centerline is valid? [True, True] Translation: X:350.02, Y:13.23, Z:-1.08 [[ 8.83413215e-01 -4.68248313e-01 -1.80168935e-02 3.50015945e+02] [ 4.68141540e-01 8.83596827e-01 -1.00073001e-02 1.32310245e+01] [ 2.06055713e-02 4.06124887e-04 9.99787600e-01 -1.07963727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.544012739 meters Centerline goodness [0,1] 0.9916946344364671 Centerline is valid? [True, True] Translation: X:350.04, Y:13.25, Z:-1.08 [[ 8.83576271e-01 -4.67927022e-01 -1.83650681e-02 3.50037845e+02] [ 4.67815900e-01 8.83767005e-01 -1.02060816e-02 1.32489142e+01] [ 2.10061426e-02 4.26380675e-04 9.99779256e-01 -1.07853421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.574012739 meters Centerline goodness [0,1] 0.9919938676433012 Centerline is valid? [True, True] Translation: X:350.06, Y:13.27, Z:-1.08 [[ 8.84012886e-01 -4.67088595e-01 -1.86939273e-02 3.50061125e+02] [ 4.66973248e-01 8.84210403e-01 -1.03897837e-02 1.32664479e+01] [ 2.13823145e-02 4.55138666e-04 9.99771269e-01 -1.07905404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.604012739 meters Centerline goodness [0,1] 0.9910669759979185 Centerline is valid? [True, True] Translation: X:350.08, Y:13.29, Z:-1.08 [[ 8.84718400e-01 -4.65784039e-01 -1.78488517e-02 3.50082641e+02] [ 4.65678547e-01 8.84898305e-01 -9.92371834e-03 1.32874461e+01] [ 2.04167282e-02 4.67868896e-04 9.99791447e-01 -1.07677410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.634012739 meters Centerline goodness [0,1] 0.990690868993596 Centerline is valid? [True, True] Translation: X:350.10, Y:13.31, Z:-1.08 [[ 8.85068381e-01 -4.65117906e-01 -1.78688246e-02 3.50104078e+02] [ 4.65011951e-01 8.85248607e-01 -9.93930244e-03 1.33054833e+01] [ 2.04412996e-02 4.87745338e-04 9.99790936e-01 -1.07569087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.664012739 meters Centerline goodness [0,1] 0.9911120698953727 Centerline is valid? [True, True] Translation: X:350.13, Y:13.32, Z:-1.08 [[ 8.85406132e-01 -4.64471982e-01 -1.79376714e-02 3.50128085e+02] [ 4.64365061e-01 8.85587671e-01 -9.97831724e-03 1.33212167e+01] [ 2.05200294e-02 5.05235404e-04 9.99789314e-01 -1.07597507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.694012739 meters Centerline goodness [0,1] 0.9904093717816684 Centerline is valid? [True, True] Translation: X:350.15, Y:13.34, Z:-1.08 [[ 8.85367935e-01 -4.64554155e-01 -1.76934236e-02 3.50147517e+02] [ 4.64450056e-01 8.85544571e-01 -9.84675843e-03 1.33413925e+01] [ 2.02426677e-02 5.00292614e-04 9.99794971e-01 -1.07500173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.724012739 meters Centerline goodness [0,1] 0.9901694915254238 Centerline is valid? [True, True] Translation: X:350.17, Y:13.36, Z:-1.07 [[ 8.84879561e-01 -4.65482249e-01 -1.77324245e-02 3.50170188e+02] [ 4.65377834e-01 8.85057085e-01 -9.87054786e-03 1.33573241e+01] [ 2.02887727e-02 4.81968755e-04 9.99794045e-01 -1.07419807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.754012739 meters Centerline goodness [0,1] 0.9919170061099797 Centerline is valid? [True, True] Translation: X:350.19, Y:13.37, Z:-1.07 [[ 8.83303777e-01 -4.68455047e-01 -1.80085109e-02 3.50194704e+02] [ 4.68347942e-01 8.83487233e-01 -1.00256979e-02 1.33729073e+01] [ 2.06068783e-02 4.21487850e-04 9.99787567e-01 -1.07397008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.784012739 meters Centerline goodness [0,1] 0.9922307839266382 Centerline is valid? [True, True] Translation: X:350.22, Y:13.39, Z:-1.07 [[ 8.82077540e-01 -4.70769770e-01 -1.77493185e-02 3.50218104e+02] [ 4.70666173e-01 8.82256024e-01 -9.88237541e-03 1.33874357e+01] [ 2.03117667e-02 3.63017595e-04 9.99793629e-01 -1.07194835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.814012739 meters Centerline goodness [0,1] 0.9928874416213206 Centerline is valid? [True, True] Translation: X:350.24, Y:13.40, Z:-1.07 [[ 8.80832060e-01 -4.73118451e-01 -1.71409992e-02 3.50244880e+02] [ 4.73022270e-01 8.80998775e-01 -9.54414228e-03 1.33984065e+01] [ 1.96167091e-02 2.98712176e-04 9.99807529e-01 -1.07066372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.844012739 meters Centerline goodness [0,1] 0.9920259580514496 Centerline is valid? [True, True] Translation: X:350.27, Y:13.41, Z:-1.06 [[ 8.78777268e-01 -4.76999647e-01 -1.48946487e-02 3.50268281e+02] [ 4.76927519e-01 8.78903465e-01 -8.29699897e-03 1.34132052e+01] [ 1.70486239e-02 1.87546236e-04 9.99854644e-01 -1.06489252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.874012739 meters Centerline goodness [0,1] 0.9913536076326774 Centerline is valid? [True, True] Translation: X:350.29, Y:13.43, Z:-1.06 [[ 8.77850033e-01 -4.78748907e-01 -1.33717805e-02 3.50292942e+02] [ 4.78690987e-01 8.77951858e-01 -7.44805919e-03 1.34266375e+01] [ 1.53055298e-02 1.37328179e-04 9.99882854e-01 -1.06125610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.904012739 meters Centerline goodness [0,1] 0.9896232847524078 Centerline is valid? [True, True] Translation: X:350.32, Y:13.44, Z:-1.06 [[ 8.76363470e-01 -4.81515498e-01 -1.13970942e-02 3.50317234e+02] [ 4.81473611e-01 8.76437573e-01 -6.35160989e-03 1.34378630e+01] [ 1.30472402e-02 7.89187943e-05 9.99914878e-01 -1.05644577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.934012739 meters Centerline goodness [0,1] 0.9896955403998555 Centerline is valid? [True, True] Translation: X:350.34, Y:13.45, Z:-1.06 [[ 8.75623446e-01 -4.82860114e-01 -1.13881733e-02 3.50343092e+02] [ 4.82818407e-01 8.75697497e-01 -6.34662041e-03 1.34515410e+01] [ 1.30371247e-02 5.88299495e-05 9.99915011e-01 -1.05633515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.964012739 meters Centerline goodness [0,1] 0.9900179933167681 Centerline is valid? [True, True] Translation: X:350.37, Y:13.46, Z:-1.06 [[ 8.74860384e-01 -4.84236995e-01 -1.15689475e-02 3.50368464e+02] [ 4.84194042e-01 8.74936872e-01 -6.44974549e-03 1.34646750e+01] [ 1.32453041e-02 4.10113615e-05 9.99912276e-01 -1.05818927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.994012739 meters Centerline goodness [0,1] 0.9886716686040368 Centerline is valid? [True, True] Translation: X:350.39, Y:13.48, Z:-1.06 [[ 8.73527144e-01 -4.86638569e-01 -1.15425983e-02 3.50393520e+02] [ 4.86595967e-01 8.73603402e-01 -6.43901820e-03 1.34761263e+01] [ 1.32171277e-02 8.07538989e-06 9.99912650e-01 -1.05579706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.024012739 meters Centerline goodness [0,1] 0.9886716686040368 Centerline is valid? [True, True] Translation: X:350.42, Y:13.49, Z:-1.06 [[ 8.73441925e-01 -4.86791500e-01 -1.15429446e-02 3.50417412e+02] [ 4.86748920e-01 8.73518194e-01 -6.43839797e-03 1.34896930e+01] [ 1.32171295e-02 5.05089105e-06 9.99912650e-01 -1.05508887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05401273900003 meters Centerline goodness [0,1] 0.9894858562281847 Centerline is valid? [True, True] Translation: X:350.44, Y:13.50, Z:-1.06 [[ 8.71565714e-01 -4.90152768e-01 -1.11117225e-02 3.50444370e+02] [ 4.90113551e-01 8.71636542e-01 -6.20043781e-03 1.34998684e+01] [ 1.27245451e-02 -4.19167536e-05 9.99919039e-01 -1.05602379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.084012739 meters Centerline goodness [0,1] 0.9897928355632283 Centerline is valid? [True, True] Translation: X:350.47, Y:13.51, Z:-1.06 [[ 8.70714439e-01 -4.91652417e-01 -1.15873363e-02 3.50469373e+02] [ 4.91609872e-01 8.70791535e-01 -6.46813809e-03 1.35121608e+01] [ 1.32702300e-02 -6.45476628e-05 9.99911945e-01 -1.05647668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11401273900003 meters Centerline goodness [0,1] 0.9896188640071185 Centerline is valid? [True, True] Translation: X:350.49, Y:13.52, Z:-1.06 [[ 8.69900860e-01 -4.93072869e-01 -1.23141585e-02 3.50493742e+02] [ 4.93024895e-01 8.69988010e-01 -6.87861062e-03 1.35236366e+01] [ 1.41048265e-02 -8.74774029e-05 9.99900518e-01 -1.05683984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.144012739 meters Centerline goodness [0,1] 0.9895497026338148 Centerline is valid? [True, True] Translation: X:350.52, Y:13.53, Z:-1.06 [[ 8.68134862e-01 -4.96146255e-01 -1.34445020e-02 3.50521280e+02] [ 4.96089425e-01 8.68238948e-01 -7.51073541e-03 1.35340072e+01] [ 1.53994635e-02 -1.49343988e-04 9.99881410e-01 -1.05874383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.174012739 meters Centerline goodness [0,1] 0.9887983272168643 Centerline is valid? [True, True] Translation: X:350.55, Y:13.54, Z:-1.06 [[ 8.67420203e-01 -4.97387393e-01 -1.37103158e-02 3.50546636e+02] [ 4.97328392e-01 8.67528531e-01 -7.66284150e-03 1.35445609e+01] [ 1.57054909e-02 -1.71625782e-04 9.99876646e-01 -1.05749158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.204012739 meters Centerline goodness [0,1] 0.9890973739450799 Centerline is valid? [True, True] Translation: X:350.57, Y:13.56, Z:-1.06 [[ 8.65950330e-01 -4.99936685e-01 -1.39045708e-02 3.50573028e+02] [ 4.99876310e-01 8.66061928e-01 -7.77256710e-03 1.35572786e+01] [ 1.59280108e-02 -2.19908491e-04 9.99873117e-01 -1.06039444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.234012739 meters Centerline goodness [0,1] 0.989410338741574 Centerline is valid? [True, True] Translation: X:350.60, Y:13.57, Z:-1.06 [[ 8.65480312e-01 -5.00728266e-01 -1.46640036e-02 3.50598775e+02] [ 5.00661154e-01 8.65604497e-01 -8.20148490e-03 1.35686404e+01] [ 1.67999428e-02 -2.43473255e-04 9.99858841e-01 -1.06076807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.264012739 meters Centerline goodness [0,1] 0.9899957063117217 Centerline is valid? [True, True] Translation: X:350.62, Y:13.58, Z:-1.06 [[ 8.65341008e-01 -5.00952184e-01 -1.52265891e-02 3.50622545e+02] [ 5.00879858e-01 8.65474924e-01 -8.51609605e-03 1.35837859e+01] [ 1.74443879e-02 -2.57364638e-04 9.99847802e-01 -1.06296508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.294012739 meters Centerline goodness [0,1] 0.9904331935934645 Centerline is valid? [True, True] Translation: X:350.65, Y:13.60, Z:-1.06 [[ 8.65633230e-01 -5.00430381e-01 -1.57653232e-02 3.50646323e+02] [ 5.00352684e-01 8.65776744e-01 -8.82162142e-03 1.35998064e+01] [ 1.80638575e-02 -2.51933140e-04 9.99836803e-01 -1.06340685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.324012739 meters Centerline goodness [0,1] 0.990059429646415 Centerline is valid? [True, True] Translation: X:350.67, Y:13.61, Z:-1.06 [[ 8.65982890e-01 -4.99827177e-01 -1.56980168e-02 3.50671063e+02] [ 4.99749964e-01 8.66125128e-01 -8.78837553e-03 1.36131926e+01] [ 1.79891157e-02 -2.34500487e-04 9.99838155e-01 -1.06134662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.354012739 meters Centerline goodness [0,1] 0.9897370382199511 Centerline is valid? [True, True] Translation: X:350.69, Y:13.63, Z:-1.06 [[ 8.66782448e-01 -4.98478940e-01 -1.43851748e-02 3.50694756e+02] [ 4.98413900e-01 8.66901788e-01 -8.05440417e-03 1.36281254e+01] [ 1.64854846e-02 -1.88354907e-04 9.99864087e-01 -1.05773611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.384012739 meters Centerline goodness [0,1] 0.990370830034451 Centerline is valid? [True, True] Translation: X:350.72, Y:13.64, Z:-1.06 [[ 8.66814802e-01 -4.98429211e-01 -1.41569850e-02 3.50719672e+02] [ 4.98366217e-01 8.66930382e-01 -7.92629955e-03 1.36418201e+01] [ 1.62238197e-02 -1.84729290e-04 9.99868368e-01 -1.05677712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.414012739 meters Centerline goodness [0,1] 0.9900704059577564 Centerline is valid? [True, True] Translation: X:350.74, Y:13.65, Z:-1.06 [[ 8.66608593e-01 -4.98772762e-01 -1.46723912e-02 3.50744289e+02] [ 4.98705084e-01 8.66732770e-01 -8.21859242e-03 1.36547153e+01] [ 1.68162523e-02 -1.94893245e-04 9.99858578e-01 -1.05795723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.444012739 meters Centerline goodness [0,1] 0.9909944515578318 Centerline is valid? [True, True] Translation: X:350.77, Y:13.67, Z:-1.06 [[ 8.65820813e-01 -5.00070307e-01 -1.68525056e-02 3.50769678e+02] [ 4.99981173e-01 8.65984772e-01 -9.44461950e-03 1.36667160e+01] [ 1.93169870e-02 -2.48587375e-04 9.99813379e-01 -1.06284937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.474012739 meters Centerline goodness [0,1] 0.9904845213458215 Centerline is valid? [True, True] Translation: X:350.79, Y:13.68, Z:-1.06 [[ 8.65673667e-01 -5.00310077e-01 -1.72895625e-02 3.50793947e+02] [ 5.00216205e-01 8.65846269e-01 -9.69466925e-03 1.36789693e+01] [ 1.98204439e-02 -2.56099457e-04 9.99803523e-01 -1.06246790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.504012739 meters Centerline goodness [0,1] 0.9896196697744234 Centerline is valid? [True, True] Translation: X:350.82, Y:13.69, Z:-1.06 [[ 8.66511879e-01 -4.98922991e-01 -1.52647332e-02 3.50815788e+02] [ 4.98849581e-01 8.66646301e-01 -8.56067544e-03 1.36945764e+01] [ 1.75002424e-02 -1.96878800e-04 9.99846840e-01 -1.05697579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.534012739 meters Centerline goodness [0,1] 0.9902654679164276 Centerline is valid? [True, True] Translation: X:350.84, Y:13.71, Z:-1.05 [[ 8.67387442e-01 -4.97430942e-01 -1.41944904e-02 3.50838505e+02] [ 4.97367260e-01 8.67503564e-01 -7.96085043e-03 1.37120152e+01] [ 1.62737443e-02 -1.54733083e-04 9.99867562e-01 -1.05462144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.564012739 meters Centerline goodness [0,1] 0.9894833007563525 Centerline is valid? [True, True] Translation: X:350.86, Y:13.73, Z:-1.05 [[ 8.68305500e-01 -4.95838631e-01 -1.37699208e-02 3.50861556e+02] [ 4.95778438e-01 8.68414669e-01 -7.72673063e-03 1.37280035e+01] [ 1.57892127e-02 -1.17667114e-04 9.99875336e-01 -1.05219363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.594012739 meters Centerline goodness [0,1] 0.9903170522707798 Centerline is valid? [True, True] Translation: X:350.88, Y:13.75, Z:-1.05 [[ 8.69801420e-01 -4.93205352e-01 -1.39273229e-02 3.50882896e+02] [ 4.93143438e-01 8.69912913e-01 -7.81495224e-03 1.37491449e+01] [ 1.59699343e-02 -7.07113659e-05 9.99872470e-01 -1.05417018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.624012739 meters Centerline goodness [0,1] 0.9905504724763762 Centerline is valid? [True, True] Translation: X:350.90, Y:13.77, Z:-1.05 [[ 8.70864106e-01 -4.91308286e-01 -1.45560289e-02 3.50904993e+02] [ 4.91240316e-01 8.70985745e-01 -8.17216731e-03 1.37669757e+01] [ 1.66931472e-02 -3.36610907e-05 9.99860659e-01 -1.05476760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.654012739 meters Centerline goodness [0,1] 0.9902282910177086 Centerline is valid? [True, True] Translation: X:350.93, Y:13.78, Z:-1.05 [[ 8.71010747e-01 -4.91040764e-01 -1.48069628e-02 3.50928624e+02] [ 4.90970394e-01 8.71136595e-01 -8.31294868e-03 1.37818308e+01] [ 1.69808838e-02 -2.91127100e-05 9.99855814e-01 -1.05482140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.684012739 meters Centerline goodness [0,1] 0.9910062677084228 Centerline is valid? [True, True] Translation: X:350.95, Y:13.80, Z:-1.06 [[ 8.70957146e-01 -4.91117402e-01 -1.54060872e-02 3.50952490e+02] [ 4.91041166e-01 8.71093391e-01 -8.65316520e-03 1.37964912e+01] [ 1.76698608e-02 -2.84869687e-05 9.99843875e-01 -1.05570895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.714012739 meters Centerline goodness [0,1] 0.9912218573605477 Centerline is valid? [True, True] Translation: X:350.98, Y:13.81, Z:-1.06 [[ 8.70688577e-01 -4.91568139e-01 -1.61915566e-02 3.50976567e+02] [ 4.91483927e-01 8.70839115e-01 -9.09866142e-03 1.38107857e+01] [ 1.85728529e-02 -3.57892503e-05 9.99827509e-01 -1.05702009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.744012739 meters Centerline goodness [0,1] 0.9910144743255558 Centerline is valid? [True, True] Translation: X:351.00, Y:13.82, Z:-1.06 [[ 8.70153487e-01 -4.92507828e-01 -1.63996457e-02 3.51001016e+02] [ 4.92421518e-01 8.70308013e-01 -9.22020629e-03 1.38229591e+01] [ 1.88137668e-02 -5.25437506e-05 9.99823004e-01 -1.05610295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.774012739 meters Centerline goodness [0,1] 0.9913486658957557 Centerline is valid? [True, True] Translation: X:351.03, Y:13.83, Z:-1.06 [[ 8.68798182e-01 -4.94895492e-01 -1.63759552e-02 3.51027759e+02] [ 4.94809808e-01 8.68952497e-01 -9.20934947e-03 1.38336545e+01] [ 1.87875927e-02 -1.01917173e-04 9.99823492e-01 -1.05679806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80401273900003 meters Centerline goodness [0,1] 0.9914417379855168 Centerline is valid? [True, True] Translation: X:351.05, Y:13.84, Z:-1.05 [[ 8.68054767e-01 -4.96199405e-01 -1.63423185e-02 3.51053458e+02] [ 4.96114222e-01 8.68208578e-01 -9.19481862e-03 1.38440679e+01] [ 1.87510046e-02 -1.26050465e-04 9.99824177e-01 -1.05465342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.834012739 meters Centerline goodness [0,1] 0.990726827802344 Centerline is valid? [True, True] Translation: X:351.08, Y:13.85, Z:-1.05 [[ 8.67230794e-01 -4.97648772e-01 -1.60140274e-02 3.51079567e+02] [ 4.97567201e-01 8.67378623e-01 -9.01133936e-03 1.38547939e+01] [ 1.83747070e-02 -1.53143783e-04 9.99831159e-01 -1.05303196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86401273900003 meters Centerline goodness [0,1] 0.9908576591305096 Centerline is valid? [True, True] Translation: X:351.11, Y:13.86, Z:-1.05 [[ 8.65504223e-01 -5.00673191e-01 -1.51259878e-02 3.51107158e+02] [ 5.00600879e-01 8.65636364e-01 -8.51152948e-03 1.38642994e+01] [ 1.73550997e-02 -2.05318073e-04 9.99849368e-01 -1.05255337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.894012739 meters Centerline goodness [0,1] 0.9905478843754626 Centerline is valid? [True, True] Translation: X:351.13, Y:13.87, Z:-1.05 [[ 8.64760830e-01 -5.01962147e-01 -1.49235034e-02 3.51134464e+02] [ 5.01891876e-01 8.64889561e-01 -8.40191484e-03 1.38731792e+01] [ 1.71246255e-02 -2.24338265e-04 9.99853338e-01 -1.05077534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.924012739 meters Centerline goodness [0,1] 0.9902187902187902 Centerline is valid? [True, True] Translation: X:351.16, Y:13.88, Z:-1.05 [[ 8.63436352e-01 -5.04233028e-01 -1.50571799e-02 3.51162655e+02] [ 5.04161834e-01 8.63567588e-01 -8.47732736e-03 1.38824760e+01] [ 1.72774410e-02 -2.71622836e-04 9.99850697e-01 -1.05242710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.954012739 meters Centerline goodness [0,1] 0.9898344901227977 Centerline is valid? [True, True] Translation: X:351.19, Y:13.89, Z:-1.05 [[ 8.62968741e-01 -5.05031641e-01 -1.50994630e-02 3.51189099e+02] [ 5.04960111e-01 8.63100782e-01 -8.50447799e-03 1.38929240e+01] [ 1.73273888e-02 -2.85527825e-04 9.99849829e-01 -1.05168355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.984012739 meters Centerline goodness [0,1] 0.9904442259181666 Centerline is valid? [True, True] Translation: X:351.22, Y:13.90, Z:-1.05 [[ 8.63147905e-01 -5.04706317e-01 -1.57234885e-02 3.51216435e+02] [ 5.04628633e-01 8.63291058e-01 -8.85956520e-03 1.39040527e+01] [ 1.80454255e-02 -2.87407366e-04 9.99837127e-01 -1.05236050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.014012739 meters Centerline goodness [0,1] 0.990368704654419 Centerline is valid? [True, True] Translation: X:351.24, Y:13.92, Z:-1.05 [[ 8.63559500e-01 -5.03978457e-01 -1.64530877e-02 3.51241697e+02] [ 5.03893192e-01 8.63716177e-01 -9.27446656e-03 1.39156514e+01] [ 1.88849294e-02 -2.81545195e-04 9.99821624e-01 -1.05194102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.044012739 meters Centerline goodness [0,1] 0.9908071414891579 Centerline is valid? [True, True] Translation: X:351.27, Y:13.93, Z:-1.05 [[ 8.64185675e-01 -5.02903765e-01 -1.64597265e-02 3.51266207e+02] [ 5.02818169e-01 8.64342373e-01 -9.28173245e-03 1.39316263e+01] [ 1.88946573e-02 -2.55109328e-04 9.99821447e-01 -1.05172618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.074012739 meters Centerline goodness [0,1] 0.990335284725918 Centerline is valid? [True, True] Translation: X:351.29, Y:13.95, Z:-1.05 [[ 8.65775651e-01 -5.00210597e-01 -1.48956476e-02 3.51289233e+02] [ 5.00140038e-01 8.65903764e-01 -8.40324900e-03 1.39480465e+01] [ 1.71015915e-02 -1.74581370e-04 9.99853742e-01 -1.04693787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.104012739 meters Centerline goodness [0,1] 0.9903489394556801 Centerline is valid? [True, True] Translation: X:351.31, Y:13.96, Z:-1.05 [[ 8.66379043e-01 -4.99186714e-01 -1.41413892e-02 3.51312971e+02] [ 4.99122975e-01 8.66494434e-01 -7.97824108e-03 1.39627561e+01] [ 1.62360669e-02 -1.46111366e-04 9.99868176e-01 -1.04526103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.134012739 meters Centerline goodness [0,1] 0.9910342895321019 Centerline is valid? [True, True] Translation: X:351.34, Y:13.98, Z:-1.05 [[ 8.67785645e-01 -4.96723208e-01 -1.46331221e-02 3.51336859e+02] [ 4.96654546e-01 8.67909007e-01 -8.25941262e-03 1.39801882e+01] [ 1.68028604e-02 -1.00206908e-04 9.99858817e-01 -1.04550127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.164012739 meters Centerline goodness [0,1] 0.991206057096283 Centerline is valid? [True, True] Translation: X:351.36, Y:14.00, Z:-1.05 [[ 8.68612778e-01 -4.95249658e-01 -1.54796079e-02 3.51360489e+02] [ 4.95172530e-01 8.68750696e-01 -8.74040050e-03 1.39970914e+01] [ 1.77766005e-02 -7.30530272e-05 9.99841981e-01 -1.04708513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.194012739 meters Centerline goodness [0,1] 0.9904581793174589 Centerline is valid? [True, True] Translation: X:351.38, Y:14.01, Z:-1.05 [[ 8.69459608e-01 -4.93747261e-01 -1.59258197e-02 3.51383949e+02] [ 4.93665305e-01 8.69605451e-01 -8.99586351e-03 1.40141229e+01] [ 1.82908626e-02 -4.04846947e-05 9.99832707e-01 -1.04795229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.224012739 meters Centerline goodness [0,1] 0.9905219340377842 Centerline is valid? [True, True] Translation: X:351.40, Y:14.03, Z:-1.05 [[ 8.71022194e-01 -4.90998275e-01 -1.55251847e-02 3.51404194e+02] [ 4.90919883e-01 8.71160544e-01 -8.77352370e-03 1.40330739e+01] [ 1.78327134e-02 2.03119952e-05 9.99840984e-01 -1.04613609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.254012739 meters Centerline goodness [0,1] 0.9911864262448641 Centerline is valid? [True, True] Translation: X:351.42, Y:14.06, Z:-1.04 [[ 8.72454766e-01 -4.88463151e-01 -1.50476251e-02 3.51424008e+02] [ 4.88389101e-01 8.72584520e-01 -8.50537154e-03 1.40554726e+01] [ 1.72848853e-02 7.14558441e-05 9.99850603e-01 -1.04385155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.284012739 meters Centerline goodness [0,1] 0.9911521405423844 Centerline is valid? [True, True] Translation: X:351.45, Y:14.07, Z:-1.04 [[ 8.72882745e-01 -4.87688461e-01 -1.53518290e-02 3.51445503e+02] [ 4.87611267e-01 8.73017730e-01 -8.67729065e-03 1.40736747e+01] [ 1.76342334e-02 8.85324999e-05 9.99844501e-01 -1.04492974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.314012739 meters Centerline goodness [0,1] 0.9910697240311394 Centerline is valid? [True, True] Translation: X:351.47, Y:14.09, Z:-1.04 [[ 8.73250731e-01 -4.87012328e-01 -1.58793363e-02 3.51466424e+02] [ 4.86929534e-01 8.73395089e-01 -8.98043847e-03 1.40920463e+01] [ 1.82425186e-02 1.10056644e-04 9.99833585e-01 -1.04488614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.344012739 meters Centerline goodness [0,1] 0.9912861027255016 Centerline is valid? [True, True] Translation: X:351.49, Y:14.11, Z:-1.05 [[ 8.73759497e-01 -4.86088913e-01 -1.61836657e-02 3.51488187e+02] [ 4.86002735e-01 8.73909350e-01 -9.15368357e-03 1.41128231e+01] [ 1.85925608e-02 1.32812165e-04 9.99827135e-01 -1.04620446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.374012739 meters Centerline goodness [0,1] 0.9922784121805329 Centerline is valid? [True, True] Translation: X:351.51, Y:14.13, Z:-1.05 [[ 8.73384341e-01 -4.86757217e-01 -1.63463950e-02 3.51511938e+02] [ 4.86669356e-01 8.73537290e-01 -9.24888099e-03 1.41273373e+01] [ 1.87811452e-02 1.22538292e-04 9.99823611e-01 -1.04734422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.404012739 meters Centerline goodness [0,1] 0.9911906488631032 Centerline is valid? [True, True] Translation: X:351.53, Y:14.15, Z:-1.05 [[ 8.72032721e-01 -4.89162904e-01 -1.66908980e-02 3.51533566e+02] [ 4.89071636e-01 8.72192437e-01 -9.44922105e-03 1.41454262e+01] [ 1.91798834e-02 7.69851740e-05 9.99816046e-01 -1.04609289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.434012739 meters Centerline goodness [0,1] 0.991364272639173 Centerline is valid? [True, True] Translation: X:351.56, Y:14.16, Z:-1.05 [[ 8.70813427e-01 -4.91336004e-01 -1.65199066e-02 3.51557567e+02] [ 4.91246979e-01 8.70970109e-01 -9.35278264e-03 1.41594512e+01] [ 1.89837037e-02 2.91744640e-05 9.99819793e-01 -1.04660229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.464012739 meters Centerline goodness [0,1] 0.9911895212902124 Centerline is valid? [True, True] Translation: X:351.58, Y:14.17, Z:-1.05 [[ 8.69459597e-01 -4.93730882e-01 -1.64263507e-02 3.51582092e+02] [ 4.93643218e-01 8.69614751e-01 -9.30367956e-03 1.41721085e+01] [ 1.88781108e-02 -1.95831446e-05 9.99821792e-01 -1.04609510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.494012739 meters Centerline goodness [0,1] 0.991144240570846 Centerline is valid? [True, True] Translation: X:351.61, Y:14.18, Z:-1.05 [[ 8.66512576e-01 -4.98881492e-01 -1.65291682e-02 3.51608682e+02] [ 4.98793566e-01 8.66670203e-01 -9.36687348e-03 1.41808959e+01] [ 1.89982973e-02 -1.28129051e-04 9.99819508e-01 -1.04509963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.524012739 meters Centerline goodness [0,1] 0.9915860507826681 Centerline is valid? [True, True] Translation: X:351.63, Y:14.19, Z:-1.05 [[ 8.64918191e-01 -5.01639903e-01 -1.65508409e-02 3.51634691e+02] [ 5.01552241e-01 8.65076512e-01 -9.37961906e-03 1.41938789e+01] [ 1.90229349e-02 -1.88508191e-04 9.99819030e-01 -1.04537112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55401273900003 meters Centerline goodness [0,1] 0.9914378443011488 Centerline is valid? [True, True] Translation: X:351.66, Y:14.21, Z:-1.05 [[ 8.62287926e-01 -5.06123274e-01 -1.72847964e-02 3.51660233e+02] [ 5.06028473e-01 8.62461097e-01 -9.80002863e-03 1.42070281e+01] [ 1.98674871e-02 -2.96152770e-04 9.99802578e-01 -1.04674112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.584012739 meters Centerline goodness [0,1] 0.9899115385439201 Centerline is valid? [True, True] Translation: X:351.69, Y:14.22, Z:-1.05 [[ 8.61309821e-01 -5.07764883e-01 -1.78945730e-02 3.51686650e+02] [ 5.07663605e-01 8.61495621e-01 -1.01469149e-02 1.42164152e+01] [ 2.05683433e-02 -3.44786025e-04 9.99788390e-01 -1.04648617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61401273900003 meters Centerline goodness [0,1] 0.9909998293806518 Centerline is valid? [True, True] Translation: X:351.71, Y:14.23, Z:-1.05 [[ 8.60310288e-01 -5.09437279e-01 -1.84355032e-02 3.51710867e+02] [ 5.09330148e-01 8.60507700e-01 -1.04545515e-02 1.42326881e+01] [ 2.11898307e-02 -3.95599402e-04 9.99775392e-01 -1.04779123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.644012739 meters Centerline goodness [0,1] 0.9901133246869219 Centerline is valid? [True, True] Translation: X:351.74, Y:14.24, Z:-1.05 [[ 8.59265969e-01 -5.11213183e-01 -1.79743102e-02 3.51736364e+02] [ 5.11111644e-01 8.59453839e-01 -1.01973478e-02 1.42446849e+01] [ 2.06611086e-02 -4.24645309e-04 9.99786446e-01 -1.04502333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.674012739 meters Centerline goodness [0,1] 0.989871838981593 Centerline is valid? [True, True] Translation: X:351.76, Y:14.27, Z:-1.04 [[ 8.59772023e-01 -5.10400925e-01 -1.68215378e-02 3.51757373e+02] [ 5.10311831e-01 8.59936481e-01 -9.54373940e-03 1.42657472e+01] [ 1.93365875e-02 -3.78789634e-04 9.99812959e-01 -1.04289390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.704012739 meters Centerline goodness [0,1] 0.9899359756750391 Centerline is valid? [True, True] Translation: X:351.78, Y:14.28, Z:-1.04 [[ 8.60383484e-01 -5.09389896e-01 -1.61923993e-02 3.51780223e+02] [ 5.09307091e-01 8.60535774e-01 -9.19067743e-03 1.42830412e+01] [ 1.86157771e-02 -3.39396724e-04 9.99826654e-01 -1.04099565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.734012739 meters Centerline goodness [0,1] 0.9906397249225284 Centerline is valid? [True, True] Translation: X:351.80, Y:14.30, Z:-1.04 [[ 8.61401462e-01 -5.07670384e-01 -1.60718004e-02 3.51802586e+02] [ 5.07588473e-01 8.61551329e-01 -9.12410207e-03 1.42994689e+01] [ 1.84787174e-02 -2.98345768e-04 9.99829209e-01 -1.03928410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.764012739 meters Centerline goodness [0,1] 0.9914752697361393 Centerline is valid? [True, True] Translation: X:351.82, Y:14.32, Z:-1.04 [[ 8.63423807e-01 -5.04191026e-01 -1.70510749e-02 3.51822092e+02] [ 5.04098117e-01 8.63592122e-01 -9.68167995e-03 1.43245263e+01] [ 1.96065901e-02 -2.36021770e-04 9.99807744e-01 -1.04016989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.794012739 meters Centerline goodness [0,1] 0.9919639231443288 Centerline is valid? [True, True] Translation: X:351.84, Y:14.34, Z:-1.04 [[ 8.64209939e-01 -5.02828025e-01 -1.74687656e-02 3.51844991e+02] [ 5.02730150e-01 8.64386450e-01 -9.92281267e-03 1.43435846e+01] [ 2.00892326e-02 -2.06681812e-04 9.99798170e-01 -1.04062035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.824012739 meters Centerline goodness [0,1] 0.9918512641262626 Centerline is valid? [True, True] Translation: X:351.87, Y:14.36, Z:-1.04 [[ 8.64613072e-01 -5.02139484e-01 -1.73255136e-02 3.51867942e+02] [ 5.02043040e-01 8.64786623e-01 -9.84291186e-03 1.43617843e+01] [ 1.99253871e-02 -1.87843243e-04 9.99801452e-01 -1.03993102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.854012739 meters Centerline goodness [0,1] 0.9915009312581619 Centerline is valid? [True, True] Translation: X:351.89, Y:14.38, Z:-1.04 [[ 8.64797984e-01 -5.01850603e-01 -1.64444223e-02 3.51889077e+02] [ 5.01763609e-01 8.64954301e-01 -9.34545539e-03 1.43801137e+01] [ 1.89136963e-02 -1.69281715e-04 9.99821106e-01 -1.03753118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.884012739 meters Centerline goodness [0,1] 0.9910206524992518 Centerline is valid? [True, True] Translation: X:351.91, Y:14.40, Z:-1.04 [[ 8.64569300e-01 -5.02255705e-01 -1.60975665e-02 3.51912069e+02] [ 5.02172326e-01 8.64719132e-01 -9.15296399e-03 1.43952352e+01] [ 1.85170022e-02 -1.70380770e-04 9.99828531e-01 -1.03578259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.914012739 meters Centerline goodness [0,1] 0.9910206524992518 Centerline is valid? [True, True] Translation: X:351.94, Y:14.41, Z:-1.04 [[ 8.64478250e-01 -5.02412419e-01 -1.60971152e-02 3.51935848e+02] [ 5.02329053e-01 8.64628089e-01 -9.15375781e-03 1.44089808e+01] [ 1.85169795e-02 -1.72824085e-04 9.99828531e-01 -1.03507452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.944012739 meters Centerline goodness [0,1] 0.9920431266846361 Centerline is valid? [True, True] Translation: X:351.96, Y:14.43, Z:-1.04 [[ 8.63395139e-01 -5.04266717e-01 -1.62453501e-02 3.51958558e+02] [ 5.04182048e-01 8.63547934e-01 -9.24274412e-03 1.44262843e+01] [ 1.86894467e-02 -2.10473535e-04 9.99825315e-01 -1.03515043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.974012739 meters Centerline goodness [0,1] 0.991497147777419 Centerline is valid? [True, True] Translation: X:351.98, Y:14.44, Z:-1.04 [[ 8.62314529e-01 -5.06100376e-01 -1.66151569e-02 3.51984321e+02] [ 5.06012121e-01 8.62474547e-01 -9.45457098e-03 1.44400753e+01] [ 1.91151119e-02 -2.54656876e-04 9.99817257e-01 -1.03613820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.004012739 meters Centerline goodness [0,1] 0.9909422998867787 Centerline is valid? [True, True] Translation: X:352.01, Y:14.45, Z:-1.04 [[ 8.60991225e-01 -5.08328294e-01 -1.72179138e-02 3.52011278e+02] [ 5.08233868e-01 8.61163312e-01 -9.80238196e-03 1.44494988e+01] [ 1.98102638e-02 -3.10962085e-04 9.99803709e-01 -1.03575461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.034012739 meters Centerline goodness [0,1] 0.9899247572295226 Centerline is valid? [True, True] Translation: X:352.04, Y:14.46, Z:-1.04 [[ 8.58165622e-01 -5.13084090e-01 -1.72186183e-02 3.52039601e+02] [ 5.12990579e-01 8.58338244e-01 -9.80433048e-03 1.44590897e+01] [ 1.98098446e-02 -4.19249602e-04 9.99803678e-01 -1.03712987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.064012739 meters Centerline goodness [0,1] 0.9881586610012294 Centerline is valid? [True, True] Translation: X:352.07, Y:14.47, Z:-1.04 [[ 8.56817532e-01 -5.15328350e-01 -1.73322860e-02 3.52067640e+02] [ 5.15234047e-01 8.56992688e-01 -9.86961246e-03 1.44663087e+01] [ 1.99397335e-02 -4.73726856e-04 9.99801072e-01 -1.03566820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.094012739 meters Centerline goodness [0,1] 0.9869033884544717 Centerline is valid? [True, True] Translation: X:352.10, Y:14.47, Z:-1.04 [[ 8.54393841e-01 -5.19318218e-01 -1.78816347e-02 3.52097274e+02] [ 5.19218684e-01 8.54580744e-01 -1.01838376e-02 1.44736545e+01] [ 2.05699530e-02 -5.83470699e-04 9.99788246e-01 -1.03599997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.124012739 meters Centerline goodness [0,1] 0.9866488083848884 Centerline is valid? [True, True] Translation: X:352.12, Y:14.49, Z:-1.04 [[ 8.53535149e-01 -5.20715034e-01 -1.82648111e-02 3.52122957e+02] [ 5.20611423e-01 8.53730321e-01 -1.04060520e-02 1.44859028e+01] [ 2.10118107e-02 -6.26938145e-04 9.99779031e-01 -1.03586252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.154012739 meters Centerline goodness [0,1] 0.9873475116053114 Centerline is valid? [True, True] Translation: X:352.15, Y:14.50, Z:-1.04 [[ 8.52895176e-01 -5.21749136e-01 -1.86455851e-02 3.52146561e+02] [ 5.21641387e-01 8.53098703e-01 -1.06238698e-02 1.45021322e+01] [ 2.14495194e-02 -6.65261614e-04 9.99769711e-01 -1.03678625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.184012739 meters Centerline goodness [0,1] 0.9880056747345342 Centerline is valid? [True, True] Translation: X:352.17, Y:14.51, Z:-1.04 [[ 8.52906762e-01 -5.21664063e-01 -2.04122504e-02 3.52172181e+02] [ 5.21534780e-01 8.53150681e-01 -1.16356487e-02 1.45141688e+01] [ 2.34846251e-02 -7.21575056e-04 9.99723938e-01 -1.04005616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.214012739 meters Centerline goodness [0,1] 0.9877337194940159 Centerline is valid? [True, True] Translation: X:352.20, Y:14.52, Z:-1.04 [[ 8.53449805e-01 -5.20708106e-01 -2.20567112e-02 3.52200384e+02] [ 5.20556786e-01 8.53734447e-01 -1.25748429e-02 1.45219187e+01] [ 2.53783967e-02 -7.49773424e-04 9.99677635e-01 -1.04270982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.244012739 meters Centerline goodness [0,1] 0.9876561570493754 Centerline is valid? [True, True] Translation: X:352.23, Y:14.53, Z:-1.04 [[ 8.53543368e-01 -5.20551005e-01 -2.21442847e-02 3.52226097e+02] [ 5.20398306e-01 8.53830251e-01 -1.26295727e-02 1.45325997e+01] [ 2.54817969e-02 -7.43960183e-04 9.99675009e-01 -1.04228995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.274012739 meters Centerline goodness [0,1] 0.9887592608362429 Centerline is valid? [True, True] Translation: X:352.25, Y:14.55, Z:-1.04 [[ 8.53642693e-01 -5.20395768e-01 -2.19635579e-02 3.52250725e+02] [ 5.20245461e-01 8.53924885e-01 -1.25280229e-02 1.45478149e+01] [ 2.52747587e-02 -7.31986045e-04 9.99680274e-01 -1.04148456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30401273900003 meters Centerline goodness [0,1] 0.9890460195545666 Centerline is valid? [True, True] Translation: X:352.28, Y:14.56, Z:-1.04 [[ 8.54327731e-01 -5.19280266e-01 -2.17286215e-02 3.52276555e+02] [ 5.19132684e-01 8.54603728e-01 -1.23985520e-02 1.45601864e+01] [ 2.50076844e-02 -6.87610803e-04 9.99687022e-01 -1.03947087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.334012739 meters Centerline goodness [0,1] 0.9891794600317628 Centerline is valid? [True, True] Translation: X:352.30, Y:14.57, Z:-1.04 [[ 8.55428003e-01 -5.17467187e-01 -2.16942690e-02 3.52302690e+02] [ 5.17319370e-01 8.55702819e-01 -1.23836762e-02 1.45709220e+01] [ 2.49719932e-02 -6.29522210e-04 9.99687953e-01 -1.03838650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36401273900003 meters Centerline goodness [0,1] 0.9917632307160152 Centerline is valid? [True, True] Translation: X:352.32, Y:14.60, Z:-1.04 [[ 8.58761337e-01 -5.11914340e-01 -2.17410988e-02 3.52322421e+02] [ 5.11764042e-01 8.59036374e-01 -1.24126686e-02 1.45957583e+01] [ 2.50306178e-02 -4.66792696e-04 9.99686576e-01 -1.03785185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.394012739 meters Centerline goodness [0,1] 0.9928302371372314 Centerline is valid? [True, True] Translation: X:352.34, Y:14.61, Z:-1.04 [[ 8.60674135e-01 -5.08703260e-01 -2.14715337e-02 3.52344933e+02] [ 5.08555557e-01 8.60941845e-01 -1.22631571e-02 1.46119740e+01] [ 2.47240498e-02 -3.64885691e-04 9.99694247e-01 -1.03686670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.424012739 meters Centerline goodness [0,1] 0.9934938613176552 Centerline is valid? [True, True] Translation: X:352.37, Y:14.63, Z:-1.03 [[ 8.62458199e-01 -5.05706307e-01 -2.06636359e-02 3.52368588e+02] [ 5.05568616e-01 8.62705662e-01 -1.18031866e-02 1.46295165e+01] [ 2.37955816e-02 -2.67130748e-04 9.99716809e-01 -1.03490098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.454012739 meters Centerline goodness [0,1] 0.9932571723071637 Centerline is valid? [True, True] Translation: X:352.39, Y:14.65, Z:-1.03 [[ 8.65311034e-01 -5.00883491e-01 -1.87761050e-02 3.52391568e+02] [ 5.00768630e-01 8.65514710e-01 -1.07268491e-02 1.46480810e+01] [ 2.16238967e-02 -1.20423519e-04 9.99766169e-01 -1.03095056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.484012739 meters Centerline goodness [0,1] 0.9935702917771884 Centerline is valid? [True, True] Translation: X:352.42, Y:14.66, Z:-1.03 [[ 8.66321308e-01 -4.99138511e-01 -1.86584687e-02 3.52416330e+02] [ 4.99024601e-01 8.66522210e-01 -1.06633275e-02 1.46609638e+01] [ 2.14904549e-02 -7.31670762e-05 9.99769051e-01 -1.02951879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.514012739 meters Centerline goodness [0,1] 0.9937940216457654 Centerline is valid? [True, True] Translation: X:352.44, Y:14.67, Z:-1.03 [[ 8.65984960e-01 -4.99698728e-01 -1.92673226e-02 3.52441604e+02] [ 4.99577306e-01 8.66199269e-01 -1.10155081e-02 1.46725882e+01] [ 2.21937762e-02 -8.62527918e-05 9.99753684e-01 -1.03040965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.544012739 meters Centerline goodness [0,1] 0.9941903157530992 Centerline is valid? [True, True] Translation: X:352.47, Y:14.68, Z:-1.03 [[ 8.65528771e-01 -5.00443366e-01 -2.04054909e-02 3.52467682e+02] [ 5.00307253e-01 8.65769269e-01 -1.16715930e-02 1.46841970e+01] [ 2.35074183e-02 -1.06915553e-04 9.99723657e-01 -1.03156745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.574012739 meters Centerline goodness [0,1] 0.9943645135123597 Centerline is valid? [True, True] Translation: X:352.49, Y:14.70, Z:-1.03 [[ 8.65396833e-01 -5.00624930e-01 -2.15174364e-02 3.52492359e+02] [ 5.00473492e-01 8.65664292e-01 -1.23133137e-02 1.46956694e+01] [ 2.47912281e-02 -1.13003873e-04 9.99692644e-01 -1.03343345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.604012739 meters Centerline goodness [0,1] 0.9938826146475017 Centerline is valid? [True, True] Translation: X:352.52, Y:14.71, Z:-1.03 [[ 8.65542866e-01 -5.00343457e-01 -2.21804569e-02 3.52517153e+02] [ 5.00182386e-01 8.65827011e-01 -1.26951434e-02 1.47087040e+01] [ 2.55563707e-02 -1.06083064e-04 9.99673377e-01 -1.03357136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.634012739 meters Centerline goodness [0,1] 0.9937389351871843 Centerline is valid? [True, True] Translation: X:352.54, Y:14.72, Z:-1.03 [[ 8.66834512e-01 -4.98159565e-01 -2.08561087e-02 3.52539928e+02] [ 4.98016410e-01 8.67085375e-01 -1.19418920e-02 1.47243979e+01] [ 2.40329946e-02 -3.50402398e-05 9.99711165e-01 -1.03065531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.664012739 meters Centerline goodness [0,1] 0.9932390641329153 Centerline is valid? [True, True] Translation: X:352.56, Y:14.74, Z:-1.03 [[ 8.67883397e-01 -4.96353771e-01 -2.02816188e-02 3.52563080e+02] [ 4.96217874e-01 8.68120345e-01 -1.16141157e-02 1.47400797e+01] [ 2.33715961e-02 1.55964421e-05 9.99726847e-01 -1.02867209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.694012739 meters Centerline goodness [0,1] 0.9930602097070587 Centerline is valid? [True, True] Translation: X:352.59, Y:14.76, Z:-1.03 [[ 8.69188160e-01 -4.94080172e-01 -1.99180076e-02 3.52585957e+02] [ 4.93948390e-01 8.69416343e-01 -1.14109794e-02 1.47569999e+01] [ 2.29549800e-02 7.98204545e-05 9.99736497e-01 -1.02760199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.724012739 meters Centerline goodness [0,1] 0.9929256982637765 Centerline is valid? [True, True] Translation: X:352.61, Y:14.78, Z:-1.03 [[ 8.71849632e-01 -4.89394290e-01 -1.92729896e-02 3.52606183e+02] [ 4.89269718e-01 8.72062607e-01 -1.10432288e-02 1.47795317e+01] [ 2.22117467e-02 1.98344737e-04 9.99753269e-01 -1.02559281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.754012739 meters Centerline goodness [0,1] 0.993281905649981 Centerline is valid? [True, True] Translation: X:352.63, Y:14.80, Z:-1.03 [[ 8.73208835e-01 -4.86952072e-01 -1.95961620e-02 3.52626124e+02] [ 4.86822564e-01 8.73428650e-01 -1.12331737e-02 1.47995794e+01] [ 2.25858665e-02 2.69052679e-04 9.99744871e-01 -1.02506183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.784012739 meters Centerline goodness [0,1] 0.9936874419006853 Centerline is valid? [True, True] Translation: X:352.65, Y:14.82, Z:-1.03 [[ 8.74465628e-01 -4.84658532e-01 -2.03954131e-02 3.52648490e+02] [ 4.84517577e-01 8.74703372e-01 -1.16930910e-02 1.48179537e+01] [ 2.35070929e-02 3.43270004e-04 9.99723611e-01 -1.02755023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.814012739 meters Centerline goodness [0,1] 0.9926994834137386 Centerline is valid? [True, True] Translation: X:352.67, Y:14.85, Z:-1.04 [[ 8.76587792e-01 -4.80640771e-01 -2.40476899e-02 3.52665904e+02] [ 4.80443122e-01 8.76917420e-01 -1.37929509e-02 1.48458359e+01] [ 2.77172927e-02 5.37185144e-04 9.99615658e-01 -1.03542527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.844012739 meters Centerline goodness [0,1] 0.9928640724372103 Centerline is valid? [True, True] Translation: X:352.69, Y:14.86, Z:-1.04 [[ 8.77270757e-01 -4.79327223e-01 -2.53265121e-02 3.52688791e+02] [ 4.79107391e-01 8.77636052e-01 -1.45281845e-02 1.48646312e+01] [ 2.91912144e-02 6.11032259e-04 9.99573659e-01 -1.03757713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.874012739 meters Centerline goodness [0,1] 0.9929427316532344 Centerline is valid? [True, True] Translation: X:352.71, Y:14.89, Z:-1.04 [[ 8.78350341e-01 -4.77311143e-01 -2.59759723e-02 3.52707023e+02] [ 4.77078855e-01 8.78734079e-01 -1.49058349e-02 1.48888971e+01] [ 2.99406932e-02 6.99958063e-04 9.99551432e-01 -1.03895244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.904012739 meters Centerline goodness [0,1] 0.9928809451681309 Centerline is valid? [True, True] Translation: X:352.73, Y:14.90, Z:-1.04 [[ 8.78227443e-01 -4.77566430e-01 -2.54335282e-02 3.52730844e+02] [ 4.77343784e-01 8.78595382e-01 -1.45968228e-02 1.49028083e+01] [ 2.93167330e-02 6.78793759e-04 9.99569942e-01 -1.03716385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.934012739 meters Centerline goodness [0,1] 0.9931937623847679 Centerline is valid? [True, True] Translation: X:352.76, Y:14.92, Z:-1.04 [[ 8.77621026e-01 -4.78692735e-01 -2.51912699e-02 3.52755060e+02] [ 4.78474593e-01 8.77982264e-01 -1.44640526e-02 1.49180426e+01] [ 2.90413251e-02 6.40574042e-04 9.99578007e-01 -1.03594649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.964012739 meters Centerline goodness [0,1] 0.9935431280434176 Centerline is valid? [True, True] Translation: X:352.78, Y:14.93, Z:-1.04 [[ 8.75540930e-01 -4.82475267e-01 -2.54105645e-02 3.52778305e+02] [ 4.82254743e-01 8.75909437e-01 -1.45952600e-02 1.49342383e+01] [ 2.92992052e-02 5.24382198e-04 9.99570549e-01 -1.03627135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.994012739 meters Centerline goodness [0,1] 0.9938142570709441 Centerline is valid? [True, True] Translation: X:352.80, Y:14.95, Z:-1.04 [[ 8.74267864e-01 -4.84781204e-01 -2.53551917e-02 3.52804058e+02] [ 4.84562550e-01 8.74635343e-01 -1.45654312e-02 1.49474462e+01] [ 2.92375941e-02 4.47912115e-04 9.99572390e-01 -1.03536183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.024012739 meters Centerline goodness [0,1] 0.9941524211964061 Centerline is valid? [True, True] Translation: X:352.83, Y:14.96, Z:-1.03 [[ 8.71467305e-01 -4.89863109e-01 -2.40597487e-02 3.52831181e+02] [ 4.89668028e-01 8.71799325e-01 -1.38260281e-02 1.49585010e+01] [ 2.77481338e-02 2.67641768e-04 9.99614911e-01 -1.03216985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05401273900003 meters Centerline goodness [0,1] 0.9934354013258762 Centerline is valid? [True, True] Translation: X:352.86, Y:14.97, Z:-1.03 [[ 8.69795287e-01 -4.92901446e-01 -2.24571461e-02 3.52856799e+02] [ 4.92732449e-01 8.70085133e-01 -1.29071713e-02 1.49705585e+01] [ 2.59015924e-02 1.61232215e-04 9.99664484e-01 -1.02866781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.084012739 meters Centerline goodness [0,1] 0.9922434494336656 Centerline is valid? [True, True] Translation: X:352.88, Y:14.98, Z:-1.03 [[ 8.68261523e-01 -4.95641442e-01 -2.14823111e-02 3.52882161e+02] [ 4.95487526e-01 8.68527233e-01 -1.23513844e-02 1.49827589e+01] [ 2.47798302e-02 8.00146983e-05 9.99692930e-01 -1.02539079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11401273900003 meters Centerline goodness [0,1] 0.9925571618549183 Centerline is valid? [True, True] Translation: X:352.91, Y:14.99, Z:-1.03 [[ 8.66195849e-01 -4.99204150e-01 -2.23599740e-02 3.52907786e+02] [ 4.99038537e-01 8.66484400e-01 -1.28577637e-02 1.49946912e+01] [ 2.57932177e-02 -2.11471407e-05 9.99667299e-01 -1.02557047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.144012739 meters Centerline goodness [0,1] 0.9929848575583883 Centerline is valid? [True, True] Translation: X:352.93, Y:15.01, Z:-1.03 [[ 8.65741431e-01 -4.99950621e-01 -2.32626632e-02 3.52931288e+02] [ 4.99771475e-01 8.66053910e-01 -1.33827323e-02 1.50090192e+01] [ 2.68374258e-02 -4.00296511e-05 9.99639811e-01 -1.02694468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.174012739 meters Centerline goodness [0,1] 0.9930628188435185 Centerline is valid? [True, True] Translation: X:352.95, Y:15.02, Z:-1.03 [[ 8.65142708e-01 -5.00966286e-01 -2.36828087e-02 3.52954419e+02] [ 5.00780913e-01 8.65466796e-01 -1.36272393e-02 1.50245235e+01] [ 2.73234720e-02 -7.03918020e-05 9.99626642e-01 -1.02710414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.204012739 meters Centerline goodness [0,1] 0.9930366269165247 Centerline is valid? [True, True] Translation: X:352.98, Y:15.04, Z:-1.03 [[ 8.64816141e-01 -5.01544962e-01 -2.33600904e-02 3.52977822e+02] [ 5.01364667e-01 8.65131576e-01 -1.34471673e-02 1.50385184e+01] [ 2.69539108e-02 -8.25966191e-05 9.99636674e-01 -1.02554871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.234012739 meters Centerline goodness [0,1] 0.9928676674710115 Centerline is valid? [True, True] Translation: X:353.00, Y:15.05, Z:-1.02 [[ 8.64396746e-01 -5.02271703e-01 -2.32680477e-02 3.53001280e+02] [ 5.02093019e-01 8.64709851e-01 -1.33968309e-02 1.50539006e+01] [ 2.68489591e-02 -1.02547301e-04 9.99639496e-01 -1.02449285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.264012739 meters Centerline goodness [0,1] 0.9937690687980748 Centerline is valid? [True, True] Translation: X:353.02, Y:15.07, Z:-1.03 [[ 8.63767261e-01 -5.03260169e-01 -2.52055949e-02 3.53024457e+02] [ 5.03050722e-01 8.64134934e-01 -1.45185431e-02 1.50696460e+01] [ 2.90876395e-02 -1.39050522e-04 9.99576855e-01 -1.02790132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.294012739 meters Centerline goodness [0,1] 0.9937152785225543 Centerline is valid? [True, True] Translation: X:353.05, Y:15.09, Z:-1.03 [[ 8.63602777e-01 -5.03501595e-01 -2.60074408e-02 3.53047925e+02] [ 5.03278636e-01 8.63994283e-01 -1.49830875e-02 1.50854909e+01] [ 3.00142886e-02 -1.49553354e-04 9.99549459e-01 -1.02879295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.324012739 meters Centerline goodness [0,1] 0.9926971555101346 Centerline is valid? [True, True] Translation: X:353.07, Y:15.10, Z:-1.03 [[ 8.62677611e-01 -5.05149855e-01 -2.47176532e-02 3.53072825e+02] [ 5.04948981e-01 8.63031626e-01 -1.42456807e-02 1.50968922e+01] [ 2.85283200e-02 -1.91724044e-04 9.99592966e-01 -1.02524006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.354012739 meters Centerline goodness [0,1] 0.9923405350897895 Centerline is valid? [True, True] Translation: X:353.10, Y:15.11, Z:-1.02 [[ 8.61951700e-01 -5.06455284e-01 -2.32876113e-02 3.53097889e+02] [ 5.06277391e-01 8.62266199e-01 -1.34240616e-02 1.51084534e+01] [ 2.68788070e-02 -2.19098417e-04 9.99638676e-01 -1.02146508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.384012739 meters Centerline goodness [0,1] 0.9920932348417564 Centerline is valid? [True, True] Translation: X:353.12, Y:15.12, Z:-1.02 [[ 8.61261715e-01 -5.07669694e-01 -2.23548409e-02 3.53122480e+02] [ 5.07506137e-01 8.61551752e-01 -1.28879790e-02 1.51232601e+01] [ 2.58026887e-02 -2.45296063e-04 9.99667025e-01 -1.01915149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.414012739 meters Centerline goodness [0,1] 0.9922012632664461 Centerline is valid? [True, True] Translation: X:353.15, Y:15.14, Z:-1.02 [[ 8.61146604e-01 -5.07827265e-01 -2.31947336e-02 3.53146935e+02] [ 5.07651100e-01 8.61458881e-01 -1.33774534e-02 1.51354916e+01] [ 2.67747448e-02 -2.54883435e-04 9.99641460e-01 -1.02077654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.444012739 meters Centerline goodness [0,1] 0.9922595946528676 Centerline is valid? [True, True] Translation: X:353.17, Y:15.15, Z:-1.02 [[ 8.60853830e-01 -5.08261924e-01 -2.45051141e-02 3.53171713e+02] [ 5.08065377e-01 8.61202495e-01 -1.41362913e-02 1.51496397e+01] [ 2.82888040e-02 -2.80919588e-04 9.99599752e-01 -1.02315500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.474012739 meters Centerline goodness [0,1] 0.9919700100108628 Centerline is valid? [True, True] Translation: X:353.20, Y:15.16, Z:-1.03 [[ 8.60787015e-01 -5.08281879e-01 -2.63675470e-02 3.53195781e+02] [ 5.08054156e-01 8.61190712e-01 -1.52161652e-02 1.51637728e+01] [ 3.04415876e-02 -2.98264458e-04 9.99536503e-01 -1.02616366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.504012739 meters Centerline goodness [0,1] 0.9924664404464648 Centerline is valid? [True, True] Translation: X:353.22, Y:15.18, Z:-1.03 [[ 8.60909560e-01 -5.08070702e-01 -2.64365425e-02 3.53219263e+02] [ 5.07841621e-01 8.61315318e-01 -1.52581321e-02 1.51762919e+01] [ 3.05224089e-02 -2.89704746e-04 9.99534041e-01 -1.02589796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.534012739 meters Centerline goodness [0,1] 0.9924622574462129 Centerline is valid? [True, True] Translation: X:353.24, Y:15.19, Z:-1.02 [[ 8.60763168e-01 -5.08394531e-01 -2.49353211e-02 3.53243548e+02] [ 5.08190786e-01 8.61124220e-01 -1.43945617e-02 1.51892872e+01] [ 2.87905253e-02 -2.81591896e-04 9.99585427e-01 -1.02065387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.564012739 meters Centerline goodness [0,1] 0.9917245233540399 Centerline is valid? [True, True] Translation: X:353.27, Y:15.20, Z:-1.02 [[ 8.60570993e-01 -5.08741379e-01 -2.44903030e-02 3.53267827e+02] [ 5.08544826e-01 8.60919351e-01 -1.41431962e-02 1.52018761e+01] [ 2.82794049e-02 -2.83192492e-04 9.99600018e-01 -1.01922266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.594012739 meters Centerline goodness [0,1] 0.9922732290111032 Centerline is valid? [True, True] Translation: X:353.29, Y:15.22, Z:-1.02 [[ 8.60328543e-01 -5.09129086e-01 -2.49473862e-02 3.53292444e+02] [ 5.08925203e-01 8.60690121e-01 -1.44102055e-02 1.52151442e+01] [ 2.88086236e-02 -2.98842497e-04 9.99584901e-01 -1.01985481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.624012739 meters Centerline goodness [0,1] 0.9921028348247817 Centerline is valid? [True, True] Translation: X:353.32, Y:15.22, Z:-1.02 [[ 8.60376536e-01 -5.09014440e-01 -2.56225497e-02 3.53318767e+02] [ 5.08799142e-01 8.60757928e-01 -1.48061477e-02 1.52236967e+01] [ 2.95913558e-02 -2.97869182e-04 9.99562036e-01 -1.02222077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.654012739 meters Centerline goodness [0,1] 0.9931869309051955 Centerline is valid? [True, True] Translation: X:353.35, Y:15.23, Z:-1.02 [[ 8.60842422e-01 -5.08243702e-01 -2.52718110e-02 3.53346469e+02] [ 5.08033841e-01 8.61213254e-01 -1.46064013e-02 1.52342294e+01] [ 2.91880301e-02 -2.65125356e-04 9.99573904e-01 -1.02067069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.684012739 meters Centerline goodness [0,1] 0.9933844309326025 Centerline is valid? [True, True] Translation: X:353.37, Y:15.25, Z:-1.02 [[ 8.61291759e-01 -5.07483492e-01 -2.52391051e-02 3.53370941e+02] [ 5.07273711e-01 8.61661448e-01 -1.45921686e-02 1.52470929e+01] [ 2.91528485e-02 -2.35019976e-04 9.99574938e-01 -1.01953367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.714012739 meters Centerline goodness [0,1] 0.9931837180888688 Centerline is valid? [True, True] Translation: X:353.40, Y:15.26, Z:-1.02 [[ 8.61851732e-01 -5.06514845e-01 -2.55793685e-02 3.53395869e+02] [ 5.06298871e-01 8.62231216e-01 -1.47913181e-02 1.52624502e+01] [ 2.95473522e-02 -2.02882213e-04 9.99563361e-01 -1.01871258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.744012739 meters Centerline goodness [0,1] 0.9938843151929863 Centerline is valid? [True, True] Translation: X:353.42, Y:15.28, Z:-1.02 [[ 8.63563105e-01 -5.03507174e-01 -2.71898782e-02 3.53419363e+02] [ 5.03261470e-01 8.63991039e-01 -1.57282305e-02 1.52775263e+01] [ 3.14110880e-02 -1.01298446e-04 9.99506545e-01 -1.02183065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.774012739 meters Centerline goodness [0,1] 0.9949804558173313 Centerline is valid? [True, True] Translation: X:353.44, Y:15.29, Z:-1.02 [[ 8.64528014e-01 -5.01827865e-01 -2.75700461e-02 3.53442946e+02] [ 5.01574261e-01 8.64967510e-01 -1.59520326e-02 1.52923116e+01] [ 3.18523686e-02 -3.74465115e-05 9.99492584e-01 -1.02162515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80401273900003 meters Centerline goodness [0,1] 0.9951318721737813 Centerline is valid? [True, True] Translation: X:353.47, Y:15.31, Z:-1.02 [[ 8.66118062e-01 -4.99132876e-01 -2.65682955e-02 3.53466545e+02] [ 4.98895906e-01 8.66525457e-01 -1.53787811e-02 1.53074977e+01] [ 3.06981596e-02 6.50261841e-05 9.99528698e-01 -1.01951292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.834012739 meters Centerline goodness [0,1] 0.9951318721737813 Centerline is valid? [True, True] Translation: X:353.49, Y:15.32, Z:-1.02 [[ 8.66024770e-01 -4.99294879e-01 -2.65654181e-02 3.53490215e+02] [ 4.99057833e-01 8.66432121e-01 -1.53837500e-02 1.53214239e+01] [ 3.06981592e-02 6.50285497e-05 9.99528698e-01 -1.01880476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86401273900003 meters Centerline goodness [0,1] 0.995456290797389 Centerline is valid? [True, True] Translation: X:353.51, Y:15.34, Z:-1.02 [[ 8.66856925e-01 -4.97869132e-01 -2.61801317e-02 3.53513449e+02] [ 4.97638087e-01 8.67252163e-01 -1.51664226e-02 1.53371376e+01] [ 3.02556695e-02 1.18887795e-04 9.99542185e-01 -1.01677794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.894012739 meters Centerline goodness [0,1] 0.9951325622967414 Centerline is valid? [True, True] Translation: X:353.54, Y:15.35, Z:-1.02 [[ 8.67527134e-01 -4.96699886e-01 -2.61895946e-02 3.53536466e+02] [ 4.96468080e-01 8.67922345e-01 -1.51739330e-02 1.53528573e+01] [ 3.02674252e-02 1.61500886e-04 9.99541823e-01 -1.01566059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.924012739 meters Centerline goodness [0,1] 0.994965684903509 Centerline is valid? [True, True] Translation: X:353.56, Y:15.37, Z:-1.02 [[ 8.69069657e-01 -4.93988995e-01 -2.63211673e-02 3.53559269e+02] [ 4.93753529e-01 8.69468117e-01 -1.52527524e-02 1.53711227e+01] [ 3.04201076e-02 2.59535057e-04 9.99537168e-01 -1.01551886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.954012739 meters Centerline goodness [0,1] 0.9944945481030826 Centerline is valid? [True, True] Translation: X:353.58, Y:15.39, Z:-1.01 [[ 8.69962093e-01 -4.92417948e-01 -2.62777844e-02 3.53582464e+02] [ 4.92182370e-01 8.70358813e-01 -1.52332463e-02 1.53880982e+01] [ 3.03722251e-02 3.18884659e-04 9.99538607e-01 -1.01442186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.984012739 meters Centerline goodness [0,1] 0.9935587065536918 Centerline is valid? [True, True] Translation: X:353.61, Y:15.41, Z:-1.01 [[ 8.71086332e-01 -4.90543251e-01 -2.39983381e-02 3.53605098e+02] [ 4.90345935e-01 8.71416773e-01 -1.39165986e-02 1.54068563e+01] [ 2.77392479e-02 3.55071304e-04 9.99615130e-01 -1.00897092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.014012739 meters Centerline goodness [0,1] 0.9936093959151949 Centerline is valid? [True, True] Translation: X:353.63, Y:15.42, Z:-1.01 [[ 8.70893773e-01 -4.90938884e-01 -2.28702581e-02 3.53629666e+02] [ 4.90759693e-01 8.71193952e-01 -1.32672797e-02 1.54208198e+01] [ 2.64378541e-02 3.30590373e-04 9.99650404e-01 -1.00627462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.044012739 meters Centerline goodness [0,1] 0.9936437038309569 Centerline is valid? [True, True] Translation: X:353.65, Y:15.43, Z:-1.01 [[ 8.70116600e-01 -4.92310572e-01 -2.29652425e-02 3.53653667e+02] [ 4.92130210e-01 8.70419562e-01 -1.33282891e-02 1.54340612e+01] [ 2.65510540e-02 2.95276002e-04 9.99647415e-01 -1.00594151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.074012739 meters Centerline goodness [0,1] 0.994330126775817 Centerline is valid? [True, True] Translation: X:353.68, Y:15.44, Z:-1.01 [[ 8.66674136e-01 -4.98236160e-01 -2.52323416e-02 3.53683060e+02] [ 4.98020854e-01 8.67041356e-01 -1.46463594e-02 1.54396700e+01] [ 2.91748295e-02 1.27388564e-04 9.99574316e-01 -1.01084298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.104012739 meters Centerline goodness [0,1] 0.9942573069340876 Centerline is valid? [True, True] Translation: X:353.71, Y:15.45, Z:-1.01 [[ 8.64073047e-01 -5.02706291e-01 -2.57711954e-02 3.53712312e+02] [ 5.02483570e-01 8.64457278e-01 -1.49625174e-02 1.54464161e+01] [ 2.97998490e-02 -2.08943111e-05 9.99555886e-01 -1.01083236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.134012739 meters Centerline goodness [0,1] 0.9922694882314835 Centerline is valid? [True, True] Translation: X:353.75, Y:15.45, Z:-1.01 [[ 8.58594735e-01 -5.12024719e-01 -2.54119830e-02 3.53746454e+02] [ 5.11812060e-01 8.58970649e-01 -1.47593856e-02 1.54454601e+01] [ 2.93853178e-02 -3.33828622e-04 9.99568103e-01 -1.00880668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.164012739 meters Centerline goodness [0,1] 0.9908314008417075 Centerline is valid? [True, True] Translation: X:353.78, Y:15.45, Z:-1.01 [[ 8.56255396e-01 -5.15969448e-01 -2.45402826e-02 3.53775939e+02] [ 5.15772615e-01 8.56606869e-01 -1.42576939e-02 1.54506198e+01] [ 2.83779091e-02 -4.48978373e-04 9.99597165e-01 -1.00655072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.194012739 meters Centerline goodness [0,1] 0.9909464312595428 Centerline is valid? [True, True] Translation: X:353.80, Y:15.46, Z:-1.00 [[ 8.54174569e-01 -5.19460268e-01 -2.33845425e-02 3.53804871e+02] [ 5.19282806e-01 8.54494437e-01 -1.35877008e-02 1.54585450e+01] [ 2.70402321e-02 -5.36922348e-04 9.99634202e-01 -1.00365670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.224012739 meters Centerline goodness [0,1] 0.9896059271985397 Centerline is valid? [True, True] Translation: X:353.84, Y:15.46, Z:-1.00 [[ 8.51646662e-01 -5.23619129e-01 -2.28247605e-02 3.53837446e+02] [ 5.23451507e-01 8.51952219e-01 -1.32641075e-02 1.54583402e+01] [ 2.63909458e-02 -6.51322346e-04 9.99651486e-01 -1.00204366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.254012739 meters Centerline goodness [0,1] 0.9893719188168256 Centerline is valid? [True, True] Translation: X:353.87, Y:15.47, Z:-1.00 [[ 8.51111659e-01 -5.24443247e-01 -2.38374626e-02 3.53866299e+02] [ 5.24260686e-01 8.51445114e-01 -1.38545995e-02 1.54656884e+01] [ 2.75622423e-02 -7.05233363e-04 9.99619840e-01 -1.00386209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.284012739 meters Centerline goodness [0,1] 0.9895747895532052 Centerline is valid? [True, True] Translation: X:353.89, Y:15.48, Z:-1.00 [[ 8.51090451e-01 -5.24451668e-01 -2.44027156e-02 3.53892333e+02] [ 5.24260196e-01 8.51439918e-01 -1.41884888e-02 1.54768434e+01] [ 2.82186227e-02 -7.17685142e-04 9.99601518e-01 -1.00355058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.314012739 meters Centerline goodness [0,1] 0.9898504503727966 Centerline is valid? [True, True] Translation: X:353.92, Y:15.49, Z:-1.00 [[ 8.51506676e-01 -5.23763792e-01 -2.46550487e-02 3.53918559e+02] [ 5.23567889e-01 8.51863254e-01 -1.43408836e-02 1.54874814e+01] [ 2.85139656e-02 -6.97233702e-04 9.99593151e-01 -1.00403706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.344012739 meters Centerline goodness [0,1] 0.990889785517095 Centerline is valid? [True, True] Translation: X:353.95, Y:15.50, Z:-1.01 [[ 8.52611470e-01 -5.21908583e-01 -2.57897609e-02 3.53946413e+02] [ 5.21693319e-01 8.53001168e-01 -1.50029411e-02 1.54952686e+01] [ 2.98288598e-02 -6.62666314e-04 9.99554801e-01 -1.00555953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.374012739 meters Centerline goodness [0,1] 0.9912619083139745 Centerline is valid? [True, True] Translation: X:353.97, Y:15.51, Z:-1.01 [[ 8.53475335e-01 -5.20477584e-01 -2.61330783e-02 3.53972203e+02] [ 5.20255803e-01 8.53875109e-01 -1.52051825e-02 1.55076991e+01] [ 3.02283417e-02 -6.18637377e-04 9.99542828e-01 -1.00564658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.404012739 meters Centerline goodness [0,1] 0.9921165637618305 Centerline is valid? [True, True] Translation: X:354.00, Y:15.52, Z:-1.01 [[ 8.55440030e-01 -5.17202857e-01 -2.68990640e-02 3.53997017e+02] [ 5.16966099e-01 8.55862688e-01 -1.56560333e-02 1.55199847e+01] [ 3.11192504e-02 -5.13106559e-04 9.99515547e-01 -1.00665411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.434012739 meters Centerline goodness [0,1] 0.9921205597416577 Centerline is valid? [True, True] Translation: X:354.02, Y:15.53, Z:-1.01 [[ 8.56579027e-01 -5.15322220e-01 -2.67466016e-02 3.54022266e+02] [ 5.15087149e-01 8.56996392e-01 -1.55696095e-02 1.55348547e+01] [ 3.09451068e-02 -4.40229867e-04 9.99520989e-01 -1.00543784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.464012739 meters Centerline goodness [0,1] 0.9926236559139785 Centerline is valid? [True, True] Translation: X:354.05, Y:15.55, Z:-1.00 [[ 8.58198601e-01 -5.12659570e-01 -2.59870519e-02 3.54046072e+02] [ 5.12436323e-01 8.58591903e-01 -1.51313962e-02 1.55513515e+01] [ 3.00695274e-02 -3.30966246e-04 9.99547755e-01 -1.00323917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.494012739 meters Centerline goodness [0,1] 0.994717255539396 Centerline is valid? [True, True] Translation: X:354.07, Y:15.57, Z:-1.00 [[ 8.62108936e-01 -5.06085149e-01 -2.54166250e-02 3.54066598e+02] [ 5.05868587e-01 8.62483514e-01 -1.48040653e-02 1.55716426e+01] [ 2.94135376e-02 -9.47552323e-05 9.99567324e-01 -1.00083955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.524012739 meters Centerline goodness [0,1] 0.9952354260089686 Centerline is valid? [True, True] Translation: X:354.09, Y:15.59, Z:-1.00 [[ 8.63953633e-01 -5.02914927e-01 -2.57040092e-02 3.54087359e+02] [ 5.02691958e-01 8.64335916e-01 -1.49739514e-02 1.55908604e+01] [ 2.97475220e-02 1.56010393e-05 9.99557444e-01 -1.00060587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55401273900003 meters Centerline goodness [0,1] 0.9959758551307847 Centerline is valid? [True, True] Translation: X:354.11, Y:15.61, Z:-1.00 [[ 8.65857907e-01 -4.99589052e-01 -2.64738406e-02 3.54107342e+02] [ 4.99350789e-01 8.66262524e-01 -1.54282034e-02 1.56114051e+01] [ 3.06410575e-02 1.38898768e-04 9.99530443e-01 -1.00158520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.584012739 meters Centerline goodness [0,1] 0.9952500160472431 Centerline is valid? [True, True] Translation: X:354.13, Y:15.64, Z:-1.00 [[ 8.69157744e-01 -4.93793534e-01 -2.70695811e-02 3.54125600e+02] [ 4.93541520e-01 8.69579106e-01 -1.57780374e-02 1.56377465e+01] [ 3.13302349e-02 3.53641184e-04 9.99509025e-01 -1.00260998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61401273900003 meters Centerline goodness [0,1] 0.994632543959465 Centerline is valid? [True, True] Translation: X:354.15, Y:15.66, Z:-1.00 [[ 8.70367228e-01 -4.91649847e-01 -2.72271384e-02 3.54148049e+02] [ 4.91393667e-01 8.70792878e-01 -1.58754072e-02 1.56567189e+01] [ 3.15143398e-02 4.38190802e-04 9.99503204e-01 -1.00173979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.644012739 meters Centerline goodness [0,1] 0.9941994370041798 Centerline is valid? [True, True] Translation: X:354.17, Y:15.68, Z:-1.00 [[ 8.71022554e-01 -4.90489603e-01 -2.71966761e-02 3.54168463e+02] [ 4.90233272e-01 8.71446909e-01 -1.58626510e-02 1.56762806e+01] [ 3.14809247e-02 4.84011288e-04 9.99504236e-01 -1.00065419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.674012739 meters Centerline goodness [0,1] 0.9946662700014874 Centerline is valid? [True, True] Translation: X:354.19, Y:15.69, Z:-1.00 [[ 8.70545298e-01 -4.91334037e-01 -2.72350496e-02 3.54192602e+02] [ 4.91077311e-01 8.70971099e-01 -1.58877052e-02 1.56915747e+01] [ 3.15271114e-02 4.56452080e-04 9.99502793e-01 -9.99936812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.704012739 meters Centerline goodness [0,1] 0.9948238189185176 Centerline is valid? [True, True] Translation: X:354.22, Y:15.71, Z:-1.00 [[ 8.69581922e-01 -4.93019702e-01 -2.75473097e-02 3.54217867e+02] [ 4.92757715e-01 8.70018051e-01 -1.60755874e-02 1.57050210e+01] [ 3.18922380e-02 4.04890744e-04 9.99491231e-01 -1.00021619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.734012739 meters Centerline goodness [0,1] 0.9965404574284067 Centerline is valid? [True, True] Translation: X:354.25, Y:15.71, Z:-1.00 [[ 8.66114197e-01 -4.99041145e-01 -2.83572288e-02 3.54247183e+02] [ 4.98766546e-01 8.66578270e-01 -1.65540188e-02 1.57108156e+01] [ 3.28348948e-02 1.94033671e-04 9.99460771e-01 -1.00368044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.764012739 meters Centerline goodness [0,1] 0.9970350461807556 Centerline is valid? [True, True] Translation: X:354.28, Y:15.72, Z:-1.00 [[ 8.63609088e-01 -5.03347600e-01 -2.86450115e-02 3.54276234e+02] [ 5.03069585e-01 8.64084019e-01 -1.67272293e-02 1.57185789e+01] [ 3.31713074e-02 3.53531518e-05 9.99449680e-01 -1.00352119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.794012739 meters Centerline goodness [0,1] 0.993438123217464 Centerline is valid? [True, True] Translation: X:354.31, Y:15.72, Z:-1.00 [[ 8.58342718e-01 -5.12211613e-01 -2.97832384e-02 3.54308632e+02] [ 5.11916167e-01 8.58859223e-01 -1.73974812e-02 1.57192480e+01] [ 3.44908009e-02 -3.13519937e-04 9.99404966e-01 -1.00382370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.824012739 meters Centerline goodness [0,1] 0.9920846025140504 Centerline is valid? [True, True] Translation: X:354.34, Y:15.73, Z:-1.00 [[ 8.56005075e-01 -5.16090046e-01 -3.01060663e-02 3.54336844e+02] [ 5.15790436e-01 8.56534203e-01 -1.75893272e-02 1.57259515e+01] [ 3.48645522e-02 -4.71867714e-04 9.99391935e-01 -1.00460902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.854012739 meters Centerline goodness [0,1] 0.9912505882856287 Centerline is valid? [True, True] Translation: X:354.36, Y:15.73, Z:-1.00 [[ 8.54056828e-01 -5.19291933e-01 -3.03780050e-02 3.54364968e+02] [ 5.18988822e-01 8.54596701e-01 -1.77505304e-02 1.57343855e+01] [ 3.51786500e-02 -6.05883343e-04 9.99380856e-01 -1.00356675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.884012739 meters Centerline goodness [0,1] 0.9902640761642183 Centerline is valid? [True, True] Translation: X:354.39, Y:15.74, Z:-1.00 [[ 8.51889822e-01 -5.22809432e-01 -3.08873577e-02 3.54394176e+02] [ 5.22498294e-01 8.52449246e-01 -1.80503354e-02 1.57413170e+01] [ 3.57667904e-02 -7.61694678e-04 9.99359873e-01 -1.00361763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.914012739 meters Centerline goodness [0,1] 0.9896771406975489 Centerline is valid? [True, True] Translation: X:354.42, Y:15.75, Z:-1.00 [[ 8.51258279e-01 -5.23803974e-01 -3.14442180e-02 3.54419872e+02] [ 5.23482065e-01 8.51838443e-01 -1.83791939e-02 1.57540856e+01] [ 3.64124885e-02 -8.15043211e-04 9.99336513e-01 -1.00384982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.944012739 meters Centerline goodness [0,1] 0.9898084241759659 Centerline is valid? [True, True] Translation: X:354.44, Y:15.77, Z:-1.00 [[ 8.51146397e-01 -5.23969054e-01 -3.17213078e-02 3.54444845e+02] [ 5.23641350e-01 8.51736902e-01 -1.85468610e-02 1.57667506e+01] [ 3.67361897e-02 -8.24494541e-04 9.99324658e-01 -1.00420101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.974012739 meters Centerline goodness [0,1] 0.9906028407009074 Centerline is valid? [True, True] Translation: X:354.47, Y:15.78, Z:-1.00 [[ 8.52012646e-01 -5.22547931e-01 -3.19078377e-02 3.54469080e+02] [ 5.22215259e-01 8.52609567e-01 -1.86587710e-02 1.57832801e+01] [ 3.69550298e-02 -7.65250884e-04 9.99316637e-01 -1.00362766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.004012739 meters Centerline goodness [0,1] 0.9906392254920818 Centerline is valid? [True, True] Translation: X:354.49, Y:15.80, Z:-1.00 [[ 8.52973972e-01 -5.20969846e-01 -3.20284741e-02 3.54492748e+02] [ 5.20633366e-01 8.53574798e-01 -1.87339660e-02 1.58004125e+01] [ 3.70985297e-02 -6.95506957e-04 9.99311371e-01 -1.00325282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.034012739 meters Centerline goodness [0,1] 0.9908810024460369 Centerline is valid? [True, True] Translation: X:354.51, Y:15.82, Z:-1.00 [[ 8.55281227e-01 -5.17316580e-01 -2.96239571e-02 3.54514395e+02] [ 5.17026339e-01 8.55793967e-01 -1.73335211e-02 1.58210089e+01] [ 3.43189216e-02 -4.91330889e-04 9.99410812e-01 -9.97483272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.064012739 meters Centerline goodness [0,1] 0.9912781954887218 Centerline is valid? [True, True] Translation: X:354.54, Y:15.84, Z:-1.00 [[ 8.56238725e-01 -5.15767982e-01 -2.89591920e-02 3.54538154e+02] [ 5.15489535e-01 8.56728205e-01 -1.69505898e-02 1.58365463e+01] [ 3.35527281e-02 -4.14409021e-04 9.99436863e-01 -9.95638526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.094012739 meters Centerline goodness [0,1] 0.9919748703715656 Centerline is valid? [True, True] Translation: X:354.56, Y:15.85, Z:-0.99 [[ 8.56833314e-01 -5.14779732e-01 -2.89568476e-02 3.54562360e+02] [ 5.14500549e-01 8.57322396e-01 -1.69556690e-02 1.58516757e+01] [ 3.35537887e-02 -3.70131918e-04 9.99436845e-01 -9.94342766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.124012739 meters Centerline goodness [0,1] 0.9895526559040392 Centerline is valid? [True, True] Translation: X:354.59, Y:15.87, Z:-0.98 [[ 8.57422901e-01 -5.13721139e-01 -3.02747641e-02 3.54586125e+02] [ 5.13415044e-01 8.57957154e-01 -1.77345657e-02 1.58659160e+01] [ 3.50850718e-02 -3.37496556e-04 9.99384272e-01 -9.84617345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.154012739 meters Centerline goodness [0,1] 0.9941373355789115 Centerline is valid? [True, True] Translation: X:354.61, Y:15.88, Z:-1.00 [[ 8.58738683e-01 -5.11467145e-01 -3.11325318e-02 3.54607971e+02] [ 5.11141724e-01 8.59302798e-01 -1.82438786e-02 1.58836123e+01] [ 3.60834162e-02 -2.46411712e-04 9.99348751e-01 -9.96960990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.184012739 meters Centerline goodness [0,1] 0.9936775780592538 Centerline is valid? [True, True] Translation: X:354.63, Y:15.90, Z:-0.99 [[ 8.59535246e-01 -5.10182286e-01 -3.02191141e-02 3.54631096e+02] [ 5.09874741e-01 8.60066277e-01 -1.77129197e-02 1.59008252e+01] [ 3.50272588e-02 -1.83084167e-04 9.99386341e-01 -9.94571640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.214012739 meters Centerline goodness [0,1] 0.9941484249866525 Centerline is valid? [True, True] Translation: X:354.65, Y:15.92, Z:-0.99 [[ 8.60842666e-01 -5.08077779e-01 -2.84055356e-02 3.54654109e+02] [ 5.07804705e-01 8.61311188e-01 -1.66558832e-02 1.59185176e+01] [ 3.29284898e-02 -8.63697415e-05 9.99457707e-01 -9.90220850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.244012739 meters Centerline goodness [0,1] 0.9937404547312267 Centerline is valid? [True, True] Translation: X:354.68, Y:15.93, Z:-0.99 [[ 8.60959679e-01 -5.07904763e-01 -2.79496454e-02 3.54677993e+02] [ 5.07640118e-01 8.61413226e-01 -1.63940362e-02 1.59316900e+01] [ 3.24028033e-02 -7.37571078e-05 9.99474889e-01 -9.88941442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.274012739 meters Centerline goodness [0,1] 0.99386989604544 Centerline is valid? [True, True] Translation: X:354.70, Y:15.94, Z:-0.99 [[ 8.60988593e-01 -5.07854608e-01 -2.79703336e-02 3.54702600e+02] [ 5.07589419e-01 8.61442797e-01 -1.64100129e-02 1.59448594e+01] [ 3.24287431e-02 -6.86114162e-05 9.99474048e-01 -9.87931140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30401273900003 meters Centerline goodness [0,1] 0.9937864326436487 Centerline is valid? [True, True] Translation: X:354.73, Y:15.96, Z:-0.99 [[ 8.60819069e-01 -5.08170376e-01 -2.74481442e-02 3.54726531e+02] [ 5.07914967e-01 8.61256561e-01 -1.61097059e-02 1.59563910e+01] [ 3.18263696e-02 -7.37811846e-05 9.99493410e-01 -9.86437895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.334012739 meters Centerline goodness [0,1] 0.9931307965675652 Centerline is valid? [True, True] Translation: X:354.75, Y:15.97, Z:-0.98 [[ 8.60477296e-01 -5.08780414e-01 -2.68572912e-02 3.54751075e+02] [ 5.08536071e-01 8.60896325e-01 -1.57664971e-02 1.59695669e+01] [ 3.11430282e-02 -9.11885649e-05 9.99514934e-01 -9.83735631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36401273900003 meters Centerline goodness [0,1] 0.9926229508196721 Centerline is valid? [True, True] Translation: X:354.78, Y:15.98, Z:-0.98 [[ 8.60072670e-01 -5.09467429e-01 -2.67944446e-02 3.54775478e+02] [ 5.09224369e-01 8.60489934e-01 -1.57357892e-02 1.59818842e+01] [ 3.10732219e-02 -1.10461925e-04 9.99517105e-01 -9.82879450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.394012739 meters Centerline goodness [0,1] 0.9933772004785507 Centerline is valid? [True, True] Translation: X:354.80, Y:15.99, Z:-0.98 [[ 8.59851189e-01 -5.09797357e-01 -2.76149739e-02 3.54800956e+02] [ 5.09539254e-01 8.60294507e-01 -1.62206316e-02 1.59929322e+01] [ 3.20262455e-02 -1.23583856e-04 9.99487021e-01 -9.83104900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.424012739 meters Centerline goodness [0,1] 0.9932813875115376 Centerline is valid? [True, True] Translation: X:354.83, Y:16.01, Z:-0.98 [[ 8.60150700e-01 -5.09256721e-01 -2.82553501e-02 3.54825117e+02] [ 5.08986106e-01 8.60614653e-01 -1.66000613e-02 1.60079283e+01] [ 3.27706611e-02 -1.03026279e-04 9.99462892e-01 -9.82988711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.454012739 meters Centerline goodness [0,1] 0.9950298634812287 Centerline is valid? [True, True] Translation: X:354.85, Y:16.02, Z:-0.98 [[ 8.61740128e-01 -5.06558194e-01 -2.83328111e-02 3.54848264e+02] [ 5.06284398e-01 8.62205774e-01 -1.66526865e-02 1.60241802e+01] [ 3.28642681e-02 5.82800001e-06 9.99459824e-01 -9.82994096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.484012739 meters Centerline goodness [0,1] 0.995016073701698 Centerline is valid? [True, True] Translation: X:354.87, Y:16.04, Z:-0.98 [[ 8.62577348e-01 -5.05153390e-01 -2.79351236e-02 3.54870681e+02] [ 5.04886265e-01 8.63029576e-01 -1.64259255e-02 1.60403282e+01] [ 3.24064498e-02 6.45710310e-05 9.99474771e-01 -9.80941733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.514012739 meters Centerline goodness [0,1] 0.9962135880555915 Centerline is valid? [True, True] Translation: X:354.89, Y:16.06, Z:-0.98 [[ 8.63219298e-01 -5.04050411e-01 -2.80290445e-02 3.54893561e+02] [ 5.03780696e-01 8.63674227e-01 -1.64875444e-02 1.60563234e+01] [ 3.25185169e-02 1.11874897e-04 9.99471127e-01 -9.81600701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.544012739 meters Centerline goodness [0,1] 0.9955043428920606 Centerline is valid? [True, True] Translation: X:354.92, Y:16.07, Z:-0.98 [[ 8.63653965e-01 -5.03284038e-01 -2.84078520e-02 3.54917195e+02] [ 5.03006432e-01 8.64121031e-01 -1.67144575e-02 1.60724992e+01] [ 3.29599420e-02 1.46175236e-04 9.99456663e-01 -9.81419343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.574012739 meters Centerline goodness [0,1] 0.9963696511428081 Centerline is valid? [True, True] Translation: X:354.94, Y:16.09, Z:-0.98 [[ 8.63530217e-01 -5.03478904e-01 -2.87151145e-02 3.54940983e+02] [ 5.03195144e-01 8.64007507e-01 -1.69019134e-02 1.60875483e+01] [ 3.33198313e-02 1.46006758e-04 9.99444730e-01 -9.80811310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.604012739 meters Centerline goodness [0,1] 0.996604560204586 Centerline is valid? [True, True] Translation: X:354.97, Y:16.10, Z:-0.98 [[ 8.63554558e-01 -5.03407955e-01 -2.92225362e-02 3.54965588e+02] [ 5.03113787e-01 8.64048845e-01 -1.72078979e-02 1.61034572e+01] [ 3.39122913e-02 1.57697839e-04 9.99424800e-01 -9.80251774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.634012739 meters Centerline goodness [0,1] 0.9975712504836005 Centerline is valid? [True, True] Translation: X:354.99, Y:16.12, Z:-0.98 [[ 8.64270384e-01 -5.02067207e-01 -3.10680273e-02 3.54987678e+02] [ 5.01733617e-01 8.64828577e-01 -1.83005415e-02 1.61208063e+01] [ 3.60566196e-02 2.28742328e-04 9.99349722e-01 -9.83028197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.664012739 meters Centerline goodness [0,1] 0.9981514519699933 Centerline is valid? [True, True] Translation: X:355.01, Y:16.14, Z:-0.98 [[ 8.64882487e-01 -5.00991087e-01 -3.14040409e-02 3.55009744e+02] [ 5.00649427e-01 8.65452398e-01 -1.85013068e-02 1.61389154e+01] [ 3.64476923e-02 2.79041173e-04 9.99335523e-01 -9.84309611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.694012739 meters Centerline goodness [0,1] 0.9965563997159029 Centerline is valid? [True, True] Translation: X:355.03, Y:16.16, Z:-0.98 [[ 8.66508817e-01 -4.98212330e-01 -3.07724693e-02 3.55031415e+02] [ 4.97882365e-01 8.67054970e-01 -1.81336832e-02 1.61594218e+01] [ 3.57158470e-02 3.91926528e-04 9.99361909e-01 -9.79989165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.724012739 meters Centerline goodness [0,1] 0.9965563997159029 Centerline is valid? [True, True] Translation: X:355.05, Y:16.17, Z:-0.98 [[ 8.66414385e-01 -4.98376727e-01 -3.07693415e-02 3.55054985e+02] [ 4.98046677e-01 8.66960486e-01 -1.81389893e-02 1.61735451e+01] [ 3.57158533e-02 3.91312958e-04 9.99361909e-01 -9.79280923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.754012739 meters Centerline goodness [0,1] 0.9958993635470506 Centerline is valid? [True, True] Translation: X:355.08, Y:16.19, Z:-0.98 [[ 8.67238099e-01 -4.96964706e-01 -3.04000113e-02 3.55076042e+02] [ 4.96641434e-01 8.67770637e-01 -1.79278409e-02 1.61924333e+01] [ 3.52897413e-02 4.49801482e-04 9.99377022e-01 -9.79047162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.784012739 meters Centerline goodness [0,1] 0.9955251495202444 Centerline is valid? [True, True] Translation: X:355.10, Y:16.21, Z:-0.98 [[ 8.67616516e-01 -4.96304556e-01 -3.03869821e-02 3.55099546e+02] [ 4.95981029e-01 8.68148350e-01 -1.79237667e-02 1.62082683e+01] [ 3.52760554e-02 4.79589348e-04 9.99377491e-01 -9.77603251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.814012739 meters Centerline goodness [0,1] 0.9957352878144957 Centerline is valid? [True, True] Translation: X:355.12, Y:16.22, Z:-0.98 [[ 8.67477877e-01 -4.96509912e-01 -3.09845082e-02 3.55122167e+02] [ 4.96173540e-01 8.68030918e-01 -1.82796146e-02 1.62241133e+01] [ 3.59715209e-02 4.83468134e-04 9.99352698e-01 -9.79069100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.844012739 meters Centerline goodness [0,1] 0.9961050356325037 Centerline is valid? [True, True] Translation: X:355.15, Y:16.24, Z:-0.98 [[ 8.66899072e-01 -4.97447655e-01 -3.21221113e-02 3.55146050e+02] [ 4.97086602e-01 8.67493870e-01 -1.89550853e-02 1.62380611e+01] [ 3.72948974e-02 4.64674718e-04 9.99304195e-01 -9.80907195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.874012739 meters Centerline goodness [0,1] 0.9979254443184977 Centerline is valid? [True, True] Translation: X:355.17, Y:16.25, Z:-0.98 [[ 8.65681832e-01 -4.99478803e-01 -3.34049703e-02 3.55170011e+02] [ 4.99089572e-01 8.66326017e-01 -1.97188112e-02 1.62516146e+01] [ 3.87887231e-02 3.98144259e-04 9.99247355e-01 -9.83738798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.904012739 meters Centerline goodness [0,1] 0.9981595223318424 Centerline is valid? [True, True] Translation: X:355.19, Y:16.26, Z:-0.98 [[ 8.65120650e-01 -5.00431525e-01 -3.36830912e-02 3.55193895e+02] [ 5.00036360e-01 8.65776044e-01 -1.98867044e-02 1.62647503e+01] [ 3.91139473e-02 3.61628302e-04 9.99234691e-01 -9.83786891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.934012739 meters Centerline goodness [0,1] 0.9980914802822036 Centerline is valid? [True, True] Translation: X:355.22, Y:16.28, Z:-0.98 [[ 8.64515139e-01 -5.01464836e-01 -3.38613791e-02 3.55218775e+02] [ 5.01066003e-01 8.65177967e-01 -1.99986800e-02 1.62779221e+01] [ 3.93247539e-02 3.22375792e-04 9.99226431e-01 -9.83271135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.964012739 meters Centerline goodness [0,1] 0.9984038996613679 Centerline is valid? [True, True] Translation: X:355.24, Y:16.29, Z:-0.98 [[ 8.63526664e-01 -5.03191452e-01 -3.34673525e-02 3.55244591e+02] [ 5.02802837e-01 8.64174925e-01 -1.97738666e-02 1.62902932e+01] [ 3.88716875e-02 2.47781297e-04 9.99244180e-01 -9.81752308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.994012739 meters Centerline goodness [0,1] 0.9984155871962317 Centerline is valid? [True, True] Translation: X:355.27, Y:16.30, Z:-0.98 [[ 8.63425360e-01 -5.03388925e-01 -3.31094782e-02 3.55267848e+02] [ 5.03008507e-01 8.64059912e-01 -1.95681005e-02 1.63045052e+01] [ 3.84589379e-02 2.41244973e-04 9.99260152e-01 -9.80024425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.024012739 meters Centerline goodness [0,1] 0.9971579982050515 Centerline is valid? [True, True] Translation: X:355.29, Y:16.32, Z:-0.97 [[ 8.64057886e-01 -5.02429967e-01 -3.11142649e-02 3.55291749e+02] [ 5.02093273e-01 8.64617867e-01 -1.83926398e-02 1.63203029e+01] [ 3.61429627e-02 2.70042400e-04 9.99346593e-01 -9.74159106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05401273900003 meters Centerline goodness [0,1] 0.9968505277494042 Centerline is valid? [True, True] Translation: X:355.32, Y:16.33, Z:-0.97 [[ 8.64073609e-01 -5.02467348e-01 -3.00559944e-02 3.55315299e+02] [ 5.02153001e-01 8.64596145e-01 -1.77726947e-02 1.63345458e+01] [ 3.49164957e-02 2.64208617e-04 9.99390198e-01 -9.72343747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.084012739 meters Centerline goodness [0,1] 0.9961506383524732 Centerline is valid? [True, True] Translation: X:355.34, Y:16.35, Z:-0.97 [[ 8.63741520e-01 -5.03089806e-01 -2.91759070e-02 3.55341339e+02] [ 5.02793822e-01 8.64234107e-01 -1.72563370e-02 1.63478556e+01] [ 3.38963012e-02 2.35548997e-04 9.99425328e-01 -9.69254650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11401273900003 meters Centerline goodness [0,1] 0.9952315061202768 Centerline is valid? [True, True] Translation: X:355.37, Y:16.36, Z:-0.96 [[ 8.62873663e-01 -5.04670105e-01 -2.75159297e-02 3.55366237e+02] [ 5.04407493e-01 8.63312259e-01 -1.62795415e-02 1.63605825e+01] [ 3.19706374e-02 1.67946481e-04 9.99488794e-01 -9.63562134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.144012739 meters Centerline goodness [0,1] 0.9950178544700323 Centerline is valid? [True, True] Translation: X:355.39, Y:16.37, Z:-0.96 [[ 8.62470129e-01 -5.05383847e-01 -2.70636995e-02 3.55390950e+02] [ 5.05130057e-01 8.62894633e-01 -1.60149494e-02 1.63742038e+01] [ 3.14468178e-02 1.41727401e-04 9.99505416e-01 -9.61124360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.174012739 meters Centerline goodness [0,1] 0.9948112401776563 Centerline is valid? [True, True] Translation: X:355.42, Y:16.39, Z:-0.96 [[ 8.61872800e-01 -5.06400559e-01 -2.70878329e-02 3.55415807e+02] [ 5.06146621e-01 8.62298360e-01 -1.60354981e-02 1.63856118e+01] [ 3.14781791e-02 1.10144509e-04 9.99504433e-01 -9.61914084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.204012739 meters Centerline goodness [0,1] 0.9940069775903769 Centerline is valid? [True, True] Translation: X:355.44, Y:16.40, Z:-0.96 [[ 8.61195783e-01 -5.07586608e-01 -2.64132236e-02 3.55442812e+02] [ 5.07345618e-01 8.61600738e-01 -1.56394610e-02 1.63971023e+01] [ 3.06960339e-02 6.80046274e-05 9.99528763e-01 -9.59602383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.234012739 meters Centerline goodness [0,1] 0.9931856899488927 Centerline is valid? [True, True] Translation: X:355.47, Y:16.41, Z:-0.96 [[ 8.60388576e-01 -5.08983016e-01 -2.58415749e-02 3.55468087e+02] [ 5.08752819e-01 8.60776562e-01 -1.53062224e-02 1.64075603e+01] [ 3.00344292e-02 2.23248321e-05 9.99548865e-01 -9.58161583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.264012739 meters Centerline goodness [0,1] 0.9928270767116227 Centerline is valid? [True, True] Translation: X:355.50, Y:16.41, Z:-0.96 [[ 8.58456594e-01 -5.12219209e-01 -2.61487673e-02 3.55496448e+02] [ 5.11984900e-01 8.58854746e-01 -1.54915474e-02 1.64137900e+01] [ 3.03930610e-02 -8.89529867e-05 9.99538020e-01 -9.57485969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.294012739 meters Centerline goodness [0,1] 0.9922122748355086 Centerline is valid? [True, True] Translation: X:355.52, Y:16.42, Z:-0.96 [[ 8.57630473e-01 -5.13542918e-01 -2.72698252e-02 3.55523860e+02] [ 5.13288529e-01 8.58063898e-01 -1.61627070e-02 1.64246199e+01] [ 3.16994962e-02 -1.35658455e-04 9.99497435e-01 -9.58828972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.324012739 meters Centerline goodness [0,1] 0.9924554916753938 Centerline is valid? [True, True] Translation: X:355.55, Y:16.43, Z:-0.96 [[ 8.57713171e-01 -5.13376449e-01 -2.77981526e-02 3.55549680e+02] [ 5.13111835e-01 8.58163508e-01 -1.64814824e-02 1.64334290e+01] [ 3.23165650e-02 -1.27176524e-04 9.99477675e-01 -9.57770579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.354012739 meters Centerline goodness [0,1] 0.9925295084416554 Centerline is valid? [True, True] Translation: X:355.57, Y:16.45, Z:-0.96 [[ 8.58705841e-01 -5.11752596e-01 -2.70842879e-02 3.55573452e+02] [ 5.11500506e-01 8.59132863e-01 -1.60610017e-02 1.64478949e+01] [ 3.14882611e-02 -6.19509921e-05 9.99504120e-01 -9.55179050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.384012739 meters Centerline goodness [0,1] 0.9939196802517167 Centerline is valid? [True, True] Translation: X:355.60, Y:16.46, Z:-0.95 [[ 8.60153475e-01 -5.09334374e-01 -2.67300337e-02 3.55595379e+02] [ 5.09087599e-01 8.60568704e-01 -1.58531328e-02 1.64642336e+01] [ 3.10775760e-02 2.81985948e-05 9.99516975e-01 -9.53549721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.414012739 meters Centerline goodness [0,1] 0.9950930192865677 Centerline is valid? [True, True] Translation: X:355.61, Y:16.49, Z:-0.95 [[ 8.64305072e-01 -5.02211969e-01 -2.75659427e-02 3.55614160e+02] [ 5.01945758e-01 8.64744500e-01 -1.63525527e-02 1.64888890e+01] [ 3.20499451e-02 2.96986261e-04 9.99486224e-01 -9.54548404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.444012739 meters Centerline goodness [0,1] 0.995038176101974 Centerline is valid? [True, True] Translation: X:355.63, Y:16.51, Z:-0.95 [[ 8.66385341e-01 -4.98590187e-01 -2.80047699e-02 3.55634412e+02] [ 4.98313360e-01 8.66837718e-01 -1.66182310e-02 1.65087804e+01] [ 3.25612778e-02 4.42640769e-04 9.99469643e-01 -9.54874302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.474012739 meters Centerline goodness [0,1] 0.9934172806998917 Centerline is valid? [True, True] Translation: X:355.65, Y:16.53, Z:-0.95 [[ 8.69100008e-01 -4.93896647e-01 -2.70421528e-02 3.55654829e+02] [ 4.93636190e-01 8.69520410e-01 -1.60489498e-02 1.65309050e+01] [ 3.14402262e-02 5.99157099e-04 9.99505454e-01 -9.51776080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.504012739 meters Centerline goodness [0,1] 0.9929765024270802 Centerline is valid? [True, True] Translation: X:355.68, Y:16.55, Z:-0.95 [[ 8.69506276e-01 -4.93225682e-01 -2.62157055e-02 3.55679207e+02] [ 4.92980535e-01 8.69901178e-01 -1.55606260e-02 1.65468772e+01] [ 3.04799734e-02 6.06229464e-04 9.99535194e-01 -9.49277207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.534012739 meters Centerline goodness [0,1] 0.993573264781491 Centerline is valid? [True, True] Translation: X:355.70, Y:16.56, Z:-0.95 [[ 8.69155352e-01 -4.93807342e-01 -2.68939058e-02 3.55703006e+02] [ 4.93549432e-01 8.69571125e-01 -1.59692670e-02 1.65614879e+01] [ 3.12719052e-02 6.06301945e-04 9.99510730e-01 -9.49206839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.564012739 meters Centerline goodness [0,1] 0.9938280832888414 Centerline is valid? [True, True] Translation: X:355.73, Y:16.58, Z:-0.95 [[ 8.68458126e-01 -4.94951698e-01 -2.83425504e-02 3.55726972e+02] [ 4.94665646e-01 8.68920281e-01 -1.68357837e-02 1.65750206e+01] [ 3.29603166e-02 6.01087149e-04 9.99456480e-01 -9.52000967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.594012739 meters Centerline goodness [0,1] 0.9946757328885752 Centerline is valid? [True, True] Translation: X:355.75, Y:16.59, Z:-0.95 [[ 8.67612448e-01 -4.96341477e-01 -2.98961321e-02 3.55751694e+02] [ 4.96023935e-01 8.68127180e-01 -1.77610444e-02 1.65883068e+01] [ 3.47691879e-02 5.80506095e-04 9.99395200e-01 -9.54513578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.624012739 meters Centerline goodness [0,1] 0.9951272680643714 Centerline is valid? [True, True] Translation: X:355.78, Y:16.60, Z:-0.96 [[ 8.66672540e-01 -4.97918549e-01 -3.09164387e-02 3.55777974e+02] [ 4.97579825e-01 8.67223632e-01 -1.83708671e-02 1.66009670e+01] [ 3.59586617e-02 5.38129851e-04 9.99353133e-01 -9.56565972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.654012739 meters Centerline goodness [0,1] 0.9962419818146476 Centerline is valid? [True, True] Translation: X:355.81, Y:16.61, Z:-0.95 [[ 8.64887461e-01 -5.01015009e-01 -3.08810884e-02 3.55805014e+02] [ 5.00678788e-01 8.65438495e-01 -1.83565371e-02 1.66120128e+01] [ 3.59225833e-02 4.14832844e-04 9.99354490e-01 -9.54069923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.684012739 meters Centerline goodness [0,1] 0.9965115781363695 Centerline is valid? [True, True] Translation: X:355.83, Y:16.63, Z:-0.95 [[ 8.64189508e-01 -5.02267273e-01 -3.00679438e-02 3.55828637e+02] [ 5.01949102e-01 8.64712356e-01 -1.78785039e-02 1.66259364e+01] [ 3.49799099e-02 3.57838147e-04 9.99387952e-01 -9.52437458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.714012739 meters Centerline goodness [0,1] 0.9955814249904406 Centerline is valid? [True, True] Translation: X:355.86, Y:16.64, Z:-0.95 [[ 8.62687944e-01 -5.04938727e-01 -2.83970739e-02 3.55856565e+02] [ 5.04656294e-01 8.63155157e-01 -1.68878563e-02 1.66358809e+01] [ 3.30384134e-02 2.38188002e-04 9.99454054e-01 -9.47578303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.744012739 meters Centerline goodness [0,1] 0.995027095951546 Centerline is valid? [True, True] Translation: X:355.88, Y:16.65, Z:-0.95 [[ 8.61605181e-01 -5.06799659e-01 -2.81179229e-02 3.55883405e+02] [ 5.06523558e-01 8.62063847e-01 -1.67274549e-02 1.66473039e+01] [ 3.27169133e-02 1.70071477e-04 9.99464644e-01 -9.46051643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.774012739 meters Centerline goodness [0,1] 0.9956704417002581 Centerline is valid? [True, True] Translation: X:355.91, Y:16.66, Z:-0.95 [[ 8.60140734e-01 -5.09253011e-01 -2.86232085e-02 3.55909698e+02] [ 5.08968064e-01 8.60616851e-01 -1.70336647e-02 1.66574134e+01] [ 3.33080606e-02 8.30498249e-05 9.99445129e-01 -9.46842714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80401273900003 meters Centerline goodness [0,1] 0.9936038206511311 Centerline is valid? [True, True] Translation: X:355.94, Y:16.66, Z:-0.95 [[ 8.56796701e-01 -5.14784635e-01 -2.99364754e-02 3.55941025e+02] [ 5.14476143e-01 8.57319521e-01 -1.78195615e-02 1.66610209e+01] [ 3.48383612e-02 -1.33860836e-04 9.99392951e-01 -9.48335322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.834012739 meters Centerline goodness [0,1] 0.9926390809488352 Centerline is valid? [True, True] Translation: X:355.97, Y:16.67, Z:-0.95 [[ 8.55103464e-01 -5.17591934e-01 -2.99442174e-02 3.55969515e+02] [ 5.17284774e-01 8.55627565e-01 -1.78306428e-02 1.66695240e+01] [ 3.48500947e-02 -2.42643311e-04 9.99392521e-01 -9.47219524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86401273900003 meters Centerline goodness [0,1] 0.9904160174176609 Centerline is valid? [True, True] Translation: X:356.00, Y:16.67, Z:-0.94 [[ 8.53189427e-01 -5.20867992e-01 -2.76466500e-02 3.55999189e+02] [ 5.20607724e-01 8.53637170e-01 -1.64675397e-02 1.66742679e+01] [ 3.21776224e-02 -3.43128762e-04 9.99482107e-01 -9.40837932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.894012739 meters Centerline goodness [0,1] 0.9902770292120298 Centerline is valid? [True, True] Translation: X:356.02, Y:16.69, Z:-0.94 [[ 8.53195995e-01 -5.20913701e-01 -2.65614339e-02 3.56022551e+02] [ 5.20673390e-01 8.53609283e-01 -1.58244224e-02 1.66905437e+01] [ 3.09162450e-02 -3.28498063e-04 9.99521925e-01 -9.35662046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.924012739 meters Centerline goodness [0,1] 0.9908288706285368 Centerline is valid? [True, True] Translation: X:356.05, Y:16.71, Z:-0.94 [[ 8.53851059e-01 -5.19839000e-01 -2.65666020e-02 3.56045814e+02] [ 5.19597892e-01 8.54264206e-01 -1.58334291e-02 1.67071866e+01] [ 3.09257311e-02 -2.84560190e-04 9.99521645e-01 -9.35099016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.954012739 meters Centerline goodness [0,1] 0.9916790806554586 Centerline is valid? [True, True] Translation: X:356.07, Y:16.73, Z:-0.94 [[ 8.55796939e-01 -5.16591649e-01 -2.72885835e-02 3.56067332e+02] [ 5.16335427e-01 8.56231884e-01 -1.62691914e-02 1.67257160e+01] [ 3.17698837e-02 -1.66938202e-04 9.99495196e-01 -9.36106257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.984012739 meters Centerline goodness [0,1] 0.9928894772804919 Centerline is valid? [True, True] Translation: X:356.09, Y:16.74, Z:-0.94 [[ 8.56488283e-01 -5.15457943e-01 -2.70357143e-02 3.56090995e+02] [ 5.15205794e-01 8.56914870e-01 -1.61212489e-02 1.67425268e+01] [ 3.14771314e-02 -1.21295868e-04 9.99504465e-01 -9.35548715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.014012739 meters Centerline goodness [0,1] 0.9925772668131305 Centerline is valid? [True, True] Translation: X:356.11, Y:16.76, Z:-0.93 [[ 8.57986986e-01 -5.12978045e-01 -2.66806662e-02 3.56113489e+02] [ 5.12731095e-01 8.58401727e-01 -1.59153749e-02 1.67619365e+01] [ 3.10669678e-02 -2.48226536e-05 9.99517305e-01 -9.34249298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.044012739 meters Centerline goodness [0,1] 0.9926753461279315 Centerline is valid? [True, True] Translation: X:356.14, Y:16.78, Z:-0.93 [[ 8.58739332e-01 -5.11721202e-01 -2.66114794e-02 3.56135952e+02] [ 5.11474742e-01 8.59151565e-01 -1.58800945e-02 1.67782568e+01] [ 3.09894752e-02 2.57621756e-05 9.99519711e-01 -9.33810657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.074012739 meters Centerline goodness [0,1] 0.9943298090040927 Centerline is valid? [True, True] Translation: X:356.16, Y:16.80, Z:-0.94 [[ 8.59888840e-01 -5.09713037e-01 -2.79964669e-02 3.56157892e+02] [ 5.09438977e-01 8.60344471e-01 -1.67129010e-02 1.67953108e+01] [ 3.26053890e-02 1.08745676e-04 9.99468297e-01 -9.36126610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.104012739 meters Centerline goodness [0,1] 0.9951098146877145 Centerline is valid? [True, True] Translation: X:356.18, Y:16.81, Z:-0.94 [[ 8.60150670e-01 -5.09238691e-01 -2.85793819e-02 3.56181657e+02] [ 5.08952729e-01 8.60625318e-01 -1.70640580e-02 1.68124911e+01] [ 3.32858182e-02 1.32106500e-04 9.99445865e-01 -9.36725016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.134012739 meters Centerline goodness [0,1] 0.9950631063793252 Centerline is valid? [True, True] Translation: X:356.20, Y:16.83, Z:-0.94 [[ 8.60380727e-01 -5.08846421e-01 -2.86413066e-02 3.56202885e+02] [ 5.08558816e-01 8.60857303e-01 -1.71065462e-02 1.68290836e+01] [ 3.33606828e-02 1.52353709e-04 9.99443366e-01 -9.36070509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.164012739 meters Centerline goodness [0,1] 0.9952267303102625 Centerline is valid? [True, True] Translation: X:356.22, Y:16.85, Z:-0.93 [[ 8.61446599e-01 -5.07093219e-01 -2.76807455e-02 3.56222456e+02] [ 5.06823561e-01 8.61891188e-01 -1.65365522e-02 1.68500687e+01] [ 3.22433642e-02 2.16102599e-04 9.99480024e-01 -9.31630330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.194012739 meters Centerline goodness [0,1] 0.9955773955773956 Centerline is valid? [True, True] Translation: X:356.24, Y:16.87, Z:-0.93 [[ 8.62179636e-01 -5.05834305e-01 -2.78914370e-02 3.56243704e+02] [ 5.05559664e-01 8.62630618e-01 -1.66686113e-02 1.68687838e+01] [ 3.24915629e-02 2.70551630e-04 9.99471973e-01 -9.31990723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.224012739 meters Centerline goodness [0,1] 0.9952474140341068 Centerline is valid? [True, True] Translation: X:356.27, Y:16.89, Z:-0.93 [[ 8.63235467e-01 -5.03950140e-01 -2.93050219e-02 3.56265767e+02] [ 5.03645742e-01 8.63732670e-01 -1.75168942e-02 1.68874648e+01] [ 3.41393461e-02 3.61854872e-04 9.99417017e-01 -9.33934749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.254012739 meters Centerline goodness [0,1] 0.9951799969874981 Centerline is valid? [True, True] Translation: X:356.29, Y:16.90, Z:-0.93 [[ 8.63273989e-01 -5.03872406e-01 -2.95062356e-02 3.56288795e+02] [ 5.03563526e-01 8.63778015e-01 -1.76441346e-02 1.69028525e+01] [ 3.43772302e-02 3.73458442e-04 9.99408859e-01 -9.34205266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.284012739 meters Centerline goodness [0,1] 0.9952539460968539 Centerline is valid? [True, True] Translation: X:356.31, Y:16.92, Z:-0.93 [[ 8.62956103e-01 -5.04447003e-01 -2.89825003e-02 3.56312526e+02] [ 5.04149111e-01 8.63442586e-01 -1.73371016e-02 1.69179537e+01] [ 3.37703739e-02 3.49655845e-04 9.99429557e-01 -9.32865985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.314012739 meters Centerline goodness [0,1] 0.994095075676828 Centerline is valid? [True, True] Translation: X:356.34, Y:16.93, Z:-0.93 [[ 8.61484487e-01 -5.07058273e-01 -2.71364488e-02 3.56339384e+02] [ 5.06798336e-01 8.61911743e-01 -1.62355852e-02 1.69287748e+01] [ 3.16216117e-02 2.33997685e-04 9.99499884e-01 -9.27260209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.344012739 meters Centerline goodness [0,1] 0.9944961987364814 Centerline is valid? [True, True] Translation: X:356.36, Y:16.94, Z:-0.93 [[ 8.60688213e-01 -5.08429232e-01 -2.67491375e-02 3.56364091e+02] [ 5.08177162e-01 8.61103758e-01 -1.60090770e-02 1.69413208e+01] [ 3.11732655e-02 1.85523063e-04 9.99513978e-01 -9.25610001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.374012739 meters Centerline goodness [0,1] 0.9935017429100143 Centerline is valid? [True, True] Translation: X:356.39, Y:16.95, Z:-0.92 [[ 8.59369554e-01 -5.10648655e-01 -2.68685638e-02 3.56390766e+02] [ 5.10395324e-01 8.59789474e-01 -1.60833634e-02 1.69521505e+01] [ 3.13142562e-02 1.07963519e-04 9.99509583e-01 -9.23699077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.404012739 meters Centerline goodness [0,1] 0.9937524070349608 Centerline is valid? [True, True] Translation: X:356.41, Y:16.97, Z:-0.92 [[ 8.59085974e-01 -5.11088124e-01 -2.75720858e-02 3.56414993e+02] [ 5.10821368e-01 8.59528312e-01 -1.65109104e-02 1.69667235e+01] [ 3.21375186e-02 9.98809018e-05 9.99483452e-01 -9.24367166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.434012739 meters Centerline goodness [0,1] 0.9940000863296931 Centerline is valid? [True, True] Translation: X:356.44, Y:16.98, Z:-0.92 [[ 8.59025510e-01 -5.11165527e-01 -2.80174408e-02 3.56439361e+02] [ 5.10889889e-01 8.59482282e-01 -1.67847775e-02 1.69813438e+01] [ 3.26602936e-02 1.04724886e-04 9.99466505e-01 -9.24425741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.464012739 meters Centerline goodness [0,1] 0.9942909043726482 Centerline is valid? [True, True] Translation: X:356.46, Y:17.00, Z:-0.92 [[ 8.59512003e-01 -5.10299778e-01 -2.88661164e-02 3.56463805e+02] [ 5.10006448e-01 8.59996578e-01 -1.73005200e-02 1.69959999e+01] [ 3.36532129e-02 1.48099102e-04 9.99433559e-01 -9.24367320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.494012739 meters Centerline goodness [0,1] 0.9957785111215874 Centerline is valid? [True, True] Translation: X:356.49, Y:17.01, Z:-0.93 [[ 8.59522871e-01 -5.10266970e-01 -2.91213610e-02 3.56487002e+02] [ 5.09968208e-01 8.60016043e-01 -1.74594489e-02 1.70105172e+01] [ 3.39538177e-02 1.55827346e-04 9.99423391e-01 -9.25737167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.524012739 meters Centerline goodness [0,1] 0.9955457994117898 Centerline is valid? [True, True] Translation: X:356.51, Y:17.03, Z:-0.93 [[ 8.59705443e-01 -5.09927062e-01 -2.96806672e-02 3.56510940e+02] [ 5.09616398e-01 8.60217624e-01 -1.77979303e-02 1.70253961e+01] [ 3.46074793e-02 1.75222877e-04 9.99400966e-01 -9.25388225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55401273900003 meters Centerline goodness [0,1] 0.9948429442100328 Centerline is valid? [True, True] Translation: X:356.53, Y:17.04, Z:-0.92 [[ 8.59758604e-01 -5.09859668e-01 -2.92961160e-02 3.56534337e+02] [ 5.09556846e-01 8.60257570e-01 -1.75708074e-02 1.70404644e+01] [ 3.41608516e-02 1.78616409e-04 9.99416332e-01 -9.23171589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.584012739 meters Centerline goodness [0,1] 0.9947571153434625 Centerline is valid? [True, True] Translation: X:356.56, Y:17.06, Z:-0.92 [[ 8.59874600e-01 -5.09721256e-01 -2.82827467e-02 3.56558307e+02] [ 5.09438734e-01 8.60339588e-01 -1.69696664e-02 1.70557848e+01] [ 3.29825664e-02 1.83458456e-04 9.99455910e-01 -9.20130672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61401273900003 meters Centerline goodness [0,1] 0.9929779490473132 Centerline is valid? [True, True] Translation: X:356.58, Y:17.07, Z:-0.92 [[ 8.60024346e-01 -5.09541829e-01 -2.69304476e-02 3.56583019e+02] [ 5.09285415e-01 8.60445867e-01 -1.61640299e-02 1.70702947e+01] [ 3.14084417e-02 1.86175105e-04 9.99506616e-01 -9.15030375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.644012739 meters Centerline goodness [0,1] 0.9929779490473132 Centerline is valid? [True, True] Translation: X:356.61, Y:17.08, Z:-0.91 [[ 8.59925149e-01 -5.09709370e-01 -2.69276203e-02 3.56606479e+02] [ 5.09452891e-01 8.60346630e-01 -1.61687387e-02 1.70846032e+01] [ 3.14084450e-02 1.85551019e-04 9.99506616e-01 -9.14322175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.674012739 meters Centerline goodness [0,1] 0.9937711260868641 Centerline is valid? [True, True] Translation: X:356.63, Y:17.10, Z:-0.92 [[ 8.59446196e-01 -5.10515416e-01 -2.69489584e-02 3.56629608e+02] [ 5.10258714e-01 8.59868585e-01 -1.61882870e-02 1.70990333e+01] [ 3.14369328e-02 1.62020780e-04 9.99505724e-01 -9.15289210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.704012739 meters Centerline goodness [0,1] 0.9932666410157753 Centerline is valid? [True, True] Translation: X:356.66, Y:17.11, Z:-0.92 [[ 8.57606189e-01 -5.13565209e-01 -2.76116148e-02 3.56656635e+02] [ 5.13297132e-01 8.58050566e-01 -1.65916089e-02 1.71094307e+01] [ 3.22130348e-02 5.61037787e-05 9.99481024e-01 -9.16163453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.734012739 meters Centerline goodness [0,1] 0.9927554980595084 Centerline is valid? [True, True] Translation: X:356.68, Y:17.12, Z:-0.91 [[ 8.56629146e-01 -5.15169622e-01 -2.80493587e-02 3.56682117e+02] [ 5.14893627e-01 8.57088246e-01 -1.68609564e-02 1.71216333e+01] [ 3.27270281e-02 1.15063273e-06 9.99464327e-01 -9.14948652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.764012739 meters Centerline goodness [0,1] 0.9934862463693832 Centerline is valid? [True, True] Translation: X:356.71, Y:17.13, Z:-0.92 [[ 8.55937714e-01 -5.16302514e-01 -2.83256863e-02 3.56706571e+02] [ 5.16021460e-01 8.56406278e-01 -1.70334811e-02 1.71327541e+01] [ 3.30527247e-02 -3.70631057e-05 9.99453609e-01 -9.15772805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.794012739 meters Centerline goodness [0,1] 0.9931486382651754 Centerline is valid? [True, True] Translation: X:356.73, Y:17.14, Z:-0.92 [[ 8.54341243e-01 -5.18883820e-01 -2.93363591e-02 3.56734052e+02] [ 5.18583723e-01 8.54844759e-01 -1.76453983e-02 1.71421875e+01] [ 3.42339445e-02 -1.38166814e-04 9.99413837e-01 -9.16278546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.824012739 meters Centerline goodness [0,1] 0.9925929115886482 Centerline is valid? [True, True] Translation: X:356.76, Y:17.15, Z:-0.92 [[ 8.53533653e-01 -5.20191519e-01 -2.96831251e-02 3.56759881e+02] [ 5.19884880e-01 8.54049617e-01 -1.78595423e-02 1.71538736e+01] [ 3.46412441e-02 -1.88087585e-04 9.99399794e-01 -9.16131718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.854012739 meters Centerline goodness [0,1] 0.9918076618681954 Centerline is valid? [True, True] Translation: X:356.79, Y:17.16, Z:-0.91 [[ 8.52603025e-01 -5.21780526e-01 -2.85160391e-02 3.56786779e+02] [ 5.21498311e-01 8.53079730e-01 -1.71606172e-02 1.71641790e+01] [ 3.32805308e-02 -2.39872148e-04 9.99446021e-01 -9.11606771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.884012739 meters Centerline goodness [0,1] 0.9919146114521614 Centerline is valid? [True, True] Translation: X:356.81, Y:17.18, Z:-0.91 [[ 8.52213733e-01 -5.22506812e-01 -2.68026948e-02 3.56812502e+02] [ 5.22257663e-01 8.52635075e-01 -1.61357611e-02 1.71763840e+01] [ 3.12839628e-02 -2.46795501e-04 9.99510507e-01 -9.06561461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.914012739 meters Centerline goodness [0,1] 0.9915871045082845 Centerline is valid? [True, True] Translation: X:356.84, Y:17.19, Z:-0.90 [[ 8.52042823e-01 -5.22849735e-01 -2.55182774e-02 3.56837575e+02] [ 5.22623887e-01 8.52424833e-01 -1.53680348e-02 1.71892174e+01] [ 2.97875863e-02 -2.42237620e-04 9.99556222e-01 -9.03084830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.944012739 meters Centerline goodness [0,1] 0.9917613575570821 Centerline is valid? [True, True] Translation: X:356.86, Y:17.20, Z:-0.90 [[ 8.51660350e-01 -5.23463484e-01 -2.57027204e-02 3.56864313e+02] [ 5.23234442e-01 8.52048070e-01 -1.54856471e-02 1.71998933e+01] [ 3.00061240e-02 -2.60036950e-04 9.99549681e-01 -9.03312796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.974012739 meters Centerline goodness [0,1] 0.9914898155060253 Centerline is valid? [True, True] Translation: X:356.89, Y:17.21, Z:-0.90 [[ 8.51248058e-01 -5.24094748e-01 -2.64846723e-02 3.56890554e+02] [ 5.23851650e-01 8.51659917e-01 -1.59635689e-02 1.72121223e+01] [ 3.09223565e-02 -2.85082223e-04 9.99521749e-01 -9.04370778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.004012739 meters Centerline goodness [0,1] 0.9914509920677116 Centerline is valid? [True, True] Translation: X:356.92, Y:17.22, Z:-0.91 [[ 8.51057468e-01 -5.24388631e-01 -2.67908640e-02 3.56915937e+02] [ 5.24139851e-01 8.51478994e-01 -1.61536293e-02 1.72225971e+01] [ 3.12826374e-02 -2.94492641e-04 9.99510535e-01 -9.05239613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.034012739 meters Centerline goodness [0,1] 0.9917181627062496 Centerline is valid? [True, True] Translation: X:356.94, Y:17.23, Z:-0.90 [[ 8.50758197e-01 -5.24934263e-01 -2.55833862e-02 3.56943257e+02] [ 5.24707562e-01 8.51142721e-01 -1.54286616e-02 1.72322038e+01] [ 2.98741461e-02 -2.97735851e-04 9.99553624e-01 -9.00216796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.064012739 meters Centerline goodness [0,1] 0.9916275313967573 Centerline is valid? [True, True] Translation: X:356.97, Y:17.24, Z:-0.90 [[ 8.50817531e-01 -5.24838798e-01 -2.55688433e-02 3.56968008e+02] [ 5.24612136e-01 8.51201593e-01 -1.54257751e-02 1.72441451e+01] [ 2.98602854e-02 -2.89205625e-04 9.99554040e-01 -8.99854946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.094012739 meters Centerline goodness [0,1] 0.9917597079606345 Centerline is valid? [True, True] Translation: X:356.99, Y:17.26, Z:-0.90 [[ 8.51165028e-01 -5.24221759e-01 -2.66391077e-02 3.56993278e+02] [ 5.23975289e-01 8.51581747e-01 -1.60756242e-02 1.72571107e+01] [ 3.11125698e-02 -2.75225047e-04 9.99515849e-01 -9.01032592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.124012739 meters Centerline goodness [0,1] 0.992013254598751 Centerline is valid? [True, True] Translation: X:357.02, Y:17.27, Z:-0.90 [[ 8.51686506e-01 -5.23374540e-01 -2.66305593e-02 3.57017647e+02] [ 5.23127610e-01 8.52102713e-01 -1.60769785e-02 1.72729782e+01] [ 3.11062531e-02 -2.38635223e-04 9.99516055e-01 -8.99369898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.154012739 meters Centerline goodness [0,1] 0.9914303421451927 Centerline is valid? [True, True] Translation: X:357.04, Y:17.29, Z:-0.90 [[ 8.52411043e-01 -5.22219406e-01 -2.61209740e-02 3.57041102e+02] [ 5.21981141e-01 8.52811149e-01 -1.57744020e-02 1.72880833e+01] [ 3.05139567e-02 -1.88381401e-04 9.99534323e-01 -8.98412265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.184012739 meters Centerline goodness [0,1] 0.9929595385528883 Centerline is valid? [True, True] Translation: X:357.06, Y:17.30, Z:-0.90 [[ 8.53988101e-01 -5.19610816e-01 -2.66255959e-02 3.57064286e+02] [ 5.19361912e-01 8.54403061e-01 -1.60814566e-02 1.73041481e+01] [ 3.11050894e-02 -9.49478402e-05 9.99516115e-01 -8.99588640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.214012739 meters Centerline goodness [0,1] 0.9931465903753363 Centerline is valid? [True, True] Translation: X:357.09, Y:17.32, Z:-0.90 [[ 8.54017299e-01 -5.19525492e-01 -2.73443935e-02 3.57088185e+02] [ 5.19262788e-01 8.54454946e-01 -1.65197481e-02 1.73187984e+01] [ 3.19469825e-02 -9.07753185e-05 9.99489561e-01 -8.98624265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.244012739 meters Centerline goodness [0,1] 0.9931655061596144 Centerline is valid? [True, True] Translation: X:357.11, Y:17.33, Z:-0.90 [[ 8.53831111e-01 -5.19784197e-01 -2.82280478e-02 3.57113442e+02] [ 5.19504140e-01 8.54297594e-01 -1.70607638e-02 1.73328763e+01] [ 3.29830687e-02 -9.75767382e-05 9.99455906e-01 -8.99310606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.274012739 meters Centerline goodness [0,1] 0.9934859722670106 Centerline is valid? [True, True] Translation: X:357.14, Y:17.35, Z:-0.90 [[ 8.53653323e-01 -5.20061625e-01 -2.84940520e-02 3.57137433e+02] [ 5.19776226e-01 8.54128735e-01 -1.72272714e-02 1.73457871e+01] [ 3.32968314e-02 -1.04413342e-04 9.99445501e-01 -8.99981499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30401273900003 meters Centerline goodness [0,1] 0.9925913273693875 Centerline is valid? [True, True] Translation: X:357.16, Y:17.36, Z:-0.90 [[ 8.53708503e-01 -5.19973178e-01 -2.84549883e-02 3.57160981e+02] [ 5.19688376e-01 8.54182583e-01 -1.72077514e-02 1.73601998e+01] [ 3.32533246e-02 -9.73229243e-05 9.99446951e-01 -8.97737919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.334012739 meters Centerline goodness [0,1] 0.9928052904810115 Centerline is valid? [True, True] Translation: X:357.18, Y:17.38, Z:-0.90 [[ 8.54396465e-01 -5.18841028e-01 -2.84722349e-02 3.57183520e+02] [ 5.18555007e-01 8.54870742e-01 -1.72255391e-02 1.73764541e+01] [ 3.32773970e-02 -4.69802575e-05 9.99446153e-01 -8.95973632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36401273900003 meters Centerline goodness [0,1] 0.9930892234413541 Centerline is valid? [True, True] Translation: X:357.21, Y:17.39, Z:-0.90 [[ 8.54884989e-01 -5.18009425e-01 -2.89463593e-02 3.57205655e+02] [ 5.17713096e-01 8.55374910e-01 -1.75189627e-02 1.73925808e+01] [ 3.38349773e-02 -9.21106973e-06 9.99427433e-01 -8.96912529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.394012739 meters Centerline goodness [0,1] 0.9932467309015829 Centerline is valid? [True, True] Translation: X:357.23, Y:17.41, Z:-0.90 [[ 8.55162706e-01 -5.17558995e-01 -2.87998604e-02 3.57228384e+02] [ 5.17265264e-01 8.55647525e-01 -1.74344467e-02 1.74087938e+01] [ 3.36658840e-02 1.21212349e-05 9.99433143e-01 -8.95527908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.424012739 meters Centerline goodness [0,1] 0.9921081081081081 Centerline is valid? [True, True] Translation: X:357.25, Y:17.42, Z:-0.89 [[ 8.55504217e-01 -5.17044594e-01 -2.78822813e-02 3.57251734e+02] [ 5.16768784e-01 8.55958461e-01 -1.68860290e-02 1.74245613e+01] [ 3.25969045e-02 3.73764069e-05 9.99468579e-01 -8.92948628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.454012739 meters Centerline goodness [0,1] 0.992456989712112 Centerline is valid? [True, True] Translation: X:357.28, Y:17.44, Z:-0.89 [[ 8.55880491e-01 -5.16508499e-01 -2.62212734e-02 3.57275162e+02] [ 5.16264146e-01 8.56282061e-01 -1.58859704e-02 1.74386033e+01] [ 3.06580447e-02 5.93888705e-05 9.99529930e-01 -8.87639797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.484012739 meters Centerline goodness [0,1] 0.9922895189003437 Centerline is valid? [True, True] Translation: X:357.30, Y:17.45, Z:-0.89 [[ 8.56030488e-01 -5.16270104e-01 -2.60189154e-02 3.57299289e+02] [ 5.16029288e-01 8.56425814e-01 -1.57670285e-02 1.74528412e+01] [ 3.04233163e-02 7.05347389e-05 9.99537101e-01 -8.86556332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.514012739 meters Centerline goodness [0,1] 0.9923172081515723 Centerline is valid? [True, True] Translation: X:357.32, Y:17.47, Z:-0.89 [[ 8.55689351e-01 -5.16828340e-01 -2.61572520e-02 3.57323592e+02] [ 5.16585021e-01 8.56089051e-01 -1.58572516e-02 1.74651408e+01] [ 3.05884140e-02 5.64367397e-05 9.99532063e-01 -8.87606846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.544012739 meters Centerline goodness [0,1] 0.9926533768688778 Centerline is valid? [True, True] Translation: X:357.35, Y:17.48, Z:-0.89 [[ 8.55067764e-01 -5.17833533e-01 -2.65998380e-02 3.57348610e+02] [ 5.17582236e-01 8.55481404e-01 -1.61306312e-02 1.74781710e+01] [ 3.11086485e-02 2.51791089e-05 9.99516009e-01 -8.88273751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.574012739 meters Centerline goodness [0,1] 0.9926739926739927 Centerline is valid? [True, True] Translation: X:357.37, Y:17.49, Z:-0.89 [[ 8.54550230e-01 -5.18649108e-01 -2.73314383e-02 3.57372934e+02] [ 5.18384003e-01 8.54987194e-01 -1.65808052e-02 1.74901813e+01] [ 3.19676496e-02 9.50456387e-07 9.99488904e-01 -8.89136709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.604012739 meters Centerline goodness [0,1] 0.9925602597458447 Centerline is valid? [True, True] Translation: X:357.40, Y:17.50, Z:-0.89 [[ 8.53163753e-01 -5.20937663e-01 -2.71212499e-02 3.57400912e+02] [ 5.20677633e-01 8.53594719e-01 -1.64577487e-02 1.74979234e+01] [ 3.17240169e-02 -8.02735452e-05 9.99496663e-01 -8.87675980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.634012739 meters Centerline goodness [0,1] 0.9928394381713027 Centerline is valid? [True, True] Translation: X:357.43, Y:17.51, Z:-0.89 [[ 8.52758263e-01 -5.21595503e-01 -2.72300583e-02 3.57425339e+02] [ 5.21333510e-01 8.53192898e-01 -1.65302783e-02 1.75099357e+01] [ 3.18546112e-02 -9.96104241e-05 9.99492508e-01 -8.86416603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.664012739 meters Centerline goodness [0,1] 0.9920017017655818 Centerline is valid? [True, True] Translation: X:357.45, Y:17.52, Z:-0.88 [[ 8.52766056e-01 -5.21620659e-01 -2.64941769e-02 3.57449020e+02] [ 5.21372519e-01 8.53177519e-01 -1.60877951e-02 1.75219634e+01] [ 3.09959624e-02 -9.42101341e-05 9.99519505e-01 -8.83782787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.694012739 meters Centerline goodness [0,1] 0.9920108788033316 Centerline is valid? [True, True] Translation: X:357.47, Y:17.54, Z:-0.88 [[ 8.53156551e-01 -5.21029148e-01 -2.55446013e-02 3.57474070e+02] [ 5.20798117e-01 8.53538882e-01 -1.55144781e-02 1.75369969e+01] [ 2.98868057e-02 -6.73016446e-05 9.99553287e-01 -8.80634993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.724012739 meters Centerline goodness [0,1] 0.9910835141696925 Centerline is valid? [True, True] Translation: X:357.50, Y:17.55, Z:-0.87 [[ 8.54104043e-01 -5.19585400e-01 -2.31796599e-02 3.57498083e+02] [ 5.19394526e-01 8.54418523e-01 -1.40824168e-02 1.75526568e+01] [ 2.71221489e-02 -1.15393162e-05 9.99632127e-01 -8.74286640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.754012739 meters Centerline goodness [0,1] 0.9908428808722688 Centerline is valid? [True, True] Translation: X:357.52, Y:17.57, Z:-0.87 [[ 8.54493578e-01 -5.18948128e-01 -2.30990455e-02 3.57521233e+02] [ 5.18758210e-01 8.54805733e-01 -1.40384764e-02 1.75685612e+01] [ 2.70304375e-02 1.29684740e-05 9.99634611e-01 -8.73813974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.784012739 meters Centerline goodness [0,1] 0.9915290585460004 Centerline is valid? [True, True] Translation: X:357.54, Y:17.58, Z:-0.88 [[ 8.54924242e-01 -5.18180615e-01 -2.43595899e-02 3.57544807e+02] [ 5.17968907e-01 8.55271213e-01 -1.48109436e-02 1.75845228e+01] [ 2.85087999e-02 4.47245559e-05 9.99593541e-01 -8.76287293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.814012739 meters Centerline goodness [0,1] 0.9923010752688172 Centerline is valid? [True, True] Translation: X:357.57, Y:17.60, Z:-0.88 [[ 8.55428545e-01 -5.17271041e-01 -2.59359837e-02 3.57567707e+02] [ 5.17030432e-01 8.55821630e-01 -1.57756078e-02 1.75996251e+01] [ 3.03568409e-02 8.52124353e-05 9.99539121e-01 -8.79330078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.844012739 meters Centerline goodness [0,1] 0.9927432302258375 Centerline is valid? [True, True] Translation: X:357.59, Y:17.61, Z:-0.88 [[ 8.55783521e-01 -5.16628490e-01 -2.70105468e-02 3.57591286e+02] [ 5.16367120e-01 8.56209665e-01 -1.64318742e-02 1.76149918e+01] [ 3.16158656e-02 1.14768919e-04 9.99500087e-01 -8.80503191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.874012739 meters Centerline goodness [0,1] 0.9925960697292338 Centerline is valid? [True, True] Translation: X:357.61, Y:17.63, Z:-0.88 [[ 8.55605193e-01 -5.16942537e-01 -2.66489640e-02 3.57614813e+02] [ 5.16688164e-01 8.56020095e-01 -1.62153635e-02 1.76302194e+01] [ 3.11944598e-02 1.04744979e-04 9.99513329e-01 -8.78971833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.904012739 meters Centerline goodness [0,1] 0.9926472159880304 Centerline is valid? [True, True] Translation: X:357.64, Y:17.65, Z:-0.88 [[ 8.55149999e-01 -5.17720482e-01 -2.61530498e-02 3.57637452e+02] [ 5.17475678e-01 8.55549821e-01 -1.59193890e-02 1.76450810e+01] [ 3.06170309e-02 7.98983005e-05 9.99531186e-01 -8.77299425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.934012739 meters Centerline goodness [0,1] 0.9919332406119611 Centerline is valid? [True, True] Translation: X:357.66, Y:17.66, Z:-0.88 [[ 8.54574957e-01 -5.18669188e-01 -2.61517768e-02 3.57662655e+02] [ 5.18424742e-01 8.54975012e-01 -1.59222059e-02 1.76581340e+01] [ 3.06174733e-02 4.89902779e-05 9.99531174e-01 -8.76764209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.964012739 meters Centerline goodness [0,1] 0.9917244321211475 Centerline is valid? [True, True] Translation: X:357.69, Y:17.67, Z:-0.88 [[ 8.53917209e-01 -5.19732288e-01 -2.65282664e-02 3.57688276e+02] [ 5.19481060e-01 8.54329180e-01 -1.61579761e-02 1.76702823e+01] [ 3.10616940e-02 1.66419456e-05 9.99517469e-01 -8.76327078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.994012739 meters Centerline goodness [0,1] 0.9914994096812279 Centerline is valid? [True, True] Translation: X:357.71, Y:17.68, Z:-0.87 [[ 8.52735895e-01 -5.21716228e-01 -2.55669986e-02 3.57714668e+02] [ 5.21483586e-01 8.53119086e-01 -1.55786474e-02 1.76813701e+01] [ 2.99393276e-02 -4.82982562e-05 9.99551717e-01 -8.73446801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.024012739 meters Centerline goodness [0,1] 0.9913215754678382 Centerline is valid? [True, True] Translation: X:357.74, Y:17.70, Z:-0.87 [[ 8.52430442e-01 -5.22246171e-01 -2.49254582e-02 3.57738545e+02] [ 5.22025109e-01 8.52794778e-01 -1.51938447e-02 1.76965220e+01] [ 2.91912278e-02 -6.00192917e-05 9.99573844e-01 -8.70621416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05401273900003 meters Centerline goodness [0,1] 0.9912344620660094 Centerline is valid? [True, True] Translation: X:357.76, Y:17.71, Z:-0.87 [[ 8.52491164e-01 -5.22153743e-01 -2.47847422e-02 3.57761028e+02] [ 5.21934955e-01 8.52851374e-01 -1.51141080e-02 1.77108322e+01] [ 2.90295895e-02 -5.13797733e-05 9.99578551e-01 -8.70587594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.084012739 meters Centerline goodness [0,1] 0.9917969421061673 Centerline is valid? [True, True] Translation: X:357.78, Y:17.73, Z:-0.87 [[ 8.53021863e-01 -5.21217611e-01 -2.61897584e-02 3.57783409e+02] [ 5.20972770e-01 8.53423811e-01 -1.59741115e-02 1.77270206e+01] [ 3.06769517e-02 -1.78846343e-05 9.99529351e-01 -8.72244352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11401273900003 meters Centerline goodness [0,1] 0.9924039320822162 Centerline is valid? [True, True] Translation: X:357.80, Y:17.74, Z:-0.87 [[ 8.53656602e-01 -5.20141285e-01 -2.68970158e-02 3.57804736e+02] [ 5.19882387e-01 8.54080232e-01 -1.64091391e-02 1.77431354e+01] [ 3.15072802e-02 2.44851125e-05 9.99503522e-01 -8.73616565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.144012739 meters Centerline goodness [0,1] 0.9926977773993018 Centerline is valid? [True, True] Translation: X:357.83, Y:17.76, Z:-0.87 [[ 8.55361899e-01 -5.17360305e-01 -2.63502684e-02 3.57825939e+02] [ 5.17110385e-01 8.55767666e-01 -1.60795091e-02 1.77631353e+01] [ 3.08686074e-02 1.27802044e-04 9.99523443e-01 -8.70605479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.174012739 meters Centerline goodness [0,1] 0.9926570339585262 Centerline is valid? [True, True] Translation: X:357.85, Y:17.78, Z:-0.87 [[ 8.55851982e-01 -5.16613569e-01 -2.50560326e-02 3.57849158e+02] [ 5.16387130e-01 8.56218662e-01 -1.52949277e-02 1.77786714e+01] [ 2.93550099e-02 1.51581457e-04 9.99569037e-01 -8.66566817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.204012739 meters Centerline goodness [0,1] 0.992419213225689 Centerline is valid? [True, True] Translation: X:357.87, Y:17.79, Z:-0.86 [[ 8.56237938e-01 -5.16019277e-01 -2.40977220e-02 3.57872329e+02] [ 5.15809430e-01 8.56576953e-01 -1.47158283e-02 1.77938031e+01] [ 2.82352043e-02 1.70418264e-04 9.99601293e-01 -8.63931181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.234012739 meters Centerline goodness [0,1] 0.9932789963301186 Centerline is valid? [True, True] Translation: X:357.89, Y:17.81, Z:-0.86 [[ 8.57052350e-01 -5.14686203e-01 -2.36512538e-02 3.57894869e+02] [ 5.14483388e-01 8.57378601e-01 -1.44491398e-02 1.78114425e+01] [ 2.77148518e-02 2.15492061e-04 9.99615846e-01 -8.62125978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.264012739 meters Centerline goodness [0,1] 0.9934623711229718 Centerline is valid? [True, True] Translation: X:357.92, Y:17.83, Z:-0.86 [[ 8.57409298e-01 -5.14089903e-01 -2.36826217e-02 3.57918327e+02] [ 5.13886174e-01 8.57736273e-01 -1.44736541e-02 1.78289011e+01] [ 2.77542031e-02 2.39673789e-04 9.99614749e-01 -8.61463359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.294012739 meters Centerline goodness [0,1] 0.9935240963855422 Centerline is valid? [True, True] Translation: X:357.94, Y:17.85, Z:-0.86 [[ 8.57778201e-01 -5.13460725e-01 -2.39716627e-02 3.57941236e+02] [ 5.13251591e-01 8.58113053e-01 -1.46557926e-02 1.78467118e+01] [ 2.80955706e-02 2.67925365e-04 9.99605206e-01 -8.61212677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.324012739 meters Centerline goodness [0,1] 0.9949338646769544 Centerline is valid? [True, True] Translation: X:357.96, Y:17.87, Z:-0.86 [[ 8.58341044e-01 -5.12499152e-01 -2.43981643e-02 3.57961992e+02] [ 5.12281970e-01 8.58687675e-01 -1.49217916e-02 1.78655866e+01] [ 2.85978085e-02 3.09246542e-04 9.99590951e-01 -8.62445406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.354012739 meters Centerline goodness [0,1] 0.9950062421972534 Centerline is valid? [True, True] Translation: X:357.99, Y:17.88, Z:-0.86 [[ 8.58457092e-01 -5.12292248e-01 -2.46591454e-02 3.57986161e+02] [ 5.12070240e-01 8.58811126e-01 -1.50837610e-02 1.78810976e+01] [ 2.89048422e-02 3.21547156e-04 9.99582116e-01 -8.61975606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.384012739 meters Centerline goodness [0,1] 0.995091553203295 Centerline is valid? [True, True] Translation: X:358.01, Y:17.90, Z:-0.86 [[ 8.58950938e-01 -5.11435797e-01 -2.52331328e-02 3.58009592e+02] [ 5.11202797e-01 8.59321414e-01 -1.54404298e-02 1.78973265e+01] [ 2.95801599e-02 3.63323609e-04 9.99562345e-01 -8.62112162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.414012739 meters Centerline goodness [0,1] 0.995197255574614 Centerline is valid? [True, True] Translation: X:358.03, Y:17.91, Z:-0.86 [[ 8.58897817e-01 -5.11497772e-01 -2.57792361e-02 3.58033226e+02] [ 5.11254427e-01 8.59284522e-01 -1.57803918e-02 1.79128826e+01] [ 3.02233338e-02 3.73995536e-04 9.99543101e-01 -8.62028025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.444012739 meters Centerline goodness [0,1] 0.9954933788979069 Centerline is valid? [True, True] Translation: X:358.06, Y:17.93, Z:-0.86 [[ 8.58833757e-01 -5.11580933e-01 -2.62588503e-02 3.58056006e+02] [ 5.11328279e-01 8.59235010e-01 -1.60807076e-02 1.79292746e+01] [ 3.07891069e-02 3.83761758e-04 9.99525829e-01 -8.63004738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.474012739 meters Centerline goodness [0,1] 0.9955867303428279 Centerline is valid? [True, True] Translation: X:358.08, Y:17.95, Z:-0.86 [[ 8.58729969e-01 -5.11801552e-01 -2.53379572e-02 3.58077996e+02] [ 5.11566237e-01 8.59103624e-01 -1.55225192e-02 1.79465338e+01] [ 2.97123803e-02 3.67608989e-04 9.99558422e-01 -8.60324161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.504012739 meters Centerline goodness [0,1] 0.9956971292787875 Centerline is valid? [True, True] Translation: X:358.10, Y:17.96, Z:-0.86 [[ 8.58695039e-01 -5.11908407e-01 -2.43436224e-02 3.58102304e+02] [ 5.11691166e-01 8.59039963e-01 -1.49161595e-02 1.79628126e+01] [ 2.85478519e-02 3.52015641e-04 9.99592365e-01 -8.56365935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.534012739 meters Centerline goodness [0,1] 0.9956971292787875 Centerline is valid? [True, True] Translation: X:358.13, Y:17.98, Z:-0.86 [[ 8.58602780e-01 -5.12063206e-01 -2.43421422e-02 3.58125634e+02] [ 5.11845959e-01 8.58947700e-01 -1.49185747e-02 1.79773445e+01] [ 2.85478802e-02 3.49702620e-04 9.99592365e-01 -8.55657600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.564012739 meters Centerline goodness [0,1] 0.9953629506164925 Centerline is valid? [True, True] Translation: X:358.15, Y:17.99, Z:-0.86 [[ 8.58598240e-01 -5.12067960e-01 -2.44021773e-02 3.58146820e+02] [ 5.11849477e-01 8.58944863e-01 -1.49610930e-02 1.79936248e+01] [ 2.86212213e-02 3.55326403e-04 9.99590266e-01 -8.55194945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.594012739 meters Centerline goodness [0,1] 0.9957729339681048 Centerline is valid? [True, True] Translation: X:358.17, Y:18.02, Z:-0.86 [[ 8.59185028e-01 -5.11013647e-01 -2.58097015e-02 3.58167979e+02] [ 5.10768651e-01 8.59572498e-01 -1.58273846e-02 1.80150981e+01] [ 3.02733191e-02 4.15865485e-04 9.99541572e-01 -8.58357292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.624012739 meters Centerline goodness [0,1] 0.9960130326674097 Centerline is valid? [True, True] Translation: X:358.19, Y:18.03, Z:-0.86 [[ 8.59373678e-01 -5.10686243e-01 -2.60085366e-02 3.58190361e+02] [ 5.10437134e-01 8.59767045e-01 -1.59549434e-02 1.80335366e+01] [ 3.05092528e-02 4.35535482e-04 9.99534390e-01 -8.58557995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.654012739 meters Centerline goodness [0,1] 0.995800110860018 Centerline is valid? [True, True] Translation: X:358.21, Y:18.05, Z:-0.86 [[ 8.59362451e-01 -5.10700859e-01 -2.60923431e-02 3.58211656e+02] [ 5.10449991e-01 8.59758360e-01 -1.60115336e-02 1.80502338e+01] [ 3.06102141e-02 4.40874494e-04 9.99531300e-01 -8.58027431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.684012739 meters Centerline goodness [0,1] 0.9955639915545224 Centerline is valid? [True, True] Translation: X:358.24, Y:18.07, Z:-0.86 [[ 8.57956347e-01 -5.13096606e-01 -2.53530952e-02 3.58235821e+02] [ 5.12860709e-01 8.58330794e-01 -1.55609117e-02 1.80655516e+01] [ 2.97455933e-02 3.47976604e-04 9.99557441e-01 -8.55664150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.714012739 meters Centerline goodness [0,1] 0.9951680400362397 Centerline is valid? [True, True] Translation: X:358.26, Y:18.08, Z:-0.85 [[ 8.56877720e-01 -5.14923799e-01 -2.47801120e-02 3.58261505e+02] [ 5.14699055e-01 8.57235907e-01 -1.52145224e-02 1.80782429e+01] [ 2.90767215e-02 2.82685006e-04 9.99577143e-01 -8.52927830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.744012739 meters Centerline goodness [0,1] 0.9944335790582217 Centerline is valid? [True, True] Translation: X:358.29, Y:18.09, Z:-0.85 [[ 8.55074905e-01 -5.17946963e-01 -2.40385153e-02 3.58286784e+02] [ 5.17736516e-01 8.55412714e-01 -1.47644276e-02 1.80929938e+01] [ 2.82100420e-02 1.79074321e-04 9.99602002e-01 -8.49806365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.774012739 meters Centerline goodness [0,1] 0.9943006613784744 Centerline is valid? [True, True] Translation: X:358.31, Y:18.11, Z:-0.85 [[ 8.54470562e-01 -5.18938748e-01 -2.41378356e-02 3.58308988e+02] [ 5.18726834e-01 8.54811414e-01 -1.48296221e-02 1.81081207e+01] [ 2.83289629e-02 1.50532495e-04 9.99598643e-01 -8.49370028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80401273900003 meters Centerline goodness [0,1] 0.9941856722950503 Centerline is valid? [True, True] Translation: X:358.33, Y:18.12, Z:-0.85 [[ 8.53939062e-01 -5.19811392e-01 -2.41701221e-02 3.58333028e+02] [ 5.19599178e-01 8.54281043e-01 -1.48523906e-02 1.81231127e+01] [ 2.83685190e-02 1.24260872e-04 9.99597525e-01 -8.48886322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.834012739 meters Centerline goodness [0,1] 0.9944188612779322 Centerline is valid? [True, True] Translation: X:358.36, Y:18.14, Z:-0.85 [[ 8.53499228e-01 -5.20519402e-01 -2.44667178e-02 3.58355980e+02] [ 5.20302067e-01 8.53849835e-01 -1.50405383e-02 1.81376822e+01] [ 2.87197950e-02 1.07004001e-04 9.99587496e-01 -8.48916380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86401273900003 meters Centerline goodness [0,1] 0.9928969957081545 Centerline is valid? [True, True] Translation: X:358.38, Y:18.15, Z:-0.85 [[ 8.51953527e-01 -5.23074676e-01 -2.38342421e-02 3.58382603e+02] [ 5.22869355e-01 8.52286855e-01 -1.46545155e-02 1.81498224e+01] [ 2.79790172e-02 2.27713758e-05 9.99608510e-01 -8.46733504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.894012739 meters Centerline goodness [0,1] 0.9925374725485597 Centerline is valid? [True, True] Translation: X:358.41, Y:18.16, Z:-0.85 [[ 8.50887734e-01 -5.24807109e-01 -2.38235801e-02 3.58407410e+02] [ 5.24602503e-01 8.51221180e-01 -1.46531976e-02 1.81617406e+01] [ 2.79692382e-02 -2.96836290e-05 9.99608784e-01 -8.46003486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.924012739 meters Centerline goodness [0,1] 0.9916526120279242 Centerline is valid? [True, True] Translation: X:358.43, Y:18.17, Z:-0.84 [[ 8.48975555e-01 -5.27907317e-01 -2.35450960e-02 3.58434647e+02] [ 5.27708579e-01 8.49301977e-01 -1.44847272e-02 1.81723601e+01] [ 2.76434901e-02 -1.27769826e-04 9.99617838e-01 -8.43295063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.954012739 meters Centerline goodness [0,1] 0.9915767759680262 Centerline is valid? [True, True] Translation: X:358.46, Y:18.19, Z:-0.84 [[ 8.48198872e-01 -5.29172561e-01 -2.31316543e-02 3.58460720e+02] [ 5.28981074e-01 8.48514216e-01 -1.42354755e-02 1.81854066e+01] [ 2.71605605e-02 -1.61693019e-04 9.99631071e-01 -8.42111405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.984012739 meters Centerline goodness [0,1] 0.9913130495880086 Centerline is valid? [True, True] Translation: X:358.49, Y:18.20, Z:-0.84 [[ 8.47491320e-01 -5.30298787e-01 -2.32735888e-02 3.58486734e+02] [ 5.30105223e-01 8.47810804e-01 -1.43280632e-02 1.81967897e+01] [ 2.73297545e-02 -1.94541840e-04 9.99626454e-01 -8.42086042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.014012739 meters Centerline goodness [0,1] 0.991011525890246 Centerline is valid? [True, True] Translation: X:358.51, Y:18.21, Z:-0.84 [[ 8.46665612e-01 -5.31560008e-01 -2.45214063e-02 3.58513316e+02] [ 5.31345585e-01 8.47020600e-01 -1.50987595e-02 1.82083796e+01] [ 2.87960330e-02 -2.45740510e-04 9.99585278e-01 -8.44205435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.044012739 meters Centerline goodness [0,1] 0.9911731630206455 Centerline is valid? [True, True] Translation: X:358.54, Y:18.22, Z:-0.84 [[ 8.46514728e-01 -5.31759111e-01 -2.53981091e-02 3.58537263e+02] [ 5.31528999e-01 8.46895615e-01 -1.56442032e-02 1.82218038e+01] [ 2.98284948e-02 -2.56783146e-04 9.99554998e-01 -8.44558601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.074012739 meters Centerline goodness [0,1] 0.9905908517417616 Centerline is valid? [True, True] Translation: X:358.56, Y:18.23, Z:-0.84 [[ 8.46478318e-01 -5.31822182e-01 -2.52907898e-02 3.58561234e+02] [ 5.31593946e-01 8.46856010e-01 -1.55812516e-02 1.82344256e+01] [ 2.97041125e-02 -2.55239027e-04 9.99558703e-01 -8.43711640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.104012739 meters Centerline goodness [0,1] 0.9910330294168244 Centerline is valid? [True, True] Translation: X:358.59, Y:18.25, Z:-0.84 [[ 8.46507183e-01 -5.31835819e-01 -2.40052402e-02 3.58586605e+02] [ 5.31630107e-01 8.46847450e-01 -1.47927365e-02 1.82471182e+01] [ 2.81960836e-02 -2.39750739e-04 9.99602383e-01 -8.39520715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.134012739 meters Centerline goodness [0,1] 0.9905943351759009 Centerline is valid? [True, True] Translation: X:358.61, Y:18.26, Z:-0.84 [[ 8.46334708e-01 -5.32103777e-01 -2.41481542e-02 3.58611502e+02] [ 5.31895544e-01 8.46679107e-01 -1.48869042e-02 1.82589928e+01] [ 2.83671156e-02 -2.44991887e-04 9.99597542e-01 -8.39456654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.164012739 meters Centerline goodness [0,1] 0.991006963728799 Centerline is valid? [True, True] Translation: X:358.64, Y:18.27, Z:-0.84 [[ 8.46165494e-01 -5.32344081e-01 -2.47737164e-02 3.58637834e+02] [ 5.32124933e-01 8.46528035e-01 -1.52755633e-02 1.82682631e+01] [ 2.91035012e-02 -2.57057633e-04 9.99576370e-01 -8.41791284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.194012739 meters Centerline goodness [0,1] 0.9910123900622713 Centerline is valid? [True, True] Translation: X:358.66, Y:18.28, Z:-0.84 [[ 8.45966516e-01 -5.32685236e-01 -2.42300065e-02 3.58662616e+02] [ 5.32475637e-01 8.46313401e-01 -1.49440246e-02 1.82805054e+01] [ 2.84666404e-02 -2.59743739e-04 9.99594709e-01 -8.39420288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.224012739 meters Centerline goodness [0,1] 0.9907614300446889 Centerline is valid? [True, True] Translation: X:358.69, Y:18.29, Z:-0.84 [[ 8.45806874e-01 -5.32977190e-01 -2.33676547e-02 3.58687739e+02] [ 5.32782201e-01 8.46129570e-01 -1.44179300e-02 1.82933608e+01] [ 2.74564914e-02 -2.55086225e-04 9.99622967e-01 -8.36627734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.254012739 meters Centerline goodness [0,1] 0.9903912443984833 Centerline is valid? [True, True] Translation: X:358.71, Y:18.31, Z:-0.83 [[ 8.45601115e-01 -5.33335311e-01 -2.26318673e-02 3.58712228e+02] [ 5.33152389e-01 8.45903885e-01 -1.39695437e-02 1.83074904e+01] [ 2.65948354e-02 -2.53572372e-04 9.99646263e-01 -8.34065692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.284012739 meters Centerline goodness [0,1] 0.9907140222603111 Centerline is valid? [True, True] Translation: X:358.74, Y:18.32, Z:-0.84 [[ 8.45588312e-01 -5.33285380e-01 -2.42303761e-02 3.58738111e+02] [ 5.33075488e-01 8.45935360e-01 -1.49629548e-02 1.83188521e+01] [ 2.84768570e-02 -2.64119868e-04 9.99594417e-01 -8.36877399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.314012739 meters Centerline goodness [0,1] 0.9914275304858448 Centerline is valid? [True, True] Translation: X:358.76, Y:18.33, Z:-0.84 [[ 8.45760622e-01 -5.32924652e-01 -2.60822949e-02 3.58763940e+02] [ 5.32681061e-01 8.46162659e-01 -1.61133948e-02 1.83295477e+01] [ 3.06570893e-02 -2.65469689e-04 9.99529926e-01 -8.41548667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.344012739 meters Centerline goodness [0,1] 0.9921105396216546 Centerline is valid? [True, True] Translation: X:358.79, Y:18.34, Z:-0.84 [[ 8.46263766e-01 -5.32047900e-01 -2.76164914e-02 3.58788009e+02] [ 5.31774173e-01 8.46714222e-01 -1.70662171e-02 1.83431640e+01] [ 3.24633210e-02 -2.43215740e-04 9.99472898e-01 -8.41659634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.374012739 meters Centerline goodness [0,1] 0.9924892245977894 Centerline is valid? [True, True] Translation: X:358.81, Y:18.36, Z:-0.84 [[ 8.47362533e-01 -5.30327536e-01 -2.70081958e-02 3.58811235e+02] [ 5.30064663e-01 8.47792826e-01 -1.66966106e-02 1.83588949e+01] [ 3.17520271e-02 -1.68007971e-04 9.99495763e-01 -8.39694087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.404012739 meters Centerline goodness [0,1] 0.9937872231029607 Centerline is valid? [True, True] Translation: X:358.83, Y:18.38, Z:-0.83 [[ 8.50887033e-01 -5.24743709e-01 -2.52050768e-02 3.58829561e+02] [ 5.24512253e-01 8.51260264e-01 -1.55839136e-02 1.83814707e+01] [ 2.96336409e-02 3.97783714e-05 9.99560826e-01 -8.34159244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.434012739 meters Centerline goodness [0,1] 0.9952302172184861 Centerline is valid? [True, True] Translation: X:358.85, Y:18.40, Z:-0.83 [[ 8.52840708e-01 -5.21578647e-01 -2.48684759e-02 3.58851509e+02] [ 5.21351914e-01 8.53203195e-01 -1.53782091e-02 1.84008501e+01] [ 2.92388086e-02 1.49935198e-04 9.99572443e-01 -8.32150249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.464012739 meters Centerline goodness [0,1] 0.9958935751561296 Centerline is valid? [True, True] Translation: X:358.87, Y:18.42, Z:-0.83 [[ 8.54514190e-01 -5.18836902e-01 -2.47743450e-02 3.58872508e+02] [ 5.18610577e-01 8.54873212e-01 -1.53251937e-02 1.84205136e+01] [ 2.91301999e-02 2.47358161e-04 9.99575595e-01 -8.31277146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.494012739 meters Centerline goodness [0,1] 0.9968035354185438 Centerline is valid? [True, True] Translation: X:358.89, Y:18.44, Z:-0.83 [[ 8.56988500e-01 -5.14688132e-01 -2.58231943e-02 3.58891951e+02] [ 5.14440262e-01 8.57377374e-01 -1.59767070e-02 1.84438670e+01] [ 3.03632440e-02 4.07363364e-04 9.99538847e-01 -8.33535857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.524012739 meters Centerline goodness [0,1] 0.996745304090706 Centerline is valid? [True, True] Translation: X:358.91, Y:18.46, Z:-0.83 [[ 8.57389130e-01 -5.14018823e-01 -2.58559271e-02 3.58913546e+02] [ 5.13769855e-01 8.57778794e-01 -1.60023864e-02 1.84609967e+01] [ 3.04041938e-02 4.36276255e-04 9.99537590e-01 -8.33582951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55401273900003 meters Centerline goodness [0,1] 0.9967257318952234 Centerline is valid? [True, True] Translation: X:358.94, Y:18.48, Z:-0.83 [[ 8.56889733e-01 -5.14932811e-01 -2.41699221e-02 3.58936710e+02] [ 5.14715534e-01 8.57230457e-01 -1.49620637e-02 1.84764843e+01] [ 2.84236509e-02 3.80204375e-04 9.99595894e-01 -8.28461284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.584012739 meters Centerline goodness [0,1] 0.9964588634435962 Centerline is valid? [True, True] Translation: X:358.96, Y:18.49, Z:-0.83 [[ 8.56126505e-01 -5.16239047e-01 -2.33378125e-02 3.58962539e+02] [ 5.16036885e-01 8.56444475e-01 -1.44497461e-02 1.84897419e+01] [ 2.74470637e-02 3.27638587e-04 9.99623205e-01 -8.25599692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61401273900003 meters Centerline goodness [0,1] 0.9965762951233603 Centerline is valid? [True, True] Translation: X:358.99, Y:18.51, Z:-0.82 [[ 8.55486007e-01 -5.17314245e-01 -2.30144416e-02 3.58986777e+02] [ 5.17117896e-01 8.55795470e-01 -1.42546584e-02 1.85058453e+01] [ 2.70697927e-02 2.93481188e-04 9.99633503e-01 -8.24553095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.644012739 meters Centerline goodness [0,1] 0.9965876858111711 Centerline is valid? [True, True] Translation: X:359.01, Y:18.52, Z:-0.83 [[ 8.55050173e-01 -5.18015230e-01 -2.34397993e-02 3.59009218e+02] [ 5.17811676e-01 8.55371348e-01 -1.45232543e-02 1.85226351e+01] [ 2.75729997e-02 2.80709291e-04 9.99619753e-01 -8.25044410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.674012739 meters Centerline goodness [0,1] 0.9964603279527475 Centerline is valid? [True, True] Translation: X:359.03, Y:18.54, Z:-0.83 [[ 8.54676838e-01 -5.18566741e-01 -2.48201140e-02 3.59030488e+02] [ 5.18338670e-01 8.55037108e-01 -1.53807353e-02 1.85400949e+01] [ 2.91980563e-02 2.80333354e-04 9.99573607e-01 -8.26557108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.704012739 meters Centerline goodness [0,1] 0.996410223339997 Centerline is valid? [True, True] Translation: X:359.05, Y:18.56, Z:-0.83 [[ 8.54315202e-01 -5.19114389e-01 -2.58028196e-02 3.59054012e+02] [ 5.18868024e-01 8.54704730e-01 -1.59937207e-02 1.85550321e+01] [ 3.03563625e-02 2.75420773e-04 9.99539101e-01 -8.27081693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.734012739 meters Centerline goodness [0,1] 0.9962223653144452 Centerline is valid? [True, True] Translation: X:359.08, Y:18.57, Z:-0.83 [[ 8.53543947e-01 -5.20344484e-01 -2.65395850e-02 3.59076190e+02] [ 5.20084244e-01 8.53956415e-01 -1.64566308e-02 1.85721148e+01] [ 3.12267660e-02 2.43637576e-04 9.99512296e-01 -8.29539285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.764012739 meters Centerline goodness [0,1] 0.9955904286362752 Centerline is valid? [True, True] Translation: X:359.10, Y:18.59, Z:-0.83 [[ 8.52880078e-01 -5.21446298e-01 -2.62551201e-02 3.59101377e+02] [ 5.21192046e-01 8.53284078e-01 -1.62829287e-02 1.85859344e+01] [ 3.08937489e-02 2.03425710e-04 9.99522654e-01 -8.28423182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.794012739 meters Centerline goodness [0,1] 0.994371842155755 Centerline is valid? [True, True] Translation: X:359.13, Y:18.60, Z:-0.83 [[ 8.51991878e-01 -5.22914843e-01 -2.58825503e-02 3.59126258e+02] [ 5.22668284e-01 8.52384915e-01 -1.60568363e-02 1.85990978e+01] [ 3.04582535e-02 1.52305982e-04 9.99536028e-01 -8.26728375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.824012739 meters Centerline goodness [0,1] 0.9928372547769346 Centerline is valid? [True, True] Translation: X:359.15, Y:18.61, Z:-0.82 [[ 8.49923260e-01 -5.26341427e-01 -2.43957922e-02 3.59152829e+02] [ 5.26123738e-01 8.50273310e-01 -1.51363998e-02 1.86095636e+01] [ 2.87100052e-02 2.95728314e-05 9.99587782e-01 -8.22833668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.854012739 meters Centerline goodness [0,1] 0.9925662435034506 Centerline is valid? [True, True] Translation: X:359.18, Y:18.62, Z:-0.82 [[ 8.48913154e-01 -5.27972467e-01 -2.43214200e-02 3.59177009e+02] [ 5.27756704e-01 8.49261487e-01 -1.50926557e-02 1.86228302e+01] [ 2.86237520e-02 -2.34385212e-05 9.99590256e-01 -8.21565939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.884012739 meters Centerline goodness [0,1] 0.9915656748525058 Centerline is valid? [True, True] Translation: X:359.20, Y:18.64, Z:-0.82 [[ 8.48429882e-01 -5.28771765e-01 -2.38150462e-02 3.59200059e+02] [ 5.28565043e-01 8.48764054e-01 -1.47843160e-02 1.86374582e+01] [ 2.80308840e-02 -4.43454308e-05 9.99607057e-01 -8.19379427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.914012739 meters Centerline goodness [0,1] 0.9918511130445854 Centerline is valid? [True, True] Translation: X:359.22, Y:18.65, Z:-0.82 [[ 8.48776125e-01 -5.28255549e-01 -2.29164651e-02 3.59221529e+02] [ 5.28063843e-01 8.49085434e-01 -1.42303739e-02 1.86543675e+01] [ 2.69753107e-02 -2.29550374e-05 9.99636100e-01 -8.16425632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.944012739 meters Centerline goodness [0,1] 0.9920409202818575 Centerline is valid? [True, True] Translation: X:359.24, Y:18.67, Z:-0.82 [[ 8.49280524e-01 -5.27435108e-01 -2.31257056e-02 3.59244174e+02] [ 5.27239469e-01 8.49595319e-01 -1.43643906e-02 1.86716121e+01] [ 2.72237752e-02 6.61242281e-06 9.99629364e-01 -8.15675802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.974012739 meters Centerline goodness [0,1] 0.9936972545668198 Centerline is valid? [True, True] Translation: X:359.27, Y:18.69, Z:-0.82 [[ 8.50945589e-01 -5.24717856e-01 -2.37228957e-02 3.59265130e+02] [ 5.24510750e-01 8.51276196e-01 -1.47415131e-02 1.86934199e+01] [ 2.79298715e-02 1.01311800e-04 9.99609880e-01 -8.15499527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.004012739 meters Centerline goodness [0,1] 0.9942776008949316 Centerline is valid? [True, True] Translation: X:359.29, Y:18.71, Z:-0.81 [[ 8.51671731e-01 -5.23545628e-01 -2.35634748e-02 3.59287774e+02] [ 5.23340700e-01 8.51997626e-01 -1.46477757e-02 1.87120346e+01] [ 2.77448035e-02 1.43371082e-04 9.99615029e-01 -8.13993887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.034012739 meters Centerline goodness [0,1] 0.994672235956014 Centerline is valid? [True, True] Translation: X:359.31, Y:18.73, Z:-0.81 [[ 8.52176049e-01 -5.22751529e-01 -2.29525576e-02 3.59309226e+02] [ 5.22556668e-01 8.52485079e-01 -1.42729894e-02 1.87299716e+01] [ 2.70279400e-02 1.69087703e-04 9.99634664e-01 -8.12080496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.064012739 meters Centerline goodness [0,1] 0.9944847852473329 Centerline is valid? [True, True] Translation: X:359.33, Y:18.75, Z:-0.81 [[ 8.52972286e-01 -5.21517002e-01 -2.14078642e-02 3.59329723e+02] [ 5.21347041e-01 8.53240868e-01 -1.33148066e-02 1.87513065e+01] [ 2.52099626e-02 1.96234335e-04 9.99682159e-01 -8.08603526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.094012739 meters Centerline goodness [0,1] 0.9951726936796463 Centerline is valid? [True, True] Translation: X:359.35, Y:18.77, Z:-0.81 [[ 8.53124080e-01 -5.21263152e-01 -2.15413642e-02 3.59351993e+02] [ 5.21090860e-01 8.53395971e-01 -1.34027163e-02 1.87689921e+01] [ 2.53696555e-02 2.09172043e-04 9.99678117e-01 -8.08538363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.124012739 meters Centerline goodness [0,1] 0.9946449007795124 Centerline is valid? [True, True] Translation: X:359.38, Y:18.78, Z:-0.81 [[ 8.51731042e-01 -5.23459892e-01 -2.33232276e-02 3.59377335e+02] [ 5.23258557e-01 8.52050301e-01 -1.45178216e-02 1.87826340e+01] [ 2.74720604e-02 1.61200878e-04 9.99622559e-01 -8.11728492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.154012739 meters Centerline goodness [0,1] 0.9940340297221624 Centerline is valid? [True, True] Translation: X:359.40, Y:18.80, Z:-0.81 [[ 8.50347695e-01 -5.25664113e-01 -2.42082271e-02 3.59402194e+02] [ 5.25447938e-01 8.50692207e-01 -1.50742608e-02 1.87952091e+01] [ 2.85177481e-02 9.81999106e-05 9.99593281e-01 -8.12967099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.184012739 meters Centerline goodness [0,1] 0.9931791857921153 Centerline is valid? [True, True] Translation: X:359.43, Y:18.81, Z:-0.81 [[ 8.48874460e-01 -5.28031222e-01 -2.43963057e-02 3.59427578e+02] [ 5.27812579e-01 8.49224957e-01 -1.51938689e-02 1.88065223e+01] [ 2.87407888e-02 2.10102104e-05 9.99586898e-01 -8.12921646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.214012739 meters Centerline goodness [0,1] 0.99209342966136 Centerline is valid? [True, True] Translation: X:359.45, Y:18.82, Z:-0.81 [[ 8.46824208e-01 -5.31327534e-01 -2.40792895e-02 3.59453144e+02] [ 5.31115701e-01 8.47166480e-01 -1.50022417e-02 1.88162887e+01] [ 2.83702710e-02 -8.46273160e-05 9.99597479e-01 -8.11559144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.244012739 meters Centerline goodness [0,1] 0.9918756247474425 Centerline is valid? [True, True] Translation: X:359.48, Y:18.83, Z:-0.81 [[ 8.45995093e-01 -5.32636667e-01 -2.42998667e-02 3.59478163e+02] [ 5.32421368e-01 8.46343999e-01 -1.51433660e-02 1.88298028e+01] [ 2.86319584e-02 -1.26554988e-04 9.99590013e-01 -8.11190997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.274012739 meters Centerline goodness [0,1] 0.9918621764349407 Centerline is valid? [True, True] Translation: X:359.50, Y:18.84, Z:-0.81 [[ 8.45583051e-01 -5.33250452e-01 -2.51646492e-02 3.59502290e+02] [ 5.33019655e-01 8.45957406e-01 -1.56880251e-02 1.88448815e+01] [ 2.96538679e-02 -1.47724484e-04 9.99560216e-01 -8.12225598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30401273900003 meters Centerline goodness [0,1] 0.9927910250394574 Centerline is valid? [True, True] Translation: X:359.52, Y:18.86, Z:-0.82 [[ 8.46493175e-01 -5.31739018e-01 -2.65126886e-02 3.59522465e+02] [ 5.31481899e-01 8.46908264e-01 -1.65343049e-02 1.88635072e+01] [ 3.12457501e-02 -9.48377937e-05 9.99511728e-01 -8.15407527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.334012739 meters Centerline goodness [0,1] 0.993525641025641 Centerline is valid? [True, True] Translation: X:359.54, Y:18.88, Z:-0.81 [[ 8.47642763e-01 -5.29893620e-01 -2.67301009e-02 3.59543997e+02] [ 5.29631189e-01 8.48064120e-01 -1.66749036e-02 1.88826831e+01] [ 3.15047645e-02 -2.27338111e-05 9.99503601e-01 -8.14617760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36401273900003 meters Centerline goodness [0,1] 0.9960318316116371 Centerline is valid? [True, True] Translation: X:359.56, Y:18.91, Z:-0.81 [[ 8.51055922e-01 -5.24454634e-01 -2.55177286e-02 3.59562592e+02] [ 5.24212838e-01 8.51438375e-01 -1.59246745e-02 1.89080123e+01] [ 3.00785427e-02 1.76067634e-04 9.99547523e-01 -8.11420381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.394012739 meters Centerline goodness [0,1] 0.9966334270859968 Centerline is valid? [True, True] Translation: X:359.58, Y:18.93, Z:-0.81 [[ 8.52247127e-01 -5.22535415e-01 -2.51311498e-02 3.59584613e+02] [ 5.22299887e-01 8.52617546e-01 -1.56890910e-02 1.89273069e+01] [ 2.96253649e-02 2.44986087e-04 9.99561043e-01 -8.09604171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.424012739 meters Centerline goodness [0,1] 0.9970534856410804 Centerline is valid? [True, True] Translation: X:359.60, Y:18.95, Z:-0.81 [[ 8.53127121e-01 -5.21108105e-01 -2.49090060e-02 3.59604781e+02] [ 5.20875957e-01 8.53490630e-01 -1.55557844e-02 1.89465715e+01] [ 2.93658485e-02 2.96559204e-04 9.99568686e-01 -8.09444807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.454012739 meters Centerline goodness [0,1] 0.9970534856410804 Centerline is valid? [True, True] Translation: X:359.63, Y:18.96, Z:-0.81 [[ 8.53035247e-01 -5.21258569e-01 -2.49072761e-02 3.59627976e+02] [ 5.21026404e-01 8.53398745e-01 -1.55585538e-02 1.89613067e+01] [ 2.93658676e-02 2.94646268e-04 9.99568686e-01 -8.08736578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.484012739 meters Centerline goodness [0,1] 0.997302851271513 Centerline is valid? [True, True] Translation: X:359.65, Y:18.98, Z:-0.81 [[ 8.53414519e-01 -5.20627825e-01 -2.51063107e-02 3.59650770e+02] [ 5.20391481e-01 8.53783674e-01 -1.56889798e-02 1.89788516e+01] [ 2.96034776e-02 3.24092935e-04 9.99561668e-01 -8.09166999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.514012739 meters Centerline goodness [0,1] 0.9971199385586893 Centerline is valid? [True, True] Translation: X:359.67, Y:19.00, Z:-0.81 [[ 8.53685384e-01 -5.20188810e-01 -2.49973420e-02 3.59671810e+02] [ 5.19954176e-01 8.54051219e-01 -1.56259383e-02 1.89968175e+01] [ 2.94774486e-02 3.42162832e-04 9.99565387e-01 -8.08725856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.544012739 meters Centerline goodness [0,1] 0.9967718488113563 Centerline is valid? [True, True] Translation: X:359.69, Y:19.01, Z:-0.81 [[ 8.53745669e-01 -5.20112789e-01 -2.45156847e-02 3.59693561e+02] [ 5.19886992e-01 8.54097518e-01 -1.53279260e-02 1.90125124e+01] [ 2.89110358e-02 3.40764834e-04 9.99581931e-01 -8.06431235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.574012739 meters Centerline goodness [0,1] 0.9968023875506289 Centerline is valid? [True, True] Translation: X:359.72, Y:19.03, Z:-0.80 [[ 8.54275787e-01 -5.19286017e-01 -2.35565936e-02 3.59715665e+02] [ 5.19077142e-01 8.54600436e-01 -1.47314209e-02 1.90311782e+01] [ 2.77812960e-02 3.57006939e-04 9.99613962e-01 -8.02545886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.604012739 meters Centerline goodness [0,1] 0.9969359331476323 Centerline is valid? [True, True] Translation: X:359.74, Y:19.05, Z:-0.80 [[ 8.54346941e-01 -5.19177902e-01 -2.33583154e-02 3.59739167e+02] [ 5.18972353e-01 8.54666119e-01 -1.46123877e-02 1.90467820e+01] [ 2.75499896e-02 3.61728768e-04 9.99620362e-01 -8.00282036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.634012739 meters Centerline goodness [0,1] 0.9968566999655529 Centerline is valid? [True, True] Translation: X:359.76, Y:19.07, Z:-0.80 [[ 8.54381441e-01 -5.19175981e-01 -2.21055107e-02 3.59758155e+02] [ 5.18991756e-01 8.54667292e-01 -1.38339089e-02 1.90678539e+01] [ 2.60750903e-02 3.46857232e-04 9.99659927e-01 -7.98080956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.664012739 meters Centerline goodness [0,1] 0.996686561457913 Centerline is valid? [True, True] Translation: X:359.78, Y:19.08, Z:-0.80 [[ 8.53991079e-01 -5.19832156e-01 -2.17661826e-02 3.59781132e+02] [ 5.19653697e-01 8.54268357e-01 -1.36238930e-02 1.90845930e+01] [ 2.56762987e-02 3.23805799e-04 9.99670257e-01 -7.97093987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.694012739 meters Centerline goodness [0,1] 0.9964252076376402 Centerline is valid? [True, True] Translation: X:359.81, Y:19.10, Z:-0.80 [[ 8.53326211e-01 -5.20913028e-01 -2.19998899e-02 3.59806869e+02] [ 5.20730955e-01 8.53609705e-01 -1.37748022e-02 1.90974420e+01] [ 2.59547935e-02 2.98376100e-04 9.99663073e-01 -7.96783944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.724012739 meters Centerline goodness [0,1] 0.9953598768335971 Centerline is valid? [True, True] Translation: X:359.83, Y:19.11, Z:-0.80 [[ 8.50557558e-01 -5.25333430e-01 -2.40130724e-02 3.59832195e+02] [ 5.25118096e-01 8.50896441e-01 -1.50410005e-02 1.91097163e+01] [ 2.83341782e-02 1.83537803e-04 9.99598490e-01 -8.00911886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.754012739 meters Centerline goodness [0,1] 0.9947384181032639 Centerline is valid? [True, True] Translation: X:359.86, Y:19.12, Z:-0.80 [[ 8.48688276e-01 -5.28315703e-01 -2.47129343e-02 3.59857567e+02] [ 5.28088829e-01 8.49048002e-01 -1.54815614e-02 1.91215534e+01] [ 2.91616195e-02 8.83951185e-05 9.99574706e-01 -8.01735720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.784012739 meters Centerline goodness [0,1] 0.9919472599209758 Centerline is valid? [True, True] Translation: X:359.89, Y:19.13, Z:-0.80 [[ 8.44588140e-01 -5.34850849e-01 -2.46057560e-02 3.59887471e+02] [ 5.34628610e-01 8.44946479e-01 -1.54174555e-02 1.91252775e+01] [ 2.90365860e-02 -1.33541091e-04 9.99578341e-01 -8.00525523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.814012739 meters Centerline goodness [0,1] 0.990780172046674 Centerline is valid? [True, True] Translation: X:359.92, Y:19.14, Z:-0.80 [[ 8.42183368e-01 -5.38646973e-01 -2.42201046e-02 3.59915413e+02] [ 5.38433110e-01 8.42531526e-01 -1.51793721e-02 1.91356836e+01] [ 2.85825246e-02 -2.57091530e-04 9.99591403e-01 -7.98921517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.844012739 meters Centerline goodness [0,1] 0.9893254357182426 Centerline is valid? [True, True] Translation: X:359.94, Y:19.14, Z:-0.80 [[ 8.40224553e-01 -5.41739220e-01 -2.32662431e-02 3.59943572e+02] [ 5.41542929e-01 8.40546548e-01 -1.45861993e-02 1.91438035e+01] [ 2.74582766e-02 -3.43986616e-04 9.99622891e-01 -7.96262163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.874012739 meters Centerline goodness [0,1] 0.9893267475571781 Centerline is valid? [True, True] Translation: X:359.97, Y:19.16, Z:-0.79 [[ 8.38680313e-01 -5.44171189e-01 -2.22047094e-02 3.59967775e+02] [ 5.43993190e-01 8.38974109e-01 -1.39231467e-02 1.91594299e+01] [ 2.62057516e-02 -4.02141656e-04 9.99656489e-01 -7.92116821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.904012739 meters Centerline goodness [0,1] 0.9889545173465254 Centerline is valid? [True, True] Translation: X:359.99, Y:19.17, Z:-0.79 [[ 8.38868761e-01 -5.43858772e-01 -2.27340755e-02 3.59993209e+02] [ 5.43671930e-01 8.39176667e-01 -1.42602646e-02 1.91704984e+01] [ 2.68334757e-02 -3.97388246e-04 9.99639838e-01 -7.92526400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.934012739 meters Centerline goodness [0,1] 0.9902469214845168 Centerline is valid? [True, True] Translation: X:360.01, Y:19.19, Z:-0.80 [[ 8.40557622e-01 -5.41155701e-01 -2.47667351e-02 3.60012743e+02] [ 5.40932669e-01 8.40922347e-01 -1.55387632e-02 1.91939685e+01] [ 2.92357913e-02 -3.35910306e-04 9.99572486e-01 -7.96019440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.964012739 meters Centerline goodness [0,1] 0.9912120568881342 Centerline is valid? [True, True] Translation: X:360.03, Y:19.21, Z:-0.80 [[ 8.41715274e-01 -5.39313914e-01 -2.56105379e-02 3.60034449e+02] [ 5.39074401e-01 8.42104759e-01 -1.60737193e-02 1.92132834e+01] [ 3.02355363e-02 -2.76490340e-04 9.99542763e-01 -7.96826436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.994012739 meters Centerline goodness [0,1] 0.9916492693110647 Centerline is valid? [True, True] Translation: X:360.06, Y:19.23, Z:-0.80 [[ 8.42748555e-01 -5.37699855e-01 -2.55683324e-02 3.60057290e+02] [ 5.37460218e-01 8.43136300e-01 -1.60528333e-02 1.92310215e+01] [ 3.01891953e-02 -2.13459492e-04 9.99544180e-01 -7.96378618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.024012739 meters Centerline goodness [0,1] 0.9918678363322021 Centerline is valid? [True, True] Translation: X:360.08, Y:19.25, Z:-0.79 [[ 8.43174858e-01 -5.37089972e-01 -2.43006344e-02 3.60082171e+02] [ 5.36873110e-01 8.43524944e-01 -1.52621654e-02 1.92460936e+01] [ 2.86953472e-02 -1.77683014e-04 9.99588188e-01 -7.93523165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05401273900003 meters Centerline goodness [0,1] 0.9912155997368923 Centerline is valid? [True, True] Translation: X:360.11, Y:19.26, Z:-0.79 [[ 8.42973958e-01 -5.37427819e-01 -2.37959259e-02 3.60105960e+02] [ 5.37219862e-01 8.43309734e-01 -1.49503608e-02 1.92586192e+01] [ 2.81020757e-02 -1.80879249e-04 9.99605042e-01 -7.91922241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.084012739 meters Centerline goodness [0,1] 0.9912672229769066 Centerline is valid? [True, True] Translation: X:360.13, Y:19.27, Z:-0.79 [[ 8.42358192e-01 -5.38379727e-01 -2.40820552e-02 3.60133108e+02] [ 5.38167002e-01 8.42702335e-01 -1.51345222e-02 1.92690272e+01] [ 2.84421240e-02 -2.11478648e-04 9.99595419e-01 -7.92001023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11401273900003 meters Centerline goodness [0,1] 0.9914878027756228 Centerline is valid? [True, True] Translation: X:360.16, Y:19.28, Z:-0.79 [[ 8.42034839e-01 -5.38867907e-01 -2.44685081e-02 3.60158265e+02] [ 5.38648342e-01 8.42390246e-01 -1.53830092e-02 1.92821371e+01] [ 2.89014426e-02 -2.26891600e-04 9.99582240e-01 -7.91794369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.144012739 meters Centerline goodness [0,1] 0.9916341327384273 Centerline is valid? [True, True] Translation: X:360.18, Y:19.30, Z:-0.79 [[ 8.42294223e-01 -5.38462609e-01 -2.44634652e-02 3.60182424e+02] [ 5.38242778e-01 8.42649379e-01 -1.53862381e-02 1.92971341e+01] [ 2.88990377e-02 -2.07543992e-04 9.99582314e-01 -7.91116764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.174012739 meters Centerline goodness [0,1] 0.9922055366106792 Centerline is valid? [True, True] Translation: X:360.20, Y:19.32, Z:-0.79 [[ 8.45545670e-01 -5.33385335e-01 -2.35075270e-02 3.60201406e+02] [ 5.33180223e-01 8.45872380e-01 -1.47907530e-02 1.93187362e+01] [ 2.77735386e-02 -2.74913701e-05 9.99614240e-01 -7.88263329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.204012739 meters Centerline goodness [0,1] 0.9939573790938219 Centerline is valid? [True, True] Translation: X:360.22, Y:19.34, Z:-0.79 [[ 8.47828247e-01 -5.29746989e-01 -2.35667410e-02 3.60221997e+02] [ 5.29539348e-01 8.48155716e-01 -1.48310579e-02 1.93392568e+01] [ 2.78449744e-02 9.46731936e-05 9.99612249e-01 -7.87432542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.234012739 meters Centerline goodness [0,1] 0.9958369992060256 Centerline is valid? [True, True] Translation: X:360.24, Y:19.36, Z:-0.79 [[ 8.50180928e-01 -5.25929357e-01 -2.43043410e-02 3.60242352e+02] [ 5.25706794e-01 8.50528223e-01 -1.53006147e-02 1.93598184e+01] [ 2.87185704e-02 2.31333687e-04 9.99587510e-01 -7.88865474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.264012739 meters Centerline goodness [0,1] 0.9965609476499809 Centerline is valid? [True, True] Translation: X:360.26, Y:19.39, Z:-0.79 [[ 8.54059112e-01 -5.19520916e-01 -2.60969600e-02 3.60260055e+02] [ 5.19261227e-01 8.54457597e-01 -1.64314686e-02 1.93852944e+01] [ 3.08352373e-02 4.82305986e-04 9.99524365e-01 -7.91767807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.294012739 meters Centerline goodness [0,1] 0.9964624916922153 Centerline is valid? [True, True] Translation: X:360.28, Y:19.40, Z:-0.79 [[ 8.55127059e-01 -5.17751007e-01 -2.62984454e-02 3.60281828e+02] [ 5.17486357e-01 8.55531174e-01 -1.65614504e-02 1.94044430e+01] [ 3.10738475e-02 5.53057679e-04 9.99516938e-01 -7.91937412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.324012739 meters Centerline goodness [0,1] 0.9964242125773505 Centerline is valid? [True, True] Translation: X:360.30, Y:19.42, Z:-0.79 [[ 8.55875940e-01 -5.16566439e-01 -2.52089100e-02 3.60304483e+02] [ 5.16322591e-01 8.56246917e-01 -1.58807935e-02 1.94231545e+01] [ 2.97885364e-02 5.76059379e-04 9.99556057e-01 -7.89497116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.354012739 meters Centerline goodness [0,1] 0.9966483327603988 Centerline is valid? [True, True] Translation: X:360.33, Y:19.44, Z:-0.79 [[ 8.55419833e-01 -5.17356576e-01 -2.44761724e-02 3.60328242e+02] [ 5.17126867e-01 8.55769762e-01 -1.54246020e-02 1.94384265e+01] [ 2.89259875e-02 5.37224110e-04 9.99581412e-01 -7.87070391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.384012739 meters Centerline goodness [0,1] 0.9960274235919779 Centerline is valid? [True, True] Translation: X:360.35, Y:19.45, Z:-0.78 [[ 8.54337768e-01 -5.19182873e-01 -2.35822408e-02 3.60352940e+02] [ 5.18970199e-01 8.54663051e-01 -1.48661319e-02 1.94509173e+01] [ 2.78731109e-02 4.62217735e-04 9.99611363e-01 -7.83967953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.414012739 meters Centerline goodness [0,1] 0.9963006774922034 Centerline is valid? [True, True] Translation: X:360.38, Y:19.46, Z:-0.78 [[ 8.50827143e-01 -5.24937699e-01 -2.30994596e-02 3.60381654e+02] [ 5.24735703e-01 8.51140611e-01 -1.45637449e-02 1.94580312e+01] [ 2.73059469e-02 2.70118288e-04 9.99627087e-01 -7.83179670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.444012739 meters Centerline goodness [0,1] 0.9956813614401163 Centerline is valid? [True, True] Translation: X:360.41, Y:19.47, Z:-0.78 [[ 8.49054499e-01 -5.27771910e-01 -2.37332849e-02 3.60408860e+02] [ 5.27559639e-01 8.49386117e-01 -1.49683432e-02 1.94692886e+01] [ 2.80585938e-02 1.88215880e-04 9.99606262e-01 -7.83392200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.474012739 meters Centerline goodness [0,1] 0.9937078651685394 Centerline is valid? [True, True] Translation: X:360.44, Y:19.48, Z:-0.79 [[ 8.45997382e-01 -5.32616779e-01 -2.46535164e-02 3.60437999e+02] [ 5.32389621e-01 8.46356524e-01 -1.55539828e-02 1.94762009e+01] [ 2.91499766e-02 3.33524850e-05 9.99575049e-01 -7.86206399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.504012739 meters Centerline goodness [0,1] 0.9930519704009637 Centerline is valid? [True, True] Translation: X:360.46, Y:19.49, Z:-0.79 [[ 8.44723021e-01 -5.34614864e-01 -2.50991160e-02 3.60464031e+02] [ 5.34380221e-01 8.45095821e-01 -1.58376928e-02 1.94870470e+01] [ 2.96782240e-02 -3.40074215e-05 9.99559504e-01 -7.86668859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.534012739 meters Centerline goodness [0,1] 0.9916923603973964 Centerline is valid? [True, True] Translation: X:360.49, Y:19.50, Z:-0.78 [[ 8.43391899e-01 -5.36719105e-01 -2.49540968e-02 3.60490227e+02] [ 5.36487902e-01 8.43760980e-01 -1.57524308e-02 1.94984468e+01] [ 2.95099238e-02 -1.02098550e-04 9.99564482e-01 -7.84870120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.564012739 meters Centerline goodness [0,1] 0.9908826217244384 Centerline is valid? [True, True] Translation: X:360.52, Y:19.51, Z:-0.78 [[ 8.41560389e-01 -5.39619028e-01 -2.42366806e-02 3.60517793e+02] [ 5.39401971e-01 8.41909299e-01 -1.53051014e-02 1.95068792e+01] [ 2.86640107e-02 -1.93146184e-04 9.99589084e-01 -7.82225004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.594012739 meters Centerline goodness [0,1] 0.9910562638402167 Centerline is valid? [True, True] Translation: X:360.54, Y:19.52, Z:-0.78 [[ 8.40890982e-01 -5.40680582e-01 -2.38089215e-02 3.60543030e+02] [ 5.40471486e-01 8.41227946e-01 -1.50371249e-02 1.95216576e+01] [ 2.81590116e-02 -2.23460420e-04 9.99603431e-01 -7.79990008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.624012739 meters Centerline goodness [0,1] 0.990343439534087 Centerline is valid? [True, True] Translation: X:360.57, Y:19.53, Z:-0.78 [[ 8.40525803e-01 -5.41252498e-01 -2.37088205e-02 3.60568237e+02] [ 5.41045236e-01 8.40860082e-01 -1.49791670e-02 1.95328483e+01] [ 2.80433123e-02 -2.37168017e-04 9.99606681e-01 -7.79909089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.654012739 meters Centerline goodness [0,1] 0.9903364123130747 Centerline is valid? [True, True] Translation: X:360.59, Y:19.54, Z:-0.78 [[ 8.39636793e-01 -5.42630826e-01 -2.37032056e-02 3.60594487e+02] [ 5.42424140e-01 8.39971254e-01 -1.49781198e-02 1.95438577e+01] [ 2.80376009e-02 -2.81010427e-04 9.99606830e-01 -7.80602536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.684012739 meters Centerline goodness [0,1] 0.989939116542165 Centerline is valid? [True, True] Translation: X:360.62, Y:19.56, Z:-0.78 [[ 8.39204568e-01 -5.43289537e-01 -2.39201159e-02 3.60620611e+02] [ 5.43079258e-01 8.39545345e-01 -1.51173065e-02 1.95572666e+01] [ 2.82950964e-02 -3.04006107e-04 9.99599567e-01 -7.81219620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.714012739 meters Centerline goodness [0,1] 0.9904177112990269 Centerline is valid? [True, True] Translation: X:360.65, Y:19.57, Z:-0.78 [[ 8.38849727e-01 -5.43771231e-01 -2.53768405e-02 3.60647340e+02] [ 5.43534617e-01 8.39233421e-01 -1.60432155e-02 1.95679837e+01] [ 3.00209317e-02 -3.35344373e-04 9.99549214e-01 -7.82729831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.744012739 meters Centerline goodness [0,1] 0.9905466237942122 Centerline is valid? [True, True] Translation: X:360.67, Y:19.58, Z:-0.78 [[ 8.38845773e-01 -5.43775680e-01 -2.54121794e-02 3.60671274e+02] [ 5.43538313e-01 8.39230540e-01 -1.60687330e-02 1.95816874e+01] [ 3.00644632e-02 -3.33304336e-04 9.99547906e-01 -7.81632441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.774012739 meters Centerline goodness [0,1] 0.9906097247234371 Centerline is valid? [True, True] Translation: X:360.69, Y:19.60, Z:-0.78 [[ 8.39048919e-01 -5.43465325e-01 -2.53446792e-02 3.60693769e+02] [ 5.43228897e-01 8.39431558e-01 -1.60319864e-02 1.95961686e+01] [ 2.99879523e-02 -3.16341257e-04 9.99550210e-01 -7.80080242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80401273900003 meters Centerline goodness [0,1] 0.9907014611989544 Centerline is valid? [True, True] Translation: X:360.72, Y:19.61, Z:-0.78 [[ 8.40203693e-01 -5.41679942e-01 -2.53099839e-02 3.60716344e+02] [ 5.41443192e-01 8.40584784e-01 -1.60153408e-02 1.96128220e+01] [ 2.99503762e-02 -2.47769954e-04 9.99551356e-01 -7.80831481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.834012739 meters Centerline goodness [0,1] 0.9912739965095986 Centerline is valid? [True, True] Translation: X:360.74, Y:19.63, Z:-0.78 [[ 8.40879546e-01 -5.40627346e-01 -2.53705077e-02 3.60739857e+02] [ 5.40388807e-01 8.41262165e-01 -1.60594858e-02 1.96304016e+01] [ 3.00254455e-02 -2.05845244e-04 9.99549113e-01 -7.80075751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86401273900003 meters Centerline goodness [0,1] 0.9921753405965503 Centerline is valid? [True, True] Translation: X:360.76, Y:19.65, Z:-0.78 [[ 8.42978736e-01 -5.37320369e-01 -2.59551840e-02 3.60760776e+02] [ 5.37068973e-01 8.43378215e-01 -1.64348678e-02 1.96495357e+01] [ 3.07208260e-02 -8.54799707e-05 9.99528000e-01 -7.81703726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.894012739 meters Centerline goodness [0,1] 0.9927275095519278 Centerline is valid? [True, True] Translation: X:360.78, Y:19.67, Z:-0.78 [[ 8.43676202e-01 -5.36209689e-01 -2.62608981e-02 3.60782618e+02] [ 5.35951707e-01 8.44084810e-01 -1.66313175e-02 1.96668576e+01] [ 3.10842988e-02 -4.31263954e-05 9.99516765e-01 -7.81006900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.924012739 meters Centerline goodness [0,1] 0.9937694704049844 Centerline is valid? [True, True] Translation: X:360.81, Y:19.68, Z:-0.78 [[ 8.44165962e-01 -5.35443793e-01 -2.61490386e-02 3.60805083e+02] [ 5.35187449e-01 8.44570864e-01 -1.65665319e-02 1.96819495e+01] [ 3.09551628e-02 -9.73492065e-06 9.99520774e-01 -7.80199921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.954012739 meters Centerline goodness [0,1] 0.9934394283858395 Centerline is valid? [True, True] Translation: X:360.83, Y:19.70, Z:-0.78 [[ 8.44719206e-01 -5.34612731e-01 -2.52723188e-02 3.60828829e+02] [ 5.34372821e-01 8.45097170e-01 -1.60143909e-02 1.96951981e+01] [ 2.99190624e-02 2.28232650e-05 9.99552324e-01 -7.76933138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.984012739 meters Centerline goodness [0,1] 0.9937680596886186 Centerline is valid? [True, True] Translation: X:360.85, Y:19.71, Z:-0.78 [[ 8.44901209e-01 -5.34327679e-01 -2.52166480e-02 3.60852292e+02] [ 5.34088591e-01 8.45277428e-01 -1.59826783e-02 1.97103238e+01] [ 2.98550508e-02 3.58601775e-05 9.99554238e-01 -7.75660382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.014012739 meters Centerline goodness [0,1] 0.9937487874803302 Centerline is valid? [True, True] Translation: X:360.87, Y:19.73, Z:-0.77 [[ 8.46211061e-01 -5.32287765e-01 -2.44248832e-02 3.60874617e+02] [ 5.32062436e-01 8.46563479e-01 -1.54867755e-02 1.97274038e+01] [ 2.89206352e-02 1.09517920e-04 9.99581705e-01 -7.72561466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.044012739 meters Centerline goodness [0,1] 0.9942930024427679 Centerline is valid? [True, True] Translation: X:360.90, Y:19.74, Z:-0.77 [[ 8.47093293e-01 -5.30897404e-01 -2.41018560e-02 3.60898497e+02] [ 5.30677258e-01 8.47436087e-01 -1.52881241e-02 1.97442767e+01] [ 2.85412079e-02 1.60160488e-04 9.99592604e-01 -7.70364594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.074012739 meters Centerline goodness [0,1] 0.9949328658171556 Centerline is valid? [True, True] Translation: X:360.92, Y:19.76, Z:-0.77 [[ 8.48441243e-01 -5.28754260e-01 -2.37989484e-02 3.60919408e+02] [ 5.28538622e-01 8.48774928e-01 -1.51012247e-02 1.97622330e+01] [ 2.81847875e-02 2.33838438e-04 9.99602703e-01 -7.68675611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.104012739 meters Centerline goodness [0,1] 0.995970869602689 Centerline is valid? [True, True] Translation: X:360.94, Y:19.79, Z:-0.76 [[ 8.51861502e-01 -5.23292308e-01 -2.22966645e-02 3.60937116e+02] [ 5.23101107e-01 8.52153160e-01 -1.41500477e-02 1.97878006e+01] [ 2.64047842e-02 3.90471010e-04 9.99651257e-01 -7.64188537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.134012739 meters Centerline goodness [0,1] 0.995619751714707 Centerline is valid? [True, True] Translation: X:360.96, Y:19.81, Z:-0.76 [[ 8.53735202e-01 -5.20271553e-01 -2.13006045e-02 3.60957728e+02] [ 5.20096080e-01 8.54000759e-01 -1.35193078e-02 1.98086785e+01] [ 2.52244436e-02 4.63548076e-04 9.99681706e-01 -7.61681608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.164012739 meters Centerline goodness [0,1] 0.9938038159947012 Centerline is valid? [True, True] Translation: X:360.98, Y:19.83, Z:-0.76 [[ 8.56426786e-01 -5.15849045e-01 -2.08068141e-02 3.60975328e+02] [ 5.15680268e-01 8.56679301e-01 -1.32074414e-02 1.98333502e+01] [ 2.46378130e-02 5.81543084e-04 9.99696274e-01 -7.59890130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.194012739 meters Centerline goodness [0,1] 0.9943424126181343 Centerline is valid? [True, True] Translation: X:361.00, Y:19.85, Z:-0.76 [[ 8.57168540e-01 -5.14567528e-01 -2.19625537e-02 3.60999989e+02] [ 5.14379010e-01 8.57449609e-01 -1.39428424e-02 1.98486707e+01] [ 2.60063170e-02 6.54289193e-04 9.99661564e-01 -7.61310700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.224012739 meters Centerline goodness [0,1] 0.9942625933934192 Centerline is valid? [True, True] Translation: X:361.02, Y:19.87, Z:-0.76 [[ 8.57655664e-01 -5.13698341e-01 -2.32546095e-02 3.61020585e+02] [ 5.13486514e-01 8.57970563e-01 -1.47686189e-02 1.98684594e+01] [ 2.75383854e-02 7.25461228e-04 9.99620483e-01 -7.63420044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.254012739 meters Centerline goodness [0,1] 0.99487901677122 Centerline is valid? [True, True] Translation: X:361.04, Y:19.89, Z:-0.77 [[ 8.57583490e-01 -5.13756984e-01 -2.45828897e-02 3.61042488e+02] [ 5.13520184e-01 8.57935412e-01 -1.56156667e-02 1.98882837e+01] [ 2.91131895e-02 7.67927899e-04 9.99575826e-01 -7.65533908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.284012739 meters Centerline goodness [0,1] 0.9948400852878465 Centerline is valid? [True, True] Translation: X:361.07, Y:19.90, Z:-0.76 [[ 8.57252247e-01 -5.14302379e-01 -2.47315136e-02 3.61065116e+02] [ 5.14062779e-01 8.57608587e-01 -1.57153222e-02 1.99047569e+01] [ 2.92923860e-02 7.58444641e-04 9.99570598e-01 -7.64643720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.314012739 meters Centerline goodness [0,1] 0.9947749368281297 Centerline is valid? [True, True] Translation: X:361.09, Y:19.92, Z:-0.76 [[ 8.56195703e-01 -5.16087326e-01 -2.41410657e-02 3.61088114e+02] [ 5.15859686e-01 8.56535701e-01 -1.53420393e-02 1.99197769e+01] [ 2.85955167e-02 6.82385498e-04 9.99590832e-01 -7.62892706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.344012739 meters Centerline goodness [0,1] 0.9947749368281297 Centerline is valid? [True, True] Translation: X:361.11, Y:19.93, Z:-0.76 [[ 8.56102543e-01 -5.16241897e-01 -2.41400069e-02 3.61111200e+02] [ 5.16014271e-01 8.56442551e-01 -1.53437051e-02 1.99346841e+01] [ 2.85955925e-02 6.79196884e-04 9.99590832e-01 -7.62184371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.374012739 meters Centerline goodness [0,1] 0.9947673171777826 Centerline is valid? [True, True] Translation: X:361.13, Y:19.95, Z:-0.76 [[ 8.55516153e-01 -5.17219772e-01 -2.39962383e-02 3.61132800e+02] [ 5.16995074e-01 8.55852375e-01 -1.52579814e-02 1.99528282e+01] [ 2.84289672e-02 6.47512586e-04 9.99595606e-01 -7.62165657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.404012739 meters Centerline goodness [0,1] 0.9955483263419228 Centerline is valid? [True, True] Translation: X:361.16, Y:19.96, Z:-0.76 [[ 8.55048240e-01 -5.17996892e-01 -2.39108121e-02 3.61160662e+02] [ 5.17774032e-01 8.55382273e-01 -1.52058435e-02 1.99636436e+01] [ 2.83294645e-02 6.21332133e-04 9.99598447e-01 -7.60754702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.434012739 meters Centerline goodness [0,1] 0.9954742354690632 Centerline is valid? [True, True] Translation: X:361.18, Y:19.98, Z:-0.76 [[ 8.54828319e-01 -5.18350612e-01 -2.41078439e-02 3.61182357e+02] [ 5.18124058e-01 8.55167972e-01 -1.53362394e-02 1.99820788e+01] [ 2.85658051e-02 6.18997780e-04 9.99591722e-01 -7.61469883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.464012739 meters Centerline goodness [0,1] 0.994805306315202 Centerline is valid? [True, True] Translation: X:361.20, Y:20.00, Z:-0.76 [[ 8.54940038e-01 -5.18147843e-01 -2.45019129e-02 3.61204195e+02] [ 5.17913650e-01 8.55290831e-01 -1.55899416e-02 2.00004303e+01] [ 2.90341561e-02 6.38590169e-04 9.99578216e-01 -7.62407798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.494012739 meters Centerline goodness [0,1] 0.9954834036388427 Centerline is valid? [True, True] Translation: X:361.23, Y:20.02, Z:-0.76 [[ 8.55285617e-01 -5.17550073e-01 -2.50686007e-02 3.61227788e+02] [ 5.17304586e-01 8.55652654e-01 -1.59530801e-02 2.00169406e+01] [ 2.97065325e-02 6.76337801e-04 9.99558435e-01 -7.61820842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.524012739 meters Centerline goodness [0,1] 0.9953270021749898 Centerline is valid? [True, True] Translation: X:361.25, Y:20.03, Z:-0.76 [[ 8.55455873e-01 -5.17287059e-01 -2.46849807e-02 3.61250961e+02] [ 5.17048759e-01 8.55811683e-01 -1.57144809e-02 2.00334532e+01] [ 2.92545925e-02 6.79706336e-04 9.99571762e-01 -7.59748737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55401273900003 meters Centerline goodness [0,1] 0.9937625496646303 Centerline is valid? [True, True] Translation: X:361.27, Y:20.05, Z:-0.76 [[ 8.55531864e-01 -5.17191760e-01 -2.40398239e-02 3.61270140e+02] [ 5.16965574e-01 8.55869286e-01 -1.53088365e-02 2.00542810e+01] [ 2.84925510e-02 6.69436102e-04 9.99593781e-01 -7.58175808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.584012739 meters Centerline goodness [0,1] 0.9947770103180694 Centerline is valid? [True, True] Translation: X:361.30, Y:20.06, Z:-0.75 [[ 8.54846965e-01 -5.18422420e-01 -2.17912981e-02 3.61298285e+02] [ 5.18236915e-01 8.55124475e-01 -1.38791901e-02 2.00632227e+01] [ 2.58295557e-02 5.71528386e-04 9.99666198e-01 -7.51128792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61401273900003 meters Centerline goodness [0,1] 0.9949191784933328 Centerline is valid? [True, True] Translation: X:361.32, Y:20.08, Z:-0.75 [[ 8.54392261e-01 -5.19215713e-01 -2.07101177e-02 3.61323133e+02] [ 5.19048287e-01 8.54643065e-01 -1.31949505e-02 2.00777887e+01] [ 2.45507841e-02 5.24112521e-04 9.99698447e-01 -7.48293861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.644012739 meters Centerline goodness [0,1] 0.9943004738931819 Centerline is valid? [True, True] Translation: X:361.35, Y:20.09, Z:-0.75 [[ 8.53440414e-01 -5.20800693e-01 -2.01518705e-02 3.61348822e+02] [ 5.20642504e-01 8.53678170e-01 -1.28438548e-02 2.00889877e+01] [ 2.38923003e-02 4.69544428e-04 9.99714428e-01 -7.47714726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.674012739 meters Centerline goodness [0,1] 0.9950076478585996 Centerline is valid? [True, True] Translation: X:361.38, Y:20.10, Z:-0.75 [[ 8.52409494e-01 -5.22471356e-01 -2.05362482e-02 3.61375449e+02] [ 5.22307522e-01 8.52656728e-01 -1.30903306e-02 2.01012567e+01] [ 2.43496930e-02 4.32085189e-04 9.99703409e-01 -7.46894713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.704012739 meters Centerline goodness [0,1] 0.9954414740653956 Centerline is valid? [True, True] Translation: X:361.40, Y:20.11, Z:-0.75 [[ 8.50386962e-01 -5.25718420e-01 -2.14978331e-02 3.61402196e+02] [ 5.25539789e-01 8.50658576e-01 -1.37082857e-02 2.01115243e+01] [ 2.54940144e-02 3.59380775e-04 9.99674910e-01 -7.48475440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.734012739 meters Centerline goodness [0,1] 0.9956640948798061 Centerline is valid? [True, True] Translation: X:361.43, Y:20.12, Z:-0.75 [[ 8.49563501e-01 -5.27014733e-01 -2.23008595e-02 3.61428162e+02] [ 5.26822901e-01 8.49856081e-01 -1.42222391e-02 2.01246009e+01] [ 2.64478506e-02 3.34091769e-04 9.99650139e-01 -7.49037886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.764012739 meters Centerline goodness [0,1] 0.9959558823529412 Centerline is valid? [True, True] Translation: X:361.45, Y:20.14, Z:-0.75 [[ 8.49268770e-01 -5.27463062e-01 -2.29188528e-02 3.61454066e+02] [ 5.27260470e-01 8.49577899e-01 -1.46215428e-02 2.01369339e+01] [ 2.71836745e-02 3.33414537e-04 9.99630400e-01 -7.48766770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.794012739 meters Centerline goodness [0,1] 0.9958711984165833 Centerline is valid? [True, True] Translation: X:361.48, Y:20.15, Z:-0.75 [[ 8.49728885e-01 -5.26697906e-01 -2.34550288e-02 3.61475995e+02] [ 5.26485265e-01 8.50052456e-01 -1.49695672e-02 2.01545753e+01] [ 2.78224445e-02 3.71346629e-04 9.99612812e-01 -7.49054740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.824012739 meters Centerline goodness [0,1] 0.9960919046596521 Centerline is valid? [True, True] Translation: X:361.50, Y:20.17, Z:-0.75 [[ 8.50056057e-01 -5.26187934e-01 -2.30425302e-02 3.61499778e+02] [ 5.25982465e-01 8.50368221e-01 -1.47083319e-02 2.01707218e+01] [ 2.73339822e-02 3.82939842e-04 9.99626284e-01 -7.47077907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.854012739 meters Centerline goodness [0,1] 0.9955906786520683 Centerline is valid? [True, True] Translation: X:361.52, Y:20.19, Z:-0.74 [[ 8.51961776e-01 -5.23155474e-01 -2.16675472e-02 3.61519638e+02] [ 5.22972697e-01 8.52237140e-01 -1.38352946e-02 2.01927578e+01] [ 2.57038985e-02 4.55606579e-04 9.99669496e-01 -7.43188326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.884012739 meters Centerline goodness [0,1] 0.9947768482738121 Centerline is valid? [True, True] Translation: X:361.54, Y:20.22, Z:-0.74 [[ 8.53249984e-01 -5.21067624e-01 -2.12837188e-02 3.61537755e+02] [ 5.20890495e-01 8.53515242e-01 -1.35950339e-02 2.02162734e+01] [ 2.52499104e-02 5.13475640e-04 9.99681038e-01 -7.41175062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.914012739 meters Centerline goodness [0,1] 0.9952100221075902 Centerline is valid? [True, True] Translation: X:361.56, Y:20.23, Z:-0.74 [[ 8.54374784e-01 -5.19206293e-01 -2.16461071e-02 3.61561273e+02] [ 5.19022412e-01 8.54648751e-01 -1.38292295e-02 2.02324724e+01] [ 2.56800414e-02 5.80530221e-04 9.99670045e-01 -7.41292567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.944012739 meters Centerline goodness [0,1] 0.9944380267830403 Centerline is valid? [True, True] Translation: X:361.58, Y:20.26, Z:-0.74 [[ 8.55830365e-01 -5.16750773e-01 -2.28697335e-02 3.61578452e+02] [ 5.16544487e-01 8.56135594e-01 -1.46163903e-02 2.02578976e+01] [ 2.71326239e-02 6.95915922e-04 9.99631600e-01 -7.43192161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.974012739 meters Centerline goodness [0,1] 0.9939667853412071 Centerline is valid? [True, True] Translation: X:361.60, Y:20.28, Z:-0.74 [[ 8.55977837e-01 -5.16498497e-01 -2.30487728e-02 3.61600389e+02] [ 5.16288807e-01 8.56287800e-01 -1.47333649e-02 2.02767292e+01] [ 2.73461438e-02 7.11610428e-04 9.99625771e-01 -7.43657787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.004012739 meters Centerline goodness [0,1] 0.9940141600514911 Centerline is valid? [True, True] Translation: X:361.62, Y:20.29, Z:-0.74 [[ 8.54689333e-01 -5.18641860e-01 -2.27324758e-02 3.61624454e+02] [ 5.18438509e-01 8.54991353e-01 -1.45361230e-02 2.02928003e+01] [ 2.69751121e-02 6.38478435e-04 9.99635902e-01 -7.42588556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.034012739 meters Centerline goodness [0,1] 0.9945286553691561 Centerline is valid? [True, True] Translation: X:361.65, Y:20.31, Z:-0.74 [[ 8.53330684e-01 -5.20850706e-01 -2.32655509e-02 3.61649319e+02] [ 5.20638385e-01 8.53647585e-01 -1.48819818e-02 2.03082262e+01] [ 2.76118721e-02 5.86312852e-04 9.99618548e-01 -7.42910410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.064012739 meters Centerline goodness [0,1] 0.9962215011527623 Centerline is valid? [True, True] Translation: X:361.68, Y:20.32, Z:-0.75 [[ 8.49439098e-01 -5.27100434e-01 -2.48666828e-02 3.61675514e+02] [ 5.26860376e-01 8.49802895e-01 -1.59117442e-02 2.03207083e+01] [ 2.95188663e-02 4.14787822e-04 9.99564137e-01 -7.45459444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.094012739 meters Centerline goodness [0,1] 0.9959157351676698 Centerline is valid? [True, True] Translation: X:361.70, Y:20.33, Z:-0.75 [[ 8.46856225e-01 -5.31238196e-01 -2.49100879e-02 3.61701856e+02] [ 5.30998937e-01 8.47222464e-01 -1.59444658e-02 2.03317368e+01] [ 2.95746953e-02 2.75439923e-04 9.99562535e-01 -7.45292330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.124012739 meters Centerline goodness [0,1] 0.9941116449130564 Centerline is valid? [True, True] Translation: X:361.73, Y:20.34, Z:-0.74 [[ 8.44205779e-01 -5.35459781e-01 -2.44831779e-02 3.61729158e+02] [ 5.35230367e-01 8.44560718e-01 -1.56731608e-02 2.03405048e+01] [ 2.90698776e-02 1.27232653e-04 9.99577374e-01 -7.43775535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.154012739 meters Centerline goodness [0,1] 0.9919392975366493 Centerline is valid? [True, True] Translation: X:361.76, Y:20.35, Z:-0.74 [[ 8.40085800e-01 -5.41978360e-01 -2.27003537e-02 3.61759266e+02] [ 5.41783468e-01 8.40392438e-01 -1.45335360e-02 2.03455363e+01] [ 2.69540676e-02 -8.92591717e-05 9.99636669e-01 -7.37757679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.184012739 meters Centerline goodness [0,1] 0.9915426105717368 Centerline is valid? [True, True] Translation: X:361.78, Y:20.36, Z:-0.74 [[ 8.38707968e-01 -5.44124958e-01 -2.22929171e-02 3.61784207e+02] [ 5.43937711e-01 8.39004176e-01 -1.42744611e-02 2.03599932e+01] [ 2.64709411e-02 -1.53854013e-04 9.99649571e-01 -7.36069601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.214012739 meters Centerline goodness [0,1] 0.9912051494487286 Centerline is valid? [True, True] Translation: X:361.81, Y:20.37, Z:-0.74 [[ 8.37095031e-01 -5.46574377e-01 -2.29860854e-02 3.61808835e+02] [ 5.46376083e-01 8.37410530e-01 -1.47234746e-02 2.03734772e+01] [ 2.72962639e-02 -2.34099888e-04 9.99627360e-01 -7.37199905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.244012739 meters Centerline goodness [0,1] 0.9914054816778552 Centerline is valid? [True, True] Translation: X:361.83, Y:20.39, Z:-0.74 [[ 8.36574310e-01 -5.47339525e-01 -2.37248280e-02 3.61832983e+02] [ 5.47128528e-01 8.36910613e-01 -1.51986812e-02 2.03876987e+01] [ 2.81743993e-02 -2.65703961e-04 9.99602988e-01 -7.38342478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.274012739 meters Centerline goodness [0,1] 0.9916216274880076 Centerline is valid? [True, True] Translation: X:361.86, Y:20.40, Z:-0.74 [[ 8.36151045e-01 -5.47944311e-01 -2.46670290e-02 3.61856832e+02] [ 5.47716391e-01 8.36514761e-01 -1.58053745e-02 2.04041869e+01] [ 2.92947989e-02 -2.94855747e-04 9.99570772e-01 -7.38535491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30401273900003 meters Centerline goodness [0,1] 0.9917542995438093 Centerline is valid? [True, True] Translation: X:361.88, Y:20.42, Z:-0.74 [[ 8.35106980e-01 -5.49442033e-01 -2.66417823e-02 3.61881385e+02] [ 5.49176732e-01 8.35531756e-01 -1.70763847e-02 2.04171724e+01] [ 3.16425387e-02 -3.70438883e-04 9.99499181e-01 -7.42374273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.334012739 meters Centerline goodness [0,1] 0.9914841588193655 Centerline is valid? [True, True] Translation: X:361.91, Y:20.43, Z:-0.74 [[ 8.34068205e-01 -5.50994254e-01 -2.71212327e-02 3.61906821e+02] [ 5.50720038e-01 8.34508923e-01 -1.73866808e-02 2.04302543e+01] [ 3.22128719e-02 -4.34528715e-04 9.99480936e-01 -7.43204633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36401273900003 meters Centerline goodness [0,1] 0.9912396906115123 Centerline is valid? [True, True] Translation: X:361.94, Y:20.44, Z:-0.74 [[ 8.31764613e-01 -5.54567959e-01 -2.49400712e-02 3.61935668e+02] [ 5.54337544e-01 8.32138273e-01 -1.59931523e-02 2.04368341e+01] [ 2.96228776e-02 -5.22679684e-04 9.99561010e-01 -7.38405273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.394012739 meters Centerline goodness [0,1] 0.990663547426627 Centerline is valid? [True, True] Translation: X:361.96, Y:20.45, Z:-0.73 [[ 8.30677715e-01 -5.56246894e-01 -2.37471570e-02 3.61963093e+02] [ 5.56038625e-01 8.31016900e-01 -1.52302185e-02 2.04456376e+01] [ 2.82060505e-02 -5.52933421e-04 9.99601977e-01 -7.34686202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.424012739 meters Centerline goodness [0,1] 0.9906972737844008 Centerline is valid? [True, True] Translation: X:361.99, Y:20.46, Z:-0.73 [[ 8.29864055e-01 -5.57473534e-01 -2.34287924e-02 3.61987621e+02] [ 5.57271244e-01 8.30194505e-01 -1.50281070e-02 2.04600096e+01] [ 2.78282266e-02 -5.84906517e-04 9.99612549e-01 -7.32709596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.454012739 meters Centerline goodness [0,1] 0.9905852581011817 Centerline is valid? [True, True] Translation: X:362.01, Y:20.47, Z:-0.74 [[ 8.29651654e-01 -5.57742853e-01 -2.45161640e-02 3.62014939e+02] [ 5.57521306e-01 8.30013572e-01 -1.57309878e-02 2.04692477e+01] [ 2.91225949e-02 -6.17043686e-04 9.99575657e-01 -7.35004357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.484012739 meters Centerline goodness [0,1] 0.9909290700680858 Centerline is valid? [True, True] Translation: X:362.04, Y:20.48, Z:-0.74 [[ 8.30438502e-01 -5.56552320e-01 -2.49280957e-02 3.62038926e+02] [ 5.56322630e-01 8.30812359e-01 -1.59985903e-02 2.04833269e+01] [ 2.96146225e-02 -5.82218438e-04 9.99561221e-01 -7.35343459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.514012739 meters Centerline goodness [0,1] 0.9918867153033335 Centerline is valid? [True, True] Translation: X:362.06, Y:20.51, Z:-0.73 [[ 8.33412804e-01 -5.52100712e-01 -2.46556689e-02 3.62058460e+02] [ 5.51873963e-01 8.33777327e-01 -1.58271478e-02 2.05054619e+01] [ 2.92955172e-02 -4.16274090e-04 9.99570708e-01 -7.32713809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.544012739 meters Centerline goodness [0,1] 0.9925497585168822 Centerline is valid? [True, True] Translation: X:362.08, Y:20.52, Z:-0.73 [[ 8.35269874e-01 -5.49291306e-01 -2.45621288e-02 3.62080325e+02] [ 5.49064893e-01 8.35630878e-01 -1.57727330e-02 2.05225578e+01] [ 2.91886984e-02 -3.11713867e-04 9.99573871e-01 -7.31652392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.574012739 meters Centerline goodness [0,1] 0.9925746260717857 Centerline is valid? [True, True] Translation: X:362.10, Y:20.54, Z:-0.73 [[ 8.37080932e-01 -5.46539232e-01 -2.42977672e-02 3.62103148e+02] [ 5.46316414e-01 8.37433474e-01 -1.56061542e-02 2.05400592e+01] [ 2.88771391e-02 -2.10655002e-04 9.99582946e-01 -7.30274009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.604012739 meters Centerline goodness [0,1] 0.9928272817944528 Centerline is valid? [True, True] Translation: X:362.12, Y:20.56, Z:-0.73 [[ 8.41217058e-01 -5.40195351e-01 -2.32990018e-02 3.62122288e+02] [ 5.39987898e-01 8.41539650e-01 -1.49695579e-02 2.05623460e+01] [ 2.76935194e-02 1.14684348e-05 9.99616461e-01 -7.27381845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.634012739 meters Centerline goodness [0,1] 0.9939134162023147 Centerline is valid? [True, True] Translation: X:362.14, Y:20.58, Z:-0.73 [[ 8.43529212e-01 -5.36578935e-01 -2.32704650e-02 3.62143037e+02] [ 5.36370551e-01 8.43850123e-01 -1.49533597e-02 2.05834088e+01] [ 2.76604426e-02 1.32003589e-04 9.99617368e-01 -7.26353972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.664012739 meters Centerline goodness [0,1] 0.9952126522761274 Centerline is valid? [True, True] Translation: X:362.16, Y:20.61, Z:-0.73 [[ 8.47241106e-01 -5.30659485e-01 -2.41458076e-02 3.62160571e+02] [ 5.30432556e-01 8.47585036e-01 -1.55212614e-02 2.06071718e+01] [ 2.87021298e-02 3.42528215e-04 9.99587950e-01 -7.28569593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.694012739 meters Centerline goodness [0,1] 0.9955482203739495 Centerline is valid? [True, True] Translation: X:362.18, Y:20.62, Z:-0.73 [[ 8.48293596e-01 -5.28950529e-01 -2.46842617e-02 3.62184518e+02] [ 5.28712562e-01 8.48652560e-01 -1.58700657e-02 2.06236238e+01] [ 2.93428415e-02 4.11595827e-04 9.99569321e-01 -7.28677651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.724012739 meters Centerline goodness [0,1] 0.9949305334606002 Centerline is valid? [True, True] Translation: X:362.20, Y:20.65, Z:-0.73 [[ 8.49043375e-01 -5.27729938e-01 -2.50291917e-02 3.62203408e+02] [ 5.27484577e-01 8.49412089e-01 -1.60973616e-02 2.06450294e+01] [ 2.97551576e-02 4.64845679e-04 9.99557109e-01 -7.30367803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.754012739 meters Centerline goodness [0,1] 0.9952926950400552 Centerline is valid? [True, True] Translation: X:362.23, Y:20.66, Z:-0.73 [[ 8.49340793e-01 -5.27234869e-01 -2.53694612e-02 3.62230115e+02] [ 5.26982486e-01 8.49719455e-01 -1.63189404e-02 2.06562237e+01] [ 3.01608391e-02 4.91080082e-04 9.99544938e-01 -7.28906970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.784012739 meters Centerline goodness [0,1] 0.9950134742292104 Centerline is valid? [True, True] Translation: X:362.25, Y:20.67, Z:-0.73 [[ 8.49054549e-01 -5.27772466e-01 -2.37191224e-02 3.62250705e+02] [ 5.27551927e-01 8.49385676e-01 -1.52623132e-02 2.06746876e+01] [ 2.82017115e-02 4.45467760e-04 9.99602153e-01 -7.25394308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.814012739 meters Centerline goodness [0,1] 0.9953204211620954 Centerline is valid? [True, True] Translation: X:362.28, Y:20.69, Z:-0.72 [[ 8.48734842e-01 -5.28322318e-01 -2.29062592e-02 3.62277329e+02] [ 5.28116784e-01 8.49043789e-01 -1.47413078e-02 2.06864236e+01] [ 2.72365790e-02 4.14281574e-04 9.99628930e-01 -7.21560158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.844012739 meters Centerline goodness [0,1] 0.9949799412181152 Centerline is valid? [True, True] Translation: X:362.30, Y:20.71, Z:-0.72 [[ 8.48438895e-01 -5.28803557e-01 -2.27648955e-02 3.62297411e+02] [ 5.28600587e-01 8.48744153e-01 -1.46554173e-02 2.07070448e+01] [ 2.70714088e-02 4.00688942e-04 9.99633422e-01 -7.21009487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.874012739 meters Centerline goodness [0,1] 0.9950062954821912 Centerline is valid? [True, True] Translation: X:362.32, Y:20.73, Z:-0.72 [[ 8.48828630e-01 -5.28128950e-01 -2.38698477e-02 3.62318651e+02] [ 5.27905462e-01 8.49164068e-01 -1.53690840e-02 2.07272441e+01] [ 2.83862752e-02 4.44695562e-04 9.99596930e-01 -7.23603305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.904012739 meters Centerline goodness [0,1] 0.9950285909362465 Centerline is valid? [True, True] Translation: X:362.34, Y:20.74, Z:-0.72 [[ 8.49264393e-01 -5.27399729e-01 -2.44850371e-02 3.62344106e+02] [ 5.27164115e-01 8.49617143e-01 -1.57704071e-02 2.07405058e+01] [ 2.91202157e-02 4.85612314e-04 9.99575799e-01 -7.23298938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.934012739 meters Centerline goodness [0,1] 0.995074836893949 Centerline is valid? [True, True] Translation: X:362.37, Y:20.76, Z:-0.72 [[ 8.49412590e-01 -5.27154132e-01 -2.46327526e-02 3.62367128e+02] [ 5.26915397e-01 8.49769539e-01 -1.58712201e-02 2.07584494e+01] [ 2.92987421e-02 5.01837586e-04 9.99570574e-01 -7.23192751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.964012739 meters Centerline goodness [0,1] 0.9953198797767282 Centerline is valid? [True, True] Translation: X:362.39, Y:20.78, Z:-0.72 [[ 8.49412716e-01 -5.27173922e-01 -2.42010982e-02 3.62387481e+02] [ 5.26943342e-01 8.49757265e-01 -1.55982419e-02 2.07772215e+01] [ 2.87880454e-02 4.96737419e-04 9.99585415e-01 -7.21228826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.994012739 meters Centerline goodness [0,1] 0.99503949245279 Centerline is valid? [True, True] Translation: X:362.41, Y:20.79, Z:-0.72 [[ 8.49158447e-01 -5.27597651e-01 -2.38883081e-02 3.62410193e+02] [ 5.27373076e-01 8.49494255e-01 -1.53996464e-02 2.07943234e+01] [ 2.84177977e-02 4.78689333e-04 9.99596018e-01 -7.19748520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.024012739 meters Centerline goodness [0,1] 0.9948404849944106 Centerline is valid? [True, True] Translation: X:362.43, Y:20.81, Z:-0.72 [[ 8.48214732e-01 -5.29163938e-01 -2.27441165e-02 3.62433094e+02] [ 5.28960782e-01 8.48519509e-01 -1.46674316e-02 2.08095896e+01] [ 2.70603024e-02 4.10385892e-04 9.99633719e-01 -7.16428659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05401273900003 meters Centerline goodness [0,1] 0.9946966253219907 Centerline is valid? [True, True] Translation: X:362.46, Y:20.83, Z:-0.71 [[ 8.47766192e-01 -5.29898809e-01 -2.23547848e-02 3.62457063e+02] [ 5.29702755e-01 8.48060792e-01 -1.44182149e-02 2.08255964e+01] [ 2.65984114e-02 3.81884045e-04 9.99646127e-01 -7.14830383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.084012739 meters Centerline goodness [0,1] 0.9948124071722237 Centerline is valid? [True, True] Translation: X:362.48, Y:20.84, Z:-0.71 [[ 8.47659566e-01 -5.30070375e-01 -2.23306511e-02 3.62479286e+02] [ 5.29874670e-01 8.47953568e-01 -1.44076481e-02 2.08421779e+01] [ 2.65724227e-02 3.80334328e-04 9.99646818e-01 -7.14153157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11401273900003 meters Centerline goodness [0,1] 0.9948109395602058 Centerline is valid? [True, True] Translation: X:362.50, Y:20.86, Z:-0.71 [[ 8.47881373e-01 -5.29674658e-01 -2.32794849e-02 3.62499192e+02] [ 5.29461653e-01 8.48200793e-01 -1.50257335e-02 2.08630115e+01] [ 2.77044278e-02 4.14445041e-04 9.99616073e-01 -7.14498688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.144012739 meters Centerline goodness [0,1] 0.9945890234475651 Centerline is valid? [True, True] Translation: X:362.52, Y:20.88, Z:-0.71 [[ 8.48020371e-01 -5.29460451e-01 -2.30885379e-02 3.62521236e+02] [ 5.29250792e-01 8.48334518e-01 -1.49045071e-02 2.08819678e+01] [ 2.74781507e-02 4.19698717e-04 9.99622316e-01 -7.13528989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.174012739 meters Centerline goodness [0,1] 0.9943190442117131 Centerline is valid? [True, True] Translation: X:362.54, Y:20.90, Z:-0.71 [[ 8.48422866e-01 -5.28872627e-01 -2.17344088e-02 3.62540307e+02] [ 5.28686535e-01 8.48701108e-01 -1.40348766e-02 2.09028520e+01] [ 2.58686789e-02 4.16820921e-04 9.99665263e-01 -7.09881810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.204012739 meters Centerline goodness [0,1] 0.994498933901919 Centerline is valid? [True, True] Translation: X:362.56, Y:20.92, Z:-0.71 [[ 8.48140566e-01 -5.29341522e-01 -2.13338408e-02 3.62562565e+02] [ 5.29162335e-01 8.48408743e-01 -1.37778038e-02 2.09198636e+01] [ 2.53929807e-02 3.96449354e-04 9.99677468e-01 -7.07398336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.234012739 meters Centerline goodness [0,1] 0.994384189994427 Centerline is valid? [True, True] Translation: X:362.59, Y:20.94, Z:-0.70 [[ 8.47726273e-01 -5.30033145e-01 -2.06162813e-02 3.62586211e+02] [ 5.29865892e-01 8.47976845e-01 -1.33193958e-02 2.09362308e+01] [ 2.45418504e-02 3.67337482e-04 9.99698736e-01 -7.04613608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.264012739 meters Centerline goodness [0,1] 0.994384189994427 Centerline is valid? [True, True] Translation: X:362.61, Y:20.95, Z:-0.70 [[ 8.47630935e-01 -5.30185677e-01 -2.06142029e-02 3.62609168e+02] [ 5.30018391e-01 8.47881485e-01 -1.33226117e-02 2.09513162e+01] [ 2.45418589e-02 3.66751167e-04 9.99698736e-01 -7.03905399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.294012739 meters Centerline goodness [0,1] 0.9941695320675736 Centerline is valid? [True, True] Translation: X:362.63, Y:20.97, Z:-0.70 [[ 8.47139833e-01 -5.30979925e-01 -2.03573715e-02 3.62632109e+02] [ 5.30816886e-01 8.47384329e-01 -1.31617927e-02 2.09682037e+01] [ 2.42391653e-02 3.43842375e-04 9.99706129e-01 -7.02623942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.324012739 meters Centerline goodness [0,1] 0.9939076528430953 Centerline is valid? [True, True] Translation: X:362.66, Y:20.98, Z:-0.70 [[ 8.46092412e-01 -5.32650485e-01 -2.02753854e-02 3.62657630e+02] [ 5.32489128e-01 8.46335260e-01 -1.31132457e-02 2.09821495e+01] [ 2.41445502e-02 2.98595387e-04 9.99708433e-01 -7.02763096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.354012739 meters Centerline goodness [0,1] 0.9932426634631886 Centerline is valid? [True, True] Translation: X:362.68, Y:21.00, Z:-0.70 [[ 8.45279204e-01 -5.33938519e-01 -2.03156456e-02 3.62680647e+02] [ 5.33776768e-01 8.45523262e-01 -1.31443597e-02 2.09971543e+01] [ 2.41956309e-02 2.66634243e-04 9.99707207e-01 -7.02543075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.384012739 meters Centerline goodness [0,1] 0.9926015400875736 Centerline is valid? [True, True] Translation: X:362.71, Y:21.01, Z:-0.70 [[ 8.43349432e-01 -5.36955790e-01 -2.09812999e-02 3.62706445e+02] [ 5.36784153e-01 8.43610363e-01 -1.35767796e-02 2.10105262e+01] [ 2.49901724e-02 1.87540079e-04 9.99687679e-01 -7.03827495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.414012739 meters Centerline goodness [0,1] 0.9933192988485994 Centerline is valid? [True, True] Translation: X:362.73, Y:21.03, Z:-0.71 [[ 8.42289946e-01 -5.38581555e-01 -2.18530507e-02 3.62730510e+02] [ 5.38395761e-01 8.42573371e-01 -1.41463029e-02 2.10252391e+01] [ 2.60317364e-02 1.49698780e-04 9.99661106e-01 -7.05133425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.444012739 meters Centerline goodness [0,1] 0.9928761864135651 Centerline is valid? [True, True] Translation: X:362.76, Y:21.04, Z:-0.71 [[ 8.40422599e-01 -5.41411741e-01 -2.37314458e-02 3.62755772e+02] [ 5.41193692e-01 8.40757588e-01 -1.53644288e-02 2.10373287e+01] [ 2.82708753e-02 6.93044012e-05 9.99600297e-01 -7.08685204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.474012739 meters Centerline goodness [0,1] 0.9934206296478858 Centerline is valid? [True, True] Translation: X:362.78, Y:21.05, Z:-0.71 [[ 8.39372414e-01 -5.43010830e-01 -2.43554486e-02 3.62780766e+02] [ 5.42781771e-01 8.39725692e-01 -1.57705931e-02 2.10493124e+01] [ 2.90154988e-02 1.77073447e-05 9.99578962e-01 -7.10309114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.504012739 meters Centerline goodness [0,1] 0.992684238838085 Centerline is valid? [True, True] Translation: X:362.81, Y:21.06, Z:-0.71 [[ 8.38332299e-01 -5.44598170e-01 -2.47343654e-02 3.62806773e+02] [ 5.44362517e-01 8.38697104e-01 -1.60193171e-02 2.10609246e+01] [ 2.94687313e-02 -3.49504755e-05 9.99565702e-01 -7.09606493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.534012739 meters Centerline goodness [0,1] 0.9926316471833877 Centerline is valid? [True, True] Translation: X:362.84, Y:21.07, Z:-0.71 [[ 8.36142229e-01 -5.47945370e-01 -2.49408077e-02 3.62835747e+02] [ 5.47707056e-01 8.36514106e-01 -1.61595602e-02 2.10692958e+01] [ 2.97178937e-02 -1.48565665e-04 9.99558315e-01 -7.10114763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.564012739 meters Centerline goodness [0,1] 0.9927766415734738 Centerline is valid? [True, True] Translation: X:362.86, Y:21.08, Z:-0.71 [[ 8.35473187e-01 -5.48964942e-01 -2.49408727e-02 3.62860377e+02] [ 5.48726909e-01 8.35845357e-01 -1.61653527e-02 2.10834629e+01] [ 2.97209246e-02 -1.80009249e-04 9.99558220e-01 -7.07997040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.594012739 meters Centerline goodness [0,1] 0.9929403233374569 Centerline is valid? [True, True] Translation: X:362.88, Y:21.10, Z:-0.71 [[ 8.35919684e-01 -5.48248886e-01 -2.57184953e-02 3.62883402e+02] [ 5.47995266e-01 8.36315213e-01 -1.66749293e-02 2.10975790e+01] [ 3.06507802e-02 -1.54712055e-04 9.99530142e-01 -7.09729718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.624012739 meters Centerline goodness [0,1] 0.9930049050970357 Centerline is valid? [True, True] Translation: X:362.91, Y:21.11, Z:-0.71 [[ 8.36504468e-01 -5.47324587e-01 -2.63831609e-02 3.62905897e+02] [ 5.47057123e-01 8.36920416e-01 -1.71091285e-02 2.11120782e+01] [ 3.14448527e-02 -1.21233626e-04 9.99505481e-01 -7.11335783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.654012739 meters Centerline goodness [0,1] 0.9933254641055907 Centerline is valid? [True, True] Translation: X:362.93, Y:21.13, Z:-0.71 [[ 8.36898879e-01 -5.46719759e-01 -2.64153569e-02 3.62929310e+02] [ 5.46451224e-01 8.37315649e-01 -1.71336938e-02 2.11275341e+01] [ 3.14853207e-02 -9.55349744e-05 9.99504210e-01 -7.11274883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.684012739 meters Centerline goodness [0,1] 0.9936300304650717 Centerline is valid? [True, True] Translation: X:362.95, Y:21.15, Z:-0.71 [[ 8.38023164e-01 -5.45067049e-01 -2.48815153e-02 3.62951766e+02] [ 5.44827897e-01 8.38392457e-01 -1.61447031e-02 2.11455413e+01] [ 2.96604204e-02 -2.65084416e-05 9.99560033e-01 -7.05206534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.714012739 meters Centerline goodness [0,1] 0.9931600255699978 Centerline is valid? [True, True] Translation: X:362.97, Y:21.16, Z:-0.70 [[ 8.38834163e-01 -5.43855873e-01 -2.40423928e-02 3.62973140e+02] [ 5.43631930e-01 8.39178640e-01 -1.56056290e-02 2.11637263e+01] [ 2.86630754e-02 2.03223449e-05 9.99589129e-01 -7.01890143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.744012739 meters Centerline goodness [0,1] 0.9929962089571419 Centerline is valid? [True, True] Translation: X:362.99, Y:21.18, Z:-0.70 [[ 8.40258243e-01 -5.41606250e-01 -2.50749792e-02 3.62994501e+02] [ 5.41361449e-01 8.40632297e-01 -1.62825951e-02 2.11842814e+01] [ 2.98975926e-02 1.06957647e-04 9.99552961e-01 -7.03660157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.774012739 meters Centerline goodness [0,1] 0.9932318466169908 Centerline is valid? [True, True] Translation: X:363.02, Y:21.20, Z:-0.70 [[ 8.40634590e-01 -5.41001294e-01 -2.55163772e-02 3.63016602e+02] [ 5.40747332e-01 8.41021748e-01 -1.65753368e-02 2.12014659e+01] [ 3.04271068e-02 1.35888541e-04 9.99536979e-01 -7.04375404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80401273900003 meters Centerline goodness [0,1] 0.9932730125298201 Centerline is valid? [True, True] Translation: X:363.04, Y:21.22, Z:-0.70 [[ 8.40670082e-01 -5.40950445e-01 -2.54249687e-02 3.63039898e+02] [ 5.40698090e-01 8.41054455e-01 -1.65220996e-02 2.12171880e+01] [ 3.03214203e-02 1.42402842e-04 9.99540190e-01 -7.02919487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.834012739 meters Centerline goodness [0,1] 0.9934152482193196 Centerline is valid? [True, True] Translation: X:363.06, Y:21.23, Z:-0.70 [[ 8.39274296e-01 -5.43123623e-01 -2.52068727e-02 3.63063925e+02] [ 5.42876370e-01 8.39652741e-01 -1.63866130e-02 2.12304768e+01] [ 3.00649764e-02 6.86475576e-05 9.99547944e-01 -7.02237602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86401273900003 meters Centerline goodness [0,1] 0.9932000514822601 Centerline is valid? [True, True] Translation: X:363.09, Y:21.24, Z:-0.70 [[ 8.38286161e-01 -5.44656516e-01 -2.50118288e-02 3.63087941e+02] [ 5.44413691e-01 8.38659215e-01 -1.62620488e-02 2.12422475e+01] [ 2.98336316e-02 1.54684541e-05 9.99554878e-01 -7.01372456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.894012739 meters Centerline goodness [0,1] 0.9929453262786596 Centerline is valid? [True, True] Translation: X:363.11, Y:21.25, Z:-0.70 [[ 8.37179299e-01 -5.46418269e-01 -2.36198439e-02 3.63114180e+02] [ 5.46202347e-01 8.37512432e-01 -1.53597760e-02 2.12519675e+01] [ 2.81747751e-02 -4.23277225e-05 9.99603011e-01 -6.97269260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.924012739 meters Centerline goodness [0,1] 0.9924682453564818 Centerline is valid? [True, True] Translation: X:363.14, Y:21.27, Z:-0.69 [[ 8.36759019e-01 -5.47092339e-01 -2.28979849e-02 3.63138570e+02] [ 5.46889554e-01 8.37072260e-01 -1.48945049e-02 2.12663826e+01] [ 2.73159375e-02 -5.95574655e-05 9.99626848e-01 -6.94801669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.954012739 meters Centerline goodness [0,1] 0.9924944244295762 Centerline is valid? [True, True] Translation: X:363.16, Y:21.28, Z:-0.69 [[ 8.36412431e-01 -5.47629767e-01 -2.27130603e-02 3.63161971e+02] [ 5.47430283e-01 8.36720761e-01 -1.47801329e-02 2.12814213e+01] [ 2.70985298e-02 -7.15301166e-05 9.99632765e-01 -6.93857500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.984012739 meters Centerline goodness [0,1] 0.9928407665354501 Centerline is valid? [True, True] Translation: X:363.19, Y:21.29, Z:-0.70 [[ 8.35641308e-01 -5.48761737e-01 -2.37520564e-02 3.63187430e+02] [ 5.48543855e-01 8.35978794e-01 -1.54627035e-02 2.12944480e+01] [ 2.83415555e-02 -1.07770816e-04 9.99598292e-01 -6.95778249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.014012739 meters Centerline goodness [0,1] 0.9930973105559052 Centerline is valid? [True, True] Translation: X:363.21, Y:21.31, Z:-0.70 [[ 8.35017496e-01 -5.49684987e-01 -2.43350835e-02 3.63213703e+02] [ 5.49456497e-01 8.35372011e-01 -1.58480692e-02 2.13075436e+01] [ 2.90402934e-02 -1.37654654e-04 9.99578232e-01 -6.96054045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.044012739 meters Centerline goodness [0,1] 0.9929490456714383 Centerline is valid? [True, True] Translation: X:363.24, Y:21.32, Z:-0.70 [[ 8.34633303e-01 -5.50257977e-01 -2.45643948e-02 3.63238488e+02] [ 5.50025246e-01 8.34994692e-01 -1.60029027e-02 2.13192012e+01] [ 2.93168641e-02 -1.54481778e-04 9.99570156e-01 -6.95902305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.074012739 meters Centerline goodness [0,1] 0.9923520189822466 Centerline is valid? [True, True] Translation: X:363.26, Y:21.34, Z:-0.69 [[ 8.35019610e-01 -5.49739714e-01 -2.29890559e-02 3.63261906e+02] [ 5.49535615e-01 8.35335999e-01 -1.49792155e-02 2.13352095e+01] [ 2.74382556e-02 -1.25366255e-04 9.99623492e-01 -6.90287059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.104012739 meters Centerline goodness [0,1] 0.9926137461619393 Centerline is valid? [True, True] Translation: X:363.28, Y:21.35, Z:-0.69 [[ 8.35638038e-01 -5.48829707e-01 -2.22490842e-02 3.63284530e+02] [ 5.48638086e-01 8.35934175e-01 -1.45019362e-02 2.13519945e+01] [ 2.65578633e-02 -8.83254794e-05 9.99647274e-01 -6.88206331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.134012739 meters Centerline goodness [0,1] 0.9926598416071084 Centerline is valid? [True, True] Translation: X:363.31, Y:21.37, Z:-0.69 [[ 8.37429896e-01 -5.46051972e-01 -2.32037401e-02 3.63305288e+02] [ 5.45842305e-01 8.37751302e-01 -1.51305861e-02 2.13712334e+01] [ 2.77010499e-02 5.22220306e-06 9.99616252e-01 -6.89480934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.164012739 meters Centerline goodness [0,1] 0.9930309853114614 Centerline is valid? [True, True] Translation: X:363.33, Y:21.39, Z:-0.69 [[ 8.38580792e-01 -5.44224402e-01 -2.45368298e-02 3.63325756e+02] [ 5.43988975e-01 8.38939685e-01 -1.60062804e-02 2.13902777e+01] [ 2.92959287e-02 7.47944303e-05 9.99570779e-01 -6.91732484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.194012739 meters Centerline goodness [0,1] 0.993739710597002 Centerline is valid? [True, True] Translation: X:363.35, Y:21.41, Z:-0.69 [[ 8.39875614e-01 -5.42193046e-01 -2.52121526e-02 3.63347100e+02] [ 5.41943480e-01 8.40253936e-01 -1.64495420e-02 2.14103391e+01] [ 3.01034377e-02 1.52007441e-04 9.99546777e-01 -6.92484120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.224012739 meters Centerline goodness [0,1] 0.993483538481196 Centerline is valid? [True, True] Translation: X:363.37, Y:21.43, Z:-0.69 [[ 8.42276494e-01 -5.38522293e-01 -2.37496956e-02 3.63367415e+02] [ 5.38299231e-01 8.42611219e-01 -1.55006774e-02 2.14314280e+01] [ 2.83592203e-02 2.71413354e-04 9.99597760e-01 -6.88773984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.254012739 meters Centerline goodness [0,1] 0.9932484403042475 Centerline is valid? [True, True] Translation: X:363.39, Y:21.45, Z:-0.68 [[ 8.42609319e-01 -5.38060259e-01 -2.23761899e-02 3.63389908e+02] [ 5.37861962e-01 8.42906331e-01 -1.46091498e-02 2.14470840e+01] [ 2.67216350e-02 2.74504330e-04 9.99642876e-01 -6.84862402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.284012739 meters Centerline goodness [0,1] 0.9937051894844657 Centerline is valid? [True, True] Translation: X:363.41, Y:21.46, Z:-0.69 [[ 8.42351623e-01 -5.38434600e-01 -2.30634799e-02 3.63412874e+02] [ 5.38223992e-01 8.42667257e-01 -1.50608174e-02 2.14626789e+01] [ 2.75441045e-02 2.73185785e-04 9.99620552e-01 -6.85692864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.314012739 meters Centerline goodness [0,1] 0.9945192473675125 Centerline is valid? [True, True] Translation: X:363.44, Y:21.48, Z:-0.69 [[ 8.41962344e-01 -5.39004465e-01 -2.39499040e-02 3.63435376e+02] [ 5.38777397e-01 8.42302864e-01 -1.56461590e-02 2.14767795e+01] [ 2.86064222e-02 2.69809753e-04 9.99590716e-01 -6.87199365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.344012739 meters Centerline goodness [0,1] 0.9935190497439493 Centerline is valid? [True, True] Translation: X:363.46, Y:21.49, Z:-0.69 [[ 8.41508855e-01 -5.39708815e-01 -2.40258512e-02 3.63459749e+02] [ 5.39480458e-01 8.41851728e-01 -1.57004098e-02 2.14905207e+01] [ 2.86998540e-02 2.50556633e-04 9.99588043e-01 -6.86704096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.374012739 meters Centerline goodness [0,1] 0.9934200719746172 Centerline is valid? [True, True] Translation: X:363.49, Y:21.50, Z:-0.68 [[ 8.41091410e-01 -5.40452693e-01 -2.18203372e-02 3.63485305e+02] [ 5.40264456e-01 8.41374378e-01 -1.42644388e-02 2.15035579e+01] [ 2.60683270e-02 2.08944364e-04 9.99660142e-01 -6.81380034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.404012739 meters Centerline goodness [0,1] 0.9929850746268657 Centerline is valid? [True, True] Translation: X:363.51, Y:21.52, Z:-0.68 [[ 8.40904807e-01 -5.40758353e-01 -2.14361530e-02 3.63508549e+02] [ 5.40576661e-01 8.41177962e-01 -1.40182033e-02 2.15190455e+01] [ 2.56120800e-02 2.00090525e-04 9.99671937e-01 -6.79341801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.434012739 meters Centerline goodness [0,1] 0.993603275123137 Centerline is valid? [True, True] Translation: X:363.53, Y:21.54, Z:-0.68 [[ 8.41077455e-01 -5.40407464e-01 -2.34198200e-02 3.63532601e+02] [ 5.40190258e-01 8.41403421e-01 -1.53221387e-02 2.15353923e+01] [ 2.79857148e-02 2.35946782e-04 9.99608295e-01 -6.84032260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.464012739 meters Centerline goodness [0,1] 0.993396855440604 Centerline is valid? [True, True] Translation: X:363.56, Y:21.55, Z:-0.68 [[ 8.41144617e-01 -5.40276884e-01 -2.40129477e-02 3.63556410e+02] [ 5.40048312e-01 8.41487270e-01 -1.57160944e-02 2.15501578e+01] [ 2.86976323e-02 2.51356300e-04 9.99588107e-01 -6.84998762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.494012739 meters Centerline goodness [0,1] 0.993155681428081 Centerline is valid? [True, True] Translation: X:363.58, Y:21.56, Z:-0.68 [[ 8.41238841e-01 -5.40117873e-01 -2.42877680e-02 3.63578934e+02] [ 5.39883790e-01 8.41589338e-01 -1.59021831e-02 2.15643942e+01] [ 2.90293799e-02 2.64961826e-04 9.99578524e-01 -6.84932563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.524012739 meters Centerline goodness [0,1] 0.9935192710784104 Centerline is valid? [True, True] Translation: X:363.60, Y:21.58, Z:-0.68 [[ 8.41926477e-01 -5.39065741e-01 -2.38313829e-02 3.63600411e+02] [ 5.38839876e-01 8.42263639e-01 -1.56060683e-02 2.15822386e+01] [ 2.84850041e-02 2.97862617e-04 9.99594176e-01 -6.81549761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55401273900003 meters Centerline goodness [0,1] 0.9934227495486201 Centerline is valid? [True, True] Translation: X:363.62, Y:21.60, Z:-0.68 [[ 8.42473530e-01 -5.38220105e-01 -2.36108023e-02 3.63622498e+02] [ 5.37997988e-01 8.42804255e-01 -1.54645439e-02 2.16002227e+01] [ 2.82226131e-02 3.25904777e-04 9.99601610e-01 -6.80547531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.584012739 meters Centerline goodness [0,1] 0.9943566591422122 Centerline is valid? [True, True] Translation: X:363.65, Y:21.62, Z:-0.68 [[ 8.42797074e-01 -5.37709017e-01 -2.37087445e-02 3.63645556e+02] [ 5.37484761e-01 8.43130412e-01 -1.55318894e-02 2.16179991e+01] [ 2.83412006e-02 3.47142084e-04 9.99598247e-01 -6.79724325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61401273900003 meters Centerline goodness [0,1] 0.9934733441033926 Centerline is valid? [True, True] Translation: X:363.67, Y:21.63, Z:-0.68 [[ 8.41878446e-01 -5.39185806e-01 -2.27892357e-02 3.63671863e+02] [ 5.38979012e-01 8.42186786e-01 -1.49346160e-02 2.16303903e+01] [ 2.72453261e-02 2.90211560e-04 9.99628735e-01 -6.77740494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.644012739 meters Centerline goodness [0,1] 0.9928992813472058 Centerline is valid? [True, True] Translation: X:363.70, Y:21.64, Z:-0.68 [[ 8.40663340e-01 -5.41104084e-01 -2.21702414e-02 3.63697526e+02] [ 5.40908904e-01 8.40955599e-01 -1.45340311e-02 2.16428414e+01] [ 2.65086122e-02 2.26146180e-04 9.99648559e-01 -6.75787229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.674012739 meters Centerline goodness [0,1] 0.99384865118862 Centerline is valid? [True, True] Translation: X:363.73, Y:21.65, Z:-0.68 [[ 8.38225484e-01 -5.44831794e-01 -2.31593149e-02 3.63727905e+02] [ 5.44620070e-01 8.38545349e-01 -1.51880631e-02 2.16488304e+01] [ 2.76950755e-02 1.17993793e-04 9.99616411e-01 -6.77003763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.704012739 meters Centerline goodness [0,1] 0.9934170011254805 Centerline is valid? [True, True] Translation: X:363.75, Y:21.66, Z:-0.68 [[ 8.37291862e-01 -5.46206834e-01 -2.45037202e-02 3.63753980e+02] [ 5.45970225e-01 8.37650337e-01 -1.60756513e-02 2.16606807e+01] [ 2.93061801e-02 8.17103777e-05 9.99570478e-01 -6.79478041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.734012739 meters Centerline goodness [0,1] 0.9929232676971758 Centerline is valid? [True, True] Translation: X:363.78, Y:21.67, Z:-0.68 [[ 8.36647445e-01 -5.47147969e-01 -2.54980902e-02 3.63779780e+02] [ 5.46891990e-01 8.37035899e-01 -1.67348358e-02 2.16730191e+01] [ 3.04992483e-02 5.64563555e-05 9.99534788e-01 -6.81479248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.764012739 meters Centerline goodness [0,1] 0.9928548576303722 Centerline is valid? [True, True] Translation: X:363.80, Y:21.68, Z:-0.68 [[ 8.36908592e-01 -5.46784197e-01 -2.47194348e-02 3.63804716e+02] [ 5.46543282e-01 8.37273573e-01 -1.62297502e-02 2.16848603e+01] [ 2.95711004e-02 7.25763385e-05 9.99562677e-01 -6.78110305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.794012739 meters Centerline goodness [0,1] 0.9922774141102982 Centerline is valid? [True, True] Translation: X:363.83, Y:21.70, Z:-0.67 [[ 8.37659115e-01 -5.45682891e-01 -2.36091056e-02 3.63827482e+02] [ 5.45462602e-01 8.37991748e-01 -1.55041860e-02 2.17016865e+01] [ 2.82446047e-02 1.09338561e-04 9.99601036e-01 -6.73933266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.824012739 meters Centerline goodness [0,1] 0.9933628318584071 Centerline is valid? [True, True] Translation: X:363.85, Y:21.72, Z:-0.67 [[ 8.40598683e-01 -5.41180884e-01 -2.27399422e-02 3.63846459e+02] [ 5.40974717e-01 8.40906169e-01 -1.49388858e-02 2.17231648e+01] [ 2.72067971e-02 2.55873920e-04 9.99629794e-01 -6.71027842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.854012739 meters Centerline goodness [0,1] 0.9935169482429212 Centerline is valid? [True, True] Translation: X:363.87, Y:21.74, Z:-0.67 [[ 8.42285607e-01 -5.38540235e-01 -2.30080835e-02 3.63868325e+02] [ 5.38328132e-01 8.42599724e-01 -1.51171304e-02 2.17419899e+01] [ 2.75277878e-02 3.47042752e-04 9.99620978e-01 -6.70292153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.884012739 meters Centerline goodness [0,1] 0.9935516932143315 Centerline is valid? [True, True] Translation: X:363.89, Y:21.76, Z:-0.67 [[ 8.43725968e-01 -5.36273744e-01 -2.31724319e-02 3.63888405e+02] [ 5.36057602e-01 8.44044008e-01 -1.52302237e-02 2.17616499e+01] [ 2.77261214e-02 4.28376976e-04 9.99615465e-01 -6.69823070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.914012739 meters Centerline goodness [0,1] 0.9932302368335676 Centerline is valid? [True, True] Translation: X:363.91, Y:21.78, Z:-0.67 [[ 8.45297000e-01 -5.33820112e-01 -2.25625824e-02 3.63911218e+02] [ 5.33614249e-01 8.45597919e-01 -1.48321736e-02 2.17790635e+01] [ 2.69965853e-02 4.97876386e-04 9.99635402e-01 -6.68355829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.944012739 meters Centerline goodness [0,1] 0.9928939609273911 Centerline is valid? [True, True] Translation: X:363.93, Y:21.80, Z:-0.67 [[ 8.45700715e-01 -5.33172127e-01 -2.27548735e-02 3.63933140e+02] [ 5.32962363e-01 8.46006622e-01 -1.49637831e-02 2.17962280e+01] [ 2.72290457e-02 5.27390963e-04 9.99629082e-01 -6.69607697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.974012739 meters Centerline goodness [0,1] 0.9930017549116124 Centerline is valid? [True, True] Translation: X:363.96, Y:21.81, Z:-0.67 [[ 8.45765811e-01 -5.33048736e-01 -2.32214936e-02 3.63958179e+02] [ 5.32830146e-01 8.46084363e-01 -1.52737359e-02 2.18109463e+01] [ 2.77889882e-02 5.44891824e-04 9.99613663e-01 -6.69632557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.004012739 meters Centerline goodness [0,1] 0.9929727748916816 Centerline is valid? [True, True] Translation: X:363.98, Y:21.83, Z:-0.67 [[ 8.45960579e-01 -5.32720545e-01 -2.36541626e-02 3.63982431e+02] [ 5.32493446e-01 8.46291023e-01 -1.55639102e-02 2.18271900e+01] [ 2.83095202e-02 5.70767965e-04 9.99599042e-01 -6.69002801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.034012739 meters Centerline goodness [0,1] 0.9927674234480988 Centerline is valid? [True, True] Translation: X:364.01, Y:21.84, Z:-0.67 [[ 8.46105441e-01 -5.32469664e-01 -2.41172105e-02 3.64005829e+02] [ 5.32233316e-01 8.46448878e-01 -1.58743246e-02 2.18433388e+01] [ 2.88665821e-02 5.95369521e-04 9.99583096e-01 -6.68690140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.064012739 meters Centerline goodness [0,1] 0.992768419261528 Centerline is valid? [True, True] Translation: X:364.03, Y:21.86, Z:-0.67 [[ 8.45751589e-01 -5.33055265e-01 -2.35867469e-02 3.64028698e+02] [ 5.32829287e-01 8.46080234e-01 -1.55302446e-02 2.18598251e+01] [ 2.82347590e-02 5.67019458e-04 9.99601159e-01 -6.66911319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.094012739 meters Centerline goodness [0,1] 0.9927436586346231 Centerline is valid? [True, True] Translation: X:364.05, Y:21.88, Z:-0.66 [[ 8.45503299e-01 -5.33474809e-01 -2.29956262e-02 3.64050582e+02] [ 5.33260121e-01 8.45815781e-01 -1.51428891e-02 2.18776705e+01] [ 2.75284134e-02 5.40712233e-04 9.99620875e-01 -6.64954316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.124012739 meters Centerline goodness [0,1] 0.9929786137593404 Centerline is valid? [True, True] Translation: X:364.07, Y:21.89, Z:-0.66 [[ 8.45433790e-01 -5.33587345e-01 -2.29401738e-02 3.64074894e+02] [ 5.33373676e-01 8.45744794e-01 -1.51084421e-02 2.18921071e+01] [ 2.74632060e-02 5.37502620e-04 9.99622671e-01 -6.64257058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.154012739 meters Centerline goodness [0,1] 0.9929786137593404 Centerline is valid? [True, True] Translation: X:364.10, Y:21.91, Z:-0.66 [[ 8.45338543e-01 -5.33738344e-01 -2.29374807e-02 3.64097725e+02] [ 5.33524620e-01 8.45649508e-01 -1.51125296e-02 2.19073934e+01] [ 2.74632058e-02 5.37493032e-04 9.99622671e-01 -6.63548763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.184012739 meters Centerline goodness [0,1] 0.9934402487593977 Centerline is valid? [True, True] Translation: X:364.12, Y:21.92, Z:-0.66 [[ 8.45217203e-01 -5.33913850e-01 -2.33212440e-02 3.64120973e+02] [ 5.33692810e-01 8.45538706e-01 -1.53714387e-02 2.19230691e+01] [ 2.79260385e-02 5.45824139e-04 9.99609843e-01 -6.63726578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.214012739 meters Centerline goodness [0,1] 0.9931872228292307 Centerline is valid? [True, True] Translation: X:364.14, Y:21.94, Z:-0.66 [[ 8.44946725e-01 -5.34323620e-01 -2.37339740e-02 3.64144307e+02] [ 5.34094672e-01 8.45279818e-01 -1.56496330e-02 2.19381640e+01] [ 2.84238177e-02 5.46917146e-04 9.99595812e-01 -6.64019352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.244012739 meters Centerline goodness [0,1] 0.9940268790443006 Centerline is valid? [True, True] Translation: X:364.17, Y:21.95, Z:-0.66 [[ 8.43524295e-01 -5.36568502e-01 -2.36855723e-02 3.64172525e+02] [ 5.36341201e-01 8.43856633e-01 -1.56236941e-02 2.19473353e+01] [ 2.83704094e-02 4.75417244e-04 9.99597366e-01 -6.63075352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.274012739 meters Centerline goodness [0,1] 0.9939153722549545 Centerline is valid? [True, True] Translation: X:364.20, Y:21.96, Z:-0.66 [[ 8.41554389e-01 -5.39694295e-01 -2.27217500e-02 3.64198617e+02] [ 5.39486119e-01 8.41860997e-01 -1.49929394e-02 2.19577238e+01] [ 2.72201590e-02 3.59305203e-04 9.99629398e-01 -6.60560395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30401273900003 meters Centerline goodness [0,1] 0.9938435975544809 Centerline is valid? [True, True] Translation: X:364.22, Y:21.97, Z:-0.66 [[ 8.40554822e-01 -5.41260323e-01 -2.24689725e-02 3.64221656e+02] [ 5.41057262e-01 8.40855023e-01 -1.48280168e-02 2.19734968e+01] [ 2.69189655e-02 3.06760268e-04 9.99637572e-01 -6.59524598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.334012739 meters Centerline goodness [0,1] 0.9938926044601192 Centerline is valid? [True, True] Translation: X:364.25, Y:21.99, Z:-0.66 [[ 8.39680138e-01 -5.42615809e-01 -2.24799963e-02 3.64248778e+02] [ 5.42412980e-01 8.39980960e-01 -1.48372896e-02 2.19850705e+01] [ 2.69337168e-02 2.65135586e-04 9.99637186e-01 -6.57785643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36401273900003 meters Centerline goodness [0,1] 0.9938441079318776 Centerline is valid? [True, True] Translation: X:364.27, Y:22.00, Z:-0.66 [[ 8.39031682e-01 -5.43601724e-01 -2.28692582e-02 3.64271145e+02] [ 5.43392030e-01 8.39343259e-01 -1.50994953e-02 2.20011048e+01] [ 2.74032694e-02 2.41982269e-04 9.99624431e-01 -6.57390035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.394012739 meters Centerline goodness [0,1] 0.9941539460863917 Centerline is valid? [True, True] Translation: X:364.29, Y:22.02, Z:-0.66 [[ 8.39032451e-01 -5.43579420e-01 -2.33657974e-02 3.64293569e+02] [ 5.43360444e-01 8.39357702e-01 -1.54296900e-02 2.20171533e+01] [ 2.79995239e-02 2.49960564e-04 9.99607905e-01 -6.57764323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.424012739 meters Centerline goodness [0,1] 0.9941033645508152 Centerline is valid? [True, True] Translation: X:364.32, Y:22.03, Z:-0.66 [[ 8.38447436e-01 -5.44426708e-01 -2.46060344e-02 3.64316816e+02] [ 5.44184024e-01 8.38808382e-01 -1.62556561e-02 2.20322118e+01] [ 2.94897613e-02 2.39302376e-04 9.99565054e-01 -6.60854379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.454012739 meters Centerline goodness [0,1] 0.9938109567407217 Centerline is valid? [True, True] Translation: X:364.34, Y:22.05, Z:-0.66 [[ 8.37611167e-01 -5.45713785e-01 -2.45763554e-02 3.64340498e+02] [ 5.45472055e-01 8.37971614e-01 -1.62422788e-02 2.20471286e+01] [ 2.94579236e-02 1.98998985e-04 9.99566001e-01 -6.61023019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.484012739 meters Centerline goodness [0,1] 0.9936046884691891 Centerline is valid? [True, True] Translation: X:364.37, Y:22.06, Z:-0.66 [[ 8.36139268e-01 -5.48002385e-01 -2.37594350e-02 3.64366186e+02] [ 5.47777294e-01 8.36476761e-01 -1.57055301e-02 2.20602733e+01] [ 2.84808832e-02 1.17131402e-04 9.99594331e-01 -6.58166932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.514012739 meters Centerline goodness [0,1] 0.9928753835919226 Centerline is valid? [True, True] Translation: X:364.40, Y:22.07, Z:-0.66 [[ 8.32865233e-01 -5.53015910e-01 -2.25589609e-02 3.64395698e+02] [ 5.52814692e-01 8.33170692e-01 -1.49169368e-02 2.20680110e+01] [ 2.70447684e-02 -4.71269695e-05 9.99634222e-01 -6.55275174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.544012739 meters Centerline goodness [0,1] 0.9926106251885045 Centerline is valid? [True, True] Translation: X:364.42, Y:22.08, Z:-0.65 [[ 8.31428548e-01 -5.55173272e-01 -2.25656520e-02 3.64421852e+02] [ 5.54972584e-01 8.31734709e-01 -1.49266652e-02 2.20781817e+01] [ 2.70555215e-02 -1.12862627e-04 9.99633926e-01 -6.54339495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.574012739 meters Centerline goodness [0,1] 0.9920284001530547 Centerline is valid? [True, True] Translation: X:364.45, Y:22.09, Z:-0.66 [[ 8.29064996e-01 -5.58671625e-01 -2.31786056e-02 3.64450183e+02] [ 5.58461191e-01 8.29388909e-01 -1.53341465e-02 2.20863252e+01] [ 2.77908310e-02 -2.31347585e-04 9.99613733e-01 -6.55040020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.604012739 meters Centerline goodness [0,1] 0.9920221990981616 Centerline is valid? [True, True] Translation: X:364.48, Y:22.10, Z:-0.65 [[ 8.27752810e-01 -5.60611703e-01 -2.32336830e-02 3.64475096e+02] [ 5.60400970e-01 8.28078759e-01 -1.53727679e-02 2.21001171e+01] [ 2.78574730e-02 -2.95326670e-04 9.99611862e-01 -6.54248426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.634012739 meters Centerline goodness [0,1] 0.9914402438233577 Centerline is valid? [True, True] Translation: X:364.50, Y:22.11, Z:-0.65 [[ 8.26435545e-01 -5.62551956e-01 -2.32290176e-02 3.64502768e+02] [ 5.62341921e-01 8.26761858e-01 -1.53750937e-02 2.21092703e+01] [ 2.78541547e-02 -3.56126424e-04 9.99611934e-01 -6.54223923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.664012739 meters Centerline goodness [0,1] 0.9914565038716097 Centerline is valid? [True, True] Translation: X:364.53, Y:22.11, Z:-0.65 [[ 8.24004029e-01 -5.66141346e-01 -2.23905453e-02 3.64533414e+02] [ 5.65947469e-01 8.24308053e-01 -1.48221352e-02 2.21149610e+01] [ 2.68481304e-02 -4.58373327e-04 9.99639419e-01 -6.51427406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.694012739 meters Centerline goodness [0,1] 0.9912698412698413 Centerline is valid? [True, True] Translation: X:364.56, Y:22.13, Z:-0.65 [[ 8.23281668e-01 -5.67183839e-01 -2.25784679e-02 3.64560161e+02] [ 5.66986942e-01 8.23591070e-01 -1.49518574e-02 2.21251646e+01] [ 2.70758764e-02 -4.92106373e-04 9.99633260e-01 -6.50292755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.724012739 meters Centerline goodness [0,1] 0.9898290413330448 Centerline is valid? [True, True] Translation: X:364.58, Y:22.14, Z:-0.64 [[ 8.24568545e-01 -5.65249663e-01 -2.40734819e-02 3.64584791e+02] [ 5.65024924e-01 8.24919760e-01 -1.59444162e-02 2.21407185e+01] [ 2.88712668e-02 -4.54853228e-04 9.99583035e-01 -6.42337241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.754012739 meters Centerline goodness [0,1] 0.9924563884959925 Centerline is valid? [True, True] Translation: X:364.61, Y:22.16, Z:-0.65 [[ 8.26343167e-01 -5.62674239e-01 -2.35514604e-02 3.64607151e+02] [ 5.62457958e-01 8.26678642e-01 -1.56035000e-02 2.21575358e+01] [ 2.82491767e-02 -3.52860716e-04 9.99600850e-01 -6.50417656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.784012739 meters Centerline goodness [0,1] 0.9926356671406439 Centerline is valid? [True, True] Translation: X:364.63, Y:22.18, Z:-0.65 [[ 8.28404541e-01 -5.59668448e-01 -2.27408244e-02 3.64628508e+02] [ 5.59465616e-01 8.28716580e-01 -1.50682993e-02 2.21750053e+01] [ 2.72789499e-02 -2.40061731e-04 9.99627831e-01 -6.48418170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.814012739 meters Centerline goodness [0,1] 0.9930897690191312 Centerline is valid? [True, True] Translation: X:364.65, Y:22.20, Z:-0.65 [[ 8.32354505e-01 -5.53808263e-01 -2.19632935e-02 3.64647611e+02] [ 5.53616968e-01 8.32644225e-01 -1.45549565e-02 2.21985148e+01] [ 2.63482647e-02 -4.43682972e-05 9.99652823e-01 -6.46353528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.844012739 meters Centerline goodness [0,1] 0.9929755004417247 Centerline is valid? [True, True] Translation: X:364.67, Y:22.22, Z:-0.65 [[ 8.34158260e-01 -5.51067415e-01 -2.24655652e-02 3.64668335e+02] [ 5.50866126e-01 8.34460725e-01 -1.48932544e-02 2.22176741e+01] [ 2.69538190e-02 4.78123087e-05 9.99636679e-01 -6.46987227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.874012739 meters Centerline goodness [0,1] 0.9945662679066172 Centerline is valid? [True, True] Translation: X:364.69, Y:22.24, Z:-0.65 [[ 8.37407912e-01 -5.46045631e-01 -2.41279457e-02 3.64686803e+02] [ 5.45811161e-01 8.37755403e-01 -1.60019076e-02 2.22392767e+01] [ 2.89510886e-02 2.30821956e-04 9.99580803e-01 -6.49782872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.904012739 meters Centerline goodness [0,1] 0.9946513684301335 Centerline is valid? [True, True] Translation: X:364.71, Y:22.26, Z:-0.65 [[ 8.38948280e-01 -5.43650363e-01 -2.46995392e-02 3.64708509e+02] [ 5.43403520e-01 8.39311729e-01 -1.63840149e-02 2.22588077e+01] [ 2.96377886e-02 3.23524590e-04 9.99560652e-01 -6.50719344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.934012739 meters Centerline goodness [0,1] 0.994525042074093 Centerline is valid? [True, True] Translation: X:364.73, Y:22.28, Z:-0.65 [[ 8.40348806e-01 -5.41468732e-01 -2.50099417e-02 3.64729241e+02] [ 5.41214512e-01 8.40720788e-01 -1.65954196e-02 2.22786818e+01] [ 3.00122787e-02 4.10197636e-04 9.99549446e-01 -6.50998202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.964012739 meters Centerline goodness [0,1] 0.9948563623169847 Centerline is valid? [True, True] Translation: X:364.75, Y:22.30, Z:-0.65 [[ 8.42850898e-01 -5.37594508e-01 -2.43825410e-02 3.64747877e+02] [ 5.37351202e-01 8.43203331e-01 -1.61810917e-02 2.23021719e+01] [ 2.92583058e-02 5.36259937e-04 9.99571740e-01 -6.48668026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.994012739 meters Centerline goodness [0,1] 0.9941874284232589 Centerline is valid? [True, True] Translation: X:364.77, Y:22.32, Z:-0.65 [[ 8.44068285e-01 -5.35706533e-01 -2.38168137e-02 3.64768854e+02] [ 5.35473579e-01 8.44404028e-01 -1.58076968e-02 2.23224069e+01] [ 2.85792998e-02 5.89501014e-04 9.99591355e-01 -6.46243371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.024012739 meters Centerline goodness [0,1] 0.9941828254847646 Centerline is valid? [True, True] Translation: X:364.78, Y:22.35, Z:-0.64 [[ 8.46871195e-01 -5.31286368e-01 -2.33232290e-02 3.64784799e+02] [ 5.31061146e-01 8.47191988e-01 -1.54853114e-02 2.23492896e+01] [ 2.79863876e-02 7.28003469e-04 9.99608039e-01 -6.44251319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05401273900003 meters Centerline goodness [0,1] 0.9934754797441364 Centerline is valid? [True, True] Translation: X:364.81, Y:22.37, Z:-0.64 [[ 8.47992584e-01 -5.29493835e-01 -2.33421340e-02 3.64806009e+02] [ 5.29267484e-01 8.48313417e-01 -1.55008455e-02 2.23696507e+01] [ 2.80090476e-02 7.90369474e-04 9.99607357e-01 -6.43751934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.084012739 meters Centerline goodness [0,1] 0.9922187260821499 Centerline is valid? [True, True] Translation: X:364.83, Y:22.39, Z:-0.64 [[ 8.48931069e-01 -5.28001507e-01 -2.30314658e-02 3.64825589e+02] [ 5.27780457e-01 8.49243025e-01 -1.52994566e-02 2.23906843e+01] [ 2.76374479e-02 8.32626482e-04 9.99617666e-01 -6.42889099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11401273900003 meters Centerline goodness [0,1] 0.9918491666845413 Centerline is valid? [True, True] Translation: X:364.84, Y:22.41, Z:-0.64 [[ 8.50024470e-01 -5.26258935e-01 -2.25817244e-02 3.64844824e+02] [ 5.26045768e-01 8.50323921e-01 -1.50026810e-02 2.24142085e+01] [ 2.70970753e-02 8.73625427e-04 9.99632425e-01 -6.40287954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.144012739 meters Centerline goodness [0,1] 0.9919281736953425 Centerline is valid? [True, True] Translation: X:364.87, Y:22.43, Z:-0.64 [[ 8.50411190e-01 -5.25629427e-01 -2.26828868e-02 3.64865015e+02] [ 5.25413989e-01 8.50713167e-01 -1.50747477e-02 2.24344764e+01] [ 2.72203614e-02 9.01828118e-04 9.99629051e-01 -6.39930739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.174012739 meters Centerline goodness [0,1] 0.9905232446706561 Centerline is valid? [True, True] Translation: X:364.88, Y:22.46, Z:-0.64 [[ 8.51029027e-01 -5.24597679e-01 -2.33852726e-02 3.64883644e+02] [ 5.24368245e-01 8.51349718e-01 -1.55435258e-02 2.24572090e+01] [ 2.80631428e-02 9.65497294e-04 9.99605686e-01 -6.41219862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.204012739 meters Centerline goodness [0,1] 0.9905838842009055 Centerline is valid? [True, True] Translation: X:364.91, Y:22.48, Z:-0.64 [[ 8.50797029e-01 -5.24962906e-01 -2.36296879e-02 3.64906365e+02] [ 5.24728726e-01 8.51124559e-01 -1.57082522e-02 2.24758439e+01] [ 2.83580575e-02 9.65358273e-04 9.99597363e-01 -6.41120760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.234012739 meters Centerline goodness [0,1] 0.9915928731462712 Centerline is valid? [True, True] Translation: X:364.93, Y:22.49, Z:-0.64 [[ 8.50365822e-01 -5.25659919e-01 -2.36562627e-02 3.64930613e+02] [ 5.25425328e-01 8.50694276e-01 -1.57313013e-02 2.24908719e+01] [ 2.83935619e-02 9.47761368e-04 9.99596372e-01 -6.40337500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.264012739 meters Centerline goodness [0,1] 0.9925553019475671 Centerline is valid? [True, True] Translation: X:364.95, Y:22.51, Z:-0.64 [[ 8.48014215e-01 -5.29470457e-01 -2.30851857e-02 3.64952801e+02] [ 5.29248325e-01 8.48327995e-01 -1.53565377e-02 2.25075200e+01] [ 2.77146424e-02 8.04766429e-04 9.99615552e-01 -6.39318428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.294012739 meters Centerline goodness [0,1] 0.9944501585668981 Centerline is valid? [True, True] Translation: X:364.98, Y:22.51, Z:-0.64 [[ 8.43466615e-01 -5.36699035e-01 -2.27643412e-02 3.64983065e+02] [ 5.36485601e-01 8.43773566e-01 -1.51449313e-02 2.25143311e+01] [ 2.73362194e-02 5.61502661e-04 9.99626138e-01 -6.36924889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.324012739 meters Centerline goodness [0,1] 0.9951582629468475 Centerline is valid? [True, True] Translation: X:365.01, Y:22.52, Z:-0.64 [[ 8.40784325e-01 -5.40905276e-01 -2.24321693e-02 3.65010053e+02] [ 5.40699382e-01 8.41083411e-01 -1.49289725e-02 2.25241659e+01] [ 2.69424854e-02 4.22985967e-04 9.99636896e-01 -6.35137464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.354012739 meters Centerline goodness [0,1] 0.9950071326676176 Centerline is valid? [True, True] Translation: X:365.04, Y:22.53, Z:-0.63 [[ 8.38271404e-01 -5.44819901e-01 -2.17331316e-02 3.65039519e+02] [ 5.44627823e-01 8.38553034e-01 -1.44687540e-02 2.25324468e+01] [ 2.61072485e-02 2.92274623e-04 9.99659105e-01 -6.32995733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.384012739 meters Centerline goodness [0,1] 0.9933521439870036 Centerline is valid? [True, True] Translation: X:365.07, Y:22.54, Z:-0.63 [[ 8.34343292e-01 -5.50866183e-01 -2.04381650e-02 3.65068796e+02] [ 5.50698015e-01 8.34593577e-01 -1.36109656e-02 2.25394205e+01] [ 2.45553818e-02 1.00960931e-04 9.99698466e-01 -6.29791869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.414012739 meters Centerline goodness [0,1] 0.992980642938656 Centerline is valid? [True, True] Translation: X:365.09, Y:22.55, Z:-0.63 [[ 8.33173175e-01 -5.52636786e-01 -2.03726080e-02 3.65094342e+02] [ 5.52470108e-01 8.33422210e-01 -1.35720378e-02 2.25514393e+01] [ 2.44793913e-02 5.26008984e-05 9.99700333e-01 -6.29202764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.444012739 meters Centerline goodness [0,1] 0.9931315732989912 Centerline is valid? [True, True] Translation: X:365.12, Y:22.56, Z:-0.63 [[ 8.31602273e-01 -5.54940065e-01 -2.18902861e-02 3.65120684e+02] [ 5.54748339e-01 8.31890332e-01 -1.45861631e-02 2.25632664e+01] [ 2.63047636e-02 -1.37134288e-05 9.99653970e-01 -6.31380934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.474012739 meters Centerline goodness [0,1] 0.9935001069061364 Centerline is valid? [True, True] Translation: X:365.14, Y:22.58, Z:-0.63 [[ 8.30806484e-01 -5.56108515e-01 -2.24478446e-02 3.65144417e+02] [ 5.55907154e-01 8.31109690e-01 -1.49639055e-02 2.25779231e+01] [ 2.69781764e-02 -4.68077593e-05 9.99636022e-01 -6.31671943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.504012739 meters Centerline goodness [0,1] 0.9931655061596144 Centerline is valid? [True, True] Translation: X:365.17, Y:22.59, Z:-0.63 [[ 8.30208194e-01 -5.56996454e-01 -2.25677696e-02 3.65167373e+02] [ 5.56793100e-01 8.30514867e-01 -1.50498649e-02 2.25922308e+01] [ 2.71255896e-02 -7.10572633e-05 9.99632031e-01 -6.31158837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.534012739 meters Centerline goodness [0,1] 0.993364584002226 Centerline is valid? [True, True] Translation: X:365.19, Y:22.60, Z:-0.63 [[ 8.29168535e-01 -5.58573774e-01 -2.17917414e-02 3.65192761e+02] [ 5.58384627e-01 8.29454836e-01 -1.45355847e-02 2.26043716e+01] [ 2.61944617e-02 -1.15723882e-04 9.99656860e-01 -6.29497647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.564012739 meters Centerline goodness [0,1] 0.9934018064956973 Centerline is valid? [True, True] Translation: X:365.22, Y:22.61, Z:-0.63 [[ 8.27597792e-01 -5.60885343e-01 -2.21252374e-02 3.65220642e+02] [ 5.60691028e-01 8.27893469e-01 -1.47639439e-02 2.26134885e+01] [ 2.65982192e-02 -1.86814751e-04 9.99646187e-01 -6.29710948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.594012739 meters Centerline goodness [0,1] 0.9932380049961237 Centerline is valid? [True, True] Translation: X:365.25, Y:22.63, Z:-0.63 [[ 8.26564921e-01 -5.62381175e-01 -2.27562312e-02 3.65245409e+02] [ 5.62176123e-01 8.26878079e-01 -1.51871649e-02 2.26278152e+01] [ 2.73576043e-02 -2.39832096e-04 9.99625682e-01 -6.29767831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.624012739 meters Centerline goodness [0,1] 0.9929789585455175 Centerline is valid? [True, True] Translation: X:365.27, Y:22.64, Z:-0.63 [[ 8.25626669e-01 -5.63734013e-01 -2.33359600e-02 3.65271135e+02] [ 5.63518756e-01 8.25956343e-01 -1.55798299e-02 2.26408701e+01] [ 2.80573642e-02 -2.87128048e-04 9.99606273e-01 -6.30333113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.654012739 meters Centerline goodness [0,1] 0.992490453966907 Centerline is valid? [True, True] Translation: X:365.30, Y:22.65, Z:-0.63 [[ 8.23738146e-01 -5.66505976e-01 -2.29444048e-02 3.65301333e+02] [ 5.66298813e-01 8.24057547e-01 -1.53236099e-02 2.26455635e+01] [ 2.75884265e-02 -3.70747250e-04 9.99619298e-01 -6.29038543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.684012739 meters Centerline goodness [0,1] 0.9924552429667519 Centerline is valid? [True, True] Translation: X:365.33, Y:22.66, Z:-0.63 [[ 8.22848409e-01 -5.67810720e-01 -2.26159671e-02 3.65326872e+02] [ 5.67609882e-01 8.23159050e-01 -1.51063431e-02 2.26584040e+01] [ 2.71940815e-02 -4.06816028e-04 9.99630090e-01 -6.26736849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.714012739 meters Centerline goodness [0,1] 0.9912181845244423 Centerline is valid? [True, True] Translation: X:365.36, Y:22.66, Z:-0.63 [[ 8.21477185e-01 -5.69797840e-01 -2.24867907e-02 3.65355888e+02] [ 5.69599893e-01 8.21784768e-01 -1.50252239e-02 2.26641705e+01] [ 2.70406422e-02 -4.65594900e-04 9.99634227e-01 -6.27136158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.744012739 meters Centerline goodness [0,1] 0.9913210561540621 Centerline is valid? [True, True] Translation: X:365.38, Y:22.68, Z:-0.63 [[ 8.20847133e-01 -5.70681763e-01 -2.30718239e-02 3.65381690e+02] [ 5.70473628e-01 8.21171158e-01 -1.54197408e-02 2.26773792e+01] [ 2.77456813e-02 -5.04617054e-04 9.99614887e-01 -6.28156445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.774012739 meters Centerline goodness [0,1] 0.9913862775958143 Centerline is valid? [True, True] Translation: X:365.41, Y:22.69, Z:-0.63 [[ 8.20650649e-01 -5.70934747e-01 -2.37913393e-02 3.65408533e+02] [ 5.70713375e-01 8.20995274e-01 -1.59060874e-02 2.26870684e+01] [ 2.86139151e-02 -5.24694618e-04 9.99590400e-01 -6.28875244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80401273900003 meters Centerline goodness [0,1] 0.9928466775833836 Centerline is valid? [True, True] Translation: X:365.43, Y:22.70, Z:-0.63 [[ 8.21840360e-01 -5.69235916e-01 -2.34284995e-02 3.65433657e+02] [ 5.69020472e-01 8.22174108e-01 -1.56664643e-02 2.27019590e+01] [ 2.81802199e-02 -4.55963149e-04 9.99602755e-01 -6.25832064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.834012739 meters Centerline goodness [0,1] 0.9930520984394278 Centerline is valid? [True, True] Translation: X:365.46, Y:22.72, Z:-0.62 [[ 8.23102354e-01 -5.67426336e-01 -2.30188642e-02 3.65456039e+02] [ 5.67217516e-01 8.23424075e-01 -1.53974985e-02 2.27197599e+01] [ 2.76912331e-02 -3.82985680e-04 9.99616451e-01 -6.23967770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86401273900003 meters Centerline goodness [0,1] 0.9943444508956412 Centerline is valid? [True, True] Translation: X:365.48, Y:22.74, Z:-0.62 [[ 8.26562457e-01 -5.62361724e-01 -2.33194344e-02 3.65476795e+02] [ 5.62145231e-01 8.26891315e-01 -1.56042543e-02 2.27398601e+01] [ 2.80578731e-02 -2.11018082e-04 9.99606278e-01 -6.24380730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.894012739 meters Centerline goodness [0,1] 0.9943874175718646 Centerline is valid? [True, True] Translation: X:365.50, Y:22.76, Z:-0.63 [[ 8.28254038e-01 -5.59840694e-01 -2.39509243e-02 3.65499014e+02] [ 5.59611099e-01 8.28600255e-01 -1.60323316e-02 2.27569889e+01] [ 2.88212936e-02 -1.24359707e-04 9.99584572e-01 -6.25434907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.924012739 meters Centerline goodness [0,1] 0.9945456878850103 Centerline is valid? [True, True] Translation: X:365.52, Y:22.77, Z:-0.63 [[ 8.29392089e-01 -5.58153626e-01 -2.39435059e-02 3.65521380e+02] [ 5.57923397e-01 8.29737624e-01 -1.60298932e-02 2.27744462e+01] [ 2.88139707e-02 -6.35754807e-05 9.99584789e-01 -6.25093186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.954012739 meters Centerline goodness [0,1] 0.9947537473233404 Centerline is valid? [True, True] Translation: X:365.54, Y:22.79, Z:-0.62 [[ 8.30251118e-01 -5.56890789e-01 -2.35739384e-02 3.65544253e+02] [ 5.56666930e-01 8.30585727e-01 -1.57885830e-02 2.27886871e+01] [ 2.83726932e-02 -1.43432740e-05 9.99597414e-01 -6.23500743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.984012739 meters Centerline goodness [0,1] 0.9942368669123318 Centerline is valid? [True, True] Translation: X:365.57, Y:22.80, Z:-0.62 [[ 8.29754441e-01 -5.57646333e-01 -2.31977172e-02 3.65569682e+02] [ 5.57429760e-01 8.30078650e-01 -1.55401676e-02 2.28018148e+01] [ 2.79218472e-02 -3.65748735e-05 9.99610109e-01 -6.22125717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.014012739 meters Centerline goodness [0,1] 0.9944185435681923 Centerline is valid? [True, True] Translation: X:365.60, Y:22.81, Z:-0.62 [[ 8.27367644e-01 -5.61186304e-01 -2.30805947e-02 3.65599569e+02] [ 5.60973113e-01 8.27689501e-01 -1.54679333e-02 2.28082153e+01] [ 2.77839582e-02 -1.49925528e-04 9.99613940e-01 -6.21742225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.044012739 meters Centerline goodness [0,1] 0.9944117137411194 Centerline is valid? [True, True] Translation: X:365.63, Y:22.82, Z:-0.62 [[ 8.26095028e-01 -5.63052449e-01 -2.32151572e-02 3.65625845e+02] [ 5.62837342e-01 8.26421137e-01 -1.55637557e-02 2.28187608e+01] [ 2.79487074e-02 -2.09216151e-04 9.99609337e-01 -6.21321478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.074012739 meters Centerline goodness [0,1] 0.9933426918495831 Centerline is valid? [True, True] Translation: X:365.65, Y:22.83, Z:-0.62 [[ 8.25275478e-01 -5.64247832e-01 -2.33402994e-02 3.65651589e+02] [ 5.64030816e-01 8.25605427e-01 -1.56498288e-02 2.28296584e+01] [ 2.81002598e-02 -2.49228163e-04 9.99605079e-01 -6.20196058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.104012739 meters Centerline goodness [0,1] 0.9933426918495831 Centerline is valid? [True, True] Translation: X:365.67, Y:22.85, Z:-0.62 [[ 8.25169722e-01 -5.64402541e-01 -2.33388452e-02 3.65674310e+02] [ 5.64185525e-01 8.25499672e-01 -1.56519972e-02 2.28451323e+01] [ 2.81002360e-02 -2.51884446e-04 9.99605079e-01 -6.19487674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.134012739 meters Centerline goodness [0,1] 0.9931767624914443 Centerline is valid? [True, True] Translation: X:365.70, Y:22.86, Z:-0.62 [[ 8.24847751e-01 -5.64911877e-01 -2.23776357e-02 3.65699629e+02] [ 5.64712402e-01 8.25151202e-01 -1.50132137e-02 2.28572984e+01] [ 2.69460758e-02 -2.53312868e-04 9.99636856e-01 -6.16903130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.164012739 meters Centerline goodness [0,1] 0.9934939297939744 Centerline is valid? [True, True] Translation: X:365.72, Y:22.87, Z:-0.62 [[ 8.25374563e-01 -5.64149538e-01 -2.21839725e-02 3.65723403e+02] [ 5.63953070e-01 8.25672604e-01 -1.48891107e-02 2.28717983e+01] [ 2.67163833e-02 -2.21626166e-04 9.99643029e-01 -6.15617118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.194012739 meters Centerline goodness [0,1] 0.9939341608202914 Centerline is valid? [True, True] Translation: X:365.75, Y:22.89, Z:-0.62 [[ 8.26394768e-01 -5.62640144e-01 -2.25334302e-02 3.65746872e+02] [ 5.62436818e-01 8.26701904e-01 -1.51257543e-02 2.28885034e+01] [ 2.71387863e-02 -1.73786541e-04 9.99631660e-01 -6.15277546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.224012739 meters Centerline goodness [0,1] 0.9938911079308798 Centerline is valid? [True, True] Translation: X:365.77, Y:22.90, Z:-0.62 [[ 8.26671152e-01 -5.62214979e-01 -2.30027020e-02 3.65769558e+02] [ 5.62002778e-01 8.26991108e-01 -1.54462052e-02 2.29023759e+01] [ 2.77071179e-02 -1.58650179e-04 9.99616072e-01 -6.15980110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.254012739 meters Centerline goodness [0,1] 0.9941590279258153 Centerline is valid? [True, True] Translation: X:365.79, Y:22.92, Z:-0.62 [[ 8.26744322e-01 -5.62085703e-01 -2.35263433e-02 3.65792892e+02] [ 5.61863578e-01 8.27078979e-01 -1.58013253e-02 2.29155786e+01] [ 2.83398430e-02 -1.54939454e-04 9.99598334e-01 -6.17024941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.284012739 meters Centerline goodness [0,1] 0.9942518837459634 Centerline is valid? [True, True] Translation: X:365.82, Y:22.93, Z:-0.62 [[ 8.26613738e-01 -5.62244892e-01 -2.42983405e-02 3.65817396e+02] [ 5.62007896e-01 8.26970770e-01 -1.63239062e-02 2.29296473e+01] [ 2.92720502e-02 -1.62294123e-04 9.99571469e-01 -6.17404222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.314012739 meters Centerline goodness [0,1] 0.9942122461183607 Centerline is valid? [True, True] Translation: X:365.84, Y:22.94, Z:-0.62 [[ 8.26429818e-01 -5.62505329e-01 -2.45257333e-02 3.65841319e+02] [ 5.62263791e-01 8.26793642e-01 -1.64833862e-02 2.29438867e+01] [ 2.95497130e-02 -1.67569948e-04 9.99563298e-01 -6.17707689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.344012739 meters Centerline goodness [0,1] 0.9942238732258273 Centerline is valid? [True, True] Translation: X:365.86, Y:22.96, Z:-0.62 [[ 8.26607361e-01 -5.62259651e-01 -2.41734530e-02 3.65864280e+02] [ 5.62024717e-01 8.26960738e-01 -1.62528697e-02 2.29586106e+01] [ 2.91288294e-02 -1.51336395e-04 9.99575654e-01 -6.16253538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.374012739 meters Centerline goodness [0,1] 0.9946254978373518 Centerline is valid? [True, True] Translation: X:365.89, Y:22.98, Z:-0.61 [[ 8.26981101e-01 -5.61729891e-01 -2.37020602e-02 3.65886339e+02] [ 5.61503686e-01 8.27320683e-01 -1.59404449e-02 2.29752353e+01] [ 2.85634290e-02 -1.26347483e-04 9.99591974e-01 -6.14272411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.404012739 meters Centerline goodness [0,1] 0.9944385764480179 Centerline is valid? [True, True] Translation: X:365.91, Y:22.99, Z:-0.61 [[ 8.28740146e-01 -5.59153148e-01 -2.31846463e-02 3.65907511e+02] [ 5.58935533e-01 8.29064386e-01 -1.55985474e-02 2.29945912e+01] [ 2.79435414e-02 -3.15801644e-05 9.99609503e-01 -6.12049695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.434012739 meters Centerline goodness [0,1] 0.994402945370193 Centerline is valid? [True, True] Translation: X:365.93, Y:23.01, Z:-0.61 [[ 8.29653588e-01 -5.57806892e-01 -2.29433166e-02 3.65928395e+02] [ 5.57593120e-01 8.29970765e-01 -1.54415202e-02 2.30114864e+01] [ 2.76556684e-02 1.80771626e-05 9.99617509e-01 -6.10500956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.464012739 meters Centerline goodness [0,1] 0.9947823818426889 Centerline is valid? [True, True] Translation: X:365.95, Y:23.03, Z:-0.61 [[ 8.31288634e-01 -5.55371060e-01 -2.28515533e-02 3.65949873e+02] [ 5.55157954e-01 8.31602655e-01 -1.53841048e-02 2.30309318e+01] [ 2.75472990e-02 1.02409843e-04 9.99620496e-01 -6.09723583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.494012739 meters Centerline goodness [0,1] 0.9955743615206926 Centerline is valid? [True, True] Translation: X:365.97, Y:23.05, Z:-0.61 [[ 8.32248107e-01 -5.53918677e-01 -2.31773046e-02 3.65971220e+02] [ 5.53698727e-01 8.32570762e-01 -1.56091318e-02 2.30491802e+01] [ 2.79429358e-02 1.57426333e-04 9.99609508e-01 -6.09969341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.524012739 meters Centerline goodness [0,1] 0.9953583880558705 Centerline is valid? [True, True] Translation: X:365.99, Y:23.07, Z:-0.61 [[ 8.33127918e-01 -5.52591520e-01 -2.32483041e-02 3.65991617e+02] [ 5.52369644e-01 8.33452200e-01 -1.56590575e-02 2.30682106e+01] [ 2.80294126e-02 2.04340548e-04 9.99607078e-01 -6.10073396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55401273900003 meters Centerline goodness [0,1] 0.9956435472739821 Centerline is valid? [True, True] Translation: X:366.01, Y:23.09, Z:-0.61 [[ 8.34215799e-01 -5.50954277e-01 -2.30951349e-02 3.66013949e+02] [ 5.50734623e-01 8.34535390e-01 -1.55582031e-02 2.30871768e+01] [ 2.78455660e-02 2.59608425e-04 9.99612203e-01 -6.08068657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.584012739 meters Centerline goodness [0,1] 0.9958398777433459 Centerline is valid? [True, True] Translation: X:366.03, Y:23.11, Z:-0.61 [[ 8.34353403e-01 -5.50755537e-01 -2.28634601e-02 3.66033749e+02] [ 5.50540043e-01 8.34666560e-01 -1.54076033e-02 2.31053155e+01] [ 2.75691884e-02 2.68135926e-04 9.99619862e-01 -6.06814349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61401273900003 meters Centerline goodness [0,1] 0.9959137148633245 Centerline is valid? [True, True] Translation: X:366.06, Y:23.12, Z:-0.60 [[ 8.33274793e-01 -5.52402872e-01 -2.24540957e-02 3.66058529e+02] [ 5.52195548e-01 8.33577244e-01 -1.51345825e-02 2.31208948e+01] [ 2.70776100e-02 2.12214448e-04 9.99633312e-01 -6.04613675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.644012739 meters Centerline goodness [0,1] 0.9957493398595995 Centerline is valid? [True, True] Translation: X:366.08, Y:23.14, Z:-0.60 [[ 8.32709304e-01 -5.53250735e-01 -2.25574520e-02 3.66079408e+02] [ 5.53041670e-01 8.33014759e-01 -1.52093004e-02 2.31378275e+01] [ 2.72052470e-02 1.89715017e-04 9.99629851e-01 -6.03899194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.674012739 meters Centerline goodness [0,1] 0.9954378378378378 Centerline is valid? [True, True] Translation: X:366.10, Y:23.16, Z:-0.60 [[ 8.32709378e-01 -5.53250556e-01 -2.25591450e-02 3.66100157e+02] [ 5.53041375e-01 8.33014877e-01 -1.52135426e-02 2.31572635e+01] [ 2.72090043e-02 1.92318990e-04 9.99629748e-01 -6.02996192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.704012739 meters Centerline goodness [0,1] 0.9953726305958269 Centerline is valid? [True, True] Translation: X:366.12, Y:23.18, Z:-0.60 [[ 8.32898589e-01 -5.52963314e-01 -2.26166721e-02 3.66120451e+02] [ 5.52752792e-01 8.33205575e-01 -1.52584656e-02 2.31759611e+01] [ 2.72817090e-02 2.07325842e-04 9.99627763e-01 -6.03088906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.734012739 meters Centerline goodness [0,1] 0.9957516906537195 Centerline is valid? [True, True] Translation: X:366.14, Y:23.19, Z:-0.60 [[ 8.32895369e-01 -5.52953396e-01 -2.29749105e-02 3.66141849e+02] [ 5.52736040e-01 8.33212155e-01 -1.55040137e-02 2.31934982e+01] [ 2.77159718e-02 2.14160162e-04 9.99615816e-01 -6.03542567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.764012739 meters Centerline goodness [0,1] 0.9965336112115348 Centerline is valid? [True, True] Translation: X:366.16, Y:23.22, Z:-0.60 [[ 8.33120867e-01 -5.52594054e-01 -2.34399838e-02 3.66159843e+02] [ 5.52367484e-01 8.33450512e-01 -1.58242143e-02 2.32159969e+01] [ 2.82804333e-02 2.35998215e-04 9.99600001e-01 -6.04730251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.794012739 meters Centerline goodness [0,1] 0.9958090653141052 Centerline is valid? [True, True] Translation: X:366.18, Y:23.23, Z:-0.60 [[ 8.32883093e-01 -5.52981665e-01 -2.27383297e-02 3.66182510e+02] [ 5.52768543e-01 8.33193393e-01 -1.53527421e-02 2.32322497e+01] [ 2.74352110e-02 2.18005923e-04 9.99623560e-01 -6.02389976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.824012739 meters Centerline goodness [0,1] 0.9950732612451213 Centerline is valid? [True, True] Translation: X:366.20, Y:23.25, Z:-0.60 [[ 8.32457370e-01 -5.53665035e-01 -2.16738326e-02 3.66202167e+02] [ 5.53471486e-01 8.32739450e-01 -1.46397467e-02 2.32535175e+01] [ 2.61541713e-02 1.91116730e-04 9.99657903e-01 -5.99512297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.854012739 meters Centerline goodness [0,1] 0.995095425951594 Centerline is valid? [True, True] Translation: X:366.23, Y:23.27, Z:-0.60 [[ 8.32205152e-01 -5.54022654e-01 -2.22145116e-02 3.66225173e+02] [ 5.53819396e-01 8.32501570e-01 -1.50070966e-02 2.32691474e+01] [ 2.68078872e-02 1.86155692e-04 9.99640587e-01 -5.99888532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.884012739 meters Centerline goodness [0,1] 0.9953393470790378 Centerline is valid? [True, True] Translation: X:366.25, Y:23.29, Z:-0.60 [[ 8.30969467e-01 -5.55830971e-01 -2.32739363e-02 3.66246941e+02] [ 5.55608389e-01 8.31295322e-01 -1.57291364e-02 2.32870618e+01] [ 2.80902555e-02 1.39237870e-04 9.99605381e-01 -6.02128746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.914012739 meters Centerline goodness [0,1] 0.9949168605152063 Centerline is valid? [True, True] Translation: X:366.27, Y:23.30, Z:-0.60 [[ 8.30036405e-01 -5.57208999e-01 -2.36156120e-02 3.66270173e+02] [ 5.56980319e-01 8.30372279e-01 -1.59625274e-02 2.33034275e+01] [ 2.85042135e-02 9.60478020e-05 9.99593668e-01 -6.01866158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.944012739 meters Centerline goodness [0,1] 0.9948026497965792 Centerline is valid? [True, True] Translation: X:366.29, Y:23.32, Z:-0.60 [[ 8.29083942e-01 -5.58602124e-01 -2.41554374e-02 3.66291379e+02] [ 5.58363271e-01 8.29435751e-01 -1.63338080e-02 2.33201293e+01] [ 2.91594832e-02 5.45889481e-05 9.99574770e-01 -6.03227479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.974012739 meters Centerline goodness [0,1] 0.9953359197778202 Centerline is valid? [True, True] Translation: X:366.31, Y:23.34, Z:-0.60 [[ 8.28738895e-01 -5.59111221e-01 -2.42174725e-02 3.66313861e+02] [ 5.58871242e-01 8.29092661e-01 -1.63796774e-02 2.33364021e+01] [ 2.92365901e-02 4.00268468e-05 9.99572519e-01 -6.02853691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.004012739 meters Centerline goodness [0,1] 0.9949925101647764 Centerline is valid? [True, True] Translation: X:366.34, Y:23.35, Z:-0.60 [[ 8.28433769e-01 -5.59573541e-01 -2.39779627e-02 3.66335899e+02] [ 5.59338302e-01 8.28780702e-01 -1.62238125e-02 2.33519451e+01] [ 2.89508889e-02 2.85612245e-05 9.99580835e-01 -6.02056534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.034012739 meters Centerline goodness [0,1] 0.9925018961967711 Centerline is valid? [True, True] Translation: X:366.36, Y:23.37, Z:-0.59 [[ 8.27900218e-01 -5.60308278e-01 -2.52162962e-02 3.66359021e+02] [ 5.60048319e-01 8.28284150e-01 -1.70659786e-02 2.33674536e+01] [ 3.04484675e-02 6.58311218e-06 9.99536338e-01 -5.91868159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.064012739 meters Centerline goodness [0,1] 0.9954348664752025 Centerline is valid? [True, True] Translation: X:366.38, Y:23.38, Z:-0.60 [[ 8.27492405e-01 -5.60915897e-01 -2.50933449e-02 3.66382805e+02] [ 5.60658547e-01 8.27872790e-01 -1.69893320e-02 2.33836354e+01] [ 3.03036839e-02 -1.02551126e-05 9.99540738e-01 -6.02937965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.094012739 meters Centerline goodness [0,1] 0.9950288370491521 Centerline is valid? [True, True] Translation: X:366.41, Y:23.40, Z:-0.60 [[ 8.27052787e-01 -5.61609508e-01 -2.40509481e-02 3.66405364e+02] [ 5.61373218e-01 8.27402417e-01 -1.62895773e-02 2.33987408e+01] [ 2.90481940e-02 -2.92178395e-05 9.99578012e-01 -6.00591941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.124012739 meters Centerline goodness [0,1] 0.9947118266678086 Centerline is valid? [True, True] Translation: X:366.43, Y:23.41, Z:-0.60 [[ 8.26698552e-01 -5.62165265e-01 -2.32318527e-02 3.66428133e+02] [ 5.61944923e-01 8.27024917e-01 -1.57381832e-02 2.34142524e+01] [ 2.80607809e-02 -4.42884088e-05 9.99606218e-01 -5.97896922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.154012739 meters Centerline goodness [0,1] 0.995049082373026 Centerline is valid? [True, True] Translation: X:366.45, Y:23.43, Z:-0.60 [[ 8.26067274e-01 -5.63110184e-01 -2.27986833e-02 3.66451196e+02] [ 5.62898184e-01 8.26381822e-01 -1.54505164e-02 2.34281335e+01] [ 2.75407606e-02 -7.01714544e-05 9.99620679e-01 -5.96701884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.184012739 meters Centerline goodness [0,1] 0.9950218865333448 Centerline is valid? [True, True] Translation: X:366.48, Y:23.44, Z:-0.60 [[ 8.23395266e-01 -5.66954964e-01 -2.41309735e-02 3.66479826e+02] [ 5.66719000e-01 8.23748764e-01 -1.63569355e-02 2.34364891e+01] [ 2.91515053e-02 -2.07257893e-04 9.99574983e-01 -5.99341446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.214012739 meters Centerline goodness [0,1] 0.9945168654391842 Centerline is valid? [True, True] Translation: X:366.51, Y:23.45, Z:-0.60 [[ 8.21452146e-01 -5.69736528e-01 -2.48326440e-02 3.66506920e+02] [ 5.69487838e-01 8.21827348e-01 -1.68348319e-02 2.34461841e+01] [ 2.99995646e-02 -3.12879957e-04 9.99549863e-01 -6.00325321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.244012739 meters Centerline goodness [0,1] 0.9934342786261174 Centerline is valid? [True, True] Translation: X:366.53, Y:23.45, Z:-0.60 [[ 8.19154799e-01 -5.73069626e-01 -2.40129058e-02 3.66534133e+02] [ 5.72838427e-01 8.19506577e-01 -1.62820977e-02 2.34546861e+01] [ 2.90095098e-02 -4.17956748e-04 9.99579048e-01 -5.96420748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.274012739 meters Centerline goodness [0,1] 0.9938034882461272 Centerline is valid? [True, True] Translation: X:366.56, Y:23.47, Z:-0.59 [[ 8.18752083e-01 -5.73690374e-01 -2.28993759e-02 3.66555766e+02] [ 5.73480266e-01 8.19072146e-01 -1.55307164e-02 2.34721108e+01] [ 2.76660635e-02 -4.16533826e-04 9.99617134e-01 -5.92602083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30401273900003 meters Centerline goodness [0,1] 0.9931376780319379 Centerline is valid? [True, True] Translation: X:366.58, Y:23.48, Z:-0.59 [[ 8.18480557e-01 -5.74107804e-01 -2.21315924e-02 3.66581776e+02] [ 5.73911542e-01 8.18779616e-01 -1.50160466e-02 2.34810844e+01] [ 2.67417263e-02 -4.11234141e-04 9.99642292e-01 -5.90797227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.334012739 meters Centerline goodness [0,1] 0.9929951178093823 Centerline is valid? [True, True] Translation: X:366.61, Y:23.49, Z:-0.59 [[ 8.18474409e-01 -5.74101629e-01 -2.25158178e-02 3.66605993e+02] [ 5.73898385e-01 8.18783944e-01 -1.52805790e-02 2.34939166e+01] [ 2.72081954e-02 -4.15028577e-04 9.99629702e-01 -5.89934716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36401273900003 meters Centerline goodness [0,1] 0.9937716262975779 Centerline is valid? [True, True] Translation: X:366.63, Y:23.51, Z:-0.59 [[ 8.18534393e-01 -5.74000144e-01 -2.29190265e-02 3.66626341e+02] [ 5.73789365e-01 8.18855093e-01 -1.55596414e-02 2.35132342e+01] [ 2.76985979e-02 -4.14591987e-04 9.99616234e-01 -5.89795543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.394012739 meters Centerline goodness [0,1] 0.9933808881177302 Centerline is valid? [True, True] Translation: X:366.65, Y:23.52, Z:-0.59 [[ 8.18921851e-01 -5.73428049e-01 -2.33939180e-02 3.66652691e+02] [ 5.73208031e-01 8.19255829e-01 -1.58883358e-02 2.35245462e+01] [ 2.82764211e-02 -3.98276350e-04 9.99600063e-01 -5.91653232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.424012739 meters Centerline goodness [0,1] 0.9933893081092571 Centerline is valid? [True, True] Translation: X:366.68, Y:23.54, Z:-0.59 [[ 8.18746629e-01 -5.73671959e-01 -2.35465754e-02 3.66676305e+02] [ 5.73449092e-01 8.19085049e-01 -1.59943961e-02 2.35373939e+01] [ 2.84621844e-02 -4.07404433e-04 9.99594787e-01 -5.91225259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.454012739 meters Centerline goodness [0,1] 0.9934815131438341 Centerline is valid? [True, True] Translation: X:366.70, Y:23.55, Z:-0.59 [[ 8.17958798e-01 -5.74778305e-01 -2.39438084e-02 3.66703574e+02] [ 5.74548168e-01 8.18309049e-01 -1.62697321e-02 2.35492936e+01] [ 2.89449241e-02 -4.48900746e-04 9.99580907e-01 -5.90760349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.484012739 meters Centerline goodness [0,1] 0.9939591277151792 Centerline is valid? [True, True] Translation: X:366.73, Y:23.57, Z:-0.59 [[ 8.17774790e-01 -5.75014780e-01 -2.45437729e-02 3.66725232e+02] [ 5.74772901e-01 8.18142890e-01 -1.66830473e-02 2.35680812e+01] [ 2.96733121e-02 -4.64120106e-04 9.99559543e-01 -5.90005188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.514012739 meters Centerline goodness [0,1] 0.9936570052464092 Centerline is valid? [True, True] Translation: X:366.75, Y:23.58, Z:-0.59 [[ 8.18145799e-01 -5.74454830e-01 -2.52804345e-02 3.66748192e+02] [ 5.74197742e-01 8.18536159e-01 -1.71903829e-02 2.35819858e+01] [ 3.05680483e-02 -4.51728910e-04 9.99532586e-01 -5.91244182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.544012739 meters Centerline goodness [0,1] 0.9945853397538791 Centerline is valid? [True, True] Translation: X:366.77, Y:23.61, Z:-0.59 [[ 8.19853690e-01 -5.72010109e-01 -2.53842842e-02 3.66767022e+02] [ 5.71749598e-01 8.20246491e-01 -1.72653053e-02 2.36063801e+01] [ 3.06972992e-02 -3.58430034e-04 9.99528663e-01 -5.89224687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.574012739 meters Centerline goodness [0,1] 0.9941563184806428 Centerline is valid? [True, True] Translation: X:366.79, Y:23.63, Z:-0.59 [[ 8.20816004e-01 -5.70687231e-01 -2.40244196e-02 3.66788141e+02] [ 5.70453231e-01 8.21167462e-01 -1.63435215e-02 2.36257205e+01] [ 2.90551107e-02 -2.89783774e-04 9.99577769e-01 -5.85423100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.604012739 meters Centerline goodness [0,1] 0.9934559452523525 Centerline is valid? [True, True] Translation: X:366.81, Y:23.65, Z:-0.58 [[ 8.23456699e-01 -5.67004716e-01 -2.06086435e-02 3.66805891e+02] [ 5.66831268e-01 8.23714534e-01 -1.40242405e-02 2.36493710e+01] [ 2.49274497e-02 -1.33268773e-04 9.99689254e-01 -5.77163111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.634012739 meters Centerline goodness [0,1] 0.9940554112925725 Centerline is valid? [True, True] Translation: X:366.83, Y:23.67, Z:-0.58 [[ 8.24570104e-01 -5.65389021e-01 -2.04792137e-02 3.66826307e+02] [ 5.65217206e-01 8.24824374e-01 -1.39378114e-02 2.36707990e+01] [ 2.47720401e-02 -8.25013263e-05 9.99693123e-01 -5.75837065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.664012739 meters Centerline goodness [0,1] 0.9948698134672763 Centerline is valid? [True, True] Translation: X:366.85, Y:23.69, Z:-0.58 [[ 8.25522096e-01 -5.63968280e-01 -2.12849286e-02 3.66846399e+02] [ 5.63782067e-01 8.25796451e-01 -1.44914885e-02 2.36908268e+01] [ 2.57497583e-02 -3.70170319e-05 9.99668419e-01 -5.77802442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.694012739 meters Centerline goodness [0,1] 0.9950444072596216 Centerline is valid? [True, True] Translation: X:366.86, Y:23.71, Z:-0.58 [[ 8.26336080e-01 -5.62751267e-01 -2.19019138e-02 3.66864687e+02] [ 5.62553509e-01 8.26626283e-01 -1.49177094e-02 2.37118445e+01] [ 2.64996575e-02 6.04305353e-06 9.99648822e-01 -5.79913903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.724012739 meters Centerline goodness [0,1] 0.9947658519911127 Centerline is valid? [True, True] Translation: X:366.89, Y:23.73, Z:-0.58 [[ 8.25944180e-01 -5.63332765e-01 -2.17349187e-02 3.66885098e+02] [ 5.63138106e-01 8.26230111e-01 -1.48080592e-02 2.37320241e+01] [ 2.62999092e-02 -9.13065435e-06 9.99654098e-01 -5.78422792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.754012739 meters Centerline goodness [0,1] 0.9945669680245668 Centerline is valid? [True, True] Translation: X:366.91, Y:23.75, Z:-0.58 [[ 8.25225939e-01 -5.64384316e-01 -2.17369388e-02 3.66907145e+02] [ 5.64189828e-01 8.25512170e-01 -1.48153908e-02 2.37487000e+01] [ 2.63056818e-02 -3.77149679e-05 9.99653945e-01 -5.77365279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.784012739 meters Centerline goodness [0,1] 0.994288928308744 Centerline is valid? [True, True] Translation: X:366.93, Y:23.76, Z:-0.58 [[ 8.24280796e-01 -5.65772259e-01 -2.15156095e-02 3.66930555e+02] [ 5.65582032e-01 8.24561547e-01 -1.46703692e-02 2.37644892e+01] [ 2.60410322e-02 -7.63385390e-05 9.99660872e-01 -5.75624527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.814012739 meters Centerline goodness [0,1] 0.9936514699616532 Centerline is valid? [True, True] Translation: X:366.96, Y:23.78, Z:-0.57 [[ 8.23019867e-01 -5.67664751e-01 -1.98753386e-02 3.66955122e+02] [ 5.67502848e-01 8.23259811e-01 -1.35573366e-02 2.37773745e+01] [ 2.40585896e-02 -1.21353897e-04 9.99710543e-01 -5.72065038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.844012739 meters Centerline goodness [0,1] 0.993320059091785 Centerline is valid? [True, True] Translation: X:366.98, Y:23.79, Z:-0.57 [[ 8.22166335e-01 -5.68921066e-01 -1.92701485e-02 3.66979670e+02] [ 5.68769165e-01 8.22392119e-01 -1.31468241e-02 2.37910284e+01] [ 2.33271235e-02 -1.51390118e-04 9.99727874e-01 -5.70599579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.874012739 meters Centerline goodness [0,1] 0.9926245536473389 Centerline is valid? [True, True] Translation: X:367.01, Y:23.80, Z:-0.57 [[ 8.20218182e-01 -5.71699791e-01 -2.00370174e-02 3.67005600e+02] [ 5.71536327e-01 8.20462852e-01 -1.36724180e-02 2.38015056e+01] [ 2.42561470e-02 -2.37517469e-04 9.99705748e-01 -5.71846655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.904012739 meters Centerline goodness [0,1] 0.9927284358673633 Centerline is valid? [True, True] Translation: X:367.03, Y:23.81, Z:-0.57 [[ 8.19153073e-01 -5.73196228e-01 -2.08405106e-02 3.67030465e+02] [ 5.73019792e-01 8.19418086e-01 -1.42238537e-02 2.38138367e+01] [ 2.52301506e-02 -2.90511601e-04 9.99681627e-01 -5.72557626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.934012739 meters Centerline goodness [0,1] 0.9923115457495698 Centerline is valid? [True, True] Translation: X:367.06, Y:23.83, Z:-0.57 [[ 8.18112587e-01 -5.74674250e-01 -2.10071822e-02 3.67056056e+02] [ 5.74495402e-01 8.18382180e-01 -1.43401811e-02 2.38267084e+01] [ 2.54328364e-02 -3.36646891e-04 9.99676476e-01 -5.72097286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.964012739 meters Centerline goodness [0,1] 0.9923115457495698 Centerline is valid? [True, True] Translation: X:367.08, Y:23.84, Z:-0.57 [[ 8.18005793e-01 -5.74826337e-01 -2.10048578e-02 3.67078645e+02] [ 5.74647451e-01 8.18275362e-01 -1.43435850e-02 2.38423668e+01] [ 2.54328280e-02 -3.37252387e-04 9.99676476e-01 -5.71389039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.994012739 meters Centerline goodness [0,1] 0.9915738146666951 Centerline is valid? [True, True] Translation: X:367.11, Y:23.85, Z:-0.57 [[ 8.15894090e-01 -5.77845314e-01 -2.02885866e-02 3.67108438e+02] [ 5.77679221e-01 8.16146202e-01 -1.38598310e-02 2.38493734e+01] [ 2.45672913e-02 -4.12140748e-04 9.99698094e-01 -5.68415301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.024012739 meters Centerline goodness [0,1] 0.990536943939842 Centerline is valid? [True, True] Translation: X:367.14, Y:23.86, Z:-0.57 [[ 8.14618099e-01 -5.79630808e-01 -2.06271576e-02 3.67136467e+02] [ 5.79459567e-01 8.14879075e-01 -1.40962299e-02 2.38569038e+01] [ 2.49792482e-02 -4.69559796e-04 9.99687860e-01 -5.69193509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05401273900003 meters Centerline goodness [0,1] 0.9907684362290461 Centerline is valid? [True, True] Translation: X:367.16, Y:23.87, Z:-0.57 [[ 8.14472886e-01 -5.79823436e-01 -2.09451824e-02 3.67160303e+02] [ 5.79646883e-01 8.14742015e-01 -1.43157006e-02 2.38690653e+01] [ 2.53654988e-02 -4.81059688e-04 9.99678128e-01 -5.69120891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.084012739 meters Centerline goodness [0,1] 0.9911534827793524 Centerline is valid? [True, True] Translation: X:367.18, Y:23.88, Z:-0.57 [[ 8.14825374e-01 -5.79312406e-01 -2.13716168e-02 3.67184287e+02] [ 5.79128313e-01 8.15105462e-01 -1.46110652e-02 2.38832949e+01] [ 2.58844929e-02 -4.71441736e-04 9.99664829e-01 -5.69126449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11401273900003 meters Centerline goodness [0,1] 0.9922299095263438 Centerline is valid? [True, True] Translation: X:367.21, Y:23.90, Z:-0.57 [[ 8.16092519e-01 -5.77527771e-01 -2.13231020e-02 3.67208224e+02] [ 5.77343763e-01 8.16370937e-01 -1.45832882e-02 2.38997779e+01] [ 2.58298147e-02 -4.09447535e-04 9.99666271e-01 -5.67058354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.144012739 meters Centerline goodness [0,1] 0.9922664823295602 Centerline is valid? [True, True] Translation: X:367.23, Y:23.92, Z:-0.57 [[ 8.16617726e-01 -5.76805229e-01 -2.07657867e-02 3.67230600e+02] [ 5.76630365e-01 8.16881625e-01 -1.42067971e-02 2.39173660e+01] [ 2.51577444e-02 -3.72660836e-04 9.99683424e-01 -5.65211837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.174012739 meters Centerline goodness [0,1] 0.9925708028256716 Centerline is valid? [True, True] Translation: X:367.25, Y:23.93, Z:-0.57 [[ 8.17760166e-01 -5.75145649e-01 -2.18126588e-02 3.67254739e+02] [ 5.74951972e-01 8.18050959e-01 -1.49284501e-02 2.39310906e+01] [ 2.64298995e-02 -3.33339384e-04 9.99650614e-01 -5.68187317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.204012739 meters Centerline goodness [0,1] 0.9940721761410518 Centerline is valid? [True, True] Translation: X:367.28, Y:23.95, Z:-0.57 [[ 8.17923054e-01 -5.74876762e-01 -2.27724897e-02 3.67278009e+02] [ 5.74665494e-01 8.18239937e-01 -1.55876731e-02 2.39468352e+01] [ 2.75943516e-02 -3.37046807e-04 9.99619147e-01 -5.69815267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.234012739 meters Centerline goodness [0,1] 0.9938680560022298 Centerline is valid? [True, True] Translation: X:367.30, Y:23.96, Z:-0.57 [[ 8.18240623e-01 -5.74393556e-01 -2.35441056e-02 3.67301019e+02] [ 5.74167343e-01 8.18579218e-01 -1.61222273e-02 2.39618196e+01] [ 2.85332190e-02 -3.26395263e-04 9.99592792e-01 -5.70860567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.264012739 meters Centerline goodness [0,1] 0.9941578246488251 Centerline is valid? [True, True] Translation: X:367.32, Y:23.98, Z:-0.57 [[ 8.18706758e-01 -5.73703728e-01 -2.41511203e-02 3.67324851e+02] [ 5.73465293e-01 8.19062841e-01 -1.65414637e-02 2.39756596e+01] [ 2.92711846e-02 -3.07221188e-04 9.99571460e-01 -5.71494125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.294012739 meters Centerline goodness [0,1] 0.9937450632965438 Centerline is valid? [True, True] Translation: X:367.35, Y:23.99, Z:-0.57 [[ 8.18852886e-01 -5.73513491e-01 -2.37113363e-02 3.67347565e+02] [ 5.73283426e-01 8.19196064e-01 -1.62456618e-02 2.39914348e+01] [ 2.87413396e-02 -2.90509069e-04 9.99586840e-01 -5.69175059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.324012739 meters Centerline goodness [0,1] 0.9941408330670075 Centerline is valid? [True, True] Translation: X:367.37, Y:24.01, Z:-0.57 [[ 8.19274282e-01 -5.72931674e-01 -2.32152747e-02 3.67373226e+02] [ 5.72710731e-01 8.19603093e-01 -1.59118962e-02 2.40054597e+01] [ 2.81437403e-02 -2.59429631e-04 9.99603853e-01 -5.67090971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.354012739 meters Centerline goodness [0,1] 0.9946035876543736 Centerline is valid? [True, True] Translation: X:367.40, Y:24.02, Z:-0.57 [[ 8.19614918e-01 -5.72427089e-01 -2.36350162e-02 3.67396365e+02] [ 5.72197707e-01 8.19955590e-01 -1.62053894e-02 2.40214286e+01] [ 2.86560676e-02 -2.41723191e-04 9.99589301e-01 -5.67408521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.384012739 meters Centerline goodness [0,1] 0.9949432711511494 Centerline is valid? [True, True] Translation: X:367.42, Y:24.04, Z:-0.57 [[ 8.21937768e-01 -5.69028968e-01 -2.49867738e-02 3.67417359e+02] [ 5.68770820e-01 8.22317468e-01 -1.71387296e-02 2.40406130e+01] [ 3.02994942e-02 -1.24778666e-04 9.99540857e-01 -5.71678462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.414012739 meters Centerline goodness [0,1] 0.9954690491384812 Centerline is valid? [True, True] Translation: X:367.44, Y:24.06, Z:-0.57 [[ 8.23232211e-01 -5.67166837e-01 -2.47084082e-02 3.67438542e+02] [ 5.66913489e-01 8.23602924e-01 -1.69505100e-02 2.40589173e+01] [ 2.99636844e-02 -5.33241088e-05 9.99550987e-01 -5.69549853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.444012739 meters Centerline goodness [0,1] 0.9949788302376545 Centerline is valid? [True, True] Translation: X:367.46, Y:24.08, Z:-0.57 [[ 8.24223668e-01 -5.65769681e-01 -2.36646123e-02 3.67460716e+02] [ 5.65536540e-01 8.24563320e-01 -1.62404961e-02 2.40752563e+01] [ 2.87013516e-02 2.59830929e-06 9.99588031e-01 -5.66540375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.474012739 meters Centerline goodness [0,1] 0.9951406430620371 Centerline is valid? [True, True] Translation: X:367.48, Y:24.09, Z:-0.56 [[ 8.25349786e-01 -5.64194359e-01 -2.19649029e-02 3.67483786e+02] [ 5.63992804e-01 8.25642006e-01 -1.50795939e-02 2.40911219e+01] [ 2.66429683e-02 5.78924200e-05 9.99645011e-01 -5.61460121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.504012739 meters Centerline goodness [0,1] 0.9959137392494972 Centerline is valid? [True, True] Translation: X:367.51, Y:24.11, Z:-0.56 [[ 8.25841458e-01 -5.63471696e-01 -2.20348365e-02 3.67505462e+02] [ 5.63268439e-01 8.26135365e-01 -1.51335592e-02 2.41079279e+01] [ 2.67310900e-02 8.63926215e-05 9.99642657e-01 -5.60865668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.534012739 meters Centerline goodness [0,1] 0.9960271690375496 Centerline is valid? [True, True] Translation: X:367.53, Y:24.13, Z:-0.56 [[ 8.27487743e-01 -5.61025063e-01 -2.26916911e-02 3.67527049e+02] [ 5.60808482e-01 8.27798797e-01 -1.55883918e-02 2.41274313e+01] [ 2.75296331e-02 1.73510329e-04 9.99620973e-01 -5.62558793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.564012739 meters Centerline goodness [0,1] 0.9961766392659147 Centerline is valid? [True, True] Translation: X:367.55, Y:24.15, Z:-0.56 [[ 8.28946184e-01 -5.58869355e-01 -2.26554181e-02 3.67548292e+02] [ 5.58652517e-01 8.29255679e-01 -1.55686726e-02 2.41458092e+01] [ 2.74879882e-02 2.49085396e-04 9.99622103e-01 -5.62335728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.594012739 meters Centerline goodness [0,1] 0.9963872064605249 Centerline is valid? [True, True] Translation: X:367.57, Y:24.17, Z:-0.56 [[ 8.31416533e-01 -5.55244870e-01 -2.12057338e-02 3.67567980e+02] [ 5.55053673e-01 8.31686849e-01 -1.45741454e-02 2.41672061e+01] [ 2.57287494e-02 3.46864977e-04 9.99668901e-01 -5.57227379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.624012739 meters Centerline goodness [0,1] 0.9964166216945494 Centerline is valid? [True, True] Translation: X:367.59, Y:24.19, Z:-0.56 [[ 8.32439332e-01 -5.53721015e-01 -2.09235689e-02 3.67589611e+02] [ 5.53534348e-01 8.32702159e-01 -1.43819328e-02 2.41871085e+01] [ 2.53866794e-02 3.90172452e-04 9.99677630e-01 -5.55663476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.654012739 meters Centerline goodness [0,1] 0.9970354457572502 Centerline is valid? [True, True] Translation: X:367.61, Y:24.21, Z:-0.56 [[ 8.33439947e-01 -5.52180864e-01 -2.17749613e-02 3.67609613e+02] [ 5.51978025e-01 8.33724225e-01 -1.49725619e-02 2.42077976e+01] [ 2.64218749e-02 4.59431058e-04 9.99650776e-01 -5.56788179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.684012739 meters Centerline goodness [0,1] 0.9964402950078868 Centerline is valid? [True, True] Translation: X:367.63, Y:24.23, Z:-0.56 [[ 8.35316193e-01 -5.49218833e-01 -2.46075501e-02 3.67627685e+02] [ 5.48958386e-01 8.35678335e-01 -1.69236651e-02 2.42307224e+01] [ 2.98587921e-02 6.28090546e-04 9.99553930e-01 -5.63099392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.714012739 meters Centerline goodness [0,1] 0.9958031775941073 Centerline is valid? [True, True] Translation: X:367.65, Y:24.25, Z:-0.56 [[ 8.35790685e-01 -5.48493205e-01 -2.46806627e-02 3.67648985e+02] [ 5.48230820e-01 8.36154753e-01 -1.69763658e-02 2.42492772e+01] [ 2.99482747e-02 6.57988405e-04 9.99551233e-01 -5.62910591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.744012739 meters Centerline goodness [0,1] 0.9959698801569625 Centerline is valid? [True, True] Translation: X:367.67, Y:24.26, Z:-0.56 [[ 8.34891705e-01 -5.49970569e-01 -2.20955679e-02 3.67673151e+02] [ 5.49760729e-01 8.35183859e-01 -1.52007555e-02 2.42649321e+01] [ 2.68138298e-02 5.43709123e-04 9.99640297e-01 -5.56427623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.774012739 meters Centerline goodness [0,1] 0.99593852204955 Centerline is valid? [True, True] Translation: X:367.70, Y:24.28, Z:-0.55 [[ 8.33574640e-01 -5.52030132e-01 -2.03973858e-02 3.67698829e+02] [ 5.51851819e-01 8.33824044e-01 -1.40368987e-02 2.42790844e+01] [ 2.47566217e-02 4.44468306e-04 9.99693409e-01 -5.51778170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80401273900003 meters Centerline goodness [0,1] 0.9958413307741523 Centerline is valid? [True, True] Translation: X:367.72, Y:24.29, Z:-0.55 [[ 8.32156580e-01 -5.54191109e-01 -1.96886025e-02 3.67722508e+02] [ 5.54025524e-01 8.32389379e-01 -1.35514007e-02 2.42934641e+01] [ 2.38986494e-02 3.68898964e-04 9.99714318e-01 -5.48811540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.834012739 meters Centerline goodness [0,1] 0.9961113472163196 Centerline is valid? [True, True] Translation: X:367.75, Y:24.31, Z:-0.55 [[ 8.30140155e-01 -5.57187971e-01 -2.02209904e-02 3.67749480e+02] [ 5.57014156e-01 8.30386344e-01 -1.39194025e-02 2.43050524e+01] [ 2.45469579e-02 2.91677047e-04 9.99698635e-01 -5.49141873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86401273900003 meters Centerline goodness [0,1] 0.9964028776978417 Centerline is valid? [True, True] Translation: X:367.77, Y:24.32, Z:-0.55 [[ 8.29383215e-01 -5.58286220e-01 -2.09756733e-02 3.67772811e+02] [ 5.58099408e-01 8.29648373e-01 -1.44439892e-02 2.43198639e+01] [ 2.54663133e-02 2.73091377e-04 9.99675644e-01 -5.50277299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.894012739 meters Centerline goodness [0,1] 0.9960791834473354 Centerline is valid? [True, True] Translation: X:367.80, Y:24.33, Z:-0.55 [[ 8.27423296e-01 -5.61146890e-01 -2.20194556e-02 3.67800124e+02] [ 5.60941976e-01 8.27716213e-01 -1.51647699e-02 2.43312898e+01] [ 2.67355239e-02 1.96046942e-04 9.99642523e-01 -5.52353376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.924012739 meters Centerline goodness [0,1] 0.996291294188265 Centerline is valid? [True, True] Translation: X:367.83, Y:24.35, Z:-0.55 [[ 8.26463279e-01 -5.62550017e-01 -2.22694137e-02 3.67825116e+02] [ 5.62340791e-01 8.26763240e-01 -1.53421132e-02 2.43466037e+01] [ 2.70422386e-02 1.56693510e-04 9.99634280e-01 -5.52414418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.954012739 meters Centerline goodness [0,1] 0.996410869936763 Centerline is valid? [True, True] Translation: X:367.85, Y:24.36, Z:-0.55 [[ 8.25709364e-01 -5.63651164e-01 -2.23922089e-02 3.67848005e+02] [ 5.63439888e-01 8.26012923e-01 -1.54319073e-02 2.43605488e+01] [ 2.71944665e-02 1.25606713e-04 9.99630154e-01 -5.52106876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.984012739 meters Centerline goodness [0,1] 0.9963278716687783 Centerline is valid? [True, True] Translation: X:367.87, Y:24.38, Z:-0.55 [[ 8.25770514e-01 -5.63567650e-01 -2.22387495e-02 3.67870785e+02] [ 5.63359092e-01 8.26069904e-01 -1.53312297e-02 2.43766390e+01] [ 2.70109467e-02 1.31675691e-04 9.99635129e-01 -5.50602360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.014012739 meters Centerline goodness [0,1] 0.9966001032880014 Centerline is valid? [True, True] Translation: X:367.89, Y:24.39, Z:-0.55 [[ 8.26053326e-01 -5.63160759e-01 -2.20422765e-02 3.67892966e+02] [ 5.62955570e-01 8.26347347e-01 -1.52016006e-02 2.43941195e+01] [ 2.67755217e-02 1.48510431e-04 9.99641460e-01 -5.49120746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.044012739 meters Centerline goodness [0,1] 0.9967730832114275 Centerline is valid? [True, True] Translation: X:367.91, Y:24.41, Z:-0.55 [[ 8.26582738e-01 -5.62386961e-01 -2.19518196e-02 3.67913060e+02] [ 5.62183026e-01 8.26874159e-01 -1.51449928e-02 2.44138140e+01] [ 2.66687388e-02 1.77649240e-04 9.99644310e-01 -5.48690500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.074012739 meters Centerline goodness [0,1] 0.9969786563653236 Centerline is valid? [True, True] Translation: X:367.93, Y:24.43, Z:-0.55 [[ 8.26301073e-01 -5.62763914e-01 -2.28760603e-02 3.67934891e+02] [ 5.62542502e-01 8.26617654e-01 -1.57856726e-02 2.44301472e+01] [ 2.77933622e-02 1.74962067e-04 9.99613675e-01 -5.50932968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.104012739 meters Centerline goodness [0,1] 0.9971890824821904 Centerline is valid? [True, True] Translation: X:367.96, Y:24.45, Z:-0.55 [[ 8.25824201e-01 -5.63415652e-01 -2.40248227e-02 3.67957906e+02] [ 5.63171542e-01 8.26173575e-01 -1.65842830e-02 2.44464816e+01] [ 2.91925183e-02 1.65605807e-04 9.99573794e-01 -5.52848023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.134012739 meters Centerline goodness [0,1] 0.9969798873348041 Centerline is valid? [True, True] Translation: X:367.98, Y:24.46, Z:-0.55 [[ 8.25216036e-01 -5.64256428e-01 -2.51630305e-02 3.67981220e+02] [ 5.63988819e-01 8.25599577e-01 -1.73767183e-02 2.44629042e+01] [ 3.05795123e-02 1.47878712e-04 9.99532326e-01 -5.54618510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.164012739 meters Centerline goodness [0,1] 0.9973038955524891 Centerline is valid? [True, True] Translation: X:368.00, Y:24.48, Z:-0.56 [[ 8.24145116e-01 -5.65768490e-01 -2.62839183e-02 3.68003503e+02] [ 5.65477050e-01 8.24564131e-01 -1.81576409e-02 2.44780927e+01] [ 3.19457973e-02 1.01578455e-04 9.99489598e-01 -5.55837064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.194012739 meters Centerline goodness [0,1] 0.9971857817032515 Centerline is valid? [True, True] Translation: X:368.03, Y:24.49, Z:-0.55 [[ 8.23418586e-01 -5.66884328e-01 -2.49798003e-02 3.68028557e+02] [ 5.66621443e-01 8.23797399e-01 -1.72622435e-02 2.44932043e+01] [ 3.03639899e-02 5.99616140e-05 9.99538906e-01 -5.50760926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.224012739 meters Centerline goodness [0,1] 0.9958372470327043 Centerline is valid? [True, True] Translation: X:368.05, Y:24.51, Z:-0.54 [[ 8.22514847e-01 -5.68333411e-01 -2.15976881e-02 3.68051816e+02] [ 5.68137294e-01 8.22798355e-01 -1.49292437e-02 2.45089208e+01] [ 2.62553303e-02 9.07252330e-06 9.99655269e-01 -5.42483928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.254012739 meters Centerline goodness [0,1] 0.9957920048091373 Centerline is valid? [True, True] Translation: X:368.07, Y:24.53, Z:-0.54 [[ 8.22221297e-01 -5.68782214e-01 -2.09507117e-02 3.68074189e+02] [ 5.68597774e-01 8.22488172e-01 -1.44837416e-02 2.45258647e+01] [ 2.54698072e-02 -3.68722539e-06 9.99675592e-01 -5.40347239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.284012739 meters Centerline goodness [0,1] 0.9955116112665062 Centerline is valid? [True, True] Translation: X:368.10, Y:24.54, Z:-0.54 [[ 8.21991866e-01 -5.69094747e-01 -2.14602249e-02 3.68096781e+02] [ 5.68901173e-01 8.22271956e-01 -1.48420457e-02 2.45427927e+01] [ 2.60926713e-02 -8.70629709e-06 9.99659528e-01 -5.41144230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.314012739 meters Centerline goodness [0,1] 0.9960618907228475 Centerline is valid? [True, True] Translation: X:368.12, Y:24.56, Z:-0.55 [[ 8.21364313e-01 -5.69886804e-01 -2.42836315e-02 3.68120961e+02] [ 5.69639059e-01 8.21723207e-01 -1.68021899e-02 2.45587439e+01] [ 2.95297698e-02 -3.21858349e-05 9.99563901e-01 -5.47078593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.344012739 meters Centerline goodness [0,1] 0.99652770335441 Centerline is valid? [True, True] Translation: X:368.14, Y:24.57, Z:-0.55 [[ 8.20617349e-01 -5.70938733e-01 -2.48219788e-02 3.68143841e+02] [ 5.70680182e-01 8.20992667e-01 -1.71805360e-02 2.45723975e+01] [ 3.01876960e-02 -6.67654773e-05 9.99544245e-01 -5.48229451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.374012739 meters Centerline goodness [0,1] 0.9954455615708516 Centerline is valid? [True, True] Translation: X:368.17, Y:24.59, Z:-0.54 [[ 8.19973789e-01 -5.71898617e-01 -2.39782705e-02 3.68167911e+02] [ 5.71657641e-01 8.20324303e-01 -1.66005692e-02 2.45872872e+01] [ 2.91638006e-02 -9.53299668e-05 9.99574641e-01 -5.44563395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.404012739 meters Centerline goodness [0,1] 0.9952922043183325 Centerline is valid? [True, True] Translation: X:368.19, Y:24.60, Z:-0.54 [[ 8.19195646e-01 -5.73036052e-01 -2.34131709e-02 3.68192483e+02] [ 5.72806590e-01 8.19530150e-01 -1.62155250e-02 2.46009391e+01] [ 2.84798799e-02 -1.27531094e-04 9.99594358e-01 -5.42063939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.434012739 meters Centerline goodness [0,1] 0.994206456893024 Centerline is valid? [True, True] Translation: X:368.22, Y:24.61, Z:-0.54 [[ 8.17272170e-01 -5.75782280e-01 -2.32586894e-02 3.68220914e+02] [ 5.75556778e-01 8.17603033e-01 -1.61144588e-02 2.46096440e+01] [ 2.82947948e-02 -2.16797625e-04 9.99599599e-01 -5.41018354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.464012739 meters Centerline goodness [0,1] 0.9934641914331942 Centerline is valid? [True, True] Translation: X:368.25, Y:24.62, Z:-0.54 [[ 8.16275258e-01 -5.77220993e-01 -2.25970842e-02 3.68246412e+02] [ 5.77008609e-01 8.16587937e-01 -1.56590420e-02 2.46202115e+01] [ 2.74912342e-02 -2.56623579e-04 9.99622012e-01 -5.39835611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.494012739 meters Centerline goodness [0,1] 0.992755162743265 Centerline is valid? [True, True] Translation: X:368.27, Y:24.64, Z:-0.54 [[ 8.15377029e-01 -5.78517570e-01 -2.18568723e-02 3.68270962e+02] [ 5.78319206e-01 8.15669872e-01 -1.51511321e-02 2.46355473e+01] [ 2.65931883e-02 -2.86363987e-04 9.99646298e-01 -5.36657878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.524012739 meters Centerline goodness [0,1] 0.9919890623998633 Centerline is valid? [True, True] Translation: X:368.30, Y:24.65, Z:-0.54 [[ 8.14723244e-01 -5.79445901e-01 -2.16444775e-02 3.68296794e+02] [ 5.79251570e-01 8.15010645e-01 -1.50088965e-02 2.46474842e+01] [ 2.63373231e-02 -3.09500746e-04 9.99653065e-01 -5.36016577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55401273900003 meters Centerline goodness [0,1] 0.993170648681999 Centerline is valid? [True, True] Translation: X:368.32, Y:24.66, Z:-0.54 [[ 8.14885387e-01 -5.79170403e-01 -2.28790285e-02 3.68322444e+02] [ 5.78952986e-01 8.15206444e-01 -1.58711619e-02 2.46579737e+01] [ 2.78432387e-02 -3.12703942e-04 9.99612253e-01 -5.38545651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.584012739 meters Centerline goodness [0,1] 0.994750712866154 Centerline is valid? [True, True] Translation: X:368.35, Y:24.68, Z:-0.54 [[ 8.15947934e-01 -5.77567437e-01 -2.53933947e-02 3.68345285e+02] [ 5.77298613e-01 8.16342929e-01 -1.76220006e-02 2.46762944e+01] [ 3.09076119e-02 -2.80936588e-04 9.99522206e-01 -5.41760435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61401273900003 meters Centerline goodness [0,1] 0.9944981444722534 Centerline is valid? [True, True] Translation: X:368.37, Y:24.69, Z:-0.54 [[ 8.16992546e-01 -5.76081589e-01 -2.55574305e-02 3.68367203e+02] [ 5.75808355e-01 8.17392167e-01 -1.77421750e-02 2.46927903e+01] [ 3.11113839e-02 -2.20957237e-04 9.99515899e-01 -5.41428727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.644012739 meters Centerline goodness [0,1] 0.9953259801244949 Centerline is valid? [True, True] Translation: X:368.39, Y:24.71, Z:-0.54 [[ 8.19731127e-01 -5.72238185e-01 -2.41731129e-02 3.68388839e+02] [ 5.71991910e-01 8.20087468e-01 -1.67868705e-02 2.47125877e+01] [ 2.94301553e-02 -6.61047285e-05 9.99566837e-01 -5.37519865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.674012739 meters Centerline goodness [0,1] 0.9955267754441273 Centerline is valid? [True, True] Translation: X:368.41, Y:24.73, Z:-0.54 [[ 8.20958148e-01 -5.70475169e-01 -2.42033223e-02 3.68410322e+02] [ 5.70227339e-01 8.21314849e-01 -1.68137182e-02 2.47297721e+01] [ 2.94703567e-02 1.96286439e-06 9.99565655e-01 -5.37651077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.704012739 meters Centerline goodness [0,1] 0.9967261522660161 Centerline is valid? [True, True] Translation: X:368.43, Y:24.75, Z:-0.54 [[ 8.23251458e-01 -5.67137455e-01 -2.47415538e-02 3.68430456e+02] [ 5.66876838e-01 8.23623149e-01 -1.71918478e-02 2.47513311e+01] [ 3.01278572e-02 1.27800023e-04 9.99546045e-01 -5.38173601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.734012739 meters Centerline goodness [0,1] 0.9970054720151665 Centerline is valid? [True, True] Translation: X:368.45, Y:24.77, Z:-0.54 [[ 8.24122933e-01 -5.65848826e-01 -2.52289017e-02 3.68452190e+02] [ 5.65577059e-01 8.24508989e-01 -1.75362008e-02 2.47694047e+01] [ 3.07242949e-02 1.83097167e-04 9.99527881e-01 -5.38698384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.764012739 meters Centerline goodness [0,1] 0.9967177242888403 Centerline is valid? [True, True] Translation: X:368.48, Y:24.79, Z:-0.54 [[ 8.24780169e-01 -5.64895622e-01 -2.51119252e-02 3.68476364e+02] [ 5.64625820e-01 8.25162340e-01 -1.74584046e-02 2.47851266e+01] [ 3.05835913e-02 2.20504569e-04 9.99532188e-01 -5.37106149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.794012739 meters Centerline goodness [0,1] 0.9962780748663101 Centerline is valid? [True, True] Translation: X:368.50, Y:24.80, Z:-0.53 [[ 8.24132144e-01 -5.65905832e-01 -2.35965898e-02 3.68501863e+02] [ 5.65667877e-01 8.24469865e-01 -1.64101836e-02 2.47963907e+01] [ 2.87412959e-02 1.76326925e-04 9.99586868e-01 -5.33316124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.824012739 meters Centerline goodness [0,1] 0.9957567486886434 Centerline is valid? [True, True] Translation: X:368.52, Y:24.81, Z:-0.53 [[ 8.23816466e-01 -5.66413253e-01 -2.24155577e-02 3.68524958e+02] [ 5.66198629e-01 8.24121352e-01 -1.55919636e-02 2.48122571e+01] [ 2.73046346e-02 1.53258327e-04 9.99627147e-01 -5.29108904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.854012739 meters Centerline goodness [0,1] 0.9963459976922091 Centerline is valid? [True, True] Translation: X:368.55, Y:24.83, Z:-0.53 [[ 8.24339062e-01 -5.65644935e-01 -2.26035162e-02 3.68546328e+02] [ 5.65426315e-01 8.24648879e-01 -1.57260325e-02 2.48309881e+01] [ 2.75353149e-02 1.82960030e-04 9.99620815e-01 -5.29375342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.884012739 meters Centerline goodness [0,1] 0.9960028915252795 Centerline is valid? [True, True] Translation: X:368.57, Y:24.85, Z:-0.53 [[ 8.24727783e-01 -5.65065531e-01 -2.29135241e-02 3.68570220e+02] [ 5.64840563e-01 8.25046000e-01 -1.59447602e-02 2.48472008e+01] [ 2.79145458e-02 2.07598910e-04 9.99610292e-01 -5.29150736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.914012739 meters Centerline goodness [0,1] 0.9960028915252795 Centerline is valid? [True, True] Translation: X:368.59, Y:24.86, Z:-0.53 [[ 8.24623598e-01 -5.65217667e-01 -2.29109208e-02 3.68592669e+02] [ 5.64992654e-01 8.24941783e-01 -1.59485000e-02 2.48630656e+01] [ 2.79145498e-02 2.07007467e-04 9.99610292e-01 -5.28442510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.944012739 meters Centerline goodness [0,1] 0.9960834104456735 Centerline is valid? [True, True] Translation: X:368.61, Y:24.88, Z:-0.53 [[ 8.25707902e-01 -5.63632762e-01 -2.29035061e-02 3.68613411e+02] [ 5.63407111e-01 8.26025447e-01 -1.59495487e-02 2.48834228e+01] [ 2.79085670e-02 2.65670236e-04 9.99610445e-01 -5.27247601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.974012739 meters Centerline goodness [0,1] 0.9968393364727843 Centerline is valid? [True, True] Translation: X:368.63, Y:24.90, Z:-0.53 [[ 8.26372538e-01 -5.62645531e-01 -2.32041787e-02 3.68634713e+02] [ 5.62413367e-01 8.26698198e-01 -1.61645588e-02 2.49039616e+01] [ 2.82777695e-02 3.07607182e-04 9.99600057e-01 -5.26494949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.004012739 meters Centerline goodness [0,1] 0.9964816093938871 Centerline is valid? [True, True] Translation: X:368.65, Y:24.93, Z:-0.53 [[ 8.27849153e-01 -5.60429860e-01 -2.41692164e-02 3.68652632e+02] [ 5.60176869e-01 8.28201792e-01 -1.68424038e-02 2.49261717e+01] [ 2.94559744e-02 4.03933757e-04 9.99565997e-01 -5.28567738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.034012739 meters Centerline goodness [0,1] 0.9966246338046109 Centerline is valid? [True, True] Translation: X:368.67, Y:24.94, Z:-0.53 [[ 8.28113803e-01 -5.60024748e-01 -2.44910444e-02 3.68673872e+02] [ 5.59764719e-01 8.28475769e-01 -1.70692447e-02 2.49442685e+01] [ 2.98494363e-02 4.26054511e-04 9.99554315e-01 -5.28389315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.064012739 meters Centerline goodness [0,1] 0.9966342237276509 Centerline is valid? [True, True] Translation: X:368.70, Y:24.96, Z:-0.53 [[ 8.28358847e-01 -5.59674464e-01 -2.42098044e-02 3.68695476e+02] [ 5.59420131e-01 8.28712437e-01 -1.68764173e-02 2.49636962e+01] [ 2.95082658e-02 4.36277685e-04 9.99564441e-01 -5.27062362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.094012739 meters Centerline goodness [0,1] 0.9965739491659708 Centerline is valid? [True, True] Translation: X:368.71, Y:24.99, Z:-0.52 [[ 8.29356383e-01 -5.58250903e-01 -2.28892935e-02 3.68712366e+02] [ 5.58022885e-01 8.29672052e-01 -1.59607675e-02 2.49871053e+01] [ 2.79007200e-02 4.64414848e-04 9.99610591e-01 -5.23555555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.124012739 meters Centerline goodness [0,1] 0.9957336063825248 Centerline is valid? [True, True] Translation: X:368.73, Y:25.01, Z:-0.52 [[ 8.29763723e-01 -5.57679457e-01 -2.20406041e-02 3.68733750e+02] [ 5.57467776e-01 8.30056266e-01 -1.53712182e-02 2.50066326e+01] [ 2.68671541e-02 4.67552682e-04 9.99638904e-01 -5.20550560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.154012739 meters Centerline goodness [0,1] 0.9953624914908101 Centerline is valid? [True, True] Translation: X:368.75, Y:25.03, Z:-0.52 [[ 8.30910131e-01 -5.55977627e-01 -2.18456344e-02 3.68750126e+02] [ 5.55768954e-01 8.31197092e-01 -1.52402046e-02 2.50312125e+01] [ 2.66312405e-02 5.22115029e-04 9.99645189e-01 -5.19500053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.184012739 meters Centerline goodness [0,1] 0.9952096832830778 Centerline is valid? [True, True] Translation: X:368.77, Y:25.05, Z:-0.52 [[ 8.31171512e-01 -5.55555996e-01 -2.26153174e-02 3.68769966e+02] [ 5.55332148e-01 8.31478939e-01 -1.57790904e-02 2.50517964e+01] [ 2.75703284e-02 5.56117654e-04 9.99619712e-01 -5.21736533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.214012739 meters Centerline goodness [0,1] 0.9961516382114686 Centerline is valid? [True, True] Translation: X:368.79, Y:25.07, Z:-0.53 [[ 8.30470659e-01 -5.56530108e-01 -2.43459147e-02 3.68790375e+02] [ 5.56271024e-01 8.30827249e-01 -1.69891004e-02 2.50728803e+01] [ 2.96821953e-02 5.66022452e-04 9.99559226e-01 -5.25594916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.244012739 meters Centerline goodness [0,1] 0.996011371833496 Centerline is valid? [True, True] Translation: X:368.81, Y:25.09, Z:-0.52 [[ 8.29521393e-01 -5.57939392e-01 -2.44518638e-02 3.68813677e+02] [ 5.57678502e-01 8.29881535e-01 -1.70682819e-02 2.50898978e+01] [ 2.98152171e-02 5.22226211e-04 9.99555291e-01 -5.24977806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.274012739 meters Centerline goodness [0,1] 0.9962280234416623 Centerline is valid? [True, True] Translation: X:368.84, Y:25.11, Z:-0.52 [[ 8.28553842e-01 -5.59378413e-01 -2.43787034e-02 3.68837170e+02] [ 5.59119540e-01 8.28912279e-01 -1.70227137e-02 2.51075282e+01] [ 2.97299452e-02 4.73625443e-04 9.99557855e-01 -5.23621896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30401273900003 meters Centerline goodness [0,1] 0.9970257979697839 Centerline is valid? [True, True] Translation: X:368.86, Y:25.12, Z:-0.52 [[ 8.27104591e-01 -5.61523890e-01 -2.42675856e-02 3.68860092e+02] [ 5.61268140e-01 8.27460429e-01 -1.69503181e-02 2.51248304e+01] [ 2.95984753e-02 3.99063285e-04 9.99561789e-01 -5.21831937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.334012739 meters Centerline goodness [0,1] 0.9971832789194034 Centerline is valid? [True, True] Translation: X:368.88, Y:25.14, Z:-0.52 [[ 8.26478877e-01 -5.62445210e-01 -2.42497909e-02 3.68880917e+02] [ 5.62190073e-01 8.26834475e-01 -1.69432307e-02 2.51437355e+01] [ 2.95802021e-02 3.70230585e-04 9.99562342e-01 -5.21918285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36401273900003 meters Centerline goodness [0,1] 0.9972370365610743 Centerline is valid? [True, True] Translation: X:368.90, Y:25.16, Z:-0.52 [[ 8.24797473e-01 -5.64963172e-01 -2.29290750e-02 3.68903452e+02] [ 5.64735986e-01 8.25116079e-01 -1.60225692e-02 2.51618255e+01] [ 2.79713099e-02 2.66500818e-04 9.99608691e-01 -5.18893060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.394012739 meters Centerline goodness [0,1] 0.9969040247678018 Centerline is valid? [True, True] Translation: X:368.93, Y:25.18, Z:-0.52 [[ 8.23704694e-01 -5.66574455e-01 -2.24491398e-02 3.68925558e+02] [ 5.66357143e-01 8.24010523e-01 -1.56921790e-02 2.51773952e+01] [ 2.73891152e-02 2.11490849e-04 9.99624825e-01 -5.16714645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.424012739 meters Centerline goodness [0,1] 0.9966511233573548 Centerline is valid? [True, True] Translation: X:368.95, Y:25.19, Z:-0.52 [[ 8.22686387e-01 -5.68060648e-01 -2.22308214e-02 3.68948281e+02] [ 5.67847968e-01 8.22986679e-01 -1.55438706e-02 2.51917939e+01] [ 2.71255311e-02 1.64004007e-04 9.99632022e-01 -5.15495353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.454012739 meters Centerline goodness [0,1] 0.9958069940191133 Centerline is valid? [True, True] Translation: X:368.97, Y:25.20, Z:-0.52 [[ 8.21021881e-01 -5.70399738e-01 -2.38161548e-02 3.68973664e+02] [ 5.70156465e-01 8.21367232e-01 -1.66576187e-02 2.52040343e+01] [ 2.90633105e-02 9.73347530e-05 9.99577568e-01 -5.19534930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.484012739 meters Centerline goodness [0,1] 0.9968563478408632 Centerline is valid? [True, True] Translation: X:369.00, Y:25.22, Z:-0.52 [[ 8.20555829e-01 -5.71007794e-01 -2.52632244e-02 3.68995597e+02] [ 5.70734137e-01 8.20944634e-01 -1.76763602e-02 2.52201306e+01] [ 3.08330479e-02 8.58558420e-05 9.99524545e-01 -5.22484697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.514012739 meters Centerline goodness [0,1] 0.9975351140009775 Centerline is valid? [True, True] Translation: X:369.02, Y:25.24, Z:-0.53 [[ 8.19616784e-01 -5.72265627e-01 -2.72099200e-02 3.69017627e+02] [ 5.71948653e-01 8.20068320e-01 -1.90443837e-02 2.52376776e+01] [ 3.32124396e-02 4.64194613e-05 9.99448314e-01 -5.27478089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.544012739 meters Centerline goodness [0,1] 0.997277073819172 Centerline is valid? [True, True] Translation: X:369.04, Y:25.25, Z:-0.53 [[ 8.19112189e-01 -5.72990492e-01 -2.71499165e-02 3.69040955e+02] [ 5.72675184e-01 8.19562014e-01 -1.90062596e-02 2.52522764e+01] [ 3.31414463e-02 2.01754252e-05 9.99450671e-01 -5.26133114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.574012739 meters Centerline goodness [0,1] 0.9962589990647498 Centerline is valid? [True, True] Translation: X:369.07, Y:25.27, Z:-0.52 [[ 8.18331169e-01 -5.74151604e-01 -2.61540285e-02 3.69066141e+02] [ 5.73859395e-01 8.18749007e-01 -1.83155458e-02 2.52659598e+01] [ 3.19294849e-02 -2.05529702e-05 9.99490124e-01 -5.20830056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.604012739 meters Centerline goodness [0,1] 0.9938830071650091 Centerline is valid? [True, True] Translation: X:369.09, Y:25.28, Z:-0.52 [[ 8.16732779e-01 -5.76514908e-01 -2.40442888e-02 3.69091553e+02] [ 5.76268815e-01 8.17086624e-01 -1.68434448e-02 2.52764359e+01] [ 2.93567638e-02 -9.93803209e-05 9.99568992e-01 -5.15093148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.634012739 meters Centerline goodness [0,1] 0.9943074406848064 Centerline is valid? [True, True] Translation: X:369.11, Y:25.29, Z:-0.51 [[ 8.17220681e-01 -5.75844046e-01 -2.35370771e-02 3.69112257e+02] [ 5.75607857e-01 8.17559557e-01 -1.64913771e-02 2.52932394e+01] [ 2.87394237e-02 -7.10320689e-05 9.99586935e-01 -5.13739275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.664012739 meters Centerline goodness [0,1] 0.994440867138871 Centerline is valid? [True, True] Translation: X:369.13, Y:25.31, Z:-0.51 [[ 8.17796057e-01 -5.75002053e-01 -2.41298148e-02 3.69133853e+02] [ 5.74753275e-01 8.18151965e-01 -1.69125620e-02 2.53113378e+01] [ 2.94666132e-02 -3.76635474e-05 9.99565764e-01 -5.13429092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.694012739 meters Centerline goodness [0,1] 0.9957069628363947 Centerline is valid? [True, True] Translation: X:369.16, Y:25.33, Z:-0.52 [[ 8.18122979e-01 -5.74507548e-01 -2.48166998e-02 3.69155314e+02] [ 5.74243967e-01 8.18499284e-01 -1.74008540e-02 2.53277059e+01] [ 3.03093730e-02 -1.48016721e-05 9.99540565e-01 -5.16211342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.724012739 meters Centerline goodness [0,1] 0.9953258062450644 Centerline is valid? [True, True] Translation: X:369.18, Y:25.34, Z:-0.51 [[ 8.17829916e-01 -5.74935906e-01 -2.45546981e-02 3.69177672e+02] [ 5.74677925e-01 8.18198450e-01 -1.72214531e-02 2.53443055e+01] [ 2.99918476e-02 -2.68234127e-05 9.99550143e-01 -5.14847125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.754012739 meters Centerline goodness [0,1] 0.9945097201452681 Centerline is valid? [True, True] Translation: X:369.20, Y:25.36, Z:-0.51 [[ 8.17654709e-01 -5.75201210e-01 -2.41732326e-02 3.69200124e+02] [ 5.74951115e-01 8.18011960e-01 -1.69602061e-02 2.53602055e+01] [ 2.95295244e-02 -3.08346828e-05 9.99563908e-01 -5.11796594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.784012739 meters Centerline goodness [0,1] 0.9946561635086225 Centerline is valid? [True, True] Translation: X:369.22, Y:25.38, Z:-0.51 [[ 8.18323406e-01 -5.74291866e-01 -2.31442225e-02 3.69221477e+02] [ 5.74062074e-01 8.18650629e-01 -1.62444877e-02 2.53774533e+01] [ 2.82761094e-02 7.02420823e-06 9.99600151e-01 -5.07550230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.814012739 meters Centerline goodness [0,1] 0.9952285337996848 Centerline is valid? [True, True] Translation: X:369.24, Y:25.39, Z:-0.51 [[ 8.18622355e-01 -5.73878408e-01 -2.28257027e-02 3.69241786e+02] [ 5.73654568e-01 8.18940518e-01 -1.60269929e-02 2.53949921e+01] [ 2.78904380e-02 2.59860430e-05 9.99610986e-01 -5.06033884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.844012739 meters Centerline goodness [0,1] 0.9949400741836582 Centerline is valid? [True, True] Translation: X:369.26, Y:25.41, Z:-0.50 [[ 8.18698700e-01 -5.73764715e-01 -2.29453783e-02 3.69263329e+02] [ 5.73538372e-01 8.19020177e-01 -1.61147510e-02 2.54130126e+01] [ 2.80388033e-02 3.30707703e-05 9.99606835e-01 -5.04559803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.874012739 meters Centerline goodness [0,1] 0.9950278356210955 Centerline is valid? [True, True] Translation: X:369.28, Y:25.43, Z:-0.50 [[ 8.19309169e-01 -5.72913421e-01 -2.24209059e-02 3.69281959e+02] [ 5.72696825e-01 8.19615890e-01 -1.57524292e-02 2.54327542e+01] [ 2.74013089e-02 6.57280731e-05 9.99624511e-01 -5.04081721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.904012739 meters Centerline goodness [0,1] 0.9940828402366864 Centerline is valid? [True, True] Translation: X:369.30, Y:25.45, Z:-0.50 [[ 8.19537351e-01 -5.72619884e-01 -2.15638358e-02 3.69303179e+02] [ 5.72419345e-01 8.19820995e-01 -1.51535609e-02 2.54503374e+01] [ 2.63557156e-02 7.53523929e-05 9.99652625e-01 -5.00795754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.934012739 meters Centerline goodness [0,1] 0.994639157642938 Centerline is valid? [True, True] Translation: X:369.32, Y:25.47, Z:-0.50 [[ 8.19470269e-01 -5.72701461e-01 -2.19434540e-02 3.69324982e+02] [ 5.72493658e-01 8.19764009e-01 -1.54266383e-02 2.54682337e+01] [ 2.68233121e-02 7.91831352e-05 9.99640187e-01 -5.00813061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.964012739 meters Centerline goodness [0,1] 0.994720146010777 Centerline is valid? [True, True] Translation: X:369.35, Y:25.49, Z:-0.50 [[ 8.19123118e-01 -5.73176172e-01 -2.25032034e-02 3.69347367e+02] [ 5.72957630e-01 8.19432164e-01 -1.58266357e-02 2.54858705e+01] [ 2.75112991e-02 7.05810540e-05 9.99621490e-01 -5.01433869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.994012739 meters Centerline goodness [0,1] 0.9951477155616627 Centerline is valid? [True, True] Translation: X:369.37, Y:25.50, Z:-0.50 [[ 8.18046881e-01 -5.74646750e-01 -2.40917809e-02 3.69369742e+02] [ 5.74396694e-01 8.18401559e-01 -1.69506961e-02 2.55006148e+01] [ 2.94574135e-02 2.82247744e-05 9.99566036e-01 -5.04478157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.024012739 meters Centerline goodness [0,1] 0.9952933591231463 Centerline is valid? [True, True] Translation: X:369.39, Y:25.52, Z:-0.50 [[ 8.17389069e-01 -5.75567024e-01 -2.44481359e-02 3.69393148e+02] [ 5.75309796e-01 8.17754609e-01 -1.72057257e-02 2.55162949e+01] [ 2.98956242e-02 -1.48000405e-06 9.99553026e-01 -5.04043414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05401273900003 meters Centerline goodness [0,1] 0.9948023378696056 Centerline is valid? [True, True] Translation: X:369.41, Y:25.53, Z:-0.50 [[ 8.16777465e-01 -5.76445434e-01 -2.41916109e-02 3.69414532e+02] [ 5.76193775e-01 8.17135644e-01 -1.70315142e-02 2.55333685e+01] [ 2.95855661e-02 -2.80986453e-05 9.99562251e-01 -5.01934725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.084012739 meters Centerline goodness [0,1] 0.9951142529779277 Centerline is valid? [True, True] Translation: X:369.44, Y:25.55, Z:-0.50 [[ 8.16895341e-01 -5.76279211e-01 -2.41717240e-02 3.69435502e+02] [ 5.76027773e-01 8.17252881e-01 -1.70215807e-02 2.55518906e+01] [ 2.95635941e-02 -1.87343845e-05 9.99562901e-01 -5.01198294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.114012739 meters Centerline goodness [0,1] 0.9953543138514237 Centerline is valid? [True, True] Translation: X:369.46, Y:25.57, Z:-0.50 [[ 8.17074445e-01 -5.76013581e-01 -2.44480119e-02 3.69456241e+02] [ 5.75756046e-01 8.17440123e-01 -1.72226850e-02 2.55697159e+01] [ 2.99052863e-02 -3.87484236e-06 9.99552737e-01 -5.01394578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.144012739 meters Centerline goodness [0,1] 0.9948905731073832 Centerline is valid? [True, True] Translation: X:369.48, Y:25.59, Z:-0.50 [[ 8.16480156e-01 -5.76847170e-01 -2.46474431e-02 3.69478432e+02] [ 5.76585679e-01 8.16852093e-01 -1.73670377e-02 2.55850604e+01] [ 3.01514420e-02 -3.15210314e-05 9.99545341e-01 -5.02373671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.174012739 meters Centerline goodness [0,1] 0.9952999248846442 Centerline is valid? [True, True] Translation: X:369.50, Y:25.60, Z:-0.50 [[ 8.15710496e-01 -5.77929363e-01 -2.47798199e-02 3.69502569e+02] [ 5.77665424e-01 8.16086789e-01 -1.74645394e-02 2.56001347e+01] [ 3.03157538e-02 -6.84370488e-05 9.99540370e-01 -5.02088888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.204012739 meters Centerline goodness [0,1] 0.9945815904115823 Centerline is valid? [True, True] Translation: X:369.53, Y:25.61, Z:-0.50 [[ 8.14630034e-01 -5.79453642e-01 -2.47262109e-02 3.69526945e+02] [ 5.79191342e-01 8.15005192e-01 -1.74334757e-02 2.56140001e+01] [ 3.02538812e-02 -1.19374346e-04 9.99542239e-01 -5.00459881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.234012739 meters Centerline goodness [0,1] 0.9940848619445215 Centerline is valid? [True, True] Translation: X:369.55, Y:25.63, Z:-0.50 [[ 8.14341479e-01 -5.79880726e-01 -2.42136056e-02 3.69549578e+02] [ 5.79629194e-01 8.14701373e-01 -1.70783327e-02 2.56287349e+01] [ 2.96302537e-02 -1.27318018e-04 9.99560920e-01 -4.98957563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.264012739 meters Centerline goodness [0,1] 0.9940763868098028 Centerline is valid? [True, True] Translation: X:369.57, Y:25.64, Z:-0.50 [[ 8.13901365e-01 -5.80532272e-01 -2.33847899e-02 3.69573125e+02] [ 5.80297832e-01 8.14237226e-01 -1.64974604e-02 2.56441665e+01] [ 2.86180746e-02 -1.42837364e-04 9.99590409e-01 -4.95575015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.294012739 meters Centerline goodness [0,1] 0.9936466774716369 Centerline is valid? [True, True] Translation: X:369.60, Y:25.66, Z:-0.49 [[ 8.13531945e-01 -5.81065878e-01 -2.29830367e-02 3.69595904e+02] [ 5.80839467e-01 8.13856512e-01 -1.62201052e-02 2.56607468e+01] [ 2.81298438e-02 -1.53881043e-04 9.99604266e-01 -4.93576958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.324012739 meters Centerline goodness [0,1] 0.9937178997410756 Centerline is valid? [True, True] Translation: X:369.62, Y:25.67, Z:-0.49 [[ 8.13069301e-01 -5.81720183e-01 -2.28021962e-02 3.69620203e+02] [ 5.81497404e-01 8.13388960e-01 -1.60987230e-02 2.56734969e+01] [ 2.79120068e-02 -1.70040477e-04 9.99610370e-01 -4.92714550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.354012739 meters Centerline goodness [0,1] 0.9938466797709598 Centerline is valid? [True, True] Translation: X:369.64, Y:25.69, Z:-0.49 [[ 8.13079007e-01 -5.81689629e-01 -2.32315398e-02 3.69643285e+02] [ 5.81458260e-01 8.13410811e-01 -1.64056248e-02 2.56878812e+01] [ 2.84397675e-02 -1.69101578e-04 9.99595494e-01 -4.93053225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.384012739 meters Centerline goodness [0,1] 0.9944071112623342 Centerline is valid? [True, True] Translation: X:369.67, Y:25.70, Z:-0.49 [[ 8.13087395e-01 -5.81673732e-01 -2.33357654e-02 3.69666156e+02] [ 5.81440169e-01 8.13422179e-01 -1.64829416e-02 2.57028503e+01] [ 2.85695234e-02 -1.66279333e-04 9.99591794e-01 -4.93021995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.414012739 meters Centerline goodness [0,1] 0.9941856750367388 Centerline is valid? [True, True] Translation: X:369.69, Y:25.72, Z:-0.49 [[ 8.13246461e-01 -5.81439521e-01 -2.36278801e-02 3.69688609e+02] [ 5.81199808e-01 8.13589613e-01 -1.66950480e-02 2.57196629e+01] [ 2.89305585e-02 -1.55330701e-04 9.99581412e-01 -4.91545036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.444012739 meters Centerline goodness [0,1] 0.9946900023363989 Centerline is valid? [True, True] Translation: X:369.71, Y:25.74, Z:-0.49 [[ 8.13533575e-01 -5.81017605e-01 -2.41177100e-02 3.69711072e+02] [ 5.80767471e-01 8.13890978e-01 -1.70476223e-02 2.57352660e+01] [ 2.95341552e-02 -1.37968327e-04 9.99563762e-01 -4.92436555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.474012739 meters Centerline goodness [0,1] 0.9953582887700535 Centerline is valid? [True, True] Translation: X:369.73, Y:25.75, Z:-0.49 [[ 8.14362406e-01 -5.79856067e-01 -2.41000752e-02 3.69732407e+02] [ 5.79605671e-01 8.14718929e-01 -1.70391870e-02 2.57534803e+01] [ 2.95150634e-02 -9.24669484e-05 9.99564331e-01 -4.91111983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.504012739 meters Centerline goodness [0,1] 0.9946131243878551 Centerline is valid? [True, True] Translation: X:369.75, Y:25.77, Z:-0.49 [[ 8.14673978e-01 -5.79449291e-01 -2.33415900e-02 3.69754411e+02] [ 5.79214072e-01 8.15008291e-01 -1.65089286e-02 2.57697353e+01] [ 2.85896763e-02 -7.03827918e-05 9.99591229e-01 -4.89003882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.534012739 meters Centerline goodness [0,1] 0.9946443873179092 Centerline is valid? [True, True] Translation: X:369.78, Y:25.79, Z:-0.49 [[ 8.14943755e-01 -5.79099174e-01 -2.26014049e-02 3.69776151e+02] [ 5.78878413e-01 8.15257103e-01 -1.59887021e-02 2.57879023e+01] [ 2.76850001e-02 -5.35725058e-05 9.99616695e-01 -4.86050712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.564012739 meters Centerline goodness [0,1] 0.9947991661472997 Centerline is valid? [True, True] Translation: X:369.80, Y:25.81, Z:-0.48 [[ 8.15788816e-01 -5.77927037e-01 -2.21121572e-02 3.69795478e+02] [ 5.77715136e-01 8.16088439e-01 -1.56486750e-02 2.58088842e+01] [ 2.70892682e-02 -8.51383348e-06 9.99633018e-01 -4.83977122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.594012739 meters Centerline goodness [0,1] 0.99486753556521 Centerline is valid? [True, True] Translation: X:369.82, Y:25.83, Z:-0.48 [[ 8.16113130e-01 -5.77449457e-01 -2.26160251e-02 3.69816256e+02] [ 5.77227441e-01 8.16426436e-01 -1.60111572e-02 2.58263387e+01] [ 2.77099548e-02 1.23253761e-05 9.99616005e-01 -4.84358827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.624012739 meters Centerline goodness [0,1] 0.995157124408093 Centerline is valid? [True, True] Translation: X:369.84, Y:25.84, Z:-0.49 [[ 8.16390810e-01 -5.76999019e-01 -2.40453255e-02 3.69839255e+02] [ 5.76747727e-01 8.16744839e-01 -1.70272622e-02 2.58445759e+01] [ 2.94636090e-02 3.28135362e-05 9.99565853e-01 -4.87480385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.654012739 meters Centerline goodness [0,1] 0.9958568900781148 Centerline is valid? [True, True] Translation: X:369.86, Y:25.86, Z:-0.49 [[ 8.16123086e-01 -5.77356627e-01 -2.45445179e-02 3.69860689e+02] [ 5.77094777e-01 8.16492085e-01 -1.73866026e-02 2.58609436e+01] [ 3.00786748e-02 2.50947040e-05 9.99547534e-01 -4.87887112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.684012739 meters Centerline goodness [0,1] 0.9952177517056685 Centerline is valid? [True, True] Translation: X:369.88, Y:25.88, Z:-0.49 [[ 8.15640736e-01 -5.78048595e-01 -2.42901682e-02 3.69882161e+02] [ 5.77792326e-01 8.16002342e-01 -1.72106258e-02 2.58782059e+01] [ 2.97694122e-02 3.01474364e-06 9.99556793e-01 -4.86765328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.714012739 meters Centerline goodness [0,1] 0.9946466809421841 Centerline is valid? [True, True] Translation: X:369.90, Y:25.90, Z:-0.48 [[ 8.14812594e-01 -5.79250847e-01 -2.34284833e-02 3.69903428e+02] [ 5.79012756e-01 8.15149345e-01 -1.66064287e-02 2.58958971e+01] [ 2.87170007e-02 -3.42634280e-05 9.99587581e-01 -4.84007569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.744012739 meters Centerline goodness [0,1] 0.9939032216660248 Centerline is valid? [True, True] Translation: X:369.93, Y:25.91, Z:-0.48 [[ 8.14406246e-01 -5.79847791e-01 -2.27817127e-02 3.69926035e+02] [ 5.79622733e-01 8.14724823e-01 -1.61539422e-02 2.59101021e+01] [ 2.79276545e-02 -4.89271816e-05 9.99609946e-01 -4.82230654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.774012739 meters Centerline goodness [0,1] 0.9939032216660248 Centerline is valid? [True, True] Translation: X:369.95, Y:25.93, Z:-0.48 [[ 8.14299597e-01 -5.79997619e-01 -2.27799937e-02 3.69948329e+02] [ 5.79772552e-01 8.14618168e-01 -1.61563660e-02 2.59261587e+01] [ 2.79276505e-02 -5.10927514e-05 9.99609946e-01 -4.81522500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80401273900003 meters Centerline goodness [0,1] 0.9941277325332191 Centerline is valid? [True, True] Translation: X:369.97, Y:25.94, Z:-0.48 [[ 8.13432208e-01 -5.81206270e-01 -2.29633406e-02 3.69973623e+02] [ 5.80977872e-01 8.13756268e-01 -1.62925838e-02 2.59386267e+01] [ 2.81559142e-02 -8.82803954e-05 9.99603540e-01 -4.81686796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.834012739 meters Centerline goodness [0,1] 0.9945313331205448 Centerline is valid? [True, True] Translation: X:370.00, Y:25.95, Z:-0.48 [[ 8.12745408e-01 -5.82127878e-01 -2.39172515e-02 3.69997266e+02] [ 5.81880390e-01 8.13097238e-01 -1.69733074e-02 2.59526020e+01] [ 2.93276866e-02 -1.22002013e-04 9.99569843e-01 -4.83315195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.864012739 meters Centerline goodness [0,1] 0.994596680818217 Centerline is valid? [True, True] Translation: X:370.02, Y:25.97, Z:-0.48 [[ 8.12142786e-01 -5.82930778e-01 -2.48153816e-02 3.70021688e+02] [ 5.82664629e-01 8.12521806e-01 -1.76137858e-02 2.59681773e+01] [ 3.04306565e-02 -1.54136054e-04 9.99536868e-01 -4.84477374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.894012739 meters Centerline goodness [0,1] 0.9942716857610474 Centerline is valid? [True, True] Translation: X:370.05, Y:25.98, Z:-0.48 [[ 8.11805222e-01 -5.83405686e-01 -2.46999280e-02 3.70045359e+02] [ 5.83142046e-01 8.12180878e-01 -1.75378505e-02 2.59823012e+01] [ 3.02924909e-02 -1.66247974e-04 9.99541063e-01 -4.82128832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.924012739 meters Centerline goodness [0,1] 0.9941973739940703 Centerline is valid? [True, True] Translation: X:370.07, Y:25.99, Z:-0.48 [[ 8.11599556e-01 -5.83725118e-01 -2.38987161e-02 3.70069045e+02] [ 5.83478256e-01 8.11951328e-01 -1.69754379e-02 2.59949124e+01] [ 2.93135837e-02 -1.67123337e-04 9.99570251e-01 -4.80268939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.954012739 meters Centerline goodness [0,1] 0.9937842778793419 Centerline is valid? [True, True] Translation: X:370.09, Y:26.01, Z:-0.48 [[ 8.11816366e-01 -5.83505594e-01 -2.18038839e-02 3.70091790e+02] [ 5.83299936e-01 8.12109107e-01 -1.54914058e-02 2.60087189e+01] [ 2.67464546e-02 -1.42027265e-04 9.99642240e-01 -4.75270302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.984012739 meters Centerline goodness [0,1] 0.9940005978052009 Centerline is valid? [True, True] Translation: X:370.11, Y:26.02, Z:-0.47 [[ 8.12082684e-01 -5.83133178e-01 -2.18497505e-02 3.70114629e+02] [ 5.82926411e-01 8.12376564e-01 -1.55279782e-02 2.60242379e+01] [ 2.68051045e-02 -1.26794443e-04 9.99640671e-01 -4.74477866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.014012739 meters Centerline goodness [0,1] 0.9942668371696505 Centerline is valid? [True, True] Translation: X:370.14, Y:26.04, Z:-0.48 [[ 8.12167391e-01 -5.82986058e-01 -2.26138445e-02 3.70137422e+02] [ 5.82764346e-01 8.12482148e-01 -1.60771872e-02 2.60386555e+01] [ 2.77461209e-02 -1.21175152e-04 9.99614995e-01 -4.76092547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.044012739 meters Centerline goodness [0,1] 0.994269340974212 Centerline is valid? [True, True] Translation: X:370.16, Y:26.05, Z:-0.48 [[ 8.11370681e-01 -5.84033910e-01 -2.41248715e-02 3.70163553e+02] [ 5.83781853e-01 8.11729244e-01 -1.71575958e-02 2.60515698e+01] [ 2.96034814e-02 -1.62491985e-04 9.99561708e-01 -4.78685968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.074012739 meters Centerline goodness [0,1] 0.9939140604695487 Centerline is valid? [True, True] Translation: X:370.19, Y:26.07, Z:-0.48 [[ 8.10610952e-01 -5.85067604e-01 -2.46126463e-02 3.70187807e+02] [ 5.84805539e-01 8.10984500e-01 -1.75106518e-02 2.60668606e+01] [ 3.02053897e-02 -1.99285732e-04 9.99543693e-01 -4.78504063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.104012739 meters Centerline goodness [0,1] 0.994457284711522 Centerline is valid? [True, True] Translation: X:370.22, Y:26.08, Z:-0.48 [[ 8.09915386e-01 -5.86008790e-01 -2.51150588e-02 3.70215005e+02] [ 5.85736183e-01 8.10304661e-01 -1.78740163e-02 2.60767342e+01] [ 3.08251799e-02 -2.34357938e-04 9.99524764e-01 -4.80216000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.134012739 meters Centerline goodness [0,1] 0.9950945280111133 Centerline is valid? [True, True] Translation: X:370.24, Y:26.09, Z:-0.48 [[ 8.09788382e-01 -5.86172261e-01 -2.53940179e-02 3.70237569e+02] [ 5.85893522e-01 8.10186412e-01 -1.80764584e-02 2.60923828e+01] [ 3.11698067e-02 -2.40084559e-04 9.99514075e-01 -4.78275199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.164012739 meters Centerline goodness [0,1] 0.9952589428723972 Centerline is valid? [True, True] Translation: X:370.26, Y:26.11, Z:-0.48 [[ 8.09913324e-01 -5.85993507e-01 -2.55346508e-02 3.70261360e+02] [ 5.85711371e-01 8.10315715e-01 -1.81832894e-02 2.61058396e+01] [ 3.13464184e-02 -2.29046976e-04 9.99508554e-01 -4.79180492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.194012739 meters Centerline goodness [0,1] 0.9951181745843997 Centerline is valid? [True, True] Translation: X:370.28, Y:26.13, Z:-0.48 [[ 8.11293425e-01 -5.84110957e-01 -2.48469191e-02 3.70281288e+02] [ 5.83842808e-01 8.11673807e-01 -1.76976545e-02 2.61263976e+01] [ 3.05049873e-02 -1.48704356e-04 9.99534604e-01 -4.75134472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.224012739 meters Centerline goodness [0,1] 0.9952274003368894 Centerline is valid? [True, True] Translation: X:370.30, Y:26.15, Z:-0.47 [[ 8.12643862e-01 -5.82245220e-01 -2.45042317e-02 3.70301646e+02] [ 5.81983387e-01 8.13013221e-01 -1.74596543e-02 2.61478829e+01] [ 3.00880646e-02 -7.25748746e-05 9.99547249e-01 -4.71697486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.254012739 meters Centerline goodness [0,1] 0.9958633630432001 Centerline is valid? [True, True] Translation: X:370.32, Y:26.17, Z:-0.47 [[ 8.15852640e-01 -5.77800123e-01 -2.30539992e-02 3.70317779e+02] [ 5.77566439e-01 8.16178295e-01 -1.64316343e-02 2.61709890e+01] [ 2.83103741e-02 9.05760275e-05 9.99599177e-01 -4.69140196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.284012739 meters Centerline goodness [0,1] 0.9956256401502219 Centerline is valid? [True, True] Translation: X:370.34, Y:26.19, Z:-0.47 [[ 8.16983143e-01 -5.76211942e-01 -2.27671210e-02 3.70337724e+02] [ 5.75983327e-01 8.17300298e-01 -1.62305345e-02 2.61909491e+01] [ 2.79598026e-02 1.46591000e-04 9.99609038e-01 -4.68347019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.314012739 meters Centerline goodness [0,1] 0.9964669607297332 Centerline is valid? [True, True] Translation: X:370.36, Y:26.21, Z:-0.47 [[ 8.17292947e-01 -5.75766802e-01 -2.29091192e-02 3.70358662e+02] [ 5.75535063e-01 8.17613944e-01 -1.63349064e-02 2.62094080e+01] [ 2.81359122e-02 1.65402447e-04 9.99604093e-01 -4.68493321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.344012739 meters Centerline goodness [0,1] 0.9964790253596578 Centerline is valid? [True, True] Translation: X:370.38, Y:26.23, Z:-0.47 [[ 8.17197459e-01 -5.75896620e-01 -2.30520246e-02 3.70380751e+02] [ 5.75661846e-01 8.17522510e-01 -1.64433714e-02 2.62265365e+01] [ 2.83152311e-02 1.67310276e-04 9.99599029e-01 -4.68147811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.374012739 meters Centerline goodness [0,1] 0.9960077269800386 Centerline is valid? [True, True] Translation: X:370.40, Y:26.24, Z:-0.47 [[ 8.16920245e-01 -5.76301494e-01 -2.27574538e-02 3.70401345e+02] [ 5.76072665e-01 8.17237152e-01 -1.62395119e-02 2.62443069e+01] [ 2.79570917e-02 1.56438964e-04 9.99609112e-01 -4.67362929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.404012739 meters Centerline goodness [0,1] 0.9959958888270309 Centerline is valid? [True, True] Translation: X:370.42, Y:26.26, Z:-0.47 [[ 8.16279514e-01 -5.77208110e-01 -2.27717549e-02 3.70423111e+02] [ 5.76979241e-01 8.16597074e-01 -1.62534529e-02 2.62611509e+01] [ 2.79769732e-02 1.28530746e-04 9.99608560e-01 -4.65569386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.434012739 meters Centerline goodness [0,1] 0.9964323100258498 Centerline is valid? [True, True] Translation: X:370.44, Y:26.28, Z:-0.47 [[ 8.16333522e-01 -5.77095106e-01 -2.36816254e-02 3.70443237e+02] [ 5.76847336e-01 8.16676936e-01 -1.69095807e-02 2.62798297e+01] [ 2.90986736e-02 1.43175046e-04 9.99576534e-01 -4.67596826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.464012739 meters Centerline goodness [0,1] 0.9967233345390327 Centerline is valid? [True, True] Translation: X:370.46, Y:26.30, Z:-0.47 [[ 8.17513460e-01 -5.75371143e-01 -2.48955838e-02 3.70462600e+02] [ 5.75096386e-01 8.17892414e-01 -1.77805060e-02 2.63003319e+01] [ 3.05922992e-02 2.18442667e-04 9.99531922e-01 -4.70096229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.494012739 meters Centerline goodness [0,1] 0.9963962042861713 Centerline is valid? [True, True] Translation: X:370.48, Y:26.32, Z:-0.47 [[ 8.18353188e-01 -5.74193529e-01 -2.44918373e-02 3.70484416e+02] [ 5.73926979e-01 8.18719563e-01 -1.74957310e-02 2.63195923e+01] [ 3.00978819e-02 2.61161062e-04 9.99546922e-01 -4.67209693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.524012739 meters Centerline goodness [0,1] 0.9961862962331686 Centerline is valid? [True, True] Translation: X:370.50, Y:26.34, Z:-0.46 [[ 8.20057150e-01 -5.71791849e-01 -2.36717611e-02 3.70500806e+02] [ 5.71541698e-01 8.20398662e-01 -1.69151779e-02 2.63441726e+01] [ 2.90922420e-02 3.42014047e-04 9.99576673e-01 -4.64767871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55401273900003 meters Centerline goodness [0,1] 0.9962393897066724 Centerline is valid? [True, True] Translation: X:370.52, Y:26.36, Z:-0.47 [[ 8.20622039e-01 -5.70935684e-01 -2.47368931e-02 3.70521395e+02] [ 5.70662052e-01 8.20994696e-01 -1.76785443e-02 2.63642083e+01] [ 3.04021698e-02 3.90996875e-04 9.99537671e-01 -4.67674454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.584012739 meters Centerline goodness [0,1] 0.9960336177693924 Centerline is valid? [True, True] Translation: X:370.54, Y:26.38, Z:-0.47 [[ 8.20943397e-01 -5.70407834e-01 -2.62076615e-02 3.70543026e+02] [ 5.70100316e-01 8.21361498e-01 -1.87328348e-02 2.63833599e+01] [ 3.22113198e-02 4.37600995e-04 9.99480985e-01 -4.70635308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.614012739 meters Centerline goodness [0,1] 0.995658650776761 Centerline is valid? [True, True] Translation: X:370.56, Y:26.41, Z:-0.47 [[ 8.21293956e-01 -5.69882905e-01 -2.66404271e-02 3.70559257e+02] [ 5.69564681e-01 8.21725778e-01 -1.90478420e-02 2.64081947e+01] [ 3.27461652e-02 4.70431148e-04 9.99463590e-01 -4.74458142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.644012739 meters Centerline goodness [0,1] 0.9959840215324803 Centerline is valid? [True, True] Translation: X:370.59, Y:26.42, Z:-0.47 [[ 8.21199044e-01 -5.70086265e-01 -2.51749861e-02 3.70585831e+02] [ 5.69802106e-01 8.21584723e-01 -1.80028491e-02 2.64201359e+01] [ 3.09465610e-02 4.39162393e-04 9.99520944e-01 -4.65436504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.674012739 meters Centerline goodness [0,1] 0.9958561175666438 Centerline is valid? [True, True] Translation: X:370.60, Y:26.44, Z:-0.46 [[ 8.21418068e-01 -5.69924856e-01 -2.14012895e-02 3.70604084e+02] [ 5.69719340e-01 8.21696727e-01 -1.53088759e-02 2.64423348e+01] [ 2.63102784e-02 3.82258755e-04 9.99653752e-01 -4.55952891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.704012739 meters Centerline goodness [0,1] 0.9952524816573155 Centerline is valid? [True, True] Translation: X:370.63, Y:26.46, Z:-0.45 [[ 8.21279686e-01 -5.70150981e-01 -2.06769451e-02 3.70626846e+02] [ 5.69959146e-01 8.21539851e-01 -1.47934364e-02 2.64585125e+01] [ 2.54214267e-02 3.64534890e-04 9.99676757e-01 -4.53649035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.734012739 meters Centerline goodness [0,1] 0.9958474249753843 Centerline is valid? [True, True] Translation: X:370.65, Y:26.48, Z:-0.46 [[ 8.20892322e-01 -5.70632127e-01 -2.26885899e-02 3.70645877e+02] [ 5.70401144e-01 8.21205714e-01 -1.62391656e-02 2.64786315e+01] [ 2.78985892e-02 3.89008670e-04 9.99610683e-01 -4.57452490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.764012739 meters Centerline goodness [0,1] 0.9959183673469387 Centerline is valid? [True, True] Translation: X:370.67, Y:26.50, Z:-0.46 [[ 8.20864773e-01 -5.70605829e-01 -2.42901555e-02 3.70668242e+02] [ 5.70340959e-01 8.21223971e-01 -1.73890683e-02 2.64970409e+01] [ 2.98699617e-02 4.20402984e-04 9.99553705e-01 -4.59609127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.794012739 meters Centerline goodness [0,1] 0.9963910549719662 Centerline is valid? [True, True] Translation: X:370.69, Y:26.52, Z:-0.46 [[ 8.21196838e-01 -5.70088390e-01 -2.51988019e-02 3.70689104e+02] [ 5.69802881e-01 8.21583237e-01 -1.80461062e-02 2.65168326e+01] [ 3.09907889e-02 4.61055439e-04 9.99519564e-01 -4.60883349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.824012739 meters Centerline goodness [0,1] 0.9957821422391417 Centerline is valid? [True, True] Translation: X:370.71, Y:26.54, Z:-0.46 [[ 8.21760117e-01 -5.69288438e-01 -2.49195722e-02 3.70710206e+02] [ 5.69008665e-01 8.22137722e-01 -1.78523488e-02 2.65368028e+01] [ 3.06504560e-02 4.90895709e-04 9.99530044e-01 -4.58939331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.854012739 meters Centerline goodness [0,1] 0.9954882716445357 Centerline is valid? [True, True] Translation: X:370.73, Y:26.56, Z:-0.46 [[ 8.22151851e-01 -5.68763435e-01 -2.39684880e-02 3.70731283e+02] [ 5.68504234e-01 8.22501009e-01 -1.71763466e-02 2.65557140e+01] [ 2.94833834e-02 4.95378316e-04 9.99565148e-01 -4.55212614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.884012739 meters Centerline goodness [0,1] 0.9956185567010309 Centerline is valid? [True, True] Translation: X:370.75, Y:26.58, Z:-0.45 [[ 8.22454171e-01 -5.68410633e-01 -2.18743896e-02 3.70750698e+02] [ 5.68194575e-01 8.22744879e-01 -1.56776498e-02 2.65769202e+01] [ 2.69083849e-02 4.65238948e-04 9.99637796e-01 -4.49480326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.914012739 meters Centerline goodness [0,1] 0.9959616464389064 Centerline is valid? [True, True] Translation: X:370.77, Y:26.59, Z:-0.45 [[ 8.21972241e-01 -5.69114404e-01 -2.16894009e-02 3.70772545e+02] [ 5.68902070e-01 8.22258231e-01 -1.55510811e-02 2.65948851e+01] [ 2.66846327e-02 4.43411980e-04 9.99643803e-01 -4.49440865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.944012739 meters Centerline goodness [0,1] 0.9958746051868245 Centerline is valid? [True, True] Translation: X:370.80, Y:26.61, Z:-0.45 [[ 8.20025676e-01 -5.71891980e-01 -2.23036922e-02 3.70797745e+02] [ 5.71668408e-01 8.20328855e-01 -1.59937721e-02 2.66098114e+01] [ 2.74430723e-02 3.64987552e-04 9.99623301e-01 -4.51273823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.974012739 meters Centerline goodness [0,1] 0.9954298710494132 Centerline is valid? [True, True] Translation: X:370.82, Y:26.62, Z:-0.45 [[ 8.18545807e-01 -5.74006076e-01 -2.23559314e-02 3.70820900e+02] [ 5.73782095e-01 8.18850985e-01 -1.60365971e-02 2.66245788e+01] [ 2.75112806e-02 2.99256174e-04 9.99621448e-01 -4.50252470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.004012739 meters Centerline goodness [0,1] 0.9960559494816699 Centerline is valid? [True, True] Translation: X:370.85, Y:26.64, Z:-0.45 [[ 8.16675059e-01 -5.76668341e-01 -2.22592026e-02 3.70845930e+02] [ 5.76447221e-01 8.16978323e-01 -1.59693801e-02 2.66387430e+01] [ 2.73943219e-02 2.10538933e-04 9.99624683e-01 -4.49447834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.034012739 meters Centerline goodness [0,1] 0.9960420744692293 Centerline is valid? [True, True] Translation: X:370.87, Y:26.65, Z:-0.45 [[ 8.13092207e-01 -5.81656371e-01 -2.35993447e-02 3.70873522e+02] [ 5.81409731e-01 8.13434609e-01 -1.69369942e-02 2.66491527e+01] [ 2.90480343e-02 5.04493299e-05 9.99578016e-01 -4.50910271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.064012739 meters Centerline goodness [0,1] 0.9959237372212397 Centerline is valid? [True, True] Translation: X:370.90, Y:26.66, Z:-0.45 [[ 8.11656676e-01 -5.83625891e-01 -2.43774265e-02 3.70897619e+02] [ 5.83363423e-01 8.12022671e-01 -1.75013746e-02 2.66627591e+01] [ 3.00092784e-02 -1.57914236e-05 9.99549620e-01 -4.51729439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.094012739 meters Centerline goodness [0,1] 0.9960411718131433 Centerline is valid? [True, True] Translation: X:370.92, Y:26.68, Z:-0.45 [[ 8.09671663e-01 -5.86377904e-01 -2.43464864e-02 3.70921649e+02] [ 5.86117216e-01 8.10037617e-01 -1.74833727e-02 2.66791186e+01] [ 2.99734333e-02 -1.14103394e-04 9.99550689e-01 -4.50415396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.124012739 meters Centerline goodness [0,1] 0.9956314282684763 Centerline is valid? [True, True] Translation: X:370.94, Y:26.70, Z:-0.45 [[ 8.09343765e-01 -5.86841516e-01 -2.40770728e-02 3.70943229e+02] [ 5.86586605e-01 8.09701809e-01 -1.72955528e-02 2.66953416e+01] [ 2.96449978e-02 -1.25240595e-04 9.99560483e-01 -4.49399947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.154012739 meters Centerline goodness [0,1] 0.9950216728895755 Centerline is valid? [True, True] Translation: X:370.96, Y:26.71, Z:-0.45 [[ 8.09012497e-01 -5.87347532e-01 -2.28398061e-02 3.70964411e+02] [ 5.87118275e-01 8.09334825e-01 -1.64095464e-02 2.67112829e+01] [ 2.81231570e-02 -1.34139479e-04 9.99604457e-01 -4.45539261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.184012739 meters Centerline goodness [0,1] 0.9948849652220438 Centerline is valid? [True, True] Translation: X:370.99, Y:26.73, Z:-0.44 [[ 8.08579112e-01 -5.87974697e-01 -2.20357722e-02 3.70986806e+02] [ 5.87761447e-01 8.08879307e-01 -1.58350258e-02 2.67263577e+01] [ 2.71348746e-02 -1.47906263e-04 9.99631771e-01 -4.42692450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.214012739 meters Centerline goodness [0,1] 0.9951479340981627 Centerline is valid? [True, True] Translation: X:371.01, Y:26.74, Z:-0.44 [[ 8.07971742e-01 -5.88830372e-01 -2.14582822e-02 3.71008557e+02] [ 5.88628352e-01 8.08256621e-01 -1.54239380e-02 2.67435631e+01] [ 2.64258818e-02 -1.68847199e-04 9.99650761e-01 -4.40011840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.244012739 meters Centerline goodness [0,1] 0.9952229299363057 Centerline is valid? [True, True] Translation: X:371.03, Y:26.76, Z:-0.44 [[ 8.07190341e-01 -5.89855456e-01 -2.26780844e-02 3.71032489e+02] [ 5.89630027e-01 8.07508822e-01 -1.63074560e-02 2.67579162e+01] [ 2.79317952e-02 -2.08458584e-04 9.99609810e-01 -4.41816169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.274012739 meters Centerline goodness [0,1] 0.9954010143557122 Centerline is valid? [True, True] Translation: X:371.05, Y:26.78, Z:-0.44 [[ 8.06790633e-01 -5.90365542e-01 -2.36093546e-02 3.71054651e+02] [ 5.90121327e-01 8.07135969e-01 -1.69807740e-02 2.67757882e+01] [ 2.90808232e-02 -2.32454235e-04 9.99577036e-01 -4.42840249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30401273900003 meters Centerline goodness [0,1] 0.99581589958159 Centerline is valid? [True, True] Translation: X:371.08, Y:26.79, Z:-0.44 [[ 8.06547281e-01 -5.90682306e-01 -2.39978470e-02 3.71077377e+02] [ 5.90429953e-01 8.06904179e-01 -1.72660664e-02 2.67912591e+01] [ 2.95627229e-02 -2.43148771e-04 9.99562898e-01 -4.43496711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.334012739 meters Centerline goodness [0,1] 0.9953533767583969 Centerline is valid? [True, True] Translation: X:371.10, Y:26.81, Z:-0.44 [[ 8.06604796e-01 -5.90622212e-01 -2.35394387e-02 3.71097931e+02] [ 5.90379265e-01 8.06948170e-01 -1.69403446e-02 2.68101145e+01] [ 2.90004508e-02 -2.33033340e-04 9.99579371e-01 -4.40856466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.364012739 meters Centerline goodness [0,1] 0.9955755063467858 Centerline is valid? [True, True] Translation: X:371.12, Y:26.83, Z:-0.44 [[ 8.06975094e-01 -5.90145571e-01 -2.27904103e-02 3.71119714e+02] [ 5.89917480e-01 8.07296825e-01 -1.64073927e-02 2.68296598e+01] [ 2.80813760e-02 -2.04104108e-04 9.99605620e-01 -4.38178247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.394012739 meters Centerline goodness [0,1] 0.9950687550235701 Centerline is valid? [True, True] Translation: X:371.14, Y:26.85, Z:-0.43 [[ 8.07908252e-01 -5.88897265e-01 -2.20060848e-02 3.71140677e+02] [ 5.88683998e-01 8.08207887e-01 -1.58480676e-02 2.68505766e+01] [ 2.71183749e-02 -1.50845349e-04 9.99632218e-01 -4.34893247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.424012739 meters Centerline goodness [0,1] 0.9956032587611535 Centerline is valid? [True, True] Translation: X:371.16, Y:26.87, Z:-0.43 [[ 8.07784182e-01 -5.89078836e-01 -2.16988517e-02 3.71162339e+02] [ 5.88871414e-01 8.08075555e-01 -1.56318852e-02 2.68678318e+01] [ 2.67427243e-02 -1.50643886e-04 9.99642338e-01 -4.33913928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.454012739 meters Centerline goodness [0,1] 0.9953460441375169 Centerline is valid? [True, True] Translation: X:371.19, Y:26.88, Z:-0.43 [[ 8.06742878e-01 -5.90488095e-01 -2.21300290e-02 3.71185477e+02] [ 5.90272703e-01 8.07046325e-01 -1.59488408e-02 2.68834259e+01] [ 2.72775592e-02 -1.96138304e-04 9.99627879e-01 -4.34025318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.484012739 meters Centerline goodness [0,1] 0.9957505554477016 Centerline is valid? [True, True] Translation: X:371.21, Y:26.90, Z:-0.43 [[ 8.05966411e-01 -5.91526890e-01 -2.26733740e-02 3.71209481e+02] [ 5.91301133e-01 8.06285237e-01 -1.63428025e-02 2.68997475e+01] [ 2.79484139e-02 -2.35041813e-04 9.99609339e-01 -4.33999997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.514012739 meters Centerline goodness [0,1] 0.9954462069709723 Centerline is valid? [True, True] Translation: X:371.23, Y:26.91, Z:-0.44 [[ 8.04242155e-01 -5.93813179e-01 -2.40928322e-02 3.71233209e+02] [ 5.93559113e-01 8.04602884e-01 -1.73717712e-02 2.69139435e+01] [ 2.97007490e-02 -3.29409411e-04 9.99558781e-01 -4.36530241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.544012739 meters Centerline goodness [0,1] 0.9953505235992919 Centerline is valid? [True, True] Translation: X:371.26, Y:26.93, Z:-0.44 [[ 8.03172264e-01 -5.95236419e-01 -2.46560531e-02 3.71256601e+02] [ 5.94970930e-01 8.03550530e-01 -1.77802632e-02 2.69292156e+01] [ 3.03958448e-02 -3.89020600e-04 9.99537864e-01 -4.36778050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.574012739 meters Centerline goodness [0,1] 0.9946483511721628 Centerline is valid? [True, True] Translation: X:371.28, Y:26.94, Z:-0.43 [[ 8.00833081e-01 -5.98396711e-01 -2.42436005e-02 3.71282321e+02] [ 5.98141371e-01 8.01199806e-01 -1.74863375e-02 2.69432772e+01] [ 2.98877349e-02 -4.97462857e-04 9.99553138e-01 -4.34648653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.604012739 meters Centerline goodness [0,1] 0.9947736696613684 Centerline is valid? [True, True] Translation: X:371.31, Y:26.96, Z:-0.43 [[ 7.99817701e-01 -5.99782076e-01 -2.35181994e-02 3.71307205e+02] [ 5.99542225e-01 8.00163222e-01 -1.69687600e-02 2.69584565e+01] [ 2.89959563e-02 -5.28238948e-04 9.99579389e-01 -4.31885399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.634012739 meters Centerline goodness [0,1] 0.9943554964158475 Centerline is valid? [True, True] Translation: X:371.33, Y:26.97, Z:-0.43 [[ 7.99016598e-01 -6.00910424e-01 -2.18892031e-02 3.71331874e+02] [ 6.00702942e-01 7.99316199e-01 -1.57984344e-02 2.69740575e+01] [ 2.69898385e-02 -5.25697433e-04 9.99635570e-01 -4.27878050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.664012739 meters Centerline goodness [0,1] 0.9927844984477037 Centerline is valid? [True, True] Translation: X:371.36, Y:26.98, Z:-0.42 [[ 7.96781193e-01 -6.03943556e-01 -1.97967606e-02 3.71359023e+02] [ 6.03774672e-01 7.97026890e-01 -1.42927325e-02 2.69844660e+01] [ 2.44105542e-02 -5.64602215e-04 9.99701859e-01 -4.22851858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.694012739 meters Centerline goodness [0,1] 0.9927058974964066 Centerline is valid? [True, True] Translation: X:371.39, Y:27.00, Z:-0.42 [[ 7.95326321e-01 -6.05863016e-01 -1.96481282e-02 3.71385176e+02] [ 6.05697183e-01 7.95568743e-01 -1.41879177e-02 2.69964014e+01] [ 2.42273713e-02 -6.16791552e-04 9.99706284e-01 -4.21685261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.724012739 meters Centerline goodness [0,1] 0.9927058974964066 Centerline is valid? [True, True] Translation: X:371.41, Y:27.01, Z:-0.42 [[ 7.95214821e-01 -6.06009387e-01 -1.96471905e-02 3.71407348e+02] [ 6.05843566e-01 7.95457252e-01 -1.41892161e-02 2.70126320e+01] [ 2.42272983e-02 -6.19648984e-04 9.99706284e-01 -4.20976959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.754012739 meters Centerline goodness [0,1] 0.991276390526203 Centerline is valid? [True, True] Translation: X:371.44, Y:27.01, Z:-0.42 [[ 7.91260527e-01 -6.11131729e-01 -2.06103929e-02 3.71440595e+02] [ 6.10950820e-01 7.91528493e-01 -1.48909441e-02 2.70146152e+01] [ 2.54140417e-02 -8.09320218e-04 9.99676683e-01 -4.23042716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.784012739 meters Centerline goodness [0,1] 0.9894465290806754 Centerline is valid? [True, True] Translation: X:371.47, Y:27.02, Z:-0.42 [[ 7.88906898e-01 -6.14124307e-01 -2.18458634e-02 3.71469617e+02] [ 6.13922113e-01 7.89208730e-01 -1.57866915e-02 2.70220020e+01] [ 2.69359371e-02 -9.57428771e-04 9.99636703e-01 -4.24002632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.814012739 meters Centerline goodness [0,1] 0.9871353777112939 Centerline is valid? [True, True] Translation: X:371.50, Y:27.03, Z:-0.43 [[ 7.86114916e-01 -6.17655510e-01 -2.29130782e-02 3.71499504e+02] [ 6.17434392e-01 7.86447966e-01 -1.65640985e-02 2.70299380e+01] [ 2.82508505e-02 -1.12603756e-03 9.99600231e-01 -4.25708421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.844012739 meters Centerline goodness [0,1] 0.9885560344827586 Centerline is valid? [True, True] Translation: X:371.52, Y:27.04, Z:-0.42 [[ 7.85932687e-01 -6.17905227e-01 -2.24263887e-02 3.71524481e+02] [ 6.17693348e-01 7.86251809e-01 -1.62179272e-02 2.70429823e+01] [ 2.76539307e-02 -1.10643206e-03 9.99616945e-01 -4.23984376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.874012739 meters Centerline goodness [0,1] 0.9858583269247202 Centerline is valid? [True, True] Translation: X:371.55, Y:27.05, Z:-0.42 [[ 7.86450650e-01 -6.17257098e-01 -2.21144742e-02 3.71552929e+02] [ 6.17050665e-01 7.86760791e-01 -1.59979350e-02 2.70512629e+01] [ 2.72736401e-02 -1.06416467e-03 9.99627439e-01 -4.22659198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.904012739 meters Centerline goodness [0,1] 0.9911670979746348 Centerline is valid? [True, True] Translation: X:371.58, Y:27.07, Z:-0.42 [[ 7.88221096e-01 -6.14989981e-01 -2.22447041e-02 3.71577496e+02] [ 6.14780145e-01 7.88534301e-01 -1.60943796e-02 2.70650167e+01] [ 2.74385944e-02 -9.89672895e-04 9.99623001e-01 -4.22475063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.934012739 meters Centerline goodness [0,1] 0.9898388829215897 Centerline is valid? [True, True] Translation: X:371.60, Y:27.08, Z:-0.42 [[ 7.89651790e-01 -6.13151333e-01 -2.22596621e-02 3.71602811e+02] [ 6.12940322e-01 7.89964931e-01 -1.61111331e-02 2.70767960e+01] [ 2.74629152e-02 -9.21659383e-04 9.99622398e-01 -4.22092577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.964012739 meters Centerline goodness [0,1] 0.9935972312351287 Centerline is valid? [True, True] Translation: X:371.62, Y:27.10, Z:-0.42 [[ 7.93946902e-01 -6.07605037e-01 -2.15507864e-02 3.71623578e+02] [ 6.07405140e-01 7.94239021e-01 -1.56004042e-02 2.70953630e+01] [ 2.65953597e-02 -7.04165873e-04 9.99646033e-01 -4.19738696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.994012739 meters Centerline goodness [0,1] 0.995068112195016 Centerline is valid? [True, True] Translation: X:371.64, Y:27.12, Z:-0.42 [[ 7.96202448e-01 -6.04645740e-01 -2.15683042e-02 3.71643196e+02] [ 6.04444283e-01 7.96494299e-01 -1.56186245e-02 2.71160916e+01] [ 2.66227661e-02 -6.01251106e-04 9.99645371e-01 -4.19091414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.024012739 meters Centerline goodness [0,1] 0.995107086141036 Centerline is valid? [True, True] Translation: X:371.67, Y:27.13, Z:-0.42 [[ 7.98292473e-01 -6.01884895e-01 -2.15336911e-02 3.71665023e+02] [ 6.01682992e-01 7.98582693e-01 -1.55967850e-02 2.71333960e+01] [ 2.65839023e-02 -5.05659602e-04 9.99646458e-01 -4.18188385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05401273900003 meters Centerline goodness [0,1] 0.9966343680329275 Centerline is valid? [True, True] Translation: X:371.69, Y:27.15, Z:-0.42 [[ 8.01754566e-01 -5.97231168e-01 -2.24621466e-02 3.71686438e+02] [ 5.97009469e-01 8.02069075e-01 -1.62755284e-02 2.71520046e+01] [ 2.77364460e-02 -3.61134969e-04 9.99615206e-01 -4.19913101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.084012739 meters Centerline goodness [0,1] 0.9969920581679687 Centerline is valid? [True, True] Translation: X:371.71, Y:27.17, Z:-0.42 [[ 8.03421170e-01 -5.94945670e-01 -2.35387778e-02 3.71708328e+02] [ 5.94701027e-01 8.03765865e-01 -1.70623104e-02 2.71704282e+01] [ 2.90708138e-02 -2.90313993e-04 9.99577312e-01 -4.21376752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.114012739 meters Centerline goodness [0,1] 0.9970772086275681 Centerline is valid? [True, True] Translation: X:371.73, Y:27.19, Z:-0.42 [[ 8.07240035e-01 -5.89706445e-01 -2.46948357e-02 3.71726726e+02] [ 5.89434541e-01 8.07617668e-01 -1.79059796e-02 2.71921442e+01] [ 3.05032572e-02 -1.01565551e-04 9.99534662e-01 -4.24341675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.144012739 meters Centerline goodness [0,1] 0.99735943839763 Centerline is valid? [True, True] Translation: X:371.75, Y:27.21, Z:-0.42 [[ 8.09312577e-01 -5.86866799e-01 -2.45053739e-02 3.71746470e+02] [ 5.86597662e-01 8.09683494e-01 -1.77714089e-02 2.72125688e+01] [ 3.02710467e-02 7.82971725e-06 9.99541727e-01 -4.23135393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.174012739 meters Centerline goodness [0,1] 0.9967136556257027 Centerline is valid? [True, True] Translation: X:371.77, Y:27.23, Z:-0.42 [[ 8.11370311e-01 -5.84032377e-01 -2.41743755e-02 3.71766907e+02] [ 5.83769008e-01 8.11730354e-01 -1.75378837e-02 2.72326415e+01] [ 2.98657663e-02 1.17466958e-04 9.99553912e-01 -4.21278622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.204012739 meters Centerline goodness [0,1] 0.9967756497065842 Centerline is valid? [True, True] Translation: X:371.79, Y:27.25, Z:-0.42 [[ 8.13806209e-01 -5.80658814e-01 -2.35541153e-02 3.71786184e+02] [ 5.80407217e-01 8.14146967e-01 -1.70932196e-02 2.72531249e+01] [ 2.91018402e-02 2.39589722e-04 9.99576423e-01 -4.19753837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.234012739 meters Centerline goodness [0,1] 0.9966462896926473 Centerline is valid? [True, True] Translation: X:371.81, Y:27.27, Z:-0.42 [[ 8.14796320e-01 -5.79270966e-01 -2.34969083e-02 3.71806780e+02] [ 5.79019949e-01 8.15134997e-01 -1.70538886e-02 2.72723250e+01] [ 2.90319748e-02 2.90267079e-04 9.99578441e-01 -4.19464261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.264012739 meters Centerline goodness [0,1] 0.9965749053312343 Centerline is valid? [True, True] Translation: X:371.83, Y:27.29, Z:-0.42 [[ 8.15013668e-01 -5.78959003e-01 -2.36472625e-02 3.71829745e+02] [ 5.78704532e-01 8.15356596e-01 -1.71664197e-02 2.72893229e+01] [ 2.92196047e-02 3.06088677e-04 9.99572969e-01 -4.19384094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.294012739 meters Centerline goodness [0,1] 0.9965651527084974 Centerline is valid? [True, True] Translation: X:371.85, Y:27.31, Z:-0.42 [[ 8.15206384e-01 -5.78694517e-01 -2.34778316e-02 3.71852485e+02] [ 5.78443388e-01 8.15544330e-01 -1.70496992e-02 2.73055148e+01] [ 2.90137799e-02 3.18427171e-04 9.99578961e-01 -4.18853335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.324012739 meters Centerline goodness [0,1] 0.9959880291464261 Centerline is valid? [True, True] Translation: X:371.87, Y:27.32, Z:-0.42 [[ 8.15368896e-01 -5.78446824e-01 -2.39339680e-02 3.71874853e+02] [ 5.78185537e-01 8.15720023e-01 -1.73875757e-02 2.73219674e+01] [ 2.95812048e-02 3.39014238e-04 9.99562323e-01 -4.19044197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.354012739 meters Centerline goodness [0,1] 0.9960624838626387 Centerline is valid? [True, True] Translation: X:371.90, Y:27.34, Z:-0.42 [[ 8.16155680e-01 -5.77331372e-01 -2.40498225e-02 3.71897216e+02] [ 5.77066875e-01 8.16509852e-01 -1.74781077e-02 2.73398306e+01] [ 2.97275769e-02 3.86500975e-04 9.99557963e-01 -4.17348587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.384012739 meters Centerline goodness [0,1] 0.9962754849404724 Centerline is valid? [True, True] Translation: X:371.92, Y:27.36, Z:-0.42 [[ 8.16438622e-01 -5.76957203e-01 -2.34171324e-02 3.71919754e+02] [ 5.76706119e-01 8.16774284e-01 -1.70241548e-02 2.73579540e+01] [ 2.89487203e-02 3.94374000e-04 9.99580820e-01 -4.15095113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.414012739 meters Centerline goodness [0,1] 0.9955392566857535 Centerline is valid? [True, True] Translation: X:371.94, Y:27.37, Z:-0.41 [[ 8.16397688e-01 -5.77086262e-01 -2.15930699e-02 3.71940576e+02] [ 5.76872687e-01 8.16683117e-01 -1.57031663e-02 2.73744854e+01] [ 2.66967772e-02 3.63576437e-04 9.99643511e-01 -4.11385730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.444012739 meters Centerline goodness [0,1] 0.9953988389593635 Centerline is valid? [True, True] Translation: X:371.96, Y:27.39, Z:-0.41 [[ 8.15986886e-01 -5.77676234e-01 -2.13440907e-02 3.71963866e+02] [ 5.77467646e-01 8.16265919e-01 -1.55263683e-02 2.73900583e+01] [ 2.63916678e-02 3.43791156e-04 9.99651620e-01 -4.10066389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.474012739 meters Centerline goodness [0,1] 0.9952087611225188 Centerline is valid? [True, True] Translation: X:371.98, Y:27.41, Z:-0.41 [[ 8.15688338e-01 -5.78078752e-01 -2.18515813e-02 3.71984921e+02] [ 5.77860105e-01 8.15980906e-01 -1.59016101e-02 2.74068782e+01] [ 2.70228560e-02 3.43600882e-04 9.99634757e-01 -4.10926692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.504012739 meters Centerline goodness [0,1] 0.9955490884190704 Centerline is valid? [True, True] Translation: X:372.01, Y:27.42, Z:-0.41 [[ 8.15150245e-01 -5.78788813e-01 -2.30995385e-02 3.72007558e+02] [ 5.78544647e-01 8.15477402e-01 -1.68136069e-02 2.74239222e+01] [ 2.85686792e-02 3.41501457e-04 9.99591774e-01 -4.13071741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.534012739 meters Centerline goodness [0,1] 0.9960539578373974 Centerline is valid? [True, True] Translation: X:372.03, Y:27.44, Z:-0.41 [[ 8.12947901e-01 -5.81884667e-01 -2.29334894e-02 3.72033486e+02] [ 5.81645052e-01 8.13271282e-01 -1.66989594e-02 2.74358570e+01] [ 2.83680167e-02 2.36233347e-04 9.99597519e-01 -4.11879803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.564012739 meters Centerline goodness [0,1] 0.9961136595310908 Centerline is valid? [True, True] Translation: X:372.06, Y:27.45, Z:-0.41 [[ 8.11103622e-01 -5.84468427e-01 -2.25293641e-02 3.72058310e+02] [ 5.84238099e-01 8.11416439e-01 -1.64075325e-02 2.74487717e+01] [ 2.78703811e-02 1.45696183e-04 9.99611535e-01 -4.10482598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.594012739 meters Centerline goodness [0,1] 0.9962144024778457 Centerline is valid? [True, True] Translation: X:372.09, Y:27.46, Z:-0.41 [[ 8.09206146e-01 -5.87124686e-01 -2.16798696e-02 3.72085968e+02] [ 5.86912301e-01 8.09496510e-01 -1.57908543e-02 2.74604053e+01] [ 2.68209792e-02 5.38741925e-05 9.99640251e-01 -4.07939752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.624012739 meters Centerline goodness [0,1] 0.9956753302087772 Centerline is valid? [True, True] Translation: X:372.11, Y:27.47, Z:-0.41 [[ 8.07297840e-01 -5.89741092e-01 -2.18092229e-02 3.72111324e+02] [ 5.89526972e-01 8.07592375e-01 -1.58904342e-02 2.74716639e+01] [ 2.69842041e-02 -2.88119375e-05 9.99635860e-01 -4.07750126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.654012739 meters Centerline goodness [0,1] 0.9955820249052517 Centerline is valid? [True, True] Translation: X:372.14, Y:27.48, Z:-0.41 [[ 8.04403437e-01 -5.93652894e-01 -2.26131095e-02 3.72140254e+02] [ 5.93424130e-01 8.04721203e-01 -1.64798723e-02 2.74811665e+01] [ 2.79805726e-02 -1.62698939e-04 9.99608454e-01 -4.09945184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.684012739 meters Centerline goodness [0,1] 0.9954958801178329 Centerline is valid? [True, True] Translation: X:372.17, Y:27.49, Z:-0.41 [[ 8.03210802e-01 -5.95268762e-01 -2.25279650e-02 3.72166077e+02] [ 5.95042205e-01 8.03526636e-01 -1.64230997e-02 2.74921822e+01] [ 2.78779781e-02 -2.13878896e-04 9.99611311e-01 -4.07770540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.714012739 meters Centerline goodness [0,1] 0.9955304634203717 Centerline is valid? [True, True] Translation: X:372.19, Y:27.51, Z:-0.41 [[ 8.03392819e-01 -5.95039565e-01 -2.20883124e-02 3.72188037e+02] [ 5.94821527e-01 8.03696383e-01 -1.61081883e-02 2.75089724e+01] [ 2.73373062e-02 -1.97400865e-04 9.99626247e-01 -4.05198420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.744012739 meters Centerline goodness [0,1] 0.9952222198628247 Centerline is valid? [True, True] Translation: X:372.21, Y:27.53, Z:-0.40 [[ 8.04099709e-01 -5.94091225e-01 -2.18923346e-02 3.72209980e+02] [ 5.93876525e-01 8.04397658e-01 -1.59712836e-02 2.75260565e+01] [ 2.70985421e-02 -1.58839083e-04 9.99632754e-01 -4.04087783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.774012739 meters Centerline goodness [0,1] 0.9956890144195035 Centerline is valid? [True, True] Translation: X:372.23, Y:27.55, Z:-0.41 [[ 8.05787632e-01 -5.91761476e-01 -2.29052051e-02 3.72229101e+02] [ 5.91525429e-01 8.06113112e-01 -1.67128070e-02 2.75481577e+01] [ 2.83541815e-02 -8.20380371e-05 9.99597936e-01 -4.05777752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80401273900003 meters Centerline goodness [0,1] 0.9959353918835522 Centerline is valid? [True, True] Translation: X:372.25, Y:27.57, Z:-0.41 [[ 8.06387621e-01 -5.90930614e-01 -2.32382031e-02 3.72249754e+02] [ 5.90687143e-01 8.06722386e-01 -1.69614742e-02 2.75653549e+01] [ 2.87698330e-02 -4.89849611e-05 9.99586061e-01 -4.07613652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.834012739 meters Centerline goodness [0,1] 0.9964108227498619 Centerline is valid? [True, True] Translation: X:372.27, Y:27.58, Z:-0.41 [[ 8.06993195e-01 -5.90071011e-01 -2.40454845e-02 3.72270487e+02] [ 5.89809821e-01 8.07351350e-01 -1.75548678e-02 2.75833620e+01] [ 2.97717730e-02 -1.56040630e-05 9.99556722e-01 -4.08221877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.864012739 meters Centerline goodness [0,1] 0.9963077451485488 Centerline is valid? [True, True] Translation: X:372.29, Y:27.60, Z:-0.41 [[ 8.06969620e-01 -5.90115473e-01 -2.37436669e-02 3.72292759e+02] [ 5.89860645e-01 8.07318852e-01 -1.73404263e-02 2.76006484e+01] [ 2.94015638e-02 -1.22574626e-05 9.99567680e-01 -4.05898807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.894012739 meters Centerline goodness [0,1] 0.9962466945321163 Centerline is valid? [True, True] Translation: X:372.31, Y:27.62, Z:-0.40 [[ 8.06612041e-01 -5.90620438e-01 -2.33347986e-02 3.72314746e+02] [ 5.90374339e-01 8.06949501e-01 -1.70482160e-02 2.76168063e+01] [ 2.88990289e-02 -2.49699886e-05 9.99582336e-01 -4.04628503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.924012739 meters Centerline goodness [0,1] 0.9956799277838674 Centerline is valid? [True, True] Translation: X:372.34, Y:27.63, Z:-0.40 [[ 8.05185672e-01 -5.92561744e-01 -2.33797793e-02 3.72338573e+02] [ 5.92315372e-01 8.05525029e-01 -1.70859223e-02 2.76311205e+01] [ 2.89574613e-02 -9.08628180e-05 9.99580641e-01 -4.03214854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.954012739 meters Centerline goodness [0,1] 0.995259220598469 Centerline is valid? [True, True] Translation: X:372.36, Y:27.65, Z:-0.40 [[ 8.04559998e-01 -5.93430563e-01 -2.28774209e-02 3.72361874e+02] [ 5.93194834e-01 8.04885180e-01 -1.67252892e-02 2.76471364e+01] [ 2.83389948e-02 -1.14269275e-04 9.99598364e-01 -4.00906414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.984012739 meters Centerline goodness [0,1] 0.995433789954338 Centerline is valid? [True, True] Translation: X:372.38, Y:27.66, Z:-0.40 [[ 8.04893325e-01 -5.93025775e-01 -2.16140134e-02 3.72382925e+02] [ 5.92815061e-01 8.05183471e-01 -1.58076474e-02 2.76643497e+01] [ 2.67775887e-02 -8.96427754e-05 9.99641412e-01 -3.97498687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.014012739 meters Centerline goodness [0,1] 0.9950720973582157 Centerline is valid? [True, True] Translation: X:372.40, Y:27.68, Z:-0.40 [[ 8.05787266e-01 -5.91835786e-01 -2.09113194e-02 3.72403299e+02] [ 5.91638072e-01 8.06058559e-01 -1.52967803e-02 2.76840569e+01] [ 2.59089299e-02 -4.59818848e-05 9.99664306e-01 -3.95272583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.044012739 meters Centerline goodness [0,1] 0.994704797839043 Centerline is valid? [True, True] Translation: X:372.42, Y:27.70, Z:-0.39 [[ 8.07212561e-01 -5.89885226e-01 -2.10547003e-02 3.72422291e+02] [ 5.89683963e-01 8.07487102e-01 -1.54079400e-02 2.77042503e+01] [ 2.60903151e-02 2.18635805e-05 9.99659590e-01 -3.94866659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.074012739 meters Centerline goodness [0,1] 0.9962117950925528 Centerline is valid? [True, True] Translation: X:372.44, Y:27.73, Z:-0.40 [[ 8.09579124e-01 -5.86566764e-01 -2.28270416e-02 3.72441074e+02] [ 5.86328717e-01 8.09900865e-01 -1.67100186e-02 2.77274362e+01] [ 2.82891823e-02 1.43932173e-04 9.99599771e-01 -3.98463483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.104012739 meters Centerline goodness [0,1] 0.996701636413934 Centerline is valid? [True, True] Translation: X:372.46, Y:27.75, Z:-0.40 [[ 8.10267124e-01 -5.85584123e-01 -2.36309672e-02 3.72461451e+02] [ 5.85328420e-01 8.10611621e-01 -1.73043835e-02 2.77469037e+01] [ 2.92887089e-02 1.89296405e-04 9.99570976e-01 -3.99393972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.134012739 meters Centerline goodness [0,1] 0.996729944366586 Centerline is valid? [True, True] Translation: X:372.48, Y:27.77, Z:-0.40 [[ 8.10595267e-01 -5.85141569e-01 -2.33379104e-02 3.72481738e+02] [ 5.84891877e-01 8.10931133e-01 -1.70935572e-02 2.77663283e+01] [ 2.89275890e-02 2.05802360e-04 9.99581489e-01 -3.97511126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.164012739 meters Centerline goodness [0,1] 0.9966523092669197 Centerline is valid? [True, True] Translation: X:372.51, Y:27.78, Z:-0.39 [[ 8.10297774e-01 -5.85597098e-01 -2.22161118e-02 3.72505066e+02] [ 5.85370847e-01 8.10602248e-01 -1.62778160e-02 2.77825517e+01] [ 2.75406720e-02 1.85213902e-04 9.99620667e-01 -3.94289486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.194012739 meters Centerline goodness [0,1] 0.9960087549890563 Centerline is valid? [True, True] Translation: X:372.53, Y:27.80, Z:-0.39 [[ 8.09421184e-01 -5.86874403e-01 -2.03907607e-02 3.72527899e+02] [ 5.86684082e-01 8.09677971e-01 -1.49455783e-02 2.77978083e+01] [ 2.52811271e-02 1.34332901e-04 9.99680372e-01 -3.89871618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.224012739 meters Centerline goodness [0,1] 0.9953278967040435 Centerline is valid? [True, True] Translation: X:372.55, Y:27.81, Z:-0.39 [[ 8.08755042e-01 -5.87809568e-01 -1.98795011e-02 3.72549672e+02] [ 5.87628913e-01 8.08999321e-01 -1.45725612e-02 2.78134238e+01] [ 2.46483938e-02 1.03862717e-04 9.99696177e-01 -3.88205621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.254012739 meters Centerline goodness [0,1] 0.9947201236263736 Centerline is valid? [True, True] Translation: X:372.57, Y:27.83, Z:-0.39 [[ 8.08156302e-01 -5.88642648e-01 -1.95761546e-02 3.72572290e+02] [ 5.88467645e-01 8.08393362e-01 -1.43528178e-02 2.78295923e+01] [ 2.42739141e-02 7.93865560e-05 9.99705342e-01 -3.86992355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.284012739 meters Centerline goodness [0,1] 0.9951861845655694 Centerline is valid? [True, True] Translation: X:372.59, Y:27.85, Z:-0.39 [[ 8.08195236e-01 -5.88561169e-01 -2.04012598e-02 3.72594083e+02] [ 5.88370919e-01 8.08452684e-01 -1.49639552e-02 2.78479527e+01] [ 2.53006562e-02 9.02893148e-05 9.99679883e-01 -3.88951133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.314012739 meters Centerline goodness [0,1] 0.9954871706709073 Centerline is valid? [True, True] Translation: X:372.62, Y:27.87, Z:-0.39 [[ 8.08699168e-01 -5.87833891e-01 -2.13769239e-02 3.72615160e+02] [ 5.87624641e-01 8.08981645e-01 -1.56837054e-02 2.78661701e+01] [ 2.65129526e-02 1.21792213e-04 9.99648462e-01 -3.90518784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.344012739 meters Centerline goodness [0,1] 0.9964885825075398 Centerline is valid? [True, True] Translation: X:372.64, Y:27.89, Z:-0.39 [[ 8.09355981e-01 -5.86908482e-01 -2.19392563e-02 3.72636223e+02] [ 5.86687637e-01 8.09653265e-01 -1.60999142e-02 2.78855435e+01] [ 2.72123667e-02 1.59071425e-04 9.99629662e-01 -3.91501230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.374012739 meters Centerline goodness [0,1] 0.9967090596403321 Centerline is valid? [True, True] Translation: X:372.65, Y:27.91, Z:-0.39 [[ 8.11374833e-01 -5.84088836e-01 -2.26077899e-02 3.72653144e+02] [ 5.83853069e-01 8.11689695e-01 -1.65961583e-02 2.79101643e+01] [ 2.80441409e-02 2.66077628e-04 9.99606650e-01 -3.92177208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.404012739 meters Centerline goodness [0,1] 0.9966374676061768 Centerline is valid? [True, True] Translation: X:372.67, Y:27.93, Z:-0.39 [[ 8.12065364e-01 -5.83149403e-01 -2.20594043e-02 3.72673825e+02] [ 5.82924508e-01 8.12364873e-01 -1.61966368e-02 2.79304359e+01] [ 2.73653443e-02 2.93760394e-04 9.99625456e-01 -3.89846084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.434012739 meters Centerline goodness [0,1] 0.9953562027862783 Centerline is valid? [True, True] Translation: X:372.69, Y:27.95, Z:-0.38 [[ 8.13415724e-01 -5.81323484e-01 -2.04418165e-02 3.72692842e+02] [ 5.81129670e-01 8.13672475e-01 -1.50136691e-02 2.79536904e+01] [ 2.53607419e-02 3.33008444e-04 9.99678309e-01 -3.84658222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.464012739 meters Centerline goodness [0,1] 0.9953173555829893 Centerline is valid? [True, True] Translation: X:372.71, Y:27.97, Z:-0.38 [[ 8.13789298e-01 -5.80817825e-01 -1.99407301e-02 3.72714466e+02] [ 5.80633124e-01 8.14033498e-01 -1.46505857e-02 2.79735738e+01] [ 2.47417436e-02 3.44241440e-04 9.99693817e-01 -3.83483012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.494012739 meters Centerline goodness [0,1] 0.9947414736751733 Centerline is valid? [True, True] Translation: X:372.74, Y:27.99, Z:-0.39 [[ 8.13790772e-01 -5.80794810e-01 -2.05418380e-02 3.72736103e+02] [ 5.80598660e-01 8.14049912e-01 -1.50975871e-02 2.79919591e+01] [ 2.54906816e-02 3.59713423e-04 9.99674995e-01 -3.85108246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.524012739 meters Centerline goodness [0,1] 0.9964639471722229 Centerline is valid? [True, True] Translation: X:372.76, Y:28.01, Z:-0.39 [[ 8.13216514e-01 -5.81482932e-01 -2.35902725e-02 3.72756887e+02] [ 5.81224291e-01 8.13558507e-01 -1.73458499e-02 2.80119867e+01] [ 2.92783825e-02 3.94692145e-04 9.99571218e-01 -3.91536199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55401273900003 meters Centerline goodness [0,1] 0.9967489003633582 Centerline is valid? [True, True] Translation: X:372.78, Y:28.03, Z:-0.39 [[ 8.11900191e-01 -5.83298752e-01 -2.40966118e-02 3.72778899e+02] [ 5.83029493e-01 8.12257625e-01 -1.77245983e-02 2.80290523e+01] [ 2.99113927e-02 3.41569359e-04 9.99552496e-01 -3.91494756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.584012739 meters Centerline goodness [0,1] 0.9967489003633582 Centerline is valid? [True, True] Translation: X:372.80, Y:28.05, Z:-0.39 [[ 8.11791723e-01 -5.83449755e-01 -2.40952630e-02 3.72800906e+02] [ 5.83180507e-01 8.12149167e-01 -1.77264316e-02 2.80454934e+01] [ 2.99114300e-02 3.38282791e-04 9.99552496e-01 -3.90786657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.614012739 meters Centerline goodness [0,1] 0.9966572274149935 Centerline is valid? [True, True] Translation: X:372.82, Y:28.06, Z:-0.39 [[ 8.11402414e-01 -5.84055698e-01 -2.24736386e-02 3.72823094e+02] [ 5.83821552e-01 8.11713528e-01 -1.65391363e-02 2.80616175e+01] [ 2.79019333e-02 2.99300599e-04 9.99610620e-01 -3.86305652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.644012739 meters Centerline goodness [0,1] 0.996225851848693 Centerline is valid? [True, True] Translation: X:372.85, Y:28.08, Z:-0.38 [[ 8.10942903e-01 -5.84761447e-01 -2.06314907e-02 3.72847124e+02] [ 5.84564305e-01 8.11205268e-01 -1.51851015e-02 2.80773230e+01] [ 2.56160358e-02 2.53817281e-04 9.99671823e-01 -3.80769503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.674012739 meters Centerline goodness [0,1] 0.9955488670806927 Centerline is valid? [True, True] Translation: X:372.87, Y:28.09, Z:-0.38 [[ 8.09770626e-01 -5.86426546e-01 -1.93762628e-02 3.72872910e+02] [ 5.86253034e-01 8.10002389e-01 -1.42657313e-02 2.80909527e+01] [ 2.40606227e-02 1.92577330e-04 9.99710483e-01 -3.78297226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.704012739 meters Centerline goodness [0,1] 0.9956918614570892 Centerline is valid? [True, True] Translation: X:372.90, Y:28.11, Z:-0.38 [[ 8.08940414e-01 -5.87536174e-01 -2.04120241e-02 3.72897711e+02] [ 5.87343830e-01 8.09197884e-01 -1.50336530e-02 2.81057603e+01] [ 2.53501816e-02 1.72453050e-04 9.99678618e-01 -3.80692554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.734012739 meters Centerline goodness [0,1] 0.9970691425637515 Centerline is valid? [True, True] Translation: X:372.92, Y:28.12, Z:-0.39 [[ 8.08242835e-01 -5.88392720e-01 -2.31846277e-02 3.72922336e+02] [ 5.88144726e-01 8.08575277e-01 -1.70822422e-02 2.81191793e+01] [ 2.87975837e-02 1.70683355e-04 9.99585249e-01 -3.86019942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.764012739 meters Centerline goodness [0,1] 0.9966681090437041 Centerline is valid? [True, True] Translation: X:372.95, Y:28.14, Z:-0.39 [[ 8.08696863e-01 -5.87757329e-01 -2.34671318e-02 3.72945183e+02] [ 5.87502790e-01 8.09037256e-01 -1.72970972e-02 2.81361005e+01] [ 2.91522796e-02 2.01102805e-04 9.99574962e-01 -3.85158572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.794012739 meters Centerline goodness [0,1] 0.9970127597832117 Centerline is valid? [True, True] Translation: X:372.97, Y:28.15, Z:-0.38 [[ 8.09690553e-01 -5.86396724e-01 -2.32398374e-02 3.72966248e+02] [ 5.86146373e-01 8.10023962e-01 -1.71350699e-02 2.81539960e+01] [ 2.88727740e-02 2.52157840e-04 9.99583063e-01 -3.83321821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.824012739 meters Centerline goodness [0,1] 0.9961349784450722 Centerline is valid? [True, True] Translation: X:372.98, Y:28.18, Z:-0.38 [[ 8.12041846e-01 -5.83176248e-01 -2.22149311e-02 3.72984426e+02] [ 5.82946235e-01 8.12345579e-01 -1.63813337e-02 2.81763965e+01] [ 2.75994058e-02 3.52218052e-04 9.99619002e-01 -3.80660865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.854012739 meters Centerline goodness [0,1] 0.9948788780280493 Centerline is valid? [True, True] Translation: X:373.00, Y:28.20, Z:-0.38 [[ 8.14468638e-01 -5.79802593e-01 -2.16746509e-02 3.73002355e+02] [ 5.79582384e-01 8.14756862e-01 -1.59848827e-02 2.82002225e+01] [ 2.69276469e-02 4.56939793e-04 9.99637281e-01 -3.79201071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.884012739 meters Centerline goodness [0,1] 0.9943587014369345 Centerline is valid? [True, True] Translation: X:373.02, Y:28.22, Z:-0.38 [[ 8.15325786e-01 -5.78616212e-01 -2.11457266e-02 3.73024776e+02] [ 5.78406145e-01 8.15599805e-01 -1.55977381e-02 2.82185477e+01] [ 2.62715546e-02 4.86419913e-04 9.99654725e-01 -3.78192973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.914012739 meters Centerline goodness [0,1] 0.994037697140659 Centerline is valid? [True, True] Translation: X:373.05, Y:28.24, Z:-0.38 [[ 8.15879546e-01 -5.77851889e-01 -2.06823779e-02 3.73046193e+02] [ 5.77650552e-01 8.16141495e-01 -1.52610497e-02 2.82372948e+01] [ 2.56983733e-02 5.03991300e-04 9.99669615e-01 -3.76292912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.944012739 meters Centerline goodness [0,1] 0.9932947532511905 Centerline is valid? [True, True] Translation: X:373.07, Y:28.26, Z:-0.37 [[ 8.16324306e-01 -5.77238074e-01 -2.02690091e-02 3.73066043e+02] [ 5.77044389e-01 8.16575740e-01 -1.49611054e-02 2.82563831e+01] [ 2.51873007e-02 5.16996027e-04 9.99682616e-01 -3.74289849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.974012739 meters Centerline goodness [0,1] 0.9930184194890077 Centerline is valid? [True, True] Translation: X:373.08, Y:28.28, Z:-0.37 [[ 8.18004904e-01 -5.74824575e-01 -2.10875841e-02 3.73083572e+02] [ 5.74614062e-01 8.18276437e-01 -1.55676825e-02 2.82808434e+01] [ 2.62041596e-02 6.17218310e-04 9.99656422e-01 -3.74582400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.004012739 meters Centerline goodness [0,1] 0.9915647765517829 Centerline is valid? [True, True] Translation: X:373.10, Y:28.31, Z:-0.38 [[ 8.20827433e-01 -5.70744048e-01 -2.22161464e-02 3.73098974e+02] [ 5.70508809e-01 8.21127643e-01 -1.64040342e-02 2.83079588e+01] [ 2.76047969e-02 7.90374028e-04 9.99618603e-01 -3.75457815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.034012739 meters Centerline goodness [0,1] 0.9901496737878982 Centerline is valid? [True, True] Translation: X:373.11, Y:28.33, Z:-0.37 [[ 8.22389161e-01 -5.68487282e-01 -2.23221616e-02 3.73114938e+02] [ 5.68248804e-01 8.22691586e-01 -1.64879157e-02 2.83330480e+01] [ 2.77374249e-02 8.74941527e-04 9.99614861e-01 -3.74681876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.064012739 meters Centerline goodness [0,1] 0.9903362968689602 Centerline is valid? [True, True] Translation: X:373.13, Y:28.36, Z:-0.37 [[ 8.23557924e-01 -5.66821595e-01 -2.15783579e-02 3.73134369e+02] [ 5.66598089e-01 8.23840072e-01 -1.59417845e-02 2.83559205e+01] [ 2.68132637e-02 9.02726584e-04 9.99640052e-01 -3.72659216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.094012739 meters Centerline goodness [0,1] 0.9875716608197143 Centerline is valid? [True, True] Translation: X:373.15, Y:28.39, Z:-0.37 [[ 8.25119744e-01 -5.64604635e-01 -1.99753379e-02 3.73146180e+02] [ 5.64412347e-01 8.25361003e-01 -1.47620225e-02 2.83873250e+01] [ 2.48215713e-02 9.06108863e-04 9.99691487e-01 -3.69183389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.124012739 meters Centerline goodness [0,1] 0.9873574245816011 Centerline is valid? [True, True] Translation: X:373.17, Y:28.41, Z:-0.37 [[ 8.24907098e-01 -5.64914988e-01 -1.99833826e-02 3.73165998e+02] [ 5.64722564e-01 8.25148621e-01 -1.47708710e-02 2.84079705e+01] [ 2.48335470e-02 8.99529271e-04 9.99691195e-01 -3.68740999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.154012739 meters Centerline goodness [0,1] 0.9903668261562999 Centerline is valid? [True, True] Translation: X:373.19, Y:28.43, Z:-0.37 [[ 8.21655832e-01 -5.69572686e-01 -2.16482951e-02 3.73187414e+02] [ 5.69348288e-01 8.21940552e-01 -1.60080263e-02 2.84262821e+01] [ 2.69113461e-02 8.27668391e-04 9.99637481e-01 -3.71591988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.184012739 meters Centerline goodness [0,1] 0.99170689178557 Centerline is valid? [True, True] Translation: X:373.21, Y:28.44, Z:-0.37 [[ 8.19337808e-01 -5.72879323e-01 -2.22449387e-02 3.73211272e+02] [ 5.72643540e-01 8.19639392e-01 -1.64512492e-02 2.84423396e+01] [ 2.76574085e-02 7.40710037e-04 9.99617186e-01 -3.72182635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.214012739 meters Centerline goodness [0,1] 0.9932366327789357 Centerline is valid? [True, True] Translation: X:373.24, Y:28.46, Z:-0.37 [[ 8.16787757e-01 -5.76500412e-01 -2.24729937e-02 3.73235473e+02] [ 5.76261040e-01 8.17096617e-01 -1.66232224e-02 2.84581169e+01] [ 2.79459017e-02 6.27333823e-04 9.99609240e-01 -3.72189229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.244012739 meters Centerline goodness [0,1] 0.9952332679075987 Centerline is valid? [True, True] Translation: X:373.26, Y:28.47, Z:-0.37 [[ 8.12197258e-01 -5.82942101e-01 -2.26742367e-02 3.73261044e+02] [ 5.82700796e-01 8.12513591e-01 -1.67763754e-02 2.84723916e+01] [ 2.82027810e-02 4.13430318e-04 9.99602137e-01 -3.70993488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.274012739 meters Centerline goodness [0,1] 0.995192825885447 Centerline is valid? [True, True] Translation: X:373.28, Y:28.49, Z:-0.37 [[ 8.10201765e-01 -5.85740940e-01 -2.19237668e-02 3.73283792e+02] [ 5.85516230e-01 8.10498276e-01 -1.62261874e-02 2.84885040e+01] [ 2.72735175e-02 3.09764383e-04 9.99627960e-01 -3.69086410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30401273900003 meters Centerline goodness [0,1] 0.995834846316509 Centerline is valid? [True, True] Translation: X:373.31, Y:28.50, Z:-0.37 [[ 8.06890024e-01 -5.90313520e-01 -2.14111555e-02 3.73307748e+02] [ 5.90100746e-01 8.07174036e-01 -1.58488328e-02 2.85034757e+01] [ 2.66383091e-02 1.53526239e-04 9.99645125e-01 -3.66076923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.334012739 meters Centerline goodness [0,1] 0.995944417170057 Centerline is valid? [True, True] Translation: X:373.33, Y:28.52, Z:-0.37 [[ 8.05516073e-01 -5.92164049e-01 -2.20362223e-02 3.73330922e+02] [ 5.91939208e-01 8.05817429e-01 -1.63170186e-02 2.85196423e+01] [ 2.74195238e-02 9.95167461e-05 9.99624009e-01 -3.66508752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.364012739 meters Centerline goodness [0,1] 0.9959227467811159 Centerline is valid? [True, True] Translation: X:373.35, Y:28.53, Z:-0.37 [[ 8.04076074e-01 -5.94082804e-01 -2.29627567e-02 3.73354966e+02] [ 5.93839363e-01 8.04403891e-01 -1.70056257e-02 2.85347247e+01] [ 2.85740807e-02 3.76279534e-05 9.99591677e-01 -3.67912513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.394012739 meters Centerline goodness [0,1] 0.995053231530272 Centerline is valid? [True, True] Translation: X:373.38, Y:28.54, Z:-0.37 [[ 8.00922199e-01 -5.98334802e-01 -2.27836695e-02 3.73381904e+02] [ 5.98096676e-01 8.01246188e-01 -1.68793453e-02 2.85445918e+01] [ 2.83548280e-02 -1.07794646e-04 9.99597915e-01 -3.66605433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.424012739 meters Centerline goodness [0,1] 0.9944541174953246 Centerline is valid? [True, True] Translation: X:373.41, Y:28.55, Z:-0.36 [[ 7.97292047e-01 -6.03274043e-01 -1.96423189e-02 3.73411076e+02] [ 6.03098427e-01 7.97533932e-01 -1.45573012e-02 2.85510832e+01] [ 2.44474577e-02 -2.39831148e-04 9.99701087e-01 -3.59798112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.454012739 meters Centerline goodness [0,1] 0.9942144510156853 Centerline is valid? [True, True] Translation: X:373.43, Y:28.57, Z:-0.36 [[ 7.95917169e-01 -6.05124682e-01 -1.84385177e-02 3.73434535e+02] [ 6.04970403e-01 7.96130669e-01 -1.36663617e-02 2.85673986e+01] [ 2.29493222e-02 -2.77465600e-04 9.99736591e-01 -3.56754117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.484012739 meters Centerline goodness [0,1] 0.993646408839779 Centerline is valid? [True, True] Translation: X:373.46, Y:28.58, Z:-0.36 [[ 7.94774996e-01 -6.06632216e-01 -1.81675569e-02 3.73460170e+02] [ 6.06482719e-01 7.94982552e-01 -1.34705046e-02 2.85797096e+01] [ 2.26145328e-02 -3.12289058e-04 9.99744210e-01 -3.55074556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.514012739 meters Centerline goodness [0,1] 0.9936089903062537 Centerline is valid? [True, True] Translation: X:373.48, Y:28.60, Z:-0.36 [[ 7.93906124e-01 -6.07749270e-01 -1.88119995e-02 3.73483150e+02] [ 6.07589256e-01 7.94128893e-01 -1.39497913e-02 2.85976021e+01] [ 2.34171278e-02 -3.55144062e-04 9.99725718e-01 -3.56661803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.544012739 meters Centerline goodness [0,1] 0.9937189941874082 Centerline is valid? [True, True] Translation: X:373.51, Y:28.61, Z:-0.36 [[ 7.93258452e-01 -6.08514533e-01 -2.12389367e-02 3.73507220e+02] [ 6.08310676e-01 7.93542617e-01 -1.57554994e-02 2.86134093e+01] [ 2.64414518e-02 -4.21688843e-04 9.99650275e-01 -3.59875914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.574012739 meters Centerline goodness [0,1] 0.993787346031883 Centerline is valid? [True, True] Translation: X:373.53, Y:28.63, Z:-0.36 [[ 7.93003144e-01 -6.08816511e-01 -2.21013332e-02 3.73531101e+02] [ 6.08595723e-01 7.93310946e-01 -1.64008759e-02 2.86285548e+01] [ 2.75183536e-02 -4.44830712e-04 9.99621199e-01 -3.59522750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.604012739 meters Centerline goodness [0,1] 0.9939008786146891 Centerline is valid? [True, True] Translation: X:373.55, Y:28.64, Z:-0.36 [[ 7.92509834e-01 -6.09474792e-01 -2.16481349e-02 3.73554828e+02] [ 6.09263138e-01 7.92805317e-01 -1.60673088e-02 2.86426606e+01] [ 2.69553762e-02 -4.55910395e-04 9.99636534e-01 -3.58933390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.634012739 meters Centerline goodness [0,1] 0.9925453526953074 Centerline is valid? [True, True] Translation: X:373.58, Y:28.66, Z:-0.35 [[ 7.91706503e-01 -6.10525075e-01 -2.14463417e-02 3.73578109e+02] [ 6.10317661e-01 7.91996778e-01 -1.59203041e-02 2.86595224e+01] [ 2.67051784e-02 -4.84872862e-04 9.99643236e-01 -3.50166004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.664012739 meters Centerline goodness [0,1] 0.993752584949607 Centerline is valid? [True, True] Translation: X:373.61, Y:28.67, Z:-0.36 [[ 7.89814016e-01 -6.13015756e-01 -2.01370960e-02 3.73605212e+02] [ 6.12833580e-01 7.90070504e-01 -1.49533195e-02 2.86713397e+01] [ 2.50763460e-02 -5.30347321e-04 9.99685398e-01 -3.56598745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.694012739 meters Centerline goodness [0,1] 0.9930985552115583 Centerline is valid? [True, True] Translation: X:373.63, Y:28.68, Z:-0.36 [[ 7.88706882e-01 -6.14353007e-01 -2.26238117e-02 3.73630424e+02] [ 6.14123420e-01 7.89031035e-01 -1.68062382e-02 2.86846791e+01] [ 2.81758525e-02 -6.38616877e-04 9.99602778e-01 -3.61181839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.724012739 meters Centerline goodness [0,1] 0.9931474480151229 Centerline is valid? [True, True] Translation: X:373.65, Y:28.70, Z:-0.36 [[ 7.88609807e-01 -6.14447670e-01 -2.34229131e-02 3.73653194e+02] [ 6.14201544e-01 7.88957300e-01 -1.74023289e-02 2.86995914e+01] [ 2.91724987e-02 -6.62742197e-04 9.99574172e-01 -3.62911975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.754012739 meters Centerline goodness [0,1] 0.9931091863293083 Centerline is valid? [True, True] Translation: X:373.68, Y:28.71, Z:-0.36 [[ 7.88527654e-01 -6.14534615e-01 -2.39028343e-02 3.73677512e+02] [ 6.14278214e-01 7.88889567e-01 -1.77630620e-02 2.87122127e+01] [ 2.97727131e-02 -6.76324743e-04 9.99556466e-01 -3.63893895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.784012739 meters Centerline goodness [0,1] 0.9937702090967881 Centerline is valid? [True, True] Translation: X:373.70, Y:28.73, Z:-0.36 [[ 7.88323674e-01 -6.14772963e-01 -2.44946596e-02 3.73701037e+02] [ 6.14503663e-01 7.88703820e-01 -1.82080150e-02 2.87291744e+01] [ 3.05128270e-02 -6.98248763e-04 9.99534131e-01 -3.63604025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.814012739 meters Centerline goodness [0,1] 0.9939486277118517 Centerline is valid? [True, True] Translation: X:373.72, Y:28.74, Z:-0.36 [[ 7.89234762e-01 -6.13579036e-01 -2.50849833e-02 3.73724691e+02] [ 6.13295813e-01 7.89633033e-01 -1.86525933e-02 2.87442150e+01] [ 3.12527717e-02 -6.63240221e-04 9.99511293e-01 -3.63324960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.844012739 meters Centerline goodness [0,1] 0.9937051518927512 Centerline is valid? [True, True] Translation: X:373.75, Y:28.76, Z:-0.36 [[ 7.91615323e-01 -6.10526484e-01 -2.45477547e-02 3.73745500e+02] [ 6.10253728e-01 7.91995664e-01 -1.82552893e-02 2.87628736e+01] [ 3.05870529e-02 -5.29192087e-04 9.99531967e-01 -3.61971610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.874012739 meters Centerline goodness [0,1] 0.9935753292643752 Centerline is valid? [True, True] Translation: X:373.77, Y:28.78, Z:-0.36 [[ 7.92871283e-01 -6.08925708e-01 -2.37615539e-02 3.73766021e+02] [ 6.08669353e-01 7.93227130e-01 -1.76731319e-02 2.87829232e+01] [ 2.96099335e-02 -4.50410890e-04 9.99561428e-01 -3.59312877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.904012739 meters Centerline goodness [0,1] 0.9942783670845388 Centerline is valid? [True, True] Translation: X:373.79, Y:28.80, Z:-0.36 [[ 7.93913730e-01 -6.07595336e-01 -2.29977630e-02 3.73787830e+02] [ 6.07354502e-01 7.94246662e-01 -1.71099298e-02 2.88007365e+01] [ 2.86618100e-02 -3.83986644e-04 9.99589092e-01 -3.57085140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.934012739 meters Centerline goodness [0,1] 0.9943362078143299 Centerline is valid? [True, True] Translation: X:373.81, Y:28.82, Z:-0.35 [[ 7.95692659e-01 -6.05285961e-01 -2.24075124e-02 3.73808512e+02] [ 6.05056360e-01 7.96008053e-01 -1.66727580e-02 2.88191959e+01] [ 2.79283467e-02 -2.91416755e-04 9.99609885e-01 -3.54391158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.964012739 meters Centerline goodness [0,1] 0.9941299970007283 Centerline is valid? [True, True] Translation: X:373.83, Y:28.84, Z:-0.35 [[ 7.96357456e-01 -6.04424374e-01 -2.20449296e-02 3.73829810e+02] [ 6.04201754e-01 7.96662483e-01 -1.64051477e-02 2.88392614e+01] [ 2.74780395e-02 -2.55223468e-04 9.99622375e-01 -3.52845296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.994012739 meters Centerline goodness [0,1] 0.9943592154181445 Centerline is valid? [True, True] Translation: X:373.85, Y:28.86, Z:-0.35 [[ 7.97821475e-01 -6.02513995e-01 -2.13958004e-02 3.73850166e+02] [ 6.02303467e-01 7.98108297e-01 -1.59273260e-02 2.88580061e+01] [ 2.66726027e-02 -1.79602049e-04 9.99644207e-01 -3.50993962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.024012739 meters Centerline goodness [0,1] 0.9941579938118008 Centerline is valid? [True, True] Translation: X:373.87, Y:28.88, Z:-0.35 [[ 7.98508309e-01 -6.01627868e-01 -2.06975461e-02 3.73871582e+02] [ 6.01430514e-01 7.98776494e-01 -1.54093796e-02 2.88768364e+01] [ 2.58034255e-02 -1.43618092e-04 9.99667026e-01 -3.48743617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05401273900003 meters Centerline goodness [0,1] 0.99431805999271 Centerline is valid? [True, True] Translation: X:373.89, Y:28.90, Z:-0.35 [[ 7.99382562e-01 -6.00473834e-01 -2.04620190e-02 3.73892847e+02] [ 6.00280433e-01 7.99644399e-01 -1.52393345e-02 2.88954928e+01] [ 2.55131605e-02 -1.00891378e-04 9.99674481e-01 -3.48389124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.084012739 meters Centerline goodness [0,1] 0.9942869324237902 Centerline is valid? [True, True] Translation: X:373.91, Y:28.92, Z:-0.35 [[ 8.00456695e-01 -5.99034121e-01 -2.06688717e-02 3.73911962e+02] [ 5.98836259e-01 8.00723497e-01 -1.53953249e-02 2.89174105e+01] [ 2.57723761e-02 -5.39788695e-05 9.99667836e-01 -3.48088342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.114012739 meters Centerline goodness [0,1] 0.9947966443665711 Centerline is valid? [True, True] Translation: X:373.93, Y:28.94, Z:-0.35 [[ 8.00320154e-01 -5.99214228e-01 -2.07354775e-02 3.73933726e+02] [ 5.99014993e-01 8.00588724e-01 -1.54509518e-02 2.89353712e+01] [ 2.58590196e-02 -5.51537997e-05 9.99665598e-01 -3.47728519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.144012739 meters Centerline goodness [0,1] 0.9940586075922507 Centerline is valid? [True, True] Translation: X:373.96, Y:28.95, Z:-0.34 [[ 7.99619600e-01 -6.00168669e-01 -2.01510493e-02 3.73955788e+02] [ 5.99980669e-01 7.99873467e-01 -1.50211219e-02 2.89525298e+01] [ 2.51334964e-02 -7.90565703e-05 9.99684101e-01 -3.44824432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.174012739 meters Centerline goodness [0,1] 0.9939945716056506 Centerline is valid? [True, True] Translation: X:373.98, Y:28.97, Z:-0.34 [[ 7.99353156e-01 -6.00535215e-01 -1.97986812e-02 3.73977635e+02] [ 6.00353708e-01 7.99598305e-01 -1.47640314e-02 2.89704690e+01] [ 2.46973127e-02 -8.45365804e-05 9.99694971e-01 -3.43046152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.204012739 meters Centerline goodness [0,1] 0.9942866888377249 Centerline is valid? [True, True] Translation: X:374.00, Y:28.99, Z:-0.34 [[ 7.99514552e-01 -6.00286923e-01 -2.07867838e-02 3.73997053e+02] [ 6.00086596e-01 7.99784724e-01 -1.55071958e-02 2.89894376e+01] [ 2.59337190e-02 -7.56415930e-05 9.99663662e-01 -3.44595041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.234012739 meters Centerline goodness [0,1] 0.994756409429867 Centerline is valid? [True, True] Translation: X:374.02, Y:29.01, Z:-0.35 [[ 7.99513377e-01 -6.00246504e-01 -2.19657467e-02 3.74018112e+02] [ 6.00022685e-01 7.99815059e-01 -1.63904894e-02 2.90075336e+01] [ 2.74068689e-02 -7.55307963e-05 9.99624358e-01 -3.46527657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.264012739 meters Centerline goodness [0,1] 0.9950075739796462 Centerline is valid? [True, True] Translation: X:374.04, Y:29.02, Z:-0.35 [[ 7.99440624e-01 -6.00306311e-01 -2.29569483e-02 3.74038520e+02] [ 6.00061665e-01 7.99770171e-01 -1.71368434e-02 2.90246772e+01] [ 2.86476377e-02 -7.56958610e-05 9.99589569e-01 -3.48536551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.294012739 meters Centerline goodness [0,1] 0.9946497742204721 Centerline is valid? [True, True] Translation: X:374.06, Y:29.04, Z:-0.35 [[ 7.98784502e-01 -6.01202350e-01 -2.23395268e-02 3.74058732e+02] [ 6.00970938e-01 7.99096818e-01 -1.66795460e-02 2.90418575e+01] [ 2.78792271e-02 -1.02043573e-04 9.99611294e-01 -3.46212505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.324012739 meters Centerline goodness [0,1] 0.99435318275154 Centerline is valid? [True, True] Translation: X:374.08, Y:29.06, Z:-0.34 [[ 7.97806324e-01 -6.02523906e-01 -2.16797753e-02 3.74081186e+02] [ 6.02306357e-01 7.98100822e-01 -1.61904251e-02 2.90591909e+01] [ 2.70577647e-02 -1.41042945e-04 9.99633862e-01 -3.42451956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.354012739 meters Centerline goodness [0,1] 0.9948729999359125 Centerline is valid? [True, True] Translation: X:374.10, Y:29.07, Z:-0.34 [[ 7.97507252e-01 -6.02909375e-01 -2.19651725e-02 3.74103296e+02] [ 6.02686033e-01 7.97809666e-01 -1.64098314e-02 2.90742159e+01] [ 2.74176681e-02 -1.51143179e-04 9.99624054e-01 -3.42612343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.384012739 meters Centerline goodness [0,1] 0.9948011713279293 Centerline is valid? [True, True] Translation: X:374.13, Y:29.09, Z:-0.34 [[ 7.97103275e-01 -6.03419234e-01 -2.26185104e-02 3.74126228e+02] [ 6.03182497e-01 7.97424103e-01 -1.69019532e-02 2.90900805e+01] [ 2.82355089e-02 -1.70487336e-04 9.99601284e-01 -3.44839248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.414012739 meters Centerline goodness [0,1] 0.9953949928654819 Centerline is valid? [True, True] Translation: X:374.15, Y:29.11, Z:-0.35 [[ 7.96696619e-01 -6.03919311e-01 -2.35788667e-02 3.74149457e+02] [ 6.03662056e-01 7.97045437e-01 -1.76264723e-02 2.91073573e+01] [ 2.94383952e-02 -1.90716280e-04 9.99566578e-01 -3.45981583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.444012739 meters Centerline goodness [0,1] 0.9950797674071865 Centerline is valid? [True, True] Translation: X:374.17, Y:29.13, Z:-0.35 [[ 7.96781872e-01 -6.03812968e-01 -2.34211007e-02 3.74168994e+02] [ 6.03558926e-01 7.97126004e-01 -1.75144546e-02 2.91274725e+01] [ 2.92450233e-02 -1.80814467e-04 9.99572256e-01 -3.45414053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.474012739 meters Centerline goodness [0,1] 0.9943021154459445 Centerline is valid? [True, True] Translation: X:374.19, Y:29.14, Z:-0.34 [[ 7.96583505e-01 -6.04145067e-01 -2.15280906e-02 3.74191148e+02] [ 6.03930406e-01 7.96874337e-01 -1.61045245e-02 2.91445028e+01] [ 2.68846520e-02 -1.72869929e-04 9.99638527e-01 -3.39176679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.504012739 meters Centerline goodness [0,1] 0.9947199898216671 Centerline is valid? [True, True] Translation: X:374.21, Y:29.16, Z:-0.34 [[ 7.96450024e-01 -6.04331943e-01 -2.12193626e-02 3.74213649e+02] [ 6.04123304e-01 7.96732623e-01 -1.58795655e-02 2.91586870e+01] [ 2.65026871e-02 -1.71831146e-04 9.99648727e-01 -3.37731854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.534012739 meters Centerline goodness [0,1] 0.9947199898216671 Centerline is valid? [True, True] Translation: X:374.24, Y:29.18, Z:-0.34 [[ 7.96341724e-01 -6.04474704e-01 -2.12177009e-02 3.74235517e+02] [ 6.04266056e-01 7.96624317e-01 -1.58817855e-02 2.91752978e+01] [ 2.65026741e-02 -1.73808006e-04 9.99648727e-01 -3.37023832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.564012739 meters Centerline goodness [0,1] 0.9946678042017703 Centerline is valid? [True, True] Translation: X:374.26, Y:29.19, Z:-0.34 [[ 7.95997501e-01 -6.04900090e-01 -2.19968103e-02 3.74257989e+02] [ 6.04675822e-01 7.96301353e-01 -1.64713360e-02 2.91914745e+01] [ 2.74796024e-02 -1.89797098e-04 9.99622346e-01 -3.37586033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.594012739 meters Centerline goodness [0,1] 0.9947385306384344 Centerline is valid? [True, True] Translation: X:374.28, Y:29.21, Z:-0.34 [[ 7.95600588e-01 -6.05399715e-01 -2.26028467e-02 3.74279820e+02] [ 6.05162938e-01 7.95921567e-01 -1.69315342e-02 2.92069179e+01] [ 2.82404391e-02 -2.07666588e-04 9.99601138e-01 -3.38839213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.624012739 meters Centerline goodness [0,1] 0.9944759726388019 Centerline is valid? [True, True] Translation: X:374.30, Y:29.22, Z:-0.34 [[ 7.94844621e-01 -6.06413336e-01 -2.20202891e-02 3.74302523e+02] [ 6.06188898e-01 7.95149552e-01 -1.64987643e-02 2.92238043e+01] [ 2.75144937e-02 -2.34500769e-04 9.99621377e-01 -3.37084863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.654012739 meters Centerline goodness [0,1] 0.9948175478257161 Centerline is valid? [True, True] Translation: X:374.33, Y:29.24, Z:-0.33 [[ 7.94438036e-01 -6.06996119e-01 -2.05892799e-02 3.74326027e+02] [ 6.06799978e-01 7.94704761e-01 -1.54314759e-02 2.92367520e+01] [ 2.57292448e-02 -2.34223184e-04 9.99668921e-01 -3.32538130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.684012739 meters Centerline goodness [0,1] 0.9949439294742983 Centerline is valid? [True, True] Translation: X:374.35, Y:29.26, Z:-0.33 [[ 7.94431471e-01 -6.07009109e-01 -2.04592089e-02 3.74346591e+02] [ 6.06815358e-01 7.94694840e-01 -1.53373171e-02 2.92558540e+01] [ 2.55687189e-02 -2.30514775e-04 9.99673040e-01 -3.31072847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.714012739 meters Centerline goodness [0,1] 0.9949213560193717 Centerline is valid? [True, True] Translation: X:374.37, Y:29.27, Z:-0.33 [[ 7.94585646e-01 -6.06799120e-01 -2.06997252e-02 3.74367622e+02] [ 6.06600555e-01 7.94855194e-01 -1.55237996e-02 2.92733497e+01] [ 2.58731121e-02 -2.21476466e-04 9.99665210e-01 -3.31317865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.744012739 meters Centerline goodness [0,1] 0.9946829121281268 Centerline is valid? [True, True] Translation: X:374.39, Y:29.29, Z:-0.33 [[ 7.94836278e-01 -6.06432629e-01 -2.17889393e-02 3.74388774e+02] [ 6.06212377e-01 7.95134844e-01 -1.63442417e-02 2.92899816e+01] [ 2.72368263e-02 -2.17728441e-04 9.99628985e-01 -3.34233870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.774012739 meters Centerline goodness [0,1] 0.9950673699045504 Centerline is valid? [True, True] Translation: X:374.41, Y:29.31, Z:-0.33 [[ 7.94546030e-01 -6.06800647e-01 -2.21265017e-02 3.74411110e+02] [ 6.06573558e-01 7.94854025e-01 -1.66010993e-02 2.93065558e+01] [ 2.76608967e-02 -2.31013341e-04 9.99617337e-01 -3.34904246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80401273900003 meters Centerline goodness [0,1] 0.9948947719880232 Centerline is valid? [True, True] Translation: X:374.44, Y:29.32, Z:-0.33 [[ 7.92115076e-01 -6.09995716e-01 -2.14227315e-02 3.74437524e+02] [ 6.09783852e-01 7.92404644e-01 -1.60790198e-02 2.93166533e+01] [ 2.67836052e-02 -3.26801733e-04 9.99641201e-01 -3.33040761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.834012739 meters Centerline goodness [0,1] 0.9945508163090863 Centerline is valid? [True, True] Translation: X:374.46, Y:29.33, Z:-0.33 [[ 7.90342896e-01 -6.12303625e-01 -2.10327796e-02 3.74462596e+02] [ 6.12100134e-01 7.90622612e-01 -1.57895982e-02 2.93291818e+01] [ 2.62970194e-02 -3.94970381e-04 9.99654096e-01 -3.30881020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.864012739 meters Centerline goodness [0,1] 0.9943277534918434 Centerline is valid? [True, True] Translation: X:374.49, Y:29.34, Z:-0.33 [[ 7.88598616e-01 -6.14537062e-01 -2.13640370e-02 3.74488681e+02] [ 6.14327871e-01 7.88887808e-01 -1.60403428e-02 2.93430495e+01] [ 2.67112135e-02 -4.75131210e-04 9.99643079e-01 -3.30661919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.894012739 meters Centerline goodness [0,1] 0.9947307544017479 Centerline is valid? [True, True] Translation: X:374.52, Y:29.35, Z:-0.33 [[ 7.86352833e-01 -6.17354951e-01 -2.28492159e-02 3.74516219e+02] [ 6.17116679e-01 7.86684497e-01 -1.71612282e-02 2.93536620e+01] [ 2.85696931e-02 -6.05851850e-04 9.99591619e-01 -3.33826294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.924012739 meters Centerline goodness [0,1] 0.9944530112224792 Centerline is valid? [True, True] Translation: X:374.54, Y:29.37, Z:-0.34 [[ 7.85623733e-01 -6.18252389e-01 -2.36502392e-02 3.74540426e+02] [ 6.17997426e-01 7.85979357e-01 -1.77660249e-02 2.93674687e+01] [ 2.95724871e-02 -6.58376188e-04 9.99562422e-01 -3.35294707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.954012739 meters Centerline goodness [0,1] 0.9942529958919564 Centerline is valid? [True, True] Translation: X:374.57, Y:29.38, Z:-0.34 [[ 7.85317951e-01 -6.18636149e-01 -2.37703710e-02 3.74565060e+02] [ 6.18378671e-01 7.85677326e-01 -1.78594039e-02 2.93814306e+01] [ 2.97243143e-02 -6.73779953e-04 9.99557908e-01 -3.35315201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.984012739 meters Centerline goodness [0,1] 0.994076109119787 Centerline is valid? [True, True] Translation: X:374.59, Y:29.40, Z:-0.33 [[ 7.85804489e-01 -6.18060961e-01 -2.26263845e-02 3.74586498e+02] [ 6.17827353e-01 7.86129929e-01 -1.70028067e-02 2.93999528e+01] [ 2.82960491e-02 -6.18317465e-04 9.99599395e-01 -3.30565224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.014012739 meters Centerline goodness [0,1] 0.9944967539447096 Centerline is valid? [True, True] Translation: X:374.61, Y:29.42, Z:-0.33 [[ 7.87070921e-01 -6.16459161e-01 -2.23039771e-02 3.74608241e+02] [ 6.16231367e-01 7.87386691e-01 -1.67660497e-02 2.94189274e+01] [ 2.78974397e-02 -5.48340088e-04 9.99610640e-01 -3.29344288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.044012739 meters Centerline goodness [0,1] 0.9944543600203978 Centerline is valid? [True, True] Translation: X:374.63, Y:29.43, Z:-0.33 [[ 7.87592739e-01 -6.15768862e-01 -2.29431229e-02 3.74633539e+02] [ 6.15527363e-01 7.87926661e-01 -1.72522933e-02 2.94310871e+01] [ 2.87009232e-02 -5.34339011e-04 9.99587901e-01 -3.30879528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.074012739 meters Centerline goodness [0,1] 0.9946060037523452 Centerline is valid? [True, True] Translation: X:374.66, Y:29.45, Z:-0.33 [[ 7.87870890e-01 -6.15407411e-01 -2.30906480e-02 3.74656298e+02] [ 6.15162532e-01 7.88209012e-01 -1.73670143e-02 2.94481991e+01] [ 2.88880461e-02 -5.21536484e-04 9.99582517e-01 -3.31656185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.104012739 meters Centerline goodness [0,1] 0.9945045582346426 Centerline is valid? [True, True] Translation: X:374.68, Y:29.47, Z:-0.33 [[ 7.87657754e-01 -6.15681372e-01 -2.30588516e-02 3.74677746e+02] [ 6.15437109e-01 7.87995033e-01 -1.73491456e-02 2.94657822e+01] [ 2.88518063e-02 -5.26083910e-04 9.99583562e-01 -3.31023183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.134012739 meters Centerline goodness [0,1] 0.9945863320807592 Centerline is valid? [True, True] Translation: X:374.70, Y:29.48, Z:-0.33 [[ 7.87018675e-01 -6.16527989e-01 -2.22450804e-02 3.74700559e+02] [ 6.16300840e-01 7.87332811e-01 -1.67427558e-02 2.94828706e+01] [ 2.78366593e-02 -5.32800206e-04 9.99612343e-01 -3.27422058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.164012739 meters Centerline goodness [0,1] 0.9944455126150954 Centerline is valid? [True, True] Translation: X:374.72, Y:29.50, Z:-0.33 [[ 7.86571161e-01 -6.17113891e-01 -2.18232305e-02 3.74723805e+02] [ 6.16895356e-01 7.86873659e-01 -1.64306109e-02 2.94997002e+01] [ 2.73116835e-02 -5.38804882e-04 9.99626821e-01 -3.25724289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.194012739 meters Centerline goodness [0,1] 0.9943523371483581 Centerline is valid? [True, True] Translation: X:374.75, Y:29.52, Z:-0.33 [[ 7.86044598e-01 -6.17787497e-01 -2.17370381e-02 3.74747415e+02] [ 6.17570793e-01 7.86344899e-01 -1.63711681e-02 2.95161637e+01] [ 2.72067120e-02 -5.55691606e-04 9.99629674e-01 -3.25150572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.224012739 meters Centerline goodness [0,1] 0.993675228334977 Centerline is valid? [True, True] Translation: X:374.77, Y:29.53, Z:-0.33 [[ 7.83833932e-01 -6.20577791e-01 -2.20810401e-02 3.74773639e+02] [ 6.20355126e-01 7.84144611e-01 -1.66356899e-02 2.95285471e+01] [ 2.76384683e-02 -6.58468135e-04 9.99617768e-01 -3.26602283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.254012739 meters Centerline goodness [0,1] 0.9933382994572736 Centerline is valid? [True, True] Translation: X:374.80, Y:29.54, Z:-0.33 [[ 7.82093109e-01 -6.22777897e-01 -2.18645856e-02 3.74799118e+02] [ 6.22560352e-01 7.82398340e-01 -1.64755982e-02 2.95416046e+01] [ 2.73674539e-02 -7.26572259e-04 9.99625177e-01 -3.25590703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.284012739 meters Centerline goodness [0,1] 0.9904526993982437 Centerline is valid? [True, True] Translation: X:374.83, Y:29.54, Z:-0.33 [[ 7.77859480e-01 -6.28056946e-01 -2.18884108e-02 3.74832879e+02] [ 6.27840851e-01 7.78166851e-01 -1.64990336e-02 2.95428074e+01] [ 2.73951684e-02 -9.08508780e-04 9.99624269e-01 -3.25181120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.314012739 meters Centerline goodness [0,1] 0.9917173657807663 Centerline is valid? [True, True] Translation: X:374.86, Y:29.56, Z:-0.33 [[ 7.75855336e-01 -6.30511807e-01 -2.24356484e-02 3.74855424e+02] [ 6.30285683e-01 7.76178992e-01 -1.69154014e-02 2.95605427e+01] [ 2.80794392e-02 -1.01696351e-03 9.99605177e-01 -3.25158166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.344012739 meters Centerline goodness [0,1] 0.9873959420043007 Centerline is valid? [True, True] Translation: X:374.88, Y:29.57, Z:-0.32 [[ 7.73257189e-01 -6.33700314e-01 -2.22987015e-02 3.74884705e+02] [ 6.33478111e-01 7.73577827e-01 -1.68174961e-02 2.95692821e+01] [ 2.79070336e-02 -1.12148958e-03 9.99609894e-01 -3.24094375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.374012739 meters Centerline goodness [0,1] 0.979253112033195 Centerline is valid? [True, True] Translation: X:374.91, Y:29.58, Z:-0.32 [[ 7.72390414e-01 -6.34792858e-01 -2.12385423e-02 3.74911790e+02] [ 6.34591613e-01 7.72681571e-01 -1.60210677e-02 2.95790076e+01] [ 2.65806896e-02 -1.10328167e-03 9.99646062e-01 -3.20077525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.404012739 meters Centerline goodness [0,1] 0.9838828314295605 Centerline is valid? [True, True] Translation: X:374.94, Y:29.59, Z:-0.32 [[ 7.71302650e-01 -6.36153886e-01 -2.00113956e-02 3.74937142e+02] [ 6.35975575e-01 7.71561447e-01 -1.50996993e-02 2.95931012e+01] [ 2.50457537e-02 -1.08032076e-03 9.99685722e-01 -3.15441452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.434012739 meters Centerline goodness [0,1] 0.9801402620799108 Centerline is valid? [True, True] Translation: X:374.96, Y:29.61, Z:-0.32 [[ 7.71065637e-01 -6.36441651e-01 -1.99952099e-02 3.74962012e+02] [ 6.36263600e-01 7.71324088e-01 -1.50924763e-02 2.96057509e+01] [ 2.50282676e-02 -1.08493441e-03 9.99686155e-01 -3.15119169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.464012739 meters Centerline goodness [0,1] 0.9797740330193716 Centerline is valid? [True, True] Translation: X:374.99, Y:29.62, Z:-0.32 [[ 7.70694352e-01 -6.36882242e-01 -2.02786983e-02 3.74987645e+02] [ 6.36699194e-01 7.70960292e-01 -1.53089736e-02 2.96198648e+01] [ 2.53840846e-02 -1.11289141e-03 9.99677153e-01 -3.16024234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.494012739 meters Centerline goodness [0,1] 0.9808011578902558 Centerline is valid? [True, True] Translation: X:375.02, Y:29.63, Z:-0.32 [[ 7.69021069e-01 -6.38875487e-01 -2.10881026e-02 3.75015955e+02] [ 6.38678137e-01 7.69309184e-01 -1.59253800e-02 2.96301464e+01] [ 2.63976058e-02 -1.22155731e-03 9.99650776e-01 -3.18087816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.524012739 meters Centerline goodness [0,1] 0.9631115188496085 Centerline is valid? [True, True] Translation: X:375.04, Y:29.64, Z:-0.32 [[ 7.67583886e-01 -6.40571084e-01 -2.19923749e-02 3.75043665e+02] [ 6.40356981e-01 7.67897726e-01 -1.66138538e-02 2.96388895e+01] [ 2.75302489e-02 -1.33044431e-03 9.99620085e-01 -3.19121319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55401273900003 meters Centerline goodness [0,1] 0.8591875797532964 Centerline is valid? [True, False] Translation: X:374.73, Y:29.32, Z:-0.32 [[ 7.74376029e-01 -6.29869630e-01 -6.00500984e-02 3.74732605e+02] [ 6.32289104e-01 7.73873670e-01 3.64696076e-02 2.93242094e+01] [ 2.35000918e-02 -6.62102129e-02 9.97528924e-01 -3.24306185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.584012739 meters Centerline goodness [0,1] 0.9106204893880514 Centerline is valid? [False, False] Translation: X:374.42, Y:29.04, Z:-0.33 [[ 7.83103279e-01 -6.16397822e-01 -8.24801774e-02 3.74422204e+02] [ 6.21554260e-01 7.80132465e-01 7.11592468e-02 2.90410990e+01] [ 2.04830594e-02 -1.06990945e-01 9.94048984e-01 -3.27510366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.614012739 meters Centerline goodness [0,1] 0.8422665276507011 Centerline is valid? [False, False] Translation: X:374.15, Y:28.80, Z:-0.33 [[ 7.89944538e-01 -6.06352052e-01 -9.12404315e-02 3.74147913e+02] [ 6.12935358e-01 7.85029161e-01 8.96630563e-02 2.88030615e+01] [ 1.72590212e-02 -1.26753328e-01 9.91784110e-01 -3.32019602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.644012739 meters Centerline goodness [0,1] 0.9319273158039473 Centerline is valid? [False, False] Translation: X:373.88, Y:28.59, Z:-0.34 [[ 7.98261686e-01 -5.94674313e-01 -9.56072318e-02 3.73881004e+02] [ 6.02120867e-01 7.91878183e-01 1.01879364e-01 2.85885367e+01] [ 1.51242403e-02 -1.38893502e-01 9.90191826e-01 -3.36972743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.674012739 meters Centerline goodness [0,1] 0.9224006116207951 Centerline is valid? [False, False] Translation: X:373.61, Y:28.39, Z:-0.34 [[ 8.05323627e-01 -5.85390993e-01 -9.36549081e-02 3.73610059e+02] [ 5.92684813e-01 7.98569786e-01 1.04933353e-01 2.83889023e+01] [ 1.33629401e-02 -1.40013150e-01 9.90059468e-01 -3.41157950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.704012739 meters Centerline goodness [0,1] 0.9734288157332194 Centerline is valid? [False, True] Translation: X:373.33, Y:28.18, Z:-0.34 [[ 8.14190348e-01 -5.73584688e-01 -8.99704519e-02 3.73328333e+02] [ 5.80461869e-01 8.07522577e-01 1.04744007e-01 2.81830048e+01] [ 1.25736125e-02 -1.37505976e-01 9.90421128e-01 -3.44113031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.734012739 meters Centerline goodness [0,1] 0.9803871407862198 Centerline is valid? [True, True] Translation: X:373.31, Y:28.27, Z:-0.36 [[ 8.15553428e-01 -5.78429089e-01 -1.70995953e-02 3.73308632e+02] [ 5.78325340e-01 8.15732148e-01 -1.09938023e-02 2.82665499e+01] [ 2.03078247e-02 -9.23096098e-04 9.99793349e-01 -3.63327591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.764012739 meters Centerline goodness [0,1] 0.9897731179099347 Centerline is valid? [True, True] Translation: X:373.33, Y:28.28, Z:-0.37 [[ 8.19450327e-01 -5.72813438e-01 -1.96450177e-02 3.73332142e+02] [ 5.72674806e-01 8.19685281e-01 -1.26335608e-02 2.82829723e+01] [ 2.33394052e-02 -8.97631114e-04 9.99727196e-01 -3.68116885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.794012739 meters Centerline goodness [0,1] 0.9895635064907291 Centerline is valid? [True, True] Translation: X:373.36, Y:28.30, Z:-0.37 [[ 8.21232236e-01 -5.70240670e-01 -2.00796767e-02 3.73357089e+02] [ 5.70094994e-01 8.21477250e-01 -1.29160795e-02 2.82953182e+01] [ 2.38602715e-02 -8.40222311e-04 9.99714950e-01 -3.68387870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.824012739 meters Centerline goodness [0,1] 0.9937996347730071 Centerline is valid? [True, True] Translation: X:373.38, Y:28.32, Z:-0.36 [[ 8.24796344e-01 -5.65128664e-01 -1.84549210e-02 3.73378491e+02] [ 5.65004246e-01 8.25002541e-01 -1.18747677e-02 2.83151770e+01] [ 2.19361283e-02 -6.32843710e-04 9.99759174e-01 -3.63397470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.854012739 meters Centerline goodness [0,1] 0.9942229801748028 Centerline is valid? [True, True] Translation: X:373.40, Y:28.33, Z:-0.36 [[ 8.26519266e-01 -5.62657251e-01 -1.68143136e-02 3.73401759e+02] [ 5.62553387e-01 8.26690120e-01 -1.08227973e-02 2.83301800e+01] [ 1.99897523e-02 -5.13698588e-04 9.99800053e-01 -3.59767989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.884012739 meters Centerline goodness [0,1] 0.9949398712737128 Centerline is valid? [True, True] Translation: X:373.42, Y:28.35, Z:-0.36 [[ 8.28278333e-01 -5.60093272e-01 -1.58281017e-02 3.73423742e+02] [ 5.60000699e-01 8.28429447e-01 -1.01916352e-02 2.83484713e+01] [ 1.88207319e-02 -4.22237402e-04 9.99822785e-01 -3.56686235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.914012739 meters Centerline goodness [0,1] 0.9956279050024407 Centerline is valid? [True, True] Translation: X:373.44, Y:28.37, Z:-0.36 [[ 8.31837371e-01 -5.54784070e-01 -1.61624501e-02 3.73444154e+02] [ 5.54686459e-01 8.31994317e-01 -1.04110065e-02 2.83682468e+01] [ 1.92229272e-02 -3.04827938e-04 9.99815176e-01 -3.56329990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.944012739 meters Centerline goodness [0,1] 0.9955791522125391 Centerline is valid? [True, True] Translation: X:373.47, Y:28.39, Z:-0.36 [[ 8.33356382e-01 -5.52472925e-01 -1.70530783e-02 3.73466635e+02] [ 5.52363691e-01 8.33530803e-01 -1.09888147e-02 2.83856953e+01] [ 2.02852886e-02 -2.61902397e-04 9.99794198e-01 -3.57804061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.974012739 meters Centerline goodness [0,1] 0.9959103689188038 Centerline is valid? [True, True] Translation: X:373.49, Y:28.40, Z:-0.36 [[ 8.34812916e-01 -5.50247083e-01 -1.77635115e-02 3.73489663e+02] [ 5.50127966e-01 8.35001857e-01 -1.14507010e-02 2.84031448e+01] [ 2.11332799e-02 -2.13011404e-04 9.99776645e-01 -3.59941662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.004012739 meters Centerline goodness [0,1] 0.9955726536138753 Centerline is valid? [True, True] Translation: X:373.51, Y:28.42, Z:-0.36 [[ 8.35101973e-01 -5.49824616e-01 -1.72507220e-02 3.73512958e+02] [ 5.49712110e-01 8.35280106e-01 -1.11239023e-02 2.84188976e+01] [ 2.05253802e-02 -1.93338058e-04 9.99789314e-01 -3.58325876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.034012739 meters Centerline goodness [0,1] 0.995678348742206 Centerline is valid? [True, True] Translation: X:373.53, Y:28.44, Z:-0.36 [[ 8.36574565e-01 -5.47604386e-01 -1.65055490e-02 3.73533898e+02] [ 5.47500876e-01 8.36737366e-01 -1.06475535e-02 2.84369135e+01] [ 1.96414566e-02 -1.29330057e-04 9.99807080e-01 -3.56016635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.064012739 meters Centerline goodness [0,1] 0.9956135635495732 Centerline is valid? [True, True] Translation: X:373.56, Y:28.46, Z:-0.36 [[ 8.37672582e-01 -5.45904838e-01 -1.71042014e-02 3.73555870e+02] [ 5.45793298e-01 8.37847182e-01 -1.10352117e-02 2.84559151e+01] [ 2.03548824e-02 -9.14642161e-05 9.99792814e-01 -3.57110694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.094012739 meters Centerline goodness [0,1] 0.995965503991803 Centerline is valid? [True, True] Translation: X:373.58, Y:28.47, Z:-0.36 [[ 8.39028704e-01 -5.43793658e-01 -1.78687354e-02 3.73576483e+02] [ 5.43671358e-01 8.39218956e-01 -1.15325115e-02 2.84746992e+01] [ 2.12670880e-02 -3.86114793e-05 9.99773829e-01 -3.57614017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.124012739 meters Centerline goodness [0,1] 0.9951778436853222 Centerline is valid? [True, True] Translation: X:373.59, Y:28.50, Z:-0.36 [[ 8.41821376e-01 -5.39472385e-01 -1.75018983e-02 3.73594767e+02] [ 5.39354076e-01 8.42003290e-01 -1.12977896e-02 2.84983975e+01] [ 2.08315014e-02 7.10006457e-05 9.99782998e-01 -3.56290377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.154012739 meters Centerline goodness [0,1] 0.9952710153532954 Centerline is valid? [True, True] Translation: X:373.62, Y:28.52, Z:-0.36 [[ 8.43193080e-01 -5.37311421e-01 -1.79406168e-02 3.73616281e+02] [ 5.37186517e-01 8.43383910e-01 -1.15856285e-02 2.85182757e+01] [ 2.13559181e-02 1.31464376e-04 9.99771928e-01 -3.57167942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.184012739 meters Centerline goodness [0,1] 0.9944018290207475 Centerline is valid? [True, True] Translation: X:373.63, Y:28.54, Z:-0.36 [[ 8.45743855e-01 -5.33260812e-01 -1.87146398e-02 3.73634694e+02] [ 5.33123811e-01 8.45950853e-01 -1.20895381e-02 2.85411441e+01] [ 2.22785424e-02 2.47432453e-04 9.99751772e-01 -3.59353790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.214012739 meters Centerline goodness [0,1] 0.9937480063795854 Centerline is valid? [True, True] Translation: X:373.66, Y:28.56, Z:-0.36 [[ 8.46812874e-01 -5.31548353e-01 -1.90867673e-02 3.73656784e+02] [ 5.31405371e-01 8.47027897e-01 -1.23317862e-02 2.85595656e+01] [ 2.27219650e-02 2.99904647e-04 9.99741778e-01 -3.59271951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.244012739 meters Centerline goodness [0,1] 0.9928071292170592 Centerline is valid? [True, True] Translation: X:373.68, Y:28.58, Z:-0.36 [[ 8.48071020e-01 -5.29567071e-01 -1.82828691e-02 3.73676144e+02] [ 5.29435340e-01 8.48268001e-01 -1.18160628e-02 2.85803170e+01] [ 2.17661706e-02 3.41263370e-04 9.99763031e-01 -3.56556074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.274012739 meters Centerline goodness [0,1] 0.9923783091374894 Centerline is valid? [True, True] Translation: X:373.70, Y:28.60, Z:-0.36 [[ 8.48262742e-01 -5.29268911e-01 -1.80205864e-02 3.73697240e+02] [ 5.29140835e-01 8.48454066e-01 -1.16479833e-02 2.85986005e+01] [ 2.14545552e-02 3.45122074e-04 9.99769765e-01 -3.55248271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30401273900003 meters Centerline goodness [0,1] 0.9938611211419589 Centerline is valid? [True, True] Translation: X:373.72, Y:28.61, Z:-0.36 [[ 8.48315759e-01 -5.29164167e-01 -1.85918543e-02 3.73721434e+02] [ 5.29027766e-01 8.48519389e-01 -1.20195458e-02 2.86140385e+01] [ 2.21358618e-02 3.60763038e-04 9.99754907e-01 -3.55332726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.334012739 meters Centerline goodness [0,1] 0.9931134779075238 Centerline is valid? [True, True] Translation: X:373.74, Y:28.63, Z:-0.36 [[ 8.48130258e-01 -5.29439900e-01 -1.91952826e-02 3.73740323e+02] [ 5.29294468e-01 8.48347368e-01 -1.24140709e-02 2.86344978e+01] [ 2.28567719e-02 3.68792272e-04 9.99738682e-01 -3.57540501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.364012739 meters Centerline goodness [0,1] 0.9930146903179374 Centerline is valid? [True, True] Translation: X:373.76, Y:28.65, Z:-0.36 [[ 8.47740818e-01 -5.30058734e-01 -1.93195409e-02 3.73762891e+02] [ 5.29911500e-01 8.47960855e-01 -1.24976568e-02 2.86501202e+01] [ 2.30067065e-02 3.57126909e-04 9.99735247e-01 -3.56956678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.394012739 meters Centerline goodness [0,1] 0.9930146903179374 Centerline is valid? [True, True] Translation: X:373.79, Y:28.67, Z:-0.36 [[ 8.47650051e-01 -5.30203905e-01 -1.93186819e-02 3.73785851e+02] [ 5.30056678e-01 8.47870092e-01 -1.24989844e-02 2.86652297e+01] [ 2.30067430e-02 3.54768432e-04 9.99735247e-01 -3.56406642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.424012739 meters Centerline goodness [0,1] 0.994496352233457 Centerline is valid? [True, True] Translation: X:373.81, Y:28.68, Z:-0.35 [[ 8.45844848e-01 -5.33094240e-01 -1.88950860e-02 3.73812799e+02] [ 5.32954018e-01 8.46055824e-01 -1.22294033e-02 2.86760775e+01] [ 2.25057220e-02 2.73965746e-04 9.99746677e-01 -3.53341278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.454012739 meters Centerline goodness [0,1] 0.9950985638149868 Centerline is valid? [True, True] Translation: X:373.84, Y:28.69, Z:-0.35 [[ 8.43977362e-01 -5.36046389e-01 -1.88806804e-02 3.73839181e+02] [ 5.35907019e-01 8.44188503e-01 -1.22244811e-02 2.86884137e+01] [ 2.24917423e-02 1.98896173e-04 9.99747009e-01 -3.52878181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.484012739 meters Centerline goodness [0,1] 0.9954491323579449 Centerline is valid? [True, True] Translation: X:373.87, Y:28.69, Z:-0.35 [[ 8.39376359e-01 -5.43249877e-01 -1.80803418e-02 3.73869861e+02] [ 5.43123647e-01 8.39571064e-01 -1.17103751e-02 2.86929177e+01] [ 2.15413917e-02 9.55082731e-06 9.99767957e-01 -3.51216424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.514012739 meters Centerline goodness [0,1] 0.9951710261569416 Centerline is valid? [True, True] Translation: X:373.90, Y:28.70, Z:-0.35 [[ 8.37281608e-01 -5.46505793e-01 -1.70565885e-02 3.73896827e+02] [ 5.46394052e-01 8.37455320e-01 -1.10510764e-02 2.87028487e+01] [ 2.03236081e-02 -6.67554386e-05 9.99793452e-01 -3.48968208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.544012739 meters Centerline goodness [0,1] 0.9946033921535035 Centerline is valid? [True, True] Translation: X:373.92, Y:28.71, Z:-0.35 [[ 8.35625747e-01 -5.49063164e-01 -1.61013618e-02 3.73923835e+02] [ 5.48963991e-01 8.35780849e-01 -1.04359055e-02 2.87145190e+01] [ 1.91871812e-02 -1.18556560e-04 9.99815902e-01 -3.46210400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.574012739 meters Centerline goodness [0,1] 0.9947313410550116 Centerline is valid? [True, True] Translation: X:373.95, Y:28.73, Z:-0.35 [[ 8.34052878e-01 -5.51410854e-01 -1.73743245e-02 3.73950309e+02] [ 5.51295806e-01 8.34233802e-01 -1.12648604e-02 2.87257571e+01] [ 2.07058150e-02 -1.82903020e-04 9.99785595e-01 -3.48047031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.604012739 meters Centerline goodness [0,1] 0.9952920625452686 Centerline is valid? [True, True] Translation: X:373.98, Y:28.74, Z:-0.35 [[ 8.33798550e-01 -5.51729890e-01 -1.93418331e-02 3.73976867e+02] [ 5.51587344e-01 8.34022832e-01 -1.25426381e-02 2.87376279e+01] [ 2.30516788e-02 -2.10676912e-04 9.99734253e-01 -3.50702330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.634012739 meters Centerline goodness [0,1] 0.9956364893180395 Centerline is valid? [True, True] Translation: X:374.00, Y:28.75, Z:-0.35 [[ 8.34273459e-01 -5.51020646e-01 -1.90799405e-02 3.74000951e+02] [ 5.50881658e-01 8.34491590e-01 -1.23768176e-02 2.87519940e+01] [ 2.27419319e-02 -1.85138833e-04 9.99741352e-01 -3.49968836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.664012739 meters Centerline goodness [0,1] 0.994985338489652 Centerline is valid? [True, True] Translation: X:374.02, Y:28.77, Z:-0.35 [[ 8.35205915e-01 -5.49631706e-01 -1.83321183e-02 3.74023520e+02] [ 5.49503029e-01 8.35407067e-01 -1.18933934e-02 2.87697874e+01] [ 2.18517673e-02 -1.40121955e-04 9.99761212e-01 -3.47322418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.694012739 meters Centerline goodness [0,1] 0.9951005453306067 Centerline is valid? [True, True] Translation: X:374.04, Y:28.79, Z:-0.34 [[ 8.37989018e-01 -5.45422813e-01 -1.69812107e-02 3.74043655e+02] [ 5.45311464e-01 8.38161055e-01 -1.10205413e-02 2.87900112e+01] [ 2.02438441e-02 -2.49563399e-05 9.99795072e-01 -3.44016365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.724012739 meters Centerline goodness [0,1] 0.9946432397685879 Centerline is valid? [True, True] Translation: X:374.06, Y:28.81, Z:-0.34 [[ 8.40905272e-01 -5.40942521e-01 -1.61093786e-02 3.74063760e+02] [ 5.40841465e-01 8.41059559e-01 -1.04559592e-02 2.88097285e+01] [ 1.92050198e-02 7.98513087e-05 9.99815563e-01 -3.40957093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.754012739 meters Centerline goodness [0,1] 0.9946143857632458 Centerline is valid? [True, True] Translation: X:374.09, Y:28.83, Z:-0.34 [[ 8.42064426e-01 -5.39106396e-01 -1.70820163e-02 3.74086959e+02] [ 5.38992348e-01 8.42237660e-01 -1.10892935e-02 2.88265746e+01] [ 2.03654265e-02 1.30823458e-04 9.99792595e-01 -3.41973913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.784012739 meters Centerline goodness [0,1] 0.994688 Centerline is valid? [True, True] Translation: X:374.11, Y:28.85, Z:-0.34 [[ 8.43248231e-01 -5.37220727e-01 -1.80640923e-02 3.74109199e+02] [ 5.37092656e-01 8.43441672e-01 -1.17313317e-02 2.88458975e+01] [ 2.15383227e-02 1.90333428e-04 9.99768005e-01 -3.43447109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.814012739 meters Centerline goodness [0,1] 0.9935900202874779 Centerline is valid? [True, True] Translation: X:374.13, Y:28.87, Z:-0.35 [[ 8.46768439e-01 -5.31634178e-01 -1.86631263e-02 3.74126356e+02] [ 5.31496015e-01 8.46974014e-01 -1.21245916e-02 2.88710385e+01] [ 2.22530303e-02 3.47344228e-04 9.99752310e-01 -3.45149678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.844012739 meters Centerline goodness [0,1] 0.9926738357396855 Centerline is valid? [True, True] Translation: X:374.15, Y:28.89, Z:-0.34 [[ 8.48259485e-01 -5.29245688e-01 -1.88373964e-02 3.74146408e+02] [ 5.29104308e-01 8.48468520e-01 -1.22393711e-02 2.88904554e+01] [ 2.24605722e-02 4.15215080e-04 9.99747643e-01 -3.44657300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.874012739 meters Centerline goodness [0,1] 0.9908629008155074 Centerline is valid? [True, True] Translation: X:374.16, Y:28.92, Z:-0.34 [[ 8.50726374e-01 -5.25281342e-01 -1.85512114e-02 3.74162776e+02] [ 5.25143240e-01 8.50928462e-01 -1.20552668e-02 2.89169107e+01] [ 2.21181605e-02 5.13690195e-04 9.99755232e-01 -3.42472962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.904012739 meters Centerline goodness [0,1] 0.9909389732278016 Centerline is valid? [True, True] Translation: X:374.19, Y:28.93, Z:-0.34 [[ 8.51753871e-01 -5.23630201e-01 -1.80763830e-02 3.74185116e+02] [ 5.23498665e-01 8.51945489e-01 -1.17486645e-02 2.89346601e+01] [ 2.15520485e-02 5.44008047e-04 9.99767580e-01 -3.41033180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.934012739 meters Centerline goodness [0,1] 0.9902229258482735 Centerline is valid? [True, True] Translation: X:374.20, Y:28.96, Z:-0.34 [[ 8.53201704e-01 -5.21224518e-01 -1.92835162e-02 3.74202762e+02] [ 5.21074171e-01 8.53419348e-01 -1.25349403e-02 2.89590109e+01] [ 2.29904441e-02 6.46690146e-04 9.99735476e-01 -3.43578598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.964012739 meters Centerline goodness [0,1] 0.9902321207198734 Centerline is valid? [True, True] Translation: X:374.22, Y:28.98, Z:-0.35 [[ 8.53135011e-01 -5.21308136e-01 -1.99620044e-02 3.74222991e+02] [ 5.21147001e-01 8.53368256e-01 -1.29777597e-02 2.89777885e+01] [ 2.38003526e-02 6.68642420e-04 9.99716508e-01 -3.45344397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.994012739 meters Centerline goodness [0,1] 0.9906771344455348 Centerline is valid? [True, True] Translation: X:374.25, Y:28.99, Z:-0.34 [[ 8.51620476e-01 -5.23794840e-01 -1.95328198e-02 3.74247812e+02] [ 5.23641158e-01 8.51844246e-01 -1.27011064e-02 2.89927889e+01] [ 2.32916941e-02 5.88333871e-04 9.99728539e-01 -3.43848872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.024012739 meters Centerline goodness [0,1] 0.9905360098459449 Centerline is valid? [True, True] Translation: X:374.27, Y:29.01, Z:-0.34 [[ 8.50429937e-01 -5.25751811e-01 -1.88137108e-02 3.74270976e+02] [ 5.25609644e-01 8.50637858e-01 -1.22367176e-02 2.90090954e+01] [ 2.24371311e-02 5.17803130e-04 9.99748122e-01 -3.41753525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05401273900003 meters Centerline goodness [0,1] 0.9917198140741541 Centerline is valid? [True, True] Translation: X:374.30, Y:29.02, Z:-0.34 [[ 8.48670840e-01 -5.28598909e-01 -1.84661499e-02 3.74295484e+02] [ 5.28462535e-01 8.48871605e-01 -1.20144635e-02 2.90245237e+01] [ 2.20262226e-02 4.37656454e-04 9.99757298e-01 -3.39482632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.084012739 meters Centerline goodness [0,1] 0.9924687808436682 Centerline is valid? [True, True] Translation: X:374.32, Y:29.04, Z:-0.34 [[ 8.48172139e-01 -5.29370326e-01 -1.92634563e-02 3.74316723e+02] [ 5.29222038e-01 8.48390750e-01 -1.25366998e-02 2.90421556e+01] [ 2.29794950e-02 4.38633848e-04 9.99735840e-01 -3.40753380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.114012739 meters Centerline goodness [0,1] 0.9929416294141552 Centerline is valid? [True, True] Translation: X:374.34, Y:29.06, Z:-0.34 [[ 8.47797236e-01 -5.29944318e-01 -1.99716340e-02 3.74337531e+02] [ 5.29785043e-01 8.48032326e-01 -1.29993055e-02 2.90617619e+01] [ 2.38254993e-02 4.40102295e-04 9.99716036e-01 -3.42964747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.144012739 meters Centerline goodness [0,1] 0.993825577917361 Centerline is valid? [True, True] Translation: X:374.36, Y:29.08, Z:-0.34 [[ 8.46789774e-01 -5.31549448e-01 -2.00565082e-02 3.74362130e+02] [ 5.31389214e-01 8.47027169e-01 -1.30567166e-02 2.90766775e+01] [ 2.39286979e-02 3.98481947e-04 9.99713588e-01 -3.42076034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.174012739 meters Centerline goodness [0,1] 0.9935672887077256 Centerline is valid? [True, True] Translation: X:374.38, Y:29.09, Z:-0.34 [[ 8.46246385e-01 -5.32420693e-01 -1.98811813e-02 3.74384738e+02] [ 5.32263380e-01 8.46479808e-01 -1.29471752e-02 2.90938390e+01] [ 2.37223625e-02 3.74475422e-04 9.99718515e-01 -3.41491249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.204012739 meters Centerline goodness [0,1] 0.9931155392114941 Centerline is valid? [True, True] Translation: X:374.41, Y:29.11, Z:-0.34 [[ 8.45214096e-01 -5.34080526e-01 -1.92645817e-02 3.74411238e+02] [ 5.33933151e-01 8.45433551e-01 -1.25499467e-02 2.91066201e+01] [ 2.29896058e-02 3.21393056e-04 9.99735652e-01 -3.38661830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.234012739 meters Centerline goodness [0,1] 0.9932553191489362 Centerline is valid? [True, True] Translation: X:374.43, Y:29.12, Z:-0.34 [[ 8.45064612e-01 -5.34326282e-01 -1.90059442e-02 3.74433325e+02] [ 5.34182814e-01 8.45278253e-01 -1.23853030e-02 2.91227020e+01] [ 2.26831042e-02 3.13732501e-04 9.99742656e-01 -3.37257034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.264012739 meters Centerline goodness [0,1] 0.9933588595409609 Centerline is valid? [True, True] Translation: X:374.46, Y:29.14, Z:-0.33 [[ 8.45021854e-01 -5.34418329e-01 -1.83061359e-02 3.74455617e+02] [ 5.34285204e-01 8.45220065e-01 -1.19315654e-02 2.91392486e+01] [ 2.18491606e-02 3.01735996e-04 9.99761233e-01 -3.34962004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.294012739 meters Centerline goodness [0,1] 0.993705743509048 Centerline is valid? [True, True] Translation: X:374.48, Y:29.16, Z:-0.33 [[ 8.44952872e-01 -5.34526726e-01 -1.83254659e-02 3.74476863e+02] [ 5.34393240e-01 8.45151517e-01 -1.19489774e-02 2.91556258e+01] [ 2.18748431e-02 3.03317659e-04 9.99760671e-01 -3.34775594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.324012739 meters Centerline goodness [0,1] 0.9934026517496851 Centerline is valid? [True, True] Translation: X:374.50, Y:29.17, Z:-0.34 [[ 8.44644435e-01 -5.35013743e-01 -1.83323262e-02 3.74500424e+02] [ 5.34880224e-01 8.44843305e-01 -1.19555944e-02 2.91710317e+01] [ 2.18843503e-02 2.92627491e-04 9.99760466e-01 -3.35394438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.354012739 meters Centerline goodness [0,1] 0.99409927856143 Centerline is valid? [True, True] Translation: X:374.53, Y:29.18, Z:-0.33 [[ 8.43658803e-01 -5.36567333e-01 -1.83117647e-02 3.74526664e+02] [ 5.36434441e-01 8.43857472e-01 -1.19439437e-02 2.91839045e+01] [ 2.18612495e-02 2.53551948e-04 9.99760982e-01 -3.34489051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.384012739 meters Centerline goodness [0,1] 0.9945248421866277 Centerline is valid? [True, True] Translation: X:374.55, Y:29.20, Z:-0.33 [[ 8.42837210e-01 -5.37861128e-01 -1.81890987e-02 3.74550597e+02] [ 5.37730223e-01 8.43033426e-01 -1.18680351e-02 2.91978450e+01] [ 2.17173729e-02 2.21993525e-04 9.99764125e-01 -3.33303765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.414012739 meters Centerline goodness [0,1] 0.9944014701482969 Centerline is valid? [True, True] Translation: X:374.58, Y:29.21, Z:-0.33 [[ 8.40282335e-01 -5.41871485e-01 -1.73462308e-02 3.74578930e+02] [ 5.41753252e-01 8.40461350e-01 -1.13195762e-02 2.92062720e+01] [ 2.07125921e-02 1.14262928e-04 9.99785465e-01 -3.31011409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.444012739 meters Centerline goodness [0,1] 0.9944384565639146 Centerline is valid? [True, True] Translation: X:374.61, Y:29.22, Z:-0.33 [[ 8.38741466e-01 -5.44271661e-01 -1.67663707e-02 3.74606557e+02] [ 5.44161605e-01 8.38909027e-01 -1.09449778e-02 2.92166271e+01] [ 2.00225010e-02 5.63915792e-05 9.99799528e-01 -3.29214737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.474012739 meters Centerline goodness [0,1] 0.995279358510088 Centerline is valid? [True, True] Translation: X:374.63, Y:29.22, Z:-0.33 [[ 8.36427798e-01 -5.47830429e-01 -1.64426120e-02 3.74632993e+02] [ 5.47725190e-01 8.36589398e-01 -1.07376038e-02 2.92246989e+01] [ 1.96381009e-02 -2.48024554e-05 9.99807154e-01 -3.28199643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.504012739 meters Centerline goodness [0,1] 0.9951897381079636 Centerline is valid? [True, True] Translation: X:374.66, Y:29.24, Z:-0.33 [[ 8.35751699e-01 -5.48844716e-01 -1.69875300e-02 3.74657465e+02] [ 5.48732551e-01 8.35924324e-01 -1.10955810e-02 2.92372607e+01] [ 2.02900405e-02 -4.84599618e-05 9.99794135e-01 -3.29062000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.534012739 meters Centerline goodness [0,1] 0.99525965605935 Centerline is valid? [True, True] Translation: X:374.68, Y:29.25, Z:-0.33 [[ 8.35369454e-01 -5.49344597e-01 -1.94521997e-02 3.74683113e+02] [ 5.49197594e-01 8.35595901e-01 -1.27080307e-02 2.92491298e+01] [ 2.32352663e-02 -6.72005749e-05 9.99730022e-01 -3.34482017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.564012739 meters Centerline goodness [0,1] 0.9957152553877482 Centerline is valid? [True, True] Translation: X:374.71, Y:29.26, Z:-0.34 [[ 8.35545109e-01 -5.49036166e-01 -2.05830030e-02 3.74706727e+02] [ 5.48871401e-01 8.35798591e-01 -1.34498994e-02 2.92643913e+01] [ 2.45877261e-02 -5.94239906e-05 9.99697674e-01 -3.35122792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.594012739 meters Centerline goodness [0,1] 0.9958119046069049 Centerline is valid? [True, True] Translation: X:374.73, Y:29.28, Z:-0.34 [[ 8.35721307e-01 -5.48720840e-01 -2.18022105e-02 3.74731499e+02] [ 5.48535712e-01 8.36005644e-01 -1.42525397e-02 2.92792229e+01] [ 2.60474366e-02 -4.81399434e-05 9.99660707e-01 -3.36283384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.624012739 meters Centerline goodness [0,1] 0.9961459020931371 Centerline is valid? [True, True] Translation: X:374.75, Y:29.29, Z:-0.34 [[ 8.35791496e-01 -5.48627987e-01 -2.14454533e-02 3.74754666e+02] [ 5.48448722e-01 8.36066582e-01 -1.40238623e-02 2.92938992e+01] [ 2.56237102e-02 -4.07066168e-05 9.99671658e-01 -3.36501397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.654012739 meters Centerline goodness [0,1] 0.9955945252352438 Centerline is valid? [True, True] Translation: X:374.78, Y:29.31, Z:-0.33 [[ 8.35679130e-01 -5.48842813e-01 -2.02967818e-02 3.74778511e+02] [ 5.48682226e-01 8.35925574e-01 -1.32759014e-02 2.93088169e+01] [ 2.42529820e-02 -4.20896571e-05 9.99705852e-01 -3.32365610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.684012739 meters Centerline goodness [0,1] 0.9953425189210169 Centerline is valid? [True, True] Translation: X:374.80, Y:29.32, Z:-0.33 [[ 8.35712069e-01 -5.48881555e-01 -1.77306297e-02 3.74803551e+02] [ 5.48758936e-01 8.35900136e-01 -1.16014520e-02 2.93224916e+01] [ 2.11888588e-02 -3.43679570e-05 9.99775490e-01 -3.26155874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.714012739 meters Centerline goodness [0,1] 0.9953183120270213 Centerline is valid? [True, True] Translation: X:374.83, Y:29.34, Z:-0.32 [[ 8.35389871e-01 -5.49375270e-01 -1.76231613e-02 3.74828344e+02] [ 5.49254157e-01 8.35575736e-01 -1.15351779e-02 2.93359298e+01] [ 2.10626274e-02 -4.32238443e-05 9.99778157e-01 -3.24968670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.744012739 meters Centerline goodness [0,1] 0.9956479071553527 Centerline is valid? [True, True] Translation: X:374.85, Y:29.35, Z:-0.33 [[ 8.35314839e-01 -5.49477483e-01 -1.79893407e-02 3.74851879e+02] [ 5.49351203e-01 8.35508524e-01 -1.17796924e-02 2.93517846e+01] [ 2.15029232e-02 -4.27141159e-05 9.99768785e-01 -3.25278473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.774012739 meters Centerline goodness [0,1] 0.9954351535836178 Centerline is valid? [True, True] Translation: X:374.87, Y:29.37, Z:-0.33 [[ 8.35527734e-01 -5.49137294e-01 -1.84834621e-02 3.74874275e+02] [ 5.49003786e-01 8.35732153e-01 -1.21083071e-02 2.93680342e+01] [ 2.20963466e-02 -3.06643151e-05 9.99755845e-01 -3.25927541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80401273900003 meters Centerline goodness [0,1] 0.9959472709445474 Centerline is valid? [True, True] Translation: X:374.90, Y:29.38, Z:-0.33 [[ 8.36392561e-01 -5.47777468e-01 -1.96807088e-02 3.74896988e+02] [ 5.47625594e-01 8.36624077e-01 -1.28981964e-02 2.93845896e+01] [ 2.35306962e-02 1.02957231e-05 9.99723115e-01 -3.27959825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.834012739 meters Centerline goodness [0,1] 0.9957812200370741 Centerline is valid? [True, True] Translation: X:374.92, Y:29.40, Z:-0.33 [[ 8.37317250e-01 -5.46356517e-01 -1.98589912e-02 3.74918830e+02] [ 5.46201356e-01 8.37552717e-01 -1.30202142e-02 2.94012708e+01] [ 2.37466309e-02 5.50420550e-05 9.99718007e-01 -3.27062215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.864012739 meters Centerline goodness [0,1] 0.9957140703409361 Centerline is valid? [True, True] Translation: X:374.94, Y:29.42, Z:-0.32 [[ 8.37704299e-01 -5.45802913e-01 -1.87266656e-02 3.74941929e+02] [ 5.45664727e-01 8.37913584e-01 -1.22813057e-02 2.94176941e+01] [ 2.23944999e-02 6.96217296e-05 9.99749209e-01 -3.22978609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.894012739 meters Centerline goodness [0,1] 0.9950717987934404 Centerline is valid? [True, True] Translation: X:374.96, Y:29.43, Z:-0.32 [[ 8.38267358e-01 -5.44979119e-01 -1.74813182e-02 3.74963071e+02] [ 5.44858430e-01 8.38449612e-01 -1.14690572e-02 2.94341661e+01] [ 2.09076012e-02 8.92926411e-05 9.99781408e-01 -3.20122186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.924012739 meters Centerline goodness [0,1] 0.9951227860015401 Centerline is valid? [True, True] Translation: X:374.99, Y:29.45, Z:-0.32 [[ 8.38950566e-01 -5.43905161e-01 -1.81417708e-02 3.74987263e+02] [ 5.43774875e-01 8.39146686e-01 -1.19048074e-02 2.94502605e+01] [ 2.16986930e-02 1.22505748e-04 9.99764548e-01 -3.21651513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.954012739 meters Centerline goodness [0,1] 0.9953490356716164 Centerline is valid? [True, True] Translation: X:375.01, Y:29.47, Z:-0.32 [[ 8.39185779e-01 -5.43498044e-01 -1.94191480e-02 3.75011189e+02] [ 5.43348543e-01 8.39410421e-01 -1.27478124e-02 2.94669581e+01] [ 2.32290463e-02 1.46417115e-04 9.99730159e-01 -3.24244390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.984012739 meters Centerline goodness [0,1] 0.9957914274614754 Centerline is valid? [True, True] Translation: X:375.03, Y:29.49, Z:-0.33 [[ 8.40600394e-01 -5.41271934e-01 -2.03880349e-02 3.75030987e+02] [ 5.41106375e-01 8.40847575e-01 -1.33883143e-02 2.94883069e+01] [ 2.43899484e-02 2.22126634e-04 9.99702496e-01 -3.25867008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.014012739 meters Centerline goodness [0,1] 0.995212675817658 Centerline is valid? [True, True] Translation: X:375.05, Y:29.51, Z:-0.32 [[ 8.41481865e-01 -5.39922899e-01 -1.97872020e-02 3.75052070e+02] [ 5.39766544e-01 8.41714440e-01 -1.29953758e-02 2.95062981e+01] [ 2.36716746e-02 2.54903461e-04 9.99719754e-01 -3.22898700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.044012739 meters Centerline goodness [0,1] 0.9942277492466364 Centerline is valid? [True, True] Translation: X:375.07, Y:29.53, Z:-0.32 [[ 8.43396551e-01 -5.36962670e-01 -1.87975679e-02 3.75072489e+02] [ 5.36820797e-01 8.43605943e-01 -1.23468904e-02 2.95268796e+01] [ 2.24875592e-02 3.22399407e-04 9.99747071e-01 -3.19143442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.074012739 meters Centerline goodness [0,1] 0.993556892848789 Centerline is valid? [True, True] Translation: X:375.09, Y:29.55, Z:-0.32 [[ 8.44486287e-01 -5.35252142e-01 -1.86562498e-02 3.75092920e+02] [ 5.35111942e-01 8.44692258e-01 -1.22555724e-02 2.95466261e+01] [ 2.23186112e-02 3.66480813e-04 9.99750842e-01 -3.18710364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.104012739 meters Centerline goodness [0,1] 0.9931876061120544 Centerline is valid? [True, True] Translation: X:375.11, Y:29.57, Z:-0.32 [[ 8.45454512e-01 -5.33736055e-01 -1.82343474e-02 3.75113797e+02] [ 5.33601741e-01 8.45651030e-01 -1.19798562e-02 2.95663636e+01] [ 2.18139758e-02 3.98543978e-04 9.99761967e-01 -3.18022767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.134012739 meters Centerline goodness [0,1] 0.9914783567219231 Centerline is valid? [True, True] Translation: X:375.13, Y:29.59, Z:-0.32 [[ 8.47464878e-01 -5.30570054e-01 -1.72828874e-02 3.75132222e+02] [ 5.30448706e-01 8.47640968e-01 -1.13560881e-02 2.95880708e+01] [ 2.06748837e-02 4.56200563e-04 9.99786148e-01 -3.15656485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.164012739 meters Centerline goodness [0,1] 0.9899126609850487 Centerline is valid? [True, True] Translation: X:375.15, Y:29.61, Z:-0.31 [[ 8.48616419e-01 -5.28730435e-01 -1.71552081e-02 3.75152914e+02] [ 5.28610449e-01 8.48789655e-01 -1.12745351e-02 2.96094123e+01] [ 2.05223530e-02 4.99333293e-04 9.99789270e-01 -3.14127765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.194012739 meters Centerline goodness [0,1] 0.9911038450922525 Centerline is valid? [True, True] Translation: X:375.18, Y:29.62, Z:-0.31 [[ 8.49200823e-01 -5.27782533e-01 -1.74229766e-02 3.75176838e+02] [ 5.27658494e-01 8.49379369e-01 -1.14542788e-02 2.96245623e+01] [ 2.08440852e-02 5.33601341e-04 9.99782596e-01 -3.13640953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.224012739 meters Centerline goodness [0,1] 0.9899908815234217 Centerline is valid? [True, True] Translation: X:375.20, Y:29.65, Z:-0.31 [[ 8.49663905e-01 -5.27019810e-01 -1.79267424e-02 3.75195316e+02] [ 5.26888291e-01 8.49852808e-01 -1.17869981e-02 2.96472646e+01] [ 2.14470739e-02 5.69596213e-04 9.99769823e-01 -3.14620866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.254012739 meters Centerline goodness [0,1] 0.9906928204800545 Centerline is valid? [True, True] Translation: X:375.22, Y:29.66, Z:-0.31 [[ 8.49736362e-01 -5.26889666e-01 -1.83137747e-02 3.75221469e+02] [ 5.26752337e-01 8.49933489e-01 -1.20432564e-02 2.96602208e+01] [ 2.19109578e-02 5.86769233e-04 9.99759754e-01 -3.14341978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.284012739 meters Centerline goodness [0,1] 0.9911249648245557 Centerline is valid? [True, True] Translation: X:375.25, Y:29.67, Z:-0.31 [[ 8.49087165e-01 -5.27941082e-01 -1.81438445e-02 3.75246304e+02] [ 5.27806440e-01 8.49280815e-01 -1.19356540e-02 2.96744297e+01] [ 2.17105411e-02 5.57972651e-04 9.99764143e-01 -3.13906535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.314012739 meters Centerline goodness [0,1] 0.9926130718389563 Centerline is valid? [True, True] Translation: X:375.27, Y:29.69, Z:-0.31 [[ 8.46404223e-01 -5.32232509e-01 -1.81231184e-02 3.75273059e+02] [ 5.32099067e-01 8.46598106e-01 -1.19260248e-02 2.96855466e+01] [ 2.16904158e-02 4.50943327e-04 9.99764634e-01 -3.13841785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.344012739 meters Centerline goodness [0,1] 0.9926130718389563 Centerline is valid? [True, True] Translation: X:375.30, Y:29.70, Z:-0.31 [[ 8.46306603e-01 -5.32387757e-01 -1.81220959e-02 3.75295906e+02] [ 5.32254317e-01 8.46500487e-01 -1.19275782e-02 2.97008210e+01] [ 2.16904597e-02 4.48824406e-04 9.99764634e-01 -3.13291771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.374012739 meters Centerline goodness [0,1] 0.992970946579194 Centerline is valid? [True, True] Translation: X:375.32, Y:29.71, Z:-0.31 [[ 8.44660072e-01 -5.34998917e-01 -1.80422011e-02 3.75322488e+02] [ 5.34867146e-01 8.44852656e-01 -1.18796359e-02 2.97133915e+01] [ 2.15985939e-02 3.84073535e-04 9.99766649e-01 -3.12654236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.404012739 meters Centerline goodness [0,1] 0.9936761418077291 Centerline is valid? [True, True] Translation: X:375.35, Y:29.72, Z:-0.31 [[ 8.41904093e-01 -5.39327176e-01 -1.79915397e-02 3.75350608e+02] [ 5.39197053e-01 8.42096266e-01 -1.18497368e-02 2.97211050e+01] [ 2.15414935e-02 2.75356745e-04 9.99767917e-01 -3.11338344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.434012739 meters Centerline goodness [0,1] 0.993956984123546 Centerline is valid? [True, True] Translation: X:375.38, Y:29.73, Z:-0.31 [[ 8.40887992e-01 -5.40889268e-01 -1.86060539e-02 3.75376313e+02] [ 5.40750444e-01 8.41093776e-01 -1.22563210e-02 2.97341801e+01] [ 2.22787486e-02 2.44961247e-04 9.99751768e-01 -3.11994939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.464012739 meters Centerline goodness [0,1] 0.9946078326065007 Centerline is valid? [True, True] Translation: X:375.40, Y:29.75, Z:-0.31 [[ 8.40593151e-01 -5.41321693e-01 -1.93385230e-02 3.75397542e+02] [ 5.41171735e-01 8.40815535e-01 -1.27431824e-02 2.97504088e+01] [ 2.31582917e-02 2.46369827e-04 9.99731780e-01 -3.13710429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.494012739 meters Centerline goodness [0,1] 0.9948396687194734 Centerline is valid? [True, True] Translation: X:375.42, Y:29.77, Z:-0.31 [[ 8.40905447e-01 -5.40844996e-01 -1.90976148e-02 3.75421159e+02] [ 5.40698573e-01 8.41122240e-01 -1.25868907e-02 2.97667806e+01] [ 2.28709854e-02 2.58331892e-04 9.99738391e-01 -3.12421618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.524012739 meters Centerline goodness [0,1] 0.9930825216966919 Centerline is valid? [True, True] Translation: X:375.44, Y:29.78, Z:-0.31 [[ 8.42410697e-01 -5.38529643e-01 -1.81670364e-02 3.75442754e+02] [ 5.38396524e-01 8.42606508e-01 -1.19772566e-02 2.97849142e+01] [ 2.17577708e-02 3.08699803e-04 9.99763224e-01 -3.09486180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55401273900003 meters Centerline goodness [0,1] 0.9930540713827741 Centerline is valid? [True, True] Translation: X:375.47, Y:29.80, Z:-0.31 [[ 8.43005876e-01 -5.37591259e-01 -1.83502566e-02 3.75466303e+02] [ 5.37455180e-01 8.43205506e-01 -1.20997733e-02 2.98020926e+01] [ 2.19777698e-02 3.37739518e-04 9.99758403e-01 -3.08874808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.584012739 meters Centerline goodness [0,1] 0.9934544054418276 Centerline is valid? [True, True] Translation: X:375.49, Y:29.82, Z:-0.31 [[ 8.44253588e-01 -5.35641208e-01 -1.80104200e-02 3.75487958e+02] [ 5.35509597e-01 8.44445586e-01 -1.18795292e-02 2.98199007e+01] [ 2.15719850e-02 3.84582368e-04 9.99767224e-01 -3.08161992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.614012739 meters Centerline goodness [0,1] 0.9923911421812059 Centerline is valid? [True, True] Translation: X:375.51, Y:29.84, Z:-0.31 [[ 8.44631196e-01 -5.35061398e-01 -1.75340786e-02 3.75512413e+02] [ 5.34936501e-01 8.44813085e-01 -1.15668369e-02 2.98355118e+01] [ 2.10019869e-02 3.90092654e-04 9.99779358e-01 -3.06663357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.644012739 meters Centerline goodness [0,1] 0.9918200845756269 Centerline is valid? [True, True] Translation: X:375.54, Y:29.85, Z:-0.30 [[ 8.45014490e-01 -5.34471984e-01 -1.70355345e-02 3.75536219e+02] [ 5.34353893e-01 8.45186099e-01 -1.12416789e-02 2.98513852e+01] [ 2.04065593e-02 3.96377365e-04 9.99791686e-01 -3.04261928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.674012739 meters Centerline goodness [0,1] 0.9908029259528597 Centerline is valid? [True, True] Translation: X:375.56, Y:29.87, Z:-0.30 [[ 8.46273562e-01 -5.32509207e-01 -1.59687744e-02 3.75556798e+02] [ 5.32405029e-01 8.46424107e-01 -1.05411638e-02 2.98702597e+01] [ 1.91296224e-02 4.18852415e-04 9.99816924e-01 -3.01641460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.704012739 meters Centerline goodness [0,1] 0.9894073248134488 Centerline is valid? [True, True] Translation: X:375.57, Y:29.90, Z:-0.30 [[ 8.49279712e-01 -5.27653659e-01 -1.74810541e-02 3.75574194e+02] [ 5.27527746e-01 8.49459405e-01 -1.15410912e-02 2.98968000e+01] [ 2.09391448e-02 5.79873503e-04 9.99780584e-01 -3.04185433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.734012739 meters Centerline goodness [0,1] 0.9875656258634982 Centerline is valid? [True, True] Translation: X:375.59, Y:29.92, Z:-0.31 [[ 8.51216954e-01 -5.24466528e-01 -1.90933766e-02 3.75592835e+02] [ 5.24315461e-01 8.51430761e-01 -1.26077885e-02 2.99191377e+01] [ 2.28690512e-02 7.21010750e-04 9.99738209e-01 -3.06587840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.764012739 meters Centerline goodness [0,1] 0.9829421572399641 Centerline is valid? [True, True] Translation: X:375.61, Y:29.94, Z:-0.31 [[ 8.53157034e-01 -5.21271901e-01 -1.99669848e-02 3.75613571e+02] [ 5.21105764e-01 8.53390233e-01 -1.31868433e-02 2.99408880e+01] [ 2.39135606e-02 8.45537233e-04 9.99713672e-01 -3.08139947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.794012739 meters Centerline goodness [0,1] 0.9598358378043307 Centerline is valid? [True, True] Translation: X:375.63, Y:29.97, Z:-0.31 [[ 8.55710110e-01 -5.17032333e-01 -2.09230425e-02 3.75630018e+02] [ 5.16848513e-01 8.55965266e-01 -1.38230557e-02 2.99681999e+01] [ 2.50563644e-02 1.01448509e-03 9.99685525e-01 -3.09749049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.824012739 meters Centerline goodness [0,1] 0.9340746454128637 Centerline is valid? [True, False] Translation: X:375.42, Y:29.79, Z:-0.31 [[ 8.60368348e-01 -5.07953048e-01 -4.18330927e-02 3.75417335e+02] [ 5.09058840e-01 8.60459871e-01 2.16311711e-02 2.97901356e+01] [ 2.50080783e-02 -3.99062806e-02 9.98890427e-01 -3.10876017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.854012739 meters Centerline goodness [0,1] 0.9791391715270978 Centerline is valid? [False, True] Translation: X:375.23, Y:29.64, Z:-0.31 [[ 8.63233397e-01 -5.01803657e-01 -5.49653732e-02 3.75228944e+02] [ 5.04267749e-01 8.62209939e-01 4.80422641e-02 2.96423930e+01] [ 2.32839073e-02 -6.91889518e-02 9.97331815e-01 -3.08239116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.884012739 meters Centerline goodness [0,1] 0.9880888736821847 Centerline is valid? [True, True] Translation: X:375.24, Y:29.69, Z:-0.30 [[ 8.61923259e-01 -5.06776469e-01 -1.63066354e-02 3.75235975e+02] [ 5.06671146e-01 8.62077243e-01 -1.03526093e-02 2.96860893e+01] [ 1.93040381e-02 6.61053108e-04 9.99813441e-01 -3.02923963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.914012739 meters Centerline goodness [0,1] 0.9893841971259656 Centerline is valid? [True, True] Translation: X:375.26, Y:29.70, Z:-0.30 [[ 8.59016142e-01 -5.11704407e-01 -1.58072378e-02 3.75262063e+02] [ 5.11606206e-01 8.59161401e-01 -1.00388038e-02 2.96978487e+01] [ 1.87178687e-02 5.36413503e-04 9.99824661e-01 -3.02671240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.944012739 meters Centerline goodness [0,1] 0.9883795858750751 Centerline is valid? [True, True] Translation: X:375.28, Y:29.72, Z:-0.30 [[ 8.57848124e-01 -5.13638080e-01 -1.65081264e-02 3.75282425e+02] [ 5.13531311e-01 8.58006792e-01 -1.04851174e-02 2.97177222e+01] [ 1.95496402e-02 5.17198490e-04 9.99808754e-01 -3.04017466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.974012739 meters Centerline goodness [0,1] 0.9909671357492152 Centerline is valid? [True, True] Translation: X:375.31, Y:29.73, Z:-0.31 [[ 8.56617288e-01 -5.15602107e-01 -1.90076163e-02 3.75305362e+02] [ 5.15460984e-01 8.56827969e-01 -1.20749732e-02 2.97336879e+01] [ 2.25121389e-02 5.45946155e-04 9.99746421e-01 -3.08195228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.004012739 meters Centerline goodness [0,1] 0.9920121964312555 Centerline is valid? [True, True] Translation: X:375.33, Y:29.75, Z:-0.31 [[ 8.56258188e-01 -5.16170388e-01 -1.97495735e-02 3.75330680e+02] [ 5.16018133e-01 8.56485741e-01 -1.25484194e-02 2.97481435e+01] [ 2.33923506e-02 5.53548829e-04 9.99726208e-01 -3.09854356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.034012739 meters Centerline goodness [0,1] 0.9925150348288841 Centerline is valid? [True, True] Translation: X:375.36, Y:29.76, Z:-0.31 [[ 8.55731970e-01 -5.17054575e-01 -1.94257902e-02 3.75358382e+02] [ 5.16907402e-01 8.55952272e-01 -1.23469267e-02 2.97586707e+01] [ 2.30115842e-02 5.24325173e-04 9.99735061e-01 -3.07108124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.064012739 meters Centerline goodness [0,1] 0.991863684771033 Centerline is valid? [True, True] Translation: X:375.38, Y:29.78, Z:-0.31 [[ 8.53720170e-01 -5.20437678e-01 -1.75070037e-02 3.75380838e+02] [ 5.20318783e-01 8.53899566e-01 -1.11308475e-02 2.97755018e+01] [ 2.07421353e-02 3.93406183e-04 9.99784781e-01 -3.05052745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.094012739 meters Centerline goodness [0,1] 0.9938012097293123 Centerline is valid? [True, True] Translation: X:375.41, Y:29.78, Z:-0.31 [[ 8.50344343e-01 -5.25907300e-01 -1.83305914e-02 3.75414344e+02] [ 5.25778180e-01 8.50541849e-01 -1.16562978e-02 2.97761036e+01] [ 2.17210672e-02 2.74041890e-04 9.99764032e-01 -3.06546861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.124012739 meters Centerline goodness [0,1] 0.995030787512153 Centerline is valid? [True, True] Translation: X:375.44, Y:29.79, Z:-0.31 [[ 8.48269490e-01 -5.29222176e-01 -1.90462893e-02 3.75442223e+02] [ 5.29083517e-01 8.48483264e-01 -1.21154031e-02 2.97860392e+01] [ 2.25721977e-02 2.00049053e-04 9.99745195e-01 -3.07802929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.154012739 meters Centerline goodness [0,1] 0.9958402127066492 Centerline is valid? [True, True] Translation: X:375.47, Y:29.80, Z:-0.31 [[ 8.46355014e-01 -5.32271552e-01 -1.92401784e-02 3.75468421e+02] [ 5.32130750e-01 8.46573671e-01 -1.22427788e-02 2.97960452e+01] [ 2.28047114e-02 1.23446670e-04 9.99739931e-01 -3.08283007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.184012739 meters Centerline goodness [0,1] 0.9967504008551576 Centerline is valid? [True, True] Translation: X:375.50, Y:29.80, Z:-0.31 [[ 8.43050612e-01 -5.37494943e-01 -1.91010962e-02 3.75500495e+02] [ 5.37357457e-01 8.43266972e-01 -1.21563536e-02 2.98001613e+01] [ 2.26413021e-02 -1.56951052e-05 9.99743653e-01 -3.06662271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.214012739 meters Centerline goodness [0,1] 0.9967573753814852 Centerline is valid? [True, True] Translation: X:375.53, Y:29.80, Z:-0.30 [[ 8.40447543e-01 -5.41607150e-01 -1.75961101e-02 3.75532510e+02] [ 5.41491308e-01 8.40631716e-01 -1.12018282e-02 2.98008992e+01] [ 2.08588385e-02 -1.13591688e-04 9.99782424e-01 -3.02714194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.244012739 meters Centerline goodness [0,1] 0.9967100375692484 Centerline is valid? [True, True] Translation: X:375.56, Y:29.81, Z:-0.30 [[ 8.39448102e-01 -5.43169041e-01 -1.71545220e-02 3.75559717e+02] [ 5.43059237e-01 8.39623351e-01 -1.09221739e-02 2.98108053e+01] [ 2.03359240e-02 -1.47323461e-04 9.99793193e-01 -3.00537939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.274012739 meters Centerline goodness [0,1] 0.9969698909587521 Centerline is valid? [True, True] Translation: X:375.59, Y:29.82, Z:-0.30 [[ 8.38882783e-01 -5.44024222e-01 -1.77009215e-02 3.75586384e+02] [ 5.43907446e-01 8.39069494e-01 -1.12727014e-02 2.98226110e+01] [ 2.09849259e-02 -1.71187885e-04 9.99779778e-01 -3.01511079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30401273900003 meters Centerline goodness [0,1] 0.9967786964458284 Centerline is valid? [True, True] Translation: X:375.61, Y:29.83, Z:-0.30 [[ 8.39332911e-01 -5.43294694e-01 -1.87387396e-02 3.75614159e+02] [ 5.43163537e-01 8.39542048e-01 -1.19382530e-02 2.98319824e+01] [ 2.22179493e-02 -1.58031500e-04 9.99753138e-01 -3.02641501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.334012739 meters Centerline goodness [0,1] 0.9965752687014022 Centerline is valid? [True, True] Translation: X:375.64, Y:29.85, Z:-0.30 [[ 8.40329887e-01 -5.41774715e-01 -1.80510228e-02 3.75638900e+02] [ 5.41652560e-01 8.40523733e-01 -1.15046939e-02 2.98462172e+01] [ 2.14052653e-02 -1.09644606e-04 9.99770875e-01 -2.99794893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.364012739 meters Centerline goodness [0,1] 0.9956949569495694 Centerline is valid? [True, True] Translation: X:375.66, Y:29.86, Z:-0.29 [[ 8.43689324e-01 -5.36599909e-01 -1.57753637e-02 3.75661644e+02] [ 5.36505646e-01 8.43836795e-01 -1.00576048e-02 2.98629718e+01] [ 1.87087422e-02 2.19221081e-05 9.99824976e-01 -2.93343228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.394012739 meters Centerline goodness [0,1] 0.9948235093624183 Centerline is valid? [True, True] Translation: X:375.68, Y:29.88, Z:-0.29 [[ 8.45665639e-01 -5.33498472e-01 -1.51329675e-02 3.75682520e+02] [ 5.33411169e-01 8.45801024e-01 -9.65152258e-03 2.98811441e+01] [ 1.79485520e-02 8.98671071e-05 9.99838908e-01 -2.91529995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.424012739 meters Centerline goodness [0,1] 0.9941951042533667 Centerline is valid? [True, True] Translation: X:375.71, Y:29.90, Z:-0.30 [[ 8.48907766e-01 -5.28277851e-01 -1.66768056e-02 3.75705083e+02] [ 5.28170768e-01 8.49071529e-01 -1.06385028e-02 2.98984031e+01] [ 1.97798862e-02 2.22906407e-04 9.99804334e-01 -2.95499109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.454012739 meters Centerline goodness [0,1] 0.9938449701865744 Centerline is valid? [True, True] Translation: X:375.73, Y:29.92, Z:-0.30 [[ 8.50264653e-01 -5.26049606e-01 -1.79396648e-02 3.75727589e+02] [ 5.25925159e-01 8.50453834e-01 -1.14456890e-02 2.99160026e+01] [ 2.12778569e-02 2.96943729e-04 9.99773557e-01 -2.97592474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.484012739 meters Centerline goodness [0,1] 0.9935894705456404 Centerline is valid? [True, True] Translation: X:375.75, Y:29.94, Z:-0.30 [[ 8.52716622e-01 -5.22003281e-01 -1.96707089e-02 3.75748132e+02] [ 5.21852536e-01 8.52943364e-01 -1.25517848e-02 2.99369828e+01] [ 2.33300735e-02 4.37906151e-04 9.99727721e-01 -3.00546658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.514012739 meters Centerline goodness [0,1] 0.9927620826523464 Centerline is valid? [True, True] Translation: X:375.77, Y:29.96, Z:-0.30 [[ 8.53908429e-01 -5.20076882e-01 -1.89850450e-02 3.75770702e+02] [ 5.19935949e-01 8.54119319e-01 -1.21159984e-02 2.99555596e+01] [ 2.25167443e-02 4.74945785e-04 9.99746353e-01 -2.98201396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.544012739 meters Centerline goodness [0,1] 0.9918307275558305 Centerline is valid? [True, True] Translation: X:375.79, Y:29.97, Z:-0.29 [[ 8.55034942e-01 -5.18271371e-01 -1.76077602e-02 3.75792529e+02] [ 5.18149686e-01 8.55216082e-01 -1.12407674e-02 2.99741843e+01] [ 2.08842076e-02 4.87793484e-04 9.99781782e-01 -2.94111195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.574012739 meters Centerline goodness [0,1] 0.9899207755877768 Centerline is valid? [True, True] Translation: X:375.81, Y:30.00, Z:-0.29 [[ 8.57425559e-01 -5.14354383e-01 -1.61548712e-02 3.75811091e+02] [ 5.14251192e-01 8.57577565e-01 -1.03166113e-02 2.99989069e+01] [ 1.91604493e-02 5.38064418e-04 9.99816277e-01 -2.90071986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.604012739 meters Centerline goodness [0,1] 0.9889412773253322 Centerline is valid? [True, True] Translation: X:375.83, Y:30.02, Z:-0.30 [[ 8.59424628e-01 -5.10934490e-01 -1.83099684e-02 3.75829681e+02] [ 5.10801060e-01 8.59619367e-01 -1.16970227e-02 3.00224732e+01] [ 2.17160158e-02 6.99958134e-04 9.99763934e-01 -2.96071885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.634012739 meters Centerline goodness [0,1] 0.989841888672298 Centerline is valid? [True, True] Translation: X:375.85, Y:30.04, Z:-0.30 [[ 8.59924845e-01 -5.10071554e-01 -1.88751247e-02 3.75854964e+02] [ 5.09929506e-01 8.60131649e-01 -1.20600682e-02 3.00357730e+01] [ 2.23865899e-02 7.45769271e-04 9.99749111e-01 -2.96019630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.664012739 meters Centerline goodness [0,1] 0.9852213583499325 Centerline is valid? [True, True] Translation: X:375.87, Y:30.06, Z:-0.30 [[ 8.60323267e-01 -5.09407252e-01 -1.86581607e-02 3.75872269e+02] [ 5.09268205e-01 8.60525233e-01 -1.19255373e-02 3.00594941e+01] [ 2.21307733e-02 7.57809271e-04 9.99754797e-01 -2.95752389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.694012739 meters Centerline goodness [0,1] 0.9897783885930252 Centerline is valid? [True, True] Translation: X:375.90, Y:30.07, Z:-0.29 [[ 8.59208034e-01 -5.11313638e-01 -1.78862228e-02 3.75898966e+02] [ 5.11186215e-01 8.59393913e-01 -1.14348400e-02 3.00723707e+01] [ 2.12181006e-02 6.81715844e-04 9.99774638e-01 -2.92674280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.724012739 meters Centerline goodness [0,1] 0.9909840782658738 Centerline is valid? [True, True] Translation: X:375.92, Y:30.09, Z:-0.29 [[ 8.56758903e-01 -5.15388048e-01 -1.84212461e-02 3.75922353e+02] [ 5.15253745e-01 8.56956707e-01 -1.17804851e-02 3.00879124e+01] [ 2.18577316e-02 6.01419449e-04 9.99760910e-01 -2.93894353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.754012739 meters Centerline goodness [0,1] 0.9908194346816623 Centerline is valid? [True, True] Translation: X:375.95, Y:30.10, Z:-0.29 [[ 8.55630108e-01 -5.17273838e-01 -1.80248193e-02 3.75948020e+02] [ 5.17145641e-01 8.55819772e-01 -1.15284273e-02 3.01016178e+01] [ 2.13893505e-02 5.42612736e-04 9.99771074e-01 -2.92681821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.784012739 meters Centerline goodness [0,1] 0.9923818541792201 Centerline is valid? [True, True] Translation: X:375.98, Y:30.11, Z:-0.29 [[ 8.54191374e-01 -5.19692834e-01 -1.66269231e-02 3.75975468e+02] [ 5.19584151e-01 8.54353064e-01 -1.06373196e-02 3.01127497e+01] [ 1.97334014e-02 4.47220969e-04 9.99805177e-01 -2.88213884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.814012739 meters Centerline goodness [0,1] 0.9920939401004685 Centerline is valid? [True, True] Translation: X:376.00, Y:30.13, Z:-0.29 [[ 8.53645914e-01 -5.20591697e-01 -1.65208404e-02 3.75996600e+02] [ 5.20484496e-01 8.53805659e-01 -1.05729044e-02 3.01316342e+01] [ 1.96097533e-02 4.26675410e-04 9.99807619e-01 -2.87237151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.844012739 meters Centerline goodness [0,1] 0.9928981565427621 Centerline is valid? [True, True] Translation: X:376.02, Y:30.14, Z:-0.29 [[ 8.52904094e-01 -5.21799754e-01 -1.67219150e-02 3.76023353e+02] [ 5.21690116e-01 8.53067906e-01 -1.07037863e-02 3.01430737e+01] [ 1.98501620e-02 4.05645401e-04 9.99802884e-01 -2.86803188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.874012739 meters Centerline goodness [0,1] 0.9935931546795513 Centerline is valid? [True, True] Translation: X:376.05, Y:30.16, Z:-0.29 [[ 8.50885968e-01 -5.25043001e-01 -1.79698555e-02 3.76048403e+02] [ 5.24917020e-01 8.51075624e-01 -1.15066655e-02 3.01555588e+01] [ 2.13352002e-02 3.58177223e-04 9.99772315e-01 -2.88641335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.904012739 meters Centerline goodness [0,1] 0.9950428409649367 Centerline is valid? [True, True] Translation: X:376.08, Y:30.16, Z:-0.29 [[ 8.48401928e-01 -5.29075262e-01 -1.71328820e-02 3.76077428e+02] [ 5.28961532e-01 8.48574868e-01 -1.09722841e-02 3.01643631e+01] [ 2.03436972e-02 2.46271537e-04 9.99793015e-01 -2.86776726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.934012739 meters Centerline goodness [0,1] 0.9951313887235309 Centerline is valid? [True, True] Translation: X:376.10, Y:30.18, Z:-0.28 [[ 8.47251405e-01 -5.30933543e-01 -1.65719550e-02 3.76103870e+02] [ 5.30827426e-01 8.47413437e-01 -1.06164976e-02 3.01771574e+01] [ 1.96799520e-02 1.97994307e-04 9.99806311e-01 -2.84614791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.964012739 meters Centerline goodness [0,1] 0.9948380545389156 Centerline is valid? [True, True] Translation: X:376.13, Y:30.19, Z:-0.28 [[ 8.45407325e-01 -5.33874167e-01 -1.62735303e-02 3.76130318e+02] [ 5.33772313e-01 8.45563928e-01 -1.04288837e-02 3.01868603e+01] [ 1.93280218e-02 1.30294735e-04 9.99813188e-01 -2.83473413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.994012739 meters Centerline goodness [0,1] 0.9953041667552005 Centerline is valid? [True, True] Translation: X:376.15, Y:30.20, Z:-0.28 [[ 8.44829187e-01 -5.34776028e-01 -1.66806962e-02 3.76154770e+02] [ 5.34669156e-01 8.44993838e-01 -1.06914165e-02 3.02010519e+01] [ 1.98125987e-02 1.13766895e-04 9.99803705e-01 -2.84007376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.024012739 meters Centerline goodness [0,1] 0.9953931725543478 Centerline is valid? [True, True] Translation: X:376.18, Y:30.22, Z:-0.28 [[ 8.44604579e-01 -5.35122986e-01 -1.69261659e-02 3.76177140e+02] [ 5.35012928e-01 8.44774158e-01 -1.08530562e-02 3.02160442e+01] [ 2.01065074e-02 1.10823392e-04 9.99797838e-01 -2.84567585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05401273900003 meters Centerline goodness [0,1] 0.9954366005858132 Centerline is valid? [True, True] Translation: X:376.20, Y:30.23, Z:-0.28 [[ 8.45051631e-01 -5.34420694e-01 -1.68006642e-02 3.76200678e+02] [ 5.34312075e-01 8.45218614e-01 -1.07750434e-02 3.02320504e+01] [ 1.99586403e-02 1.28670199e-04 9.99800798e-01 -2.83482745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.084012739 meters Centerline goodness [0,1] 0.99504202574742 Centerline is valid? [True, True] Translation: X:376.23, Y:30.24, Z:-0.28 [[ 8.45243262e-01 -5.34105890e-01 -1.71675892e-02 3.76226928e+02] [ 5.33992327e-01 8.45417576e-01 -1.10143776e-02 3.02437006e+01] [ 2.03966256e-02 1.42467537e-04 9.99791957e-01 -2.83643112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.114012739 meters Centerline goodness [0,1] 0.9946784638071424 Centerline is valid? [True, True] Translation: X:376.25, Y:30.26, Z:-0.28 [[ 8.45044392e-01 -5.34399356e-01 -1.78130004e-02 3.76252080e+02] [ 5.34277055e-01 8.45232102e-01 -1.14333692e-02 3.02567481e+01] [ 2.11661049e-02 1.44627111e-04 9.99775962e-01 -2.83604948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.144012739 meters Centerline goodness [0,1] 0.9948214020417259 Centerline is valid? [True, True] Translation: X:376.28, Y:30.27, Z:-0.29 [[ 8.45081630e-01 -5.34313616e-01 -1.86010114e-02 3.76275816e+02] [ 5.34180127e-01 8.45286304e-01 -1.19439242e-02 3.02720221e+01] [ 2.21049815e-02 1.57300341e-04 9.99755643e-01 -2.85792421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.174012739 meters Centerline goodness [0,1] 0.9950164351606404 Centerline is valid? [True, True] Translation: X:376.30, Y:30.29, Z:-0.28 [[ 8.46045355e-01 -5.32782734e-01 -1.87033677e-02 3.76297665e+02] [ 5.32647337e-01 8.46252042e-01 -1.20123378e-02 3.02909722e+01] [ 2.22277293e-02 2.00683561e-04 9.99752913e-01 -2.84831695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.204012739 meters Centerline goodness [0,1] 0.9950164351606404 Centerline is valid? [True, True] Translation: X:376.32, Y:30.31, Z:-0.28 [[ 8.45949650e-01 -5.32934748e-01 -1.87014291e-02 3.76320677e+02] [ 5.32799322e-01 8.46156318e-01 -1.20153553e-02 3.03060013e+01] [ 2.22277327e-02 2.00276815e-04 9.99752913e-01 -2.84324389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.234012739 meters Centerline goodness [0,1] 0.9948497111077449 Centerline is valid? [True, True] Translation: X:376.34, Y:30.32, Z:-0.28 [[ 8.46979264e-01 -5.31316175e-01 -1.81452237e-02 3.76343229e+02] [ 5.31188218e-01 8.47173574e-01 -1.16624337e-02 3.03234125e+01] [ 2.15685937e-02 2.39310442e-04 9.99767342e-01 -2.82228282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.264012739 meters Centerline goodness [0,1] 0.9937846036359008 Centerline is valid? [True, True] Translation: X:376.36, Y:30.34, Z:-0.28 [[ 8.49113549e-01 -5.27922435e-01 -1.74380042e-02 3.76362480e+02] [ 5.27803466e-01 8.49292531e-01 -1.12115307e-02 3.03441346e+01] [ 2.07287853e-02 3.16023593e-04 9.99785086e-01 -2.80357613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.294012739 meters Centerline goodness [0,1] 0.9929471566239543 Centerline is valid? [True, True] Translation: X:376.38, Y:30.36, Z:-0.28 [[ 8.49955227e-01 -5.26568711e-01 -1.73638772e-02 3.76383748e+02] [ 5.26450434e-01 8.50132502e-01 -1.11655458e-02 3.03631434e+01] [ 2.06410234e-02 3.48993256e-04 9.99786890e-01 -2.79640491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.324012739 meters Centerline goodness [0,1] 0.992232346727556 Centerline is valid? [True, True] Translation: X:376.40, Y:30.39, Z:-0.28 [[ 8.51638649e-01 -5.23825561e-01 -1.78435870e-02 3.76403968e+02] [ 5.23700017e-01 8.51825450e-01 -1.14758245e-02 3.03856694e+01] [ 2.12109517e-02 4.28568826e-04 9.99774931e-01 -2.79233260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.354012739 meters Centerline goodness [0,1] 0.9924183848797251 Centerline is valid? [True, True] Translation: X:376.42, Y:30.41, Z:-0.28 [[ 8.52245777e-01 -5.22819649e-01 -1.83507560e-02 3.76424384e+02] [ 5.22686548e-01 8.52443191e-01 -1.18058619e-02 3.04050743e+01] [ 2.18153136e-02 4.69802657e-04 9.99761907e-01 -2.80564647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.384012739 meters Centerline goodness [0,1] 0.9917249067444154 Centerline is valid? [True, True] Translation: X:376.45, Y:30.43, Z:-0.28 [[ 8.52807987e-01 -5.21897869e-01 -1.84702923e-02 3.76445049e+02] [ 5.21762756e-01 8.53007834e-01 -1.18853333e-02 3.04268186e+01] [ 2.19582341e-02 4.98796536e-04 9.99758764e-01 -2.80434678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.414012739 meters Centerline goodness [0,1] 0.9922047578589634 Centerline is valid? [True, True] Translation: X:376.47, Y:30.44, Z:-0.28 [[ 8.52376777e-01 -5.22619478e-01 -1.79641794e-02 3.76466937e+02] [ 5.22491752e-01 8.52565927e-01 -1.15632379e-02 3.04434246e+01] [ 2.13588206e-02 4.70099853e-04 9.99771764e-01 -2.78492419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.444012739 meters Centerline goodness [0,1] 0.9926346215608607 Centerline is valid? [True, True] Translation: X:376.49, Y:30.46, Z:-0.28 [[ 8.51666001e-01 -5.23797747e-01 -1.73476995e-02 3.76490128e+02] [ 5.23678850e-01 8.51842555e-01 -1.11680233e-02 3.04600458e+01] [ 2.06272941e-02 4.26802474e-04 9.99787144e-01 -2.76420332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.474012739 meters Centerline goodness [0,1] 0.9935344827586207 Centerline is valid? [True, True] Translation: X:376.51, Y:30.48, Z:-0.27 [[ 8.50378000e-01 -5.25903417e-01 -1.68182144e-02 3.76512005e+02] [ 5.25792009e-01 8.50544214e-01 -1.08306154e-02 3.04777930e+01] [ 2.00004926e-02 3.67234301e-04 9.99799903e-01 -2.73823743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.504012739 meters Centerline goodness [0,1] 0.9930859349992531 Centerline is valid? [True, True] Translation: X:376.53, Y:30.49, Z:-0.27 [[ 8.49302440e-01 -5.27650046e-01 -1.64558232e-02 3.76534825e+02] [ 5.27543690e-01 8.49461786e-01 -1.05985223e-02 3.04940123e+01] [ 1.95709038e-02 3.20185142e-04 9.99808420e-01 -2.72989696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.534012739 meters Centerline goodness [0,1] 0.993975645313438 Centerline is valid? [True, True] Translation: X:376.56, Y:30.51, Z:-0.27 [[ 8.48798660e-01 -5.28449182e-01 -1.68016676e-02 3.76559552e+02] [ 5.28338434e-01 8.48964879e-01 -1.08228147e-02 3.05090302e+01] [ 1.99833333e-02 3.09423886e-04 9.99800265e-01 -2.73218519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.564012739 meters Centerline goodness [0,1] 0.9934110923939697 Centerline is valid? [True, True] Translation: X:376.58, Y:30.53, Z:-0.27 [[ 8.48453664e-01 -5.28996316e-01 -1.70081565e-02 3.76581583e+02] [ 5.28882863e-01 8.48624066e-01 -1.09595514e-02 3.05268273e+01] [ 2.02310933e-02 3.03349062e-04 9.99795284e-01 -2.73659844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.594012739 meters Centerline goodness [0,1] 0.9949238578680203 Centerline is valid? [True, True] Translation: X:376.61, Y:30.54, Z:-0.27 [[ 8.47482500e-01 -5.30558510e-01 -1.67654362e-02 3.76605581e+02] [ 5.30448547e-01 8.47648275e-01 -1.08046785e-02 3.05429637e+01] [ 1.99437072e-02 2.63574705e-04 9.99801070e-01 -2.72933680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.624012739 meters Centerline goodness [0,1] 0.9953084124273021 Centerline is valid? [True, True] Translation: X:376.63, Y:30.55, Z:-0.27 [[ 8.46288964e-01 -5.32483247e-01 -1.60181336e-02 3.76632998e+02] [ 5.32383148e-01 8.46440516e-01 -1.03265405e-02 3.05540080e+01] [ 1.90571071e-02 2.11452857e-04 9.99818374e-01 -2.69468630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.654012739 meters Centerline goodness [0,1] 0.9952346914462712 Centerline is valid? [True, True] Translation: X:376.66, Y:30.57, Z:-0.27 [[ 8.45397272e-01 -5.33903962e-01 -1.58117480e-02 3.76657439e+02] [ 5.33806603e-01 8.45545106e-01 -1.01972284e-02 3.05675375e+01] [ 1.88138868e-02 1.80293575e-04 9.99822987e-01 -2.68927357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.684012739 meters Centerline goodness [0,1] 0.9952411575562701 Centerline is valid? [True, True] Translation: X:376.68, Y:30.58, Z:-0.27 [[ 8.43881738e-01 -5.36299435e-01 -1.57012355e-02 3.76684595e+02] [ 5.36203808e-01 8.44027784e-01 -1.01279682e-02 3.05776104e+01] [ 1.86839026e-02 1.27745168e-04 9.99825432e-01 -2.69667900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.714012739 meters Centerline goodness [0,1] 0.9954574400339631 Centerline is valid? [True, True] Translation: X:376.71, Y:30.59, Z:-0.27 [[ 8.43283107e-01 -5.37235638e-01 -1.58578375e-02 3.76709261e+02] [ 5.37138192e-01 8.43432189e-01 -1.02325422e-02 3.05914360e+01] [ 1.88722970e-02 1.11079780e-04 9.99821896e-01 -2.69764313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.744012739 meters Centerline goodness [0,1] 0.9963706646623001 Centerline is valid? [True, True] Translation: X:376.73, Y:30.60, Z:-0.27 [[ 8.42818188e-01 -5.37955227e-01 -1.61763866e-02 3.76734005e+02] [ 5.37853916e-01 8.42973406e-01 -1.04403587e-02 3.06044819e+01] [ 1.92527092e-02 9.87912956e-05 9.99814645e-01 -2.69746672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.774012739 meters Centerline goodness [0,1] 0.9959797498511018 Centerline is valid? [True, True] Translation: X:376.76, Y:30.61, Z:-0.27 [[ 8.42482865e-01 -5.38460083e-01 -1.68332985e-02 3.76759063e+02] [ 5.38350389e-01 8.42651013e-01 -1.08686999e-02 3.06147777e+01] [ 2.00369571e-02 9.44806919e-05 9.99799236e-01 -2.70477011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80401273900003 meters Centerline goodness [0,1] 0.9958376690946931 Centerline is valid? [True, True] Translation: X:376.78, Y:30.63, Z:-0.27 [[ 8.42171073e-01 -5.38944064e-01 -1.69463561e-02 3.76783256e+02] [ 5.38832931e-01 8.42341551e-01 -1.09446123e-02 3.06268946e+01] [ 2.01731537e-02 8.59811715e-05 9.99796498e-01 -2.70418494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.834012739 meters Centerline goodness [0,1] 0.9961579969781998 Centerline is valid? [True, True] Translation: X:376.81, Y:30.64, Z:-0.27 [[ 8.41576855e-01 -5.39832098e-01 -1.81577381e-02 3.76810418e+02] [ 5.39704650e-01 8.41772713e-01 -1.17299170e-02 3.06371435e+01] [ 2.16168742e-02 7.18110261e-05 9.99766325e-01 -2.73528111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.864012739 meters Centerline goodness [0,1] 0.9967065163925661 Centerline is valid? [True, True] Translation: X:376.84, Y:30.65, Z:-0.28 [[ 8.41047310e-01 -5.40585237e-01 -2.01748303e-02 3.76837409e+02] [ 5.40427976e-01 8.41289248e-01 -1.30385990e-02 3.06481291e+01] [ 2.40213419e-02 6.30358907e-05 9.99711444e-01 -2.76985485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.894012739 meters Centerline goodness [0,1] 0.9969066666666667 Centerline is valid? [True, True] Translation: X:376.86, Y:30.66, Z:-0.28 [[ 8.40742956e-01 -5.41047751e-01 -2.04600268e-02 3.76862615e+02] [ 5.40886028e-01 8.40991872e-01 -1.32278728e-02 3.06610502e+01] [ 2.43636271e-02 5.46982129e-05 9.99703161e-01 -2.76580096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.924012739 meters Centerline goodness [0,1] 0.9969391468139301 Centerline is valid? [True, True] Translation: X:376.89, Y:30.67, Z:-0.27 [[ 8.40820623e-01 -5.40936326e-01 -2.02131326e-02 3.76887743e+02] [ 5.40778322e-01 8.41063545e-01 -1.30735961e-02 3.06743711e+01] [ 2.40725120e-02 6.17252960e-05 9.99710213e-01 -2.74962354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.954012739 meters Centerline goodness [0,1] 0.9965652496554649 Centerline is valid? [True, True] Translation: X:376.91, Y:30.69, Z:-0.27 [[ 8.41305273e-01 -5.40217463e-01 -1.92491502e-02 3.76912231e+02] [ 5.40073882e-01 8.41525451e-01 -1.24545741e-02 3.06868207e+01] [ 2.29268282e-02 8.21355739e-05 9.99737142e-01 -2.73711094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.984012739 meters Centerline goodness [0,1] 0.9964648412392338 Centerline is valid? [True, True] Translation: X:376.94, Y:30.70, Z:-0.27 [[ 8.41940348e-01 -5.39224562e-01 -1.93215494e-02 3.76937375e+02] [ 5.39079565e-01 8.42162015e-01 -1.25045169e-02 3.07018406e+01] [ 2.30146176e-02 1.12204893e-04 9.99735122e-01 -2.72556824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.014012739 meters Centerline goodness [0,1] 0.9952956989247311 Centerline is valid? [True, True] Translation: X:376.96, Y:30.72, Z:-0.27 [[ 8.44320876e-01 -5.35455461e-01 -2.02412413e-02 3.76960494e+02] [ 5.35295126e-01 8.44563436e-01 -1.31046242e-02 3.07199609e+01] [ 2.41119549e-02 2.29469996e-04 9.99709238e-01 -2.74589146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.044012739 meters Centerline goodness [0,1] 0.9948091020805966 Centerline is valid? [True, True] Translation: X:376.98, Y:30.74, Z:-0.27 [[ 8.47478087e-01 -5.30451471e-01 -2.00531435e-02 3.76979425e+02] [ 5.30292603e-01 8.47715222e-01 -1.29868007e-02 3.07428759e+01] [ 2.38882226e-02 3.71995375e-04 9.99714566e-01 -2.74046715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.074012739 meters Centerline goodness [0,1] 0.9939325555650175 Centerline is valid? [True, True] Translation: X:377.00, Y:30.76, Z:-0.27 [[ 8.48833725e-01 -5.28295098e-01 -1.96366123e-02 3.77001350e+02] [ 5.28142138e-01 8.49060721e-01 -1.27190307e-02 3.07621360e+01] [ 2.33920778e-02 4.25419779e-04 9.99726277e-01 -2.72077369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.104012739 meters Centerline goodness [0,1] 0.9933999785015586 Centerline is valid? [True, True] Translation: X:377.02, Y:30.78, Z:-0.27 [[ 8.49867947e-01 -5.26651948e-01 -1.90315103e-02 3.77022395e+02] [ 5.26507776e-01 8.50080887e-01 -1.23307375e-02 3.07803977e+01] [ 2.26723301e-02 4.59260417e-04 9.99742844e-01 -2.70692436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.134012739 meters Centerline goodness [0,1] 0.9927794011773176 Centerline is valid? [True, True] Translation: X:377.04, Y:30.80, Z:-0.27 [[ 8.51132721e-01 -5.24629739e-01 -1.83501495e-02 3.77044701e+02] [ 5.24495205e-01 8.51330365e-01 -1.18906999e-02 3.07980615e+01] [ 2.18602543e-02 4.95998378e-04 9.99760913e-01 -2.68950143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.164012739 meters Centerline goodness [0,1] 0.9923837889586214 Centerline is valid? [True, True] Translation: X:377.07, Y:30.81, Z:-0.27 [[ 8.50844933e-01 -5.25081425e-01 -1.87722303e-02 3.77070104e+02] [ 5.24940692e-01 8.51051849e-01 -1.21663640e-02 3.08112094e+01] [ 2.23644731e-02 4.97381603e-04 9.99749760e-01 -2.69302583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.194012739 meters Centerline goodness [0,1] 0.9930202774813234 Centerline is valid? [True, True] Translation: X:377.10, Y:30.82, Z:-0.27 [[ 8.50303485e-01 -5.25978237e-01 -1.81900222e-02 3.77095052e+02] [ 5.25846208e-01 8.50497901e-01 -1.17934492e-02 3.08249354e+01] [ 2.16736734e-02 4.62856778e-04 9.99764991e-01 -2.67212369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.224012739 meters Centerline goodness [0,1] 0.9925189170650147 Centerline is valid? [True, True] Translation: X:377.12, Y:30.84, Z:-0.26 [[ 8.49726517e-01 -5.27019287e-01 -1.46804990e-02 3.77118780e+02] [ 5.26933403e-01 8.49853249e-01 -9.52067149e-03 3.08400781e+01] [ 1.74938473e-02 3.54321737e-04 9.99846908e-01 -2.57543972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.254012739 meters Centerline goodness [0,1] 0.9920018719023207 Centerline is valid? [True, True] Translation: X:377.14, Y:30.86, Z:-0.25 [[ 8.49863450e-01 -5.26821232e-01 -1.38385588e-02 3.77142803e+02] [ 5.26744843e-01 8.49976043e-01 -8.97753158e-03 3.08561814e+01] [ 1.64919977e-02 3.40286502e-04 9.99863940e-01 -2.54254867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.284012739 meters Centerline goodness [0,1] 0.9915784101059079 Centerline is valid? [True, True] Translation: X:377.17, Y:30.87, Z:-0.25 [[ 8.50445596e-01 -5.25868815e-01 -1.42925907e-02 3.77165551e+02] [ 5.25787138e-01 8.50565606e-01 -9.27553086e-03 3.08731311e+01] [ 1.70344985e-02 3.73474001e-04 9.99854833e-01 -2.54220815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.314012739 meters Centerline goodness [0,1] 0.9911837986328499 Centerline is valid? [True, True] Translation: X:377.18, Y:30.90, Z:-0.26 [[ 8.52330515e-01 -5.22718756e-01 -1.72567506e-02 3.77184635e+02] [ 5.22599003e-01 8.52505028e-01 -1.12008943e-02 3.08957447e+01] [ 2.05663842e-02 5.28503391e-04 9.99788350e-01 -2.61278891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.344012739 meters Centerline goodness [0,1] 0.9918660901579691 Centerline is valid? [True, True] Translation: X:377.21, Y:30.91, Z:-0.26 [[ 8.52970276e-01 -5.21645108e-01 -1.81132569e-02 3.77208630e+02] [ 5.21512881e-01 8.53162376e-01 -1.17590152e-02 3.09107855e+01] [ 2.15875821e-02 5.83793636e-04 9.99766791e-01 -2.61900221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.374012739 meters Centerline goodness [0,1] 0.9917599337396734 Centerline is valid? [True, True] Translation: X:377.23, Y:30.93, Z:-0.26 [[ 8.53695408e-01 -5.20503221e-01 -1.67495327e-02 3.77228770e+02] [ 5.20389912e-01 8.53859517e-01 -1.08749900e-02 3.09313733e+01] [ 1.99622153e-02 5.67641198e-04 9.99800574e-01 -2.57822837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.404012739 meters Centerline goodness [0,1] 0.9911366451668019 Centerline is valid? [True, True] Translation: X:377.25, Y:30.95, Z:-0.25 [[ 8.53606364e-01 -5.20680000e-01 -1.57643142e-02 3.77251879e+02] [ 5.20579635e-01 8.53751753e-01 -1.02365953e-02 3.09473710e+01] [ 1.87888013e-02 5.31441922e-04 9.99823334e-01 -2.54925592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.434012739 meters Centerline goodness [0,1] 0.9899032840897013 Centerline is valid? [True, True] Translation: X:377.27, Y:30.97, Z:-0.26 [[ 8.53251346e-01 -5.21253788e-01 -1.60196334e-02 3.77272021e+02] [ 5.21150166e-01 8.53401551e-01 -1.04066175e-02 3.09669829e+01] [ 1.90956688e-02 5.30825775e-04 9.99817520e-01 -2.55729660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.464012739 meters Centerline goodness [0,1] 0.9909517639812239 Centerline is valid? [True, True] Translation: X:377.30, Y:30.98, Z:-0.26 [[ 8.52727464e-01 -5.22061912e-01 -1.75280656e-02 3.77296318e+02] [ 5.21937972e-01 8.52907406e-01 -1.13890624e-02 3.09819964e+01] [ 2.08956127e-02 5.63203277e-04 9.99781504e-01 -2.59158518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.494012739 meters Centerline goodness [0,1] 0.9935049724227517 Centerline is valid? [True, True] Translation: X:377.32, Y:31.00, Z:-0.26 [[ 8.50512571e-01 -5.25571655e-01 -2.00699127e-02 3.77321282e+02] [ 5.25410021e-01 8.50749160e-01 -1.30452012e-02 3.09956175e+01] [ 2.39306494e-02 5.50174400e-04 9.99713470e-01 -2.63639253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.524012739 meters Centerline goodness [0,1] 0.9940511600237953 Centerline is valid? [True, True] Translation: X:377.35, Y:31.01, Z:-0.26 [[ 8.48862573e-01 -5.28255422e-01 -1.94561315e-02 3.77345550e+02] [ 5.28104185e-01 8.49085388e-01 -1.26480966e-02 3.10093161e+01] [ 2.32013426e-02 4.61631305e-04 9.99730706e-01 -2.62007127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55401273900003 meters Centerline goodness [0,1] 0.9948199728260869 Centerline is valid? [True, True] Translation: X:377.37, Y:31.02, Z:-0.26 [[ 8.47072192e-01 -5.31172126e-01 -1.80242691e-02 3.77372809e+02] [ 5.31042955e-01 8.47263859e-01 -1.17189168e-02 3.10205292e+01] [ 2.14960737e-02 3.55107400e-04 9.99768870e-01 -2.57970724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.584012739 meters Centerline goodness [0,1] 0.995649313440438 Centerline is valid? [True, True] Translation: X:377.40, Y:31.03, Z:-0.26 [[ 8.43978426e-01 -5.36128241e-01 -1.63378535e-02 3.77399305e+02] [ 5.36022986e-01 8.44136520e-01 -1.06251771e-02 3.10310424e+01] [ 1.94878363e-02 2.09955251e-04 9.99810072e-01 -2.55011792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.614012739 meters Centerline goodness [0,1] 0.9965932802452838 Centerline is valid? [True, True] Translation: X:377.43, Y:31.04, Z:-0.26 [[ 8.40986743e-01 -5.40795884e-01 -1.67663176e-02 3.77428852e+02] [ 5.40685930e-01 8.41153851e-01 -1.09052658e-02 3.10394958e+01] [ 2.00005754e-02 1.05871962e-04 9.99799963e-01 -2.55143356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.644012739 meters Centerline goodness [0,1] 0.9970095055003738 Centerline is valid? [True, True] Translation: X:377.45, Y:31.05, Z:-0.25 [[ 8.39630738e-01 -5.42884018e-01 -1.72385523e-02 3.77454968e+02] [ 5.42768174e-01 8.39807680e-01 -1.12147056e-02 3.10517173e+01] [ 2.05653530e-02 5.96739575e-05 9.99788509e-01 -2.54675503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.674012739 meters Centerline goodness [0,1] 0.997302851271513 Centerline is valid? [True, True] Translation: X:377.48, Y:31.06, Z:-0.25 [[ 8.38306052e-01 -5.44911598e-01 -1.77288960e-02 3.77480198e+02] [ 5.44789429e-01 8.38493501e-01 -1.15380794e-02 3.10641145e+01] [ 2.11527973e-02 1.39266460e-05 9.99776254e-01 -2.54411821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.704012739 meters Centerline goodness [0,1] 0.9971228234692355 Centerline is valid? [True, True] Translation: X:377.51, Y:31.07, Z:-0.26 [[ 8.36188273e-01 -5.48150147e-01 -1.79050052e-02 3.77507659e+02] [ 5.48026182e-01 8.36379945e-01 -1.16572417e-02 3.10726434e+01] [ 2.13653060e-02 -6.47628111e-05 9.99771734e-01 -2.55072007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.734012739 meters Centerline goodness [0,1] 0.9969859558367713 Centerline is valid? [True, True] Translation: X:377.54, Y:31.08, Z:-0.26 [[ 8.34870223e-01 -5.50145948e-01 -1.81974456e-02 3.77536495e+02] [ 5.50018316e-01 8.35068514e-01 -1.18502706e-02 3.10813923e+01] [ 2.17154922e-02 -1.15490380e-04 9.99764184e-01 -2.55975331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.764012739 meters Centerline goodness [0,1] 0.9967952854131716 Centerline is valid? [True, True] Translation: X:377.56, Y:31.09, Z:-0.26 [[ 8.34494484e-01 -5.50708512e-01 -1.84144086e-02 3.77561534e+02] [ 5.50577859e-01 8.34697621e-01 -1.19959403e-02 3.10937641e+01] [ 2.19767294e-02 -1.28019627e-04 9.99758474e-01 -2.56307509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.794012739 meters Centerline goodness [0,1] 0.9966797595538291 Centerline is valid? [True, True] Translation: X:377.59, Y:31.10, Z:-0.26 [[ 8.33723625e-01 -5.51845709e-01 -1.92673381e-02 3.77588794e+02] [ 5.51702856e-01 8.33946214e-01 -1.25567089e-02 3.11039860e+01] [ 2.29972896e-02 -1.61020585e-04 9.99735514e-01 -2.57166961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.824012739 meters Centerline goodness [0,1] 0.9968810083315531 Centerline is valid? [True, True] Translation: X:377.62, Y:31.12, Z:-0.26 [[ 8.33244538e-01 -5.52544208e-01 -1.99609436e-02 3.77615030e+02] [ 5.52390969e-01 8.33483572e-01 -1.30135510e-02 3.11161699e+01] [ 2.38276808e-02 -1.82774634e-04 9.99716064e-01 -2.57259201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.854012739 meters Centerline goodness [0,1] 0.996331918705082 Centerline is valid? [True, True] Translation: X:377.64, Y:31.13, Z:-0.26 [[ 8.33006719e-01 -5.52900239e-01 -2.00282805e-02 3.77640367e+02] [ 5.52745960e-01 8.33247436e-01 -1.30619292e-02 3.11269946e+01] [ 2.39104572e-02 -1.89876301e-04 9.99714086e-01 -2.57496558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.884012739 meters Centerline goodness [0,1] 0.9971336898395722 Centerline is valid? [True, True] Translation: X:377.67, Y:31.14, Z:-0.25 [[ 8.33397026e-01 -5.52340826e-01 -1.92096073e-02 3.77667225e+02] [ 5.52198673e-01 8.33618369e-01 -1.25315911e-02 3.11377074e+01] [ 2.29351909e-02 -1.63728935e-04 9.99736941e-01 -2.54258276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.914012739 meters Centerline goodness [0,1] 0.9961125862984599 Centerline is valid? [True, True] Translation: X:377.69, Y:31.15, Z:-0.25 [[ 8.33925970e-01 -5.51617003e-01 -1.69162114e-02 3.77694394e+02] [ 5.51506550e-01 8.34097516e-01 -1.10389608e-02 3.11489486e+01] [ 2.01990484e-02 -1.23725283e-04 9.99795971e-01 -2.49269333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.944012739 meters Centerline goodness [0,1] 0.9965789082254946 Centerline is valid? [True, True] Translation: X:377.72, Y:31.16, Z:-0.25 [[ 8.34225175e-01 -5.51187455e-01 -1.61476509e-02 3.77718552e+02] [ 5.51086663e-01 8.34381435e-01 -1.05409298e-02 3.11606206e+01] [ 1.92833283e-02 -1.05246038e-04 9.99814054e-01 -2.47666014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.974012739 meters Centerline goodness [0,1] 0.9959230092483317 Centerline is valid? [True, True] Translation: X:377.74, Y:31.17, Z:-0.25 [[ 8.34396152e-01 -5.50937087e-01 -1.58552182e-02 3.77743861e+02] [ 5.50839828e-01 8.34546774e-01 -1.03521523e-02 3.11734933e+01] [ 1.89353058e-02 -9.58896130e-05 9.99820706e-01 -2.46444344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.004012739 meters Centerline goodness [0,1] 0.9965599025661844 Centerline is valid? [True, True] Translation: X:377.77, Y:31.18, Z:-0.25 [[ 8.34760078e-01 -5.50357834e-01 -1.67888583e-02 3.77770414e+02] [ 5.50248570e-01 8.34928888e-01 -1.09664746e-02 3.11841270e+01] [ 2.00529880e-02 -8.36700372e-05 9.99798915e-01 -2.47932375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.034012739 meters Centerline goodness [0,1] 0.9968969181721573 Centerline is valid? [True, True] Translation: X:377.79, Y:31.20, Z:-0.25 [[ 8.35126151e-01 -5.49758039e-01 -1.81771819e-02 3.77793906e+02] [ 5.49629706e-01 8.35323945e-01 -1.18782504e-02 3.11982317e+01] [ 2.17139989e-02 -7.08815441e-05 9.99764221e-01 -2.50279573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.064012739 meters Centerline goodness [0,1] 0.9967459701749849 Centerline is valid? [True, True] Translation: X:377.82, Y:31.21, Z:-0.25 [[ 8.36710586e-01 -5.47332216e-01 -1.85159689e-02 3.77818021e+02] [ 5.47198388e-01 8.36915435e-01 -1.21028382e-02 3.12133781e+01] [ 2.21205734e-02 -5.33545541e-06 9.99755310e-01 -2.49938982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.094012739 meters Centerline goodness [0,1] 0.9964990927526951 Centerline is valid? [True, True] Translation: X:377.84, Y:31.23, Z:-0.25 [[ 8.37456564e-01 -5.46222543e-01 -1.75338729e-02 3.77840985e+02] [ 5.46102202e-01 8.37640097e-01 -1.14652418e-02 3.12270572e+01] [ 2.09496486e-02 2.63554109e-05 9.99780532e-01 -2.46951563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.124012739 meters Centerline goodness [0,1] 0.9964539760059454 Centerline is valid? [True, True] Translation: X:377.87, Y:31.24, Z:-0.24 [[ 8.37615947e-01 -5.46017814e-01 -1.62502711e-02 3.77865460e+02] [ 5.45914368e-01 8.37773565e-01 -1.06281266e-02 3.12387103e+01] [ 1.94171940e-02 3.10318504e-05 9.99811468e-01 -2.42951295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.154012739 meters Centerline goodness [0,1] 0.9964539760059454 Centerline is valid? [True, True] Translation: X:377.89, Y:31.25, Z:-0.24 [[ 8.37514783e-01 -5.46173006e-01 -1.62491685e-02 3.77888359e+02] [ 5.46069556e-01 8.37672398e-01 -1.06298121e-02 3.12539302e+01] [ 1.94171963e-02 2.94485844e-05 9.99811468e-01 -2.42443884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.184012739 meters Centerline goodness [0,1] 0.9968262758796966 Centerline is valid? [True, True] Translation: X:377.91, Y:31.27, Z:-0.24 [[ 8.37276998e-01 -5.46523305e-01 -1.67184361e-02 3.77911427e+02] [ 5.46413775e-01 8.37443895e-01 -1.09411849e-02 3.12672239e+01] [ 1.99803648e-02 2.56186110e-05 9.99800372e-01 -2.43192621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.214012739 meters Centerline goodness [0,1] 0.9965363576844284 Centerline is valid? [True, True] Translation: X:377.94, Y:31.28, Z:-0.24 [[ 8.37270451e-01 -5.46517602e-01 -1.72250321e-02 3.77937153e+02] [ 5.46401275e-01 8.37447616e-01 -1.12754869e-02 3.12783353e+01] [ 2.05873141e-02 2.88525061e-05 9.99788058e-01 -2.44227416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.244012739 meters Centerline goodness [0,1] 0.9965919015059536 Centerline is valid? [True, True] Translation: X:377.96, Y:31.29, Z:-0.24 [[ 8.37547605e-01 -5.46102674e-01 -1.69079458e-02 3.77961190e+02] [ 5.45990422e-01 8.37718251e-01 -1.10721082e-02 3.12915262e+01] [ 2.02106027e-02 4.18412144e-05 9.99795744e-01 -2.42648084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.274012739 meters Centerline goodness [0,1] 0.9970383943409895 Centerline is valid? [True, True] Translation: X:377.98, Y:31.31, Z:-0.24 [[ 8.38162303e-01 -5.45154234e-01 -1.70532676e-02 3.77984247e+02] [ 5.45039797e-01 8.38335766e-01 -1.11697437e-02 3.13051117e+01] [ 2.03855972e-02 6.73485775e-05 9.99792190e-01 -2.42851752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30401273900003 meters Centerline goodness [0,1] 0.9969601632583649 Centerline is valid? [True, True] Translation: X:378.01, Y:31.32, Z:-0.24 [[ 8.38488671e-01 -5.44624414e-01 -1.79163765e-02 3.78008629e+02] [ 5.44497914e-01 8.38680058e-01 -1.17380199e-02 3.13200043e+01] [ 2.14189199e-02 8.67670249e-05 9.99770585e-01 -2.44656827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.334012739 meters Centerline goodness [0,1] 0.9969572949923933 Centerline is valid? [True, True] Translation: X:378.04, Y:31.33, Z:-0.25 [[ 8.38665048e-01 -5.44298865e-01 -1.94854625e-02 3.78036128e+02] [ 5.44149036e-01 8.38891372e-01 -1.27707470e-02 3.13303863e+01] [ 2.32972895e-02 1.07383457e-04 9.99728576e-01 -2.47833532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.364012739 meters Centerline goodness [0,1] 0.9973084666737311 Centerline is valid? [True, True] Translation: X:378.06, Y:31.34, Z:-0.25 [[ 8.38552469e-01 -5.44469077e-01 -1.95750065e-02 3.78060424e+02] [ 5.44317814e-01 8.38780909e-01 -1.28337456e-02 3.13428100e+01] [ 2.34067194e-02 1.06744357e-04 9.99726020e-01 -2.47736755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.394012739 meters Centerline goodness [0,1] 0.9970342870554098 Centerline is valid? [True, True] Translation: X:378.09, Y:31.36, Z:-0.24 [[ 8.38370611e-01 -5.44784465e-01 -1.85635385e-02 3.78085606e+02] [ 5.44648442e-01 8.38576101e-01 -1.21735906e-02 3.13560428e+01] [ 2.21989228e-02 9.53782632e-05 9.99753569e-01 -2.44921649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.424012739 meters Centerline goodness [0,1] 0.9966904385702695 Centerline is valid? [True, True] Translation: X:378.11, Y:31.37, Z:-0.24 [[ 8.39275252e-01 -5.43435689e-01 -1.71669169e-02 3.78109210e+02] [ 5.43319000e-01 8.39450795e-01 -1.12617835e-02 3.13704634e+01] [ 2.05308371e-02 1.24624010e-04 9.99789212e-01 -2.41014843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.454012739 meters Centerline goodness [0,1] 0.9956208413936779 Centerline is valid? [True, True] Translation: X:378.13, Y:31.39, Z:-0.24 [[ 8.42638274e-01 -5.38160546e-01 -1.85463304e-02 3.78127718e+02] [ 5.38022960e-01 8.42842304e-01 -1.21714700e-02 3.13930999e+01] [ 2.21818368e-02 2.77794880e-04 9.99753914e-01 -2.44306567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.484012739 meters Centerline goodness [0,1] 0.9949474492080074 Centerline is valid? [True, True] Translation: X:378.15, Y:31.41, Z:-0.24 [[ 8.44720398e-01 -5.34873474e-01 -1.89160121e-02 3.78148311e+02] [ 5.34729457e-01 8.44932084e-01 -1.24169416e-02 3.14138441e+01] [ 2.26242382e-02 3.73894981e-04 9.99743969e-01 -2.44516141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.514012739 meters Centerline goodness [0,1] 0.9945797729881393 Centerline is valid? [True, True] Translation: X:378.17, Y:31.44, Z:-0.24 [[ 8.46859788e-01 -5.31488736e-01 -1.86607221e-02 3.78168592e+02] [ 5.31347701e-01 8.47065235e-01 -1.22518872e-02 3.14353642e+01] [ 2.23185890e-02 4.60298831e-04 9.99750803e-01 -2.42899566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.544012739 meters Centerline goodness [0,1] 0.9926417112299465 Centerline is valid? [True, True] Translation: X:378.19, Y:31.46, Z:-0.24 [[ 8.50457847e-01 -5.25748189e-01 -1.76151189e-02 3.78186023e+02] [ 5.25621207e-01 8.50640056e-01 -1.15690015e-02 3.14608668e+01] [ 2.10665073e-02 5.80068022e-04 9.99777908e-01 -2.39137943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.574012739 meters Centerline goodness [0,1] 0.9905865778688525 Centerline is valid? [True, True] Translation: X:378.21, Y:31.48, Z:-0.24 [[ 8.52811760e-01 -5.21918346e-01 -1.77014602e-02 3.78205294e+02] [ 5.21789204e-01 8.52995179e-01 -1.16297469e-02 3.14831877e+01] [ 2.11690384e-02 6.81554064e-04 9.99775678e-01 -2.38571883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.604012739 meters Centerline goodness [0,1] 0.9913869400971398 Centerline is valid? [True, True] Translation: X:378.23, Y:31.50, Z:-0.24 [[ 8.53434743e-01 -5.20889118e-01 -1.79907118e-02 3.78230687e+02] [ 5.20755402e-01 8.53624042e-01 -1.18239439e-02 3.14965370e+01] [ 2.15162679e-02 7.22204162e-04 9.99768237e-01 -2.38640107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.634012739 meters Centerline goodness [0,1] 0.9852881773922657 Centerline is valid? [True, True] Translation: X:378.25, Y:31.52, Z:-0.24 [[ 8.53608327e-01 -5.20589183e-01 -1.84316796e-02 3.78247535e+02] [ 5.20448674e-01 8.53806968e-01 -1.21176845e-02 3.15222054e+01] [ 2.20454319e-02 7.51013180e-04 9.99756688e-01 -2.40430652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.664012739 meters Centerline goodness [0,1] 0.9912969464836685 Centerline is valid? [True, True] Translation: X:378.27, Y:31.54, Z:-0.24 [[ 8.53745096e-01 -5.20395693e-01 -1.75394887e-02 3.78272802e+02] [ 5.20268383e-01 8.53924940e-01 -1.15328239e-02 3.15357593e+01] [ 2.09790387e-02 7.20850395e-04 9.99779656e-01 -2.37453063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.694012739 meters Centerline goodness [0,1] 0.9904516294038662 Centerline is valid? [True, True] Translation: X:378.30, Y:31.55, Z:-0.24 [[ 8.54097671e-01 -5.19837857e-01 -1.69047750e-02 3.78295680e+02] [ 5.19719411e-01 8.54264653e-01 -1.11192354e-02 3.15531112e+01] [ 2.02213513e-02 7.11173344e-04 9.99795275e-01 -2.35294590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.724012739 meters Centerline goodness [0,1] 0.9848867037195382 Centerline is valid? [True, True] Translation: X:378.31, Y:31.58, Z:-0.24 [[ 8.54964866e-01 -5.18374893e-01 -1.79596305e-02 3.78312588e+02] [ 5.18240793e-01 8.55153108e-01 -1.18170592e-02 3.15788175e+01] [ 2.14839007e-02 7.95757301e-04 9.99768878e-01 -2.37245031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.754012739 meters Centerline goodness [0,1] 0.9908491076257436 Centerline is valid? [True, True] Translation: X:378.34, Y:31.59, Z:-0.24 [[ 8.55435393e-01 -5.17540534e-01 -1.95469761e-02 3.78338271e+02] [ 5.17381411e-01 8.55658227e-01 -1.28636579e-02 3.15919567e+01] [ 2.33829953e-02 8.90786206e-04 9.99726184e-01 -2.38929232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.784012739 meters Centerline goodness [0,1] 0.9451739280179094 Centerline is valid? [True, False] Translation: X:378.19, Y:31.47, Z:-0.24 [[ 8.61117472e-01 -5.06900566e-01 -3.90962346e-02 3.78190928e+02] [ 5.07764865e-01 8.61345652e-01 1.60782135e-02 3.14666993e+01] [ 2.55253162e-02 -3.36969248e-02 9.99106088e-01 -2.35007068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.814012739 meters Centerline goodness [0,1] 0.9720552431430849 Centerline is valid? [False, True] Translation: X:378.05, Y:31.36, Z:-0.24 [[ 8.66908351e-01 -4.96265746e-01 -4.67997834e-02 3.78051999e+02] [ 4.97920778e-01 8.66528683e-01 3.46834384e-02 3.13562262e+01] [ 2.33411522e-02 -5.33699470e-02 9.98301978e-01 -2.35964186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.844012739 meters Centerline goodness [0,1] 0.9497385116598079 Centerline is valid? [True, False] Translation: X:377.91, Y:31.26, Z:-0.24 [[ 8.70300167e-01 -4.89970333e-01 -5.00668738e-02 3.77909606e+02] [ 4.92081942e-01 8.69313525e-01 4.63611597e-02 3.12565207e+01] [ 2.08082177e-02 -6.49851295e-02 9.97669259e-01 -2.38735128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.874012739 meters Centerline goodness [0,1] 0.9400666397843758 Centerline is valid? [False, False] Translation: X:377.78, Y:31.17, Z:-0.24 [[ 8.74764854e-01 -4.81835155e-01 -5.11989657e-02 3.77777914e+02] [ 4.84120567e-01 8.73536650e-01 5.06063025e-02 3.11718634e+01] [ 2.03402773e-02 -6.90550871e-02 9.97405468e-01 -2.37297314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.904012739 meters Centerline goodness [0,1] 0.9770521308735618 Centerline is valid? [False, True] Translation: X:377.61, Y:31.07, Z:-0.24 [[ 8.77955157e-01 -4.75979270e-01 -5.13660958e-02 3.77612374e+02] [ 4.78318892e-01 8.76628574e-01 5.22817427e-02 3.10663289e+01] [ 2.01439616e-02 -7.04703997e-02 9.97310455e-01 -2.37123988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.934012739 meters Centerline goodness [0,1] 0.9740207238451882 Centerline is valid? [True, True] Translation: X:377.61, Y:31.12, Z:-0.24 [[ 8.78338962e-01 -4.77854663e-01 -1.32509674e-02 3.77608975e+02] [ 4.77787497e-01 8.78438603e-01 -8.04536137e-03 3.11248973e+01] [ 1.54846748e-02 7.35407799e-04 9.99879835e-01 -2.37507120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.964012739 meters Centerline goodness [0,1] 0.9599161533196441 Centerline is valid? [True, True] Translation: X:377.63, Y:31.15, Z:-0.24 [[ 8.78505152e-01 -4.77551851e-01 -1.31502136e-02 3.77628453e+02] [ 4.77485652e-01 8.78603260e-01 -7.98523040e-03 3.11465075e+01] [ 1.53671821e-02 7.36027732e-04 9.99881647e-01 -2.36679035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.994012739 meters Centerline goodness [0,1] 0.9740734333780219 Centerline is valid? [True, True] Translation: X:377.65, Y:31.17, Z:-0.24 [[ 8.79096812e-01 -4.76459833e-01 -1.32220034e-02 3.77651381e+02] [ 4.76392770e-01 8.79195911e-01 -8.02991588e-03 3.11659620e+01] [ 1.54506637e-02 7.60206611e-04 9.99880342e-01 -2.36802633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.024012739 meters Centerline goodness [0,1] 0.9589064538900892 Centerline is valid? [True, True] Translation: X:377.67, Y:31.19, Z:-0.24 [[ 8.79452963e-01 -4.75796854e-01 -1.34104313e-02 3.77671661e+02] [ 4.75727763e-01 8.79554853e-01 -8.14597859e-03 3.11866415e+01] [ 1.56710409e-02 7.84290508e-04 9.99876894e-01 -2.37324238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05401273900003 meters Centerline goodness [0,1] 0.934610472541507 Centerline is valid? [True, False] Translation: X:377.53, Y:31.07, Z:-0.23 [[ 8.82667167e-01 -4.68890067e-01 -3.22610788e-02 3.77527779e+02] [ 4.69603088e-01 8.82659677e-01 1.96172103e-02 3.10739518e+01] [ 1.92772383e-02 -3.24653697e-02 9.99286940e-01 -2.34124680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.084012739 meters Centerline goodness [0,1] 0.9695436911931757 Centerline is valid? [False, True] Translation: X:377.38, Y:30.97, Z:-0.24 [[ 8.86100971e-01 -4.61986088e-01 -3.73352823e-02 3.77384076e+02] [ 4.63153918e-01 8.85654036e-01 3.32471995e-02 3.09730459e+01] [ 1.77063998e-02 -4.67523581e-02 9.98749568e-01 -2.36777047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.114012739 meters Centerline goodness [0,1] 0.9704622466594207 Centerline is valid? [True, True] Translation: X:377.39, Y:31.02, Z:-0.24 [[ 8.84807256e-01 -4.65753993e-01 -1.37600456e-02 3.77391386e+02] [ 4.65685034e-01 8.84913958e-01 -8.04592581e-03 3.10158626e+01] [ 1.59238785e-02 7.11246231e-04 9.99872954e-01 -2.37592809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.144012739 meters Centerline goodness [0,1] 0.9160175582045875 Centerline is valid? [True, False] Translation: X:377.22, Y:30.89, Z:-0.23 [[ 8.86168543e-01 -4.62418221e-01 -2.95753724e-02 3.77219590e+02] [ 4.63057461e-01 8.86096063e-01 2.02868088e-02 3.08909348e+01] [ 1.68256310e-02 -3.16726286e-02 9.99356664e-01 -2.34829402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.174012739 meters Centerline goodness [0,1] 0.9834945689069925 Centerline is valid? [False, True] Translation: X:377.10, Y:30.80, Z:-0.24 [[ 8.90158784e-01 -4.54456604e-01 -3.29626166e-02 3.77099840e+02] [ 4.55516099e-01 8.89321342e-01 4.01576185e-02 3.08038617e+01] [ 1.10644635e-02 -5.07616594e-02 9.98649504e-01 -2.37480418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.204012739 meters Centerline goodness [0,1] 0.9845843507803376 Centerline is valid? [True, True] Translation: X:377.11, Y:30.85, Z:-0.24 [[ 8.89531302e-01 -4.56816830e-01 -7.24197918e-03 3.77107686e+02] [ 4.56798598e-01 8.89560718e-01 -4.09503414e-03 3.08458700e+01] [ 8.31286072e-03 3.34535112e-04 9.99965392e-01 -2.35912023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.234012739 meters Centerline goodness [0,1] 0.9898732004548477 Centerline is valid? [True, True] Translation: X:377.14, Y:30.86, Z:-0.23 [[ 8.87773553e-01 -4.60240901e-01 -6.03586211e-03 3.77135572e+02] [ 4.60228312e-01 8.87794035e-01 -3.41340824e-03 3.08553315e+01] [ 6.92959246e-03 2.52458933e-04 9.99975958e-01 -2.33355109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.264012739 meters Centerline goodness [0,1] 0.9893598874152416 Centerline is valid? [True, True] Translation: X:377.16, Y:30.87, Z:-0.23 [[ 8.87007750e-01 -4.61728996e-01 -4.85641125e-03 3.77158812e+02] [ 4.61720868e-01 8.87021024e-01 -2.74655149e-03 3.08707749e+01] [ 5.57590134e-03 1.93906039e-04 9.99984436e-01 -2.30307118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.294012739 meters Centerline goodness [0,1] 0.9888800805604954 Centerline is valid? [True, True] Translation: X:377.18, Y:30.89, Z:-0.23 [[ 8.86329789e-01 -4.63039369e-01 -3.74817627e-03 3.77182626e+02] [ 4.63034540e-01 8.86337702e-01 -2.11951516e-03 3.08872297e+01] [ 4.30356891e-03 1.43054354e-04 9.99990729e-01 -2.28102630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.324012739 meters Centerline goodness [0,1] 0.9875388083188024 Centerline is valid? [True, True] Translation: X:377.20, Y:30.91, Z:-0.23 [[ 8.86684993e-01 -4.62351771e-01 -4.53465123e-03 3.77203356e+02] [ 4.62344686e-01 8.86696571e-01 -2.56577948e-03 3.09078595e+01] [ 5.20715238e-03 1.78466263e-04 9.99986427e-01 -2.29048353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.354012739 meters Centerline goodness [0,1] 0.98619199898346 Centerline is valid? [True, True] Translation: X:377.22, Y:30.93, Z:-0.24 [[ 8.88281569e-01 -4.59229133e-01 -8.02855679e-03 3.77221762e+02] [ 4.59206783e-01 8.88317781e-01 -4.54414443e-03 3.09348713e+01] [ 9.21871326e-03 3.49712006e-04 9.99957446e-01 -2.35708770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.384012739 meters Centerline goodness [0,1] 0.9828441767749597 Centerline is valid? [True, True] Translation: X:377.24, Y:30.96, Z:-0.24 [[ 8.88924513e-01 -4.57961778e-01 -9.17713756e-03 3.77242099e+02] [ 4.57932503e-01 8.88971787e-01 -5.19471233e-03 3.09569082e+01] [ 1.05371961e-02 4.15197551e-04 9.99944396e-01 -2.38127134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.414012739 meters Centerline goodness [0,1] 0.9860601926847984 Centerline is valid? [True, True] Translation: X:377.27, Y:30.97, Z:-0.24 [[ 8.89365710e-01 -4.57104760e-01 -9.15819870e-03 3.77266405e+02] [ 4.57075551e-01 8.89412760e-01 -5.18491276e-03 3.09731334e+01] [ 1.05154671e-02 4.25294897e-04 9.99944621e-01 -2.37582765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.444012739 meters Centerline goodness [0,1] 0.9808416010947657 Centerline is valid? [True, True] Translation: X:377.28, Y:31.00, Z:-0.23 [[ 8.89320835e-01 -4.57222450e-01 -7.48893069e-03 3.77283669e+02] [ 4.57202911e-01 8.89352298e-01 -4.24115048e-03 3.09970842e+01] [ 8.59944693e-03 3.47782577e-04 9.99962964e-01 -2.34134127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.474012739 meters Centerline goodness [0,1] 0.9853940433098368 Centerline is valid? [True, True] Translation: X:377.31, Y:31.01, Z:-0.23 [[ 8.88674624e-01 -4.58487378e-01 -6.83649858e-03 3.77309406e+02] [ 4.58471124e-01 8.88700867e-01 -3.87270407e-03 3.10097218e+01] [ 7.85118815e-03 3.07236639e-04 9.99969132e-01 -2.32186346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.504012739 meters Centerline goodness [0,1] 0.9905239450983725 Centerline is valid? [True, True] Translation: X:377.34, Y:31.02, Z:-0.23 [[ 8.85926516e-01 -4.63775701e-01 -6.80489041e-03 3.77336350e+02] [ 4.63759750e-01 8.85952613e-01 -3.85519201e-03 3.10222969e+01] [ 7.81675481e-03 2.59582553e-04 9.99969415e-01 -2.31759539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.534012739 meters Centerline goodness [0,1] 0.9926064815801249 Centerline is valid? [True, True] Translation: X:377.36, Y:31.03, Z:-0.23 [[ 8.82866665e-01 -4.69542599e-01 -8.72918547e-03 3.77363757e+02] [ 4.69516616e-01 8.82909777e-01 -4.94695373e-03 3.10320200e+01] [ 1.00298887e-02 2.69002920e-04 9.99949663e-01 -2.34834160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.564012739 meters Centerline goodness [0,1] 0.9939079132999872 Centerline is valid? [True, True] Translation: X:377.39, Y:31.05, Z:-0.24 [[ 8.81616503e-01 -4.71870997e-01 -9.49236509e-03 3.77389474e+02] [ 4.71840399e-01 8.81667564e-01 -5.38003513e-03 3.10451188e+01] [ 1.09077929e-02 2.64246416e-04 9.99940473e-01 -2.36710769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.594012739 meters Centerline goodness [0,1] 0.9947093333333333 Centerline is valid? [True, True] Translation: X:377.41, Y:31.06, Z:-0.24 [[ 8.80594759e-01 -4.73763165e-01 -1.00665198e-02 3.77414325e+02] [ 4.73728865e-01 8.80652257e-01 -5.70657047e-03 3.10592691e+01] [ 1.15686663e-02 2.56375031e-04 9.99933048e-01 -2.37886819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.624012739 meters Centerline goodness [0,1] 0.9957626211826139 Centerline is valid? [True, True] Translation: X:377.44, Y:31.07, Z:-0.24 [[ 8.79332546e-01 -4.76096734e-01 -1.03040671e-02 3.77439611e+02] [ 4.76060935e-01 8.79392885e-01 -5.84296933e-03 3.10730176e+01] [ 1.18431419e-02 2.32549281e-04 9.99929840e-01 -2.38096902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.654012739 meters Centerline goodness [0,1] 0.9951836629848446 Centerline is valid? [True, True] Translation: X:377.47, Y:31.08, Z:-0.24 [[ 8.78230107e-01 -4.78130658e-01 -1.01465634e-02 3.77466954e+02] [ 4.78096068e-01 8.78288695e-01 -5.75478305e-03 3.10828909e+01] [ 1.16631502e-02 2.02991650e-04 9.99931963e-01 -2.36862883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.684012739 meters Centerline goodness [0,1] 0.9951248845649979 Centerline is valid? [True, True] Translation: X:377.49, Y:31.10, Z:-0.24 [[ 8.77770556e-01 -4.78980100e-01 -9.84453032e-03 3.77490878e+02] [ 4.78947572e-01 8.77825739e-01 -5.58528950e-03 3.10977417e+01] [ 1.13170246e-02 1.87588780e-04 9.99935943e-01 -2.35694932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.714012739 meters Centerline goodness [0,1] 0.9960805311629899 Centerline is valid? [True, True] Translation: X:377.52, Y:31.11, Z:-0.23 [[ 8.77260570e-01 -4.79934773e-01 -8.74678824e-03 3.77515267e+02] [ 4.79909131e-01 8.77304160e-01 -4.96359332e-03 3.11129795e+01] [ 1.00557947e-02 1.56701160e-04 9.99949427e-01 -2.33420959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.744012739 meters Centerline goodness [0,1] 0.9957308962972498 Centerline is valid? [True, True] Translation: X:377.54, Y:31.13, Z:-0.23 [[ 8.77401114e-01 -4.79685234e-01 -8.32838788e-03 3.77538038e+02] [ 4.79661960e-01 8.77440627e-01 -4.72771091e-03 3.11289989e+01] [ 9.57547899e-03 1.53287967e-04 9.99954142e-01 -2.32627820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.774012739 meters Centerline goodness [0,1] 0.9950554134697357 Centerline is valid? [True, True] Translation: X:377.56, Y:31.14, Z:-0.23 [[ 8.77626749e-01 -4.79277060e-01 -8.04923751e-03 3.77563459e+02] [ 4.79255296e-01 8.77663647e-01 -4.57000323e-03 3.11432707e+01] [ 9.25482086e-03 1.53117373e-04 9.99957162e-01 -2.31947844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80401273900003 meters Centerline goodness [0,1] 0.994504907096581 Centerline is valid? [True, True] Translation: X:377.59, Y:31.16, Z:-0.23 [[ 8.78526899e-01 -4.77632874e-01 -7.57133462e-03 3.77586051e+02] [ 4.77613543e-01 8.78559509e-01 -4.30018832e-03 3.11612266e+01] [ 8.70577933e-03 1.61659153e-04 9.99962091e-01 -2.30311408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.834012739 meters Centerline goodness [0,1] 0.9940906666666667 Centerline is valid? [True, True] Translation: X:377.61, Y:31.18, Z:-0.23 [[ 8.79175142e-01 -4.76452064e-01 -6.67081875e-03 3.77607235e+02] [ 4.76437014e-01 8.79200436e-01 -3.78999353e-03 3.11796997e+01] [ 7.67073699e-03 1.53843131e-04 9.99970568e-01 -2.29102667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.864012739 meters Centerline goodness [0,1] 0.9940290758047767 Centerline is valid? [True, True] Translation: X:377.63, Y:31.19, Z:-0.23 [[ 8.79094306e-01 -4.76610366e-01 -5.98003972e-03 3.77633457e+02] [ 4.76598273e-01 8.79114634e-01 -3.39798638e-03 3.11909195e+01] [ 6.87665596e-03 1.37073881e-04 9.99976346e-01 -2.27619055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.894012739 meters Centerline goodness [0,1] 0.9935677437458179 Centerline is valid? [True, True] Translation: X:377.66, Y:31.20, Z:-0.23 [[ 8.79045228e-01 -4.76706978e-01 -5.47208349e-03 3.77656376e+02] [ 4.76696844e-01 8.79062251e-01 -3.11079205e-03 3.12047882e+01] [ 6.29323831e-03 1.26001978e-04 9.99980189e-01 -2.25880295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.924012739 meters Centerline goodness [0,1] 0.9932807167235495 Centerline is valid? [True, True] Translation: X:377.68, Y:31.22, Z:-0.23 [[ 8.79153537e-01 -4.76504934e-01 -5.66625181e-03 3.77677317e+02] [ 4.76494060e-01 8.79171787e-01 -3.22181084e-03 3.12242336e+01] [ 6.51681749e-03 1.32531065e-04 9.99978757e-01 -2.25985587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.954012739 meters Centerline goodness [0,1] 0.9943387291200275 Centerline is valid? [True, True] Translation: X:377.70, Y:31.24, Z:-0.23 [[ 8.79137944e-01 -4.76531256e-01 -5.86828620e-03 3.77702660e+02] [ 4.76519590e-01 8.79157519e-01 -3.33725432e-03 3.12370360e+01] [ 6.74945393e-03 1.37553561e-04 9.99977213e-01 -2.26773244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.984012739 meters Centerline goodness [0,1] 0.9935058021931226 Centerline is valid? [True, True] Translation: X:377.73, Y:31.25, Z:-0.23 [[ 8.78959252e-01 -4.76845730e-01 -6.98446182e-03 3.77725755e+02] [ 4.76829197e-01 8.78986987e-01 -3.97411208e-03 3.12531055e+01] [ 8.03428942e-03 1.62687259e-04 9.99967711e-01 -2.28969465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.014012739 meters Centerline goodness [0,1] 0.9935058021931226 Centerline is valid? [True, True] Translation: X:377.75, Y:31.27, Z:-0.23 [[ 8.78871135e-01 -4.77008123e-01 -6.98422249e-03 3.77749537e+02] [ 4.76991592e-01 8.78898870e-01 -3.97453263e-03 3.12668661e+01] [ 8.03430961e-03 1.61686600e-04 9.99967711e-01 -2.28749965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.044012739 meters Centerline goodness [0,1] 0.993264777121489 Centerline is valid? [True, True] Translation: X:377.77, Y:31.28, Z:-0.23 [[ 8.78328652e-01 -4.77996058e-01 -7.65170534e-03 3.77772906e+02] [ 4.77976236e-01 8.78361964e-01 -4.35629362e-03 3.12814174e+01] [ 8.80325811e-03 1.68924178e-04 9.99961236e-01 -2.29677415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.074012739 meters Centerline goodness [0,1] 0.9947641750383109 Centerline is valid? [True, True] Translation: X:377.80, Y:31.29, Z:-0.23 [[ 8.76984561e-01 -4.80448892e-01 -8.18183855e-03 3.77800587e+02] [ 4.80426328e-01 8.77022712e-01 -4.65893839e-03 3.12915904e+01] [ 9.41404002e-03 1.55046390e-04 9.99955675e-01 -2.29518795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.104012739 meters Centerline goodness [0,1] 0.9950878237570706 Centerline is valid? [True, True] Translation: X:377.83, Y:31.30, Z:-0.23 [[ 8.76446987e-01 -4.81430474e-01 -8.08565972e-03 3.77826185e+02] [ 4.81408463e-01 8.76484271e-01 -4.60587909e-03 3.13042675e+01] [ 9.30436412e-03 1.44303838e-04 9.99956703e-01 -2.29804082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.134012739 meters Centerline goodness [0,1] 0.9947037970358348 Centerline is valid? [True, True] Translation: X:377.85, Y:31.32, Z:-0.23 [[ 8.76216565e-01 -4.81837852e-01 -8.76447906e-03 3.77851689e+02] [ 4.81811992e-01 8.76260384e-01 -4.99433104e-03 3.13160019e+01] [ 1.00864235e-02 1.53284473e-04 9.99949119e-01 -2.32234026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.164012739 meters Centerline goodness [0,1] 0.9946414901760653 Centerline is valid? [True, True] Translation: X:377.88, Y:31.33, Z:-0.23 [[ 8.76367300e-01 -4.81548852e-01 -9.54246176e-03 3.77875671e+02] [ 4.81518172e-01 8.76419234e-01 -5.43843384e-03 3.13301867e+01] [ 1.09820686e-02 1.71196842e-04 9.99939681e-01 -2.33253422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.194012739 meters Centerline goodness [0,1] 0.9952196188557096 Centerline is valid? [True, True] Translation: X:377.90, Y:31.35, Z:-0.23 [[ 8.77436756e-01 -4.79583601e-01 -1.02131911e-02 3.77899660e+02] [ 4.79548308e-01 8.77496168e-01 -5.82195389e-03 3.13455578e+01] [ 1.17541496e-02 2.10677837e-04 9.99930895e-01 -2.33263674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.224012739 meters Centerline goodness [0,1] 0.9949814485169537 Centerline is valid? [True, True] Translation: X:377.92, Y:31.36, Z:-0.23 [[ 8.78008535e-01 -4.78549227e-01 -9.57337870e-03 3.77924758e+02] [ 4.78518134e-01 8.78060700e-01 -5.45920857e-03 3.13595736e+01] [ 1.10185076e-02 2.12196416e-04 9.99939272e-01 -2.31918903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.254012739 meters Centerline goodness [0,1] 0.993399409979413 Centerline is valid? [True, True] Translation: X:377.95, Y:31.37, Z:-0.23 [[ 8.78478257e-01 -4.77729075e-01 -7.13327879e-03 3.77948735e+02] [ 4.77711776e-01 8.78507202e-01 -4.06890065e-03 3.13735402e+01] [ 8.21046893e-03 1.66789479e-04 9.99966280e-01 -2.27995153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.284012739 meters Centerline goodness [0,1] 0.993430950816893 Centerline is valid? [True, True] Translation: X:377.97, Y:31.39, Z:-0.23 [[ 8.78365500e-01 -4.77945188e-01 -6.51506847e-03 3.77974120e+02] [ 4.77930761e-01 8.78389648e-01 -3.71665876e-03 3.13851797e+01] [ 7.49912788e-03 1.50833201e-04 9.99971870e-01 -2.26818086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.314012739 meters Centerline goodness [0,1] 0.9933340477976637 Centerline is valid? [True, True] Translation: X:378.00, Y:31.40, Z:-0.23 [[ 8.78748650e-01 -4.77236565e-01 -6.78764740e-03 3.77999097e+02] [ 4.77220870e-01 8.78774848e-01 -3.87390280e-03 3.13998530e+01] [ 7.81358188e-03 1.64979855e-04 9.99969460e-01 -2.27501986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.344012739 meters Centerline goodness [0,1] 0.9926889398962849 Centerline is valid? [True, True] Translation: X:378.02, Y:31.41, Z:-0.23 [[ 8.79185422e-01 -4.76425730e-01 -7.17750967e-03 3.78023080e+02] [ 4.76408141e-01 8.79214701e-01 -4.09801464e-03 3.14148543e+01] [ 8.26297163e-03 1.83490691e-04 9.99965844e-01 -2.27942202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.374012739 meters Centerline goodness [0,1] 0.9924722493939523 Centerline is valid? [True, True] Translation: X:378.05, Y:31.43, Z:-0.23 [[ 8.80025983e-01 -4.74862950e-01 -7.71021215e-03 3.78047735e+02] [ 4.74842583e-01 8.80059733e-01 -4.40318043e-03 3.14298387e+01] [ 8.87635449e-03 2.13776134e-04 9.99960582e-01 -2.28095205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.404012739 meters Centerline goodness [0,1] 0.9925614005087318 Centerline is valid? [True, True] Translation: X:378.07, Y:31.45, Z:-0.23 [[ 8.80296991e-01 -4.74356723e-01 -7.93140614e-03 3.78071722e+02] [ 4.74335135e-01 8.80332692e-01 -4.53125388e-03 3.14458740e+01] [ 9.13170686e-03 2.26704559e-04 9.99958279e-01 -2.28839463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.434012739 meters Centerline goodness [0,1] 0.9936793800597429 Centerline is valid? [True, True] Translation: X:378.10, Y:31.46, Z:-0.23 [[ 8.80753650e-01 -4.73506153e-01 -8.05796775e-03 3.78096041e+02] [ 4.73483818e-01 8.80790478e-01 -4.60533859e-03 3.14607909e+01] [ 9.27803743e-03 2.40851444e-04 9.99956929e-01 -2.29463952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.464012739 meters Centerline goodness [0,1] 0.9920020420318216 Centerline is valid? [True, True] Translation: X:378.12, Y:31.48, Z:-0.23 [[ 8.80798770e-01 -4.73420040e-01 -8.18492779e-03 3.78119276e+02] [ 4.73396975e-01 8.80836764e-01 -4.67963525e-03 3.14763143e+01] [ 9.42501842e-03 2.47096911e-04 9.99955553e-01 -2.29573953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.494012739 meters Centerline goodness [0,1] 0.9913778384838655 Centerline is valid? [True, True] Translation: X:378.14, Y:31.49, Z:-0.23 [[ 8.80987929e-01 -4.73066722e-01 -8.25503514e-03 3.78142208e+02] [ 4.73043236e-01 8.81026567e-01 -4.72066421e-03 3.14924215e+01] [ 9.50609442e-03 2.53859648e-04 9.99954784e-01 -2.28950666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.524012739 meters Centerline goodness [0,1] 0.9919716245778731 Centerline is valid? [True, True] Translation: X:378.17, Y:31.51, Z:-0.23 [[ 8.81521323e-01 -4.72066571e-01 -8.56206367e-03 3.78165331e+02] [ 4.72041250e-01 8.81562860e-01 -4.89714124e-03 3.15101720e+01] [ 9.85977401e-03 2.75287193e-04 9.99951353e-01 -2.28933370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55401273900003 meters Centerline goodness [0,1] 0.9910731446876668 Centerline is valid? [True, True] Translation: X:378.19, Y:31.53, Z:-0.23 [[ 8.81719667e-01 -4.71692941e-01 -8.72918797e-03 3.78186726e+02] [ 4.71666586e-01 8.81762830e-01 -4.99437288e-03 3.15282190e+01] [ 1.00528839e-02 2.86370500e-04 9.99949427e-01 -2.29873019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.584012739 meters Centerline goodness [0,1] 0.9915878248212681 Centerline is valid? [True, True] Translation: X:378.21, Y:31.54, Z:-0.23 [[ 8.81567171e-01 -4.71962241e-01 -9.53760022e-03 3.78212578e+02] [ 4.71930781e-01 8.81618708e-01 -5.45812405e-03 3.15399955e+01] [ 1.09845552e-02 3.10615863e-04 9.99939620e-01 -2.31385463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.614012739 meters Centerline goodness [0,1] 0.9920938481591487 Centerline is valid? [True, True] Translation: X:378.23, Y:31.56, Z:-0.23 [[ 8.81066914e-01 -4.72899531e-01 -9.33421354e-03 3.78233104e+02] [ 4.72869431e-01 8.81116307e-01 -5.34360949e-03 3.15594419e+01] [ 1.07515182e-02 2.94213274e-04 9.99942157e-01 -2.29942141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.644012739 meters Centerline goodness [0,1] 0.9932883055095365 Centerline is valid? [True, True] Translation: X:378.26, Y:31.57, Z:-0.23 [[ 8.80801347e-01 -4.73392772e-01 -9.39529185e-03 3.78259938e+02] [ 4.73362294e-01 8.80851406e-01 -5.37960717e-03 3.15715482e+01] [ 1.08225232e-02 2.90988343e-04 9.99941392e-01 -2.29130348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.674012739 meters Centerline goodness [0,1] 0.9924537125608486 Centerline is valid? [True, True] Translation: X:378.28, Y:31.59, Z:-0.23 [[ 8.80328448e-01 -4.74278482e-01 -9.04132566e-03 3.78284436e+02] [ 4.74250285e-01 8.80374834e-01 -5.17871679e-03 3.15874000e+01] [ 1.04159095e-02 2.71120437e-04 9.99945716e-01 -2.28109928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.704012739 meters Centerline goodness [0,1] 0.9924490577274855 Centerline is valid? [True, True] Translation: X:378.31, Y:31.60, Z:-0.23 [[ 8.79995017e-01 -4.74909330e-01 -8.36053584e-03 3.78308543e+02] [ 4.74885232e-01 8.80034697e-01 -4.79045275e-03 3.16037521e+01] [ 9.63259233e-03 2.45279551e-04 9.99953575e-01 -2.26923664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.734012739 meters Centerline goodness [0,1] 0.9931598798184491 Centerline is valid? [True, True] Translation: X:378.33, Y:31.62, Z:-0.23 [[ 8.79717231e-01 -4.75432902e-01 -7.81983602e-03 3.78332055e+02] [ 4.75411826e-01 8.79751957e-01 -4.48221858e-03 3.16209515e+01] [ 9.01051022e-03 2.25442391e-04 9.99959379e-01 -2.25935418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.764012739 meters Centerline goodness [0,1] 0.9929919022284897 Centerline is valid? [True, True] Translation: X:378.35, Y:31.64, Z:-0.23 [[ 8.79542462e-01 -4.75756159e-01 -7.81890033e-03 3.78353973e+02] [ 4.75735086e-01 8.79577186e-01 -4.48337914e-03 3.16397518e+01] [ 9.01032159e-03 2.23597107e-04 9.99959381e-01 -2.25525406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.794012739 meters Centerline goodness [0,1] 0.9926629910110913 Centerline is valid? [True, True] Translation: X:378.38, Y:31.66, Z:-0.23 [[ 8.79971688e-01 -4.74948760e-01 -8.57338965e-03 3.78375522e+02] [ 4.74923366e-01 8.80013415e-01 -4.91797980e-03 3.16588056e+01] [ 9.88048631e-03 2.55979918e-04 9.99951154e-01 -2.26701798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.824012739 meters Centerline goodness [0,1] 0.9923305983418668 Centerline is valid? [True, True] Translation: X:378.40, Y:31.68, Z:-0.23 [[ 8.80167431e-01 -4.74578041e-01 -8.99866395e-03 3.78397038e+02] [ 4.74550039e-01 8.80213388e-01 -5.16263563e-03 3.16767084e+01] [ 1.03708180e-02 2.73667409e-04 9.99946184e-01 -2.27008249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.854012739 meters Centerline goodness [0,1] 0.9926161927109121 Centerline is valid? [True, True] Translation: X:378.42, Y:31.69, Z:-0.23 [[ 8.80322128e-01 -4.74289805e-01 -9.06264348e-03 3.78419841e+02] [ 4.74261377e-01 8.80368731e-01 -5.20031441e-03 3.16940648e+01] [ 1.04449240e-02 2.79890070e-04 9.99945411e-01 -2.27416516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.884012739 meters Centerline goodness [0,1] 0.9924028605988583 Centerline is valid? [True, True] Translation: X:378.44, Y:31.71, Z:-0.23 [[ 8.79570848e-01 -4.75698922e-01 -8.10303147e-03 3.78443535e+02] [ 4.75676241e-01 8.79608140e-01 -4.65122392e-03 3.17102357e+01] [ 9.34007464e-03 2.36661418e-04 9.99956353e-01 -2.26277861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.914012739 meters Centerline goodness [0,1] 0.9936691381105139 Centerline is valid? [True, True] Translation: X:378.47, Y:31.72, Z:-0.23 [[ 8.76488786e-01 -4.81362008e-01 -7.61741419e-03 3.78471348e+02] [ 4.81342166e-01 8.76521870e-01 -4.37387843e-03 3.17181861e+01] [ 8.78224903e-03 1.67072751e-04 9.99961421e-01 -2.25669648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.944012739 meters Centerline goodness [0,1] 0.9947662838496419 Centerline is valid? [True, True] Translation: X:378.50, Y:31.73, Z:-0.23 [[ 8.74154734e-01 -4.85584518e-01 -7.82156978e-03 3.78498204e+02] [ 4.85563761e-01 8.74189716e-01 -4.49154554e-03 3.17277431e+01] [ 9.01856084e-03 1.28434957e-04 9.99959324e-01 -2.25675033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.974012739 meters Centerline goodness [0,1] 0.9945787358887684 Centerline is valid? [True, True] Translation: X:378.53, Y:31.73, Z:-0.23 [[ 8.69361714e-01 -4.94104045e-01 -8.45002096e-03 3.78531002e+02] [ 4.94080213e-01 8.69402778e-01 -4.85304539e-03 3.17291772e+01] [ 9.74438106e-03 4.40636992e-05 9.99952521e-01 -2.25672692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.004012739 meters Centerline goodness [0,1] 0.9935453635259783 Centerline is valid? [True, True] Translation: X:378.56, Y:31.74, Z:-0.22 [[ 8.67516882e-01 -4.97340030e-01 -8.20695805e-03 3.78558072e+02] [ 4.97317690e-01 8.67555701e-01 -4.71392743e-03 3.17381445e+01] [ 9.46441805e-03 7.94620422e-06 9.99955211e-01 -2.24191245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.034012739 meters Centerline goodness [0,1] 0.9932465436320004 Centerline is valid? [True, True] Translation: X:378.58, Y:31.75, Z:-0.22 [[ 8.65970640e-01 -5.00029548e-01 -8.08096119e-03 3.78583799e+02] [ 5.00007999e-01 8.66008344e-01 -4.64220381e-03 3.17469473e+01] [ 9.31941889e-03 -2.05330339e-05 9.99956573e-01 -2.22893279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.064012739 meters Centerline goodness [0,1] 0.9930524571355727 Centerline is valid? [True, True] Translation: X:378.61, Y:31.76, Z:-0.22 [[ 8.64198194e-01 -5.03103376e-01 -6.96232294e-03 3.78610070e+02] [ 5.03087475e-01 8.64226238e-01 -4.00022989e-03 3.17583709e+01] [ 8.02955133e-03 -4.56660194e-05 9.99967762e-01 -2.18789738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.094012739 meters Centerline goodness [0,1] 0.9927086664534698 Centerline is valid? [True, True] Translation: X:378.63, Y:31.77, Z:-0.22 [[ 8.64142066e-01 -5.03209212e-01 -6.24323346e-03 3.78632954e+02] [ 5.03196421e-01 8.64164618e-01 -3.58819982e-03 3.17741889e+01] [ 7.20079666e-03 -4.08583224e-05 9.99974073e-01 -2.17332507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.124012739 meters Centerline goodness [0,1] 0.9927357661730988 Centerline is valid? [True, True] Translation: X:378.65, Y:31.79, Z:-0.22 [[ 8.64606206e-01 -5.02403190e-01 -6.86608978e-03 3.78654922e+02] [ 5.02387679e-01 8.64633468e-01 -3.94799442e-03 3.17914373e+01] [ 7.92013601e-03 -3.59784234e-05 9.99968635e-01 -2.19870887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.154012739 meters Centerline goodness [0,1] 0.9927174098752777 Centerline is valid? [True, True] Translation: X:378.68, Y:31.80, Z:-0.22 [[ 8.64167571e-01 -5.03150124e-01 -7.37301877e-03 3.78680155e+02] [ 5.03132248e-01 8.64199023e-01 -4.24145882e-03 3.18045039e+01] [ 8.50584615e-03 -4.42723435e-05 9.99963824e-01 -2.21181069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.184012739 meters Centerline goodness [0,1] 0.9920504327385404 Centerline is valid? [True, True] Translation: X:378.71, Y:31.81, Z:-0.22 [[ 8.61983669e-01 -5.06888492e-01 -6.94340674e-03 3.78708768e+02] [ 5.06872746e-01 8.62011631e-01 -3.99595237e-03 3.18102302e+01] [ 8.01079964e-03 -7.49779618e-05 9.99967910e-01 -2.20762503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.214012739 meters Centerline goodness [0,1] 0.9915389019657739 Centerline is valid? [True, True] Translation: X:378.74, Y:31.82, Z:-0.22 [[ 8.60321791e-01 -5.09715053e-01 -6.08110174e-03 3.78736648e+02] [ 5.09703044e-01 8.60343278e-01 -3.49999029e-03 3.18187851e+01] [ 7.01583275e-03 -8.84381475e-05 9.99975385e-01 -2.18452679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.244012739 meters Centerline goodness [0,1] 0.9901605054213267 Centerline is valid? [True, True] Translation: X:378.77, Y:31.82, Z:-0.22 [[ 8.56303267e-01 -5.16442471e-01 -5.64706471e-03 3.78770034e+02] [ 5.16432254e-01 8.56321877e-01 -3.25125468e-03 3.18185029e+01] [ 6.51479105e-03 -1.32266349e-04 9.99978770e-01 -2.16920238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.274012739 meters Centerline goodness [0,1] 0.9899149608991069 Centerline is valid? [True, True] Translation: X:378.80, Y:31.83, Z:-0.22 [[ 8.53764663e-01 -5.20616856e-01 -6.63240388e-03 3.78798991e+02] [ 5.20602875e-01 8.53790403e-01 -3.82017145e-03 3.18273215e+01] [ 7.65152843e-03 -1.91321141e-04 9.99970708e-01 -2.18660551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30401273900003 meters Centerline goodness [0,1] 0.986396582141263 Centerline is valid? [True, True] Translation: X:378.84, Y:31.82, Z:-0.22 [[ 8.48590329e-01 -5.28995672e-01 -7.61791819e-03 3.78835039e+02] [ 5.28977558e-01 8.48624467e-01 -4.38831624e-03 3.18237080e+01] [ 8.78615206e-03 -3.05825044e-04 9.99961354e-01 -2.20772795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.334012739 meters Centerline goodness [0,1] 0.9790400779116296 Centerline is valid? [True, True] Translation: X:378.87, Y:31.82, Z:-0.22 [[ 8.46531907e-01 -5.32281026e-01 -7.78713978e-03 3.78867357e+02] [ 5.32262224e-01 8.46567652e-01 -4.48722666e-03 3.18238727e+01] [ 8.98080625e-03 -3.46219795e-04 9.99959612e-01 -2.21435723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.364012739 meters Centerline goodness [0,1] 0.9596076168493941 Centerline is valid? [True, True] Translation: X:378.90, Y:31.82, Z:-0.22 [[ 8.43577674e-01 -5.36950157e-01 -7.82546851e-03 3.78900611e+02] [ 5.36931364e-01 8.43613876e-01 -4.50989337e-03 3.18215065e+01] [ 9.02326177e-03 -3.97294127e-04 9.99959211e-01 -2.20837891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.394012739 meters Centerline goodness [0,1] 0.968470598349381 Centerline is valid? [True, True] Translation: X:378.93, Y:31.83, Z:-0.22 [[ 8.42953405e-01 -5.37926486e-01 -8.04070962e-03 3.78925854e+02] [ 5.37906683e-01 8.42991649e-01 -4.63461903e-03 3.18347459e+01] [ 9.27133539e-03 -4.18383557e-04 9.99956933e-01 -2.20131327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.424012739 meters Centerline goodness [0,1] 0.9619551254603066 Centerline is valid? [True, True] Translation: X:378.95, Y:31.84, Z:-0.22 [[ 8.43097378e-01 -5.37666260e-01 -1.00898216e-02 3.78954713e+02] [ 5.37635043e-01 8.43157591e-01 -5.81703861e-03 3.18415884e+01] [ 1.16349350e-02 -5.20311650e-04 9.99932176e-01 -2.24226786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.454012739 meters Centerline goodness [0,1] 0.9576803515918105 Centerline is valid? [True, True] Translation: X:378.98, Y:31.85, Z:-0.23 [[ 8.43746912e-01 -5.36624098e-01 -1.12127623e-02 3.78980993e+02] [ 5.36585429e-01 8.43821227e-01 -6.46639364e-03 3.18518832e+01] [ 1.29315895e-02 -5.60605182e-04 9.99916226e-01 -2.26990471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.484012739 meters Centerline goodness [0,1] 0.9727710015461261 Centerline is valid? [True, True] Translation: X:379.01, Y:31.86, Z:-0.23 [[ 8.45829918e-01 -5.33315808e-01 -1.20829800e-02 3.79007305e+02] [ 5.33270553e-01 8.45916041e-01 -6.96917925e-03 3.18613964e+01] [ 1.39379601e-02 -5.48757131e-04 9.99902711e-01 -2.29174983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.514012739 meters Centerline goodness [0,1] 0.9784904771086402 Centerline is valid? [True, True] Translation: X:379.03, Y:31.87, Z:-0.23 [[ 8.46899029e-01 -5.31634003e-01 -1.12836658e-02 3.79033151e+02] [ 5.31594371e-01 8.46974056e-01 -6.50945146e-03 3.18734742e+01] [ 1.30176179e-02 -4.85485099e-04 9.99915149e-01 -2.27024588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.544012739 meters Centerline goodness [0,1] 0.987220995304359 Centerline is valid? [True, True] Translation: X:379.06, Y:31.89, Z:-0.22 [[ 8.49002178e-01 -5.28305330e-01 -9.42232263e-03 3.79057432e+02] [ 5.28277476e-01 8.49054385e-01 -5.43693762e-03 3.18883231e+01] [ 1.08724275e-02 -3.61628935e-04 9.99940828e-01 -2.21878981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.574012739 meters Centerline goodness [0,1] 0.9874404596620886 Centerline is valid? [True, True] Translation: X:379.08, Y:31.90, Z:-0.22 [[ 8.50082204e-01 -5.26574565e-01 -8.91478057e-03 3.79084094e+02] [ 5.26549529e-01 8.50128887e-01 -5.14485706e-03 3.18986050e+01] [ 1.02878634e-02 -3.20522083e-04 9.99947027e-01 -2.21529813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.604012739 meters Centerline goodness [0,1] 0.988724786178217 Centerline is valid? [True, True] Translation: X:379.11, Y:31.91, Z:-0.22 [[ 8.51052404e-01 -5.25001665e-01 -9.11354259e-03 3.79109393e+02] [ 5.24975392e-01 8.51101144e-01 -5.26120762e-03 3.19106975e+01] [ 1.05186893e-02 -3.06822201e-04 9.99944630e-01 -2.21828259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.634012739 meters Centerline goodness [0,1] 0.9905158848296687 Centerline is valid? [True, True] Translation: X:379.13, Y:31.92, Z:-0.22 [[ 8.53477507e-01 -5.21054829e-01 -8.83234780e-03 3.79134853e+02] [ 5.21029924e-01 8.53523171e-01 -5.10047457e-03 3.19239164e+01] [ 1.01962404e-02 -2.48777186e-04 9.99947986e-01 -2.21419964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.664012739 meters Centerline goodness [0,1] 0.9922879726554155 Centerline is valid? [True, True] Translation: X:379.16, Y:31.94, Z:-0.22 [[ 8.56611717e-01 -5.15901371e-01 -7.88299970e-03 3.79157637e+02] [ 5.15881306e-01 8.56647972e-01 -4.55314417e-03 3.19428022e+01] [ 9.10192902e-03 -1.66415530e-04 9.99958563e-01 -2.18372188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.694012739 meters Centerline goodness [0,1] 0.9923738922972052 Centerline is valid? [True, True] Translation: X:379.18, Y:31.96, Z:-0.22 [[ 8.58202065e-01 -5.13248028e-01 -8.10420421e-03 3.79181248e+02] [ 5.13226686e-01 8.58240317e-01 -4.68258493e-03 3.19593198e+01] [ 9.35868228e-03 -1.40689816e-04 9.99956197e-01 -2.18591805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.724012739 meters Centerline goodness [0,1] 0.9926791043173963 Centerline is valid? [True, True] Translation: X:379.20, Y:31.98, Z:-0.22 [[ 8.60244822e-01 -5.09815893e-01 -8.16099812e-03 3.79203551e+02] [ 5.09794082e-01 8.60283526e-01 -4.71685637e-03 3.19756290e+01] [ 9.42550058e-03 -1.02777279e-04 9.99955574e-01 -2.18971505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.754012739 meters Centerline goodness [0,1] 0.993596217900505 Centerline is valid? [True, True] Translation: X:379.22, Y:32.00, Z:-0.22 [[ 8.64266294e-01 -5.02969000e-01 -8.12140851e-03 3.79222397e+02] [ 5.02947091e-01 8.64304451e-01 -4.69462181e-03 3.19996615e+01] [ 9.38061876e-03 -2.72353902e-05 9.99956001e-01 -2.18743518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.784012739 meters Centerline goodness [0,1] 0.9939968809416992 Centerline is valid? [True, True] Translation: X:379.24, Y:32.02, Z:-0.22 [[ 8.65831596e-01 -5.00270592e-01 -8.06107848e-03 3.79243643e+02] [ 5.00248881e-01 8.65869121e-01 -4.66073794e-03 3.20188034e+01] [ 9.31146907e-03 2.86867512e-06 9.99956647e-01 -2.18166228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.814012739 meters Centerline goodness [0,1] 0.9953931862009856 Centerline is valid? [True, True] Translation: X:379.26, Y:32.04, Z:-0.22 [[ 8.68411961e-01 -4.95770476e-01 -8.50294146e-03 3.79262669e+02] [ 4.95746082e-01 8.68453586e-01 -4.91833488e-03 3.20436111e+01] [ 9.82277523e-03 5.58409220e-05 9.99951754e-01 -2.18458413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.844012739 meters Centerline goodness [0,1] 0.9959243769204507 Centerline is valid? [True, True] Translation: X:379.28, Y:32.07, Z:-0.22 [[ 8.70670505e-01 -4.91794280e-01 -8.44137957e-03 3.79279963e+02] [ 4.91770035e-01 8.70711419e-01 -4.88440970e-03 3.20684941e+01] [ 9.75213033e-03 1.01493936e-04 9.99952442e-01 -2.18082820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.874012739 meters Centerline goodness [0,1] 0.9958833692383167 Centerline is valid? [True, True] Translation: X:379.30, Y:32.09, Z:-0.22 [[ 8.71365255e-01 -4.90572359e-01 -7.83282797e-03 3.79301359e+02] [ 4.90551428e-01 8.71400453e-01 -4.53297081e-03 3.20872708e+01] [ 9.04928003e-03 1.07468323e-04 9.99959049e-01 -2.16567870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.904012739 meters Centerline goodness [0,1] 0.9958716779908833 Centerline is valid? [True, True] Translation: X:379.32, Y:32.10, Z:-0.21 [[ 8.71561363e-01 -4.90228041e-01 -7.56697065e-03 3.79324558e+02] [ 4.90208487e-01 8.71594204e-01 -4.37977612e-03 3.21045938e+01] [ 8.74241683e-03 1.07850409e-04 9.99961779e-01 -2.14407060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.934012739 meters Centerline goodness [0,1] 0.9960639135337546 Centerline is valid? [True, True] Translation: X:379.35, Y:32.12, Z:-0.21 [[ 8.70539445e-01 -4.92041456e-01 -7.50203177e-03 3.79346602e+02] [ 4.92022291e-01 8.70571765e-01 -4.34374963e-03 3.21223643e+01] [ 8.66836192e-03 9.02385342e-05 9.99962425e-01 -2.14546168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.964012739 meters Centerline goodness [0,1] 0.9960639135337546 Centerline is valid? [True, True] Translation: X:379.37, Y:32.14, Z:-0.21 [[ 8.70447747e-01 -4.92203660e-01 -7.50173327e-03 3.79370288e+02] [ 4.92184496e-01 8.70480068e-01 -4.34426507e-03 3.21363051e+01] [ 8.66837245e-03 8.92189307e-05 9.99962425e-01 -2.14326638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.994012739 meters Centerline goodness [0,1] 0.9953046587262271 Centerline is valid? [True, True] Translation: X:379.40, Y:32.15, Z:-0.21 [[ 8.68835464e-01 -4.95044222e-01 -7.49363090e-03 3.79396250e+02] [ 4.95025189e-01 8.68867777e-01 -4.34142092e-03 3.21494815e+01] [ 8.66016976e-03 6.24444060e-05 9.99962498e-01 -2.14313423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.024012739 meters Centerline goodness [0,1] 0.9948451393960221 Centerline is valid? [True, True] Translation: X:379.42, Y:32.16, Z:-0.22 [[ 8.65096231e-01 -5.01543790e-01 -7.89545575e-03 3.79422875e+02] [ 5.01522915e-01 8.65132260e-01 -4.57595511e-03 3.21591210e+01] [ 9.12565535e-03 -1.11046210e-06 9.99958360e-01 -2.16007149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05401273900003 meters Centerline goodness [0,1] 0.994138634046891 Centerline is valid? [True, True] Translation: X:379.45, Y:32.17, Z:-0.22 [[ 8.63299899e-01 -5.04618863e-01 -8.54918190e-03 3.79448133e+02] [ 5.04594528e-01 8.63342228e-01 -4.95583755e-03 3.21708577e+01] [ 9.88167885e-03 -3.54963500e-05 9.99951174e-01 -2.16753794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.084012739 meters Centerline goodness [0,1] 0.993724519199983 Centerline is valid? [True, True] Translation: X:379.47, Y:32.18, Z:-0.22 [[ 8.60492080e-01 -5.09366636e-01 -9.95041298e-03 3.79473448e+02] [ 5.09333977e-01 8.60549603e-01 -5.76896633e-03 3.21824029e+01] [ 1.15013429e-02 -1.03933573e-04 9.99933852e-01 -2.19172112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.114012739 meters Centerline goodness [0,1] 0.9932923301116516 Centerline is valid? [True, True] Translation: X:379.50, Y:32.19, Z:-0.22 [[ 8.59385362e-01 -5.11225354e-01 -1.02682841e-02 3.79498913e+02] [ 5.11190697e-01 8.59446694e-01 -5.95405838e-03 3.21947632e+01] [ 1.18689084e-02 -1.32220702e-04 9.99929553e-01 -2.19693687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.144012739 meters Centerline goodness [0,1] 0.9926402348218333 Centerline is valid? [True, True] Translation: X:379.53, Y:32.21, Z:-0.22 [[ 8.56845177e-01 -5.15502184e-01 -8.59311430e-03 3.79525503e+02] [ 5.15478121e-01 8.56888250e-01 -4.98332468e-03 3.22057867e+01] [ 9.93225343e-03 -1.59624706e-04 9.99950661e-01 -2.15203351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.174012739 meters Centerline goodness [0,1] 0.9905866389636823 Centerline is valid? [True, True] Translation: X:379.55, Y:32.21, Z:-0.21 [[ 8.54178505e-01 -5.19943337e-01 -6.16506769e-03 3.79554553e+02] [ 5.19931063e-01 8.54200740e-01 -3.57571076e-03 3.22118221e+01] [ 7.12537237e-03 -1.51114932e-04 9.99974603e-01 -2.10292781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.204012739 meters Centerline goodness [0,1] 0.9900187281859198 Centerline is valid? [True, True] Translation: X:379.58, Y:32.22, Z:-0.21 [[ 8.53037453e-01 -5.21818863e-01 -5.67256107e-03 3.79580416e+02] [ 5.21808512e-01 8.53056300e-01 -3.29025463e-03 3.22246139e+01] [ 6.55593089e-03 -1.53280223e-04 9.99978498e-01 -2.08817008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.234012739 meters Centerline goodness [0,1] 0.9892694306012088 Centerline is valid? [True, True] Translation: X:379.61, Y:32.24, Z:-0.21 [[ 8.52142711e-01 -5.23277504e-01 -5.78404326e-03 3.79606397e+02] [ 5.23266766e-01 8.52162324e-01 -3.35632242e-03 3.22352836e+01] [ 6.68523176e-03 -1.66531930e-04 9.99977640e-01 -2.08836959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.264012739 meters Centerline goodness [0,1] 0.9892289280218841 Centerline is valid? [True, True] Translation: X:379.64, Y:32.24, Z:-0.21 [[ 8.50543923e-01 -5.25856351e-01 -7.08054518e-03 3.79635037e+02] [ 5.25840344e-01 8.50573363e-01 -4.10931697e-03 3.22444518e+01] [ 8.18343356e-03 -2.28081736e-04 9.99966489e-01 -2.12266780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.294012739 meters Centerline goodness [0,1] 0.9891239823609227 Centerline is valid? [True, True] Translation: X:379.66, Y:32.25, Z:-0.21 [[ 8.49772938e-01 -5.27087138e-01 -8.06864877e-03 3.79662413e+02] [ 5.27066391e-01 8.49811200e-01 -4.68445853e-03 3.22533071e+01] [ 9.32594593e-03 -2.71987506e-04 9.99956475e-01 -2.14078452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.324012739 meters Centerline goodness [0,1] 0.9874536212923842 Centerline is valid? [True, True] Translation: X:379.69, Y:32.26, Z:-0.21 [[ 8.48459527e-01 -5.29204137e-01 -7.70794695e-03 3.79691867e+02] [ 5.29185285e-01 8.48494491e-01 -4.47571279e-03 3.22610604e+01] [ 8.90871625e-03 -2.81470951e-04 9.99960277e-01 -2.12926490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.354012739 meters Centerline goodness [0,1] 0.9853153689221353 Centerline is valid? [True, True] Translation: X:379.72, Y:32.27, Z:-0.21 [[ 8.48089005e-01 -5.29805676e-01 -7.14038732e-03 3.79719898e+02] [ 5.29789509e-01 8.48119022e-01 -4.14749163e-03 3.22673887e+01] [ 8.25326291e-03 -2.65460242e-04 9.99965906e-01 -2.11313583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.384012739 meters Centerline goodness [0,1] 0.9862151377419286 Centerline is valid? [True, True] Translation: X:379.75, Y:32.28, Z:-0.21 [[ 8.48831695e-01 -5.28620990e-01 -6.67845699e-03 3.79746959e+02] [ 5.28606806e-01 8.48857934e-01 -3.87963243e-03 3.22776907e+01] [ 7.71991634e-03 -2.37122847e-04 9.99970173e-01 -2.09306721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.414012739 meters Centerline goodness [0,1] 0.9879711986446421 Centerline is valid? [True, True] Translation: X:379.77, Y:32.29, Z:-0.21 [[ 8.49987786e-01 -5.26750989e-01 -7.35933478e-03 3.79772006e+02] [ 5.26733681e-01 8.50019610e-01 -4.27687039e-03 3.22924227e+01] [ 8.50842459e-03 -2.41121913e-04 9.99963774e-01 -2.10522866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.444012739 meters Centerline goodness [0,1] 0.9913050890802149 Centerline is valid? [True, True] Translation: X:379.79, Y:32.31, Z:-0.22 [[ 8.52766106e-01 -5.22202996e-01 -9.69530861e-03 3.79794679e+02] [ 5.22172634e-01 8.52821180e-01 -5.63691513e-03 3.23121827e+01] [ 1.12119785e-02 -2.55654672e-04 9.99937111e-01 -2.15312969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.474012739 meters Centerline goodness [0,1] 0.9917944151135424 Centerline is valid? [True, True] Translation: X:379.82, Y:32.32, Z:-0.22 [[ 8.54449576e-01 -5.19426474e-01 -1.05858299e-02 3.79819264e+02] [ 5.19390042e-01 8.54515115e-01 -6.15651991e-03 3.23249768e+01] [ 1.22436111e-02 -2.37738790e-04 9.99925016e-01 -2.17288381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.504012739 meters Centerline goodness [0,1] 0.9937566362284986 Centerline is valid? [True, True] Translation: X:379.84, Y:32.35, Z:-0.22 [[ 8.58161854e-01 -5.13262118e-01 -1.09649606e-02 3.79839442e+02] [ 5.13222507e-01 8.58231889e-01 -6.37833764e-03 3.23487053e+01] [ 1.26842379e-02 -1.53818502e-04 9.99919540e-01 -2.15995260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.534012739 meters Centerline goodness [0,1] 0.9948566285199949 Centerline is valid? [True, True] Translation: X:379.86, Y:32.37, Z:-0.21 [[ 8.60077339e-01 -5.10062260e-01 -1.01716726e-02 3.79861510e+02] [ 5.10027932e-01 8.60137478e-01 -5.91834623e-03 3.23665229e+01] [ 1.17677619e-02 -9.76016584e-05 9.99930753e-01 -2.14472055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.564012739 meters Centerline goodness [0,1] 0.9952893818384257 Centerline is valid? [True, True] Translation: X:379.88, Y:32.39, Z:-0.21 [[ 8.63965615e-01 -5.03475881e-01 -8.68643893e-03 3.79880885e+02] [ 5.03450504e-01 8.64009281e-01 -5.05498565e-03 3.23913521e+01] [ 1.00502272e-02 -5.85827345e-06 9.99949495e-01 -2.12630719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.594012739 meters Centerline goodness [0,1] 0.996031746031746 Centerline is valid? [True, True] Translation: X:379.90, Y:32.41, Z:-0.21 [[ 8.65971836e-01 -5.00013005e-01 -8.93165815e-03 3.79901310e+02] [ 4.99985973e-01 8.66017894e-01 -5.19935375e-03 3.24106525e+01] [ 1.03347203e-02 3.67901197e-05 9.99946595e-01 -2.12713093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.624012739 meters Centerline goodness [0,1] 0.9969079470056473 Centerline is valid? [True, True] Translation: X:379.92, Y:32.44, Z:-0.21 [[ 8.69690393e-01 -4.93520581e-01 -8.72106468e-03 3.79920306e+02] [ 4.93494469e-01 8.69734111e-01 -5.07794726e-03 3.24357480e+01] [ 1.00910789e-02 1.12444762e-04 9.99949077e-01 -2.10966045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.654012739 meters Centerline goodness [0,1] 0.9970307529162248 Centerline is valid? [True, True] Translation: X:379.94, Y:32.46, Z:-0.21 [[ 8.71393727e-01 -4.90521934e-01 -7.82341410e-03 3.79940209e+02] [ 4.90500787e-01 8.71428835e-01 -4.55672521e-03 3.24574948e+01] [ 9.05272230e-03 1.33310992e-04 9.99959014e-01 -2.08931087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.684012739 meters Centerline goodness [0,1] 0.9965335729875465 Centerline is valid? [True, True] Translation: X:379.96, Y:32.48, Z:-0.21 [[ 8.74070690e-01 -4.85742789e-01 -7.37368189e-03 3.79957439e+02] [ 4.85723828e-01 8.74101775e-01 -4.29532524e-03 3.24829419e+01] [ 8.53177169e-03 1.72844902e-04 9.99963589e-01 -2.09295089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.714012739 meters Centerline goodness [0,1] 0.9965570739378998 Centerline is valid? [True, True] Translation: X:379.98, Y:32.50, Z:-0.21 [[ 8.74898687e-01 -4.84231612e-01 -8.48727436e-03 3.79979396e+02] [ 4.84206413e-01 8.74939826e-01 -4.94469259e-03 3.25014299e+01] [ 9.82023081e-03 2.16512372e-04 9.99951757e-01 -2.11615822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.744012739 meters Centerline goodness [0,1] 0.9963413596528546 Centerline is valid? [True, True] Translation: X:380.00, Y:32.52, Z:-0.21 [[ 8.75505247e-01 -4.83123304e-01 -9.07938133e-03 3.80003069e+02] [ 4.83094397e-01 8.75552290e-01 -5.29067799e-03 3.25182958e+01] [ 1.05055229e-02 2.45818097e-04 9.99944785e-01 -2.11858288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.774012739 meters Centerline goodness [0,1] 0.9963445576914807 Centerline is valid? [True, True] Translation: X:380.02, Y:32.54, Z:-0.21 [[ 8.76503360e-01 -4.81318204e-01 -8.63983463e-03 3.80022720e+02] [ 4.81291922e-01 8.76545904e-01 -5.03635334e-03 3.25424416e+01] [ 9.99730020e-03 2.56098012e-04 9.99949993e-01 -2.09134899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80401273900003 meters Centerline goodness [0,1] 0.9958361658735554 Centerline is valid? [True, True] Translation: X:380.04, Y:32.57, Z:-0.21 [[ 8.77190860e-01 -4.80072792e-01 -8.14307954e-03 3.80040562e+02] [ 4.80049377e-01 8.77228618e-01 -4.74830667e-03 3.25670824e+01] [ 9.42287525e-03 2.56090943e-04 9.99955571e-01 -2.08430616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.834012739 meters Centerline goodness [0,1] 0.9958378458728844 Centerline is valid? [True, True] Translation: X:380.06, Y:32.58, Z:-0.21 [[ 8.77161334e-01 -4.80118789e-01 -8.59902481e-03 3.80062248e+02] [ 4.80092671e-01 8.77203440e-01 -5.01515599e-03 3.25845270e+01] [ 9.95096476e-03 2.70772125e-04 9.99950451e-01 -2.09581228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.864012739 meters Centerline goodness [0,1] 0.996100242935686 Centerline is valid? [True, True] Translation: X:380.08, Y:32.60, Z:-0.21 [[ 8.76930684e-01 -4.80527215e-01 -9.28279385e-03 3.80082906e+02] [ 4.80496779e-01 8.76979767e-01 -5.41604964e-03 3.26048410e+01] [ 1.07433816e-02 2.89147572e-04 9.99942246e-01 -2.11840632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.894012739 meters Centerline goodness [0,1] 0.9962326348010361 Centerline is valid? [True, True] Translation: X:380.11, Y:32.62, Z:-0.21 [[ 8.76593382e-01 -4.81149937e-01 -8.87584393e-03 3.80105758e+02] [ 4.81122133e-01 8.76638275e-01 -5.17959822e-03 3.26224311e+01] [ 1.02730679e-02 2.70036555e-04 9.99947194e-01 -2.10441118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.924012739 meters Centerline goodness [0,1] 0.9963038926633337 Centerline is valid? [True, True] Translation: X:380.13, Y:32.64, Z:-0.21 [[ 8.76465174e-01 -4.81386905e-01 -8.68599740e-03 3.80126075e+02] [ 4.81360277e-01 8.76508174e-01 -5.07001567e-03 3.26430596e+01] [ 1.00539869e-02 2.62598049e-04 9.99949423e-01 -2.09008398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.954012739 meters Centerline goodness [0,1] 0.9956208745433961 Centerline is valid? [True, True] Translation: X:380.15, Y:32.66, Z:-0.21 [[ 8.76685408e-01 -4.80988445e-01 -8.53299628e-03 3.80147659e+02] [ 4.80962710e-01 8.76726894e-01 -4.98246984e-03 3.26610182e+01] [ 9.87761775e-03 2.64005589e-04 9.99951180e-01 -2.08820829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.984012739 meters Centerline goodness [0,1] 0.9946970020955395 Centerline is valid? [True, True] Translation: X:380.17, Y:32.68, Z:-0.21 [[ 8.77264409e-01 -4.79953052e-01 -7.22662780e-03 3.80168996e+02] [ 4.79934555e-01 8.77294143e-01 -4.22017852e-03 3.26822809e+01] [ 8.36536580e-03 2.33904020e-04 9.99964982e-01 -2.05691531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.014012739 meters Centerline goodness [0,1] 0.9946182594767752 Centerline is valid? [True, True] Translation: X:380.19, Y:32.70, Z:-0.20 [[ 8.77426682e-01 -4.79661093e-01 -6.90321596e-03 3.80190170e+02] [ 4.79644194e-01 8.77453807e-01 -4.03269037e-03 3.27004871e+01] [ 7.99157780e-03 2.27302668e-04 9.99968041e-01 -2.04447323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.044012739 meters Centerline goodness [0,1] 0.9951952982561506 Centerline is valid? [True, True] Translation: X:380.21, Y:32.72, Z:-0.20 [[ 8.77557768e-01 -4.79422089e-01 -6.84277344e-03 3.80213033e+02] [ 4.79405472e-01 8.77584417e-01 -3.99812831e-03 3.27191522e+01] [ 7.92190236e-03 2.28125529e-04 9.99968595e-01 -2.03824998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.074012739 meters Centerline goodness [0,1] 0.9945382216965918 Centerline is valid? [True, True] Translation: X:380.23, Y:32.74, Z:-0.21 [[ 8.77934022e-01 -4.78714489e-01 -8.01824660e-03 3.80232095e+02] [ 4.78691626e-01 8.77970593e-01 -4.68670661e-03 3.27414099e+01] [ 9.28337908e-03 2.76351684e-04 9.99956870e-01 -2.06244442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.104012739 meters Centerline goodness [0,1] 0.9946691686035354 Centerline is valid? [True, True] Translation: X:380.25, Y:32.76, Z:-0.21 [[ 8.77860492e-01 -4.78835881e-01 -8.78383770e-03 3.80251276e+02] [ 4.78808443e-01 8.77904384e-01 -5.13495102e-03 3.27623042e+01] [ 1.01701684e-02 3.01994981e-04 9.99948237e-01 -2.08585247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.134012739 meters Centerline goodness [0,1] 0.9941830624465355 Centerline is valid? [True, True] Translation: X:380.27, Y:32.78, Z:-0.21 [[ 8.77465806e-01 -4.79569555e-01 -8.17317159e-03 3.80273751e+02] [ 4.79545823e-01 8.77503828e-01 -4.77871379e-03 3.27790798e+01] [ 9.46371499e-03 2.73747654e-04 9.99955181e-01 -2.07360909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.164012739 meters Centerline goodness [0,1] 0.9969923835900987 Centerline is valid? [True, True] Translation: X:380.30, Y:32.79, Z:-0.21 [[ 8.75100042e-01 -4.83889020e-01 -7.16462602e-03 3.80302909e+02] [ 4.83870925e-01 8.75129348e-01 -4.18949016e-03 3.27865838e+01] [ 8.29722278e-03 1.99468800e-04 9.99965558e-01 -2.05549886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.194012739 meters Centerline goodness [0,1] 0.996938254805239 Centerline is valid? [True, True] Translation: X:380.32, Y:32.80, Z:-0.21 [[ 8.73507194e-01 -4.86747673e-01 -7.86670613e-03 3.80324330e+02] [ 4.86725969e-01 8.73542596e-01 -4.60054435e-03 3.28047463e+01] [ 9.11120716e-03 1.89678425e-04 9.99958474e-01 -2.06519446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.224012739 meters Centerline goodness [0,1] 0.9978842537185844 Centerline is valid? [True, True] Translation: X:380.35, Y:32.81, Z:-0.21 [[ 8.71076129e-01 -4.91063439e-01 -9.11468137e-03 3.80353272e+02] [ 4.91034528e-01 8.71123798e-01 -5.33113429e-03 3.28131455e+01] [ 1.05579410e-02 1.68200551e-04 9.99944249e-01 -2.08563571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.254012739 meters Centerline goodness [0,1] 0.9976446691732572 Centerline is valid? [True, True] Translation: X:380.37, Y:32.83, Z:-0.21 [[ 8.70470836e-01 -4.92144510e-01 -8.62004165e-03 3.80374551e+02] [ 4.92118701e-01 8.70513503e-01 -5.04232203e-03 3.28319693e+01] [ 9.98541376e-03 1.47110576e-04 9.99950134e-01 -2.07577330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.284012739 meters Centerline goodness [0,1] 0.9975655070792492 Centerline is valid? [True, True] Translation: X:380.40, Y:32.85, Z:-0.20 [[ 8.70300565e-01 -4.92470622e-01 -7.04360383e-03 3.80397766e+02] [ 4.92453397e-01 8.70329060e-01 -4.12066475e-03 3.28482637e+01] [ 8.15955944e-03 1.17570230e-04 9.99966703e-01 -2.01648278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.314012739 meters Centerline goodness [0,1] 0.9973109674114861 Centerline is valid? [True, True] Translation: X:380.42, Y:32.87, Z:-0.20 [[ 8.70818203e-01 -4.91553008e-01 -7.16230373e-03 3.80418172e+02] [ 4.91535151e-01 8.70847647e-01 -4.19182865e-03 3.28692040e+01] [ 8.29778132e-03 1.29796642e-04 9.99965564e-01 -2.01808931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.344012739 meters Centerline goodness [0,1] 0.9979437090348284 Centerline is valid? [True, True] Translation: X:380.44, Y:32.88, Z:-0.20 [[ 8.71466912e-01 -4.90389326e-01 -7.98311568e-03 3.80442637e+02] [ 4.90367087e-01 8.71503462e-01 -4.67288410e-03 3.28836543e+01] [ 9.24884543e-03 1.57606695e-04 9.99957216e-01 -2.03611893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.374012739 meters Centerline goodness [0,1] 0.9976472098047184 Centerline is valid? [True, True] Translation: X:380.46, Y:32.90, Z:-0.21 [[ 8.71877785e-01 -4.89633805e-01 -9.37364592e-03 3.80464918e+02] [ 4.89603087e-01 8.71928150e-01 -5.48800869e-03 3.29034894e+01] [ 1.08602603e-02 1.95506877e-04 9.99941007e-01 -2.06321997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.404012739 meters Centerline goodness [0,1] 0.9980169849549511 Centerline is valid? [True, True] Translation: X:380.49, Y:32.92, Z:-0.21 [[ 8.71275708e-01 -4.90708715e-01 -9.14320414e-03 3.80488572e+02] [ 4.90679527e-01 8.71323662e-01 -5.35506851e-03 3.29204456e+01] [ 1.05944689e-02 1.79358021e-04 9.99943861e-01 -2.05610778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.434012739 meters Centerline goodness [0,1] 0.9979697818049709 Centerline is valid? [True, True] Translation: X:380.51, Y:32.94, Z:-0.20 [[ 8.70955583e-01 -4.91286384e-01 -8.60595528e-03 3.80510973e+02] [ 4.91260538e-01 8.70998084e-01 -5.04197890e-03 3.29372146e+01] [ 9.97282614e-03 1.63573452e-04 9.99950257e-01 -2.04029368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.464012739 meters Centerline goodness [0,1] 0.998257498203045 Centerline is valid? [True, True] Translation: X:380.54, Y:32.95, Z:-0.20 [[ 8.70540247e-01 -4.92029710e-01 -8.15121298e-03 3.80535630e+02] [ 4.92006549e-01 8.70578395e-01 -4.77634847e-03 3.29515643e+01] [ 9.44637526e-03 1.47553411e-04 9.99955371e-01 -2.03088199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.494012739 meters Centerline goodness [0,1] 0.9980142207417846 Centerline is valid? [True, True] Translation: X:380.56, Y:32.97, Z:-0.20 [[ 8.69733070e-01 -4.93445465e-01 -8.71547746e-03 3.80560933e+02] [ 4.93419037e-01 8.69776726e-01 -5.10899014e-03 3.29663082e+01] [ 1.01015275e-02 1.43075190e-04 9.99948968e-01 -2.03189815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.524012739 meters Centerline goodness [0,1] 0.9981785063752276 Centerline is valid? [True, True] Translation: X:380.58, Y:32.98, Z:-0.20 [[ 8.69080388e-01 -4.94593197e-01 -8.76632611e-03 3.80584803e+02] [ 4.94566498e-01 8.69124590e-01 -5.14064605e-03 3.29831833e+01] [ 1.01615581e-02 1.32103458e-04 9.99948361e-01 -2.03465398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55401273900003 meters Centerline goodness [0,1] 0.9985868145515278 Centerline is valid? [True, True] Translation: X:380.61, Y:33.00, Z:-0.20 [[ 8.69147696e-01 -4.94477686e-01 -8.60815457e-03 3.80605518e+02] [ 4.94451921e-01 8.69190313e-01 -5.04953688e-03 3.30026822e+01] [ 9.97900788e-03 1.32474787e-04 9.99950200e-01 -2.03546903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.584012739 meters Centerline goodness [0,1] 0.9978908796523147 Centerline is valid? [True, True] Translation: X:380.63, Y:33.02, Z:-0.20 [[ 8.69424460e-01 -4.93998161e-01 -8.18077865e-03 3.80630769e+02] [ 4.93974861e-01 8.69462938e-01 -4.79964048e-03 3.30173714e+01] [ 9.48389740e-03 1.31825838e-04 9.99955018e-01 -2.01771833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.614012739 meters Centerline goodness [0,1] 0.9980491778678158 Centerline is valid? [True, True] Translation: X:380.65, Y:33.04, Z:-0.20 [[ 8.70103698e-01 -4.92816182e-01 -7.19482012e-03 3.80651940e+02] [ 4.92798109e-01 8.70133435e-01 -4.22252897e-03 3.30368398e+01] [ 8.34138415e-03 1.28444316e-04 9.99965202e-01 -1.99734249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.644012739 meters Centerline goodness [0,1] 0.9980558048113489 Centerline is valid? [True, True] Translation: X:380.68, Y:33.05, Z:-0.20 [[ 8.69982004e-01 -4.93039947e-01 -6.55167182e-03 3.80675684e+02] [ 4.93024963e-01 8.70006665e-01 -3.84547563e-03 3.30510671e+01] [ 7.59597125e-03 1.15356839e-04 9.99971144e-01 -1.97961294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.674012739 meters Centerline goodness [0,1] 0.9980943408346359 Centerline is valid? [True, True] Translation: X:380.70, Y:33.07, Z:-0.20 [[ 8.69387252e-01 -4.94077657e-01 -7.28526357e-03 3.80699579e+02] [ 4.94059150e-01 8.69417768e-01 -4.27806095e-03 3.30667471e+01] [ 8.44763191e-03 1.19940528e-04 9.99964311e-01 -1.99429074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.704012739 meters Centerline goodness [0,1] 0.998113086176212 Centerline is valid? [True, True] Translation: X:380.72, Y:33.08, Z:-0.20 [[ 8.69049488e-01 -4.94642770e-01 -9.02867264e-03 3.80723420e+02] [ 4.94614350e-01 8.69096375e-01 -5.30426106e-03 3.30811248e+01] [ 1.04705010e-02 1.43954307e-04 9.99945172e-01 -2.03622064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.734012739 meters Centerline goodness [0,1] 0.9978806375042387 Centerline is valid? [True, True] Translation: X:380.75, Y:33.10, Z:-0.20 [[ 8.68866055e-01 -4.94951623e-01 -9.72983758e-03 3.80745309e+02] [ 4.94918612e-01 8.68920518e-01 -5.71837390e-03 3.30965171e+01] [ 1.12847740e-02 1.53023259e-04 9.99936313e-01 -2.04841756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.764012739 meters Centerline goodness [0,1] 0.9977874223470343 Centerline is valid? [True, True] Translation: X:380.77, Y:33.11, Z:-0.20 [[ 8.67857935e-01 -4.96738868e-01 -8.54994672e-03 3.80770580e+02] [ 4.96713454e-01 8.67900043e-01 -5.02595831e-03 3.31096192e+01] [ 9.91708796e-03 1.14944235e-04 9.99950818e-01 -2.01264015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.794012739 meters Centerline goodness [0,1] 0.9973239707991693 Centerline is valid? [True, True] Translation: X:380.80, Y:33.12, Z:-0.20 [[ 8.66980347e-01 -4.98283205e-01 -7.67634898e-03 3.80796340e+02] [ 4.98262767e-01 8.67014325e-01 -4.51393679e-03 3.31231112e+01] [ 8.90472342e-03 8.86556064e-05 9.99960348e-01 -1.98969601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.824012739 meters Centerline goodness [0,1] 0.9969390157758418 Centerline is valid? [True, True] Translation: X:380.82, Y:33.13, Z:-0.20 [[ 8.65693866e-01 -5.00522640e-01 -7.15654972e-03 3.80821660e+02] [ 5.00504941e-01 8.65723445e-01 -4.20970693e-03 3.31348133e+01] [ 8.30264651e-03 6.24289782e-05 9.99965530e-01 -1.97602786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.854012739 meters Centerline goodness [0,1] 0.9969390157758418 Centerline is valid? [True, True] Translation: X:380.85, Y:33.15, Z:-0.20 [[ 8.65602604e-01 -5.00680458e-01 -7.15617644e-03 3.80845229e+02] [ 5.00662759e-01 8.65632182e-01 -4.21034140e-03 3.31489049e+01] [ 8.30265229e-03 6.16514410e-05 9.99965530e-01 -1.97383356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.884012739 meters Centerline goodness [0,1] 0.9961282362201375 Centerline is valid? [True, True] Translation: X:380.88, Y:33.16, Z:-0.20 [[ 8.62781093e-01 -5.05512333e-01 -8.12819261e-03 3.80875476e+02] [ 5.05489692e-01 8.62819379e-01 -4.78441346e-03 3.31550777e+01] [ 9.43174211e-03 1.91838995e-05 9.99955520e-01 -1.99198431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.914012739 meters Centerline goodness [0,1] 0.9953764718591336 Centerline is valid? [True, True] Translation: X:380.90, Y:33.16, Z:-0.20 [[ 8.60140772e-01 -5.09973556e-01 -9.21005866e-03 3.80904199e+02] [ 5.09944717e-01 8.60190079e-01 -5.42347353e-03 3.31611301e+01] [ 1.06882292e-02 -3.16700482e-05 9.99942879e-01 -2.01893338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.944012739 meters Centerline goodness [0,1] 0.9952552461880216 Centerline is valid? [True, True] Translation: X:380.93, Y:33.17, Z:-0.20 [[ 8.58825573e-01 -5.12179380e-01 -9.53508511e-03 3.80931078e+02] [ 5.12148579e-01 8.58878501e-01 -5.61725043e-03 3.31725062e+01] [ 1.10665194e-02 -5.91419689e-05 9.99938762e-01 -2.01685396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.974012739 meters Centerline goodness [0,1] 0.9943725619764244 Centerline is valid? [True, True] Translation: X:380.96, Y:33.18, Z:-0.20 [[ 8.56674579e-01 -5.15781400e-01 -8.84386207e-03 3.80960207e+02] [ 5.15755078e-01 8.56720222e-01 -5.21163107e-03 3.31773473e+01] [ 1.02647778e-02 -9.65949270e-05 9.99947311e-01 -1.99352191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.004012739 meters Centerline goodness [0,1] 0.9939543118711405 Centerline is valid? [True, True] Translation: X:380.99, Y:33.19, Z:-0.20 [[ 8.55800447e-01 -5.17239191e-01 -8.31950652e-03 3.80987126e+02] [ 5.17215959e-01 8.55840878e-01 -4.90344605e-03 3.31883081e+01] [ 9.65642823e-03 -1.06610215e-04 9.99953370e-01 -1.97452069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.034012739 meters Centerline goodness [0,1] 0.9940854934449331 Centerline is valid? [True, True] Translation: X:381.01, Y:33.20, Z:-0.20 [[ 8.55241433e-01 -5.18166871e-01 -8.07372302e-03 3.81012889e+02] [ 5.18145017e-01 8.55279534e-01 -4.76023417e-03 3.32009824e+01] [ 9.37188571e-03 -1.12209858e-04 9.99956077e-01 -1.96556733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.064012739 meters Centerline goodness [0,1] 0.9945575011831519 Centerline is valid? [True, True] Translation: X:381.04, Y:33.21, Z:-0.20 [[ 8.55340541e-01 -5.17988671e-01 -8.96072344e-03 3.81038518e+02] [ 5.17961719e-01 8.55387469e-01 -5.28537889e-03 3.32126231e+01] [ 1.04026569e-02 -1.20512873e-04 9.99945884e-01 -1.98353137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.094012739 meters Centerline goodness [0,1] 0.9949501406289951 Centerline is valid? [True, True] Translation: X:381.06, Y:33.22, Z:-0.20 [[ 8.56147818e-01 -5.16607604e-01 -1.12914735e-02 3.81064117e+02] [ 5.16564654e-01 8.56222265e-01 -6.66268085e-03 3.32238633e+01] [ 1.31100026e-02 -1.28536418e-04 9.99914052e-01 -2.04497763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.124012739 meters Centerline goodness [0,1] 0.9944749014904917 Centerline is valid? [True, True] Translation: X:381.09, Y:33.24, Z:-0.20 [[ 8.56298948e-01 -5.16350931e-01 -1.15684116e-02 3.81088355e+02] [ 5.16305801e-01 8.56377078e-01 -6.82781270e-03 3.32387702e+01] [ 1.34324699e-02 -1.26189177e-04 9.99909772e-01 -2.03726875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.154012739 meters Centerline goodness [0,1] 0.9945265579077395 Centerline is valid? [True, True] Translation: X:381.12, Y:33.25, Z:-0.20 [[ 8.56340750e-01 -5.16317669e-01 -9.82776606e-03 3.81115715e+02] [ 5.16285077e-01 8.56397136e-01 -5.80214636e-03 3.32466336e+01] [ 1.14122214e-02 -1.05314595e-04 9.99934873e-01 -2.00364454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.184012739 meters Centerline goodness [0,1] 0.994822311132031 Centerline is valid? [True, True] Translation: X:381.14, Y:33.26, Z:-0.20 [[ 8.56135680e-01 -5.16664688e-01 -9.44976307e-03 3.81140805e+02] [ 5.16634564e-01 8.56187824e-01 -5.58012637e-03 3.32596122e+01] [ 1.09738263e-02 -1.04728943e-04 9.99939780e-01 -1.98762660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.214012739 meters Centerline goodness [0,1] 0.9949476331938331 Centerline is valid? [True, True] Translation: X:381.17, Y:33.27, Z:-0.20 [[ 8.55783658e-01 -5.17255421e-01 -9.00887878e-03 3.81167653e+02] [ 5.17228052e-01 8.55831069e-01 -5.32195535e-03 3.32691966e+01] [ 1.04628886e-02 -1.05202403e-04 9.99945257e-01 -1.97570872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.244012739 meters Centerline goodness [0,1] 0.994403144492865 Centerline is valid? [True, True] Translation: X:381.19, Y:33.28, Z:-0.20 [[ 8.56133859e-01 -5.16686517e-01 -8.35817525e-03 3.81193285e+02] [ 5.16662915e-01 8.56174652e-01 -4.93933093e-03 3.32806693e+01] [ 9.70814348e-03 -8.96307394e-05 9.99952871e-01 -1.96169016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.274012739 meters Centerline goodness [0,1] 0.9945713979186782 Centerline is valid? [True, True] Translation: X:381.22, Y:33.29, Z:-0.19 [[ 8.56741015e-01 -5.15696747e-01 -7.19012222e-03 3.81217428e+02] [ 5.15679242e-01 8.56771183e-01 -4.24956230e-03 3.32938216e+01] [ 8.35177498e-03 -6.70224576e-05 9.99965121e-01 -1.93194156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30401273900003 meters Centerline goodness [0,1] 0.9953756235415017 Centerline is valid? [True, True] Translation: X:381.24, Y:33.31, Z:-0.19 [[ 8.58526533e-01 -5.12748427e-01 -4.60903369e-03 3.81241582e+02] [ 5.12741192e-01 8.58538904e-01 -2.72394796e-03 3.33104753e+01] [ 5.35373477e-03 -2.46598310e-05 9.99985668e-01 -1.86744549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.334012739 meters Centerline goodness [0,1] 0.9960103211257832 Centerline is valid? [True, True] Translation: X:381.26, Y:33.33, Z:-0.19 [[ 8.60327585e-01 -5.09716681e-01 -5.03505418e-03 3.81263729e+02] [ 5.09707986e-01 8.60342319e-01 -2.97710077e-03 3.33271243e+01] [ 5.84934811e-03 -5.12540647e-06 9.99982892e-01 -1.87679724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.364012739 meters Centerline goodness [0,1] 0.9964579110210178 Centerline is valid? [True, True] Translation: X:381.29, Y:33.34, Z:-0.19 [[ 8.60966108e-01 -5.08619516e-01 -6.59917814e-03 3.81286152e+02] [ 5.08604544e-01 8.60991398e-01 -3.90259386e-03 3.33427142e+01] [ 7.66677102e-03 3.62905792e-06 9.99970610e-01 -1.90864930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.394012739 meters Centerline goodness [0,1] 0.9964628169614319 Centerline is valid? [True, True] Translation: X:381.31, Y:33.36, Z:-0.19 [[ 8.61273813e-01 -5.08069769e-01 -8.51643202e-03 3.81309058e+02] [ 5.08044793e-01 8.61315918e-01 -5.03774690e-03 3.33581360e+01] [ 9.89486536e-03 1.21505381e-05 9.99951045e-01 -1.94657727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.424012739 meters Centerline goodness [0,1] 0.9962273802672805 Centerline is valid? [True, True] Translation: X:381.33, Y:33.37, Z:-0.20 [[ 8.60698378e-01 -5.09001458e-01 -1.07618318e-02 3.81334243e+02] [ 5.08961612e-01 8.60765657e-01 -6.36882971e-03 3.33724608e+01] [ 1.25051588e-02 4.28213753e-06 9.99921807e-01 -1.98994943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.454012739 meters Centerline goodness [0,1] 0.9962272194394117 Centerline is valid? [True, True] Translation: X:381.36, Y:33.39, Z:-0.20 [[ 8.59856714e-01 -5.10428536e-01 -1.04470270e-02 3.81359614e+02] [ 5.10391066e-01 8.59920176e-01 -6.18469435e-03 3.33852987e+01] [ 1.21404538e-02 -1.41182822e-05 9.99926302e-01 -1.97716190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.484012739 meters Centerline goodness [0,1] 0.9954165949388879 Centerline is valid? [True, True] Translation: X:381.39, Y:33.40, Z:-0.19 [[ 8.58164526e-01 -5.13307126e-01 -8.33315588e-03 3.81385599e+02] [ 5.13283405e-01 8.58204983e-01 -4.93496322e-03 3.33955885e+01] [ 9.68470769e-03 -4.22602500e-05 9.99953101e-01 -1.92476770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.514012739 meters Centerline goodness [0,1] 0.9955780706650067 Centerline is valid? [True, True] Translation: X:381.41, Y:33.41, Z:-0.19 [[ 8.57298410e-01 -5.14761771e-01 -7.73014414e-03 3.81410480e+02] [ 5.14741403e-01 8.57333259e-01 -4.57953404e-03 3.34079919e+01] [ 8.98467871e-03 -5.29979891e-05 9.99959636e-01 -1.90450861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.544012739 meters Centerline goodness [0,1] 0.9956254154783094 Centerline is valid? [True, True] Translation: X:381.43, Y:33.42, Z:-0.19 [[ 8.57342776e-01 -5.14676537e-01 -8.45144003e-03 3.81432677e+02] [ 5.14652176e-01 8.57384429e-01 -5.00783334e-03 3.34246791e+01] [ 9.82354741e-03 -5.61222636e-05 9.99951746e-01 -1.91218484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.574012739 meters Centerline goodness [0,1] 0.9951011579081308 Centerline is valid? [True, True] Translation: X:381.46, Y:33.44, Z:-0.19 [[ 8.56943057e-01 -5.15323553e-01 -9.49909064e-03 3.81456517e+02] [ 5.15292794e-01 8.56995701e-01 -5.63075970e-03 3.34390356e+01] [ 1.10423429e-02 -6.95725277e-05 9.99939029e-01 -1.94687098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.604012739 meters Centerline goodness [0,1] 0.9950956140162189 Centerline is valid? [True, True] Translation: X:381.48, Y:33.45, Z:-0.19 [[ 8.56098713e-01 -5.16726876e-01 -9.39831579e-03 3.81481725e+02] [ 5.16696839e-01 8.56150295e-01 -5.57210702e-03 3.34533001e+01] [ 1.09256283e-02 -8.58064163e-05 9.99940310e-01 -1.93554393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.634012739 meters Centerline goodness [0,1] 0.9944093547285763 Centerline is valid? [True, True] Translation: X:381.51, Y:33.46, Z:-0.19 [[ 8.53942785e-01 -5.20288278e-01 -9.04592450e-03 3.81510037e+02] [ 5.20260630e-01 8.53990687e-01 -5.36509889e-03 3.34621252e+01] [ 1.05165333e-02 -1.24750893e-04 9.99944692e-01 -1.92032997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.664012739 meters Centerline goodness [0,1] 0.9941939890710383 Centerline is valid? [True, True] Translation: X:381.54, Y:33.47, Z:-0.19 [[ 8.52638076e-01 -5.22425512e-01 -8.93839111e-03 3.81536121e+02] [ 5.22398618e-01 8.52684914e-01 -5.30295869e-03 3.34722245e+01] [ 1.03920322e-02 -1.47898671e-04 9.99945990e-01 -1.91567659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.694012739 meters Centerline goodness [0,1] 0.992737003058104 Centerline is valid? [True, True] Translation: X:381.57, Y:33.48, Z:-0.19 [[ 8.49753740e-01 -5.27112615e-01 -8.41856636e-03 3.81566372e+02] [ 5.27088980e-01 8.49795419e-01 -4.99534305e-03 3.34792464e+01] [ 9.78716746e-03 -1.92522110e-04 9.99952086e-01 -1.89561489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.724012739 meters Centerline goodness [0,1] 0.9916413698747274 Centerline is valid? [True, True] Translation: X:381.59, Y:33.49, Z:-0.19 [[ 8.48507890e-01 -5.29123117e-01 -7.94278489e-03 3.81593488e+02] [ 5.29102154e-01 8.48545041e-01 -4.71430947e-03 3.34875725e+01] [ 9.23426085e-03 -2.02415809e-04 9.99957343e-01 -1.88013421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.754012739 meters Centerline goodness [0,1] 0.9902984600393993 Centerline is valid? [True, True] Translation: X:381.62, Y:33.50, Z:-0.19 [[ 8.46882860e-01 -5.31731805e-01 -7.12100463e-03 3.81621345e+02] [ 5.31715043e-01 8.46912773e-01 -4.22707746e-03 3.34976071e+01] [ 8.27854131e-03 -2.06505836e-04 9.99965711e-01 -1.86491929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.784012739 meters Centerline goodness [0,1] 0.9900471117524723 Centerline is valid? [True, True] Translation: X:381.65, Y:33.51, Z:-0.19 [[ 8.46141937e-01 -5.32919444e-01 -6.37882123e-03 3.81648267e+02] [ 5.32906019e-01 8.46165958e-01 -3.78763430e-03 3.35094921e+01] [ 7.41604534e-03 -1.94436001e-04 9.99972482e-01 -1.85422654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.814012739 meters Centerline goodness [0,1] 0.9885399613037654 Centerline is valid? [True, True] Translation: X:381.68, Y:33.52, Z:-0.18 [[ 8.44664952e-01 -5.35260331e-01 -6.12351303e-03 3.81677742e+02] [ 5.35248011e-01 8.44687123e-01 -3.63738423e-03 3.35160280e+01] [ 7.11940009e-03 -2.05227194e-04 9.99974636e-01 -1.83465218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.844012739 meters Centerline goodness [0,1] 0.9888872299127616 Centerline is valid? [True, True] Translation: X:381.70, Y:33.53, Z:-0.18 [[ 8.43769913e-01 -5.36660291e-01 -6.93292469e-03 3.81704285e+02] [ 5.36644542e-01 8.43798360e-01 -4.11866505e-03 3.35272450e+01] [ 8.06031446e-03 -2.45310545e-04 9.99967485e-01 -1.84890387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.874012739 meters Centerline goodness [0,1] 0.9892003578579645 Centerline is valid? [True, True] Translation: X:381.73, Y:33.54, Z:-0.19 [[ 8.43396437e-01 -5.37233509e-01 -7.91248801e-03 3.81732281e+02] [ 5.37213003e-01 8.43433504e-01 -4.70250743e-03 3.35364912e+01] [ 9.20000205e-03 -2.84613434e-04 9.99957639e-01 -1.86674329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.904012739 meters Centerline goodness [0,1] 0.9896395331341487 Centerline is valid? [True, True] Translation: X:381.76, Y:33.55, Z:-0.18 [[ 8.44574066e-01 -5.35402480e-01 -6.23141602e-03 3.81757960e+02] [ 5.35389705e-01 8.44597029e-01 -3.70445342e-03 3.35503885e+01] [ 7.24640900e-03 -2.07550697e-04 9.99973723e-01 -1.83397389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.934012739 meters Centerline goodness [0,1] 0.9897731853769282 Centerline is valid? [True, True] Translation: X:381.78, Y:33.56, Z:-0.18 [[ 8.45587558e-01 -5.33806228e-01 -5.70904865e-03 3.81783052e+02] [ 5.33795460e-01 8.45606812e-01 -3.39510131e-03 3.35621495e+01] [ 6.63993665e-03 -1.76608830e-04 9.99977940e-01 -1.81644459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.964012739 meters Centerline goodness [0,1] 0.9902035785626249 Centerline is valid? [True, True] Translation: X:381.81, Y:33.58, Z:-0.18 [[ 8.46638956e-01 -5.32137816e-01 -5.64114338e-03 3.81807394e+02] [ 5.32127264e-01 8.46657734e-01 -3.35501224e-03 3.35768049e+01] [ 6.56144656e-03 -1.61322138e-04 9.99978460e-01 -1.80611256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.994012739 meters Centerline goodness [0,1] 0.9918356035897764 Centerline is valid? [True, True] Translation: X:381.83, Y:33.59, Z:-0.18 [[ 8.48671438e-01 -5.28879792e-01 -6.55417116e-03 3.81830646e+02] [ 5.28865439e-01 8.48696731e-01 -3.89952084e-03 3.35921032e+01] [ 7.62488141e-03 -1.56862650e-04 9.99970918e-01 -1.82973738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.024012739 meters Centerline goodness [0,1] 0.9930512497060144 Centerline is valid? [True, True] Translation: X:381.85, Y:33.61, Z:-0.19 [[ 8.49175904e-01 -5.28052380e-01 -7.80823411e-03 3.81854998e+02] [ 5.28031967e-01 8.49211783e-01 -4.64646467e-03 3.36071178e+01] [ 9.08442114e-03 -1.77331383e-04 9.99958720e-01 -1.85601632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05401273900003 meters Centerline goodness [0,1] 0.9941872844185156 Centerline is valid? [True, True] Translation: X:381.88, Y:33.62, Z:-0.19 [[ 8.50655626e-01 -5.25629514e-01 -9.93073509e-03 3.81880368e+02] [ 5.25596299e-01 8.50713570e-01 -5.91204668e-03 3.36202469e+01] [ 1.15557573e-02 -1.90441837e-04 9.99933212e-01 -1.90177454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.084012739 meters Centerline goodness [0,1] 0.9948438232411472 Centerline is valid? [True, True] Translation: X:381.91, Y:33.63, Z:-0.19 [[ 8.52384519e-01 -5.22835896e-01 -9.12458314e-03 3.81905504e+02] [ 5.22807676e-01 8.52433344e-01 -5.43392454e-03 3.36341426e+01] [ 1.06191497e-02 -1.38608953e-04 9.99943606e-01 -1.88621963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.114012739 meters Centerline goodness [0,1] 0.9945412064570943 Centerline is valid? [True, True] Translation: X:381.93, Y:33.65, Z:-0.19 [[ 8.52925380e-01 -5.21964459e-01 -8.44985515e-03 3.81930823e+02] [ 5.21940201e-01 8.52967226e-01 -5.03356979e-03 3.36457737e+01] [ 9.83479404e-03 -1.17059678e-04 9.99951630e-01 -1.86695373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.144012739 meters Centerline goodness [0,1] 0.9955446936436187 Centerline is valid? [True, True] Translation: X:381.96, Y:33.66, Z:-0.19 [[ 8.53895625e-01 -5.20381336e-01 -8.09493342e-03 3.81955808e+02] [ 5.20358992e-01 8.53933989e-01 -4.82317520e-03 3.36600512e+01] [ 9.42242913e-03 -9.37831874e-05 9.99955604e-01 -1.85488737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.174012739 meters Centerline goodness [0,1] 0.9957483897025998 Centerline is valid? [True, True] Translation: X:381.98, Y:33.67, Z:-0.19 [[ 8.54800089e-01 -5.18878856e-01 -9.03003028e-03 3.81980187e+02] [ 5.18850948e-01 8.54847779e-01 -5.38219505e-03 3.36739828e+01] [ 1.05120085e-02 -8.45389652e-05 9.99944744e-01 -1.87887667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.204012739 meters Centerline goodness [0,1] 0.9959515913691374 Centerline is valid? [True, True] Translation: X:382.00, Y:33.69, Z:-0.19 [[ 8.55782881e-01 -5.17246339e-01 -9.58568420e-03 3.82003344e+02] [ 5.17214775e-01 8.55836562e-01 -5.71455576e-03 3.36908984e+01] [ 1.11596121e-02 -6.74385001e-05 9.99937727e-01 -1.88546755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.234012739 meters Centerline goodness [0,1] 0.9967748095652358 Centerline is valid? [True, True] Translation: X:382.02, Y:33.71, Z:-0.19 [[ 8.58615202e-01 -5.12526881e-01 -9.80462278e-03 3.82024047e+02] [ 5.12493530e-01 8.58671181e-01 -5.84685543e-03 3.37112812e+01] [ 1.14156176e-02 -4.60677643e-06 9.99934840e-01 -1.89031895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.264012739 meters Centerline goodness [0,1] 0.9967309787834113 Centerline is valid? [True, True] Translation: X:382.05, Y:33.73, Z:-0.19 [[ 8.60023463e-01 -5.10171593e-01 -9.19718392e-03 3.82046509e+02] [ 5.10142100e-01 8.60072639e-01 -5.48567494e-03 3.37289961e+01] [ 1.07088818e-02 2.59384395e-05 9.99942658e-01 -1.87366226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.294012739 meters Centerline goodness [0,1] 0.9974913899400485 Centerline is valid? [True, True] Translation: X:382.07, Y:33.75, Z:-0.19 [[ 8.62137824e-01 -5.06591398e-01 -9.13942396e-03 3.82067716e+02] [ 5.06562050e-01 8.62186262e-01 -5.45333914e-03 3.37491870e+01] [ 1.06425005e-02 7.18445979e-05 9.99943364e-01 -1.86079485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.324012739 meters Centerline goodness [0,1] 0.9978119570113907 Centerline is valid? [True, True] Translation: X:382.09, Y:33.77, Z:-0.19 [[ 8.63424741e-01 -5.04390083e-01 -9.40010644e-03 3.82088704e+02] [ 5.04358887e-01 8.63475902e-01 -5.61064315e-03 3.37687230e+01] [ 1.09467182e-02 1.03340886e-04 9.99940078e-01 -1.87344248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.354012739 meters Centerline goodness [0,1] 0.9976452618850633 Centerline is valid? [True, True] Translation: X:382.11, Y:33.78, Z:-0.19 [[ 8.63698751e-01 -5.03922331e-01 -9.31406937e-03 3.82111684e+02] [ 5.03891669e-01 8.63748964e-01 -5.56001169e-03 3.37848279e+01] [ 1.08468318e-02 1.08893195e-04 9.99941165e-01 -1.87313555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.384012739 meters Centerline goodness [0,1] 0.9972660671949423 Centerline is valid? [True, True] Translation: X:382.14, Y:33.80, Z:-0.18 [[ 8.63166494e-01 -5.04876076e-01 -6.61447370e-03 3.82136669e+02] [ 5.04860638e-01 8.63191834e-01 -3.94881794e-03 3.37997608e+01] [ 7.70322340e-03 6.90999184e-05 9.99970327e-01 -1.81272443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.414012739 meters Centerline goodness [0,1] 0.997279432081447 Centerline is valid? [True, True] Translation: X:382.16, Y:33.81, Z:-0.18 [[ 8.62462673e-01 -5.06096184e-01 -4.97897252e-03 3.82160609e+02] [ 5.06087451e-01 8.62477044e-01 -2.97341451e-03 3.38134095e+01] [ 5.79908323e-03 4.46635198e-05 9.99983184e-01 -1.77745995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.444012739 meters Centerline goodness [0,1] 0.9964393200796914 Centerline is valid? [True, True] Translation: X:382.19, Y:33.82, Z:-0.18 [[ 8.60615760e-01 -5.09236909e-01 -4.27594603e-03 3.82186801e+02] [ 5.09230505e-01 8.60626382e-01 -2.55383479e-03 3.38244926e+01] [ 4.98049890e-03 2.04283058e-05 9.99987597e-01 -1.76677504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.474012739 meters Centerline goodness [0,1] 0.9968553459119497 Centerline is valid? [True, True] Translation: X:382.21, Y:33.84, Z:-0.18 [[ 8.59832053e-01 -5.10554164e-01 -4.82559391e-03 3.82211374e+02] [ 5.10546029e-01 8.59845594e-01 -2.88221026e-03 3.38376770e+01] [ 5.62079011e-03 1.45289569e-05 9.99984203e-01 -1.77937244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.504012739 meters Centerline goodness [0,1] 0.9971089049977679 Centerline is valid? [True, True] Translation: X:382.23, Y:33.86, Z:-0.18 [[ 8.60242305e-01 -5.09831564e-01 -7.41306251e-03 3.82232045e+02] [ 5.09812315e-01 8.60274244e-01 -4.43029126e-03 3.38554141e+01] [ 8.63596907e-03 3.18534004e-05 9.99962709e-01 -1.82538503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.534012739 meters Centerline goodness [0,1] 0.9973566577838907 Centerline is valid? [True, True] Translation: X:382.25, Y:33.87, Z:-0.18 [[ 8.61119375e-01 -5.08348485e-01 -7.43235322e-03 3.82254074e+02] [ 5.08329070e-01 8.61151447e-01 -4.44308285e-03 3.38739989e+01] [ 8.65901616e-03 4.79435215e-05 9.99962509e-01 -1.81749334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.564012739 meters Centerline goodness [0,1] 0.9974615499477378 Centerline is valid? [True, True] Translation: X:382.27, Y:33.90, Z:-0.18 [[ 8.63122191e-01 -5.04968441e-01 -5.19195187e-03 3.82271479e+02] [ 5.04958900e-01 8.63137805e-01 -3.10468373e-03 3.38985337e+01] [ 6.04913724e-03 5.79991181e-05 9.99981702e-01 -1.76038703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.594012739 meters Centerline goodness [0,1] 0.9971644412467994 Centerline is valid? [True, True] Translation: X:382.29, Y:33.92, Z:-0.17 [[ 8.63936535e-01 -5.03580935e-01 -4.46155134e-03 3.82292201e+02] [ 5.03573870e-01 8.63948053e-01 -2.66819679e-03 3.39182550e+01] [ 5.19820163e-03 5.84320158e-05 9.99986488e-01 -1.73835102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.624012739 meters Centerline goodness [0,1] 0.9965517975351738 Centerline is valid? [True, True] Translation: X:382.31, Y:33.94, Z:-0.18 [[ 8.65412601e-01 -5.01029416e-01 -5.52760092e-03 3.82312034e+02] [ 5.01018516e-01 8.65430249e-01 -3.30609922e-03 3.39407790e+01] [ 6.44020600e-03 9.17095099e-05 9.99979257e-01 -1.77163751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.654012739 meters Centerline goodness [0,1] 0.9963516035974885 Centerline is valid? [True, True] Translation: X:382.33, Y:33.96, Z:-0.18 [[ 8.65850242e-01 -5.00260516e-01 -6.54022399e-03 3.82332189e+02] [ 5.00245223e-01 8.65874934e-01 -3.91345239e-03 3.39603942e+01] [ 7.62076173e-03 1.16747897e-04 9.99970955e-01 -1.79835388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.684012739 meters Centerline goodness [0,1] 0.996580392827374 Centerline is valid? [True, True] Translation: X:382.35, Y:33.98, Z:-0.18 [[ 8.65852395e-01 -5.00253616e-01 -6.77864948e-03 3.82350847e+02] [ 5.00237182e-01 8.65878920e-01 -4.05674912e-03 3.39812562e+01] [ 7.89889311e-03 1.21613427e-04 9.99968796e-01 -1.81135600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.714012739 meters Centerline goodness [0,1] 0.995787771773816 Centerline is valid? [True, True] Translation: X:382.38, Y:33.99, Z:-0.18 [[ 8.64705062e-01 -5.02237829e-01 -6.50533024e-03 3.82376575e+02] [ 5.02222741e-01 8.64729526e-01 -3.89416855e-03 3.39939619e+01] [ 7.58114990e-03 1.00182467e-04 9.99971258e-01 -1.80391039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.744012739 meters Centerline goodness [0,1] 0.9955106141907347 Centerline is valid? [True, True] Translation: X:382.40, Y:34.01, Z:-0.18 [[ 8.63603472e-01 -5.04123961e-01 -6.93365369e-03 3.82402445e+02] [ 5.04106869e-01 8.63631301e-01 -4.15218457e-03 3.40063391e+01] [ 8.08133609e-03 9.05385588e-05 9.99967341e-01 -1.81069565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.774012739 meters Centerline goodness [0,1] 0.9955106141907347 Centerline is valid? [True, True] Translation: X:382.43, Y:34.02, Z:-0.18 [[ 8.63508540e-01 -5.04286560e-01 -6.93296782e-03 3.82425912e+02] [ 5.04269464e-01 8.63536367e-01 -4.15332946e-03 3.40206240e+01] [ 8.08133807e-03 9.03514906e-05 9.99967341e-01 -1.80850040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80401273900003 meters Centerline goodness [0,1] 0.9961721674038788 Centerline is valid? [True, True] Translation: X:382.45, Y:34.03, Z:-0.18 [[ 8.60574097e-01 -5.09273784e-01 -7.24135317e-03 3.82452571e+02] [ 5.09255294e-01 8.60604561e-01 -4.33993605e-03 3.40305571e+01] [ 8.44215723e-03 4.71391085e-05 9.99964363e-01 -1.80826363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.834012739 meters Centerline goodness [0,1] 0.995285923597987 Centerline is valid? [True, True] Translation: X:382.48, Y:34.04, Z:-0.18 [[ 8.58688869e-01 -5.12454009e-01 -6.65689779e-03 3.82479272e+02] [ 5.12438475e-01 8.58714672e-01 -3.99011336e-03 3.40412055e+01] [ 7.76112539e-03 1.50153773e-05 9.99969882e-01 -1.79862279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.864012739 meters Centerline goodness [0,1] 0.9945043195620563 Centerline is valid? [True, True] Translation: X:382.51, Y:34.04, Z:-0.18 [[ 8.54346300e-01 -5.19673834e-01 -5.61296917e-03 3.82512127e+02] [ 5.19662939e-01 8.54364737e-01 -3.36539928e-03 3.40427977e+01] [ 6.54443288e-03 -4.16356319e-05 9.99978584e-01 -1.78944783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.894012739 meters Centerline goodness [0,1] 0.9944545956741597 Centerline is valid? [True, True] Translation: X:382.54, Y:34.05, Z:-0.18 [[ 8.52173226e-01 -5.23229729e-01 -5.60748048e-03 3.82539868e+02] [ 5.23218923e-01 8.52191672e-01 -3.36350334e-03 3.40502454e+01] [ 6.53853310e-03 -6.76524032e-05 9.99978621e-01 -1.78772002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.924012739 meters Centerline goodness [0,1] 0.9930654527663738 Centerline is valid? [True, True] Translation: X:382.57, Y:34.06, Z:-0.18 [[ 8.49796166e-01 -5.27064118e-01 -7.06336885e-03 3.82568837e+02] [ 5.27047094e-01 8.49825512e-01 -4.23786168e-03 3.40583009e+01] [ 8.23625588e-03 -1.21409421e-04 9.99966074e-01 -1.81537932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.954012739 meters Centerline goodness [0,1] 0.9931595882967161 Centerline is valid? [True, True] Translation: X:382.59, Y:34.07, Z:-0.18 [[ 8.49618324e-01 -5.27338499e-01 -7.92527878e-03 3.82593611e+02] [ 5.27317063e-01 8.49655276e-01 -4.75678731e-03 3.40703338e+01] [ 9.24219201e-03 -1.37681069e-04 9.99957281e-01 -1.83198886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.984012739 meters Centerline goodness [0,1] 0.9941502988898377 Centerline is valid? [True, True] Translation: X:382.62, Y:34.08, Z:-0.18 [[ 8.49578080e-01 -5.27413842e-01 -7.19198621e-03 3.82621414e+02] [ 5.27396186e-01 8.49608512e-01 -4.31738791e-03 3.40786443e+01] [ 8.38742285e-03 -1.25067966e-04 9.99964817e-01 -1.80428702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.014012739 meters Centerline goodness [0,1] 0.9938863887237837 Centerline is valid? [True, True] Translation: X:382.65, Y:34.09, Z:-0.18 [[ 8.49465909e-01 -5.27609194e-01 -6.01722075e-03 3.82646730e+02] [ 5.27596831e-01 8.49487214e-01 -3.61339807e-03 3.40906282e+01] [ 7.01801414e-03 -1.05208121e-04 9.99975368e-01 -1.77210928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.044012739 meters Centerline goodness [0,1] 0.9927387016365016 Centerline is valid? [True, True] Translation: X:382.67, Y:34.10, Z:-0.17 [[ 8.50086118e-01 -5.26623879e-01 -4.56959711e-03 3.82671358e+02] [ 5.26616731e-01 8.50098397e-01 -2.74489087e-03 3.41048223e+01] [ 5.33013226e-03 -7.30326654e-05 9.99985792e-01 -1.74597463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.074012739 meters Centerline goodness [0,1] 0.9930505376801122 Centerline is valid? [True, True] Translation: X:382.70, Y:34.12, Z:-0.18 [[ 8.50944673e-01 -5.25230946e-01 -5.06124936e-03 3.82695504e+02] [ 5.25222143e-01 8.50959722e-01 -3.04175906e-03 3.41185402e+01] [ 5.90454533e-03 -6.99115605e-05 9.99982566e-01 -1.75971902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.104012739 meters Centerline goodness [0,1] 0.9943268416596105 Centerline is valid? [True, True] Translation: X:382.72, Y:34.13, Z:-0.18 [[ 8.53090517e-01 -5.21716181e-01 -6.98543604e-03 3.82721003e+02] [ 5.21699287e-01 8.53119114e-01 -4.19893444e-03 3.41329925e+01] [ 8.15006104e-03 -6.22258486e-05 9.99966786e-01 -1.79344308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.134012739 meters Centerline goodness [0,1] 0.9949368174894339 Centerline is valid? [True, True] Translation: X:382.74, Y:34.15, Z:-0.18 [[ 8.54023550e-01 -5.20173024e-01 -7.98754019e-03 3.82744875e+02] [ 5.20150858e-01 8.54060901e-01 -4.80240204e-03 3.41493441e+01] [ 9.31992576e-03 -5.33614370e-05 9.99956567e-01 -1.80554041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.164012739 meters Centerline goodness [0,1] 0.9956028399219236 Centerline is valid? [True, True] Translation: X:382.77, Y:34.17, Z:-0.18 [[ 8.56292807e-01 -5.16402130e-01 -9.56392437e-03 3.82765955e+02] [ 5.16370088e-01 8.56346215e-01 -5.75257127e-03 3.41696234e+01] [ 1.11606705e-02 -1.26390649e-05 9.99937718e-01 -1.84200520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.194012739 meters Centerline goodness [0,1] 0.9947620376532211 Centerline is valid? [True, True] Translation: X:382.79, Y:34.19, Z:-0.18 [[ 8.58468506e-01 -5.12796219e-01 -8.47711712e-03 3.82786509e+02] [ 5.12770855e-01 8.58510359e-01 -5.10037289e-03 3.41868369e+01] [ 9.89314479e-03 3.16909020e-05 9.99951061e-01 -1.82102702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.224012739 meters Centerline goodness [0,1] 0.9944457499305719 Centerline is valid? [True, True] Translation: X:382.81, Y:34.20, Z:-0.18 [[ 8.58948311e-01 -5.12010239e-01 -7.30162639e-03 3.82809341e+02] [ 5.11991387e-01 8.58979345e-01 -4.39384251e-03 3.42020207e+01] [ 8.52163860e-03 3.57137840e-05 9.99963690e-01 -1.79415008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.254012739 meters Centerline goodness [0,1] 0.9942741592166879 Centerline is valid? [True, True] Translation: X:382.83, Y:34.22, Z:-0.18 [[ 8.59058431e-01 -5.11836136e-01 -6.51016252e-03 3.82832547e+02] [ 5.11821137e-01 8.59083097e-01 -3.91856853e-03 3.42166462e+01] [ 7.59843555e-03 3.42405500e-05 9.99971131e-01 -1.76763495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.284012739 meters Centerline goodness [0,1] 0.9940471036453372 Centerline is valid? [True, True] Translation: X:382.86, Y:34.23, Z:-0.17 [[ 8.58255311e-01 -5.13206446e-01 -4.11888561e-03 3.82858180e+02] [ 5.13200459e-01 8.58265194e-01 -2.47901693e-03 3.42283721e+01] [ 4.80734362e-03 1.38154597e-05 9.99988445e-01 -1.73616521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.314012739 meters Centerline goodness [0,1] 0.9930273969663813 Centerline is valid? [True, True] Translation: X:382.89, Y:34.24, Z:-0.17 [[ 8.57073164e-01 -5.15188576e-01 -2.51450290e-03 3.82885621e+02] [ 5.15186351e-01 8.57076853e-01 -1.51397006e-03 3.42357257e+01] [ 2.93510231e-03 2.14553552e-06 9.99995693e-01 -1.70007109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.344012739 meters Centerline goodness [0,1] 0.9933052424443352 Centerline is valid? [True, True] Translation: X:382.91, Y:34.25, Z:-0.17 [[ 8.56193079e-01 -5.16648879e-01 -2.71065617e-03 3.82911814e+02] [ 5.16646302e-01 8.56197370e-01 -1.63183937e-03 3.42470832e+01] [ 3.16394466e-03 -3.28091020e-06 9.99994995e-01 -1.69711300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.374012739 meters Centerline goodness [0,1] 0.9938485034893834 Centerline is valid? [True, True] Translation: X:382.94, Y:34.26, Z:-0.17 [[ 8.54479731e-01 -5.19462111e-01 -4.84819111e-03 3.82938751e+02] [ 5.19453898e-01 8.54493484e-01 -2.92112797e-03 3.42557470e+01] [ 5.66016302e-03 -2.23671247e-05 9.99983981e-01 -1.73207541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.404012739 meters Centerline goodness [0,1] 0.9936966764293901 Centerline is valid? [True, True] Translation: X:382.96, Y:34.27, Z:-0.17 [[ 8.54097825e-01 -5.20081608e-01 -5.65910017e-03 3.82963737e+02] [ 5.20070419e-01 8.54116573e-01 -3.41158052e-03 3.42672504e+01] [ 6.60783153e-03 -2.93070915e-05 9.99978168e-01 -1.74677975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.434012739 meters Centerline goodness [0,1] 0.993754795805269 Centerline is valid? [True, True] Translation: X:382.99, Y:34.28, Z:-0.17 [[ 8.55070914e-01 -5.18477928e-01 -5.86256974e-03 3.82988329e+02] [ 5.18465879e-01 8.55091011e-01 -3.53480636e-03 3.42831517e+01] [ 6.84574977e-03 -1.70322675e-05 9.99976567e-01 -1.74391447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.464012739 meters Centerline goodness [0,1] 0.9937296695771272 Centerline is valid? [True, True] Translation: X:383.01, Y:34.30, Z:-0.17 [[ 8.55994363e-01 -5.16956341e-01 -5.45815454e-03 3.83010557e+02] [ 5.16945860e-01 8.56011765e-01 -3.29192492e-03 3.43008969e+01] [ 6.37402596e-03 -3.70121782e-06 9.99979686e-01 -1.73848587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.494012739 meters Centerline goodness [0,1] 0.9944168734491315 Centerline is valid? [True, True] Translation: X:383.03, Y:34.32, Z:-0.17 [[ 8.58308829e-01 -5.13104930e-01 -5.41145317e-03 3.83030603e+02] [ 5.13094540e-01 8.58325888e-01 -3.26541087e-03 3.43218372e+01] [ 6.32028876e-03 2.61439047e-05 9.99980026e-01 -1.73593780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.524012739 meters Centerline goodness [0,1] 0.9945538867378633 Centerline is valid? [True, True] Translation: X:383.05, Y:34.34, Z:-0.17 [[ 8.59231115e-01 -5.11554838e-01 -5.79129297e-03 3.83051908e+02] [ 5.11542900e-01 8.59250630e-01 -3.49512605e-03 3.43399418e+01] [ 6.76412078e-03 4.06262560e-05 9.99977122e-01 -1.74469172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55401273900003 meters Centerline goodness [0,1] 0.9945087816759968 Centerline is valid? [True, True] Translation: X:383.07, Y:34.36, Z:-0.18 [[ 8.60680159e-01 -5.09099230e-01 -6.90209553e-03 3.83073606e+02] [ 5.09082188e-01 8.60707830e-01 -4.16617480e-03 3.43595791e+01] [ 8.06168405e-03 7.20100985e-05 9.99967502e-01 -1.76943020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.584012739 meters Centerline goodness [0,1] 0.994577846630519 Centerline is valid? [True, True] Translation: X:383.10, Y:34.38, Z:-0.18 [[ 8.61277900e-01 -5.08078817e-01 -7.50294722e-03 3.83096061e+02] [ 5.08058624e-01 8.61310576e-01 -4.53066063e-03 3.43775757e+01] [ 8.76430048e-03 9.02208329e-05 9.99961589e-01 -1.77540187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.614012739 meters Centerline goodness [0,1] 0.9950612027674295 Centerline is valid? [True, True] Translation: X:383.12, Y:34.40, Z:-0.18 [[ 8.62036345e-01 -5.06780445e-01 -8.18055061e-03 3.83116139e+02] [ 5.06756364e-01 8.62075152e-01 -4.94162140e-03 3.43988304e+01] [ 9.55656650e-03 1.14311164e-04 9.99954328e-01 -1.78433927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.644012739 meters Centerline goodness [0,1] 0.9951900466031041 Centerline is valid? [True, True] Translation: X:383.14, Y:34.42, Z:-0.18 [[ 8.62135435e-01 -5.06628260e-01 -7.09214680e-03 3.83137040e+02] [ 5.06610152e-01 8.62164599e-01 -4.28465297e-03 3.44156463e+01] [ 8.28532418e-03 1.00997585e-04 9.99965671e-01 -1.76409467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.674012739 meters Centerline goodness [0,1] 0.9942541057416063 Centerline is valid? [True, True] Translation: X:383.16, Y:34.43, Z:-0.17 [[ 8.61574904e-01 -5.07614015e-01 -4.08627564e-03 3.83160859e+02] [ 5.07608016e-01 8.61584592e-01 -2.46842253e-03 3.44298836e+01] [ 4.77367800e-03 5.25046344e-05 9.99988605e-01 -1.69255379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.704012739 meters Centerline goodness [0,1] 0.994311985459211 Centerline is valid? [True, True] Translation: X:383.19, Y:34.44, Z:-0.17 [[ 8.60773242e-01 -5.08976937e-01 -3.45014469e-03 3.83186644e+02] [ 5.08972669e-01 8.60780155e-01 -2.08485619e-03 3.44437087e+01] [ 4.03095980e-03 3.85590660e-05 9.99991875e-01 -1.68145257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.734012739 meters Centerline goodness [0,1] 0.9948513924643108 Centerline is valid? [True, True] Translation: X:383.21, Y:34.45, Z:-0.17 [[ 8.58494477e-01 -5.12795044e-01 -5.33630132e-03 3.83214595e+02] [ 5.12784893e-01 8.58511061e-01 -3.22662556e-03 3.44538286e+01] [ 6.23587130e-03 3.36655192e-05 9.99980556e-01 -1.72016756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.764012739 meters Centerline goodness [0,1] 0.9938404944714161 Centerline is valid? [True, True] Translation: X:383.24, Y:34.46, Z:-0.17 [[ 8.55893048e-01 -5.17118776e-01 -5.93819412e-03 3.83244091e+02] [ 5.17106300e-01 8.55913647e-01 -3.59203134e-03 3.44603607e+01] [ 6.94008824e-03 3.71706833e-06 9.99975917e-01 -1.74196600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.794012739 meters Centerline goodness [0,1] 0.9938773333333333 Centerline is valid? [True, True] Translation: X:383.27, Y:34.47, Z:-0.17 [[ 8.54624096e-01 -5.19222652e-01 -5.04898610e-03 3.83270355e+02] [ 5.19213663e-01 8.54639010e-01 -3.05523075e-03 3.44696546e+01] [ 5.90140550e-03 -1.04287511e-05 9.99982587e-01 -1.71633672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.824012739 meters Centerline goodness [0,1] 0.9929883997684242 Centerline is valid? [True, True] Translation: X:383.30, Y:34.48, Z:-0.17 [[ 8.52339128e-01 -5.22974968e-01 -3.89788026e-03 3.83299844e+02] [ 5.22969650e-01 8.52348041e-01 -2.35859615e-03 3.44765352e+01] [ 4.55583735e-03 -2.81492873e-05 9.99989622e-01 -1.68263937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.854012739 meters Centerline goodness [0,1] 0.9925303056172102 Centerline is valid? [True, True] Translation: X:383.33, Y:34.49, Z:-0.17 [[ 8.51516212e-01 -5.24307293e-01 -4.69066884e-03 3.83325296e+02] [ 5.24299603e-01 8.51529131e-01 -2.83997565e-03 3.44873958e+01] [ 5.48326110e-03 -4.10305061e-05 9.99984966e-01 -1.69349455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.884012739 meters Centerline goodness [0,1] 0.9930924548352816 Centerline is valid? [True, True] Translation: X:383.35, Y:34.50, Z:-0.17 [[ 8.51364157e-01 -5.24529800e-01 -6.89637759e-03 3.83350077e+02] [ 5.24513179e-01 8.51392086e-01 -4.17622737e-03 3.44985129e+01] [ 8.06207702e-03 -6.17506361e-05 9.99967499e-01 -1.74675363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.914012739 meters Centerline goodness [0,1] 0.9931901181525241 Centerline is valid? [True, True] Translation: X:383.37, Y:34.52, Z:-0.17 [[ 8.52089671e-01 -5.23355322e-01 -6.51147822e-03 3.83374244e+02] [ 5.23340465e-01 8.52114549e-01 -3.94376154e-03 3.45150556e+01] [ 7.61251392e-03 -4.72815611e-05 9.99971023e-01 -1.73973870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.944012739 meters Centerline goodness [0,1] 0.9934998725465205 Centerline is valid? [True, True] Translation: X:383.40, Y:34.53, Z:-0.17 [[ 8.53910587e-01 -5.20397512e-01 -4.81025331e-03 3.83396894e+02] [ 5.20389352e-01 8.53924135e-01 -2.91426503e-03 3.45342074e+01] [ 5.62416767e-03 -1.46828442e-05 9.99984184e-01 -1.69519003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.974012739 meters Centerline goodness [0,1] 0.9931125029594714 Centerline is valid? [True, True] Translation: X:383.42, Y:34.55, Z:-0.17 [[ 8.54458382e-01 -5.19502569e-01 -4.23712296e-03 3.83419680e+02] [ 5.19496227e-01 8.54468888e-01 -2.56709202e-03 3.45504703e+01] [ 4.95410064e-03 -7.69609449e-06 9.99987728e-01 -1.67941528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.004012739 meters Centerline goodness [0,1] 0.9934059876176745 Centerline is valid? [True, True] Translation: X:383.44, Y:34.56, Z:-0.17 [[ 8.54656097e-01 -5.19172126e-01 -4.82277442e-03 3.83443751e+02] [ 5.19163893e-01 8.54669704e-01 -2.92370047e-03 3.45626484e+01] [ 5.63978297e-03 -5.05191550e-06 9.99984096e-01 -1.69385323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.034012739 meters Centerline goodness [0,1] 0.9934460526877589 Centerline is valid? [True, True] Translation: X:383.47, Y:34.57, Z:-0.17 [[ 8.54381047e-01 -5.19624286e-01 -4.86083879e-03 3.83468269e+02] [ 5.19615927e-01 8.54394874e-01 -2.94733572e-03 3.45741387e+01] [ 5.68458296e-03 -7.62147965e-06 9.99983843e-01 -1.69539117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.064012739 meters Centerline goodness [0,1] 0.9932374957468527 Centerline is valid? [True, True] Translation: X:383.50, Y:34.58, Z:-0.17 [[ 8.53291352e-01 -5.21409668e-01 -5.08208064e-03 3.83495481e+02] [ 5.21400561e-01 8.53306485e-01 -3.08183549e-03 3.45839958e+01] [ 5.94347118e-03 -2.00961250e-05 9.99982337e-01 -1.71007275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.094012739 meters Centerline goodness [0,1] 0.9933608009734646 Centerline is valid? [True, True] Translation: X:383.52, Y:34.60, Z:-0.17 [[ 8.52851975e-01 -5.22125661e-01 -5.32010692e-03 3.83520824e+02] [ 5.22115686e-01 8.52868568e-01 -3.22755782e-03 3.45968317e+01] [ 6.22254273e-03 -2.50822105e-05 9.99980639e-01 -1.72126654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.124012739 meters Centerline goodness [0,1] 0.993580477850523 Centerline is valid? [True, True] Translation: X:383.55, Y:34.61, Z:-0.17 [[ 8.52734357e-01 -5.22313054e-01 -5.76108620e-03 3.83545511e+02] [ 5.22301349e-01 8.52753817e-01 -3.49686326e-03 3.46081579e+01] [ 6.73924557e-03 -2.71276484e-05 9.99977291e-01 -1.72511339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.154012739 meters Centerline goodness [0,1] 0.993420206609799 Centerline is valid? [True, True] Translation: X:383.57, Y:34.63, Z:-0.17 [[ 8.53179157e-01 -5.21582647e-01 -6.07197018e-03 3.83567639e+02] [ 5.21569622e-01 8.53200763e-01 -3.68616831e-03 3.46251037e+01] [ 7.10325102e-03 -2.19932223e-05 9.99974771e-01 -1.71821572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.184012739 meters Centerline goodness [0,1] 0.9949665848912952 Centerline is valid? [True, True] Translation: X:383.59, Y:34.65, Z:-0.17 [[ 8.55245081e-01 -5.18172874e-01 -7.26116037e-03 3.83586909e+02] [ 5.18154105e-01 8.55275904e-01 -4.41027237e-03 3.46461245e+01] [ 8.49557901e-03 9.46369755e-06 9.99963912e-01 -1.73087362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.214012739 meters Centerline goodness [0,1] 0.9945497125824995 Centerline is valid? [True, True] Translation: X:383.61, Y:34.66, Z:-0.17 [[ 8.56466825e-01 -5.16156928e-01 -6.82667724e-03 3.83609569e+02] [ 5.16140268e-01 8.56494031e-01 -4.14710170e-03 3.46643199e+01] [ 7.98756357e-03 2.83320036e-05 9.99968099e-01 -1.72433778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.244012739 meters Centerline goodness [0,1] 0.9957628034675833 Centerline is valid? [True, True] Translation: X:383.63, Y:34.68, Z:-0.17 [[ 8.56280796e-01 -5.16475238e-01 -6.04372984e-03 3.83632176e+02] [ 5.16462180e-01 8.56302124e-01 -3.67275664e-03 3.46783035e+01] [ 7.07214656e-03 2.35530912e-05 9.99974992e-01 -1.70876330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.274012739 meters Centerline goodness [0,1] 0.9950567087524075 Centerline is valid? [True, True] Translation: X:383.66, Y:34.69, Z:-0.17 [[ 8.55952895e-01 -5.17025773e-01 -5.38445719e-03 3.83655215e+02] [ 5.17015415e-01 8.55969830e-01 -3.27264387e-03 3.46926673e+01] [ 6.30097413e-03 1.73816305e-05 9.99980149e-01 -1.69070549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30401273900003 meters Centerline goodness [0,1] 0.9943447572072455 Centerline is valid? [True, True] Translation: X:383.68, Y:34.71, Z:-0.17 [[ 8.55730721e-01 -5.17395798e-01 -5.14987526e-03 3.83678355e+02] [ 5.17386327e-01 8.55746217e-01 -3.13061187e-03 3.47068837e+01] [ 6.02675170e-03 1.44857069e-05 9.99981839e-01 -1.68789604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.334012739 meters Centerline goodness [0,1] 0.9946440094644009 Centerline is valid? [True, True] Translation: X:383.70, Y:34.72, Z:-0.17 [[ 8.55721200e-01 -5.17407352e-01 -5.55516729e-03 3.83702366e+02] [ 5.17396328e-01 8.55739231e-01 -3.37745148e-03 3.47211078e+01] [ 6.50129282e-03 1.59336742e-05 9.99978866e-01 -1.69966457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.364012739 meters Centerline goodness [0,1] 0.995068587548722 Centerline is valid? [True, True] Translation: X:383.72, Y:34.74, Z:-0.17 [[ 8.56039162e-01 -5.16863683e-01 -6.99187929e-03 3.83724143e+02] [ 5.16846184e-01 8.56067715e-01 -4.25317741e-03 3.47374687e+01] [ 8.18383507e-03 2.71602908e-05 9.99966511e-01 -1.71989815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.394012739 meters Centerline goodness [0,1] 0.9958053332191927 Centerline is valid? [True, True] Translation: X:383.75, Y:34.76, Z:-0.17 [[ 8.57423571e-01 -5.14537671e-01 -8.70657450e-03 3.83745221e+02] [ 5.14510403e-01 8.57467773e-01 -5.29760201e-03 3.47588208e+01] [ 1.01914228e-02 6.26656890e-05 9.99948064e-01 -1.74783951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.424012739 meters Centerline goodness [0,1] 0.9957237545435108 Centerline is valid? [True, True] Translation: X:383.77, Y:34.78, Z:-0.17 [[ 8.58119433e-01 -5.13374652e-01 -8.80370276e-03 3.83768383e+02] [ 5.13346690e-01 8.58164588e-01 -5.35870377e-03 3.47768421e+01] [ 1.03060486e-02 7.90561769e-05 9.99946888e-01 -1.73928812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.454012739 meters Centerline goodness [0,1] 0.9959246051961284 Centerline is valid? [True, True] Translation: X:383.79, Y:34.80, Z:-0.17 [[ 8.58919217e-01 -5.12074089e-01 -6.15674738e-03 3.83788588e+02] [ 5.12060373e-01 8.58941280e-01 -3.74857655e-03 3.47964479e+01] [ 7.20783340e-03 6.70980769e-05 9.99974021e-01 -1.68531759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.484012739 meters Centerline goodness [0,1] 0.9959202954564975 Centerline is valid? [True, True] Translation: X:383.81, Y:34.81, Z:-0.16 [[ 8.58909113e-01 -5.12108322e-01 -4.49468798e-03 3.83811570e+02] [ 5.12101014e-01 8.58920872e-01 -2.73642216e-03 3.48120199e+01] [ 5.26192588e-03 4.86036554e-05 9.99986155e-01 -1.64509702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.514012739 meters Centerline goodness [0,1] 0.9957669481610687 Centerline is valid? [True, True] Translation: X:383.84, Y:34.83, Z:-0.16 [[ 8.58232790e-01 -5.13253938e-01 -2.62150428e-03 3.83835470e+02] [ 5.13251458e-01 8.58236794e-01 -1.59594680e-03 3.48265788e+01] [ 3.06899741e-03 2.42029833e-05 9.99995290e-01 -1.60594177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.544012739 meters Centerline goodness [0,1] 0.9951734153425593 Centerline is valid? [True, True] Translation: X:383.86, Y:34.84, Z:-0.16 [[ 8.58033554e-01 -5.13584539e-01 -3.05636153e-03 3.83857993e+02] [ 5.13581163e-01 8.58038997e-01 -1.86244469e-03 3.48437112e+01] [ 3.57900018e-03 2.83503281e-05 9.99993595e-01 -1.60380275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.574012739 meters Centerline goodness [0,1] 0.9956977624040644 Centerline is valid? [True, True] Translation: X:383.88, Y:34.86, Z:-0.17 [[ 8.58085481e-01 -5.13476598e-01 -5.57592631e-03 3.83881169e+02] [ 5.13465354e-01 8.58103595e-01 -3.39845947e-03 3.48604352e+01] [ 6.52975182e-03 5.31237528e-05 9.99978680e-01 -1.67341038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.604012739 meters Centerline goodness [0,1] 0.9960953423011736 Centerline is valid? [True, True] Translation: X:383.90, Y:34.88, Z:-0.17 [[ 8.58285493e-01 -5.13123884e-01 -7.06349437e-03 3.83903365e+02] [ 5.13105809e-01 8.58314554e-01 -4.30745153e-03 3.48774752e+01] [ 8.27295628e-03 7.27031591e-05 9.99965776e-01 -1.69694109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.634012739 meters Centerline goodness [0,1] 0.9963116248150451 Centerline is valid? [True, True] Translation: X:383.92, Y:34.90, Z:-0.17 [[ 8.58617463e-01 -5.12560250e-01 -7.61854841e-03 3.83924942e+02] [ 5.12539183e-01 8.58651258e-01 -4.64793757e-03 3.48958666e+01] [ 8.92402422e-03 8.59957893e-05 9.99960176e-01 -1.69461256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.664012739 meters Centerline goodness [0,1] 0.9963116248150451 Centerline is valid? [True, True] Translation: X:383.95, Y:34.91, Z:-0.17 [[ 8.58520051e-01 -5.12723399e-01 -7.61820739e-03 3.83948300e+02] [ 5.12702334e-01 8.58553847e-01 -4.64849645e-03 3.49103409e+01] [ 8.92403417e-03 8.49547067e-05 9.99960176e-01 -1.69241751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.694012739 meters Centerline goodness [0,1] 0.9958206281851718 Centerline is valid? [True, True] Translation: X:383.97, Y:34.93, Z:-0.17 [[ 8.58302892e-01 -5.13095769e-01 -6.99123081e-03 3.83970886e+02] [ 5.13078027e-01 8.58331361e-01 -4.26757232e-03 3.49272216e+01] [ 8.19046596e-03 7.58227478e-05 9.99966455e-01 -1.67506269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.724012739 meters Centerline goodness [0,1] 0.9963151016560619 Centerline is valid? [True, True] Translation: X:384.00, Y:34.94, Z:-0.16 [[ 8.57381652e-01 -5.14651854e-01 -5.49280825e-03 3.83996442e+02] [ 5.14640934e-01 8.57399246e-01 -3.35303642e-03 3.49413232e+01] [ 6.43517606e-03 4.80079423e-05 9.99979293e-01 -1.64548289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.754012739 meters Centerline goodness [0,1] 0.9958450236662312 Centerline is valid? [True, True] Translation: X:384.02, Y:34.96, Z:-0.16 [[ 8.57063299e-01 -5.15186883e-01 -4.99766222e-03 3.84019394e+02] [ 5.15177845e-01 8.57077869e-01 -3.05200214e-03 3.49552974e+01] [ 5.85573716e-03 4.10741756e-05 9.99982854e-01 -1.64102065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.784012739 meters Centerline goodness [0,1] 0.995979091274628 Centerline is valid? [True, True] Translation: X:384.04, Y:34.97, Z:-0.17 [[ 8.56148688e-01 -5.16690912e-01 -6.31869989e-03 3.84044273e+02] [ 5.16676498e-01 8.56172003e-01 -3.85968806e-03 3.49679503e+01] [ 7.40415968e-03 3.97431359e-05 9.99972588e-01 -1.66723797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.814012739 meters Centerline goodness [0,1] 0.9960607286587313 Centerline is valid? [True, True] Translation: X:384.07, Y:34.98, Z:-0.17 [[ 8.55424321e-01 -5.17874109e-01 -7.45904824e-03 3.84070649e+02] [ 5.17854060e-01 8.55456840e-01 -4.55707138e-03 3.49792067e+01] [ 8.74088312e-03 3.55312799e-05 9.99961797e-01 -1.69329275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.844012739 meters Centerline goodness [0,1] 0.9961549142332258 Centerline is valid? [True, True] Translation: X:384.10, Y:34.99, Z:-0.17 [[ 8.55263414e-01 -5.18138110e-01 -7.57575913e-03 3.84095348e+02] [ 5.18117421e-01 8.55296965e-01 -4.63033573e-03 3.49922708e+01] [ 8.87867720e-03 3.50239587e-05 9.99960583e-01 -1.68979859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.874012739 meters Centerline goodness [0,1] 0.9959507303525621 Centerline is valid? [True, True] Translation: X:384.12, Y:35.01, Z:-0.17 [[ 8.55594901e-01 -5.17591485e-01 -7.51133383e-03 3.84119496e+02] [ 5.17571109e-01 8.55627871e-01 -4.59276804e-03 3.50052130e+01] [ 8.80408420e-03 4.18995353e-05 9.99961242e-01 -1.68779937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.904012739 meters Centerline goodness [0,1] 0.9962435703156681 Centerline is valid? [True, True] Translation: X:384.14, Y:35.02, Z:-0.17 [[ 8.56225272e-01 -5.16548170e-01 -7.50142823e-03 3.84141988e+02] [ 5.16527801e-01 8.56258130e-01 -4.58755266e-03 3.50208074e+01] [ 8.79285084e-03 5.32822943e-05 9.99961341e-01 -1.68125448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.934012739 meters Centerline goodness [0,1] 0.9963529336489858 Centerline is valid? [True, True] Translation: X:384.16, Y:35.04, Z:-0.17 [[ 8.58051057e-01 -5.13503230e-01 -7.92565523e-03 3.84163477e+02] [ 5.13480351e-01 8.58087656e-01 -4.84809102e-03 3.50401109e+01] [ 9.29041732e-03 9.02413918e-05 9.99956839e-01 -1.69026210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.964012739 meters Centerline goodness [0,1] 0.9960745829244357 Centerline is valid? [True, True] Translation: X:384.19, Y:35.06, Z:-0.17 [[ 8.58534170e-01 -5.12688589e-01 -8.33603675e-03 3.84187329e+02] [ 5.12663232e-01 8.58574633e-01 -5.10003545e-03 3.50555398e+01] [ 9.77183966e-03 1.04975156e-04 9.99952249e-01 -1.69353719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.994012739 meters Centerline goodness [0,1] 0.9962671444721742 Centerline is valid? [True, True] Translation: X:384.21, Y:35.07, Z:-0.17 [[ 8.58771625e-01 -5.12290336e-01 -8.36108723e-03 3.84210967e+02] [ 5.12264791e-01 8.58812319e-01 -5.11704205e-03 3.50704947e+01] [ 9.80201590e-03 1.11279917e-04 9.99951953e-01 -1.69761314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.024012739 meters Centerline goodness [0,1] 0.9963050483351236 Centerline is valid? [True, True] Translation: X:384.23, Y:35.09, Z:-0.17 [[ 8.58750168e-01 -5.12331550e-01 -8.03318251e-03 3.84234560e+02] [ 5.12307963e-01 8.58787734e-01 -4.91721057e-03 3.50851660e+01] [ 9.41804071e-03 1.07192031e-04 9.99955644e-01 -1.68830723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05401273900003 meters Centerline goodness [0,1] 0.9959598982492892 Centerline is valid? [True, True] Translation: X:384.26, Y:35.10, Z:-0.16 [[ 8.58662147e-01 -5.12505291e-01 -6.13552121e-03 3.84255777e+02] [ 5.12491528e-01 8.58684063e-01 -3.75687098e-03 3.51017386e+01] [ 7.19389054e-03 8.14802557e-05 9.99974120e-01 -1.63765403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.084012739 meters Centerline goodness [0,1] 0.9964172143311427 Centerline is valid? [True, True] Translation: X:384.28, Y:35.12, Z:-0.16 [[ 8.58283723e-01 -5.13149932e-01 -5.11843936e-03 3.84281021e+02] [ 5.13140360e-01 8.58298982e-01 -3.13490123e-03 3.51166238e+01] [ 6.00182565e-03 6.41568847e-05 9.99981987e-01 -1.60874519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.114012739 meters Centerline goodness [0,1] 0.995588640749931 Centerline is valid? [True, True] Translation: X:384.31, Y:35.13, Z:-0.16 [[ 8.56161081e-01 -5.16695399e-01 -3.75078368e-03 3.84308493e+02] [ 5.16690293e-01 8.56169297e-01 -2.29717026e-03 3.51261852e+01] [ 4.39824313e-03 2.87542549e-05 9.99990327e-01 -1.58448412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.144012739 meters Centerline goodness [0,1] 0.9955697286191251 Centerline is valid? [True, True] Translation: X:384.34, Y:35.14, Z:-0.16 [[ 8.53674243e-01 -5.20792716e-01 -3.90309483e-03 3.84337162e+02] [ 5.20787226e-01 8.53683165e-01 -2.39140085e-03 3.51352543e+01] [ 4.57743050e-03 8.79538225e-06 9.99989523e-01 -1.58602128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.174012739 meters Centerline goodness [0,1] 0.9947431920027576 Centerline is valid? [True, True] Translation: X:384.36, Y:35.15, Z:-0.16 [[ 8.52617393e-01 -5.22516762e-01 -4.45141047e-03 3.84362927e+02] [ 5.22509638e-01 8.52629013e-01 -2.72847796e-03 3.51473720e+01] [ 5.22107718e-03 4.42889818e-07 9.99986370e-01 -1.59033367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.204012739 meters Centerline goodness [0,1] 0.9945553145336226 Centerline is valid? [True, True] Translation: X:384.39, Y:35.16, Z:-0.16 [[ 8.50568497e-01 -5.25836788e-01 -5.37623849e-03 3.84390945e+02] [ 5.25826452e-01 8.50585488e-01 -3.29711154e-03 3.51553581e+01] [ 6.30669298e-03 -2.25491990e-05 9.99980112e-01 -1.62012985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.234012739 meters Centerline goodness [0,1] 0.9946526351813826 Centerline is valid? [True, True] Translation: X:384.42, Y:35.17, Z:-0.16 [[ 8.49898041e-01 -5.26911103e-01 -6.16517437e-03 3.84415715e+02] [ 5.26897524e-01 8.49920401e-01 -3.78293054e-03 3.51669512e+01] [ 7.23317557e-03 -3.33098566e-05 9.99973840e-01 -1.62859764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.264012739 meters Centerline goodness [0,1] 0.9951703264859295 Centerline is valid? [True, True] Translation: X:384.44, Y:35.18, Z:-0.17 [[ 8.50041830e-01 -5.26659139e-01 -7.68361943e-03 3.84438800e+02] [ 5.26638022e-01 8.50076555e-01 -4.71629943e-03 3.51808640e+01] [ 9.01554693e-03 -3.74343404e-05 9.99959358e-01 -1.65384190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.294012739 meters Centerline goodness [0,1] 0.9961146291724804 Centerline is valid? [True, True] Translation: X:384.46, Y:35.20, Z:-0.16 [[ 8.51446982e-01 -5.24383318e-01 -7.75708230e-03 3.84461177e+02] [ 5.24361692e-01 8.51482317e-01 -4.76238198e-03 3.51997749e+01] [ 9.10233207e-03 -1.26010356e-05 9.99958573e-01 -1.64205369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.324012739 meters Centerline goodness [0,1] 0.9962290984313049 Centerline is valid? [True, True] Translation: X:384.48, Y:35.22, Z:-0.16 [[ 8.52349318e-01 -5.22926329e-01 -6.97818882e-03 3.84483405e+02] [ 5.22908768e-01 8.52377882e-01 -4.28560896e-03 3.52167408e+01] [ 8.18911157e-03 3.87975323e-06 9.99966469e-01 -1.62302181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.354012739 meters Centerline goodness [0,1] 0.996456171811622 Centerline is valid? [True, True] Translation: X:384.51, Y:35.23, Z:-0.16 [[ 8.53480582e-01 -5.21085479e-01 -6.38907736e-03 3.84505183e+02] [ 5.21070694e-01 8.53504495e-01 -3.92536074e-03 3.52347106e+01] [ 7.49855472e-03 2.10581954e-05 9.99971885e-01 -1.61101240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.384012739 meters Centerline goodness [0,1] 0.9969742489270387 Centerline is valid? [True, True] Translation: X:384.53, Y:35.26, Z:-0.16 [[ 8.55390362e-01 -5.17941561e-01 -6.62327292e-03 3.84525252e+02] [ 5.17925564e-01 8.55416002e-01 -4.07110043e-03 3.52553431e+01] [ 7.77424575e-03 5.20177063e-05 9.99969779e-01 -1.62250397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.414012739 meters Centerline goodness [0,1] 0.9967811849531126 Centerline is valid? [True, True] Translation: X:384.55, Y:35.27, Z:-0.16 [[ 8.56007187e-01 -5.16918531e-01 -6.85043282e-03 3.84547417e+02] [ 5.16901378e-01 8.56034595e-01 -4.21159975e-03 3.52723339e+01] [ 8.04126144e-03 6.41614918e-05 9.99967666e-01 -1.63094764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.444012739 meters Centerline goodness [0,1] 0.9965866643767979 Centerline is valid? [True, True] Translation: X:384.57, Y:35.29, Z:-0.16 [[ 8.56388732e-01 -5.16292274e-01 -6.37402372e-03 3.84569238e+02] [ 5.16277402e-01 8.56412450e-01 -3.91918341e-03 3.52891756e+01] [ 7.48223739e-03 6.55801041e-05 9.99972006e-01 -1.61787779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.474012739 meters Centerline goodness [0,1] 0.9968128862760299 Centerline is valid? [True, True] Translation: X:384.59, Y:35.30, Z:-0.16 [[ 8.55989674e-01 -5.16957008e-01 -6.09351383e-03 3.84592891e+02] [ 5.16943430e-01 8.56011360e-01 -3.74714106e-03 3.53039313e+01] [ 7.15322789e-03 5.75121100e-05 9.99974414e-01 -1.59754634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.504012739 meters Centerline goodness [0,1] 0.9962328402681707 Centerline is valid? [True, True] Translation: X:384.62, Y:35.31, Z:-0.16 [[ 8.54184851e-01 -5.19936574e-01 -5.84804576e-03 3.84619859e+02] [ 5.19924133e-01 8.54204869e-01 -3.59691544e-03 3.53129378e+01] [ 6.86559705e-03 3.18905561e-05 9.99976431e-01 -1.59339691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.534012739 meters Centerline goodness [0,1] 0.9959612619470524 Centerline is valid? [True, True] Translation: X:384.65, Y:35.32, Z:-0.16 [[ 8.51493033e-01 -5.24334155e-01 -5.77130981e-03 3.84650389e+02] [ 5.24322138e-01 8.51512591e-01 -3.54999635e-03 3.53187185e+01] [ 6.77572731e-03 -3.22833219e-06 9.99977044e-01 -1.60427567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.564012739 meters Centerline goodness [0,1] 0.9948324827571481 Centerline is valid? [True, True] Translation: X:384.68, Y:35.33, Z:-0.16 [[ 8.49894595e-01 -5.26922694e-01 -5.62594602e-03 3.84677209e+02] [ 5.26911323e-01 8.49913216e-01 -3.46177852e-03 3.53282697e+01] [ 6.60565553e-03 -2.22278037e-05 9.99978182e-01 -1.59998452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.594012739 meters Centerline goodness [0,1] 0.9941785389191135 Centerline is valid? [True, True] Translation: X:384.71, Y:35.34, Z:-0.16 [[ 8.48655419e-01 -5.28920127e-01 -5.24200276e-03 3.84705359e+02] [ 5.28910285e-01 8.48671608e-01 -3.22680595e-03 3.53371257e+01] [ 6.15546153e-03 -3.41028129e-05 9.99981054e-01 -1.58472586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.624012739 meters Centerline goodness [0,1] 0.9934399864567462 Centerline is valid? [True, True] Translation: X:384.73, Y:35.35, Z:-0.16 [[ 8.48994672e-01 -5.28380299e-01 -4.72295126e-03 3.84729279e+02] [ 5.28372295e-01 8.49007809e-01 -2.90843243e-03 3.53504234e+01] [ 5.54658089e-03 -2.62329605e-05 9.99984617e-01 -1.57000347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.654012739 meters Centerline goodness [0,1] 0.9956352332488768 Centerline is valid? [True, True] Translation: X:384.75, Y:35.37, Z:-0.16 [[ 8.51556578e-01 -5.24242013e-01 -4.65905631e-03 3.84751028e+02] [ 5.24234161e-01 8.51569323e-01 -2.86934876e-03 3.53697285e+01] [ 5.47174260e-03 9.76333435e-07 9.99985030e-01 -1.56596735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.684012739 meters Centerline goodness [0,1] 0.9969349311423767 Centerline is valid? [True, True] Translation: X:384.77, Y:35.39, Z:-0.16 [[ 8.53507222e-01 -5.21049140e-01 -5.76329914e-03 3.84771726e+02] [ 5.21037039e-01 8.53526679e-01 -3.55121893e-03 3.53891832e+01] [ 6.76948915e-03 2.80986789e-05 9.99977086e-01 -1.59145329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.714012739 meters Centerline goodness [0,1] 0.9967292498513295 Centerline is valid? [True, True] Translation: X:384.79, Y:35.41, Z:-0.16 [[ 8.57556908e-01 -5.14332582e-01 -7.62528235e-03 3.84790659e+02] [ 5.14311124e-01 8.57590802e-01 -4.69942685e-03 3.54141361e+01] [ 8.95644035e-03 1.08258418e-04 9.99959884e-01 -1.62900027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.744012739 meters Centerline goodness [0,1] 0.9962728129551881 Centerline is valid? [True, True] Translation: X:384.81, Y:35.43, Z:-0.16 [[ 8.59337239e-01 -5.11364364e-01 -6.78216456e-03 3.84812288e+02] [ 5.11347286e-01 8.59363993e-01 -4.18110013e-03 3.54339761e+01] [ 7.96641362e-03 1.24933601e-04 9.99968260e-01 -1.60416928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.774012739 meters Centerline goodness [0,1] 0.9946962082166 Centerline is valid? [True, True] Translation: X:384.83, Y:35.46, Z:-0.16 [[ 8.61890414e-01 -5.07063654e-01 -5.60049249e-03 3.84830408e+02] [ 5.07051910e-01 8.61908599e-01 -3.45373466e-03 3.54581807e+01] [ 6.57837594e-03 1.37000384e-04 9.99978353e-01 -1.57104922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80401273900003 meters Centerline goodness [0,1] 0.9949897663312297 Centerline is valid? [True, True] Translation: X:384.85, Y:35.48, Z:-0.16 [[ 8.62863647e-01 -5.05377527e-01 -7.73837439e-03 3.84851059e+02] [ 5.05355027e-01 8.62898321e-01 -4.77337074e-03 3.54796533e+01] [ 9.08978456e-03 2.08141688e-04 9.99958665e-01 -1.62257369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.834012739 meters Centerline goodness [0,1] 0.9948927693481393 Centerline is valid? [True, True] Translation: X:384.87, Y:35.50, Z:-0.16 [[ 8.62815546e-01 -5.05443767e-01 -8.71390553e-03 3.84872958e+02] [ 5.05415220e-01 8.62859515e-01 -5.37700255e-03 3.54961477e+01] [ 1.02366487e-02 2.35220911e-04 9.99947576e-01 -1.64877981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.864012739 meters Centerline goodness [0,1] 0.9957741067998463 Centerline is valid? [True, True] Translation: X:384.90, Y:35.51, Z:-0.16 [[ 8.61927636e-01 -5.06956826e-01 -8.69067707e-03 3.84898151e+02] [ 5.06928496e-01 8.61971420e-01 -5.36384426e-03 3.55096738e+01] [ 1.02103527e-02 2.17693748e-04 9.99947849e-01 -1.64542672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.894012739 meters Centerline goodness [0,1] 0.9951903637021431 Centerline is valid? [True, True] Translation: X:384.92, Y:35.53, Z:-0.16 [[ 8.61035594e-01 -5.08492199e-01 -7.30682909e-03 3.84919808e+02] [ 5.08472217e-01 8.61066580e-01 -4.51110268e-03 3.55277631e+01] [ 8.58552686e-03 1.68900392e-04 9.99963129e-01 -1.62295656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.924012739 meters Centerline goodness [0,1] 0.995137178289306 Centerline is valid? [True, True] Translation: X:384.95, Y:35.54, Z:-0.16 [[ 8.58792160e-01 -5.12300931e-01 -4.87672071e-03 3.84946680e+02] [ 5.12292090e-01 8.58806001e-01 -3.01098211e-03 3.55395488e+01] [ 5.73068595e-03 8.75023807e-05 9.99983576e-01 -1.56501964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.954012739 meters Centerline goodness [0,1] 0.9956379732691564 Centerline is valid? [True, True] Translation: X:384.97, Y:35.55, Z:-0.16 [[ 8.57398711e-01 -5.14630591e-01 -4.77560786e-03 3.84972535e+02] [ 5.14622146e-01 8.57412007e-01 -2.94905508e-03 3.55510311e+01] [ 5.61233748e-03 7.08824602e-05 9.99984248e-01 -1.55767719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.984012739 meters Centerline goodness [0,1] 0.9969688560633552 Centerline is valid? [True, True] Translation: X:385.00, Y:35.56, Z:-0.16 [[ 8.53896790e-01 -5.20403610e-01 -6.35252570e-03 3.85003823e+02] [ 5.20388821e-01 8.53920419e-01 -3.92344264e-03 3.55564556e+01] [ 7.46632511e-03 4.44317150e-05 9.99972126e-01 -1.60123682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.014012739 meters Centerline goodness [0,1] 0.9972656746788757 Centerline is valid? [True, True] Translation: X:385.03, Y:35.57, Z:-0.16 [[ 8.52268662e-01 -5.23052147e-01 -7.38772785e-03 3.85029854e+02] [ 5.23032232e-01 8.52300681e-01 -4.56445689e-03 3.55675363e+01] [ 8.68401446e-03 2.61237803e-05 9.99962293e-01 -1.61962989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.044012739 meters Centerline goodness [0,1] 0.9964848354945879 Centerline is valid? [True, True] Translation: X:385.06, Y:35.58, Z:-0.16 [[ 8.49767350e-01 -5.27109445e-01 -7.14732600e-03 3.85056869e+02] [ 5.27090942e-01 8.49797407e-01 -4.41652237e-03 3.55762875e+01] [ 8.40176976e-03 -1.42742881e-05 9.99964704e-01 -1.60960276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.074012739 meters Centerline goodness [0,1] 0.9955175224123879 Centerline is valid? [True, True] Translation: X:385.08, Y:35.59, Z:-0.16 [[ 8.47923578e-01 -5.30077671e-01 -6.57789614e-03 3.85083125e+02] [ 5.30062077e-01 8.47949091e-01 -4.06614512e-03 3.55865438e+01] [ 7.73309379e-03 -3.89129747e-05 9.99970098e-01 -1.58547940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.104012739 meters Centerline goodness [0,1] 0.9949060808659662 Centerline is valid? [True, True] Translation: X:385.11, Y:35.60, Z:-0.16 [[ 8.47243953e-01 -5.31154968e-01 -7.21684047e-03 3.85108545e+02] [ 5.31136228e-01 8.47274688e-01 -4.46212871e-03 3.56011551e+01] [ 8.48472809e-03 -5.26138530e-05 9.99964003e-01 -1.59710740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.134012739 meters Centerline goodness [0,1] 0.9957183432956039 Centerline is valid? [True, True] Translation: X:385.13, Y:35.62, Z:-0.16 [[ 8.46657450e-01 -5.32081246e-01 -7.79165089e-03 3.85132570e+02] [ 5.32059424e-01 8.46693300e-01 -4.81932900e-03 3.56163412e+01] [ 9.16141318e-03 -6.53004761e-05 9.99958031e-01 -1.61129213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.164012739 meters Centerline goodness [0,1] 0.9945636016139308 Centerline is valid? [True, True] Translation: X:385.16, Y:35.63, Z:-0.16 [[ 8.46024386e-01 -5.33084075e-01 -8.00669526e-03 3.85155805e+02] [ 5.33061061e-01 8.46062269e-01 -4.95402878e-03 3.56313809e+01] [ 9.41507661e-03 -7.68283168e-05 9.99955674e-01 -1.60786799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.194012739 meters Centerline goodness [0,1] 0.99482688303604 Centerline is valid? [True, True] Translation: X:385.18, Y:35.65, Z:-0.16 [[ 8.45828507e-01 -5.33404779e-01 -7.31288747e-03 3.85178221e+02] [ 5.33385587e-01 8.45860116e-01 -4.52538019e-03 3.56484675e+01] [ 8.59953927e-03 -7.28932054e-05 9.99963021e-01 -1.59287611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.224012739 meters Centerline goodness [0,1] 0.9944594189877208 Centerline is valid? [True, True] Translation: X:385.20, Y:35.67, Z:-0.16 [[ 8.45667138e-01 -5.33665681e-01 -6.93051895e-03 3.85201143e+02] [ 5.33648438e-01 8.45695534e-01 -4.29044424e-03 3.56650462e+01] [ 8.15077177e-03 -7.01729142e-05 9.99966779e-01 -1.58693555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.254012739 meters Centerline goodness [0,1] 0.9944584168123108 Centerline is valid? [True, True] Translation: X:385.22, Y:35.68, Z:-0.16 [[ 8.45038791e-01 -5.34675258e-01 -5.64003258e-03 3.85224480e+02] [ 5.34663853e-01 8.45057610e-01 -3.49286359e-03 3.56797739e+01] [ 6.63370019e-03 -6.39163255e-05 9.99977995e-01 -1.55935034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.284012739 meters Centerline goodness [0,1] 0.9934162556294232 Centerline is valid? [True, True] Translation: X:385.25, Y:35.70, Z:-0.15 [[ 8.44531377e-01 -5.35483104e-01 -4.95969648e-03 3.85249129e+02] [ 5.35474297e-01 8.44545938e-01 -3.07159990e-03 3.56952728e+01] [ 5.83348136e-03 -6.17274930e-05 9.99982983e-01 -1.53713741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.314012739 meters Centerline goodness [0,1] 0.9927693420101229 Centerline is valid? [True, True] Translation: X:385.27, Y:35.71, Z:-0.16 [[ 8.43445600e-01 -5.37184280e-01 -5.70691241e-03 3.85272886e+02] [ 5.37172649e-01 8.43464903e-01 -3.53600122e-03 3.57100905e+01] [ 6.71306460e-03 -8.31725817e-05 9.99977464e-01 -1.55018343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.344012739 meters Centerline goodness [0,1] 0.9926683387999228 Centerline is valid? [True, True] Translation: X:385.30, Y:35.73, Z:-0.16 [[ 8.42459350e-01 -5.38726146e-01 -6.03177964e-03 3.85297646e+02] [ 5.38713189e-01 8.42480937e-01 -3.73768710e-03 3.57253366e+01] [ 7.09524913e-03 -1.00549800e-04 9.99974823e-01 -1.56075704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.374012739 meters Centerline goodness [0,1] 0.989879620752104 Centerline is valid? [True, True] Translation: X:385.33, Y:35.73, Z:-0.16 [[ 8.39210639e-01 -5.43779904e-01 -5.37761059e-03 3.85326958e+02] [ 5.43769702e-01 8.39227859e-01 -3.33338436e-03 3.57316481e+01] [ 6.32566806e-03 -1.26770090e-04 9.99979985e-01 -1.55585136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.404012739 meters Centerline goodness [0,1] 0.9877938905096962 Centerline is valid? [True, True] Translation: X:385.36, Y:35.74, Z:-0.15 [[ 8.35663164e-01 -5.49211992e-01 -5.76742154e-03 3.85357905e+02] [ 5.49200379e-01 8.35683047e-01 -3.57614559e-03 3.57369522e+01] [ 6.78379845e-03 -1.79016959e-04 9.99976974e-01 -1.54854335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.434012739 meters Centerline goodness [0,1] 0.986299919535849 Centerline is valid? [True, True] Translation: X:385.39, Y:35.74, Z:-0.16 [[ 8.33078756e-01 -5.53116963e-01 -6.43519369e-03 3.85388008e+02] [ 5.53102608e-01 8.33103577e-01 -3.99183226e-03 3.57413372e+01] [ 7.56913302e-03 -2.33811758e-04 9.99971326e-01 -1.55725641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.464012739 meters Centerline goodness [0,1] 0.984945959855893 Centerline is valid? [True, True] Translation: X:385.41, Y:35.75, Z:-0.16 [[ 8.32192645e-01 -5.54446915e-01 -6.63485090e-03 3.85414592e+02] [ 5.54431692e-01 8.32219055e-01 -4.11625067e-03 3.57522565e+01] [ 7.80389183e-03 -2.53058085e-04 9.99969517e-01 -1.56104380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.494012739 meters Centerline goodness [0,1] 0.9857514937950054 Centerline is valid? [True, True] Translation: X:385.44, Y:35.77, Z:-0.16 [[ 8.31789946e-01 -5.55047157e-01 -6.93819221e-03 3.85440251e+02] [ 5.55030525e-01 8.31818839e-01 -4.30528851e-03 3.57658170e+01] [ 8.16095714e-03 -2.69812765e-04 9.99966662e-01 -1.57918785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.524012739 meters Centerline goodness [0,1] 0.9840020587163046 Centerline is valid? [True, True] Translation: X:385.47, Y:35.77, Z:-0.16 [[ 8.32443021e-01 -5.54066640e-01 -6.98401578e-03 3.85467538e+02] [ 5.54049740e-01 8.32472276e-01 -4.33525464e-03 3.57740393e+01] [ 8.21601949e-03 -2.60639660e-04 9.99966214e-01 -1.56983009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55401273900003 meters Centerline goodness [0,1] 0.9859727543635589 Centerline is valid? [True, True] Translation: X:385.49, Y:35.79, Z:-0.16 [[ 8.33522308e-01 -5.52443685e-01 -6.82180007e-03 3.85492025e+02] [ 5.52427503e-01 8.33550189e-01 -4.23509192e-03 3.57889880e+01] [ 8.02596253e-03 -2.38506382e-04 9.99967763e-01 -1.56231687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.584012739 meters Centerline goodness [0,1] 0.9859727543635589 Centerline is valid? [True, True] Translation: X:385.52, Y:35.80, Z:-0.16 [[ 8.33426911e-01 -5.52587600e-01 -6.82115798e-03 3.85515285e+02] [ 5.52571414e-01 8.33454790e-01 -4.23612584e-03 3.58036641e+01] [ 8.02595741e-03 -2.38675635e-04 9.99967763e-01 -1.56012061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.614012739 meters Centerline goodness [0,1] 0.9895678409042621 Centerline is valid? [True, True] Translation: X:385.54, Y:35.82, Z:-0.16 [[ 8.36934379e-01 -5.47253788e-01 -7.35772559e-03 3.85537018e+02] [ 5.47234734e-01 8.36966696e-01 -4.57114774e-03 3.58211579e+01] [ 8.65974920e-03 -2.00652313e-04 9.99962484e-01 -1.56126856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.644012739 meters Centerline goodness [0,1] 0.9939892573961975 Centerline is valid? [True, True] Translation: X:385.56, Y:35.84, Z:-0.16 [[ 8.40937776e-01 -5.41058453e-01 -8.91107983e-03 3.85558559e+02] [ 5.41030144e-01 8.40984972e-01 -5.53714284e-03 3.58413840e+01] [ 1.04900022e-02 -1.64770215e-04 9.99944965e-01 -1.59374344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.674012739 meters Centerline goodness [0,1] 0.99480773732258 Centerline is valid? [True, True] Translation: X:385.58, Y:35.86, Z:-0.16 [[ 8.42416339e-01 -5.38757740e-01 -8.64924781e-03 3.85582067e+02] [ 5.38730939e-01 8.42460729e-01 -5.37539297e-03 3.58565638e+01] [ 1.01826862e-02 -1.31298531e-04 9.99948146e-01 -1.59305677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.704012739 meters Centerline goodness [0,1] 0.994929637984746 Centerline is valid? [True, True] Translation: X:385.61, Y:35.87, Z:-0.16 [[ 8.43999467e-01 -5.36297282e-01 -7.07982854e-03 3.85606849e+02] [ 5.36279235e-01 8.44029157e-01 -4.40049501e-03 3.58707099e+01] [ 8.33555523e-03 -8.27495882e-05 9.99965255e-01 -1.56170702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.734012739 meters Centerline goodness [0,1] 0.9947341271547092 Centerline is valid? [True, True] Translation: X:385.63, Y:35.88, Z:-0.16 [[ 8.43868463e-01 -5.36507603e-01 -6.75346217e-03 3.85632344e+02] [ 5.36491177e-01 8.43895483e-01 -4.19898308e-03 3.58829026e+01] [ 7.95200257e-03 -7.97834709e-05 9.99968379e-01 -1.55621936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.764012739 meters Centerline goodness [0,1] 0.9946807374335093 Centerline is valid? [True, True] Translation: X:385.66, Y:35.89, Z:-0.16 [[ 8.43210945e-01 -5.37520143e-01 -8.20962592e-03 3.85660178e+02] [ 5.37495898e-01 8.43250902e-01 -5.10642287e-03 3.58905543e+01] [ 9.66757962e-03 -1.06848606e-04 9.99953262e-01 -1.58004658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.794012739 meters Centerline goodness [0,1] 0.995647721454173 Centerline is valid? [True, True] Translation: X:385.69, Y:35.90, Z:-0.16 [[ 8.42794984e-01 -5.38154110e-01 -9.31501393e-03 3.85687025e+02] [ 5.38122923e-01 8.42846449e-01 -5.79506947e-03 3.59023718e+01] [ 1.09697669e-02 -1.28567045e-04 9.99939822e-01 -1.60445962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.824012739 meters Centerline goodness [0,1] 0.9945273097971885 Centerline is valid? [True, True] Translation: X:385.71, Y:35.91, Z:-0.16 [[ 8.42477963e-01 -5.38665044e-01 -8.41730556e-03 3.85714632e+02] [ 5.38639588e-01 8.42520003e-01 -5.23823070e-03 3.59111908e+01] [ 9.91340007e-03 -1.20800066e-04 9.99950854e-01 -1.58832178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.854012739 meters Centerline goodness [0,1] 0.9930670398168172 Centerline is valid? [True, True] Translation: X:385.74, Y:35.93, Z:-0.15 [[ 8.42694238e-01 -5.38353677e-01 -6.46059236e-03 3.85740083e+02] [ 5.38338663e-01 8.42718998e-01 -4.02168906e-03 3.59251036e+01] [ 7.60955502e-03 -8.89324564e-05 9.99971043e-01 -1.53785665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.884012739 meters Centerline goodness [0,1] 0.9943815424054689 Centerline is valid? [True, True] Translation: X:385.76, Y:35.94, Z:-0.15 [[ 8.43380773e-01 -5.37294067e-01 -4.89457324e-03 3.85764201e+02] [ 5.37285428e-01 8.43394974e-01 -3.04748105e-03 3.59414909e+01] [ 5.76545195e-03 -5.95959523e-05 9.99983378e-01 -1.50527735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.914012739 meters Centerline goodness [0,1] 0.9957618094305064 Centerline is valid? [True, True] Translation: X:385.79, Y:35.95, Z:-0.16 [[ 8.44034121e-01 -5.36237457e-01 -7.46940549e-03 3.85788963e+02] [ 5.36217275e-01 8.44067167e-01 -4.65302026e-03 3.59540850e+01] [ 8.79980369e-03 -7.79163926e-05 9.99961278e-01 -1.55814151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.944012739 meters Centerline goodness [0,1] 0.996847105941501 Centerline is valid? [True, True] Translation: X:385.81, Y:35.97, Z:-0.16 [[ 8.44275981e-01 -5.35839214e-01 -8.62579427e-03 3.85812229e+02] [ 5.35812267e-01 8.44320040e-01 -5.37444101e-03 3.59699394e+01] [ 1.01627672e-02 -8.42949232e-05 9.99948354e-01 -1.58390381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.974012739 meters Centerline goodness [0,1] 0.9974746402954034 Centerline is valid? [True, True] Translation: X:385.83, Y:35.99, Z:-0.16 [[ 8.44261861e-01 -5.35843632e-01 -9.67020943e-03 3.85834861e+02] [ 5.35809737e-01 8.44317235e-01 -6.02765915e-03 3.59862912e+01] [ 1.13946073e-02 -9.24696381e-05 9.99935075e-01 -1.59202841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.004012739 meters Centerline goodness [0,1] 0.9964465375147169 Centerline is valid? [True, True] Translation: X:385.86, Y:36.00, Z:-0.16 [[ 8.43264894e-01 -5.37433722e-01 -8.32544729e-03 3.85859430e+02] [ 5.37408658e-01 8.43305986e-01 -5.19124808e-03 3.60015636e+01] [ 9.81085131e-03 -9.65701857e-05 9.99951868e-01 -1.56228818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.034012739 meters Centerline goodness [0,1] 0.9957182114479262 Centerline is valid? [True, True] Translation: X:385.88, Y:36.02, Z:-0.15 [[ 8.42886014e-01 -5.38042397e-01 -7.31752397e-03 3.85882814e+02] [ 5.38023045e-01 8.42917772e-01 -4.56424887e-03 3.60164514e+01] [ 8.62383041e-03 -8.98549975e-05 9.99962810e-01 -1.53920168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.064012739 meters Centerline goodness [0,1] 0.9960113226968605 Centerline is valid? [True, True] Translation: X:385.91, Y:36.03, Z:-0.15 [[ 8.43258168e-01 -5.37467292e-01 -6.67627904e-03 3.85905547e+02] [ 5.37451152e-01 8.43284593e-01 -4.16584963e-03 3.60338787e+01] [ 7.86901117e-03 -7.52871396e-05 9.99969036e-01 -1.52013979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.094012739 meters Centerline goodness [0,1] 0.9962350839129602 Centerline is valid? [True, True] Translation: X:385.93, Y:36.05, Z:-0.15 [[ 8.43557563e-01 -5.36990583e-01 -7.19390170e-03 3.85927883e+02] [ 5.36971811e-01 8.43588234e-01 -4.49059135e-03 3.60505101e+01] [ 8.48009609e-03 -7.48501343e-05 9.99964041e-01 -1.53256131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.124012739 meters Centerline goodness [0,1] 0.9968348380244291 Centerline is valid? [True, True] Translation: X:385.95, Y:36.07, Z:-0.16 [[ 8.43556761e-01 -5.36978800e-01 -8.10925712e-03 3.85950086e+02] [ 5.36954925e-01 8.43595734e-01 -5.06430093e-03 3.60671183e+01] [ 9.56035694e-03 -8.22802534e-05 9.99954295e-01 -1.55669139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.154012739 meters Centerline goodness [0,1] 0.9965372931404415 Centerline is valid? [True, True] Translation: X:385.97, Y:36.08, Z:-0.16 [[ 8.43253315e-01 -5.37452112e-01 -8.31106504e-03 3.85974146e+02] [ 5.37427037e-01 8.43294267e-01 -5.19229625e-03 3.60806069e+01] [ 9.79928408e-03 -8.81700327e-05 9.99951982e-01 -1.55999600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.184012739 meters Centerline goodness [0,1] 0.9975180748893925 Centerline is valid? [True, True] Translation: X:386.00, Y:36.10, Z:-0.15 [[ 8.42968484e-01 -5.37889090e-01 -8.91413502e-03 3.85998001e+02] [ 5.37860255e-01 8.43015609e-01 -5.57038171e-03 3.60953317e+01] [ 1.05110025e-02 -9.89027145e-05 9.99944753e-01 -1.54657105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.214012739 meters Centerline goodness [0,1] 0.9976725141157708 Centerline is valid? [True, True] Translation: X:386.02, Y:36.11, Z:-0.15 [[ 8.43185432e-01 -5.37553722e-01 -8.62111430e-03 3.86021322e+02] [ 5.37526711e-01 8.43229499e-01 -5.38956971e-03 3.61117280e+01] [ 1.01667611e-02 -8.96725580e-05 9.99948313e-01 -1.53799142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.244012739 meters Centerline goodness [0,1] 0.9967164179104477 Centerline is valid? [True, True] Translation: X:386.04, Y:36.13, Z:-0.15 [[ 8.44554697e-01 -5.35421299e-01 -7.16908277e-03 3.86042021e+02] [ 5.35402530e-01 8.44585123e-01 -4.48338646e-03 3.61303573e+01] [ 8.45540126e-03 -5.18799614e-05 9.99964251e-01 -1.51365727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.274012739 meters Centerline goodness [0,1] 0.9973525769674196 Centerline is valid? [True, True] Translation: X:386.06, Y:36.15, Z:-0.15 [[ 8.45207759e-01 -5.34405474e-01 -5.88505876e-03 3.86064154e+02] [ 5.34392800e-01 8.45228246e-01 -3.68062790e-03 3.61483058e+01] [ 6.94116559e-03 -3.40377686e-05 9.99975909e-01 -1.49322465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30401273900003 meters Centerline goodness [0,1] 0.9969006729360816 Centerline is valid? [True, True] Translation: X:386.09, Y:36.17, Z:-0.15 [[ 8.46849925e-01 -5.31804100e-01 -5.44096774e-03 3.86085528e+02] [ 5.31793204e-01 8.46867404e-01 -3.40420330e-03 3.61687272e+01] [ 6.41814749e-03 -1.06203610e-05 9.99979403e-01 -1.48228171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.334012739 meters Centerline goodness [0,1] 0.9973260869565217 Centerline is valid? [True, True] Translation: X:386.11, Y:36.19, Z:-0.15 [[ 8.47085736e-01 -5.31418866e-01 -6.30432112e-03 3.86107663e+02] [ 5.31404215e-01 8.47109195e-01 -3.94602806e-03 3.61866647e+01] [ 7.43744215e-03 -7.51873540e-06 9.99972342e-01 -1.50462302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.364012739 meters Centerline goodness [0,1] 0.9981152281002356 Centerline is valid? [True, True] Translation: X:386.13, Y:36.20, Z:-0.16 [[ 8.47324470e-01 -5.31008782e-01 -8.42113321e-03 3.86128379e+02] [ 5.30982594e-01 8.47366316e-01 -5.27364962e-03 3.62048046e+01] [ 9.93613889e-03 -2.98278362e-06 9.99950635e-01 -1.55974990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.394012739 meters Centerline goodness [0,1] 0.9978225599863376 Centerline is valid? [True, True] Translation: X:386.15, Y:36.22, Z:-0.16 [[ 8.47391148e-01 -5.30890274e-01 -9.15201226e-03 3.86151310e+02] [ 5.30859319e-01 8.47440569e-01 -5.73285958e-03 3.62204067e+01] [ 1.07993059e-02 -4.56537112e-07 9.99941686e-01 -1.55997270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.424012739 meters Centerline goodness [0,1] 0.9983108830446867 Centerline is valid? [True, True] Translation: X:386.17, Y:36.24, Z:-0.16 [[ 8.47263206e-01 -5.31092063e-01 -9.28866562e-03 3.86173501e+02] [ 5.31060167e-01 8.47314121e-01 -5.82057781e-03 3.62359438e+01] [ 1.09616802e-02 -1.27888933e-06 9.99939919e-01 -1.55677867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.454012739 meters Centerline goodness [0,1] 0.9984722640616258 Centerline is valid? [True, True] Translation: X:386.19, Y:36.26, Z:-0.16 [[ 8.47508302e-01 -5.30694263e-01 -9.65801063e-03 3.86193630e+02] [ 5.30659735e-01 8.47563331e-01 -6.05360019e-03 3.62558243e+01] [ 1.13983866e-02 5.35905824e-06 9.99935036e-01 -1.55105149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.484012739 meters Centerline goodness [0,1] 0.9975803370548032 Centerline is valid? [True, True] Translation: X:386.21, Y:36.28, Z:-0.15 [[ 8.49389237e-01 -5.27690607e-01 -8.97478992e-03 3.86211902e+02] [ 5.27660604e-01 8.49436649e-01 -5.62720690e-03 3.62796024e+01] [ 1.05929397e-02 4.40459035e-05 9.99943892e-01 -1.53511992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.514012739 meters Centerline goodness [0,1] 0.997424435930183 Centerline is valid? [True, True] Translation: X:386.23, Y:36.30, Z:-0.15 [[ 8.50378867e-01 -5.26107775e-01 -8.14815120e-03 3.86233077e+02] [ 5.26082964e-01 8.50417901e-01 -5.10971537e-03 3.63002080e+01] [ 9.61759462e-03 5.85904269e-05 9.99953748e-01 -1.51433965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.544012739 meters Centerline goodness [0,1] 0.996631560994329 Centerline is valid? [True, True] Translation: X:386.25, Y:36.33, Z:-0.15 [[ 8.52407842e-01 -5.22821025e-01 -7.68423078e-03 3.86250071e+02] [ 5.22798812e-01 8.52442472e-01 -4.82027883e-03 3.63262976e+01] [ 9.07050780e-03 9.15367596e-05 9.99958858e-01 -1.49929306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.574012739 meters Centerline goodness [0,1] 0.9967567335366639 Centerline is valid? [True, True] Translation: X:386.27, Y:36.34, Z:-0.15 [[ 8.52676913e-01 -5.22370889e-01 -8.41043582e-03 3.86272361e+02] [ 5.22344248e-01 8.52718384e-01 -5.27676675e-03 3.63448199e+01] [ 9.92816259e-03 1.06234411e-04 9.99950709e-01 -1.50756553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.604012739 meters Centerline goodness [0,1] 0.9970952584365655 Centerline is valid? [True, True] Translation: X:386.29, Y:36.36, Z:-0.15 [[ 8.51652882e-01 -5.24020765e-01 -9.46607345e-03 3.86294628e+02] [ 5.23987092e-01 8.51705482e-01 -5.94132115e-03 3.63635428e+01] [ 1.11756823e-02 9.98429799e-05 9.99937545e-01 -1.53344870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.634012739 meters Centerline goodness [0,1] 0.997945733116494 Centerline is valid? [True, True] Translation: X:386.32, Y:36.38, Z:-0.15 [[ 8.49156714e-01 -5.28065205e-01 -8.94504265e-03 3.86318276e+02] [ 5.28035340e-01 8.49203826e-01 -5.61627786e-03 3.63800425e+01] [ 1.05619254e-02 4.58014218e-05 9.99944220e-01 -1.53012252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.664012739 meters Centerline goodness [0,1] 0.9978184618016939 Centerline is valid? [True, True] Translation: X:386.34, Y:36.39, Z:-0.15 [[ 8.47596612e-01 -5.30579184e-01 -8.10633476e-03 3.86342592e+02] [ 5.30554755e-01 8.47635375e-01 -5.09140292e-03 3.63947548e+01] [ 9.57260851e-03 1.46014050e-05 9.99954181e-01 -1.51338770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.694012739 meters Centerline goodness [0,1] 0.9975170567406512 Centerline is valid? [True, True] Translation: X:386.37, Y:36.41, Z:-0.15 [[ 8.46044996e-01 -5.33059743e-01 -7.42795008e-03 3.86366357e+02] [ 5.33039314e-01 8.46077603e-01 -4.66685032e-03 3.64081739e+01] [ 8.77233223e-03 -1.10240575e-05 9.99961522e-01 -1.49945912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.724012739 meters Centerline goodness [0,1] 0.996956281128943 Centerline is valid? [True, True] Translation: X:386.39, Y:36.42, Z:-0.15 [[ 8.43140418e-01 -5.37630256e-01 -8.24276131e-03 3.86391766e+02] [ 5.37605307e-01 8.43180706e-01 -5.17979884e-03 3.64191797e+01] [ 9.73495388e-03 -6.40544700e-05 9.99952612e-01 -1.50409158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.754012739 meters Centerline goodness [0,1] 0.9961255244455861 Centerline is valid? [True, True] Translation: X:386.42, Y:36.43, Z:-0.15 [[ 8.40026633e-01 -5.42467526e-01 -9.17813618e-03 3.86418685e+02] [ 5.42436871e-01 8.40076762e-01 -5.76851909e-03 3.64285616e+01] [ 1.08395732e-02 -1.32849795e-04 9.99941241e-01 -1.52802618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.784012739 meters Centerline goodness [0,1] 0.9957704569606801 Centerline is valid? [True, True] Translation: X:386.44, Y:36.44, Z:-0.15 [[ 8.38438936e-01 -5.44908945e-01 -9.71557389e-03 3.86444364e+02] [ 5.44874748e-01 8.38495206e-01 -6.10721829e-03 3.64409655e+01] [ 1.14743400e-02 -1.73241269e-04 9.99934153e-01 -1.53650490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.814012739 meters Centerline goodness [0,1] 0.9947604949841324 Centerline is valid? [True, True] Translation: X:386.47, Y:36.45, Z:-0.16 [[ 8.35382518e-01 -5.49565899e-01 -1.06475890e-02 3.86474235e+02] [ 5.49525185e-01 8.35450331e-01 -6.69442073e-03 3.64462782e+01] [ 1.25745571e-02 -2.58716278e-04 9.99920904e-01 -1.55451977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.844012739 meters Centerline goodness [0,1] 0.9938672987843333 Centerline is valid? [True, True] Translation: X:386.50, Y:36.46, Z:-0.15 [[ 8.33998856e-01 -5.51677501e-01 -9.89155615e-03 3.86501651e+02] [ 5.51642496e-01 8.34057470e-01 -6.22047976e-03 3.64563057e+01] [ 1.16818250e-02 -2.68729720e-04 9.99931729e-01 -1.52837257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.874012739 meters Centerline goodness [0,1] 0.9927902561805422 Centerline is valid? [True, True] Translation: X:386.53, Y:36.47, Z:-0.15 [[ 8.33814500e-01 -5.51973273e-01 -8.88169884e-03 3.86526322e+02] [ 5.51945048e-01 8.33861767e-01 -5.58730453e-03 3.64699898e+01] [ 1.04901519e-02 -2.43434156e-04 9.99944947e-01 -1.50043342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.904012739 meters Centerline goodness [0,1] 0.9902585713983185 Centerline is valid? [True, True] Translation: X:386.55, Y:36.48, Z:-0.14 [[ 8.33818850e-01 -5.52002494e-01 -6.27477028e-03 3.86553413e+02] [ 5.51988398e-01 8.33842442e-01 -3.94849123e-03 3.64782779e+01] [ 7.41174678e-03 -1.71273982e-04 9.99972518e-01 -1.44663209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.934012739 meters Centerline goodness [0,1] 0.9914469755140346 Centerline is valid? [True, True] Translation: X:386.58, Y:36.49, Z:-0.14 [[ 8.34059785e-01 -5.51641084e-01 -6.03231137e-03 3.86577713e+02] [ 5.51628043e-01 8.34081584e-01 -3.79659634e-03 3.64944110e+01] [ 7.12579834e-03 -1.61003788e-04 9.99974598e-01 -1.44228718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.964012739 meters Centerline goodness [0,1] 0.9935896056962161 Centerline is valid? [True, True] Translation: X:386.60, Y:36.51, Z:-0.15 [[ 8.35512422e-01 -5.49419466e-01 -7.56595358e-03 3.86602135e+02] [ 5.49398840e-01 8.35546659e-01 -4.76389341e-03 3.65091765e+01] [ 8.93908301e-03 -1.76434002e-04 9.99960030e-01 -1.47439107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.994012739 meters Centerline goodness [0,1] 0.9945066828150007 Centerline is valid? [True, True] Translation: X:386.62, Y:36.53, Z:-0.15 [[ 8.37210182e-01 -5.46815823e-01 -8.45978888e-03 3.86624787e+02] [ 5.46789885e-01 8.37252906e-01 -5.32851596e-03 3.65253931e+01] [ 9.99669967e-03 -1.64639169e-04 9.99950018e-01 -1.48376925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.024012739 meters Centerline goodness [0,1] 0.994598847470602 Centerline is valid? [True, True] Translation: X:386.65, Y:36.54, Z:-0.15 [[ 8.38131745e-01 -5.45410439e-01 -7.91396816e-03 3.86647961e+02] [ 5.45387672e-01 8.38169096e-01 -4.98531650e-03 3.65403491e+01] [ 9.35228720e-03 -1.37828655e-04 9.99956257e-01 -1.46112454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05401273900003 meters Centerline goodness [0,1] 0.9957564138465846 Centerline is valid? [True, True] Translation: X:386.67, Y:36.56, Z:-0.14 [[ 8.39674832e-01 -5.43041485e-01 -7.21962262e-03 3.86670736e+02] [ 5.43022445e-01 8.39705863e-01 -4.54850787e-03 3.65586000e+01] [ 8.53238790e-03 -1.01149546e-04 9.99963593e-01 -1.43723824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.084012739 meters Centerline goodness [0,1] 0.9963539868829824 Centerline is valid? [True, True] Translation: X:386.69, Y:36.58, Z:-0.14 [[ 8.40273043e-01 -5.42109625e-01 -7.63986912e-03 3.86694409e+02] [ 5.42088249e-01 8.40307768e-01 -4.81503992e-03 3.65754192e+01] [ 9.03012085e-03 -9.55350296e-05 9.99959223e-01 -1.44595698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.114012739 meters Centerline goodness [0,1] 0.9970457902511078 Centerline is valid? [True, True] Translation: X:386.72, Y:36.59, Z:-0.15 [[ 8.41035130e-01 -5.40901286e-01 -9.25789759e-03 3.86716885e+02] [ 5.40869798e-01 8.41086077e-01 -5.83714846e-03 3.65929290e+01] [ 1.09440099e-02 -9.80702856e-05 9.99940108e-01 -1.49660711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.144012739 meters Centerline goodness [0,1] 0.9971401940431301 Centerline is valid? [True, True] Translation: X:386.74, Y:36.61, Z:-0.15 [[ 8.41205119e-01 -5.40624986e-01 -9.92840100e-03 3.86740779e+02] [ 5.40588724e-01 8.41263701e-01 -6.26227247e-03 3.66084081e+01] [ 1.17379443e-02 -9.93259718e-05 9.99931103e-01 -1.50563167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.174012739 meters Centerline goodness [0,1] 0.99685980986794 Centerline is valid? [True, True] Translation: X:386.76, Y:36.62, Z:-0.15 [[ 8.41179509e-01 -5.40685966e-01 -8.70166186e-03 3.86764453e+02] [ 5.40658098e-01 8.41224511e-01 -5.49021666e-03 3.66219408e+01] [ 1.02885343e-02 -8.63661953e-05 9.99947068e-01 -1.47472329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.204012739 meters Centerline goodness [0,1] 0.9966572383646182 Centerline is valid? [True, True] Translation: X:386.79, Y:36.64, Z:-0.15 [[ 8.41192272e-01 -5.40672063e-01 -8.32354757e-03 3.86787178e+02] [ 5.40646552e-01 8.41233448e-01 -5.25282242e-03 3.66377911e+01] [ 9.84210095e-03 -8.14636565e-05 9.99951562e-01 -1.46256651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.234012739 meters Centerline goodness [0,1] 0.9969815226062396 Centerline is valid? [True, True] Translation: X:386.81, Y:36.65, Z:-0.15 [[ 8.41368997e-01 -5.40386005e-01 -9.00980090e-03 3.86810155e+02] [ 5.40356072e-01 8.41417232e-01 -5.68824399e-03 3.66543364e+01] [ 1.06548492e-02 -8.25884865e-05 9.99943232e-01 -1.47850791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.264012739 meters Centerline goodness [0,1] 0.9969605518430696 Centerline is valid? [True, True] Translation: X:386.83, Y:36.67, Z:-0.15 [[ 8.41908258e-01 -5.39532300e-01 -9.76639610e-03 3.86832336e+02] [ 5.39497043e-01 8.41964899e-01 -6.16844276e-03 3.66722986e+01] [ 1.15510368e-02 -7.56789220e-05 9.99933282e-01 -1.49511160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.294012739 meters Centerline goodness [0,1] 0.9967528278353619 Centerline is valid? [True, True] Translation: X:386.85, Y:36.69, Z:-0.15 [[ 8.42141935e-01 -5.39177405e-01 -9.20253061e-03 3.86853959e+02] [ 5.39146056e-01 8.42192212e-01 -5.81452129e-03 3.66903347e+01] [ 1.08853581e-02 -6.48558733e-05 9.99940751e-01 -1.47099463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.324012739 meters Centerline goodness [0,1] 0.9963833243096913 Centerline is valid? [True, True] Translation: X:386.88, Y:36.70, Z:-0.14 [[ 8.41945950e-01 -5.39499441e-01 -8.20795168e-03 3.86876139e+02] [ 5.39474500e-01 8.41985955e-01 -5.18790135e-03 3.67049082e+01] [ 9.70984992e-03 -6.00481014e-05 9.99952856e-01 -1.44800694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.354012739 meters Centerline goodness [0,1] 0.9963550055098754 Centerline is valid? [True, True] Translation: X:386.90, Y:36.72, Z:-0.14 [[ 8.41589347e-01 -5.40056906e-01 -8.11848184e-03 3.86900048e+02] [ 5.40032521e-01 8.41628501e-01 -5.13237709e-03 3.67174831e+01] [ 9.60452139e-03 -6.48903367e-05 9.99953873e-01 -1.44930148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.384012739 meters Centerline goodness [0,1] 0.996677178352981 Centerline is valid? [True, True] Translation: X:386.92, Y:36.73, Z:-0.15 [[ 8.41092611e-01 -5.40818112e-01 -8.88756873e-03 3.86923200e+02] [ 5.40788915e-01 8.41139562e-01 -5.62017666e-03 3.67325635e+01] [ 1.05151790e-02 -7.92095813e-05 9.99944711e-01 -1.45584373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.414012739 meters Centerline goodness [0,1] 0.9970014022219825 Centerline is valid? [True, True] Translation: X:386.94, Y:36.75, Z:-0.15 [[ 8.41012514e-01 -5.40936334e-01 -9.26464006e-03 3.86944906e+02] [ 5.40904596e-01 8.41063539e-01 -5.86015118e-03 3.67505156e+01] [ 1.09621196e-02 -8.28259127e-05 9.99939911e-01 -1.45915018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.444012739 meters Centerline goodness [0,1] 0.9963965509845137 Centerline is valid? [True, True] Translation: X:386.97, Y:36.77, Z:-0.14 [[ 8.40627602e-01 -5.41547937e-01 -8.43008639e-03 3.86967345e+02] [ 5.41521673e-01 8.40669867e-01 -5.33406411e-03 3.67652347e+01] [ 9.97557102e-03 -8.11129616e-05 9.99950239e-01 -1.43865886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.474012739 meters Centerline goodness [0,1] 0.9963965509845137 Centerline is valid? [True, True] Translation: X:386.99, Y:36.78, Z:-0.14 [[ 8.40535976e-01 -5.41690147e-01 -8.42955942e-03 3.86990456e+02] [ 5.41663881e-01 8.40578240e-01 -5.33489677e-03 3.67801122e+01] [ 9.97556524e-03 -8.18152129e-05 9.99950239e-01 -1.43646349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.504012739 meters Centerline goodness [0,1] 0.99486753556521 Centerline is valid? [True, True] Translation: X:387.02, Y:36.79, Z:-0.14 [[ 8.39460683e-01 -5.43381742e-01 -6.48411910e-03 3.87015405e+02] [ 5.43366243e-01 8.39485721e-01 -4.10487787e-03 3.67934630e+01] [ 7.67384109e-03 -7.73678468e-05 9.99970553e-01 -1.38664437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.534012739 meters Centerline goodness [0,1] 0.9934424833400753 Centerline is valid? [True, True] Translation: X:387.04, Y:36.80, Z:-0.14 [[ 8.37914987e-01 -5.45770519e-01 -5.74589788e-03 3.87042171e+02] [ 5.45758401e-01 8.37934683e-01 -3.63785462e-03 3.68039998e+01] [ 6.80012092e-03 -8.76591328e-05 9.99976875e-01 -1.36164013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.564012739 meters Centerline goodness [0,1] 0.994479922069488 Centerline is valid? [True, True] Translation: X:387.06, Y:36.82, Z:-0.14 [[ 8.37025164e-01 -5.47129996e-01 -6.13532419e-03 3.87064548e+02] [ 5.47116212e-01 8.37047643e-01 -3.88513162e-03 3.68222872e+01] [ 7.26123070e-03 -1.04782403e-04 9.99973631e-01 -1.36968638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.594012739 meters Centerline goodness [0,1] 0.9936974789915967 Centerline is valid? [True, True] Translation: X:387.09, Y:36.83, Z:-0.14 [[ 8.35891818e-01 -5.48835242e-01 -8.04644142e-03 3.87089723e+02] [ 5.48811591e-01 8.35930531e-01 -5.09751385e-03 3.68347033e+01] [ 9.52396130e-03 -1.55010194e-04 9.99954634e-01 -1.40461337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.624012739 meters Centerline goodness [0,1] 0.9944866507488604 Centerline is valid? [True, True] Translation: X:387.11, Y:36.85, Z:-0.14 [[ 8.35371871e-01 -5.49619614e-01 -8.49222230e-03 3.87113823e+02] [ 5.49593300e-01 8.35415017e-01 -5.38092001e-03 3.68500378e+01] [ 1.00519892e-02 -1.72199268e-04 9.99949463e-01 -1.41371459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.654012739 meters Centerline goodness [0,1] 0.9940912619684292 Centerline is valid? [True, True] Translation: X:387.14, Y:36.86, Z:-0.14 [[ 8.34973069e-01 -5.50224857e-01 -8.51941553e-03 3.87138530e+02] [ 5.50198388e-01 8.35016512e-01 -5.39994058e-03 3.68636255e+01] [ 1.00850342e-02 -1.78563732e-04 9.99949129e-01 -1.40718203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.684012739 meters Centerline goodness [0,1] 0.9934654525977504 Centerline is valid? [True, True] Translation: X:387.16, Y:36.88, Z:-0.14 [[ 8.34423828e-01 -5.51069986e-01 -7.66455240e-03 3.87163833e+02] [ 5.51048590e-01 8.34459011e-01 -4.85895691e-03 3.68755116e+01] [ 9.07338013e-03 -1.69111369e-04 9.99958822e-01 -1.38296689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.714012739 meters Centerline goodness [0,1] 0.9914675034387895 Centerline is valid? [True, True] Translation: X:387.19, Y:36.89, Z:-0.14 [[ 8.31916415e-01 -5.54863794e-01 -6.42249133e-03 3.87191932e+02] [ 5.54848879e-01 8.31941187e-01 -4.07217485e-03 3.68855485e+01] [ 7.60263745e-03 -1.75803009e-04 9.99971084e-01 -1.35283184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.744012739 meters Centerline goodness [0,1] 0.9910783055198973 Centerline is valid? [True, True] Translation: X:387.22, Y:36.89, Z:-0.14 [[ 8.30162366e-01 -5.57482503e-01 -6.61095637e-03 3.87220324e+02] [ 5.57466771e-01 8.30188663e-01 -4.19307985e-03 3.68944654e+01] [ 7.82590969e-03 -2.04451414e-04 9.99969356e-01 -1.35530595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.774012739 meters Centerline goodness [0,1] 0.9894423505225287 Centerline is valid? [True, True] Translation: X:387.25, Y:36.90, Z:-0.14 [[ 8.27360721e-01 -5.61626026e-01 -7.10243326e-03 3.87251310e+02] [ 5.61608006e-01 8.27391165e-01 -4.50643728e-03 3.68965058e+01] [ 8.40742299e-03 -2.60334190e-04 9.99964623e-01 -1.35708233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80401273900003 meters Centerline goodness [0,1] 0.9876474611044623 Centerline is valid? [True, True] Translation: X:387.28, Y:36.90, Z:-0.14 [[ 8.26274522e-01 -5.63222108e-01 -7.16041280e-03 3.87279953e+02] [ 5.63203847e-01 8.26305500e-01 -4.54387157e-03 3.69028281e+01] [ 8.47589740e-03 -2.78286729e-04 9.99964040e-01 -1.35493296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.834012739 meters Centerline goodness [0,1] 0.9881463228108935 Centerline is valid? [True, True] Translation: X:387.31, Y:36.92, Z:-0.14 [[ 8.26697859e-01 -5.62598130e-01 -7.34806507e-03 3.87305324e+02] [ 5.62578867e-01 8.26730468e-01 -4.66384939e-03 3.69166766e+01] [ 8.69874222e-03 -2.78271812e-04 9.99962127e-01 -1.35911714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.864012739 meters Centerline goodness [0,1] 0.9908944486202083 Centerline is valid? [True, True] Translation: X:387.33, Y:36.93, Z:-0.14 [[ 8.29381193e-01 -5.58625823e-01 -8.00161573e-03 3.87328342e+02] [ 5.58602779e-01 8.29419751e-01 -5.08048746e-03 3.69313488e+01] [ 9.47478962e-03 -2.56064026e-04 9.99955080e-01 -1.36378097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.894012739 meters Centerline goodness [0,1] 0.9919365298975312 Centerline is valid? [True, True] Translation: X:387.35, Y:36.95, Z:-0.14 [[ 8.31085525e-01 -5.56079776e-01 -8.49314210e-03 3.87351751e+02] [ 5.56053665e-01 8.31128886e-01 -5.39403430e-03 3.69495040e+01] [ 1.00584091e-02 -2.39738966e-04 9.99949384e-01 -1.36533168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.924012739 meters Centerline goodness [0,1] 0.9934105981312371 Centerline is valid? [True, True] Translation: X:387.37, Y:36.97, Z:-0.14 [[ 8.35173854e-01 -5.49909855e-01 -9.15344061e-03 3.87370679e+02] [ 5.49879137e-01 8.35223994e-01 -5.81500644e-03 3.69704615e+01] [ 1.08429026e-02 -1.76744681e-04 9.99941198e-01 -1.38035456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.954012739 meters Centerline goodness [0,1] 0.9936834045811268 Centerline is valid? [True, True] Translation: X:387.39, Y:36.99, Z:-0.14 [[ 8.37019695e-01 -5.47101526e-01 -8.82889685e-03 3.87392876e+02] [ 5.47072780e-01 8.37066247e-01 -5.60992587e-03 3.69889921e+01] [ 1.04595706e-02 -1.34430707e-04 9.99945288e-01 -1.37520104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.984012739 meters Centerline goodness [0,1] 0.9949183534614731 Centerline is valid? [True, True] Translation: X:387.41, Y:37.01, Z:-0.14 [[ 8.40210683e-01 -5.42197471e-01 -8.24076040e-03 3.87414316e+02] [ 5.42172175e-01 8.40251092e-01 -5.23776217e-03 3.70100753e+01] [ 9.76420933e-03 -6.70872653e-05 9.99952327e-01 -1.35789682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.014012739 meters Centerline goodness [0,1] 0.9953861457385341 Centerline is valid? [True, True] Translation: X:387.43, Y:37.03, Z:-0.14 [[ 8.42593260e-01 -5.38476555e-01 -8.92180991e-03 3.87432812e+02] [ 5.38446686e-01 8.42640492e-01 -5.67161796e-03 3.70325451e+01] [ 1.05719116e-02 -2.50519144e-05 9.99944115e-01 -1.37310257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.044012739 meters Centerline goodness [0,1] 0.9955342834554817 Centerline is valid? [True, True] Translation: X:387.45, Y:37.05, Z:-0.14 [[ 8.43401996e-01 -5.37212795e-01 -8.68832653e-03 3.87453341e+02] [ 5.37184391e-01 8.43446746e-01 -5.52418937e-03 3.70516457e+01] [ 1.02958060e-02 -8.12106038e-06 9.99946997e-01 -1.37174284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.074012739 meters Centerline goodness [0,1] 0.9956554630930509 Centerline is valid? [True, True] Translation: X:387.47, Y:37.07, Z:-0.13 [[ 8.44347570e-01 -5.35747415e-01 -7.20331244e-03 3.87474481e+02] [ 5.35727825e-01 8.44378296e-01 -4.58151295e-03 3.70697554e+01] [ 8.53685441e-03 9.37441883e-06 9.99963560e-01 -1.34043575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.104012739 meters Centerline goodness [0,1] 0.9953437237276078 Centerline is valid? [True, True] Translation: X:387.50, Y:37.08, Z:-0.13 [[ 8.43979249e-01 -5.36327637e-01 -7.18979379e-03 3.87499066e+02] [ 5.36308125e-01 8.44009873e-01 -4.57482237e-03 3.70832899e+01] [ 8.52186061e-03 5.11031686e-06 9.99963688e-01 -1.32586403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.134012739 meters Centerline goodness [0,1] 0.9952736371607604 Centerline is valid? [True, True] Translation: X:387.52, Y:37.10, Z:-0.13 [[ 8.43356463e-01 -5.37301638e-01 -7.53827937e-03 3.87522560e+02] [ 5.37280210e-01 8.43390153e-01 -4.79854204e-03 3.70969446e+01] [ 8.93597509e-03 -3.28687677e-06 9.99960073e-01 -1.33307976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.164012739 meters Centerline goodness [0,1] 0.9948618725142427 Centerline is valid? [True, True] Translation: X:387.55, Y:37.11, Z:-0.14 [[ 8.42127228e-01 -5.39219442e-01 -8.00785351e-03 3.87547860e+02] [ 5.39195337e-01 8.42165300e-01 -5.09861291e-03 3.71088094e+01] [ 9.49320756e-03 -2.41165135e-05 9.99954938e-01 -1.35029471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.194012739 meters Centerline goodness [0,1] 0.9946675767335708 Centerline is valid? [True, True] Translation: X:387.57, Y:37.12, Z:-0.14 [[ 8.41424605e-01 -5.40311609e-01 -8.24614536e-03 3.87572801e+02] [ 5.40286079e-01 8.41465011e-01 -5.25252773e-03 3.71212991e+01] [ 9.77684450e-03 -3.56714714e-05 9.99952205e-01 -1.35322796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.224012739 meters Centerline goodness [0,1] 0.9951810311740372 Centerline is valid? [True, True] Translation: X:387.60, Y:37.13, Z:-0.13 [[ 8.40734927e-01 -5.41382847e-01 -8.33046276e-03 3.87599042e+02] [ 5.41356822e-01 8.40776196e-01 -5.30842830e-03 3.71318376e+01] [ 9.87794681e-03 -4.67717740e-05 9.99951211e-01 -1.34356920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.254012739 meters Centerline goodness [0,1] 0.9950914196300346 Centerline is valid? [True, True] Translation: X:387.62, Y:37.15, Z:-0.13 [[ 8.40846524e-01 -5.41209611e-01 -8.32349636e-03 3.87622340e+02] [ 5.41183600e-01 8.40887719e-01 -5.30616592e-03 3.71464773e+01] [ 9.87087386e-03 -4.28685586e-05 9.99951281e-01 -1.33877683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.284012739 meters Centerline goodness [0,1] 0.9953405246696879 Centerline is valid? [True, True] Translation: X:387.64, Y:37.17, Z:-0.13 [[ 8.42812993e-01 -5.38138755e-01 -8.54051237e-03 3.87643538e+02] [ 5.38111190e-01 8.42856263e-01 -5.44673634e-03 3.71665362e+01] [ 1.01295243e-02 -5.16511218e-06 9.99948695e-01 -1.34188638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.314012739 meters Centerline goodness [0,1] 0.9959201388888889 Centerline is valid? [True, True] Translation: X:387.66, Y:37.19, Z:-0.13 [[ 8.46518915e-01 -5.32294830e-01 -8.24260241e-03 3.87659470e+02] [ 5.32268861e-01 8.46559041e-01 -5.25836177e-03 3.71926121e+01] [ 9.77684838e-03 6.40221041e-05 9.99952203e-01 -1.33188777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.344012739 meters Centerline goodness [0,1] 0.9958167925897469 Centerline is valid? [True, True] Translation: X:387.68, Y:37.21, Z:-0.13 [[ 8.48247840e-01 -5.29535417e-01 -8.23678192e-03 3.87679056e+02] [ 5.29509347e-01 8.48287824e-01 -5.25531856e-03 3.72133938e+01] [ 9.77003912e-03 9.63595961e-05 9.99952267e-01 -1.33109015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.374012739 meters Centerline goodness [0,1] 0.9956259426847662 Centerline is valid? [True, True] Translation: X:387.70, Y:37.23, Z:-0.13 [[ 8.49670524e-01 -5.27254452e-01 -7.92112116e-03 3.87701194e+02] [ 5.27230235e-01 8.49707437e-01 -5.05471327e-03 3.72324854e+01] [ 9.39575563e-03 1.18586302e-04 9.99955852e-01 -1.32178131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.404012739 meters Centerline goodness [0,1] 0.9953981765544657 Centerline is valid? [True, True] Translation: X:387.72, Y:37.25, Z:-0.13 [[ 8.49638725e-01 -5.27314548e-01 -7.30784945e-03 3.87722598e+02] [ 5.27293925e-01 8.49670145e-01 -4.66492685e-03 3.72490818e+01] [ 8.66914529e-03 1.10117879e-04 9.99962416e-01 -1.31352253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.434012739 meters Centerline goodness [0,1] 0.9953161091624604 Centerline is valid? [True, True] Translation: X:387.75, Y:37.27, Z:-0.13 [[ 8.48498774e-01 -5.29148806e-01 -7.16743438e-03 3.87745890e+02] [ 5.29129026e-01 8.48529041e-01 -4.57618385e-03 3.72651406e+01] [ 8.50325843e-03 9.03888123e-05 9.99963843e-01 -1.31143641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.464012739 meters Centerline goodness [0,1] 0.995560848852317 Centerline is valid? [True, True] Translation: X:387.77, Y:37.28, Z:-0.13 [[ 8.47058781e-01 -5.31448069e-01 -7.37371018e-03 3.87773502e+02] [ 5.31427205e-01 8.47090872e-01 -4.70965067e-03 3.72751748e+01] [ 8.74913734e-03 7.07607610e-05 9.99961723e-01 -1.31565926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.494012739 meters Centerline goodness [0,1] 0.9954854234545029 Centerline is valid? [True, True] Translation: X:387.80, Y:37.28, Z:-0.13 [[ 8.43314799e-01 -5.37358162e-01 -8.14589093e-03 3.87801987e+02] [ 5.37332956e-01 8.43354140e-01 -5.20476595e-03 3.72825755e+01] [ 9.66669430e-03 1.22005040e-05 9.99953276e-01 -1.32509257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.524012739 meters Centerline goodness [0,1] 0.9946528621034916 Centerline is valid? [True, True] Translation: X:387.83, Y:37.29, Z:-0.13 [[ 8.41499079e-01 -5.40196443e-01 -8.19168385e-03 3.87827736e+02] [ 5.40171079e-01 8.41538949e-01 -5.23481320e-03 3.72933412e+01] [ 9.72144849e-03 -1.98202167e-05 9.99952745e-01 -1.32574332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55401273900003 meters Centerline goodness [0,1] 0.9947074138887704 Centerline is valid? [True, True] Translation: X:387.85, Y:37.30, Z:-0.14 [[ 8.39463078e-01 -5.43326759e-01 -9.88805145e-03 3.87854153e+02] [ 5.43290000e-01 8.39521309e-01 -6.32038718e-03 3.73033710e+01] [ 1.17352654e-02 -6.63477978e-05 9.99931137e-01 -1.36393902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.584012739 meters Centerline goodness [0,1] 0.9947014207883773 Centerline is valid? [True, True] Translation: X:387.88, Y:37.32, Z:-0.14 [[ 8.39526921e-01 -5.43220825e-01 -1.02803029e-02 3.87877027e+02] [ 5.43181062e-01 8.39589859e-01 -6.57288173e-03 3.73198305e+01] [ 1.22017643e-02 -6.59547024e-05 9.99925554e-01 -1.35389954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.614012739 meters Centerline goodness [0,1] 0.9944572152877736 Centerline is valid? [True, True] Translation: X:387.90, Y:37.34, Z:-0.13 [[ 8.39658164e-01 -5.43032758e-01 -9.46526785e-03 3.87900847e+02] [ 5.42999012e-01 8.39711510e-01 -6.05415099e-03 3.73352238e+01] [ 1.12356967e-02 -5.62137837e-05 9.99936876e-01 -1.32738067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.644012739 meters Centerline goodness [0,1] 0.9944381214164537 Centerline is valid? [True, True] Translation: X:387.93, Y:37.35, Z:-0.13 [[ 8.39794094e-01 -5.42843622e-01 -8.16590784e-03 3.87925999e+02] [ 5.42818478e-01 8.39833793e-01 -5.22500196e-03 3.73473435e+01] [ 9.69436434e-03 -4.46798829e-05 9.99953008e-01 -1.29219684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.674012739 meters Centerline goodness [0,1] 0.9944382167802017 Centerline is valid? [True, True] Translation: X:387.95, Y:37.36, Z:-0.13 [[ 8.39784360e-01 -5.42861616e-01 -7.96834166e-03 3.87950355e+02] [ 5.42837654e-01 8.39822162e-01 -5.10068221e-03 3.73606532e+01] [ 9.46095451e-03 -4.20427541e-05 9.99955243e-01 -1.28025373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.704012739 meters Centerline goodness [0,1] 0.9939879759519038 Centerline is valid? [True, True] Translation: X:387.97, Y:37.37, Z:-0.13 [[ 8.40493380e-01 -5.41774600e-01 -7.15276821e-03 3.87974773e+02] [ 5.41755238e-01 8.40523814e-01 -4.58038799e-03 3.73734638e+01] [ 8.49360989e-03 -2.52638556e-05 9.99963928e-01 -1.26302925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.734012739 meters Centerline goodness [0,1] 0.9945906806371922 Centerline is valid? [True, True] Translation: X:388.00, Y:37.39, Z:-0.13 [[ 8.41262373e-01 -5.40582618e-01 -6.93198601e-03 3.87997762e+02] [ 5.40564378e-01 8.41290932e-01 -4.44080595e-03 3.73878434e+01] [ 8.23243948e-03 -1.13017506e-05 9.99966113e-01 -1.26236983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.764012739 meters Centerline goodness [0,1] 0.9949036402569593 Centerline is valid? [True, True] Translation: X:388.02, Y:37.41, Z:-0.13 [[ 8.43018572e-01 -5.37839173e-01 -6.97936168e-03 3.88019173e+02] [ 5.37820580e-01 8.43047463e-01 -4.47202464e-03 3.74057716e+01] [ 8.28916318e-03 1.63554773e-05 9.99965644e-01 -1.26703058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.794012739 meters Centerline goodness [0,1] 0.9945243279367064 Centerline is valid? [True, True] Translation: X:388.04, Y:37.42, Z:-0.13 [[ 8.44066291e-01 -5.36183819e-01 -7.68168649e-03 3.88041803e+02] [ 5.36161208e-01 8.44101244e-01 -4.92421400e-03 3.74236060e+01] [ 9.12440499e-03 3.77407363e-05 9.99958371e-01 -1.27701531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.824012739 meters Centerline goodness [0,1] 0.9953698741720435 Centerline is valid? [True, True] Translation: X:388.06, Y:37.44, Z:-0.13 [[ 8.46517812e-01 -5.32296657e-01 -8.23783268e-03 3.88062227e+02] [ 5.32270452e-01 8.46557890e-01 -5.28255316e-03 3.74423293e+01] [ 9.78568764e-03 8.70204171e-05 9.99952115e-01 -1.28028001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.854012739 meters Centerline goodness [0,1] 0.9953873950472951 Centerline is valid? [True, True] Translation: X:388.08, Y:37.46, Z:-0.13 [[ 8.48411147e-01 -5.29276164e-01 -8.07881756e-03 3.88083608e+02] [ 5.29250814e-01 8.48449602e-01 -5.18155108e-03 3.74620644e+01] [ 9.59694102e-03 1.20364925e-04 9.99953941e-01 -1.26746940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.884012739 meters Centerline goodness [0,1] 0.9955565050202948 Centerline is valid? [True, True] Translation: X:388.10, Y:37.48, Z:-0.13 [[ 8.49002493e-01 -5.28324355e-01 -8.25492408e-03 3.88104387e+02] [ 5.28297825e-01 8.49042613e-01 -5.29621191e-03 3.74806103e+01] [ 9.80690005e-03 1.35438679e-04 9.99951902e-01 -1.26847655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.914012739 meters Centerline goodness [0,1] 0.9948113509704696 Centerline is valid? [True, True] Translation: X:388.13, Y:37.50, Z:-0.13 [[ 8.49779798e-01 -5.27075507e-01 -8.10582336e-03 3.88126199e+02] [ 5.27049862e-01 8.49818444e-01 -5.20141044e-03 3.75005244e+01] [ 9.63001424e-03 1.47880434e-04 9.99953619e-01 -1.28217557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.944012739 meters Centerline goodness [0,1] 0.994431185361973 Centerline is valid? [True, True] Translation: X:388.15, Y:37.52, Z:-0.13 [[ 8.49756198e-01 -5.27116754e-01 -7.89511079e-03 3.88149012e+02] [ 5.27092410e-01 8.49792861e-01 -5.06801524e-03 3.75171510e+01] [ 9.38064453e-03 1.45124389e-04 9.99955990e-01 -1.27225402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.974012739 meters Centerline goodness [0,1] 0.9943166036365191 Centerline is valid? [True, True] Translation: X:388.17, Y:37.54, Z:-0.12 [[ 8.49823493e-01 -5.27018986e-01 -7.14278977e-03 3.88169043e+02] [ 5.26999043e-01 8.49853500e-01 -4.58673516e-03 3.75351994e+01] [ 8.48762140e-03 1.33671922e-04 9.99963971e-01 -1.24617350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.004012739 meters Centerline goodness [0,1] 0.9950503535461753 Centerline is valid? [True, True] Translation: X:388.19, Y:37.55, Z:-0.12 [[ 8.49993240e-01 -5.26742968e-01 -7.30321070e-03 3.88191972e+02] [ 5.26722101e-01 8.50024603e-01 -4.69067041e-03 3.75535039e+01] [ 8.67868643e-03 1.40275656e-04 9.99962330e-01 -1.24358009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.034012739 meters Centerline goodness [0,1] 0.9948263277660899 Centerline is valid? [True, True] Translation: X:388.21, Y:37.58, Z:-0.12 [[ 8.50902851e-01 -5.25276332e-01 -7.00813556e-03 3.88211636e+02] [ 5.25257054e-01 8.50931697e-01 -4.50271819e-03 3.75766100e+01] [ 8.32861598e-03 1.50303106e-04 9.99965305e-01 -1.24234824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.064012739 meters Centerline goodness [0,1] 0.9941528010662539 Centerline is valid? [True, True] Translation: X:388.23, Y:37.59, Z:-0.12 [[ 8.51498986e-01 -5.24313766e-01 -6.67463232e-03 3.88234783e+02] [ 5.24296239e-01 8.51525132e-01 -4.28991580e-03 3.75945252e+01] [ 7.93287908e-03 1.53374338e-04 9.99968522e-01 -1.22806719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.094012739 meters Centerline goodness [0,1] 0.992620162998139 Centerline is valid? [True, True] Translation: X:388.25, Y:37.62, Z:-0.12 [[ 8.52709678e-01 -5.22341757e-01 -6.73005451e-03 3.88250273e+02] [ 5.22323862e-01 8.52736219e-01 -4.32716857e-03 3.76211035e+01] [ 7.99922207e-03 1.74550456e-04 9.99967990e-01 -1.21316460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.124012739 meters Centerline goodness [0,1] 0.9930837468049918 Centerline is valid? [True, True] Translation: X:388.27, Y:37.64, Z:-0.12 [[ 8.53106852e-01 -5.21688323e-01 -7.07061446e-03 3.88270195e+02] [ 5.21668539e-01 8.53136131e-01 -4.54722314e-03 3.76425275e+01] [ 8.40442987e-03 1.90750099e-04 9.99964664e-01 -1.22435295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.154012739 meters Centerline goodness [0,1] 0.994025685192857 Centerline is valid? [True, True] Translation: X:388.30, Y:37.66, Z:-0.12 [[ 8.52462959e-01 -5.22734971e-01 -7.41984293e-03 3.88295383e+02] [ 5.22713219e-01 8.52495228e-01 -4.77257095e-03 3.76573020e+01] [ 8.82017043e-03 1.89989970e-04 9.99961083e-01 -1.23316429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.184012739 meters Centerline goodness [0,1] 0.9943270060396894 Centerline is valid? [True, True] Translation: X:388.32, Y:37.67, Z:-0.12 [[ 8.49649952e-01 -5.27298513e-01 -7.15797006e-03 3.88318213e+02] [ 5.27278416e-01 8.49680092e-01 -4.60574757e-03 3.76741735e+01] [ 8.51058850e-03 1.39030088e-04 9.99963775e-01 -1.22892159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.214012739 meters Centerline goodness [0,1] 0.9946143903489875 Centerline is valid? [True, True] Translation: X:388.34, Y:37.69, Z:-0.12 [[ 8.47752594e-01 -5.30343685e-01 -7.14950360e-03 3.88343777e+02] [ 5.30323739e-01 8.47782734e-01 -4.60085302e-03 3.76873678e+01] [ 8.50125905e-03 1.08833602e-04 9.99963858e-01 -1.21691144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.244012739 meters Centerline goodness [0,1] 0.9960099327206741 Centerline is valid? [True, True] Translation: X:388.37, Y:37.70, Z:-0.13 [[ 8.44224257e-01 -5.35908174e-01 -9.37188426e-03 3.88368522e+02] [ 5.35874213e-01 8.44276272e-01 -6.03360404e-03 3.77014113e+01] [ 1.11459172e-02 7.15637952e-05 9.99937880e-01 -1.25891903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.274012739 meters Centerline goodness [0,1] 0.9956458635703919 Centerline is valid? [True, True] Translation: X:388.39, Y:37.72, Z:-0.13 [[ 8.41669922e-01 -5.39893807e-01 -1.03159792e-02 3.88392987e+02] [ 5.39852927e-01 8.41733139e-01 -6.64382350e-03 3.77158530e+01] [ 1.22702607e-02 2.27948583e-05 9.99924717e-01 -1.27780950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30401273900003 meters Centerline goodness [0,1] 0.9947416993969052 Centerline is valid? [True, True] Translation: X:388.42, Y:37.73, Z:-0.13 [[ 8.40874136e-01 -5.41152287e-01 -9.21352347e-03 3.88415923e+02] [ 5.41119731e-01 8.40924612e-01 -5.93588913e-03 3.77318315e+01] [ 1.09600986e-02 5.71630405e-06 9.99939936e-01 -1.25484432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.334012739 meters Centerline goodness [0,1] 0.9938009438009437 Centerline is valid? [True, True] Translation: X:388.44, Y:37.75, Z:-0.12 [[ 8.40040256e-01 -5.42481436e-01 -6.80148557e-03 3.88436988e+02] [ 5.42463727e-01 8.40067790e-01 -4.38326598e-03 3.77498740e+01] [ 8.09154937e-03 -7.43933877e-06 9.99967263e-01 -1.19452393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.364012739 meters Centerline goodness [0,1] 0.9938009438009437 Centerline is valid? [True, True] Translation: X:388.46, Y:37.76, Z:-0.12 [[ 8.39938270e-01 -5.42639341e-01 -6.80065683e-03 3.88459982e+02] [ 5.42621627e-01 8.39965800e-01 -4.38455140e-03 3.77649192e+01] [ 8.09154924e-03 -7.43095914e-06 9.99967263e-01 -1.19232870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.394012739 meters Centerline goodness [0,1] 0.9936378917803264 Centerline is valid? [True, True] Translation: X:388.48, Y:37.78, Z:-0.12 [[ 8.39397773e-01 -5.43479740e-01 -6.41494552e-03 3.88482023e+02] [ 5.43463991e-01 8.39422285e-01 -4.13752475e-03 3.77797025e+01] [ 7.63350910e-03 -1.32628357e-05 9.99970864e-01 -1.17322835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.424012739 meters Centerline goodness [0,1] 0.9930798071772897 Centerline is valid? [True, True] Translation: X:388.51, Y:37.79, Z:-0.12 [[ 8.37338268e-01 -5.46652679e-01 -5.95598088e-03 3.88509454e+02] [ 5.46639178e-01 8.37359449e-01 -3.84204678e-03 3.77907218e+01] [ 7.08756203e-03 -3.86796982e-05 9.99974882e-01 -1.15949144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.454012739 meters Centerline goodness [0,1] 0.9928842504743833 Centerline is valid? [True, True] Translation: X:388.54, Y:37.80, Z:-0.11 [[ 8.36122942e-01 -5.48521789e-01 -4.71941039e-03 3.88535973e+02] [ 5.48513338e-01 8.36136260e-01 -3.04513201e-03 3.78023162e+01] [ 5.61639141e-03 -4.25548123e-05 9.99984227e-01 -1.13677101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.484012739 meters Centerline goodness [0,1] 0.992668933276668 Centerline is valid? [True, True] Translation: X:388.56, Y:37.81, Z:-0.11 [[ 8.34906988e-01 -5.50381264e-01 -3.28418212e-03 3.88563415e+02] [ 5.50377183e-01 8.34913446e-01 -2.11988342e-03 3.78110722e+01] [ 3.90875193e-03 -3.76334236e-05 9.99992360e-01 -1.10016506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.514012739 meters Centerline goodness [0,1] 0.9924226208313712 Centerline is valid? [True, True] Translation: X:388.59, Y:37.82, Z:-0.11 [[ 8.34710231e-01 -5.50672625e-01 -4.30013267e-03 3.88587266e+02] [ 5.50665630e-01 8.34721306e-01 -2.77595491e-03 3.78244332e+01] [ 5.11805473e-03 -5.08172968e-05 9.99986901e-01 -1.11802492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.544012739 meters Centerline goodness [0,1] 0.9926025698586791 Centerline is valid? [True, True] Translation: X:388.61, Y:37.84, Z:-0.12 [[ 8.35054511e-01 -5.50124192e-01 -6.88013909e-03 3.88611210e+02] [ 5.50106251e-01 8.35082851e-01 -4.44346274e-03 3.78391251e+01] [ 8.18994252e-03 -7.42739207e-05 9.99966459e-01 -1.16805148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.574012739 meters Centerline goodness [0,1] 0.993193650251771 Centerline is valid? [True, True] Translation: X:388.64, Y:37.85, Z:-0.12 [[ 8.35779518e-01 -5.49018835e-01 -7.13556168e-03 3.88636513e+02] [ 5.48999483e-01 8.35809975e-01 -4.61012496e-03 3.78527620e+01] [ 8.49501906e-03 -6.43716532e-05 9.99963915e-01 -1.16694753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.604012739 meters Centerline goodness [0,1] 0.9938176856826128 Centerline is valid? [True, True] Translation: X:388.66, Y:37.87, Z:-0.12 [[ 8.36182010e-01 -5.48406674e-01 -7.05454372e-03 3.88660264e+02] [ 5.48387724e-01 8.36211766e-01 -4.55935647e-03 3.78657616e+01] [ 8.39947398e-03 -5.61733108e-05 9.99964722e-01 -1.16160904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.634012739 meters Centerline goodness [0,1] 0.9937132645811355 Centerline is valid? [True, True] Translation: X:388.69, Y:37.88, Z:-0.12 [[ 8.36926807e-01 -5.47267040e-01 -7.23231487e-03 3.88685868e+02] [ 5.47247072e-01 8.36958055e-01 -4.67506564e-03 3.78800843e+01] [ 8.61165352e-03 -4.51753758e-05 9.99962918e-01 -1.17175240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.664012739 meters Centerline goodness [0,1] 0.9939488539172083 Centerline is valid? [True, True] Translation: X:388.71, Y:37.90, Z:-0.12 [[ 8.37395102e-01 -5.46540785e-01 -7.91291405e-03 3.88708740e+02] [ 5.46516839e-01 8.37432486e-01 -5.11626401e-03 3.78953741e+01] [ 9.42277823e-03 -4.02063539e-05 9.99955604e-01 -1.19236582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.694012739 meters Centerline goodness [0,1] 0.9937672532781229 Centerline is valid? [True, True] Translation: X:388.73, Y:37.91, Z:-0.12 [[ 8.38208117e-01 -5.45277113e-01 -8.94550746e-03 3.88732077e+02] [ 5.45246409e-01 8.38255850e-01 -5.78650280e-03 3.79099692e+01] [ 1.06538715e-02 -2.72121999e-05 9.99943246e-01 -1.21674645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.724012739 meters Centerline goodness [0,1] 0.9944340185959225 Centerline is valid? [True, True] Translation: X:388.76, Y:37.92, Z:-0.12 [[ 8.38518083e-01 -5.44797678e-01 -9.10572242e-03 3.88755304e+02] [ 5.44765814e-01 8.38567522e-01 -5.89221821e-03 3.79235000e+01] [ 1.08458299e-02 -1.97547693e-05 9.99941182e-01 -1.20835751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.754012739 meters Centerline goodness [0,1] 0.9946097455799914 Centerline is valid? [True, True] Translation: X:388.78, Y:37.94, Z:-0.12 [[ 8.39474912e-01 -5.43335547e-01 -8.26778048e-03 3.88779670e+02] [ 5.43309196e-01 8.39515624e-01 -5.35111916e-03 3.79380017e+01] [ 9.84838414e-03 1.69123258e-07 9.99951503e-01 -1.18233026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.784012739 meters Centerline goodness [0,1] 0.9953814574067739 Centerline is valid? [True, True] Translation: X:388.80, Y:37.95, Z:-0.12 [[ 8.40952212e-01 -5.41035195e-01 -8.96072550e-03 3.88802107e+02] [ 5.41004088e-01 8.40999950e-01 -5.80177237e-03 3.79541482e+01] [ 1.06749327e-02 3.12241819e-05 9.99943021e-01 -1.20188915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.814012739 meters Centerline goodness [0,1] 0.9953548387096774 Centerline is valid? [True, True] Translation: X:388.83, Y:37.97, Z:-0.12 [[ 8.41968855e-01 -5.39441661e-01 -9.54682248e-03 3.88825152e+02] [ 5.39406234e-01 8.42022975e-01 -6.18251958e-03 3.79711888e+01] [ 1.13737525e-02 5.58733717e-05 9.99935315e-01 -1.21485625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.844012739 meters Centerline goodness [0,1] 0.996066089693155 Centerline is valid? [True, True] Translation: X:388.85, Y:37.99, Z:-0.12 [[ 8.43853318e-01 -5.36485503e-01 -9.74078094e-03 3.88846192e+02] [ 5.36448402e-01 8.43909530e-01 -6.30998018e-03 3.79900041e+01] [ 1.16055508e-02 9.92713392e-05 9.99932648e-01 -1.21522883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.874012739 meters Centerline goodness [0,1] 0.9958150914241566 Centerline is valid? [True, True] Translation: X:388.87, Y:38.01, Z:-0.12 [[ 8.44545962e-01 -5.35415915e-01 -8.48031385e-03 3.88870321e+02] [ 5.35387732e-01 8.44588532e-01 -5.49436319e-03 3.80056287e+01] [ 1.01041453e-02 9.99862483e-05 9.99948947e-01 -1.18129266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.904012739 meters Centerline goodness [0,1] 0.9945129139427714 Centerline is valid? [True, True] Translation: X:388.89, Y:38.02, Z:-0.11 [[ 8.45214028e-01 -5.34402187e-01 -5.24881510e-03 3.88892822e+02] [ 5.34391365e-01 8.45230323e-01 -3.40153876e-03 3.80216995e+01] [ 6.25424743e-03 7.01068051e-05 9.99980440e-01 -1.10621454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.934012739 meters Centerline goodness [0,1] 0.9934899212734666 Centerline is valid? [True, True] Translation: X:388.92, Y:38.04, Z:-0.11 [[ 8.45239011e-01 -5.34372133e-01 -4.17591500e-03 3.88917141e+02] [ 5.34365284e-01 8.45249324e-01 -2.70609221e-03 3.80363584e+01] [ 4.97574959e-03 5.58306960e-05 9.99987619e-01 -1.08678783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.964012739 meters Centerline goodness [0,1] 0.9946347325950725 Centerline is valid? [True, True] Translation: X:388.94, Y:38.05, Z:-0.11 [[ 8.45092382e-01 -5.34586379e-01 -6.02236714e-03 3.88940912e+02] [ 5.34572124e-01 8.45113836e-01 -3.90479412e-03 3.80504828e+01] [ 7.17703555e-03 8.05221696e-05 9.99974242e-01 -1.13139862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.994012739 meters Centerline goodness [0,1] 0.9952515810318762 Centerline is valid? [True, True] Translation: X:388.96, Y:38.07, Z:-0.12 [[ 8.45109691e-01 -5.34548320e-01 -6.90679558e-03 3.88963693e+02] [ 5.34529561e-01 8.45137909e-01 -4.47923414e-03 3.80652756e+01] [ 8.23156186e-03 9.35577713e-05 9.99966116e-01 -1.15011671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.024012739 meters Centerline goodness [0,1] 0.9950638916193 Centerline is valid? [True, True] Translation: X:388.99, Y:38.08, Z:-0.12 [[ 8.45573409e-01 -5.33811700e-01 -7.11892105e-03 3.88987916e+02] [ 5.33791734e-01 8.45603369e-01 -4.61813534e-03 3.80808073e+01] [ 8.48499830e-03 1.04951234e-04 9.99963996e-01 -1.15014307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05401273900003 meters Centerline goodness [0,1] 0.9944896575110207 Centerline is valid? [True, True] Translation: X:389.01, Y:38.10, Z:-0.12 [[ 8.46701025e-01 -5.32002850e-01 -8.38696949e-03 3.89009409e+02] [ 5.31975029e-01 8.46742550e-01 -5.44269404e-03 3.80977841e+01] [ 9.99713267e-03 1.46676287e-04 9.99950017e-01 -1.16736456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.084012739 meters Centerline goodness [0,1] 0.9946735395189004 Centerline is valid? [True, True] Translation: X:389.03, Y:38.12, Z:-0.12 [[ 8.47360784e-01 -5.30941416e-01 -8.99529863e-03 3.89033032e+02] [ 5.30909339e-01 8.47408510e-01 -5.83867321e-03 3.81151276e+01] [ 1.07226860e-02 1.71774651e-04 9.99942496e-01 -1.17872711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.114012739 meters Centerline goodness [0,1] 0.9947539025846627 Centerline is valid? [True, True] Translation: X:389.06, Y:38.13, Z:-0.12 [[ 8.47739006e-01 -5.30330661e-01 -9.37906628e-03 3.89056353e+02] [ 5.30295728e-01 8.47790867e-01 -6.08992392e-03 3.81315506e+01] [ 1.11811601e-02 1.88987272e-04 9.99937471e-01 -1.18850606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.144012739 meters Centerline goodness [0,1] 0.9944904767028947 Centerline is valid? [True, True] Translation: X:389.08, Y:38.15, Z:-0.12 [[ 8.48137693e-01 -5.29705464e-01 -8.63564024e-03 3.89081577e+02] [ 5.29675798e-01 8.48181636e-01 -5.60904368e-03 3.81462664e+01] [ 1.02957326e-02 1.83151736e-04 9.99946981e-01 -1.16657895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.174012739 meters Centerline goodness [0,1] 0.9942180499253254 Centerline is valid? [True, True] Translation: X:389.11, Y:38.16, Z:-0.11 [[ 8.48311651e-01 -5.29436598e-01 -8.01446121e-03 3.89105060e+02] [ 5.29411017e-01 8.48349491e-01 -5.20735303e-03 3.81622968e+01] [ 9.55602735e-03 1.74514187e-04 9.99954325e-01 -1.14466262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.204012739 meters Centerline goodness [0,1] 0.9939340678184079 Centerline is valid? [True, True] Translation: X:389.13, Y:38.18, Z:-0.11 [[ 8.48072365e-01 -5.29826871e-01 -7.53331596e-03 3.89129013e+02] [ 5.29804271e-01 8.48105808e-01 -4.89631942e-03 3.81762342e+01] [ 8.98325061e-03 1.61250221e-04 9.99959637e-01 -1.12897820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.234012739 meters Centerline goodness [0,1] 0.9937605144913648 Centerline is valid? [True, True] Translation: X:389.15, Y:38.19, Z:-0.11 [[ 8.48554668e-01 -5.29047433e-01 -7.98677552e-03 3.89151316e+02] [ 5.29021986e-01 8.48592235e-01 -5.19206806e-03 3.81920549e+01] [ 9.52436597e-03 1.80573744e-04 9.99954626e-01 -1.13195577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.264012739 meters Centerline goodness [0,1] 0.9939759036144579 Centerline is valid? [True, True] Translation: X:389.17, Y:38.21, Z:-0.11 [[ 8.48962257e-01 -5.28397324e-01 -7.70418416e-03 3.89173862e+02] [ 5.28373610e-01 8.48997194e-01 -5.00923584e-03 3.82100204e+01] [ 9.18769754e-03 1.81964568e-04 9.99957776e-01 -1.12105487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.294012739 meters Centerline goodness [0,1] 0.9934092654210391 Centerline is valid? [True, True] Translation: X:389.19, Y:38.23, Z:-0.11 [[ 8.50549152e-01 -5.25834127e-01 -8.03809383e-03 3.89192170e+02] [ 5.25808182e-01 8.50587105e-01 -5.22806861e-03 3.82328917e+01] [ 9.58619585e-03 2.20233814e-04 9.99954027e-01 -1.12469900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.324012739 meters Centerline goodness [0,1] 0.9930604791062413 Centerline is valid? [True, True] Translation: X:389.21, Y:38.25, Z:-0.11 [[ 8.51713781e-01 -5.23934631e-01 -8.72569541e-03 3.89214750e+02] [ 5.23903947e-01 8.51758436e-01 -5.67636521e-03 3.82511384e+01] [ 1.04062290e-02 2.63212202e-04 9.99945819e-01 -1.13398497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.354012739 meters Centerline goodness [0,1] 0.9912607907918576 Centerline is valid? [True, True] Translation: X:389.23, Y:38.28, Z:-0.11 [[ 8.54517946e-01 -5.19341984e-01 -9.10949733e-03 3.89232419e+02] [ 5.19308258e-01 8.54566434e-01 -5.92809659e-03 3.82779625e+01] [ 1.08633801e-02 3.35027732e-04 9.99940936e-01 -1.13269235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.384012739 meters Centerline goodness [0,1] 0.9903792586243839 Centerline is valid? [True, True] Translation: X:389.25, Y:38.30, Z:-0.11 [[ 8.55714559e-01 -5.17375873e-01 -8.64863211e-03 3.89252252e+02] [ 5.17345358e-01 8.55758195e-01 -5.62961328e-03 3.82996755e+01] [ 1.03137639e-02 3.43012368e-04 9.99946753e-01 -1.12171678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.414012739 meters Centerline goodness [0,1] 0.9886738320558387 Centerline is valid? [True, True] Translation: X:389.27, Y:38.32, Z:-0.11 [[ 8.57027649e-01 -5.15199121e-01 -8.57171505e-03 3.89271282e+02] [ 5.15169028e-01 8.57070436e-01 -5.58036998e-03 3.83240263e+01] [ 1.02215653e-02 3.66649253e-04 9.99947691e-01 -1.12211595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.444012739 meters Centerline goodness [0,1] 0.9873928824552737 Centerline is valid? [True, True] Translation: X:389.29, Y:38.34, Z:-0.11 [[ 8.57332259e-01 -5.14694853e-01 -8.40273731e-03 3.89293312e+02] [ 5.14665894e-01 8.57373357e-01 -5.47209566e-03 3.83426491e+01] [ 1.00207426e-02 3.66801816e-04 9.99949724e-01 -1.12457231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.474012739 meters Centerline goodness [0,1] 0.9866586846831438 Centerline is valid? [True, True] Translation: X:389.31, Y:38.36, Z:-0.11 [[ 8.57606099e-01 -5.14249050e-01 -7.72612530e-03 3.89312022e+02] [ 5.14224536e-01 8.57640832e-01 -5.03293567e-03 3.83643894e+01] [ 9.21442292e-03 3.43313132e-04 9.99957487e-01 -1.10012440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.504012739 meters Centerline goodness [0,1] 0.9804333970681963 Centerline is valid? [True, True] Translation: X:389.33, Y:38.39, Z:-0.10 [[ 8.58192134e-01 -5.13294765e-01 -5.89447606e-03 3.89326732e+02] [ 5.13280472e-01 8.58212335e-01 -3.84009864e-03 3.83918956e+01] [ 7.02981459e-03 2.70022996e-04 9.99975254e-01 -1.04889470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.534012739 meters Centerline goodness [0,1] 0.984264056802917 Centerline is valid? [True, True] Translation: X:389.35, Y:38.41, Z:-0.10 [[ 8.58123498e-01 -5.13415131e-01 -5.38200827e-03 3.89349376e+02] [ 5.13403216e-01 8.58140340e-01 -3.50649002e-03 3.84076327e+01] [ 6.41880344e-03 2.45861122e-04 9.99979369e-01 -1.03833286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.564012739 meters Centerline goodness [0,1] 0.9866412213740458 Centerline is valid? [True, True] Translation: X:389.37, Y:38.43, Z:-0.11 [[ 8.57058847e-01 -5.15180088e-01 -6.29362556e-03 3.89370408e+02] [ 5.15163828e-01 8.57081911e-01 -4.10232681e-03 3.84282198e+01] [ 7.50758971e-03 2.73687248e-04 9.99971780e-01 -1.06526595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.594012739 meters Centerline goodness [0,1] 0.9881147978235357 Centerline is valid? [True, True] Translation: X:389.39, Y:38.45, Z:-0.11 [[ 8.56149414e-01 -5.16681233e-01 -6.97743123e-03 3.89393314e+02] [ 5.16661285e-01 8.56177797e-01 -4.54932287e-03 3.84458332e+01] [ 8.32447145e-03 2.89931517e-04 9.99965309e-01 -1.07986813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.624012739 meters Centerline goodness [0,1] 0.9913763661202186 Centerline is valid? [True, True] Translation: X:389.42, Y:38.46, Z:-0.11 [[ 8.54353909e-01 -5.19642498e-01 -7.14642668e-03 3.89418492e+02] [ 5.19621665e-01 8.54383756e-01 -4.66084149e-03 3.84599830e+01] [ 8.52776219e-03 2.68570018e-04 9.99963602e-01 -1.08689226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.654012739 meters Centerline goodness [0,1] 0.9908477635027715 Centerline is valid? [True, True] Translation: X:389.44, Y:38.48, Z:-0.11 [[ 8.52113655e-01 -5.23309129e-01 -7.06222511e-03 3.89440205e+02] [ 5.23288905e-01 8.52142889e-01 -4.60638092e-03 3.84788234e+01] [ 8.42858610e-03 2.29576037e-04 9.99964452e-01 -1.08569086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.684012739 meters Centerline goodness [0,1] 0.9921561976638189 Centerline is valid? [True, True] Translation: X:389.46, Y:38.49, Z:-0.11 [[ 8.50723764e-01 -5.25568942e-01 -6.80914477e-03 3.89463875e+02] [ 5.25550210e-01 8.50750990e-01 -4.44174736e-03 3.84940667e+01] [ 8.12733112e-03 2.00152565e-04 9.99966953e-01 -1.07519279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.714012739 meters Centerline goodness [0,1] 0.9932796564680623 Centerline is valid? [True, True] Translation: X:389.49, Y:38.51, Z:-0.11 [[ 8.48006431e-01 -5.29948273e-01 -6.31834666e-03 3.89489300e+02] [ 5.29932258e-01 8.48029956e-01 -4.12262071e-03 3.85070183e+01] [ 7.54292296e-03 1.47713161e-04 9.99971541e-01 -1.07336251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.744012739 meters Centerline goodness [0,1] 0.9938944986444079 Centerline is valid? [True, True] Translation: X:389.51, Y:38.52, Z:-0.11 [[ 8.46666851e-01 -5.32079184e-01 -6.85458288e-03 3.89514597e+02] [ 5.32060399e-01 8.46694586e-01 -4.47322750e-03 3.85197268e+01] [ 8.18384946e-03 1.40281339e-04 9.99966502e-01 -1.09001639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.774012739 meters Centerline goodness [0,1] 0.9951472841818492 Centerline is valid? [True, True] Translation: X:389.54, Y:38.53, Z:-0.11 [[ 8.44720385e-01 -5.35141071e-01 -8.45608792e-03 3.89542259e+02] [ 5.35112622e-01 8.44762698e-01 -5.51966778e-03 3.85306316e+01] [ 1.00971886e-02 1.37616514e-04 9.99949013e-01 -1.12453450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80401273900003 meters Centerline goodness [0,1] 0.9954420566122127 Centerline is valid? [True, True] Translation: X:389.57, Y:38.54, Z:-0.11 [[ 8.44183076e-01 -5.35982869e-01 -8.79200937e-03 3.89565883e+02] [ 5.35952142e-01 8.44228847e-01 -5.74059666e-03 3.85446495e+01] [ 1.04993294e-02 1.34018286e-04 9.99944872e-01 -1.12599454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.834012739 meters Centerline goodness [0,1] 0.9951990782230188 Centerline is valid? [True, True] Translation: X:389.59, Y:38.56, Z:-0.11 [[ 8.43350023e-01 -5.37301241e-01 -8.25316897e-03 3.89593649e+02] [ 5.37274221e-01 8.43390398e-01 -5.38959821e-03 3.85552380e+01] [ 9.85648127e-03 1.11102854e-04 9.99951418e-01 -1.10968225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.864012739 meters Centerline goodness [0,1] 0.9949437842681288 Centerline is valid? [True, True] Translation: X:389.62, Y:38.57, Z:-0.11 [[ 8.42840447e-01 -5.38099195e-01 -8.32088851e-03 3.89617961e+02] [ 5.38071750e-01 8.42881513e-01 -5.43568809e-03 3.85697717e+01] [ 9.93846248e-03 1.04182738e-04 9.99950607e-01 -1.11477370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.894012739 meters Centerline goodness [0,1] 0.9951143585974318 Centerline is valid? [True, True] Translation: X:389.64, Y:38.58, Z:-0.11 [[ 8.41941057e-01 -5.39511784e-01 -7.89254269e-03 3.89644980e+02] [ 5.39487138e-01 8.41978045e-01 -5.15752196e-03 3.85819091e+01] [ 9.42789153e-03 8.44042241e-05 9.99955553e-01 -1.10552983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.924012739 meters Centerline goodness [0,1] 0.9947579865512278 Centerline is valid? [True, True] Translation: X:389.67, Y:38.59, Z:-0.11 [[ 8.41414263e-01 -5.40342876e-01 -7.18428437e-03 3.89670258e+02] [ 5.40322474e-01 8.41444931e-01 -4.69598988e-03 3.85948328e+01] [ 8.58262434e-03 6.94425611e-05 9.99963166e-01 -1.08032573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.954012739 meters Centerline goodness [0,1] 0.9948306062289058 Centerline is valid? [True, True] Translation: X:389.69, Y:38.61, Z:-0.11 [[ 8.41224377e-01 -5.40642069e-01 -6.90661933e-03 3.89693368e+02] [ 5.40623219e-01 8.41252726e-01 -4.51503040e-03 3.86091134e+01] [ 8.25122772e-03 6.42748537e-05 9.99965956e-01 -1.06655259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.984012739 meters Centerline goodness [0,1] 0.9945092509507328 Centerline is valid? [True, True] Translation: X:389.72, Y:38.62, Z:-0.11 [[ 8.40877301e-01 -5.41178734e-01 -7.13742181e-03 3.89718447e+02] [ 5.41158614e-01 8.40907590e-01 -4.66695116e-03 3.86217280e+01] [ 8.52756689e-03 6.18560030e-05 9.99963638e-01 -1.06203918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.014012739 meters Centerline goodness [0,1] 0.9948195438619118 Centerline is valid? [True, True] Translation: X:389.75, Y:38.63, Z:-0.11 [[ 8.39910002e-01 -5.42678368e-01 -7.16782940e-03 3.89745143e+02] [ 5.42658115e-01 8.39940585e-01 -4.68861986e-03 3.86343773e+01] [ 8.56496339e-03 4.83379237e-05 9.99963319e-01 -1.05600413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.044012739 meters Centerline goodness [0,1] 0.9943178190640363 Centerline is valid? [True, True] Translation: X:389.77, Y:38.65, Z:-0.10 [[ 8.39390283e-01 -5.43487328e-01 -6.74373967e-03 3.89767785e+02] [ 5.43469415e-01 8.39417371e-01 -4.41269634e-03 3.86500974e+01] [ 8.05905676e-03 3.89581721e-05 9.99967525e-01 -1.04917576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.074012739 meters Centerline goodness [0,1] 0.9939629242485654 Centerline is valid? [True, True] Translation: X:389.79, Y:38.66, Z:-0.11 [[ 8.38695016e-01 -5.44563008e-01 -6.46530505e-03 3.89794449e+02] [ 5.44546571e-01 8.38719935e-01 -4.23116592e-03 3.86607676e+01] [ 7.72671667e-03 2.79980693e-05 9.99970148e-01 -1.05045934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.104012739 meters Centerline goodness [0,1] 0.9935544077433917 Centerline is valid? [True, True] Translation: X:389.82, Y:38.67, Z:-0.10 [[ 8.38720392e-01 -5.44527224e-01 -6.18112309e-03 3.89819063e+02] [ 5.44512188e-01 8.38743168e-01 -4.04674423e-03 3.86749055e+01] [ 7.38793716e-03 2.83900466e-05 9.99972708e-01 -1.03257911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.134012739 meters Centerline goodness [0,1] 0.9941039499262994 Centerline is valid? [True, True] Translation: X:389.84, Y:38.69, Z:-0.10 [[ 8.39026570e-01 -5.44056246e-01 -6.10057920e-03 3.89840462e+02] [ 5.44041573e-01 8.39048747e-01 -3.99578108e-03 3.86922451e+01] [ 7.29261299e-03 3.35977867e-05 9.99973408e-01 -1.01715982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.164012739 meters Centerline goodness [0,1] 0.9944868260785947 Centerline is valid? [True, True] Translation: X:389.86, Y:38.71, Z:-0.10 [[ 8.39223118e-01 -5.43755249e-01 -5.89805454e-03 3.89864271e+02] [ 5.43741523e-01 8.39243843e-01 -3.86367076e-03 3.87067849e+01] [ 7.05079721e-03 3.54646662e-05 9.99975142e-01 -1.01512313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.194012739 meters Centerline goodness [0,1] 0.993842417011122 Centerline is valid? [True, True] Translation: X:389.89, Y:38.72, Z:-0.10 [[ 8.39450187e-01 -5.43389113e-01 -7.18715961e-03 3.89888232e+02] [ 5.43368699e-01 8.39480952e-01 -4.71043092e-03 3.87209605e+01] [ 8.59308048e-03 4.88945514e-05 9.99963078e-01 -1.04447567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.224012739 meters Centerline goodness [0,1] 0.9950113963789619 Centerline is valid? [True, True] Translation: X:389.91, Y:38.74, Z:-0.11 [[ 8.40156403e-01 -5.42277930e-01 -8.47733227e-03 3.89909000e+02] [ 5.42249448e-01 8.40199168e-01 -5.55827010e-03 3.87393679e+01] [ 1.01367747e-02 7.29874675e-05 9.99948619e-01 -1.06416738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.254012739 meters Centerline goodness [0,1] 0.9955695663287041 Centerline is valid? [True, True] Translation: X:389.93, Y:38.76, Z:-0.11 [[ 8.40627256e-01 -5.41546632e-01 -8.54758634e-03 3.89932048e+02] [ 5.41517629e-01 8.40670707e-01 -5.60532247e-03 3.87575231e+01] [ 1.02212490e-02 8.33181630e-05 9.99947758e-01 -1.06332192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.284012739 meters Centerline goodness [0,1] 0.9955695663287041 Centerline is valid? [True, True] Translation: X:389.95, Y:38.77, Z:-0.11 [[ 8.40527912e-01 -5.41700826e-01 -8.54666193e-03 3.89954911e+02] [ 5.41671816e-01 8.40571358e-01 -5.60673166e-03 3.87727624e+01] [ 1.02212504e-02 8.31285700e-05 9.99947758e-01 -1.06112668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.314012739 meters Centerline goodness [0,1] 0.9951919994871467 Centerline is valid? [True, True] Translation: X:389.98, Y:38.79, Z:-0.11 [[ 8.41164274e-01 -5.40711431e-01 -8.59136890e-03 3.89977517e+02] [ 5.40682043e-01 8.41208142e-01 -5.63826824e-03 3.87914356e+01] [ 1.02758056e-02 9.75109281e-05 9.99947198e-01 -1.05169556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.344012739 meters Centerline goodness [0,1] 0.9950723945557558 Centerline is valid? [True, True] Translation: X:390.00, Y:38.81, Z:-0.11 [[ 8.41152047e-01 -5.40733285e-01 -8.41114654e-03 3.90000604e+02] [ 5.40705098e-01 8.41194095e-01 -5.52199002e-03 3.88081438e+01] [ 1.00613306e-02 9.68833948e-05 9.99949379e-01 -1.05242268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.374012739 meters Centerline goodness [0,1] 0.995019727055171 Centerline is valid? [True, True] Translation: X:390.02, Y:38.83, Z:-0.11 [[ 8.41405618e-01 -5.40337893e-01 -8.45863487e-03 3.90020886e+02] [ 5.40309345e-01 8.41448127e-01 -5.55525706e-03 3.88270609e+01] [ 1.01192184e-02 1.03945033e-04 9.99948794e-01 -1.05371687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.404012739 meters Centerline goodness [0,1] 0.9948275862068966 Centerline is valid? [True, True] Translation: X:390.04, Y:38.84, Z:-0.10 [[ 8.40708279e-01 -5.41432989e-01 -7.74005674e-03 3.90044835e+02] [ 5.41409121e-01 8.40743904e-01 -5.08449894e-03 3.88429291e+01] [ 9.26032097e-03 8.40430372e-05 9.99957119e-01 -1.02633510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.434012739 meters Centerline goodness [0,1] 0.9950881371068915 Centerline is valid? [True, True] Translation: X:390.07, Y:38.86, Z:-0.10 [[ 8.39881118e-01 -5.42723016e-01 -7.17183306e-03 3.90068050e+02] [ 5.42702558e-01 8.39911736e-01 -4.71274363e-03 3.88577336e+01] [ 8.58142119e-03 6.59722425e-05 9.99963177e-01 -1.01161757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.464012739 meters Centerline goodness [0,1] 0.9949618417975808 Centerline is valid? [True, True] Translation: X:390.09, Y:38.87, Z:-0.10 [[ 8.38516045e-01 -5.44835463e-01 -6.72018316e-03 3.90091488e+02] [ 5.44817564e-01 8.38542972e-01 -4.41648689e-03 3.88721135e+01] [ 8.04142104e-03 4.20213039e-05 9.99967666e-01 -1.00373886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.494012739 meters Centerline goodness [0,1] 0.9946884228865235 Centerline is valid? [True, True] Translation: X:390.11, Y:38.89, Z:-0.10 [[ 8.38191034e-01 -5.45329936e-01 -7.14504741e-03 3.90114991e+02] [ 5.45309715e-01 8.38221486e-01 -4.69640437e-03 3.88877273e+01] [ 8.55022215e-03 4.02202660e-05 9.99963445e-01 -1.01127378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.524012739 meters Centerline goodness [0,1] 0.9950473821877278 Centerline is valid? [True, True] Translation: X:390.14, Y:38.91, Z:-0.10 [[ 8.38373585e-01 -5.45020031e-01 -9.10487786e-03 3.90137495e+02] [ 5.44987145e-01 8.38423022e-01 -5.98738679e-03 3.89054691e+01] [ 1.08969849e-02 5.76255382e-05 9.99940624e-01 -1.04229761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55401273900003 meters Centerline goodness [0,1] 0.995631214221151 Centerline is valid? [True, True] Translation: X:390.16, Y:38.92, Z:-0.10 [[ 8.38866010e-01 -5.44259354e-01 -9.25057509e-03 3.90159685e+02] [ 5.44225337e-01 8.38917011e-01 -6.08541181e-03 3.89239938e+01] [ 1.10725071e-02 7.04477795e-05 9.99938695e-01 -1.03792024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.584012739 meters Centerline goodness [0,1] 0.9950968897226545 Centerline is valid? [True, True] Translation: X:390.18, Y:38.95, Z:-0.10 [[ 8.41127183e-01 -5.40777543e-01 -8.04424600e-03 3.90176914e+02] [ 5.40751646e-01 8.41165642e-01 -5.29335160e-03 3.89490313e+01] [ 9.62906903e-03 1.02442660e-04 9.99953634e-01 -1.00474319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.614012739 meters Centerline goodness [0,1] 0.9945271406972039 Centerline is valid? [True, True] Translation: X:390.20, Y:38.97, Z:-0.10 [[ 8.43052476e-01 -5.37783311e-01 -7.18569403e-03 3.90195178e+02] [ 5.37762532e-01 8.43083089e-01 -4.72902938e-03 3.89741761e+01] [ 8.60133020e-03 1.22622911e-04 9.99963000e-01 -9.76296658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.644012739 meters Centerline goodness [0,1] 0.9939012769201448 Centerline is valid? [True, True] Translation: X:390.21, Y:39.00, Z:-0.10 [[ 8.43460200e-01 -5.37148387e-01 -6.81915060e-03 3.90211560e+02] [ 5.37129641e-01 8.43487756e-01 -4.48930824e-03 3.89994604e+01] [ 8.16329472e-03 1.23784916e-04 9.99966672e-01 -9.74482676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.674012739 meters Centerline goodness [0,1] 0.9948405253283302 Centerline is valid? [True, True] Translation: X:390.24, Y:39.01, Z:-0.10 [[ 8.43152365e-01 -5.37636943e-01 -6.37237595e-03 3.90238060e+02] [ 5.37620583e-01 8.43176438e-01 -4.19562375e-03 3.90107564e+01] [ 7.62875957e-03 1.11629612e-04 9.99970894e-01 -9.63718282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.704012739 meters Centerline goodness [0,1] 0.9949753023335036 Centerline is valid? [True, True] Translation: X:390.26, Y:39.02, Z:-0.10 [[ 8.40921139e-01 -5.41123250e-01 -6.10469629e-03 3.90264140e+02] [ 5.41108316e-01 8.40943293e-01 -4.02093148e-03 3.90234499e+01] [ 7.30952291e-03 7.79843503e-05 9.99973282e-01 -9.63488151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.734012739 meters Centerline goodness [0,1] 0.9949336909551483 Centerline is valid? [True, True] Translation: X:390.29, Y:39.04, Z:-0.10 [[ 8.39140384e-01 -5.43874988e-01 -6.58895625e-03 3.90290111e+02] [ 5.43857663e-01 8.39166249e-01 -4.34145757e-03 3.90372804e+01] [ 7.89043988e-03 5.96380226e-05 9.99968868e-01 -9.65144059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.764012739 meters Centerline goodness [0,1] 0.9947572521068481 Centerline is valid? [True, True] Translation: X:390.32, Y:39.05, Z:-0.10 [[ 8.35841976e-01 -5.48918679e-01 -7.51502122e-03 3.90316883e+02] [ 5.48896329e-01 8.35875758e-01 -4.95346022e-03 3.90485929e+01] [ 9.00067090e-03 1.53424170e-05 9.99959493e-01 -9.82500301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.794012739 meters Centerline goodness [0,1] 0.9945091621627441 Centerline is valid? [True, True] Translation: X:390.34, Y:39.06, Z:-0.10 [[ 8.34483969e-01 -5.50980254e-01 -7.56733546e-03 3.90341587e+02] [ 5.50957659e-01 8.34518280e-01 -4.98975868e-03 3.90617974e+01] [ 9.06433828e-03 -5.40780640e-06 9.99958918e-01 -9.80805229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.824012739 meters Centerline goodness [0,1] 0.9941522963974732 Centerline is valid? [True, True] Translation: X:390.37, Y:39.07, Z:-0.09 [[ 8.32835902e-01 -5.53484028e-01 -6.30795964e-03 3.90367437e+02] [ 5.53468389e-01 8.32859790e-01 -4.16083529e-03 3.90729066e+01] [ 7.55660182e-03 -2.59632498e-05 9.99971448e-01 -9.45463343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.854012739 meters Centerline goodness [0,1] 0.9947202827342471 Centerline is valid? [True, True] Translation: X:390.39, Y:39.09, Z:-0.09 [[ 8.33598673e-01 -5.52343235e-01 -5.49577206e-03 3.90387725e+02] [ 5.52331338e-01 8.33616789e-01 -3.62527379e-03 3.90925157e+01] [ 6.58376331e-03 -1.34637126e-05 9.99978327e-01 -9.19289798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.884012739 meters Centerline goodness [0,1] 0.9943431937562469 Centerline is valid? [True, True] Translation: X:390.41, Y:39.11, Z:-0.09 [[ 8.34812584e-01 -5.50498826e-01 -6.24433753e-03 3.90407513e+02] [ 5.50483400e-01 8.34835938e-01 -4.12107773e-03 3.91119236e+01] [ 7.48164582e-03 2.92339291e-06 9.99972012e-01 -9.28501122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.914012739 meters Centerline goodness [0,1] 0.9957809596677233 Centerline is valid? [True, True] Translation: X:390.43, Y:39.14, Z:-0.10 [[ 8.37672945e-01 -5.46123605e-01 -7.28318577e-03 3.90425898e+02] [ 5.46102445e-01 8.37704605e-01 -4.80775690e-03 3.91357234e+01] [ 8.72678779e-03 4.99623276e-05 9.99961920e-01 -9.66925269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.944012739 meters Centerline goodness [0,1] 0.9952325979134599 Centerline is valid? [True, True] Translation: X:390.45, Y:39.15, Z:-0.10 [[ 8.38723938e-01 -5.44506279e-01 -7.42071023e-03 3.90446687e+02] [ 5.44484234e-01 8.38756763e-01 -4.90024000e-03 3.91543138e+01] [ 8.89238234e-03 6.94888719e-05 9.99960460e-01 -9.69028817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.974012739 meters Centerline goodness [0,1] 0.9955125478519778 Centerline is valid? [True, True] Translation: X:390.47, Y:39.17, Z:-0.10 [[ 8.39469422e-01 -5.43361641e-01 -7.01542236e-03 3.90466572e+02] [ 5.43341893e-01 8.39498732e-01 -4.63317982e-03 3.91745094e+01] [ 8.40693037e-03 7.76399220e-05 9.99964658e-01 -9.57784358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.004012739 meters Centerline goodness [0,1] 0.9955883927615377 Centerline is valid? [True, True] Translation: X:390.49, Y:39.19, Z:-0.10 [[ 8.38952912e-01 -5.44151846e-01 -7.53524882e-03 3.90489390e+02] [ 5.44129087e-01 8.38986748e-01 -4.97732693e-03 3.91899751e+01] [ 9.03039554e-03 7.55948581e-05 9.99959222e-01 -9.57488613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.034012739 meters Centerline goodness [0,1] 0.9957198193763777 Centerline is valid? [True, True] Translation: X:390.51, Y:39.21, Z:-0.10 [[ 8.38208771e-01 -5.45297538e-01 -7.52672644e-03 3.90514115e+02] [ 5.45274859e-01 8.38242561e-01 -4.97363420e-03 3.92057044e+01] [ 9.02133293e-03 6.48091112e-05 9.99959305e-01 -9.58301653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.064012739 meters Centerline goodness [0,1] 0.99568751751946 Centerline is valid? [True, True] Translation: X:390.54, Y:39.22, Z:-0.10 [[ 8.37224280e-01 -5.46811493e-01 -7.25922765e-03 3.90538748e+02] [ 5.46790441e-01 8.37255749e-01 -4.79839358e-03 3.92204769e+01] [ 8.70164684e-03 4.80553236e-05 9.99962139e-01 -9.52059650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.094012739 meters Centerline goodness [0,1] 0.9952465580369569 Centerline is valid? [True, True] Translation: X:390.56, Y:39.23, Z:-0.09 [[ 8.35144412e-01 -5.49996205e-01 -6.16322418e-03 3.90562759e+02] [ 5.49981107e-01 8.35167154e-01 -4.07525342e-03 3.92339862e+01] [ 7.38869631e-03 1.37682669e-05 9.99972703e-01 -9.22638012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.124012739 meters Centerline goodness [0,1] 0.9951099204830548 Centerline is valid? [True, True] Translation: X:390.59, Y:39.25, Z:-0.09 [[ 8.34064574e-01 -5.51632187e-01 -6.18201219e-03 3.90587021e+02] [ 5.51617038e-01 8.34087484e-01 -4.08812034e-03 3.92468614e+01] [ 7.41147775e-03 -3.46905597e-07 9.99972535e-01 -9.24645002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.154012739 meters Centerline goodness [0,1] 0.9950263624138151 Centerline is valid? [True, True] Translation: X:390.61, Y:39.26, Z:-0.09 [[ 8.32526106e-01 -5.53948818e-01 -6.40235426e-03 3.90613317e+02] [ 5.53932625e-01 8.32550723e-01 -4.23561626e-03 3.92571079e+01] [ 7.67659929e-03 -2.02117919e-05 9.99970534e-01 -9.31280680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.184012739 meters Centerline goodness [0,1] 0.9950491852680974 Centerline is valid? [True, True] Translation: X:390.64, Y:39.27, Z:-0.09 [[ 8.32048413e-01 -5.54666922e-01 -6.32813136e-03 3.90636894e+02] [ 5.54651110e-01 8.32072476e-01 -4.18819625e-03 3.92720831e+01] [ 7.58851785e-03 -2.51230409e-05 9.99971206e-01 -9.16349567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.214012739 meters Centerline goodness [0,1] 0.9945430904013812 Centerline is valid? [True, True] Translation: X:390.66, Y:39.29, Z:-0.09 [[ 8.32094269e-01 -5.54609491e-01 -5.23828243e-03 3.90658280e+02] [ 5.54598647e-01 8.32110757e-01 -3.46821525e-03 3.92888466e+01] [ 6.28233626e-03 -1.92623221e-05 9.99980266e-01 -8.88273765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.244012739 meters Centerline goodness [0,1] 0.9947538163835734 Centerline is valid? [True, True] Translation: X:390.68, Y:39.31, Z:-0.09 [[ 8.32102559e-01 -5.54600653e-01 -4.84208553e-03 3.90680571e+02] [ 5.54591386e-01 8.32116647e-01 -3.20612197e-03 3.93050044e+01] [ 5.80729731e-03 -1.75566252e-05 9.99983137e-01 -8.81843678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.274012739 meters Centerline goodness [0,1] 0.9948841408365935 Centerline is valid? [True, True] Translation: X:390.71, Y:39.32, Z:-0.09 [[ 8.31630405e-01 -5.55298422e-01 -5.87645002e-03 3.90705090e+02] [ 5.55284776e-01 8.31651166e-01 -3.89301733e-03 3.93193381e+01] [ 7.04894289e-03 -2.55516531e-05 9.99975156e-01 -9.11045132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30401273900003 meters Centerline goodness [0,1] 0.9948697207084468 Centerline is valid? [True, True] Translation: X:390.73, Y:39.33, Z:-0.09 [[ 8.31157011e-01 -5.55997906e-01 -6.65969426e-03 3.90728905e+02] [ 5.55980386e-01 8.31183691e-01 -4.41396563e-03 3.93323698e+01] [ 7.98958490e-03 -3.39609056e-05 9.99968082e-01 -9.13538981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.334012739 meters Centerline goodness [0,1] 0.995117705746248 Centerline is valid? [True, True] Translation: X:390.75, Y:39.35, Z:-0.09 [[ 8.30899830e-01 -5.56385867e-01 -6.34351371e-03 3.90752015e+02] [ 5.56369977e-01 8.30924044e-01 -4.20510500e-03 3.93461699e+01] [ 7.61063905e-03 -3.53195511e-05 9.99971038e-01 -9.02078703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.364012739 meters Centerline goodness [0,1] 0.9945185688790685 Centerline is valid? [True, True] Translation: X:390.78, Y:39.36, Z:-0.09 [[ 8.30065219e-01 -5.57637250e-01 -5.69466346e-03 3.90777279e+02] [ 5.57624470e-01 8.30084752e-01 -3.77545754e-03 3.93596370e+01] [ 6.83238906e-03 -4.16077049e-05 9.99976658e-01 -8.84013230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.394012739 meters Centerline goodness [0,1] 0.9936870297155975 Centerline is valid? [True, True] Translation: X:390.80, Y:39.37, Z:-0.09 [[ 8.29506966e-01 -5.58469057e-01 -5.52315774e-03 3.90801417e+02] [ 5.58457046e-01 8.29525352e-01 -3.66296316e-03 3.93746030e+01] [ 6.62725096e-03 -4.59928986e-05 9.99978038e-01 -8.79573048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.424012739 meters Centerline goodness [0,1] 0.9938953613344225 Centerline is valid? [True, True] Translation: X:390.83, Y:39.39, Z:-0.09 [[ 8.28387931e-01 -5.60122210e-01 -6.04526275e-03 3.90827940e+02] [ 5.60107853e-01 8.28409987e-01 -4.01087609e-03 3.93858808e+01] [ 7.25453682e-03 -6.34377891e-05 9.99973683e-01 -8.95079124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.454012739 meters Centerline goodness [0,1] 0.9943096735549566 Centerline is valid? [True, True] Translation: X:390.85, Y:39.40, Z:-0.09 [[ 8.27648712e-01 -5.61206648e-01 -6.68645518e-03 3.90853558e+02] [ 5.61189114e-01 8.27675717e-01 -4.43690982e-03 3.93991523e+01] [ 8.02423987e-03 -8.01631566e-05 9.99967802e-01 -9.07364045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.484012739 meters Centerline goodness [0,1] 0.9932430964433919 Centerline is valid? [True, True] Translation: X:390.88, Y:39.41, Z:-0.09 [[ 8.25715045e-01 -5.64035903e-01 -7.62655438e-03 3.90882123e+02] [ 5.64013196e-01 8.25750256e-01 -5.06257164e-03 3.94072305e+01] [ 9.15310140e-03 -1.21235741e-04 9.99958102e-01 -9.32104815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.514012739 meters Centerline goodness [0,1] 0.9934197835173079 Centerline is valid? [True, True] Translation: X:390.91, Y:39.42, Z:-0.09 [[ 8.24328239e-01 -5.66055671e-01 -7.99580806e-03 3.90908996e+02] [ 5.66030799e-01 8.24367003e-01 -5.30837293e-03 3.94179621e+01] [ 9.59631492e-03 -1.50031923e-04 9.99953943e-01 -9.42833075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.544012739 meters Centerline goodness [0,1] 0.992893093988292 Centerline is valid? [True, True] Translation: X:390.94, Y:39.43, Z:-0.09 [[ 8.22997623e-01 -5.67985867e-01 -8.18336535e-03 3.90935781e+02] [ 5.67959903e-01 8.23038288e-01 -5.43364373e-03 3.94275427e+01] [ 9.82145586e-03 -1.75947516e-04 9.99951753e-01 -9.45436936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.574012739 meters Centerline goodness [0,1] 0.9925700339100196 Centerline is valid? [True, True] Translation: X:390.97, Y:39.43, Z:-0.09 [[ 8.21120176e-01 -5.70686788e-01 -8.84566131e-03 3.90965661e+02] [ 5.70656595e-01 8.21167790e-01 -5.87459505e-03 3.94335373e+01] [ 1.06163259e-02 -2.24086449e-04 9.99943620e-01 -9.41739991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.604012739 meters Centerline goodness [0,1] 0.9927695287282118 Centerline is valid? [True, True] Translation: X:390.99, Y:39.45, Z:-0.09 [[ 8.21059949e-01 -5.70774891e-01 -8.75118157e-03 3.90989952e+02] [ 5.70745332e-01 8.21106555e-01 -5.81307110e-03 3.94452113e+01] [ 1.05036076e-02 -2.21816167e-04 9.99944811e-01 -9.34322980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.634012739 meters Centerline goodness [0,1] 0.9922614112294577 Centerline is valid? [True, True] Translation: X:391.01, Y:39.46, Z:-0.09 [[ 8.22486954e-01 -5.68740220e-01 -7.05495447e-03 3.91014672e+02] [ 5.68720927e-01 8.22517196e-01 -4.68714273e-03 3.94575763e+01] [ 8.46858795e-03 -1.57186498e-04 9.99964129e-01 -9.00201363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.664012739 meters Centerline goodness [0,1] 0.9928164900986933 Centerline is valid? [True, True] Translation: X:391.04, Y:39.47, Z:-0.09 [[ 8.23508239e-01 -5.67270159e-01 -6.22472395e-03 3.91038038e+02] [ 5.67255093e-01 8.23531755e-01 -4.13618181e-03 3.94740793e+01] [ 7.47259035e-03 -1.24826563e-04 9.99972072e-01 -8.85014991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.694012739 meters Centerline goodness [0,1] 0.9934544054418276 Centerline is valid? [True, True] Translation: X:391.06, Y:39.49, Z:-0.09 [[ 8.24637373e-01 -5.65628350e-01 -6.14586315e-03 3.91060406e+02] [ 5.65613608e-01 8.24660268e-01 -4.08520081e-03 3.94899723e+01] [ 7.37895455e-03 -1.07374565e-04 9.99972769e-01 -8.81613510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.724012739 meters Centerline goodness [0,1] 0.9950016228497242 Centerline is valid? [True, True] Translation: X:391.08, Y:39.51, Z:-0.09 [[ 8.27254315e-01 -5.61775231e-01 -7.67382811e-03 3.91080890e+02] [ 5.61752069e-01 8.27289902e-01 -5.10205890e-03 3.95122946e+01] [ 9.21469082e-03 -9.00885757e-05 9.99957540e-01 -9.03732297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.754012739 meters Centerline goodness [0,1] 0.9955159850820273 Centerline is valid? [True, True] Translation: X:391.10, Y:39.53, Z:-0.09 [[ 8.29688190e-01 -5.58167263e-01 -8.17401066e-03 3.91101919e+02] [ 5.58140791e-01 8.29728452e-01 -5.43630973e-03 3.95314150e+01] [ 9.81657933e-03 -5.18067967e-05 9.99951815e-01 -9.12398987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.784012739 meters Centerline goodness [0,1] 0.9959938831333864 Centerline is valid? [True, True] Translation: X:391.12, Y:39.55, Z:-0.09 [[ 8.30822402e-01 -5.56488570e-01 -7.38967119e-03 3.91123342e+02] [ 5.56466863e-01 8.30855265e-01 -4.91523476e-03 3.95492575e+01] [ 8.87501917e-03 -2.84199935e-05 9.99960616e-01 -8.91142520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.814012739 meters Centerline goodness [0,1] 0.9963840212251536 Centerline is valid? [True, True] Translation: X:391.14, Y:39.57, Z:-0.09 [[ 8.31901056e-01 -5.54884085e-01 -6.65464437e-03 3.91144890e+02] [ 5.54866427e-01 8.31927672e-01 -4.42680960e-03 3.95676451e+01] [ 7.99254900e-03 -9.77116154e-06 9.99968059e-01 -8.69684614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.844012739 meters Centerline goodness [0,1] 0.99572877736252 Centerline is valid? [True, True] Translation: X:391.17, Y:39.59, Z:-0.09 [[ 8.32829155e-01 -5.53497212e-01 -6.03611694e-03 3.91165607e+02] [ 5.53482635e-01 8.32851029e-01 -4.01688873e-03 3.95858994e+01] [ 7.25052292e-03 4.49613731e-06 9.99973715e-01 -8.62145606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.874012739 meters Centerline goodness [0,1] 0.9960513326752222 Centerline is valid? [True, True] Translation: X:391.19, Y:39.60, Z:-0.09 [[ 8.32724033e-01 -5.53649845e-01 -6.52186747e-03 3.91186910e+02] [ 5.53632826e-01 8.32749572e-01 -4.34096545e-03 3.96018375e+01] [ 7.83445719e-03 4.10633624e-06 9.99969310e-01 -8.76548701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.904012739 meters Centerline goodness [0,1] 0.9959727845015791 Centerline is valid? [True, True] Translation: X:391.21, Y:39.62, Z:-0.09 [[ 8.32058139e-01 -5.54640186e-01 -7.31555206e-03 3.91208521e+02] [ 5.54618803e-01 8.32090298e-01 -4.87017486e-03 3.96185677e+01] [ 8.78839458e-03 -5.07408994e-06 9.99961381e-01 -8.98995776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.934012739 meters Centerline goodness [0,1] 0.9957882974837227 Centerline is valid? [True, True] Translation: X:391.23, Y:39.63, Z:-0.09 [[ 8.31304682e-01 -5.55764318e-01 -7.65169654e-03 3.91232282e+02] [ 5.55740962e-01 8.31339896e-01 -5.09518347e-03 3.96342169e+01] [ 9.19288177e-03 -1.67113150e-05 9.99957744e-01 -8.94627540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.964012739 meters Centerline goodness [0,1] 0.9955677001527637 Centerline is valid? [True, True] Translation: X:391.26, Y:39.65, Z:-0.09 [[ 8.30588744e-01 -5.56832413e-01 -7.74604807e-03 3.91255839e+02] [ 5.56808504e-01 8.30624863e-01 -5.16013240e-03 3.96494052e+01] [ 9.30738909e-03 -2.71175514e-05 9.99956685e-01 -8.93871900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.994012739 meters Centerline goodness [0,1] 0.9955705818158475 Centerline is valid? [True, True] Translation: X:391.28, Y:39.66, Z:-0.09 [[ 8.28929503e-01 -5.59301431e-01 -7.60181397e-03 3.91279981e+02] [ 5.59278491e-01 8.28964358e-01 -5.06590370e-03 3.96630875e+01] [ 9.13500002e-03 -5.22540108e-05 9.99958274e-01 -8.83900059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.024012739 meters Centerline goodness [0,1] 0.9948765719608756 Centerline is valid? [True, True] Translation: X:391.30, Y:39.68, Z:-0.09 [[ 8.27979866e-01 -5.60714078e-01 -7.00458439e-03 3.91303762e+02] [ 5.60694646e-01 8.28009492e-01 -4.66850118e-03 3.96795941e+01] [ 8.41755670e-03 -6.20079806e-05 9.99964570e-01 -8.67629927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05401273900003 meters Centerline goodness [0,1] 0.9941510553530558 Centerline is valid? [True, True] Translation: X:391.33, Y:39.69, Z:-0.08 [[ 8.26361488e-01 -5.63107632e-01 -6.04042206e-03 3.91327823e+02] [ 5.63093236e-01 8.26383561e-01 -4.02714028e-03 3.96946461e+01] [ 7.25941892e-03 -7.34471714e-05 9.99973647e-01 -8.48449324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.084012739 meters Centerline goodness [0,1] 0.9940403455742063 Centerline is valid? [True, True] Translation: X:391.35, Y:39.71, Z:-0.08 [[ 8.25738324e-01 -5.64023672e-01 -5.78941062e-03 3.91351460e+02] [ 5.64010468e-01 8.25758616e-01 -3.86011042e-03 3.97117695e+01] [ 6.95784935e-03 -7.78470823e-05 9.99975791e-01 -8.43088501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.114012739 meters Centerline goodness [0,1] 0.9944235924932976 Centerline is valid? [True, True] Translation: X:391.37, Y:39.73, Z:-0.09 [[ 8.25016782e-01 -5.65070148e-01 -6.56031276e-03 3.91374077e+02] [ 5.65053213e-01 8.25042858e-01 -4.37584768e-03 3.97304804e+01] [ 7.88520009e-03 -9.67780349e-05 9.99968907e-01 -8.61763528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.144012739 meters Centerline goodness [0,1] 0.9943942094976267 Centerline is valid? [True, True] Translation: X:391.40, Y:39.75, Z:-0.09 [[ 8.24548911e-01 -5.65745259e-01 -7.16904246e-03 3.91397203e+02] [ 5.65725045e-01 8.24580069e-01 -4.78364646e-03 3.97457641e+01] [ 8.61777483e-03 -1.11356397e-04 9.99962860e-01 -8.72931725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.174012739 meters Centerline goodness [0,1] 0.9943942094976267 Centerline is valid? [True, True] Translation: X:391.42, Y:39.76, Z:-0.09 [[ 8.24443855e-01 -5.65898347e-01 -7.16871987e-03 3.91419957e+02] [ 5.65878135e-01 8.24475014e-01 -4.78412984e-03 3.97611654e+01] [ 8.61776158e-03 -1.12375390e-04 9.99962860e-01 -8.70736809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.204012739 meters Centerline goodness [0,1] 0.9938735135825055 Centerline is valid? [True, True] Translation: X:391.44, Y:39.77, Z:-0.09 [[ 8.23690309e-01 -5.66991341e-01 -7.42253825e-03 3.91444668e+02] [ 5.66969700e-01 8.23723742e-01 -4.95542987e-03 3.97749188e+01] [ 8.92380681e-03 -1.26614721e-04 9.99960174e-01 -8.78611246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.234012739 meters Centerline goodness [0,1] 0.9935442496793502 Centerline is valid? [True, True] Translation: X:391.47, Y:39.79, Z:-0.09 [[ 8.21461843e-01 -5.70213744e-01 -7.53170736e-03 3.91470616e+02] [ 5.70191589e-01 8.21496354e-01 -5.02907950e-03 3.97877539e+01] [ 9.05492039e-03 -1.63319275e-04 9.99958990e-01 -8.78354460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.264012739 meters Centerline goodness [0,1] 0.9933182941239661 Centerline is valid? [True, True] Translation: X:391.50, Y:39.80, Z:-0.09 [[ 8.20404244e-01 -5.71729985e-01 -7.85503753e-03 3.91495373e+02] [ 5.71705939e-01 8.20441826e-01 -5.24685405e-03 3.98024178e+01] [ 9.44438512e-03 -1.86230282e-04 9.99955383e-01 -8.76934372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.294012739 meters Centerline goodness [0,1] 0.9930644200493575 Centerline is valid? [True, True] Translation: X:391.52, Y:39.81, Z:-0.09 [[ 8.19416584e-01 -5.73147048e-01 -7.67615737e-03 3.91521243e+02] [ 5.73124131e-01 8.19452514e-01 -5.12901368e-03 3.98129703e+01] [ 9.22992551e-03 -1.96592158e-04 9.99957384e-01 -8.74055624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.324012739 meters Centerline goodness [0,1] 0.9928243028402011 Centerline is valid? [True, True] Translation: X:391.54, Y:39.83, Z:-0.09 [[ 8.18988748e-01 -5.73767108e-01 -6.98114651e-03 3.91544154e+02] [ 5.73748171e-01 8.19018480e-01 -4.66531611e-03 3.98299755e+01] [ 8.39449294e-03 -1.84578642e-04 9.99964749e-01 -8.61071391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.354012739 meters Centerline goodness [0,1] 0.9922286448298009 Centerline is valid? [True, True] Translation: X:391.57, Y:39.84, Z:-0.08 [[ 8.18998885e-01 -5.73760796e-01 -6.27494896e-03 3.91566722e+02] [ 5.73745485e-01 8.19022907e-01 -4.19477002e-03 3.98442461e+01] [ 7.54612153e-03 -1.64711671e-04 9.99971514e-01 -8.44293839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.384012739 meters Centerline goodness [0,1] 0.9915494166094715 Centerline is valid? [True, True] Translation: X:391.59, Y:39.86, Z:-0.08 [[ 8.19849720e-01 -5.72547662e-01 -5.96743721e-03 3.91588737e+02] [ 5.72533779e-01 8.19871425e-01 -3.98989205e-03 3.98612041e+01] [ 7.17693461e-03 -1.45447489e-04 9.99974235e-01 -8.36625379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.414012739 meters Centerline goodness [0,1] 0.9924045231491359 Centerline is valid? [True, True] Translation: X:391.61, Y:39.88, Z:-0.08 [[ 8.20358284e-01 -5.71811723e-01 -6.60599025e-03 3.91611409e+02] [ 5.71794680e-01 8.20384867e-01 -4.41744414e-03 3.98786250e+01] [ 7.94540077e-03 -1.53383185e-04 9.99968423e-01 -8.41483266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.444012739 meters Centerline goodness [0,1] 0.9928236387609969 Centerline is valid? [True, True] Translation: X:391.63, Y:39.90, Z:-0.09 [[ 8.21632929e-01 -5.69971523e-01 -7.19671816e-03 3.91633371e+02] [ 5.69951210e-01 8.21664433e-01 -4.81420284e-03 3.98955083e+01] [ 8.65724587e-03 -1.46270645e-04 9.99962515e-01 -8.58067822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.474012739 meters Centerline goodness [0,1] 0.9923996124448272 Centerline is valid? [True, True] Translation: X:391.66, Y:39.91, Z:-0.08 [[ 8.22501367e-01 -5.68722928e-01 -6.76261915e-03 3.91656060e+02] [ 5.68704945e-01 8.22529158e-01 -4.52435865e-03 3.99139660e+01] [ 8.13555793e-03 -1.24643770e-04 9.99966898e-01 -8.45406388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.504012739 meters Centerline goodness [0,1] 0.9926727443128568 Centerline is valid? [True, True] Translation: X:391.68, Y:39.93, Z:-0.08 [[ 8.23511890e-01 -5.67263787e-01 -6.32166097e-03 3.91678229e+02] [ 5.67248019e-01 8.23536147e-01 -4.23071200e-03 3.99331284e+01] [ 7.60604603e-03 -1.01908034e-04 9.99971068e-01 -8.30576962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.534012739 meters Centerline goodness [0,1] 0.993479243333979 Centerline is valid? [True, True] Translation: X:391.70, Y:39.95, Z:-0.08 [[ 8.25130383e-01 -5.64902771e-01 -6.68660396e-03 3.91699066e+02] [ 5.64885039e-01 8.25157471e-01 -4.47660357e-03 3.99539949e+01] [ 8.04634698e-03 -8.33809216e-05 9.99967624e-01 -8.37449877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.564012739 meters Centerline goodness [0,1] 0.9936961136865821 Centerline is valid? [True, True] Translation: X:391.72, Y:39.97, Z:-0.08 [[ 8.25613486e-01 -5.64194190e-01 -6.87666950e-03 3.91721242e+02] [ 5.64175397e-01 8.25642120e-01 -4.60551060e-03 3.99733907e+01] [ 8.27607031e-03 -7.72760859e-05 9.99965750e-01 -8.43046277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.594012739 meters Centerline goodness [0,1] 0.9932797132677661 Centerline is valid? [True, True] Translation: X:391.74, Y:39.99, Z:-0.09 [[ 8.26549538e-01 -5.62818901e-01 -7.12369949e-03 3.91741723e+02] [ 5.62798668e-01 8.26580233e-01 -4.77266549e-03 3.99932374e+01] [ 8.57445553e-03 -6.43641354e-05 9.99963237e-01 -8.53660269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.624012739 meters Centerline goodness [0,1] 0.9929280449878584 Centerline is valid? [True, True] Translation: X:391.76, Y:40.01, Z:-0.09 [[ 8.26768430e-01 -5.62495276e-01 -7.28206570e-03 3.91763873e+02] [ 5.62474114e-01 8.26800496e-01 -4.87952534e-03 4.00104898e+01] [ 8.76552549e-03 -6.17359500e-05 9.99961580e-01 -8.53884210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.654012739 meters Centerline goodness [0,1] 0.9931445220446463 Centerline is valid? [True, True] Translation: X:391.79, Y:40.03, Z:-0.09 [[ 8.26718540e-01 -5.62564576e-01 -7.58643735e-03 3.91787186e+02] [ 5.62541592e-01 8.26753345e-01 -5.08557113e-03 4.00266940e+01] [ 9.13307462e-03 -6.33506082e-05 9.99958291e-01 -8.64271698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.684012739 meters Centerline goodness [0,1] 0.9933001531393568 Centerline is valid? [True, True] Translation: X:391.81, Y:40.04, Z:-0.09 [[ 8.25679533e-01 -5.64078257e-01 -8.30834819e-03 3.91812442e+02] [ 5.64050747e-01 8.25721329e-01 -5.57160388e-03 4.00397576e+01] [ 1.00032009e-02 -8.59707110e-05 9.99949963e-01 -8.86672080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.714012739 meters Centerline goodness [0,1] 0.9926035821023887 Centerline is valid? [True, True] Translation: X:391.84, Y:40.05, Z:-0.09 [[ 8.24399725e-01 -5.65947056e-01 -8.30807053e-03 3.91836979e+02] [ 5.65919632e-01 8.24441580e-01 -5.57236450e-03 4.00545299e+01] [ 1.00031821e-02 -1.07844461e-04 9.99949961e-01 -8.83651666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.744012739 meters Centerline goodness [0,1] 0.9916803549715212 Centerline is valid? [True, True] Translation: X:391.87, Y:40.06, Z:-0.09 [[ 8.21327053e-01 -5.70409629e-01 -7.39779197e-03 3.91865566e+02] [ 5.70388053e-01 8.21360356e-01 -4.96325528e-03 4.00635369e+01] [ 8.90734165e-03 -1.43156327e-04 9.99960319e-01 -8.62590412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.774012739 meters Centerline goodness [0,1] 0.9908404134654483 Centerline is valid? [True, True] Translation: X:391.89, Y:40.08, Z:-0.08 [[ 8.19552360e-01 -5.72968815e-01 -6.37695065e-03 3.91892305e+02] [ 5.72952858e-01 8.19577156e-01 -4.27870092e-03 4.00754594e+01] [ 7.67796528e-03 -1.47072664e-04 9.99970513e-01 -8.40367166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80401273900003 meters Centerline goodness [0,1] 0.9885923328354655 Centerline is valid? [True, True] Translation: X:391.92, Y:40.08, Z:-0.08 [[ 8.15311993e-01 -5.78998135e-01 -5.24536416e-03 3.91923071e+02] [ 5.78987455e-01 8.15328849e-01 -3.52059351e-03 4.00796193e+01] [ 6.31511380e-03 -1.66617938e-04 9.99980046e-01 -8.22888042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.834012739 meters Centerline goodness [0,1] 0.9885111774432538 Centerline is valid? [True, True] Translation: X:391.95, Y:40.09, Z:-0.08 [[ 8.13055824e-01 -5.82159346e-01 -5.54284094e-03 3.91949396e+02] [ 5.82147491e-01 8.13074692e-01 -3.72061852e-03 4.00927970e+01] [ 6.67273653e-03 -2.01680395e-04 9.99977717e-01 -8.20109561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.864012739 meters Centerline goodness [0,1] 0.987246827918639 Centerline is valid? [True, True] Translation: X:391.98, Y:40.10, Z:-0.08 [[ 8.10680460e-01 -5.85459927e-01 -5.81939076e-03 3.91977541e+02] [ 5.85446936e-01 8.10701311e-01 -3.90747757e-03 4.01029843e+01] [ 7.00545926e-03 -2.39228777e-04 9.99975433e-01 -8.25136725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.894012739 meters Centerline goodness [0,1] 0.9846666101119783 Centerline is valid? [True, True] Translation: X:392.01, Y:40.11, Z:-0.08 [[ 8.08439011e-01 -5.88547774e-01 -6.15497695e-03 3.92008038e+02] [ 5.88533319e-01 8.08462392e-01 -4.13440575e-03 4.01072670e+01] [ 7.40936269e-03 -2.79994117e-04 9.99972511e-01 -8.25463767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.924012739 meters Centerline goodness [0,1] 0.9831660801946218 Centerline is valid? [True, True] Translation: X:392.03, Y:40.12, Z:-0.07 [[ 8.05057041e-01 -5.93170546e-01 -5.64487144e-03 3.92033989e+02] [ 5.93158498e-01 8.05076776e-01 -3.79206713e-03 4.01207954e+01] [ 6.79389743e-03 -2.95473123e-04 9.99976878e-01 -7.32022110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.954012739 meters Centerline goodness [0,1] 0.9837084858857428 Centerline is valid? [True, True] Translation: X:392.06, Y:40.13, Z:-0.08 [[ 8.03366415e-01 -5.95461054e-01 -5.34195313e-03 3.92064037e+02] [ 5.95450306e-01 8.03384121e-01 -3.58991630e-03 4.01269758e+01] [ 6.42929566e-03 -2.96849437e-04 9.99979288e-01 -8.06564848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.984012739 meters Centerline goodness [0,1] 0.9675576586946327 Centerline is valid? [True, True] Translation: X:392.09, Y:40.13, Z:-0.08 [[ 8.03083407e-01 -5.95835684e-01 -6.07271276e-03 3.92094918e+02] [ 5.95821801e-01 8.03106295e-01 -4.08172545e-03 4.01301174e+01] [ 7.30907153e-03 -3.40288673e-04 9.99973230e-01 -8.09454004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.014012739 meters Centerline goodness [0,1] 0.9761542255484313 Centerline is valid? [True, True] Translation: X:392.12, Y:40.15, Z:-0.08 [[ 8.02912927e-01 -5.96061177e-01 -6.47336204e-03 3.92117641e+02] [ 5.96045403e-01 8.02938940e-01 -4.35169927e-03 4.01474671e+01] [ 7.79159344e-03 -3.64382084e-04 9.99969579e-01 -8.15198463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.044012739 meters Centerline goodness [0,1] 0.9816966691818476 Centerline is valid? [True, True] Translation: X:392.14, Y:40.16, Z:-0.08 [[ 8.03753495e-01 -5.94935153e-01 -5.69934858e-03 3.92142892e+02] [ 5.94922889e-01 8.03773642e-01 -3.83249966e-03 4.01622341e+01] [ 6.86107494e-03 -3.10287926e-04 9.99976414e-01 -7.90295314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.074012739 meters Centerline goodness [0,1] 0.9835554786221222 Centerline is valid? [True, True] Translation: X:392.17, Y:40.18, Z:-0.08 [[ 8.04726554e-01 -5.93623098e-01 -5.17596347e-03 3.92166513e+02] [ 5.93612950e-01 8.04743154e-01 -3.48150405e-03 4.01784595e+01] [ 6.23202239e-03 -2.70860190e-04 9.99980544e-01 -7.74951969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.104012739 meters Centerline goodness [0,1] 0.9862208975854174 Centerline is valid? [True, True] Translation: X:392.19, Y:40.19, Z:-0.08 [[ 8.07132133e-01 -5.90341626e-01 -5.87231121e-03 3.92192267e+02] [ 5.90328467e-01 8.07153447e-01 -3.95148142e-03 4.01912366e+01] [ 7.07258021e-03 -2.77224847e-04 9.99974951e-01 -7.90624262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.134012739 meters Centerline goodness [0,1] 0.9842697106902196 Centerline is valid? [True, True] Translation: X:392.22, Y:40.20, Z:-0.08 [[ 8.07939066e-01 -5.89221277e-01 -7.26304601e-03 3.92221015e+02] [ 5.89201082e-01 8.07971645e-01 -4.88942534e-03 4.01990287e+01] [ 8.74928867e-03 -3.29036821e-04 9.99961670e-01 -8.16967411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.164012739 meters Centerline goodness [0,1] 0.9883093133626507 Centerline is valid? [True, True] Translation: X:392.24, Y:40.22, Z:-0.08 [[ 8.08553239e-01 -5.88371663e-01 -7.77465594e-03 3.92240058e+02] [ 5.88348465e-01 8.08590545e-01 -5.23578762e-03 4.02217078e+01] [ 9.36710235e-03 -3.40793851e-04 9.99956070e-01 -8.25726937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.194012739 meters Centerline goodness [0,1] 0.9886256127977983 Centerline is valid? [True, True] Translation: X:392.27, Y:40.23, Z:-0.08 [[ 8.10854630e-01 -5.85204642e-01 -7.09194160e-03 3.92267441e+02] [ 5.85185205e-01 8.10885597e-01 -4.77758890e-03 4.02304607e+01] [ 8.54662050e-03 -2.76169219e-04 9.99963439e-01 -8.00927500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.224012739 meters Centerline goodness [0,1] 0.9898156503803016 Centerline is valid? [True, True] Translation: X:392.29, Y:40.25, Z:-0.08 [[ 8.12692260e-01 -5.82661661e-01 -6.05624655e-03 3.92290827e+02] [ 5.82647409e-01 8.12714798e-01 -4.08083777e-03 4.02469175e+01] [ 7.29974891e-03 -2.12191089e-04 9.99973334e-01 -7.73560543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.254012739 meters Centerline goodness [0,1] 0.9915334364792848 Centerline is valid? [True, True] Translation: X:392.31, Y:40.27, Z:-0.07 [[ 8.17210363e-01 -5.76312849e-01 -5.54271036e-03 3.92310700e+02] [ 5.76300761e-01 8.17229147e-01 -3.73538820e-03 4.02676961e+01] [ 6.68241667e-03 -1.41670251e-04 9.99977662e-01 -7.48876856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.284012739 meters Centerline goodness [0,1] 0.9915569639097425 Centerline is valid? [True, True] Translation: X:392.33, Y:40.29, Z:-0.08 [[ 8.19743668e-01 -5.72698581e-01 -6.05429401e-03 3.92331888e+02] [ 5.72684048e-01 8.19766016e-01 -4.08178950e-03 4.02870823e+01] [ 7.30073953e-03 -1.21176503e-04 9.99973342e-01 -7.58215614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.314012739 meters Centerline goodness [0,1] 0.992571306939123 Centerline is valid? [True, True] Translation: X:392.35, Y:40.31, Z:-0.08 [[ 8.22126912e-01 -5.69269435e-01 -6.29685070e-03 3.92351595e+02] [ 5.69253602e-01 8.22151021e-01 -4.24675887e-03 4.03092162e+01] [ 7.59451225e-03 -9.31301862e-05 9.99971157e-01 -7.68085258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.344012739 meters Centerline goodness [0,1] 0.9925965780695147 Centerline is valid? [True, True] Translation: X:392.37, Y:40.33, Z:-0.08 [[ 8.25820446e-01 -5.63904723e-01 -5.66165028e-03 3.92370209e+02] [ 5.63891789e-01 8.25839852e-01 -3.81953672e-03 4.03329010e+01] [ 6.82947123e-03 -3.83065880e-05 9.99976678e-01 -7.59174063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.374012739 meters Centerline goodness [0,1] 0.9929128430485545 Centerline is valid? [True, True] Translation: X:392.39, Y:40.36, Z:-0.08 [[ 8.28265466e-01 -5.60303667e-01 -6.00982258e-03 3.92387858e+02] [ 5.60288986e-01 8.28287269e-01 -4.05604155e-03 4.03570248e+01] [ 7.25047449e-03 -7.75825870e-06 9.99973715e-01 -7.66372488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.404012739 meters Centerline goodness [0,1] 0.9926078734742995 Centerline is valid? [True, True] Translation: X:392.41, Y:40.38, Z:-0.08 [[ 8.29063852e-01 -5.59116878e-01 -6.43789996e-03 3.92408268e+02] [ 5.59099991e-01 8.29088847e-01 -4.34550179e-03 4.03762091e+01] [ 7.76723445e-03 3.26863763e-06 9.99969835e-01 -7.70750958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.434012739 meters Centerline goodness [0,1] 0.9924116821833949 Centerline is valid? [True, True] Translation: X:392.43, Y:40.39, Z:-0.08 [[ 8.29560488e-01 -5.58379394e-01 -6.46910829e-03 3.92429462e+02] [ 5.58362307e-01 8.29585711e-01 -4.36833031e-03 4.03943971e+01] [ 7.80586543e-03 1.16879891e-05 9.99969534e-01 -7.68551968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.464012739 meters Centerline goodness [0,1] 0.9926448384452785 Centerline is valid? [True, True] Translation: X:392.45, Y:40.41, Z:-0.07 [[ 8.29316454e-01 -5.58753389e-01 -5.37296173e-03 3.92450297e+02] [ 5.58741601e-01 8.29333859e-01 -3.62949756e-03 4.04122528e+01] [ 6.48397314e-03 7.90480839e-06 9.99978979e-01 -7.43393442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.494012739 meters Centerline goodness [0,1] 0.992077949586952 Centerline is valid? [True, True] Translation: X:392.47, Y:40.43, Z:-0.07 [[ 8.28784034e-01 -5.59541469e-01 -5.51078787e-03 3.92472032e+02] [ 5.59529081e-01 8.28802356e-01 -3.72327850e-03 4.04281278e+01] [ 6.65068269e-03 2.34770018e-06 9.99977884e-01 -7.44596317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.524012739 meters Centerline goodness [0,1] 0.9919044858167451 Centerline is valid? [True, True] Translation: X:392.50, Y:40.44, Z:-0.08 [[ 8.27547514e-01 -5.61368282e-01 -5.54642209e-03 3.92495784e+02] [ 5.61355772e-01 8.27566101e-01 -3.74785148e-03 4.04426741e+01] [ 6.69395585e-03 -1.19908728e-05 9.99977595e-01 -7.60002070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55401273900003 meters Centerline goodness [0,1] 0.9918515358361775 Centerline is valid? [True, True] Translation: X:392.52, Y:40.46, Z:-0.08 [[ 8.26874193e-01 -5.62351663e-01 -6.29891631e-03 3.92519309e+02] [ 5.62335541e-01 8.26898184e-01 -4.25829180e-03 4.04566405e+01] [ 7.60321993e-03 -2.10329154e-05 9.99971095e-01 -7.71401614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.584012739 meters Centerline goodness [0,1] 0.9921810085859769 Centerline is valid? [True, True] Translation: X:392.54, Y:40.47, Z:-0.08 [[ 8.26465846e-01 -5.62939554e-01 -7.29822378e-03 3.92542585e+02] [ 5.62917919e-01 8.26498069e-01 -4.93544779e-03 4.04719406e+01] [ 8.81032664e-03 -2.93219120e-05 9.99961188e-01 -7.81856005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.614012739 meters Centerline goodness [0,1] 0.9923050615595075 Centerline is valid? [True, True] Translation: X:392.57, Y:40.49, Z:-0.08 [[ 8.26137294e-01 -5.63409052e-01 -8.21047296e-03 3.92565585e+02] [ 5.63381670e-01 8.26178091e-01 -5.55476030e-03 4.04875694e+01] [ 9.91291511e-03 -3.66353171e-05 9.99950865e-01 -8.03075444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.644012739 meters Centerline goodness [0,1] 0.992507204610951 Centerline is valid? [True, True] Translation: X:392.59, Y:40.50, Z:-0.08 [[ 8.26124713e-01 -5.63430527e-01 -8.00001347e-03 3.92588926e+02] [ 5.63404512e-01 8.26163446e-01 -5.41446816e-03 4.05033215e+01] [ 9.65999535e-03 -3.42177280e-05 9.99953341e-01 -7.91273008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.674012739 meters Centerline goodness [0,1] 0.9924611878953085 Centerline is valid? [True, True] Translation: X:392.61, Y:40.52, Z:-0.08 [[ 8.26229443e-01 -5.63281999e-01 -7.63530045e-03 3.92611836e+02] [ 5.63258278e-01 8.26264721e-01 -5.16948344e-03 4.05175528e+01] [ 9.22065636e-03 -2.94667615e-05 9.99957488e-01 -7.86734763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.704012739 meters Centerline goodness [0,1] 0.9922454196847039 Centerline is valid? [True, True] Translation: X:392.63, Y:40.53, Z:-0.08 [[ 8.26746307e-01 -5.62531995e-01 -6.94976381e-03 3.92634907e+02] [ 5.62512309e-01 8.26775516e-01 -4.70610637e-03 4.05323242e+01] [ 8.39322997e-03 -1.85716272e-05 9.99964776e-01 -7.72331983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.734012739 meters Centerline goodness [0,1] 0.992031959009097 Centerline is valid? [True, True] Translation: X:392.66, Y:40.55, Z:-0.08 [[ 8.26932347e-01 -5.62262129e-01 -6.64765315e-03 3.92658109e+02] [ 5.62244102e-01 8.26959067e-01 -4.50240849e-03 4.05474880e+01] [ 8.02887082e-03 -1.44165545e-05 9.99967768e-01 -7.62163463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.764012739 meters Centerline goodness [0,1] 0.9926969448165593 Centerline is valid? [True, True] Translation: X:392.68, Y:40.56, Z:-0.08 [[ 8.27940095e-01 -5.60764387e-01 -7.64865817e-03 3.92681880e+02] [ 5.60740437e-01 8.27975424e-01 -5.18266071e-03 4.05604553e+01] [ 9.23915255e-03 2.02067374e-06 9.99957318e-01 -7.84159119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.794012739 meters Centerline goodness [0,1] 0.9930899163965193 Centerline is valid? [True, True] Translation: X:392.70, Y:40.57, Z:-0.08 [[ 8.28617426e-01 -5.59749342e-01 -8.59275232e-03 3.92704965e+02] [ 5.59719048e-01 8.28661978e-01 -5.82351793e-03 4.05748721e+01] [ 1.03801975e-02 1.59412862e-05 9.99946124e-01 -7.97895682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.824012739 meters Centerline goodness [0,1] 0.993172965800625 Centerline is valid? [True, True] Translation: X:392.73, Y:40.59, Z:-0.08 [[ 8.29381815e-01 -5.58613021e-01 -8.79195884e-03 3.92726875e+02] [ 5.58581230e-01 8.29428413e-01 -5.95966538e-03 4.05900066e+01] [ 1.06214471e-02 3.18149024e-05 9.99943590e-01 -7.94745484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.854012739 meters Centerline goodness [0,1] 0.9933363234446082 Centerline is valid? [True, True] Translation: X:392.75, Y:40.61, Z:-0.08 [[ 8.31898963e-01 -5.54873402e-01 -7.72157225e-03 3.92748905e+02] [ 5.54848709e-01 8.31934795e-01 -5.23527161e-03 4.06093191e+01] [ 9.32875760e-03 7.09126336e-05 9.99956484e-01 -7.56480170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.884012739 meters Centerline goodness [0,1] 0.9931655061596144 Centerline is valid? [True, True] Translation: X:392.77, Y:40.63, Z:-0.07 [[ 8.33706801e-01 -5.52163042e-01 -6.99605969e-03 3.92770136e+02] [ 5.52142662e-01 8.33736149e-01 -4.74491161e-03 4.06290450e+01] [ 8.45283269e-03 9.30420569e-05 9.99964270e-01 -7.37327379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.914012739 meters Centerline goodness [0,1] 0.9924862068225242 Centerline is valid? [True, True] Translation: X:392.79, Y:40.65, Z:-0.07 [[ 8.38386360e-01 -5.45046346e-01 -5.72642516e-03 3.92788179e+02] [ 5.45032518e-01 8.38405905e-01 -3.88490886e-03 4.06537073e+01] [ 6.91852405e-03 1.35966670e-04 9.99976057e-01 -7.14397039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.944012739 meters Centerline goodness [0,1] 0.9919731152874695 Centerline is valid? [True, True] Translation: X:392.81, Y:40.68, Z:-0.07 [[ 8.40677175e-01 -5.41509541e-01 -5.41335932e-03 3.92807174e+02] [ 5.41497101e-01 8.40694589e-01 -3.67390737e-03 4.06764944e+01] [ 6.54043778e-03 1.57251692e-04 9.99978599e-01 -7.03206576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.974012739 meters Centerline goodness [0,1] 0.9893879986362086 Centerline is valid? [True, True] Translation: X:392.82, Y:40.71, Z:-0.07 [[ 8.44522894e-01 -5.35496618e-01 -4.94502853e-03 3.92821021e+02] [ 5.35486131e-01 8.44537351e-01 -3.35652612e-03 4.07054152e+01] [ 5.97366968e-03 1.86668957e-04 9.99982140e-01 -6.84817687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.004012739 meters Centerline goodness [0,1] 0.9875638987929035 Centerline is valid? [True, True] Translation: X:392.84, Y:40.73, Z:-0.07 [[ 8.45992468e-01 -5.33171535e-01 -4.98570908e-03 3.92841094e+02] [ 5.33160831e-01 8.46007135e-01 -3.38471064e-03 4.07269473e+01] [ 6.02257682e-03 2.05254914e-04 9.99981843e-01 -6.80055120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.034012739 meters Centerline goodness [0,1] 0.9874382075370755 Centerline is valid? [True, True] Translation: X:392.86, Y:40.75, Z:-0.07 [[ 8.47037814e-01 -5.31508122e-01 -5.10473677e-03 3.92863317e+02] [ 5.31496867e-01 8.47053167e-01 -3.46604024e-03 4.07458053e+01] [ 6.16621199e-03 2.22715548e-04 9.99980964e-01 -6.87926002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.064012739 meters Centerline goodness [0,1] 0.9850337536619539 Centerline is valid? [True, True] Translation: X:392.88, Y:40.77, Z:-0.07 [[ 8.48805767e-01 -5.28676918e-01 -5.43019478e-03 3.92881007e+02] [ 5.28664116e-01 8.48823097e-01 -3.68832217e-03 4.07714615e+01] [ 6.55920555e-03 2.59920008e-04 9.99978454e-01 -6.89365555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.094012739 meters Centerline goodness [0,1] 0.9850337536619539 Centerline is valid? [True, True] Translation: X:392.90, Y:40.79, Z:-0.07 [[ 8.48708439e-01 -5.28833153e-01 -5.42969423e-03 3.92903643e+02] [ 5.28820349e-01 8.48725768e-01 -3.68905888e-03 4.07870665e+01] [ 6.55921805e-03 2.59602600e-04 9.99978454e-01 -6.87168779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.124012739 meters Centerline goodness [0,1] 0.9837606291157854 Centerline is valid? [True, True] Translation: X:392.92, Y:40.81, Z:-0.07 [[ 8.49293113e-01 -5.27897486e-01 -5.04497690e-03 3.92922299e+02] [ 5.27886407e-01 8.49308061e-01 -3.42912806e-03 4.08096138e+01] [ 6.09496763e-03 2.49160121e-04 9.99981394e-01 -6.77982106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.154012739 meters Centerline goodness [0,1] 0.9845258224001028 Centerline is valid? [True, True] Translation: X:392.94, Y:40.83, Z:-0.07 [[ 8.50198373e-01 -5.26447212e-01 -4.00731112e-03 3.92943303e+02] [ 5.26440204e-01 8.50207792e-01 -2.72426395e-03 4.08308502e+01] [ 4.84122830e-03 2.06555094e-04 9.99988260e-01 -6.63236683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.184012739 meters Centerline goodness [0,1] 0.9825992271067746 Centerline is valid? [True, True] Translation: X:392.96, Y:40.85, Z:-0.07 [[ 8.50222479e-01 -5.26408467e-01 -3.98269448e-03 3.92963678e+02] [ 5.26401543e-01 8.50231782e-01 -2.70784289e-03 4.08500822e+01] [ 4.81164485e-03 2.05772375e-04 9.99988403e-01 -6.64042427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.214012739 meters Centerline goodness [0,1] 0.9828478895446701 Centerline is valid? [True, True] Translation: X:392.99, Y:40.87, Z:-0.07 [[ 8.49871701e-01 -5.26969730e-01 -4.58201112e-03 3.92986686e+02] [ 5.26960572e-01 8.49884021e-01 -3.11549189e-03 4.08678069e+01] [ 5.53594796e-03 2.33229188e-04 9.99984649e-01 -6.75419383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.244012739 meters Centerline goodness [0,1] 0.9848178353171646 Centerline is valid? [True, True] Translation: X:393.01, Y:40.89, Z:-0.07 [[ 8.48978007e-01 -5.28385123e-01 -6.74571357e-03 3.93005328e+02] [ 5.28365299e-01 8.49004742e-01 -4.58897799e-03 4.08901702e+01] [ 8.15189051e-03 3.31740422e-04 9.99966718e-01 -7.09465960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.274012739 meters Centerline goodness [0,1] 0.9860367499036279 Centerline is valid? [True, True] Translation: X:393.03, Y:40.91, Z:-0.07 [[ 8.48560818e-01 -5.29048246e-01 -7.24515297e-03 3.93027664e+02] [ 5.29025396e-01 8.48591675e-01 -4.92948212e-03 4.09085576e+01] [ 8.75611036e-03 3.50095462e-04 9.99961603e-01 -7.14616692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30401273900003 meters Centerline goodness [0,1] 0.9866062804524673 Centerline is valid? [True, True] Translation: X:393.05, Y:40.93, Z:-0.07 [[ 8.48080959e-01 -5.29829525e-01 -6.27389009e-03 3.93048621e+02] [ 5.29812402e-01 8.48104113e-01 -4.26993407e-03 4.09288456e+01] [ 7.58324912e-03 2.97265002e-04 9.99971203e-01 -6.91811186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.334012739 meters Centerline goodness [0,1] 0.9847871479098308 Centerline is valid? [True, True] Translation: X:393.07, Y:40.95, Z:-0.07 [[ 8.47535235e-01 -5.30706349e-01 -5.89888928e-03 3.93066519e+02] [ 5.30691223e-01 8.47555719e-01 -4.01612996e-03 4.09522374e+01] [ 7.13102301e-03 2.73322882e-04 9.99974537e-01 -6.83164416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.364012739 meters Centerline goodness [0,1] 0.9856232782369146 Centerline is valid? [True, True] Translation: X:393.09, Y:40.97, Z:-0.07 [[ 8.46739904e-01 -5.31971676e-01 -6.13776986e-03 3.93088722e+02] [ 5.31955327e-01 8.46762104e-01 -4.17953735e-03 4.09718951e+01] [ 7.42062641e-03 2.73961681e-04 9.99972429e-01 -6.90351592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.394012739 meters Centerline goodness [0,1] 0.9904084953327054 Centerline is valid? [True, True] Translation: X:393.11, Y:40.99, Z:-0.07 [[ 8.44367947e-01 -5.35706612e-01 -7.82276638e-03 3.93114324e+02] [ 5.35680197e-01 8.44404127e-01 -5.32881794e-03 4.09855397e+01] [ 9.46025922e-03 3.08982027e-04 9.99955203e-01 -7.27153335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.424012739 meters Centerline goodness [0,1] 0.990252914569663 Centerline is valid? [True, True] Translation: X:393.14, Y:41.00, Z:-0.07 [[ 8.42663420e-01 -5.38378695e-01 -8.16952983e-03 3.93136575e+02] [ 5.38350006e-01 8.42702970e-01 -5.56563484e-03 4.10022447e+01] [ 9.88090627e-03 2.91890454e-04 9.99951140e-01 -7.41741342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.454012739 meters Centerline goodness [0,1] 0.990803412191925 Centerline is valid? [True, True] Translation: X:393.16, Y:41.01, Z:-0.07 [[ 8.38742626e-01 -5.44478811e-01 -7.32334161e-03 3.93163587e+02] [ 5.44455984e-01 8.38774573e-01 -4.98969738e-03 4.10118530e+01] [ 8.85941723e-03 1.97834728e-04 9.99960735e-01 -7.19439242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.484012739 meters Centerline goodness [0,1] 0.9920192389546267 Centerline is valid? [True, True] Translation: X:393.19, Y:41.02, Z:-0.07 [[ 8.36718276e-01 -5.47589913e-01 -6.91474557e-03 3.93191299e+02] [ 5.47569663e-01 8.36746833e-01 -4.71184360e-03 4.10227669e+01] [ 8.36604949e-03 1.56180753e-04 9.99964992e-01 -7.07389329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.514012739 meters Centerline goodness [0,1] 0.9920429468681039 Centerline is valid? [True, True] Translation: X:393.22, Y:41.04, Z:-0.07 [[ 8.35024080e-01 -5.50166163e-01 -7.20964563e-03 3.93215803e+02] [ 5.50144233e-01 8.35055193e-01 -4.91413138e-03 4.10366852e+01] [ 8.72404083e-03 1.37073076e-04 9.99961935e-01 -7.09710615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.544012739 meters Centerline goodness [0,1] 0.9924239172425634 Centerline is valid? [True, True] Translation: X:393.24, Y:41.05, Z:-0.07 [[ 8.33325231e-01 -5.52726486e-01 -7.90517589e-03 3.93239973e+02] [ 5.52700224e-01 8.33362716e-01 -5.38935354e-03 4.10515144e+01] [ 9.56671730e-03 1.21891794e-04 9.99954230e-01 -7.20154455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.574012739 meters Centerline goodness [0,1] 0.9922468966109703 Centerline is valid? [True, True] Translation: X:393.26, Y:41.07, Z:-0.07 [[ 8.33246408e-01 -5.52850481e-01 -7.53453941e-03 3.93263104e+02] [ 5.52826613e-01 8.33280464e-01 -5.13840817e-03 4.10673541e+01] [ 9.11915593e-03 1.16266243e-04 9.99958413e-01 -7.02872623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.604012739 meters Centerline goodness [0,1] 0.9923096752019247 Centerline is valid? [True, True] Translation: X:393.28, Y:41.09, Z:-0.07 [[ 8.33749066e-01 -5.52106314e-01 -6.41198953e-03 3.93282675e+02] [ 5.52088995e-01 8.33773714e-01 -4.37440122e-03 4.10885804e+01] [ 7.76128286e-03 1.07164072e-04 9.99969875e-01 -6.79927517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.634012739 meters Centerline goodness [0,1] 0.9919360013689547 Centerline is valid? [True, True] Translation: X:393.31, Y:41.10, Z:-0.07 [[ 8.33407932e-01 -5.52628793e-01 -5.71275215e-03 3.93305356e+02] [ 5.52615056e-01 8.33427507e-01 -3.89763398e-03 4.11044700e+01] [ 6.91510955e-03 9.13662321e-05 9.99976086e-01 -6.64980704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.664012739 meters Centerline goodness [0,1] 0.9917015103677789 Centerline is valid? [True, True] Translation: X:393.33, Y:41.12, Z:-0.07 [[ 8.32522238e-01 -5.53966045e-01 -5.32385495e-03 3.93330291e+02] [ 5.53954133e-01 8.32539257e-01 -3.63368245e-03 4.11196888e+01] [ 6.44525494e-03 7.59499903e-05 9.99979226e-01 -6.56068865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.694012739 meters Centerline goodness [0,1] 0.9913894408478089 Centerline is valid? [True, True] Translation: X:393.36, Y:41.13, Z:-0.06 [[ 8.29236597e-01 -5.58875241e-01 -5.01300370e-03 3.93358760e+02] [ 5.58864761e-01 8.29251749e-01 -3.42282215e-03 4.11275344e+01] [ 6.06997265e-03 3.67382782e-05 9.99981577e-01 -6.46744642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.724012739 meters Centerline goodness [0,1] 0.9912653344314881 Centerline is valid? [True, True] Translation: X:393.39, Y:41.14, Z:-0.06 [[ 8.26781177e-01 -5.62499538e-01 -5.21100054e-03 3.93387089e+02] [ 5.62488283e-01 8.26797599e-01 -3.55846293e-03 4.11367970e+01] [ 6.31007649e-03 1.09434215e-05 9.99980091e-01 -6.49896233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.754012739 meters Centerline goodness [0,1] 0.9919115432603365 Centerline is valid? [True, True] Translation: X:393.42, Y:41.14, Z:-0.07 [[ 8.22173329e-01 -5.69206742e-01 -5.89087415e-03 3.93419253e+02] [ 5.69192516e-01 8.22194431e-01 -4.02449600e-03 4.11397667e+01] [ 7.13421418e-03 -4.42082039e-05 9.99974550e-01 -6.56273673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.784012739 meters Centerline goodness [0,1] 0.9919618239660657 Centerline is valid? [True, True] Translation: X:393.45, Y:41.15, Z:-0.07 [[ 8.20453317e-01 -5.71680706e-01 -6.12573626e-03 3.93446507e+02] [ 5.71665386e-01 8.20476182e-01 -4.18574932e-03 4.11516420e+01] [ 7.41893283e-03 -6.76594667e-05 9.99972477e-01 -6.56583837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.814012739 meters Centerline goodness [0,1] 0.992068935951299 Centerline is valid? [True, True] Translation: X:393.47, Y:41.16, Z:-0.06 [[ 8.19382750e-01 -5.73215815e-01 -5.96142083e-03 3.93471396e+02] [ 5.73201337e-01 8.19404432e-01 -4.07486411e-03 4.11636841e+01] [ 7.22059120e-03 -7.82210263e-05 9.99973928e-01 -6.49932568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.844012739 meters Centerline goodness [0,1] 0.9918322721718439 Centerline is valid? [True, True] Translation: X:393.50, Y:41.18, Z:-0.06 [[ 8.18802220e-01 -5.74049753e-01 -5.45944313e-03 3.93497103e+02] [ 5.74037626e-01 8.18820417e-01 -3.73207045e-03 4.11763993e+01] [ 6.61269762e-03 -7.80982046e-05 9.99978133e-01 -6.38685825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.874012739 meters Centerline goodness [0,1] 0.9918351643654084 Centerline is valid? [True, True] Translation: X:393.52, Y:41.19, Z:-0.06 [[ 8.18773370e-01 -5.74089094e-01 -5.64625841e-03 3.93520911e+02] [ 5.74076115e-01 8.18792835e-01 -3.86107288e-03 4.11905982e+01] [ 6.83971576e-03 -8.00384363e-05 9.99976606e-01 -6.44499288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.904012739 meters Centerline goodness [0,1] 0.9924586182654822 Centerline is valid? [True, True] Translation: X:393.55, Y:41.20, Z:-0.07 [[ 8.18350251e-01 -5.74669531e-01 -7.60239522e-03 3.93547299e+02] [ 5.74646004e-01 8.18385555e-01 -5.20123806e-03 4.12026041e+01] [ 9.21068347e-03 -1.12251569e-04 9.99957574e-01 -6.99420409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.934012739 meters Centerline goodness [0,1] 0.9920783460282916 Centerline is valid? [True, True] Translation: X:393.57, Y:41.22, Z:-0.07 [[ 8.17681951e-01 -5.75609066e-01 -8.39226382e-03 3.93571515e+02] [ 5.75580424e-01 8.17725006e-01 -5.74369808e-03 4.12178272e+01] [ 1.01686887e-02 -1.33904515e-04 9.99948289e-01 -7.09808584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.964012739 meters Centerline goodness [0,1] 0.9923075283939569 Centerline is valid? [True, True] Translation: X:393.60, Y:41.23, Z:-0.07 [[ 8.16980076e-01 -5.76603637e-01 -8.47352017e-03 3.93599036e+02] [ 5.76574474e-01 8.17024005e-01 -5.80107721e-03 4.12266437e+01] [ 1.02679916e-02 -1.46250929e-04 9.99947272e-01 -7.13656051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.994012739 meters Centerline goodness [0,1] 0.9922359249329759 Centerline is valid? [True, True] Translation: X:393.63, Y:41.23, Z:-0.07 [[ 8.15676614e-01 -5.78454804e-01 -7.85506629e-03 3.93626929e+02] [ 5.78429821e-01 8.15714420e-01 -5.37839225e-03 4.12341638e+01] [ 9.51864768e-03 -1.56575805e-04 9.99954684e-01 -6.93726238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.024012739 meters Centerline goodness [0,1] 0.9923631278907175 Centerline is valid? [True, True] Translation: X:393.65, Y:41.25, Z:-0.07 [[ 8.15271637e-01 -5.79026733e-01 -7.75891239e-03 3.93651078e+02] [ 5.79002372e-01 8.15308541e-01 -5.31381701e-03 4.12506950e+01] [ 9.40274964e-03 -1.60224386e-04 9.99955780e-01 -6.87047911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05401273900003 meters Centerline goodness [0,1] 0.9926954447686182 Centerline is valid? [True, True] Translation: X:393.68, Y:41.26, Z:-0.07 [[ 8.15726286e-01 -5.78373419e-01 -8.64960420e-03 3.93677408e+02] [ 5.78343087e-01 8.15772125e-01 -5.92569715e-03 4.12619111e+01] [ 1.04833717e-02 -1.68691863e-04 9.99945034e-01 -7.08133328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.084012739 meters Centerline goodness [0,1] 0.9929679509035118 Centerline is valid? [True, True] Translation: X:393.70, Y:41.27, Z:-0.07 [[ 8.16157335e-01 -5.77754712e-01 -9.31117859e-03 3.93703016e+02] [ 5.77719511e-01 8.16210428e-01 -6.37988670e-03 4.12743133e+01] [ 1.12858907e-02 -1.72258218e-04 9.99936297e-01 -7.21374366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.114012739 meters Centerline goodness [0,1] 0.992993207482483 Centerline is valid? [True, True] Translation: X:393.73, Y:41.29, Z:-0.07 [[ 8.16692960e-01 -5.77001808e-01 -9.02904850e-03 3.93725835e+02] [ 5.76968646e-01 8.16742854e-01 -6.18800426e-03 4.12917714e+01] [ 1.09449005e-02 -1.55778378e-04 9.99940091e-01 -7.10090334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.144012739 meters Centerline goodness [0,1] 0.99281747818443 Centerline is valid? [True, True] Translation: X:393.75, Y:41.31, Z:-0.07 [[ 8.17669062e-01 -5.75633013e-01 -7.99617264e-03 3.93749962e+02] [ 5.75606924e-01 8.17708151e-01 -5.48179291e-03 4.13073327e+01] [ 9.69403651e-03 -1.20359862e-04 9.99953004e-01 -6.78502051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.174012739 meters Centerline goodness [0,1] 0.9927971700123599 Centerline is valid? [True, True] Translation: X:393.77, Y:41.32, Z:-0.07 [[ 8.18383348e-01 -5.74617937e-01 -7.93232496e-03 3.93774654e+02] [ 5.74592199e-01 8.18421783e-01 -5.43969335e-03 4.13209139e+01] [ 9.61773291e-03 -1.06097581e-04 9.99953743e-01 -6.76444430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.204012739 meters Centerline goodness [0,1] 0.9922540499946357 Centerline is valid? [True, True] Translation: X:393.80, Y:41.34, Z:-0.07 [[ 8.19647016e-01 -5.72803819e-01 -8.63450546e-03 3.93798234e+02] [ 5.72773210e-01 8.19692489e-01 -5.92231356e-03 4.13369477e+01] [ 1.04699631e-02 -9.14067686e-05 9.99945184e-01 -6.87546239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.234012739 meters Centerline goodness [0,1] 0.9910281176218072 Centerline is valid? [True, True] Translation: X:393.82, Y:41.35, Z:-0.06 [[ 8.20544025e-01 -5.71502879e-01 -9.58974369e-03 3.93821657e+02] [ 5.71465004e-01 8.20600057e-01 -6.57995613e-03 4.13540862e+01] [ 1.16298081e-02 -8.10592286e-05 9.99932368e-01 -6.02928747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.264012739 meters Centerline goodness [0,1] 0.9924529929273762 Centerline is valid? [True, True] Translation: X:393.84, Y:41.37, Z:-0.07 [[ 8.21426578e-01 -5.70244350e-01 -8.93075196e-03 3.93844962e+02] [ 5.70211406e-01 8.21475123e-01 -6.12987090e-03 4.13707261e+01] [ 1.08319148e-02 -5.71777556e-05 9.99941331e-01 -6.85011912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.294012739 meters Centerline goodness [0,1] 0.9929235788893832 Centerline is valid? [True, True] Translation: X:393.87, Y:41.39, Z:-0.06 [[ 8.23602296e-01 -5.67119744e-01 -7.37926643e-03 3.93867873e+02] [ 5.67097113e-01 8.23635354e-01 -5.06638622e-03 4.13867109e+01] [ 8.95107237e-03 -1.20733630e-05 9.99959938e-01 -6.44577106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.324012739 meters Centerline goodness [0,1] 0.9927830596369922 Centerline is valid? [True, True] Translation: X:393.89, Y:41.40, Z:-0.06 [[ 8.24474231e-01 -5.65870992e-01 -5.68003748e-03 3.93890599e+02] [ 5.65857552e-01 8.24493797e-01 -3.89994040e-03 4.14036196e+01] [ 6.89001881e-03 1.30825665e-06 9.99976264e-01 -6.09538030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.354012739 meters Centerline goodness [0,1] 0.9916742159527199 Centerline is valid? [True, True] Translation: X:393.91, Y:41.42, Z:-0.06 [[ 8.25534802e-01 -5.64341230e-01 -3.35664130e-03 3.93913429e+02] [ 5.64336521e-01 8.25541626e-01 -2.30535025e-03 4.14194770e+01] [ 4.07205131e-03 8.87158875e-06 9.99991709e-01 -5.55509218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.384012739 meters Centerline goodness [0,1] 0.9921232876712329 Centerline is valid? [True, True] Translation: X:393.94, Y:41.44, Z:-0.06 [[ 8.25829224e-01 -5.63911386e-01 -3.16879473e-03 3.93936430e+02] [ 5.63907187e-01 8.25835304e-01 -2.17620200e-03 4.14350467e+01] [ 3.84408764e-03 1.02650875e-05 9.99992611e-01 -5.53635258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.414012739 meters Centerline goodness [0,1] 0.9919268491155938 Centerline is valid? [True, True] Translation: X:393.96, Y:41.45, Z:-0.06 [[ 8.26113896e-01 -5.63490008e-01 -3.85256268e-03 3.93958399e+02] [ 5.63483788e-01 8.26122879e-01 -2.64757948e-03 4.14511714e+01] [ 4.67457476e-03 1.63455825e-05 9.99989074e-01 -5.61559186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.444012739 meters Centerline goodness [0,1] 0.9921888302400818 Centerline is valid? [True, True] Translation: X:393.98, Y:41.47, Z:-0.06 [[ 8.26331588e-01 -5.63153249e-01 -5.87578154e-03 3.93980901e+02] [ 5.63138764e-01 8.26352478e-01 -4.03928706e-03 4.14675692e+01] [ 7.13020427e-03 2.89101415e-05 9.99974579e-01 -6.08093306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.474012739 meters Centerline goodness [0,1] 0.9926924879628446 Centerline is valid? [True, True] Translation: X:394.00, Y:41.48, Z:-0.06 [[ 8.25808942e-01 -5.63915482e-01 -6.23865474e-03 3.94003389e+02] [ 5.63899159e-01 8.25832507e-01 -4.29059167e-03 4.14828736e+01] [ 7.57161495e-03 2.52368029e-05 9.99971335e-01 -6.18535236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.504012739 meters Centerline goodness [0,1] 0.9927122871705889 Centerline is valid? [True, True] Translation: X:394.03, Y:41.49, Z:-0.06 [[ 8.23339942e-01 -5.67521938e-01 -5.49446108e-03 3.94030977e+02] [ 5.67509352e-01 8.23358276e-01 -3.77956246e-03 4.14928614e+01] [ 6.66889461e-03 -6.29331204e-06 9.99977763e-01 -6.04844626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.534012739 meters Centerline goodness [0,1] 0.9926892387319387 Centerline is valid? [True, True] Translation: X:394.06, Y:41.50, Z:-0.06 [[ 8.21745011e-01 -5.69828623e-01 -5.52064287e-03 3.94056836e+02] [ 5.69815958e-01 8.21763555e-01 -3.79908753e-03 4.15045984e+01] [ 6.70149192e-03 -2.38691855e-05 9.99977544e-01 -6.05549609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.564012739 meters Centerline goodness [0,1] 0.9926016208009921 Centerline is valid? [True, True] Translation: X:394.08, Y:41.52, Z:-0.06 [[ 8.20134538e-01 -5.72137343e-01 -6.18064205e-03 3.94083046e+02] [ 5.72121521e-01 8.20157825e-01 -4.25525806e-03 4.15157756e+01] [ 7.50369399e-03 -4.61942263e-05 9.99971846e-01 -6.16339118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.594012739 meters Centerline goodness [0,1] 0.9930960086299893 Centerline is valid? [True, True] Translation: X:394.11, Y:41.53, Z:-0.06 [[ 8.17415152e-01 -5.75996885e-01 -7.74967494e-03 3.94111511e+02] [ 5.75972170e-01 8.17451881e-01 -5.33678339e-03 4.15251051e+01] [ 9.40895697e-03 -1.01229489e-04 9.99955730e-01 -6.44089868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.624012739 meters Centerline goodness [0,1] 0.9926028270804549 Centerline is valid? [True, True] Translation: X:394.14, Y:41.54, Z:-0.06 [[ 8.16746613e-01 -5.76942888e-01 -7.86593092e-03 3.94137592e+02] [ 5.76917454e-01 8.16784483e-01 -5.41854726e-03 4.15370709e+01] [ 9.55096263e-03 -1.12412713e-04 9.99954382e-01 -6.46503304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.654012739 meters Centerline goodness [0,1] 0.993077434149896 Centerline is valid? [True, True] Translation: X:394.16, Y:41.55, Z:-0.07 [[ 8.16180188e-01 -5.77737700e-01 -8.30964519e-03 3.94162714e+02] [ 5.77709347e-01 8.16222478e-01 -5.72507149e-03 4.15484973e+01] [ 1.00901088e-02 -1.27869768e-04 9.99949085e-01 -6.56068453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.684012739 meters Centerline goodness [0,1] 0.9931192170438276 Centerline is valid? [True, True] Translation: X:394.19, Y:41.56, Z:-0.07 [[ 8.16272132e-01 -5.77592906e-01 -9.28664128e-03 3.94185763e+02] [ 5.77557463e-01 8.16324945e-01 -6.40007446e-03 4.15648940e+01] [ 1.12775545e-02 -1.39366554e-04 9.99936397e-01 -6.72602175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.714012739 meters Centerline goodness [0,1] 0.9932862649976177 Centerline is valid? [True, True] Translation: X:394.21, Y:41.58, Z:-0.07 [[ 8.17003081e-01 -5.76539210e-01 -1.04165542e-02 3.94208571e+02] [ 5.76494503e-01 8.17069471e-01 -7.18103478e-03 4.15803813e+01] [ 1.26511965e-02 -1.38158700e-04 9.99919961e-01 -7.02295696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.744012739 meters Centerline goodness [0,1] 0.9928306124211799 Centerline is valid? [True, True] Translation: X:394.23, Y:41.60, Z:-0.07 [[ 8.17119659e-01 -5.76365556e-01 -1.08723835e-02 3.94230996e+02] [ 5.76316812e-01 8.17191977e-01 -7.49703019e-03 4.15973971e+01] [ 1.32058546e-02 -1.39966661e-04 9.99912789e-01 -7.03498389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.774012739 meters Centerline goodness [0,1] 0.9937081431557394 Centerline is valid? [True, True] Translation: X:394.25, Y:41.61, Z:-0.07 [[ 8.17337227e-01 -5.76055725e-01 -1.09388851e-02 3.94254275e+02] [ 5.76006323e-01 8.17410413e-01 -7.54532869e-03 4.16107927e+01] [ 1.32880884e-02 -1.33788958e-04 9.99911701e-01 -7.14775150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80401273900003 meters Centerline goodness [0,1] 0.9932859992706836 Centerline is valid? [True, True] Translation: X:394.28, Y:41.63, Z:-0.07 [[ 8.18435844e-01 -5.74497580e-01 -1.07377673e-02 3.94277283e+02] [ 5.74449819e-01 8.18506273e-01 -7.40848477e-03 4.16286398e+01] [ 1.30450865e-02 -1.04939002e-04 9.99914904e-01 -6.99123291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.834012739 meters Centerline goodness [0,1] 0.9932429542830261 Centerline is valid? [True, True] Translation: X:394.30, Y:41.65, Z:-0.07 [[ 8.19302957e-01 -5.73264363e-01 -1.05183307e-02 3.94299232e+02] [ 5.73218402e-01 8.19370468e-01 -7.25952148e-03 4.16472955e+01] [ 1.27800345e-02 -8.15532934e-05 9.99918329e-01 -6.81343738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.864012739 meters Centerline goodness [0,1] 0.9931201592315347 Centerline is valid? [True, True] Translation: X:394.32, Y:41.67, Z:-0.06 [[ 8.21998880e-01 -5.69437053e-01 -7.69959021e-03 3.94317150e+02] [ 5.69412245e-01 8.22034940e-01 -5.31531234e-03 4.16695124e+01] [ 9.35606797e-03 -1.50601587e-05 9.99956231e-01 -6.18492737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.894012739 meters Centerline goodness [0,1] 0.9933688699360341 Centerline is valid? [True, True] Translation: X:394.34, Y:41.69, Z:-0.06 [[ 8.23566716e-01 -5.67180707e-01 -6.62636699e-03 3.94336936e+02] [ 5.67162256e-01 8.23593374e-01 -4.57491289e-03 4.16895774e+01] [ 8.05223427e-03 9.52072991e-06 9.99967580e-01 -5.83285904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.924012739 meters Centerline goodness [0,1] 0.99348287359806 Centerline is valid? [True, True] Translation: X:394.35, Y:41.72, Z:-0.06 [[ 8.27397259e-01 -5.61581588e-01 -6.31626155e-03 3.94351780e+02] [ 5.61564647e-01 8.27421365e-01 -4.36245581e-03 4.17161673e+01] [ 7.67608462e-03 6.24947886e-05 9.99970536e-01 -5.69830408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.954012739 meters Centerline goodness [0,1] 0.9935742102985721 Centerline is valid? [True, True] Translation: X:394.37, Y:41.74, Z:-0.06 [[ 8.29216327e-01 -5.58882219e-01 -7.13786074e-03 3.94372360e+02] [ 5.58860476e-01 8.29247042e-01 -4.93079233e-03 4.17366707e+01] [ 8.67478206e-03 9.96252561e-05 9.99962368e-01 -5.81368435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.984012739 meters Centerline goodness [0,1] 0.9935742102985721 Centerline is valid? [True, True] Translation: X:394.39, Y:41.75, Z:-0.06 [[ 8.29107850e-01 -5.59043143e-01 -7.13701367e-03 3.94394864e+02] [ 5.59021396e-01 8.29138561e-01 -4.93201814e-03 4.17524472e+01] [ 8.67478417e-03 9.94316095e-05 9.99962368e-01 -5.79173076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.014012739 meters Centerline goodness [0,1] 0.9936727801291095 Centerline is valid? [True, True] Translation: X:394.41, Y:41.78, Z:-0.06 [[ 8.30964508e-01 -5.56267434e-01 -8.03294957e-03 3.94412053e+02] [ 5.56239732e-01 8.31003321e-01 -5.55340409e-03 4.17766277e+01] [ 9.76458561e-03 1.46435978e-04 9.99952315e-01 -6.06100787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.044012739 meters Centerline goodness [0,1] 0.993069977920119 Centerline is valid? [True, True] Translation: X:394.43, Y:41.80, Z:-0.06 [[ 8.34100493e-01 -5.51531475e-01 -9.45512266e-03 3.94432739e+02] [ 5.51492774e-01 8.34154048e-01 -6.53795625e-03 4.17983850e+01] [ 1.14929175e-02 2.38880709e-04 9.99933926e-01 -6.31742371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.074012739 meters Centerline goodness [0,1] 0.9927874325828269 Centerline is valid? [True, True] Translation: X:394.45, Y:41.82, Z:-0.06 [[ 8.35437794e-01 -5.49501529e-01 -9.57919159e-03 3.94450728e+02] [ 5.49461651e-01 8.35492666e-01 -6.62557919e-03 4.18218143e+01] [ 1.16441102e-02 2.71860836e-04 9.99932168e-01 -6.35934043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.104012739 meters Centerline goodness [0,1] 0.9914848323576371 Centerline is valid? [True, True] Translation: X:394.47, Y:41.85, Z:-0.06 [[ 8.37157340e-01 -5.46905722e-01 -7.85619588e-03 3.94467224e+02] [ 5.46878779e-01 8.37194164e-01 -5.43444847e-03 4.18464812e+01] [ 9.54929230e-03 2.53101617e-04 9.99954372e-01 -5.87388189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.134012739 meters Centerline goodness [0,1] 0.9914407684098185 Centerline is valid? [True, True] Translation: X:394.49, Y:41.86, Z:-0.06 [[ 8.37397364e-01 -5.46546522e-01 -7.24940338e-03 3.94489931e+02] [ 5.46523561e-01 8.37428709e-01 -5.01539399e-03 4.18649589e+01] [ 8.81200465e-03 2.37907961e-04 9.99961145e-01 -5.71214638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.164012739 meters Centerline goodness [0,1] 0.99129337269499 Centerline is valid? [True, True] Translation: X:394.51, Y:41.88, Z:-0.06 [[ 8.37076576e-01 -5.47041162e-01 -6.98374871e-03 3.94511958e+02] [ 5.47019857e-01 8.37105678e-01 -4.83323957e-03 4.18835720e+01] [ 8.49011668e-03 2.25542407e-04 9.99963933e-01 -5.62301797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.194012739 meters Centerline goodness [0,1] 0.9927187593968813 Centerline is valid? [True, True] Translation: X:394.53, Y:41.90, Z:-0.06 [[ 8.35465169e-01 -5.49498931e-01 -6.99112721e-03 3.94534129e+02] [ 5.49477652e-01 8.35494395e-01 -4.84003422e-03 4.19017998e+01] [ 8.50064123e-03 2.02211843e-04 9.99963848e-01 -5.77823437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.224012739 meters Centerline goodness [0,1] 0.9927272727272727 Centerline is valid? [True, True] Translation: X:394.56, Y:41.92, Z:-0.06 [[ 8.34389622e-01 -5.51126344e-01 -7.32886531e-03 3.94555255e+02] [ 5.51103009e-01 8.34421785e-01 -5.07537104e-03 4.19198207e+01] [ 8.91253556e-03 1.95877193e-04 9.99960263e-01 -5.81283542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.254012739 meters Centerline goodness [0,1] 0.9928211098176174 Centerline is valid? [True, True] Translation: X:394.58, Y:41.94, Z:-0.06 [[ 8.32495062e-01 -5.53979773e-01 -7.64089007e-03 3.94578969e+02] [ 5.53954510e-01 8.32530108e-01 -5.29332935e-03 4.19365287e+01] [ 9.29366843e-03 1.73965030e-04 9.99956798e-01 -5.90213830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.284012739 meters Centerline goodness [0,1] 0.9940161005639503 Centerline is valid? [True, True] Translation: X:394.60, Y:41.95, Z:-0.06 [[ 8.31479215e-01 -5.55500667e-01 -7.83100251e-03 3.94601989e+02] [ 5.55474183e-01 8.31516075e-01 -5.42669131e-03 4.19539279e+01] [ 9.52613512e-03 1.62261304e-04 9.99954612e-01 -5.85883552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.314012739 meters Centerline goodness [0,1] 0.9937410853043238 Centerline is valid? [True, True] Translation: X:394.62, Y:41.97, Z:-0.06 [[ 8.30442775e-01 -5.57056459e-01 -7.27316729e-03 3.94623414e+02] [ 5.57033659e-01 8.30474613e-01 -5.04173771e-03 4.19721134e+01] [ 8.84871334e-03 1.35475663e-04 9.99960840e-01 -5.67866150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.344012739 meters Centerline goodness [0,1] 0.9941766211604095 Centerline is valid? [True, True] Translation: X:394.64, Y:41.99, Z:-0.05 [[ 8.28380391e-01 -5.60131740e-01 -6.19374444e-03 3.94644925e+02] [ 5.60115286e-01 8.28403541e-01 -4.29412563e-03 4.19908510e+01] [ 7.53619588e-03 8.79585287e-05 9.99971599e-01 -5.43267852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.374012739 meters Centerline goodness [0,1] 0.993866866118175 Centerline is valid? [True, True] Translation: X:394.67, Y:42.01, Z:-0.06 [[ 8.25344575e-01 -5.64573155e-01 -7.96769173e-03 3.94669202e+02] [ 5.64546110e-01 8.25383031e-01 -5.52639332e-03 4.20061531e+01] [ 9.69645087e-03 6.30493772e-05 9.99952986e-01 -5.89652190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.404012739 meters Centerline goodness [0,1] 0.9939310344827587 Centerline is valid? [True, True] Translation: X:394.69, Y:42.02, Z:-0.06 [[ 8.23711589e-01 -5.66942778e-01 -8.66630174e-03 3.94692476e+02] [ 5.66910893e-01 8.23757176e-01 -6.01285052e-03 4.20210822e+01] [ 1.05478704e-02 3.98338038e-05 9.99944369e-01 -6.02386665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.434012739 meters Centerline goodness [0,1] 0.9941610853511935 Centerline is valid? [True, True] Translation: X:394.72, Y:42.04, Z:-0.06 [[ 8.22018229e-01 -5.69399204e-01 -8.40109898e-03 3.94716470e+02] [ 5.69369359e-01 8.22061157e-01 -5.82983068e-03 4.20367157e+01] [ 1.02257181e-02 8.89874792e-06 9.99947716e-01 -5.88430636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.464012739 meters Centerline goodness [0,1] 0.9936066352758218 Centerline is valid? [True, True] Translation: X:394.74, Y:42.05, Z:-0.06 [[ 8.20523764e-01 -5.71561196e-01 -7.65187683e-03 3.94739494e+02] [ 5.71536515e-01 8.20559442e-01 -5.31164681e-03 4.20530936e+01] [ 9.31475099e-03 -1.49945812e-05 9.99956617e-01 -5.68780452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.494012739 meters Centerline goodness [0,1] 0.9930093996687531 Centerline is valid? [True, True] Translation: X:394.76, Y:42.07, Z:-0.05 [[ 8.18467463e-01 -5.74517833e-01 -6.34598065e-03 3.94761722e+02] [ 5.74500935e-01 8.18492063e-01 -4.40662323e-03 4.20690356e+01] [ 7.72581843e-03 -3.90940842e-05 9.99970155e-01 -5.38522565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.524012739 meters Centerline goodness [0,1] 0.9938667530504265 Centerline is valid? [True, True] Translation: X:394.79, Y:42.09, Z:-0.05 [[ 8.17440560e-01 -5.75984162e-01 -5.75986722e-03 3.94785367e+02] [ 5.75970275e-01 8.17460851e-01 -3.99993907e-03 4.20855854e+01] [ 7.01236751e-03 -4.77998701e-05 9.99975412e-01 -5.31925474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55401273900003 meters Centerline goodness [0,1] 0.9933529804031235 Centerline is valid? [True, True] Translation: X:394.81, Y:42.10, Z:-0.05 [[ 8.15372136e-01 -5.78902388e-01 -6.34869683e-03 3.94809408e+02] [ 5.78885591e-01 8.15396848e-01 -4.41060684e-03 4.21002560e+01] [ 7.73001822e-03 -7.88831957e-05 9.99970120e-01 -5.38359022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.584012739 meters Centerline goodness [0,1] 0.9934931580881559 Centerline is valid? [True, True] Translation: X:394.83, Y:42.12, Z:-0.05 [[ 8.13764202e-01 -5.81159444e-01 -6.44385976e-03 3.94833564e+02] [ 5.81142206e-01 8.13789709e-01 -4.47727027e-03 4.21162750e+01] [ 7.84595466e-03 -1.01356615e-04 9.99969215e-01 -5.44840507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.614012739 meters Centerline goodness [0,1] 0.9930211519407228 Centerline is valid? [True, True] Translation: X:394.86, Y:42.13, Z:-0.05 [[ 8.12019397e-01 -5.83592897e-01 -6.62044256e-03 3.94857758e+02] [ 5.83574768e-01 8.12046375e-01 -4.60160057e-03 4.21298134e+01] [ 8.06156779e-03 -1.26934313e-04 9.99967497e-01 -5.45679567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.644012739 meters Centerline goodness [0,1] 0.9922984252646072 Centerline is valid? [True, True] Translation: X:394.89, Y:42.14, Z:-0.05 [[ 8.07171246e-01 -5.90290183e-01 -5.66388052e-03 3.94887711e+02] [ 5.90277077e-01 8.07191100e-01 -3.93699703e-03 4.21368073e+01] [ 6.89580464e-03 -1.65428041e-04 9.99976210e-01 -5.28337072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.674012739 meters Centerline goodness [0,1] 0.9910561084420041 Centerline is valid? [True, True] Translation: X:394.92, Y:42.15, Z:-0.05 [[ 8.04530122e-01 -5.93885926e-01 -5.54882217e-03 3.94915753e+02] [ 5.93873422e-01 8.04549234e-01 -3.85843745e-03 4.21454126e+01] [ 6.75577233e-03 -1.91068860e-04 9.99977161e-01 -5.21278607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.704012739 meters Centerline goodness [0,1] 0.9899604827512549 Centerline is valid? [True, True] Translation: X:394.94, Y:42.15, Z:-0.05 [[ 8.00630343e-01 -5.99122864e-01 -6.54572229e-03 3.94944478e+02] [ 5.99105630e-01 8.00657053e-01 -4.55275458e-03 4.21543972e+01] [ 7.96853809e-03 -2.76505612e-04 9.99968212e-01 -5.48896446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.734012739 meters Centerline goodness [0,1] 0.9896497331403012 Centerline is valid? [True, True] Translation: X:394.97, Y:42.17, Z:-0.06 [[ 7.99720530e-01 -6.00328860e-01 -7.23424043e-03 3.94968340e+02] [ 6.00307842e-01 7.99753187e-01 -5.03341517e-03 4.21699329e+01] [ 8.80731123e-03 -3.17445811e-04 9.99961164e-01 -5.55705909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.764012739 meters Centerline goodness [0,1] 0.9896585407287862 Centerline is valid? [True, True] Translation: X:394.99, Y:42.18, Z:-0.06 [[ 7.99606507e-01 -6.00473230e-01 -7.83161605e-03 3.94992900e+02] [ 6.00448597e-01 7.99644784e-01 -5.44990704e-03 4.21823594e+01] [ 9.53503421e-03 -3.44701741e-04 9.99954481e-01 -5.61917404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.794012739 meters Centerline goodness [0,1] 0.9896308407193873 Centerline is valid? [True, True] Translation: X:395.02, Y:42.20, Z:-0.06 [[ 7.99439753e-01 -6.00693076e-01 -7.99435452e-03 3.95015703e+02] [ 6.00667405e-01 7.99479646e-01 -5.56456861e-03 4.21980735e+01] [ 9.73392155e-03 -3.53410834e-04 9.99952562e-01 -5.63518392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.824012739 meters Centerline goodness [0,1] 0.9887760555852485 Centerline is valid? [True, True] Translation: X:395.04, Y:42.21, Z:-0.06 [[ 7.99105252e-01 -6.01123367e-01 -9.02738344e-03 3.95040500e+02] [ 6.01090636e-01 7.99156140e-01 -6.28579865e-03 4.22107655e+01] [ 1.09928293e-02 -4.03260939e-04 9.99939496e-01 -5.87255171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.854012739 meters Centerline goodness [0,1] 0.9918350461592057 Centerline is valid? [True, True] Translation: X:395.06, Y:42.23, Z:-0.06 [[ 7.98683201e-01 -6.01690275e-01 -8.59984676e-03 3.95060681e+02] [ 6.01660593e-01 7.98729404e-01 -5.98913089e-03 4.22320512e+01] [ 1.04725523e-02 -3.90770674e-04 9.99945085e-01 -5.84426510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.884012739 meters Centerline goodness [0,1] 0.9880711039030323 Centerline is valid? [True, True] Translation: X:395.09, Y:42.24, Z:-0.06 [[ 7.98542541e-01 -6.01877918e-01 -8.53120354e-03 3.95090713e+02] [ 6.01848701e-01 7.98588017e-01 -5.94313049e-03 4.22378535e+01] [ 1.03899559e-02 -3.88651248e-04 9.99945947e-01 -5.81110082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.914012739 meters Centerline goodness [0,1] 0.9865350858415036 Centerline is valid? [True, True] Translation: X:395.12, Y:42.25, Z:-0.06 [[ 7.98474894e-01 -6.01970300e-01 -8.34278720e-03 3.95117126e+02] [ 6.01942356e-01 7.98518386e-01 -5.81269824e-03 4.22469382e+01] [ 1.01609407e-02 -3.80583378e-04 9.99948304e-01 -5.72697071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.944012739 meters Centerline goodness [0,1] 0.9875719657538612 Centerline is valid? [True, True] Translation: X:395.14, Y:42.26, Z:-0.06 [[ 7.98698738e-01 -6.01667672e-01 -8.73721402e-03 3.95141890e+02] [ 6.01636989e-01 7.98746429e-01 -6.08898820e-03 4.22617693e+01] [ 1.06423658e-02 -3.93363950e-04 9.99943291e-01 -5.71195906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.974012739 meters Centerline goodness [0,1] 0.9895128989189887 Centerline is valid? [True, True] Translation: X:395.17, Y:42.28, Z:-0.06 [[ 7.98806579e-01 -6.01526175e-01 -8.62036803e-03 3.95166480e+02] [ 6.01496279e-01 7.98852998e-01 -6.00951100e-03 4.22762002e+01] [ 1.05012850e-02 -3.84682370e-04 9.99944786e-01 -5.67805461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.004012739 meters Centerline goodness [0,1] 0.9899166844691305 Centerline is valid? [True, True] Translation: X:395.19, Y:42.28, Z:-0.06 [[ 7.99727506e-01 -6.00306692e-01 -8.23354458e-03 3.95193823e+02] [ 6.00279338e-01 7.99769812e-01 -5.74146166e-03 4.22847367e+01] [ 1.00315783e-02 -3.50821878e-04 9.99949621e-01 -5.63078131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.034012739 meters Centerline goodness [0,1] 0.9910240718074256 Centerline is valid? [True, True] Translation: X:395.22, Y:42.30, Z:-0.06 [[ 8.00450631e-01 -5.99344841e-01 -8.03427540e-03 3.95217086e+02] [ 5.99318736e-01 8.00490883e-01 -5.60350402e-03 4.23022571e+01] [ 9.78979543e-03 -3.29763450e-04 9.99952024e-01 -5.52910454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.064012739 meters Centerline goodness [0,1] 0.9921302054295149 Centerline is valid? [True, True] Translation: X:395.24, Y:42.31, Z:-0.06 [[ 8.02413569e-01 -5.96714860e-01 -7.98996833e-03 3.95242441e+02] [ 5.96688894e-01 8.02453294e-01 -5.57445212e-03 4.23140250e+01] [ 9.73793482e-03 -2.94509339e-04 9.99952542e-01 -5.56249261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.094012739 meters Centerline goodness [0,1] 0.9929891925707013 Centerline is valid? [True, True] Translation: X:395.27, Y:42.33, Z:-0.06 [[ 8.03531293e-01 -5.95210803e-01 -7.84608735e-03 3.95265338e+02] [ 5.95185676e-01 8.03569553e-01 -5.47574000e-03 4.23316113e+01] [ 9.56409651e-03 -2.69950359e-04 9.99954227e-01 -5.55402245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.124012739 meters Centerline goodness [0,1] 0.9939967176297831 Centerline is valid? [True, True] Translation: X:395.29, Y:42.35, Z:-0.05 [[ 8.04642258e-01 -5.93708489e-01 -7.81449294e-03 3.95287881e+02] [ 5.93683482e-01 8.04680165e-01 -5.45485127e-03 4.23492881e+01] [ 9.52675897e-03 -2.50131536e-04 9.99954588e-01 -5.43463218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.154012739 meters Centerline goodness [0,1] 0.9943665011871358 Centerline is valid? [True, True] Translation: X:395.31, Y:42.37, Z:-0.05 [[ 8.06963084e-01 -5.90559205e-01 -7.09971312e-03 3.95307783e+02] [ 5.90538427e-01 8.06994293e-01 -4.95753025e-03 4.23707673e+01] [ 8.65714309e-03 -1.92109521e-04 9.99962508e-01 -5.13090859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.184012739 meters Centerline goodness [0,1] 0.9945093833780161 Centerline is valid? [True, True] Translation: X:395.33, Y:42.39, Z:-0.05 [[ 8.07786194e-01 -5.89435640e-01 -6.86230440e-03 3.95330773e+02] [ 5.89416176e-01 8.07815323e-01 -4.79331578e-03 4.23873090e+01] [ 8.36882581e-03 -1.72778905e-04 9.99964966e-01 -5.08284216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.214012739 meters Centerline goodness [0,1] 0.9941508074428856 Centerline is valid? [True, True] Translation: X:395.36, Y:42.40, Z:-0.05 [[ 8.08239959e-01 -5.88815122e-01 -6.70231912e-03 3.95356695e+02] [ 5.88796520e-01 8.08267732e-01 -4.68317832e-03 4.23983011e+01] [ 8.17479449e-03 -1.61170316e-04 9.99966573e-01 -5.05380322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.244012739 meters Centerline goodness [0,1] 0.9950409705225072 Centerline is valid? [True, True] Translation: X:395.38, Y:42.42, Z:-0.05 [[ 8.08536639e-01 -5.88409456e-01 -6.54334625e-03 3.95378014e+02] [ 5.88391705e-01 8.08563102e-01 -4.57302221e-03 4.24178762e+01] [ 7.98151785e-03 -1.52594644e-04 9.99968136e-01 -5.01644553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.274012739 meters Centerline goodness [0,1] 0.9948640030815982 Centerline is valid? [True, True] Translation: X:395.40, Y:42.43, Z:-0.05 [[ 8.09083159e-01 -5.87656673e-01 -6.63892084e-03 3.95404432e+02] [ 5.87638362e-01 8.09110384e-01 -4.64143544e-03 4.24295835e+01] [ 8.09919030e-03 -1.45977317e-04 9.99967190e-01 -5.00871404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30401273900003 meters Centerline goodness [0,1] 0.9953312059623498 Centerline is valid? [True, True] Translation: X:395.42, Y:42.45, Z:-0.05 [[ 8.09614701e-01 -5.86918568e-01 -7.11549100e-03 3.95423825e+02] [ 5.86897489e-01 8.09645955e-01 -4.97642739e-03 4.24529922e+01] [ 8.68178614e-03 -1.47075023e-04 9.99962302e-01 -5.03841712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.334012739 meters Centerline goodness [0,1] 0.9953508302088913 Centerline is valid? [True, True] Translation: X:395.45, Y:42.47, Z:-0.05 [[ 8.11614853e-01 -5.84133427e-01 -8.33482966e-03 3.95446422e+02] [ 5.84104335e-01 8.11657638e-01 -5.83137318e-03 4.24703124e+01] [ 1.01713281e-02 -1.35581055e-04 9.99948262e-01 -5.36853660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.364012739 meters Centerline goodness [0,1] 0.9956457706345649 Centerline is valid? [True, True] Translation: X:395.47, Y:42.49, Z:-0.05 [[ 8.12514882e-01 -5.82879348e-01 -8.43984466e-03 3.95466655e+02] [ 5.82849431e-01 8.12558706e-01 -5.90680779e-03 4.24911231e+01] [ 1.03008255e-02 -1.19789423e-04 9.99946938e-01 -5.33778212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.394012739 meters Centerline goodness [0,1] 0.995223752151463 Centerline is valid? [True, True] Translation: X:395.49, Y:42.51, Z:-0.05 [[ 8.13099139e-01 -5.82071777e-01 -7.88904610e-03 3.95489058e+02] [ 5.82045582e-01 8.13137403e-01 -5.52309913e-03 4.25098108e+01] [ 9.62971858e-03 -1.00957280e-04 9.99953628e-01 -5.12592003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.424012739 meters Centerline goodness [0,1] 0.9959768402230832 Centerline is valid? [True, True] Translation: X:395.51, Y:42.52, Z:-0.05 [[ 8.13187475e-01 -5.81953885e-01 -7.47030888e-03 3.95512873e+02] [ 5.81930376e-01 8.13221782e-01 -5.23170871e-03 4.25227505e+01] [ 9.11963111e-03 -9.28396531e-05 9.99958411e-01 -4.97024510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.454012739 meters Centerline goodness [0,1] 0.9956084250021319 Centerline is valid? [True, True] Translation: X:395.54, Y:42.54, Z:-0.05 [[ 8.12496252e-01 -5.82918116e-01 -7.50409302e-03 3.95535909e+02] [ 5.82894416e-01 8.12530898e-01 -5.25741836e-03 4.25393651e+01] [ 9.16195184e-03 -1.02461204e-04 9.99958023e-01 -4.92149221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.484012739 meters Centerline goodness [0,1] 0.9952849484358516 Centerline is valid? [True, True] Translation: X:395.56, Y:42.55, Z:-0.05 [[ 8.11597405e-01 -5.84173596e-01 -7.13173128e-03 3.95563190e+02] [ 5.84152225e-01 8.11628731e-01 -4.99806948e-03 4.25491387e+01] [ 8.70805823e-03 -1.09596475e-04 9.99962078e-01 -4.90563249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.514012739 meters Centerline goodness [0,1] 0.9956219582173294 Centerline is valid? [True, True] Translation: X:395.59, Y:42.57, Z:-0.05 [[ 8.10838947e-01 -5.85229441e-01 -6.83393209e-03 3.95586565e+02] [ 5.85209850e-01 8.10867738e-01 -4.78996433e-03 4.25656277e+01] [ 8.34464320e-03 -1.15394734e-04 9.99965176e-01 -4.79428846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.544012739 meters Centerline goodness [0,1] 0.9954257489530763 Centerline is valid? [True, True] Translation: X:395.61, Y:42.58, Z:-0.05 [[ 8.09711767e-01 -5.86797228e-01 -5.98903230e-03 3.95613589e+02] [ 5.86782214e-01 8.09733907e-01 -4.19908072e-03 4.25754816e+01] [ 7.31353145e-03 -1.14212565e-04 9.99973249e-01 -4.67341792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.574012739 meters Centerline goodness [0,1] 0.9958004799451491 Centerline is valid? [True, True] Translation: X:395.64, Y:42.59, Z:-0.05 [[ 8.09588852e-01 -5.86961486e-01 -6.48890139e-03 3.95637262e+02] [ 5.86943860e-01 8.09614846e-01 -4.55044580e-03 4.25902306e+01] [ 7.92444732e-03 -1.24630637e-04 9.99968593e-01 -4.70165069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.604012739 meters Centerline goodness [0,1] 0.9957935400794077 Centerline is valid? [True, True] Translation: X:395.66, Y:42.60, Z:-0.05 [[ 8.10402255e-01 -5.85810925e-01 -8.58751535e-03 3.95661195e+02] [ 5.85779963e-01 8.10447739e-01 -6.02467223e-03 4.26046347e+01] [ 1.04890512e-02 -1.47986469e-04 9.99944977e-01 -5.06990714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.634012739 meters Centerline goodness [0,1] 0.9969520103761349 Centerline is valid? [True, True] Translation: X:395.69, Y:42.62, Z:-0.05 [[ 8.11207753e-01 -5.84684177e-01 -9.29489838e-03 3.95685139e+02] [ 5.84647815e-01 8.11260989e-01 -6.52219414e-03 4.26212944e+01] [ 1.13540122e-02 -1.43387580e-04 9.99935531e-01 -5.19373711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.664012739 meters Centerline goodness [0,1] 0.996156051564126 Centerline is valid? [True, True] Translation: X:395.71, Y:42.64, Z:-0.05 [[ 8.12192352e-01 -5.83311589e-01 -9.54848691e-03 3.95707814e+02] [ 5.83273100e-01 8.12248468e-01 -6.70197326e-03 4.26373127e+01] [ 1.16650825e-02 -1.26084136e-04 9.99931953e-01 -5.17180965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.694012739 meters Centerline goodness [0,1] 0.9961535155578477 Centerline is valid? [True, True] Translation: X:395.73, Y:42.66, Z:-0.05 [[ 8.14018190e-01 -5.80782593e-01 -8.12191237e-03 3.95730227e+02] [ 5.80754612e-01 8.14058704e-01 -5.70151443e-03 4.26553548e+01] [ 9.92305379e-03 -7.57016098e-05 9.99950762e-01 -4.81576611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.724012739 meters Centerline goodness [0,1] 0.995644674428633 Centerline is valid? [True, True] Translation: X:395.75, Y:42.67, Z:-0.05 [[ 8.14522518e-01 -5.80084790e-01 -7.39619766e-03 3.95752656e+02] [ 5.80061543e-01 8.14556095e-01 -5.19367553e-03 4.26736076e+01] [ 9.03739007e-03 -5.98841561e-05 9.99959160e-01 -4.59307886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.754012739 meters Centerline goodness [0,1] 0.9957136459599514 Centerline is valid? [True, True] Translation: X:395.78, Y:42.69, Z:-0.04 [[ 8.14703628e-01 -5.79842092e-01 -6.41463324e-03 3.95775110e+02] [ 5.79824587e-01 8.14728879e-01 -4.50580133e-03 4.26880070e+01] [ 7.83884021e-03 -4.84693812e-05 9.99969275e-01 -4.33086247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.784012739 meters Centerline goodness [0,1] 0.994538114462123 Centerline is valid? [True, True] Translation: X:395.80, Y:42.70, Z:-0.04 [[ 8.14465613e-01 -5.80176634e-01 -6.39047892e-03 3.95797867e+02] [ 5.80159262e-01 8.14490682e-01 -4.49006414e-03 4.27043506e+01] [ 7.81001583e-03 -5.04926890e-05 9.99969500e-01 -3.51730336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.814012739 meters Centerline goodness [0,1] 0.9958301988178399 Centerline is valid? [True, True] Translation: X:395.82, Y:42.72, Z:-0.04 [[ 8.14799618e-01 -5.79711205e-01 -6.04166553e-03 3.95820621e+02] [ 5.79695653e-01 8.14822015e-01 -4.24655695e-03 4.27199978e+01] [ 7.38465873e-03 -4.22342641e-05 9.99972732e-01 -4.17474613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.844012739 meters Centerline goodness [0,1] 0.9955406191430234 Centerline is valid? [True, True] Translation: X:395.84, Y:42.74, Z:-0.04 [[ 8.15214287e-01 -5.79128036e-01 -6.03192606e-03 3.95843041e+02] [ 5.79112505e-01 8.15236602e-01 -4.24140776e-03 4.27368709e+01] [ 7.37376505e-03 -3.55076008e-05 9.99972813e-01 -4.13423852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.874012739 meters Centerline goodness [0,1] 0.9954651436394362 Centerline is valid? [True, True] Translation: X:395.86, Y:42.76, Z:-0.04 [[ 8.16707260e-01 -5.77020112e-01 -6.08627764e-03 3.95864532e+02] [ 5.77004228e-01 8.16729937e-01 -4.28143523e-03 4.27553230e+01] [ 7.44131939e-03 -1.51286952e-05 9.99972313e-01 -4.18159032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.904012739 meters Centerline goodness [0,1] 0.9954651436394362 Centerline is valid? [True, True] Translation: X:395.89, Y:42.77, Z:-0.04 [[ 8.16605054e-01 -5.77164748e-01 -6.08606434e-03 3.95886891e+02] [ 5.77148866e-01 8.16627732e-01 -4.28173841e-03 4.27713089e+01] [ 7.44131740e-03 -1.60759082e-05 9.99972313e-01 -4.15963643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.934012739 meters Centerline goodness [0,1] 0.9956847749460597 Centerline is valid? [True, True] Translation: X:395.91, Y:42.79, Z:-0.04 [[ 8.17303039e-01 -5.76176172e-01 -6.06315975e-03 3.95908663e+02] [ 5.76160370e-01 8.17325528e-01 -4.26722355e-03 4.27892510e+01] [ 7.41424778e-03 -5.73758654e-06 9.99972514e-01 -4.20800613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.964012739 meters Centerline goodness [0,1] 0.99581589958159 Centerline is valid? [True, True] Translation: X:395.93, Y:42.81, Z:-0.04 [[ 8.18260240e-01 -5.74808606e-01 -6.72653573e-03 3.95930006e+02] [ 5.74789095e-01 8.18287887e-01 -4.73607607e-03 4.28078735e+01] [ 8.22658000e-03 9.00335873e-06 9.99966161e-01 -4.39648835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.994012739 meters Centerline goodness [0,1] 0.9958343074536141 Centerline is valid? [True, True] Translation: X:395.95, Y:42.82, Z:-0.05 [[ 8.18504737e-01 -5.74444129e-01 -7.99612323e-03 3.95953094e+02] [ 5.74416515e-01 8.18543794e-01 -5.63243705e-03 4.28242789e+01] [ 9.78069744e-03 1.70711700e-05 9.99952168e-01 -4.65348646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.024012739 meters Centerline goodness [0,1] 0.9962144573701113 Centerline is valid? [True, True] Translation: X:395.98, Y:42.84, Z:-0.05 [[ 8.18735549e-01 -5.74097081e-01 -9.20019433e-03 3.95976406e+02] [ 5.74060471e-01 8.18787238e-01 -6.48335725e-03 4.28401566e+01] [ 1.12550782e-02 2.66871613e-05 9.99936659e-01 -4.87950683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05401273900003 meters Centerline goodness [0,1] 0.9962868910181174 Centerline is valid? [True, True] Translation: X:396.00, Y:42.85, Z:-0.05 [[ 8.19319115e-01 -5.73262497e-01 -9.28965364e-03 3.95999182e+02] [ 5.73225093e-01 8.19371776e-01 -6.54863461e-03 4.28543135e+01] [ 1.13657666e-02 4.03589402e-05 9.99935407e-01 -4.75790666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.084012739 meters Centerline goodness [0,1] 0.9958816842195577 Centerline is valid? [True, True] Translation: X:396.02, Y:42.87, Z:-0.04 [[ 8.19441226e-01 -5.73097208e-01 -8.69867327e-03 3.96022421e+02] [ 5.73064386e-01 8.19487394e-01 -6.13359231e-03 4.28701697e+01] [ 1.06435977e-02 4.12185461e-05 9.99943354e-01 -4.49181053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.114012739 meters Centerline goodness [0,1] 0.9962563641808925 Centerline is valid? [True, True] Translation: X:396.04, Y:42.89, Z:-0.04 [[ 8.19534241e-01 -5.72974713e-01 -7.97536401e-03 3.96044847e+02] [ 5.72947098e-01 8.19573045e-01 -5.62547989e-03 4.28860227e+01] [ 9.75965110e-03 4.08117236e-05 9.99952373e-01 -4.40172377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.144012739 meters Centerline goodness [0,1] 0.9958569794791015 Centerline is valid? [True, True] Translation: X:396.07, Y:42.90, Z:-0.05 [[ 8.19422810e-01 -5.73124476e-01 -8.63679164e-03 3.96069159e+02] [ 5.73092084e-01 8.19468323e-01 -6.09341692e-03 4.28990147e+01] [ 1.05698635e-02 4.34078859e-05 9.99944136e-01 -4.63726446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.174012739 meters Centerline goodness [0,1] 0.9958359889526237 Centerline is valid? [True, True] Translation: X:396.09, Y:42.91, Z:-0.05 [[ 8.19464864e-01 -5.73052957e-01 -9.36184408e-03 3.96091829e+02] [ 5.73014877e-01 8.19518338e-01 -6.60645384e-03 4.29132738e+01] [ 1.14580508e-02 4.92808657e-05 9.99934353e-01 -4.77059462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.204012739 meters Centerline goodness [0,1] 0.996205176310067 Centerline is valid? [True, True] Translation: X:396.11, Y:42.93, Z:-0.05 [[ 8.20912654e-01 -5.70951678e-01 -1.07979202e-02 3.96114085e+02] [ 5.70900808e-01 8.20983662e-01 -7.62201273e-03 4.29322431e+01] [ 1.32167170e-02 9.24653223e-05 9.99912651e-01 -4.90462278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.234012739 meters Centerline goodness [0,1] 0.9957916215009883 Centerline is valid? [True, True] Translation: X:396.13, Y:42.95, Z:-0.05 [[ 8.22275367e-01 -5.68991802e-01 -1.05617569e-02 3.96134887e+02] [ 5.68942944e-01 8.22343185e-01 -7.45732298e-03 4.29517326e+01] [ 1.29285444e-02 1.22935935e-04 9.99916415e-01 -4.74642518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.264012739 meters Centerline goodness [0,1] 0.9953038555560321 Centerline is valid? [True, True] Translation: X:396.16, Y:42.97, Z:-0.04 [[ 8.23883695e-01 -5.66675267e-01 -9.73642384e-03 3.96157712e+02] [ 5.66633566e-01 8.23941211e-01 -6.87616935e-03 4.29693952e+01] [ 1.19187960e-02 1.48179256e-04 9.99928958e-01 -4.37766342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.294012739 meters Centerline goodness [0,1] 0.9915144020638339 Centerline is valid? [True, True] Translation: X:396.17, Y:43.00, Z:-0.04 [[ 8.27894552e-01 -5.60817584e-01 -8.61671613e-03 3.96168577e+02] [ 5.60784587e-01 8.27939367e-01 -6.08704399e-03 4.30026640e+01] [ 1.05478398e-02 2.07308963e-04 9.99944349e-01 -4.17904320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.324012739 meters Centerline goodness [0,1] 0.9929344754119744 Centerline is valid? [True, True] Translation: X:396.19, Y:43.02, Z:-0.04 [[ 8.30087049e-01 -5.57558635e-01 -9.15752053e-03 3.96194103e+02] [ 5.57521154e-01 8.30137518e-01 -6.47027493e-03 4.30175484e+01] [ 1.12095590e-02 2.65380004e-04 9.99937136e-01 -4.14625756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.354012739 meters Centerline goodness [0,1] 0.9913776585552788 Centerline is valid? [True, True] Translation: X:396.21, Y:43.04, Z:-0.04 [[ 8.32335003e-01 -5.54185766e-01 -9.82750444e-03 3.96210877e+02] [ 5.54142335e-01 8.32392951e-01 -6.94604353e-03 4.30432523e+01] [ 1.20297439e-02 3.35598901e-04 9.99927584e-01 -4.28814136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.384012739 meters Centerline goodness [0,1] 0.9898873281594082 Centerline is valid? [True, True] Translation: X:396.23, Y:43.07, Z:-0.04 [[ 8.34334859e-01 -5.51165755e-01 -1.00823525e-02 3.96228973e+02] [ 5.51119800e-01 8.34395684e-01 -7.12796204e-03 4.30660872e+01] [ 1.23413600e-02 3.90523085e-04 9.99923766e-01 -4.35849338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.414012739 meters Centerline goodness [0,1] 0.9865870876652548 Centerline is valid? [True, True] Translation: X:396.25, Y:43.09, Z:-0.04 [[ 8.36617072e-01 -5.47705215e-01 -9.53272433e-03 3.96247826e+02] [ 5.47663895e-01 8.36671275e-01 -6.74061190e-03 4.30895095e+01] [ 1.16676249e-02 4.18582054e-04 9.99931843e-01 -4.16569843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.444012739 meters Centerline goodness [0,1] 0.9839849672225662 Centerline is valid? [True, True] Translation: X:396.27, Y:43.11, Z:-0.04 [[ 8.36796319e-01 -5.47434139e-01 -9.36933492e-03 3.96267712e+02] [ 5.47394186e-01 8.36848666e-01 -6.62686509e-03 4.31090820e+01] [ 1.14684876e-02 4.16616852e-04 9.99934148e-01 -4.13719068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.474012739 meters Centerline goodness [0,1] 0.9883824070268048 Centerline is valid? [True, True] Translation: X:396.29, Y:43.13, Z:-0.04 [[ 8.35889969e-01 -5.48816419e-01 -9.40737877e-03 3.96291339e+02] [ 5.48776214e-01 8.35942808e-01 -6.65498942e-03 4.31255332e+01] [ 1.15163981e-02 4.00293201e-04 9.99933604e-01 -4.08261154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.504012739 meters Centerline goodness [0,1] 0.9881449893390192 Centerline is valid? [True, True] Translation: X:396.31, Y:43.14, Z:-0.04 [[ 8.35405648e-01 -5.49556493e-01 -9.22302896e-03 3.96312699e+02] [ 5.49517875e-01 8.35456470e-01 -6.52625799e-03 4.31427708e+01] [ 1.12919867e-02 3.83853506e-04 9.99936170e-01 -4.01071747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.534012739 meters Centerline goodness [0,1] 0.9876509097092331 Centerline is valid? [True, True] Translation: X:396.33, Y:43.16, Z:-0.04 [[ 8.34797245e-01 -5.50481064e-01 -9.17374030e-03 3.96333398e+02] [ 5.50442899e-01 8.34847567e-01 -6.49258342e-03 4.31624708e+01] [ 1.12327190e-02 3.70370545e-04 9.99936842e-01 -3.98008034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.564012739 meters Centerline goodness [0,1] 0.9895169317435778 Centerline is valid? [True, True] Translation: X:396.36, Y:43.18, Z:-0.04 [[ 8.33738843e-01 -5.52073592e-01 -9.71037222e-03 3.96358043e+02] [ 5.52030911e-01 8.33795306e-01 -6.87473031e-03 4.31778163e+01] [ 1.18918198e-02 3.71304076e-04 9.99929221e-01 -4.00876661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.594012739 meters Centerline goodness [0,1] 0.9902872982787889 Centerline is valid? [True, True] Translation: X:396.38, Y:43.19, Z:-0.04 [[ 8.33251570e-01 -5.52806383e-01 -9.84493809e-03 3.96381895e+02] [ 5.52762537e-01 8.33309647e-01 -6.97216178e-03 4.31949450e+01] [ 1.20581374e-02 3.67651804e-04 9.99927230e-01 -3.98853206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.624012739 meters Centerline goodness [0,1] 0.9918574618044915 Centerline is valid? [True, True] Translation: X:396.41, Y:43.21, Z:-0.04 [[ 8.32849632e-01 -5.53413642e-01 -9.73816201e-03 3.96408083e+02] [ 5.53370756e-01 8.32906485e-01 -6.89879391e-03 4.32076243e+01] [ 1.19288650e-02 3.56843894e-04 9.99928785e-01 -3.89049734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.654012739 meters Centerline goodness [0,1] 0.9920769544585919 Centerline is valid? [True, True] Translation: X:396.43, Y:43.23, Z:-0.04 [[ 8.31893838e-01 -5.54832968e-01 -1.06310395e-02 3.96428809e+02] [ 5.54781944e-01 8.31961682e-01 -7.53352307e-03 4.32268690e+01] [ 1.30244645e-02 3.69182651e-04 9.99915110e-01 -4.12348021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.684012739 meters Centerline goodness [0,1] 0.9935112687632478 Centerline is valid? [True, True] Translation: X:396.46, Y:43.24, Z:-0.04 [[ 8.31028534e-01 -5.56127415e-01 -1.06711193e-02 3.96455026e+02] [ 5.56076090e-01 8.31096970e-01 -7.56359149e-03 4.32400479e+01] [ 1.30750555e-02 3.51606035e-04 9.99914456e-01 -3.98499240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.714012739 meters Centerline goodness [0,1] 0.9933955183874772 Centerline is valid? [True, True] Translation: X:396.48, Y:43.25, Z:-0.04 [[ 8.28636174e-01 -5.59716289e-01 -8.93120922e-03 3.96478408e+02] [ 5.59680527e-01 8.28684267e-01 -6.33199226e-03 4.32546378e+01] [ 1.09452718e-02 2.48293959e-04 9.99940068e-01 -3.55703929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.744012739 meters Centerline goodness [0,1] 0.9940937694637143 Centerline is valid? [True, True] Translation: X:396.50, Y:43.27, Z:-0.03 [[ 8.27572699e-01 -5.61296342e-01 -8.35730992e-03 3.96501415e+02] [ 5.61265101e-01 8.27614869e-01 -5.92584475e-03 4.32699058e+01] [ 1.02427889e-02 2.13400940e-04 9.99947518e-01 -3.35133836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.774012739 meters Centerline goodness [0,1] 0.9942722804017953 Centerline is valid? [True, True] Translation: X:396.53, Y:43.28, Z:-0.03 [[ 8.26720921e-01 -5.62551819e-01 -8.24439767e-03 3.96526250e+02] [ 5.62521468e-01 8.26762005e-01 -5.84677764e-03 4.32846344e+01] [ 1.01052701e-02 1.96002712e-04 9.99948921e-01 -3.19870428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80401273900003 meters Centerline goodness [0,1] 0.9951771233461374 Centerline is valid? [True, True] Translation: X:396.55, Y:43.30, Z:-0.03 [[ 8.25860682e-01 -5.63802631e-01 -8.98479014e-03 3.96549923e+02] [ 5.63766633e-01 8.25909531e-01 -6.37417363e-03 4.33009448e+01] [ 1.10143997e-02 1.98854490e-04 9.99939320e-01 -3.41485723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.834012739 meters Centerline goodness [0,1] 0.9943550963893918 Centerline is valid? [True, True] Translation: X:396.57, Y:43.32, Z:-0.04 [[ 8.25504372e-01 -5.64315171e-01 -9.53515805e-03 3.96571352e+02] [ 5.64274640e-01 8.25559414e-01 -6.76648636e-03 4.33191476e+01] [ 1.16902704e-02 2.05316207e-04 9.99931645e-01 -3.58092660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.864012739 meters Centerline goodness [0,1] 0.9945234557418807 Centerline is valid? [True, True] Translation: X:396.59, Y:43.34, Z:-0.04 [[ 8.25219586e-01 -5.64728707e-01 -9.70165657e-03 3.96593805e+02] [ 5.64686759e-01 8.25276588e-01 -6.88608265e-03 4.33356493e+01] [ 1.18953186e-02 2.04133273e-04 9.99929227e-01 -3.57020042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.894012739 meters Centerline goodness [0,1] 0.9949246188110331 Centerline is valid? [True, True] Translation: X:396.62, Y:43.35, Z:-0.03 [[ 8.25754669e-01 -5.63953888e-01 -9.23244401e-03 3.96616201e+02] [ 5.63915825e-01 8.25806254e-01 -6.55538997e-03 4.33539659e+01] [ 1.13211477e-02 2.06822595e-04 9.99935892e-01 -3.20330837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.924012739 meters Centerline goodness [0,1] 0.9953608688216179 Centerline is valid? [True, True] Translation: X:396.64, Y:43.37, Z:-0.03 [[ 8.26477485e-01 -5.62890806e-01 -9.42901898e-03 3.96637049e+02] [ 5.62851008e-01 8.26531238e-01 -6.69736889e-03 4.33736779e+01] [ 1.15632661e-02 2.28091758e-04 9.99933117e-01 -3.24560429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.954012739 meters Centerline goodness [0,1] 0.9934268468197538 Centerline is valid? [True, True] Translation: X:396.65, Y:43.40, Z:-0.04 [[ 8.28961810e-01 -5.59198758e-01 -1.09117856e-02 3.96653387e+02] [ 5.59145099e-01 8.29033559e-01 -7.75344795e-03 4.33998507e+01] [ 1.33819549e-02 3.26040826e-04 9.99910404e-01 -3.63690605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.984012739 meters Centerline goodness [0,1] 0.9931200991389441 Centerline is valid? [True, True] Translation: X:396.67, Y:43.42, Z:-0.04 [[ 8.29976473e-01 -5.57673152e-01 -1.18198994e-02 3.96674844e+02] [ 5.57609992e-01 8.30060546e-01 -8.40160374e-03 4.34191906e+01] [ 1.44965810e-02 3.82239432e-04 9.99894846e-01 -3.69192309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.014012739 meters Centerline goodness [0,1] 0.9927910250394574 Centerline is valid? [True, True] Translation: X:396.69, Y:43.44, Z:-0.04 [[ 8.30891730e-01 -5.56301759e-01 -1.21361293e-02 3.96693165e+02] [ 5.56234995e-01 8.30980251e-01 -8.62863471e-03 4.34406137e+01] [ 1.48850084e-02 4.18921411e-04 9.99889124e-01 -3.73539329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.044012739 meters Centerline goodness [0,1] 0.9916466000383575 Centerline is valid? [True, True] Translation: X:396.71, Y:43.46, Z:-0.04 [[ 8.31281570e-01 -5.55732498e-01 -1.15040212e-02 3.96712118e+02] [ 5.55672434e-01 8.31361068e-01 -8.18051941e-03 4.34617224e+01] [ 1.41101758e-02 4.07847553e-04 9.99900363e-01 -3.52481190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.074012739 meters Centerline goodness [0,1] 0.9911566956447261 Centerline is valid? [True, True] Translation: X:396.73, Y:43.48, Z:-0.03 [[ 8.31377985e-01 -5.55626946e-01 -9.45213612e-03 3.96732662e+02] [ 5.55586374e-01 8.31431646e-01 -6.72294691e-03 4.34803107e+01] [ 1.15942556e-02 3.37832011e-04 9.99932727e-01 -3.03632529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.104012739 meters Centerline goodness [0,1] 0.990355546093251 Centerline is valid? [True, True] Translation: X:396.75, Y:43.50, Z:-0.03 [[ 8.31037161e-01 -5.56125657e-01 -1.00742291e-02 3.96754394e+02] [ 5.56079571e-01 8.31098145e-01 -7.16823090e-03 4.34986494e+01] [ 1.23591102e-02 3.54993287e-04 9.99923560e-01 -3.21122322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.134012739 meters Centerline goodness [0,1] 0.9917833035001833 Centerline is valid? [True, True] Translation: X:396.78, Y:43.51, Z:-0.03 [[ 8.30749817e-01 -5.56517325e-01 -1.19669478e-02 3.96780113e+02] [ 5.56452284e-01 8.30835900e-01 -8.51842020e-03 4.35111379e+01] [ 1.46832183e-02 4.17640598e-04 9.99892109e-01 -3.44139289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.164012739 meters Centerline goodness [0,1] 0.9932610795149694 Centerline is valid? [True, True] Translation: X:396.80, Y:43.53, Z:-0.04 [[ 8.31386396e-01 -5.55498247e-01 -1.47769215e-02 3.96799558e+02] [ 5.55398852e-01 8.31517531e-01 -1.05218850e-02 4.35320127e+01] [ 1.81321580e-02 5.40666839e-04 9.99835453e-01 -4.08552088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.194012739 meters Centerline goodness [0,1] 0.988504040554012 Centerline is valid? [True, True] Translation: X:396.82, Y:43.56, Z:-0.04 [[ 8.32334846e-01 -5.54086584e-01 -1.43792332e-02 3.96817366e+02] [ 5.53992232e-01 8.32458856e-01 -1.02401255e-02 4.35552987e+01] [ 1.76440362e-02 5.57229787e-04 9.99844177e-01 -4.06073158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.224012739 meters Centerline goodness [0,1] 0.9832304372903805 Centerline is valid? [True, True] Translation: X:396.84, Y:43.58, Z:-0.03 [[ 8.33983934e-01 -5.51647490e-01 -1.24837921e-02 3.96836563e+02] [ 5.51576073e-01 8.34077194e-01 -8.89214388e-03 4.35780751e+01] [ 1.53177751e-02 5.30144113e-04 9.99882535e-01 -3.46082508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.254012739 meters Centerline goodness [0,1] 0.9821617280297587 Centerline is valid? [True, True] Translation: X:396.86, Y:43.60, Z:-0.03 [[ 8.34455628e-01 -5.50938434e-01 -1.22737894e-02 3.96858754e+02] [ 5.50869282e-01 8.34545717e-01 -8.74528535e-03 4.35965045e+01] [ 1.50611522e-02 5.36299041e-04 9.99886431e-01 -3.36477545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.284012739 meters Centerline goodness [0,1] 0.9863573467093315 Centerline is valid? [True, True] Translation: X:396.88, Y:43.61, Z:-0.03 [[ 8.35088154e-01 -5.49970716e-01 -1.26485966e-02 3.96881911e+02] [ 5.49897118e-01 8.35183742e-01 -9.01533854e-03 4.36139497e+01] [ 1.55220745e-02 5.73175586e-04 9.99879361e-01 -3.34070026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.314012739 meters Centerline goodness [0,1] 0.980064528535715 Centerline is valid? [True, True] Translation: X:396.90, Y:43.63, Z:-0.03 [[ 8.35089631e-01 -5.49991662e-01 -1.15965536e-02 3.96901778e+02] [ 5.49929773e-01 8.35169979e-01 -8.26740519e-03 4.36340811e+01] [ 1.42320974e-02 5.26734237e-04 9.99898580e-01 -3.14170814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.344012739 meters Centerline goodness [0,1] 0.982343839420081 Centerline is valid? [True, True] Translation: X:396.92, Y:43.65, Z:-0.03 [[ 8.35058459e-01 -5.50073021e-01 -9.85098184e-03 3.96923643e+02] [ 5.50028359e-01 8.35116442e-01 -7.02371314e-03 4.36519594e+01] [ 1.20902720e-02 4.46891700e-04 9.99926810e-01 -2.70730476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.374012739 meters Centerline goodness [0,1] 0.9834701930254879 Centerline is valid? [True, True] Translation: X:396.95, Y:43.67, Z:-0.02 [[ 8.34916247e-01 -5.50305758e-01 -8.85618403e-03 3.96946177e+02] [ 5.50269663e-01 8.34963120e-01 -6.31546222e-03 4.36700798e+01] [ 1.08700223e-02 3.99592615e-04 9.99940840e-01 -2.36152969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.404012739 meters Centerline goodness [0,1] 0.9843510475217169 Centerline is valid? [True, True] Translation: X:396.97, Y:43.69, Z:-0.02 [[ 8.34238210e-01 -5.51331663e-01 -8.94466584e-03 3.96967367e+02] [ 5.51294878e-01 8.34286069e-01 -6.38065455e-03 4.36893420e+01] [ 1.09802670e-02 3.91837361e-04 9.99939638e-01 -2.42903702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.434012739 meters Centerline goodness [0,1] 0.9879363449691991 Centerline is valid? [True, True] Translation: X:396.99, Y:43.70, Z:-0.03 [[ 8.33546868e-01 -5.52353194e-01 -1.02746472e-02 3.96992595e+02] [ 5.52304701e-01 8.33610076e-01 -7.33202697e-03 4.37031960e+01] [ 1.26149179e-02 4.36852192e-04 9.99920333e-01 -2.73653151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.464012739 meters Centerline goodness [0,1] 0.9892517036049786 Centerline is valid? [True, True] Translation: X:397.02, Y:43.72, Z:-0.03 [[ 8.32730223e-01 -5.53551198e-01 -1.18931071e-02 3.97015694e+02] [ 5.53486301e-01 8.32815005e-01 -8.49006956e-03 4.37199713e+01] [ 1.46044462e-02 4.87265674e-04 9.99893231e-01 -3.07030196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.494012739 meters Centerline goodness [0,1] 0.9878409115064941 Centerline is valid? [True, True] Translation: X:397.03, Y:43.74, Z:-0.03 [[ 8.31322674e-01 -5.55635885e-01 -1.30910504e-02 3.97034610e+02] [ 5.55557464e-01 8.31425592e-01 -9.34822952e-03 4.37423132e+01] [ 1.60784461e-02 4.98564390e-04 9.99870609e-01 -3.35364710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.524012739 meters Centerline goodness [0,1] 0.9904542742691553 Centerline is valid? [True, True] Translation: X:397.06, Y:43.76, Z:-0.03 [[ 8.30787869e-01 -5.56439860e-01 -1.28918277e-02 3.97058193e+02] [ 5.56363861e-01 8.30887750e-01 -9.20871173e-03 4.37581358e+01] [ 1.58357560e-02 4.77938965e-04 9.99874492e-01 -3.16434574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55401273900003 meters Centerline goodness [0,1] 0.9895168349808912 Centerline is valid? [True, True] Translation: X:397.08, Y:43.78, Z:-0.03 [[ 8.29632288e-01 -5.58193921e-01 -1.13935586e-02 3.97077558e+02] [ 5.58134698e-01 8.29710426e-01 -8.14049882e-03 4.37789833e+01] [ 1.39973313e-02 3.94480250e-04 9.99901955e-01 -2.87088694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.584012739 meters Centerline goodness [0,1] 0.9916355298913043 Centerline is valid? [True, True] Translation: X:397.10, Y:43.79, Z:-0.03 [[ 8.29020386e-01 -5.59112011e-01 -1.09068284e-02 3.97103560e+02] [ 5.59057794e-01 8.29092049e-01 -7.79465291e-03 4.37917085e+01] [ 1.34008488e-02 3.64378753e-04 9.99910138e-01 -2.55137331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.614012739 meters Centerline goodness [0,1] 0.9906864730078216 Centerline is valid? [True, True] Translation: X:397.12, Y:43.82, Z:-0.03 [[ 8.28650790e-01 -5.59667018e-01 -1.05212606e-02 3.97120623e+02] [ 5.59616587e-01 8.28717509e-01 -7.52100255e-03 4.38159608e+01] [ 1.29284099e-02 3.44412779e-04 9.99916365e-01 -2.58917254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.644012739 meters Centerline goodness [0,1] 0.9927970670692258 Centerline is valid? [True, True] Translation: X:397.15, Y:43.83, Z:-0.02 [[ 8.27877850e-01 -5.60808139e-01 -1.06064849e-02 3.97147482e+02] [ 5.60756959e-01 8.27945724e-01 -7.58353141e-03 4.38280460e+01] [ 1.30345000e-02 3.30577450e-04 9.99914993e-01 -2.38616349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.674012739 meters Centerline goodness [0,1] 0.9921710456334433 Centerline is valid? [True, True] Translation: X:397.16, Y:43.85, Z:-0.03 [[ 8.26527829e-01 -5.62782465e-01 -1.12980499e-02 3.97164103e+02] [ 5.62724537e-01 8.26604981e-01 -8.08091561e-03 4.38532858e+01] [ 1.38868219e-02 3.21411753e-04 9.99903522e-01 -2.75084394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.704012739 meters Centerline goodness [0,1] 0.9941582237551196 Centerline is valid? [True, True] Translation: X:397.19, Y:43.86, Z:-0.03 [[ 8.25655969e-01 -5.64039335e-01 -1.23227460e-02 3.97192327e+02] [ 5.63970513e-01 8.25747855e-01 -8.81706934e-03 4.38635632e+01] [ 1.51486550e-02 3.30200530e-04 9.99885198e-01 -2.69634951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.734012739 meters Centerline goodness [0,1] 0.9950957296440657 Centerline is valid? [True, True] Translation: X:397.21, Y:43.88, Z:-0.03 [[ 8.23791134e-01 -5.66727650e-01 -1.37090822e-02 3.97213375e+02] [ 5.66642799e-01 8.23905135e-01 -9.81152060e-03 4.38823588e+01] [ 1.68554433e-02 3.14490943e-04 9.99857887e-01 -2.99503607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.764012739 meters Centerline goodness [0,1] 0.9959489872468117 Centerline is valid? [True, True] Translation: X:397.23, Y:43.90, Z:-0.03 [[ 8.22813744e-01 -5.68138186e-01 -1.40194312e-02 3.97234109e+02] [ 5.68049632e-01 8.22933118e-01 -1.00349113e-02 4.39009142e+01] [ 1.72382705e-02 2.93130199e-04 9.99851367e-01 -3.09214333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.794012739 meters Centerline goodness [0,1] 0.9959489872468117 Centerline is valid? [True, True] Translation: X:397.26, Y:43.92, Z:-0.03 [[ 8.22709545e-01 -5.68289096e-01 -1.40181699e-02 3.97256325e+02] [ 5.68200534e-01 8.22828912e-01 -1.00366731e-02 4.39170674e+01] [ 1.72382873e-02 2.92135122e-04 9.99851367e-01 -3.07019831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.824012739 meters Centerline goodness [0,1] 0.9960966141902092 Centerline is valid? [True, True] Translation: X:397.28, Y:43.93, Z:-0.03 [[ 8.21836286e-01 -5.69552222e-01 -1.39780218e-02 3.97279863e+02] [ 5.69464286e-01 8.21955105e-01 -1.00116094e-02 4.39338797e+01] [ 1.71914407e-02 2.67919745e-04 9.99852180e-01 -2.93248384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.854012739 meters Centerline goodness [0,1] 0.9958529286019666 Centerline is valid? [True, True] Translation: X:397.30, Y:43.95, Z:-0.03 [[ 8.20929392e-01 -5.70894421e-01 -1.24295501e-02 3.97300228e+02] [ 5.70825013e-01 8.21023455e-01 -8.90451849e-03 4.39535840e+01] [ 1.52884921e-02 2.14882833e-04 9.99883101e-01 -2.60711881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.884012739 meters Centerline goodness [0,1] 0.9962800641368252 Centerline is valid? [True, True] Translation: X:397.32, Y:43.97, Z:-0.02 [[ 8.20589461e-01 -5.71392323e-01 -1.19895431e-02 3.97321538e+02] [ 5.71327780e-01 8.20677021e-01 -8.59034482e-03 4.39719746e+01] [ 1.47479996e-02 1.99187368e-04 9.99891222e-01 -2.49881089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.914012739 meters Centerline goodness [0,1] 0.9960553941424724 Centerline is valid? [True, True] Translation: X:397.34, Y:43.99, Z:-0.02 [[ 8.20163575e-01 -5.72007607e-01 -1.17901417e-02 3.97343503e+02] [ 5.71945230e-01 8.20248293e-01 -8.44934503e-03 4.39913180e+01] [ 1.45039332e-02 1.86529744e-04 9.99894795e-01 -2.38245690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.944012739 meters Centerline goodness [0,1] 0.9969786577526356 Centerline is valid? [True, True] Translation: X:397.36, Y:44.01, Z:-0.02 [[ 8.18779355e-01 -5.73969460e-01 -1.26264467e-02 3.97364257e+02] [ 5.73898102e-01 8.18876689e-01 -9.05190099e-03 4.40112538e+01] [ 1.55350176e-02 1.65215824e-04 9.99879311e-01 -2.48117562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.974012739 meters Centerline goodness [0,1] 0.9970264388372945 Centerline is valid? [True, True] Translation: X:397.39, Y:44.03, Z:-0.02 [[ 8.17744460e-01 -5.75456632e-01 -1.19859415e-02 3.97387097e+02] [ 5.75392447e-01 8.17832285e-01 -8.59560445e-03 4.40283001e+01] [ 1.47488875e-02 1.32387719e-04 9.99891220e-01 -2.29648358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.004012739 meters Centerline goodness [0,1] 0.9970324495193859 Centerline is valid? [True, True] Translation: X:397.41, Y:44.04, Z:-0.02 [[ 8.16559692e-01 -5.77163178e-01 -1.06271183e-02 3.97411000e+02] [ 5.77112835e-01 8.16628837e-01 -7.62359241e-03 4.40446835e+01] [ 1.30784680e-02 9.20719309e-05 9.99914469e-01 -1.95350025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.034012739 meters Centerline goodness [0,1] 0.9972751458976999 Centerline is valid? [True, True] Translation: X:397.44, Y:44.06, Z:-0.01 [[ 8.13993997e-01 -5.80815871e-01 -8.16675037e-03 3.97435395e+02] [ 5.80786307e-01 8.14034964e-01 -5.86024732e-03 4.40591648e+01] [ 1.00517450e-02 2.70693514e-05 9.99949480e-01 -1.46548943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.064012739 meters Centerline goodness [0,1] 0.9971406013272731 Centerline is valid? [True, True] Translation: X:397.46, Y:44.07, Z:-0.01 [[ 8.12890475e-01 -5.82362748e-01 -7.91873249e-03 3.97457276e+02] [ 5.82335007e-01 8.12929044e-01 -5.68410018e-03 4.40744290e+01] [ 9.74757583e-03 9.19575202e-06 9.99952491e-01 -1.43482222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.094012739 meters Centerline goodness [0,1] 0.9975757575757576 Centerline is valid? [True, True] Translation: X:397.48, Y:44.09, Z:-0.02 [[ 8.11484373e-01 -5.84289807e-01 -9.92639348e-03 3.97481039e+02] [ 5.84246332e-01 8.11545082e-01 -7.12761243e-03 4.40904901e+01] [ 1.22203071e-02 -1.55128757e-05 9.99925329e-01 -1.85257247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.124012739 meters Centerline goodness [0,1] 0.9975749511771144 Centerline is valid? [True, True] Translation: X:397.50, Y:44.11, Z:-0.02 [[ 8.11144998e-01 -5.84738734e-01 -1.11536784e-02 3.97504569e+02] [ 5.84683855e-01 8.11221679e-01 -8.01113236e-03 4.41061057e+01] [ 1.37325251e-02 -2.31857203e-05 9.99905704e-01 -2.15006322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.154012739 meters Centerline goodness [0,1] 0.997900329948151 Centerline is valid? [True, True] Translation: X:397.53, Y:44.12, Z:-0.02 [[ 8.10933639e-01 -5.85014480e-01 -1.20288032e-02 3.97527778e+02] [ 5.84950664e-01 8.11022847e-01 -8.64079567e-03 4.41217495e+01] [ 1.48106248e-02 -2.91445486e-05 9.99890316e-01 -2.36328518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.184012739 meters Centerline goodness [0,1] 0.9979200171544977 Centerline is valid? [True, True] Translation: X:397.55, Y:44.14, Z:-0.02 [[ 8.11103071e-01 -5.84787741e-01 -1.16235083e-02 3.97549134e+02] [ 5.84728102e-01 8.11186352e-01 -8.35165205e-03 4.41399116e+01] [ 1.43127750e-02 -2.25413062e-05 9.99897567e-01 -2.13843617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.214012739 meters Centerline goodness [0,1] 0.9979811430166878 Centerline is valid? [True, True] Translation: X:397.57, Y:44.16, Z:-0.02 [[ 8.11400604e-01 -5.84391432e-01 -1.07570443e-02 3.97570145e+02] [ 5.84340288e-01 8.11471906e-01 -7.73135905e-03 4.41577080e+01] [ 1.32471792e-02 -1.25449691e-05 9.99912252e-01 -1.96209700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.244012739 meters Centerline goodness [0,1] 0.99790289101453 Centerline is valid? [True, True] Translation: X:397.59, Y:44.18, Z:-0.02 [[ 8.11650454e-01 -5.84055233e-01 -1.01501465e-02 3.97592002e+02] [ 5.84009648e-01 8.11713918e-01 -7.29700679e-03 4.41759113e+01] [ 1.25008702e-02 -5.16461200e-06 9.99921861e-01 -1.69672126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.274012739 meters Centerline goodness [0,1] 0.9978247760165403 Centerline is valid? [True, True] Translation: X:397.62, Y:44.19, Z:-0.02 [[ 8.11518409e-01 -5.84249554e-01 -9.50420930e-03 3.97615641e+02] [ 5.84209570e-01 8.11574062e-01 -6.83520108e-03 4.41913118e+01] [ 1.17068329e-02 -5.55851631e-06 9.99931473e-01 -1.65497490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30401273900003 meters Centerline goodness [0,1] 0.9975566367318944 Centerline is valid? [True, True] Translation: X:397.64, Y:44.20, Z:-0.02 [[ 8.11001782e-01 -5.84969189e-01 -9.33583224e-03 3.97638937e+02] [ 5.84930632e-01 8.11055514e-01 -6.71628045e-03 4.42049646e+01] [ 1.15006954e-02 -1.38988457e-05 9.99933865e-01 -1.76274576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.334012739 meters Centerline goodness [0,1] 0.9976164634276107 Centerline is valid? [True, True] Translation: X:397.66, Y:44.22, Z:-0.02 [[ 8.10130825e-01 -5.86170041e-01 -9.62954618e-03 3.97663114e+02] [ 5.86129084e-01 8.10188053e-01 -6.92928547e-03 4.42187644e+01] [ 1.18634828e-02 -3.05293254e-05 9.99929626e-01 -1.81176656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.364012739 meters Centerline goodness [0,1] 0.9977191057172983 Centerline is valid? [True, True] Translation: X:397.69, Y:44.24, Z:-0.02 [[ 8.09835020e-01 -5.86575245e-01 -9.83476158e-03 3.97685905e+02] [ 5.86532520e-01 8.09894734e-01 -7.07973947e-03 4.42351488e+01] [ 1.21179215e-02 -3.49865295e-05 9.99926575e-01 -1.79015063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.394012739 meters Centerline goodness [0,1] 0.9979870749020023 Centerline is valid? [True, True] Translation: X:397.71, Y:44.25, Z:-0.02 [[ 8.09727314e-01 -5.86703469e-01 -1.09870910e-02 3.97708670e+02] [ 5.86650123e-01 8.09801851e-01 -7.91170196e-03 4.42507190e+01] [ 1.35391896e-02 -3.92571171e-05 9.99908340e-01 -2.03150104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.424012739 meters Centerline goodness [0,1] 0.9977905247503718 Centerline is valid? [True, True] Translation: X:397.73, Y:44.27, Z:-0.02 [[ 8.09837604e-01 -5.86527187e-01 -1.22029990e-02 3.97731716e+02] [ 5.86461330e-01 8.09929538e-01 -8.78925673e-03 4.42673213e+01] [ 1.50387074e-02 -3.87164372e-05 9.99886911e-01 -2.19746424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.454012739 meters Centerline goodness [0,1] 0.9978274566034456 Centerline is valid? [True, True] Translation: X:397.75, Y:44.28, Z:-0.02 [[ 8.10582562e-01 -5.85479664e-01 -1.30181683e-02 3.97753934e+02] [ 5.85404522e-01 8.10687093e-01 -9.37992437e-03 4.42845067e+01] [ 1.60454160e-02 -1.76914623e-05 9.99871264e-01 -2.28632966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.484012739 meters Centerline goodness [0,1] 0.9979137839276211 Centerline is valid? [True, True] Translation: X:397.78, Y:44.30, Z:-0.02 [[ 8.11044879e-01 -5.84859244e-01 -1.20776147e-02 3.97775988e+02] [ 5.84794463e-01 8.11134800e-01 -8.70473557e-03 4.43019398e+01] [ 1.48876187e-02 -2.99099154e-06 9.99889173e-01 -2.17894158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.514012739 meters Centerline goodness [0,1] 0.9975155015713921 Centerline is valid? [True, True] Translation: X:397.80, Y:44.32, Z:-0.02 [[ 8.11371139e-01 -5.84438356e-01 -1.04250810e-02 3.97798546e+02] [ 5.84390033e-01 8.11438111e-01 -7.51542170e-03 4.43190811e+01] [ 1.28516087e-02 5.48283671e-06 9.99917415e-01 -1.85791704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.544012739 meters Centerline goodness [0,1] 0.997460412309531 Centerline is valid? [True, True] Translation: X:397.82, Y:44.33, Z:-0.02 [[ 8.10373221e-01 -5.85833998e-01 -9.68342595e-03 3.97822318e+02] [ 5.85792383e-01 8.10431075e-01 -6.98261858e-03 4.43316600e+01] [ 1.19384047e-02 -1.39500557e-05 9.99928735e-01 -1.70168948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.574012739 meters Centerline goodness [0,1] 0.9974549850480372 Centerline is valid? [True, True] Translation: X:397.85, Y:44.35, Z:-0.02 [[ 8.08851350e-01 -5.87916642e-01 -1.06543799e-02 3.97848364e+02] [ 5.87866419e-01 8.08921516e-01 -7.68462660e-03 4.43453017e+01] [ 1.31364770e-02 -4.76315466e-05 9.99913712e-01 -1.93089376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.604012739 meters Centerline goodness [0,1] 0.9980145598941098 Centerline is valid? [True, True] Translation: X:397.88, Y:44.35, Z:-0.02 [[ 8.05268689e-01 -5.92772899e-01 -1.27526340e-02 3.97877283e+02] [ 5.92701498e-01 8.05369647e-01 -9.20138785e-03 4.43540392e+01] [ 1.57249177e-02 -1.48915753e-04 9.99876345e-01 -2.36611698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.634012739 meters Centerline goodness [0,1] 0.9977185657096121 Centerline is valid? [True, True] Translation: X:397.90, Y:44.37, Z:-0.02 [[ 8.03557807e-01 -5.95094685e-01 -1.25366292e-02 3.97902561e+02] [ 5.95025918e-01 8.03655573e-01 -9.04857977e-03 4.43685968e+01] [ 1.54598937e-02 -1.88562382e-04 9.99880471e-01 -2.20828397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.664012739 meters Centerline goodness [0,1] 0.9980124382894147 Centerline is valid? [True, True] Translation: X:397.93, Y:44.38, Z:-0.02 [[ 8.02242293e-01 -5.96879821e-01 -1.19072136e-02 3.97927411e+02] [ 5.96817947e-01 8.02330627e-01 -8.59667568e-03 4.43808517e+01] [ 1.46847044e-02 -2.09821976e-04 9.99892152e-01 -2.06693538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.694012739 meters Centerline goodness [0,1] 0.9981996270656065 Centerline is valid? [True, True] Translation: X:397.95, Y:44.39, Z:-0.02 [[ 8.00249329e-01 -5.99586083e-01 -9.87625883e-03 3.97953651e+02] [ 5.99543702e-01 8.00310242e-01 -7.13206552e-03 4.43932619e+01] [ 1.21803583e-02 -2.13818140e-04 9.99925794e-01 -1.68404587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.724012739 meters Centerline goodness [0,1] 0.9982517482517482 Centerline is valid? [True, True] Translation: X:397.98, Y:44.41, Z:-0.02 [[ 7.99053620e-01 -6.01182892e-01 -9.61475529e-03 3.97978220e+02] [ 6.01142819e-01 7.99111430e-01 -6.94506824e-03 4.44066707e+01] [ 1.18585171e-02 -2.30359177e-04 9.99929659e-01 -1.60537625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.754012739 meters Centerline goodness [0,1] 0.9982076143995509 Centerline is valid? [True, True] Translation: X:398.00, Y:44.42, Z:-0.02 [[ 7.98000400e-01 -6.02584180e-01 -9.36313158e-03 3.98002523e+02] [ 6.02546264e-01 7.98055290e-01 -6.76412693e-03 4.44212628e+01] [ 1.15482526e-02 -2.43943954e-04 9.99933287e-01 -1.53265203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.784012739 meters Centerline goodness [0,1] 0.9978739098364212 Centerline is valid? [True, True] Translation: X:398.03, Y:44.43, Z:-0.01 [[ 7.95956614e-01 -6.05291025e-01 -8.70880332e-03 3.98030448e+02] [ 6.05258378e-01 7.96004212e-01 -6.29212280e-03 4.44304964e+01] [ 1.07408096e-02 -2.62819409e-04 9.99942281e-01 -1.46954157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.814012739 meters Centerline goodness [0,1] 0.9980878719518745 Centerline is valid? [True, True] Translation: X:398.06, Y:44.44, Z:-0.01 [[ 7.94860693e-01 -6.06727783e-01 -8.82468254e-03 3.98056366e+02] [ 6.06694342e-01 7.94909627e-01 -6.37652713e-03 4.44429866e+01] [ 1.08836413e-02 -2.85434185e-04 9.99940731e-01 -1.45869596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.844012739 meters Centerline goodness [0,1] 0.9976422608806474 Centerline is valid? [True, True] Translation: X:398.09, Y:44.45, Z:-0.02 [[ 7.92254165e-01 -6.10113103e-01 -9.76425297e-03 3.98085986e+02] [ 6.10072400e-01 7.92314248e-01 -7.05684638e-03 4.44516798e+01] [ 1.20418312e-02 -3.66085313e-04 9.99927428e-01 -1.66423151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.874012739 meters Centerline goodness [0,1] 0.9973260888166339 Centerline is valid? [True, True] Translation: X:398.11, Y:44.46, Z:-0.02 [[ 7.91070067e-01 -6.11641491e-01 -1.01407521e-02 3.98111461e+02] [ 6.11597688e-01 7.91134960e-01 -7.33098361e-03 4.44646888e+01] [ 1.25066373e-02 -4.02738861e-04 9.99921708e-01 -1.69457320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.904012739 meters Centerline goodness [0,1] 0.9935438205139204 Centerline is valid? [True, True] Translation: X:398.14, Y:44.47, Z:-0.02 [[ 7.90248221e-01 -6.12707959e-01 -9.83395811e-03 3.98140994e+02] [ 6.12666836e-01 7.90309302e-01 -7.11024486e-03 4.44718744e+01] [ 1.21283722e-02 -4.06081648e-04 9.99926366e-01 -1.66235859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.934012739 meters Centerline goodness [0,1] 0.9965245001287222 Centerline is valid? [True, True] Translation: X:398.16, Y:44.49, Z:-0.01 [[ 7.89764397e-01 -6.13350367e-01 -8.57464686e-03 3.98162215e+02] [ 6.13319130e-01 7.89810861e-01 -6.20073171e-03 4.44916963e+01] [ 1.05755703e-02 -3.61877814e-04 9.99944012e-01 -1.28165299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.964012739 meters Centerline goodness [0,1] 0.9966993162869452 Centerline is valid? [True, True] Translation: X:398.19, Y:44.50, Z:-0.01 [[ 7.89790367e-01 -6.13335185e-01 -7.15039815e-03 3.98188964e+02] [ 6.13313449e-01 7.89822677e-01 -5.17227354e-03 4.45043920e+01] [ 8.81988395e-03 -3.00423540e-04 9.99961059e-01 -9.79728640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.994012739 meters Centerline goodness [0,1] 0.9968134794185691 Centerline is valid? [True, True] Translation: X:398.21, Y:44.52, Z:-0.01 [[ 7.89819141e-01 -6.13298408e-01 -7.12643218e-03 3.98212442e+02] [ 6.13276801e-01 7.89851235e-01 -5.15668938e-03 4.45201483e+01] [ 8.79141065e-03 -2.97623554e-04 9.99961311e-01 -1.03924408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.024012739 meters Centerline goodness [0,1] 0.9957997526757921 Centerline is valid? [True, True] Translation: X:398.24, Y:44.53, Z:-0.01 [[ 7.89771154e-01 -6.13348485e-01 -8.07218475e-03 3.98239017e+02] [ 6.13320742e-01 7.89812334e-01 -5.84329745e-03 4.45299330e+01] [ 9.95948872e-03 -3.35970563e-04 9.99950347e-01 -1.20330178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05401273900003 meters Centerline goodness [0,1] 0.9963381798599892 Centerline is valid? [True, True] Translation: X:398.26, Y:44.54, Z:-0.01 [[ 7.89583067e-01 -6.13598657e-01 -7.43419274e-03 3.98262904e+02] [ 6.13575125e-01 7.89618003e-01 -5.38288960e-03 4.45447518e+01] [ 9.17310625e-03 -3.11197258e-04 9.99957878e-01 -1.17383916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.084012739 meters Centerline goodness [0,1] 0.9958289436907398 Centerline is valid? [True, True] Translation: X:398.29, Y:44.55, Z:-0.01 [[ 7.89730853e-01 -6.13406016e-01 -7.63141419e-03 3.98290334e+02] [ 6.13381191e-01 7.89767662e-01 -5.52765711e-03 4.45547991e+01] [ 9.41774227e-03 -3.15604555e-04 9.99955602e-01 -1.14557594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.114012739 meters Centerline goodness [0,1] 0.9957379025314276 Centerline is valid? [True, True] Translation: X:398.32, Y:44.57, Z:-0.01 [[ 7.89959465e-01 -6.13104111e-01 -8.20928171e-03 3.98315526e+02] [ 6.13075357e-01 7.90002049e-01 -5.94725233e-03 4.45682948e+01] [ 1.01316342e-02 -3.34820049e-04 9.99948618e-01 -1.20637387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.144012739 meters Centerline goodness [0,1] 0.9883609592101623 Centerline is valid? [True, True] Translation: X:398.34, Y:44.58, Z:-0.01 [[ 7.90383925e-01 -6.12536439e-01 -9.61050254e-03 3.98342222e+02] [ 6.12496961e-01 7.90442259e-01 -6.96475461e-03 4.45779980e+01] [ 1.18627133e-02 -3.81573508e-04 9.99929563e-01 -1.49473622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.174012739 meters Centerline goodness [0,1] 0.9967896233732655 Centerline is valid? [True, True] Translation: X:398.36, Y:44.61, Z:-0.02 [[ 7.91027328e-01 -6.11692177e-01 -1.04137577e-02 3.98358949e+02] [ 6.11645723e-01 7.91095773e-01 -7.54898735e-03 4.46050085e+01] [ 1.28559362e-02 -3.98075037e-04 9.99917280e-01 -1.53769415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.204012739 meters Centerline goodness [0,1] 0.9967202572347267 Centerline is valid? [True, True] Translation: X:398.38, Y:44.62, Z:-0.02 [[ 7.92668669e-01 -6.09564278e-01 -1.03813125e-02 3.98382049e+02] [ 6.09517899e-01 7.92736565e-01 -7.52796195e-03 4.46203994e+01] [ 1.28184227e-02 -3.60416208e-04 9.99917776e-01 -1.64174179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.234012739 meters Centerline goodness [0,1] 0.9966394519721677 Centerline is valid? [True, True] Translation: X:398.41, Y:44.64, Z:-0.01 [[ 7.93165871e-01 -6.08944738e-01 -8.61431360e-03 3.98405105e+02] [ 6.08912747e-01 7.93212596e-01 -6.24856107e-03 4.46380283e+01] [ 1.06380104e-02 -2.89219973e-04 9.99943373e-01 -1.32642929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.264012739 meters Centerline goodness [0,1] 0.9963108286774427 Centerline is valid? [True, True] Translation: X:398.43, Y:44.65, Z:-0.01 [[ 7.93325679e-01 -6.08763390e-01 -6.44223021e-03 3.98429549e+02] [ 6.08745483e-01 7.93351807e-01 -4.67415065e-03 4.46517245e+01] [ 7.95640677e-03 -2.13554807e-04 9.99968324e-01 -8.80988519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.294012739 meters Centerline goodness [0,1] 0.9961014891033425 Centerline is valid? [True, True] Translation: X:398.45, Y:44.67, Z:-0.01 [[ 7.93100652e-01 -6.09056220e-01 -6.47125522e-03 3.98453565e+02] [ 6.09038153e-01 7.93127023e-01 -4.69613196e-03 4.46675790e+01] [ 7.99273577e-03 -2.16736009e-04 9.99968034e-01 -8.76961392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.324012739 meters Centerline goodness [0,1] 0.9968828728809941 Centerline is valid? [True, True] Translation: X:398.48, Y:44.68, Z:-0.01 [[ 7.92978245e-01 -6.09205203e-01 -7.38395871e-03 3.98475714e+02] [ 6.09181669e-01 7.93012585e-01 -5.36048034e-03 4.46844412e+01] [ 9.12120469e-03 -2.47427993e-04 9.99958370e-01 -1.08408220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.354012739 meters Centerline goodness [0,1] 0.9967645168202272 Centerline is valid? [True, True] Translation: X:398.50, Y:44.70, Z:-0.02 [[ 7.93385004e-01 -6.08647626e-01 -9.39698124e-03 3.98499904e+02] [ 6.08609436e-01 7.93440593e-01 -6.82487650e-03 4.46980946e+01] [ 1.16098912e-02 -3.04336777e-04 9.99932557e-01 -1.54529088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.384012739 meters Centerline goodness [0,1] 0.9968097947922056 Centerline is valid? [True, True] Translation: X:398.52, Y:44.72, Z:-0.02 [[ 7.93954995e-01 -6.07905827e-01 -9.27201650e-03 3.98521323e+02] [ 6.07868571e-01 7.94009082e-01 -6.73635457e-03 4.47169490e+01] [ 1.14571345e-02 -2.87805057e-04 9.99934323e-01 -1.50809277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.414012739 meters Centerline goodness [0,1] 0.996914836636315 Centerline is valid? [True, True] Translation: X:398.54, Y:44.74, Z:-0.01 [[ 7.94852821e-01 -6.06736940e-01 -8.90380137e-03 3.98543758e+02] [ 6.06702487e-01 7.94902647e-01 -6.47094872e-03 4.47353928e+01] [ 1.10038189e-02 -2.58506588e-04 9.99939423e-01 -1.38764154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.444012739 meters Centerline goodness [0,1] 0.9967740529229696 Centerline is valid? [True, True] Translation: X:398.57, Y:44.75, Z:-0.01 [[ 7.96937906e-01 -6.04023799e-01 -6.72489898e-03 3.98565169e+02] [ 6.04004038e-01 7.96966262e-01 -4.88866155e-03 4.47530926e+01] [ 8.31238553e-03 -1.65906444e-04 9.99965438e-01 -1.02564905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.474012739 meters Centerline goodness [0,1] 0.9966227843744623 Centerline is valid? [True, True] Translation: X:398.59, Y:44.77, Z:-0.01 [[ 7.98250937e-01 -6.02284233e-01 -7.01036144e-03 3.98586705e+02] [ 6.02262676e-01 7.98281704e-01 -5.09802498e-03 4.47733057e+01] [ 8.66670334e-03 -1.52575818e-04 9.99962432e-01 -1.02617005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.504012739 meters Centerline goodness [0,1] 0.9968666069829901 Centerline is valid? [True, True] Translation: X:398.61, Y:44.80, Z:-0.01 [[ 8.00517012e-01 -5.99266358e-01 -7.23499883e-03 3.98607077e+02] [ 5.99243265e-01 8.00549697e-01 -5.26239288e-03 4.47952706e+01] [ 8.94555114e-03 -1.22889300e-04 9.99959980e-01 -1.05822689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.534012739 meters Centerline goodness [0,1] 0.9971543247892289 Centerline is valid? [True, True] Translation: X:398.63, Y:44.81, Z:-0.01 [[ 8.01669684e-01 -5.97721049e-01 -7.43403314e-03 3.98629629e+02] [ 5.97696586e-01 8.01704145e-01 -5.40877431e-03 4.48118917e+01] [ 9.19283344e-03 -1.07245840e-04 9.99957739e-01 -1.01623810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.564012739 meters Centerline goodness [0,1] 0.9968606876384201 Centerline is valid? [True, True] Translation: X:398.65, Y:44.83, Z:-0.01 [[ 8.02577509e-01 -5.96508801e-01 -6.82589336e-03 3.98650226e+02] [ 5.96488128e-01 8.02606531e-01 -4.96692531e-03 4.48308893e+01] [ 8.44132125e-03 -8.52218102e-05 9.99964368e-01 -8.82352854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.594012739 meters Centerline goodness [0,1] 0.9971491181413953 Centerline is valid? [True, True] Translation: X:398.67, Y:44.85, Z:-0.01 [[ 8.03269861e-01 -5.95579610e-01 -6.51606129e-03 3.98670816e+02] [ 5.95560727e-01 8.03296286e-01 -4.74304530e-03 4.48499569e+01] [ 8.05918890e-03 -7.07648628e-05 9.99967522e-01 -7.18138034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.624012739 meters Centerline goodness [0,1] 0.9973708960328317 Centerline is valid? [True, True] Translation: X:398.69, Y:44.87, Z:-0.01 [[ 8.03576261e-01 -5.95168643e-01 -6.28320719e-03 3.98692128e+02] [ 5.95151062e-01 8.03600822e-01 -4.57512555e-03 4.48688969e+01] [ 7.77216173e-03 -6.29951460e-05 9.99969794e-01 -7.19300355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.654012739 meters Centerline goodness [0,1] 0.997372603029982 Centerline is valid? [True, True] Translation: X:398.72, Y:44.88, Z:-0.01 [[ 8.02919939e-01 -5.96043496e-01 -7.19183088e-03 3.98716379e+02] [ 5.96020477e-01 8.02952143e-01 -5.23894157e-03 4.48834682e+01] [ 8.89733307e-03 -8.00278308e-05 9.99960415e-01 -9.14856033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.684012739 meters Centerline goodness [0,1] 0.9972623410217719 Centerline is valid? [True, True] Translation: X:398.74, Y:44.90, Z:-0.01 [[ 8.00967801e-01 -5.98662910e-01 -7.30085569e-03 3.98742478e+02] [ 5.98639287e-01 8.01001067e-01 -5.31938879e-03 4.48961755e+01] [ 9.03251396e-03 -1.09919897e-04 9.99959200e-01 -9.78749625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.714012739 meters Centerline goodness [0,1] 0.9972623410217719 Centerline is valid? [True, True] Translation: X:398.76, Y:44.91, Z:-0.01 [[ 8.00854729e-01 -5.98814173e-01 -7.29996094e-03 3.98764580e+02] [ 5.98790545e-01 8.00887991e-01 -5.32061642e-03 4.49125039e+01] [ 9.03251157e-03 -1.10106770e-04 9.99959200e-01 -9.56796326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.744012739 meters Centerline goodness [0,1] 0.9973121720209907 Centerline is valid? [True, True] Translation: X:398.79, Y:44.93, Z:-0.01 [[ 8.00065318e-01 -5.99872177e-01 -6.98987361e-03 3.98789760e+02] [ 5.99850538e-01 8.00095843e-01 -5.09644328e-03 4.49254913e+01] [ 8.64978334e-03 -1.15391938e-04 9.99962583e-01 -8.14046011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.774012739 meters Centerline goodness [0,1] 0.9970743250510917 Centerline is valid? [True, True] Translation: X:398.81, Y:44.94, Z:-0.01 [[ 7.99057982e-01 -6.01223471e-01 -6.05634389e-03 3.98813832e+02] [ 6.01207262e-01 7.99080926e-01 -4.41619251e-03 4.49409560e+01] [ 7.49462747e-03 -1.12324056e-04 9.99971909e-01 -5.98611126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80401273900003 meters Centerline goodness [0,1] 0.9968407479045777 Centerline is valid? [True, True] Translation: X:398.84, Y:44.95, Z:-0.00 [[ 7.97036368e-01 -6.03910147e-01 -5.05595055e-03 3.98841744e+02] [ 6.03898897e-01 7.97052396e-01 -3.68792257e-03 4.49496132e+01] [ 6.25703136e-03 -1.13874548e-04 9.99980418e-01 -4.05402876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.834012739 meters Centerline goodness [0,1] 0.9964673444769947 Centerline is valid? [True, True] Translation: X:398.87, Y:44.96, Z:-0.00 [[ 7.95897739e-01 -6.05407401e-01 -5.35422351e-03 3.98868138e+02] [ 6.05394815e-01 7.95915738e-01 -3.90594891e-03 4.49625573e+01] [ 6.62620113e-03 -1.32683239e-04 9.99978038e-01 -4.43864397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.864012739 meters Centerline goodness [0,1] 0.9964505644885392 Centerline is valid? [True, True] Translation: X:398.90, Y:44.97, Z:-0.01 [[ 7.93762330e-01 -6.08193465e-01 -6.48631495e-03 3.98897377e+02] [ 6.08175071e-01 7.93788810e-01 -4.73374918e-03 4.49718823e+01] [ 8.02779954e-03 -1.87343282e-04 9.99967759e-01 -7.04093000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.894012739 meters Centerline goodness [0,1] 0.9963988979760071 Centerline is valid? [True, True] Translation: X:398.92, Y:44.99, Z:-0.01 [[ 7.92761684e-01 -6.09503732e-01 -5.84070305e-03 3.98922602e+02] [ 6.09488844e-01 7.92783179e-01 -4.26382982e-03 4.49859310e+01] [ 7.22923132e-03 -1.79642447e-04 9.99973853e-01 -6.17598223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.924012739 meters Centerline goodness [0,1] 0.9959399106780349 Centerline is valid? [True, True] Translation: X:398.95, Y:45.00, Z:-0.00 [[ 7.92252073e-01 -6.10171217e-01 -5.26674219e-03 3.98948179e+02] [ 6.10159117e-01 7.92269562e-01 -3.84617243e-03 4.49988345e+01] [ 6.51950323e-03 -1.66412685e-04 9.99978734e-01 -4.27098076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.954012739 meters Centerline goodness [0,1] 0.9956383736747781 Centerline is valid? [True, True] Translation: X:398.97, Y:45.01, Z:-0.00 [[ 7.91169027e-01 -6.11582699e-01 -4.26307756e-03 3.98974393e+02] [ 6.11574792e-01 7.91180499e-01 -3.11312997e-03 4.50116365e+01] [ 5.27680026e-03 -1.44178765e-04 9.99986067e-01 -2.54170916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.984012739 meters Centerline goodness [0,1] 0.996025095612565 Centerline is valid? [True, True] Translation: X:399.00, Y:45.02, Z:-0.00 [[ 7.90796163e-01 -6.12054761e-01 -5.51344335e-03 3.98999862e+02] [ 6.12041534e-01 7.90815360e-01 -4.02818354e-03 4.50233608e+01] [ 6.82558460e-03 -1.88984234e-04 9.99976688e-01 -4.82265280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.014012739 meters Centerline goodness [0,1] 0.9962643555479657 Centerline is valid? [True, True] Translation: X:399.03, Y:45.04, Z:-0.01 [[ 7.91367594e-01 -6.11293374e-01 -7.59883987e-03 3.99026052e+02] [ 6.11268200e-01 7.91404036e-01 -5.55337647e-03 4.50373607e+01] [ 9.40849479e-03 -2.50166998e-04 9.99955708e-01 -8.21764000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.044012739 meters Centerline goodness [0,1] 0.9967566866310623 Centerline is valid? [True, True] Translation: X:399.05, Y:45.05, Z:-0.01 [[ 7.92244997e-01 -6.10165959e-01 -6.73558931e-03 3.99048979e+02] [ 6.10146127e-01 7.92273601e-01 -4.92387675e-03 4.50542950e+01] [ 8.34081158e-03 -2.08777013e-04 9.99965193e-01 -6.59279948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.074012739 meters Centerline goodness [0,1] 0.9965642380124117 Centerline is valid? [True, True] Translation: X:399.07, Y:45.07, Z:-0.00 [[ 7.93662903e-01 -6.08326457e-01 -6.17393366e-03 3.99070928e+02] [ 6.08309728e-01 7.93686898e-01 -4.51468992e-03 4.50712332e+01] [ 7.64657558e-03 -1.72522003e-04 9.99970750e-01 -4.19895233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.104012739 meters Centerline goodness [0,1] 0.9964508310249307 Centerline is valid? [True, True] Translation: X:399.09, Y:45.09, Z:-0.00 [[ 7.95304919e-01 -6.06186964e-01 -5.23941298e-03 3.99092134e+02] [ 6.06174863e-01 7.95322167e-01 -3.83236435e-03 4.50906291e+01] [ 6.49015059e-03 -1.28102226e-04 9.99978931e-01 -2.33925541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.134012739 meters Centerline goodness [0,1] 0.9965964273326396 Centerline is valid? [True, True] Translation: X:399.11, Y:45.11, Z:-0.00 [[ 7.98239454e-01 -6.02314503e-01 -5.56904602e-03 3.99112114e+02] [ 6.02300725e-01 7.98258874e-01 -4.07509724e-03 4.51122707e+01] [ 6.90003058e-03 -1.01337060e-04 9.99976189e-01 -3.73417625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.164012739 meters Centerline goodness [0,1] 0.9967368284565847 Centerline is valid? [True, True] Translation: X:399.13, Y:45.13, Z:-0.00 [[ 7.99071122e-01 -6.01207613e-01 -5.89481467e-03 3.99134354e+02] [ 6.01192135e-01 7.99092859e-01 -4.31504239e-03 4.51302115e+01] [ 7.30474064e-03 -9.58904550e-05 9.99973315e-01 -4.95673177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.194012739 meters Centerline goodness [0,1] 0.9971856210822566 Centerline is valid? [True, True] Translation: X:399.16, Y:45.15, Z:-0.01 [[ 8.00385817e-01 -5.99453109e-01 -6.20604846e-03 3.99158760e+02] [ 5.99435888e-01 8.00409872e-01 -4.54448779e-03 4.51457211e+01] [ 7.69158979e-03 -8.27845971e-05 9.99970416e-01 -6.40672904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.224012739 meters Centerline goodness [0,1] 0.9972896837252977 Centerline is valid? [True, True] Translation: X:399.18, Y:45.16, Z:-0.00 [[ 8.00629294e-01 -5.99130474e-01 -5.95060310e-03 3.99182336e+02] [ 5.99114622e-01 8.00651403e-01 -4.35882385e-03 4.51611810e+01] [ 7.37586292e-03 -7.52912668e-05 9.99972795e-01 -4.87962615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.254012739 meters Centerline goodness [0,1] 0.9972243573319669 Centerline is valid? [True, True] Translation: X:399.21, Y:45.18, Z:-0.00 [[ 8.01717237e-01 -5.97683616e-01 -4.87519951e-03 3.99205103e+02] [ 5.97672942e-01 8.01732058e-01 -3.57236098e-03 4.51767625e+01] [ 6.04374537e-03 -4.97514607e-05 9.99981735e-01 -1.75902903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.284012739 meters Centerline goodness [0,1] 0.9970140917683451 Centerline is valid? [True, True] Translation: X:399.23, Y:45.20, Z:-0.00 [[ 8.02477014e-01 -5.96659627e-01 -5.28493743e-03 3.99227377e+02] [ 5.96647057e-01 8.02494416e-01 -3.87333980e-03 4.51957252e+01] [ 6.55219825e-03 -4.49761997e-05 9.99978533e-01 -2.99585979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.314012739 meters Centerline goodness [0,1] 0.9971091458061201 Centerline is valid? [True, True] Translation: X:399.25, Y:45.21, Z:-0.00 [[ 8.03644242e-01 -5.95078157e-01 -6.15784219e-03 3.99248680e+02] [ 5.95061030e-01 8.03667833e-01 -4.51495660e-03 4.52142188e+01] [ 7.63561174e-03 -3.58730370e-05 9.99970848e-01 -4.58205357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.344012739 meters Centerline goodness [0,1] 0.997483275613586 Centerline is valid? [True, True] Translation: X:399.27, Y:45.23, Z:-0.00 [[ 8.05002650e-01 -5.93237726e-01 -6.30341407e-03 3.99270372e+02] [ 5.93219719e-01 8.05027329e-01 -4.62224422e-03 4.52338250e+01] [ 7.81651024e-03 -1.83906713e-05 9.99969450e-01 -4.44057528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.374012739 meters Centerline goodness [0,1] 0.9970981471131938 Centerline is valid? [True, True] Translation: X:399.29, Y:45.26, Z:-0.00 [[ 8.08383855e-01 -5.88629027e-01 -5.60467837e-03 3.99287730e+02] [ 5.88614671e-01 8.08403283e-01 -4.11106908e-03 4.52567079e+01] [ 6.95073499e-03 2.43259602e-05 9.99975843e-01 -1.51414425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.404012739 meters Centerline goodness [0,1] 0.9969477705918763 Centerline is valid? [True, True] Translation: X:399.31, Y:45.28, Z:0.00 [[ 8.10194197e-01 -5.86140383e-01 -4.98147572e-03 3.99306760e+02] [ 5.86128985e-01 8.10209510e-01 -3.65551046e-03 4.52782277e+01] [ 6.17868130e-03 4.18860511e-05 9.99980911e-01 5.46719545e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.434012739 meters Centerline goodness [0,1] 0.9951393668272539 Centerline is valid? [True, True] Translation: X:399.32, Y:45.30, Z:0.00 [[ 8.13723455e-01 -5.81240194e-01 -3.73841005e-03 3.99323281e+02] [ 5.81233724e-01 8.13732041e-01 -2.74307239e-03 4.53046325e+01] [ 4.63644797e-03 5.92123481e-05 9.99989250e-01 2.64938715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.464012739 meters Centerline goodness [0,1] 0.9931926335332153 Centerline is valid? [True, True] Translation: X:399.34, Y:45.33, Z:0.00 [[ 8.15316710e-01 -5.79002459e-01 -3.84913108e-03 3.99339520e+02] [ 5.78995568e-01 8.15325792e-01 -2.82578947e-03 4.53289055e+01] [ 4.77443490e-03 7.52835439e-05 9.99988599e-01 3.13503573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.494012739 meters Centerline goodness [0,1] 0.9930353163037888 Centerline is valid? [True, True] Translation: X:399.36, Y:45.35, Z:0.00 [[ 8.16595963e-01 -5.77193260e-01 -4.35584812e-03 3.99360411e+02] [ 5.77184409e-01 8.16607575e-01 -3.19794149e-03 4.53492442e+01] [ 5.40284884e-03 9.72984836e-05 9.99985400e-01 1.21005161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.524012739 meters Centerline goodness [0,1] 0.9932858639639062 Centerline is valid? [True, True] Translation: X:399.38, Y:45.37, Z:-0.00 [[ 8.18264370e-01 -5.74808648e-01 -6.19993810e-03 3.99377720e+02] [ 5.74790630e-01 8.18287842e-01 -4.55405931e-03 4.53740723e+01] [ 7.69104664e-03 1.62758149e-04 9.99970410e-01 -2.46943848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55401273900003 meters Centerline goodness [0,1] 0.9936748483474732 Centerline is valid? [True, True] Translation: X:399.40, Y:45.39, Z:-0.00 [[ 8.18350294e-01 -5.74685916e-01 -6.23653424e-03 3.99400313e+02] [ 5.74667669e-01 8.18374041e-01 -4.58251680e-03 4.53919062e+01] [ 7.73732559e-03 1.66169368e-04 9.99970053e-01 -2.67622267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.584012739 meters Centerline goodness [0,1] 0.9930821785783127 Centerline is valid? [True, True] Translation: X:399.42, Y:45.41, Z:-0.00 [[ 8.18013450e-01 -5.75166720e-01 -6.10245916e-03 3.99421011e+02] [ 5.75149250e-01 8.18036197e-01 -4.48561021e-03 4.54110318e+01] [ 7.57200619e-03 1.59464676e-04 9.99971319e-01 -1.55552856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.614012739 meters Centerline goodness [0,1] 0.9944116204167822 Centerline is valid? [True, True] Translation: X:399.44, Y:45.43, Z:-0.00 [[ 8.16282897e-01 -5.77624019e-01 -5.72060945e-03 3.99440800e+02] [ 5.77608724e-01 8.16302932e-01 -4.20542566e-03 4.54313761e+01] [ 7.09890514e-03 1.28543117e-04 9.99974794e-01 -9.06026452e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.644012739 meters Centerline goodness [0,1] 0.995548195621317 Centerline is valid? [True, True] Translation: X:399.46, Y:45.45, Z:-0.00 [[ 8.15214182e-01 -5.79131966e-01 -5.65712254e-03 3.99464032e+02] [ 5.79117042e-01 8.15233803e-01 -4.15913586e-03 4.54490572e+01] [ 7.02056605e-03 1.14450471e-04 9.99975349e-01 -5.41902440e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.674012739 meters Centerline goodness [0,1] 0.9960987739003687 Centerline is valid? [True, True] Translation: X:399.49, Y:45.46, Z:0.00 [[ 8.13489745e-01 -5.81553338e-01 -5.49085529e-03 3.99488783e+02] [ 5.81539324e-01 8.13508271e-01 -4.03823790e-03 4.54647726e+01] [ 6.81530692e-03 9.19168455e-05 9.99976771e-01 1.78603572e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.704012739 meters Centerline goodness [0,1] 0.995925719432174 Centerline is valid? [True, True] Translation: X:399.51, Y:45.48, Z:0.00 [[ 8.12927849e-01 -5.82339800e-01 -5.35445768e-03 3.99510108e+02] [ 5.82326481e-01 8.12945478e-01 -3.93935895e-03 4.54825810e+01] [ 6.64692766e-03 8.43721012e-05 9.99977905e-01 2.88027801e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.734012739 meters Centerline goodness [0,1] 0.9963750346504041 Centerline is valid? [True, True] Translation: X:399.53, Y:45.50, Z:0.00 [[ 8.12341958e-01 -5.83155209e-01 -5.52685135e-03 3.99532017e+02] [ 5.83141035e-01 8.12360755e-01 -4.06673054e-03 4.55002058e+01] [ 6.86133223e-03 8.06420347e-05 9.99976458e-01 7.25862381e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.764012739 meters Centerline goodness [0,1] 0.9969634112439322 Centerline is valid? [True, True] Translation: X:399.56, Y:45.52, Z:0.00 [[ 8.11005690e-01 -5.85023535e-01 -4.15138327e-03 3.99555503e+02] [ 5.85015563e-01 8.11016314e-01 -3.05447506e-03 4.55170636e+01] [ 5.15377935e-03 4.85728282e-05 9.99986718e-01 2.64803555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.794012739 meters Centerline goodness [0,1] 0.9965270424801999 Centerline is valid? [True, True] Translation: X:399.58, Y:45.53, Z:0.00 [[ 8.10242331e-01 -5.86085516e-01 -3.33667954e-03 3.99577627e+02] [ 5.86080370e-01 8.10249201e-01 -2.45611604e-03 4.55339215e+01] [ 4.14303597e-03 3.44868042e-05 9.99991417e-01 4.69742985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.824012739 meters Centerline goodness [0,1] 0.9971751412429378 Centerline is valid? [True, True] Translation: X:399.60, Y:45.55, Z:0.01 [[ 8.09274711e-01 -5.87422962e-01 -2.95038878e-03 3.99601809e+02] [ 5.87418950e-01 8.09280089e-01 -2.17139839e-03 4.55493283e+01] [ 3.66322017e-03 2.41435316e-05 9.99993290e-01 5.71844945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.854012739 meters Centerline goodness [0,1] 0.9970686945069884 Centerline is valid? [True, True] Translation: X:399.63, Y:45.56, Z:0.00 [[ 8.07418295e-01 -5.89967167e-01 -3.79999087e-03 3.99625549e+02] [ 5.89960530e-01 8.07427236e-01 -2.79847334e-03 4.55639396e+01] [ 4.71922351e-03 1.76939430e-05 9.99988864e-01 4.76612147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.884012739 meters Centerline goodness [0,1] 0.9976213736567132 Centerline is valid? [True, True] Translation: X:399.65, Y:45.58, Z:0.00 [[ 8.06527539e-01 -5.91180976e-01 -4.28746640e-03 3.99648519e+02] [ 5.91172541e-01 8.06538935e-01 -3.15816830e-03 4.55788870e+01] [ 5.32505760e-03 1.25173069e-05 9.99985822e-01 3.65025752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.914012739 meters Centerline goodness [0,1] 0.9982025038064626 Centerline is valid? [True, True] Translation: X:399.67, Y:45.59, Z:0.00 [[ 8.04933372e-01 -5.93341563e-01 -5.29673263e-03 3.99673907e+02] [ 5.93328730e-01 8.04950799e-01 -3.90236785e-03 4.55922937e+01] [ 6.57904621e-03 -1.55753114e-06 9.99978358e-01 1.03147333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.944012739 meters Centerline goodness [0,1] 0.9981943323278243 Centerline is valid? [True, True] Translation: X:399.70, Y:45.61, Z:0.00 [[ 8.04126596e-01 -5.94429724e-01 -5.80695857e-03 3.99697382e+02] [ 5.94414315e-01 8.04147563e-01 -4.28007077e-03 4.56068295e+01] [ 7.21385286e-03 -1.00205613e-05 9.99973980e-01 2.24670708e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.974012739 meters Centerline goodness [0,1] 0.9982192826252861 Centerline is valid? [True, True] Translation: X:399.72, Y:45.62, Z:-0.00 [[ 8.03708035e-01 -5.94991804e-01 -6.17636604e-03 3.99720287e+02] [ 5.94974374e-01 8.03731767e-01 -4.55425405e-03 4.56220641e+01] [ 7.67388542e-03 -1.44889379e-05 9.99970555e-01 -3.69152035e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.004012739 meters Centerline goodness [0,1] 0.9981784673409909 Centerline is valid? [True, True] Translation: X:399.74, Y:45.64, Z:0.00 [[ 8.03501392e-01 -5.95266591e-01 -6.57258880e-03 3.99742446e+02] [ 5.95246853e-01 8.03528273e-01 -4.84753088e-03 4.56391882e+01] [ 8.16683411e-03 -1.73149986e-05 9.99966651e-01 1.74663110e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.034012739 meters Centerline goodness [0,1] 0.9983740524104145 Centerline is valid? [True, True] Translation: X:399.76, Y:45.66, Z:0.00 [[ 8.03788993e-01 -5.94882490e-01 -6.17067414e-03 3.99763477e+02] [ 5.94865068e-01 8.03812679e-01 -4.55278291e-03 4.56557408e+01] [ 7.66843694e-03 -1.12416945e-05 9.99970597e-01 1.70042102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.064012739 meters Centerline goodness [0,1] 0.9979231568016614 Centerline is valid? [True, True] Translation: X:399.79, Y:45.67, Z:0.00 [[ 8.03996825e-01 -5.94611314e-01 -5.14688354e-03 3.99785637e+02] [ 5.94599185e-01 8.04013299e-01 -3.79788816e-03 4.56733593e+01] [ 6.39643008e-03 -6.84273774e-06 9.99979543e-01 3.73352938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.094012739 meters Centerline goodness [0,1] 0.9978399418281364 Centerline is valid? [True, True] Translation: X:399.81, Y:45.69, Z:0.00 [[ 8.04217804e-01 -5.94311159e-01 -5.28870993e-03 3.99807523e+02] [ 5.94298336e-01 8.04235193e-01 -3.90408356e-03 4.56908547e+01] [ 6.57360708e-03 -3.33800286e-06 9.99978394e-01 3.83386941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.124012739 meters Centerline goodness [0,1] 0.9977943671530369 Centerline is valid? [True, True] Translation: X:399.83, Y:45.71, Z:0.00 [[ 8.04652770e-01 -5.93718843e-01 -5.64411819e-03 3.99829196e+02] [ 5.93704211e-01 8.04672564e-01 -4.16815058e-03 4.57088562e+01] [ 7.01637660e-03 2.97717027e-06 9.99975385e-01 2.90975718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.154012739 meters Centerline goodness [0,1] 0.997733386997691 Centerline is valid? [True, True] Translation: X:399.85, Y:45.73, Z:0.00 [[ 8.05972144e-01 -5.91927280e-01 -5.56759005e-03 3.99849680e+02] [ 5.91912989e-01 8.05991374e-01 -4.11319020e-03 4.57281236e+01] [ 6.92213904e-03 1.95878517e-05 9.99976042e-01 3.35648371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.184012739 meters Centerline goodness [0,1] 0.9976274954046083 Centerline is valid? [True, True] Translation: X:399.87, Y:45.75, Z:0.00 [[ 8.06711104e-01 -5.90922080e-01 -5.31885167e-03 3.99869682e+02] [ 5.90909006e-01 8.06728637e-01 -3.93099110e-03 4.57460781e+01] [ 6.61377940e-03 2.82168188e-05 9.99978128e-01 4.02166843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.214012739 meters Centerline goodness [0,1] 0.9969060066147445 Centerline is valid? [True, True] Translation: X:399.89, Y:45.77, Z:0.00 [[ 8.07788387e-01 -5.89446075e-01 -5.58994579e-03 3.99889702e+02] [ 5.89431591e-01 8.07807727e-01 -4.13232451e-03 4.57656406e+01] [ 6.95138386e-03 4.31531066e-05 9.99975838e-01 4.40424698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.244012739 meters Centerline goodness [0,1] 0.9968317170808982 Centerline is valid? [True, True] Translation: X:399.91, Y:45.79, Z:0.00 [[ 8.08648040e-01 -5.88265528e-01 -5.65824820e-03 3.99911622e+02] [ 5.88250655e-01 8.08667834e-01 -4.18341953e-03 4.57850065e+01] [ 7.03660481e-03 5.44457952e-05 9.99975241e-01 3.96076560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.274012739 meters Centerline goodness [0,1] 0.9961013645224172 Centerline is valid? [True, True] Translation: X:399.93, Y:45.81, Z:0.00 [[ 8.10792119e-01 -5.85303922e-01 -5.95464202e-03 3.99930347e+02] [ 5.85287358e-01 8.10813981e-01 -4.40417229e-03 4.58055518e+01] [ 7.40588631e-03 8.56914913e-05 9.99972572e-01 3.16111965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30401273900003 meters Centerline goodness [0,1] 0.9955405491495191 Centerline is valid? [True, True] Translation: X:399.95, Y:45.82, Z:0.00 [[ 8.11640429e-01 -5.84126248e-01 -6.02828990e-03 3.99951914e+02] [ 5.84109235e-01 8.11662810e-01 -4.45922733e-03 4.58244299e+01] [ 7.49769045e-03 9.81093819e-05 9.99971887e-01 3.50576155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.334012739 meters Centerline goodness [0,1] 0.9946946753442018 Centerline is valid? [True, True] Translation: X:399.97, Y:45.85, Z:0.00 [[ 8.13362741e-01 -5.81724918e-01 -6.09689935e-03 3.99971750e+02] [ 5.81707436e-01 8.13385582e-01 -4.51147395e-03 4.58456342e+01] [ 7.58356684e-03 1.22853129e-04 9.99971237e-01 3.40955130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.364012739 meters Centerline goodness [0,1] 0.9945626578755833 Centerline is valid? [True, True] Translation: X:399.99, Y:45.87, Z:0.00 [[ 8.14622872e-01 -5.79957808e-01 -6.20619051e-03 3.99992011e+02] [ 5.79939631e-01 8.14646500e-01 -4.59390604e-03 4.58656858e+01] [ 7.72012306e-03 1.43085094e-04 9.99970189e-01 3.46589666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.394012739 meters Centerline goodness [0,1] 0.9930244574578023 Centerline is valid? [True, True] Translation: X:400.01, Y:45.89, Z:0.01 [[ 8.15904603e-01 -5.78156761e-01 -5.86843377e-03 4.00011920e+02] [ 5.78140459e-01 8.15925693e-01 -4.34434529e-03 4.58862142e+01] [ 7.29991849e-03 1.51792325e-04 9.99973344e-01 5.22112917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.424012739 meters Centerline goodness [0,1] 0.9894329896907217 Centerline is valid? [True, True] Translation: X:400.03, Y:45.91, Z:0.01 [[ 8.18017901e-01 -5.75170257e-01 -5.08818853e-03 4.00029930e+02] [ 5.75157940e-01 8.18033711e-01 -3.76729040e-03 4.59088176e+01] [ 6.32914313e-03 1.55198949e-04 9.99979959e-01 7.31151076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.454012739 meters Centerline goodness [0,1] 0.9889952562075303 Centerline is valid? [True, True] Translation: X:400.05, Y:45.93, Z:0.01 [[ 8.18658155e-01 -5.74260538e-01 -4.86415557e-03 4.00051117e+02] [ 5.74249262e-01 8.18672590e-01 -3.60203993e-03 4.59277339e+01] [ 6.05066023e-03 1.55601617e-04 9.99981682e-01 7.54973584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.484012739 meters Centerline goodness [0,1] 0.9887837289294337 Centerline is valid? [True, True] Translation: X:400.07, Y:45.94, Z:0.01 [[ 8.18596706e-01 -5.74349256e-01 -4.72918659e-03 4.00071699e+02] [ 5.74338597e-01 8.18610353e-01 -3.50237049e-03 4.59448672e+01] [ 5.88294499e-03 1.50874559e-04 9.99982684e-01 7.91209713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.514012739 meters Centerline goodness [0,1] 0.9892132922815585 Centerline is valid? [True, True] Translation: X:400.10, Y:45.96, Z:0.01 [[ 8.17891472e-01 -5.75347832e-01 -5.33030841e-03 4.00095802e+02] [ 5.75334306e-01 8.17908825e-01 -3.94852816e-03 4.59597428e+01] [ 6.63148340e-03 1.62758221e-04 9.99977998e-01 5.97847393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.544012739 meters Centerline goodness [0,1] 0.9903825739883657 Centerline is valid? [True, True] Translation: X:400.12, Y:45.97, Z:0.00 [[ 8.16942670e-01 -5.76686364e-01 -6.12466337e-03 4.00119941e+02] [ 5.76668539e-01 8.16965609e-01 -4.53755505e-03 4.59733298e+01] [ 7.62038546e-03 1.75021661e-04 9.99970949e-01 4.51245056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.574012739 meters Centerline goodness [0,1] 0.9917465557742365 Centerline is valid? [True, True] Translation: X:400.14, Y:45.99, Z:0.01 [[ 8.15462464e-01 -5.78778515e-01 -6.03331767e-03 4.00144952e+02] [ 5.78761271e-01 8.15484768e-01 -4.47031694e-03 4.59879104e+01] [ 7.50740206e-03 1.53525064e-04 9.99971807e-01 6.19123045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.604012739 meters Centerline goodness [0,1] 0.9917465557742365 Centerline is valid? [True, True] Translation: X:400.17, Y:46.00, Z:0.01 [[ 8.15363448e-01 -5.78918003e-01 -6.03265601e-03 4.00166897e+02] [ 5.78900757e-01 8.15385750e-01 -4.47120966e-03 4.60044446e+01] [ 7.50740551e-03 1.53351796e-04 9.99971807e-01 6.41078577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.634012739 meters Centerline goodness [0,1] 0.9918193857063523 Centerline is valid? [True, True] Translation: X:400.19, Y:46.02, Z:0.01 [[ 8.15055608e-01 -5.79357258e-01 -5.43353540e-03 4.00189706e+02] [ 5.79343268e-01 8.15073708e-01 -4.02848128e-03 4.60228369e+01] [ 6.76266172e-03 1.35554102e-04 9.99977124e-01 8.55111946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.664012739 meters Centerline goodness [0,1] 0.9913837120245086 Centerline is valid? [True, True] Translation: X:400.21, Y:46.04, Z:0.01 [[ 8.15194232e-01 -5.79164343e-01 -5.19883596e-03 4.00211349e+02] [ 5.79151525e-01 8.15210799e-01 -3.85551382e-03 4.60424228e+01] [ 6.47112334e-03 1.32078852e-04 9.99979053e-01 9.78755784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.694012739 meters Centerline goodness [0,1] 0.9896699045635216 Centerline is valid? [True, True] Translation: X:400.23, Y:46.06, Z:0.01 [[ 8.16374368e-01 -5.77502634e-01 -4.85794383e-03 4.00229571e+02] [ 5.77491405e-01 8.16388810e-01 -3.60387726e-03 4.60644194e+01] [ 6.04721959e-03 1.36692208e-04 9.99981706e-01 9.43744169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.724012739 meters Centerline goodness [0,1] 0.9894540284762451 Centerline is valid? [True, True] Translation: X:400.25, Y:46.08, Z:0.01 [[ 8.16774611e-01 -5.76935354e-01 -4.98318084e-03 4.00251249e+02] [ 5.76923524e-01 8.16789799e-01 -3.69734454e-03 4.60841542e+01] [ 6.20334006e-03 1.44982896e-04 9.99980749e-01 9.29726132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.754012739 meters Centerline goodness [0,1] 0.9892498397093396 Centerline is valid? [True, True] Translation: X:400.27, Y:46.11, Z:0.01 [[ 8.17156938e-01 -5.76393641e-01 -4.99090662e-03 4.00269729e+02] [ 5.76381757e-01 8.17172165e-01 -3.70436341e-03 4.61054818e+01] [ 6.21360148e-03 1.50378729e-04 9.99980684e-01 1.06687238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.784012739 meters Centerline goodness [0,1] 0.9898134987293793 Centerline is valid? [True, True] Translation: X:400.29, Y:46.12, Z:0.01 [[ 8.17358771e-01 -5.76108011e-01 -4.91917385e-03 4.00292479e+02] [ 5.76096458e-01 8.17373560e-01 -3.65154905e-03 4.61233635e+01] [ 6.12448930e-03 1.50707011e-04 9.99981234e-01 1.09977413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.814012739 meters Centerline goodness [0,1] 0.9915383458969568 Centerline is valid? [True, True] Translation: X:400.32, Y:46.14, Z:0.01 [[ 8.17674507e-01 -5.75658914e-01 -5.02160280e-03 4.00317095e+02] [ 5.75646859e-01 8.17689911e-01 -3.72876857e-03 4.61389612e+01] [ 6.25261281e-03 1.58249122e-04 9.99980440e-01 1.01077029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.844012739 meters Centerline goodness [0,1] 0.9911286874732792 Centerline is valid? [True, True] Translation: X:400.34, Y:46.16, Z:0.01 [[ 8.17771491e-01 -5.75519456e-01 -5.20992854e-03 4.00338609e+02] [ 5.75506469e-01 8.17788070e-01 -3.86998149e-03 4.61586425e+01] [ 6.48786705e-03 1.66412957e-04 9.99978940e-01 1.06604177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.874012739 meters Centerline goodness [0,1] 0.9885156959192721 Centerline is valid? [True, True] Translation: X:400.35, Y:46.18, Z:0.01 [[ 8.17549235e-01 -5.75830769e-01 -5.67215330e-03 4.00354744e+02] [ 5.75815370e-01 8.17568892e-01 -4.21502317e-03 4.61838871e+01] [ 7.06451613e-03 1.79875913e-04 9.99975030e-01 1.04169802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.904012739 meters Centerline goodness [0,1] 0.9912983986487931 Centerline is valid? [True, True] Translation: X:400.38, Y:46.20, Z:0.01 [[ 8.17005675e-01 -5.76586813e-01 -7.02672482e-03 4.00377695e+02] [ 5.76563201e-01 8.17035863e-01 -5.22246932e-03 4.62016747e+01] [ 8.75229312e-03 2.15436115e-04 9.99961675e-01 6.63814020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.934012739 meters Centerline goodness [0,1] 0.9909931212381772 Centerline is valid? [True, True] Translation: X:400.40, Y:46.22, Z:0.01 [[ 8.16509218e-01 -5.77290576e-01 -6.94898788e-03 4.00400654e+02] [ 5.77267495e-01 8.16538761e-01 -5.16627354e-03 4.62194451e+01] [ 8.65655899e-03 2.06885142e-04 9.99962510e-01 6.85732819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.964012739 meters Centerline goodness [0,1] 0.9928621018831901 Centerline is valid? [True, True] Translation: X:400.43, Y:46.23, Z:0.01 [[ 8.16062636e-01 -5.77926141e-01 -6.56891550e-03 4.00427428e+02] [ 5.77905525e-01 8.16089051e-01 -4.88513662e-03 4.62320263e+01] [ 8.18406817e-03 1.90364910e-04 9.99966492e-01 8.22313555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.994012739 meters Centerline goodness [0,1] 0.9901952333749946 Centerline is valid? [True, True] Translation: X:400.44, Y:46.26, Z:0.01 [[ 8.15358181e-01 -5.78926054e-01 -5.97165957e-03 4.00443460e+02] [ 5.78909033e-01 8.15380032e-01 -4.44236905e-03 4.62568338e+01] [ 7.44097516e-03 1.65074278e-04 9.99972302e-01 1.07162404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.024012739 meters Centerline goodness [0,1] 0.9914223530917936 Centerline is valid? [True, True] Translation: X:400.47, Y:46.27, Z:0.01 [[ 8.15047449e-01 -5.79361991e-01 -6.11058634e-03 4.00466607e+02] [ 5.79344175e-01 8.15070338e-01 -4.54650137e-03 4.62731806e+01] [ 7.61462776e-03 1.65481745e-04 9.99970995e-01 1.10511843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05401273900003 meters Centerline goodness [0,1] 0.9909201355585395 Centerline is valid? [True, True] Translation: X:400.48, Y:46.29, Z:0.01 [[ 8.14622250e-01 -5.79953656e-01 -6.65938413e-03 4.00484990e+02] [ 5.79932501e-01 8.14649450e-01 -4.95667391e-03 4.62932812e+01] [ 8.29970477e-03 1.75823561e-04 9.99965541e-01 9.34704202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.084012739 meters Centerline goodness [0,1] 0.9910161286913142 Centerline is valid? [True, True] Translation: X:400.51, Y:46.31, Z:0.01 [[ 8.14583977e-01 -5.80003875e-01 -6.96049578e-03 4.00506554e+02] [ 5.79980752e-01 8.14613694e-01 -5.18228916e-03 4.63117148e+01] [ 8.67586297e-03 1.84456141e-04 9.99962347e-01 8.94847070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.114012739 meters Centerline goodness [0,1] 0.9911883021518422 Centerline is valid? [True, True] Translation: X:400.53, Y:46.33, Z:0.01 [[ 8.14383122e-01 -5.80289843e-01 -6.62029179e-03 4.00527488e+02] [ 5.80268921e-01 8.14410012e-01 -4.93063454e-03 4.63303674e+01] [ 8.25282906e-03 1.73875978e-04 9.99965930e-01 9.74043885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.144012739 meters Centerline goodness [0,1] 0.9939820742637644 Centerline is valid? [True, True] Translation: X:400.55, Y:46.34, Z:0.01 [[ 8.14057858e-01 -5.80754496e-01 -5.83261415e-03 4.00553777e+02] [ 5.80738259e-01 8.14078738e-01 -4.34530839e-03 4.63426444e+01] [ 7.27176455e-03 1.50110248e-04 9.99973549e-01 1.33479208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.174012739 meters Centerline goodness [0,1] 0.9934220266926119 Centerline is valid? [True, True] Translation: X:400.57, Y:46.36, Z:0.02 [[ 8.13724416e-01 -5.81227670e-01 -5.19329690e-03 4.00574870e+02] [ 5.81214798e-01 8.13740978e-01 -3.87037868e-03 4.63609674e+01] [ 6.47556968e-03 1.31000624e-04 9.99979025e-01 1.51634322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.204012739 meters Centerline goodness [0,1] 0.9943075231256873 Centerline is valid? [True, True] Translation: X:400.60, Y:46.37, Z:0.02 [[ 8.12161293e-01 -5.83412522e-01 -4.88490496e-03 4.00602367e+02] [ 5.83401171e-01 8.12175977e-01 -3.64089367e-03 4.63733027e+01] [ 6.09154541e-03 1.07133636e-04 9.99981441e-01 1.58910432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.234012739 meters Centerline goodness [0,1] 0.9948573999871435 Centerline is valid? [True, True] Translation: X:400.62, Y:46.39, Z:0.01 [[ 8.11169894e-01 -5.84784446e-01 -5.52768395e-03 4.00624932e+02] [ 5.84769937e-01 8.11188720e-01 -4.12086802e-03 4.63897046e+01] [ 6.89381439e-03 1.10300683e-04 9.99976231e-01 1.43175451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.264012739 meters Centerline goodness [0,1] 0.9936854190585533 Centerline is valid? [True, True] Translation: X:400.64, Y:46.41, Z:0.01 [[ 8.10154112e-01 -5.86185290e-01 -6.09264487e-03 4.00642826e+02] [ 5.86167698e-01 8.10177014e-01 -4.54268087e-03 4.64121290e+01] [ 7.59897353e-03 1.08959973e-04 9.99971121e-01 1.32201765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.294012739 meters Centerline goodness [0,1] 0.9969309462915601 Centerline is valid? [True, True] Translation: X:400.67, Y:46.42, Z:0.01 [[ 8.08259086e-01 -5.88785170e-01 -7.01953190e-03 4.00671963e+02] [ 5.88761909e-01 8.08289561e-01 -5.23459563e-03 4.64210028e+01] [ 8.75586664e-03 9.80764800e-05 9.99961662e-01 1.10456283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.324012739 meters Centerline goodness [0,1] 0.9974541097941894 Centerline is valid? [True, True] Translation: X:400.70, Y:46.44, Z:0.01 [[ 8.07311475e-01 -5.90079433e-01 -7.37871968e-03 4.00697161e+02] [ 5.90053766e-01 8.07345190e-01 -5.50434615e-03 4.64350420e+01] [ 9.20517529e-03 8.98804669e-05 9.99957627e-01 1.10792323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.354012739 meters Centerline goodness [0,1] 0.9977931093589304 Centerline is valid? [True, True] Translation: X:400.72, Y:46.45, Z:0.01 [[ 8.06325338e-01 -5.91428312e-01 -7.21113772e-03 4.00720503e+02] [ 5.91403837e-01 8.06357579e-01 -5.38101384e-03 4.64505417e+01] [ 8.99723949e-03 7.41532835e-05 9.99959521e-01 1.32432383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.384012739 meters Centerline goodness [0,1] 0.9973736467875216 Centerline is valid? [True, True] Translation: X:400.74, Y:46.47, Z:0.02 [[ 8.06239002e-01 -5.91556406e-01 -6.29993175e-03 4.00742470e+02] [ 5.91537726e-01 8.06263613e-01 -4.70154408e-03 4.64684608e+01] [ 7.86063426e-03 6.39209032e-05 9.99969103e-01 1.58458544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.414012739 meters Centerline goodness [0,1] 0.9972552215122014 Centerline is valid? [True, True] Translation: X:400.76, Y:46.49, Z:0.02 [[ 8.06071994e-01 -5.91788836e-01 -5.82354387e-03 4.00764585e+02] [ 5.91772869e-01 8.06093028e-01 -4.34758950e-03 4.64862965e+01] [ 7.26717304e-03 5.82548766e-05 9.99973592e-01 1.72729204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.444012739 meters Centerline goodness [0,1] 0.997467546286444 Centerline is valid? [True, True] Translation: X:400.79, Y:46.50, Z:0.02 [[ 8.06075282e-01 -5.91786922e-01 -5.55685394e-03 4.00785185e+02] [ 5.91772372e-01 8.06094433e-01 -4.15012992e-03 4.65030861e+01] [ 6.93534164e-03 5.69245115e-05 9.99975949e-01 1.75618560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.474012739 meters Centerline goodness [0,1] 0.9977289283112654 Centerline is valid? [True, True] Translation: X:400.81, Y:46.52, Z:0.02 [[ 8.06036085e-01 -5.91836949e-01 -5.90390784e-03 4.00806734e+02] [ 5.91820517e-01 8.06057704e-01 -4.41055078e-03 4.65204652e+01] [ 7.36921731e-03 6.10092885e-05 9.99972845e-01 1.61968820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.504012739 meters Centerline goodness [0,1] 0.9974013143765302 Centerline is valid? [True, True] Translation: X:400.83, Y:46.54, Z:0.02 [[ 8.06046055e-01 -5.91817008e-01 -6.51041400e-03 4.00826960e+02] [ 5.91797010e-01 8.06072344e-01 -4.86571805e-03 4.65404629e+01] [ 8.12747937e-03 6.91493046e-05 9.99966969e-01 1.55033681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.534012739 meters Centerline goodness [0,1] 0.9976976699567247 Centerline is valid? [True, True] Translation: X:400.85, Y:46.56, Z:0.02 [[ 8.06383847e-01 -5.91352983e-01 -6.83676928e-03 4.00848074e+02] [ 5.91330895e-01 8.06412825e-01 -5.11170734e-03 4.65599545e+01] [ 8.53608181e-03 7.92053298e-05 9.99963564e-01 1.53718597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.564012739 meters Centerline goodness [0,1] 0.9974819145984934 Centerline is valid? [True, True] Translation: X:400.87, Y:46.58, Z:0.01 [[ 8.06952054e-01 -5.90572094e-01 -7.27896074e-03 4.00867164e+02] [ 5.90547007e-01 8.06984877e-01 -5.44423033e-03 4.65802830e+01] [ 9.08922174e-03 9.46643677e-05 9.99958688e-01 1.46641776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.594012739 meters Centerline goodness [0,1] 0.9973725247260377 Centerline is valid? [True, True] Translation: X:400.89, Y:46.60, Z:0.01 [[ 8.07710072e-01 -5.89528813e-01 -7.76004609e-03 4.00888332e+02] [ 5.89500239e-01 8.07747340e-01 -5.80535698e-03 4.66006423e+01] [ 9.69058180e-03 1.14496282e-04 9.99953039e-01 1.42890999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.624012739 meters Centerline goodness [0,1] 0.9975122262385712 Centerline is valid? [True, True] Translation: X:400.90, Y:46.62, Z:0.01 [[ 8.08825986e-01 -5.87994163e-01 -7.96171239e-03 4.00904497e+02] [ 5.87963992e-01 8.08865159e-01 -5.95808072e-03 4.66248051e+01] [ 9.94326845e-03 1.37850310e-04 9.99950555e-01 1.41959548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.654012739 meters Centerline goodness [0,1] 0.9973280892631939 Centerline is valid? [True, True] Translation: X:400.93, Y:46.64, Z:0.01 [[ 8.09110055e-01 -5.87605202e-01 -7.81318823e-03 4.00925004e+02] [ 5.87576119e-01 8.09147766e-01 -5.84788662e-03 4.66446305e+01] [ 9.75827240e-03 1.40741048e-04 9.99952377e-01 1.41516936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.684012739 meters Centerline goodness [0,1] 0.9965058200604514 Centerline is valid? [True, True] Translation: X:400.94, Y:46.67, Z:0.02 [[ 8.08743157e-01 -5.88126386e-01 -6.46996876e-03 4.00944850e+02] [ 5.88106448e-01 8.08769029e-01 -4.84393391e-03 4.66653681e+01] [ 8.08155569e-03 1.12468046e-04 9.99967337e-01 1.70683343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.714012739 meters Centerline goodness [0,1] 0.9967527643950167 Centerline is valid? [True, True] Translation: X:400.97, Y:46.68, Z:0.02 [[ 8.07938356e-01 -5.89239116e-01 -5.73377962e-03 4.00967045e+02] [ 5.89223476e-01 8.07958697e-01 -4.29414907e-03 4.66824766e+01] [ 7.16293771e-03 9.09301852e-05 9.99974342e-01 1.87524950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.744012739 meters Centerline goodness [0,1] 0.9971365685834562 Centerline is valid? [True, True] Translation: X:400.99, Y:46.70, Z:0.02 [[ 8.06539848e-01 -5.91155543e-01 -5.34772683e-03 4.00990167e+02] [ 5.91141976e-01 8.06557573e-01 -4.00557574e-03 4.66997025e+01] [ 6.68116788e-03 6.93906433e-05 9.99977678e-01 1.99951697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.774012739 meters Centerline goodness [0,1] 0.9977421347476942 Centerline is valid? [True, True] Translation: X:401.01, Y:46.72, Z:0.02 [[ 8.05199360e-01 -5.92981336e-01 -5.20822605e-03 4.01012200e+02] [ 5.92968496e-01 8.05216202e-01 -3.90257781e-03 4.67168411e+01] [ 6.50790380e-03 5.40391865e-05 9.99978822e-01 2.05961501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80401273900003 meters Centerline goodness [0,1] 0.9983703926067286 Centerline is valid? [True, True] Translation: X:401.04, Y:46.73, Z:0.02 [[ 8.02289043e-01 -5.96902994e-01 -6.25361262e-03 4.01036950e+02] [ 5.96884596e-01 8.02313414e-01 -4.68656186e-03 4.67318073e+01] [ 7.81478010e-03 2.72921839e-05 9.99969464e-01 1.85273108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.834012739 meters Centerline goodness [0,1] 0.9985729803412068 Centerline is valid? [True, True] Translation: X:401.06, Y:46.75, Z:0.02 [[ 8.00952039e-01 -5.98688212e-01 -6.94669166e-03 4.01059961e+02] [ 5.98665560e-01 8.00982163e-01 -5.20784979e-03 4.67476995e+01] [ 8.68205438e-03 1.24928512e-05 9.99962310e-01 1.82041232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.864012739 meters Centerline goodness [0,1] 0.998790502259851 Centerline is valid? [True, True] Translation: X:401.08, Y:46.77, Z:0.02 [[ 7.99321730e-01 -6.00857845e-01 -7.39068954e-03 4.01081012e+02] [ 6.00832287e-01 7.99355897e-01 -5.54198267e-03 4.67660903e+01] [ 9.23773503e-03 -1.07377261e-05 9.99957331e-01 1.73158376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.894012739 meters Centerline goodness [0,1] 0.9986581755447168 Centerline is valid? [True, True] Translation: X:401.10, Y:46.78, Z:0.02 [[ 7.99047604e-01 -6.01221072e-01 -7.49332250e-03 4.01101513e+02] [ 6.01194794e-01 7.99082738e-01 -5.62111098e-03 4.67847992e+01] [ 9.36731503e-03 -1.34112200e-05 9.99956126e-01 1.70434857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.924012739 meters Centerline goodness [0,1] 0.9986430894484051 Centerline is valid? [True, True] Translation: X:401.12, Y:46.80, Z:0.02 [[ 7.98748504e-01 -6.01620538e-01 -7.31818846e-03 4.01122613e+02] [ 6.01595472e-01 7.98782028e-01 -5.49176853e-03 4.68031977e+01] [ 9.14959816e-03 -1.60471462e-05 9.99958141e-01 1.69550036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.954012739 meters Centerline goodness [0,1] 0.998507785467128 Centerline is valid? [True, True] Translation: X:401.15, Y:46.82, Z:0.02 [[ 7.97060108e-01 -6.03856308e-01 -7.26249642e-03 4.01145067e+02] [ 6.03831697e-01 7.97093193e-01 -5.45199185e-03 4.68212458e+01] [ 9.08110613e-03 -3.97603217e-05 9.99958765e-01 1.73949162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.984012739 meters Centerline goodness [0,1] 0.9979959492591408 Centerline is valid? [True, True] Translation: X:401.17, Y:46.84, Z:0.02 [[ 7.95804434e-01 -6.05505974e-01 -7.60380304e-03 4.01167387e+02] [ 6.05479054e-01 7.95840758e-01 -5.71000845e-03 4.68373470e+01] [ 9.50886060e-03 -5.98934298e-05 9.99954788e-01 1.70052609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.014012739 meters Centerline goodness [0,1] 0.9974796556953374 Centerline is valid? [True, True] Translation: X:401.19, Y:46.85, Z:0.01 [[ 7.93196779e-01 -6.08908132e-01 -8.35202977e-03 4.01191135e+02] [ 6.08875828e-01 7.93240742e-01 -6.27300250e-03 4.68543246e+01] [ 1.04448525e-02 -1.09623663e-04 9.99945445e-01 1.48216439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.044012739 meters Centerline goodness [0,1] 0.9974308342357263 Centerline is valid? [True, True] Translation: X:401.22, Y:46.87, Z:0.01 [[ 7.91945479e-01 -6.10535323e-01 -8.30523744e-03 4.01215031e+02] [ 6.10503451e-01 7.91989017e-01 -6.23971053e-03 4.68693135e+01] [ 1.03872205e-02 -1.28865573e-04 9.99946043e-01 1.45938149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.074012739 meters Centerline goodness [0,1] 0.9965233341865029 Centerline is valid? [True, True] Translation: X:401.24, Y:46.88, Z:0.02 [[ 7.88075902e-01 -6.15537083e-01 -7.10438779e-03 4.01242449e+02] [ 6.15513956e-01 7.88107907e-01 -5.33831070e-03 4.68782918e+01] [ 8.88495239e-03 -1.65855815e-04 9.99960514e-01 1.72394526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.104012739 meters Centerline goodness [0,1] 0.9960232226782638 Centerline is valid? [True, True] Translation: X:401.26, Y:46.90, Z:0.02 [[ 7.85626476e-01 -6.18670912e-01 -6.11087914e-03 4.01264725e+02] [ 6.18653892e-01 7.85650223e-01 -4.59222721e-03 4.68973464e+01] [ 7.64209095e-03 -1.72743878e-04 9.99970784e-01 2.07324217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.134012739 meters Centerline goodness [0,1] 0.9945318129795261 Centerline is valid? [True, True] Translation: X:401.29, Y:46.91, Z:0.02 [[ 7.82994343e-01 -6.22004891e-01 -5.45666756e-03 4.01293619e+02] [ 6.21991393e-01 7.83013335e-01 -4.10182462e-03 4.69054766e+01] [ 6.82399843e-03 -1.82294784e-04 9.99976700e-01 2.19485195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.164012739 meters Centerline goodness [0,1] 0.9936399217221135 Centerline is valid? [True, True] Translation: X:401.32, Y:46.91, Z:0.02 [[ 7.77723789e-01 -6.28578673e-01 -5.87879351e-03 4.01323873e+02] [ 6.28563186e-01 7.77745965e-01 -4.41990367e-03 4.69135694e+01] [ 7.35046511e-03 -2.57728946e-04 9.99972952e-01 1.97333206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.194012739 meters Centerline goodness [0,1] 0.9915887651455463 Centerline is valid? [True, True] Translation: X:401.35, Y:46.92, Z:0.02 [[ 7.75288975e-01 -6.31570226e-01 -6.78634780e-03 4.01352030e+02] [ 6.31549687e-01 7.75318606e-01 -5.10412122e-03 4.69214911e+01] [ 8.48519271e-03 -3.28746922e-04 9.99963946e-01 1.77245342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.224012739 meters Centerline goodness [0,1] 0.9658839927093384 Centerline is valid? [True, True] Translation: X:401.38, Y:46.92, Z:0.02 [[ 7.72065776e-01 -6.35493743e-01 -7.88291538e-03 4.01384742e+02] [ 6.35466218e-01 7.72105897e-01 -5.93031379e-03 4.69243432e+01] [ 9.85512276e-03 -4.30734108e-04 9.99951344e-01 1.61141904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.254012739 meters Centerline goodness [0,1] 0.9850603941513032 Centerline is valid? [True, True] Translation: X:401.41, Y:46.94, Z:0.02 [[ 7.71425502e-01 -6.36274871e-01 -7.54872541e-03 4.01405858e+02] [ 6.36249654e-01 7.71462320e-01 -5.68043459e-03 4.69444768e+01] [ 9.43787501e-03 -4.20841825e-04 9.99955374e-01 1.73110503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.284012739 meters Centerline goodness [0,1] 0.9853236059558855 Centerline is valid? [True, True] Translation: X:401.43, Y:46.96, Z:0.02 [[ 7.71277014e-01 -6.36457840e-01 -7.29285526e-03 4.01431101e+02] [ 6.36434294e-01 7.71311385e-01 -5.48967598e-03 4.69574441e+01] [ 9.11900961e-03 -4.07362289e-04 9.99958338e-01 1.87654953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.314012739 meters Centerline goodness [0,1] 0.9866438066209465 Centerline is valid? [True, True] Translation: X:401.46, Y:46.97, Z:0.02 [[ 7.72107261e-01 -6.35443627e-01 -7.85971768e-03 4.01457801e+02] [ 6.35416204e-01 7.72147147e-01 -5.91868155e-03 4.69690069e+01] [ 9.82984705e-03 -4.24334972e-04 9.99951596e-01 1.76464864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.344012739 meters Centerline goodness [0,1] 0.9868878492639169 Centerline is valid? [True, True] Translation: X:401.48, Y:46.98, Z:0.02 [[ 7.72889016e-01 -6.34481652e-01 -8.69502028e-03 4.01481821e+02] [ 6.34448004e-01 7.72937790e-01 -6.54999727e-03 4.69849431e+01] [ 1.08765628e-02 -4.54117320e-04 9.99940745e-01 1.54898014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.374012739 meters Centerline goodness [0,1] 0.9892425206874602 Centerline is valid? [True, True] Translation: X:401.51, Y:47.00, Z:0.01 [[ 7.74654936e-01 -6.32311827e-01 -9.56472498e-03 4.01506558e+02] [ 6.32270917e-01 7.74713843e-01 -7.20765560e-03 4.69998330e+01] [ 1.19674107e-02 -4.64051445e-04 9.99928280e-01 1.28865369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.404012739 meters Centerline goodness [0,1] 0.9905149629124392 Centerline is valid? [True, True] Translation: X:401.53, Y:47.02, Z:0.01 [[ 7.75230860e-01 -6.31611754e-01 -9.14911462e-03 4.01531124e+02] [ 6.31574248e-01 7.75284725e-01 -6.89665526e-03 4.70153593e+01] [ 1.14491773e-02 -4.31845202e-04 9.99934363e-01 1.36800647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.434012739 meters Centerline goodness [0,1] 0.9916152741404072 Centerline is valid? [True, True] Translation: X:401.56, Y:47.03, Z:0.02 [[ 7.75852949e-01 -6.30855225e-01 -8.59577646e-03 4.01555187e+02] [ 6.30822054e-01 7.75900464e-01 -6.48120138e-03 4.70296847e+01] [ 1.07581667e-02 -3.93946166e-04 9.99942052e-01 1.58664446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.464012739 meters Centerline goodness [0,1] 0.9933326164103667 Centerline is valid? [True, True] Translation: X:401.58, Y:47.04, Z:0.02 [[ 7.77776127e-01 -6.28488635e-01 -8.14449196e-03 4.01577768e+02] [ 6.28458715e-01 7.77818693e-01 -6.14194102e-03 4.70446931e+01] [ 1.01950782e-02 -3.41421858e-04 9.99947971e-01 1.75672743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.494012739 meters Centerline goodness [0,1] 0.9942110097622455 Centerline is valid? [True, True] Translation: X:401.60, Y:47.06, Z:0.02 [[ 7.79170058e-01 -6.26756541e-01 -8.38207831e-03 4.01600305e+02] [ 6.26724726e-01 7.79215074e-01 -6.32340535e-03 4.70625586e+01] [ 1.04946774e-02 -3.26247622e-04 9.99944876e-01 1.71624335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.524012739 meters Centerline goodness [0,1] 0.9942110097622455 Centerline is valid? [True, True] Translation: X:401.62, Y:47.08, Z:0.02 [[ 7.79059589e-01 -6.26893862e-01 -8.38105993e-03 4.01622132e+02] [ 6.26862041e-01 7.79104601e-01 -6.32475488e-03 4.70792655e+01] [ 1.04946724e-02 -3.26407394e-04 9.99944876e-01 1.73820523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55401273900003 meters Centerline goodness [0,1] 0.9954321173859645 Centerline is valid? [True, True] Translation: X:401.64, Y:47.10, Z:0.02 [[ 7.82122311e-01 -6.23060972e-01 -8.92838686e-03 4.01641864e+02] [ 6.23024581e-01 7.82173216e-01 -6.74030038e-03 4.70988508e+01] [ 1.11831632e-02 -2.90865171e-04 9.99937424e-01 1.60940364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.584012739 meters Centerline goodness [0,1] 0.9954778414229726 Centerline is valid? [True, True] Translation: X:401.66, Y:47.12, Z:0.02 [[ 7.83831182e-01 -6.20910428e-01 -8.88361564e-03 4.01661934e+02] [ 6.20874237e-01 7.83881480e-01 -6.70871495e-03 4.71188561e+01] [ 1.11292128e-02 -2.57108112e-04 9.99938035e-01 1.62365569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.614012739 meters Centerline goodness [0,1] 0.9965033464904753 Centerline is valid? [True, True] Translation: X:401.68, Y:47.14, Z:0.02 [[ 7.85533730e-01 -6.18756078e-01 -8.81335101e-03 4.01682495e+02] [ 6.18720297e-01 7.85583138e-01 -6.65790100e-03 4.71394810e+01] [ 1.10432366e-02 -2.22993346e-04 9.99938997e-01 1.65828053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.644012739 meters Centerline goodness [0,1] 0.9972160476509053 Centerline is valid? [True, True] Translation: X:401.70, Y:47.16, Z:0.02 [[ 7.87590891e-01 -6.16136916e-01 -8.71138950e-03 4.01702231e+02] [ 6.16101774e-01 7.87639046e-01 -6.58302353e-03 4.71595990e+01] [ 1.09174743e-02 -1.82373157e-04 9.99940386e-01 1.76323123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.674012739 meters Centerline goodness [0,1] 0.9969035587571229 Centerline is valid? [True, True] Translation: X:401.72, Y:47.18, Z:0.02 [[ 7.87138395e-01 -6.16725831e-01 -7.89907377e-03 4.01724047e+02] [ 6.16696949e-01 7.87178010e-01 -5.97105366e-03 4.71753781e+01] [ 9.90048021e-03 -1.71289101e-04 9.99950974e-01 2.06587666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.704012739 meters Centerline goodness [0,1] 0.9962779424812274 Centerline is valid? [True, True] Translation: X:401.75, Y:47.19, Z:0.02 [[ 7.85946333e-01 -6.18254219e-01 -7.07694752e-03 4.01748758e+02] [ 6.18231084e-01 7.85978175e-01 -5.35115198e-03 4.71900254e+01] [ 8.87069859e-03 -1.69470665e-04 9.99960640e-01 2.23197397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.734012739 meters Centerline goodness [0,1] 0.9957738362041365 Centerline is valid? [True, True] Translation: X:401.77, Y:47.20, Z:0.02 [[ 7.84669956e-01 -6.19877719e-01 -6.68385468e-03 4.01773979e+02] [ 6.19857129e-01 7.84698402e-01 -5.05540941e-03 4.72038385e+01] [ 8.37854574e-03 -1.76207091e-04 9.99964884e-01 2.28492628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.764012739 meters Centerline goodness [0,1] 0.995291095890411 Centerline is valid? [True, True] Translation: X:401.80, Y:47.22, Z:0.02 [[ 7.83363482e-01 -6.21531507e-01 -6.34348174e-03 4.01799672e+02] [ 6.21513004e-01 7.83389145e-01 -4.79938203e-03 4.72177102e+01] [ 7.95238189e-03 -1.82895774e-04 9.99968363e-01 2.41071338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.794012739 meters Centerline goodness [0,1] 0.9941056254705819 Centerline is valid? [True, True] Translation: X:401.83, Y:47.23, Z:0.03 [[ 7.81414898e-01 -6.23986199e-01 -5.65520803e-03 4.01825218e+02] [ 6.23971549e-01 7.81435340e-01 -4.27979822e-03 4.72301714e+01] [ 7.08971443e-03 -1.84390828e-04 9.99974851e-01 2.63349056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.824012739 meters Centerline goodness [0,1] 0.9953985104015067 Centerline is valid? [True, True] Translation: X:401.84, Y:47.26, Z:0.03 [[ 7.80981117e-01 -6.24535266e-01 -4.91902171e-03 4.01841782e+02] [ 6.24524186e-01 7.80996591e-01 -3.72366290e-03 4.72563826e+01] [ 6.16729798e-03 -1.63937614e-04 9.99980969e-01 2.87239146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.854012739 meters Centerline goodness [0,1] 0.9932895882440381 Centerline is valid? [True, True] Translation: X:401.87, Y:47.27, Z:0.03 [[ 7.81225024e-01 -6.24230495e-01 -4.87348405e-03 4.01869388e+02] [ 6.24219605e-01 7.81240208e-01 -3.69071602e-03 4.72654689e+01] [ 6.11121918e-03 -1.58844578e-04 9.99981314e-01 3.02345105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.884012739 meters Centerline goodness [0,1] 0.9933646668509815 Centerline is valid? [True, True] Translation: X:401.89, Y:47.28, Z:0.03 [[ 7.81353784e-01 -6.24067284e-01 -5.12723190e-03 4.01891122e+02] [ 6.24055224e-01 7.81370589e-01 -3.88324494e-03 4.72814385e+01] [ 6.42967433e-03 -1.65487724e-04 9.99979316e-01 2.97095621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.914012739 meters Centerline goodness [0,1] 0.9952786048490004 Centerline is valid? [True, True] Translation: X:401.91, Y:47.30, Z:0.03 [[ 7.81167158e-01 -6.24296985e-01 -5.58081321e-03 4.01908853e+02] [ 6.24282695e-01 7.81187072e-01 -4.22802858e-03 4.73043008e+01] [ 6.99920463e-03 -1.81208044e-04 9.99975489e-01 2.86291642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.944012739 meters Centerline goodness [0,1] 0.9950808452391137 Centerline is valid? [True, True] Translation: X:401.94, Y:47.32, Z:0.03 [[ 7.79190045e-01 -6.26765758e-01 -5.24957122e-03 4.01935321e+02] [ 6.26753159e-01 7.79207706e-01 -3.97853004e-03 4.73172287e+01] [ 6.58411274e-03 -1.90154341e-04 9.99978306e-01 2.70199739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.974012739 meters Centerline goodness [0,1] 0.9927044669141175 Centerline is valid? [True, True] Translation: X:401.96, Y:47.33, Z:0.03 [[ 7.77405007e-01 -6.28981499e-01 -4.87116761e-03 4.01963837e+02] [ 6.28970687e-01 7.77420244e-01 -3.69307547e-03 4.73250135e+01] [ 6.10982046e-03 -1.92806281e-04 9.99981316e-01 2.74993948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.004012739 meters Centerline goodness [0,1] 0.9926335568176965 Centerline is valid? [True, True] Translation: X:401.99, Y:47.33, Z:0.03 [[ 7.73486401e-01 -6.33795142e-01 -4.74406666e-03 4.01993310e+02] [ 6.33784975e-01 7.73500916e-01 -3.59692528e-03 4.73332328e+01] [ 5.94925367e-03 -2.24545381e-04 9.99982278e-01 2.83477886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.034012739 meters Centerline goodness [0,1] 0.9882627100525934 Centerline is valid? [True, True] Translation: X:402.02, Y:47.34, Z:0.03 [[ 7.71761097e-01 -6.35889299e-01 -5.44141411e-03 4.02023482e+02] [ 6.35875963e-01 7.71780230e-01 -4.12740168e-03 4.73389002e+01] [ 6.82414640e-03 -2.74696391e-04 9.99976678e-01 2.71754190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.064012739 meters Centerline goodness [0,1] 0.9775641025641025 Centerline is valid? [True, True] Translation: X:402.05, Y:47.34, Z:0.02 [[ 7.69696844e-01 -6.38356133e-01 -8.25930467e-03 4.02053533e+02] [ 6.38325531e-01 7.69741026e-01 -6.26659970e-03 4.73439209e+01] [ 1.03578480e-02 -4.48743022e-04 9.99946255e-01 2.08829753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.094012739 meters Centerline goodness [0,1] 0.9803197506883818 Centerline is valid? [True, True] Translation: X:402.08, Y:47.36, Z:0.02 [[ 7.69399811e-01 -6.38699411e-01 -9.32700875e-03 4.02078291e+02] [ 6.38660390e-01 7.69456173e-01 -7.07847816e-03 4.73596142e+01] [ 1.16977443e-02 -5.10611282e-04 9.99931449e-01 1.83517585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.124012739 meters Centerline goodness [0,1] 0.9892383218642142 Centerline is valid? [True, True] Translation: X:402.10, Y:47.38, Z:0.02 [[ 7.69921011e-01 -6.38058537e-01 -1.01459491e-02 4.02100430e+02] [ 6.38012273e-01 7.69987668e-01 -7.70264029e-03 4.73775485e+01] [ 1.27269911e-02 -5.42815447e-04 9.99918861e-01 1.76433937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.154012739 meters Centerline goodness [0,1] 0.9921718356725395 Centerline is valid? [True, True] Translation: X:402.12, Y:47.39, Z:0.02 [[ 7.72336882e-01 -6.35142235e-01 -9.49118255e-03 4.02124869e+02] [ 6.35101503e-01 7.72395060e-01 -7.20774982e-03 4.73901116e+01] [ 1.19088888e-02 -4.61053287e-04 9.99928980e-01 2.05185931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.184012739 meters Centerline goodness [0,1] 0.992839134764094 Centerline is valid? [True, True] Translation: X:402.15, Y:47.41, Z:0.02 [[ 7.73714313e-01 -6.33477518e-01 -8.50855731e-03 4.02147739e+02] [ 6.33444668e-01 7.73760998e-01 -6.46302705e-03 4.74053498e+01] [ 1.06777721e-02 -3.89163722e-04 9.99942915e-01 2.31490779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.214012739 meters Centerline goodness [0,1] 0.9946957067700102 Centerline is valid? [True, True] Translation: X:402.17, Y:47.42, Z:0.03 [[ 7.76400622e-01 -6.30202262e-01 -6.86902198e-03 4.02170415e+02] [ 6.30180717e-01 7.76430958e-01 -5.21837289e-03 4.74232557e+01] [ 8.62195171e-03 -2.77177238e-04 9.99962792e-01 2.63984327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.244012739 meters Centerline goodness [0,1] 0.9951678480958767 Centerline is valid? [True, True] Translation: X:402.19, Y:47.44, Z:0.03 [[ 7.77683543e-01 -6.28614971e-01 -7.17810111e-03 4.02194714e+02] [ 6.28591358e-01 7.77716623e-01 -5.45515808e-03 4.74372194e+01] [ 9.01172259e-03 -2.69705660e-04 9.99959357e-01 2.60589479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.274012739 meters Centerline goodness [0,1] 0.9958991139536366 Centerline is valid? [True, True] Translation: X:402.22, Y:47.46, Z:0.03 [[ 7.78815235e-01 -6.27208171e-01 -7.53262064e-03 4.02216632e+02] [ 6.27182082e-01 7.78851616e-01 -5.72676495e-03 4.74550782e+01] [ 9.45866753e-03 -2.64232909e-04 9.99955231e-01 2.60384606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30401273900003 meters Centerline goodness [0,1] 0.9967726666379793 Centerline is valid? [True, True] Translation: X:402.24, Y:47.47, Z:0.03 [[ 7.80938483e-01 -6.24556485e-01 -8.01760535e-03 4.02238821e+02] [ 6.24526765e-01 7.80979601e-01 -6.09778498e-03 4.74732165e+01] [ 1.00699974e-02 -2.45214184e-04 9.99949266e-01 2.60044513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.334012739 meters Centerline goodness [0,1] 0.9963544886690686 Centerline is valid? [True, True] Translation: X:402.26, Y:47.49, Z:0.03 [[ 7.82203799e-01 -6.22972192e-01 -7.92868435e-03 4.02263455e+02] [ 6.22943028e-01 7.82243951e-01 -6.03199054e-03 4.74869759e+01] [ 9.95992774e-03 -2.20872725e-04 9.99950374e-01 2.61686038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.364012739 meters Centerline goodness [0,1] 0.9971849145804234 Centerline is valid? [True, True] Translation: X:402.28, Y:47.51, Z:0.03 [[ 7.84295822e-01 -6.20342689e-01 -7.41700967e-03 4.02282169e+02] [ 6.20317042e-01 7.84330872e-01 -5.64353343e-03 4.75101093e+01] [ 9.31831437e-03 -1.74697811e-04 9.99956568e-01 2.85278226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.394012739 meters Centerline goodness [0,1] 0.9966953777929388 Centerline is valid? [True, True] Translation: X:402.30, Y:47.53, Z:0.03 [[ 7.85025455e-01 -6.19427216e-01 -6.70514902e-03 4.02303564e+02] [ 6.19406209e-01 7.85054076e-01 -5.10343742e-03 4.75271051e+01] [ 8.42511260e-03 -1.46882658e-04 9.99964497e-01 3.02406651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.424012739 meters Centerline goodness [0,1] 0.996939867322919 Centerline is valid? [True, True] Translation: X:402.32, Y:47.55, Z:0.03 [[ 7.85559653e-01 -6.18757999e-01 -5.87973301e-03 4.02324633e+02] [ 6.18741820e-01 7.85581647e-01 -4.47619251e-03 4.75456201e+01] [ 7.38869026e-03 -1.21720473e-04 9.99972696e-01 3.28530051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.454012739 meters Centerline goodness [0,1] 0.9965179727807384 Centerline is valid? [True, True] Translation: X:402.34, Y:47.57, Z:0.03 [[ 7.87012731e-01 -6.16913494e-01 -5.35736266e-03 4.02344538e+02] [ 6.16900011e-01 7.87030960e-01 -4.07984954e-03 4.75670237e+01] [ 6.73332451e-03 -9.40635553e-05 9.99977326e-01 3.46838034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.484012739 meters Centerline goodness [0,1] 0.9973472549394113 Centerline is valid? [True, True] Translation: X:402.36, Y:47.59, Z:0.03 [[ 7.88563063e-01 -6.14925985e-01 -5.85907232e-03 4.02364255e+02] [ 6.14909790e-01 7.88584825e-01 -4.46353351e-03 4.75879880e+01] [ 7.36511826e-03 -8.30232731e-05 9.99972874e-01 3.36424171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.514012739 meters Centerline goodness [0,1] 0.9977232589314211 Centerline is valid? [True, True] Translation: X:402.38, Y:47.61, Z:0.03 [[ 7.89164065e-01 -6.14149824e-01 -6.33032396e-03 4.02384887e+02] [ 6.14130881e-01 7.89189450e-01 -4.82424305e-03 4.76078036e+01] [ 7.95863290e-03 -8.05281789e-05 9.99968326e-01 3.24459620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.544012739 meters Centerline goodness [0,1] 0.9976162353699131 Centerline is valid? [True, True] Translation: X:402.41, Y:47.63, Z:0.03 [[ 7.89719229e-01 -6.13428132e-01 -7.03317066e-03 4.02405059e+02] [ 6.13404702e-01 7.89750543e-01 -5.36200315e-03 4.76295171e+01] [ 8.84365393e-03 -7.97029620e-05 9.99960891e-01 3.19398335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.574012739 meters Centerline goodness [0,1] 0.9975964606287488 Centerline is valid? [True, True] Translation: X:402.43, Y:47.65, Z:0.03 [[ 7.90113955e-01 -6.12916051e-01 -7.33836586e-03 4.02426008e+02] [ 6.12890503e-01 7.90148029e-01 -5.59670987e-03 4.76473587e+01] [ 9.22870864e-03 -7.55761706e-05 9.99957412e-01 3.09686474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.604012739 meters Centerline goodness [0,1] 0.9976760548365776 Centerline is valid? [True, True] Translation: X:402.45, Y:47.67, Z:0.03 [[ 7.90288984e-01 -6.12690808e-01 -7.30041212e-03 4.02446043e+02] [ 6.12665494e-01 7.90322699e-01 -5.56992464e-03 4.76674124e+01] [ 9.18232304e-03 -7.08605150e-05 9.99957839e-01 3.07003003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.634012739 meters Centerline goodness [0,1] 0.9976612663179827 Centerline is valid? [True, True] Translation: X:402.47, Y:47.69, Z:0.03 [[ 7.89937704e-01 -6.13149650e-01 -6.77728756e-03 4.02466439e+02] [ 6.13127835e-01 7.89966773e-01 -5.17260093e-03 4.76850429e+01] [ 8.52541043e-03 -6.93111455e-05 9.99963656e-01 3.17208720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.664012739 meters Centerline goodness [0,1] 0.997377007229224 Centerline is valid? [True, True] Translation: X:402.49, Y:47.70, Z:0.03 [[ 7.89524118e-01 -6.13686188e-01 -6.39756619e-03 4.02487105e+02] [ 6.13666759e-01 7.89550035e-01 -4.88379569e-03 4.77032601e+01] [ 8.04831657e-03 -7.00992274e-05 9.99967609e-01 3.33430366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.694012739 meters Centerline goodness [0,1] 0.9978412345573462 Centerline is valid? [True, True] Translation: X:402.51, Y:47.72, Z:0.03 [[ 7.89101094e-01 -6.14233640e-01 -6.04136035e-03 4.02508687e+02] [ 6.14216318e-01 7.89124217e-01 -4.61358840e-03 4.77203717e+01] [ 7.60120495e-03 -7.01144547e-05 9.99971108e-01 3.41320042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.724012739 meters Centerline goodness [0,1] 0.9976590763992339 Centerline is valid? [True, True] Translation: X:402.53, Y:47.73, Z:0.03 [[ 7.87265744e-01 -6.16573878e-01 -7.02147897e-03 4.02533123e+02] [ 6.16550560e-01 7.87297048e-01 -5.36339749e-03 4.77335843e+01] [ 8.83492046e-03 -1.06677678e-04 9.99960966e-01 3.13237492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.754012739 meters Centerline goodness [0,1] 0.9979368725540242 Centerline is valid? [True, True] Translation: X:402.56, Y:47.75, Z:0.03 [[ 7.86174878e-01 -6.17953031e-01 -7.94435848e-03 4.02555688e+02] [ 6.17923240e-01 7.86215004e-01 -6.06935266e-03 4.77506849e+01] [ 9.99654870e-03 -1.37431146e-04 9.99950024e-01 2.93028449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.784012739 meters Centerline goodness [0,1] 0.997564935064935 Centerline is valid? [True, True] Translation: X:402.58, Y:47.77, Z:0.03 [[ 7.85054610e-01 -6.19368079e-01 -8.51122866e-03 4.02578978e+02] [ 6.19333952e-01 7.85100729e-01 -6.50392144e-03 4.77677811e+01] [ 1.07104932e-02 -1.65359371e-04 9.99942627e-01 2.85123824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.814012739 meters Centerline goodness [0,1] 0.9979670447250161 Centerline is valid? [True, True] Translation: X:402.60, Y:47.78, Z:0.03 [[ 7.83930519e-01 -6.20793347e-01 -8.28018650e-03 4.02602047e+02] [ 6.20761105e-01 7.83974227e-01 -6.32946023e-03 4.77846081e+01] [ 1.04207396e-02 -1.78160680e-04 9.99945687e-01 2.93506793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.844012739 meters Centerline goodness [0,1] 0.997578587797812 Centerline is valid? [True, True] Translation: X:402.62, Y:47.80, Z:0.03 [[ 7.83295369e-01 -6.21598192e-01 -8.00320087e-03 4.02624628e+02] [ 6.21568095e-01 7.83336233e-01 -6.11952615e-03 4.78017128e+01] [ 1.00730836e-02 -1.81137825e-04 9.99949249e-01 3.05886840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.874012739 meters Centerline goodness [0,1] 0.9978193013212469 Centerline is valid? [True, True] Translation: X:402.65, Y:47.82, Z:0.03 [[ 7.81991980e-01 -6.23241064e-01 -7.68889176e-03 4.02647619e+02] [ 6.23213354e-01 7.82029755e-01 -5.88025767e-03 4.78172930e+01] [ 9.67776019e-03 -1.93505682e-04 9.99953151e-01 3.20921353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.904012739 meters Centerline goodness [0,1] 0.9974206476093027 Centerline is valid? [True, True] Translation: X:402.67, Y:47.83, Z:0.03 [[ 7.81422884e-01 -6.23959264e-01 -7.28785721e-03 4.02670852e+02] [ 6.23934389e-01 7.81456845e-01 -5.57479520e-03 4.78335015e+01] [ 9.17359101e-03 -1.90872186e-04 9.99957904e-01 3.30609207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.934012739 meters Centerline goodness [0,1] 0.9973733663620057 Centerline is valid? [True, True] Translation: X:402.69, Y:47.85, Z:0.03 [[ 7.80703374e-01 -6.24863052e-01 -6.95761307e-03 4.02694400e+02] [ 6.24840407e-01 7.80734353e-01 -5.32313861e-03 4.78494536e+01] [ 8.75828017e-03 -1.91605510e-04 9.99961627e-01 3.34014889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.964012739 meters Centerline goodness [0,1] 0.9967452687847567 Centerline is valid? [True, True] Translation: X:402.72, Y:47.86, Z:0.03 [[ 7.78705468e-01 -6.27353899e-01 -6.69915516e-03 4.02721172e+02] [ 6.27332984e-01 7.78734255e-01 -5.12700609e-03 4.78606642e+01] [ 8.43330887e-03 -2.10173322e-04 9.99964417e-01 3.40519751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.994012739 meters Centerline goodness [0,1] 0.9962849743132509 Centerline is valid? [True, True] Translation: X:402.75, Y:47.87, Z:0.03 [[ 7.77296931e-01 -6.29094023e-01 -7.08455870e-03 4.02746497e+02] [ 6.29070694e-01 7.77329179e-01 -5.42314595e-03 4.78731823e+01] [ 8.91870290e-03 -2.41293558e-04 9.99960198e-01 3.39994047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.024012739 meters Centerline goodness [0,1] 0.9939522546419098 Centerline is valid? [True, True] Translation: X:402.78, Y:47.88, Z:0.03 [[ 7.73596297e-01 -6.33636899e-01 -7.28346771e-03 4.02777949e+02] [ 6.33612425e-01 7.73630525e-01 -5.57717723e-03 4.78774975e+01] [ 9.16861823e-03 -3.00411987e-04 9.99957922e-01 3.40162998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05401273900003 meters Centerline goodness [0,1] 0.9918742995085783 Centerline is valid? [True, True] Translation: X:402.80, Y:47.89, Z:0.04 [[ 7.71674109e-01 -6.35981610e-01 -6.81627326e-03 4.02803992e+02] [ 6.35960253e-01 7.71704152e-01 -5.22092623e-03 4.78901836e+01] [ 8.58055945e-03 -3.06025279e-04 9.99963139e-01 3.53377554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.084012739 meters Centerline goodness [0,1] 0.9906160229811682 Centerline is valid? [True, True] Translation: X:402.83, Y:47.90, Z:0.04 [[ 7.70505273e-01 -6.37402130e-01 -6.33633918e-03 4.02830458e+02] [ 6.37383710e-01 7.70531269e-01 -4.85488298e-03 4.79022856e+01] [ 7.97686022e-03 -2.97966440e-04 9.99968140e-01 3.69208098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.114012739 meters Centerline goodness [0,1] 0.9883948335518257 Centerline is valid? [True, True] Translation: X:402.86, Y:47.91, Z:0.04 [[ 7.70315628e-01 -6.37648027e-01 -4.33896136e-03 4.02857385e+02] [ 6.37639391e-01 7.70327821e-01 -3.32506105e-03 4.79110468e+01] [ 5.46264127e-03 -2.05346189e-04 9.99985059e-01 4.11492498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.144012739 meters Centerline goodness [0,1] 0.9898917120515375 Centerline is valid? [True, True] Translation: X:402.88, Y:47.93, Z:0.04 [[ 7.71219213e-01 -6.36554272e-01 -4.42542407e-03 4.02881738e+02] [ 6.36545264e-01 7.71231884e-01 -3.39247581e-03 4.79258523e+01] [ 5.57252312e-03 -2.00640210e-04 9.99984453e-01 4.19658450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.174012739 meters Centerline goodness [0,1] 0.9934932380709365 Centerline is valid? [True, True] Translation: X:402.90, Y:47.94, Z:0.04 [[ 7.74496706e-01 -6.32546008e-01 -6.35610564e-03 4.02904004e+02] [ 6.32527272e-01 7.74522748e-01 -4.87473756e-03 4.79409594e+01] [ 8.00644419e-03 -2.44941978e-04 9.99967918e-01 3.74703884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.204012739 meters Centerline goodness [0,1] 0.9965339088352626 Centerline is valid? [True, True] Translation: X:402.92, Y:47.96, Z:0.04 [[ 7.76536894e-01 -6.30031132e-01 -7.15709681e-03 4.02923162e+02] [ 6.30007252e-01 7.76569837e-01 -5.49097041e-03 4.79624308e+01] [ 9.01746781e-03 -2.45081776e-04 9.99959312e-01 3.58299647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.234012739 meters Centerline goodness [0,1] 0.9976023804936527 Centerline is valid? [True, True] Translation: X:402.94, Y:47.98, Z:0.03 [[ 7.80828997e-01 -6.24697166e-01 -7.71541991e-03 4.02944180e+02] [ 6.24669139e-01 7.80867090e-01 -5.92071960e-03 4.79812338e+01] [ 9.72337424e-03 -1.96515163e-04 9.99952708e-01 3.45050824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.264012739 meters Centerline goodness [0,1] 0.9972635285632464 Centerline is valid? [True, True] Translation: X:402.97, Y:48.00, Z:0.04 [[ 7.82997925e-01 -6.21977105e-01 -7.66358546e-03 4.02967475e+02] [ 6.21949311e-01 7.83035411e-01 -5.88210185e-03 4.79959168e+01] [ 9.65939147e-03 -1.60688150e-04 9.99953334e-01 3.51137421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.294012739 meters Centerline goodness [0,1] 0.997779722892338 Centerline is valid? [True, True] Translation: X:402.99, Y:48.02, Z:0.04 [[ 7.85025270e-01 -6.19425368e-01 -6.89481014e-03 4.02987644e+02] [ 6.19402766e-01 7.85055539e-01 -5.29283341e-03 4.80155400e+01] [ 8.69132418e-03 -1.15656492e-04 9.99962223e-01 3.72651540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.324012739 meters Centerline goodness [0,1] 0.9977248080971316 Centerline is valid? [True, True] Translation: X:403.01, Y:48.04, Z:0.04 [[ 7.89533442e-01 -6.13677875e-01 -6.03400775e-03 4.03005620e+02] [ 6.13660384e-01 7.89556498e-01 -4.63347923e-03 4.80381946e+01] [ 7.60765372e-03 -4.45447074e-05 9.99971060e-01 3.99306285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.354012739 meters Centerline goodness [0,1] 0.9973375931842385 Centerline is valid? [True, True] Translation: X:403.03, Y:48.06, Z:0.04 [[ 7.91561314e-01 -6.11060479e-01 -5.98134784e-03 4.03025488e+02] [ 6.11043206e-01 7.91583912e-01 -4.59460962e-03 4.80595201e+01] [ 7.54232308e-03 -1.79467302e-05 9.99971556e-01 3.99606921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.384012739 meters Centerline goodness [0,1] 0.9967400862161409 Centerline is valid? [True, True] Translation: X:403.04, Y:48.08, Z:0.04 [[ 7.95132769e-01 -6.06400169e-01 -6.53572222e-03 4.03041911e+02] [ 6.06379377e-01 7.95159628e-01 -5.02163815e-03 4.80833309e+01] [ 8.24206468e-03 2.97418804e-05 9.99966033e-01 3.89617890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.414012739 meters Centerline goodness [0,1] 0.9967400862161409 Centerline is valid? [True, True] Translation: X:403.06, Y:48.10, Z:0.04 [[ 7.95024056e-01 -6.06542700e-01 -6.53482514e-03 4.03063575e+02] [ 6.06521903e-01 7.95050912e-01 -5.02280529e-03 4.81002481e+01] [ 8.24206457e-03 2.97364476e-05 9.99966033e-01 3.91813113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.444012739 meters Centerline goodness [0,1] 0.9961157131207348 Centerline is valid? [True, True] Translation: X:403.08, Y:48.12, Z:0.04 [[ 7.96906301e-01 -6.04063885e-01 -6.86800206e-03 4.03082741e+02] [ 6.04040805e-01 7.96935894e-01 -5.28086119e-03 4.81209497e+01] [ 8.66333489e-03 5.97980648e-05 9.99962471e-01 3.83766891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.474012739 meters Centerline goodness [0,1] 0.9958280389665396 Centerline is valid? [True, True] Translation: X:403.10, Y:48.14, Z:0.04 [[ 7.98812259e-01 -6.01532242e-01 -7.61159314e-03 4.03101338e+02] [ 6.01503767e-01 7.98848516e-01 -5.85369371e-03 4.81410181e+01] [ 9.60169539e-03 9.76003505e-05 9.99953898e-01 3.63640887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.504012739 meters Centerline goodness [0,1] 0.9942355084110147 Centerline is valid? [True, True] Translation: X:403.12, Y:48.17, Z:0.03 [[ 8.02524324e-01 -5.96561887e-01 -8.28398512e-03 4.03115173e+02] [ 5.96527881e-01 8.02567059e-01 -6.37200902e-03 4.81666491e+01] [ 1.04497513e-02 1.72064146e-04 9.99945385e-01 3.48568759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.534012739 meters Centerline goodness [0,1] 0.9947268011403828 Centerline is valid? [True, True] Translation: X:403.14, Y:48.18, Z:0.04 [[ 8.03692102e-01 -5.94989821e-01 -8.13130310e-03 4.03138341e+02] [ 5.94956958e-01 8.03733212e-01 -6.25628382e-03 4.81834061e+01] [ 1.02578236e-02 1.90350535e-04 9.99947369e-01 3.60121758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.564012739 meters Centerline goodness [0,1] 0.9935685134933014 Centerline is valid? [True, True] Translation: X:403.16, Y:48.21, Z:0.04 [[ 8.05078271e-01 -5.93124145e-01 -7.26126197e-03 4.03156399e+02] [ 5.93097849e-01 8.05110993e-01 -5.58842738e-03 4.82057403e+01] [ 9.16075305e-03 1.92482605e-04 9.99958021e-01 3.92892281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.594012739 meters Centerline goodness [0,1] 0.9931959606399242 Centerline is valid? [True, True] Translation: X:403.18, Y:48.22, Z:0.04 [[ 8.05480485e-01 -5.92586603e-01 -6.50439518e-03 4.03178663e+02] [ 5.92565480e-01 8.05506726e-01 -5.00649697e-03 4.82242496e+01] [ 8.20611710e-03 1.78355549e-04 9.99966313e-01 4.11347090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.624012739 meters Centerline goodness [0,1] 0.9922851935059981 Centerline is valid? [True, True] Translation: X:403.20, Y:48.25, Z:0.04 [[ 8.06282233e-01 -5.91496951e-01 -6.34957394e-03 4.03196194e+02] [ 5.91476776e-01 8.06307213e-01 -4.88894829e-03 4.82476142e+01] [ 8.01150527e-03 1.86246624e-04 9.99967890e-01 4.15924081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.654012739 meters Centerline goodness [0,1] 0.9918786065398589 Centerline is valid? [True, True] Translation: X:403.21, Y:48.27, Z:0.04 [[ 8.08515589e-01 -5.88435729e-01 -6.77757714e-03 4.03214468e+02] [ 5.88412628e-01 8.08543962e-01 -5.21924057e-03 4.82711133e+01] [ 8.55115670e-03 2.31825388e-04 9.99963411e-01 4.01327177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.684012739 meters Centerline goodness [0,1] 0.9910205822757812 Centerline is valid? [True, True] Translation: X:403.23, Y:48.29, Z:0.04 [[ 8.09800419e-01 -5.86656583e-01 -7.57199824e-03 4.03233856e+02] [ 5.86627652e-01 8.09835770e-01 -5.83301775e-03 4.82924998e+01] [ 9.55405329e-03 2.81636666e-04 9.99954319e-01 3.85074972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.714012739 meters Centerline goodness [0,1] 0.9909498399146212 Centerline is valid? [True, True] Translation: X:403.25, Y:48.32, Z:0.04 [[ 8.10909767e-01 -5.85120922e-01 -7.67175843e-03 4.03252023e+02] [ 5.85091145e-01 8.10945999e-01 -5.91090384e-03 4.83154224e+01] [ 9.67997531e-03 3.04531733e-04 9.99953102e-01 3.84246375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.744012739 meters Centerline goodness [0,1] 0.9904909802586793 Centerline is valid? [True, True] Translation: X:403.27, Y:48.34, Z:0.04 [[ 8.10825794e-01 -5.85247290e-01 -6.86602943e-03 4.03269176e+02] [ 5.85223436e-01 8.10854818e-01 -5.29092346e-03 4.83371340e+01] [ 8.66385166e-03 2.71855876e-04 9.99962431e-01 4.01307267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.774012739 meters Centerline goodness [0,1] 0.989593951749915 Centerline is valid? [True, True] Translation: X:403.29, Y:48.36, Z:0.04 [[ 8.10512830e-01 -5.85687074e-01 -6.29316484e-03 4.03289420e+02] [ 5.85667041e-01 8.10537224e-01 -4.85038282e-03 4.83571774e+01] [ 7.94165088e-03 2.45598278e-04 9.99968434e-01 4.14074209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80401273900003 meters Centerline goodness [0,1] 0.9906358233206483 Centerline is valid? [True, True] Translation: X:403.31, Y:48.37, Z:0.04 [[ 8.08660520e-01 -5.88243705e-01 -6.12428817e-03 4.03313432e+02] [ 5.88224794e-01 8.08683682e-01 -4.72169887e-03 4.83723303e+01] [ 7.73012155e-03 2.15793321e-04 9.99970099e-01 4.12293119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.834012739 meters Centerline goodness [0,1] 0.9923171019593536 Centerline is valid? [True, True] Translation: X:403.34, Y:48.39, Z:0.04 [[ 8.07169777e-01 -5.90290392e-01 -5.84836796e-03 4.03337860e+02] [ 5.90273190e-01 8.07190942e-01 -4.51049620e-03 4.83873959e+01] [ 7.38325221e-03 1.88601401e-04 9.99972726e-01 4.17410869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.864012739 meters Centerline goodness [0,1] 0.9934329373259941 Centerline is valid? [True, True] Translation: X:403.36, Y:48.40, Z:0.04 [[ 8.04449900e-01 -5.93992846e-01 -5.73202258e-03 4.03360242e+02] [ 5.93976404e-01 8.04470307e-01 -4.42219924e-03 4.84034631e+01] [ 7.23799668e-03 1.52751575e-04 9.99973794e-01 4.21357463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.894012739 meters Centerline goodness [0,1] 0.9937688741440177 Centerline is valid? [True, True] Translation: X:403.38, Y:48.42, Z:0.04 [[ 8.03417370e-01 -5.95386740e-01 -5.92960257e-03 4.03382592e+02] [ 5.95369170e-01 8.03439238e-01 -4.57630352e-03 4.84210193e+01] [ 7.48874581e-03 1.46379175e-04 9.99971948e-01 4.19646719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.924012739 meters Centerline goodness [0,1] 0.9939174573258229 Centerline is valid? [True, True] Translation: X:403.40, Y:48.44, Z:0.04 [[ 8.02647861e-01 -5.96421528e-01 -6.14595280e-03 4.03404971e+02] [ 5.96402670e-01 8.02671378e-01 -4.74490665e-03 4.84388288e+01] [ 7.76314488e-03 1.43026513e-04 9.99969856e-01 4.13546948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.954012739 meters Centerline goodness [0,1] 0.9948274747300588 Centerline is valid? [True, True] Translation: X:403.42, Y:48.46, Z:0.04 [[ 8.01695859e-01 -5.97694946e-01 -6.67098885e-03 4.03424114e+02] [ 5.97672758e-01 8.01723600e-01 -5.15204943e-03 4.84598599e+01] [ 8.42764310e-03 1.43308388e-04 9.99964477e-01 4.09847632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.984012739 meters Centerline goodness [0,1] 0.9948892310324181 Centerline is valid? [True, True] Translation: X:403.44, Y:48.48, Z:0.04 [[ 8.01417622e-01 -5.98064044e-01 -7.01391158e-03 4.03442975e+02] [ 5.98039524e-01 8.01448300e-01 -5.41758996e-03 4.84798614e+01] [ 8.86135327e-03 1.47155721e-04 9.99960727e-01 4.06812039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.014012739 meters Centerline goodness [0,1] 0.9951252596329109 Centerline is valid? [True, True] Translation: X:403.46, Y:48.50, Z:0.04 [[ 8.00834934e-01 -5.98833949e-01 -7.83009177e-03 4.03462282e+02] [ 5.98803414e-01 8.00873197e-01 -6.04931533e-03 4.84996153e+01] [ 9.89344601e-03 1.55817359e-04 9.99951047e-01 3.82079480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.044012739 meters Centerline goodness [0,1] 0.9949249357654004 Centerline is valid? [True, True] Translation: X:403.48, Y:48.52, Z:0.04 [[ 8.00207960e-01 -5.99670685e-01 -7.89239957e-03 4.03484455e+02] [ 5.99639684e-01 8.00246867e-01 -6.09933824e-03 4.85172835e+01] [ 9.97346236e-03 1.48143028e-04 9.99950253e-01 3.80131175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.074012739 meters Centerline goodness [0,1] 0.9950943798656287 Centerline is valid? [True, True] Translation: X:403.51, Y:48.53, Z:0.04 [[ 7.99325771e-01 -6.00849654e-01 -7.61614202e-03 4.03506522e+02] [ 6.00820819e-01 7.99362043e-01 -5.88788470e-03 4.85345119e+01] [ 9.62578833e-03 1.30401293e-04 9.99953663e-01 3.95427332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.104012739 meters Centerline goodness [0,1] 0.9956418554476807 Centerline is valid? [True, True] Translation: X:403.53, Y:48.55, Z:0.04 [[ 7.97414439e-01 -6.03402826e-01 -5.93645417e-03 4.03529544e+02] [ 6.03385369e-01 7.97436532e-01 -4.59061279e-03 4.85516354e+01] [ 7.50393416e-03 7.86513321e-05 9.99971842e-01 4.35612916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.134012739 meters Centerline goodness [0,1] 0.9955358091877299 Centerline is valid? [True, True] Translation: X:403.55, Y:48.57, Z:0.04 [[ 7.96648298e-01 -6.04414970e-01 -5.83379402e-03 4.03551286e+02] [ 6.04398127e-01 7.96669655e-01 -4.51276499e-03 4.85691468e+01] [ 7.37518938e-03 6.91523628e-05 9.99972801e-01 4.42990976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.164012739 meters Centerline goodness [0,1] 0.9959631284674999 Centerline is valid? [True, True] Translation: X:403.58, Y:48.59, Z:0.04 [[ 7.95554943e-01 -6.05843667e-01 -6.76629200e-03 4.03575029e+02] [ 6.05821054e-01 7.95583714e-01 -5.23488994e-03 4.85853611e+01] [ 8.55467664e-03 6.54804203e-05 9.99963406e-01 4.21378735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.194012739 meters Centerline goodness [0,1] 0.9958311844593433 Centerline is valid? [True, True] Translation: X:403.60, Y:48.60, Z:0.04 [[ 7.95193670e-01 -6.06316062e-01 -6.91806582e-03 4.03595336e+02] [ 6.06292425e-01 7.95223760e-01 -5.35417447e-03 4.86033204e+01] [ 8.74773230e-03 6.32347415e-05 9.99961736e-01 4.16886192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.224012739 meters Centerline goodness [0,1] 0.9958848609549668 Centerline is valid? [True, True] Translation: X:403.62, Y:48.62, Z:0.04 [[ 7.94694479e-01 -6.06973631e-01 -6.61029724e-03 4.03615249e+02] [ 6.06952065e-01 7.94721970e-01 -5.11685023e-03 4.86221751e+01] [ 8.35914160e-03 5.41990701e-05 9.99965060e-01 4.21093045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.254012739 meters Centerline goodness [0,1] 0.995531132398221 Centerline is valid? [True, True] Translation: X:403.64, Y:48.64, Z:0.05 [[ 7.93264529e-01 -6.08854063e-01 -5.30257860e-03 4.03639076e+02] [ 6.08840225e-01 7.93282251e-01 -4.10506958e-03 4.86375291e+01] [ 6.70582978e-03 2.79829460e-05 9.99977515e-01 4.62066347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.284012739 meters Centerline goodness [0,1] 0.9952607642283334 Centerline is valid? [True, True] Translation: X:403.66, Y:48.65, Z:0.05 [[ 7.92504798e-01 -6.09849322e-01 -4.46637025e-03 4.03661651e+02] [ 6.09839515e-01 7.92517384e-01 -3.45862567e-03 4.86534215e+01] [ 5.64891659e-03 1.72083728e-05 9.99984045e-01 4.85907642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.314012739 meters Centerline goodness [0,1] 0.9951346021947873 Centerline is valid? [True, True] Translation: X:403.69, Y:48.67, Z:0.05 [[ 7.90060732e-01 -6.13018712e-01 -3.47833236e-03 4.03686234e+02] [ 6.13012792e-01 7.90068389e-01 -2.69405194e-03 4.86675138e+01] [ 4.39962469e-03 -3.79758531e-06 9.99990322e-01 5.04033875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.344012739 meters Centerline goodness [0,1] 0.9953621955111158 Centerline is valid? [True, True] Translation: X:403.71, Y:48.68, Z:0.05 [[ 7.88443544e-01 -6.15097551e-01 -3.43211084e-03 4.03710211e+02] [ 6.15091803e-01 7.88451014e-01 -2.65925746e-03 4.86824499e+01] [ 4.34175403e-03 -1.43888736e-05 9.99990574e-01 4.97231048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.374012739 meters Centerline goodness [0,1] 0.9953663357918677 Centerline is valid? [True, True] Translation: X:403.74, Y:48.70, Z:0.05 [[ 7.86772423e-01 -6.17231988e-01 -3.71844919e-03 4.03735562e+02] [ 6.17225258e-01 7.86781210e-01 -2.88249766e-03 4.86961708e+01] [ 4.70477571e-03 -2.72510944e-05 9.99988932e-01 4.80975854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.404012739 meters Centerline goodness [0,1] 0.9963960505832427 Centerline is valid? [True, True] Translation: X:403.77, Y:48.70, Z:0.04 [[ 7.83422791e-01 -6.21462534e-01 -5.74878060e-03 4.03765891e+02] [ 6.21446543e-01 7.83443879e-01 -4.45888944e-03 4.87030657e+01] [ 7.27487970e-03 -7.93642238e-05 9.99973535e-01 4.40087954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.434012739 meters Centerline goodness [0,1] 0.9964766175528508 Centerline is valid? [True, True] Translation: X:403.79, Y:48.71, Z:0.04 [[ 7.81971140e-01 -6.23274888e-01 -7.03921467e-03 4.03792825e+02] [ 6.23250978e-01 7.82002813e-01 -5.46061423e-03 4.87135398e+01] [ 8.90814940e-03 -1.17154694e-04 9.99960315e-01 4.17697999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.464012739 meters Centerline goodness [0,1] 0.9968390495645629 Centerline is valid? [True, True] Translation: X:403.82, Y:48.73, Z:0.04 [[ 7.79507657e-01 -6.26329983e-01 -8.86368711e-03 4.03820172e+02] [ 6.26292247e-01 7.79558026e-01 -6.87784354e-03 4.87252734e+01] [ 1.12175581e-02 -1.89926817e-04 9.99937063e-01 3.87445824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.494012739 meters Centerline goodness [0,1] 0.9966093020280212 Centerline is valid? [True, True] Translation: X:403.85, Y:48.74, Z:0.04 [[ 7.79005726e-01 -6.26955849e-01 -8.74311247e-03 4.03845166e+02] [ 6.26919147e-01 7.79054764e-01 -6.78655175e-03 4.87381689e+01] [ 1.10662317e-02 -1.94461938e-04 9.99938748e-01 3.85833418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.524012739 meters Centerline goodness [0,1] 0.9964320604850698 Centerline is valid? [True, True] Translation: X:403.87, Y:48.75, Z:0.04 [[ 7.79139653e-01 -6.26798329e-01 -8.07812068e-03 4.03868907e+02] [ 6.26766968e-01 7.79181509e-01 -6.27243616e-03 4.87540709e+01] [ 1.02258748e-02 -1.75995471e-04 9.99947699e-01 4.03332298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55401273900003 meters Centerline goodness [0,1] 0.9963762677702254 Centerline is valid? [True, True] Translation: X:403.89, Y:48.77, Z:0.04 [[ 7.79972278e-01 -6.25771872e-01 -7.26695136e-03 4.03890411e+02] [ 6.25746432e-01 7.80006117e-01 -5.64443319e-03 4.87700631e+01] [ 9.20039404e-03 -1.44767476e-04 9.99957665e-01 4.25188189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.584012739 meters Centerline goodness [0,1] 0.9958809291265022 Centerline is valid? [True, True] Translation: X:403.91, Y:48.79, Z:0.04 [[ 7.83390844e-01 -6.21492715e-01 -6.75207628e-03 4.03908432e+02] [ 6.21470581e-01 7.83419937e-01 -5.24581545e-03 4.87921375e+01] [ 8.54994726e-03 -8.66929779e-05 9.99963445e-01 4.47846826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.614012739 meters Centerline goodness [0,1] 0.995367701995944 Centerline is valid? [True, True] Translation: X:403.93, Y:48.81, Z:0.04 [[ 7.86290456e-01 -6.17820070e-01 -6.75861720e-03 4.03929065e+02] [ 6.17797742e-01 7.86319502e-01 -5.25275314e-03 4.88129481e+01] [ 8.55968882e-03 -4.52687812e-05 9.99963364e-01 4.45029620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.644012739 meters Centerline goodness [0,1] 0.9954066118910526 Centerline is valid? [True, True] Translation: X:403.95, Y:48.83, Z:0.04 [[ 7.87062925e-01 -6.16834031e-01 -6.90869234e-03 4.03950959e+02] [ 6.16810646e-01 7.87093245e-01 -5.37125556e-03 4.88309927e+01] [ 8.75095830e-03 -3.38388678e-05 9.99961709e-01 4.47602601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.674012739 meters Centerline goodness [0,1] 0.9953834316491408 Centerline is valid? [True, True] Translation: X:403.97, Y:48.85, Z:0.04 [[ 7.87794588e-01 -6.15901450e-01 -6.71488669e-03 4.03972254e+02] [ 6.15879308e-01 7.87823205e-01 -5.22255313e-03 4.88478562e+01] [ 8.50672160e-03 -2.12606740e-05 9.99963817e-01 4.46483369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.704012739 meters Centerline goodness [0,1] 0.9953411194077478 Centerline is valid? [True, True] Translation: X:404.00, Y:48.86, Z:0.05 [[ 7.88558126e-01 -6.14933974e-01 -5.68233374e-03 4.03995544e+02] [ 6.14918086e-01 7.88578599e-01 -4.42041354e-03 4.88640872e+01] [ 7.19922925e-03 -8.41676924e-06 9.99974085e-01 4.65847698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.734012739 meters Centerline goodness [0,1] 0.9950488710572367 Centerline is valid? [True, True] Translation: X:404.02, Y:48.88, Z:0.05 [[ 7.88527154e-01 -6.14976386e-01 -5.38252918e-03 4.04018438e+02] [ 6.14962121e-01 7.88545525e-01 -4.18870717e-03 4.88795435e+01] [ 6.82032530e-03 -7.14221672e-06 9.99976741e-01 4.76751723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.764012739 meters Centerline goodness [0,1] 0.9954897875904727 Centerline is valid? [True, True] Translation: X:404.04, Y:48.90, Z:0.05 [[ 7.88728375e-01 -6.14712642e-01 -5.99310756e-03 4.04039742e+02] [ 6.14694934e-01 7.88751144e-01 -4.66595244e-03 4.88960186e+01] [ 7.59529040e-03 -3.76376751e-06 9.99971155e-01 4.72207514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.794012739 meters Centerline goodness [0,1] 0.995489868083935 Centerline is valid? [True, True] Translation: X:404.06, Y:48.91, Z:0.05 [[ 7.89525344e-01 -6.13682584e-01 -6.58914499e-03 4.04059030e+02] [ 6.13661132e-01 7.89552839e-01 -5.13119446e-03 4.89144914e+01] [ 8.35140281e-03 7.70590208e-06 9.99965126e-01 4.56779907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.824012739 meters Centerline goodness [0,1] 0.9952151047504095 Centerline is valid? [True, True] Translation: X:404.08, Y:48.93, Z:0.04 [[ 7.90506684e-01 -6.12413502e-01 -6.99175255e-03 4.04079508e+02] [ 6.12389287e-01 7.90537603e-01 -5.44603933e-03 4.89343347e+01] [ 8.86247132e-03 2.34561306e-05 9.99960727e-01 4.48335128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.854012739 meters Centerline goodness [0,1] 0.9954557146531767 Centerline is valid? [True, True] Translation: X:404.10, Y:48.96, Z:0.04 [[ 7.92348927e-01 -6.10014719e-01 -8.07594740e-03 4.04099281e+02] [ 6.09982259e-01 7.92390080e-01 -6.29320076e-03 4.89554535e+01] [ 1.02382457e-02 6.02262356e-05 9.99947586e-01 4.29452082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.884012739 meters Centerline goodness [0,1] 0.995517810804435 Centerline is valid? [True, True] Translation: X:404.12, Y:48.97, Z:0.04 [[ 7.92619437e-01 -6.09657924e-01 -8.46425671e-03 4.04120472e+02] [ 6.09622225e-01 7.92664627e-01 -6.59787176e-03 4.89738228e+01] [ 1.07317617e-02 6.96023979e-05 9.99942411e-01 4.23995432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.914012739 meters Centerline goodness [0,1] 0.995526400688246 Centerline is valid? [True, True] Translation: X:404.14, Y:48.99, Z:0.04 [[ 7.91947014e-01 -6.10541621e-01 -7.67176298e-03 4.04143678e+02] [ 6.10512323e-01 7.91984170e-01 -5.98139522e-03 4.89903310e+01] [ 9.72780557e-03 5.32422430e-05 9.99952682e-01 4.49195225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.944012739 meters Centerline goodness [0,1] 0.9952723710549853 Centerline is valid? [True, True] Translation: X:404.17, Y:49.01, Z:0.05 [[ 7.91382616e-01 -6.11286738e-01 -6.48684384e-03 4.04166067e+02] [ 6.11265804e-01 7.91409201e-01 -5.05902571e-03 4.90057350e+01] [ 8.22626321e-03 3.84391855e-05 9.99966163e-01 4.80686724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.974012739 meters Centerline goodness [0,1] 0.9944738464154392 Centerline is valid? [True, True] Translation: X:404.19, Y:49.02, Z:0.05 [[ 7.90724569e-01 -6.12149420e-01 -5.26715360e-03 4.04188893e+02] [ 6.12135635e-01 7.90742112e-01 -4.10822527e-03 4.90217354e+01] [ 6.67980788e-03 2.42622488e-05 9.99977690e-01 5.09466519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.004012739 meters Centerline goodness [0,1] 0.9947885519008971 Centerline is valid? [True, True] Translation: X:404.21, Y:49.04, Z:0.05 [[ 7.89902326e-01 -6.13212822e-01 -4.93451270e-03 4.04211034e+02] [ 6.13200736e-01 7.89917739e-01 -3.85013595e-03 4.90375168e+01] [ 6.25881184e-03 1.53845284e-05 9.99980413e-01 5.14195838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.034012739 meters Centerline goodness [0,1] 0.9946198680586691 Centerline is valid? [True, True] Translation: X:404.23, Y:49.05, Z:0.05 [[ 7.89317704e-01 -6.13959752e-01 -5.56643509e-03 4.04233590e+02] [ 6.13944376e-01 7.89337332e-01 -4.34507160e-03 4.90540408e+01] [ 7.06149410e-03 1.21604217e-05 9.99975067e-01 5.02417519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.064012739 meters Centerline goodness [0,1] 0.995118327496551 Centerline is valid? [True, True] Translation: X:404.26, Y:49.07, Z:0.05 [[ 7.87796993e-01 -6.15902569e-01 -6.31846392e-03 4.04257914e+02] [ 6.15882803e-01 7.87822331e-01 -4.93424871e-03 4.90665505e+01] [ 8.01684343e-03 -4.24697324e-06 9.99967865e-01 4.94318512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.094012739 meters Centerline goodness [0,1] 0.9947479214952476 Centerline is valid? [True, True] Translation: X:404.28, Y:49.08, Z:0.05 [[ 7.86674480e-01 -6.17337794e-01 -6.10821828e-03 4.04282343e+02] [ 6.17319357e-01 7.86698193e-01 -4.77125359e-03 4.90812453e+01] [ 7.75079945e-03 -1.72979456e-05 9.99969962e-01 5.01362028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.124012739 meters Centerline goodness [0,1] 0.9944914888101616 Centerline is valid? [True, True] Translation: X:404.31, Y:49.10, Z:0.05 [[ 7.85379012e-01 -6.18990150e-01 -5.56793801e-03 4.04306268e+02] [ 6.18974861e-01 7.85398748e-01 -4.35068466e-03 4.90957472e+01] [ 7.06608249e-03 -2.94772337e-05 9.99975034e-01 5.14289727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.154012739 meters Centerline goodness [0,1] 0.9948100967209248 Centerline is valid? [True, True] Translation: X:404.33, Y:49.11, Z:0.05 [[ 7.83565486e-01 -6.21289568e-01 -4.93984509e-03 4.04332712e+02] [ 6.21277570e-01 7.83581055e-01 -3.86137728e-03 4.91075561e+01] [ 6.26980245e-03 -4.33729888e-05 9.99980344e-01 5.36799161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.184012739 meters Centerline goodness [0,1] 0.9942623831524658 Centerline is valid? [True, True] Translation: X:404.36, Y:49.12, Z:0.06 [[ 7.82791166e-01 -6.22270222e-01 -4.21450065e-03 4.04358288e+02] [ 6.22261502e-01 7.82802510e-01 -3.29457430e-03 4.91193418e+01] [ 5.34923716e-03 -4.35578446e-05 9.99985692e-01 5.64670424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.214012739 meters Centerline goodness [0,1] 0.9944020682434886 Centerline is valid? [True, True] Translation: X:404.38, Y:49.13, Z:0.06 [[ 7.82576943e-01 -6.22542474e-01 -3.76796948e-03 4.04381087e+02] [ 6.22535502e-01 7.82586013e-01 -2.94648880e-03 4.91347886e+01] [ 4.78307464e-03 -3.98405750e-05 9.99988560e-01 5.78471471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.244012739 meters Centerline goodness [0,1] 0.99457581150945 Centerline is valid? [True, True] Translation: X:404.40, Y:49.15, Z:0.06 [[ 7.82685089e-01 -6.22405612e-01 -3.91209134e-03 4.04402897e+02] [ 6.22398092e-01 7.82694865e-01 -3.05988006e-03 4.91509107e+01] [ 4.96646033e-03 -3.99556859e-05 9.99987666e-01 5.85707916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.274012739 meters Centerline goodness [0,1] 0.994556897431536 Centerline is valid? [True, True] Translation: X:404.42, Y:49.17, Z:0.06 [[ 7.83090738e-01 -6.21891629e-01 -4.43813120e-03 4.04424280e+02] [ 6.21881935e-01 7.83103313e-01 -3.47264808e-03 4.91691774e+01] [ 5.63512602e-03 -4.05950717e-05 9.99984122e-01 5.72233157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30401273900003 meters Centerline goodness [0,1] 0.9947082075912781 Centerline is valid? [True, True] Translation: X:404.45, Y:49.19, Z:0.05 [[ 7.84153803e-01 -6.20538012e-01 -5.94882776e-03 4.04445694e+02] [ 6.20520538e-01 7.84176367e-01 -4.65707317e-03 4.91855378e+01] [ 7.55482107e-03 -3.95081624e-05 9.99971461e-01 5.44154660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.334012739 meters Centerline goodness [0,1] 0.9947082075912781 Centerline is valid? [True, True] Translation: X:404.47, Y:49.20, Z:0.05 [[ 7.84041885e-01 -6.20679419e-01 -5.94818257e-03 4.04467211e+02] [ 6.20661943e-01 7.84064447e-01 -4.65789709e-03 4.92026427e+01] [ 7.55481934e-03 -3.98241372e-05 9.99971461e-01 5.46349960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.364012739 meters Centerline goodness [0,1] 0.9950044831561419 Centerline is valid? [True, True] Translation: X:404.49, Y:49.22, Z:0.05 [[ 7.83939023e-01 -6.20802532e-01 -6.62004488e-03 4.04490236e+02] [ 6.20780871e-01 7.83966973e-01 -5.18614169e-03 4.92163964e+01] [ 8.40946643e-03 -4.39783768e-05 9.99964639e-01 5.32118013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.394012739 meters Centerline goodness [0,1] 0.9955007070317522 Centerline is valid? [True, True] Translation: X:404.51, Y:49.23, Z:0.05 [[ 7.83124460e-01 -6.21831243e-01 -6.47954084e-03 4.04513764e+02] [ 6.21810513e-01 7.83151264e-01 -5.07772847e-03 4.92303726e+01] [ 8.23195081e-03 -5.25532457e-05 9.99966116e-01 5.30619027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.424012739 meters Centerline goodness [0,1] 0.995048978984722 Centerline is valid? [True, True] Translation: X:404.54, Y:49.24, Z:0.05 [[ 7.82105340e-01 -6.23108719e-01 -6.83823130e-03 4.04538497e+02] [ 6.23085663e-01 7.82135231e-01 -5.36070045e-03 4.92440698e+01] [ 8.68872081e-03 -6.81714346e-05 9.99962250e-01 5.24215717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.454012739 meters Centerline goodness [0,1] 0.9947993579454254 Centerline is valid? [True, True] Translation: X:404.56, Y:49.26, Z:0.05 [[ 7.81084359e-01 -6.24386347e-01 -6.99380103e-03 4.04563432e+02] [ 6.24362264e-01 7.81115666e-01 -5.48460993e-03 4.92572509e+01] [ 8.88748310e-03 -8.27224099e-05 9.99960502e-01 5.14959806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.484012739 meters Centerline goodness [0,1] 0.9950300978985026 Centerline is valid? [True, True] Translation: X:404.59, Y:49.27, Z:0.05 [[ 7.80095732e-01 -6.25622579e-01 -6.85841715e-03 4.04590509e+02] [ 6.25599452e-01 7.80125874e-01 -5.38015755e-03 4.92674678e+01] [ 8.71637672e-03 -9.35840671e-05 9.99962007e-01 5.23552427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.514012739 meters Centerline goodness [0,1] 0.9951962755263993 Centerline is valid? [True, True] Translation: X:404.61, Y:49.28, Z:0.05 [[ 7.80165538e-01 -6.25538134e-01 -6.61633145e-03 4.04613375e+02] [ 6.25516594e-01 7.80193588e-01 -5.19188492e-03 4.92829631e+01] [ 8.40974138e-03 -8.80954210e-05 9.99964634e-01 5.34901085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.544012739 meters Centerline goodness [0,1] 0.994872885863206 Centerline is valid? [True, True] Translation: X:404.64, Y:49.30, Z:0.06 [[ 7.81806937e-01 -6.23491879e-01 -5.98252684e-03 4.04635362e+02] [ 6.23474197e-01 7.81829824e-01 -4.69605392e-03 4.93002429e+01] [ 7.60526938e-03 -5.85435882e-05 9.99971078e-01 5.58052059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.574012739 meters Centerline goodness [0,1] 0.9948835530645607 Centerline is valid? [True, True] Translation: X:404.66, Y:49.32, Z:0.06 [[ 7.83195335e-01 -6.21746596e-01 -6.01968635e-03 4.04655768e+02] [ 6.21728629e-01 7.83218468e-01 -4.72686084e-03 4.93187845e+01] [ 7.65363916e-03 -4.05559838e-05 9.99970710e-01 5.60573037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.604012739 meters Centerline goodness [0,1] 0.9949397231730912 Centerline is valid? [True, True] Translation: X:404.68, Y:49.34, Z:0.06 [[ 7.84608271e-01 -6.19960155e-01 -6.26637190e-03 4.04676104e+02] [ 6.19940613e-01 7.84633294e-01 -4.92239360e-03 4.93383867e+01] [ 7.96849192e-03 -2.26277049e-05 9.99968251e-01 5.58157828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.634012739 meters Centerline goodness [0,1] 0.995518374663878 Centerline is valid? [True, True] Translation: X:404.69, Y:49.36, Z:0.06 [[ 7.87915769e-01 -6.15746558e-01 -6.70197622e-03 4.04692755e+02] [ 6.15724035e-01 7.87944272e-01 -5.26658344e-03 4.93614087e+01] [ 8.52366440e-03 2.30562973e-05 9.99963673e-01 5.50752830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.664012739 meters Centerline goodness [0,1] 0.9956880753724425 Centerline is valid? [True, True] Translation: X:404.71, Y:49.38, Z:0.06 [[ 7.89640243e-01 -6.13533318e-01 -6.71969940e-03 4.04713194e+02] [ 6.13510578e-01 7.89668833e-01 -5.28249454e-03 4.93818992e+01] [ 8.54732359e-03 4.86636050e-05 9.99963470e-01 5.52263210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.694012739 meters Centerline goodness [0,1] 0.9952886992161917 Centerline is valid? [True, True] Translation: X:404.73, Y:49.41, Z:0.06 [[ 7.92976109e-01 -6.09217803e-01 -6.52369610e-03 4.04727579e+02] [ 6.09196211e-01 7.93002938e-01 -5.13003868e-03 4.94077318e+01] [ 8.29862107e-03 9.37871668e-05 9.99965561e-01 5.65363559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.724012739 meters Centerline goodness [0,1] 0.9950593519409688 Centerline is valid? [True, True] Translation: X:404.75, Y:49.43, Z:0.06 [[ 7.94222667e-01 -6.07595433e-01 -6.17617847e-03 4.04749368e+02] [ 6.07576026e-01 7.94246673e-01 -4.85739813e-03 4.94261369e+01] [ 7.85674213e-03 1.05357720e-04 9.99969130e-01 5.75617316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.754012739 meters Centerline goodness [0,1] 0.9951700113269646 Centerline is valid? [True, True] Translation: X:404.77, Y:49.45, Z:0.06 [[ 7.95016020e-01 -6.06559507e-01 -5.92393683e-03 4.04767207e+02] [ 6.06541612e-01 7.95038082e-01 -4.66055979e-03 4.94485680e+01] [ 7.53666223e-03 1.12105497e-04 9.99971593e-01 5.80561805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.784012739 meters Centerline goodness [0,1] 0.9953083536779536 Centerline is valid? [True, True] Translation: X:404.79, Y:49.47, Z:0.06 [[ 7.95949053e-01 -6.05337766e-01 -5.59410672e-03 4.04786281e+02] [ 6.05321773e-01 7.95968703e-01 -4.40175182e-03 4.94704649e+01] [ 7.11728048e-03 1.17335592e-04 9.99974665e-01 5.87961807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.814012739 meters Centerline goodness [0,1] 0.9943745437368489 Centerline is valid? [True, True] Translation: X:404.81, Y:49.49, Z:0.06 [[ 7.96042779e-01 -6.05217189e-01 -5.29599701e-03 4.04807179e+02] [ 6.05202845e-01 7.96060388e-01 -4.16842308e-03 4.94895826e+01] [ 6.73873473e-03 1.13090639e-04 9.99977288e-01 6.01014113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.844012739 meters Centerline goodness [0,1] 0.994435323966484 Centerline is valid? [True, True] Translation: X:404.83, Y:49.51, Z:0.06 [[ 7.95994163e-01 -6.05280691e-01 -5.34591943e-03 4.04826216e+02] [ 6.05266065e-01 7.96012106e-01 -4.20930141e-03 4.95087680e+01] [ 6.80322544e-03 1.14875734e-04 9.99976851e-01 6.06744461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.874012739 meters Centerline goodness [0,1] 0.9949038929183143 Centerline is valid? [True, True] Translation: X:404.85, Y:49.53, Z:0.06 [[ 7.95003523e-01 -6.06579959e-01 -5.49112105e-03 4.04847350e+02] [ 6.06564548e-01 7.95022479e-01 -4.32519407e-03 4.95263184e+01] [ 6.98914071e-03 1.07825172e-04 9.99975570e-01 6.01625921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.904012739 meters Centerline goodness [0,1] 0.9951900466031041 Centerline is valid? [True, True] Translation: X:404.87, Y:49.54, Z:0.06 [[ 7.93674759e-01 -6.08317690e-01 -5.47392082e-03 4.04871201e+02] [ 6.08302411e-01 7.93693630e-01 -4.31258217e-03 4.95422930e+01] [ 6.96803612e-03 9.29883816e-05 9.99975719e-01 5.96479973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.934012739 meters Centerline goodness [0,1] 0.9958019718011237 Centerline is valid? [True, True] Translation: X:404.90, Y:49.55, Z:0.06 [[ 7.90389502e-01 -6.12581479e-01 -5.32598561e-03 4.04898164e+02] [ 6.12567101e-01 7.90407445e-01 -4.19738646e-03 4.95513847e+01] [ 6.78093988e-03 5.50466292e-05 9.99977008e-01 6.02459305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.964012739 meters Centerline goodness [0,1] 0.9959273714576616 Centerline is valid? [True, True] Translation: X:404.92, Y:49.56, Z:0.06 [[ 7.88436427e-01 -6.15095249e-01 -5.08277516e-03 4.04924135e+02] [ 6.15082203e-01 7.88452810e-01 -4.00629642e-03 4.95632955e+01] [ 6.47178225e-03 3.23854966e-05 9.99979057e-01 6.02816882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.994012739 meters Centerline goodness [0,1] 0.9958243248971979 Centerline is valid? [True, True] Translation: X:404.95, Y:49.58, Z:0.06 [[ 7.86657983e-01 -6.17366585e-01 -5.26466802e-03 4.04949349e+02] [ 6.17352629e-01 7.86675600e-01 -4.15119904e-03 4.95764376e+01] [ 6.70439745e-03 1.54172282e-05 9.99977525e-01 5.98541688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.024012739 meters Centerline goodness [0,1] 0.9950949943239017 Centerline is valid? [True, True] Translation: X:404.98, Y:49.59, Z:0.06 [[ 7.83742032e-01 -6.21058023e-01 -5.94631822e-03 4.04976124e+02] [ 6.21040310e-01 7.83764589e-01 -4.69065178e-03 4.95859747e+01] [ 7.57368058e-03 -1.66423536e-05 9.99971319e-01 5.87328357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05401273900003 meters Centerline goodness [0,1] 0.9951675394899306 Centerline is valid? [True, True] Translation: X:405.00, Y:49.60, Z:0.06 [[ 7.82571207e-01 -6.22531105e-01 -6.10978989e-03 4.05001007e+02] [ 6.22512436e-01 7.82595056e-01 -4.82125498e-03 4.96001493e+01] [ 7.78287255e-03 -3.04448639e-05 9.99969713e-01 5.85386334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.084012739 meters Centerline goodness [0,1] 0.9953443467067153 Centerline is valid? [True, True] Translation: X:405.03, Y:49.61, Z:0.06 [[ 7.81058227e-01 -6.24430577e-01 -5.87370137e-03 4.05027648e+02] [ 6.24413364e-01 7.81080311e-01 -4.63660589e-03 4.96117450e+01] [ 7.48307099e-03 -4.61584607e-05 9.99972000e-01 5.95123649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.114012739 meters Centerline goodness [0,1] 0.9948326980093181 Centerline is valid? [True, True] Translation: X:405.05, Y:49.63, Z:0.06 [[ 7.81000171e-01 -6.24503870e-01 -5.80089619e-03 4.05049869e+02] [ 6.24487071e-01 7.81021712e-01 -4.58073945e-03 4.96273455e+01] [ 7.39131538e-03 -4.50263807e-05 9.99972683e-01 6.04558089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.144012739 meters Centerline goodness [0,1] 0.995142321459008 Centerline is valid? [True, True] Translation: X:405.07, Y:49.65, Z:0.06 [[ 7.81237077e-01 -6.24207175e-01 -5.83364033e-03 4.05070981e+02] [ 6.24190167e-01 7.81258856e-01 -4.60810687e-03 4.96450592e+01] [ 7.43399655e-03 -4.12769871e-05 9.99972367e-01 5.99441154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.174012739 meters Centerline goodness [0,1] 0.9953630157571595 Centerline is valid? [True, True] Translation: X:405.09, Y:49.66, Z:0.06 [[ 7.82210460e-01 -6.22982492e-01 -6.29367569e-03 4.05092420e+02] [ 6.22962640e-01 7.82235779e-01 -4.97350700e-03 4.96624946e+01] [ 8.02154609e-03 -3.03956232e-05 9.99967826e-01 5.84430467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.204012739 meters Centerline goodness [0,1] 0.9951392622862674 Centerline is valid? [True, True] Translation: X:405.11, Y:49.68, Z:0.06 [[ 7.82451549e-01 -6.22680112e-01 -6.24910565e-03 4.05114347e+02] [ 6.22660516e-01 7.82476502e-01 -4.94015975e-03 4.96789298e+01] [ 7.96591756e-03 -2.56356994e-05 9.99968271e-01 5.94679441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.234012739 meters Centerline goodness [0,1] 0.9951653781441016 Centerline is valid? [True, True] Translation: X:405.14, Y:49.70, Z:0.06 [[ 7.82610269e-01 -6.22483552e-01 -5.94937222e-03 4.05136474e+02] [ 6.22465772e-01 7.82632882e-01 -4.70474293e-03 4.96950986e+01] [ 7.58479941e-03 -2.13004387e-05 9.99971235e-01 6.05266802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.264012739 meters Centerline goodness [0,1] 0.9954509366349806 Centerline is valid? [True, True] Translation: X:405.16, Y:49.71, Z:0.06 [[ 7.82717085e-01 -6.22354223e-01 -5.40240848e-03 4.05159272e+02] [ 6.22339551e-01 7.82735728e-01 -4.27344868e-03 4.97120350e+01] [ 6.88825697e-03 -1.72311705e-05 9.99976276e-01 6.24447924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.294012739 meters Centerline goodness [0,1] 0.9955717357518469 Centerline is valid? [True, True] Translation: X:405.18, Y:49.73, Z:0.06 [[ 7.82517847e-01 -6.22601060e-01 -5.80853420e-03 4.05180841e+02] [ 6.22584091e-01 7.82539405e-01 -4.59667130e-03 4.97277281e+01] [ 7.40729931e-03 -1.93236561e-05 9.99972565e-01 6.20725642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.324012739 meters Centerline goodness [0,1] 0.995645061925095 Centerline is valid? [True, True] Translation: X:405.20, Y:49.74, Z:0.06 [[ 7.81989460e-01 -6.23252905e-01 -6.94988697e-03 4.05203037e+02] [ 6.23228623e-01 7.82020342e-01 -5.50164652e-03 4.97434298e+01] [ 8.86387016e-03 -2.91388967e-05 9.99960715e-01 5.97217526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.354012739 meters Centerline goodness [0,1] 0.9957151426857486 Centerline is valid? [True, True] Translation: X:405.22, Y:49.76, Z:0.06 [[ 7.81754716e-01 -6.23543853e-01 -7.25445117e-03 4.05224933e+02] [ 6.23517390e-01 7.81788374e-01 -5.74481086e-03 4.97613349e+01] [ 9.25358709e-03 -3.22434785e-05 9.99957184e-01 5.97373433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.384012739 meters Centerline goodness [0,1] 0.9956073949293132 Centerline is valid? [True, True] Translation: X:405.25, Y:49.78, Z:0.06 [[ 7.81600375e-01 -6.23735675e-01 -7.39331756e-03 4.05246295e+02] [ 6.23708176e-01 7.81635341e-01 -5.85695025e-03 4.97783186e+01] [ 9.43206711e-03 -3.34780983e-05 9.99955517e-01 5.93878896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.414012739 meters Centerline goodness [0,1] 0.9960027917010342 Centerline is valid? [True, True] Translation: X:405.27, Y:49.80, Z:0.06 [[ 7.81913713e-01 -6.23344421e-01 -7.25794589e-03 4.05266874e+02] [ 6.23317889e-01 7.81947397e-01 -5.75124836e-03 4.97964938e+01] [ 9.26034048e-03 -2.70275551e-05 9.99957122e-01 6.10045875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.444012739 meters Centerline goodness [0,1] 0.9964602154273802 Centerline is valid? [True, True] Translation: X:405.29, Y:49.82, Z:0.06 [[ 7.82093090e-01 -6.23126044e-01 -6.65815838e-03 4.05287018e+02] [ 6.23103694e-01 7.82121431e-01 -5.27764451e-03 4.98157078e+01] [ 8.49612610e-03 -2.11137782e-05 9.99963907e-01 6.28916859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.474012739 meters Centerline goodness [0,1] 0.9962011691957031 Centerline is valid? [True, True] Translation: X:405.31, Y:49.83, Z:0.07 [[ 7.82012434e-01 -6.23240587e-01 -5.26539783e-03 4.05307305e+02] [ 6.23226603e-01 7.82030160e-01 -4.17495389e-03 4.98340442e+01] [ 6.71970062e-03 -1.66701534e-05 9.99977422e-01 6.57819509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.504012739 meters Centerline goodness [0,1] 0.9957906373570304 Centerline is valid? [True, True] Translation: X:405.33, Y:49.85, Z:0.07 [[ 7.81457875e-01 -6.23941476e-01 -4.54133799e-03 4.05328756e+02] [ 6.23931079e-01 7.81471070e-01 -3.60204486e-03 4.98507882e+01] [ 5.79638944e-03 -1.86355913e-05 9.99983201e-01 6.76220458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.534012739 meters Centerline goodness [0,1] 0.9959283214929487 Centerline is valid? [True, True] Translation: X:405.35, Y:49.87, Z:0.07 [[ 7.80930534e-01 -6.24603952e-01 -4.17189720e-03 4.05350429e+02] [ 6.24595184e-01 7.80941677e-01 -3.30955520e-03 4.98679665e+01] [ 5.32516965e-03 -2.12141850e-05 9.99985821e-01 6.86636910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.564012739 meters Centerline goodness [0,1] 0.9959258548239158 Centerline is valid? [True, True] Translation: X:405.37, Y:49.88, Z:0.07 [[ 7.80174819e-01 -6.25550239e-01 -3.76169301e-03 4.05373766e+02] [ 6.25543117e-01 7.80183887e-01 -2.98506713e-03 4.98840918e+01] [ 4.80212173e-03 -2.42269684e-05 9.99988469e-01 6.97351126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.594012739 meters Centerline goodness [0,1] 0.995481024586653 Centerline is valid? [True, True] Translation: X:405.40, Y:49.90, Z:0.07 [[ 7.79585972e-01 -6.26282393e-01 -4.00958469e-03 4.05395888e+02] [ 6.26274303e-01 7.79596283e-01 -3.18321968e-03 4.99000142e+01] [ 5.11945176e-03 -2.95064524e-05 9.99986895e-01 6.94140956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.624012739 meters Centerline goodness [0,1] 0.9961261759822911 Centerline is valid? [True, True] Translation: X:405.42, Y:49.92, Z:0.07 [[ 7.78722992e-01 -6.27343007e-01 -5.59052687e-03 4.05417644e+02] [ 6.27327297e-01 7.78743057e-01 -4.43998751e-03 4.99162592e+01] [ 7.13897910e-03 -4.95697549e-05 9.99974516e-01 6.56106964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.654012739 meters Centerline goodness [0,1] 0.9952793242871356 Centerline is valid? [True, True] Translation: X:405.44, Y:49.93, Z:0.07 [[ 7.78318970e-01 -6.27844147e-01 -5.59537099e-03 4.05439538e+02] [ 6.27828410e-01 7.78339081e-01 -4.44555501e-03 4.99333079e+01] [ 7.14621161e-03 -5.28730760e-05 9.99974464e-01 6.52892393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.684012739 meters Centerline goodness [0,1] 0.9954170880220324 Centerline is valid? [True, True] Translation: X:405.46, Y:49.95, Z:0.07 [[ 7.77632103e-01 -6.28696760e-01 -5.35693199e-03 4.05461873e+02] [ 6.28682346e-01 7.77650552e-01 -4.25764292e-03 4.99490079e+01] [ 6.84258743e-03 -5.69287531e-05 9.99976588e-01 6.58721052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.714012739 meters Centerline goodness [0,1] 0.9959006666810503 Centerline is valid? [True, True] Translation: X:405.49, Y:49.97, Z:0.07 [[ 7.76338064e-01 -6.30294042e-01 -5.35073880e-03 4.05485367e+02] [ 6.30279692e-01 7.76356500e-01 -4.25378482e-03 4.99657788e+01] [ 6.83521608e-03 -7.00869333e-05 9.99976637e-01 6.69971633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.744012739 meters Centerline goodness [0,1] 0.9958519463943841 Centerline is valid? [True, True] Translation: X:405.51, Y:49.98, Z:0.07 [[ 7.75820418e-01 -6.30927764e-01 -5.73015248e-03 4.05509501e+02] [ 6.30911311e-01 7.75841575e-01 -4.55710704e-03 4.99792236e+01] [ 7.32089588e-03 -7.97213219e-05 9.99973199e-01 6.67859278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.774012739 meters Centerline goodness [0,1] 0.9954843223303441 Centerline is valid? [True, True] Translation: X:405.53, Y:50.00, Z:0.07 [[ 7.75262569e-01 -6.31610123e-01 -6.04993284e-03 4.05532328e+02] [ 6.31591789e-01 7.75286169e-01 -4.81324234e-03 4.99951776e+01] [ 7.73052184e-03 -8.95612850e-05 9.99970115e-01 6.61849249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80401273900003 meters Centerline goodness [0,1] 0.9955444165970482 Centerline is valid? [True, True] Translation: X:405.56, Y:50.01, Z:0.06 [[ 7.74081899e-01 -6.33052819e-01 -6.42984862e-03 4.05558246e+02] [ 6.33032144e-01 7.74108595e-01 -5.11742135e-03 5.00069883e+01] [ 8.21699909e-03 -1.08997618e-04 9.99966234e-01 6.44205725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.834012739 meters Centerline goodness [0,1] 0.995709345515092 Centerline is valid? [True, True] Translation: X:405.58, Y:50.02, Z:0.06 [[ 7.73230530e-01 -6.34088304e-01 -6.82418928e-03 4.05583195e+02] [ 6.34065040e-01 7.73260633e-01 -5.43311263e-03 5.00206187e+01] [ 8.72195009e-03 -1.25931290e-04 9.99961955e-01 6.34861151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.864012739 meters Centerline goodness [0,1] 0.995671834625323 Centerline is valid? [True, True] Translation: X:405.61, Y:50.04, Z:0.06 [[ 7.72387858e-01 -6.35106205e-01 -7.55678506e-03 4.05607397e+02] [ 6.35077705e-01 7.72424809e-01 -6.01854327e-03 5.00358463e+01] [ 9.65946243e-03 -1.50495973e-04 9.99953335e-01 6.30700133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.894012739 meters Centerline goodness [0,1] 0.9957717160327855 Centerline is valid? [True, True] Translation: X:405.63, Y:50.05, Z:0.06 [[ 7.72621908e-01 -6.34818249e-01 -7.82161280e-03 4.05630030e+02] [ 6.34787680e-01 7.72661483e-01 -6.23165535e-03 5.00529297e+01] [ 9.99942749e-03 -1.50350002e-04 9.99949993e-01 6.33796980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.924012739 meters Centerline goodness [0,1] 0.9955037504261848 Centerline is valid? [True, True] Translation: X:405.65, Y:50.07, Z:0.06 [[ 7.73718589e-01 -6.33481787e-01 -7.76987577e-03 4.05653214e+02] [ 6.33451531e-01 7.73757591e-01 -6.19263032e-03 5.00674148e+01] [ 9.93491888e-03 -1.30486511e-04 9.99950639e-01 6.31606330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.954012739 meters Centerline goodness [0,1] 0.9959938105432732 Centerline is valid? [True, True] Translation: X:405.67, Y:50.09, Z:0.06 [[ 7.78343053e-01 -6.27784177e-01 -8.31376110e-03 4.05667669e+02] [ 6.27749189e-01 7.78387451e-01 -6.62812266e-03 5.00938408e+01] [ 1.06323578e-02 -6.00035563e-05 9.99943473e-01 6.28826000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.984012739 meters Centerline goodness [0,1] 0.9970988523401169 Centerline is valid? [True, True] Translation: X:405.69, Y:50.12, Z:0.06 [[ 7.81266235e-01 -6.24135576e-01 -8.82342252e-03 4.05685570e+02] [ 6.24095902e-01 7.81316058e-01 -7.03720504e-03 5.01167930e+01] [ 1.12860517e-02 -8.73115236e-06 9.99936310e-01 6.20992638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.014012739 meters Centerline goodness [0,1] 0.9975616537976173 Centerline is valid? [True, True] Translation: X:405.70, Y:50.15, Z:0.06 [[ 7.87271447e-01 -6.16551833e-01 -8.21619045e-03 4.05698465e+02] [ 6.16516992e-01 7.87314313e-01 -6.55514447e-03 5.01469195e+01] [ 1.05103107e-02 9.52570522e-05 9.99944761e-01 6.33230870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.044012739 meters Centerline goodness [0,1] 0.9973965498994602 Centerline is valid? [True, True] Translation: X:405.72, Y:50.17, Z:0.07 [[ 7.89832898e-01 -6.13275515e-01 -7.55879627e-03 4.05715269e+02] [ 6.13245860e-01 7.89869056e-01 -6.03239525e-03 5.01703288e+01] [ 9.66997958e-03 1.29183707e-04 9.99953236e-01 6.52872425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.074012739 meters Centerline goodness [0,1] 0.9969625668449198 Centerline is valid? [True, True] Translation: X:405.73, Y:50.19, Z:0.07 [[ 7.91658851e-01 -6.10921572e-01 -7.14813268e-03 4.05733465e+02] [ 6.10894945e-01 7.91691108e-01 -5.70578362e-03 5.01931466e+01] [ 9.14489938e-03 1.50275990e-04 9.99958173e-01 6.71358661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.104012739 meters Centerline goodness [0,1] 0.9963399755998373 Centerline is valid? [True, True] Translation: X:405.75, Y:50.22, Z:0.07 [[ 7.94283979e-01 -6.07506159e-01 -7.01622191e-03 4.05745933e+02] [ 6.07480358e-01 7.94314945e-01 -5.60200556e-03 5.02224428e+01] [ 8.97634280e-03 1.87366267e-04 9.99959694e-01 6.79302894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.134012739 meters Centerline goodness [0,1] 0.9960395615687617 Centerline is valid? [True, True] Translation: X:405.76, Y:50.24, Z:0.07 [[ 7.95538811e-01 -6.05866853e-01 -6.58455345e-03 4.05764586e+02] [ 6.05844065e-01 7.95566037e-01 -5.25833089e-03 5.02445975e+01] [ 8.42429548e-03 1.93993677e-04 9.99964496e-01 6.84224224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.164012739 meters Centerline goodness [0,1] 0.9954749208642264 Centerline is valid? [True, True] Translation: X:405.78, Y:50.27, Z:0.07 [[ 7.96943464e-01 -6.04024229e-01 -5.98716177e-03 4.05782483e+02] [ 6.04005326e-01 7.96965930e-01 -4.78255638e-03 5.02686286e+01] [ 7.66034387e-03 1.95149451e-04 9.99970640e-01 7.00236052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.194012739 meters Centerline goodness [0,1] 0.9940693626713654 Centerline is valid? [True, True] Translation: X:405.80, Y:50.30, Z:0.07 [[ 7.98791577e-01 -6.01580328e-01 -5.75554421e-03 4.05796326e+02] [ 6.01562786e-01 7.98812284e-01 -4.59895337e-03 5.02957694e+01] [ 7.36423929e-03 2.11284007e-04 9.99972861e-01 7.09452496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.224012739 meters Centerline goodness [0,1] 0.9940693626713654 Centerline is valid? [True, True] Translation: X:405.82, Y:50.31, Z:0.07 [[ 7.98684411e-01 -6.01722606e-01 -5.75477694e-03 4.05817679e+02] [ 6.01705061e-01 7.98705115e-01 -4.59991326e-03 5.03130901e+01] [ 7.36424157e-03 2.11200607e-04 9.99972861e-01 7.11648630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.254012739 meters Centerline goodness [0,1] 0.9934546072764366 Centerline is valid? [True, True] Translation: X:405.84, Y:50.34, Z:0.07 [[ 7.98928025e-01 -6.01398152e-01 -5.85435868e-03 4.05835434e+02] [ 6.01379972e-01 7.98949444e-01 -4.68130686e-03 5.03355383e+01] [ 7.49266591e-03 2.19333189e-04 9.99971906e-01 7.13126293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.284012739 meters Centerline goodness [0,1] 0.9940589857840016 Centerline is valid? [True, True] Translation: X:405.86, Y:50.36, Z:0.07 [[ 7.97894605e-01 -6.02775048e-01 -5.14200766e-03 4.05855411e+02] [ 6.02761048e-01 7.97911153e-01 -4.11223220e-03 5.03567658e+01] [ 6.58161623e-03 1.81725963e-04 9.99978324e-01 7.23828609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.314012739 meters Centerline goodness [0,1] 0.9943775955702268 Centerline is valid? [True, True] Translation: X:405.88, Y:50.37, Z:0.07 [[ 7.96471570e-01 -6.04655880e-01 -4.93008261e-03 4.05878113e+02] [ 6.04643039e-01 7.96486812e-01 -3.94390537e-03 5.03740019e+01] [ 6.31145135e-03 1.60268370e-04 9.99980070e-01 7.30272985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.344012739 meters Centerline goodness [0,1] 0.995006480950256 Centerline is valid? [True, True] Translation: X:405.90, Y:50.39, Z:0.07 [[ 7.94846438e-01 -6.06788320e-01 -5.20337976e-03 4.05900642e+02] [ 6.06774051e-01 7.94863455e-01 -4.16407405e-03 5.03900783e+01] [ 6.66268791e-03 1.52523609e-04 9.99977792e-01 7.22307532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.374012739 meters Centerline goodness [0,1] 0.9971710554302974 Centerline is valid? [True, True] Translation: X:405.93, Y:50.40, Z:0.07 [[ 7.91293997e-01 -6.11389140e-01 -7.55843187e-03 4.05926056e+02] [ 6.11359213e-01 7.91330077e-01 -6.05156846e-03 5.04040003e+01] [ 9.68107771e-03 1.67652841e-04 9.99953123e-01 6.60027971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.404012739 meters Centerline goodness [0,1] 0.99754378470739 Centerline is valid? [True, True] Translation: X:405.95, Y:50.42, Z:0.06 [[ 7.89761000e-01 -6.13357723e-01 -8.35862390e-03 4.05949766e+02] [ 6.13321209e-01 7.89805215e-01 -6.69454333e-03 5.04209015e+01] [ 1.07078346e-02 1.60567918e-04 9.99942657e-01 6.41212572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.434012739 meters Centerline goodness [0,1] 0.9978920023848054 Centerline is valid? [True, True] Translation: X:405.97, Y:50.43, Z:0.07 [[ 7.87740587e-01 -6.15962615e-01 -7.40436383e-03 4.05974034e+02] [ 6.15934063e-01 7.87775377e-01 -5.93178529e-03 5.04346123e+01] [ 9.48673348e-03 1.12108129e-04 9.99954994e-01 6.75021022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.464012739 meters Centerline goodness [0,1] 0.9979705191198461 Centerline is valid? [True, True] Translation: X:406.00, Y:50.45, Z:0.07 [[ 7.87126445e-01 -6.16756451e-01 -6.59095621e-03 4.05998510e+02] [ 6.16733850e-01 7.87154033e-01 -5.28075211e-03 5.04502189e+01] [ 8.44503569e-03 9.17538344e-05 9.99964336e-01 7.07003083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.494012739 meters Centerline goodness [0,1] 0.9976684541851247 Centerline is valid? [True, True] Translation: X:406.02, Y:50.47, Z:0.07 [[ 7.86853150e-01 -6.17105034e-01 -6.59526731e-03 4.06018047e+02] [ 6.17082401e-01 7.86880784e-01 -5.28601091e-03 5.04690427e+01] [ 8.45171305e-03 8.94909478e-05 9.99964280e-01 7.08749671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.524012739 meters Centerline goodness [0,1] 0.9980749486652978 Centerline is valid? [True, True] Translation: X:406.04, Y:50.49, Z:0.07 [[ 7.87218748e-01 -6.16611898e-01 -8.74123275e-03 4.06039033e+02] [ 6.16572076e-01 7.87267268e-01 -7.00890201e-03 5.04895079e+01] [ 1.12034588e-02 1.27939048e-04 9.99937231e-01 6.53455667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55401273900003 meters Centerline goodness [0,1] 0.9982015543708652 Centerline is valid? [True, True] Translation: X:406.06, Y:50.51, Z:0.06 [[ 7.87349681e-01 -6.16434455e-01 -9.43619081e-03 4.06061473e+02] [ 6.16388004e-01 7.87406212e-01 -7.56880874e-03 5.05063119e+01] [ 1.20957897e-02 1.42944333e-04 9.99926833e-01 6.40448613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.584012739 meters Centerline goodness [0,1] 0.9977685212734305 Centerline is valid? [True, True] Translation: X:406.08, Y:50.53, Z:0.06 [[ 7.87375302e-01 -6.16404445e-01 -9.25709364e-03 4.06080209e+02] [ 6.16359709e-01 7.87429705e-01 -7.42763642e-03 5.05257539e+01] [ 1.18677386e-02 1.42637932e-04 9.99929566e-01 6.37734140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.614012739 meters Centerline goodness [0,1] 0.9982260297680858 Centerline is valid? [True, True] Translation: X:406.10, Y:50.54, Z:0.07 [[ 7.86046184e-01 -6.18129318e-01 -6.89514454e-03 4.06104768e+02] [ 6.18104554e-01 7.86076420e-01 -5.53363475e-03 5.05417530e+01] [ 8.84061241e-03 8.77722366e-05 9.99960917e-01 7.04562225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.644012739 meters Centerline goodness [0,1] 0.9980298098338187 Centerline is valid? [True, True] Translation: X:406.13, Y:50.56, Z:0.07 [[ 7.84651607e-01 -6.19906954e-01 -6.10125356e-03 4.06128132e+02] [ 6.19887607e-01 7.84675325e-01 -4.89796163e-03 5.05578271e+01] [ 7.82378360e-03 6.11019974e-05 9.99969392e-01 7.22697444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.674012739 meters Centerline goodness [0,1] 0.9978163578578687 Centerline is valid? [True, True] Translation: X:406.15, Y:50.57, Z:0.07 [[ 7.81334999e-01 -6.24085603e-01 -5.72526708e-03 4.06154468e+02] [ 6.24068667e-01 7.81355975e-01 -4.59778703e-03 5.05680897e+01] [ 7.34288433e-03 1.94521286e-05 9.99973040e-01 7.21713217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.704012739 meters Centerline goodness [0,1] 0.997318178915778 Centerline is valid? [True, True] Translation: X:406.18, Y:50.58, Z:0.07 [[ 7.79458302e-01 -6.26424090e-01 -6.13305616e-03 4.06179984e+02] [ 6.26404717e-01 7.79482431e-01 -4.92657069e-03 5.05814564e+01] [ 7.86673208e-03 -1.71887924e-06 9.99969057e-01 7.20803071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.734012739 meters Centerline goodness [0,1] 0.9970393405610343 Centerline is valid? [True, True] Translation: X:406.21, Y:50.59, Z:0.07 [[ 7.77759077e-01 -6.28529307e-01 -6.45983584e-03 4.06205598e+02] [ 6.28507869e-01 7.77785903e-01 -5.19115875e-03 5.05949440e+01] [ 8.28716466e-03 -2.25868210e-05 9.99965661e-01 7.11512041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.764012739 meters Centerline goodness [0,1] 0.996978016131435 Centerline is valid? [True, True] Translation: X:406.23, Y:50.61, Z:0.07 [[ 7.76113196e-01 -6.30549125e-01 -7.49051016e-03 4.06231248e+02] [ 6.30520370e-01 7.76149341e-01 -6.02198161e-03 5.06068633e+01] [ 9.61090975e-03 -4.91798395e-05 9.99953813e-01 6.89960038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.794012739 meters Centerline goodness [0,1] 0.9967711382813845 Centerline is valid? [True, True] Translation: X:406.25, Y:50.62, Z:0.07 [[ 7.76219033e-01 -6.30421300e-01 -7.27999243e-03 4.06253469e+02] [ 6.30394114e-01 7.76253169e-01 -5.85471353e-03 5.06242545e+01] [ 9.34205331e-03 -4.47243067e-05 9.99956361e-01 6.99144780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.824012739 meters Centerline goodness [0,1] 0.9968116311694937 Centerline is valid? [True, True] Translation: X:406.28, Y:50.64, Z:0.07 [[ 7.77647300e-01 -6.28661107e-01 -7.06330311e-03 4.06275777e+02] [ 6.28635424e-01 7.77679376e-01 -5.68255016e-03 5.06418672e+01] [ 9.06538343e-03 -2.12227565e-05 9.99958908e-01 7.03072420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.854012739 meters Centerline goodness [0,1] 0.9973183446677966 Centerline is valid? [True, True] Translation: X:406.30, Y:50.66, Z:0.07 [[ 7.78295121e-01 -6.27857333e-01 -7.20226706e-03 4.06297118e+02] [ 6.27830575e-01 7.78328445e-01 -5.79656968e-03 5.06596948e+01] [ 9.24514811e-03 -1.03615681e-05 9.99957263e-01 7.04827510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.884012739 meters Centerline goodness [0,1] 0.9976580796252927 Centerline is valid? [True, True] Translation: X:406.32, Y:50.68, Z:0.07 [[ 7.79187044e-01 -6.26745338e-01 -7.60464176e-03 4.06318753e+02] [ 6.26715430e-01 7.79224153e-01 -6.12287262e-03 5.06781569e+01] [ 9.76320241e-03 4.91669455e-06 9.99952339e-01 6.93474465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.914012739 meters Centerline goodness [0,1] 0.9983957219251337 Centerline is valid? [True, True] Translation: X:406.34, Y:50.70, Z:0.07 [[ 7.81942901e-01 -6.23292738e-01 -8.45351781e-03 4.06340019e+02] [ 6.23255547e-01 7.81988593e-01 -6.80909488e-03 5.06984116e+01] [ 1.08546139e-02 5.56215343e-05 9.99941085e-01 6.75878699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.944012739 meters Centerline goodness [0,1] 0.9984796248313669 Centerline is valid? [True, True] Translation: X:406.36, Y:50.72, Z:0.07 [[ 7.83498258e-01 -6.21339694e-01 -8.21365028e-03 4.06360242e+02] [ 6.21304456e-01 7.83541306e-01 -6.61781618e-03 5.07177034e+01] [ 1.05476462e-02 8.18699378e-05 9.99944369e-01 6.81271477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.974012739 meters Centerline goodness [0,1] 0.9982469050298676 Centerline is valid? [True, True] Translation: X:406.38, Y:50.74, Z:0.07 [[ 7.86414659e-01 -6.17643215e-01 -8.29724119e-03 4.06378232e+02] [ 6.17607037e-01 7.86458417e-01 -6.68628952e-03 5.07389464e+01] [ 1.06551765e-02 1.33761547e-04 9.99943223e-01 6.83434050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.004012739 meters Centerline goodness [0,1] 0.9977794384541475 Centerline is valid? [True, True] Translation: X:406.40, Y:50.76, Z:0.07 [[ 7.87663461e-01 -6.16046085e-01 -8.57286777e-03 4.06400290e+02] [ 6.16007354e-01 7.87710096e-01 -6.90976614e-03 5.07570357e+01] [ 1.10096689e-02 1.61620722e-04 9.99939379e-01 6.83493373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.034012739 meters Centerline goodness [0,1] 0.9969793624976236 Centerline is valid? [True, True] Translation: X:406.42, Y:50.78, Z:0.07 [[ 7.88732818e-01 -6.14673036e-01 -8.80906240e-03 4.06416377e+02] [ 6.14632033e-01 7.88781987e-01 -7.10216587e-03 5.07806596e+01] [ 1.13139396e-02 1.87379369e-04 9.99935978e-01 6.68048105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.064012739 meters Centerline goodness [0,1] 0.9975896418591753 Centerline is valid? [True, True] Translation: X:406.44, Y:50.80, Z:0.07 [[ 7.90918477e-01 -6.11862519e-01 -8.49827987e-03 4.06441113e+02] [ 6.11824181e-01 7.90964101e-01 -6.85289684e-03 5.07959978e+01] [ 1.09148650e-02 2.20629610e-04 9.99940407e-01 6.90984130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.094012739 meters Centerline goodness [0,1] 0.9971575240761953 Centerline is valid? [True, True] Translation: X:406.46, Y:50.82, Z:0.07 [[ 7.91883557e-01 -6.10613891e-01 -8.43258620e-03 4.06462021e+02] [ 6.10576050e-01 7.91928418e-01 -6.80197172e-03 5.08151036e+01] [ 1.08313831e-02 2.37634381e-04 9.99941311e-01 6.99062265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.124012739 meters Centerline goodness [0,1] 0.9962252010723861 Centerline is valid? [True, True] Translation: X:406.48, Y:50.83, Z:0.07 [[ 7.92984399e-01 -6.09189711e-01 -7.97740451e-03 4.06482701e+02] [ 6.09155759e-01 7.93024486e-01 -6.43629581e-03 5.08344037e+01] [ 1.02472023e-02 2.44400266e-04 9.99947466e-01 7.15973276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.154012739 meters Centerline goodness [0,1] 0.9961579140495154 Centerline is valid? [True, True] Translation: X:406.50, Y:50.85, Z:0.07 [[ 7.94828645e-01 -6.06795025e-01 -6.87191242e-03 4.06503635e+02] [ 6.06769730e-01 7.94858315e-01 -5.54568429e-03 5.08534791e+01] [ 8.82729036e-03 2.38200292e-04 9.99961010e-01 7.40109201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.184012739 meters Centerline goodness [0,1] 0.9952273460174137 Centerline is valid? [True, True] Translation: X:406.52, Y:50.87, Z:0.08 [[ 7.95369788e-01 -6.06089087e-01 -6.55132067e-03 4.06524727e+02] [ 6.06066060e-01 7.95396733e-01 -5.28844597e-03 5.08723408e+01] [ 8.41616845e-03 2.35737042e-04 9.99964556e-01 7.50297421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.214012739 meters Centerline goodness [0,1] 0.9940239467471981 Centerline is valid? [True, True] Translation: X:406.54, Y:50.89, Z:0.08 [[ 7.96175617e-01 -6.05034219e-01 -6.16285286e-03 4.06542531e+02] [ 6.05013804e-01 7.96199434e-01 -4.97571364e-03 5.08936877e+01] [ 7.91733698e-03 2.32930826e-04 9.99968630e-01 7.57728119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.244012739 meters Centerline goodness [0,1] 0.994052676295667 Centerline is valid? [True, True] Translation: X:406.56, Y:50.91, Z:0.08 [[ 7.96577310e-01 -6.04505837e-01 -6.10588837e-03 4.06564250e+02] [ 6.04485774e-01 7.96600676e-01 -4.93075178e-03 5.09124165e+01] [ 7.84462304e-03 2.36802333e-04 9.99969202e-01 7.59954206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.274012739 meters Centerline goodness [0,1] 0.9930987183334048 Centerline is valid? [True, True] Translation: X:406.58, Y:50.93, Z:0.08 [[ 7.97118168e-01 -6.03796815e-01 -5.65966237e-03 4.06584555e+02] [ 6.03779549e-01 7.97138228e-01 -4.57181371e-03 5.09311265e+01] [ 7.27197979e-03 2.27087375e-04 9.99973533e-01 7.76586945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30401273900003 meters Centerline goodness [0,1] 0.9918333580807331 Centerline is valid? [True, True] Translation: X:406.60, Y:50.95, Z:0.08 [[ 7.98383942e-01 -6.02128158e-01 -4.97617407e-03 4.06603974e+02] [ 6.02114774e-01 7.98399421e-01 -4.02031708e-03 5.09526621e+01] [ 6.39372061e-03 2.13528671e-04 9.99979537e-01 7.97305670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.334012739 meters Centerline goodness [0,1] 0.9911434037705024 Centerline is valid? [True, True] Translation: X:406.62, Y:50.97, Z:0.08 [[ 7.98716461e-01 -6.01691646e-01 -4.37940429e-03 4.06624096e+02] [ 6.01681266e-01 7.98728444e-01 -3.53931584e-03 5.09722164e+01] [ 5.62753155e-03 1.91904296e-04 9.99984147e-01 8.12449107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.364012739 meters Centerline goodness [0,1] 0.9915320783548038 Centerline is valid? [True, True] Translation: X:406.65, Y:50.99, Z:0.08 [[ 7.99314472e-01 -6.00903373e-01 -3.39291288e-03 4.06645249e+02] [ 6.00897134e-01 7.99321658e-01 -2.74251282e-03 5.09912400e+01] [ 4.36001395e-03 1.53338562e-04 9.99990483e-01 8.25262849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.394012739 meters Centerline goodness [0,1] 0.9901655986295286 Centerline is valid? [True, True] Translation: X:406.66, Y:51.01, Z:0.08 [[ 7.99100695e-01 -6.01190220e-01 -2.89788232e-03 4.06663600e+02] [ 6.01185671e-01 7.99105939e-01 -2.34243977e-03 5.10122093e+01] [ 3.72396685e-03 1.29679922e-04 9.99993058e-01 8.45156613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.424012739 meters Centerline goodness [0,1] 0.9887815054495913 Centerline is valid? [True, True] Translation: X:406.68, Y:51.03, Z:0.09 [[ 7.98597264e-01 -6.01860029e-01 -2.62955172e-03 4.06681981e+02] [ 6.01856287e-01 7.98601585e-01 -2.12556569e-03 5.10330882e+01] [ 3.37925720e-03 1.14858709e-04 9.99994284e-01 8.59208002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.454012739 meters Centerline goodness [0,1] 0.9906934854398078 Centerline is valid? [True, True] Translation: X:406.71, Y:51.05, Z:0.08 [[ 7.97358239e-01 -6.03493485e-01 -3.93086900e-03 4.06706017e+02] [ 6.03485135e-01 7.97367912e-01 -3.17874658e-03 5.10490073e+01] [ 5.05270166e-03 1.62378763e-04 9.99987222e-01 8.21268379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.484012739 meters Centerline goodness [0,1] 0.9914906354229026 Centerline is valid? [True, True] Translation: X:406.73, Y:51.07, Z:0.08 [[ 7.96529846e-01 -6.04577208e-01 -5.15788984e-03 4.06728114e+02] [ 6.04562843e-01 7.96546519e-01 -4.17279400e-03 5.10670507e+01] [ 6.63127535e-03 2.05486413e-04 9.99977992e-01 7.99660635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.514012739 meters Centerline goodness [0,1] 0.9925100008511363 Centerline is valid? [True, True] Translation: X:406.75, Y:51.09, Z:0.08 [[ 7.95575812e-01 -6.05824962e-01 -5.93664462e-03 4.06750942e+02] [ 6.05805952e-01 7.95597929e-01 -4.80452880e-03 5.10852173e+01] [ 7.63388564e-03 2.25912253e-04 9.99970836e-01 7.77877190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.544012739 meters Centerline goodness [0,1] 0.9943951424567959 Centerline is valid? [True, True] Translation: X:406.77, Y:51.10, Z:0.07 [[ 7.93479896e-01 -6.08550728e-01 -7.46096436e-03 4.06772109e+02] [ 6.08520801e-01 7.93514932e-01 -6.04043948e-03 5.11024093e+01] [ 9.59630047e-03 2.52815282e-04 9.99953922e-01 7.49393388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.574012739 meters Centerline goodness [0,1] 0.9951841118308898 Centerline is valid? [True, True] Translation: X:406.80, Y:51.12, Z:0.07 [[ 7.92306188e-01 -6.10077200e-01 -7.53092991e-03 4.06795577e+02] [ 6.10046759e-01 7.92341942e-01 -6.09907805e-03 5.11196456e+01] [ 9.68798009e-03 2.38117894e-04 9.99953042e-01 7.43165085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.604012739 meters Centerline goodness [0,1] 0.9950994029403583 Centerline is valid? [True, True] Translation: X:406.82, Y:51.14, Z:0.08 [[ 7.91381822e-01 -6.11282268e-01 -6.98576147e-03 4.06819120e+02] [ 6.11256107e-01 7.91412627e-01 -5.65918770e-03 5.11362080e+01] [ 8.98798092e-03 2.08488916e-04 9.99959586e-01 7.55135862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.634012739 meters Centerline goodness [0,1] 0.9955371580104779 Centerline is valid? [True, True] Translation: X:406.85, Y:51.15, Z:0.08 [[ 7.89535345e-01 -6.13679777e-01 -5.57407285e-03 4.06846073e+02] [ 6.13663173e-01 7.89555007e-01 -4.51663609e-03 5.11488248e+01] [ 7.17280536e-03 1.45440596e-04 9.99974265e-01 7.85845146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.664012739 meters Centerline goodness [0,1] 0.9953539159850983 Centerline is valid? [True, True] Translation: X:406.87, Y:51.17, Z:0.08 [[ 7.89019697e-01 -6.14340303e-01 -5.82316683e-03 4.06867043e+02] [ 6.14322187e-01 7.89041172e-01 -4.72011328e-03 5.11665598e+01] [ 7.49447420e-03 1.46961771e-04 9.99971905e-01 7.87387640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.694012739 meters Centerline goodness [0,1] 0.9952277007361753 Centerline is valid? [True, True] Translation: X:406.89, Y:51.18, Z:0.08 [[ 7.88804769e-01 -6.14609733e-01 -6.47396573e-03 4.06888350e+02] [ 6.14587339e-01 7.88831319e-01 -5.24904088e-03 5.11846502e+01] [ 8.33297854e-03 1.61651107e-04 9.99965267e-01 7.78898833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.724012739 meters Centerline goodness [0,1] 0.9953594812790032 Centerline is valid? [True, True] Translation: X:406.91, Y:51.21, Z:0.07 [[ 7.88491334e-01 -6.14996534e-01 -7.78974753e-03 4.06906281e+02] [ 6.14964106e-01 7.88529788e-01 -6.31840213e-03 5.12050925e+01] [ 1.00282434e-02 1.91590196e-04 9.99949698e-01 7.41094978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.754012739 meters Centerline goodness [0,1] 0.9961788062505337 Centerline is valid? [True, True] Translation: X:406.93, Y:51.22, Z:0.08 [[ 7.87937053e-01 -6.15709426e-01 -7.55666943e-03 4.06929680e+02] [ 6.15678927e-01 7.87973268e-01 -6.13094726e-03 5.12209062e+01] [ 9.72933552e-03 1.78318389e-04 9.99952653e-01 7.52113013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.784012739 meters Centerline goodness [0,1] 0.995935746080898 Centerline is valid? [True, True] Translation: X:406.95, Y:51.24, Z:0.08 [[ 7.87070570e-01 -6.16825880e-01 -6.76404790e-03 4.06953227e+02] [ 6.16801469e-01 7.87099620e-01 -5.48956759e-03 5.12377767e+01] [ 8.71008689e-03 1.48602413e-04 9.99962055e-01 7.80845172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.814012739 meters Centerline goodness [0,1] 0.9954311577958539 Centerline is valid? [True, True] Translation: X:406.98, Y:51.25, Z:0.08 [[ 7.85684997e-01 -6.18607262e-01 -4.91334958e-03 4.06977984e+02] [ 6.18594412e-01 7.85700354e-01 -3.98839057e-03 5.12528683e+01] [ 6.32766788e-03 9.42480382e-05 9.99979976e-01 8.31477445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.844012739 meters Centerline goodness [0,1] 0.9952912974615813 Centerline is valid? [True, True] Translation: X:407.00, Y:51.27, Z:0.09 [[ 7.85045852e-01 -6.19421442e-01 -4.48193577e-03 4.07000686e+02] [ 6.19410756e-01 7.85058642e-01 -3.63929278e-03 5.12682194e+01] [ 5.77283839e-03 8.08524780e-05 9.99983334e-01 8.51805699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.874012739 meters Centerline goodness [0,1] 0.9954464035220234 Centerline is valid? [True, True] Translation: X:407.02, Y:51.28, Z:0.09 [[ 7.83795459e-01 -6.21004048e-01 -4.31856050e-03 4.07024845e+02] [ 6.20994147e-01 7.83807354e-01 -3.50738158e-03 5.12811710e+01] [ 5.56301763e-03 6.72689590e-05 9.99984524e-01 8.56098916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.904012739 meters Centerline goodness [0,1] 0.9957206436152003 Centerline is valid? [True, True] Translation: X:407.05, Y:51.30, Z:0.08 [[ 7.83261923e-01 -6.21674406e-01 -4.65750142e-03 4.07047945e+02] [ 6.21662897e-01 7.83275767e-01 -3.78354276e-03 5.12975528e+01] [ 6.00023970e-03 6.81091566e-05 9.99981996e-01 8.46578065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.934012739 meters Centerline goodness [0,1] 0.9955846140782882 Centerline is valid? [True, True] Translation: X:407.07, Y:51.31, Z:0.08 [[ 7.82994867e-01 -6.22010506e-01 -4.68702897e-03 4.07070505e+02] [ 6.21998848e-01 7.83008893e-01 -3.80887243e-03 5.13140651e+01] [ 6.03914403e-03 6.70009507e-05 9.99981762e-01 8.47395486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.964012739 meters Centerline goodness [0,1] 0.9951881766626568 Centerline is valid? [True, True] Translation: X:407.09, Y:51.33, Z:0.09 [[ 7.82874515e-01 -6.22165712e-01 -4.16177047e-03 4.07094247e+02] [ 6.22156518e-01 7.82885575e-01 -3.38301303e-03 5.13297591e+01] [ 5.36298478e-03 5.92020641e-05 9.99985617e-01 8.62924605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.994012739 meters Centerline goodness [0,1] 0.9951490847939978 Centerline is valid? [True, True] Translation: X:407.12, Y:51.35, Z:0.09 [[ 7.82866927e-01 -6.22173985e-01 -4.34824581e-03 4.07116037e+02] [ 6.22163940e-01 7.82879000e-01 -3.53603936e-03 5.13459622e+01] [ 5.60418203e-03 6.29265240e-05 9.99984294e-01 8.61629988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.024012739 meters Centerline goodness [0,1] 0.9955618788753928 Centerline is valid? [True, True] Translation: X:407.14, Y:51.36, Z:0.08 [[ 7.82972057e-01 -6.22026407e-01 -6.15683933e-03 4.07139332e+02] [ 6.22006249e-01 7.82996258e-01 -5.00860565e-03 5.13615756e+01] [ 7.93626713e-03 9.20057286e-05 9.99968503e-01 8.14369227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05401273900003 meters Centerline goodness [0,1] 0.9955060487306185 Centerline is valid? [True, True] Translation: X:407.16, Y:51.38, Z:0.08 [[ 7.82748315e-01 -6.22300394e-01 -6.87705568e-03 4.07161616e+02] [ 6.22275236e-01 7.82778518e-01 -5.59663564e-03 5.13775116e+01] [ 8.86600003e-03 1.01335677e-04 9.99960691e-01 7.93887944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.084012739 meters Centerline goodness [0,1] 0.9958419067215364 Centerline is valid? [True, True] Translation: X:407.19, Y:51.39, Z:0.08 [[ 7.82477244e-01 -6.22636889e-01 -7.25719777e-03 4.07186728e+02] [ 6.22608865e-01 7.82510890e-01 -5.90825826e-03 5.13905579e+01] [ 9.35753583e-03 1.04681965e-04 9.99956212e-01 7.89451551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.114012739 meters Centerline goodness [0,1] 0.9958419067215364 Centerline is valid? [True, True] Translation: X:407.21, Y:51.41, Z:0.08 [[ 7.82361664e-01 -6.22782125e-01 -7.25609838e-03 4.07207922e+02] [ 6.22754095e-01 7.82395305e-01 -5.90960818e-03 5.14080674e+01] [ 9.35753565e-03 1.04685915e-04 9.99956212e-01 7.91646896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.144012739 meters Centerline goodness [0,1] 0.9952011261357335 Centerline is valid? [True, True] Translation: X:407.23, Y:51.43, Z:0.08 [[ 7.83226401e-01 -6.21698494e-01 -6.88391484e-03 4.07226727e+02] [ 6.21673206e-01 7.83256644e-01 -5.60840191e-03 5.14287026e+01] [ 8.87860706e-03 1.13103031e-04 9.99960578e-01 8.01067472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.174012739 meters Centerline goodness [0,1] 0.9948303853712723 Centerline is valid? [True, True] Translation: X:407.25, Y:51.45, Z:0.08 [[ 7.84345919e-01 -6.20286165e-01 -6.82290831e-03 4.07247209e+02] [ 6.20261261e-01 7.84375584e-01 -5.55973426e-03 5.14483061e+01] [ 8.80034893e-03 1.28769169e-04 9.99961268e-01 8.06415103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.204012739 meters Centerline goodness [0,1] 0.9941812852894272 Centerline is valid? [True, True] Translation: X:407.27, Y:51.47, Z:0.08 [[ 7.85843147e-01 -6.18388319e-01 -6.81436469e-03 4.07266476e+02] [ 6.18363390e-01 7.85872677e-01 -5.55453883e-03 5.14692368e+01] [ 8.79008495e-03 1.51242627e-04 9.99961355e-01 8.11849942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.234012739 meters Centerline goodness [0,1] 0.9937087947602017 Centerline is valid? [True, True] Translation: X:407.29, Y:51.49, Z:0.08 [[ 7.89827693e-01 -6.13292922e-01 -6.63385573e-03 4.07285223e+02] [ 6.13269102e-01 7.89855525e-01 -5.40908584e-03 5.14906770e+01] [ 8.55714166e-03 2.03907042e-04 9.99963366e-01 8.31936406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.264012739 meters Centerline goodness [0,1] 0.993418647166362 Centerline is valid? [True, True] Translation: X:407.30, Y:51.51, Z:0.08 [[ 7.91942587e-01 -6.10557809e-01 -6.78979493e-03 4.07303675e+02] [ 6.10532738e-01 7.91971656e-01 -5.53824121e-03 5.15142610e+01] [ 8.75874155e-03 2.40576978e-04 9.99961613e-01 8.25568105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.294012739 meters Centerline goodness [0,1] 0.9920645133616437 Centerline is valid? [True, True] Translation: X:407.32, Y:51.54, Z:0.08 [[ 7.95702279e-01 -6.05629535e-01 -8.41122122e-03 4.07317181e+02] [ 6.05590755e-01 7.95746650e-01 -6.86342280e-03 5.15426893e+01] [ 1.08498927e-02 3.67483362e-04 9.99941071e-01 7.84027122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.324012739 meters Centerline goodness [0,1] 0.9915243436145806 Centerline is valid? [True, True] Translation: X:407.34, Y:51.56, Z:0.08 [[ 7.96789400e-01 -6.04191449e-01 -8.90756710e-03 4.07336336e+02] [ 6.04147837e-01 7.96839083e-01 -7.27098734e-03 5.15647942e+01] [ 1.14909660e-02 4.11958252e-04 9.99933892e-01 7.70625881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.354012739 meters Centerline goodness [0,1] 0.9910664313083911 Centerline is valid? [True, True] Translation: X:407.36, Y:51.58, Z:0.08 [[ 7.97068487e-01 -6.03821403e-01 -9.02994860e-03 4.07357606e+02] [ 6.03776532e-01 7.97119522e-01 -7.37333070e-03 5.15838997e+01] [ 1.16501232e-02 4.24978497e-04 9.99932045e-01 7.76226433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.384012739 meters Centerline goodness [0,1] 0.9910154662331273 Centerline is valid? [True, True] Translation: X:407.37, Y:51.61, Z:0.08 [[ 7.96667841e-01 -6.04359244e-01 -8.38178932e-03 4.07374764e+02] [ 6.04320595e-01 7.96711838e-01 -6.84587127e-03 5.16069782e+01] [ 1.08152364e-02 3.88597582e-04 9.99941438e-01 7.98037319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.414012739 meters Centerline goodness [0,1] 0.9901214505644885 Centerline is valid? [True, True] Translation: X:407.39, Y:51.63, Z:0.08 [[ 7.96494614e-01 -6.04593410e-01 -7.94599565e-03 4.07392837e+02] [ 6.04558679e-01 7.96534164e-01 -6.49067488e-03 5.16294084e+01] [ 1.02534763e-02 3.65966951e-04 9.99947365e-01 8.09680708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.444012739 meters Centerline goodness [0,1] 0.9905409207991515 Centerline is valid? [True, True] Translation: X:407.41, Y:51.65, Z:0.08 [[ 7.96365368e-01 -6.04774875e-01 -7.03928432e-03 4.07412436e+02] [ 6.04747618e-01 7.96396413e-01 -5.75082134e-03 5.16494812e+01] [ 9.08401304e-03 3.22764526e-04 9.99958687e-01 8.29073629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.474012739 meters Centerline goodness [0,1] 0.9885386212448625 Centerline is valid? [True, True] Translation: X:407.43, Y:51.68, Z:0.09 [[ 7.96912858e-01 -6.04069417e-01 -5.48053582e-03 4.07425216e+02] [ 6.04052869e-01 7.96931661e-01 -4.47877303e-03 5.16776626e+01] [ 7.07310233e-03 2.58658428e-04 9.99974952e-01 8.59022770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.504012739 meters Centerline goodness [0,1] 0.9881956512524901 Centerline is valid? [True, True] Translation: X:407.44, Y:51.70, Z:0.09 [[ 7.97140528e-01 -6.03769325e-01 -5.43876541e-03 4.07442865e+02] [ 6.03753016e-01 7.97159039e-01 -4.44541833e-03 5.16999234e+01] [ 7.01956824e-03 2.59952095e-04 9.99975329e-01 8.66645543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.534012739 meters Centerline goodness [0,1] 0.9887428840474254 Centerline is valid? [True, True] Translation: X:407.46, Y:51.72, Z:0.09 [[ 7.97515643e-01 -6.03268022e-01 -6.04088981e-03 4.07461166e+02] [ 6.03247880e-01 7.97538467e-01 -4.93847577e-03 5.17231112e+01] [ 7.79706651e-03 2.94357712e-04 9.99969559e-01 8.62241580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.564012739 meters Centerline goodness [0,1] 0.9882767456758488 Centerline is valid? [True, True] Translation: X:407.48, Y:51.74, Z:0.09 [[ 7.97373760e-01 -6.03458266e-01 -5.76259406e-03 4.07479253e+02] [ 6.03439931e-01 7.97394534e-01 -4.71247220e-03 5.17436914e+01] [ 7.43884131e-03 2.80222318e-04 9.99972292e-01 8.66799875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.594012739 meters Centerline goodness [0,1] 0.9872207858263045 Centerline is valid? [True, True] Translation: X:407.50, Y:51.76, Z:0.09 [[ 7.97056610e-01 -6.03882136e-01 -5.20830732e-03 4.07497459e+02] [ 6.03867162e-01 7.97073587e-01 -4.25991203e-03 5.17646795e+01] [ 6.72388898e-03 2.50265278e-04 9.99977363e-01 8.88336712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.624012739 meters Centerline goodness [0,1] 0.9875198353132907 Centerline is valid? [True, True] Translation: X:407.52, Y:51.78, Z:0.09 [[ 7.96382381e-01 -6.04777812e-01 -4.34758809e-03 4.07519655e+02] [ 6.04767392e-01 7.96394222e-01 -3.55592801e-03 5.17832971e+01] [ 5.61294040e-03 2.02598901e-04 9.99984227e-01 9.07738754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.654012739 meters Centerline goodness [0,1] 0.9882187219874504 Centerline is valid? [True, True] Translation: X:407.54, Y:51.80, Z:0.09 [[ 7.93893389e-01 -6.08048308e-01 -3.24680998e-03 4.07541056e+02] [ 6.08042521e-01 7.93900017e-01 -2.65617120e-03 5.18006638e+01] [ 4.19272290e-03 1.34518233e-04 9.99991201e-01 9.38956849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.684012739 meters Centerline goodness [0,1] 0.9880728855509089 Centerline is valid? [True, True] Translation: X:407.56, Y:51.82, Z:0.09 [[ 7.92372827e-01 -6.10026510e-01 -3.60007059e-03 4.07560791e+02] [ 6.10019410e-01 7.92380993e-01 -2.94633765e-03 5.18196341e+01] [ 4.64997158e-03 1.38484952e-04 9.99989179e-01 9.31060079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.714012739 meters Centerline goodness [0,1] 0.9918041534160033 Centerline is valid? [True, True] Translation: X:407.59, Y:51.83, Z:0.09 [[ 7.88566945e-01 -6.14931525e-01 -4.62530262e-03 4.07590800e+02] [ 6.14919887e-01 7.88580497e-01 -3.78590373e-03 5.18273057e+01] [ 5.97549499e-03 1.41247970e-04 9.99982137e-01 8.93921771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.744012739 meters Centerline goodness [0,1] 0.992436543885138 Centerline is valid? [True, True] Translation: X:407.62, Y:51.84, Z:0.09 [[ 7.86368228e-01 -6.17739042e-01 -4.84629753e-03 4.07615794e+02] [ 6.17726310e-01 7.86383151e-01 -3.96808562e-03 5.18403614e+01] [ 6.26228813e-03 1.26690970e-04 9.99980384e-01 8.90788651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.774012739 meters Centerline goodness [0,1] 0.9935231209519506 Centerline is valid? [True, True] Translation: X:407.65, Y:51.85, Z:0.09 [[ 7.84317771e-01 -6.20338986e-01 -5.01766008e-03 4.07645475e+02] [ 6.20325381e-01 7.84333813e-01 -4.10989044e-03 5.18504514e+01] [ 6.48504574e-03 1.10878205e-04 9.99978966e-01 8.82796534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80401273900003 meters Centerline goodness [0,1] 0.9946842714451065 Centerline is valid? [True, True] Translation: X:407.67, Y:51.86, Z:0.09 [[ 7.81183677e-01 -6.24279866e-01 -5.16833949e-03 4.07671252e+02] [ 6.24265507e-01 7.81200770e-01 -4.23490124e-03 5.18623777e+01] [ 6.68127436e-03 8.18196515e-05 9.99977677e-01 8.86524670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.834012739 meters Centerline goodness [0,1] 0.9944217657996538 Centerline is valid? [True, True] Translation: X:407.69, Y:51.88, Z:0.09 [[ 7.80265635e-01 -6.25428105e-01 -5.02229111e-03 4.07693384e+02] [ 6.25414568e-01 7.80281795e-01 -4.11556908e-03 5.18788291e+01] [ 6.49279490e-03 7.02230972e-05 9.99978919e-01 8.95660820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.864012739 meters Centerline goodness [0,1] 0.9948321526237591 Centerline is valid? [True, True] Translation: X:407.72, Y:51.90, Z:0.09 [[ 7.79980352e-01 -6.25781917e-01 -5.25763108e-03 4.07715445e+02] [ 6.25767081e-01 7.79998069e-01 -4.30968395e-03 5.18954616e+01] [ 6.79786437e-03 7.14163482e-05 9.99976892e-01 9.00512022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.894012739 meters Centerline goodness [0,1] 0.9951440734164759 Centerline is valid? [True, True] Translation: X:407.74, Y:51.91, Z:0.09 [[ 7.80391859e-01 -6.25256419e-01 -6.55405409e-03 4.07736640e+02] [ 6.25233325e-01 7.80419375e-01 -5.37477276e-03 5.19132635e+01] [ 8.47552197e-03 9.66158725e-05 9.99964077e-01 8.77372032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.924012739 meters Centerline goodness [0,1] 0.9952565946212788 Centerline is valid? [True, True] Translation: X:407.76, Y:51.93, Z:0.09 [[ 7.80878531e-01 -6.24642387e-01 -7.11390223e-03 4.07759097e+02] [ 6.24615135e-01 7.80910926e-01 -5.83596480e-03 5.19310270e+01] [ 9.20071496e-03 1.13728619e-04 9.99957666e-01 8.70328828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.954012739 meters Centerline goodness [0,1] 0.9945422497823271 Centerline is valid? [True, True] Translation: X:407.78, Y:51.95, Z:0.09 [[ 7.81451941e-01 -6.23923940e-01 -7.19592963e-03 4.07779006e+02] [ 6.23896006e-01 7.81485062e-01 -5.90526898e-03 5.19511217e+01] [ 9.30795020e-03 1.25172148e-04 9.99956672e-01 8.63600979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.984012739 meters Centerline goodness [0,1] 0.9940524581746609 Centerline is valid? [True, True] Translation: X:407.80, Y:51.97, Z:0.09 [[ 7.82642551e-01 -6.22439838e-01 -6.26774454e-03 4.07801962e+02] [ 6.22418592e-01 7.82667638e-01 -5.14432880e-03 5.19685658e+01] [ 8.10759601e-03 1.25009889e-04 9.99967125e-01 8.85377487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.014012739 meters Centerline goodness [0,1] 0.993806727175654 Centerline is valid? [True, True] Translation: X:407.82, Y:51.99, Z:0.09 [[ 7.83349324e-01 -6.21553714e-01 -5.90058760e-03 4.07823893e+02] [ 6.21534847e-01 7.83371536e-01 -4.84452134e-03 5.19876913e+01] [ 7.63348261e-03 1.27531703e-04 9.99970856e-01 8.95832562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.044012739 meters Centerline goodness [0,1] 0.9920693823024237 Centerline is valid? [True, True] Translation: X:407.84, Y:52.01, Z:0.09 [[ 7.85020998e-01 -6.19438220e-01 -6.19072418e-03 4.07841926e+02] [ 6.19417371e-01 7.85045392e-01 -5.08453074e-03 5.20099071e+01] [ 8.00955216e-03 1.56821292e-04 9.99967911e-01 9.02540531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.074012739 meters Centerline goodness [0,1] 0.9926158982920251 Centerline is valid? [True, True] Translation: X:407.86, Y:52.03, Z:0.09 [[ 7.85815078e-01 -6.18425181e-01 -6.70516152e-03 4.07862665e+02] [ 6.18400681e-01 7.85843663e-01 -5.50778284e-03 5.20292076e+01] [ 8.67536029e-03 1.81622357e-04 9.99962352e-01 8.94980616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.104012739 meters Centerline goodness [0,1] 0.992390980007673 Centerline is valid? [True, True] Translation: X:407.88, Y:52.05, Z:0.09 [[ 7.86658410e-01 -6.17342118e-01 -7.56673927e-03 4.07880837e+02] [ 6.17310854e-01 7.86694770e-01 -6.21674259e-03 5.20503528e+01] [ 9.79057125e-03 2.19422565e-04 9.99952047e-01 8.76855313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.134012739 meters Centerline goodness [0,1] 0.9927555263733858 Centerline is valid? [True, True] Translation: X:407.90, Y:52.07, Z:0.09 [[ 7.87467889e-01 -6.16302582e-01 -8.09023193e-03 4.07901115e+02] [ 6.16266775e-01 7.87509407e-01 -6.64800655e-03 5.20703835e+01] [ 1.04683174e-02 2.49350542e-04 9.99945175e-01 8.58896656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.164012739 meters Centerline goodness [0,1] 0.9905904493060457 Centerline is valid? [True, True] Translation: X:407.91, Y:52.10, Z:0.09 [[ 7.89427284e-01 -6.13787205e-01 -8.35643632e-03 4.07913104e+02] [ 6.13748852e-01 7.89471457e-01 -6.86763618e-03 5.20989708e+01] [ 1.08124352e-02 2.92746179e-04 9.99941501e-01 8.50144593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.194012739 meters Centerline goodness [0,1] 0.9906512202393628 Centerline is valid? [True, True] Translation: X:407.94, Y:52.12, Z:0.09 [[ 7.90143172e-01 -6.12871451e-01 -7.89631445e-03 4.07935880e+02] [ 6.12837149e-01 7.90182574e-01 -6.49060925e-03 5.21162550e+01] [ 1.02174392e-02 2.89355740e-04 9.99947759e-01 8.72073453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.224012739 meters Centerline goodness [0,1] 0.9905462865036369 Centerline is valid? [True, True] Translation: X:407.95, Y:52.14, Z:0.09 [[ 7.90534602e-01 -6.12375960e-01 -7.12218611e-03 4.07954158e+02] [ 6.12348018e-01 7.90566639e-01 -5.85607270e-03 5.21389934e+01] [ 9.21668088e-03 2.68171549e-04 9.99957490e-01 8.92941520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.254012739 meters Centerline goodness [0,1] 0.9900727573552808 Centerline is valid? [True, True] Translation: X:407.97, Y:52.16, Z:0.09 [[ 7.90646915e-01 -6.12230177e-01 -7.18788783e-03 4.07972718e+02] [ 6.12201694e-01 7.90679540e-01 -5.91192590e-03 5.21597321e+01] [ 9.30277528e-03 2.73808867e-04 9.99956691e-01 8.94623341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.284012739 meters Centerline goodness [0,1] 0.990234375 Centerline is valid? [True, True] Translation: X:407.99, Y:52.18, Z:0.09 [[ 7.90462299e-01 -6.12469126e-01 -7.13605648e-03 4.07991350e+02] [ 6.12441052e-01 7.90494463e-01 -5.87041844e-03 5.21808458e+01] [ 9.23646319e-03 2.69930519e-04 9.99957307e-01 8.93189560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.314012739 meters Centerline goodness [0,1] 0.9914082369787771 Centerline is valid? [True, True] Translation: X:408.02, Y:52.20, Z:0.09 [[ 7.90075631e-01 -6.12968306e-01 -7.09605694e-03 4.08015775e+02] [ 6.12940546e-01 7.90107452e-01 -5.83961627e-03 5.21972852e+01] [ 9.18614717e-03 2.64277494e-04 9.99957772e-01 9.02121137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.344012739 meters Centerline goodness [0,1] 0.9914335031005604 Centerline is valid? [True, True] Translation: X:408.04, Y:52.22, Z:0.09 [[ 7.89313372e-01 -6.13949849e-01 -7.06987580e-03 4.08035179e+02] [ 6.13922317e-01 7.89344994e-01 -5.81975822e-03 5.22174250e+01] [ 9.15361075e-03 2.53258458e-04 9.99958073e-01 8.97644552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.374012739 meters Centerline goodness [0,1] 0.9922240820391126 Centerline is valid? [True, True] Translation: X:408.06, Y:52.23, Z:0.09 [[ 7.86835083e-01 -6.17117514e-01 -7.51838699e-03 4.08058211e+02] [ 6.17086512e-01 7.86870968e-01 -6.19001021e-03 5.22331792e+01] [ 9.73596416e-03 2.31021987e-04 9.99952578e-01 8.83390870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.404012739 meters Centerline goodness [0,1] 0.9928291628315175 Centerline is valid? [True, True] Translation: X:408.08, Y:52.25, Z:0.09 [[ 7.85215046e-01 -6.19175258e-01 -7.70270053e-03 4.08083450e+02] [ 6.19142793e-01 7.85252797e-01 -6.34403753e-03 5.22473052e+01] [ 9.97663821e-03 2.12362199e-04 9.99950210e-01 8.78629626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.434012739 meters Centerline goodness [0,1] 0.9931952409483865 Centerline is valid? [True, True] Translation: X:408.11, Y:52.26, Z:0.09 [[ 7.83570858e-01 -6.21256355e-01 -7.56651645e-03 4.08106388e+02] [ 6.21225105e-01 7.83607368e-01 -6.23394623e-03 5.22641493e+01] [ 9.80205676e-03 1.84228623e-04 9.99951942e-01 8.84570191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.464012739 meters Centerline goodness [0,1] 0.9934302844750605 Centerline is valid? [True, True] Translation: X:408.13, Y:52.28, Z:0.09 [[ 7.80915107e-01 -6.24604609e-01 -6.37793717e-03 4.08129976e+02] [ 6.24582504e-01 7.80941143e-01 -5.25617663e-03 5.22785148e+01] [ 8.26382569e-03 1.21079771e-04 9.99965847e-01 9.09060065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.494012739 meters Centerline goodness [0,1] 0.9932716390032686 Centerline is valid? [True, True] Translation: X:408.15, Y:52.29, Z:0.09 [[ 7.79453040e-01 -6.26427342e-01 -6.46091185e-03 4.08154432e+02] [ 6.26404710e-01 7.79479810e-01 -5.32583301e-03 5.22936061e+01] [ 8.37239776e-03 1.04091117e-04 9.99964945e-01 9.14253013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.524012739 meters Centerline goodness [0,1] 0.9942757059250715 Centerline is valid? [True, True] Translation: X:408.18, Y:52.31, Z:0.09 [[ 7.77720955e-01 -6.28568999e-01 -7.15052498e-03 4.08180779e+02] [ 6.28541349e-01 7.77753821e-01 -5.89636904e-03 5.23072566e+01] [ 9.26762291e-03 9.13291388e-05 9.99957050e-01 9.01080307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55401273900003 meters Centerline goodness [0,1] 0.9955814549180327 Centerline is valid? [True, True] Translation: X:408.21, Y:52.32, Z:0.09 [[ 7.73643499e-01 -6.33564850e-01 -8.44490957e-03 4.08209641e+02] [ 6.33526555e-01 7.73689588e-01 -6.96596765e-03 5.23155902e+01] [ 1.09471309e-02 3.91011210e-05 9.99940078e-01 8.76895561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.584012739 meters Centerline goodness [0,1] 0.9958214870336866 Centerline is valid? [True, True] Translation: X:408.24, Y:52.33, Z:0.09 [[ 7.71358485e-01 -6.36350068e-01 -8.04228440e-03 4.08236357e+02] [ 6.36315477e-01 7.71400409e-01 -6.63500116e-03 5.23276833e+01] [ 1.04260049e-02 5.34410734e-07 9.99945648e-01 8.86357088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.614012739 meters Centerline goodness [0,1] 0.9966203290396634 Centerline is valid? [True, True] Translation: X:408.26, Y:52.34, Z:0.09 [[ 7.69245011e-01 -6.38910331e-01 -7.46333414e-03 4.08262159e+02] [ 6.38880642e-01 7.69281215e-01 -6.15932850e-03 5.23383813e+01] [ 9.67666137e-03 -3.01469879e-05 9.99953180e-01 8.93921320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.644012739 meters Centerline goodness [0,1] 0.9978096291255529 Centerline is valid? [True, True] Translation: X:408.30, Y:52.34, Z:0.09 [[ 7.65387950e-01 -6.43536895e-01 -6.44599858e-03 4.08295090e+02] [ 6.43514902e-01 7.65415090e-01 -5.32078575e-03 5.23437883e+01] [ 8.35798652e-03 -7.56308492e-05 9.99965069e-01 9.24248559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.674012739 meters Centerline goodness [0,1] 0.998341519423359 Centerline is valid? [True, True] Translation: X:408.32, Y:52.35, Z:0.09 [[ 7.63908371e-01 -6.45288044e-01 -6.88040500e-03 4.08321520e+02] [ 6.45263042e-01 7.63939350e-01 -5.68126715e-03 5.23541134e+01] [ 8.92226589e-03 -9.97035217e-05 9.99960191e-01 9.15095359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.704012739 meters Centerline goodness [0,1] 0.9986053896326811 Centerline is valid? [True, True] Translation: X:408.35, Y:52.36, Z:0.09 [[ 7.63046990e-01 -6.46294197e-01 -7.94365733e-03 4.08348791e+02] [ 6.46260904e-01 7.63088327e-01 -6.56122606e-03 5.23636533e+01] [ 1.03021945e-02 -1.27151364e-04 9.99946923e-01 8.88144591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.734012739 meters Centerline goodness [0,1] 0.9980327588418937 Centerline is valid? [True, True] Translation: X:408.37, Y:52.38, Z:0.09 [[ 7.63612695e-01 -6.45623543e-01 -8.11745348e-03 4.08370143e+02] [ 6.45588715e-01 7.63655830e-01 -6.70700443e-03 5.23816505e+01] [ 1.05291406e-02 -1.18982632e-04 9.99944560e-01 8.93708219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.764012739 meters Centerline goodness [0,1] 0.9977623822023323 Centerline is valid? [True, True] Translation: X:408.39, Y:52.40, Z:0.09 [[ 7.64723467e-01 -6.44312192e-01 -7.73417481e-03 4.08392434e+02] [ 6.44280486e-01 7.64762571e-01 -6.39259508e-03 5.23990935e+01] [ 1.00336344e-02 -9.44104339e-05 9.99949657e-01 9.10907444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.794012739 meters Centerline goodness [0,1] 0.9975708159945924 Centerline is valid? [True, True] Translation: X:408.41, Y:52.42, Z:0.09 [[ 7.66406528e-01 -6.42320381e-01 -6.74994306e-03 4.08414312e+02] [ 6.42296138e-01 7.66436250e-01 -5.58085986e-03 5.24152517e+01] [ 8.75810107e-03 -5.82549274e-05 9.99961645e-01 9.37546792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.824012739 meters Centerline goodness [0,1] 0.9954355430424026 Centerline is valid? [True, True] Translation: X:408.43, Y:52.44, Z:0.10 [[ 7.70440488e-01 -6.37488556e-01 -5.45843394e-03 4.08432746e+02] [ 6.37472575e-01 7.70459824e-01 -4.51393345e-03 5.24365904e+01] [ 7.08308497e-03 -1.88484690e-06 9.99974915e-01 9.71031672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.854012739 meters Centerline goodness [0,1] 0.994741640692916 Centerline is valid? [True, True] Translation: X:408.45, Y:52.46, Z:0.10 [[ 7.72411637e-01 -6.35094955e-01 -5.88740027e-03 4.08451422e+02] [ 6.35076278e-01 7.72434074e-01 -4.87060996e-03 5.24556794e+01] [ 7.64092839e-03 2.31675584e-05 9.99970807e-01 9.60947983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.884012739 meters Centerline goodness [0,1] 0.9937619757291889 Centerline is valid? [True, True] Translation: X:408.47, Y:52.48, Z:0.09 [[ 7.76153159e-01 -6.30493825e-01 -7.98815300e-03 4.08470198e+02] [ 6.30459171e-01 7.76194259e-01 -6.61106527e-03 5.24782633e+01] [ 1.03685943e-02 9.49948759e-05 9.99946240e-01 9.03756945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.914012739 meters Centerline goodness [0,1] 0.993529310935893 Centerline is valid? [True, True] Translation: X:408.49, Y:52.50, Z:0.09 [[ 7.77453283e-01 -6.28883201e-01 -8.50369313e-03 4.08490487e+02] [ 6.28843806e-01 7.77499777e-01 -7.04016842e-03 5.24983327e+01] [ 1.10390632e-02 1.25907303e-04 9.99939060e-01 8.97004934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.944012739 meters Centerline goodness [0,1] 0.9935424354243543 Centerline is valid? [True, True] Translation: X:408.51, Y:52.52, Z:0.09 [[ 7.78342561e-01 -6.27785718e-01 -8.24317591e-03 4.08512100e+02] [ 6.27748614e-01 7.78386198e-01 -6.82668833e-03 5.25178480e+01] [ 1.07020718e-02 1.38859824e-04 9.99942722e-01 9.03051366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.974012739 meters Centerline goodness [0,1] 0.992968132173467 Centerline is valid? [True, True] Translation: X:408.53, Y:52.53, Z:0.09 [[ 7.78484993e-01 -6.27625087e-01 -6.91850200e-03 4.08533393e+02] [ 6.27598930e-01 7.78515726e-01 -5.73126932e-03 5.25343413e+01] [ 8.98325101e-03 1.19662700e-04 9.99959643e-01 9.40786776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.004012739 meters Centerline goodness [0,1] 0.9931443553759859 Centerline is valid? [True, True] Translation: X:408.56, Y:52.55, Z:0.10 [[ 7.77932454e-01 -6.28315440e-01 -6.38790364e-03 4.08557196e+02] [ 6.28293150e-01 7.77958673e-01 -5.29339045e-03 5.25491877e+01] [ 8.29544399e-03 1.04424119e-04 9.99965587e-01 9.61860948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.034012739 meters Centerline goodness [0,1] 0.9931443553759859 Centerline is valid? [True, True] Translation: X:408.58, Y:52.57, Z:0.10 [[ 7.77814189e-01 -6.28461848e-01 -6.38692270e-03 4.08578234e+02] [ 6.28439554e-01 7.77840405e-01 -5.29457378e-03 5.25668800e+01] [ 8.29544416e-03 1.04399761e-04 9.99965587e-01 9.64056350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.064012739 meters Centerline goodness [0,1] 0.9935241771201887 Centerline is valid? [True, True] Translation: X:408.60, Y:52.58, Z:0.10 [[ 7.76917541e-01 -6.29577385e-01 -5.60813277e-03 4.08603127e+02] [ 6.29560214e-01 7.76937777e-01 -4.65052614e-03 5.25808238e+01] [ 7.28503629e-03 8.24180685e-05 9.99973460e-01 9.84775127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.094012739 meters Centerline goodness [0,1] 0.9933858469968748 Centerline is valid? [True, True] Translation: X:408.63, Y:52.60, Z:0.10 [[ 7.76196738e-01 -6.30467552e-01 -5.41208244e-03 4.08625667e+02] [ 6.30451570e-01 7.76215602e-01 -4.48960848e-03 5.25959761e+01] [ 7.03149530e-03 7.27635856e-05 9.99975276e-01 9.86797881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.124012739 meters Centerline goodness [0,1] 0.99390452562238 Centerline is valid? [True, True] Translation: X:408.65, Y:52.61, Z:0.10 [[ 7.75468504e-01 -6.31362924e-01 -5.42750695e-03 4.08650026e+02] [ 6.31346864e-01 7.75487494e-01 -4.50378006e-03 5.26111761e+01] [ 7.05248351e-03 6.59000965e-05 9.99975129e-01 9.84280850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.154012739 meters Centerline goodness [0,1] 0.9938091692373152 Centerline is valid? [True, True] Translation: X:408.67, Y:52.63, Z:0.10 [[ 7.74928621e-01 -6.32025412e-01 -5.43238778e-03 4.08674330e+02] [ 6.32009327e-01 7.74947659e-01 -4.50952357e-03 5.26261487e+01] [ 7.05994969e-03 6.12391354e-05 9.99975076e-01 9.82113915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.184012739 meters Centerline goodness [0,1] 0.9938535309503052 Centerline is valid? [True, True] Translation: X:408.70, Y:52.64, Z:0.10 [[ 7.74881036e-01 -6.32077690e-01 -6.09697449e-03 4.08699289e+02] [ 6.32057413e-01 7.74905019e-01 -5.06339856e-03 5.26399004e+01] [ 7.92503740e-03 6.98936045e-05 9.99968594e-01 9.79014940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.214012739 meters Centerline goodness [0,1] 0.9940837281087223 Centerline is valid? [True, True] Translation: X:408.72, Y:52.66, Z:0.10 [[ 7.75433905e-01 -6.31390070e-01 -6.98853393e-03 4.08720851e+02] [ 6.31363377e-01 7.75465391e-01 -5.80635901e-03 5.26570960e+01] [ 9.08544361e-03 9.01432563e-05 9.99958722e-01 9.70884791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.244012739 meters Centerline goodness [0,1] 0.9939744826846789 Centerline is valid? [True, True] Translation: X:408.74, Y:52.67, Z:0.09 [[ 7.76973605e-01 -6.29479346e-01 -8.23228988e-03 4.08743630e+02] [ 6.29442171e-01 7.77017204e-01 -6.84240888e-03 5.26743615e+01] [ 1.07037859e-02 1.34620680e-04 9.99942704e-01 9.45656172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.274012739 meters Centerline goodness [0,1] 0.9937546947097328 Centerline is valid? [True, True] Translation: X:408.76, Y:52.69, Z:0.10 [[ 7.77967748e-01 -6.28255478e-01 -7.82542088e-03 4.08763404e+02] [ 6.28221805e-01 7.78007091e-01 -6.50614918e-03 5.26936551e+01] [ 1.01757568e-02 1.45474198e-04 9.99948215e-01 9.51506299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30401273900003 meters Centerline goodness [0,1] 0.9931988843595795 Centerline is valid? [True, True] Translation: X:408.79, Y:52.71, Z:0.10 [[ 7.79205785e-01 -6.26732397e-01 -6.69674077e-03 4.08786109e+02] [ 6.26707673e-01 7.79234549e-01 -5.56876471e-03 5.27107853e+01] [ 8.70845704e-03 1.42314857e-04 9.99962071e-01 9.84371150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.334012739 meters Centerline goodness [0,1] 0.9916230366492147 Centerline is valid? [True, True] Translation: X:408.80, Y:52.73, Z:0.10 [[ 7.82643331e-01 -6.22449436e-01 -5.11044983e-03 4.08801960e+02] [ 6.22434938e-01 7.82660002e-01 -4.25084850e-03 5.27347069e+01] [ 6.64568292e-03 1.45975709e-04 9.99977907e-01 1.02747814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.364012739 meters Centerline goodness [0,1] 0.9914048039486841 Centerline is valid? [True, True] Translation: X:408.82, Y:52.75, Z:0.10 [[ 7.84412692e-01 -6.20215215e-01 -5.46034014e-03 4.08822612e+02] [ 6.20198606e-01 7.84431677e-01 -4.54246927e-03 5.27541330e+01] [ 7.10057233e-03 1.76675203e-04 9.99974775e-01 1.01613794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.394012739 meters Centerline goodness [0,1] 0.9909942363112392 Centerline is valid? [True, True] Translation: X:408.84, Y:52.77, Z:0.10 [[ 7.85792887e-01 -6.18455408e-01 -6.51517308e-03 4.08843075e+02] [ 6.18431682e-01 7.85819861e-01 -5.42221356e-03 5.27749561e+01] [ 8.47314971e-03 2.31547394e-04 9.99964075e-01 9.97553793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.424012739 meters Centerline goodness [0,1] 0.9905612026992398 Centerline is valid? [True, True] Translation: X:408.86, Y:52.79, Z:0.10 [[ 7.86989132e-01 -6.16917149e-01 -7.83174279e-03 4.08863558e+02] [ 6.16882763e-01 7.87028043e-01 -6.52039755e-03 5.27949908e+01] [ 1.01863463e-02 3.00214881e-04 9.99948073e-01 9.62563179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.454012739 meters Centerline goodness [0,1] 0.9907217376432359 Centerline is valid? [True, True] Translation: X:408.88, Y:52.81, Z:0.10 [[ 7.86938212e-01 -6.16986828e-01 -7.45020772e-03 4.08883349e+02] [ 6.16955695e-01 7.86973426e-01 -6.20470368e-03 5.28128824e+01] [ 9.69133593e-03 2.86270340e-04 9.99952997e-01 9.70216055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.484012739 meters Centerline goodness [0,1] 0.9906210831136275 Centerline is valid? [True, True] Translation: X:408.90, Y:52.83, Z:0.10 [[ 7.86775701e-01 -6.17200961e-01 -6.85345377e-03 4.08904306e+02] [ 6.17174607e-01 7.86805507e-01 -5.70951986e-03 5.28309020e+01] [ 8.91625631e-03 2.62333852e-04 9.99960215e-01 9.85858649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.514012739 meters Centerline goodness [0,1] 0.9896703532696232 Centerline is valid? [True, True] Translation: X:408.92, Y:52.85, Z:0.10 [[ 7.87484747e-01 -6.16302731e-01 -6.22228579e-03 4.08922861e+02] [ 6.16280966e-01 7.87509290e-01 -5.18544215e-03 5.28519132e+01] [ 8.09591003e-03 2.48780305e-04 9.99967197e-01 1.00308239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.544012739 meters Centerline goodness [0,1] 0.9893936489681171 Centerline is valid? [True, True] Translation: X:408.94, Y:52.87, Z:0.10 [[ 7.88195738e-01 -6.15391277e-01 -6.40744075e-03 4.08942997e+02] [ 6.15368158e-01 7.88221736e-01 -5.34081474e-03 5.28733478e+01] [ 8.33717488e-03 2.66672403e-04 9.99965210e-01 1.00172035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.574012739 meters Centerline goodness [0,1] 0.989191163830153 Centerline is valid? [True, True] Translation: X:408.96, Y:52.90, Z:0.10 [[ 7.90420359e-01 -6.12515262e-01 -7.79164179e-03 4.08959177e+02] [ 6.12480911e-01 7.90458678e-01 -6.49704874e-03 5.28985831e+01] [ 1.01385124e-02 3.63167735e-04 9.99948538e-01 9.75791168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.604012739 meters Centerline goodness [0,1] 0.9852396138596794 Centerline is valid? [True, True] Translation: X:408.97, Y:52.92, Z:0.10 [[ 7.91533379e-01 -6.11073075e-01 -8.03781819e-03 4.08973974e+02] [ 6.11036421e-01 7.91574090e-01 -6.70456708e-03 5.29247428e+01] [ 1.04595090e-02 3.95488972e-04 9.99945220e-01 9.56604129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.634012739 meters Centerline goodness [0,1] 0.9807873140707813 Centerline is valid? [True, True] Translation: X:408.99, Y:52.95, Z:0.10 [[ 7.92317693e-01 -6.10051213e-01 -8.37799479e-03 4.08992382e+02] [ 6.10011311e-01 7.92361871e-01 -6.99041672e-03 5.29476942e+01] [ 1.09029158e-02 4.27959267e-04 9.99940470e-01 9.52192339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.664012739 meters Centerline goodness [0,1] 0.9803491572067423 Centerline is valid? [True, True] Translation: X:409.01, Y:52.97, Z:0.10 [[ 7.92637462e-01 -6.09635748e-01 -8.37307273e-03 4.09011863e+02] [ 6.09595846e-01 7.92681566e-01 -6.98851502e-03 5.29687798e+01] [ 1.08976290e-02 4.35168462e-04 9.99940524e-01 9.60164084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.694012739 meters Centerline goodness [0,1] 0.9833340492246897 Centerline is valid? [True, True] Translation: X:409.03, Y:52.99, Z:0.10 [[ 7.91410659e-01 -6.11240192e-01 -7.38894684e-03 4.09031527e+02] [ 6.11209173e-01 7.91445067e-01 -6.16869502e-03 5.29881198e+01] [ 9.61849986e-03 3.65778906e-04 9.99953674e-01 9.84459216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.724012739 meters Centerline goodness [0,1] 0.9868929770149127 Centerline is valid? [True, True] Translation: X:409.05, Y:53.00, Z:0.10 [[ 7.89686878e-01 -6.13469040e-01 -7.09728940e-03 4.09054993e+02] [ 6.13440502e-01 7.89718704e-01 -5.92615651e-03 5.30042982e+01] [ 9.24037573e-03 3.26043264e-04 9.99957254e-01 9.90344352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.754012739 meters Centerline goodness [0,1] 0.9900516630374451 Centerline is valid? [True, True] Translation: X:409.08, Y:53.01, Z:0.10 [[ 7.85043007e-01 -6.19403366e-01 -6.85185360e-03 4.09082953e+02] [ 6.19376977e-01 7.85072868e-01 -5.72295111e-03 5.30133312e+01] [ 8.92401954e-03 2.48882379e-04 9.99960149e-01 9.88720897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.784012739 meters Centerline goodness [0,1] 0.9919273461150353 Centerline is valid? [True, True] Translation: X:409.11, Y:53.02, Z:0.10 [[ 7.82622079e-01 -6.22456421e-01 -7.11936966e-03 4.09113028e+02] [ 6.22428046e-01 7.82654428e-01 -5.94750054e-03 5.30213213e+01] [ 9.27406609e-03 2.23349892e-04 9.99956970e-01 9.88752816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.814012739 meters Centerline goodness [0,1] 0.9921445906246008 Centerline is valid? [True, True] Translation: X:409.13, Y:53.04, Z:0.10 [[ 7.80674702e-01 -6.24893004e-01 -7.46608578e-03 4.09133565e+02] [ 6.24861887e-01 7.80710376e-01 -6.23951605e-03 5.30410446e+01] [ 9.72788056e-03 2.05759888e-04 9.99952662e-01 9.76976708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.844012739 meters Centerline goodness [0,1] 0.9935365515476012 Centerline is valid? [True, True] Translation: X:409.16, Y:53.05, Z:0.10 [[ 7.78298115e-01 -6.27839984e-01 -8.30648217e-03 4.09159000e+02] [ 6.27801610e-01 7.78342417e-01 -6.94411732e-03 5.30523829e+01] [ 1.08250819e-02 1.89770549e-04 9.99941389e-01 9.66543194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.874012739 meters Centerline goodness [0,1] 0.9935515660482455 Centerline is valid? [True, True] Translation: X:409.18, Y:53.07, Z:0.10 [[ 7.77858188e-01 -6.28387277e-01 -8.12836582e-03 4.09181265e+02] [ 6.28350544e-01 7.77900635e-01 -6.79670745e-03 5.30690358e+01] [ 1.05940254e-02 1.79411446e-04 9.99943866e-01 9.75426272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.904012739 meters Centerline goodness [0,1] 0.9935631495658869 Centerline is valid? [True, True] Translation: X:409.20, Y:53.09, Z:0.10 [[ 7.77862676e-01 -6.28384331e-01 -7.92394383e-03 4.09202972e+02] [ 6.28349400e-01 7.77903015e-01 -6.62803277e-03 5.30865752e+01] [ 1.03290117e-02 1.76693956e-04 9.99946639e-01 9.86406660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.934012739 meters Centerline goodness [0,1] 0.9931469182283514 Centerline is valid? [True, True] Translation: X:409.22, Y:53.11, Z:0.10 [[ 7.79028760e-01 -6.26942658e-01 -7.55607485e-03 4.09223030e+02] [ 6.26910806e-01 7.79065381e-01 -6.32241552e-03 5.31050560e+01] [ 9.85046832e-03 1.88358548e-04 9.99951465e-01 9.96866828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.964012739 meters Centerline goodness [0,1] 0.9926811625037233 Centerline is valid? [True, True] Translation: X:409.24, Y:53.12, Z:0.10 [[ 7.79677963e-01 -6.26139003e-01 -7.22653685e-03 4.09243991e+02] [ 6.26109816e-01 7.79711429e-01 -6.04859304e-03 5.31235642e+01] [ 9.42187339e-03 1.91349046e-04 9.99955595e-01 1.00889373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.994012739 meters Centerline goodness [0,1] 0.9924922017855222 Centerline is valid? [True, True] Translation: X:409.26, Y:53.14, Z:0.10 [[ 7.80226058e-01 -6.25459723e-01 -6.88718674e-03 4.09264683e+02] [ 6.25433171e-01 7.80256431e-01 -5.76634253e-03 5.31424627e+01] [ 8.98038674e-03 1.91575659e-04 9.99959657e-01 1.01706131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.024012739 meters Centerline goodness [0,1] 0.9922498775736155 Centerline is valid? [True, True] Translation: X:409.29, Y:53.16, Z:0.10 [[ 7.81115276e-01 -6.24351453e-01 -6.64747268e-03 4.09285562e+02] [ 6.24326661e-01 7.81143536e-01 -5.56737558e-03 5.31609707e+01] [ 8.66862935e-03 1.98567690e-04 9.99962407e-01 1.02917942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05401273900003 meters Centerline goodness [0,1] 0.9926784755770263 Centerline is valid? [True, True] Translation: X:409.31, Y:53.17, Z:0.10 [[ 7.81222949e-01 -6.24216126e-01 -6.70319704e-03 4.09312585e+02] [ 6.24190896e-01 7.81251680e-01 -5.61590709e-03 5.31724237e+01] [ 8.74242372e-03 2.03200935e-04 9.99961764e-01 1.03339623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.084012739 meters Centerline goodness [0,1] 0.9929917524892099 Centerline is valid? [True, True] Translation: X:409.33, Y:53.19, Z:0.10 [[ 7.81293294e-01 -6.24126265e-01 -6.86976601e-03 4.09333331e+02] [ 6.24099743e-01 7.81323467e-01 -5.75756692e-03 5.31904429e+01] [ 8.96095814e-03 2.10929227e-04 9.99959828e-01 1.02848447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.114012739 meters Centerline goodness [0,1] 0.9932610479934338 Centerline is valid? [True, True] Translation: X:409.36, Y:53.21, Z:0.10 [[ 7.81444033e-01 -6.23940344e-01 -6.60835798e-03 4.09356483e+02] [ 6.23915784e-01 7.81471948e-01 -5.53985063e-03 5.32076107e+01] [ 8.62078269e-03 2.06024374e-04 9.99962819e-01 1.03526267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.144012739 meters Centerline goodness [0,1] 0.9922762575151373 Centerline is valid? [True, True] Translation: X:409.38, Y:53.23, Z:0.10 [[ 7.81877288e-01 -6.23401323e-01 -6.22074739e-03 4.09377471e+02] [ 6.23379529e-01 7.81902008e-01 -5.21655042e-03 5.32252680e+01] [ 8.11601931e-03 2.00815719e-04 9.99967044e-01 1.04020576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.174012739 meters Centerline goodness [0,1] 0.9919285958319098 Centerline is valid? [True, True] Translation: X:409.40, Y:53.24, Z:0.11 [[ 7.82490769e-01 -6.22634675e-01 -5.85301711e-03 4.09397595e+02] [ 6.22615354e-01 7.82512634e-01 -4.90900382e-03 5.32444795e+01] [ 7.63657584e-03 1.97071858e-04 9.99970822e-01 1.05036596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.204012739 meters Centerline goodness [0,1] 0.9912237932715748 Centerline is valid? [True, True] Translation: X:409.42, Y:53.26, Z:0.11 [[ 7.83887973e-01 -6.20880983e-01 -5.14306867e-03 4.09418637e+02] [ 6.20866023e-01 7.83904822e-01 -4.31420178e-03 5.32632672e+01] [ 6.71028217e-03 1.88694295e-04 9.99977468e-01 1.07127838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.234012739 meters Centerline goodness [0,1] 0.9905086756636512 Centerline is valid? [True, True] Translation: X:409.44, Y:53.28, Z:0.11 [[ 7.84661974e-01 -6.19901862e-01 -5.22194335e-03 4.09437383e+02] [ 6.19886407e-01 7.84679324e-01 -4.38196305e-03 5.32841584e+01] [ 6.81393803e-03 2.01348078e-04 9.99976765e-01 1.07979450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.264012739 meters Centerline goodness [0,1] 0.9897779568638263 Centerline is valid? [True, True] Translation: X:409.46, Y:53.31, Z:0.10 [[ 7.86190953e-01 -6.17946451e-01 -6.78005271e-03 4.09455336e+02] [ 6.17920311e-01 7.86220136e-01 -5.69091399e-03 5.33063039e+01] [ 8.84729407e-03 2.84612812e-04 9.99960821e-01 1.04477804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.294012739 meters Centerline goodness [0,1] 0.9900905152074128 Centerline is valid? [True, True] Translation: X:409.48, Y:53.32, Z:0.10 [[ 7.86825194e-01 -6.17129712e-01 -7.55200067e-03 4.09478488e+02] [ 6.17097220e-01 7.86861367e-01 -6.34121256e-03 5.33234511e+01] [ 9.85572825e-03 3.29107181e-04 9.99951377e-01 1.03078418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.324012739 meters Centerline goodness [0,1] 0.9895770910024827 Centerline is valid? [True, True] Translation: X:409.50, Y:53.34, Z:0.10 [[ 7.87303244e-01 -6.16517581e-01 -7.72496482e-03 4.09500638e+02] [ 6.16483532e-01 7.87341065e-01 -6.48861162e-03 5.33418850e+01] [ 1.00825252e-02 3.46191377e-04 9.99949110e-01 1.03639299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.354012739 meters Centerline goodness [0,1] 0.9888482165659317 Centerline is valid? [True, True] Translation: X:409.52, Y:53.36, Z:0.11 [[ 7.88622225e-01 -6.14844449e-01 -6.42574657e-03 4.09519482e+02] [ 6.14820822e-01 7.88648343e-01 -5.39882784e-03 5.33643455e+01] [ 8.38709371e-03 3.06952832e-04 9.99964781e-01 1.08011864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.384012739 meters Centerline goodness [0,1] 0.9880271699411032 Centerline is valid? [True, True] Translation: X:409.54, Y:53.38, Z:0.11 [[ 7.89453153e-01 -6.13784377e-01 -5.69720182e-03 4.09539889e+02] [ 6.13765766e-01 7.89473659e-01 -4.78806015e-03 5.33845043e+01] [ 7.43662728e-03 2.83201745e-04 9.99972308e-01 1.09561376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.414012739 meters Centerline goodness [0,1] 0.9838860345632882 Centerline is valid? [True, True] Translation: X:409.56, Y:53.41, Z:0.11 [[ 7.90573049e-01 -6.12338332e-01 -6.00181854e-03 4.09557711e+02] [ 6.12317623e-01 7.90595768e-01 -5.04582093e-03 5.34069071e+01] [ 7.83476191e-03 3.14070772e-04 9.99969258e-01 1.08773146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.444012739 meters Centerline goodness [0,1] 0.9875690607734806 Centerline is valid? [True, True] Translation: X:409.58, Y:53.42, Z:0.11 [[ 7.90517826e-01 -6.12406442e-01 -6.31798966e-03 4.09582819e+02] [ 6.12383482e-01 7.90543004e-01 -5.31326075e-03 5.34203629e+01] [ 8.24851763e-03 3.31194829e-04 9.99965926e-01 1.07570282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.474012739 meters Centerline goodness [0,1] 0.9883923764401852 Centerline is valid? [True, True] Translation: X:409.60, Y:53.44, Z:0.11 [[ 7.90508332e-01 -6.12415825e-01 -6.59046089e-03 4.09604249e+02] [ 6.12390823e-01 7.90535728e-01 -5.54463247e-03 5.34398080e+01] [ 8.60561547e-03 3.47140399e-04 9.99962911e-01 1.07753986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.504012739 meters Centerline goodness [0,1] 0.988099891422367 Centerline is valid? [True, True] Translation: X:409.62, Y:53.46, Z:0.11 [[ 7.90665992e-01 -6.12210361e-01 -6.76480887e-03 4.09623493e+02] [ 6.12183994e-01 7.90694849e-01 -5.69332401e-03 5.34615784e+01] [ 8.83441148e-03 3.60209966e-04 9.99960911e-01 1.08630663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.534012739 meters Centerline goodness [0,1] 0.9868873742291464 Centerline is valid? [True, True] Translation: X:409.64, Y:53.48, Z:0.11 [[ 7.90863963e-01 -6.11952352e-01 -6.96504900e-03 4.09641595e+02] [ 6.11924373e-01 7.90894543e-01 -5.86375635e-03 5.34829227e+01] [ 9.09695873e-03 3.75350342e-04 9.99958551e-01 1.08519490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.564012739 meters Centerline goodness [0,1] 0.982567252700699 Centerline is valid? [True, True] Translation: X:409.66, Y:53.51, Z:0.11 [[ 7.90811044e-01 -6.12021293e-01 -6.91596170e-03 4.09655810e+02] [ 6.11993702e-01 7.90841197e-01 -5.82319507e-03 5.35076549e+01] [ 9.03334680e-03 3.72521961e-04 9.99959129e-01 1.08664422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.594012739 meters Centerline goodness [0,1] 0.9855910230798657 Centerline is valid? [True, True] Translation: X:409.68, Y:53.53, Z:0.11 [[ 7.89837090e-01 -6.13284530e-01 -6.28138174e-03 4.09678597e+02] [ 6.13261802e-01 7.89862000e-01 -5.28991517e-03 5.35253711e+01] [ 8.20564789e-03 3.26039715e-04 9.99966280e-01 1.09814521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.624012739 meters Centerline goodness [0,1] 0.987317839996601 Centerline is valid? [True, True] Translation: X:409.70, Y:53.54, Z:0.11 [[ 7.88282526e-01 -6.15285292e-01 -5.88793677e-03 4.09701239e+02] [ 6.15265366e-01 7.88304463e-01 -4.96007354e-03 5.35421637e+01] [ 7.69334713e-03 2.87295727e-04 9.99970364e-01 1.10828328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.654012739 meters Centerline goodness [0,1] 0.989367391908949 Centerline is valid? [True, True] Translation: X:409.73, Y:53.56, Z:0.11 [[ 7.86410907e-01 -6.17678077e-01 -5.62838658e-03 4.09726135e+02] [ 6.17659918e-01 7.86431007e-01 -4.74301993e-03 5.35564211e+01] [ 7.35599715e-03 2.53533806e-04 9.99972912e-01 1.10612749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.684012739 meters Centerline goodness [0,1] 0.9915270639341089 Centerline is valid? [True, True] Translation: X:409.75, Y:53.57, Z:0.11 [[ 7.82597794e-01 -6.22496961e-01 -6.18269900e-03 4.09751608e+02] [ 6.22475183e-01 7.82622182e-01 -5.21219250e-03 5.35694375e+01] [ 8.08329137e-03 2.30473660e-04 9.99967303e-01 1.10235442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.714012739 meters Centerline goodness [0,1] 0.9917231323441118 Centerline is valid? [True, True] Translation: X:409.77, Y:53.58, Z:0.11 [[ 7.80537773e-01 -6.25076068e-01 -6.37926091e-03 4.09774835e+02] [ 6.25052962e-01 7.80563812e-01 -5.37864951e-03 5.35841326e+01] [ 8.34148530e-03 2.10863183e-04 9.99965187e-01 1.10352413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.744012739 meters Centerline goodness [0,1] 0.9935370401763011 Centerline is valid? [True, True] Translation: X:409.80, Y:53.60, Z:0.11 [[ 7.76509773e-01 -6.30069719e-01 -6.68748614e-03 4.09801997e+02] [ 6.30044502e-01 7.76538552e-01 -5.63949868e-03 5.35958896e+01] [ 8.74636815e-03 1.65711970e-04 9.99961736e-01 1.10743162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.774012739 meters Centerline goodness [0,1] 0.9935005849473547 Centerline is valid? [True, True] Translation: X:409.83, Y:53.61, Z:0.11 [[ 7.74489756e-01 -6.32550174e-01 -6.77463641e-03 4.09826458e+02] [ 6.32524372e-01 7.74519372e-01 -5.71504225e-03 5.36106447e+01] [ 8.86213811e-03 1.41119036e-04 9.99960721e-01 1.10850892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80401273900003 meters Centerline goodness [0,1] 0.9937027166437414 Centerline is valid? [True, True] Translation: X:409.85, Y:53.63, Z:0.11 [[ 7.72803086e-01 -6.34608693e-01 -6.86995859e-03 4.09851960e+02] [ 6.34582223e-01 7.72833612e-01 -5.79746261e-03 5.36257906e+01] [ 8.98845508e-03 1.20743402e-04 9.99959596e-01 1.11014776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.834012739 meters Centerline goodness [0,1] 0.9939550392599763 Centerline is valid? [True, True] Translation: X:409.88, Y:53.64, Z:0.11 [[ 7.70396692e-01 -6.37533607e-01 -6.31166243e-03 4.09880463e+02] [ 6.37511350e-01 7.70422542e-01 -5.32780703e-03 5.36374741e+01] [ 8.25930305e-03 8.07684756e-05 9.99965888e-01 1.13057290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.864012739 meters Centerline goodness [0,1] 0.9935291722911443 Centerline is valid? [True, True] Translation: X:409.90, Y:53.65, Z:0.11 [[ 7.69692986e-01 -6.38383886e-01 -6.22269517e-03 4.09904522e+02] [ 6.38362272e-01 7.69718136e-01 -5.25364108e-03 5.36534578e+01] [ 8.14356113e-03 7.13568618e-05 9.99966838e-01 1.14006699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.894012739 meters Centerline goodness [0,1] 0.9940513127768387 Centerline is valid? [True, True] Translation: X:409.93, Y:53.67, Z:0.12 [[ 7.69242583e-01 -6.38929421e-01 -5.91965597e-03 4.09927431e+02] [ 6.38909869e-01 7.69265358e-01 -4.99883411e-03 5.36699204e+01] [ 7.74768845e-03 6.31894437e-05 9.99969984e-01 1.15244561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.924012739 meters Centerline goodness [0,1] 0.9940513127768387 Centerline is valid? [True, True] Translation: X:409.95, Y:53.69, Z:0.12 [[ 7.69124045e-01 -6.39072118e-01 -5.91872942e-03 4.09948304e+02] [ 6.39052562e-01 7.69146816e-01 -4.99993092e-03 5.36878133e+01] [ 7.74768833e-03 6.31878908e-05 9.99969984e-01 1.15464090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.954012739 meters Centerline goodness [0,1] 0.994108103492443 Centerline is valid? [True, True] Translation: X:409.97, Y:53.71, Z:0.12 [[ 7.69027883e-01 -6.39188110e-01 -5.88856534e-03 4.09970268e+02] [ 6.39168741e-01 7.69050425e-01 -4.97631229e-03 5.37051097e+01] [ 7.70940333e-03 6.31360098e-05 9.99970280e-01 1.15923168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.984012739 meters Centerline goodness [0,1] 0.9945446021395389 Centerline is valid? [True, True] Translation: X:409.99, Y:53.72, Z:0.11 [[ 7.69903822e-01 -6.38127346e-01 -6.44937713e-03 4.09992278e+02] [ 6.38104057e-01 7.69930830e-01 -5.45245733e-03 5.37241441e+01] [ 8.44493642e-03 8.24940303e-05 9.99964337e-01 1.14721905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.014012739 meters Centerline goodness [0,1] 0.9943248741835314 Centerline is valid? [True, True] Translation: X:410.01, Y:53.74, Z:0.11 [[ 7.70613503e-01 -6.37269382e-01 -6.52419394e-03 4.10013704e+02] [ 6.37245503e-01 7.70641114e-01 -5.51752492e-03 5.37435609e+01] [ 8.54396178e-03 9.43659602e-05 9.99963495e-01 1.14162402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.044012739 meters Centerline goodness [0,1] 0.9941482585130963 Centerline is valid? [True, True] Translation: X:410.03, Y:53.76, Z:0.12 [[ 7.71509313e-01 -6.36197896e-01 -5.06123569e-03 4.10034086e+02] [ 6.36183495e-01 7.71525910e-01 -4.28145318e-03 5.37611205e+01] [ 6.62872598e-03 8.33063915e-05 9.99978026e-01 1.17748497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.074012739 meters Centerline goodness [0,1] 0.9937845746385015 Centerline is valid? [True, True] Translation: X:410.06, Y:53.78, Z:0.12 [[ 7.71482663e-01 -6.36235705e-01 -4.31609032e-03 4.10056366e+02] [ 6.36225232e-01 7.71494733e-01 -3.65127643e-03 5.37788103e+01] [ 5.65291338e-03 7.08908996e-05 9.99984020e-01 1.19496066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.104012739 meters Centerline goodness [0,1] 0.9939610444841371 Centerline is valid? [True, True] Translation: X:410.08, Y:53.79, Z:0.12 [[ 7.70829656e-01 -6.37028967e-01 -3.96695543e-03 4.10079294e+02] [ 6.37020124e-01 7.70839861e-01 -3.35711826e-03 5.37932532e+01] [ 5.19646895e-03 6.07358726e-05 9.99986496e-01 1.20917022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.134012739 meters Centerline goodness [0,1] 0.9940452052163149 Centerline is valid? [True, True] Translation: X:410.10, Y:53.81, Z:0.12 [[ 7.70219407e-01 -6.37766202e-01 -4.04183707e-03 4.10100951e+02] [ 6.37757027e-01 7.70230010e-01 -3.42139737e-03 5.38088954e+01] [ 5.29519581e-03 5.75166629e-05 9.99985979e-01 1.20924135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.164012739 meters Centerline goodness [0,1] 0.9940235617851922 Centerline is valid? [True, True] Translation: X:410.12, Y:53.83, Z:0.12 [[ 7.69724565e-01 -6.38363440e-01 -4.02641635e-03 4.10123904e+02] [ 6.38354336e-01 7.69735094e-01 -3.40965059e-03 5.38255069e+01] [ 5.27587025e-03 5.42114840e-05 9.99986081e-01 1.20951567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.194012739 meters Centerline goodness [0,1] 0.9938323937094655 Centerline is valid? [True, True] Translation: X:410.15, Y:53.84, Z:0.12 [[ 7.69395543e-01 -6.38757749e-01 -4.36318163e-03 4.10145450e+02] [ 6.38747055e-01 7.69407912e-01 -3.69645839e-03 5.38415765e+01] [ 5.71820791e-03 5.70691871e-05 9.99983649e-01 1.20790635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.224012739 meters Centerline goodness [0,1] 0.9940557354695756 Centerline is valid? [True, True] Translation: X:410.17, Y:53.86, Z:0.12 [[ 7.69959471e-01 -6.38072205e-01 -5.12587987e-03 4.10169409e+02] [ 6.38057423e-01 7.69976529e-01 -4.34391257e-03 5.38570305e+01] [ 6.71853706e-03 7.40309259e-05 9.99977428e-01 1.18803058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.254012739 meters Centerline goodness [0,1] 0.9942489562920678 Centerline is valid? [True, True] Translation: X:410.19, Y:53.88, Z:0.12 [[ 7.70772738e-01 -6.37083140e-01 -5.87015442e-03 4.10190199e+02] [ 6.37063709e-01 7.70795085e-01 -4.97676785e-03 5.38761788e+01] [ 7.69530107e-03 9.62946410e-05 9.99970386e-01 1.18003912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.284012739 meters Centerline goodness [0,1] 0.9940292758089369 Centerline is valid? [True, True] Translation: X:410.21, Y:53.89, Z:0.12 [[ 7.71820599e-01 -6.35808681e-01 -6.34701699e-03 4.10211726e+02] [ 6.35785912e-01 7.71846686e-01 -5.38207544e-03 5.38949138e+01] [ 8.32089432e-03 1.18652704e-04 9.99965374e-01 1.16627812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.314012739 meters Centerline goodness [0,1] 0.99381778284171 Centerline is valid? [True, True] Translation: X:410.23, Y:53.92, Z:0.12 [[ 7.73863232e-01 -6.33323203e-01 -6.11701356e-03 4.10228141e+02] [ 6.33301964e-01 7.73887395e-01 -5.18870217e-03 5.39180292e+01] [ 8.02000517e-03 1.41429133e-04 9.99967829e-01 1.17086121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.344012739 meters Centerline goodness [0,1] 0.9939390031594558 Centerline is valid? [True, True] Translation: X:410.25, Y:53.94, Z:0.12 [[ 7.74308652e-01 -6.32785190e-01 -5.38647528e-03 4.10249718e+02] [ 6.32768705e-01 7.74327377e-01 -4.56947734e-03 5.39363817e+01] [ 7.06239286e-03 1.29792852e-04 9.99975053e-01 1.18466980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.374012739 meters Centerline goodness [0,1] 0.9935758331005736 Centerline is valid? [True, True] Translation: X:410.27, Y:53.95, Z:0.12 [[ 7.73937413e-01 -6.33238190e-01 -5.50231757e-03 4.10272940e+02] [ 6.33220988e-01 7.73956961e-01 -4.66930796e-03 5.39510125e+01] [ 7.21534111e-03 1.29569154e-04 9.99973961e-01 1.18893891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.404012739 meters Centerline goodness [0,1] 0.99405324173465 Centerline is valid? [True, True] Translation: X:410.30, Y:53.97, Z:0.12 [[ 7.73541570e-01 -6.33720205e-01 -5.66932898e-03 4.10295357e+02] [ 6.33701943e-01 7.73562334e-01 -4.81284107e-03 5.39676855e+01] [ 7.43557399e-03 1.30267842e-04 9.99972347e-01 1.18683101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.434012739 meters Centerline goodness [0,1] 0.9946373250721077 Centerline is valid? [True, True] Translation: X:410.32, Y:53.98, Z:0.12 [[ 7.73058173e-01 -6.34307323e-01 -5.93980416e-03 4.10321573e+02] [ 6.34287279e-01 7.73080981e-01 -5.04427718e-03 5.39800431e+01] [ 7.79157158e-03 1.31977484e-04 9.99969637e-01 1.18111981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.464012739 meters Centerline goodness [0,1] 0.9945891396302579 Centerline is valid? [True, True] Translation: X:410.34, Y:54.00, Z:0.12 [[ 7.73492102e-01 -6.33784726e-01 -5.18554006e-03 4.10341862e+02] [ 6.33769427e-01 7.73509474e-01 -4.40531109e-03 5.39993505e+01] [ 6.80308324e-03 1.21036580e-04 9.99976851e-01 1.19975170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.494012739 meters Centerline goodness [0,1] 0.9947302492332945 Centerline is valid? [True, True] Translation: X:410.36, Y:54.02, Z:0.12 [[ 7.74413340e-01 -6.32665363e-01 -4.30313945e-03 4.10363140e+02] [ 6.32654808e-01 7.74425288e-01 -3.65607805e-03 5.40181223e+01] [ 5.64553395e-03 1.08913748e-04 9.99984058e-01 1.22581690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.524012739 meters Centerline goodness [0,1] 0.9945241813009348 Centerline is valid? [True, True] Translation: X:410.38, Y:54.04, Z:0.12 [[ 7.75825874e-01 -6.30935353e-01 -3.84631708e-03 4.10380480e+02] [ 6.30926897e-01 7.75835401e-01 -3.26836291e-03 5.40404927e+01] [ 5.04623466e-03 1.08935616e-04 9.99987262e-01 1.24340796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55401273900003 meters Centerline goodness [0,1] 0.9932870072491743 Centerline is valid? [True, True] Translation: X:410.39, Y:54.07, Z:0.12 [[ 7.79140851e-01 -6.26834447e-01 -4.25558576e-03 4.10393281e+02] [ 6.26824025e-01 7.79152458e-01 -3.61770323e-03 5.40680479e+01] [ 5.58345112e-03 1.51196977e-04 9.99984401e-01 1.24326195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.584012739 meters Centerline goodness [0,1] 0.9931858350546198 Centerline is valid? [True, True] Translation: X:410.41, Y:54.09, Z:0.12 [[ 7.80701717e-01 -6.24886314e-01 -4.68226114e-03 4.10412046e+02] [ 6.24873661e-01 7.80715736e-01 -3.98086328e-03 5.40901396e+01] [ 6.14310194e-03 1.82045145e-04 9.99981114e-01 1.23198392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.614012739 meters Centerline goodness [0,1] 0.991578404623284 Centerline is valid? [True, True] Translation: X:410.43, Y:54.12, Z:0.12 [[ 7.83014745e-01 -6.21990098e-01 -4.02824753e-03 4.10426910e+02] [ 6.21980690e-01 7.83025087e-01 -3.42565153e-03 5.41162848e+01] [ 5.28494020e-03 1.76843484e-04 9.99986019e-01 1.24956622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.644012739 meters Centerline goodness [0,1] 0.991411701556629 Centerline is valid? [True, True] Translation: X:410.45, Y:54.14, Z:0.13 [[ 7.83423862e-01 -6.21478767e-01 -3.34596711e-03 4.10446805e+02] [ 6.21472268e-01 7.83430992e-01 -2.84619262e-03 5.41369635e+01] [ 4.39018262e-03 1.50349444e-04 9.99990352e-01 1.26083924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.674012739 meters Centerline goodness [0,1] 0.9896206991700804 Centerline is valid? [True, True] Translation: X:410.46, Y:54.16, Z:0.13 [[ 7.83702941e-01 -6.21128136e-01 -3.08836494e-03 4.10462375e+02] [ 6.21122591e-01 7.83709014e-01 -2.62836182e-03 5.41615853e+01] [ 4.05292892e-03 1.41601658e-04 9.99991777e-01 1.27017805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.704012739 meters Centerline goodness [0,1] 0.9891702871675321 Centerline is valid? [True, True] Translation: X:410.48, Y:54.18, Z:0.13 [[ 7.83524096e-01 -6.21355140e-01 -2.78945915e-03 4.10481341e+02] [ 6.21350619e-01 7.83529051e-01 -2.37351916e-03 5.41828967e+01] [ 3.66042061e-03 1.26477286e-04 9.99993293e-01 1.27619514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.734012739 meters Centerline goodness [0,1] 0.9911829853121438 Centerline is valid? [True, True] Translation: X:410.50, Y:54.20, Z:0.13 [[ 7.82694496e-01 -6.22399994e-01 -2.75202059e-03 4.10502768e+02] [ 6.22395598e-01 7.82699324e-01 -2.34256212e-03 5.42016516e+01] [ 3.61201531e-03 1.20664979e-04 9.99993469e-01 1.28302392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.764012739 meters Centerline goodness [0,1] 0.9921695463443697 Centerline is valid? [True, True] Translation: X:410.52, Y:54.22, Z:0.13 [[ 7.81912311e-01 -6.23376743e-01 -3.81757486e-03 4.10519614e+02] [ 6.23368284e-01 7.81921613e-01 -3.25173794e-03 5.42242547e+01] [ 5.01210210e-03 1.62818843e-04 9.99987426e-01 1.26363123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.794012739 meters Centerline goodness [0,1] 0.9922395866829592 Centerline is valid? [True, True] Translation: X:410.54, Y:54.24, Z:0.13 [[ 7.81300365e-01 -6.24140702e-01 -4.25713303e-03 4.10538680e+02] [ 6.24130190e-01 7.81311943e-01 -3.62664767e-03 5.42441857e+01] [ 5.58968730e-03 1.76495898e-04 9.99984362e-01 1.25393772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.824012739 meters Centerline goodness [0,1] 0.992349167785521 Centerline is valid? [True, True] Translation: X:410.56, Y:54.27, Z:0.13 [[ 7.80477833e-01 -6.25168478e-01 -4.32744145e-03 4.10556750e+02] [ 6.25157629e-01 7.80489811e-01 -3.68698698e-03 5.42656528e+01] [ 5.68251200e-03 1.72278577e-04 9.99983840e-01 1.25312164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.854012739 meters Centerline goodness [0,1] 0.9932805733910707 Centerline is valid? [True, True] Translation: X:410.58, Y:54.28, Z:0.12 [[ 7.79179512e-01 -6.26786255e-01 -4.27534429e-03 4.10581391e+02] [ 6.26775689e-01 7.79191225e-01 -3.64289510e-03 5.42815341e+01] [ 5.61462734e-03 1.58787363e-04 9.99984225e-01 1.24892204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.884012739 meters Centerline goodness [0,1] 0.9944974086633822 Centerline is valid? [True, True] Translation: X:410.60, Y:54.30, Z:0.13 [[ 7.75662135e-01 -6.31134796e-01 -4.13785318e-03 4.10603801e+02] [ 6.31124958e-01 7.75673162e-01 -3.52614549e-03 5.42980487e+01] [ 5.43509478e-03 1.23595124e-04 9.99985222e-01 1.25457839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.914012739 meters Centerline goodness [0,1] 0.9949084374465172 Centerline is valid? [True, True] Translation: X:410.63, Y:54.31, Z:0.13 [[ 7.73602504e-01 -6.33661633e-01 -3.47866614e-03 4.10627548e+02] [ 6.33654700e-01 7.73610320e-01 -2.96548612e-03 5.43148524e+01] [ 4.57024680e-03 8.98343325e-05 9.99989552e-01 1.26828650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.944012739 meters Centerline goodness [0,1] 0.9952577537842702 Centerline is valid? [True, True] Translation: X:410.65, Y:54.33, Z:0.13 [[ 7.69949243e-01 -6.38097673e-01 -3.08592508e-03 4.10650328e+02] [ 6.38092250e-01 7.69955425e-01 -2.63120102e-03 5.43294883e+01] [ 4.05498801e-03 5.67863549e-05 9.99991777e-01 1.28032090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.974012739 meters Centerline goodness [0,1] 0.9956341223301802 Centerline is valid? [True, True] Translation: X:410.67, Y:54.35, Z:0.13 [[ 7.68335437e-01 -6.40039194e-01 -3.23827641e-03 4.10674525e+02] [ 6.40033240e-01 7.68342259e-01 -2.76117347e-03 5.43451670e+01] [ 4.25536385e-03 4.89028773e-05 9.99990945e-01 1.27106477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.004012739 meters Centerline goodness [0,1] 0.9955636687822377 Centerline is valid? [True, True] Translation: X:410.69, Y:54.36, Z:0.13 [[ 7.67158426e-01 -6.41447317e-01 -3.64542464e-03 4.10694391e+02] [ 6.41439781e-01 7.67167085e-01 -3.10970913e-03 5.43633971e+01] [ 4.79136437e-03 4.73191775e-05 9.99988520e-01 1.26745140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.034012739 meters Centerline goodness [0,1] 0.9956193257570948 Centerline is valid? [True, True] Translation: X:410.72, Y:54.38, Z:0.13 [[ 7.65192609e-01 -6.43790131e-01 -3.81303284e-03 4.10715198e+02] [ 6.43781910e-01 7.65202108e-01 -3.25370684e-03 5.43803530e+01] [ 5.01244512e-03 3.49508595e-05 9.99987437e-01 1.27253649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.064012739 meters Centerline goodness [0,1] 0.9959547964556312 Centerline is valid? [True, True] Translation: X:410.74, Y:54.40, Z:0.13 [[ 7.63963963e-01 -6.45249549e-01 -3.47614648e-03 4.10739327e+02] [ 6.45242730e-01 7.63971871e-01 -2.96658816e-03 5.43955027e+01] [ 4.56986780e-03 2.34082042e-05 9.99989558e-01 1.27497896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.094012739 meters Centerline goodness [0,1] 0.9957058735996258 Centerline is valid? [True, True] Translation: X:410.76, Y:54.41, Z:0.13 [[ 7.61895431e-01 -6.47690355e-01 -3.54356315e-03 4.10761672e+02] [ 6.47683290e-01 7.61903671e-01 -3.02530390e-03 5.44118762e+01] [ 4.65931393e-03 9.85857558e-06 9.99989145e-01 1.28044996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.124012739 meters Centerline goodness [0,1] 0.9958890466402492 Centerline is valid? [True, True] Translation: X:410.78, Y:54.43, Z:0.13 [[ 7.61326258e-01 -6.48358670e-01 -3.65560322e-03 4.10783000e+02] [ 6.48351153e-01 7.61335034e-01 -3.12217726e-03 5.44301330e+01] [ 4.80742950e-03 6.88097048e-06 9.99988444e-01 1.27419549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.154012739 meters Centerline goodness [0,1] 0.9961669596154253 Centerline is valid? [True, True] Translation: X:410.80, Y:54.45, Z:0.13 [[ 7.61188740e-01 -6.48519236e-01 -3.80816299e-03 4.10804371e+02] [ 6.48511074e-01 7.61198266e-01 -3.25370575e-03 5.44488010e+01] [ 5.00885783e-03 7.04830614e-06 9.99987456e-01 1.26476448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.184012739 meters Centerline goodness [0,1] 0.9957403522156526 Centerline is valid? [True, True] Translation: X:410.82, Y:54.47, Z:0.13 [[ 7.61236449e-01 -6.48462601e-01 -3.91449349e-03 4.10824001e+02] [ 6.48453969e-01 7.61246514e-01 -3.34597044e-03 5.44671983e+01] [ 5.14963121e-03 8.70581851e-06 9.99986741e-01 1.26723262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.214012739 meters Centerline goodness [0,1] 0.9963164058341318 Centerline is valid? [True, True] Translation: X:410.84, Y:54.49, Z:0.13 [[ 7.61836057e-01 -6.47760230e-01 -3.53637001e-03 4.10842918e+02] [ 6.47753174e-01 7.61844265e-01 -3.02356454e-03 5.44885765e+01] [ 4.65270808e-03 1.27655908e-05 9.99989176e-01 1.28072234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.244012739 meters Centerline goodness [0,1] 0.9960640751634678 Centerline is valid? [True, True] Translation: X:410.86, Y:54.51, Z:0.13 [[ 7.62320366e-01 -6.47192286e-01 -3.13116620e-03 4.10861066e+02] [ 6.47186746e-01 7.62326797e-01 -2.67798594e-03 5.45093604e+01] [ 4.12014374e-03 1.50339648e-05 9.99991512e-01 1.30339647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.274012739 meters Centerline goodness [0,1] 0.9958527623181554 Centerline is valid? [True, True] Translation: X:410.88, Y:54.53, Z:0.13 [[ 7.63543463e-01 -6.45750655e-01 -2.73347706e-03 4.10880488e+02] [ 6.45746421e-01 7.63548356e-01 -2.33847542e-03 5.45317091e+01] [ 3.59721395e-03 2.03945922e-05 9.99993530e-01 1.30920713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30401273900003 meters Centerline goodness [0,1] 0.9958597434748276 Centerline is valid? [True, True] Translation: X:410.90, Y:54.55, Z:0.13 [[ 7.64153104e-01 -6.45026776e-01 -3.23917739e-03 4.10899171e+02] [ 6.45020819e-01 7.64159969e-01 -2.77229346e-03 5.45518447e+01] [ 4.26345320e-03 2.91197935e-05 9.99990911e-01 1.30129377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.334012739 meters Centerline goodness [0,1] 0.9962532382726358 Centerline is valid? [True, True] Translation: X:410.92, Y:54.57, Z:0.13 [[ 7.64442536e-01 -6.44681032e-01 -3.73840093e-03 4.10920283e+02] [ 6.44673087e-01 7.64451676e-01 -3.20085712e-03 5.45704970e+01] [ 4.92135873e-03 3.68248647e-05 9.99987889e-01 1.28782909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.364012739 meters Centerline goodness [0,1] 0.9962981191021334 Centerline is valid? [True, True] Translation: X:410.94, Y:54.59, Z:0.13 [[ 7.64801278e-01 -6.44254211e-01 -3.93902042e-03 4.10938268e+02] [ 6.44245378e-01 7.64811421e-01 -3.37405467e-03 5.45908001e+01] [ 5.18635673e-03 4.27856280e-05 9.99986550e-01 1.27901958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.394012739 meters Centerline goodness [0,1] 0.9960658387206532 Centerline is valid? [True, True] Translation: X:410.96, Y:54.61, Z:0.13 [[ 7.65042660e-01 -6.43965239e-01 -4.30115631e-03 4.10959259e+02] [ 6.43954694e-01 7.65054749e-01 -3.68560206e-03 5.46096943e+01] [ 5.66401967e-03 4.98930069e-05 9.99983958e-01 1.26464455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.424012739 meters Centerline goodness [0,1] 0.9960532491359816 Centerline is valid? [True, True] Translation: X:410.98, Y:54.63, Z:0.13 [[ 7.65295891e-01 -6.43661376e-01 -4.71507470e-03 4.10980358e+02] [ 6.43648688e-01 7.65310414e-01 -4.04199517e-03 5.46287367e+01] [ 6.21017195e-03 5.84706568e-05 9.99980715e-01 1.25580462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.454012739 meters Centerline goodness [0,1] 0.9967818933549295 Centerline is valid? [True, True] Translation: X:411.00, Y:54.65, Z:0.12 [[ 7.66121822e-01 -6.42674713e-01 -5.15434346e-03 4.10999221e+02] [ 6.42659513e-01 7.66139157e-01 -4.42059295e-03 5.46500396e+01] [ 6.78994766e-03 7.42248644e-05 9.99976945e-01 1.24602782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.484012739 meters Centerline goodness [0,1] 0.9964619876808969 Centerline is valid? [True, True] Translation: X:411.02, Y:54.67, Z:0.13 [[ 7.66569134e-01 -6.42144839e-01 -4.66574045e-03 4.11019230e+02] [ 6.42132373e-01 7.66583329e-01 -4.00189826e-03 5.46700827e+01] [ 6.14647717e-03 7.17086947e-05 9.99981108e-01 1.25422783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.514012739 meters Centerline goodness [0,1] 0.9964427214246155 Centerline is valid? [True, True] Translation: X:411.04, Y:54.69, Z:0.13 [[ 7.67405110e-01 -6.41143841e-01 -4.89607295e-03 4.11038474e+02] [ 6.41130083e-01 7.67420724e-01 -4.20114019e-03 5.46922548e+01] [ 6.45088301e-03 8.49567924e-05 9.99979189e-01 1.25283699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.544012739 meters Centerline goodness [0,1] 0.9963274773420385 Centerline is valid? [True, True] Translation: X:411.06, Y:54.71, Z:0.13 [[ 7.67609778e-01 -6.40897760e-01 -5.02896701e-03 4.11058881e+02] [ 6.40883229e-01 7.67626246e-01 -4.31662887e-03 5.47119756e+01] [ 6.62688483e-03 9.05059111e-05 9.99978038e-01 1.25378455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.574012739 meters Centerline goodness [0,1] 0.9961724929829038 Centerline is valid? [True, True] Translation: X:411.08, Y:54.73, Z:0.13 [[ 7.67452801e-01 -6.41085246e-01 -5.08971979e-03 4.11077072e+02] [ 6.41070355e-01 7.67469673e-01 -4.37048220e-03 5.47317140e+01] [ 6.70805724e-03 9.12703301e-05 9.99977497e-01 1.25600453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.604012739 meters Centerline goodness [0,1] 0.9965903555772041 Centerline is valid? [True, True] Translation: X:411.10, Y:54.75, Z:0.13 [[ 7.67201418e-01 -6.41387609e-01 -4.89067956e-03 4.11097079e+02] [ 6.41373857e-01 7.67217002e-01 -4.20092889e-03 5.47520083e+01] [ 6.44663624e-03 8.62045899e-05 9.99979217e-01 1.27437386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.634012739 meters Centerline goodness [0,1] 0.9963219661535845 Centerline is valid? [True, True] Translation: X:411.12, Y:54.77, Z:0.13 [[ 7.67521206e-01 -6.41007754e-01 -4.50087585e-03 4.11115370e+02] [ 6.40996093e-01 7.67534398e-01 -3.86736582e-03 5.47742213e+01] [ 5.93358852e-03 8.32414458e-05 9.99982393e-01 1.29126786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.664012739 meters Centerline goodness [0,1] 0.9963603471668856 Centerline is valid? [True, True] Translation: X:411.14, Y:54.80, Z:0.13 [[ 7.67751086e-01 -6.40733370e-01 -4.36102230e-03 4.11135001e+02] [ 6.40722410e-01 7.67763467e-01 -3.74849437e-03 5.47952897e+01] [ 5.75001903e-03 8.37058999e-05 9.99983465e-01 1.29841845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.694012739 meters Centerline goodness [0,1] 0.9961825549157602 Centerline is valid? [True, True] Translation: X:411.15, Y:54.82, Z:0.13 [[ 7.67803827e-01 -6.40670693e-01 -4.28335268e-03 4.11149385e+02] [ 6.40660111e-01 7.67815770e-01 -3.68310198e-03 5.48192256e+01] [ 5.64848123e-03 8.37265929e-05 9.99984044e-01 1.30473964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.724012739 meters Centerline goodness [0,1] 0.9963676296671735 Centerline is valid? [True, True] Translation: X:411.17, Y:54.84, Z:0.13 [[ 7.67189862e-01 -6.41407171e-01 -4.06895746e-03 4.11168306e+02] [ 6.41397627e-01 7.67200649e-01 -3.49988182e-03 5.48397573e+01] [ 5.36655610e-03 7.52541903e-05 9.99985597e-01 1.31196178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.754012739 meters Centerline goodness [0,1] 0.9963874367801436 Centerline is valid? [True, True] Translation: X:411.19, Y:54.86, Z:0.13 [[ 7.65093452e-01 -6.43912018e-01 -3.05343922e-03 4.11190667e+02] [ 6.43906661e-01 7.65099544e-01 -2.62689797e-03 5.48585883e+01] [ 4.02767612e-03 4.36925811e-05 9.99991888e-01 1.32970453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.784012739 meters Centerline goodness [0,1] 0.9966358642422177 Centerline is valid? [True, True] Translation: X:411.21, Y:54.88, Z:0.13 [[ 7.63243166e-01 -6.46104833e-01 -2.90063277e-03 4.11213820e+02] [ 6.46100012e-01 7.63248678e-01 -2.49605749e-03 5.48756454e+01] [ 3.82661893e-03 3.09999485e-05 9.99992678e-01 1.33969870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.814012739 meters Centerline goodness [0,1] 0.9966624149659864 Centerline is valid? [True, True] Translation: X:411.24, Y:54.89, Z:0.13 [[ 7.61492596e-01 -6.48166159e-01 -3.10737566e-03 4.11235522e+02] [ 6.48160639e-01 7.61498936e-01 -2.67521721e-03 5.48919772e+01] [ 4.10024852e-03 2.30795084e-05 9.99991594e-01 1.34873098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.844012739 meters Centerline goodness [0,1] 0.9966624149659864 Centerline is valid? [True, True] Translation: X:411.26, Y:54.91, Z:0.14 [[ 7.61370784e-01 -6.48309243e-01 -3.10721412e-03 4.11256215e+02] [ 6.48303723e-01 7.61377124e-01 -2.67540487e-03 5.49100570e+01] [ 4.10025145e-03 2.25566220e-05 9.99991594e-01 1.35092609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.874012739 meters Centerline goodness [0,1] 0.9968647998625666 Centerline is valid? [True, True] Translation: X:411.28, Y:54.93, Z:0.14 [[ 7.59764323e-01 -6.50189688e-01 -3.39765052e-03 4.11277625e+02] [ 6.50183100e-01 7.59771919e-01 -2.92695644e-03 5.49270159e+01] [ 4.48451636e-03 1.47021295e-05 9.99989944e-01 1.35118299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.904012739 meters Centerline goodness [0,1] 0.9967664390409939 Centerline is valid? [True, True] Translation: X:411.30, Y:54.95, Z:0.13 [[ 7.58347231e-01 -6.51838545e-01 -3.99865247e-03 4.11297790e+02] [ 6.51829437e-01 7.58357773e-01 -3.44588622e-03 5.49467433e+01] [ 5.27857064e-03 6.73888143e-06 9.99986068e-01 1.33720948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.934012739 meters Centerline goodness [0,1] 0.9967952799354811 Centerline is valid? [True, True] Translation: X:411.32, Y:54.97, Z:0.13 [[ 7.58147808e-01 -6.52072572e-01 -3.64182981e-03 4.11316628e+02] [ 6.52065013e-01 7.58156555e-01 -3.13963894e-03 5.49663563e+01] [ 4.80834958e-03 5.60057495e-06 9.99988440e-01 1.34762796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.964012739 meters Centerline goodness [0,1] 0.9966429406140445 Centerline is valid? [True, True] Translation: X:411.33, Y:54.99, Z:0.14 [[ 7.58796139e-01 -6.51322992e-01 -2.60390540e-03 4.11333182e+02] [ 6.51319124e-01 7.58800606e-01 -2.24473757e-03 5.49901211e+01] [ 3.43789419e-03 7.32481128e-06 9.99994090e-01 1.37178847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.994012739 meters Centerline goodness [0,1] 0.9966610663320644 Centerline is valid? [True, True] Translation: X:411.35, Y:55.01, Z:0.14 [[ 7.59295366e-01 -6.50741110e-01 -2.56005981e-03 4.11352134e+02] [ 6.50737366e-01 7.59299682e-01 -2.20764869e-03 5.50116460e+01] [ 3.38046036e-03 1.03308446e-05 9.99994286e-01 1.37184846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.024012739 meters Centerline goodness [0,1] 0.9971821966058277 Centerline is valid? [True, True] Translation: X:411.37, Y:55.03, Z:0.14 [[ 7.59924816e-01 -6.50002149e-01 -3.38825863e-03 4.11370353e+02] [ 6.49995575e-01 7.59932369e-01 -2.92353912e-03 5.50327863e+01] [ 4.47515412e-03 1.93168124e-05 9.99989986e-01 1.35669965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05401273900003 meters Centerline goodness [0,1] 0.9970350461807556 Centerline is valid? [True, True] Translation: X:411.39, Y:55.06, Z:0.13 [[ 7.60814584e-01 -6.48950990e-01 -4.87665453e-03 4.11385515e+02] [ 6.48937333e-01 7.60830212e-01 -4.21025449e-03 5.50568703e+01] [ 6.44255492e-03 3.85798266e-05 9.99979246e-01 1.32214666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.084012739 meters Centerline goodness [0,1] 0.9971237429691495 Centerline is valid? [True, True] Translation: X:411.40, Y:55.08, Z:0.13 [[ 7.60628273e-01 -6.49169272e-01 -4.88737297e-03 4.11404470e+02] [ 6.49155551e-01 7.60643974e-01 -4.22091674e-03 5.50770786e+01] [ 6.45764024e-03 3.78833167e-05 9.99979149e-01 1.32370593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.114012739 meters Centerline goodness [0,1] 0.9970356568137545 Centerline is valid? [True, True] Translation: X:411.42, Y:55.10, Z:0.13 [[ 7.60133279e-01 -6.49750982e-01 -4.58899494e-03 4.11423315e+02] [ 6.49738888e-01 7.60147131e-01 -3.96456016e-03 5.50973399e+01] [ 6.06428819e-03 3.19456469e-05 9.99981612e-01 1.33153258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.144012739 meters Centerline goodness [0,1] 0.9972615534846201 Centerline is valid? [True, True] Translation: X:411.44, Y:55.12, Z:0.14 [[ 7.58223806e-01 -6.51983426e-01 -3.77793360e-03 4.11442774e+02] [ 6.51975252e-01 7.58233218e-01 -3.26469129e-03 5.51177148e+01] [ 4.99307936e-03 1.22474460e-05 9.99987534e-01 1.35110424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.174012739 meters Centerline goodness [0,1] 0.9967702180102843 Centerline is valid? [True, True] Translation: X:411.46, Y:55.14, Z:0.14 [[ 7.56817865e-01 -6.53613998e-01 -3.93205110e-03 4.11462687e+02] [ 6.53605158e-01 7.56828079e-01 -3.39928795e-03 5.51360175e+01] [ 5.19770887e-03 2.63296483e-06 9.99986492e-01 1.35291495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.204012739 meters Centerline goodness [0,1] 0.9968070417673456 Centerline is valid? [True, True] Translation: X:411.48, Y:55.15, Z:0.13 [[ 7.54019910e-01 -6.56830310e-01 -5.28377002e-03 4.11483639e+02] [ 6.56814413e-01 7.54038423e-01 -4.56992436e-03 5.51545095e+01] [ 6.98583045e-03 -2.46423459e-05 9.99975598e-01 1.31851118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.234012739 meters Centerline goodness [0,1] 0.9964418841070823 Centerline is valid? [True, True] Translation: X:411.50, Y:55.17, Z:0.13 [[ 7.52558634e-01 -6.58497103e-01 -6.08835268e-03 4.11504498e+02] [ 6.58476032e-01 7.52583260e-01 -5.26807642e-03 5.51717237e+01] [ 8.05100537e-03 -4.44979204e-05 9.99967589e-01 1.29822727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.264012739 meters Centerline goodness [0,1] 0.996317547315235 Centerline is valid? [True, True] Translation: X:411.53, Y:55.19, Z:0.13 [[ 7.51216154e-01 -6.60029750e-01 -5.91775454e-03 4.11525715e+02] [ 6.60009877e-01 7.51239460e-01 -5.12212939e-03 5.51913186e+01] [ 7.82640850e-03 -5.79501062e-05 9.99969372e-01 1.30219963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.294012739 meters Centerline goodness [0,1] 0.9954021527248071 Centerline is valid? [True, True] Translation: X:411.55, Y:55.21, Z:0.13 [[ 7.48745405e-01 -6.62839656e-01 -4.88964023e-03 4.11546512e+02] [ 6.62826141e-01 7.48761368e-01 -4.23341125e-03 5.52091940e+01] [ 6.46724657e-03 -7.12341416e-05 9.99979085e-01 1.33911895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.324012739 meters Centerline goodness [0,1] 0.9957455905932656 Centerline is valid? [True, True] Translation: X:411.57, Y:55.23, Z:0.13 [[ 7.47649195e-01 -6.64076974e-01 -4.73858918e-03 4.11568389e+02] [ 6.64064301e-01 7.47664207e-01 -4.10340270e-03 5.52280876e+01] [ 6.26784877e-03 -7.88221828e-05 9.99980354e-01 1.34371776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.354012739 meters Centerline goodness [0,1] 0.9953241096592365 Centerline is valid? [True, True] Translation: X:411.59, Y:55.25, Z:0.13 [[ 7.46720291e-01 -6.65121128e-01 -4.76368074e-03 4.11589909e+02] [ 6.65108332e-01 7.46735480e-01 -4.12661851e-03 5.52462347e+01] [ 6.30191058e-03 -8.69339731e-05 9.99980139e-01 1.34181524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.384012739 meters Centerline goodness [0,1] 0.9956214357418997 Centerline is valid? [True, True] Translation: X:411.61, Y:55.26, Z:0.13 [[ 7.44697906e-01 -6.67382681e-01 -5.03839450e-03 4.11613291e+02] [ 6.67368414e-01 7.44714942e-01 -4.36524989e-03 5.52632205e+01] [ 6.66545984e-03 -1.11672889e-04 9.99977779e-01 1.33113790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.414012739 meters Centerline goodness [0,1] 0.9950499348675641 Centerline is valid? [True, True] Translation: X:411.64, Y:55.28, Z:0.13 [[ 7.43185693e-01 -6.69069544e-01 -4.57950745e-03 4.11636620e+02] [ 6.69057782e-01 7.43199793e-01 -3.96877028e-03 5.52800637e+01] [ 6.05887231e-03 -1.14421809e-04 9.99981638e-01 1.34321134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.444012739 meters Centerline goodness [0,1] 0.9936733544221519 Centerline is valid? [True, True] Translation: X:411.66, Y:55.30, Z:0.14 [[ 7.39841729e-01 -6.72772984e-01 -3.27536074e-03 4.11660506e+02] [ 6.72767002e-01 7.39848972e-01 -2.83889062e-03 5.52956980e+01] [ 4.33320119e-03 -1.03224873e-04 9.99990606e-01 1.37616281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.474012739 meters Centerline goodness [0,1] 0.9931024141550457 Centerline is valid? [True, True] Translation: X:411.68, Y:55.31, Z:0.14 [[ 7.38190311e-01 -6.74586295e-01 -2.89733428e-03 4.11684031e+02] [ 6.74581626e-01 7.38195990e-01 -2.51196330e-03 5.53125949e+01] [ 3.83333656e-03 -1.00181498e-04 9.99992648e-01 1.37908654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.504012739 meters Centerline goodness [0,1] 0.9919261822376009 Centerline is valid? [True, True] Translation: X:411.71, Y:55.33, Z:0.14 [[ 7.36514385e-01 -6.76415759e-01 -2.87779423e-03 4.11708953e+02] [ 6.76411162e-01 7.36520000e-01 -2.49610337e-03 5.53256816e+01] [ 3.80795666e-03 -1.08156095e-04 9.99992744e-01 1.37833788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.534012739 meters Centerline goodness [0,1] 0.9915285057225371 Centerline is valid? [True, True] Translation: X:411.74, Y:55.34, Z:0.14 [[ 7.33225769e-01 -6.79976024e-01 -3.54657707e-03 4.11736830e+02] [ 6.79969080e-01 7.33234330e-01 -3.07687589e-03 5.53365814e+01] [ 4.69267390e-03 -1.55518054e-04 9.99988977e-01 1.36132738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.564012739 meters Centerline goodness [0,1] 0.9895228504702933 Centerline is valid? [True, True] Translation: X:411.76, Y:55.35, Z:0.14 [[ 7.31329242e-01 -6.82014647e-01 -3.68248884e-03 4.11761498e+02] [ 6.82007180e-01 7.31338493e-01 -3.19623257e-03 5.53490550e+01] [ 4.87302327e-03 -1.73985484e-04 9.99988112e-01 1.36237129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.594012739 meters Centerline goodness [0,1] 0.9874677635925745 Centerline is valid? [True, True] Translation: X:411.79, Y:55.36, Z:0.14 [[ 7.29630511e-01 -6.83831066e-01 -3.79363841e-03 4.11786590e+02] [ 6.83823162e-01 7.29640348e-01 -3.29343618e-03 5.53615028e+01] [ 5.02014562e-03 -1.91186291e-04 9.99987381e-01 1.35948243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.624012739 meters Centerline goodness [0,1] 0.9850856116198021 Centerline is valid? [True, True] Translation: X:411.82, Y:55.37, Z:0.13 [[ 7.26775823e-01 -6.86852386e-01 -5.54098173e-03 4.11815162e+02] [ 6.86835599e-01 7.26796880e-01 -4.81199002e-03 5.53709479e+01] [ 7.33229506e-03 -3.08505504e-04 9.99973071e-01 1.32317362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.654012739 meters Centerline goodness [0,1] 0.9789798872302274 Centerline is valid? [True, True] Translation: X:411.84, Y:55.38, Z:0.13 [[ 7.25991674e-01 -6.87672988e-01 -6.47699658e-03 4.11840298e+02] [ 6.87650063e-01 7.26020472e-01 -5.62716340e-03 5.53834865e+01] [ 8.57208038e-03 -3.68633333e-04 9.99963191e-01 1.30372957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.684012739 meters Centerline goodness [0,1] 0.985857206851682 Centerline is valid? [True, True] Translation: X:411.86, Y:55.40, Z:0.13 [[ 7.26393845e-01 -6.87248621e-01 -6.42773072e-03 4.11864880e+02] [ 6.87226010e-01 7.26422194e-01 -5.58627689e-03 5.53981013e+01] [ 8.50840734e-03 -3.59466591e-04 9.99963738e-01 1.30559924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.714012739 meters Centerline goodness [0,1] 0.9736920018610159 Centerline is valid? [True, True] Translation: X:411.89, Y:55.41, Z:0.13 [[ 7.27242112e-01 -6.86356421e-01 -5.81149727e-03 4.11892517e+02] [ 6.86337898e-01 7.27265264e-01 -5.05231162e-03 5.54077771e+01] [ 7.69418662e-03 -3.14397043e-04 9.99970350e-01 1.33127918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.744012739 meters Centerline goodness [0,1] 0.9853715999143285 Centerline is valid? [True, True] Translation: X:411.91, Y:55.43, Z:0.14 [[ 7.28184486e-01 -6.85362657e-01 -5.03811044e-03 4.11910866e+02] [ 6.85348706e-01 7.28201867e-01 -4.38076928e-03 5.54293139e+01] [ 6.67117710e-03 -2.62854245e-04 9.99977713e-01 1.35528843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.774012739 meters Centerline goodness [0,1] 0.9896579156722355 Centerline is valid? [True, True] Translation: X:411.93, Y:55.45, Z:0.14 [[ 7.30608741e-01 -6.82775963e-01 -5.27739730e-03 4.11931638e+02] [ 6.82760577e-01 7.30627759e-01 -4.59053648e-03 5.54481703e+01] [ 6.99012093e-03 -2.49312742e-04 9.99975538e-01 1.35587661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.804012739 meters Centerline goodness [0,1] 0.9912525108533662 Centerline is valid? [True, True] Translation: X:411.95, Y:55.47, Z:0.13 [[ 7.32097218e-01 -6.81174887e-01 -5.86830045e-03 4.11952619e+02] [ 6.81155794e-01 7.32120692e-01 -5.10659984e-03 5.54676581e+01] [ 7.77479175e-03 -2.58699312e-04 9.99969742e-01 1.33992514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.834012739 meters Centerline goodness [0,1] 0.9929453262786596 Centerline is valid? [True, True] Translation: X:411.97, Y:55.49, Z:0.13 [[ 7.33582073e-01 -6.79570195e-01 -6.45693614e-03 4.11971851e+02] [ 6.79547006e-01 7.33610442e-01 -5.62016290e-03 5.54882147e+01] [ 8.55617097e-03 -2.64940873e-04 9.99963360e-01 1.32292010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.864012739 meters Centerline goodness [0,1] 0.9939284718199567 Centerline is valid? [True, True] Translation: X:412.00, Y:55.50, Z:0.13 [[ 7.36213795e-01 -6.76703990e-01 -7.80760194e-03 4.11998671e+02] [ 6.76669893e-01 7.36255141e-01 -6.79871734e-03 5.54993820e+01] [ 1.03491062e-02 -2.77859676e-04 9.99946408e-01 1.28562815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.894012739 meters Centerline goodness [0,1] 0.9939402991443873 Centerline is valid? [True, True] Translation: X:412.02, Y:55.52, Z:0.13 [[ 7.37420815e-01 -6.75384256e-01 -8.16389668e-03 4.12019156e+02] [ 6.75346868e-01 7.37465955e-01 -7.11146503e-03 5.55171725e+01] [ 1.08235674e-02 -2.69319720e-04 9.99941387e-01 1.27971306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.924012739 meters Centerline goodness [0,1] 0.9935219036623694 Centerline is valid? [True, True] Translation: X:412.04, Y:55.53, Z:0.13 [[ 7.38586390e-01 -6.74112771e-01 -7.88136475e-03 4.12041244e+02] [ 6.74077840e-01 7.38628401e-01 -6.86673530e-03 5.55326526e+01] [ 1.04503538e-02 -2.40976088e-04 9.99945365e-01 1.28725435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.954012739 meters Centerline goodness [0,1] 0.9941116665254597 Centerline is valid? [True, True] Translation: X:412.06, Y:55.56, Z:0.13 [[ 7.41028539e-01 -6.71443974e-01 -6.30028611e-03 4.12058261e+02] [ 6.71421548e-01 7.41055304e-01 -5.49014403e-03 5.55558489e+01] [ 8.35518456e-03 -1.61794436e-04 9.99965082e-01 1.33439386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.984012739 meters Centerline goodness [0,1] 0.9941662927110713 Centerline is valid? [True, True] Translation: X:412.08, Y:55.58, Z:0.14 [[ 7.42358144e-01 -6.69981506e-01 -5.40061899e-03 4.12078339e+02] [ 6.69964979e-01 7.42377778e-01 -4.70749600e-03 5.55760453e+01] [ 7.16323479e-03 -1.23577597e-04 9.99974336e-01 1.35769743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.014012739 meters Centerline goodness [0,1] 0.9950612532871529 Centerline is valid? [True, True] Translation: X:412.10, Y:55.60, Z:0.14 [[ 7.43814046e-01 -6.68368871e-01 -4.86996206e-03 4.12095732e+02] [ 6.68355390e-01 7.43829983e-01 -4.24618075e-03 5.55999829e+01] [ 6.46043882e-03 -9.64965069e-05 9.99979126e-01 1.37049530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.044012739 meters Centerline goodness [0,1] 0.9953917050691244 Centerline is valid? [True, True] Translation: X:412.11, Y:55.62, Z:0.14 [[ 7.46913246e-01 -6.64903702e-01 -4.86522790e-03 4.12113328e+02] [ 6.64890164e-01 7.46929088e-01 -4.24344999e-03 5.56236667e+01] [ 6.45546585e-03 -6.53531651e-05 9.99979161e-01 1.37084882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.074012739 meters Centerline goodness [0,1] 0.9954241766740424 Centerline is valid? [True, True] Translation: X:412.13, Y:55.64, Z:0.14 [[ 7.48489482e-01 -6.63125681e-01 -5.27506711e-03 4.12132602e+02] [ 6.63109710e-01 7.48508068e-01 -4.60262746e-03 5.56425383e+01] [ 7.00055076e-03 -5.29299781e-05 9.99975494e-01 1.36791682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.104012739 meters Centerline goodness [0,1] 0.9967041488949205 Centerline is valid? [True, True] Translation: X:412.15, Y:55.67, Z:0.14 [[ 7.50928278e-01 -6.60357194e-01 -5.92438044e-03 4.12149139e+02] [ 6.60336950e-01 7.50951647e-01 -5.17072042e-03 5.56662875e+01] [ 7.86344568e-03 -2.92471292e-05 9.99969082e-01 1.35211897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.134012739 meters Centerline goodness [0,1] 0.9968454258675079 Centerline is valid? [True, True] Translation: X:412.17, Y:55.68, Z:0.14 [[ 7.51363361e-01 -6.59862816e-01 -5.84486783e-03 4.12168190e+02] [ 6.59843084e-01 7.51386094e-01 -5.10314097e-03 5.56848293e+01] [ 7.75912539e-03 -2.23824638e-05 9.99969897e-01 1.35487964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.164012739 meters Centerline goodness [0,1] 0.9962901807732721 Centerline is valid? [True, True] Translation: X:412.19, Y:55.71, Z:0.14 [[ 7.51775071e-01 -6.59396252e-01 -5.55201025e-03 4.12187105e+02] [ 6.59378423e-01 7.51795572e-01 -4.84896099e-03 5.57053193e+01] [ 7.37136343e-03 -1.55477757e-05 9.99972831e-01 1.36188668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.194012739 meters Centerline goodness [0,1] 0.9958296419542341 Centerline is valid? [True, True] Translation: X:412.21, Y:55.72, Z:0.14 [[ 7.51927144e-01 -6.59235184e-01 -3.81341506e-03 4.12207578e+02] [ 6.59226768e-01 7.51936814e-01 -3.33114581e-03 5.57237139e+01] [ 5.06345570e-03 -9.12633178e-06 9.99987181e-01 1.39728281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.224012739 meters Centerline goodness [0,1] 0.9954038223096328 Centerline is valid? [True, True] Translation: X:412.23, Y:55.74, Z:0.14 [[ 7.51714548e-01 -6.59480706e-01 -3.23051664e-03 4.12228966e+02] [ 6.59474665e-01 7.51721490e-01 -2.82281192e-03 5.57400391e+01] [ 4.29003878e-03 -8.49509399e-06 9.99990798e-01 1.42409383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.254012739 meters Centerline goodness [0,1] 0.9953840512499731 Centerline is valid? [True, True] Translation: X:412.25, Y:55.76, Z:0.14 [[ 7.51209179e-01 -6.60054658e-01 -3.55231595e-03 4.12251503e+02] [ 6.60047353e-01 7.51217578e-01 -3.10523142e-03 5.57571178e+01] [ 4.71818464e-03 -1.20184000e-05 9.99988869e-01 1.41702524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.284012739 meters Centerline goodness [0,1] 0.9961462280399587 Centerline is valid? [True, True] Translation: X:412.27, Y:55.77, Z:0.13 [[ 7.49786908e-01 -6.61652782e-01 -5.93202504e-03 4.12274721e+02] [ 6.61632440e-01 7.49810372e-01 -5.18841092e-03 5.57727077e+01] [ 7.88082042e-03 -3.46176245e-05 9.99968945e-01 1.34881178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.314012739 meters Centerline goodness [0,1] 0.99613874766716 Centerline is valid? [True, True] Translation: X:412.30, Y:55.79, Z:0.13 [[ 7.48927117e-01 -6.62613773e-01 -7.15264409e-03 4.12298933e+02] [ 6.62584215e-01 7.48961270e-01 -6.25885838e-03 5.57864945e+01] [ 9.50425917e-03 -5.18003077e-05 9.99954832e-01 1.31872930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.344012739 meters Centerline goodness [0,1] 0.9959582061314873 Centerline is valid? [True, True] Translation: X:412.33, Y:55.80, Z:0.13 [[ 7.47614476e-01 -6.64094170e-01 -7.17837778e-03 4.12325147e+02] [ 6.64064445e-01 7.47648934e-01 -6.28362275e-03 5.57996570e+01] [ 9.53982374e-03 -6.91781247e-05 9.99954492e-01 1.31748181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.374012739 meters Centerline goodness [0,1] 0.995293867120954 Centerline is valid? [True, True] Translation: X:412.35, Y:55.82, Z:0.13 [[ 7.47298873e-01 -6.64457455e-01 -6.37846063e-03 4.12347003e+02] [ 6.64433984e-01 7.47326091e-01 -5.58522631e-03 5.58153343e+01] [ 8.47793531e-03 -6.42326908e-05 9.99964060e-01 1.33929934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.404012739 meters Centerline goodness [0,1] 0.9952351577290421 Centerline is valid? [True, True] Translation: X:412.37, Y:55.83, Z:0.14 [[ 7.47400819e-01 -6.64346926e-01 -5.93100226e-03 4.12368890e+02] [ 6.64326615e-01 7.47424350e-01 -5.19526240e-03 5.58316924e+01] [ 7.88443211e-03 -5.71792763e-05 9.99968916e-01 1.35228651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.434012739 meters Centerline goodness [0,1] 0.9958616298811545 Centerline is valid? [True, True] Translation: X:412.39, Y:55.85, Z:0.14 [[ 7.49143134e-01 -6.62385888e-01 -5.43150015e-03 4.12388364e+02] [ 6.62368790e-01 7.49162823e-01 -4.75936953e-03 5.58519630e+01] [ 7.22161719e-03 -3.22071787e-05 9.99973923e-01 1.36396301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.464012739 meters Centerline goodness [0,1] 0.9956950749099589 Centerline is valid? [True, True] Translation: X:412.41, Y:55.87, Z:0.14 [[ 7.50211207e-01 -6.61176692e-01 -5.34105145e-03 4.12408320e+02] [ 6.61160116e-01 7.50230219e-01 -4.68173787e-03 5.58713394e+01] [ 7.10247416e-03 -1.89979799e-05 9.99974777e-01 1.36281981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.494012739 meters Centerline goodness [0,1] 0.9965793693212186 Centerline is valid? [True, True] Translation: X:412.43, Y:55.89, Z:0.14 [[ 7.52235491e-01 -6.58871341e-01 -5.50651592e-03 4.12427080e+02] [ 6.58853647e-01 7.52255645e-01 -4.82870671e-03 5.58903590e+01] [ 7.32380415e-03 4.33646765e-06 9.99973181e-01 1.36616217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.524012739 meters Centerline goodness [0,1] 0.9965592676762314 Centerline is valid? [True, True] Translation: X:412.45, Y:55.91, Z:0.14 [[ 7.52816826e-01 -6.58207537e-01 -5.44653030e-03 4.12446796e+02] [ 6.58190197e-01 7.52836528e-01 -4.77769459e-03 5.59089505e+01] [ 7.24506155e-03 1.18760275e-05 9.99973754e-01 1.36557676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.554012739 meters Centerline goodness [0,1] 0.9964608982883617 Centerline is valid? [True, True] Translation: X:412.47, Y:55.93, Z:0.14 [[ 7.53181871e-01 -6.57786811e-01 -5.79496269e-03 4.12467691e+02] [ 6.57767153e-01 7.53204163e-01 -5.08537780e-03 5.59268975e+01] [ 7.70988447e-03 1.84782507e-05 9.99970278e-01 1.35933507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.584012739 meters Centerline goodness [0,1] 0.9963584781826266 Centerline is valid? [True, True] Translation: X:412.49, Y:55.94, Z:0.13 [[ 7.53441888e-01 -6.57483556e-01 -6.37923521e-03 4.12490309e+02] [ 6.57459704e-01 7.53468893e-01 -5.60042691e-03 5.59426028e+01] [ 8.48874389e-03 2.55061379e-05 9.99963970e-01 1.34664265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.614012739 meters Centerline goodness [0,1] 0.9966179335145664 Centerline is valid? [True, True] Translation: X:412.51, Y:55.96, Z:0.14 [[ 7.53733031e-01 -6.57152942e-01 -6.04392664e-03 4.12511361e+02] [ 6.57131507e-01 7.53757262e-01 -5.30777914e-03 5.59606986e+01] [ 8.04367627e-03 2.89938317e-05 9.99967649e-01 1.36155482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.644012739 meters Centerline goodness [0,1] 0.9966175250494608 Centerline is valid? [True, True] Translation: X:412.53, Y:55.98, Z:0.14 [[ 7.54087585e-01 -6.56749737e-01 -5.63005054e-03 4.12530583e+02] [ 6.56731113e-01 7.54108601e-01 -4.94601795e-03 5.59793624e+01] [ 7.49396552e-03 3.23013762e-05 9.99971919e-01 1.37452870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.674012739 meters Centerline goodness [0,1] 0.996597916223687 Centerline is valid? [True, True] Translation: X:412.55, Y:56.00, Z:0.14 [[ 7.55448276e-01 -6.55189924e-01 -4.90567664e-03 4.12551991e+02] [ 6.55175742e-01 7.55464202e-01 -4.31114494e-03 5.59991170e+01] [ 6.53068182e-03 4.27666763e-05 9.99978674e-01 1.38871997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.704012739 meters Centerline goodness [0,1] 0.9966922522369704 Centerline is valid? [True, True] Translation: X:412.57, Y:56.02, Z:0.14 [[ 7.56023277e-01 -6.54528315e-01 -4.63569016e-03 4.12571434e+02] [ 6.54515630e-01 7.56037488e-01 -4.07513301e-03 5.60182062e+01] [ 6.17204549e-03 4.67637412e-05 9.99980952e-01 1.40155599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.734012739 meters Centerline goodness [0,1] 0.9966922522369704 Centerline is valid? [True, True] Translation: X:412.59, Y:56.04, Z:0.14 [[ 7.55903975e-01 -6.54666095e-01 -4.63502108e-03 4.12591939e+02] [ 6.54653409e-01 7.55918184e-01 -4.07589384e-03 5.60365097e+01] [ 6.17204623e-03 4.66520030e-05 9.99980952e-01 1.40375128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.764012739 meters Centerline goodness [0,1] 0.9964925625422583 Centerline is valid? [True, True] Translation: X:412.61, Y:56.06, Z:0.14 [[ 7.56824398e-01 -6.53605747e-01 -4.04456047e-03 4.12612382e+02] [ 6.53596065e-01 7.56835203e-01 -3.55795572e-03 5.60554269e+01] [ 5.38656605e-03 4.92388902e-05 9.99985491e-01 1.41956463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.794012739 meters Centerline goodness [0,1] 0.9966795677093248 Centerline is valid? [True, True] Translation: X:412.63, Y:56.07, Z:0.14 [[ 7.57078699e-01 -6.53307572e-01 -4.58915551e-03 4.12633450e+02] [ 6.53295095e-01 7.57092606e-01 -4.03795047e-03 5.60733127e+01] [ 6.11243932e-03 5.89735034e-05 9.99981317e-01 1.40993301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.824012739 meters Centerline goodness [0,1] 0.996647641679574 Centerline is valid? [True, True] Translation: X:412.65, Y:56.09, Z:0.14 [[ 7.57522618e-01 -6.52786181e-01 -5.44842795e-03 4.12653479e+02] [ 6.52768565e-01 7.57542208e-01 -4.79624715e-03 5.60916641e+01] [ 7.25833800e-03 7.67032021e-05 9.99973655e-01 1.38917325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.854012739 meters Centerline goodness [0,1] 0.9970674486803519 Centerline is valid? [True, True] Translation: X:412.67, Y:56.11, Z:0.14 [[ 7.57944553e-01 -6.52288267e-01 -6.33015559e-03 4.12673394e+02] [ 6.52264458e-01 7.57970981e-01 -5.57402049e-03 5.61104213e+01] [ 8.43394240e-03 9.58629662e-05 9.99964429e-01 1.36927704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.884012739 meters Centerline goodness [0,1] 0.9972141907435156 Centerline is valid? [True, True] Translation: X:412.69, Y:56.13, Z:0.14 [[ 7.59603062e-01 -6.50349788e-01 -6.95283779e-03 4.12688958e+02] [ 6.50320964e-01 7.59634870e-01 -6.12437463e-03 5.61334715e+01] [ 9.26460377e-03 1.30517543e-04 9.99957074e-01 1.35703295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.914012739 meters Centerline goodness [0,1] 0.9970578897237803 Centerline is valid? [True, True] Translation: X:412.71, Y:56.15, Z:0.14 [[ 7.60769697e-01 -6.48987487e-01 -6.68658053e-03 4.12706313e+02] [ 6.48960767e-01 7.60799068e-01 -5.89073731e-03 5.61545914e+01] [ 8.91015904e-03 1.42166012e-04 9.99960294e-01 1.36651765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.944012739 meters Centerline goodness [0,1] 0.997130163049255 Centerline is valid? [True, True] Translation: X:412.73, Y:56.17, Z:0.14 [[ 7.62130101e-01 -6.47393503e-01 -6.27384892e-03 4.12727379e+02] [ 6.47369920e-01 7.62155909e-01 -5.52794014e-03 5.61739696e+01] [ 8.36040355e-03 1.51508510e-04 9.99965040e-01 1.37998943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.974012739 meters Centerline goodness [0,1] 0.9959427309032203 Centerline is valid? [True, True] Translation: X:412.74, Y:56.20, Z:0.14 [[ 7.65721972e-01 -6.43143941e-01 -5.97765408e-03 4.12741481e+02] [ 6.43122388e-01 7.65745281e-01 -5.26867663e-03 5.62008055e+01] [ 7.96587786e-03 1.89978294e-04 9.99968254e-01 1.37979358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.004012739 meters Centerline goodness [0,1] 0.9954102980104176 Centerline is valid? [True, True] Translation: X:412.76, Y:56.22, Z:0.14 [[ 7.67361690e-01 -6.41190157e-01 -5.58738857e-03 4.12758194e+02] [ 6.41171267e-01 7.67382006e-01 -4.92566822e-03 5.62239192e+01] [ 7.44595143e-03 1.97296078e-04 9.99972259e-01 1.39085564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.034012739 meters Centerline goodness [0,1] 0.9929932260795936 Centerline is valid? [True, True] Translation: X:412.77, Y:56.25, Z:0.14 [[ 7.70199636e-01 -6.37785301e-01 -4.73609759e-03 4.12771125e+02] [ 6.37771657e-01 7.70214172e-01 -4.17644266e-03 5.62505918e+01] [ 6.31148322e-03 1.96145813e-04 9.99980063e-01 1.40643075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.064012739 meters Centerline goodness [0,1] 0.9923410557494975 Centerline is valid? [True, True] Translation: X:412.79, Y:56.27, Z:0.14 [[ 7.70603473e-01 -6.37296996e-01 -4.77763197e-03 4.12790187e+02] [ 6.37283096e-01 7.70618257e-01 -4.21395197e-03 5.62727758e+01] [ 6.36726935e-03 2.02581930e-04 9.99979708e-01 1.41344749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.094012739 meters Centerline goodness [0,1] 0.9927545442989704 Centerline is valid? [True, True] Translation: X:412.81, Y:56.29, Z:0.14 [[ 7.70354874e-01 -6.37596016e-01 -4.96877094e-03 4.12810060e+02] [ 6.37580979e-01 7.70370869e-01 -4.38392884e-03 5.62927166e+01] [ 6.62297195e-03 2.09187109e-04 9.99978046e-01 1.41093199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.124012739 meters Centerline goodness [0,1] 0.9933894871521484 Centerline is valid? [True, True] Translation: X:412.83, Y:56.31, Z:0.14 [[ 7.68810717e-01 -6.39458419e-01 -4.79707008e-03 4.12829436e+02] [ 6.39444429e-01 7.68825660e-01 -4.23407917e-03 5.63117055e+01] [ 6.39562814e-03 1.87745710e-04 9.99979530e-01 1.41680032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.154012739 meters Centerline goodness [0,1] 0.9937223752482224 Centerline is valid? [True, True] Translation: X:412.85, Y:56.33, Z:0.14 [[ 7.68012850e-01 -6.40418835e-01 -4.46977464e-03 4.12850809e+02] [ 6.40406702e-01 7.68025838e-01 -3.94558528e-03 5.63317879e+01] [ 5.95972954e-03 1.67786555e-04 9.99982227e-01 1.42653026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.184012739 meters Centerline goodness [0,1] 0.9950163625863581 Centerline is valid? [True, True] Translation: X:412.88, Y:56.35, Z:0.14 [[ 7.67137389e-01 -6.41469510e-01 -4.13461045e-03 4.12875661e+02] [ 6.41459139e-01 7.67148516e-01 -3.65058455e-03 5.63469561e+01] [ 5.51359896e-03 1.48316234e-04 9.99984789e-01 1.43589884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.214012739 meters Centerline goodness [0,1] 0.9954810650259892 Centerline is valid? [True, True] Translation: X:412.90, Y:56.37, Z:0.14 [[ 7.65033581e-01 -6.43979832e-01 -3.68740108e-03 4.12895536e+02] [ 6.43971608e-01 7.65042458e-01 -3.25655991e-03 5.63663633e+01] [ 4.91817729e-03 1.16796088e-04 9.99987899e-01 1.44063807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.244012739 meters Centerline goodness [0,1] 0.995880469583778 Centerline is valid? [True, True] Translation: X:412.92, Y:56.38, Z:0.14 [[ 7.63788899e-01 -6.45454341e-01 -3.90023594e-03 4.12918349e+02] [ 6.45445151e-01 7.63798848e-01 -3.44618868e-03 5.63848238e+01] [ 5.20335316e-03 1.14772285e-04 9.99986456e-01 1.43760334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.274012739 meters Centerline goodness [0,1] 0.9963457395124836 Centerline is valid? [True, True] Translation: X:412.94, Y:56.40, Z:0.14 [[ 7.60938459e-01 -6.48810229e-01 -4.23657220e-03 4.12939139e+02] [ 6.48799435e-01 7.60950246e-01 -3.74384894e-03 5.64033085e+01] [ 5.65286814e-03 1.00152993e-04 9.99984017e-01 1.43003259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.304012739 meters Centerline goodness [0,1] 0.9966407052379322 Centerline is valid? [True, True] Translation: X:412.96, Y:56.42, Z:0.14 [[ 7.58814301e-01 -6.51294794e-01 -3.99334432e-03 4.12963792e+02] [ 6.51285232e-01 7.58824805e-01 -3.53012033e-03 5.64184832e+01] [ 5.32939772e-03 7.78996089e-05 9.99985796e-01 1.43815600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.334012739 meters Centerline goodness [0,1] 0.9966203931466706 Centerline is valid? [True, True] Translation: X:412.99, Y:56.43, Z:0.14 [[ 7.56592608e-01 -6.53873781e-01 -4.08697411e-03 4.12990269e+02] [ 6.53863796e-01 7.56603644e-01 -3.61403512e-03 5.64315728e+01] [ 5.45534232e-03 6.20278467e-05 9.99985118e-01 1.43935078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.364012739 meters Centerline goodness [0,1] 0.9966336505470318 Centerline is valid? [True, True] Translation: X:413.02, Y:56.44, Z:0.14 [[ 7.53036355e-01 -6.57964246e-01 -4.39311228e-03 4.13019345e+02] [ 6.57952770e-01 7.53049168e-01 -3.88625169e-03 5.64425238e+01] [ 5.86524421e-03 3.60284136e-05 9.99982799e-01 1.43900712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.394012739 meters Centerline goodness [0,1] 0.996844416963391 Centerline is valid? [True, True] Translation: X:413.04, Y:56.46, Z:0.14 [[ 7.52299689e-01 -6.58806472e-01 -4.38303603e-03 4.13040251e+02] [ 6.58795055e-01 7.52312456e-01 -3.87862146e-03 5.64594265e+01] [ 5.85267352e-03 3.03632523e-05 9.99982872e-01 1.44939637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.424012739 meters Centerline goodness [0,1] 0.9968699082411457 Centerline is valid? [True, True] Translation: X:413.06, Y:56.48, Z:0.14 [[ 7.52161086e-01 -6.58963946e-01 -4.49654656e-03 4.13062618e+02] [ 6.58951926e-01 7.52174525e-01 -3.98034692e-03 5.64770239e+01] [ 6.00509289e-03 3.08540457e-05 9.99981969e-01 1.44448420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.454012739 meters Centerline goodness [0,1] 0.9968331562167907 Centerline is valid? [True, True] Translation: X:413.08, Y:56.50, Z:0.14 [[ 7.53741461e-01 -6.57154015e-01 -4.73407934e-03 4.13080834e+02] [ 6.57140642e-01 7.53756326e-01 -4.19256266e-03 5.64982948e+01] [ 6.32350164e-03 4.91523667e-05 9.99980005e-01 1.44027653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.484012739 meters Centerline goodness [0,1] 0.9973352661536166 Centerline is valid? [True, True] Translation: X:413.10, Y:56.52, Z:0.14 [[ 7.55088474e-01 -6.55604438e-01 -4.92106150e-03 4.13100165e+02] [ 6.55589951e-01 7.55104507e-01 -4.35879770e-03 5.65198433e+01] [ 6.57356284e-03 6.50794364e-05 9.99978392e-01 1.44005822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.514012739 meters Centerline goodness [0,1] 0.9972090248631144 Centerline is valid? [True, True] Translation: X:413.11, Y:56.55, Z:0.14 [[ 7.58229239e-01 -6.51964783e-01 -5.50848962e-03 4.13113688e+02] [ 6.51946521e-01 7.58249240e-01 -4.88095497e-03 5.65467997e+01] [ 7.35901882e-03 1.09642131e-04 9.99972916e-01 1.42601646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.544012739 meters Centerline goodness [0,1] 0.9971607407885397 Centerline is valid? [True, True] Translation: X:413.13, Y:56.57, Z:0.14 [[ 7.59259516e-01 -6.50764738e-01 -5.49936206e-03 4.13134442e+02] [ 6.50746493e-01 7.59279422e-01 -4.87449312e-03 5.65660298e+01] [ 7.34770068e-03 1.22314712e-04 9.99972998e-01 1.42333049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.574012739 meters Centerline goodness [0,1] 0.9968199086524097 Centerline is valid? [True, True] Translation: X:413.15, Y:56.59, Z:0.14 [[ 7.59911915e-01 -6.50002354e-01 -5.55167439e-03 4.13151873e+02] [ 6.49983733e-01 7.59932183e-01 -4.92186309e-03 5.65881535e+01] [ 7.41811863e-03 1.31684361e-04 9.99972477e-01 1.42465550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.604012739 meters Centerline goodness [0,1] 0.996967089696709 Centerline is valid? [True, True] Translation: X:413.17, Y:56.61, Z:0.14 [[ 7.59818635e-01 -6.50112230e-01 -5.45256395e-03 4.13173650e+02] [ 6.50094264e-01 7.59838188e-01 -4.83483180e-03 5.66051428e+01] [ 7.28624960e-03 1.28914753e-04 9.99973447e-01 1.42753896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.634012739 meters Centerline goodness [0,1] 0.9972440694494499 Centerline is valid? [True, True] Translation: X:413.19, Y:56.62, Z:0.14 [[ 7.58870462e-01 -6.51219832e-01 -5.32477079e-03 4.13194614e+02] [ 6.51202713e-01 7.58889134e-01 -4.72326058e-03 5.66232967e+01] [ 7.11679165e-03 1.16837754e-04 9.99974668e-01 1.43966858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.664012739 meters Centerline goodness [0,1] 0.9977359618958115 Centerline is valid? [True, True] Translation: X:413.22, Y:56.64, Z:0.14 [[ 7.58247900e-01 -6.51945174e-01 -5.25479983e-03 4.13217882e+02] [ 6.51928508e-01 7.58266100e-01 -4.66285300e-03 5.66392922e+01] [ 7.02446108e-03 1.09844680e-04 9.99975322e-01 1.44763801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.694012739 meters Centerline goodness [0,1] 0.9972355718113384 Centerline is valid? [True, True] Translation: X:413.24, Y:56.66, Z:0.15 [[ 7.58417527e-01 -6.51753877e-01 -4.44281089e-03 4.13235812e+02] [ 6.51741953e-01 7.58430534e-01 -3.94353184e-03 5.66605035e+01] [ 5.93977560e-03 9.52774267e-05 9.99982355e-01 1.46417788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.724012739 meters Centerline goodness [0,1] 0.9970312466628223 Centerline is valid? [True, True] Translation: X:413.26, Y:56.68, Z:0.15 [[ 7.59087013e-01 -6.50976311e-01 -4.09269243e-03 4.13255318e+02] [ 6.50966175e-01 7.59098040e-01 -3.63385433e-03 5.66804504e+01] [ 5.47230788e-03 9.42072913e-05 9.99985022e-01 1.47261908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.754012739 meters Centerline goodness [0,1] 0.9966384778012685 Centerline is valid? [True, True] Translation: X:413.27, Y:56.70, Z:0.15 [[ 7.60269493e-01 -6.49592893e-01 -4.40130872e-03 4.13272334e+02] [ 6.49581138e-01 7.60282225e-01 -3.90953038e-03 5.67019242e+01] [ 5.88583993e-03 1.13289556e-04 9.99982672e-01 1.47486060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.784012739 meters Centerline goodness [0,1] 0.9967566638743905 Centerline is valid? [True, True] Translation: X:413.29, Y:56.73, Z:0.15 [[ 7.63294114e-01 -6.46030951e-01 -5.10947435e-03 4.13288847e+02] [ 6.46015024e-01 7.63311197e-01 -4.53926355e-03 5.67263718e+01] [ 6.83262373e-03 1.63995949e-04 9.99976644e-01 1.45379194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.814012739 meters Centerline goodness [0,1] 0.9959970731287393 Centerline is valid? [True, True] Translation: X:413.31, Y:56.75, Z:0.14 [[ 7.64613221e-01 -6.44466918e-01 -5.38640634e-03 4.13306694e+02] [ 6.44449166e-01 7.64632170e-01 -4.78714567e-03 5.67498253e+01] [ 7.20377659e-03 1.89049796e-04 9.99974035e-01 1.44785696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.844012739 meters Centerline goodness [0,1] 0.9953895410885806 Centerline is valid? [True, True] Translation: X:413.33, Y:56.77, Z:0.14 [[ 7.65351098e-01 -6.43588566e-01 -5.60849257e-03 4.13325010e+02] [ 6.43569283e-01 7.65371619e-01 -4.98630406e-03 5.67711678e+01] [ 7.50170932e-03 2.06819748e-04 9.99971840e-01 1.43739072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.874012739 meters Centerline goodness [0,1] 0.9960867265996827 Centerline is valid? [True, True] Translation: X:413.34, Y:56.79, Z:0.14 [[ 7.64867873e-01 -6.44155465e-01 -6.39322454e-03 4.13343485e+02] [ 6.44130415e-01 7.64894557e-01 -5.68545201e-03 5.67908797e+01] [ 8.55245763e-03 2.30549209e-04 9.99963400e-01 1.41661393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.904012739 meters Centerline goodness [0,1] 0.995783735440046 Centerline is valid? [True, True] Translation: X:413.36, Y:56.81, Z:0.14 [[ 7.64165054e-01 -6.44990939e-01 -6.20144794e-03 4.13362425e+02] [ 6.44967384e-01 7.64190187e-01 -5.51646799e-03 5.68113656e+01] [ 8.29715753e-03 2.15760411e-04 9.99965555e-01 1.42299825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.934012739 meters Centerline goodness [0,1] 0.9963034188034188 Centerline is valid? [True, True] Translation: X:413.38, Y:56.83, Z:0.14 [[ 7.63695792e-01 -6.45550066e-01 -5.81803260e-03 4.13383094e+02] [ 6.45529336e-01 7.63717928e-01 -5.17715445e-03 5.68297630e+01] [ 7.78544820e-03 1.98060342e-04 9.99969673e-01 1.43781670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.964012739 meters Centerline goodness [0,1] 0.9963496637848223 Centerline is valid? [True, True] Translation: X:413.40, Y:56.85, Z:0.14 [[ 7.62810896e-01 -6.46598427e-01 -5.47824173e-03 4.13401187e+02] [ 6.46580062e-01 7.62830547e-01 -4.87646825e-03 5.68523620e+01] [ 7.33208683e-03 1.77701233e-04 9.99973104e-01 1.44694166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.994012739 meters Centerline goodness [0,1] 0.9965726281515755 Centerline is valid? [True, True] Translation: X:413.42, Y:56.87, Z:0.14 [[ 7.62220195e-01 -6.47293871e-01 -5.56937723e-03 4.13420608e+02] [ 6.47274897e-01 7.62240522e-01 -4.95927118e-03 5.68731712e+01] [ 7.45531085e-03 1.75138573e-04 9.99972193e-01 1.44334172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.024012739 meters Centerline goodness [0,1] 0.9969365895458441 Centerline is valid? [True, True] Translation: X:413.44, Y:56.90, Z:0.14 [[ 7.61367584e-01 -6.48297858e-01 -5.41197355e-03 4.13438939e+02] [ 6.48279954e-01 7.61386801e-01 -4.82081924e-03 5.68962416e+01] [ 7.24593202e-03 1.61941536e-04 9.99973735e-01 1.44779904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.054012739 meters Centerline goodness [0,1] 0.9967807270013858 Centerline is valid? [True, True] Translation: X:413.46, Y:56.92, Z:0.14 [[ 7.60865995e-01 -6.48883408e-01 -5.76718627e-03 4.13458122e+02] [ 6.48863079e-01 7.60887833e-01 -5.13902189e-03 5.69160275e+01] [ 7.72280790e-03 1.67992761e-04 9.99970165e-01 1.44536147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.084012739 meters Centerline goodness [0,1] 0.9973302904385644 Centerline is valid? [True, True] Translation: X:413.48, Y:56.93, Z:0.14 [[ 7.60165499e-01 -6.49701378e-01 -6.04427122e-03 4.13478669e+02] [ 6.49679062e-01 7.60189510e-01 -5.38754534e-03 5.69348511e+01] [ 8.09508721e-03 1.68589631e-04 9.99967220e-01 1.43988258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.114012739 meters Centerline goodness [0,1] 0.997935350667785 Centerline is valid? [True, True] Translation: X:413.50, Y:56.95, Z:0.14 [[ 7.58048834e-01 -6.52166575e-01 -6.38152081e-03 4.13501749e+02] [ 6.52141768e-01 7.58075679e-01 -5.69027688e-03 5.69516505e+01] [ 8.54868411e-03 1.51851489e-04 9.99963448e-01 1.43889929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.144012739 meters Centerline goodness [0,1] 0.9976628500364509 Centerline is valid? [True, True] Translation: X:413.52, Y:56.97, Z:0.14 [[ 7.56703495e-01 -6.53729403e-01 -6.13906809e-03 4.13521587e+02] [ 6.53706481e-01 7.56728387e-01 -5.47595312e-03 5.69706700e+01] [ 8.22539866e-03 1.30524272e-04 9.99966162e-01 1.44239466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.174012739 meters Centerline goodness [0,1] 0.9976294208098411 Centerline is valid? [True, True] Translation: X:413.54, Y:56.99, Z:0.15 [[ 7.55197041e-01 -6.55471987e-01 -5.82272875e-03 4.13543384e+02] [ 6.55451414e-01 7.55219480e-01 -5.19433982e-03 5.69878290e+01] [ 7.80218242e-03 1.06234266e-04 9.99969557e-01 1.45423686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.204012739 meters Centerline goodness [0,1] 0.9978217778649067 Centerline is valid? [True, True] Translation: X:413.57, Y:57.00, Z:0.15 [[ 7.53877728e-01 -6.56993064e-01 -5.33711016e-03 4.13566252e+02] [ 6.56975807e-01 7.53896615e-01 -4.76262357e-03 5.70041325e+01] [ 7.15263993e-03 8.40835833e-05 9.99974416e-01 1.46397333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.234012739 meters Centerline goodness [0,1] 0.9974949148913392 Centerline is valid? [True, True] Translation: X:413.58, Y:57.02, Z:0.15 [[ 7.52476145e-01 -6.58606934e-01 -4.06907657e-03 4.13584522e+02] [ 6.58596921e-01 7.52487145e-01 -3.63210613e-03 5.70239379e+01] [ 5.45405809e-03 5.31919212e-05 9.99985125e-01 1.50449622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.264012739 meters Centerline goodness [0,1] 0.997765529569492 Centerline is valid? [True, True] Translation: X:413.60, Y:57.04, Z:0.15 [[ 7.52414031e-01 -6.58680126e-01 -3.69022800e-03 4.13604751e+02] [ 6.58671888e-01 7.52423079e-01 -3.29454796e-03 5.70430781e+01] [ 4.94666598e-03 4.82146670e-05 9.99987764e-01 1.51562450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.294012739 meters Centerline goodness [0,1] 0.9975789018590575 Centerline is valid? [True, True] Translation: X:413.62, Y:57.06, Z:0.15 [[ 7.52189345e-01 -6.58936468e-01 -3.73097690e-03 4.13623883e+02] [ 6.58928044e-01 7.52198597e-01 -3.33217622e-03 5.70631103e+01] [ 5.00212802e-03 4.79821420e-05 9.99987488e-01 1.50338960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.324012739 meters Centerline goodness [0,1] 0.9974719101123596 Centerline is valid? [True, True] Translation: X:413.64, Y:57.08, Z:0.15 [[ 7.51479831e-01 -6.59740746e-01 -4.49573083e-03 4.13644179e+02] [ 6.59728517e-01 7.51493277e-01 -4.01715858e-03 5.70818054e+01] [ 6.02879469e-03 5.28518140e-05 9.99981825e-01 1.48849840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.354012739 meters Centerline goodness [0,1] 0.9979161743539067 Centerline is valid? [True, True] Translation: X:413.67, Y:57.10, Z:0.15 [[ 7.50575020e-01 -6.60763801e-01 -5.32338606e-03 4.13665697e+02] [ 6.60746667e-01 7.50593895e-01 -4.75885695e-03 5.71002034e+01] [ 7.14018149e-03 5.44695555e-05 9.99974507e-01 1.47418937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.384012739 meters Centerline goodness [0,1] 0.998042678126928 Centerline is valid? [True, True] Translation: X:413.69, Y:57.12, Z:0.15 [[ 7.48711899e-01 -6.62871990e-01 -5.58720650e-03 4.13685891e+02] [ 6.62853158e-01 7.48732745e-01 -4.99671428e-03 5.71179938e+01] [ 7.49550640e-03 3.76019679e-05 9.99971908e-01 1.47046332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.414012739 meters Centerline goodness [0,1] 0.997715578897927 Centerline is valid? [True, True] Translation: X:413.71, Y:57.13, Z:0.15 [[ 7.47476425e-01 -6.64271064e-01 -4.79033293e-03 4.13707102e+02] [ 6.64257243e-01 7.47491775e-01 -4.28511060e-03 5.71348858e+01] [ 6.42720944e-03 2.10058103e-05 9.99979345e-01 1.49401589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.444012739 meters Centerline goodness [0,1] 0.9975902072848247 Centerline is valid? [True, True] Translation: X:413.73, Y:57.15, Z:0.15 [[ 7.46274045e-01 -6.65624791e-01 -4.32292914e-03 4.13728563e+02] [ 6.65613554e-01 7.46286565e-01 -3.86769614e-03 5.71519450e+01] [ 5.80057838e-03 8.96101587e-06 9.99983176e-01 1.50693282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.474012739 meters Centerline goodness [0,1] 0.997592899052204 Centerline is valid? [True, True] Translation: X:413.75, Y:57.17, Z:0.15 [[ 7.44208948e-01 -6.67931227e-01 -4.57365586e-03 4.13751224e+02] [ 6.67918682e-01 7.44223002e-01 -4.09362407e-03 5.71691692e+01] [ 6.13807924e-03 -8.31852891e-06 9.99981162e-01 1.49589449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.504012739 meters Centerline goodness [0,1] 0.9973904301512267 Centerline is valid? [True, True] Translation: X:413.77, Y:57.19, Z:0.15 [[ 7.43492528e-01 -6.68725852e-01 -4.95931713e-03 4.13771581e+02] [ 6.68711108e-01 7.43509068e-01 -4.44061844e-03 5.71869634e+01] [ 6.65685361e-03 -1.47838277e-05 9.99977843e-01 1.48221179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.534012739 meters Centerline goodness [0,1] 0.9974718800214247 Centerline is valid? [True, True] Translation: X:413.79, Y:57.21, Z:0.15 [[ 7.43009728e-01 -6.69257295e-01 -5.58723024e-03 4.13792815e+02] [ 6.69238583e-01 7.43030734e-01 -5.00470990e-03 5.72051879e+01] [ 7.50092240e-03 -2.06419111e-05 9.99971867e-01 1.47078272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.564012739 meters Centerline goodness [0,1] 0.9976294208098411 Centerline is valid? [True, True] Translation: X:413.82, Y:57.22, Z:0.15 [[ 7.41703208e-01 -6.70700885e-01 -6.05582538e-03 4.13815879e+02] [ 6.70678933e-01 7.41727929e-01 -5.42657048e-03 5.72201232e+01] [ 8.13138045e-03 -3.66097686e-05 9.99966939e-01 1.45862702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.594012739 meters Centerline goodness [0,1] 0.9974061052992625 Centerline is valid? [True, True] Translation: X:413.84, Y:57.24, Z:0.15 [[ 7.40648925e-01 -6.71863001e-01 -6.26720350e-03 4.13837920e+02] [ 6.71839518e-01 7.40675439e-01 -5.61756111e-03 5.72381202e+01] [ 8.41619517e-03 -4.99143817e-05 9.99964582e-01 1.46379319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.624012739 meters Centerline goodness [0,1] 0.9974160206718347 Centerline is valid? [True, True] Translation: X:413.86, Y:57.25, Z:0.15 [[ 7.39847552e-01 -6.72744197e-01 -6.39095720e-03 4.13860539e+02] [ 6.72719791e-01 7.39875153e-01 -5.73070480e-03 5.72534067e+01] [ 8.58380884e-03 -5.94754712e-05 9.99963157e-01 1.46302376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.654012739 meters Centerline goodness [0,1] 0.9974160206718347 Centerline is valid? [True, True] Translation: X:413.88, Y:57.27, Z:0.15 [[ 7.39728357e-01 -6.72875269e-01 -6.38995616e-03 4.13880856e+02] [ 6.72850858e-01 7.39755953e-01 -5.73182079e-03 5.72719034e+01] [ 8.58380856e-03 -5.94971112e-05 9.99963157e-01 1.46521900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.684012739 meters Centerline goodness [0,1] 0.9968155570652174 Centerline is valid? [True, True] Translation: X:413.90, Y:57.29, Z:0.15 [[ 7.38962459e-01 -6.73712773e-01 -6.75159258e-03 4.13902935e+02] [ 6.73685535e-01 7.38993298e-01 -6.05847674e-03 5.72885961e+01] [ 9.07105483e-03 -7.14633842e-05 9.99958855e-01 1.45686463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.714012739 meters Centerline goodness [0,1] 0.9968165114092813 Centerline is valid? [True, True] Translation: X:413.93, Y:57.30, Z:0.15 [[ 7.38034283e-01 -6.74730681e-01 -6.62614062e-03 4.13926267e+02] [ 6.74704469e-01 7.38064023e-01 -5.94792551e-03 5.73023547e+01] [ 8.90376383e-03 -8.09137551e-05 9.99960357e-01 1.45506541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.744012739 meters Centerline goodness [0,1] 0.9970564395716907 Centerline is valid? [True, True] Translation: X:413.95, Y:57.32, Z:0.15 [[ 7.37536157e-01 -6.75277669e-01 -6.36295709e-03 4.13948681e+02] [ 6.75253506e-01 7.37563599e-01 -5.71315311e-03 5.73184346e+01] [ 8.55105025e-03 -8.29520893e-05 9.99963436e-01 1.46685369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.774012739 meters Centerline goodness [0,1] 0.9969102027679434 Centerline is valid? [True, True] Translation: X:413.97, Y:57.34, Z:0.15 [[ 7.37132768e-01 -6.75718501e-01 -6.30786300e-03 4.13968823e+02] [ 6.75694753e-01 7.37159752e-01 -5.66577251e-03 5.73376377e+01] [ 8.47837003e-03 -8.57633623e-05 9.99964054e-01 1.46819628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.804012739 meters Centerline goodness [0,1] 0.9961489088575096 Centerline is valid? [True, True] Translation: X:413.99, Y:57.35, Z:0.15 [[ 7.36980019e-01 -6.75880420e-01 -6.79045969e-03 4.13991015e+02] [ 6.75852883e-01 7.37011296e-01 -6.10172957e-03 5.73542561e+01] [ 9.12868503e-03 -9.24989823e-05 9.99958328e-01 1.45880164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.834012739 meters Centerline goodness [0,1] 0.9963673443375183 Centerline is valid? [True, True] Translation: X:414.01, Y:57.37, Z:0.15 [[ 7.37148684e-01 -6.75697390e-01 -6.69739423e-03 4.14012090e+02] [ 6.75670575e-01 7.37179103e-01 -6.02033694e-03 5.73709009e+01] [ 9.00510503e-03 -8.73487520e-05 9.99959449e-01 1.46438139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.864012739 meters Centerline goodness [0,1] 0.997269345718033 Centerline is valid? [True, True] Translation: X:414.03, Y:57.39, Z:0.15 [[ 7.37769103e-01 -6.75018793e-01 -6.81030480e-03 4.14034678e+02] [ 6.74991018e-01 7.37800531e-01 -6.12394305e-03 5.73881552e+01] [ 9.15842314e-03 -7.88385915e-05 9.99958058e-01 1.46855771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.894012739 meters Centerline goodness [0,1] 0.9972239557554499 Centerline is valid? [True, True] Translation: X:414.06, Y:57.41, Z:0.15 [[ 7.38255002e-01 -6.74485593e-01 -6.98114909e-03 4.14055384e+02] [ 6.74456360e-01 7.38288006e-01 -6.27996159e-03 5.74075318e+01] [ 9.38984226e-03 -7.22673487e-05 9.99955912e-01 1.46747834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.924012739 meters Centerline goodness [0,1] 0.9969024374612805 Centerline is valid? [True, True] Translation: X:414.08, Y:57.43, Z:0.15 [[ 7.38892567e-01 -6.73789486e-01 -6.74557706e-03 4.14075418e+02] [ 6.73762145e-01 7.38923355e-01 -6.07024401e-03 5.74260265e+01] [ 9.07453103e-03 -5.96562882e-05 9.99958824e-01 1.47015050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.954012739 meters Centerline goodness [0,1] 0.9974292512959972 Centerline is valid? [True, True] Translation: X:414.10, Y:57.44, Z:0.15 [[ 7.39495972e-01 -6.73129969e-01 -6.46165590e-03 4.14095597e+02] [ 6.73104839e-01 7.39524200e-01 -5.81656882e-03 5.74448529e+01] [ 8.69385770e-03 -4.80426511e-05 9.99962207e-01 1.47510380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.984012739 meters Centerline goodness [0,1] 0.9974543276430069 Centerline is valid? [True, True] Translation: X:414.12, Y:57.46, Z:0.15 [[ 7.41039772e-01 -6.71440854e-01 -5.21874371e-03 4.14115717e+02] [ 6.71424411e-01 7.41058148e-01 -4.69911207e-03 5.74642323e+01] [ 7.02256837e-03 -2.17629796e-05 9.99975341e-01 1.51532753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.014012739 meters Centerline goodness [0,1] 0.9978451494527533 Centerline is valid? [True, True] Translation: X:414.13, Y:57.48, Z:0.15 [[ 7.42109990e-01 -6.70259638e-01 -4.97800090e-03 4.14134041e+02] [ 6.70244639e-01 7.42126685e-01 -4.48400667e-03 5.74843685e+01] [ 6.69975599e-03 -8.85227364e-06 9.99977556e-01 1.52964483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.044012739 meters Centerline goodness [0,1] 0.998069580884561 Centerline is valid? [True, True] Translation: X:414.15, Y:57.51, Z:0.15 [[ 7.44100325e-01 -6.68046615e-01 -5.33159984e-03 4.14150865e+02] [ 6.68029344e-01 7.44119426e-01 -4.80378028e-03 5.75076250e+01] [ 7.17649617e-03 1.28293244e-05 9.99974249e-01 1.52109281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.074012739 meters Centerline goodness [0,1] 0.9980317908563849 Centerline is valid? [True, True] Translation: X:414.17, Y:57.53, Z:0.15 [[ 7.44816073e-01 -6.67244662e-01 -5.79472189e-03 4.14170873e+02] [ 6.67224219e-01 7.44838614e-01 -5.22320443e-03 5.75274924e+01] [ 7.80128789e-03 2.39478264e-05 9.99969569e-01 1.50689835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.104012739 meters Centerline goodness [0,1] 0.9980485689505637 Centerline is valid? [True, True] Translation: X:414.19, Y:57.55, Z:0.15 [[ 7.45221263e-01 -6.66788532e-01 -6.19059581e-03 4.14191883e+02] [ 6.66765165e-01 7.45246974e-01 -5.58227559e-03 5.75463470e+01] [ 8.33572014e-03 3.23568270e-05 9.99965257e-01 1.49424417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.134012739 meters Centerline goodness [0,1] 0.9984218604751713 Centerline is valid? [True, True] Translation: X:414.21, Y:57.56, Z:0.15 [[ 7.45280796e-01 -6.66715818e-01 -6.82298405e-03 4.14211531e+02] [ 6.66687408e-01 7.45312026e-01 -6.15505019e-03 5.75641334e+01] [ 9.18892139e-03 3.84431508e-05 9.99957780e-01 1.48173126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.164012739 meters Centerline goodness [0,1] 0.9987661674608578 Centerline is valid? [True, True] Translation: X:414.23, Y:57.58, Z:0.15 [[ 7.44748219e-01 -6.67305901e-01 -7.27500573e-03 4.14231540e+02] [ 6.67273605e-01 7.44783750e-01 -6.56519495e-03 5.75819603e+01] [ 9.79929937e-03 3.49979397e-05 9.99951985e-01 1.48135633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.194012739 meters Centerline goodness [0,1] 0.9983273647417065 Centerline is valid? [True, True] Translation: X:414.25, Y:57.60, Z:0.15 [[ 7.44217544e-01 -6.67901878e-01 -6.87962104e-03 4.14253127e+02] [ 6.67873005e-01 7.44249340e-01 -6.21040739e-03 5.75998223e+01] [ 9.26809619e-03 2.71809586e-05 9.99957050e-01 1.49431527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.224012739 meters Centerline goodness [0,1] 0.9982839614749351 Centerline is valid? [True, True] Translation: X:414.28, Y:57.62, Z:0.15 [[ 7.43138195e-01 -6.69114884e-01 -5.55837146e-03 4.14276479e+02] [ 6.69096059e-01 7.43158981e-01 -5.01917463e-03 5.76164264e+01] [ 7.48915813e-03 1.08559374e-05 9.99971956e-01 1.52753319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.254012739 meters Centerline goodness [0,1] 0.9983058117092001 Centerline is valid? [True, True] Translation: X:414.30, Y:57.63, Z:0.15 [[ 7.42678396e-01 -6.69627534e-01 -5.26930867e-03 4.14298252e+02] [ 6.69610618e-01 7.42697089e-01 -4.75959293e-03 5.76344851e+01] [ 7.10065468e-03 6.46180979e-06 9.99974790e-01 1.53300601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.284012739 meters Centerline goodness [0,1] 0.9980539754501518 Centerline is valid? [True, True] Translation: X:414.32, Y:57.65, Z:0.15 [[ 7.42346440e-01 -6.69996710e-01 -5.11585026e-03 4.14318273e+02] [ 6.69980762e-01 7.42364068e-01 -4.62272653e-03 5.76519592e+01] [ 6.89503497e-03 4.14332808e-06 9.99976229e-01 1.53066468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.314012739 meters Centerline goodness [0,1] 0.9979118724963777 Centerline is valid? [True, True] Translation: X:414.34, Y:57.67, Z:0.15 [[ 7.41997884e-01 -6.70378952e-01 -5.58574772e-03 4.14339349e+02] [ 6.70359937e-01 7.42018909e-01 -5.04922535e-03 5.76709341e+01] [ 7.52962483e-03 2.05304461e-06 9.99971652e-01 1.51951035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.344012739 meters Centerline goodness [0,1] 0.9979866909676599 Centerline is valid? [True, True] Translation: X:414.36, Y:57.69, Z:0.15 [[ 7.41026851e-01 -6.71441463e-01 -6.75045596e-03 4.14361658e+02] [ 6.71413711e-01 7.41057597e-01 -6.10467773e-03 5.76863579e+01] [ 9.10141042e-03 -8.61856834e-06 9.99958581e-01 1.48822472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.374012739 meters Centerline goodness [0,1] 0.9981054081984154 Centerline is valid? [True, True] Translation: X:414.38, Y:57.70, Z:0.15 [[ 7.40011629e-01 -6.72555807e-01 -7.17465519e-03 4.14384407e+02] [ 6.72524486e-01 7.40046408e-01 -6.49078444e-03 5.77022529e+01] [ 9.67499257e-03 -2.18753268e-05 9.99953196e-01 1.49114180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.404012739 meters Centerline goodness [0,1] 0.9982858367259482 Centerline is valid? [True, True] Translation: X:414.41, Y:57.72, Z:0.15 [[ 7.39216508e-01 -6.73429646e-01 -7.17396969e-03 4.14407288e+02] [ 6.73398348e-01 7.39251318e-01 -6.49264504e-03 5.77176555e+01] [ 9.67570620e-03 -3.14689389e-05 9.99953189e-01 1.48846568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.434012739 meters Centerline goodness [0,1] 0.997544214902738 Centerline is valid? [True, True] Translation: X:414.43, Y:57.73, Z:0.15 [[ 7.37654412e-01 -6.75146316e-01 -6.58941796e-03 4.14429426e+02] [ 6.75119961e-01 7.37683841e-01 -5.96557248e-03 5.77345753e+01] [ 8.88854144e-03 -4.81167396e-05 9.99960495e-01 1.51953873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.464012739 meters Centerline goodness [0,1] 0.9975958981341616 Centerline is valid? [True, True] Translation: X:414.45, Y:57.75, Z:0.15 [[ 7.37309009e-01 -6.75526364e-01 -6.28941448e-03 4.14450676e+02] [ 6.75502351e-01 7.37335832e-01 -5.69605252e-03 5.77510428e+01] [ 8.48524431e-03 -4.87634294e-05 9.99963998e-01 1.52642794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.494012739 meters Centerline goodness [0,1] 0.9972336894071584 Centerline is valid? [True, True] Translation: X:414.47, Y:57.77, Z:0.15 [[ 7.36870973e-01 -6.76006005e-01 -6.08681565e-03 4.14472622e+02] [ 6.75983515e-01 7.36896111e-01 -5.51445973e-03 5.77684109e+01] [ 8.21315868e-03 -5.11417316e-05 9.99966270e-01 1.53264040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.524012739 meters Centerline goodness [0,1] 0.9975649870773436 Centerline is valid? [True, True] Translation: X:414.50, Y:57.78, Z:0.15 [[ 7.36533067e-01 -6.76374996e-01 -5.99209490e-03 4.14495603e+02] [ 6.76353197e-01 7.36557439e-01 -5.43063915e-03 5.77844888e+01] [ 8.08667061e-03 -5.29272310e-05 9.99967301e-01 1.53003876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.554012739 meters Centerline goodness [0,1] 0.9973881954999892 Centerline is valid? [True, True] Translation: X:414.52, Y:57.80, Z:0.15 [[ 7.36612881e-01 -6.76286062e-01 -6.21493643e-03 4.14516064e+02] [ 6.76262589e-01 7.36639097e-01 -5.63480795e-03 5.78015894e+01] [ 8.38890724e-03 -5.22568795e-05 9.99964811e-01 1.53156838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.584012739 meters Centerline goodness [0,1] 0.9975723462306916 Centerline is valid? [True, True] Translation: X:414.54, Y:57.82, Z:0.15 [[ 7.36842277e-01 -6.76034373e-01 -6.40199925e-03 4.14536519e+02] [ 6.76009438e-01 7.36870087e-01 -5.80645575e-03 5.78208168e+01] [ 8.64280541e-03 -4.93698449e-05 9.99962649e-01 1.53154411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.614012739 meters Centerline goodness [0,1] 0.9977751155228478 Centerline is valid? [True, True] Translation: X:414.56, Y:57.84, Z:0.15 [[ 7.37327356e-01 -6.75499588e-01 -6.97686101e-03 4.14555793e+02] [ 6.75469927e-01 7.37360363e-01 -6.33039643e-03 5.78392559e+01] [ 9.42064095e-03 -4.50853358e-05 9.99955624e-01 1.53252698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.644012739 meters Centerline goodness [0,1] 0.997990809019985 Centerline is valid? [True, True] Translation: X:414.58, Y:57.86, Z:0.15 [[ 7.37658826e-01 -6.75139139e-01 -6.82639003e-03 4.14575475e+02] [ 6.75110708e-01 7.37690411e-01 -6.19592067e-03 5.78574058e+01] [ 9.21887101e-03 -3.80934439e-05 9.99957505e-01 1.53966743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.674012739 meters Centerline goodness [0,1] 0.9981034372536066 Centerline is valid? [True, True] Translation: X:414.60, Y:57.88, Z:0.16 [[ 7.37824262e-01 -6.74964406e-01 -6.19759109e-03 4.14595474e+02] [ 6.74940951e-01 7.37850290e-01 -5.62694304e-03 5.78768386e+01] [ 8.37088064e-03 -3.13129310e-05 9.99964963e-01 1.55422005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.704012739 meters Centerline goodness [0,1] 0.9984029981048911 Centerline is valid? [True, True] Translation: X:414.61, Y:57.90, Z:0.16 [[ 7.38724773e-01 -6.73987649e-01 -5.13409094e-03 4.14614566e+02] [ 6.73971520e-01 7.38742614e-01 -4.66280195e-03 5.78954928e+01] [ 6.93544268e-03 -1.57037539e-05 9.99975949e-01 1.58078703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.734012739 meters Centerline goodness [0,1] 0.9984581590841888 Centerline is valid? [True, True] Translation: X:414.63, Y:57.91, Z:0.16 [[ 7.39065424e-01 -6.73614934e-01 -5.02198677e-03 4.14633205e+02] [ 6.73599483e-01 7.39082486e-01 -4.56241695e-03 5.79143647e+01] [ 6.78497466e-03 -1.08830709e-05 9.99976982e-01 1.58823200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.764012739 meters Centerline goodness [0,1] 0.9987185511084533 Centerline is valid? [True, True] Translation: X:414.65, Y:57.93, Z:0.16 [[ 7.39598972e-01 -6.73029062e-01 -5.02417982e-03 4.14652288e+02] [ 6.73013572e-01 7.39616037e-01 -4.56621435e-03 5.79347916e+01] [ 6.78915893e-03 -4.17377359e-06 9.99976953e-01 1.58651630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.794012739 meters Centerline goodness [0,1] 0.9986308696117232 Centerline is valid? [True, True] Translation: X:414.67, Y:57.95, Z:0.16 [[ 7.40499812e-01 -6.72033782e-01 -5.53399967e-03 4.14670826e+02] [ 6.72014944e-01 7.40520490e-01 -5.03172948e-03 5.79548584e+01] [ 7.47953234e-03 7.06425609e-06 9.99972028e-01 1.56557666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.824012739 meters Centerline goodness [0,1] 0.9984723106301718 Centerline is valid? [True, True] Translation: X:414.69, Y:57.97, Z:0.16 [[ 7.40510927e-01 -6.72015526e-01 -6.22095070e-03 4.14691012e+02] [ 6.71991707e-01 7.40537057e-01 -5.65800497e-03 5.79735731e+01] [ 8.40911171e-03 9.38722237e-06 9.99964643e-01 1.55106581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.854012739 meters Centerline goodness [0,1] 0.9987380758865552 Centerline is valid? [True, True] Translation: X:414.71, Y:57.99, Z:0.15 [[ 7.40474753e-01 -6.72051968e-01 -6.57974506e-03 4.14710888e+02] [ 6.72025303e-01 7.40503985e-01 -5.98661478e-03 5.79921773e+01] [ 8.89564368e-03 1.11819247e-05 9.99960433e-01 1.54283325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.884012739 meters Centerline goodness [0,1] 0.9986431478968792 Centerline is valid? [True, True] Translation: X:414.73, Y:58.01, Z:0.15 [[ 7.40397283e-01 -6.72134806e-01 -6.83123052e-03 4.14731391e+02] [ 6.72106051e-01 7.40428797e-01 -6.21715524e-03 5.80111464e+01] [ 9.23680622e-03 1.18534833e-05 9.99957340e-01 1.54106912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.914012739 meters Centerline goodness [0,1] 0.9987612131567706 Centerline is valid? [True, True] Translation: X:414.75, Y:58.03, Z:0.15 [[ 7.40301440e-01 -6.72236719e-01 -7.18134829e-03 4.14752530e+02] [ 6.72204922e-01 7.40336270e-01 -6.53831157e-03 5.80292834e+01] [ 9.71190573e-03 1.29838037e-05 9.99952838e-01 1.53433720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.944012739 meters Centerline goodness [0,1] 0.9988865811618097 Centerline is valid? [True, True] Translation: X:414.77, Y:58.05, Z:0.15 [[ 7.40189033e-01 -6.72363364e-01 -6.90672789e-03 4.14772498e+02] [ 6.72333937e-01 7.40221255e-01 -6.29055698e-03 5.80467607e+01] [ 9.34204684e-03 1.25737302e-05 9.99956362e-01 1.53524448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.974012739 meters Centerline goodness [0,1] 0.9987329267245082 Centerline is valid? [True, True] Translation: X:414.79, Y:58.07, Z:0.16 [[ 7.40003392e-01 -6.72575273e-01 -6.12226404e-03 4.14793538e+02] [ 6.72552144e-01 7.40028717e-01 -5.57777426e-03 5.80652801e+01] [ 8.28212425e-03 1.00300671e-05 9.99965703e-01 1.55075728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.004012739 meters Centerline goodness [0,1] 0.9985528835922537 Centerline is valid? [True, True] Translation: X:414.81, Y:58.08, Z:0.16 [[ 7.39852416e-01 -6.72753628e-01 -4.57815203e-03 4.14812801e+02] [ 6.72740691e-01 7.39866580e-01 -4.17208682e-03 5.80834761e+01] [ 6.19400823e-03 6.81935263e-06 9.99980817e-01 1.58729280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.034012739 meters Centerline goodness [0,1] 0.9984292415784 Centerline is valid? [True, True] Translation: X:414.83, Y:58.10, Z:0.16 [[ 7.40146073e-01 -6.72430887e-01 -4.52688731e-03 4.14832779e+02] [ 6.72418224e-01 7.40159917e-01 -4.12671048e-03 5.81037767e+01] [ 6.12554813e-03 1.04070327e-05 9.99981239e-01 1.59416790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.064012739 meters Centerline goodness [0,1] 0.9984497770227224 Centerline is valid? [True, True] Translation: X:414.85, Y:58.12, Z:0.16 [[ 7.40862295e-01 -6.71639543e-01 -4.83574810e-03 4.14851931e+02] [ 6.71625065e-01 7.40878077e-01 -4.40998006e-03 5.81240809e+01] [ 6.54461674e-03 1.93783171e-05 9.99978584e-01 1.59204976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.094012739 meters Centerline goodness [0,1] 0.9988321973798756 Centerline is valid? [True, True] Translation: X:414.87, Y:58.15, Z:0.16 [[ 7.43332464e-01 -6.68897260e-01 -5.77090382e-03 4.14869057e+02] [ 6.68876540e-01 7.43354863e-01 -5.26506264e-03 5.81475675e+01] [ 7.81161539e-03 5.36698043e-05 9.99969487e-01 1.56991500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.124012739 meters Centerline goodness [0,1] 0.9989002157269151 Centerline is valid? [True, True] Translation: X:414.89, Y:58.17, Z:0.16 [[ 7.44893758e-01 -6.67156571e-01 -5.94962517e-03 4.14887039e+02] [ 6.67134477e-01 7.44917515e-01 -5.43010358e-03 5.81705601e+01] [ 8.05470929e-03 7.56501882e-05 9.99967557e-01 1.57055982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.154012739 meters Centerline goodness [0,1] 0.9990911780868242 Centerline is valid? [True, True] Translation: X:414.90, Y:58.19, Z:0.16 [[ 7.46399428e-01 -6.65472321e-01 -5.87226790e-03 4.14903414e+02] [ 6.65450730e-01 7.46422522e-01 -5.36138060e-03 5.81935467e+01] [ 7.95104341e-03 9.40264498e-05 9.99968386e-01 1.57648129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.184012739 meters Centerline goodness [0,1] 0.9983195449844882 Centerline is valid? [True, True] Translation: X:414.92, Y:58.22, Z:0.16 [[ 7.48679568e-01 -6.62908192e-01 -5.62431237e-03 4.14916372e+02] [ 6.62888301e-01 7.48700685e-01 -5.13666406e-03 5.82200018e+01] [ 7.61606321e-03 1.17424557e-04 9.99970990e-01 1.58599637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.214012739 meters Centerline goodness [0,1] 0.9984580971615957 Centerline is valid? [True, True] Translation: X:414.94, Y:58.24, Z:0.16 [[ 7.49332998e-01 -6.62169256e-01 -5.65109296e-03 4.14938067e+02] [ 6.62149139e-01 7.49354295e-01 -5.16304029e-03 5.82394907e+01] [ 7.65347733e-03 1.26970119e-04 9.99970704e-01 1.57845489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.244012739 meters Centerline goodness [0,1] 0.9983631977946243 Centerline is valid? [True, True] Translation: X:414.96, Y:58.26, Z:0.16 [[ 7.49638137e-01 -6.61820373e-01 -6.03795330e-03 4.14955572e+02] [ 6.61797381e-01 7.49662440e-01 -5.51843076e-03 5.82612486e+01] [ 8.17863671e-03 1.40924475e-04 9.99966544e-01 1.57021731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.274012739 meters Centerline goodness [0,1] 0.998535303493732 Centerline is valid? [True, True] Translation: X:414.97, Y:58.28, Z:0.16 [[ 7.49169958e-01 -6.62347331e-01 -6.35516292e-03 4.14972230e+02] [ 6.62321865e-01 7.49196899e-01 -5.80984103e-03 5.82835858e+01] [ 8.60940105e-03 1.43395007e-04 9.99962928e-01 1.56555846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.304012739 meters Centerline goodness [0,1] 0.9985340047166805 Centerline is valid? [True, True] Translation: X:414.99, Y:58.30, Z:0.16 [[ 7.48245910e-01 -6.63393422e-01 -6.10130227e-03 4.14991856e+02] [ 6.63369971e-01 7.48270774e-01 -5.57942583e-03 5.83016765e+01] [ 8.26678057e-03 1.27361846e-04 9.99965821e-01 1.57428145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.334012739 meters Centerline goodness [0,1] 0.9982828432723495 Centerline is valid? [True, True] Translation: X:415.01, Y:58.32, Z:0.16 [[ 7.47092477e-01 -6.64690704e-01 -6.25291271e-03 4.15013000e+02] [ 6.64666100e-01 7.47118635e-01 -5.72020711e-03 5.83199028e+01] [ 8.47383609e-03 1.17424595e-04 9.99964090e-01 1.57365043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.364012739 meters Centerline goodness [0,1] 0.9988554151819458 Centerline is valid? [True, True] Translation: X:415.03, Y:58.34, Z:0.16 [[ 7.46052369e-01 -6.65855052e-01 -6.55076869e-03 4.15034975e+02] [ 6.65828073e-01 7.46081120e-01 -5.99493858e-03 5.83376617e+01] [ 8.87916498e-03 1.10852442e-04 9.99960573e-01 1.56845400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.394012739 meters Centerline goodness [0,1] 0.9988288652769202 Centerline is valid? [True, True] Translation: X:415.05, Y:58.36, Z:0.16 [[ 7.44187867e-01 -6.67937998e-01 -6.57645226e-03 4.15054678e+02] [ 6.67910869e-01 7.44216920e-01 -6.02054708e-03 5.83565656e+01] [ 8.91565920e-03 8.79341417e-05 9.99960251e-01 1.57421355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.424012739 meters Centerline goodness [0,1] 0.9991429918155719 Centerline is valid? [True, True] Translation: X:415.08, Y:58.37, Z:0.16 [[ 7.43056377e-01 -6.69200726e-01 -6.13256798e-03 4.15075608e+02] [ 6.69177169e-01 7.43081680e-01 -5.61549083e-03 5.83748245e+01] [ 8.31488946e-03 6.88517933e-05 9.99965428e-01 1.59036472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.454012739 meters Centerline goodness [0,1] 0.9989402064477839 Centerline is valid? [True, True] Translation: X:415.10, Y:58.39, Z:0.16 [[ 7.40484155e-01 -6.72046620e-01 -6.04622933e-03 4.15097191e+02] [ 6.72023799e-01 7.40508838e-01 -5.53842151e-03 5.83916980e+01] [ 8.19936371e-03 3.79033656e-05 9.99966384e-01 1.59451663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.484012739 meters Centerline goodness [0,1] 0.9992369407866051 Centerline is valid? [True, True] Translation: X:415.12, Y:58.41, Z:0.16 [[ 7.38856154e-01 -6.73837097e-01 -5.92869731e-03 4.15121165e+02] [ 6.73815201e-01 7.38879940e-01 -5.43215291e-03 5.84073533e+01] [ 8.04098166e-03 1.87332396e-05 9.99967671e-01 1.59324186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.514012739 meters Centerline goodness [0,1] 0.9988710192778784 Centerline is valid? [True, True] Translation: X:415.15, Y:58.42, Z:0.16 [[ 7.35856275e-01 -6.77103974e-01 -6.76388426e-03 4.15145653e+02] [ 6.77075597e-01 7.35887361e-01 -6.19906515e-03 5.84202284e+01] [ 9.17486858e-03 -1.80399766e-05 9.99957910e-01 1.57650329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.544012739 meters Centerline goodness [0,1] 0.9988710192778784 Centerline is valid? [True, True] Translation: X:415.17, Y:58.44, Z:0.16 [[ 7.35736786e-01 -6.77233817e-01 -6.76301582e-03 4.15165768e+02] [ 6.77205436e-01 7.35767869e-01 -6.20001246e-03 5.84389468e+01] [ 9.17486784e-03 -1.83738443e-05 9.99957910e-01 1.57869836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.574012739 meters Centerline goodness [0,1] 0.9981110851709574 Centerline is valid? [True, True] Translation: X:415.19, Y:58.45, Z:0.16 [[ 7.34279175e-01 -6.78810385e-01 -7.11011406e-03 4.15188080e+02] [ 6.78779067e-01 7.34313597e-01 -6.52064643e-03 5.84541248e+01] [ 9.64733595e-03 -3.82216992e-05 9.99953463e-01 1.57335304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.604012739 meters Centerline goodness [0,1] 0.9981333389898819 Centerline is valid? [True, True] Translation: X:415.21, Y:58.47, Z:0.16 [[ 7.32670380e-01 -6.80545518e-01 -7.20506306e-03 4.15212087e+02] [ 6.80513417e-01 7.32705804e-01 -6.61019352e-03 5.84700338e+01] [ 9.77772909e-03 -6.00490910e-05 9.99952195e-01 1.57001186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.634012739 meters Centerline goodness [0,1] 0.9972558933471619 Centerline is valid? [True, True] Translation: X:415.24, Y:58.48, Z:0.16 [[ 7.29245484e-01 -6.84214803e-01 -7.15036853e-03 4.15241486e+02] [ 6.84183342e-01 7.29280530e-01 -6.56225357e-03 5.84796837e+01] [ 9.70461559e-03 -1.06669257e-04 9.99952903e-01 1.58024012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.664012739 meters Centerline goodness [0,1] 0.9970945137583319 Centerline is valid? [True, True] Translation: X:415.26, Y:58.50, Z:0.16 [[ 7.27836960e-01 -6.85715487e-01 -6.90147945e-03 4.15263739e+02] [ 6.85686226e-01 7.27869670e-01 -6.33585693e-03 5.84969240e+01] [ 9.36797279e-03 -1.20778551e-04 9.99956112e-01 1.59384902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.694012739 meters Centerline goodness [0,1] 0.9963225916163592 Centerline is valid? [True, True] Translation: X:415.29, Y:58.51, Z:0.16 [[ 7.26836080e-01 -6.86777832e-01 -6.74706042e-03 4.15288551e+02] [ 6.86749893e-01 7.26867383e-01 -6.19614200e-03 5.85109494e+01] [ 9.15959113e-03 -1.29963458e-04 9.99958042e-01 1.60109722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.724012739 meters Centerline goodness [0,1] 0.9959994865651206 Centerline is valid? [True, True] Translation: X:415.31, Y:58.53, Z:0.16 [[ 7.26160995e-01 -6.87489474e-01 -6.95943483e-03 4.15311150e+02] [ 6.87459765e-01 7.26194329e-01 -6.39278226e-03 5.85281173e+01] [ 9.44887262e-03 -1.42142316e-04 9.99955348e-01 1.60052355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.754012739 meters Centerline goodness [0,1] 0.9967546516659455 Centerline is valid? [True, True] Translation: X:415.33, Y:58.55, Z:0.16 [[ 7.26217039e-01 -6.87422668e-01 -7.67389621e-03 4.15330812e+02] [ 6.87386516e-01 7.26257566e-01 -7.05162335e-03 5.85474100e+01] [ 1.04206709e-02 -1.53923755e-04 9.99945691e-01 1.58892233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.784012739 meters Centerline goodness [0,1] 0.9975221391480468 Centerline is valid? [True, True] Translation: X:415.35, Y:58.56, Z:0.16 [[ 7.26614189e-01 -6.87001818e-01 -7.76674709e-03 4.15351981e+02] [ 6.86964734e-01 7.26655682e-01 -7.13961970e-03 5.85642661e+01] [ 1.05486826e-02 -1.47732369e-04 9.99944350e-01 1.58232372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.814012739 meters Centerline goodness [0,1] 0.997139319414201 Centerline is valid? [True, True] Translation: X:415.37, Y:58.58, Z:0.16 [[ 7.27246838e-01 -6.86328690e-01 -8.06006841e-03 4.15373269e+02] [ 6.86288686e-01 7.27291488e-01 -7.41153718e-03 5.85812568e+01] [ 1.09487698e-02 -1.41516779e-04 9.99940050e-01 1.57936532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.844012739 meters Centerline goodness [0,1] 0.9973798939071795 Centerline is valid? [True, True] Translation: X:415.39, Y:58.60, Z:0.16 [[ 7.28770359e-01 -6.84713937e-01 -7.78384371e-03 4.15392619e+02] [ 6.84676515e-01 7.28811918e-01 -7.15942855e-03 5.86025586e+01] [ 1.05751186e-02 -1.11835662e-04 9.99944076e-01 1.59004716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.874012739 meters Centerline goodness [0,1] 0.9975809935205183 Centerline is valid? [True, True] Translation: X:415.41, Y:58.62, Z:0.16 [[ 7.29223839e-01 -6.84234447e-01 -7.47080919e-03 4.15413482e+02] [ 6.84199926e-01 7.29262101e-01 -6.87382505e-03 5.86208567e+01] [ 1.01514859e-02 -9.89700044e-05 9.99948467e-01 1.59179715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.904012739 meters Centerline goodness [0,1] 0.9974877581434959 Centerline is valid? [True, True] Translation: X:415.43, Y:58.64, Z:0.16 [[ 7.29556978e-01 -6.83878662e-01 -7.52267290e-03 4.15434528e+02] [ 6.83843614e-01 7.29595756e-01 -6.92417105e-03 5.86371727e+01] [ 1.02238031e-02 -9.27545182e-05 9.99947731e-01 1.59947486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.934012739 meters Centerline goodness [0,1] 0.997683758685905 Centerline is valid? [True, True] Translation: X:415.46, Y:58.65, Z:0.16 [[ 7.30368524e-01 -6.83011489e-01 -7.55812923e-03 4.15456271e+02] [ 6.82976036e-01 7.30407626e-01 -6.95943084e-03 5.86531244e+01] [ 1.02738865e-02 -7.90719122e-05 9.99947219e-01 1.60070837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.964012739 meters Centerline goodness [0,1] 0.9979495066000257 Centerline is valid? [True, True] Translation: X:415.48, Y:58.67, Z:0.16 [[ 7.30535501e-01 -6.82833955e-01 -7.46134613e-03 4.15475855e+02] [ 6.82799369e-01 7.30573600e-01 -6.87287153e-03 5.86727236e+01] [ 1.01440925e-02 -7.37257785e-05 9.99948545e-01 1.60412121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.994012739 meters Centerline goodness [0,1] 0.9977875155733127 Centerline is valid? [True, True] Translation: X:415.50, Y:58.69, Z:0.16 [[ 7.30991377e-01 -6.82343637e-01 -7.66606344e-03 4.15496555e+02] [ 6.82307073e-01 7.31031570e-01 -7.06410367e-03 5.86922366e+01] [ 1.04242806e-02 -6.68104406e-05 9.99945663e-01 1.60594995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.024012739 meters Centerline goodness [0,1] 0.9983819468415602 Centerline is valid? [True, True] Translation: X:415.52, Y:58.71, Z:0.16 [[ 7.33003188e-01 -6.80183620e-01 -7.52124488e-03 4.15515738e+02] [ 6.80148285e-01 7.33041773e-01 -6.93318819e-03 5.87132829e+01] [ 1.02292277e-02 -3.35127634e-05 9.99947680e-01 1.61189302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.054012739 meters Centerline goodness [0,1] 0.9987331715801001 Centerline is valid? [True, True] Translation: X:415.53, Y:58.73, Z:0.16 [[ 7.34524360e-01 -6.78543790e-01 -7.23118084e-03 4.15534147e+02] [ 6.78511024e-01 7.34559954e-01 -6.66820303e-03 5.87342840e+01] [ 9.83640361e-03 -8.47835666e-06 9.99951621e-01 1.62969290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.084012739 meters Centerline goodness [0,1] 0.9992674466205589 Centerline is valid? [True, True] Translation: X:415.55, Y:58.76, Z:0.16 [[ 7.36325098e-01 -6.76592105e-01 -6.96222272e-03 4.15551896e+02] [ 6.76561622e-01 7.36358013e-01 -6.42253870e-03 5.87565464e+01] [ 9.47212747e-03 1.87037386e-05 9.99955138e-01 1.64202297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.114012739 meters Centerline goodness [0,1] 0.9994831262248831 Centerline is valid? [True, True] Translation: X:415.57, Y:58.78, Z:0.16 [[ 7.40160327e-01 -6.72396689e-01 -6.73676554e-03 4.15565351e+02] [ 6.72367953e-01 7.40190981e-01 -6.21672997e-03 5.87825122e+01] [ 9.16660173e-03 7.17916288e-05 9.99957983e-01 1.64915843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.144012739 meters Centerline goodness [0,1] 0.999300817831264 Centerline is valid? [True, True] Translation: X:415.58, Y:58.80, Z:0.17 [[ 7.41877919e-01 -6.70500510e-01 -6.79855945e-03 4.15584035e+02] [ 6.70471151e-01 7.41909063e-01 -6.27518544e-03 5.88046989e+01] [ 9.25142790e-03 9.71835316e-05 9.99957200e-01 1.65084366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.174012739 meters Centerline goodness [0,1] 0.9992343846366517 Centerline is valid? [True, True] Translation: X:415.60, Y:58.83, Z:0.17 [[ 7.43511992e-01 -6.68688568e-01 -6.74664416e-03 4.15599377e+02] [ 6.68659562e-01 7.43542591e-01 -6.22938735e-03 5.88277771e+01] [ 9.18193738e-03 1.20416069e-04 9.99957838e-01 1.65082891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.204012739 meters Centerline goodness [0,1] 0.9989297028855211 Centerline is valid? [True, True] Translation: X:415.62, Y:58.85, Z:0.17 [[ 7.46322020e-01 -6.65557470e-01 -6.05776398e-03 4.15615438e+02] [ 6.65533971e-01 7.46346591e-01 -5.59468653e-03 5.88522002e+01] [ 8.24477691e-03 1.43790038e-04 9.99966001e-01 1.66714090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.234012739 meters Centerline goodness [0,1] 0.9985431797244896 Centerline is valid? [True, True] Translation: X:415.63, Y:58.87, Z:0.17 [[ 7.47700279e-01 -6.64010845e-01 -5.82157089e-03 4.15631990e+02] [ 6.63989082e-01 7.47722926e-01 -5.37828666e-03 5.88749298e+01] [ 7.92416269e-03 1.55886929e-04 9.99968591e-01 1.67908120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.264012739 meters Centerline goodness [0,1] 0.9980456165972252 Centerline is valid? [True, True] Translation: X:415.65, Y:58.90, Z:0.17 [[ 7.48802972e-01 -6.62766192e-01 -5.92318882e-03 4.15647279e+02] [ 6.62743612e-01 7.48826378e-01 -5.47358791e-03 5.88993873e+01] [ 8.06314905e-03 1.73083340e-04 9.99967477e-01 1.68422848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.294012739 meters Centerline goodness [0,1] 0.9982658959537573 Centerline is valid? [True, True] Translation: X:415.67, Y:58.92, Z:0.17 [[ 7.49700641e-01 -6.61753076e-01 -5.64046684e-03 4.15667111e+02] [ 6.61732563e-01 7.49721839e-01 -5.21347353e-03 5.89201794e+01] [ 7.67881331e-03 1.76063871e-04 9.99970502e-01 1.69375974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.324012739 meters Centerline goodness [0,1] 0.9978501558636999 Centerline is valid? [True, True] Translation: X:415.68, Y:58.95, Z:0.17 [[ 7.50647691e-01 -6.60682010e-01 -5.22743500e-03 4.15679975e+02] [ 6.60664354e-01 7.50665872e-01 -4.83326169e-03 5.89478278e+01] [ 7.11730610e-03 1.74496760e-04 9.99974656e-01 1.69681564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.354012739 meters Centerline goodness [0,1] 0.9979788094123654 Centerline is valid? [True, True] Translation: X:415.70, Y:58.97, Z:0.17 [[ 7.50312721e-01 -6.61063438e-01 -5.09421637e-03 4.15698618e+02] [ 6.61046672e-01 7.50329996e-01 -4.71108678e-03 5.89690103e+01] [ 6.93667057e-03 1.67273563e-04 9.99975927e-01 1.69535869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.384012739 meters Centerline goodness [0,1] 0.9976782329009308 Centerline is valid? [True, True] Translation: X:415.72, Y:58.99, Z:0.17 [[ 7.49506328e-01 -6.61976085e-01 -5.28463750e-03 4.15719218e+02] [ 6.61958051e-01 7.49524940e-01 -4.88912413e-03 5.89888552e+01] [ 7.19745085e-03 1.66221136e-04 9.99974084e-01 1.69451896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.414012739 meters Centerline goodness [0,1] 0.9987068965517242 Centerline is valid? [True, True] Translation: X:415.74, Y:59.01, Z:0.17 [[ 7.46773170e-01 -6.65043513e-01 -6.85262265e-03 4.15742545e+02] [ 6.65013293e-01 7.46804589e-01 -6.34239951e-03 5.90053287e+01] [ 9.33554169e-03 1.79248642e-04 9.99956407e-01 1.66385363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.444012739 meters Centerline goodness [0,1] 0.9986894117149682 Centerline is valid? [True, True] Translation: X:415.76, Y:59.02, Z:0.17 [[ 7.45356878e-01 -6.66619038e-01 -7.88561819e-03 4.15763361e+02] [ 6.66579081e-01 7.45398567e-01 -7.30097923e-03 5.90242822e+01] [ 1.07449003e-02 1.85446956e-04 9.99942255e-01 1.65445611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.474012739 meters Centerline goodness [0,1] 0.999214120345787 Centerline is valid? [True, True] Translation: X:415.79, Y:59.04, Z:0.17 [[ 7.42595667e-01 -6.69691129e-01 -8.09121559e-03 4.15785815e+02] [ 6.69649228e-01 7.42639731e-01 -7.49272856e-03 5.90409205e+01] [ 1.10266720e-02 1.45791480e-04 9.99939194e-01 1.65516207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.504012739 meters Centerline goodness [0,1] 0.9995702067305626 Centerline is valid? [True, True] Translation: X:415.81, Y:59.06, Z:0.17 [[ 7.41194375e-01 -6.71251805e-01 -7.20502264e-03 4.15809419e+02] [ 6.71218633e-01 7.41229385e-01 -6.67421814e-03 5.90579410e+01] [ 9.82065548e-03 1.10747499e-04 9.99951770e-01 1.67342884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.534012739 meters Centerline goodness [0,1] 0.9993826109171421 Centerline is valid? [True, True] Translation: X:415.83, Y:59.08, Z:0.17 [[ 7.40127455e-01 -6.72434834e-01 -6.53797692e-03 4.15829140e+02] [ 6.72407549e-01 7.40156326e-01 -6.05816143e-03 5.90760237e+01] [ 8.91284374e-03 8.76265630e-05 9.99960276e-01 1.68453256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.564012739 meters Centerline goodness [0,1] 0.9991888488056866 Centerline is valid? [True, True] Translation: X:415.85, Y:59.09, Z:0.17 [[ 7.38566585e-01 -6.74158966e-01 -5.39337687e-03 4.15851342e+02] [ 6.74140436e-01 7.38586275e-01 -4.99871078e-03 5.90939303e+01] [ 7.35339983e-03 5.59873151e-05 9.99972962e-01 1.70923204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.594012739 meters Centerline goodness [0,1] 0.9993772280204442 Centerline is valid? [True, True] Translation: X:415.87, Y:59.11, Z:0.17 [[ 7.38017501e-01 -6.74756736e-01 -5.78931318e-03 4.15872979e+02] [ 6.74735387e-01 7.38040205e-01 -5.36776770e-03 5.91111209e+01] [ 7.89468330e-03 5.52520382e-05 9.99968835e-01 1.70517398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.624012739 meters Centerline goodness [0,1] 0.9995102318945508 Centerline is valid? [True, True] Translation: X:415.89, Y:59.13, Z:0.17 [[ 7.37658284e-01 -6.75146660e-01 -6.10279991e-03 4.15892953e+02] [ 6.75122930e-01 7.37683526e-01 -5.66075387e-03 5.91296653e+01] [ 8.32377403e-03 5.55618250e-05 9.99965355e-01 1.70638998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.654012739 meters Centerline goodness [0,1] 0.9992858534051808 Centerline is valid? [True, True] Translation: X:415.91, Y:59.15, Z:0.17 [[ 7.37858721e-01 -6.74928072e-01 -6.05018895e-03 4.15913858e+02] [ 6.74904727e-01 7.37883523e-01 -5.61391380e-03 5.91488751e+01] [ 8.25332276e-03 5.89741367e-05 9.99965939e-01 1.72046895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.684012739 meters Centerline goodness [0,1] 0.9991887622219375 Centerline is valid? [True, True] Translation: X:415.93, Y:59.17, Z:0.17 [[ 7.38259663e-01 -6.74490989e-01 -5.88014839e-03 4.15930935e+02] [ 6.74468907e-01 7.38283077e-01 -5.45819203e-03 5.91703343e+01] [ 8.02271539e-03 6.35857546e-05 9.99967815e-01 1.72851908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.714012739 meters Centerline goodness [0,1] 0.9994698447705488 Centerline is valid? [True, True] Translation: X:415.95, Y:59.19, Z:0.17 [[ 7.38500495e-01 -6.74225114e-01 -6.12494625e-03 4.15949815e+02] [ 6.74201128e-01 7.38525890e-01 -5.68751983e-03 5.91906732e+01] [ 8.35810009e-03 7.07905338e-05 9.99965068e-01 1.72801239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.744012739 meters Centerline goodness [0,1] 0.9991721502865634 Centerline is valid? [True, True] Translation: X:415.97, Y:59.21, Z:0.17 [[ 7.38208902e-01 -6.74539130e-01 -6.67679408e-03 4.15969335e+02] [ 6.74510617e-01 7.38239092e-01 -6.20243183e-03 5.92090602e+01] [ 9.11285337e-03 7.51218983e-05 9.99958474e-01 1.71600509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.774012739 meters Centerline goodness [0,1] 0.9994214698950075 Centerline is valid? [True, True] Translation: X:415.99, Y:59.23, Z:0.17 [[ 7.37354068e-01 -6.75472774e-01 -6.74613740e-03 4.15992105e+02] [ 6.75443683e-01 7.37384925e-01 -6.26927311e-03 5.92259910e+01] [ 9.20922332e-03 6.60381440e-05 9.99957592e-01 1.71521092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.804012739 meters Centerline goodness [0,1] 0.9992656587473002 Centerline is valid? [True, True] Translation: X:416.02, Y:59.24, Z:0.17 [[ 7.36390696e-01 -6.76525757e-01 -6.45319116e-03 4.16015250e+02] [ 6.76499160e-01 7.36418969e-01 -5.99903728e-03 5.92427436e+01] [ 8.81075561e-03 5.20568382e-05 9.99961183e-01 1.72571063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.834012739 meters Centerline goodness [0,1] 0.9991432120978452 Centerline is valid? [True, True] Translation: X:416.04, Y:59.26, Z:0.18 [[ 7.36169512e-01 -6.76777642e-01 -5.14513186e-03 4.16036017e+02] [ 6.76760731e-01 7.36187491e-01 -4.78448848e-03 5.92602314e+01] [ 7.02581654e-03 4.01713570e-05 9.99975318e-01 1.75802834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.864012739 meters Centerline goodness [0,1] 0.9990428586621292 Centerline is valid? [True, True] Translation: X:416.05, Y:59.28, Z:0.18 [[ 7.37126614e-01 -6.75735790e-01 -5.04947014e-03 4.16053789e+02] [ 6.75719466e-01 7.37143907e-01 -4.69713975e-03 5.92807509e+01] [ 6.89621159e-03 5.03614484e-05 9.99976220e-01 1.77127276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.894012739 meters Centerline goodness [0,1] 0.9990234789623402 Centerline is valid? [True, True] Translation: X:416.07, Y:59.30, Z:0.18 [[ 7.38600145e-01 -6.74121516e-01 -5.47789477e-03 4.16071620e+02] [ 6.74102246e-01 7.38620455e-01 -5.09754354e-03 5.93035566e+01] [ 7.48244890e-03 7.23852270e-05 9.99972003e-01 1.76583609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.924012739 meters Centerline goodness [0,1] 0.9988505502458546 Centerline is valid? [True, True] Translation: X:416.09, Y:59.33, Z:0.18 [[ 7.40567248e-01 -6.71953137e-01 -6.25563256e-03 4.16088387e+02] [ 6.71927910e-01 7.40593660e-01 -5.82358337e-03 5.93275585e+01] [ 8.54605693e-03 1.09420999e-04 9.99963476e-01 1.75310066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.954012739 meters Centerline goodness [0,1] 0.998525609521571 Centerline is valid? [True, True] Translation: X:416.10, Y:59.36, Z:0.17 [[ 7.44841472e-01 -6.67207294e-01 -6.75342491e-03 4.16098295e+02] [ 6.67177674e-01 7.44872066e-01 -6.28935895e-03 5.93573340e+01] [ 9.22674373e-03 1.78841054e-04 9.99957417e-01 1.73295141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.984012739 meters Centerline goodness [0,1] 0.997810467242039 Centerline is valid? [True, True] Translation: X:416.12, Y:59.38, Z:0.17 [[ 7.46532140e-01 -6.65314475e-01 -6.81272604e-03 4.16117780e+02] [ 6.65284233e-01 7.46563197e-01 -6.34688377e-03 5.93781322e+01] [ 9.30880417e-03 2.05753505e-04 9.99956651e-01 1.74166271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.014012739 meters Centerline goodness [0,1] 0.9968322136236074 Centerline is valid? [True, True] Translation: X:416.13, Y:59.40, Z:0.18 [[ 7.48261769e-01 -6.63378253e-01 -5.79816831e-03 4.16134611e+02] [ 6.63356278e-01 7.48284207e-01 -5.40312350e-03 5.94003475e+01] [ 7.92299240e-03 1.96699397e-04 9.99968593e-01 1.76661718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.044012739 meters Centerline goodness [0,1] 0.9969009809998076 Centerline is valid? [True, True] Translation: X:416.16, Y:59.42, Z:0.18 [[ 7.47953345e-01 -6.63728407e-01 -5.51330594e-03 4.16155851e+02] [ 6.63708540e-01 7.47973641e-01 -5.13870935e-03 5.94189898e+01] [ 7.53451489e-03 1.84286611e-04 9.99971598e-01 1.77572388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.074012739 meters Centerline goodness [0,1] 0.9969232075031298 Centerline is valid? [True, True] Translation: X:416.17, Y:59.44, Z:0.18 [[ 7.47275914e-01 -6.64489830e-01 -5.65467822e-03 4.16174893e+02] [ 6.64468937e-01 7.47297286e-01 -5.27251129e-03 5.94390703e+01] [ 7.72925581e-03 1.82662670e-04 9.99970112e-01 1.76829213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.104012739 meters Centerline goodness [0,1] 0.9972164378904423 Centerline is valid? [True, True] Translation: X:416.20, Y:59.46, Z:0.18 [[ 7.46426026e-01 -6.65440998e-01 -6.03878511e-03 4.16197647e+02] [ 6.65417187e-01 7.46450430e-01 -5.63226860e-03 5.94571678e+01] [ 8.25559618e-03 1.85760463e-04 9.99965905e-01 1.75917470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.134012739 meters Centerline goodness [0,1] 0.9980329691475487 Centerline is valid? [True, True] Translation: X:416.22, Y:59.48, Z:0.17 [[ 7.45285052e-01 -6.66713423e-01 -6.58818608e-03 4.16217013e+02] [ 6.66685113e-01 7.45314146e-01 -6.14683772e-03 5.94776038e+01] [ 9.00844750e-03 1.88900692e-04 9.99959405e-01 1.73862864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.164012739 meters Centerline goodness [0,1] 0.9982888580835211 Centerline is valid? [True, True] Translation: X:416.24, Y:59.50, Z:0.18 [[ 7.44976610e-01 -6.67060241e-01 -6.36274243e-03 4.16238568e+02] [ 6.67033832e-01 7.45003760e-01 -5.93838087e-03 5.94954951e+01] [ 8.70152481e-03 1.79790384e-04 9.99962125e-01 1.75508012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.194012739 meters Centerline goodness [0,1] 0.9981389578163772 Centerline is valid? [True, True] Translation: X:416.25, Y:59.52, Z:0.18 [[ 7.44800117e-01 -6.67260299e-01 -6.03981528e-03 4.16254370e+02] [ 6.67236493e-01 7.44824586e-01 -5.63904812e-03 5.95180379e+01] [ 8.26131585e-03 1.69978536e-04 9.99965860e-01 1.77358257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.224012739 meters Centerline goodness [0,1] 0.9981060203017599 Centerline is valid? [True, True] Translation: X:416.27, Y:59.54, Z:0.18 [[ 7.44407811e-01 -6.67693270e-01 -6.53519239e-03 4.16271261e+02] [ 6.67665399e-01 7.44436475e-01 -6.10330904e-03 5.95398211e+01] [ 8.94017395e-03 1.80029086e-04 9.99960020e-01 1.77056213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.254012739 meters Centerline goodness [0,1] 0.9982820083322596 Centerline is valid? [True, True] Translation: X:416.29, Y:59.56, Z:0.18 [[ 7.43804500e-01 -6.68361399e-01 -6.92141454e-03 4.16291530e+02] [ 6.68330145e-01 7.43836680e-01 -6.46611436e-03 5.95594432e+01] [ 9.47010325e-03 1.83734981e-04 9.99955141e-01 1.76161173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.284012739 meters Centerline goodness [0,1] 0.9986081072399837 Centerline is valid? [True, True] Translation: X:416.32, Y:59.58, Z:0.18 [[ 7.41720115e-01 -6.70675384e-01 -6.76760677e-03 4.16315635e+02] [ 6.70645579e-01 7.41750973e-01 -6.32459981e-03 5.95754923e+01] [ 9.26163231e-03 1.52417332e-04 9.99957099e-01 1.76042316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.314012739 meters Centerline goodness [0,1] 0.9988269669631241 Centerline is valid? [True, True] Translation: X:416.34, Y:59.59, Z:0.18 [[ 7.40059619e-01 -6.72508828e-01 -6.60578671e-03 4.16337866e+02] [ 6.72480486e-01 7.40089089e-01 -6.17544654e-03 5.95942975e+01] [ 9.04191299e-03 1.27935956e-04 9.99959113e-01 1.77279579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.344012739 meters Centerline goodness [0,1] 0.9993183512621152 Centerline is valid? [True, True] Translation: X:416.36, Y:59.61, Z:0.18 [[ 7.38316372e-01 -6.74423534e-01 -6.46770705e-03 4.16360435e+02] [ 6.74396421e-01 7.38344693e-01 -6.04832287e-03 5.96128078e+01] [ 8.85452846e-03 1.03777314e-04 9.99960793e-01 1.78307057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.374012739 meters Centerline goodness [0,1] 0.9992772108843537 Centerline is valid? [True, True] Translation: X:416.38, Y:59.63, Z:0.18 [[ 7.36819474e-01 -6.76059498e-01 -6.37322648e-03 4.16382588e+02] [ 6.76033214e-01 7.36847032e-01 -5.96193493e-03 5.96310245e+01] [ 8.72671575e-03 8.43569839e-05 9.99961918e-01 1.78531357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.404012739 meters Centerline goodness [0,1] 0.9990816479080794 Centerline is valid? [True, True] Translation: X:416.41, Y:59.65, Z:0.18 [[ 7.33963227e-01 -6.79158925e-01 -6.41367943e-03 4.16405873e+02] [ 6.79132407e-01 7.33991248e-01 -6.00186246e-03 5.96472612e+01] [ 8.78380302e-03 4.94087907e-05 9.99961420e-01 1.78928106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.434012739 meters Centerline goodness [0,1] 0.9989798954392826 Centerline is valid? [True, True] Translation: X:416.43, Y:59.66, Z:0.18 [[ 7.32269716e-01 -6.80981956e-01 -6.68125460e-03 4.16427757e+02] [ 6.80953245e-01 7.32300195e-01 -6.25321917e-03 5.96643803e+01] [ 9.15101347e-03 2.94210253e-05 9.99958128e-01 1.78598926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.464012739 meters Centerline goodness [0,1] 0.9989798954392826 Centerline is valid? [True, True] Translation: X:416.45, Y:59.68, Z:0.18 [[ 7.32142477e-01 -6.81118764e-01 -6.68010517e-03 4.16447679e+02] [ 6.81090047e-01 7.32172950e-01 -6.25444687e-03 5.96832956e+01] [ 9.15101342e-03 2.93930737e-05 9.99958128e-01 1.78818446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.494012739 meters Centerline goodness [0,1] 0.9986446657917949 Centerline is valid? [True, True] Translation: X:416.47, Y:59.70, Z:0.18 [[ 7.30405642e-01 -6.82980060e-01 -6.77029179e-03 4.16469979e+02] [ 6.82950620e-01 7.30437019e-01 -6.34130099e-03 5.97003618e+01] [ 9.27625388e-03 7.94704243e-06 9.99956975e-01 1.78837297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.524012739 meters Centerline goodness [0,1] 0.9980878322391484 Centerline is valid? [True, True] Translation: X:416.49, Y:59.71, Z:0.18 [[ 7.27240965e-01 -6.86347778e-01 -6.87799823e-03 4.16493884e+02] [ 6.86317520e-01 7.27273489e-01 -6.44468313e-03 5.97139873e+01] [ 9.42547971e-03 -3.36531123e-05 9.99955579e-01 1.78513987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.554012739 meters Centerline goodness [0,1] 0.9980669966225545 Centerline is valid? [True, True] Translation: X:416.52, Y:59.73, Z:0.18 [[ 7.25635595e-01 -6.88047942e-01 -6.55839377e-03 4.16517144e+02] [ 6.88020482e-01 7.25665231e-01 -6.14729746e-03 5.97308647e+01] [ 8.98883369e-03 -5.16113932e-05 9.99959598e-01 1.79356949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.584012739 meters Centerline goodness [0,1] 0.9975259240135966 Centerline is valid? [True, True] Translation: X:416.54, Y:59.75, Z:0.18 [[ 7.24036461e-01 -6.89731771e-01 -6.42553647e-03 4.16540289e+02] [ 6.89705460e-01 7.24064969e-01 -6.02487701e-03 5.97484221e+01] [ 8.80805496e-03 -6.94969630e-05 9.99961206e-01 1.80315359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.614012739 meters Centerline goodness [0,1] 0.997598627787307 Centerline is valid? [True, True] Translation: X:416.57, Y:59.76, Z:0.18 [[ 7.20891613e-01 -6.93009441e-01 -7.29364701e-03 4.16566877e+02] [ 6.92975682e-01 7.20928498e-01 -6.84143013e-03 5.97623316e+01] [ 9.99937366e-03 -1.22390411e-04 9.99949998e-01 1.79062877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.644012739 meters Centerline goodness [0,1] 0.9967644474919111 Centerline is valid? [True, True] Translation: X:416.59, Y:59.78, Z:0.18 [[ 7.19601116e-01 -6.94346733e-01 -7.53975124e-03 4.16591836e+02] [ 6.94310708e-01 7.19640600e-01 -7.07442541e-03 5.97756225e+01] [ 1.03380153e-02 -1.44165596e-04 9.99946551e-01 1.78536322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.674012739 meters Centerline goodness [0,1] 0.9970182551429736 Centerline is valid? [True, True] Translation: X:416.61, Y:59.79, Z:0.18 [[ 7.18303354e-01 -6.95693148e-01 -7.16485132e-03 4.16613616e+02] [ 6.95660671e-01 7.18339070e-01 -6.72385796e-03 5.97934112e+01] [ 9.82453455e-03 -1.54535554e-04 9.99951726e-01 1.79514302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.704012739 meters Centerline goodness [0,1] 0.9963707783612997 Centerline is valid? [True, True] Translation: X:416.64, Y:59.81, Z:0.18 [[ 7.16966308e-01 -6.97077452e-01 -6.50688410e-03 4.16638722e+02] [ 6.97050706e-01 7.16995817e-01 -6.10837569e-03 5.98084233e+01] [ 8.92341964e-03 -1.56128594e-04 9.99960173e-01 1.81411461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.734012739 meters Centerline goodness [0,1] 0.9967464609683049 Centerline is valid? [True, True] Translation: X:416.66, Y:59.83, Z:0.18 [[ 7.16841056e-01 -6.97207636e-01 -6.35717373e-03 4.16659688e+02] [ 6.97182093e-01 7.16869227e-01 -5.96992105e-03 5.98263751e+01] [ 8.71953676e-03 -1.52623182e-04 9.99961972e-01 1.82572439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.764012739 meters Centerline goodness [0,1] 0.9965965011164344 Centerline is valid? [True, True] Translation: X:416.68, Y:59.84, Z:0.18 [[ 7.16987019e-01 -6.97051824e-01 -6.95481610e-03 4.16681537e+02] [ 6.97021220e-01 7.17020731e-01 -6.53375039e-03 5.98422423e+01] [ 9.54110995e-03 -1.63040189e-04 9.99954469e-01 1.82192309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.794012739 meters Centerline goodness [0,1] 0.9967314712624161 Centerline is valid? [True, True] Translation: X:416.70, Y:59.86, Z:0.18 [[ 7.17023954e-01 -6.97004615e-01 -7.82409003e-03 4.16703836e+02] [ 6.96965856e-01 7.17066618e-01 -7.35267187e-03 5.98579966e+01] [ 1.07352400e-02 -1.81081741e-04 9.99942359e-01 1.80391533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.824012739 meters Centerline goodness [0,1] 0.9975525976814084 Centerline is valid? [True, True] Translation: X:416.72, Y:59.88, Z:0.18 [[ 7.17465369e-01 -6.96543340e-01 -8.41541865e-03 4.16724425e+02] [ 6.96498436e-01 7.17514698e-01 -7.91125248e-03 5.98779011e+01] [ 1.15487168e-02 -1.85276240e-04 9.99933294e-01 1.78933580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.854012739 meters Centerline goodness [0,1] 0.9974483176195831 Centerline is valid? [True, True] Translation: X:416.75, Y:59.90, Z:0.18 [[ 7.18102018e-01 -6.95881789e-01 -8.83332901e-03 4.16745146e+02] [ 6.95832227e-01 7.18156322e-01 -8.30719463e-03 5.98969268e+01] [ 1.21245365e-02 -1.81101762e-04 9.99926479e-01 1.77918131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.884012739 meters Centerline goodness [0,1] 0.9977718360071302 Centerline is valid? [True, True] Translation: X:416.76, Y:59.92, Z:0.18 [[ 7.20625891e-01 -6.93273654e-01 -8.36455336e-03 4.16762453e+02] [ 6.93229007e-01 7.20674423e-01 -7.86885840e-03 5.99181141e+01] [ 1.14833919e-02 -1.28047922e-04 9.99934055e-01 1.78614172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.914012739 meters Centerline goodness [0,1] 0.9978323699421965 Centerline is valid? [True, True] Translation: X:416.78, Y:59.94, Z:0.18 [[ 7.22210680e-01 -6.91627255e-01 -7.96701829e-03 4.16781106e+02] [ 6.91586629e-01 7.22254617e-01 -7.49690898e-03 5.99387514e+01] [ 1.09392823e-02 -9.55355845e-05 9.99940160e-01 1.79617681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.944012739 meters Centerline goodness [0,1] 0.9982408341020745 Centerline is valid? [True, True] Translation: X:416.80, Y:59.96, Z:0.18 [[ 7.23852764e-01 -6.89911313e-01 -7.71730594e-03 4.16798370e+02] [ 6.89873068e-01 7.23893899e-01 -7.26450893e-03 5.99613192e+01] [ 1.05983776e-02 -6.55266590e-05 9.99943833e-01 1.81144387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.974012739 meters Centerline goodness [0,1] 0.9986476623878419 Centerline is valid? [True, True] Translation: X:416.81, Y:59.99, Z:0.18 [[ 7.27224696e-01 -6.86362000e-01 -7.17258902e-03 4.16814099e+02] [ 6.86328768e-01 7.27260067e-01 -6.75410024e-03 5.99859506e+01] [ 9.85209532e-03 -1.10056844e-05 9.99951467e-01 1.82260726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.004012739 meters Centerline goodness [0,1] 0.998751345532831 Centerline is valid? [True, True] Translation: X:416.83, Y:60.01, Z:0.18 [[ 7.28361507e-01 -6.85154940e-01 -7.22650750e-03 4.16832493e+02] [ 6.85121123e-01 7.28397356e-01 -6.80730201e-03 6.00078604e+01] [ 9.92782556e-03 7.14382086e-06 9.99950718e-01 1.82099173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.034012739 meters Centerline goodness [0,1] 0.9987881364941001 Centerline is valid? [True, True] Translation: X:416.85, Y:60.03, Z:0.18 [[ 7.30214684e-01 -6.83186185e-01 -6.56901834e-03 4.16848751e+02] [ 6.83158142e-01 7.30244230e-01 -6.19010014e-03 6.00300137e+01] [ 9.02597864e-03 3.24236585e-05 9.99959265e-01 1.83734238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.064012739 meters Centerline goodness [0,1] 0.9986441539732644 Centerline is valid? [True, True] Translation: X:416.87, Y:60.05, Z:0.18 [[ 7.30755806e-01 -6.82610161e-01 -6.27053043e-03 4.16866824e+02] [ 6.82584569e-01 7.30782708e-01 -5.91101573e-03 6.00496225e+01] [ 8.61731461e-03 3.93417584e-05 9.99962869e-01 1.84349053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.094012739 meters Centerline goodness [0,1] 0.9988262159335851 Centerline is valid? [True, True] Translation: X:416.89, Y:60.07, Z:0.18 [[ 7.31039014e-01 -6.82305506e-01 -6.41535314e-03 4.16887308e+02] [ 6.82278691e-01 7.31067162e-01 -6.04926667e-03 6.00692695e+01] [ 8.81750197e-03 4.51911967e-05 9.99961124e-01 1.84309576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.124012739 meters Centerline goodness [0,1] 0.9987726098191214 Centerline is valid? [True, True] Translation: X:416.91, Y:60.09, Z:0.18 [[ 7.31125630e-01 -6.82209928e-01 -6.70280898e-03 4.16907725e+02] [ 6.82180629e-01 7.31156353e-01 -6.32274000e-03 6.00883300e+01] [ 9.21423737e-03 5.01908179e-05 9.99957547e-01 1.83250898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.154012739 meters Centerline goodness [0,1] 0.9989067758461769 Centerline is valid? [True, True] Translation: X:416.93, Y:60.11, Z:0.18 [[ 7.30720801e-01 -6.82632184e-01 -7.77255359e-03 4.16929222e+02] [ 6.82592781e-01 7.30762135e-01 -7.33465685e-03 6.01055572e+01] [ 1.06867607e-02 5.40973542e-05 9.99942893e-01 1.80286046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.184012739 meters Centerline goodness [0,1] 0.9990622935447435 Centerline is valid? [True, True] Translation: X:416.95, Y:60.12, Z:0.18 [[ 7.30081861e-01 -6.83310917e-01 -8.16497260e-03 4.16951104e+02] [ 6.83267450e-01 7.30127515e-01 -7.70731785e-03 6.01229944e+01] [ 1.12279656e-02 4.81129505e-05 9.99936963e-01 1.79563007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.214012739 meters Centerline goodness [0,1] 0.9990732359153411 Centerline is valid? [True, True] Translation: X:416.97, Y:60.14, Z:0.18 [[ 7.29344450e-01 -6.84097784e-01 -8.17895767e-03 4.16974051e+02] [ 6.84054190e-01 7.29390307e-01 -7.72301392e-03 6.01401837e+01] [ 1.12489492e-02 3.78870750e-05 9.99936728e-01 1.79880538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.244012739 meters Centerline goodness [0,1] 0.9988862711501392 Centerline is valid? [True, True] Translation: X:417.00, Y:60.15, Z:0.18 [[ 7.27375545e-01 -6.86187708e-01 -8.44075092e-03 4.17001770e+02] [ 6.86141393e-01 7.27424518e-01 -7.97238242e-03 6.01516550e+01] [ 1.16105600e-02 7.36741369e-06 9.99932595e-01 1.79702981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.274012739 meters Centerline goodness [0,1] 0.9985497664697477 Centerline is valid? [True, True] Translation: X:417.03, Y:60.17, Z:0.18 [[ 7.26427586e-01 -6.87191761e-01 -8.39322856e-03 4.17025981e+02] [ 6.87146000e-01 7.26476073e-01 -7.93033741e-03 6.01670661e+01] [ 1.15471423e-02 -6.55757238e-06 9.99933330e-01 1.80305927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.304012739 meters Centerline goodness [0,1] 0.9983882939242922 Centerline is valid? [True, True] Translation: X:417.05, Y:60.18, Z:0.18 [[ 7.25994302e-01 -6.87660946e-01 -7.39575536e-03 4.17049950e+02] [ 6.87625417e-01 7.26031971e-01 -6.99018447e-03 6.01803454e+01] [ 1.01764317e-02 -1.06752621e-05 9.99948219e-01 1.83555417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.334012739 meters Centerline goodness [0,1] 0.9984404375320458 Centerline is valid? [True, True] Translation: X:417.07, Y:60.20, Z:0.19 [[ 7.26018345e-01 -6.87640829e-01 -6.88863566e-03 4.17071343e+02] [ 6.87609982e-01 7.26051025e-01 -6.51318424e-03 6.01984169e+01] [ 9.48023239e-03 -8.00340522e-06 9.99955062e-01 1.85499922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.364012739 meters Centerline goodness [0,1] 0.9984316717531366 Centerline is valid? [True, True] Translation: X:417.09, Y:60.22, Z:0.19 [[ 7.26181084e-01 -6.87468751e-01 -6.91007724e-03 4.17092272e+02] [ 6.87437683e-01 7.26213960e-01 -6.53579010e-03 6.02167152e+01] [ 9.51134602e-03 -4.08035344e-06 9.99954766e-01 1.86232210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.394012739 meters Centerline goodness [0,1] 0.9985252313676876 Centerline is valid? [True, True] Translation: X:417.11, Y:60.24, Z:0.19 [[ 7.27689338e-01 -6.85872525e-01 -6.86349487e-03 4.17111251e+02] [ 6.85841781e-01 7.27721705e-01 -6.49405607e-03 6.02354474e+01] [ 9.44880882e-03 1.83838207e-05 9.99955359e-01 1.86842294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.424012739 meters Centerline goodness [0,1] 0.9986232414060147 Centerline is valid? [True, True] Translation: X:417.13, Y:60.25, Z:0.19 [[ 7.28514180e-01 -6.84996636e-01 -6.83355719e-03 4.17131772e+02] [ 6.84966098e-01 7.28546229e-01 -6.46816827e-03 6.02549144e+01] [ 9.40923583e-03 3.13973049e-05 9.99955732e-01 1.86590907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.454012739 meters Centerline goodness [0,1] 0.9986634986634987 Centerline is valid? [True, True] Translation: X:417.15, Y:60.27, Z:0.19 [[ 7.28883189e-01 -6.84601576e-01 -7.06958621e-03 4.17151155e+02] [ 6.84568849e-01 7.28917472e-01 -6.69407600e-03 6.02734523e+01] [ 9.73591989e-03 3.95809784e-05 9.99952604e-01 1.85667966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.484012739 meters Centerline goodness [0,1] 0.9987233770931296 Centerline is valid? [True, True] Translation: X:417.17, Y:60.29, Z:0.19 [[ 7.29259470e-01 -6.84198951e-01 -7.24018128e-03 4.17173240e+02] [ 6.84164585e-01 7.29295408e-01 -6.85767803e-03 6.02913757e+01] [ 9.97224708e-03 4.75510217e-05 9.99950275e-01 1.85886067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.514012739 meters Centerline goodness [0,1] 0.9987365084803838 Centerline is valid? [True, True] Translation: X:417.19, Y:60.31, Z:0.19 [[ 7.30451365e-01 -6.82927191e-01 -7.15928147e-03 4.17192204e+02] [ 6.82893505e-01 7.30486446e-01 -6.78335994e-03 6.03099118e+01] [ 9.86229902e-03 6.58877127e-05 9.99951364e-01 1.86190162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.544012739 meters Centerline goodness [0,1] 0.9988939229574798 Centerline is valid? [True, True] Translation: X:417.21, Y:60.33, Z:0.19 [[ 7.31226825e-01 -6.82094089e-01 -7.41508465e-03 4.17212056e+02] [ 6.82057889e-01 7.31264417e-01 -7.02769391e-03 6.03297255e+01] [ 1.02159360e-02 8.13213226e-05 9.99947813e-01 1.85918344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.574012739 meters Centerline goodness [0,1] 0.998577464489692 Centerline is valid? [True, True] Translation: X:417.23, Y:60.35, Z:0.18 [[ 7.31952902e-01 -6.81308675e-01 -7.96483716e-03 4.17228388e+02] [ 6.81266831e-01 7.31996229e-01 -7.55152605e-03 6.03510596e+01] [ 1.09751510e-02 1.01182036e-04 9.99939766e-01 1.84762809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.604012739 meters Centerline goodness [0,1] 0.9986466165413533 Centerline is valid? [True, True] Translation: X:417.24, Y:60.37, Z:0.18 [[ 7.33079304e-01 -6.80090045e-01 -8.50081922e-03 4.17244694e+02] [ 6.80042267e-01 7.33128579e-01 -8.06238668e-03 6.03725847e+01] [ 1.17153424e-02 1.29452448e-04 9.99931365e-01 1.83488753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.634012739 meters Centerline goodness [0,1] 0.9986895810955961 Centerline is valid? [True, True] Translation: X:417.26, Y:60.39, Z:0.18 [[ 7.33599560e-01 -6.79531199e-01 -8.30869039e-03 4.17262977e+02] [ 6.79485487e-01 7.33646598e-01 -7.88304949e-03 6.03931983e+01] [ 1.14524205e-02 1.37367094e-04 9.99934409e-01 1.84247450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.664012739 meters Centerline goodness [0,1] 0.9986143679386058 Centerline is valid? [True, True] Translation: X:417.28, Y:60.41, Z:0.19 [[ 7.34047371e-01 -6.79054144e-01 -7.74122762e-03 4.17283816e+02] [ 6.79014408e-01 7.34088177e-01 -7.34731577e-03 6.04122427e+01] [ 1.06719689e-02 1.36872744e-04 9.99943044e-01 1.86622116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.694012739 meters Centerline goodness [0,1] 0.9978369666638391 Centerline is valid? [True, True] Translation: X:417.30, Y:60.44, Z:0.19 [[ 7.35469804e-01 -6.77529011e-01 -6.21337127e-03 4.17297997e+02] [ 6.77503343e-01 7.35496038e-01 -5.89897854e-03 6.04375441e+01] [ 8.56663905e-03 1.28940785e-04 9.99963297e-01 1.90394707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.724012739 meters Centerline goodness [0,1] 0.997091206825968 Centerline is valid? [True, True] Translation: X:417.32, Y:60.46, Z:0.19 [[ 7.35656807e-01 -6.77329274e-01 -5.84093687e-03 4.17315637e+02] [ 6.77306570e-01 7.35679984e-01 -5.54717196e-03 6.04573729e+01] [ 8.05432230e-03 1.24709889e-04 9.99967556e-01 1.91822380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.754012739 meters Centerline goodness [0,1] 0.9974973797351928 Centerline is valid? [True, True] Translation: X:417.33, Y:60.48, Z:0.19 [[ 7.34950657e-01 -6.78085228e-01 -6.92503608e-03 4.17333823e+02] [ 6.78053319e-01 7.34983268e-01 -6.57967441e-03 6.04761585e+01] [ 9.55136567e-03 1.40192325e-04 9.99954375e-01 1.89047707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.784012739 meters Centerline goodness [0,1] 0.9979806568179402 Centerline is valid? [True, True] Translation: X:417.35, Y:60.50, Z:0.19 [[ 7.34185887e-01 -6.78909247e-01 -7.30182582e-03 4.17353658e+02] [ 6.78873792e-01 7.34222183e-01 -6.93974856e-03 6.04954307e+01] [ 1.00726220e-02 1.38047269e-04 9.99949260e-01 1.87384555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.814012739 meters Centerline goodness [0,1] 0.9980348598769652 Centerline is valid? [True, True] Translation: X:417.37, Y:60.51, Z:0.19 [[ 7.33708890e-01 -6.79422832e-01 -7.47528376e-03 4.17372615e+02] [ 6.79385677e-01 7.33746957e-01 -7.10667308e-03 6.05145365e+01] [ 1.03134027e-02 1.35628497e-04 9.99946806e-01 1.87181380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.844012739 meters Centerline goodness [0,1] 0.9979781641730692 Centerline is valid? [True, True] Translation: X:417.39, Y:60.53, Z:0.19 [[ 7.33504962e-01 -6.79640273e-01 -7.71815009e-03 4.17394751e+02] [ 6.79600647e-01 7.33545554e-01 -7.34038684e-03 6.05317281e+01] [ 1.06504372e-02 1.38950381e-04 9.99943273e-01 1.87812798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.874012739 meters Centerline goodness [0,1] 0.9979802320584443 Centerline is valid? [True, True] Translation: X:417.41, Y:60.55, Z:0.19 [[ 7.33498947e-01 -6.79644603e-01 -7.90620425e-03 4.17413853e+02] [ 6.79602991e-01 7.33541541e-01 -7.52211630e-03 6.05525195e+01] [ 1.09118950e-02 1.44384323e-04 9.99940453e-01 1.88071220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.904012739 meters Centerline goodness [0,1] 0.9981330071460761 Centerline is valid? [True, True] Translation: X:417.43, Y:60.58, Z:0.19 [[ 7.33262755e-01 -6.79897370e-01 -8.08075927e-03 4.17427790e+02] [ 6.79853883e-01 7.33307265e-01 -7.69105381e-03 6.05767808e+01] [ 1.11548067e-02 1.45827737e-04 9.99937773e-01 1.86586366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.934012739 meters Centerline goodness [0,1] 0.9983950353092232 Centerline is valid? [True, True] Translation: X:417.45, Y:60.59, Z:0.19 [[ 7.32787991e-01 -6.80407141e-01 -8.23916033e-03 4.17449491e+02] [ 6.80361933e-01 7.32834294e-01 -7.84457751e-03 6.05940400e+01] [ 1.13754458e-02 1.42801140e-04 9.99935287e-01 1.87595340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.964012739 meters Centerline goodness [0,1] 0.9986103390772652 Centerline is valid? [True, True] Translation: X:417.47, Y:60.61, Z:0.19 [[ 7.31937494e-01 -6.81331717e-01 -7.38894641e-03 4.17468571e+02] [ 6.81295381e-01 7.31974779e-01 -7.03747685e-03 6.06145845e+01] [ 1.02033786e-02 1.16938104e-04 9.99947937e-01 1.89622128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.994012739 meters Centerline goodness [0,1] 0.9980731352230882 Centerline is valid? [True, True] Translation: X:417.49, Y:60.63, Z:0.19 [[ 7.31704765e-01 -6.81587813e-01 -6.79630865e-03 4.17487580e+02] [ 6.81557062e-01 7.31736320e-01 -6.47528048e-03 6.06347509e+01] [ 9.38657814e-03 1.05921426e-04 9.99955939e-01 1.91376503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.024012739 meters Centerline goodness [0,1] 0.9984430320351491 Centerline is valid? [True, True] Translation: X:417.50, Y:60.66, Z:0.19 [[ 7.31809605e-01 -6.81481884e-01 -6.09462714e-03 4.17501452e+02] [ 6.81457134e-01 7.31834976e-01 -5.80873988e-03 6.06589800e+01] [ 8.41881231e-03 9.76644936e-05 9.99964556e-01 1.94191408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.054012739 meters Centerline goodness [0,1] 0.9983050847457627 Centerline is valid? [True, True] Translation: X:417.52, Y:60.68, Z:0.19 [[ 7.32084862e-01 -6.81186455e-01 -6.06364316e-03 4.17519218e+02] [ 6.81161930e-01 7.32109967e-01 -5.78120072e-03 6.06807109e+01] [ 8.37732921e-03 1.02006661e-04 9.99964904e-01 1.94990560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.084012739 meters Centerline goodness [0,1] 0.9978732001956656 Centerline is valid? [True, True] Translation: X:417.54, Y:60.70, Z:0.19 [[ 7.32432875e-01 -6.80809895e-01 -6.32231037e-03 4.17535776e+02] [ 6.80783198e-01 7.32460152e-01 -6.03014559e-03 6.07022275e+01] [ 8.73622320e-03 1.12554195e-04 9.99961832e-01 1.94607735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.114012739 meters Centerline goodness [0,1] 0.9975258805911843 Centerline is valid? [True, True] Translation: X:417.55, Y:60.73, Z:0.20 [[ 7.33720663e-01 -6.79423724e-01 -6.11484858e-03 4.17551822e+02] [ 6.79398684e-01 7.33746133e-01 -5.83446394e-03 6.07265005e+01] [ 8.45081971e-03 1.26446677e-04 9.99964283e-01 1.95447775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.144012739 meters Centerline goodness [0,1] 0.9971413943169213 Centerline is valid? [True, True] Translation: X:417.57, Y:60.75, Z:0.20 [[ 7.34530989e-01 -6.78550383e-01 -5.79690841e-03 4.17568909e+02] [ 6.78527837e-01 7.34553851e-01 -5.53296210e-03 6.07495621e+01] [ 8.01253495e-03 1.30768398e-04 9.99967891e-01 1.96268755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.174012739 meters Centerline goodness [0,1] 0.997254691689008 Centerline is valid? [True, True] Translation: X:417.59, Y:60.77, Z:0.20 [[ 7.35461198e-01 -6.77544935e-01 -5.44853980e-03 4.17586237e+02] [ 6.77524977e-01 7.35481368e-01 -5.20218610e-03 6.07733906e+01] [ 7.53201435e-03 1.34484218e-04 9.99971625e-01 1.97524171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.204012739 meters Centerline goodness [0,1] 0.9971283457985984 Centerline is valid? [True, True] Translation: X:417.60, Y:60.80, Z:0.20 [[ 7.36071788e-01 -6.76881255e-01 -5.48547642e-03 4.17603160e+02] [ 6.76860993e-01 7.36092213e-01 -5.23921765e-03 6.07957914e+01] [ 7.58414470e-03 1.43535283e-04 9.99971230e-01 1.97760623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.234012739 meters Centerline goodness [0,1] 0.9971711151420921 Centerline is valid? [True, True] Translation: X:417.62, Y:60.82, Z:0.20 [[ 7.35736408e-01 -6.77240303e-01 -6.12455567e-03 4.17621124e+02] [ 6.77215048e-01 7.35761882e-01 -5.85080101e-03 6.08171802e+01] [ 8.46861286e-03 1.57006060e-04 9.99964128e-01 1.96188621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.264012739 meters Centerline goodness [0,1] 0.997729435169968 Centerline is valid? [True, True] Translation: X:417.64, Y:60.83, Z:0.20 [[ 7.34765128e-01 -6.78289929e-01 -6.55579691e-03 4.17642690e+02] [ 6.78261011e-01 7.34794357e-01 -6.26525797e-03 6.08349878e+01] [ 9.06682397e-03 1.56951631e-04 9.99958883e-01 1.95142793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.294012739 meters Centerline goodness [0,1] 0.9976109724621915 Centerline is valid? [True, True] Translation: X:417.66, Y:60.86, Z:0.19 [[ 7.33464895e-01 -6.79692922e-01 -6.83961599e-03 4.17660548e+02] [ 6.79661485e-01 7.33496769e-01 -6.53879811e-03 6.08569768e+01] [ 9.46121102e-03 1.47355305e-04 9.99955231e-01 1.94655097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.324012739 meters Centerline goodness [0,1] 0.9978445516240556 Centerline is valid? [True, True] Translation: X:417.68, Y:60.88, Z:0.19 [[ 7.32817193e-01 -6.80391130e-01 -6.84624432e-03 4.17680299e+02] [ 6.80359653e-01 7.32849159e-01 -6.54617880e-03 6.08761664e+01] [ 9.47122639e-03 1.39243967e-04 9.99955137e-01 1.94884275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.354012739 meters Centerline goodness [0,1] 0.9978445516240556 Centerline is valid? [True, True] Translation: X:417.70, Y:60.90, Z:0.20 [[ 7.32693719e-01 -6.80524106e-01 -6.84505566e-03 4.17700010e+02] [ 6.80492623e-01 7.32725680e-01 -6.54742152e-03 6.08953029e+01] [ 9.47122624e-03 1.39244744e-04 9.99955137e-01 1.95103818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.384012739 meters Centerline goodness [0,1] 0.9979137990364763 Centerline is valid? [True, True] Translation: X:417.72, Y:60.91, Z:0.19 [[ 7.32092134e-01 -6.81168781e-01 -7.08513664e-03 4.17720758e+02] [ 6.81135056e-01 7.32126405e-01 -6.77961056e-03 6.09139150e+01] [ 9.80527468e-03 1.37364618e-04 9.99951918e-01 1.94916092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.414012739 meters Centerline goodness [0,1] 0.9982233067899648 Centerline is valid? [True, True] Translation: X:417.74, Y:60.93, Z:0.19 [[ 7.30499319e-01 -6.82861770e-01 -8.39925972e-03 4.17738428e+02] [ 6.82814449e-01 7.30547592e-01 -8.04019062e-03 6.09346526e+01] [ 1.16263978e-02 1.38217874e-04 9.99932402e-01 1.90995975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.444012739 meters Centerline goodness [0,1] 0.9987585882151495 Centerline is valid? [True, True] Translation: X:417.76, Y:60.95, Z:0.19 [[ 7.29356237e-01 -6.84073224e-01 -9.12705182e-03 4.17759450e+02] [ 6.84017407e-01 7.29413330e-01 -8.73961935e-03 6.09533569e+01] [ 1.26359329e-02 1.31233565e-04 9.99920155e-01 1.88936075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.474012739 meters Centerline goodness [0,1] 0.9988734591303972 Centerline is valid? [True, True] Translation: X:417.79, Y:60.97, Z:0.19 [[ 7.26620389e-01 -6.86971882e-01 -9.61479126e-03 4.17787329e+02] [ 6.86910147e-01 7.26683993e-01 -9.20999320e-03 6.09655980e+01] [ 1.33139213e-02 8.76711550e-05 9.99911362e-01 1.88717204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.504012739 meters Centerline goodness [0,1] 0.99875935828877 Centerline is valid? [True, True] Translation: X:417.81, Y:60.98, Z:0.19 [[ 7.25173387e-01 -6.88505319e-01 -9.16429807e-03 4.17809761e+02] [ 6.88449321e-01 7.25231289e-01 -8.78128529e-03 6.09817738e+01] [ 1.26921973e-02 5.87996198e-05 9.99919449e-01 1.89340964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.534012739 meters Centerline goodness [0,1] 0.9988881286349641 Centerline is valid? [True, True] Translation: X:417.83, Y:61.00, Z:0.19 [[ 7.23621720e-01 -6.90141883e-01 -8.70564027e-03 4.17831651e+02] [ 6.90091439e-01 7.23674085e-01 -8.34418672e-03 6.09974519e+01] [ 1.20587190e-02 3.03469290e-05 9.99927291e-01 1.90286372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.564012739 meters Centerline goodness [0,1] 0.9987366978566687 Centerline is valid? [True, True] Translation: X:417.85, Y:61.01, Z:0.19 [[ 7.22161837e-01 -6.91671927e-01 -8.49868438e-03 4.17853677e+02] [ 6.91623933e-01 7.22211843e-01 -8.14797087e-03 6.10135527e+01] [ 1.17735732e-02 6.26008651e-06 9.99930689e-01 1.91577296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.594012739 meters Centerline goodness [0,1] 0.9981363039518828 Centerline is valid? [True, True] Translation: X:417.88, Y:61.03, Z:0.19 [[ 7.20266624e-01 -6.93647101e-01 -8.34802589e-03 4.17877628e+02] [ 6.93600899e-01 7.20315000e-01 -8.00584951e-03 6.10279642e+01] [ 1.15664426e-02 -2.38520678e-05 9.99933106e-01 1.92232834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.624012739 meters Centerline goodness [0,1] 0.9980109930063947 Centerline is valid? [True, True] Translation: X:417.90, Y:61.05, Z:0.19 [[ 7.20061326e-01 -6.93867380e-01 -7.72958457e-03 4.17899319e+02] [ 6.93827756e-01 7.20102811e-01 -7.41530620e-03 6.10462308e+01] [ 1.07113347e-02 -2.35251026e-05 9.99942632e-01 1.94434384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.654012739 meters Centerline goodness [0,1] 0.9980301894872069 Centerline is valid? [True, True] Translation: X:417.92, Y:61.07, Z:0.20 [[ 7.20646845e-01 -6.93264544e-01 -7.23863487e-03 4.17918861e+02] [ 6.93229739e-01 7.20683198e-01 -6.94664089e-03 6.10655884e+01] [ 1.00326224e-02 -1.19621229e-05 9.99949672e-01 1.97254303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.684012739 meters Centerline goodness [0,1] 0.9983483483483484 Centerline is valid? [True, True] Translation: X:417.94, Y:61.09, Z:0.20 [[ 7.23193199e-01 -6.90614326e-01 -6.59164070e-03 4.17936548e+02] [ 6.90585336e-01 7.23223238e-01 -6.32792881e-03 6.10875801e+01] [ 9.13738602e-03 2.42246732e-05 9.99958253e-01 1.98609401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.714012739 meters Centerline goodness [0,1] 0.9983272634877615 Centerline is valid? [True, True] Translation: X:417.95, Y:61.11, Z:0.20 [[ 7.24565748e-01 -6.89171843e-01 -6.82991584e-03 4.17953827e+02] [ 6.89140631e-01 7.24597936e-01 -6.55908992e-03 6.11092392e+01] [ 9.46928300e-03 4.57193783e-05 9.99955164e-01 1.97935226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.744012739 meters Centerline goodness [0,1] 0.9979228871868103 Centerline is valid? [True, True] Translation: X:417.97, Y:61.13, Z:0.20 [[ 7.26777851e-01 -6.86834264e-01 -7.25595698e-03 4.17973656e+02] [ 6.86798899e-01 7.26814066e-01 -6.97035993e-03 6.11292172e+01] [ 1.00612136e-02 8.25199488e-05 9.99949381e-01 1.98102171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.774012739 meters Centerline goodness [0,1] 0.9977215081036929 Centerline is valid? [True, True] Translation: X:417.99, Y:61.15, Z:0.20 [[ 7.27558223e-01 -6.86006921e-01 -7.31678425e-03 4.17993317e+02] [ 6.85970893e-01 7.27595007e-01 -7.03132736e-03 6.11498958e+01] [ 1.01471949e-02 9.65990108e-05 9.99948511e-01 1.98181107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.804012739 meters Centerline goodness [0,1] 0.9979018861394705 Centerline is valid? [True, True] Translation: X:418.01, Y:61.17, Z:0.20 [[ 7.28299118e-01 -6.85217716e-01 -7.55486463e-03 4.18011387e+02] [ 6.85179235e-01 7.28338292e-01 -7.26278423e-03 6.11700236e+01] [ 1.04790856e-02 1.13042981e-04 9.99945086e-01 1.97890325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.834012739 meters Centerline goodness [0,1] 0.9976405482507883 Centerline is valid? [True, True] Translation: X:418.03, Y:61.19, Z:0.20 [[ 7.29085232e-01 -6.84380807e-01 -7.59177186e-03 4.18028511e+02] [ 6.84341877e-01 7.29124745e-01 -7.30073340e-03 6.11912441e+01] [ 1.05318305e-02 1.27489500e-04 9.99944531e-01 1.97877550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.864012739 meters Centerline goodness [0,1] 0.9973548955936431 Centerline is valid? [True, True] Translation: X:418.04, Y:61.22, Z:0.20 [[ 7.31267371e-01 -6.82059758e-01 -6.52071399e-03 4.18044972e+02] [ 6.82030928e-01 7.31296429e-01 -6.27257509e-03 6.12156351e+01] [ 9.04684590e-03 1.39600876e-04 9.99959067e-01 1.99920836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.894012739 meters Centerline goodness [0,1] 0.9965817478232828 Centerline is valid? [True, True] Translation: X:418.06, Y:61.24, Z:0.20 [[ 7.32593063e-01 -6.80643082e-01 -5.69199113e-03 4.18060272e+02] [ 6.80621059e-01 7.32615162e-01 -5.47698963e-03 6.12390103e+01] [ 7.89791410e-03 1.38315583e-04 9.99968801e-01 2.01973075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.924012739 meters Centerline goodness [0,1] 0.9964433398324513 Centerline is valid? [True, True] Translation: X:418.08, Y:61.26, Z:0.20 [[ 7.33534422e-01 -6.79632464e-01 -5.19284553e-03 4.18078401e+02] [ 6.79614105e-01 7.33552790e-01 -4.99730675e-03 6.12610178e+01] [ 7.20555823e-03 1.36565456e-04 9.99974030e-01 2.03453489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.954012739 meters Centerline goodness [0,1] 0.9950711705969832 Centerline is valid? [True, True] Translation: X:418.09, Y:61.29, Z:0.20 [[ 7.34624005e-01 -6.78445012e-01 -6.31960555e-03 4.18090064e+02] [ 6.78417764e-01 7.34651164e-01 -6.08311632e-03 6.12886112e+01] [ 8.76976550e-03 1.81470611e-04 9.99961528e-01 2.01420226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.984012739 meters Centerline goodness [0,1] 0.9960662080825451 Centerline is valid? [True, True] Translation: X:418.11, Y:61.31, Z:0.20 [[ 7.34420755e-01 -6.78658238e-01 -7.01072970e-03 4.18111460e+02] [ 6.78624697e-01 7.34454189e-01 -6.75022112e-03 6.13063534e+01] [ 9.73015297e-03 1.99848175e-04 9.99952641e-01 2.00101683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.014012739 meters Centerline goodness [0,1] 0.9966647547426338 Centerline is valid? [True, True] Translation: X:418.13, Y:61.33, Z:0.20 [[ 7.33062774e-01 -6.80117895e-01 -7.65620769e-03 4.18130127e+02] [ 6.80077941e-01 7.33102727e-01 -7.37462888e-03 6.13277579e+01] [ 1.06284038e-02 1.99247949e-04 9.99943497e-01 1.98278361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.044012739 meters Centerline goodness [0,1] 0.9969826395529207 Centerline is valid? [True, True] Translation: X:418.15, Y:61.35, Z:0.20 [[ 7.31944163e-01 -6.81322926e-01 -7.53740907e-03 4.18149901e+02] [ 6.81284241e-01 7.31982949e-01 -7.26256262e-03 6.13468484e+01] [ 1.04654053e-02 1.80672301e-04 9.99945220e-01 1.98442395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.074012739 meters Centerline goodness [0,1] 0.9970251471375067 Centerline is valid? [True, True] Translation: X:418.17, Y:61.37, Z:0.20 [[ 7.30624878e-01 -6.82737859e-01 -7.50361090e-03 4.18171357e+02] [ 6.82699575e-01 7.30663390e-01 -7.23191387e-03 6.13655695e+01] [ 1.04201152e-02 1.61104215e-04 9.99945696e-01 1.98913792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.104012739 meters Centerline goodness [0,1] 0.9974979326138123 Centerline is valid? [True, True] Translation: X:418.19, Y:61.38, Z:0.20 [[ 7.27647309e-01 -6.85912851e-01 -7.27697554e-03 4.18193996e+02] [ 6.85876980e-01 7.27683687e-01 -7.01570558e-03 6.13813195e+01] [ 1.01074990e-02 1.13849283e-04 9.99948911e-01 1.99622637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.134012739 meters Centerline goodness [0,1] 0.9976112272320096 Centerline is valid? [True, True] Translation: X:418.22, Y:61.40, Z:0.20 [[ 7.25830208e-01 -6.87840182e-01 -6.81130849e-03 4.18216586e+02] [ 6.87808826e-01 7.25862162e-01 -6.56821372e-03 6.13988861e+01] [ 9.46195243e-03 8.25298350e-05 9.99955231e-01 2.01092309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.164012739 meters Centerline goodness [0,1] 0.9977967914438503 Centerline is valid? [True, True] Translation: X:418.24, Y:61.42, Z:0.20 [[ 7.24073893e-01 -6.89695117e-01 -6.13538485e-03 4.18238575e+02] [ 6.89669726e-01 7.24099884e-01 -5.91829660e-03 6.14162202e+01] [ 8.52445173e-03 5.38948651e-05 9.99963665e-01 2.02900314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.194012739 meters Centerline goodness [0,1] 0.998060239166116 Centerline is valid? [True, True] Translation: X:418.26, Y:61.43, Z:0.20 [[ 7.21288432e-01 -6.92610493e-01 -5.80550786e-03 4.18263999e+02] [ 6.92587837e-01 7.21311795e-01 -5.60201112e-03 6.14305945e+01] [ 8.06759297e-03 1.98416804e-05 9.99967456e-01 2.03947986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.224012739 meters Centerline goodness [0,1] 0.9980017006802722 Centerline is valid? [True, True] Translation: X:418.29, Y:61.45, Z:0.20 [[ 7.20007729e-01 -6.93937943e-01 -6.24514429e-03 4.18285957e+02] [ 6.93911755e-01 7.20034813e-01 -6.02861621e-03 6.14466082e+01] [ 8.68020683e-03 7.07123335e-06 9.99962326e-01 2.03098037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.254012739 meters Centerline goodness [0,1] 0.9982408718410778 Centerline is valid? [True, True] Translation: X:418.31, Y:61.46, Z:0.20 [[ 7.18657655e-01 -6.95328450e-01 -7.03720026e-03 4.18308375e+02] [ 6.95295237e-01 7.18692109e-01 -6.79609842e-03 6.14638381e+01] [ 9.78310087e-03 -8.86367024e-06 9.99952144e-01 2.02404038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.284012739 meters Centerline goodness [0,1] 0.998067571298125 Centerline is valid? [True, True] Translation: X:418.33, Y:61.48, Z:0.20 [[ 7.17905760e-01 -6.96097685e-01 -7.70272895e-03 4.18329135e+02] [ 6.96057907e-01 7.17947082e-01 -7.44160989e-03 6.14808460e+01] [ 1.07102392e-02 -1.91707883e-05 9.99942644e-01 2.00458128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.314012739 meters Centerline goodness [0,1] 0.9983892845032214 Centerline is valid? [True, True] Translation: X:418.35, Y:61.50, Z:0.20 [[ 7.17464531e-01 -6.96545272e-01 -8.32647151e-03 4.18350112e+02] [ 6.96498792e-01 7.17512845e-01 -8.04669792e-03 6.14977703e+01] [ 1.15792397e-02 -2.61569987e-05 9.99932958e-01 1.99516586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.344012739 meters Centerline goodness [0,1] 0.9984859793154921 Centerline is valid? [True, True] Translation: X:418.37, Y:61.52, Z:0.20 [[ 7.17467861e-01 -6.96547036e-01 -7.88004372e-03 4.18370491e+02] [ 6.96505376e-01 7.17511133e-01 -7.61803523e-03 6.15165992e+01] [ 1.09603390e-02 -2.27973743e-05 9.99939933e-01 2.01782053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.374012739 meters Centerline goodness [0,1] 0.9982019008476753 Centerline is valid? [True, True] Translation: X:418.39, Y:61.53, Z:0.20 [[ 7.17767983e-01 -6.96246394e-01 -7.07684120e-03 4.18390304e+02] [ 6.96212756e-01 7.17802869e-01 -6.84392650e-03 6.15349909e+01] [ 9.84483606e-03 -1.46358009e-05 9.99951538e-01 2.04091279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.404012739 meters Centerline goodness [0,1] 0.9980484248000172 Centerline is valid? [True, True] Translation: X:418.41, Y:61.55, Z:0.20 [[ 7.17548534e-01 -6.96471309e-01 -7.19842364e-03 4.18410444e+02] [ 6.96436489e-01 7.17584640e-01 -6.96427488e-03 6.15545343e+01] [ 1.00158959e-02 -1.60396599e-05 9.99949840e-01 2.04803320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.434012739 meters Centerline goodness [0,1] 0.9981886760287255 Centerline is valid? [True, True] Translation: X:418.43, Y:61.57, Z:0.20 [[ 7.17214149e-01 -6.96818667e-01 -6.89994273e-03 4.18430967e+02] [ 6.96786668e-01 7.17247339e-01 -6.67787975e-03 6.15722958e+01] [ 9.60223682e-03 -1.83182569e-05 9.99953897e-01 2.04674090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.464012739 meters Centerline goodness [0,1] 0.9973973457228281 Centerline is valid? [True, True] Translation: X:418.46, Y:61.59, Z:0.21 [[ 7.15527623e-01 -6.98564129e-01 -5.32715403e-03 4.18455761e+02] [ 6.98545094e-01 7.15547453e-01 -5.15700296e-03 6.15861964e+01] [ 7.41432878e-03 -3.12792387e-05 9.99972513e-01 2.08456893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.494012739 meters Centerline goodness [0,1] 0.9972847415201205 Centerline is valid? [True, True] Translation: X:418.48, Y:61.60, Z:0.21 [[ 7.14218440e-01 -6.99905122e-01 -4.98408530e-03 4.18478762e+02] [ 6.99888481e-01 7.14235829e-01 -4.82653612e-03 6.16012731e+01] [ 6.93792964e-03 -4.11027949e-05 9.99975931e-01 2.09949000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.524012739 meters Centerline goodness [0,1] 0.9970050272756444 Centerline is valid? [True, True] Translation: X:418.50, Y:61.62, Z:0.21 [[ 7.12854014e-01 -7.01292686e-01 -5.26529824e-03 4.18500318e+02] [ 7.01274136e-01 7.12873457e-01 -5.10099640e-03 6.16187856e+01] [ 7.33078283e-03 -5.61517077e-05 9.99973128e-01 2.09734671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.554012739 meters Centerline goodness [0,1] 0.9968251244207997 Centerline is valid? [True, True] Translation: X:418.53, Y:61.63, Z:0.21 [[ 7.10391957e-01 -7.03778595e-01 -6.24153784e-03 4.18526451e+02] [ 7.03752602e-01 7.10419370e-01 -6.04936265e-03 6.16328544e+01] [ 8.69152132e-03 -9.50799195e-05 9.99962223e-01 2.07258184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.584012739 meters Centerline goodness [0,1] 0.9966453708254097 Centerline is valid? [True, True] Translation: X:418.55, Y:61.65, Z:0.21 [[ 7.09498735e-01 -7.04679526e-01 -6.18950744e-03 4.18548664e+02] [ 7.04653981e-01 7.09525725e-01 -6.00099996e-03 6.16481588e+01] [ 8.62039656e-03 -1.03759180e-04 9.99962838e-01 2.07141039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.614012739 meters Centerline goodness [0,1] 0.9962803445575568 Centerline is valid? [True, True] Translation: X:418.57, Y:61.67, Z:0.21 [[ 7.08811672e-01 -7.05373841e-01 -5.81019539e-03 4.18571257e+02] [ 7.05351338e-01 7.08835477e-01 -5.63528965e-03 6.16651087e+01] [ 8.09345853e-03 -1.03870009e-04 9.99967242e-01 2.08246079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.644012739 meters Centerline goodness [0,1] 0.9959596396084955 Centerline is valid? [True, True] Translation: X:418.59, Y:61.68, Z:0.21 [[ 7.08260023e-01 -7.05927143e-01 -5.88295091e-03 4.18593580e+02] [ 7.05904075e-01 7.08284446e-01 -5.70794362e-03 6.16810930e+01] [ 8.19619496e-03 -1.10090739e-04 9.99966405e-01 2.08034695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.674012739 meters Centerline goodness [0,1] 0.9961102727060174 Centerline is valid? [True, True] Translation: X:418.61, Y:61.70, Z:0.21 [[ 7.08634376e-01 -7.05546174e-01 -6.47436665e-03 4.18614004e+02] [ 7.05518201e-01 7.08663942e-01 -6.28365095e-03 6.16997081e+01] [ 9.02155608e-03 -1.14972441e-04 9.99959298e-01 2.07044888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.704012739 meters Centerline goodness [0,1] 0.9968746013522133 Centerline is valid? [True, True] Translation: X:418.63, Y:61.72, Z:0.20 [[ 7.09137999e-01 -7.05033093e-01 -7.18584623e-03 4.18634438e+02] [ 7.04998582e-01 7.09174396e-01 -6.97675408e-03 6.17175293e+01] [ 1.00148607e-02 -1.18529978e-04 9.99949843e-01 2.04513424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.734012739 meters Centerline goodness [0,1] 0.9977436246753799 Centerline is valid? [True, True] Translation: X:418.66, Y:61.74, Z:0.20 [[ 7.10691053e-01 -7.03452053e-01 -8.56950722e-03 4.18655034e+02] [ 7.03402824e-01 7.10742707e-01 -8.32288196e-03 6.17363523e+01] [ 1.19454632e-02 -1.12817842e-04 9.99928644e-01 2.00402915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.764012739 meters Centerline goodness [0,1] 0.9977011983567825 Centerline is valid? [True, True] Translation: X:418.67, Y:61.76, Z:0.20 [[ 7.11543499e-01 -7.02589703e-01 -8.57654512e-03 4.18673652e+02] [ 7.02540295e-01 7.11595179e-01 -8.33271575e-03 6.17560449e+01] [ 1.19575085e-02 -9.62788211e-05 9.99928502e-01 2.00663255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.794012739 meters Centerline goodness [0,1] 0.997528688700735 Centerline is valid? [True, True] Translation: X:418.69, Y:61.78, Z:0.20 [[ 7.12946937e-01 -7.01178417e-01 -7.44937061e-03 4.18692669e+02] [ 7.01141041e-01 7.12985851e-01 -7.23995387e-03 6.17752727e+01] [ 1.03877952e-02 -6.13565282e-05 9.99946044e-01 2.04281334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.824012739 meters Centerline goodness [0,1] 0.9976877622677057 Centerline is valid? [True, True] Translation: X:418.71, Y:61.79, Z:0.20 [[ 7.12889758e-01 -7.01235322e-01 -7.56415687e-03 4.18713395e+02] [ 7.01196760e-01 7.12929884e-01 -7.35422775e-03 6.17927005e+01] [ 1.05497577e-02 -6.12086384e-05 9.99944348e-01 2.04149225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.854012739 meters Centerline goodness [0,1] 0.9977855653258229 Centerline is valid? [True, True] Translation: X:418.73, Y:61.81, Z:0.20 [[ 7.12477498e-01 -7.01647791e-01 -8.13591302e-03 4.18734652e+02] [ 7.01603168e-01 7.12523945e-01 -7.91340059e-03 6.18093637e+01] [ 1.13494529e-02 -7.00625002e-05 9.99935590e-01 2.02707713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.884012739 meters Centerline goodness [0,1] 0.9977348007265734 Centerline is valid? [True, True] Translation: X:418.76, Y:61.83, Z:0.20 [[ 7.11714058e-01 -7.02415900e-01 -8.66048189e-03 4.18756530e+02] [ 7.02365352e-01 7.11766743e-01 -8.42707606e-03 6.18259455e+01] [ 1.20835552e-02 -8.51539072e-05 9.99926988e-01 2.00802454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.914012739 meters Centerline goodness [0,1] 0.9976261896027104 Centerline is valid? [True, True] Translation: X:418.78, Y:61.84, Z:0.20 [[ 7.09991618e-01 -7.04145884e-01 -9.51190001e-03 4.18782722e+02] [ 7.04085019e-01 7.10055321e-01 -9.25887852e-03 6.18375670e+01] [ 1.32735764e-02 -1.23460160e-04 9.99911895e-01 1.98235576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.944012739 meters Centerline goodness [0,1] 0.9976101278904534 Centerline is valid? [True, True] Translation: X:418.81, Y:61.85, Z:0.20 [[ 7.09573482e-01 -7.04572639e-01 -9.10328517e-03 4.18805576e+02] [ 7.04516893e-01 7.09631863e-01 -8.86376553e-03 6.18529851e+01] [ 1.27051479e-02 -1.23925212e-04 9.99919279e-01 1.99672130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.974012739 meters Centerline goodness [0,1] 0.9972781825975139 Centerline is valid? [True, True] Translation: X:418.83, Y:61.87, Z:0.21 [[ 7.09697882e-01 -7.04469688e-01 -7.16764734e-03 4.18828132e+02] [ 7.04435101e-01 7.09734069e-01 -6.98133237e-03 6.18674668e+01] [ 1.00052606e-02 -9.45055850e-05 9.99949942e-01 2.06542961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.004012739 meters Centerline goodness [0,1] 0.9970613470613471 Centerline is valid? [True, True] Translation: X:418.85, Y:61.89, Z:0.21 [[ 7.10196950e-01 -7.03970138e-01 -6.80710592e-03 4.18847409e+02] [ 7.03938896e-01 7.10229567e-01 -6.63272535e-03 6.18859808e+01] [ 9.50384847e-03 -8.12453077e-05 9.99954834e-01 2.07519322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.034012739 meters Centerline goodness [0,1] 0.9973719923313875 Centerline is valid? [True, True] Translation: X:418.87, Y:61.90, Z:0.21 [[ 7.10958584e-01 -7.03197399e-01 -7.16309230e-03 4.18866857e+02] [ 7.03162736e-01 7.10994664e-01 -6.98238422e-03 6.19047758e+01] [ 1.00029148e-02 -7.26335805e-05 9.99949967e-01 2.07018468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.064012739 meters Centerline goodness [0,1] 0.998358348968105 Centerline is valid? [True, True] Translation: X:418.89, Y:61.92, Z:0.21 [[ 7.12277896e-01 -7.01853527e-01 -7.86296684e-03 4.18885958e+02] [ 7.01811643e-01 7.12321293e-01 -7.66773834e-03 6.19246026e+01] [ 1.09825879e-02 -5.67611466e-05 9.99939688e-01 2.05464772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.094012739 meters Centerline goodness [0,1] 0.999043753585924 Centerline is valid? [True, True] Translation: X:418.90, Y:61.94, Z:0.21 [[ 7.15458985e-01 -6.98613576e-01 -7.58371059e-03 4.18903345e+02] [ 6.98574402e-01 7.15499176e-01 -7.39820211e-03 6.19445921e+01] [ 1.05946231e-02 -4.67591878e-06 9.99943875e-01 2.06893900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.124012739 meters Centerline goodness [0,1] 0.998704773229149 Centerline is valid? [True, True] Translation: X:418.92, Y:61.96, Z:0.21 [[ 7.16994545e-01 -6.97044421e-01 -6.92080900e-03 4.18921051e+02] [ 6.97011699e-01 7.17027946e-01 -6.75401839e-03 6.19648048e+01] [ 9.67026429e-03 1.87095081e-05 9.99953242e-01 2.09159583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.154012739 meters Centerline goodness [0,1] 0.9982192280460855 Centerline is valid? [True, True] Translation: X:418.94, Y:61.99, Z:0.21 [[ 7.20185559e-01 -6.93757130e-01 -5.81420938e-03 4.18938734e+02] [ 6.93733913e-01 7.20209026e-01 -5.67594559e-03 6.19866485e+01] [ 8.12517380e-03 5.42198231e-05 9.99966989e-01 2.13018169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.184012739 meters Centerline goodness [0,1] 0.997534118447345 Centerline is valid? [True, True] Translation: X:418.95, Y:62.01, Z:0.21 [[ 7.22091012e-01 -6.91772628e-01 -5.93307963e-03 4.18953542e+02] [ 6.91748367e-01 7.22115382e-01 -5.79413300e-03 6.20106828e+01] [ 8.29259068e-03 7.96932146e-05 9.99965613e-01 2.13277530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.214012739 meters Centerline goodness [0,1] 0.9974984498941651 Centerline is valid? [True, True] Translation: X:418.97, Y:62.03, Z:0.21 [[ 7.24284696e-01 -6.89475557e-01 -5.92748462e-03 4.18973112e+02] [ 6.89451248e-01 7.24308943e-01 -5.79067883e-03 6.20312032e+01] [ 8.28586163e-03 1.07388391e-04 9.99965666e-01 2.13951867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.244012739 meters Centerline goodness [0,1] 0.9945027808198587 Centerline is valid? [True, True] Translation: X:418.98, Y:62.06, Z:0.21 [[ 7.28804907e-01 -6.84694956e-01 -6.01878285e-03 4.18979981e+02] [ 6.84669710e-01 7.28829740e-01 -5.88198120e-03 6.20634399e+01] [ 8.41403080e-03 1.65938451e-04 9.99964588e-01 2.13677389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.274012739 meters Centerline goodness [0,1] 0.9945027808198587 Centerline is valid? [True, True] Translation: X:419.00, Y:62.08, Z:0.21 [[ 7.28677136e-01 -6.84830942e-01 -6.01765690e-03 4.18998850e+02] [ 6.84805692e-01 7.28701965e-01 -5.88313291e-03 6.20822623e+01] [ 8.41402986e-03 1.65978741e-04 9.99964588e-01 2.13890280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.304012739 meters Centerline goodness [0,1] 0.9933324839682337 Centerline is valid? [True, True] Translation: X:419.01, Y:62.11, Z:0.21 [[ 7.30641786e-01 -6.82734686e-01 -5.99410447e-03 4.19013963e+02] [ 6.82709544e-01 7.30666348e-01 -5.86227628e-03 6.21071017e+01] [ 8.38206978e-03 1.90991688e-04 9.99964852e-01 2.13927750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.334012739 meters Centerline goodness [0,1] 0.9911884896986208 Centerline is valid? [True, True] Translation: X:419.03, Y:62.13, Z:0.22 [[ 7.33294558e-01 -6.79889765e-01 -5.38503425e-03 4.19027238e+02] [ 6.79869384e-01 7.33314303e-01 -5.26819837e-03 6.21329112e+01] [ 7.53071679e-03 2.02021279e-04 9.99971623e-01 2.16262192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.364012739 meters Centerline goodness [0,1] 0.9909619934772878 Centerline is valid? [True, True] Translation: X:419.04, Y:62.15, Z:0.22 [[ 7.33957939e-01 -6.79174459e-01 -5.27248387e-03 4.19044067e+02] [ 6.79154893e-01 7.33976847e-01 -5.15931733e-03 6.21548768e+01] [ 7.37395765e-03 2.05888695e-04 9.99972791e-01 2.17046480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.394012739 meters Centerline goodness [0,1] 0.993028809949007 Centerline is valid? [True, True] Translation: X:419.07, Y:62.17, Z:0.22 [[ 7.34088480e-01 -6.79030819e-01 -5.59027498e-03 4.19068721e+02] [ 6.79008804e-01 7.34109732e-01 -5.47233680e-03 6.21704709e+01] [ 7.81976061e-03 2.21333476e-04 9.99969401e-01 2.16775676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.424012739 meters Centerline goodness [0,1] 0.9933534226667522 Centerline is valid? [True, True] Translation: X:419.09, Y:62.19, Z:0.22 [[ 7.33802298e-01 -6.79336584e-01 -5.99941782e-03 4.19086347e+02] [ 6.79311220e-01 7.33826785e-01 -5.87508424e-03 6.21917548e+01] [ 8.39369315e-03 2.35678479e-04 9.99964745e-01 2.15451645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.454012739 meters Centerline goodness [0,1] 0.9954302632425822 Centerline is valid? [True, True] Translation: X:419.11, Y:62.21, Z:0.21 [[ 7.31324430e-01 -6.81995505e-01 -6.83443667e-03 4.19105990e+02] [ 6.81962678e-01 7.31356326e-01 -6.69554149e-03 6.22106298e+01] [ 9.56473769e-03 2.35782331e-04 9.99954229e-01 2.13138648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.484012739 meters Centerline goodness [0,1] 0.9956742243436754 Centerline is valid? [True, True] Translation: X:419.13, Y:62.23, Z:0.21 [[ 7.29787687e-01 -6.83635806e-01 -7.21222709e-03 4.19126478e+02] [ 6.83599304e-01 7.29823289e-01 -7.06815135e-03 6.22285510e+01] [ 1.00956926e-02 2.27976410e-04 9.99949011e-01 2.11757448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.514012739 meters Centerline goodness [0,1] 0.9961127723195216 Centerline is valid? [True, True] Translation: X:419.15, Y:62.25, Z:0.21 [[ 7.28122153e-01 -6.85405831e-01 -7.54838360e-03 4.19148769e+02] [ 6.85365921e-01 7.28161247e-01 -7.39949328e-03 6.22463451e+01] [ 1.05680963e-02 2.14330091e-04 9.99944133e-01 2.11425069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.544012739 meters Centerline goodness [0,1] 0.9963849016480596 Centerline is valid? [True, True] Translation: X:419.17, Y:62.26, Z:0.21 [[ 7.25842808e-01 -6.87830365e-01 -6.45036102e-03 4.19170365e+02] [ 6.87801301e-01 7.25871452e-01 -6.32494774e-03 6.22628614e+01] [ 9.03262403e-03 1.54351131e-04 9.99959193e-01 2.14838266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.574012739 meters Centerline goodness [0,1] 0.9967276641550054 Centerline is valid? [True, True] Translation: X:419.19, Y:62.28, Z:0.22 [[ 7.25031675e-01 -6.88689956e-01 -5.93431014e-03 4.19190842e+02] [ 6.88665376e-01 7.25055948e-01 -5.81998608e-03 6.22822876e+01] [ 8.31087282e-03 1.32920332e-04 9.99965455e-01 2.16417730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.604012739 meters Centerline goodness [0,1] 0.9965524625267665 Centerline is valid? [True, True] Translation: X:419.21, Y:62.30, Z:0.21 [[ 7.24225735e-01 -6.89531734e-01 -6.56291697e-03 4.19211834e+02] [ 6.89501683e-01 7.24255458e-01 -6.43903359e-03 6.23014631e+01] [ 9.19314644e-03 1.38171538e-04 9.99957733e-01 2.14722115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.634012739 meters Centerline goodness [0,1] 0.997083109919571 Centerline is valid? [True, True] Translation: X:419.23, Y:62.32, Z:0.21 [[ 7.23876480e-01 -6.89890829e-01 -7.31343924e-03 4.19230130e+02] [ 6.89853499e-01 7.23913407e-01 -7.17831662e-03 6.23213860e+01] [ 1.02465515e-02 1.51012915e-04 9.99947491e-01 2.13356744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.664012739 meters Centerline goodness [0,1] 0.9969960949234005 Centerline is valid? [True, True] Translation: X:419.25, Y:62.34, Z:0.21 [[ 7.23769522e-01 -6.89998520e-01 -7.72797450e-03 4.19248469e+02] [ 6.89956811e-01 7.23810760e-01 -7.58826869e-03 6.23417322e+01] [ 1.08294853e-02 1.60188957e-04 9.99941347e-01 2.12322903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.694012739 meters Centerline goodness [0,1] 0.997302447065876 Centerline is valid? [True, True] Translation: X:419.27, Y:62.36, Z:0.21 [[ 7.23466804e-01 -6.90319069e-01 -7.44081589e-03 4.19270396e+02] [ 6.90280391e-01 7.23505052e-01 -7.30901184e-03 6.23600103e+01] [ 1.04290181e-02 1.51578140e-04 9.99945605e-01 2.13940531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.724012739 meters Centerline goodness [0,1] 0.9968104463234507 Centerline is valid? [True, True] Translation: X:419.29, Y:62.38, Z:0.22 [[ 7.23121773e-01 -6.90685781e-01 -6.93204731e-03 4.19289636e+02] [ 6.90652206e-01 7.23154986e-01 -6.81156695e-03 6.23785932e+01] [ 9.71759701e-03 1.37958609e-04 9.99952774e-01 2.15242864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.754012739 meters Centerline goodness [0,1] 0.9967866187142219 Centerline is valid? [True, True] Translation: X:419.31, Y:62.40, Z:0.22 [[ 7.22498429e-01 -6.91341548e-01 -6.54855322e-03 4.19309220e+02] [ 6.91311597e-01 7.22528095e-01 -6.43643072e-03 6.23971168e+01] [ 9.18128566e-03 1.23220303e-04 9.99957844e-01 2.16730924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.784012739 meters Centerline goodness [0,1] 0.996485284776625 Centerline is valid? [True, True] Translation: X:419.33, Y:62.42, Z:0.22 [[ 7.21807592e-01 -6.92066735e-01 -6.11844132e-03 4.19328269e+02] [ 6.92040601e-01 7.21833515e-01 -6.01527439e-03 6.24168438e+01] [ 8.57946731e-03 1.07660919e-04 9.99963190e-01 2.17959585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.814012739 meters Centerline goodness [0,1] 0.9961086129367 Centerline is valid? [True, True] Translation: X:419.35, Y:62.43, Z:0.22 [[ 7.20260512e-01 -6.93681674e-01 -5.52540558e-03 4.19350936e+02] [ 6.93660394e-01 7.20281700e-01 -5.43410334e-03 6.24341133e+01] [ 7.74938643e-03 8.12150402e-05 9.99969970e-01 2.19468942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.844012739 meters Centerline goodness [0,1] 0.9967726666379793 Centerline is valid? [True, True] Translation: X:419.37, Y:62.45, Z:0.22 [[ 7.19191258e-01 -6.94788293e-01 -5.75867261e-03 4.19374126e+02] [ 6.94765197e-01 7.19214309e-01 -5.66557069e-03 6.24504186e+01] [ 8.07809193e-03 7.37036042e-05 9.99967369e-01 2.19452421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.874012739 meters Centerline goodness [0,1] 0.9971734602796787 Centerline is valid? [True, True] Translation: X:419.40, Y:62.47, Z:0.22 [[ 7.17262867e-01 -6.96771492e-01 -6.59294201e-03 4.19396084e+02] [ 6.96741277e-01 7.17293165e-01 -6.48914999e-03 6.24659889e+01] [ 9.25052696e-03 6.08514924e-05 9.99957211e-01 2.18053628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.904012739 meters Centerline goodness [0,1] 0.9968425122433199 Centerline is valid? [True, True] Translation: X:419.42, Y:62.48, Z:0.22 [[ 7.16749217e-01 -6.97296710e-01 -6.91795008e-03 4.19418228e+02] [ 6.97263440e-01 7.16782599e-01 -6.81183625e-03 6.24840289e+01] [ 9.70853725e-03 5.87446344e-05 9.99952869e-01 2.17559931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.934012739 meters Centerline goodness [0,1] 0.9964163090128756 Centerline is valid? [True, True] Translation: X:419.44, Y:62.50, Z:0.22 [[ 7.16727632e-01 -6.97318783e-01 -6.92932531e-03 4.19437297e+02] [ 6.97285378e-01 7.16761125e-01 -6.82568616e-03 6.25028177e+01] [ 9.72635018e-03 6.04406582e-05 9.99952696e-01 2.17838673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.964012739 meters Centerline goodness [0,1] 0.9963397246281203 Centerline is valid? [True, True] Translation: X:419.46, Y:62.52, Z:0.22 [[ 7.18137302e-01 -6.95864371e-01 -7.18280898e-03 4.19455461e+02] [ 6.95828376e-01 7.18173217e-01 -7.07821828e-03 6.25228881e+01] [ 1.00839809e-02 8.51302644e-05 9.99949152e-01 2.17817145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.994012739 meters Centerline goodness [0,1] 0.9961061189559264 Centerline is valid? [True, True] Translation: X:419.47, Y:62.54, Z:0.22 [[ 7.19237446e-01 -6.94726873e-01 -7.21584838e-03 4.19474089e+02] [ 6.94690465e-01 7.19273634e-01 -7.11311908e-03 6.25435924e+01] [ 1.01318445e-02 1.03240533e-04 9.99948666e-01 2.18139578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.024012739 meters Centerline goodness [0,1] 0.9949756232569031 Centerline is valid? [True, True] Translation: X:419.49, Y:62.57, Z:0.22 [[ 7.23480190e-01 -6.90310421e-01 -6.92358455e-03 4.19487087e+02] [ 6.90276678e-01 7.23513301e-01 -6.82724868e-03 6.25692744e+01] [ 9.72222642e-03 1.60190236e-04 9.99952725e-01 2.19533258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.054012739 meters Centerline goodness [0,1] 0.9944240676744334 Centerline is valid? [True, True] Translation: X:419.50, Y:62.59, Z:0.22 [[ 7.25926185e-01 -6.87739761e-01 -6.72276770e-03 4.19500890e+02] [ 6.87707815e-01 7.25957289e-01 -6.63148566e-03 6.25946172e+01] [ 9.44117857e-03 1.90669200e-04 9.99955413e-01 2.20384562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.084012739 meters Centerline goodness [0,1] 0.9935393970103876 Centerline is valid? [True, True] Translation: X:419.52, Y:62.62, Z:0.22 [[ 7.28461751e-01 -6.85051336e-01 -6.93860573e-03 4.19516387e+02] [ 6.85017166e-01 7.28494758e-01 -6.84612958e-03 6.26182586e+01] [ 9.74468812e-03 2.34079507e-04 9.99952492e-01 2.20586539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.114012739 meters Centerline goodness [0,1] 0.9926708709732401 Centerline is valid? [True, True] Translation: X:419.53, Y:62.65, Z:0.22 [[ 7.33402677e-01 -6.79755001e-01 -7.32478026e-03 4.19528205e+02] [ 6.79716628e-01 7.33439182e-01 -7.22991827e-03 6.26456119e+01] [ 1.02868539e-02 3.23666469e-04 9.99947037e-01 2.19055256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.144012739 meters Centerline goodness [0,1] 0.989967616991555 Centerline is valid? [True, True] Translation: X:419.54, Y:62.67, Z:0.22 [[ 7.35558197e-01 -6.77417910e-01 -7.68864693e-03 4.19539133e+02] [ 6.77375470e-01 7.35598283e-01 -7.59201962e-03 6.26739708e+01] [ 1.07987255e-02 3.76271433e-04 9.99941621e-01 2.17870633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.174012739 meters Centerline goodness [0,1] 0.9894281900807186 Centerline is valid? [True, True] Translation: X:419.55, Y:62.70, Z:0.22 [[ 7.39087142e-01 -6.73555833e-01 -8.52849554e-03 4.19554169e+02] [ 6.73503323e-01 7.39136190e-01 -8.42415889e-03 6.26982699e+01] [ 1.19778611e-02 4.82217434e-04 9.99928147e-01 2.16315932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.204012739 meters Centerline goodness [0,1] 0.9880942147339465 Centerline is valid? [True, True] Translation: X:419.57, Y:62.72, Z:0.22 [[ 7.40114802e-01 -6.72423727e-01 -8.74136365e-03 4.19571157e+02] [ 6.72368455e-01 7.40166243e-01 -8.63682733e-03 6.27216769e+01] [ 1.22776699e-02 5.14826582e-04 9.99924494e-01 2.16188595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.234012739 meters Centerline goodness [0,1] 0.988200149365198 Centerline is valid? [True, True] Translation: X:419.59, Y:62.74, Z:0.22 [[ 7.40668537e-01 -6.71815666e-01 -8.59235455e-03 4.19588800e+02] [ 6.71762190e-01 7.40718194e-01 -8.49221110e-03 6.27440967e+01] [ 1.20697138e-02 5.17894668e-04 9.99927024e-01 2.16004483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.264012739 meters Centerline goodness [0,1] 0.986878676232952 Centerline is valid? [True, True] Translation: X:419.61, Y:62.77, Z:0.22 [[ 7.40752523e-01 -6.71731043e-01 -7.94395549e-03 4.19606273e+02] [ 6.71685305e-01 7.40794961e-01 -7.85344982e-03 6.27668521e+01] [ 1.11602482e-02 4.81624598e-04 9.99937607e-01 2.17207885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.294012739 meters Centerline goodness [0,1] 0.9746362101754311 Centerline is valid? [True, True] Translation: X:419.61, Y:62.80, Z:0.22 [[ 7.41117306e-01 -6.71343896e-01 -6.52010913e-03 4.19612910e+02] [ 6.71313053e-01 7.41145878e-01 -6.44763299e-03 6.27996905e+01] [ 9.16093106e-03 4.01418031e-04 9.99957957e-01 2.21580566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.324012739 meters Centerline goodness [0,1] 0.9864264033175153 Centerline is valid? [True, True] Translation: X:419.64, Y:62.82, Z:0.22 [[ 7.41607040e-01 -6.70804461e-01 -6.35405782e-03 4.19636404e+02] [ 6.70775138e-01 7.41634153e-01 -6.28464648e-03 6.28168250e+01] [ 8.92815518e-03 3.98594063e-04 9.99960064e-01 2.22676618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.354012739 meters Centerline goodness [0,1] 0.9811252577210025 Centerline is valid? [True, True] Translation: X:419.64, Y:62.85, Z:0.22 [[ 7.43765875e-01 -6.68402692e-01 -7.08265244e-03 4.19643765e+02] [ 6.68366128e-01 7.43799444e-01 -7.00763274e-03 6.28485019e+01] [ 9.95199353e-03 4.78233116e-04 9.99950363e-01 2.21732920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.384012739 meters Centerline goodness [0,1] 0.976958724000431 Centerline is valid? [True, True] Translation: X:419.66, Y:62.87, Z:0.22 [[ 7.44988551e-01 -6.67036965e-01 -7.33115277e-03 4.19658396e+02] [ 6.66997705e-01 7.45024443e-01 -7.25539149e-03 6.28748189e+01] [ 1.03015023e-02 5.15321527e-04 9.99946805e-01 2.20416142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.414012739 meters Centerline goodness [0,1] 0.9725568799710003 Centerline is valid? [True, True] Translation: X:419.67, Y:62.90, Z:0.22 [[ 7.45870715e-01 -6.66050132e-01 -7.35509339e-03 4.19673403e+02] [ 6.66010543e-01 7.45906789e-01 -7.28142925e-03 6.29009128e+01] [ 1.03360110e-02 5.32435101e-04 9.99946440e-01 2.20394362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.444012739 meters Centerline goodness [0,1] 0.9667192227383133 Centerline is valid? [True, True] Translation: X:419.69, Y:62.93, Z:0.22 [[ 7.45899400e-01 -6.66021541e-01 -7.02787227e-03 4.19687164e+02] [ 6.65985374e-01 7.45932333e-01 -6.95963879e-03 6.29250352e+01] [ 9.87758652e-03 5.10730257e-04 9.99951085e-01 2.21665402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.474012739 meters Centerline goodness [0,1] 0.9810222402285861 Centerline is valid? [True, True] Translation: X:419.70, Y:62.95, Z:0.23 [[ 7.43427877e-01 -6.68794349e-01 -5.39535734e-03 4.19704450e+02] [ 6.68773095e-01 7.43447366e-01 -5.34428229e-03 6.29481052e+01] [ 7.58539000e-03 3.64818613e-04 9.99971164e-01 2.25727591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.504012739 meters Centerline goodness [0,1] 0.9849895375154802 Centerline is valid? [True, True] Translation: X:419.73, Y:62.97, Z:0.23 [[ 7.40914764e-01 -6.71581124e-01 -4.90987523e-03 4.19725405e+02] [ 6.71563573e-01 7.40930969e-01 -4.86488847e-03 6.29672614e+01] [ 6.90504588e-03 3.07174338e-04 9.99976113e-01 2.27078889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.534012739 meters Centerline goodness [0,1] 0.9885988210144458 Centerline is valid? [True, True] Translation: X:419.75, Y:62.98, Z:0.23 [[ 7.38134712e-01 -6.74636033e-01 -4.83424175e-03 4.19753715e+02] [ 6.74619073e-01 7.38150491e-01 -4.79155009e-03 6.29792456e+01] [ 6.80095026e-03 2.75537760e-04 9.99976835e-01 2.26766164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.564012739 meters Centerline goodness [0,1] 0.9898987732692802 Centerline is valid? [True, True] Translation: X:419.77, Y:63.00, Z:0.23 [[ 7.32406038e-01 -6.80845740e-01 -5.52039360e-03 4.19771475e+02] [ 6.80823781e-01 7.32426799e-01 -5.47385519e-03 6.30008769e+01] [ 7.77013520e-03 2.50669340e-04 9.99969781e-01 2.25321007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.594012739 meters Centerline goodness [0,1] 0.9919312970494073 Centerline is valid? [True, True] Translation: X:419.79, Y:63.02, Z:0.23 [[ 7.29544996e-01 -6.83908431e-01 -5.77546904e-03 4.19794286e+02] [ 6.83884483e-01 7.29567821e-01 -5.72782810e-03 6.30183332e+01] [ 8.13090630e-03 2.28954669e-04 9.99966917e-01 2.25184079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.624012739 meters Centerline goodness [0,1] 0.9937590429092794 Centerline is valid? [True, True] Translation: X:419.82, Y:63.04, Z:0.23 [[ 7.26901025e-01 -6.86716359e-01 -5.96169599e-03 4.19817172e+02] [ 6.86690925e-01 7.26925443e-01 -5.91384186e-03 6.30351166e+01] [ 8.39484046e-03 2.04935174e-04 9.99964742e-01 2.25400482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.654012739 meters Centerline goodness [0,1] 0.9947439266713672 Centerline is valid? [True, True] Translation: X:419.84, Y:63.05, Z:0.22 [[ 7.22360837e-01 -6.91488804e-01 -6.16891150e-03 4.19839587e+02] [ 6.91461723e-01 7.22387161e-01 -6.12173684e-03 6.30519554e+01] [ 8.68945494e-03 1.56536775e-04 9.99962234e-01 2.24967073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.684012739 meters Centerline goodness [0,1] 0.9954160714666439 Centerline is valid? [True, True] Translation: X:419.86, Y:63.07, Z:0.23 [[ 7.20371032e-01 -6.93559548e-01 -6.38196380e-03 4.19864683e+02] [ 6.93530624e-01 7.20399288e-01 -6.33551211e-03 6.30676670e+01] [ 8.99161709e-03 1.37832061e-04 9.99959565e-01 2.25109820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.714012739 meters Centerline goodness [0,1] 0.995491452991453 Centerline is valid? [True, True] Translation: X:419.89, Y:63.08, Z:0.22 [[ 7.16404006e-01 -6.97652295e-01 -6.82460718e-03 4.19887470e+02] [ 6.97619383e-01 7.16436505e-01 -6.77722549e-03 6.30833026e+01] [ 9.61754464e-03 9.42532490e-05 9.99953746e-01 2.23887034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.744012739 meters Centerline goodness [0,1] 0.9953155608551231 Centerline is valid? [True, True] Translation: X:419.91, Y:63.10, Z:0.22 [[ 7.14464954e-01 -6.99634756e-01 -7.14414892e-03 4.19910052e+02] [ 6.99598768e-01 7.14500667e-01 -7.09646276e-03 6.30997538e+01] [ 1.00694312e-02 7.21361522e-05 9.99949299e-01 2.23377095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.774012739 meters Centerline goodness [0,1] 0.9948047487172882 Centerline is valid? [True, True] Translation: X:419.93, Y:63.12, Z:0.22 [[ 7.12400173e-01 -7.01737779e-01 -7.07695483e-03 4.19933730e+02] [ 7.01702544e-01 7.12435322e-01 -7.03226139e-03 6.31154474e+01] [ 9.97667608e-03 4.38670245e-05 9.99950231e-01 2.23494363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.804012739 meters Centerline goodness [0,1] 0.9946561486099624 Centerline is valid? [True, True] Translation: X:419.96, Y:63.13, Z:0.22 [[ 7.08490713e-01 -7.05682165e-01 -7.32061582e-03 4.19960081e+02] [ 7.05644642e-01 7.08528533e-01 -7.27713653e-03 6.31265545e+01] [ 1.03222106e-02 -9.96967686e-06 9.99946725e-01 2.22858432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.834012739 meters Centerline goodness [0,1] 0.9948624247635426 Centerline is valid? [True, True] Translation: X:419.98, Y:63.14, Z:0.22 [[ 7.06673472e-01 -7.07499597e-01 -7.54485205e-03 4.19983167e+02] [ 7.07459812e-01 7.06713747e-01 -7.50301458e-03 6.31436949e+01] [ 1.06404304e-02 -3.54982425e-05 9.99943388e-01 2.23557952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.864012739 meters Centerline goodness [0,1] 0.9944272577022503 Centerline is valid? [True, True] Translation: X:420.01, Y:63.16, Z:0.22 [[ 7.05388168e-01 -7.08777699e-01 -7.85530745e-03 4.20006377e+02] [ 7.08734619e-01 7.05431903e-01 -7.81476000e-03 6.31588809e+01] [ 1.10803121e-02 -5.48890955e-05 9.99938610e-01 2.22542714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.894012739 meters Centerline goodness [0,1] 0.9947705694506954 Centerline is valid? [True, True] Translation: X:420.03, Y:63.18, Z:0.22 [[ 7.04594434e-01 -7.09562482e-01 -8.23206900e-03 4.20027473e+02] [ 7.09515189e-01 7.04642519e-01 -8.19256757e-03 6.31779652e+01] [ 1.16138044e-02 -6.83404758e-05 9.99932555e-01 2.23507860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.924012739 meters Centerline goodness [0,1] 0.9948947032546267 Centerline is valid? [True, True] Translation: X:420.05, Y:63.19, Z:0.22 [[ 7.04497398e-01 -7.09656376e-01 -8.44062398e-03 4.20049134e+02] [ 7.09606625e-01 7.04547957e-01 -8.40322929e-03 6.31938165e+01] [ 1.19102296e-02 -6.94695171e-05 9.99929068e-01 2.23857584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.954012739 meters Centerline goodness [0,1] 0.9948340436523312 Centerline is valid? [True, True] Translation: X:420.07, Y:63.21, Z:0.23 [[ 7.04883543e-01 -7.09281920e-01 -7.63866089e-03 4.20068877e+02] [ 7.09241126e-01 7.04924929e-01 -7.60729563e-03 6.32129898e+01] [ 1.07803997e-02 -5.53949579e-05 9.99941888e-01 2.27178518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.984012739 meters Centerline goodness [0,1] 0.9946317874869522 Centerline is valid? [True, True] Translation: X:420.09, Y:63.23, Z:0.23 [[ 7.05277481e-01 -7.08902737e-01 -6.37058342e-03 4.20088275e+02] [ 7.08874329e-01 7.05306251e-01 -6.34644899e-03 6.32315834e+01] [ 8.99222737e-03 -3.99354886e-05 9.99959568e-01 2.29697091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.014012739 meters Centerline goodness [0,1] 0.9950171418836907 Centerline is valid? [True, True] Translation: X:420.11, Y:63.25, Z:0.23 [[ 7.06558447e-01 -7.07640349e-01 -4.50518206e-03 4.20107226e+02] [ 7.07626109e-01 7.06572810e-01 -4.48923562e-03 6.32525219e+01] [ 6.36000341e-03 -1.60770998e-05 9.99979775e-01 2.34822708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.044012739 meters Centerline goodness [0,1] 0.9946903787103377 Centerline is valid? [True, True] Translation: X:420.13, Y:63.27, Z:0.24 [[ 7.07083670e-01 -7.07117548e-01 -4.17817388e-03 4.20126218e+02] [ 7.07105283e-01 7.07096014e-01 -4.16474631e-03 6.32717676e+01] [ 5.89933529e-03 -9.58471641e-06 9.99982599e-01 2.36514119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.074012739 meters Centerline goodness [0,1] 0.9948631596896581 Centerline is valid? [True, True] Translation: X:420.15, Y:63.29, Z:0.24 [[ 7.07152589e-01 -7.07048670e-01 -4.17066815e-03 4.20147975e+02] [ 7.07036438e-01 7.07164887e-01 -4.15893898e-03 6.32900129e+01] [ 5.88992234e-03 -7.80988913e-06 9.99982654e-01 2.35507197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.104012739 meters Centerline goodness [0,1] 0.9949607106252135 Centerline is valid? [True, True] Translation: X:420.17, Y:63.31, Z:0.24 [[ 7.07134113e-01 -7.07065319e-01 -4.46994550e-03 4.20168203e+02] [ 7.07051257e-01 7.07148241e-01 -4.45927978e-03 6.33075770e+01] [ 6.31391617e-03 -7.17173311e-06 9.99980067e-01 2.35113833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.134012739 meters Centerline goodness [0,1] 0.9948763739184047 Centerline is valid? [True, True] Translation: X:420.19, Y:63.33, Z:0.23 [[ 7.07231417e-01 -7.06966574e-01 -4.68896936e-03 4.20188501e+02] [ 7.06951090e-01 7.07246960e-01 -4.67901016e-03 6.33259626e+01] [ 6.62416311e-03 -5.72902227e-06 9.99978060e-01 2.34025985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.164012739 meters Centerline goodness [0,1] 0.9948763739184047 Centerline is valid? [True, True] Translation: X:420.21, Y:63.35, Z:0.23 [[ 7.07105857e-01 -7.07092164e-01 -4.68805570e-03 4.20207801e+02] [ 7.07076677e-01 7.07121398e-01 -4.67992537e-03 6.33455167e+01] [ 6.62416306e-03 -5.61221106e-06 9.99978060e-01 2.34245509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.194012739 meters Centerline goodness [0,1] 0.9947635099323708 Centerline is valid? [True, True] Translation: X:420.23, Y:63.37, Z:0.23 [[ 7.07490060e-01 -7.06703199e-01 -5.32950568e-03 4.20228162e+02] [ 7.06683156e-01 7.07510133e-01 -5.32242385e-03 6.33653520e+01] [ 7.53205323e-03 -7.09923798e-07 9.99971634e-01 2.33279707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.224012739 meters Centerline goodness [0,1] 0.9953262052628209 Centerline is valid? [True, True] Translation: X:420.25, Y:63.39, Z:0.23 [[ 7.09728016e-01 -7.04443894e-01 -6.70402947e-03 4.20246217e+02] [ 7.04412049e-01 7.09759678e-01 -6.69812132e-03 6.33875613e+01] [ 9.47670046e-03 3.14452164e-05 9.99955095e-01 2.29973003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.254012739 meters Centerline goodness [0,1] 0.9946567323044172 Centerline is valid? [True, True] Translation: X:420.26, Y:63.41, Z:0.23 [[ 7.11095560e-01 -7.03061405e-01 -6.91120616e-03 4.20263836e+02] [ 7.03027471e-01 7.11129143e-01 -6.90777044e-03 6.34091473e+01] [ 9.77134690e-03 5.33171011e-05 9.99952258e-01 2.28788142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.284012739 meters Centerline goodness [0,1] 0.9946133871279267 Centerline is valid? [True, True] Translation: X:420.28, Y:63.43, Z:0.23 [[ 7.13745770e-01 -7.00374214e-01 -6.55256230e-03 4.20279367e+02] [ 7.00343575e-01 7.13775842e-01 -6.55163398e-03 6.34330110e+01] [ 9.26565618e-03 8.71561325e-05 9.99957069e-01 2.30466068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.314012739 meters Centerline goodness [0,1] 0.9946445648708958 Centerline is valid? [True, True] Translation: X:420.30, Y:63.46, Z:0.23 [[ 7.14873178e-01 -6.99225359e-01 -6.34327467e-03 4.20295325e+02] [ 6.99196581e-01 7.14901313e-01 -6.34451583e-03 6.34557928e+01] [ 8.97106175e-03 1.00328229e-04 9.99959754e-01 2.31500060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.344012739 meters Centerline goodness [0,1] 0.9948176624259287 Centerline is valid? [True, True] Translation: X:420.31, Y:63.48, Z:0.23 [[ 7.15986660e-01 -6.98083319e-01 -6.54091289e-03 4.20313771e+02] [ 6.98052651e-01 7.16016526e-01 -6.54446113e-03 6.34767504e+01] [ 9.25198087e-03 1.19845277e-04 9.99957192e-01 2.31290684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.374012739 meters Centerline goodness [0,1] 0.9939163174576163 Centerline is valid? [True, True] Translation: X:420.33, Y:63.50, Z:0.23 [[ 7.17902465e-01 -6.96112259e-01 -6.61617375e-03 4.20327618e+02] [ 6.96080777e-01 7.17932936e-01 -6.62203477e-03 6.35013200e+01] [ 9.35964863e-03 1.48583717e-04 9.99956186e-01 2.30678229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.404012739 meters Centerline goodness [0,1] 0.9936653939604304 Centerline is valid? [True, True] Translation: X:420.35, Y:63.52, Z:0.23 [[ 7.18554574e-01 -6.95439431e-01 -6.58198244e-03 4.20347061e+02] [ 6.95408223e-01 7.18584702e-01 -6.59014301e-03 6.35224473e+01] [ 9.31275719e-03 1.58212695e-04 9.99956623e-01 2.31362731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.434012739 meters Centerline goodness [0,1] 0.9929625377386572 Centerline is valid? [True, True] Translation: X:420.36, Y:63.55, Z:0.23 [[ 7.19747304e-01 -6.94200663e-01 -7.01833990e-03 4.20360643e+02] [ 6.94165098e-01 7.19781498e-01 -7.02936803e-03 6.35477706e+01] [ 9.93146315e-03 1.87482086e-04 9.99950664e-01 2.30061598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.464012739 meters Centerline goodness [0,1] 0.9929893140149986 Centerline is valid? [True, True] Translation: X:420.38, Y:63.57, Z:0.23 [[ 7.20171569e-01 -6.93758734e-01 -7.19239921e-03 4.20379787e+02] [ 6.93721342e-01 7.20207456e-01 -7.20556402e-03 6.35688776e+01] [ 1.01789425e-02 1.99721508e-04 9.99948173e-01 2.30440640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.494012739 meters Centerline goodness [0,1] 0.992187167369183 Centerline is valid? [True, True] Translation: X:420.40, Y:63.59, Z:0.23 [[ 7.20115878e-01 -6.93819170e-01 -6.93414786e-03 4.20397115e+02] [ 6.93784395e-01 7.20149236e-01 -6.94922361e-03 6.35901876e+01] [ 9.81512584e-03 1.93442686e-04 9.99951812e-01 2.31511971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.524012739 meters Centerline goodness [0,1] 0.9920591107902671 Centerline is valid? [True, True] Translation: X:420.42, Y:63.61, Z:0.23 [[ 7.19547506e-01 -6.94412862e-01 -6.49338098e-03 4.20417133e+02] [ 6.94382372e-01 7.19576783e-01 -6.50960068e-03 6.36098613e+01] [ 9.19283664e-03 1.75077653e-04 9.99957730e-01 2.33000428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.554012739 meters Centerline goodness [0,1] 0.9920176339667865 Centerline is valid? [True, True] Translation: X:420.44, Y:63.62, Z:0.23 [[ 7.17449664e-01 -6.96580637e-01 -6.43398938e-03 4.20441488e+02] [ 6.96550768e-01 7.17478498e-01 -6.45238121e-03 6.36249585e+01] [ 9.11085284e-03 1.47658488e-04 9.99958484e-01 2.33014775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.584012739 meters Centerline goodness [0,1] 0.992486221150534 Centerline is valid? [True, True] Translation: X:420.46, Y:63.64, Z:0.23 [[ 7.16188300e-01 -6.97876304e-01 -6.55620908e-03 4.20462873e+02] [ 6.97845321e-01 7.16218295e-01 -6.57739074e-03 6.36413567e+01] [ 9.28588203e-03 1.35430461e-04 9.99956876e-01 2.32143426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.614012739 meters Centerline goodness [0,1] 0.9916899873961248 Centerline is valid? [True, True] Translation: X:420.49, Y:63.66, Z:0.23 [[ 7.14857318e-01 -6.99240238e-01 -6.48880651e-03 4.20485266e+02] [ 6.99209923e-01 7.14886757e-01 -6.51215486e-03 6.36569779e+01] [ 9.19232256e-03 1.18223652e-04 9.99957743e-01 2.32019682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.644012739 meters Centerline goodness [0,1] 0.9915909427887568 Centerline is valid? [True, True] Translation: X:420.51, Y:63.67, Z:0.24 [[ 7.12529289e-01 -7.01625179e-01 -4.91122728e-03 4.20512499e+02] [ 7.01607861e-01 7.12546211e-01 -4.93021065e-03 6.36696326e+01] [ 6.95863632e-03 6.71638196e-05 9.99975786e-01 2.36769964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.674012739 meters Centerline goodness [0,1] 0.9919580793498022 Centerline is valid? [True, True] Translation: X:420.53, Y:63.69, Z:0.24 [[ 7.11427375e-01 -7.02745499e-01 -4.45578907e-03 4.20534799e+02] [ 7.02731257e-01 7.11441327e-01 -4.47436032e-03 6.36874945e+01] [ 6.31436906e-03 5.19601642e-05 9.99980063e-01 2.38771020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.704012739 meters Centerline goodness [0,1] 0.9917876241405653 Centerline is valid? [True, True] Translation: X:420.56, Y:63.70, Z:0.24 [[ 7.10177487e-01 -7.04006128e-01 -4.82782317e-03 4.20557822e+02] [ 7.03989424e-01 7.10193896e-01 -4.84983864e-03 6.37021432e+01] [ 6.84300667e-03 4.55097691e-05 9.99976585e-01 2.37640762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.734012739 meters Centerline goodness [0,1] 0.9918076733363358 Centerline is valid? [True, True] Translation: X:420.58, Y:63.72, Z:0.24 [[ 7.09763226e-01 -7.04421957e-01 -5.08613104e-03 4.20580025e+02] [ 7.04403414e-01 7.09781448e-01 -5.11132464e-03 6.37200380e+01] [ 7.21057076e-03 4.51421923e-05 9.99974002e-01 2.37243181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.764012739 meters Centerline goodness [0,1] 0.9915955712682855 Centerline is valid? [True, True] Translation: X:420.60, Y:63.74, Z:0.24 [[ 7.09248645e-01 -7.04938328e-01 -5.32114997e-03 4.20601243e+02] [ 7.04918031e-01 7.09268604e-01 -5.34952633e-03 6.37372082e+01] [ 7.54521076e-03 4.31697401e-05 9.99971534e-01 2.36138528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.794012739 meters Centerline goodness [0,1] 0.991879499485773 Centerline is valid? [True, True] Translation: X:420.62, Y:63.76, Z:0.24 [[ 7.08923156e-01 -7.05264619e-01 -5.45682814e-03 4.20622963e+02] [ 7.05243267e-01 7.08944156e-01 -5.48807757e-03 6.37555249e+01] [ 7.73913336e-03 4.22339663e-05 9.99970052e-01 2.35773016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.824012739 meters Centerline goodness [0,1] 0.9920280612244898 Centerline is valid? [True, True] Translation: X:420.64, Y:63.77, Z:0.24 [[ 7.08155320e-01 -7.06032509e-01 -5.84288480e-03 4.20644321e+02] [ 7.06008036e-01 7.08179423e-01 -5.87868459e-03 6.37724065e+01] [ 8.28835321e-03 3.78981456e-05 9.99965650e-01 2.35867794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.854012739 meters Centerline goodness [0,1] 0.9928293295316722 Centerline is valid? [True, True] Translation: X:420.66, Y:63.79, Z:0.24 [[ 7.07946061e-01 -7.06239571e-01 -6.16788341e-03 4.20664124e+02] [ 7.06212286e-01 7.07972928e-01 -6.20809041e-03 6.37911618e+01] [ 8.75109358e-03 3.91581154e-05 9.99961708e-01 2.35440568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.884012739 meters Centerline goodness [0,1] 0.992706800588574 Centerline is valid? [True, True] Translation: X:420.68, Y:63.81, Z:0.23 [[ 7.08180559e-01 -7.05998677e-01 -6.79439872e-03 4.20682593e+02] [ 7.05965529e-01 7.08213150e-01 -6.84143940e-03 6.38114059e+01] [ 9.64192968e-03 4.83630956e-05 9.99953514e-01 2.33993295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.914012739 meters Centerline goodness [0,1] 0.9925217317197886 Centerline is valid? [True, True] Translation: X:420.70, Y:63.83, Z:0.23 [[ 7.09955768e-01 -7.04209704e-01 -7.17635313e-03 4.20698831e+02] [ 7.04172612e-01 7.09992032e-01 -7.22815027e-03 6.38345464e+01] [ 1.01852871e-02 7.82756494e-05 9.99948126e-01 2.33118927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.944012739 meters Centerline goodness [0,1] 0.9925104853205512 Centerline is valid? [True, True] Translation: X:420.71, Y:63.86, Z:0.23 [[ 7.11247587e-01 -7.02909049e-01 -6.76298979e-03 4.20714008e+02] [ 7.02876028e-01 7.11279734e-01 -6.81392781e-03 6.38581377e+01] [ 9.59994910e-03 9.28463154e-05 9.99953915e-01 2.33744139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.974012739 meters Centerline goodness [0,1] 0.9921732604267182 Centerline is valid? [True, True] Translation: X:420.73, Y:63.88, Z:0.24 [[ 7.13425177e-01 -7.00703697e-01 -6.23269120e-03 4.20729351e+02] [ 7.00675550e-01 7.13452392e-01 -6.28153708e-03 6.38822346e+01] [ 8.84822470e-03 1.14312367e-04 9.99960847e-01 2.35630448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.004012739 meters Centerline goodness [0,1] 0.9915322924665131 Centerline is valid? [True, True] Translation: X:420.75, Y:63.90, Z:0.24 [[ 7.13956564e-01 -7.00162578e-01 -6.19592879e-03 4.20747160e+02] [ 7.00134723e-01 7.13983438e-01 -6.24660801e-03 6.39038329e+01] [ 8.79743171e-03 1.21821904e-04 9.99961294e-01 2.35881394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.034012739 meters Centerline goodness [0,1] 0.9919540960003388 Centerline is valid? [True, True] Translation: X:420.77, Y:63.92, Z:0.24 [[ 7.14099286e-01 -7.00017528e-01 -6.13753827e-03 4.20765302e+02] [ 6.99990172e-01 7.14125651e-01 -6.18984951e-03 6.39246217e+01] [ 8.71597666e-03 1.23950650e-04 9.99962007e-01 2.35705466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.064012739 meters Centerline goodness [0,1] 0.9919159947817533 Centerline is valid? [True, True] Translation: X:420.78, Y:63.95, Z:0.24 [[ 7.13919625e-01 -7.00202507e-01 -5.93451352e-03 4.20783810e+02] [ 7.00176920e-01 7.13944280e-01 -5.98717206e-03 6.39461624e+01] [ 8.42914487e-03 1.19150240e-04 9.99964467e-01 2.36469370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.094012739 meters Centerline goodness [0,1] 0.992310969116081 Centerline is valid? [True, True] Translation: X:420.80, Y:63.97, Z:0.24 [[ 7.13374907e-01 -7.00758979e-01 -5.75293210e-03 4.20803084e+02] [ 7.00734935e-01 7.13398095e-01 -5.80599960e-03 6.39659913e+01] [ 8.17273715e-03 1.10573929e-04 9.99966597e-01 2.37451049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.124012739 meters Centerline goodness [0,1] 0.9922139471902505 Centerline is valid? [True, True] Translation: X:420.82, Y:63.99, Z:0.24 [[ 7.12909223e-01 -7.01233254e-01 -5.68896212e-03 4.20822201e+02] [ 7.01209740e-01 7.12931913e-01 -5.74346227e-03 6.39857944e+01] [ 8.08334939e-03 1.05411574e-04 9.99967324e-01 2.38094538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.154012739 meters Centerline goodness [0,1] 0.9923508414074452 Centerline is valid? [True, True] Translation: X:420.84, Y:64.01, Z:0.24 [[ 7.12526616e-01 -7.01617903e-01 -6.17579279e-03 4.20839968e+02] [ 7.01590186e-01 7.12553371e-01 -6.23735757e-03 6.40064412e+01] [ 8.77682371e-03 1.11407663e-04 9.99961477e-01 2.37557784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.184012739 meters Centerline goodness [0,1] 0.9925179126244372 Centerline is valid? [True, True] Translation: X:420.86, Y:64.03, Z:0.24 [[ 7.12588665e-01 -7.01552902e-01 -6.39690563e-03 4.20858872e+02] [ 7.01523140e-01 7.12617367e-01 -6.46315145e-03 6.40272947e+01] [ 9.09278871e-03 1.17991143e-04 9.99958653e-01 2.37213422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.214012739 meters Centerline goodness [0,1] 0.9920013724186735 Centerline is valid? [True, True] Translation: X:420.88, Y:64.05, Z:0.24 [[ 7.12726921e-01 -7.01412607e-01 -6.37884373e-03 4.20879147e+02] [ 7.01382987e-01 7.12755456e-01 -6.44718853e-03 6.40462700e+01] [ 9.06869499e-03 1.21072368e-04 9.99958871e-01 2.39937406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.244012739 meters Centerline goodness [0,1] 0.9906451066711819 Centerline is valid? [True, True] Translation: X:420.89, Y:64.07, Z:0.25 [[ 7.13102849e-01 -7.01035047e-01 -5.84717310e-03 4.20891890e+02] [ 7.01010128e-01 7.13126812e-01 -5.91189449e-03 6.40717237e+01] [ 8.31422114e-03 1.16861244e-04 9.99965429e-01 2.46288212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.274012739 meters Centerline goodness [0,1] 0.9896604243087286 Centerline is valid? [True, True] Translation: X:420.91, Y:64.09, Z:0.25 [[ 7.13417972e-01 -7.00714835e-01 -5.78944852e-03 4.20912274e+02] [ 7.00690376e-01 7.13441452e-01 -5.85586010e-03 6.40910728e+01] [ 8.23372060e-03 1.21064974e-04 9.99966095e-01 2.47764054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.304012739 meters Centerline goodness [0,1] 0.9888562543192813 Centerline is valid? [True, True] Translation: X:420.93, Y:64.12, Z:0.25 [[ 7.13940033e-01 -7.00185645e-01 -5.44901929e-03 4.20925766e+02] [ 7.00163948e-01 7.13960817e-01 -5.51349161e-03 6.41159364e+01] [ 7.75085394e-03 1.21095520e-04 9.99969954e-01 2.49743157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.334012739 meters Centerline goodness [0,1] 0.9878315470390819 Centerline is valid? [True, True] Translation: X:420.95, Y:64.13, Z:0.25 [[ 7.13825000e-01 -7.00304852e-01 -5.19455772e-03 4.20946372e+02] [ 7.00285127e-01 7.13843891e-01 -5.25734958e-03 6.41344809e+01] [ 7.38985072e-03 1.15156054e-04 9.99972688e-01 2.51049427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.364012739 meters Centerline goodness [0,1] 0.9874181647580662 Centerline is valid? [True, True] Translation: X:420.97, Y:64.16, Z:0.25 [[ 7.13429960e-01 -7.00706689e-01 -5.27518067e-03 4.20965729e+02] [ 7.00686343e-01 7.13449453e-01 -5.34096637e-03 6.41551682e+01] [ 7.50602563e-03 1.14158370e-04 9.99971823e-01 2.51774007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.394012739 meters Centerline goodness [0,1] 0.9863344562384796 Centerline is valid? [True, True] Translation: X:420.98, Y:64.18, Z:0.25 [[ 7.12765822e-01 -7.01381272e-01 -5.40323647e-03 4.20981728e+02] [ 7.01359929e-01 7.12786293e-01 -5.47271732e-03 6.41775849e+01] [ 7.68981433e-03 1.11152310e-04 9.99970427e-01 2.52205982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.424012739 meters Centerline goodness [0,1] 0.9856728637216442 Centerline is valid? [True, True] Translation: X:421.00, Y:64.20, Z:0.25 [[ 7.11162451e-01 -7.03003098e-01 -5.88317469e-03 4.21002435e+02] [ 7.02977830e-01 7.11186778e-01 -5.96131594e-03 6.41956259e+01] [ 8.37485962e-03 1.03722678e-04 9.99964925e-01 2.51621280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.454012739 meters Centerline goodness [0,1] 0.985704836885788 Centerline is valid? [True, True] Translation: X:421.02, Y:64.21, Z:0.25 [[ 7.10102068e-01 -7.04073972e-01 -5.90714377e-03 4.21024506e+02] [ 7.04048517e-01 7.10126632e-01 -5.98764819e-03 6.42125125e+01] [ 8.41056735e-03 9.29255577e-05 9.99964626e-01 2.52428311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.484012739 meters Centerline goodness [0,1] 0.9850479233226838 Centerline is valid? [True, True] Translation: X:421.05, Y:64.23, Z:0.25 [[ 7.09251463e-01 -7.04927442e-01 -6.29789750e-03 4.21045358e+02] [ 7.04898520e-01 7.09279418e-01 -6.38617728e-03 6.42315641e+01] [ 8.96876069e-03 9.00269512e-05 9.99959776e-01 2.51991567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.514012739 meters Centerline goodness [0,1] 0.9841222480339293 Centerline is valid? [True, True] Translation: X:421.06, Y:64.25, Z:0.25 [[ 7.08370025e-01 -7.05808730e-01 -6.77822893e-03 4.21063763e+02] [ 7.05775242e-01 7.08402449e-01 -6.87594393e-03 6.42515164e+01] [ 9.65481522e-03 8.68064145e-05 9.99953387e-01 2.50890243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.544012739 meters Centerline goodness [0,1] 0.9835667519403374 Centerline is valid? [True, True] Translation: X:421.09, Y:64.27, Z:0.25 [[ 7.08089013e-01 -7.06090621e-01 -6.78119759e-03 4.21086205e+02] [ 7.06057091e-01 7.08121478e-01 -6.88156549e-03 6.42685358e+01] [ 9.66092051e-03 8.48482731e-05 9.99953329e-01 2.51848884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.574012739 meters Centerline goodness [0,1] 0.9820658734264528 Centerline is valid? [True, True] Translation: X:421.11, Y:64.29, Z:0.25 [[ 7.08239108e-01 -7.05940861e-01 -6.69818639e-03 4.21106054e+02] [ 7.05908117e-01 7.08270776e-01 -6.79983487e-03 6.42881744e+01] [ 9.54441096e-03 8.76048463e-05 9.99954447e-01 2.52704817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.604012739 meters Centerline goodness [0,1] 0.9818832044885111 Centerline is valid? [True, True] Translation: X:421.12, Y:64.31, Z:0.25 [[ 7.08437981e-01 -7.05742618e-01 -6.55624968e-03 4.21121554e+02] [ 7.05711215e-01 7.08468312e-01 -6.65824563e-03 6.43108600e+01] [ 9.34390285e-03 9.01351662e-05 9.99956341e-01 2.53492614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.634012739 meters Centerline goodness [0,1] 0.9812368495260406 Centerline is valid? [True, True] Translation: X:421.14, Y:64.33, Z:0.25 [[ 7.08609076e-01 -7.05569482e-01 -6.69953734e-03 4.21143594e+02] [ 7.05536657e-01 7.08640739e-01 -6.80651711e-03 6.43287184e+01] [ 9.55003584e-03 9.63906208e-05 9.99954393e-01 2.53979379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.664012739 meters Centerline goodness [0,1] 0.9808358297745766 Centerline is valid? [True, True] Translation: X:421.16, Y:64.35, Z:0.25 [[ 7.09651456e-01 -7.04515116e-01 -7.29809431e-03 4.21160563e+02] [ 7.04476078e-01 7.09688971e-01 -7.41756084e-03 6.43508399e+01] [ 1.04051608e-02 1.22549992e-04 9.99945857e-01 2.52834620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.694012739 meters Centerline goodness [0,1] 0.9805764680576468 Centerline is valid? [True, True] Translation: X:421.18, Y:64.37, Z:0.25 [[ 7.09974743e-01 -7.04185503e-01 -7.65776197e-03 4.21179142e+02] [ 7.04142472e-01 7.10016027e-01 -7.78590287e-03 6.43718000e+01] [ 1.09198537e-02 1.35638947e-04 9.99940367e-01 2.51657582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.724012739 meters Centerline goodness [0,1] 0.9805558513470344 Centerline is valid? [True, True] Translation: X:421.20, Y:64.39, Z:0.25 [[ 7.10737929e-01 -7.03412894e-01 -7.86745542e-03 4.21196325e+02] [ 7.03367396e-01 7.10781456e-01 -8.00176253e-03 6.43927800e+01] [ 1.12205843e-02 1.53444494e-04 9.99937035e-01 2.51199413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.754012739 meters Centerline goodness [0,1] 0.9799756373816596 Centerline is valid? [True, True] Translation: X:421.21, Y:64.42, Z:0.25 [[ 7.12192419e-01 -7.01939400e-01 -7.93957076e-03 4.21211787e+02] [ 7.01892952e-01 7.12236651e-01 -8.07695291e-03 6.44165976e+01] [ 1.13243848e-02 1.79615875e-04 9.99935861e-01 2.52681966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.784012739 meters Centerline goodness [0,1] 0.9792321676826008 Centerline is valid? [True, True] Translation: X:421.23, Y:64.44, Z:0.25 [[ 7.12904774e-01 -7.01214828e-01 -8.03419897e-03 4.21228110e+02] [ 7.01167196e-01 7.12950018e-01 -8.17531990e-03 6.44392069e+01] [ 1.14606378e-02 1.94907826e-04 9.99934306e-01 2.53105931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.814012739 meters Centerline goodness [0,1] 0.9781712450635768 Centerline is valid? [True, True] Translation: X:421.25, Y:64.46, Z:0.26 [[ 7.14863592e-01 -6.99225842e-01 -7.29840455e-03 4.21247002e+02] [ 6.99186408e-01 7.14900818e-01 -7.42887261e-03 6.44614647e+01] [ 1.04120951e-02 2.07685298e-04 9.99945771e-01 2.55370029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.844012739 meters Centerline goodness [0,1] 0.9773484913240448 Centerline is valid? [True, True] Translation: X:421.26, Y:64.48, Z:0.26 [[ 7.15731206e-01 -6.98344136e-01 -6.65653236e-03 4.21263917e+02] [ 6.98311276e-01 7.15762130e-01 -6.77750620e-03 6.44837806e+01] [ 9.49752549e-03 2.02541077e-04 9.99954877e-01 2.56974894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.874012739 meters Centerline goodness [0,1] 0.9767080745341615 Centerline is valid? [True, True] Translation: X:421.28, Y:64.51, Z:0.26 [[ 7.16697112e-01 -6.97358461e-01 -6.03543384e-03 4.21282542e+02] [ 6.97331402e-01 7.16722497e-01 -6.14630573e-03 6.45056871e+01] [ 8.61190952e-03 1.96342028e-04 9.99962898e-01 2.59093314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.904012739 meters Centerline goodness [0,1] 0.9751447928020346 Centerline is valid? [True, True] Translation: X:421.30, Y:64.53, Z:0.26 [[ 7.17959919e-01 -6.96060002e-01 -5.83347981e-03 4.21298217e+02] [ 6.96034664e-01 7.17983587e-01 -5.94268609e-03 6.45283056e+01] [ 8.32480885e-03 2.06306265e-04 9.99965327e-01 2.58950243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.934012739 meters Centerline goodness [0,1] 0.9738480433677791 Centerline is valid? [True, True] Translation: X:421.31, Y:64.55, Z:0.26 [[ 7.18178242e-01 -6.95834199e-01 -5.89749170e-03 4.21312404e+02] [ 6.95808275e-01 7.18202424e-01 -6.01013705e-03 6.45523389e+01] [ 8.41765174e-03 2.12826132e-04 9.99964548e-01 2.58389541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.964012739 meters Centerline goodness [0,1] 0.9747041325143921 Centerline is valid? [True, True] Translation: X:421.34, Y:64.57, Z:0.26 [[ 7.17760575e-01 -6.96265812e-01 -5.80313432e-03 4.21336795e+02] [ 6.96240709e-01 7.17784004e-01 -5.91591984e-03 6.45675124e+01] [ 8.28444972e-03 2.05835668e-04 9.99965662e-01 2.58916372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.994012739 meters Centerline goodness [0,1] 0.9744293987395674 Centerline is valid? [True, True] Translation: X:421.36, Y:64.59, Z:0.26 [[ 7.16362307e-01 -6.97710223e-01 -5.04877803e-03 4.21356791e+02] [ 6.97691246e-01 7.16380079e-01 -5.14861191e-03 6.45859994e+01] [ 7.20908317e-03 1.65783277e-04 9.99974000e-01 2.61091809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.024012739 meters Centerline goodness [0,1] 0.9734831556321693 Centerline is valid? [True, True] Translation: X:421.37, Y:64.61, Z:0.26 [[ 7.15643556e-01 -6.98448019e-01 -4.96643676e-03 4.21374581e+02] [ 6.98429666e-01 7.15660771e-01 -5.06574981e-03 6.46061014e+01] [ 7.09244688e-03 1.56564442e-04 9.99974836e-01 2.61834483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.054012739 meters Centerline goodness [0,1] 0.9743819266837169 Centerline is valid? [True, True] Translation: X:421.40, Y:64.62, Z:0.26 [[ 7.14861760e-01 -6.99241683e-01 -5.80795287e-03 4.21398299e+02] [ 6.99216588e-01 7.14885332e-01 -5.92662109e-03 6.46227548e+01] [ 8.29616082e-03 1.75697798e-04 9.99965571e-01 2.59852678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.084012739 meters Centerline goodness [0,1] 0.9743819266837169 Centerline is valid? [True, True] Translation: X:421.42, Y:64.64, Z:0.26 [[ 7.14735689e-01 -6.99370555e-01 -5.80694740e-03 4.21417376e+02] [ 6.99345457e-01 7.14759257e-01 -5.92760610e-03 6.46425242e+01] [ 8.29616258e-03 1.75609346e-04 9.99965571e-01 2.60072237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.114012739 meters Centerline goodness [0,1] 0.9746906033502778 Centerline is valid? [True, True] Translation: X:421.44, Y:64.66, Z:0.26 [[ 7.14586911e-01 -6.99514336e-01 -6.72609916e-03 4.21436410e+02] [ 6.99480643e-01 7.14618536e-01 -6.86865831e-03 6.46629533e+01] [ 9.61132009e-03 2.03477156e-04 9.99953789e-01 2.57700772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.144012739 meters Centerline goodness [0,1] 0.9750801609675267 Centerline is valid? [True, True] Translation: X:421.46, Y:64.68, Z:0.26 [[ 7.14689869e-01 -6.99399256e-01 -7.68581235e-03 4.21456328e+02] [ 6.99355220e-01 7.14731155e-01 -7.85186024e-03 6.46827520e+01] [ 1.09848748e-02 2.36531972e-04 9.99939636e-01 2.55816055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.174012739 meters Centerline goodness [0,1] 0.9747154695547126 Centerline is valid? [True, True] Translation: X:421.47, Y:64.71, Z:0.25 [[ 7.15148013e-01 -6.98927742e-01 -7.95808479e-03 4.21471287e+02] [ 6.98880467e-01 7.15192244e-01 -8.13303202e-03 6.47063375e+01] [ 1.13759622e-02 2.54571670e-04 9.99935259e-01 2.54132342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.204012739 meters Centerline goodness [0,1] 0.9742139304544581 Centerline is valid? [True, True] Translation: X:421.49, Y:64.73, Z:0.26 [[ 7.16846130e-01 -6.97189353e-01 -7.65717285e-03 4.21485765e+02] [ 6.97145462e-01 7.16886973e-01 -7.82767788e-03 6.47299976e+01] [ 1.09467011e-02 2.73077287e-04 9.99940046e-01 2.55359749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.234012739 meters Centerline goodness [0,1] 0.9740056574661409 Centerline is valid? [True, True] Translation: X:421.51, Y:64.75, Z:0.26 [[ 7.17693829e-01 -6.96317790e-01 -7.55670808e-03 4.21505542e+02] [ 6.96274978e-01 7.17733554e-01 -7.72656775e-03 6.47508590e+01] [ 1.08038495e-02 2.83763235e-04 9.99941596e-01 2.56075394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.264012739 meters Centerline goodness [0,1] 0.9740123178608983 Centerline is valid? [True, True] Translation: X:421.52, Y:64.77, Z:0.26 [[ 7.18523536e-01 -6.95456101e-01 -8.04614216e-03 4.21521205e+02] [ 6.95407476e-01 7.18568515e-01 -8.22998325e-03 6.47736823e+01] [ 1.15052965e-02 3.18089257e-04 9.99933761e-01 2.55797544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.294012739 meters Centerline goodness [0,1] 0.9734569603870065 Centerline is valid? [True, True] Translation: X:421.53, Y:64.80, Z:0.25 [[ 7.20229564e-01 -6.93684668e-01 -8.42353185e-03 4.21533678e+02] [ 6.93631220e-01 7.20278730e-01 -8.61875880e-03 6.48000646e+01] [ 1.20459917e-02 3.64660229e-04 9.99927378e-01 2.54331921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.324012739 meters Centerline goodness [0,1] 0.9731068044053616 Centerline is valid? [True, True] Translation: X:421.55, Y:64.82, Z:0.26 [[ 7.20362229e-01 -6.93552026e-01 -7.99043848e-03 4.21550986e+02] [ 6.93503900e-01 7.20406458e-01 -8.17776146e-03 6.48224816e+01] [ 1.14280665e-02 3.49550221e-04 9.99934636e-01 2.55286551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.354012739 meters Centerline goodness [0,1] 0.9739691661127431 Centerline is valid? [True, True] Translation: X:421.57, Y:64.84, Z:0.26 [[ 7.19954521e-01 -6.93984544e-01 -7.13716840e-03 4.21571268e+02] [ 6.93946145e-01 7.19989831e-01 -7.30690450e-03 6.48416593e+01] [ 1.02095675e-02 3.07828438e-04 9.99947834e-01 2.57560164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.384012739 meters Centerline goodness [0,1] 0.9743802003735779 Centerline is valid? [True, True] Translation: X:421.59, Y:64.86, Z:0.26 [[ 7.18272655e-01 -6.95733578e-01 -6.25948976e-03 4.21591356e+02] [ 6.95704090e-01 7.18299885e-01 -6.41040907e-03 6.48612597e+01] [ 8.95612762e-03 2.49668908e-04 9.99959862e-01 2.60548066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.414012739 meters Centerline goodness [0,1] 0.9745642349903163 Centerline is valid? [True, True] Translation: X:421.61, Y:64.88, Z:0.26 [[ 7.16930443e-01 -6.97113255e-01 -6.62182155e-03 4.21612264e+02] [ 6.97080289e-01 7.16960981e-01 -6.78398478e-03 6.48818796e+01] [ 9.47679338e-03 2.47703932e-04 9.99955064e-01 2.59685624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.444012739 meters Centerline goodness [0,1] 0.9747270695435399 Centerline is valid? [True, True] Translation: X:421.63, Y:64.91, Z:0.26 [[ 7.15175736e-01 -6.98901700e-01 -7.75116348e-03 4.21628631e+02] [ 6.98856603e-01 7.15217690e-01 -7.94381231e-03 6.49050115e+01] [ 1.10957132e-02 2.64270031e-04 9.99938406e-01 2.56185309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.474012739 meters Centerline goodness [0,1] 0.9745289901720956 Centerline is valid? [True, True] Translation: X:421.65, Y:64.93, Z:0.26 [[ 7.14622177e-01 -6.99466401e-01 -7.86759946e-03 4.21646976e+02] [ 6.99419941e-01 7.14665437e-01 -8.06598175e-03 6.49262124e+01] [ 1.12645846e-02 2.61373486e-04 9.99936518e-01 2.56217174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.504012739 meters Centerline goodness [0,1] 0.9741314804917156 Centerline is valid? [True, True] Translation: X:421.66, Y:64.95, Z:0.26 [[ 7.14563367e-01 -6.99527091e-01 -7.81299869e-03 4.21664047e+02] [ 6.99481249e-01 7.14606032e-01 -8.01259060e-03 6.49477309e+01] [ 1.11882402e-02 2.60457636e-04 9.99937376e-01 2.57176187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.534012739 meters Centerline goodness [0,1] 0.9746383737972344 Centerline is valid? [True, True] Translation: X:421.68, Y:64.97, Z:0.26 [[ 7.14356035e-01 -6.99743531e-01 -7.37876041e-03 4.21681096e+02] [ 6.99702632e-01 7.14394101e-01 -7.56932914e-03 6.49693055e+01] [ 1.05679320e-02 2.44257872e-04 9.99944128e-01 2.58745728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.564012739 meters Centerline goodness [0,1] 0.9738975802866398 Centerline is valid? [True, True] Translation: X:421.70, Y:64.99, Z:0.26 [[ 7.14225491e-01 -6.99876830e-01 -7.37374457e-03 4.21696897e+02] [ 6.99835964e-01 7.14263512e-01 -7.56696325e-03 6.49914710e+01] [ 1.05627389e-02 2.44106396e-04 9.99944183e-01 2.59706777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.594012739 meters Centerline goodness [0,1] 0.9749957257650881 Centerline is valid? [True, True] Translation: X:421.72, Y:65.01, Z:0.26 [[ 7.13865672e-01 -7.00242067e-01 -7.53993814e-03 4.21718552e+02] [ 7.00199328e-01 7.13905447e-01 -7.74040428e-03 6.50088423e+01] [ 1.08029596e-02 2.46149287e-04 9.99941616e-01 2.59866742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.624012739 meters Centerline goodness [0,1] 0.9746762033636188 Centerline is valid? [True, True] Translation: X:421.74, Y:65.03, Z:0.26 [[ 7.13225611e-01 -7.00892468e-01 -7.67959705e-03 4.21737248e+02] [ 7.00848137e-01 7.13266913e-01 -7.88672695e-03 6.50290558e+01] [ 1.10053500e-02 2.42784365e-04 9.99939410e-01 2.58963290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.654012739 meters Centerline goodness [0,1] 0.975 Centerline is valid? [True, True] Translation: X:421.76, Y:65.05, Z:0.26 [[ 7.11672319e-01 -7.02464470e-01 -8.13497846e-03 4.21758032e+02] [ 7.02414795e-01 7.11718774e-01 -8.35718876e-03 6.50465221e+01] [ 1.16604451e-02 2.33450680e-04 9.99931987e-01 2.57596284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.684012739 meters Centerline goodness [0,1] 0.975637779527224 Centerline is valid? [True, True] Translation: X:421.78, Y:65.07, Z:0.26 [[ 7.10508284e-01 -7.03634210e-01 -8.76791042e-03 4.21775313e+02] [ 7.03576561e-01 7.10562344e-01 -9.00993657e-03 6.50668034e+01] [ 1.25698466e-02 2.32738314e-04 9.99920969e-01 2.55728426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.714012739 meters Centerline goodness [0,1] 0.9758007574298736 Centerline is valid? [True, True] Translation: X:421.80, Y:65.09, Z:0.26 [[ 7.10087412e-01 -7.04048336e-01 -9.58167694e-03 4.21796176e+02] [ 7.03979474e-01 7.10152011e-01 -9.84991403e-03 6.50851203e+01] [ 1.37392627e-02 2.48996068e-04 9.99905581e-01 2.55362902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.744012739 meters Centerline goodness [0,1] 0.97530334862582 Centerline is valid? [True, True] Translation: X:421.81, Y:65.11, Z:0.26 [[ 7.10830451e-01 -7.03299922e-01 -9.44936834e-03 4.21814773e+02] [ 7.03232836e-01 7.10893207e-01 -9.71731921e-03 6.51068674e+01] [ 1.35516816e-02 2.62260294e-04 9.99908137e-01 2.56527475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.774012739 meters Centerline goodness [0,1] 0.9751658116722831 Centerline is valid? [True, True] Translation: X:421.83, Y:65.13, Z:0.26 [[ 7.11711535e-01 -7.02410774e-01 -9.26258066e-03 4.21833433e+02] [ 7.02346197e-01 7.11771753e-01 -9.52844480e-03 6.51291047e+01] [ 1.32857256e-02 2.75965784e-04 9.99911703e-01 2.57024176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.804012739 meters Centerline goodness [0,1] 0.9747070897117934 Centerline is valid? [True, True] Translation: X:421.85, Y:65.15, Z:0.26 [[ 7.12979719e-01 -7.01121192e-01 -9.43370878e-03 4.21846981e+02] [ 7.01054053e-01 7.13042060e-01 -9.70748109e-03 6.51546615e+01] [ 1.35327519e-02 3.07697358e-04 9.99908381e-01 2.57224979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.834012739 meters Centerline goodness [0,1] 0.975091168881022 Centerline is valid? [True, True] Translation: X:421.87, Y:65.18, Z:0.26 [[ 7.13137587e-01 -7.00958870e-01 -9.56265131e-03 4.21865073e+02] [ 7.00889827e-01 7.13201628e-01 -9.84321886e-03 6.51769976e+01] [ 1.37197900e-02 3.17204337e-04 9.99905829e-01 2.57526289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.864012739 meters Centerline goodness [0,1] 0.9748328999118829 Centerline is valid? [True, True] Translation: X:421.88, Y:65.20, Z:0.26 [[ 7.12973570e-01 -7.01120981e-01 -9.90242438e-03 4.21880572e+02] [ 7.01046907e-01 7.13042259e-01 -1.01966307e-02 6.51992949e+01] [ 1.42099188e-02 3.27864234e-04 9.99898980e-01 2.56763988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.894012739 meters Centerline goodness [0,1] 0.975111092121005 Centerline is valid? [True, True] Translation: X:421.90, Y:65.22, Z:0.26 [[ 7.12628710e-01 -7.01474790e-01 -9.66644881e-03 4.21896692e+02] [ 7.01404195e-01 7.12694198e-01 -9.95668776e-03 6.52208046e+01] [ 1.38735874e-02 3.15333803e-04 9.99903707e-01 2.56475924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.924012739 meters Centerline goodness [0,1] 0.9748914398727374 Centerline is valid? [True, True] Translation: X:421.92, Y:65.24, Z:0.26 [[ 7.10199190e-01 -7.03937431e-01 -9.44475021e-03 4.21915484e+02] [ 7.03870214e-01 7.10261940e-01 -9.73131644e-03 6.52408421e+01] [ 1.35584845e-02 2.63294702e-04 9.99908045e-01 2.57518085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.954012739 meters Centerline goodness [0,1] 0.9746046853706548 Centerline is valid? [True, True] Translation: X:421.94, Y:65.26, Z:0.26 [[ 7.08317443e-01 -7.05829044e-01 -9.57920690e-03 4.21935960e+02] [ 7.05760022e-01 7.08382175e-01 -9.87343369e-03 6.52607631e+01] [ 1.37546957e-02 2.32904026e-04 9.99905373e-01 2.57827483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.984012739 meters Centerline goodness [0,1] 0.9745885873049797 Centerline is valid? [True, True] Translation: X:421.96, Y:65.28, Z:0.26 [[ 7.04228038e-01 -7.09901139e-01 -1.01608512e-02 4.21955488e+02] [ 7.09823857e-01 7.04301317e-01 -1.04759829e-02 6.52790336e+01] [ 1.45932131e-02 1.65066258e-04 9.99893500e-01 2.55523539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.014012739 meters Centerline goodness [0,1] 0.9746792275885587 Centerline is valid? [True, True] Translation: X:421.98, Y:65.30, Z:0.26 [[ 7.01941636e-01 -7.12159511e-01 -1.03329498e-02 4.21979164e+02] [ 7.12079791e-01 7.02017675e-01 -1.06562767e-02 6.52955406e+01] [ 1.48428822e-02 1.22199561e-04 9.99889831e-01 2.56184429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.044012739 meters Centerline goodness [0,1] 0.9743385503003165 Centerline is valid? [True, True] Translation: X:422.00, Y:65.31, Z:0.26 [[ 6.99501201e-01 -7.14560503e-01 -1.00676680e-02 4.22001711e+02] [ 7.14485018e-01 6.99573644e-01 -1.03863173e-02 6.53130618e+01] [ 1.44647273e-02 7.20435050e-05 9.99895378e-01 2.56187725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.074012739 meters Centerline goodness [0,1] 0.9733281959071838 Centerline is valid? [True, True] Translation: X:422.03, Y:65.33, Z:0.26 [[ 6.94847129e-01 -7.19096323e-01 -9.37794763e-03 4.22026432e+02] [ 7.19031192e-01 6.94910410e-01 -9.67814638e-03 6.53271423e+01] [ 1.34763529e-02 -1.82046375e-05 9.99909190e-01 2.58686149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.104012739 meters Centerline goodness [0,1] 0.9727024373586033 Centerline is valid? [True, True] Translation: X:422.05, Y:65.34, Z:0.26 [[ 6.92549858e-01 -7.21309039e-01 -9.37890141e-03 4.22049324e+02] [ 7.21244049e-01 6.92613360e-01 -9.68271929e-03 6.53443739e+01] [ 1.34801854e-02 -5.87109554e-05 9.99909136e-01 2.60021033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.134012739 meters Centerline goodness [0,1] 0.9730545330023115 Centerline is valid? [True, True] Translation: X:422.08, Y:65.36, Z:0.26 [[ 6.89233989e-01 -7.24476168e-01 -9.52836805e-03 4.22075172e+02] [ 7.24409342e-01 6.89299839e-01 -9.84057413e-03 6.53587463e+01] [ 1.36971640e-02 -1.19980665e-04 9.99906182e-01 2.60119915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.164012739 meters Centerline goodness [0,1] 0.9727294132756812 Centerline is valid? [True, True] Translation: X:422.10, Y:65.38, Z:0.26 [[ 6.88008593e-01 -7.25636614e-01 -9.78164715e-03 4.22096828e+02] [ 7.25566260e-01 6.88078109e-01 -1.01053627e-02 6.53751864e+01] [ 1.40633585e-02 -1.44656747e-04 9.99901096e-01 2.59651399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.194012739 meters Centerline goodness [0,1] 0.9725069697619558 Centerline is valid? [True, True] Translation: X:422.12, Y:65.39, Z:0.26 [[ 6.87177681e-01 -7.26425164e-01 -9.65998029e-03 4.22118807e+02] [ 7.26356585e-01 6.87245557e-01 -9.98273014e-03 6.53933935e+01] [ 1.38904849e-02 -1.56680955e-04 9.99903510e-01 2.59521721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.224012739 meters Centerline goodness [0,1] 0.9722936487528928 Centerline is valid? [True, True] Translation: X:422.14, Y:65.41, Z:0.26 [[ 6.86656812e-01 -7.26927451e-01 -8.88273121e-03 4.22140773e+02] [ 7.26869465e-01 6.86714248e-01 -9.18272564e-03 6.54112296e+01] [ 1.27750734e-02 -1.51204968e-04 9.99918384e-01 2.62238244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.254012739 meters Centerline goodness [0,1] 0.9729045704927796 Centerline is valid? [True, True] Translation: X:422.16, Y:65.43, Z:0.26 [[ 6.86852411e-01 -7.26737687e-01 -9.27897198e-03 4.22164215e+02] [ 7.26674345e-01 6.86915068e-01 -9.59610690e-03 6.54265240e+01] [ 1.33477182e-02 -1.51681727e-04 9.99910904e-01 2.60361076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.284012739 meters Centerline goodness [0,1] 0.9729503804522559 Centerline is valid? [True, True] Translation: X:422.18, Y:65.45, Z:0.26 [[ 6.86826521e-01 -7.26757873e-01 -9.60853075e-03 4.22183004e+02] [ 7.26689902e-01 6.86893710e-01 -9.94069869e-03 6.54477234e+01] [ 1.38245204e-02 -1.54886768e-04 9.99904425e-01 2.60918771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.314012739 meters Centerline goodness [0,1] 0.9732707124924249 Centerline is valid? [True, True] Translation: X:422.21, Y:65.46, Z:0.26 [[ 6.86504215e-01 -7.27059283e-01 -9.83678403e-03 4.22206003e+02] [ 7.26988022e-01 6.86574667e-01 -1.01805388e-02 6.54646398e+01] [ 1.41555420e-02 -1.62241359e-04 9.99899792e-01 2.60586057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.344012739 meters Centerline goodness [0,1] 0.9735000426730391 Centerline is valid? [True, True] Translation: X:422.23, Y:65.48, Z:0.26 [[ 6.86010632e-01 -7.27523642e-01 -9.93793221e-03 4.22227923e+02] [ 7.27450903e-01 6.86082590e-01 -1.02890158e-02 6.54810220e+01] [ 1.43037445e-02 -1.70983519e-04 9.99897682e-01 2.60954654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.374012739 meters Centerline goodness [0,1] 0.9733253792398159 Centerline is valid? [True, True] Translation: X:422.25, Y:65.50, Z:0.26 [[ 6.85580769e-01 -7.27931172e-01 -9.75797140e-03 4.22249757e+02] [ 7.27861034e-01 6.85650187e-01 -1.01062669e-02 6.54988079e+01] [ 1.40472216e-02 -1.73784951e-04 9.99901318e-01 2.60487834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.404012739 meters Centerline goodness [0,1] 0.9740384410265162 Centerline is valid? [True, True] Translation: X:422.27, Y:65.51, Z:0.26 [[ 6.85754963e-01 -7.27758694e-01 -1.03640587e-02 4.22272416e+02] [ 7.27679489e-01 6.85833254e-01 -1.07382144e-02 6.55140738e+01] [ 1.49228450e-02 -1.77929068e-04 9.99888632e-01 2.59285026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.434012739 meters Centerline goodness [0,1] 0.9743883214200877 Centerline is valid? [True, True] Translation: X:422.29, Y:65.53, Z:0.26 [[ 6.86448264e-01 -7.27096043e-01 -1.09601364e-02 4.22292495e+02] [ 7.27007311e-01 6.86535734e-01 -1.13602227e-02 6.55324466e+01] [ 1.57844982e-02 -1.69894170e-04 9.99875403e-01 2.57801232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.464012739 meters Centerline goodness [0,1] 0.9741062011666201 Centerline is valid? [True, True] Translation: X:422.31, Y:65.56, Z:0.26 [[ 6.87617378e-01 -7.25983876e-01 -1.13909266e-02 4.22309237e+02] [ 7.25887805e-01 6.87711705e-01 -1.18112138e-02 6.55552162e+01] [ 1.64084243e-02 -1.46938821e-04 9.99865362e-01 2.59222624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.494012739 meters Centerline goodness [0,1] 0.9743584287355833 Centerline is valid? [True, True] Translation: X:422.32, Y:65.58, Z:0.26 [[ 6.91793144e-01 -7.22005117e-01 -1.14393104e-02 4.22322781e+02] [ 7.21907607e-01 6.91887714e-01 -1.18658185e-02 6.55806556e+01] [ 1.64819000e-02 -4.94333740e-05 9.99864163e-01 2.58737002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.524012739 meters Centerline goodness [0,1] 0.9743886743886744 Centerline is valid? [True, True] Translation: X:422.34, Y:65.61, Z:0.26 [[ 6.94261581e-01 -7.19634619e-01 -1.12637618e-02 4.22337088e+02] [ 7.19539698e-01 6.94352947e-01 -1.16879840e-02 6.56057255e+01] [ 1.62321041e-02 9.79447492e-06 9.99868251e-01 2.60639809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.554012739 meters Centerline goodness [0,1] 0.9749259370572324 Centerline is valid? [True, True] Translation: X:422.35, Y:65.63, Z:0.26 [[ 6.97007534e-01 -7.16980021e-01 -1.09612098e-02 4.22350844e+02] [ 7.16889734e-01 6.97093713e-01 -1.13782335e-02 6.56315719e+01] [ 1.57989565e-02 7.27357074e-05 9.99875186e-01 2.62210263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.584012739 meters Centerline goodness [0,1] 0.9749534789211387 Centerline is valid? [True, True] Translation: X:422.36, Y:65.66, Z:0.26 [[ 7.02083981e-01 -7.11999725e-01 -1.15963519e-02 4.22357287e+02] [ 7.11897934e-01 7.02179715e-01 -1.20407413e-02 6.56635437e+01] [ 1.67157276e-02 1.98192604e-04 9.99860263e-01 2.60494873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.614012739 meters Centerline goodness [0,1] 0.9749515399526169 Centerline is valid? [True, True] Translation: X:422.37, Y:65.69, Z:0.26 [[ 7.03112381e-01 -7.10982582e-01 -1.16939043e-02 4.22373219e+02] [ 7.10878878e-01 7.03209582e-01 -1.21451507e-02 6.56880973e+01] [ 1.68582562e-02 2.26456299e-04 9.99857864e-01 2.60273739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.644012739 meters Centerline goodness [0,1] 0.9746433889380436 Centerline is valid? [True, True] Translation: X:422.39, Y:65.71, Z:0.26 [[ 7.02043198e-01 -7.12050908e-01 -1.09019100e-02 4.22386386e+02] [ 7.11960852e-01 7.02127815e-01 -1.13259436e-02 6.57126070e+01] [ 1.57191827e-02 1.89568529e-04 9.99876428e-01 2.62492024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.674012739 meters Centerline goodness [0,1] 0.9742408512847132 Centerline is valid? [True, True] Translation: X:422.41, Y:65.73, Z:0.27 [[ 6.99970988e-01 -7.14099417e-01 -1.01310956e-02 4.22407679e+02] [ 7.14021817e-01 7.00044287e-01 -1.05281177e-02 6.57316611e+01] [ 1.46103384e-02 1.35553659e-04 9.99893254e-01 2.65524945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.704012739 meters Centerline goodness [0,1] 0.9734051724137931 Centerline is valid? [True, True] Translation: X:422.43, Y:65.75, Z:0.27 [[ 6.97085127e-01 -7.16919684e-01 -9.92435367e-03 4.22429096e+02] [ 7.16845454e-01 6.97155765e-01 -1.03166704e-02 6.57507803e+01] [ 1.43150444e-02 7.73696664e-05 9.99897532e-01 2.66623690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.734012739 meters Centerline goodness [0,1] 0.9738063801695132 Centerline is valid? [True, True] Translation: X:422.45, Y:65.77, Z:0.27 [[ 6.93880262e-01 -7.20020277e-01 -1.00490824e-02 4.22450455e+02] [ 7.19944445e-01 6.93953025e-01 -1.04496629e-02 6.57684368e+01] [ 1.44975603e-02 1.60337630e-05 9.99894905e-01 2.65108905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.764012739 meters Centerline goodness [0,1] 0.9720091363558008 Centerline is valid? [True, True] Translation: X:422.48, Y:65.78, Z:0.27 [[ 6.86960048e-01 -7.26618710e-01 -1.05424732e-02 4.22477152e+02] [ 7.26535962e-01 6.87040927e-01 -1.09663634e-02 6.57820965e+01] [ 1.52114754e-02 -1.26032355e-04 9.99884291e-01 2.65342766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.794012739 meters Centerline goodness [0,1] 0.9720466959408803 Centerline is valid? [True, True] Translation: X:422.50, Y:65.80, Z:0.27 [[ 6.83782546e-01 -7.29610397e-01 -1.04927639e-02 4.22500258e+02] [ 7.29528719e-01 6.83863022e-01 -1.09185460e-02 6.57983761e+01] [ 1.51418979e-02 -1.88861449e-04 9.99885337e-01 2.66063571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.824012739 meters Centerline goodness [0,1] 0.9719572560599945 Centerline is valid? [True, True] Translation: X:422.53, Y:65.81, Z:0.27 [[ 6.78723538e-01 -7.34325749e-01 -1.00026115e-02 4.22526206e+02] [ 7.34251986e-01 6.78797184e-01 -1.04117637e-02 6.58108148e+01] [ 1.44353707e-02 -2.77728283e-04 9.99895766e-01 2.67454590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.854012739 meters Centerline goodness [0,1] 0.9719172616094731 Centerline is valid? [True, True] Translation: X:422.55, Y:65.83, Z:0.27 [[ 6.77316718e-01 -7.35624253e-01 -9.95097534e-03 4.22546027e+02] [ 7.35551342e-01 6.77389745e-01 -1.03612938e-02 6.58293346e+01] [ 1.43627077e-02 -3.01575738e-04 9.99896806e-01 2.68045864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.884012739 meters Centerline goodness [0,1] 0.9714524887849063 Centerline is valid? [True, True] Translation: X:422.56, Y:65.85, Z:0.27 [[ 6.76672682e-01 -7.36212089e-01 -1.02878933e-02 4.22562452e+02] [ 7.36134168e-01 6.76750808e-01 -1.07159445e-02 6.58520670e+01] [ 1.48515480e-02 -3.22082825e-04 9.99889658e-01 2.68573009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.914012739 meters Centerline goodness [0,1] 0.971989814477992 Centerline is valid? [True, True] Translation: X:422.58, Y:65.87, Z:0.27 [[ 6.76403608e-01 -7.36449233e-01 -1.09857356e-02 4.22580326e+02] [ 7.36360346e-01 6.76492725e-01 -1.14470169e-02 6.58716808e+01] [ 1.58619170e-02 -3.46656493e-04 9.99874132e-01 2.67478360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.944012739 meters Centerline goodness [0,1] 0.9714285714285714 Centerline is valid? [True, True] Translation: X:422.60, Y:65.89, Z:0.27 [[ 6.76053123e-01 -7.36771475e-01 -1.09530021e-02 4.22599838e+02] [ 7.36683092e-01 6.76141753e-01 -1.14171437e-02 6.58919176e+01] [ 1.58176078e-02 -3.50295805e-04 9.99874832e-01 2.67817365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.974012739 meters Centerline goodness [0,1] 0.9714285714285714 Centerline is valid? [True, True] Translation: X:422.62, Y:65.91, Z:0.27 [[ 6.75921165e-01 -7.36892567e-01 -1.09509541e-02 4.22618719e+02] [ 7.36804168e-01 6.76009780e-01 -1.14191079e-02 6.59118737e+01] [ 1.58176078e-02 -3.50291898e-04 9.99874832e-01 2.68036943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.004012739 meters Centerline goodness [0,1] 0.9720320623916812 Centerline is valid? [True, True] Translation: X:422.64, Y:65.93, Z:0.27 [[ 6.75215726e-01 -7.37541654e-01 -1.07718059e-02 4.22638104e+02] [ 7.37456148e-01 6.75301548e-01 -1.12360812e-02 6.59308976e+01] [ 1.55612951e-02 -3.56955737e-04 9.99878852e-01 2.69220465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.034012739 meters Centerline goodness [0,1] 0.9715761161915009 Centerline is valid? [True, True] Translation: X:422.66, Y:65.95, Z:0.27 [[ 6.74459040e-01 -7.38233506e-01 -1.07839952e-02 4.22657192e+02] [ 7.38147836e-01 6.74545146e-01 -1.12525228e-02 6.59520766e+01] [ 1.55812810e-02 -3.70816976e-04 9.99878536e-01 2.70123120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.064012739 meters Centerline goodness [0,1] 0.9711862211862212 Centerline is valid? [True, True] Translation: X:422.68, Y:65.97, Z:0.27 [[ 6.73686169e-01 -7.38948776e-01 -1.00822286e-02 4.22678540e+02] [ 7.38873923e-01 6.73761513e-01 -1.05237682e-02 6.59711765e+01] [ 1.45695432e-02 -3.59778665e-04 9.99893794e-01 2.71486617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.094012739 meters Centerline goodness [0,1] 0.9719380490262657 Centerline is valid? [True, True] Translation: X:422.70, Y:65.99, Z:0.27 [[ 6.73275250e-01 -7.39331537e-01 -9.45073828e-03 4.22699252e+02] [ 7.39265759e-01 6.73341489e-01 -9.86798680e-03 6.59904217e+01] [ 1.36592880e-02 -3.42735926e-04 9.99906649e-01 2.73235454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.124012739 meters Centerline goodness [0,1] 0.9707728437233134 Centerline is valid? [True, True] Translation: X:422.72, Y:66.01, Z:0.28 [[ 6.71876980e-01 -7.40615221e-01 -8.39154630e-03 4.22723286e+02] [ 7.40563426e-01 6.71929303e-01 -8.76492109e-03 6.60056942e+01] [ 1.21299598e-02 -3.25523566e-04 9.99926376e-01 2.76167598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.154012739 meters Centerline goodness [0,1] 0.9714186279201288 Centerline is valid? [True, True] Translation: X:422.75, Y:66.02, Z:0.28 [[ 6.70478616e-01 -7.41876628e-01 -8.80305940e-03 4.22746085e+02] [ 7.41819696e-01 6.70536305e-01 -9.19797007e-03 6.60234764e+01] [ 1.27265299e-02 -3.63240599e-04 9.99918948e-01 2.75379366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.184012739 meters Centerline goodness [0,1] 0.9711940362821563 Centerline is valid? [True, True] Translation: X:422.77, Y:66.04, Z:0.27 [[ 6.68959467e-01 -7.43233384e-01 -9.86752114e-03 4.22769729e+02] [ 7.43161944e-01 6.69032098e-01 -1.03138703e-02 6.60399231e+01] [ 1.42673011e-02 -4.33605000e-04 9.99898123e-01 2.72454030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.214012739 meters Centerline goodness [0,1] 0.9697789225155613 Centerline is valid? [True, True] Translation: X:422.80, Y:66.05, Z:0.27 [[ 6.67080512e-01 -7.44886814e-01 -1.21336567e-02 4.22796644e+02] [ 7.44778976e-01 6.67190607e-01 -1.26874160e-02 6.60519307e+01] [ 1.75461507e-02 -5.73364435e-04 9.99845890e-01 2.68170344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.244012739 meters Centerline goodness [0,1] 0.9679931352568916 Centerline is valid? [True, True] Translation: X:422.82, Y:66.07, Z:0.27 [[ 6.67003210e-01 -7.44961632e-01 -1.17849388e-02 4.22818567e+02] [ 7.44859839e-01 6.67107082e-01 -1.23272565e-02 6.60683916e+01] [ 1.70451493e-02 -5.55807998e-04 9.99854566e-01 2.68829453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.274012739 meters Centerline goodness [0,1] 0.9694481368723468 Centerline is valid? [True, True] Translation: X:422.84, Y:66.09, Z:0.27 [[ 6.67350189e-01 -7.44672349e-01 -1.03352367e-02 4.22839341e+02] [ 7.44593972e-01 6.67430044e-01 -1.08144803e-02 6.60871036e+01] [ 1.49512920e-02 -4.78509449e-04 9.99888109e-01 2.73281077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.304012739 meters Centerline goodness [0,1] 0.9694065294595867 Centerline is valid? [True, True] Translation: X:422.86, Y:66.11, Z:0.28 [[ 6.68215002e-01 -7.43920955e-01 -8.38598941e-03 4.22859748e+02] [ 7.43869263e-01 6.68267517e-01 -8.77755284e-03 6.61064453e+01] [ 1.21338898e-02 -3.72787278e-04 9.99926312e-01 2.78145909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.334012739 meters Centerline goodness [0,1] 0.9693070149317224 Centerline is valid? [True, True] Translation: X:422.88, Y:66.13, Z:0.28 [[ 6.70883724e-01 -7.41526265e-01 -7.33670790e-03 4.22877909e+02] [ 7.41486529e-01 6.70923778e-01 -7.68182435e-03 6.61254296e+01] [ 1.06186463e-02 -2.86459154e-04 9.99943580e-01 2.81337878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.364012739 meters Centerline goodness [0,1] 0.9699428914938383 Centerline is valid? [True, True] Translation: X:422.90, Y:66.15, Z:0.28 [[ 6.72527564e-01 -7.40027763e-01 -8.09849583e-03 4.22895187e+02] [ 7.39979198e-01 6.72576261e-01 -8.48291171e-03 6.61469602e+01] [ 1.17244462e-02 -2.87726499e-04 9.99931225e-01 2.78837728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.394012739 meters Centerline goodness [0,1] 0.9692423105776444 Centerline is valid? [True, True] Translation: X:422.91, Y:66.17, Z:0.27 [[ 6.76985828e-01 -7.35926145e-01 -1.01438504e-02 4.22909557e+02] [ 7.35849422e-01 6.77061768e-01 -1.06297219e-02 6.61697527e+01] [ 1.46907035e-02 -2.68175418e-04 9.99892050e-01 2.73263591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.424012739 meters Centerline goodness [0,1] 0.9690551299384107 Centerline is valid? [True, True] Translation: X:422.92, Y:66.19, Z:0.27 [[ 6.79360911e-01 -7.33732399e-01 -1.02722745e-02 4.22924719e+02] [ 7.33653411e-01 6.79438531e-01 -1.07682211e-02 6.61934875e+01] [ 1.48803718e-02 -2.20780714e-04 9.99889257e-01 2.73501919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.454012739 meters Centerline goodness [0,1] 0.9692297768029932 Centerline is valid? [True, True] Translation: X:422.94, Y:66.22, Z:0.28 [[ 6.81594306e-01 -7.31662753e-01 -9.94072484e-03 4.22939743e+02] [ 7.31588510e-01 6.81666772e-01 -1.04241769e-02 6.62162280e+01] [ 1.44032438e-02 -1.67460472e-04 9.99896254e-01 2.75205811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.484012739 meters Centerline goodness [0,1] 0.9683832488937344 Centerline is valid? [True, True] Translation: X:422.95, Y:66.24, Z:0.28 [[ 6.85010202e-01 -7.28475830e-01 -9.16451426e-03 4.22950987e+02] [ 7.28412402e-01 6.85071498e-01 -9.61323701e-03 6.62424813e+01] [ 1.32813583e-02 -9.03804141e-05 9.99911795e-01 2.77349050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.514012739 meters Centerline goodness [0,1] 0.9689195539795787 Centerline is valid? [True, True] Translation: X:422.97, Y:66.26, Z:0.28 [[ 6.86425495e-01 -7.27143793e-01 -9.05228209e-03 4.22965321e+02] [ 7.27081755e-01 6.86485178e-01 -9.49850365e-03 6.62646580e+01] [ 1.31210355e-02 -6.17340815e-05 9.99913914e-01 2.78282008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.544012739 meters Centerline goodness [0,1] 0.969194058086291 Centerline is valid? [True, True] Translation: X:422.98, Y:66.29, Z:0.28 [[ 6.87960902e-01 -7.25699415e-01 -8.37597532e-03 4.22977883e+02] [ 7.25646159e-01 6.88011889e-01 -8.79169045e-03 6.62881556e+01] [ 1.21428952e-02 -2.96550259e-05 9.99926272e-01 2.77923508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.574012739 meters Centerline goodness [0,1] 0.9697181407331398 Centerline is valid? [True, True] Translation: X:423.00, Y:66.31, Z:0.28 [[ 6.87782952e-01 -7.25870401e-01 -8.17139110e-03 4.22995809e+02] [ 7.25819687e-01 6.87831491e-01 -8.58031805e-03 6.63090209e+01] [ 1.18487390e-02 -2.95600492e-05 9.99929801e-01 2.78161747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.604012739 meters Centerline goodness [0,1] 0.9683213516223308 Centerline is valid? [True, True] Translation: X:423.01, Y:66.33, Z:0.28 [[ 6.87362417e-01 -7.26268552e-01 -8.17911051e-03 4.23013750e+02] [ 7.26217730e-01 6.87411077e-01 -8.59178645e-03 6.63280157e+01] [ 1.18623555e-02 -3.41439743e-05 9.99929639e-01 2.78741883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.634012739 meters Centerline goodness [0,1] 0.9697325505544684 Centerline is valid? [True, True] Translation: X:423.03, Y:66.35, Z:0.28 [[ 6.86707728e-01 -7.26889257e-01 -8.03149542e-03 4.23032836e+02] [ 7.26840257e-01 6.86754692e-01 -8.44003124e-03 6.63473264e+01] [ 1.16506352e-02 -4.17795188e-05 9.99932128e-01 2.78841991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.664012739 meters Centerline goodness [0,1] 0.9683310415950499 Centerline is valid? [True, True] Translation: X:423.05, Y:66.37, Z:0.28 [[ 6.85564244e-01 -7.27965992e-01 -8.19646081e-03 4.23050613e+02] [ 7.27914998e-01 6.85613238e-01 -8.61646634e-03 6.63664887e+01] [ 1.18920965e-02 -5.91855254e-05 9.99929285e-01 2.78840700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.694012739 meters Centerline goodness [0,1] 0.969144670540558 Centerline is valid? [True, True] Translation: X:423.07, Y:66.39, Z:0.28 [[ 6.84844704e-01 -7.28639938e-01 -8.46002133e-03 4.23068711e+02] [ 7.28585628e-01 6.84896953e-01 -8.89646427e-03 6.63861716e+01] [ 1.22765620e-02 -7.11535051e-05 9.99924638e-01 2.77841636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.724012739 meters Centerline goodness [0,1] 0.969098823428005 Centerline is valid? [True, True] Translation: X:423.09, Y:66.41, Z:0.28 [[ 6.84169917e-01 -7.29270213e-01 -8.74533788e-03 4.23088233e+02] [ 7.29212184e-01 6.84225803e-01 -9.20003686e-03 6.64051161e+01] [ 1.26930987e-02 -8.28184722e-05 9.99919436e-01 2.76904299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.754012739 meters Centerline goodness [0,1] 0.9693350548741123 Centerline is valid? [True, True] Translation: X:423.11, Y:66.42, Z:0.28 [[ 6.83103376e-01 -7.30271407e-01 -8.57029428e-03 4.23109031e+02] [ 7.30215718e-01 6.83157129e-01 -9.01895997e-03 6.64220039e+01] [ 1.24411462e-02 -9.72815914e-05 9.99922601e-01 2.78686892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.784012739 meters Centerline goodness [0,1] 0.9692350570276992 Centerline is valid? [True, True] Translation: X:423.13, Y:66.44, Z:0.28 [[ 6.82566507e-01 -7.30776693e-01 -8.26976372e-03 4.23128782e+02] [ 7.30724846e-01 6.82616594e-01 -8.70539763e-03 6.64408180e+01] [ 1.20067796e-02 -1.00908977e-04 9.99927911e-01 2.80770489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.814012739 meters Centerline goodness [0,1] 0.9698567875825401 Centerline is valid? [True, True] Translation: X:423.15, Y:66.46, Z:0.28 [[ 6.81643770e-01 -7.31643418e-01 -7.72519236e-03 4.23150616e+02] [ 7.31598199e-01 6.81687536e-01 -8.13501688e-03 6.64570652e+01] [ 1.12180989e-02 -1.06553237e-04 9.99937069e-01 2.81978449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.844012739 meters Centerline goodness [0,1] 0.9693382495633611 Centerline is valid? [True, True] Translation: X:423.17, Y:66.47, Z:0.28 [[ 6.81098402e-01 -7.32153383e-01 -7.50938675e-03 4.23171826e+02] [ 7.32110654e-01 6.81139789e-01 -7.91064236e-03 6.64743968e+01] [ 1.09067457e-02 -1.09776174e-04 9.99940514e-01 2.82571568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.874012739 meters Centerline goodness [0,1] 0.9699008879238062 Centerline is valid? [True, True] Translation: X:423.19, Y:66.49, Z:0.28 [[ 6.80687996e-01 -7.32537679e-01 -7.23876553e-03 4.23192096e+02] [ 7.32497968e-01 6.80726477e-01 -7.62831509e-03 6.64924591e+01] [ 1.05156476e-02 -1.09878526e-04 9.99944703e-01 2.83051744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.904012739 meters Centerline goodness [0,1] 0.9689988867003512 Centerline is valid? [True, True] Translation: X:423.21, Y:66.51, Z:0.28 [[ 6.81004237e-01 -7.32246018e-01 -6.99985177e-03 4.23211657e+02] [ 7.32208842e-01 6.81040203e-01 -7.37921001e-03 6.65108587e+01] [ 1.01705776e-02 -1.00080078e-04 9.99948273e-01 2.84481237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.934012739 meters Centerline goodness [0,1] 0.9685889518292943 Centerline is valid? [True, True] Translation: X:423.23, Y:66.53, Z:0.29 [[ 6.81657328e-01 -7.31640688e-01 -6.72233952e-03 4.23229182e+02] [ 7.31606347e-01 6.81690469e-01 -7.08920054e-03 6.65310525e+01] [ 9.76930234e-03 -8.57007570e-05 9.99952276e-01 2.85807938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.964012739 meters Centerline goodness [0,1] 0.968870429048557 Centerline is valid? [True, True] Translation: X:423.25, Y:66.55, Z:0.29 [[ 6.82454954e-01 -7.30898278e-01 -6.55307165e-03 4.23246352e+02] [ 7.30865587e-01 6.82486411e-01 -6.91320240e-03 6.65516782e+01] [ 9.52523008e-03 -7.14653336e-05 9.99954631e-01 2.86561837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.994012739 meters Centerline goodness [0,1] 0.9685648028858541 Centerline is valid? [True, True] Translation: X:423.26, Y:66.57, Z:0.29 [[ 6.83145454e-01 -7.30252187e-01 -6.63556753e-03 4.23263276e+02] [ 7.30218612e-01 6.83177677e-01 -7.00286133e-03 6.65723799e+01] [ 9.64712642e-03 -6.14420215e-05 9.99953464e-01 2.86252621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.024012739 meters Centerline goodness [0,1] 0.9685237307436134 Centerline is valid? [True, True] Translation: X:423.28, Y:66.59, Z:0.28 [[ 6.83969435e-01 -7.29467530e-01 -7.93308224e-03 4.23280566e+02] [ 7.29419446e-01 6.84015438e-01 -8.37572625e-03 6.65938017e+01] [ 1.15361711e-02 -5.78036980e-05 9.99933454e-01 2.82016566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.054012739 meters Centerline goodness [0,1] 0.968324439701174 Centerline is valid? [True, True] Translation: X:423.30, Y:66.61, Z:0.28 [[ 6.84168207e-01 -7.29273699e-01 -8.58702677e-03 4.23298501e+02] [ 7.29217301e-01 6.84222090e-01 -9.06970925e-03 6.66141609e+01] [ 1.24897338e-02 -5.66017661e-05 9.99921999e-01 2.80093099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.084012739 meters Centerline goodness [0,1] 0.9684498427876125 Centerline is valid? [True, True] Translation: X:423.32, Y:66.63, Z:0.28 [[ 6.83823819e-01 -7.29598120e-01 -8.45974822e-03 4.23317588e+02] [ 7.29543366e-01 6.83876143e-01 -8.93857029e-03 6.66335962e+01] [ 1.23069841e-02 -5.93459161e-05 9.99924264e-01 2.81057720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.114012739 meters Centerline goodness [0,1] 0.968095691296072 Centerline is valid? [True, True] Translation: X:423.34, Y:66.65, Z:0.28 [[ 6.83431822e-01 -7.29969221e-01 -8.11671645e-03 4.23336498e+02] [ 7.29918806e-01 6.83480017e-01 -8.57922830e-03 6.66531683e+01] [ 1.18101861e-02 -6.12263506e-05 9.99930255e-01 2.82177784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.144012739 meters Centerline goodness [0,1] 0.968122658466336 Centerline is valid? [True, True] Translation: X:423.36, Y:66.67, Z:0.28 [[ 6.82889950e-01 -7.30476113e-01 -8.12188184e-03 4.23355606e+02] [ 7.30425632e-01 6.82938243e-01 -8.58789270e-03 6.66729075e+01] [ 1.18199942e-02 -6.78450565e-05 9.99930139e-01 2.82772724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.174012739 meters Centerline goodness [0,1] 0.968667674368387 Centerline is valid? [True, True] Translation: X:423.38, Y:66.69, Z:0.28 [[ 6.81909966e-01 -7.31391168e-01 -8.10915648e-03 4.23375079e+02] [ 7.31340872e-01 6.81958176e-01 -8.57763227e-03 6.66921670e+01] [ 1.18037100e-02 -8.13846391e-05 9.99930330e-01 2.81919712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.204012739 meters Centerline goodness [0,1] 0.9686484174508126 Centerline is valid? [True, True] Translation: X:423.39, Y:66.71, Z:0.28 [[ 6.81426796e-01 -7.31839301e-01 -8.29211060e-03 4.23394703e+02] [ 7.31786703e-01 6.81477241e-01 -8.77446940e-03 6.67115060e+01] [ 1.20723862e-02 -8.88977002e-05 9.99927122e-01 2.81273870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.234012739 meters Centerline goodness [0,1] 0.968571246305314 Centerline is valid? [True, True] Translation: X:423.41, Y:66.73, Z:0.28 [[ 6.80591944e-01 -7.32616065e-01 -8.26481588e-03 4.23414938e+02] [ 7.32563831e-01 6.80642117e-01 -8.74883503e-03 6.67300498e+01] [ 1.20349189e-02 -1.00118543e-04 9.99927573e-01 2.81758844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.264012739 meters Centerline goodness [0,1] 0.9697882595971767 Centerline is valid? [True, True] Translation: X:423.44, Y:66.75, Z:0.28 [[ 6.78966509e-01 -7.34118629e-01 -8.62075721e-03 4.23439012e+02] [ 7.34061878e-01 6.79021223e-01 -9.12897728e-03 6.67458958e+01] [ 1.25554294e-02 -1.29899391e-04 9.99921169e-01 2.80376801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.294012739 meters Centerline goodness [0,1] 0.9693031689836802 Centerline is valid? [True, True] Translation: X:423.46, Y:66.76, Z:0.28 [[ 6.78129446e-01 -7.34893798e-01 -8.45929782e-03 4.23460153e+02] [ 7.34839175e-01 6.78182192e-01 -8.96105285e-03 6.67627442e+01] [ 1.23223673e-02 -1.39469631e-04 9.99924067e-01 2.81089508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.324012739 meters Centerline goodness [0,1] 0.9695774040534714 Centerline is valid? [True, True] Translation: X:423.48, Y:66.78, Z:0.28 [[ 6.77504508e-01 -7.35475944e-01 -7.92321167e-03 4.23477572e+02] [ 7.35428030e-01 6.77550822e-01 -8.39620185e-03 6.67830971e+01] [ 1.15435831e-02 -1.38487346e-04 9.99933361e-01 2.84550068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.354012739 meters Centerline goodness [0,1] 0.9703643690169073 Centerline is valid? [True, True] Translation: X:423.50, Y:66.80, Z:0.29 [[ 6.77247882e-01 -7.35726302e-01 -6.48955306e-03 4.23497908e+02] [ 7.35694149e-01 6.77278964e-01 -6.87925880e-03 6.68000884e+01] [ 9.45648941e-03 -1.15362761e-04 9.99955280e-01 2.88778669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.384012739 meters Centerline goodness [0,1] 0.9700965944538864 Centerline is valid? [True, True] Translation: X:423.51, Y:66.82, Z:0.29 [[ 6.77554403e-01 -7.35448328e-01 -5.98222811e-03 4.23514755e+02] [ 7.35420974e-01 6.77580804e-01 -6.34387529e-03 6.68224175e+01] [ 8.71903540e-03 -1.01135389e-04 9.99961983e-01 2.90195944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.414012739 meters Centerline goodness [0,1] 0.9711667315090996 Centerline is valid? [True, True] Translation: X:423.53, Y:66.84, Z:0.29 [[ 6.79538980e-01 -7.33613514e-01 -6.16337555e-03 4.23532531e+02] [ 7.33584380e-01 6.79566925e-01 -6.53846038e-03 6.68446692e+01] [ 8.98512907e-03 -7.82173323e-05 9.99959630e-01 2.89712867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.444012739 meters Centerline goodness [0,1] 0.9705451726810783 Centerline is valid? [True, True] Translation: X:423.55, Y:66.87, Z:0.29 [[ 6.81030698e-01 -7.32228342e-01 -6.23251837e-03 4.23549606e+02] [ 7.32198471e-01 6.81059213e-01 -6.61417051e-03 6.68662345e+01] [ 9.08779716e-03 -5.89872574e-05 9.99958703e-01 2.89685974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.474012739 meters Centerline goodness [0,1] 0.971238559575742 Centerline is valid? [True, True] Translation: X:423.57, Y:66.89, Z:0.29 [[ 6.82420178e-01 -7.30933727e-01 -6.21187961e-03 4.23567002e+02] [ 7.30903977e-01 6.82448449e-01 -6.59476128e-03 6.68885716e+01] [ 9.05962104e-03 -3.98893430e-05 9.99958960e-01 2.89830898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.504012739 meters Centerline goodness [0,1] 0.970898175547655 Centerline is valid? [True, True] Translation: X:423.58, Y:66.91, Z:0.29 [[ 6.83704739e-01 -7.29734421e-01 -5.95858091e-03 4.23583971e+02] [ 7.29706983e-01 6.83730703e-01 -6.32811556e-03 6.69101041e+01] [ 8.69190846e-03 -2.14555019e-05 9.99962224e-01 2.90677449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.534012739 meters Centerline goodness [0,1] 0.9720398942971613 Centerline is valid? [True, True] Translation: X:423.60, Y:66.93, Z:0.29 [[ 6.84354228e-01 -7.29125673e-01 -5.91972505e-03 4.23601695e+02] [ 7.29098548e-01 6.84379831e-01 -6.28922506e-03 6.69304767e+01] [ 8.63697589e-03 -1.20051834e-05 9.99962701e-01 2.90332670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.564012739 meters Centerline goodness [0,1] 0.9723283868901462 Centerline is valid? [True, True] Translation: X:423.62, Y:66.95, Z:0.29 [[ 6.83983745e-01 -7.29468297e-01 -6.49924093e-03 4.23621185e+02] [ 7.29435597e-01 6.84014622e-01 -6.90702645e-03 6.69505708e+01] [ 9.48403265e-03 -1.64838717e-05 9.99955025e-01 2.88880323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.594012739 meters Centerline goodness [0,1] 0.9728863534388821 Centerline is valid? [True, True] Translation: X:423.64, Y:66.97, Z:0.29 [[ 6.83564253e-01 -7.29856181e-01 -7.06170366e-03 4.23640189e+02] [ 7.29817566e-01 6.83600728e-01 -7.50772316e-03 6.69700036e+01] [ 1.03069439e-02 -2.17442059e-05 9.99946882e-01 2.86342449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.624012739 meters Centerline goodness [0,1] 0.9731582196300474 Centerline is valid? [True, True] Translation: X:423.66, Y:66.99, Z:0.29 [[ 6.83831209e-01 -7.29603970e-01 -7.27498972e-03 4.23658398e+02] [ 7.29562941e-01 6.83869905e-01 -7.73742969e-03 6.69903880e+01] [ 1.06204059e-02 -1.64669954e-05 9.99943602e-01 2.86154917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.654012739 meters Centerline goodness [0,1] 0.9735487192688892 Centerline is valid? [True, True] Translation: X:423.68, Y:67.01, Z:0.29 [[ 6.84365409e-01 -7.29099382e-01 -7.62096471e-03 4.23676895e+02] [ 7.29054291e-01 6.84407840e-01 -8.10857889e-03 6.70115120e+01] [ 1.11278079e-02 -6.86612100e-06 9.99938084e-01 2.85536044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.684012739 meters Centerline goodness [0,1] 0.9744195113498527 Centerline is valid? [True, True] Translation: X:423.69, Y:67.03, Z:0.28 [[ 6.86389081e-01 -7.27185960e-01 -8.40288516e-03 4.23691970e+02] [ 7.27130956e-01 6.86440514e-01 -8.94398166e-03 6.70338451e+01] [ 1.22720187e-02 2.90534444e-05 9.99924696e-01 2.83849635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.714012739 meters Centerline goodness [0,1] 0.9745766401114448 Centerline is valid? [True, True] Translation: X:423.71, Y:67.06, Z:0.28 [[ 6.87877068e-01 -7.25780479e-01 -8.23620091e-03 4.23708227e+02] [ 7.25727496e-01 6.87926372e-01 -8.76974446e-03 6.70574261e+01] [ 1.20308091e-02 5.52686433e-05 9.99927626e-01 2.84491169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.744012739 meters Centerline goodness [0,1] 0.9724217056898823 Centerline is valid? [True, True] Translation: X:423.72, Y:67.08, Z:0.29 [[ 6.89620394e-01 -7.24127842e-01 -7.91077368e-03 4.23722367e+02] [ 7.24078824e-01 6.89665761e-01 -8.42587768e-03 6.70806859e+01] [ 1.15572024e-02 8.26333819e-05 9.99933210e-01 2.85438053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.774012739 meters Centerline goodness [0,1] 0.9720594479830149 Centerline is valid? [True, True] Translation: X:423.73, Y:67.11, Z:0.29 [[ 6.93068469e-01 -7.20847863e-01 -5.86987677e-03 4.23734835e+02] [ 7.20820746e-01 6.93093318e-01 -6.25335099e-03 6.71073877e+01] [ 8.57608706e-03 1.02871447e-04 9.99963219e-01 2.89797756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.804012739 meters Centerline goodness [0,1] 0.9729456981512894 Centerline is valid? [True, True] Translation: X:423.75, Y:67.13, Z:0.29 [[ 6.93986105e-01 -7.19971556e-01 -4.92394010e-03 4.23752162e+02] [ 7.19952442e-01 6.94003566e-01 -5.24708694e-03 6.71300210e+01] [ 7.19498534e-03 9.64027285e-05 9.99974111e-01 2.92201406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.834012739 meters Centerline goodness [0,1] 0.9712260838104156 Centerline is valid? [True, True] Translation: X:423.77, Y:67.15, Z:0.29 [[ 6.94407396e-01 -7.19568082e-01 -4.48815289e-03 4.23768589e+02] [ 7.19552185e-01 6.94421894e-01 -4.78406381e-03 6.71509716e+01] [ 6.55913125e-03 9.26290750e-05 9.99978484e-01 2.93529007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.864012739 meters Centerline goodness [0,1] 0.9705273933164147 Centerline is valid? [True, True] Translation: X:423.79, Y:67.17, Z:0.29 [[ 6.94755757e-01 -7.19222962e-01 -5.72445155e-03 4.23786170e+02] [ 7.19197064e-01 6.94779328e-01 -6.10471223e-03 6.71733363e+01] [ 8.36787982e-03 1.24275213e-04 9.99964981e-01 2.89849541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.894012739 meters Centerline goodness [0,1] 0.9705273933164147 Centerline is valid? [True, True] Translation: X:423.80, Y:67.19, Z:0.29 [[ 6.94632315e-01 -7.19342192e-01 -5.72340233e-03 4.23804811e+02] [ 7.19316290e-01 6.94655882e-01 -6.10569576e-03 6.71935103e+01] [ 8.36787967e-03 1.24277048e-04 9.99964981e-01 2.90069083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.924012739 meters Centerline goodness [0,1] 0.9699607441542926 Centerline is valid? [True, True] Translation: X:423.82, Y:67.21, Z:0.29 [[ 6.94587886e-01 -7.19382273e-01 -6.06748968e-03 4.23822853e+02] [ 7.19353143e-01 6.94614374e-01 -6.47511341e-03 6.72147853e+01] [ 8.87264734e-03 1.32867563e-04 9.99960628e-01 2.88649175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.954012739 meters Centerline goodness [0,1] 0.969098952070091 Centerline is valid? [True, True] Translation: X:423.84, Y:67.24, Z:0.29 [[ 6.94899270e-01 -7.19082054e-01 -6.00027529e-03 4.23838290e+02] [ 7.19053537e-01 6.94925162e-01 -6.40556940e-03 6.72378421e+01] [ 8.77587228e-03 1.36706335e-04 9.99961482e-01 2.88853678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.984012739 meters Centerline goodness [0,1] 0.9683224878122114 Centerline is valid? [True, True] Translation: X:423.86, Y:67.26, Z:0.29 [[ 6.94819147e-01 -7.19163223e-01 -5.53284644e-03 4.23856667e+02] [ 7.19138962e-01 6.94841164e-01 -5.90854606e-03 6.72595608e+01] [ 8.09365849e-03 1.26485485e-04 9.99967238e-01 2.90103612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.014012739 meters Centerline goodness [0,1] 0.9667601893298494 Centerline is valid? [True, True] Translation: X:423.87, Y:67.28, Z:0.29 [[ 6.94835597e-01 -7.19151940e-01 -4.89699533e-03 4.23874950e+02] [ 7.19132923e-01 6.94852844e-01 -5.23106969e-03 6.72812816e+01] [ 7.16462504e-03 1.13142867e-04 9.99974327e-01 2.92081899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.044012739 meters Centerline goodness [0,1] 0.9649413212792598 Centerline is valid? [True, True] Translation: X:423.89, Y:67.30, Z:0.30 [[ 6.93945434e-01 -7.20022461e-01 -2.71848014e-03 4.23893007e+02] [ 7.20016606e-01 6.93950757e-01 -2.90416585e-03 6.73005691e+01] [ 3.97755599e-03 5.79817917e-05 9.99992088e-01 2.97819676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.074012739 meters Centerline goodness [0,1] 0.9631621633158322 Centerline is valid? [True, True] Translation: X:423.91, Y:67.32, Z:0.30 [[ 6.92593075e-01 -7.21325340e-01 -2.14153681e-03 4.23912927e+02] [ 7.21321713e-01 6.92596384e-01 -2.28783206e-03 6.73187525e+01] [ 3.13349189e-03 3.97996451e-05 9.99995090e-01 2.98905361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.104012739 meters Centerline goodness [0,1] 0.9637695165689496 Centerline is valid? [True, True] Translation: X:423.93, Y:67.34, Z:0.30 [[ 6.91017053e-01 -7.22835165e-01 -2.18082231e-03 4.23933611e+02] [ 7.22831408e-01 6.91020494e-01 -2.33089058e-03 6.73366686e+01] [ 3.19184258e-03 3.43182789e-05 9.99994905e-01 2.98272283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.134012739 meters Centerline goodness [0,1] 0.9634591702407745 Centerline is valid? [True, True] Translation: X:423.96, Y:67.35, Z:0.30 [[ 6.89237668e-01 -7.24529976e-01 -2.78392062e-03 4.23955871e+02] [ 7.24523861e-01 6.89243289e-01 -2.97700794e-03 6.73536000e+01] [ 4.07573010e-03 3.48490935e-05 9.99991694e-01 2.96474331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.164012739 meters Centerline goodness [0,1] 0.9629494707067244 Centerline is valid? [True, True] Translation: X:423.98, Y:67.37, Z:0.30 [[ 6.85606335e-01 -7.27967292e-01 -2.75232726e-03 4.23981990e+02] [ 7.27961338e-01 6.85611860e-01 -2.94418496e-03 6.73674602e+01] [ 4.03029856e-03 1.49640318e-05 9.99991878e-01 2.95601997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.194012739 meters Centerline goodness [0,1] 0.9618634979194371 Centerline is valid? [True, True] Translation: X:424.00, Y:67.39, Z:0.30 [[ 6.84557890e-01 -7.28953970e-01 -2.56985286e-03 4.24001919e+02] [ 7.28948785e-01 6.84562714e-01 -2.74963954e-03 6.73864705e+01] [ 3.76358611e-03 8.99631774e-06 9.99992918e-01 2.96162038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.224012739 meters Centerline goodness [0,1] 0.9614695920436649 Centerline is valid? [True, True] Translation: X:424.02, Y:67.41, Z:0.30 [[ 6.84019173e-01 -7.29462109e-01 -1.67403243e-03 4.24020443e+02] [ 7.29459911e-01 6.84021221e-01 -1.79106189e-03 6.74069034e+01] [ 2.45158549e-03 3.98112811e-06 9.99996995e-01 2.98620670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.254012739 meters Centerline goodness [0,1] 0.9601463837708628 Centerline is valid? [True, True] Translation: X:424.04, Y:67.43, Z:0.30 [[ 6.83738621e-01 -7.29726164e-01 -1.10592787e-03 4.24039223e+02] [ 7.29725206e-01 6.83739515e-01 -1.18294909e-03 6.74263293e+01] [ 1.61939549e-03 1.80453221e-06 9.99998689e-01 3.00609719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.284012739 meters Centerline goodness [0,1] 0.9607927990306387 Centerline is valid? [True, True] Translation: X:424.06, Y:67.45, Z:0.30 [[ 6.83357934e-01 -7.30083507e-01 -7.70729493e-05 4.24058109e+02] [ 7.30083503e-01 6.83357939e-01 -8.04642300e-05 6.74463562e+01] [ 1.11414019e-04 -1.28381878e-06 9.99999994e-01 3.03118865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.314012739 meters Centerline goodness [0,1] 0.9600223410882688 Centerline is valid? [True, True] Translation: X:424.07, Y:67.47, Z:0.30 [[ 6.83457662e-01 -7.29989918e-01 -5.86056829e-04 4.24074911e+02] [ 7.29989650e-01 6.83457913e-01 -6.26328326e-04 6.74672640e+01] [ 8.57758541e-04 2.53474256e-07 9.99999632e-01 3.01129096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.344012739 meters Centerline goodness [0,1] 0.9597471652181341 Centerline is valid? [True, True] Translation: X:424.09, Y:67.49, Z:0.30 [[ 6.83312966e-01 -7.30124894e-01 -1.01454132e-03 4.24092749e+02] [ 7.30124086e-01 6.83313719e-01 -1.08624336e-03 6.74871564e+01] [ 1.48634332e-03 1.50311884e-06 9.99998895e-01 2.99376374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.374012739 meters Centerline goodness [0,1] 0.9595922824899891 Centerline is valid? [True, True] Translation: X:424.11, Y:67.51, Z:0.30 [[ 6.82548766e-01 -7.30838605e-01 -1.45452775e-03 4.24111851e+02] [ 7.30836942e-01 6.82550316e-01 -1.55882124e-03 6.75057974e+01] [ 2.13203512e-03 9.48899215e-07 9.99997727e-01 2.98125507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.404012739 meters Centerline goodness [0,1] 0.9589239412273121 Centerline is valid? [True, True] Translation: X:424.13, Y:67.52, Z:0.30 [[ 6.79531835e-01 -7.33643859e-01 -1.78128443e-03 4.24134907e+02] [ 7.33641372e-01 6.79534170e-01 -1.91019159e-03 6.75214002e+01] [ 2.61184396e-03 -8.78795575e-06 9.99996589e-01 2.96759917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.434012739 meters Centerline goodness [0,1] 0.9584280886697414 Centerline is valid? [True, True] Translation: X:424.15, Y:67.54, Z:0.30 [[ 6.78469157e-01 -7.34624390e-01 -2.57086577e-03 4.24154646e+02] [ 7.34619210e-01 6.78474027e-01 -2.75890180e-03 6.75403692e+01] [ 3.77102220e-03 -1.67776020e-05 9.99992890e-01 2.95809605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.464012739 meters Centerline goodness [0,1] 0.9453712860644107 Centerline is valid? [True, False] Translation: X:423.73, Y:67.03, Z:0.28 [[ 6.92909687e-01 -7.18880167e-01 -5.55650180e-02 4.23727455e+02] [ 7.20820080e-01 6.88818888e-01 7.71164865e-02 6.70298553e+01] [-1.71632788e-02 -9.34871413e-02 9.95472539e-01 2.78072842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.494012739 meters Centerline goodness [0,1] 0.9446646211540101 Centerline is valid? [False, False] Translation: X:423.41, Y:66.62, Z:0.27 [[ 7.06961866e-01 -7.01284238e-01 -9.16806297e-02 4.23408906e+02] [ 7.06401740e-01 6.93801282e-01 1.40129805e-01 6.66207800e+01] [-3.46626850e-02 -1.63829785e-01 9.85879455e-01 2.71169069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.524012739 meters Centerline goodness [0,1] 0.9435873327919997 Centerline is valid? [False, False] Translation: X:423.08, Y:66.26, Z:0.27 [[ 7.15915929e-01 -6.90755239e-01 -1.01595191e-01 4.23081214e+02] [ 6.96466270e-01 6.96342471e-01 1.73325989e-01 6.62563076e+01] [-4.89807885e-02 -1.94844461e-01 9.79610391e-01 2.70208598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.554012739 meters Centerline goodness [0,1] 0.9424360102126199 Centerline is valid? [False, False] Translation: X:422.75, Y:65.91, Z:0.27 [[ 7.25306394e-01 -6.81264704e-01 -9.90405901e-02 4.22746954e+02] [ 6.85378179e-01 7.01060435e-01 1.96903576e-01 6.59076254e+01] [-6.47100168e-02 -2.10695682e-01 9.75407578e-01 2.73046700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.584012739 meters Centerline goodness [0,1] 0.9411083469160161 Centerline is valid? [False, False] Translation: X:422.42, Y:65.59, Z:0.28 [[ 7.33873528e-01 -6.72995560e-01 -9.22313439e-02 4.22424134e+02] [ 6.74476324e-01 7.05800229e-01 2.16628081e-01 6.55854995e+01] [-8.06928329e-02 -2.21185472e-01 9.71887676e-01 2.82645369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.614012739 meters Centerline goodness [0,1] 0.9404265331878757 Centerline is valid? [False, False] Translation: X:422.11, Y:65.28, Z:0.30 [[ 7.41595765e-01 -6.65753149e-01 -8.25134303e-02 4.22107913e+02] [ 6.64109949e-01 7.11185781e-01 2.30592196e-01 6.52841557e+01] [-9.48351023e-02 -2.25804186e-01 9.69545653e-01 2.98150146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.644012739 meters Centerline goodness [0,1] 0.9258354232310891 Centerline is valid? [False, False] Translation: X:421.76, Y:64.95, Z:0.30 [[ 7.54213315e-01 -6.53389195e-01 -6.51524010e-02 4.21757791e+02] [ 6.45882677e-01 7.20330419e-01 2.52902463e-01 6.49546379e+01] [-1.18312480e-01 -2.32823212e-01 9.65295555e-01 3.04221666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.674012739 meters Centerline goodness [0,1] 0.9268099499079505 Centerline is valid? [False, False] Translation: X:421.39, Y:64.63, Z:0.33 [[ 7.63848382e-01 -6.43856555e-01 -4.45464454e-02 4.21387142e+02] [ 6.30321749e-01 7.29398304e-01 2.65843201e-01 6.46343648e+01] [-1.38672786e-01 -2.31142493e-01 9.62986504e-01 3.29583542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.704012739 meters Centerline goodness [0,1] 0.9260372051396791 Centerline is valid? [False, False] Translation: X:421.03, Y:64.34, Z:0.36 [[ 7.73235474e-01 -6.33736087e-01 -2.20334754e-02 4.21034728e+02] [ 6.13978983e-01 7.39537432e-01 2.75888011e-01 6.43428906e+01] [-1.58545609e-01 -2.26854488e-01 9.60937215e-01 3.59474287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.734012739 meters Centerline goodness [0,1] 0.1875800529416788 Centerline is valid? [False, False] Translation: X:420.66, Y:64.05, Z:0.40 [[ 7.83214661e-01 -6.21739987e-01 3.76593833e-03 4.20656156e+02] [ 5.95414681e-01 7.51768980e-01 2.83416228e-01 6.40475553e+01] [-1.79042318e-01 -2.19733450e-01 9.58989603e-01 4.01191810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.764012739 meters Centerline goodness [0,1] 0.9249170294383863 Centerline is valid? [False, False] Translation: X:420.26, Y:63.75, Z:0.45 [[ 7.90235764e-01 -6.12015175e-01 3.10622360e-02 4.20258255e+02] [ 5.79184667e-01 7.62481695e-01 2.88386521e-01 6.37464804e+01] [-2.00181313e-01 -2.09902572e-01 9.57010111e-01 4.54781197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.794012739 meters Centerline goodness [0,1] 0.18327776243973926 Centerline is valid? [False, False] Translation: X:419.92, Y:63.49, Z:0.50 [[ 7.98466673e-01 -5.99363230e-01 5.66982473e-02 4.19915101e+02] [ 5.59923610e-01 7.73914541e-01 2.95874694e-01 6.34939656e+01] [-2.21216010e-01 -2.04499395e-01 9.53542592e-01 5.00219504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.824012739 meters Centerline goodness [0,1] 0.18482871476864116 Centerline is valid? [False, False] Translation: X:419.49, Y:63.20, Z:0.58 [[ 8.03062021e-01 -5.89353119e-01 8.80584521e-02 4.19493367e+02] [ 5.43582053e-01 7.85065440e-01 2.96969371e-01 6.32010787e+01] [-2.44151472e-01 -1.90617829e-01 9.50818017e-01 5.77051136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.854012739 meters Centerline goodness [0,1] 0.17752574687207423 Centerline is valid? [False, False] Translation: X:419.13, Y:62.95, Z:0.64 [[ 8.08633277e-01 -5.75987047e-01 1.19796267e-01 4.19126578e+02] [ 5.23178211e-01 7.97168742e-01 3.01341263e-01 6.29497218e+01] [-2.69066504e-01 -1.80999776e-01 9.45961044e-01 6.43434523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.884012739 meters Centerline goodness [0,1] 0.21044379600191632 Centerline is valid? [False, False] Translation: X:418.64, Y:62.65, Z:0.72 [[ 8.04225848e-01 -5.73549497e-01 1.55761869e-01 4.18635816e+02] [ 5.11850044e-01 8.01607772e-01 3.08924769e-01 6.26461913e+01] [-3.02043571e-01 -1.68718565e-01 9.38245025e-01 7.19324093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.914012739 meters Centerline goodness [0,1] 0.2085175296537839 Centerline is valid? [False, False] Translation: X:418.13, Y:62.33, Z:0.84 [[ 8.02706937e-01 -5.60055710e-01 2.04937003e-01 4.18125969e+02] [ 4.86859388e-01 8.13859369e-01 3.17176392e-01 6.23335988e+01] [-3.44426349e-01 -1.54824186e-01 9.25958941e-01 8.40452908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.944012739 meters Centerline goodness [0,1] 0.20019757752770384 Centerline is valid? [False, False] Translation: X:417.65, Y:62.06, Z:0.96 [[ 8.00485039e-01 -5.42795431e-01 2.54159049e-01 4.17651841e+02] [ 4.57981658e-01 8.27496385e-01 3.24811538e-01 6.20561818e+01] [-3.86621913e-01 -1.43606594e-01 9.10988827e-01 9.60151541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.974012739 meters Centerline goodness [0,1] 0.20165415170312329 Centerline is valid? [False, False] Translation: X:417.06, Y:61.73, Z:1.16 [[ 7.92025809e-01 -5.22701140e-01 3.15402339e-01 4.17058857e+02] [ 4.30049647e-01 8.44396821e-01 3.19454707e-01 6.17318401e+01] [-4.33304072e-01 -1.17377708e-01 8.93571516e-01 1.15998476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.004012739 meters Centerline goodness [0,1] 0.2001983015045049 Centerline is valid? [False, False] Translation: X:416.50, Y:61.45, Z:1.37 [[ 7.80960528e-01 -4.95678223e-01 3.80004939e-01 4.16504822e+02] [ 3.98351488e-01 8.63900879e-01 3.08206690e-01 6.14471634e+01] [-4.81057945e-01 -8.93217265e-02 8.72126644e-01 1.36562979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.034012739 meters Centerline goodness [0,1] 0.17340642803396755 Centerline is valid? [False, False] Translation: X:415.91, Y:61.17, Z:1.62 [[ 7.61102814e-01 -4.62567292e-01 4.54702107e-01 4.15907788e+02] [ 3.65906091e-01 8.85016062e-01 2.87852918e-01 6.11704552e+01] [-5.35570013e-01 -5.27073958e-02 8.42844405e-01 1.62321127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.064012739 meters Centerline goodness [0,1] 0.17728579767798847 Centerline is valid? [False, False] Translation: X:415.26, Y:60.89, Z:1.95 [[ 7.33879550e-01 -4.27198034e-01 5.28131278e-01 4.15264640e+02] [ 3.35553052e-01 9.03993973e-01 2.64951027e-01 6.08912997e+01] [-5.90614050e-01 -1.72260785e-02 8.06770293e-01 1.94758238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.094012739 meters Centerline goodness [0,1] 0.18173608274023267 Centerline is valid? [False, False] Translation: X:414.60, Y:60.64, Z:2.33 [[ 6.95678847e-01 -3.72440274e-01 6.14263123e-01 4.14597185e+02] [ 3.05345067e-01 9.27318617e-01 2.16436069e-01 6.06389204e+01] [-6.50227139e-01 3.69922199e-02 7.58838747e-01 2.32908862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.124012739 meters Centerline goodness [0,1] 0.18267019195632084 Centerline is valid? [False, False] Translation: X:413.91, Y:60.41, Z:2.79 [[ 6.46977514e-01 -3.06802653e-01 6.98063198e-01 4.13910977e+02] [ 2.76043799e-01 9.47625076e-01 1.60644132e-01 6.04062333e+01] [-7.10788237e-01 8.87628762e-02 6.97783085e-01 2.79288624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.154012739 meters Centerline goodness [0,1] 0.18565941101152372 Centerline is valid? [False, False] Translation: X:413.23, Y:60.19, Z:3.35 [[ 5.89790947e-01 -2.44358345e-01 7.69698407e-01 4.13229813e+02] [ 2.53629469e-01 9.60943134e-01 1.10726628e-01 6.01913164e+01] [-7.66693375e-01 1.29912636e-01 6.28732038e-01 3.34699514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.184012739 meters Centerline goodness [0,1] 0.18849107625743644 Centerline is valid? [False, False] Translation: X:412.39, Y:59.90, Z:4.16 [[ 5.03773220e-01 -2.08391482e-01 8.38323048e-01 4.12389700e+02] [ 2.26190120e-01 9.68428179e-01 1.04808831e-01 5.98967372e+01] [-8.33696931e-01 1.36820509e-01 5.35004276e-01 4.15913725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.214012739 meters Centerline goodness [0,1] 0.15658088943078996 Centerline is valid? [False, False] Translation: X:411.48, Y:59.64, Z:4.79 [[ 4.79620195e-01 -1.60023285e-01 8.62761275e-01 4.11477526e+02] [ 1.49169002e-01 9.83788176e-01 9.95461347e-02 5.96422588e+01] [-8.64704040e-01 8.09529018e-02 4.95715191e-01 4.79324655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.244012739 meters Centerline goodness [0,1] 0.8203226084706288 Centerline is valid? [False, False] Translation: X:412.40, Y:59.72, Z:4.68 [[ 9.69820065e-01 -6.51785950e-02 2.34948490e-01 4.12403280e+02] [ 6.00323193e-02 9.97775144e-01 2.89979908e-02 5.97153390e+01] [-2.36315812e-01 -1.40183305e-02 9.71575176e-01 4.68201010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.274012739 meters Centerline goodness [0,1] 0.8167284070969 Centerline is valid? [False, False] Translation: X:412.40, Y:59.71, Z:4.68 [[ 9.69801422e-01 -6.47330444e-02 2.35148538e-01 4.12402363e+02] [ 5.94788558e-02 9.97797226e-01 2.93762119e-02 5.97126554e+01] [-2.36532170e-01 -1.45027261e-02 9.71515416e-01 4.68219079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.304012739 meters Centerline goodness [0,1] 0.8141424619640387 Centerline is valid? [False, False] Translation: X:412.40, Y:59.71, Z:4.68 [[ 9.69918620e-01 -6.39536810e-02 2.34878261e-01 4.12401716e+02] [ 5.85324687e-02 9.97834996e-01 2.99878319e-02 5.97081746e+01] [-2.36287581e-01 -1.53377520e-02 9.71562109e-01 4.68253920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.334012739 meters Centerline goodness [0,1] 0.811448542340504 Centerline is valid? [False, False] Translation: X:412.40, Y:59.70, Z:4.68 [[ 9.70011853e-01 -6.33297173e-02 2.34662207e-01 4.12401776e+02] [ 5.77581904e-02 9.97863148e-01 3.05471509e-02 5.97037111e+01] [-2.36095311e-01 -1.60774340e-02 9.71596892e-01 4.68220017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.364012739 meters Centerline goodness [0,1] 0.420104211897525 Centerline is valid? [False, False] Translation: X:412.41, Y:59.70, Z:4.68 [[ 9.70111253e-01 -6.40036632e-02 2.34067701e-01 4.12406326e+02] [ 5.86256154e-02 9.97833062e-01 2.98699995e-02 5.96992146e+01] [-2.35472281e-01 -1.52548596e-02 9.71761336e-01 4.67807776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.394012739 meters Centerline goodness [0,1] 0.41501575380896893 Centerline is valid? [False, False] Translation: X:412.41, Y:59.70, Z:4.68 [[ 9.70207334e-01 -6.33547030e-02 2.33845914e-01 4.12406780e+02] [ 5.78605627e-02 9.97865120e-01 3.02879190e-02 5.96964863e+01] [-2.35265563e-01 -1.58551050e-02 9.71801796e-01 4.67711294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.424012739 meters Centerline goodness [0,1] 0.3993981641842743 Centerline is valid? [False, False] Translation: X:412.41, Y:59.69, Z:4.68 [[ 9.70256182e-01 -6.22627758e-02 2.33936502e-01 4.12406887e+02] [ 5.66626757e-02 9.97924626e-01 3.05905481e-02 5.96943190e+01] [-2.35355649e-01 -1.64252002e-02 9.71770514e-01 4.67682588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.454012739 meters Centerline goodness [0,1] 0.7600043308791684 Centerline is valid? [False, False] Translation: X:412.41, Y:59.69, Z:4.68 [[ 9.70321140e-01 -6.13138306e-02 2.33917721e-01 4.12406033e+02] [ 5.56575849e-02 9.97977457e-01 3.07120363e-02 5.96932310e+01] [-2.35327684e-01 -1.67812427e-02 9.71771203e-01 4.67674872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.484012739 meters Centerline goodness [0,1] 0.67492904036574 Centerline is valid? [False, False] Translation: X:412.41, Y:59.69, Z:4.67 [[ 9.70514869e-01 -5.90775428e-02 2.33689394e-01 4.12408916e+02] [ 5.30560796e-02 9.98079461e-01 3.19756404e-02 5.96902220e+01] [-2.35129627e-01 -1.86341913e-02 9.71785380e-01 4.67283185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.514012739 meters Centerline goodness [0,1] 0.6006867741300497 Centerline is valid? [False, False] Translation: X:412.41, Y:59.69, Z:4.67 [[ 9.70649501e-01 -5.83855297e-02 2.33303828e-01 4.12409003e+02] [ 5.23146270e-02 9.98113618e-01 3.21307445e-02 5.96892090e+01] [-2.34739698e-01 -1.89824884e-02 9.71872903e-01 4.67206277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.544012739 meters Centerline goodness [0,1] 0.7750184678225351 Centerline is valid? [False, False] Translation: X:412.41, Y:59.69, Z:4.67 [[ 9.70747616e-01 -5.76620620e-02 2.33075424e-01 4.12409113e+02] [ 5.15202207e-02 9.98147561e-01 3.23591177e-02 5.96880914e+01] [-2.34509560e-01 -1.94044390e-02 9.71920127e-01 4.67062944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.574012739 meters Centerline goodness [0,1] 0.6132885563679646 Centerline is valid? [False, False] Translation: X:412.41, Y:59.69, Z:4.67 [[ 9.70964832e-01 -5.68166582e-02 2.32377200e-01 4.12409996e+02] [ 5.06276526e-02 9.98188125e-01 3.25162850e-02 5.96867589e+01] [-2.33803628e-01 -1.98074570e-02 9.72082058e-01 4.66949525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.604012739 meters Centerline goodness [0,1] 0.5611584545396296 Centerline is valid? [False, False] Translation: X:412.41, Y:59.69, Z:4.67 [[ 9.71091942e-01 -5.61541528e-02 2.32006793e-01 4.12409900e+02] [ 4.99395464e-02 9.98220770e-01 3.25781435e-02 5.96857843e+01] [-2.33423397e-01 -2.00500587e-02 9.72168459e-01 4.66902545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.634012739 meters Centerline goodness [0,1] 0.613441789961357 Centerline is valid? [False, False] Translation: X:412.41, Y:59.68, Z:4.67 [[ 9.71209647e-01 -5.53258234e-02 2.31712913e-01 4.12410169e+02] [ 4.90514939e-02 9.98258950e-01 3.27569757e-02 5.96845421e+01] [-2.33121796e-01 -2.04480263e-02 9.72232537e-01 4.66739897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.664012739 meters Centerline goodness [0,1] 0.5206353919239906 Centerline is valid? [False, False] Translation: X:412.41, Y:59.68, Z:4.67 [[ 9.71373943e-01 -5.47176969e-02 2.31167984e-01 4.12410777e+02] [ 4.84289516e-02 9.98288062e-01 3.27960720e-02 5.96836210e+01] [-2.32566764e-01 -2.06620267e-02 9.72360931e-01 4.66651310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.694012739 meters Centerline goodness [0,1] 0.5936592605338438 Centerline is valid? [False, False] Translation: X:412.41, Y:59.68, Z:4.66 [[ 9.71576959e-01 -5.42499935e-02 2.30423849e-01 4.12413007e+02] [ 4.79052471e-02 9.98305113e-01 3.30452407e-02 5.96817801e+01] [-2.31826011e-01 -2.10674830e-02 9.72529106e-01 4.66403131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.724012739 meters Centerline goodness [0,1] 0.5805882099642596 Centerline is valid? [False, False] Translation: X:412.41, Y:59.68, Z:4.66 [[ 9.71735259e-01 -5.38075836e-02 2.29859369e-01 4.12413810e+02] [ 4.74020563e-02 9.98320573e-01 3.33028333e-02 5.96796010e+01] [-2.31265282e-01 -2.14657306e-02 9.72653891e-01 4.66363613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.754012739 meters Centerline goodness [0,1] 0.5910677200419637 Centerline is valid? [False, False] Translation: X:412.41, Y:59.68, Z:4.66 [[ 9.71876025e-01 -5.33291937e-02 2.29375214e-01 4.12414542e+02] [ 4.68357319e-02 9.98335160e-01 3.36648587e-02 5.96766639e+01] [-2.30788661e-01 -2.19751130e-02 9.72755719e-01 4.66326005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.784012739 meters Centerline goodness [0,1] 0.5910677200419637 Centerline is valid? [False, False] Translation: X:412.41, Y:59.68, Z:4.66 [[ 9.71966781e-01 -5.29791816e-02 2.29071568e-01 4.12414312e+02] [ 4.64979012e-02 9.98353033e-01 3.36030847e-02 5.96763810e+01] [-2.30474558e-01 -2.20097350e-02 9.72829404e-01 4.66353826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.814012739 meters Centerline goodness [0,1] 0.6492340087234911 Centerline is valid? [False, False] Translation: X:412.42, Y:59.68, Z:4.66 [[ 9.71939810e-01 -5.55515126e-02 2.28576102e-01 4.12415885e+02] [ 5.00934132e-02 9.98305325e-01 2.96163435e-02 5.96751993e+01] [-2.29833972e-01 -1.73351461e-02 9.73075453e-01 4.66221324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.844012739 meters Centerline goodness [0,1] 0.593011568975472 Centerline is valid? [False, False] Translation: X:412.42, Y:59.67, Z:4.66 [[ 9.72108166e-01 -5.51125247e-02 2.27965618e-01 4.12417070e+02] [ 4.95391800e-02 9.98318431e-01 3.01028192e-02 5.96715256e+01] [-2.29241321e-01 -1.79699666e-02 9.73203729e-01 4.66130575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 9353.27 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%| | 0/16022 [00:00